+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.11 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters 0.025885588522456027 Centerline is valid? [0, True] SLAMing on 0.079254154 meters 0.02367296177623465 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99997787e-01 -2.08627176e-03 -2.72660670e-04 6.08533933e-02] [ 2.08626760e-03 9.99997824e-01 -1.55410356e-05 -5.20812275e-03] [ 2.72692500e-04 1.49721581e-05 9.99999963e-01 -8.87577465e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters 0.02463892044841524 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99978551e-01 -6.50149917e-03 -7.92936477e-04 1.20635242e-01] [ 6.50146537e-03 9.99978864e-01 -4.51955687e-05 -3.07539477e-03] [ 7.93213557e-04 4.00393502e-05 9.99999685e-01 -3.03735914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199254154 meters 0.020195926183662706 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 9.99854931e-01 -1.70126484e-02 -8.28295462e-04 1.82406800e-01] [ 1.70126151e-02 9.99855274e-01 -4.72787915e-05 -1.22333720e-02] [ 8.28979924e-04 3.31804610e-05 9.99999656e-01 -3.98264890e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259254154 meters 0.018190262518596456 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.02, Z:-0.00 [[ 9.99549903e-01 -2.99926620e-02 -6.56688659e-04 2.44185662e-01] [ 2.99926438e-02 9.99550119e-01 -3.74913518e-05 -2.29989477e-02] [ 6.57517692e-04 1.77786480e-05 9.99999784e-01 -2.51365243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.319254154 meters 0.01584300419653036 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.03, Z:-0.00 [[ 9.99233972e-01 -3.91257189e-02 -8.04264049e-04 3.03810083e-01] [ 3.91256947e-02 9.99234296e-01 -4.57398632e-05 -2.66298109e-02] [ 8.05437826e-04 1.42374355e-05 9.99999676e-01 -3.71389851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.379254154 meters 0.014012473915547346 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.03, Z:-0.00 [[ 9.98728102e-01 -5.04155905e-02 -6.68114605e-04 3.66122812e-01] [ 5.04155762e-02 9.98728326e-01 -3.83025062e-05 -3.43773183e-02] [ 6.69196024e-04 4.57040661e-06 9.99999776e-01 -3.07105964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.439254154 meters 0.013856672263573034 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.04, Z:-0.00 [[ 9.98255185e-01 -5.90407967e-02 -8.77383906e-04 4.28590245e-01] [ 5.90407747e-02 9.98255571e-01 -5.09917007e-05 -3.92129387e-02] [ 8.78863962e-04 -8.98695913e-07 9.99999614e-01 -1.37014494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.499254154 meters 0.014229413901510949 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.04, Z:-0.00 [[ 9.98028457e-01 -6.27478709e-02 -1.37963283e-03 4.90155633e-01] [ 6.27478216e-02 9.98029411e-01 -7.90287613e-05 -3.92686518e-02] [ 1.38187303e-03 -7.69600205e-06 9.99999045e-01 -2.65933101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.559254154 meters 0.014573059417104534 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.03, Z:0.00 [[ 9.97987687e-01 -6.33911420e-02 -1.46284689e-03 5.53390414e-01] [ 6.33910876e-02 9.97988759e-01 -8.35675104e-05 -3.47537090e-02] [ 1.46520220e-03 -9.33210919e-06 9.99998927e-01 1.36844219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.619254154 meters 0.013919132920530647 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.02, Z:0.00 [[ 9.98311824e-01 -5.80507867e-02 -1.89960517e-03 6.15573213e-01] [ 5.80506882e-02 9.98313631e-01 -1.06961877e-04 -2.42835946e-02] [ 1.90261096e-03 -3.49208103e-06 9.99998190e-01 1.22886542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters 0.01437812509573659 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.01, Z:0.00 [[ 9.98653008e-01 -5.18847979e-02 3.69753438e-04 6.77044092e-01] [ 5.18847943e-02 9.98653077e-01 1.93879813e-05 -1.27701170e-02] [-3.70261350e-04 -1.77284793e-07 9.99999931e-01 2.26263537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999999 meters 0.014732637291876525 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.01, Z:0.00 [[ 9.98801875e-01 -4.89320654e-02 6.83026147e-04 7.38897993e-01] [ 4.89320510e-02 9.98802109e-01 3.77105360e-05 -5.16410989e-03] [-6.84053211e-04 -4.24348375e-06 9.99999766e-01 1.94550298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.799254154 meters 0.01482220704758879 Centerline is valid? [True, True] Translation: X:0.80, Y:0.00, Z:0.00 [[ 9.98867884e-01 -4.75691843e-02 3.50339675e-04 8.01324497e-01] [ 4.75691809e-02 9.98867946e-01 1.80678594e-05 1.96107385e-04] [-3.50802545e-04 -1.38203306e-06 9.99999938e-01 1.68353947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999999 meters 0.01574031210079831 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:0.00 [[ 9.99043118e-01 -4.37273287e-02 -8.77251081e-04 8.62013766e-01] [ 4.37273023e-02 9.99043503e-01 -4.92234429e-05 1.10968002e-02] [ 8.78564402e-04 1.08165187e-05 9.99999614e-01 5.20180420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters 0.016774151758198075 Centerline is valid? [True, True] Translation: X:0.92, Y:0.02, Z:-0.00 [[ 9.99202544e-01 -3.99099758e-02 -1.21242547e-03 9.23409911e-01] [ 3.99099234e-02 9.99203279e-01 -6.73609002e-05 2.08089624e-02] [ 1.21414788e-03 1.89193753e-05 9.99999263e-01 -1.37079265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999999 meters 0.018638419348236526 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.00 [[ 9.99294112e-01 -3.75426026e-02 -1.35290360e-03 9.85305390e-01] [ 3.75425354e-02 9.99295028e-01 -7.50182182e-05 3.15701782e-02] [ 1.35476622e-03 2.41738325e-05 9.99999082e-01 -2.65346506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.039254154 meters 0.020199948085275667 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:-0.00 [[ 9.99401805e-01 -3.45518826e-02 -1.48307680e-03 1.04755836e+00] [ 3.45517987e-02 9.99402905e-01 -8.21739478e-05 3.92321861e-02] [ 1.48503053e-03 3.08818206e-05 9.99998897e-01 -3.32060026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.099254154 meters 0.023651442104616584 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.00 [[ 9.99598773e-01 -2.83239151e-02 -2.21688043e-04 1.10837668e+00] [ 2.83239130e-02 9.99598797e-01 -1.24803908e-05 5.04977032e-02] [ 2.21952595e-04 6.19631046e-06 9.99999975e-01 -3.00132575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters 0.028246787631998546 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:-0.00 [[ 9.99712041e-01 -2.39726154e-02 1.07156825e-03 1.16887142e+00] [ 2.39725662e-02 9.99712615e-01 5.87582919e-05 6.12182231e-02] [-1.07266889e-03 -3.30531312e-05 9.99999424e-01 -2.90275373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.219254154 meters 0.030983839675925468 Centerline is valid? [True, True] Translation: X:1.23, Y:0.07, Z:-0.00 [[ 9.99730392e-01 -2.30882853e-02 2.46460334e-03 1.23050693e+00] [ 2.30880230e-02 9.99733427e-01 1.34840313e-04 6.68190716e-02] [-2.46705958e-03 -7.79011405e-05 9.99996954e-01 -2.94856452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.279254154 meters 0.0361648863550384 Centerline is valid? [True, True] Translation: X:1.29, Y:0.07, Z:-0.00 [[ 9.99652040e-01 -2.61542791e-02 3.42825478e-03 1.29119273e+00] [ 2.61537895e-02 9.99657914e-01 1.87574184e-04 7.12676045e-02] [-3.43198788e-03 -9.78470619e-05 9.99994106e-01 -2.15924604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters 0.040592147817271405 Centerline is valid? [True, True] Translation: X:1.35, Y:0.06, Z:-0.01 [[ 9.99347712e-01 -3.59193939e-02 3.73470383e-03 1.35217705e+00] [ 3.59188794e-02 9.99354688e-01 2.04773759e-04 6.13156998e-02] [-3.73964913e-03 -7.04938114e-05 9.99993005e-01 -5.32823527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters 0.04785688758454172 Centerline is valid? [True, True] Translation: X:1.41, Y:0.06, Z:-0.01 [[ 9.99065468e-01 -4.29870988e-02 4.50556109e-03 1.41250336e+00] [ 4.29864225e-02 9.99075626e-01 2.46874171e-04 5.85196659e-02] [-4.51200867e-03 -5.29655069e-05 9.99989819e-01 -5.01947811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.459254154 meters 0.058339898942978856 Centerline is valid? [True, True] Translation: X:1.47, Y:0.05, Z:-0.01 [[ 9.98714386e-01 -5.03523649e-02 5.84934075e-03 1.47478967e+00] [ 5.03513664e-02 9.98731515e-01 3.17937869e-04 5.24836860e-02] [-5.85792987e-03 -2.30068241e-05 9.99982842e-01 -5.42880517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.519254154 meters 0.06384173088529653 Centerline is valid? [True, True] Translation: X:1.54, Y:0.05, Z:-0.00 [[ 9.98576506e-01 -5.27755112e-02 7.72702658e-03 1.53590711e+00] [ 5.27738509e-02 9.98606402e-01 4.18746662e-04 4.98087154e-02] [-7.73835777e-03 -1.03656301e-05 9.99970058e-01 -3.63609951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.579254154 meters 0.0830283551837907 Centerline is valid? [True, True] Translation: X:1.60, Y:0.05, Z:-0.01 [[ 9.98534184e-01 -5.36843831e-02 6.88994234e-03 1.59838141e+00] [ 5.36830980e-02 9.98557954e-01 3.71456275e-04 4.54101908e-02] [-6.89994812e-03 -1.03833901e-06 9.99976195e-01 -9.29750924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6392541539999999 meters 0.09114454141936704 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 9.98410598e-01 -5.59278236e-02 6.95389103e-03 1.66226237e+00] [ 5.59265833e-02 9.98434814e-01 3.72838582e-04 4.23265039e-02] [-6.96385895e-03 1.66613750e-05 9.99975752e-01 -1.18489095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.699254154 meters 0.10839604269610233 Centerline is valid? [True, False] Translation: X:1.66, Y:0.03, Z:-0.02 [[ 0.99875286 -0.04944776 0.00690254 1.66496436] [ 0.04951056 0.99873082 -0.00924462 0.03470171] [-0.00643665 0.00957484 0.99993344 -0.01514464] [ 0. 0. 0. 1. ]] SLAMing on 1.759254154 meters 0.12043487943755635 Centerline is valid? [False, False] Translation: X:1.67, Y:0.02, Z:-0.02 [[ 0.9986548 -0.0513861 0.00693242 1.66732989] [ 0.05144545 0.99863816 -0.00867178 0.02450263] [-0.00647737 0.00901676 0.99993837 -0.01919671] [ 0. 0. 0. 1. ]] SLAMing on 1.8192541539999998 meters 0.1298007426365783 Centerline is valid? [False, False] Translation: X:1.67, Y:0.01, Z:-0.02 [[ 0.998763 -0.04928218 0.00661272 1.66981243] [ 0.04931142 0.99877405 -0.00433475 0.0133021 ] [-0.00639099 0.00465547 0.99996874 -0.02257583] [ 0. 0. 0. 1. ]] SLAMing on 1.8792541539999998 meters 0.14066963493928727 Centerline is valid? [False, False] Translation: X:1.67, Y:0.00, Z:-0.02 [[ 9.98863785e-01 -4.71962487e-02 6.60707908e-03 1.67096686e+00] [ 4.72029384e-02 9.98884950e-01 -8.60175265e-04 3.57494623e-03] [-6.55911481e-03 1.17107147e-03 9.99977803e-01 -2.40884895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.939254154 meters 0.1466799271520154 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.00, Z:-0.02 [[ 9.99253604e-01 -3.81565686e-02 6.02580493e-03 1.66990550e+00] [ 3.82114810e-02 9.99226611e-01 -9.27700713e-03 -1.37583620e-03] [-5.66716588e-03 9.50033775e-03 9.99938812e-01 -2.26811852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.999254154 meters 0.1572269142518729 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:-0.02 [[ 0.99931067 -0.03661094 0.00614985 1.67008186] [ 0.03665174 0.99930592 -0.00665858 -0.00945579] [-0.0059018 0.00687939 0.99995892 -0.02313331] [ 0. 0. 0. 1. ]] SLAMing on 2.059254154 meters 0.1659438133652712 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:-0.02 [[ 0.99937099 -0.03491438 0.00621297 1.67088138] [ 0.03494003 0.99938113 -0.00406878 -0.0174347 ] [-0.00606706 0.0042833 0.99997242 -0.02426154] [ 0. 0. 0. 1. ]] SLAMing on 2.119254154 meters 0.17366473661221218 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:-0.02 [[ 0.99955189 -0.02925026 0.00635949 1.67101694] [ 0.02923645 0.99956998 0.00225362 -0.02471038] [-0.00642267 -0.00206668 0.99997724 -0.02498175] [ 0. 0. 0. 1. ]] SLAMing on 2.179254154 meters 0.1768061337412051 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.99981894 -0.01879747 0.00295562 1.66910079] [ 0.01881122 0.99981202 -0.00469702 -0.02529277] [-0.00286677 0.00475177 0.9999846 -0.02250268] [ 0. 0. 0. 1. ]] SLAMing on 2.2392541539999997 meters 0.18238163010551622 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.99995253 -0.00907689 0.00354314 1.66799276] [ 0.00905929 0.9999467 0.00495244 -0.0326814 ] [-0.00358791 -0.00492011 0.99998146 -0.02263271] [ 0. 0. 0. 1. ]] SLAMing on 2.2992541539999998 meters 0.1894480629027009 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.02 [[ 0.99998259 -0.00429816 0.00404328 1.66755653] [ 0.00425797 0.99994196 0.00989688 -0.03557426] [-0.00408558 -0.00987949 0.99994285 -0.02332882] [ 0. 0. 0. 1. ]] SLAMing on 2.359254154 meters 0.1856329350189511 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.03, Z:-0.02 [[ 0.9999856 0.00351462 0.00405483 1.6654434 ] [-0.00350265 0.9999895 -0.00295564 -0.03338622] [-0.00406517 0.0029414 0.99998741 -0.02175915] [ 0. 0. 0. 1. ]] SLAMing on 2.419254154 meters 0.18657833374246965 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.02 [[ 0.99998189 0.00410009 0.00440606 1.66570802] [-0.00409212 0.99998998 -0.001816 -0.03777637] [-0.00441346 0.00179794 0.99998864 -0.023282 ] [ 0. 0. 0. 1. ]] SLAMing on 2.479254154 meters 0.17283812042514796 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.02 [[ 9.99989308e-01 -1.06183071e-04 4.62295104e-03 1.66557792e+00] [ 1.29513272e-04 9.99987257e-01 -5.04659667e-03 -4.21881285e-02] [-4.62235627e-03 5.04714145e-03 9.99976580e-01 -2.40831999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.539254154 meters 0.17087229718807848 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.04, Z:-0.02 [[ 0.99998164 -0.00404807 0.00450934 1.66622256] [ 0.00408542 0.99995717 -0.00830522 -0.04453098] [-0.00447553 0.00832349 0.99995534 -0.02484581] [ 0. 0. 0. 1. ]] SLAMing on 2.599254154 meters 0.16196024880459978 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.05, Z:-0.03 [[ 0.99994758 -0.00945039 0.00394112 1.66777434] [ 0.00949827 0.99987911 -0.01231061 -0.04702168] [-0.00382431 0.0123474 0.99991645 -0.02597926] [ 0. 0. 0. 1. ]] SLAMing on 2.6592541539999996 meters 0.13863269932989006 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.05, Z:-0.03 [[ 0.99989153 -0.01433746 0.00337214 1.66968252] [ 0.01439093 0.99976185 -0.01640553 -0.04804976] [-0.00313612 0.01645228 0.99985973 -0.02743618] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters 0.1386646593478478 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.05, Z:-0.03 [[ 0.99994315 -0.01032713 0.00265511 1.67175578] [ 0.01035603 0.99988467 -0.01110835 -0.05136992] [-0.00254008 0.01113522 0.99993478 -0.02934001] [ 0. 0. 0. 1. ]] SLAMing on 2.7792541539999998 meters 0.11603043759331522 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.05, Z:-0.03 [[ 0.99994908 -0.00989531 0.00197884 1.67452427] [ 0.0099158 0.99989434 -0.01062939 -0.05057338] [-0.00187345 0.01064847 0.99994155 -0.03177381] [ 0. 0. 0. 1. ]] SLAMing on 2.839254154 meters 0.11668411716563357 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.05, Z:-0.03 [[ 9.99984384e-01 -5.40581033e-03 1.41750522e-03 1.67648924e+00] [ 5.41436578e-03 9.99966719e-01 -6.10283896e-03 -5.00636322e-02] [-1.38446726e-03 6.11041855e-03 9.99980373e-01 -3.34797056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899254154 meters 0.09453865223680279 Centerline is valid? [False, True] Translation: X:1.68, Y:-0.04, Z:-0.03 [[ 9.99999260e-01 -4.44013854e-04 1.13244192e-03 1.67787129e+00] [ 4.47247916e-04 9.99995818e-01 -2.85717757e-03 -4.30355479e-02] [-1.13116856e-03 2.85768193e-03 9.99995277e-01 -3.44640302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.959254154 meters 0.08407856093511193 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:-0.04 [[ 9.99995319e-01 2.56103958e-03 -1.67404238e-03 1.73885830e+00] [-2.56103301e-03 9.99996721e-01 6.06876181e-06 -3.80848688e-02] [ 1.67405243e-03 -1.78145561e-06 9.99998599e-01 -3.68955963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.019254154 meters 0.07755599680045264 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.03, Z:-0.04 [[ 9.99953348e-01 8.31745881e-03 -4.91145998e-03 1.79724174e+00] [-8.31746628e-03 9.99965409e-01 1.89064190e-05 -2.75271298e-02] [ 4.91144734e-03 2.19453658e-05 9.99987939e-01 -3.81193090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.079254154 meters 0.0742314984550976 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.02, Z:-0.04 [[ 9.99897771e-01 1.29125089e-02 -6.14120928e-03 1.85466947e+00] [-1.29126196e-02 9.99916628e-01 2.16140166e-05 -1.84021772e-02] [ 6.14097636e-03 5.76872925e-05 9.99981142e-01 -3.76184284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.139254154 meters 0.06343511708044718 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.01, Z:-0.04 [[ 9.99728780e-01 2.12264199e-02 -9.58147453e-03 1.91375220e+00] [-2.12270813e-02 9.99774680e-01 3.26655152e-05 -8.55885152e-03] [ 9.58000900e-03 1.70730083e-04 9.99954096e-01 -3.73673201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1992541539999997 meters 0.06165390204043463 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.00, Z:-0.04 [[ 9.99517518e-01 2.88998421e-02 -1.13811076e-02 1.97422529e+00] [-2.89012771e-02 9.99582270e-01 3.83906070e-05 -1.33201252e-03] [ 1.13774628e-02 2.90556460e-04 9.99935232e-01 -3.60078953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2592541539999997 meters 0.06096963006347289 Centerline is valid? [True, True] Translation: X:2.03, Y:0.00, Z:-0.03 [[ 9.99400657e-01 3.22264968e-02 -1.26403942e-02 2.03331330e+00] [-3.22285368e-02 9.99480525e-01 4.23257889e-05 2.93175407e-03] [ 1.26351919e-02 3.65080989e-04 9.99920106e-01 -3.40372575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.319254154 meters 0.05458090796834627 Centerline is valid? [True, True] Translation: X:2.09, Y:0.00, Z:-0.03 [[ 9.99412995e-01 3.11026770e-02 -1.43627365e-02 2.09121371e+00] [-3.11052151e-02 9.99516115e-01 4.67016157e-05 3.04261674e-03] [ 1.43572391e-02 4.00081806e-04 9.99896849e-01 -3.38254268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.379254154 meters 0.053217077650852776 Centerline is valid? [True, True] Translation: X:2.15, Y:0.00, Z:-0.03 [[ 9.99479007e-01 2.75900152e-02 -1.67482927e-02 2.14870470e+00] [-2.75930049e-02 9.99619239e-01 5.25934864e-05 3.05316148e-04] [ 1.67433666e-02 4.09569637e-04 9.99859736e-01 -3.40159077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.439254154 meters 0.048288946033054676 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.01, Z:-0.03 [[ 9.99614519e-01 2.15235056e-02 -1.75371494e-02 2.20849967e+00] [-2.15258673e-02 9.99768290e-01 5.41105307e-05 -5.27026344e-03] [ 1.75342505e-02 3.23412678e-04 9.99846211e-01 -3.20922822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499254154 meters 0.04432780741275302 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.01, Z:-0.03 [[ 9.99720895e-01 1.64799990e-02 -1.69275569e-02 2.26654123e+00] [-1.64814944e-02 9.99864170e-01 5.11679721e-05 -1.14667384e-02] [ 1.69261008e-02 2.27837743e-04 9.99856717e-01 -3.04415609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.559254154 meters 0.04223346306655837 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.02, Z:-0.03 [[ 9.99717972e-01 1.49004339e-02 -1.84920011e-02 2.32473240e+00] [-1.49019810e-02 9.99888958e-01 5.41373220e-05 -1.50977546e-02] [ 1.84907544e-02 2.21445395e-04 9.99829007e-01 -3.03727506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters 0.040519386423440454 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.02, Z:-0.03 [[ 9.99689407e-01 1.46234456e-02 -2.01802997e-02 2.38351075e+00] [-1.46252655e-02 9.99893043e-01 5.74103523e-05 -2.14271515e-02] [ 2.01789808e-02 2.37749720e-04 9.99796355e-01 -2.76869819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6792541539999997 meters 0.03770995696195567 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.03, Z:-0.03 [[ 9.99615001e-01 1.59445885e-02 -2.27072434e-02 2.44228289e+00] [-1.59473365e-02 9.99872831e-01 6.00734728e-05 -2.61395420e-02] [ 2.27053136e-02 3.02069706e-04 9.99742156e-01 -2.78534094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999997 meters 0.0361220843140206 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.03, Z:-0.03 [[ 9.99560087e-01 1.71766882e-02 -2.41783911e-02 2.50134274e+00] [-1.71803144e-02 9.99852406e-01 5.77593443e-05 -2.97775440e-02] [ 2.41758146e-02 3.57658424e-04 9.99707658e-01 -2.71325034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999998 meters 0.03402366106960908 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.03, Z:-0.03 [[ 9.99485257e-01 2.20315270e-02 -2.33202423e-02 2.55881711e+00] [-2.20362936e-02 9.99757170e-01 5.25956060e-05 -3.26773397e-02] [ 2.33157382e-02 4.61323173e-04 9.99728045e-01 -2.61586354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859254154 meters 0.03360951822993559 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.03, Z:-0.03 [[ 9.99401845e-01 2.56585240e-02 -2.31860531e-02 2.61778550e+00] [-2.56643187e-02 9.99670616e-01 4.76617669e-05 -3.40455779e-02] [ 2.31796389e-02 5.47420998e-04 9.99731166e-01 -2.51086285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919254154 meters 0.0327969562058922 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:-0.03 [[ 9.99299649e-01 2.89471962e-02 -2.37122629e-02 2.67628429e+00] [-2.89542497e-02 9.99580737e-01 4.58888021e-05 -3.99522966e-02] [ 2.37036496e-02 6.40714117e-04 9.99718824e-01 -2.63862754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979254154 meters 0.03193938821848451 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.05, Z:-0.03 [[ 9.99266920e-01 2.89041039e-02 -2.51032940e-02 2.73509524e+00] [-2.89121180e-02 9.99581956e-01 4.37252011e-05 -4.97852277e-02] [ 2.50940635e-02 6.82096250e-04 9.99684862e-01 -2.82995492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters 0.030387357270042624 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.06, Z:-0.03 [[ 9.99277820e-01 2.58779872e-02 -2.78238839e-02 2.79360928e+00] [-2.58868533e-02 9.99664878e-01 4.15696040e-05 -6.28163684e-02] [ 2.78156353e-02 6.78733217e-04 9.99612840e-01 -2.85794366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0992541540000005 meters 0.02810473139428293 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.08, Z:-0.03 [[ 9.99460467e-01 1.96721249e-02 -2.63017438e-02 2.85275973e+00] [-1.96779572e-02 9.99806370e-01 3.70860350e-05 -7.66234878e-02] [ 2.62973805e-02 4.80498563e-04 9.99654049e-01 -2.85788397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters 0.026105717206787463 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.09, Z:-0.03 [[ 9.99573316e-01 1.39446039e-02 -2.56658185e-02 2.91177305e+00] [-1.39483087e-02 9.99902717e-01 3.46822095e-05 -8.74320682e-02] [ 2.56638053e-02 3.23327348e-04 9.99670578e-01 -2.77126119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154000001 meters 0.02443353162257368 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.10, Z:-0.03 [[ 9.99646052e-01 6.95691651e-03 -2.56782364e-02 2.97099163e+00] [-6.95843768e-03 9.99975789e-01 3.01158952e-05 -1.04268416e-01] [ 2.56778242e-02 1.48575172e-04 9.99670259e-01 -2.85477893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters 0.02351090199660766 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.11, Z:-0.03 [[ 9.99649788e-01 2.90589920e-03 -2.63031744e-02 3.02929312e+00] [-2.90618391e-03 9.99995777e-01 2.74037086e-05 -1.14189376e-01] [ 2.63031429e-02 4.90477505e-05 9.99654011e-01 -2.87248288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154000001 meters 0.022651290607723477 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.13, Z:-0.03 [[ 9.99598418e-01 -1.95179642e-03 -2.82700000e-02 3.08694959e+00] [ 1.95333967e-03 9.99998092e-01 2.69738085e-05 -1.26905294e-01] [ 2.82698934e-02 -8.21838887e-05 9.99600323e-01 -2.94960285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254154 meters 0.021932105724698305 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.14, Z:-0.03 [[ 9.99589216e-01 -5.43646595e-03 -2.81397344e-02 3.14556414e+00] [ 5.43922386e-03 9.99985207e-01 2.14638455e-05 -1.38406441e-01] [ 2.81392014e-02 -1.74513343e-04 9.99603999e-01 -2.84649203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters 0.02170313468065909 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.15, Z:-0.03 [[ 9.99604791e-01 -6.89796088e-03 -2.72521441e-02 3.20479011e+00] [ 6.90092543e-03 9.99976188e-01 1.47324385e-05 -1.45175755e-01] [ 2.72513936e-02 -2.02791630e-04 9.99628591e-01 -2.72173222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519254154 meters 0.021204125057253945 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.15, Z:-0.03 [[ 9.99584891e-01 -8.14106616e-03 -2.76363706e-02 3.26376991e+00] [ 8.14442014e-03 9.99966834e-01 8.79891899e-06 -1.51553086e-01] [ 2.76353824e-02 -2.33877480e-04 9.99618043e-01 -2.68944010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters 0.02076375246563632 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.15, Z:-0.03 [[ 9.99570709e-01 -7.47905188e-03 -2.83277457e-02 3.32108770e+00] [ 7.48218999e-03 9.99972008e-01 4.78070905e-06 -1.54311562e-01] [ 2.83269170e-02 -2.16732232e-04 9.99598689e-01 -2.74801031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6392541540000005 meters 0.020406094688712177 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.15, Z:-0.03 [[ 9.99582783e-01 -7.65330383e-03 -2.78511545e-02 3.37951080e+00] [ 7.65625355e-03 9.99970690e-01 -7.28600608e-07 -1.54894178e-01] [ 2.78503438e-02 -2.12507204e-04 9.99612081e-01 -2.63420153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters 0.019491356406860238 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.16, Z:-0.02 [[ 9.99629556e-01 -8.81834385e-03 -2.57485641e-02 3.43808737e+00] [ 8.82110691e-03 9.99961093e-01 -6.27490895e-06 -1.57116098e-01] [ 2.57476176e-02 -2.20858252e-04 9.99668451e-01 -2.16889329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154000001 meters 0.019468398445693567 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.16, Z:-0.02 [[ 9.99639836e-01 -1.10103378e-02 -2.44738783e-02 3.49629245e+00] [ 1.10133460e-02 9.99939351e-01 -1.18775606e-05 -1.60597741e-01] [ 2.44725248e-02 -2.57666006e-04 9.99700470e-01 -1.98274159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254154 meters 0.0196551542019048 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.16, Z:-0.02 [[ 9.99631979e-01 -1.40575249e-02 -2.32011200e-02 3.55542598e+00] [ 1.40609279e-02 9.99901140e-01 -1.64633455e-05 -1.63731269e-01] [ 2.31990578e-02 -3.09771988e-04 9.99730818e-01 -1.85145087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters 0.019724121012423528 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.16, Z:-0.02 [[ 9.99642293e-01 -1.36293609e-02 -2.30114462e-02 3.61323891e+00] [ 1.36325329e-02 9.99907073e-01 -1.90306972e-05 -1.61831561e-01] [ 2.30095672e-02 -2.94680408e-04 9.99735201e-01 -1.89562728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.939254154 meters 0.018722313135976 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.16, Z:-0.02 [[ 9.99666703e-01 -1.18581572e-02 -2.29318082e-02 3.67198908e+00] [ 1.18607508e-02 9.99929659e-01 -2.29115381e-05 -1.57400790e-01] [ 2.29304669e-02 -2.49084562e-04 9.99737031e-01 -1.77094980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters 0.017592739008377385 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.15, Z:-0.02 [[ 9.99741901e-01 -8.71587140e-03 -2.09801037e-02 3.72987813e+00] [ 8.71729030e-03 9.99962003e-01 -2.38253043e-05 -1.49271687e-01] [ 2.09795142e-02 -1.59070500e-04 9.99779893e-01 -1.51676450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0592541540000004 meters 0.016867843401304084 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.14, Z:-0.01 [[ 9.99781924e-01 -8.11857906e-03 -1.92404110e-02 3.78916902e+00] [ 8.11960269e-03 9.99967035e-01 -2.49180998e-05 -1.41373749e-01] [ 1.92399790e-02 -1.31311827e-04 9.99814886e-01 -1.25841693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters 0.016603307499766063 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.14, Z:-0.01 [[ 9.99789351e-01 -9.08889366e-03 -1.84023337e-02 3.84669206e+00] [ 9.08992163e-03 9.99958685e-01 -2.77852734e-05 -1.37487270e-01] [ 1.84018260e-02 -1.39496351e-04 9.99830662e-01 -1.19944142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1792541540000006 meters 0.016709033485031062 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.13, Z:-0.01 [[ 9.99728674e-01 -1.19385700e-02 -2.00012203e-02 3.90579697e+00] [ 1.19402617e-02 9.99928712e-01 -3.48433174e-05 -1.32345315e-01] [ 2.00002104e-02 -2.03985941e-04 9.99799955e-01 -1.15532999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254154 meters 0.016984663576655217 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.13, Z:-0.01 [[ 9.99717581e-01 -1.43811981e-02 -1.89192863e-02 3.96334481e+00] [ 1.43831044e-02 9.99896557e-01 -3.53157638e-05 -1.27160494e-01] [ 1.89178371e-02 -2.36812279e-04 9.99821014e-01 -1.02477715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters 0.017064159488913315 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.12, Z:-0.01 [[ 9.99725387e-01 -1.54122502e-02 -1.76525842e-02 4.02161268e+00] [ 1.54140139e-02 9.99881196e-01 -3.61518821e-05 -1.22817827e-01] [ 1.76510442e-02 -2.35955224e-04 9.99844180e-01 -8.45464635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254154 meters 0.01655656627224651 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.11, Z:-0.00 [[ 9.99783331e-01 -1.47575298e-02 -1.46801473e-02 4.07990949e+00] [ 1.47586335e-02 9.99891085e-01 -3.31543012e-05 -1.13749049e-01] [ 1.46790377e-02 -1.83511796e-04 9.99892240e-01 -4.70474756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters 0.015070300955325433 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.10, Z:-0.00 [[ 9.99864250e-01 -9.04009037e-03 -1.37752535e-02 4.13775209e+00] [ 9.04049371e-03 9.99959133e-01 -3.29910156e-05 -9.77140492e-02] [ 1.37749887e-02 -9.15485552e-05 9.99905116e-01 -3.55730429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479254154 meters 0.014245395383472472 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.08, Z:-0.00 [[ 9.99899945e-01 -2.85111170e-03 -1.38553527e-02 4.19692578e+00] [ 2.85089788e-03 9.99995936e-01 -3.51838839e-05 -8.39772493e-02] [ 1.38553967e-02 -4.31983209e-06 9.99904009e-01 -3.18763284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters 0.016023448894837936 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.06, Z:-0.00 [[ 9.99873862e-01 6.65459178e-03 -1.44214162e-02 4.25595638e+00] [-6.65585604e-03 9.99977849e-01 -3.96704587e-05 -6.36171188e-02] [ 1.44208327e-02 1.35652325e-04 9.99896005e-01 -2.63467628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5992541540000005 meters 0.015237528675107338 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.05, Z:0.00 [[ 9.99827480e-01 1.24087400e-02 -1.38214491e-02 4.31487941e+00] [-1.24104945e-02 9.99922986e-01 -4.11708833e-05 -5.46464855e-02] [ 1.38198738e-02 2.12694798e-04 9.99904478e-01 2.46750841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254154 meters 0.015529875035526696 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.05, Z:0.00 [[ 9.99800866e-01 1.41763803e-02 -1.40448739e-02 4.37327213e+00] [-1.41783983e-02 9.99899480e-01 -4.41181886e-05 -4.76621754e-02] [ 1.40428367e-02 2.43243219e-04 9.99901365e-01 3.17624709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154000001 meters 0.015955741093197598 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.04, Z:0.00 [[ 9.99778087e-01 1.39125895e-02 -1.58182678e-02 4.43070921e+00] [-1.39151379e-02 9.99903178e-01 -5.10482494e-05 -4.00776873e-02] [ 1.58160261e-02 2.71150300e-04 9.99874882e-01 1.76461897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254154 meters 0.01531516337587024 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.04, Z:0.00 [[ 9.99770313e-01 1.25176882e-02 -1.73962212e-02 4.48968671e+00] [-1.25205843e-02 9.99921613e-01 -5.75706713e-05 -3.51832276e-02] [ 1.73941369e-02 2.75368302e-04 9.99848673e-01 1.61790316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters 0.014850396101919884 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.03, Z:0.00 [[ 9.99786489e-01 1.03169687e-02 -1.79035492e-02 4.54859255e+00] [-1.03197072e-02 9.99946749e-01 -6.05761257e-05 -3.24490921e-02] [ 1.79019708e-02 2.45322577e-04 9.99839717e-01 2.81642591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254154 meters 0.014177162369172085 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.03, Z:0.00 [[ 9.99846282e-01 5.18758472e-03 -1.67481615e-02 4.60779861e+00] [-5.18929160e-03 9.99986534e-01 -5.84573251e-05 -2.92879370e-02] [ 1.67476327e-02 1.45359433e-04 9.99859738e-01 4.10733041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters 0.013782334373283066 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.03, Z:0.00 [[ 9.99875154e-01 -2.18999928e-04 -1.57996044e-02 4.66711271e+00] [ 2.18134778e-04 9.99999975e-01 -5.64810298e-05 -2.78196590e-02] [ 1.57996164e-02 5.30275352e-05 9.99875177e-01 4.51156177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019254154 meters 0.013720570994521454 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.03, Z:0.01 [[ 9.99888055e-01 -1.46398527e-03 -1.48907598e-02 4.72613631e+00] [ 1.46334074e-03 9.99998928e-01 -5.41797309e-05 -2.53875850e-02] [ 1.48908231e-02 3.23834103e-05 9.99889125e-01 5.10927674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254154 meters 0.013785924705460393 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.02, Z:0.01 [[ 9.99910788e-01 1.65120940e-03 -1.32548175e-02 4.78388606e+00] [-1.65202498e-03 9.99998634e-01 -5.05822832e-05 -1.87859500e-02] [ 1.32547159e-02 7.24750603e-05 9.99912150e-01 6.84837191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1392541540000005 meters 0.014360393110381875 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.01, Z:0.01 [[ 9.99899961e-01 7.18279069e-03 -1.21850238e-02 4.84235175e+00] [-7.18392941e-03 9.99974194e-01 -4.96852239e-05 -1.17025672e-02] [ 1.21843524e-02 1.37216604e-04 9.99925759e-01 6.95450734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254154 meters 0.01466430347663179 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.01, Z:0.01 [[ 9.99850734e-01 1.16654917e-02 -1.27446165e-02 4.90141070e+00] [-1.16671440e-02 9.99931935e-01 -5.53062849e-05 -6.95476495e-03] [ 1.27431039e-02 2.03991306e-04 9.99918783e-01 6.85357655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154000001 meters 0.015815219257041664 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.00, Z:0.01 [[ 9.99821034e-01 1.29460224e-02 -1.37949207e-02 4.95907719e+00] [-1.29481152e-02 9.99916168e-01 -6.24017534e-05 -2.48941814e-03] [ 1.37929564e-02 2.41008808e-04 9.99904844e-01 5.06510702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254154 meters 0.015207322955757167 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.00, Z:0.00 [[ 9.99793361e-01 1.29507107e-02 -1.56689095e-02 5.01758433e+00] [-1.29534324e-02 9.99916098e-01 -7.22226415e-05 -2.11910827e-03] [ 1.56666595e-02 2.75173878e-04 9.99877232e-01 3.45305589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters 0.015300895985569331 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.00, Z:0.00 [[ 9.99799921e-01 1.13013675e-02 -1.65044309e-02 5.07554036e+00] [-1.13041855e-02 9.99936103e-01 -7.74578899e-05 -2.78516041e-04] [ 1.65025010e-02 2.64011541e-04 9.99863790e-01 2.34101129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439254154 meters 0.014453292983449577 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.00, Z:0.00 [[ 9.99839048e-01 8.44265301e-03 -1.58303309e-02 5.13436132e+00] [-8.44490677e-03 9.99964338e-01 -7.55268134e-05 -4.43488107e-04] [ 1.58291287e-02 2.09200326e-04 9.99874690e-01 3.33651188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254154 meters 0.013919310197693392 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.00, Z:0.00 [[ 9.99886012e-01 4.65856890e-03 -1.43617490e-02 5.19300274e+00] [-4.66004779e-03 9.99989140e-01 -6.95106995e-05 -1.32765990e-03] [ 1.43612692e-02 1.36429213e-04 9.99896862e-01 4.47044458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5592541540000004 meters 0.013270223277948355 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.00, Z:0.01 [[ 9.99925499e-01 -3.34409505e-03 -1.17393872e-02 5.25194882e+00] [ 3.34364938e-03 9.99994408e-01 -5.75901481e-05 -4.91545587e-03] [ 1.17395141e-02 1.83334628e-05 9.99931089e-01 6.97956484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254154 meters 0.013282708947743836 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.01, Z:0.01 [[ 9.99906261e-01 -8.60248879e-03 -1.06520195e-02 5.31092195e+00] [ 8.60241224e-03 9.99962997e-01 -5.30058623e-05 -6.91541464e-03] [ 1.06520813e-02 -3.86321691e-05 9.99943264e-01 8.11767382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6792541540000006 meters 0.013711994916894468 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.01, Z:0.01 [[ 9.99832583e-01 -1.55188276e-02 -9.69388039e-03 5.36948969e+00] [ 1.55190827e-02 9.99879571e-01 -4.89150078e-05 -9.48128559e-03] [ 9.69347207e-03 -1.01533313e-04 9.99953012e-01 8.55828935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254154 meters 0.014308552256567948 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.01, Z:0.01 [[ 9.99753847e-01 -1.94479643e-02 -1.06781500e-02 5.43027027e+00] [ 1.94484928e-02 9.99810859e-01 -5.43591056e-05 -1.11110132e-02] [ 1.06771875e-02 -1.53328199e-04 9.99942985e-01 7.94405269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters 0.015423045696673602 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.01, Z:0.01 [[ 9.99667376e-01 -2.27043846e-02 -1.22331214e-02 5.49068126e+00] [ 2.27053249e-02 9.99742199e-01 -6.20332446e-05 -1.17209614e-02] [ 1.22313761e-02 -2.15744385e-04 9.99925171e-01 6.62432850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254154 meters 0.014934010762225055 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.01, Z:0.01 [[ 9.99657631e-01 -2.23778408e-02 -1.35592349e-02 5.55193992e+00] [ 2.23789712e-02 9.99749557e-01 -6.83732521e-05 -6.72023236e-03] [ 1.35573691e-02 -2.35091884e-04 9.99908067e-01 6.62445435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254154 meters 0.013783749538528406 Centerline is valid? [True, True] Translation: X:5.61, Y:0.00, Z:0.01 [[ 9.99744391e-01 -1.82990316e-02 -1.32777324e-02 5.61268708e+00] [ 1.82997590e-02 9.99832543e-01 -6.67140413e-05 1.29893061e-03] [ 1.32767298e-02 -1.76282315e-04 9.99911845e-01 7.86775231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979254154 meters 0.013249670072157564 Centerline is valid? [True, True] Translation: X:5.67, Y:0.01, Z:0.01 [[ 9.99814404e-01 -1.41469798e-02 -1.30774713e-02 5.67317775e+00] [ 1.41473303e-02 9.99899919e-01 -6.57078282e-05 7.93109121e-03] [ 1.30770920e-02 -1.19315673e-04 9.99914484e-01 8.77821224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254154 meters 0.012897063937186277 Centerline is valid? [True, True] Translation: X:5.73, Y:0.02, Z:0.01 [[ 9.99879978e-01 -9.51443950e-03 -1.22272065e-02 5.73288897e+00] [ 9.51439709e-03 9.99954735e-01 -6.16386263e-05 1.72965534e-02] [ 1.22272395e-02 -5.47032698e-05 9.99925243e-01 1.04242513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0992541540000005 meters 0.01289480855212995 Centerline is valid? [True, True] Translation: X:5.79, Y:0.02, Z:0.01 [[ 9.99881488e-01 -8.79603008e-03 -1.26348551e-02 5.79107972e+00] [ 8.79591746e-03 9.99961313e-01 -6.44842273e-05 2.38919254e-02] [ 1.26349335e-02 -4.66585572e-05 9.99920175e-01 1.09649969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254154 meters 0.013067230909441709 Centerline is valid? [True, True] Translation: X:5.85, Y:0.03, Z:0.01 [[ 9.99872988e-01 -9.61899828e-03 -1.27075919e-02 5.84926067e+00] [ 9.61893629e-03 9.99953735e-01 -6.59985164e-05 2.77373773e-02] [ 1.27076388e-02 -5.62433829e-05 9.99919253e-01 1.14308366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters 0.012924644729461365 Centerline is valid? [True, True] Translation: X:5.91, Y:0.04, Z:0.01 [[ 9.99882673e-01 -8.94217336e-03 -1.24369204e-02 5.90732361e+00] [ 8.94203327e-03 9.99960017e-01 -6.68727532e-05 3.54653197e-02] [ 1.24370212e-02 -4.43464490e-05 9.99922656e-01 1.21639770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254154 meters 0.012874946417833023 Centerline is valid? [True, True] Translation: X:5.97, Y:0.04, Z:0.01 [[ 9.99909957e-01 -7.13194834e-03 -1.13672373e-02 5.96519182e+00] [ 7.13167800e-03 9.99974567e-01 -6.43180746e-05 4.30327051e-02] [ 1.13674070e-02 -1.67551933e-05 9.99935389e-01 1.26897600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254154 meters 0.012906944115925021 Centerline is valid? [True, True] Translation: X:6.02, Y:0.05, Z:0.01 [[ 9.99921808e-01 -6.41419931e-03 -1.07348308e-02 6.02300740e+00] [ 6.41388391e-03 9.99979429e-01 -6.38082518e-05 4.79173024e-02] [ 1.07350192e-02 -5.04869585e-06 9.99942378e-01 1.33599243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254154 meters 0.012878319900575592 Centerline is valid? [True, True] Translation: X:6.08, Y:0.05, Z:0.01 [[ 9.99911735e-01 -7.65773024e-03 -1.08573034e-02 6.08106430e+00] [ 7.65745501e-03 9.99970679e-01 -6.69207524e-05 5.21237021e-02] [ 1.08574975e-02 -1.62244666e-05 9.99941056e-01 1.27402493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254154 meters 0.012992341939336656 Centerline is valid? [True, True] Translation: X:6.14, Y:0.06, Z:0.01 [[ 9.99896406e-01 -9.83934378e-03 -1.05054620e-02 6.13948681e+00] [ 9.83919743e-03 9.99951592e-01 -6.56160925e-05 5.57602862e-02] [ 1.05055991e-02 -3.77560199e-05 9.99944814e-01 1.22232510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519254154 meters 0.013371772689127339 Centerline is valid? [True, True] Translation: X:6.20, Y:0.05, Z:0.01 [[ 9.99868332e-01 -1.32995406e-02 -9.29739855e-03 6.19818897e+00] [ 1.32995703e-02 9.99911555e-01 -5.86388711e-05 5.47508579e-02] [ 9.29735612e-03 -6.50202555e-05 9.99956777e-01 1.21855876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254154 meters 0.0144412418426922 Centerline is valid? [True, True] Translation: X:6.26, Y:0.05, Z:0.01 [[ 9.99756867e-01 -1.99306526e-02 -9.43274341e-03 6.25855033e+00] [ 1.99309748e-02 9.99801357e-01 -5.98572398e-05 5.22035292e-02] [ 9.43206265e-03 -1.28161085e-04 9.99955509e-01 1.29603711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6392541540000005 meters 0.015501814128039502 Centerline is valid? [True, True] Translation: X:6.32, Y:0.05, Z:0.01 [[ 9.99620034e-01 -2.55711197e-02 -1.02910758e-02 6.32024941e+00] [ 2.55718056e-02 9.99672986e-01 -6.49543114e-05 4.73411613e-02] [ 1.02893714e-02 -1.98231759e-04 9.99947043e-01 1.07230003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254154 meters 0.017072414990831786 Centerline is valid? [True, True] Translation: X:6.38, Y:0.04, Z:0.01 [[ 9.99472334e-01 -3.03033916e-02 -1.16943536e-02 6.38223906e+00] [ 3.03046156e-02 9.99540707e-01 -7.25598790e-05 4.28159512e-02] [ 1.16911813e-02 -2.81871300e-04 9.99931616e-01 8.75807455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254154 meters 0.017327488353216382 Centerline is valid? [True, True] Translation: X:6.44, Y:0.04, Z:0.01 [[ 9.99452929e-01 -3.07747119e-02 -1.21144467e-02 6.44412827e+00] [ 3.07760733e-02 9.99526302e-01 -7.40704530e-05 4.27848895e-02] [ 1.21109876e-02 -2.98805170e-04 9.99926615e-01 9.32572654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254154 meters 0.01742119449813584 Centerline is valid? [True, True] Translation: X:6.51, Y:0.04, Z:0.01 [[ 9.99488972e-01 -2.97930445e-02 -1.15831341e-02 6.50568878e+00] [ 2.97942316e-02 9.99556051e-01 -7.01004488e-05 4.31877268e-02] [ 1.15800803e-02 -2.75045954e-04 9.99932911e-01 9.87965693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254154 meters 0.016708046401303033 Centerline is valid? [True, True] Translation: X:6.57, Y:0.04, Z:0.01 [[ 9.99508639e-01 -2.94308739e-02 -1.07844613e-02 6.56781586e+00] [ 2.94318887e-02 9.99566786e-01 -6.46365339e-05 4.37374439e-02] [ 1.07816916e-02 -2.52802289e-04 9.99941844e-01 1.10630234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939254154 meters 0.017181515050174172 Centerline is valid? [True, True] Translation: X:6.63, Y:0.04, Z:0.01 [[ 9.99492253e-01 -2.99582104e-02 -1.08508986e-02 6.63012732e+00] [ 2.99592774e-02 9.99551118e-01 -6.42414817e-05 4.29499007e-02] [ 1.08479523e-02 -2.60876217e-04 9.99941125e-01 1.09522578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254154 meters 0.017616887783923747 Centerline is valid? [True, True] Translation: X:6.69, Y:0.04, Z:0.01 [[ 9.99454859e-01 -3.09741490e-02 -1.14274635e-02 6.69240936e+00] [ 3.09754085e-02 9.99520145e-01 -6.68040277e-05 4.26817211e-02] [ 1.14240491e-02 -2.87202738e-04 9.99934702e-01 1.05062353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters 0.017486546189323035 Centerline is valid? [True, True] Translation: X:6.75, Y:0.04, Z:0.01 [[ 9.99373563e-01 -3.26425390e-02 -1.36728568e-02 6.75410902e+00] [ 3.26445113e-02 9.99467023e-01 -7.89650636e-05 4.35332512e-02] [ 1.36681471e-02 -3.67428132e-04 9.99906519e-01 9.30913034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters 0.01832890070410992 Centerline is valid? [True, True] Translation: X:6.81, Y:0.04, Z:0.01 [[ 9.99354188e-01 -3.27117961e-02 -1.48709525e-02 6.81480279e+00] [ 3.27141474e-02 9.99464745e-01 -8.51809401e-05 4.24726260e-02] [ 1.48657792e-02 -4.01364602e-04 9.99889418e-01 8.30865566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254154 meters 0.01800944175168162 Centerline is valid? [True, True] Translation: X:6.88, Y:0.04, Z:0.01 [[ 9.99390138e-01 -3.16231885e-02 -1.48096261e-02 6.87714198e+00] [ 3.16254133e-02 9.99499788e-01 -8.40051052e-05 4.46645179e-02] [ 1.48048747e-02 -3.84406672e-04 9.99890328e-01 9.09996573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters 0.017836204169663996 Centerline is valid? [True, True] Translation: X:6.94, Y:0.05, Z:0.01 [[ 9.99479448e-01 -2.95149210e-02 -1.30270164e-02 6.93876774e+00] [ 2.95164718e-02 9.99564291e-01 -7.32478604e-05 4.63755651e-02] [ 1.30235023e-02 -3.11301830e-04 9.99915142e-01 1.09194550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters 0.016778295067157535 Centerline is valid? [True, True] Translation: X:7.00, Y:0.05, Z:0.01 [[ 9.99572206e-01 -2.68471660e-02 -1.16032267e-02 7.00055523e+00] [ 2.68482221e-02 9.99639519e-01 -6.47665144e-05 4.89927215e-02] [ 1.16007827e-02 -2.46787199e-04 9.99932678e-01 1.23426323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254154 meters 0.015828519471591574 Centerline is valid? [True, True] Translation: X:7.06, Y:0.05, Z:0.01 [[ 9.99668484e-01 -2.31403295e-02 -1.12892390e-02 7.06250568e+00] [ 2.31410997e-02 9.99732207e-01 -6.24117727e-05 5.19406509e-02] [ 1.12876600e-02 -1.98854322e-04 9.99936273e-01 1.27521205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254154 meters 0.01521179311935309 Centerline is valid? [True, True] Translation: X:7.12, Y:0.05, Z:0.01 [[ 9.99735002e-01 -2.00962613e-02 -1.12279579e-02 7.12377618e+00] [ 2.00968371e-02 9.99798036e-01 -6.15489507e-05 5.45316368e-02] [ 1.12269271e-02 -1.64113800e-04 9.99936963e-01 1.32712605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters 0.014829903458497424 Centerline is valid? [True, True] Translation: X:7.18, Y:0.06, Z:0.01 [[ 9.99791367e-01 -1.69554225e-02 -1.13901524e-02 7.18456471e+00] [ 1.69558209e-02 9.99856238e-01 -6.15919408e-05 5.59531923e-02] [ 1.13895592e-02 -1.31550293e-04 9.99935128e-01 1.31717639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters 0.014542554199426348 Centerline is valid? [True, True] Translation: X:7.25, Y:0.06, Z:0.01 [[ 9.99821809e-01 -1.50754293e-02 -1.13614322e-02 7.24623982e+00] [ 1.50757160e-02 9.99886353e-01 -6.04124735e-05 5.66006760e-02] [ 1.13610518e-02 -1.10880018e-04 9.99935455e-01 1.31929502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254154 meters 0.014224978247441379 Centerline is valid? [True, True] Translation: X:7.31, Y:0.06, Z:0.01 [[ 9.99832977e-01 -1.40200923e-02 -1.17240892e-02 7.30630988e+00] [ 1.40203279e-02 9.99901708e-01 -6.20976069e-05 5.64659823e-02] [ 1.17238074e-02 -1.02288340e-04 9.99931269e-01 1.38900430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154000001 meters 0.014262905724507053 Centerline is valid? [True, True] Translation: X:7.37, Y:0.06, Z:0.01 [[ 9.99832170e-01 -1.35103625e-02 -1.23734652e-02 7.36675572e+00] [ 1.35105859e-02 9.99908726e-01 -6.55370803e-05 5.63470309e-02] [ 1.23732212e-02 -1.01646683e-04 9.99923444e-01 1.29696621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters 0.013976098595310175 Centerline is valid? [True, True] Translation: X:7.43, Y:0.06, Z:0.01 [[ 9.99846763e-01 -1.07634040e-02 -1.38057773e-02 7.42683901e+00] [ 1.07634167e-02 9.99942070e-01 -7.33837820e-05 5.83630771e-02] [ 1.38057674e-02 -7.52247968e-05 9.99904693e-01 1.30258419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254154 meters 0.013940435595359577 Centerline is valid? [True, True] Translation: X:7.48, Y:0.06, Z:0.01 [[ 9.99889636e-01 -7.84422242e-03 -1.26168164e-02 7.48429713e+00] [ 7.84398770e-03 9.99969233e-01 -6.80890631e-05 6.09085381e-02] [ 1.26169623e-02 -3.08846042e-05 9.99920402e-01 1.48312546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254154 meters 0.013862856529154264 Centerline is valid? [True, True] Translation: X:7.54, Y:0.06, Z:0.02 [[ 9.99900585e-01 -7.70454304e-03 -1.18093286e-02 7.54239863e+00] [ 7.70430026e-03 9.99970319e-01 -6.60514634e-05 6.08761430e-02] [ 1.18094870e-02 -2.49377167e-05 9.99930265e-01 1.59151319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters 0.014053968147319322 Centerline is valid? [True, True] Translation: X:7.60, Y:0.06, Z:0.02 [[ 9.99888613e-01 -9.93159824e-03 -1.11410955e-02 7.60037025e+00] [ 9.93148592e-03 9.99950679e-01 -6.54085941e-05 5.84922044e-02] [ 1.11411956e-02 -4.52463242e-05 9.99937934e-01 1.69283401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters 0.014348106996616473 Centerline is valid? [True, True] Translation: X:7.66, Y:0.05, Z:0.02 [[ 9.99833198e-01 -1.40878404e-02 -1.16236027e-02 7.65958633e+00] [ 1.40879714e-02 9.99900757e-01 -7.06120111e-05 5.47824975e-02] [ 1.16234439e-02 -9.31527500e-05 9.99932441e-01 1.70426717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254154 meters 0.014982795190337276 Centerline is valid? [True, True] Translation: X:7.72, Y:0.05, Z:0.02 [[ 9.99727685e-01 -1.96251225e-02 -1.26257981e-02 7.71933782e+00] [ 1.96257091e-02 9.99807394e-01 -7.74556133e-05 4.86463600e-02] [ 1.26248864e-02 -1.70355720e-04 9.99920288e-01 1.65426118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154000001 meters 0.01572529957031007 Centerline is valid? [True, True] Translation: X:7.78, Y:0.04, Z:0.02 [[ 9.99644308e-01 -2.32879083e-02 -1.29973026e-02 7.78040897e+00] [ 2.32888390e-02 9.99728775e-01 -7.97573547e-05 4.46204267e-02] [ 1.29956348e-02 -2.22963103e-04 9.99915528e-01 1.66025842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters 0.016946157024543794 Centerline is valid? [True, True] Translation: X:7.84, Y:0.04, Z:0.02 [[ 9.99503553e-01 -2.77237992e-02 -1.49678849e-02 7.84169416e+00] [ 2.77255395e-02 9.99615569e-01 -9.12683569e-05 3.94988845e-02] [ 1.49646610e-02 -3.23769636e-04 9.99887971e-01 1.59603578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254154 meters 0.01800563150305398 Centerline is valid? [True, True] Translation: X:7.90, Y:0.04, Z:0.01 [[ 9.99370196e-01 -3.09004660e-02 -1.74463018e-02 7.90304788e+00] [ 3.09033258e-02 9.99522373e-01 -1.05714087e-04 3.56687683e-02] [ 1.74412356e-02 -4.33501241e-04 9.99847796e-01 1.44489941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254154 meters 0.018297374385864314 Centerline is valid? [True, True] Translation: X:7.96, Y:0.03, Z:0.01 [[ 9.99284438e-01 -3.27316862e-02 -1.89538581e-02 7.96451595e+00] [ 3.27354042e-02 9.99464047e-01 -1.14144187e-04 3.41292393e-02] [ 1.89474358e-02 -5.06399696e-04 9.99820353e-01 1.39209084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters 0.019255273917206352 Centerline is valid? [True, True] Translation: X:8.03, Y:0.03, Z:0.02 [[ 9.99220359e-01 -3.44701456e-02 -1.92479573e-02 8.02543088e+00] [ 3.44743113e-02 9.99405578e-01 -1.15443786e-04 3.16871659e-02] [ 1.92404953e-02 -5.48206292e-04 9.99814734e-01 1.52918797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters 0.018983432253632262 Centerline is valid? [True, True] Translation: X:8.09, Y:0.03, Z:0.02 [[ 9.99233158e-01 -3.45963637e-02 -1.83354285e-02 8.08712992e+00] [ 3.46001747e-02 9.99401229e-01 -1.09435768e-04 3.26470750e-02] [ 1.83282358e-02 -5.25057182e-04 9.99831886e-01 1.87510000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254154 meters 0.01873549851253266 Centerline is valid? [True, True] Translation: X:8.15, Y:0.03, Z:0.02 [[ 9.99219912e-01 -3.54595191e-02 -1.73836350e-02 8.14917824e+00] [ 3.54630928e-02 9.99370981e-01 -1.02736600e-04 3.29314697e-02] [ 1.73763434e-02 -5.13821007e-04 9.99848888e-01 2.17875137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254154 meters 0.01908927995321498 Centerline is valid? [True, True] Translation: X:8.21, Y:0.03, Z:0.02 [[ 9.99164474e-01 -3.67356899e-02 -1.79121063e-02 8.21112068e+00] [ 3.67397132e-02 9.99324863e-01 -1.04518405e-04 3.11482415e-02] [ 1.79038527e-02 -5.53654570e-04 9.99839560e-01 2.15779377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters 0.019748506221301983 Centerline is valid? [True, True] Translation: X:8.27, Y:0.03, Z:0.02 [[ 9.99068014e-01 -3.79817229e-02 -2.05059044e-02 8.27356170e+00] [ 3.79872907e-02 9.99278215e-01 -1.18073662e-04 2.83983692e-02] [ 2.04955882e-02 -6.61000131e-04 9.99789725e-01 2.04989940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254154 meters 0.020493054594242766 Centerline is valid? [True, True] Translation: X:8.33, Y:0.03, Z:0.02 [[ 9.99036263e-01 -3.81628350e-02 -2.16827930e-02 8.33489627e+00] [ 3.81691516e-02 9.99271285e-01 -1.22612402e-04 2.71213619e-02] [ 2.16716716e-02 -7.05119576e-04 9.99764893e-01 2.04719763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254154 meters 0.021208366061599808 Centerline is valid? [True, True] Translation: X:8.39, Y:0.03, Z:0.02 [[ 9.99033081e-01 -3.83746845e-02 -2.14543022e-02 8.39494882e+00] [ 3.83809394e-02 9.99263173e-01 -1.20298238e-04 2.51566076e-02] [ 2.14431105e-02 -7.03254354e-04 9.99769823e-01 2.12396809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters 0.02101911418629421 Centerline is valid? [True, True] Translation: X:8.46, Y:0.03, Z:0.02 [[ 9.99109859e-01 -3.65973131e-02 -2.09791919e-02 8.45676225e+00] [ 3.66029206e-02 9.99329882e-01 -1.16770885e-04 2.51360230e-02] [ 2.09694069e-02 -6.51232754e-04 9.99779906e-01 2.21627799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters 0.02002942033412509 Centerline is valid? [True, True] Translation: X:8.52, Y:0.03, Z:0.02 [[ 9.99254660e-01 -3.22270211e-02 -2.12495598e-02 8.51695347e+00] [ 3.22317996e-02 9.99480414e-01 -1.17667648e-04 2.66731535e-02] [ 2.12423109e-02 -5.67331609e-04 9.99774196e-01 2.16254165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254154 meters 0.018489770945041867 Centerline is valid? [True, True] Translation: X:8.58, Y:0.03, Z:0.02 [[ 9.99412653e-01 -2.76472504e-02 -2.02479179e-02 8.57737495e+00] [ 2.76506517e-02 9.99617641e-01 -1.12010319e-04 2.89563157e-02] [ 2.02432727e-02 -4.47923596e-04 9.99794984e-01 2.24168837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254154 meters 0.017581428312316332 Centerline is valid? [True, True] Translation: X:8.64, Y:0.03, Z:0.02 [[ 9.99510411e-01 -2.41063814e-02 -1.99454418e-02 8.63733119e+00] [ 2.41089684e-02 9.99709330e-01 -1.10777621e-04 3.08205669e-02] [ 1.99423147e-02 -3.70140640e-04 9.99801064e-01 2.30551103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters 0.01548619555685326 Centerline is valid? [True, True] Translation: X:8.70, Y:0.04, Z:0.03 [[ 9.99597230e-01 -2.09183716e-02 -1.91780747e-02 8.69675413e+00] [ 2.09201638e-02 9.99781144e-01 -1.07193149e-04 3.59700925e-02] [ 1.91761198e-02 -2.94058489e-04 9.99816078e-01 2.62440372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254154 meters 0.01481470855994979 Centerline is valid? [True, True] Translation: X:8.76, Y:0.04, Z:0.03 [[ 9.99702189e-01 -1.56513411e-02 -1.87234734e-02 8.75504211e+00] [ 1.56520635e-02 9.99877493e-01 -1.07969747e-04 3.62736792e-02] [ 1.87228695e-02 -1.85123402e-04 9.99824695e-01 2.57805472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254154 meters 0.014515424043890033 Centerline is valid? [True, True] Translation: X:8.81, Y:0.04, Z:0.03 [[ 9.99782883e-01 -8.78335524e-03 -1.88954772e-02 8.81404036e+00] [ 8.78277323e-03 9.99961424e-01 -1.13787458e-04 3.87464419e-02] [ 1.88957477e-02 -5.21919383e-05 9.99821458e-01 2.53747318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters 0.014575149258138406 Centerline is valid? [True, True] Translation: X:8.87, Y:0.04, Z:0.03 [[ 9.99829742e-01 -2.77031465e-03 -1.82431335e-02 8.87172188e+00] [ 2.76867886e-03 9.99996161e-01 -1.14922238e-04 4.17187693e-02] [ 1.82433818e-02 6.43932933e-05 9.99833574e-01 2.65034672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters 0.015498753704202181 Centerline is valid? [True, True] Translation: X:8.93, Y:0.05, Z:0.03 [[ 9.99824580e-01 6.46824000e-03 -1.75775508e-02 8.93034655e+00] [-6.47126891e-03 9.99979054e-01 -1.15443039e-04 4.53845136e-02] [ 1.75764359e-02 2.29171846e-04 9.99845496e-01 2.73947823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254154 meters 0.01661854245875254 Centerline is valid? [True, True] Translation: X:8.99, Y:0.05, Z:0.03 [[ 9.99787911e-01 1.16506425e-02 -1.69822041e-02 8.98927409e+00] [-1.16542895e-02 9.99932080e-01 -1.15799651e-04 4.63651081e-02] [ 1.69797015e-02 3.13690613e-04 9.99855785e-01 2.74116671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254154 meters 0.016580263559749963 Centerline is valid? [True, True] Translation: X:9.05, Y:0.05, Z:0.03 [[ 9.99783114e-01 1.20753723e-02 -1.69679072e-02 9.04820265e+00] [-1.20791158e-02 9.99927038e-01 -1.18145393e-04 4.54031294e-02] [ 1.69652425e-02 3.23077084e-04 9.99856028e-01 2.78584467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters 0.016512933341360198 Centerline is valid? [True, True] Translation: X:9.11, Y:0.04, Z:0.03 [[ 9.99815641e-01 9.82319966e-03 -1.64981451e-02 9.10623029e+00] [-9.82645443e-03 9.99951712e-01 -1.16226050e-04 4.07413075e-02] [ 1.64962067e-02 2.78322894e-04 9.99863890e-01 2.69233331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254154 meters 0.01553423426351037 Centerline is valid? [True, True] Translation: X:9.17, Y:0.04, Z:0.03 [[ 9.99849437e-01 6.77631106e-03 -1.59745311e-02 9.16558685e+00] [-6.77899115e-03 9.99977016e-01 -1.13629583e-04 3.56696746e-02] [ 1.59733939e-02 2.21903680e-04 9.99872393e-01 2.78923365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254154 meters 0.014963383163578857 Centerline is valid? [True, True] Translation: X:9.22, Y:0.03, Z:0.03 [[ 9.99879547e-01 6.92373476e-04 -1.55051996e-02 9.22450475e+00] [-6.94182657e-04 9.99999753e-01 -1.11300463e-04 2.79587437e-02] [ 1.55051187e-02 1.22050497e-04 9.99879781e-01 2.81868176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters 0.014603033982996892 Centerline is valid? [True, True] Translation: X:9.28, Y:0.02, Z:0.03 [[ 9.99868586e-01 -7.49335015e-03 -1.43757176e-02 9.28228089e+00] [ 7.49262243e-03 9.99971924e-01 -1.04480061e-04 1.90614151e-02] [ 1.43760969e-02 -3.24549306e-06 9.99896659e-01 2.84641683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters 0.014720841408000554 Centerline is valid? [True, True] Translation: X:9.34, Y:0.01, Z:0.03 [[ 9.99823796e-01 -1.37818403e-02 -1.27450752e-02 9.34096583e+00] [ 1.37817653e-02 9.99905023e-01 -9.37182676e-05 1.25620046e-02] [ 1.27451563e-02 -8.19478806e-05 9.99918774e-01 2.99323770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254154 meters 0.016112909734234387 Centerline is valid? [True, True] Translation: X:9.40, Y:0.00, Z:0.03 [[ 9.99633104e-01 -2.44047907e-02 -1.17500419e-02 9.39999412e+00] [ 2.44054518e-02 9.99702139e-01 -8.71358378e-05 1.74118499e-03] [ 1.17486685e-02 -1.99661213e-04 9.99930962e-01 2.97195711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254154 meters 0.01810607496186621 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.01, Z:0.03 [[ 9.99328082e-01 -3.45309549e-02 -1.22881199e-02 9.46103765e+00] [ 3.45324395e-02 9.99403573e-01 -9.14073898e-05 -6.38324832e-03] [ 1.22839474e-02 -3.32992787e-04 9.99924494e-01 2.93381207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters 0.020727154928278445 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.01, Z:0.03 [[ 9.99135263e-01 -3.96343650e-02 -1.25635804e-02 9.52143702e+00] [ 3.96363248e-02 9.99214168e-01 -9.30622487e-05 -1.22458415e-02] [ 1.25573960e-02 -4.04992379e-04 9.99921071e-01 2.86771357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254154 meters 0.022831815336192187 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.02, Z:0.03 [[ 9.98953427e-01 -4.36468123e-02 -1.36750180e-02 9.58141727e+00] [ 4.36495143e-02 9.99046901e-01 -1.00960759e-04 -1.68672862e-02] [ 1.36663910e-02 -4.96052800e-04 9.99906487e-01 2.82825436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254154 meters 0.021015025158613105 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.01, Z:0.03 [[ 9.98919513e-01 -4.42863109e-02 -1.40900235e-02 9.64311305e+00] [ 4.42892487e-02 9.99018744e-01 -1.03613400e-04 -1.34503422e-02] [ 1.40807863e-02 -5.20535109e-04 9.99900725e-01 2.87490507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254154 meters 0.021398257081539508 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.01, Z:0.03 [[ 9.99012091e-01 -4.22424568e-02 -1.37991916e-02 9.70424742e+00] [ 4.22450988e-02 9.99107272e-01 -1.00100093e-04 -1.19157952e-02] [ 1.37911011e-02 -4.82947008e-04 9.99904782e-01 2.85068996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters 0.02033569207282647 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.01, Z:0.03 [[ 9.99071611e-01 -4.09380070e-02 -1.34162189e-02 9.76604059e+00] [ 4.09404060e-02 9.99161586e-01 -9.59002161e-05 -7.85385487e-03] [ 1.34088965e-02 -4.53454264e-04 9.99909994e-01 2.91993195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254154 meters 0.021630807445310516 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.01, Z:0.03 [[ 9.99106167e-01 -4.00229832e-02 -1.36024905e-02 9.82710597e+00] [ 4.00253764e-02 9.99198659e-01 -9.63562526e-05 -6.85890344e-03] [ 1.35954467e-02 -4.48174675e-04 9.99907477e-01 2.89203509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254154 meters 0.020359535920810436 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.00, Z:0.03 [[ 9.99068123e-01 -4.08551859e-02 -1.39189942e-02 9.88926114e+00] [ 4.08577851e-02 9.99164967e-01 -9.76951823e-05 -1.05536181e-03] [ 1.39113627e-02 -4.71095130e-04 9.99903121e-01 3.01942233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters 0.021098276830039932 Centerline is valid? [True, True] Translation: X:9.95, Y:0.00, Z:0.03 [[ 9.99062508e-01 -4.13805768e-02 -1.27181811e-02 9.95092139e+00] [ 4.13827992e-02 9.99143361e-01 -8.84894654e-05 7.81134126e-04] [ 1.27109480e-02 -4.37907428e-04 9.99919117e-01 3.16210601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254154 meters 0.02161418346879713 Centerline is valid? [True, True] Translation: X:10.01, Y:0.00, Z:0.03 [[ 9.99055055e-01 -4.16488951e-02 -1.24244187e-02 1.00134211e+01] [ 4.16510462e-02 9.99132215e-01 -8.56799564e-05 2.43364626e-03] [ 1.24172054e-02 -4.31891044e-04 9.99922810e-01 3.24772446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254154 meters 0.020534611762544765 Centerline is valid? [True, True] Translation: X:10.08, Y:0.01, Z:0.03 [[ 9.99077123e-01 -4.10520112e-02 -1.26346802e-02 1.00755161e+01] [ 4.10541998e-02 9.99156917e-01 -8.62065870e-05 7.21355155e-03] [ 1.26275671e-02 -4.32579655e-04 9.99920176e-01 3.31203874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254154 meters 0.019668859642380743 Centerline is valid? [True, True] Translation: X:10.14, Y:0.01, Z:0.03 [[ 9.99124806e-01 -4.01519307e-02 -1.17236391e-02 1.01373557e+01] [ 4.01537628e-02 9.99193509e-01 -7.91584616e-05 1.12912858e-02] [ 1.17173625e-02 -3.91659041e-04 9.99931273e-01 3.43366063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters 0.01976295904686769 Centerline is valid? [True, True] Translation: X:10.20, Y:0.02, Z:0.04 [[ 9.99130803e-01 -3.98828394e-02 -1.21242797e-02 1.01998911e+01] [ 3.98847902e-02 9.99204282e-01 -8.09416584e-05 1.50503967e-02] [ 1.21178604e-02 -4.02703048e-04 9.99926495e-01 3.54592276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254154 meters 0.02048646470483843 Centerline is valid? [True, True] Translation: X:10.26, Y:0.02, Z:0.04 [[ 9.99056110e-01 -4.16145331e-02 -1.24546916e-02 1.02616262e+01] [ 4.16167408e-02 9.99133645e-01 -8.19723565e-05 1.61864184e-02] [ 1.24473126e-02 -4.36428686e-04 9.99922434e-01 3.55773287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254154 meters 0.02131550772188368 Centerline is valid? [True, True] Translation: X:10.32, Y:0.02, Z:0.04 [[ 9.98963062e-01 -4.39762341e-02 -1.17852602e-02 1.03239625e+01] [ 4.39783880e-02 9.99032480e-01 -7.64595900e-05 1.57178272e-02] [ 1.17772202e-02 -4.41916442e-04 9.99930548e-01 3.66280393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters 0.022695431937351924 Centerline is valid? [True, True] Translation: X:10.38, Y:0.02, Z:0.04 [[ 9.98743076e-01 -4.87079289e-02 -1.18239791e-02 1.03846381e+01] [ 4.87104349e-02 9.98812939e-01 -7.61196928e-05 1.51593398e-02] [ 1.18136510e-02 -4.99927151e-04 9.99930091e-01 3.77836355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254154 meters 0.023949712658628886 Centerline is valid? [True, True] Translation: X:10.45, Y:0.02, Z:0.04 [[ 9.98519500e-01 -5.30482806e-02 -1.20286102e-02 1.04458625e+01] [ 5.30511910e-02 9.98591791e-01 -7.72118454e-05 1.62049161e-02] [ 1.20157673e-02 -5.61034563e-04 9.99927651e-01 3.83997721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254154 meters 0.026623914311932395 Centerline is valid? [True, True] Translation: X:10.51, Y:0.01, Z:0.04 [[ 9.98416837e-01 -5.52267851e-02 -1.06687013e-02 1.05070235e+01] [ 5.52292022e-02 9.98473700e-01 -6.81530665e-05 1.48075563e-02] [ 1.06561815e-02 -5.21178692e-04 9.99943085e-01 3.99859996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254154 meters 0.027715189159240965 Centerline is valid? [True, True] Translation: X:10.57, Y:0.02, Z:0.04 [[ 9.98379153e-01 -5.59906632e-02 -1.02035433e-02 1.05689264e+01] [ 5.59929201e-02 9.98431164e-01 -6.45774260e-05 1.58075550e-02] [ 1.01911513e-02 -5.06853426e-04 9.99947940e-01 4.08091493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters 0.02799173882827462 Centerline is valid? [True, True] Translation: X:10.63, Y:0.02, Z:0.04 [[ 9.98430399e-01 -5.49373476e-02 -1.08915567e-02 1.06312010e+01] [ 5.49398654e-02 9.98489663e-01 -6.81240003e-05 1.80810896e-02] [ 1.08788494e-02 -5.30363588e-04 9.99940683e-01 4.08308271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254154 meters 0.023412430300873872 Centerline is valid? [True, True] Translation: X:10.69, Y:0.03, Z:0.04 [[ 9.98642557e-01 -5.08395671e-02 -1.13305992e-02 1.06919208e+01] [ 5.08420352e-02 9.98706705e-01 -7.02904709e-05 2.86351772e-02] [ 1.13195189e-02 -5.05875669e-04 9.99935804e-01 4.14052253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254154 meters 0.02363688484621872 Centerline is valid? [True, True] Translation: X:10.75, Y:0.03, Z:0.04 [[ 9.98824150e-01 -4.70216067e-02 -1.18019199e-02 1.07529652e+01] [ 4.70240222e-02 9.98893756e-01 -7.28980588e-05 3.06886162e-02] [ 1.17922919e-02 -4.82161401e-04 9.99930352e-01 4.11702076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters 0.020041706789342664 Centerline is valid? [True, True] Translation: X:10.81, Y:0.04, Z:0.04 [[ 9.99086575e-01 -4.06629669e-02 -1.31354294e-02 1.08138090e+01] [ 4.06654154e-02 9.99172817e-01 -8.07419048e-05 4.09068647e-02] [ 1.31278472e-02 -4.53489541e-04 9.99913723e-01 4.12109437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254154 meters 0.01906937167012183 Centerline is valid? [True, True] Translation: X:10.87, Y:0.05, Z:0.04 [[ 9.99239444e-01 -3.55380444e-02 -1.60493175e-02 1.08742809e+01] [ 3.55410447e-02 9.99368213e-01 -9.83290213e-05 4.70586550e-02] [ 1.60426722e-02 -4.72155275e-04 9.99871197e-01 4.04839903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254154 meters 0.0187479265150051 Centerline is valid? [True, True] Translation: X:10.94, Y:0.05, Z:0.04 [[ 9.99268686e-01 -3.38337500e-02 -1.78149058e-02 1.09365396e+01] [ 3.38371930e-02 9.99427352e-01 -1.08208088e-04 4.95899876e-02] [ 1.78083652e-02 -4.94677452e-04 9.99841296e-01 3.97159160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254154 meters 0.01900839204162336 Centerline is valid? [True, True] Translation: X:11.00, Y:0.05, Z:0.04 [[ 9.99264167e-01 -3.33956939e-02 -1.88640431e-02 1.09990788e+01] [ 3.33995025e-02 9.99442075e-01 -1.13204671e-04 5.05593557e-02] [ 1.88572989e-02 -5.16928282e-04 9.99822052e-01 3.91374891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters 0.01879491611218643 Centerline is valid? [True, True] Translation: X:11.06, Y:0.05, Z:0.04 [[ 9.99206319e-01 -3.45727365e-02 -1.97852974e-02 1.10601102e+01] [ 3.45771762e-02 9.99402024e-01 -1.17759415e-04 5.32020544e-02] [ 1.97775375e-02 -5.66453763e-04 9.99804245e-01 4.02136768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254154 meters 0.01996697140559639 Centerline is valid? [True, True] Translation: X:11.12, Y:0.05, Z:0.04 [[ 9.99115090e-01 -3.72350164e-02 -1.95599280e-02 1.11216542e+01] [ 3.72398788e-02 9.99306348e-01 -1.15718575e-04 5.33839181e-02] [ 1.95506690e-02 -6.12793173e-04 9.99808680e-01 4.16378292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254154 meters 0.021043472848371162 Centerline is valid? [True, True] Translation: X:11.18, Y:0.05, Z:0.04 [[ 9.98987948e-01 -4.07017151e-02 -1.91428763e-02 1.11827775e+01] [ 4.07070209e-02 9.99171119e-01 -1.12571739e-04 5.30997097e-02] [ 1.91315910e-02 -6.66791655e-04 9.99816752e-01 4.26217449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254154 meters 0.02118525379250404 Centerline is valid? [True, True] Translation: X:11.24, Y:0.05, Z:0.05 [[ 9.98882438e-01 -4.35754103e-02 -1.83046010e-02 1.12446368e+01] [ 4.35807591e-02 9.99049902e-01 -1.06774231e-04 5.45978764e-02] [ 1.82918625e-02 -6.91073501e-04 9.99832451e-01 4.50198620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254154 meters 0.021252655405240083 Centerline is valid? [True, True] Translation: X:11.31, Y:0.06, Z:0.05 [[ 9.98852454e-01 -4.48185885e-02 -1.68840091e-02 1.13067662e+01] [ 4.48233349e-02 9.98994924e-01 -9.73934065e-05 5.59259276e-02] [ 1.68714044e-02 -6.59515948e-04 9.99857450e-01 4.69460414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254154 meters 0.02261760932511827 Centerline is valid? [True, True] Translation: X:11.37, Y:0.05, Z:0.05 [[ 9.98778526e-01 -4.64558326e-02 -1.68318619e-02 1.13682858e+01] [ 4.64607994e-02 9.98920109e-01 -9.60424363e-05 5.48936239e-02] [ 1.68181471e-02 -6.86096637e-04 9.99858330e-01 4.71799970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254154 meters 0.022554038017562922 Centerline is valid? [True, True] Translation: X:11.43, Y:0.06, Z:0.05 [[ 9.98749663e-01 -4.68737347e-02 -1.73770864e-02 1.14308641e+01] [ 4.68791120e-02 9.98900565e-01 -9.79930042e-05 5.67530236e-02] [ 1.73625748e-02 -7.16751901e-04 9.99849002e-01 4.66969959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters 0.024940769399119062 Centerline is valid? [True, True] Translation: X:11.49, Y:0.06, Z:0.05 [[ 9.98803479e-01 -4.54058656e-02 -1.81636402e-02 1.14923292e+01] [ 4.54115337e-02 9.98968359e-01 -1.00482455e-04 5.58678007e-02] [ 1.81494643e-02 -7.24476533e-04 9.99835022e-01 4.50893687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254154 meters 0.021730303997166685 Centerline is valid? [True, True] Translation: X:11.55, Y:0.06, Z:0.05 [[ 9.98856401e-01 -4.39628953e-02 -1.87923931e-02 1.15543331e+01] [ 4.39687407e-02 9.99032902e-01 -1.02211443e-04 6.25411446e-02] [ 1.87787126e-02 -7.24183307e-04 9.99823402e-01 4.65949057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254154 meters 0.021012171996042772 Centerline is valid? [True, True] Translation: X:11.62, Y:0.07, Z:0.05 [[ 9.98996433e-01 -4.00953332e-02 -1.99622233e-02 1.16160838e+01] [ 4.01011827e-02 9.99195618e-01 -1.07340095e-04 6.67868733e-02] [ 1.99504699e-02 -6.93276391e-04 9.99800729e-01 4.56912356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254154 meters 0.01965741313634356 Centerline is valid? [True, True] Translation: X:11.68, Y:0.07, Z:0.05 [[ 9.99201425e-01 -3.37388988e-02 -2.14055830e-02 1.16754968e+01] [ 3.37441980e-02 9.99430496e-01 -1.13690401e-04 7.46359069e-02] [ 2.13972282e-02 -6.08714619e-04 9.99770868e-01 4.54317791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254154 meters 0.01703295708901911 Centerline is valid? [True, True] Translation: X:11.74, Y:0.08, Z:0.05 [[ 9.99436663e-01 -2.66815812e-02 -2.03580242e-02 1.17363507e+01] [ 2.66849249e-02 9.99643888e-01 -1.07438478e-04 8.47062637e-02] [ 2.03536411e-02 -4.35874393e-04 9.99792748e-01 4.76378749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254154 meters 0.01620969002648588 Centerline is valid? [True, True] Translation: X:11.80, Y:0.09, Z:0.05 [[ 9.99574741e-01 -2.24832178e-02 -1.85699259e-02 1.17967193e+01] [ 2.24852775e-02 9.99747169e-01 -9.78925303e-05 8.97334985e-02] [ 1.85674318e-02 -3.19699038e-04 9.99827559e-01 4.95047754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254154 meters 0.015297193688084423 Centerline is valid? [True, True] Translation: X:11.86, Y:0.10, Z:0.05 [[ 9.99713412e-01 -1.64337059e-02 -1.74077013e-02 1.18563866e+01] [ 1.64345956e-02 9.99864939e-01 -9.19518033e-05 9.59068990e-02] [ 1.74068613e-02 -1.94163080e-04 9.99848470e-01 5.05292273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters 0.014684783935905318 Centerline is valid? [True, True] Translation: X:11.92, Y:0.10, Z:0.05 [[ 9.99750094e-01 -1.35692157e-02 -1.77658742e-02 1.19150857e+01] [ 1.35696378e-02 9.99907924e-01 -9.67927773e-05 1.01096806e-01] [ 1.77655518e-02 -1.44307890e-04 9.99842170e-01 5.22613218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254154 meters 0.014863864331891394 Centerline is valid? [True, True] Translation: X:11.97, Y:0.10, Z:0.05 [[ 9.99723693e-01 -1.52037187e-02 -1.79272143e-02 1.19726081e+01] [ 1.52043621e-02 9.99884402e-01 -1.00412785e-04 9.98587010e-02] [ 1.79266686e-02 -1.72186817e-04 9.99839290e-01 5.18998435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254154 meters 0.015661308545728055 Centerline is valid? [True, True] Translation: X:12.03, Y:0.09, Z:0.05 [[ 9.99605179e-01 -2.15978893e-02 -1.79726893e-02 1.20315789e+01] [ 2.15995436e-02 9.99766697e-01 -1.02087543e-04 9.37984686e-02] [ 1.79707011e-02 -2.86154649e-04 9.99838473e-01 5.20035335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254154 meters 0.017379452677135886 Centerline is valid? [True, True] Translation: X:12.09, Y:0.09, Z:0.05 [[ 9.99465867e-01 -2.72188753e-02 -1.80862894e-02 1.20904809e+01] [ 2.72214543e-02 9.99629422e-01 -1.03627501e-04 8.71763680e-02] [ 1.80824077e-02 -3.88762950e-04 9.99836424e-01 5.14801853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254154 meters 0.018087016339639723 Centerline is valid? [True, True] Translation: X:12.15, Y:0.08, Z:0.05 [[ 9.99340488e-01 -3.20470621e-02 -1.70755592e-02 1.21513843e+01] [ 3.20500643e-02 9.99486260e-01 -9.78755351e-05 8.36951848e-02] [ 1.70699234e-02 -4.49461785e-04 9.99854197e-01 5.29185893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254154 meters 0.018357879675597245 Centerline is valid? [True, True] Translation: X:12.21, Y:0.08, Z:0.05 [[ 9.99274409e-01 -3.42606757e-02 -1.66391763e-02 1.22138206e+01] [ 3.42638472e-02 9.99412818e-01 -9.45265243e-05 8.15884529e-02] [ 1.66326446e-02 -4.75664258e-04 9.99861555e-01 5.40000514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254154 meters 0.01885394581672563 Centerline is valid? [True, True] Translation: X:12.28, Y:0.08, Z:0.06 [[ 9.99285236e-01 -3.45307031e-02 -1.53833759e-02 1.22762303e+01] [ 3.45334625e-02 9.99403538e-01 -8.63081638e-05 7.97344320e-02] [ 1.53771806e-02 -4.44994760e-04 9.99881665e-01 5.54876755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters 0.017617001316314954 Centerline is valid? [True, True] Translation: X:12.34, Y:0.08, Z:0.06 [[ 9.99399700e-01 -3.12987811e-02 -1.48535085e-02 1.23373622e+01] [ 3.13010083e-02 9.99510000e-01 -8.25657747e-05 8.31916812e-02] [ 1.48488145e-02 -3.82413582e-04 9.99889677e-01 5.78057723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254154 meters 0.016002009483812484 Centerline is valid? [True, True] Translation: X:12.40, Y:0.09, Z:0.06 [[ 9.99611027e-01 -2.31900617e-02 -1.54924152e-02 1.23976459e+01] [ 2.31915151e-02 9.99731037e-01 -8.58590971e-05 8.81688976e-02] [ 1.54902394e-02 -2.73466880e-04 9.99879982e-01 5.77155812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254154 meters 0.015075516008722204 Centerline is valid? [True, True] Translation: X:12.46, Y:0.09, Z:0.06 [[ 9.99757746e-01 -1.53341339e-02 -1.57896758e-02 1.24590292e+01] [ 1.53346693e-02 9.99882413e-01 -8.71683857e-05 9.36895773e-02] [ 1.57891558e-02 -1.54982188e-04 9.99875331e-01 5.83417585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254154 meters 0.015143203659325751 Centerline is valid? [True, True] Translation: X:12.52, Y:0.10, Z:0.06 [[ 9.99875098e-01 -1.12942780e-03 -1.57642818e-02 1.25174110e+01] [ 1.12819220e-03 9.99999360e-01 -8.72727947e-05 1.03322286e-01] [ 1.57643702e-02 6.94767545e-05 9.99875732e-01 5.96186621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254154 meters 0.01643731839312483 Centerline is valid? [True, True] Translation: X:12.58, Y:0.11, Z:0.06 [[ 9.99855228e-01 7.61030621e-03 -1.52185934e-02 1.25760730e+01] [-7.61250731e-03 9.99971021e-01 -8.67074006e-05 1.09269487e-01] [ 1.52174925e-02 2.02546501e-04 9.99884187e-01 6.06897751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254154 meters 0.01791310162957372 Centerline is valid? [True, True] Translation: X:12.64, Y:0.11, Z:0.06 [[ 9.99759066e-01 1.62909753e-02 -1.47110477e-02 1.26350653e+01] [-1.62940012e-02 9.99867240e-01 -8.58477153e-05 1.12801909e-01] [ 1.47076961e-02 3.25528861e-04 9.99891783e-01 6.13732930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254154 meters 0.01797521761036125 Centerline is valid? [True, True] Translation: X:12.69, Y:0.11, Z:0.06 [[ 9.99737137e-01 1.67917994e-02 -1.56106407e-02 1.26943177e+01] [-1.67952837e-02 9.99858945e-01 -9.21159351e-05 1.10207696e-01] [ 1.56068920e-02 3.54276861e-04 9.99878142e-01 6.05746200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters 0.016033898259077105 Centerline is valid? [True, True] Translation: X:12.75, Y:0.10, Z:0.06 [[ 9.99839774e-01 9.57838770e-03 -1.51221680e-02 1.27537959e+01] [-9.58084427e-03 9.99954099e-01 -9.00089240e-05 1.02219763e-01] [ 1.51206117e-02 2.34877639e-04 9.99885649e-01 6.14153140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254154 meters 0.015015770833884062 Centerline is valid? [True, True] Translation: X:12.81, Y:0.10, Z:0.06 [[ 9.99897057e-01 1.82112075e-03 -1.42322986e-02 1.28126519e+01] [-1.82252214e-03 9.99998336e-01 -8.54966650e-05 9.62402774e-02] [ 1.42321192e-02 1.11426543e-04 9.99898712e-01 6.21710973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254154 meters 0.014584259331766459 Centerline is valid? [True, True] Translation: X:12.87, Y:0.09, Z:0.06 [[ 9.99886226e-01 -7.45564612e-03 -1.31129437e-02 1.28706575e+01] [ 7.45523970e-03 9.99972206e-01 -7.98765184e-05 8.86644087e-02] [ 1.31131748e-02 -1.78927078e-05 9.99914018e-01 6.23991776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254154 meters 0.015110275452373673 Centerline is valid? [True, True] Translation: X:12.93, Y:0.08, Z:0.06 [[ 9.99779026e-01 -1.70285595e-02 -1.23258563e-02 1.29294793e+01] [ 1.70289149e-02 9.99854995e-01 -7.61221080e-05 7.92882484e-02] [ 1.23253653e-02 -1.33790672e-04 9.99924031e-01 6.22643294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254154 meters 0.017251845463486588 Centerline is valid? [True, True] Translation: X:12.99, Y:0.07, Z:0.06 [[ 9.99467189e-01 -3.07581577e-02 -1.09212517e-02 1.29903362e+01] [ 3.07592517e-02 9.99526820e-01 -6.78300381e-05 6.79314805e-02] [ 1.09181703e-02 -2.68135631e-04 9.99940359e-01 6.27290649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254154 meters 0.02014347575274896 Centerline is valid? [True, True] Translation: X:13.05, Y:0.06, Z:0.06 [[ 9.99116544e-01 -4.04458682e-02 -1.14133324e-02 1.30506440e+01] [ 4.04476953e-02 9.99181655e-01 -7.07967205e-05 5.87038968e-02] [ 1.14068558e-02 -3.90908816e-04 9.99934863e-01 6.26244776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254154 meters 0.02158015731560821 Centerline is valid? [True, True] Translation: X:13.11, Y:0.06, Z:0.06 [[ 9.98988647e-01 -4.34010399e-02 -1.17487362e-02 1.31123205e+01] [ 4.34031836e-02 9.99057635e-01 -7.25689546e-05 5.54335845e-02] [ 1.17408141e-02 -4.37436991e-04 9.99930979e-01 6.25588359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters 0.022038215360403835 Centerline is valid? [True, True] Translation: X:13.17, Y:0.06, Z:0.06 [[ 9.98955581e-01 -4.42446824e-02 -1.14085955e-02 1.31744076e+01] [ 4.42467666e-02 9.99020630e-01 -6.97736988e-05 5.50371629e-02] [ 1.14005094e-02 -4.35092636e-04 9.99934917e-01 6.34868798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254154 meters 0.02198456364780038 Centerline is valid? [True, True] Translation: X:13.24, Y:0.06, Z:0.06 [[ 9.98979418e-01 -4.33861478e-02 -1.25604489e-02 1.32371362e+01] [ 4.33886198e-02 9.99058268e-01 -7.57598799e-05 5.55574535e-02] [ 1.25519073e-02 -4.69297982e-04 9.99921112e-01 6.24979605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254154 meters 0.02063976490021295 Centerline is valid? [True, True] Translation: X:13.30, Y:0.06, Z:0.06 [[ 9.99020844e-01 -4.13559478e-02 -1.57174510e-02 1.32998417e+01] [ 4.13595926e-02 9.99144322e-01 -9.32295534e-05 5.95833284e-02] [ 1.57078575e-02 -5.56929103e-04 9.99876469e-01 6.05674561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254154 meters 0.019744076121392156 Centerline is valid? [True, True] Translation: X:13.36, Y:0.06, Z:0.06 [[ 9.99111077e-01 -3.80494268e-02 -1.81465457e-02 1.33615531e+01] [ 3.80537648e-02 9.99275688e-01 -1.06310133e-04 6.44732022e-02] [ 1.81374470e-02 -5.84328752e-04 9.99835332e-01 5.92755228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254154 meters 0.019383359623731604 Centerline is valid? [True, True] Translation: X:13.42, Y:0.07, Z:0.06 [[ 9.99184235e-01 -3.60366663e-02 -1.82270077e-02 1.34230155e+01] [ 3.60407226e-02 9.99350316e-01 -1.06001609e-04 6.79520697e-02] [ 1.82189858e-02 -5.50999390e-04 9.99833869e-01 6.03188563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254154 meters 0.018690822782121343 Centerline is valid? [True, True] Translation: X:13.48, Y:0.07, Z:0.06 [[ 9.99326562e-01 -3.24539535e-02 -1.71220073e-02 1.34840871e+01] [ 3.24570174e-02 9.99473127e-01 -9.89785772e-05 7.30954720e-02] [ 1.71161984e-02 -4.56817369e-04 9.99853403e-01 6.25048932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254154 meters 0.01684823858756626 Centerline is valid? [True, True] Translation: X:13.55, Y:0.08, Z:0.06 [[ 9.99440337e-01 -2.87707064e-02 -1.70662922e-02 1.35450993e+01] [ 2.87732243e-02 9.99585960e-01 -9.80355740e-05 8.02270822e-02] [ 1.70620466e-02 -3.93071547e-04 9.99854355e-01 6.44130338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254154 meters 0.01602823910513165 Centerline is valid? [True, True] Translation: X:13.61, Y:0.08, Z:0.06 [[ 9.99566591e-01 -2.45849066e-02 -1.61930007e-02 1.36069390e+01] [ 2.45866367e-02 9.99697699e-01 -9.22610732e-05 8.46076038e-02] [ 1.61903738e-02 -3.05910339e-04 9.99868881e-01 6.46419054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254154 meters 0.015451561304328596 Centerline is valid? [True, True] Translation: X:13.67, Y:0.09, Z:0.07 [[ 9.99634818e-01 -2.16750838e-02 -1.61375867e-02 1.36683221e+01] [ 2.16764344e-02 9.99765034e-01 -9.12325535e-05 8.75718002e-02] [ 1.61357724e-02 -2.58606103e-04 9.99869777e-01 6.53439094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254154 meters 0.014927220046188823 Centerline is valid? [True, True] Translation: X:13.73, Y:0.09, Z:0.07 [[ 9.99719465e-01 -1.79724095e-02 -1.54267461e-02 1.37283886e+01] [ 1.79732066e-02 9.99838465e-01 -8.69796349e-05 9.10494343e-02] [ 1.54258174e-02 -1.90312861e-04 9.99880997e-01 6.63538662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254154 meters 0.014619726514997385 Centerline is valid? [True, True] Translation: X:13.79, Y:0.09, Z:0.07 [[ 9.99772465e-01 -1.57674492e-02 -1.43668030e-02 1.37882694e+01] [ 1.57679090e-02 9.99875675e-01 -8.12801824e-05 9.26255251e-02] [ 1.43662985e-02 -1.45272754e-04 9.99896789e-01 6.69598058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254154 meters 0.014607132990124302 Centerline is valid? [True, True] Translation: X:13.85, Y:0.09, Z:0.07 [[ 9.99796585e-01 -1.45330549e-02 -1.39849725e-02 1.38482756e+01] [ 1.45333628e-02 9.99894382e-01 -7.96171921e-05 9.25674106e-02] [ 1.39846525e-02 -1.23647682e-04 9.99902202e-01 6.62624115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254154 meters 0.014540904342968333 Centerline is valid? [True, True] Translation: X:13.91, Y:0.09, Z:0.07 [[ 9.99801317e-01 -1.44479601e-02 -1.37325440e-02 1.39074737e+01] [ 1.44482423e-02 9.99895616e-01 -7.86653167e-05 9.18409222e-02] [ 1.37322471e-02 -1.19761435e-04 9.99905701e-01 6.55094397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254154 meters 0.01484234305573083 Centerline is valid? [True, True] Translation: X:13.97, Y:0.09, Z:0.06 [[ 9.99761896e-01 -1.63628534e-02 -1.44363246e-02 1.39669142e+01] [ 1.63633572e-02 9.99866108e-01 -8.32283873e-05 9.04686026e-02] [ 1.44357536e-02 -1.53018166e-04 9.99895787e-01 6.46939682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254154 meters 0.015222938755592172 Centerline is valid? [True, True] Translation: X:14.03, Y:0.09, Z:0.06 [[ 9.99702068e-01 -1.96445128e-02 -1.44868651e-02 1.40265234e+01] [ 1.96453570e-02 9.99807008e-01 -8.40474447e-05 8.70834860e-02] [ 1.44857203e-02 -2.00577232e-04 9.99895056e-01 6.45632103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254154 meters 0.015741052237809614 Centerline is valid? [True, True] Translation: X:14.09, Y:0.08, Z:0.07 [[ 9.99646292e-01 -2.29482473e-02 -1.34412918e-02 1.40866801e+01] [ 2.29492695e-02 9.99736628e-01 -7.82073684e-05 8.33628961e-02] [ 1.34395465e-02 -2.30288122e-04 9.99909659e-01 6.54965453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254154 meters 0.015969960952190877 Centerline is valid? [True, True] Translation: X:14.15, Y:0.08, Z:0.07 [[ 9.99630570e-01 -2.41660736e-02 -1.24388105e-02 1.41492313e+01] [ 2.41670484e-02 9.99707932e-01 -7.19604475e-05 8.12720149e-02] [ 1.24369165e-02 -2.28675472e-04 9.99922632e-01 6.60637001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254154 meters 0.015730126496672207 Centerline is valid? [True, True] Translation: X:14.21, Y:0.08, Z:0.07 [[ 9.99636632e-01 -2.46444642e-02 -1.09203795e-02 1.42115324e+01] [ 2.46452521e-02 9.99696258e-01 -6.24379773e-05 7.93876808e-02] [ 1.09186012e-02 -2.06720216e-04 9.99940369e-01 6.69747985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999999 meters 0.015666941743403665 Centerline is valid? [True, True] Translation: X:14.27, Y:0.08, Z:0.07 [[ 9.99675172e-01 -2.35487089e-02 -9.74724417e-03 1.42740940e+01] [ 2.35492910e-02 9.99722675e-01 -5.50616705e-05 7.72095567e-02] [ 9.74583765e-03 -1.74496905e-04 9.99952493e-01 6.73268136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254154 meters 0.01556930008860228 Centerline is valid? [True, True] Translation: X:14.34, Y:0.08, Z:0.07 [[ 9.99702117e-01 -2.20992980e-02 -1.03585016e-02 1.43352965e+01] [ 2.20998852e-02 9.99755766e-01 -5.77876829e-05 7.59801963e-02] [ 1.03572487e-02 -1.71151226e-04 9.99946348e-01 6.69366438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254154 meters 0.01582290980796555 Centerline is valid? [True, True] Translation: X:14.40, Y:0.07, Z:0.06 [[ 9.99673097e-01 -2.23000440e-02 -1.25062909e-02 1.43974007e+01] [ 2.23009263e-02 9.99751301e-01 -6.89171807e-05 7.43376715e-02] [ 1.25047174e-02 -2.10007220e-04 9.99921791e-01 6.49907997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254154 meters 0.01558887472541107 Centerline is valid? [True, True] Translation: X:14.46, Y:0.07, Z:0.06 [[ 9.99610841e-01 -2.34139869e-02 -1.51641913e-02 1.44597829e+01] [ 2.34154306e-02 9.99725818e-01 -8.23612388e-05 7.33919677e-02] [ 1.51619619e-02 -2.72746881e-04 9.99885014e-01 6.32030152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254154 meters 0.015611010136426769 Centerline is valid? [True, True] Translation: X:14.52, Y:0.07, Z:0.06 [[ 9.99612738e-01 -2.31739047e-02 -1.54059967e-02 1.45214393e+01] [ 2.31753790e-02 9.99731411e-01 -8.28504800e-05 7.29978934e-02] [ 1.54037787e-02 -2.74221416e-04 9.99881317e-01 6.30268366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254154 meters 0.015271044387137967 Centerline is valid? [True, True] Translation: X:14.58, Y:0.08, Z:0.06 [[ 9.99644390e-01 -2.22476702e-02 -1.47015315e-02 1.45828705e+01] [ 2.22489204e-02 9.99752459e-01 -7.85328305e-05 7.53497099e-02] [ 1.46996395e-02 -2.48588301e-04 9.99891924e-01 6.46094548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254154 meters 0.015271401899411393 Centerline is valid? [True, True] Translation: X:14.64, Y:0.08, Z:0.07 [[ 9.99700791e-01 -2.11801644e-02 -1.22363629e-02 1.46433720e+01] [ 2.11809542e-02 9.99775656e-01 -6.50578298e-05 7.75423174e-02] [ 1.22349957e-02 -1.94139478e-04 9.99925131e-01 6.67164000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999999 meters 0.015823256715055082 Centerline is valid? [True, True] Translation: X:14.70, Y:0.08, Z:0.07 [[ 9.99676122e-01 -2.34302484e-02 -9.93348449e-03 1.47046433e+01] [ 2.34308820e-02 9.99725458e-01 -5.25996366e-05 7.67278749e-02] [ 9.93198976e-03 -1.80167702e-04 9.99950660e-01 6.84500117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254154 meters 0.017756540283814137 Centerline is valid? [True, True] Translation: X:14.76, Y:0.07, Z:0.07 [[ 9.99513995e-01 -2.92687225e-02 -1.07292304e-02 1.47645894e+01] [ 2.92698007e-02 9.99571546e-01 -5.65535209e-05 7.23029359e-02] [ 1.07262887e-02 -2.57516401e-04 9.99942439e-01 6.71588700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999998 meters 0.01806326817455868 Centerline is valid? [True, True] Translation: X:14.83, Y:0.07, Z:0.07 [[ 9.99447784e-01 -3.12890985e-02 -1.11856538e-02 1.48271793e+01] [ 3.12904004e-02 9.99510334e-01 -5.86396763e-05 7.19457083e-02] [ 1.11820113e-02 -2.91396291e-04 9.99937437e-01 6.69279423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters 0.019417307163463748 Centerline is valid? [True, True] Translation: X:14.89, Y:0.07, Z:0.07 [[ 9.99248848e-01 -3.68716272e-02 -1.19257283e-02 1.48880588e+01] [ 3.68735115e-02 9.99319939e-01 -6.19136863e-05 7.07640422e-02] [ 1.19199009e-02 -3.77876299e-04 9.99928884e-01 6.66199861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254154 meters 0.01970569736322956 Centerline is valid? [True, True] Translation: X:14.95, Y:0.07, Z:0.07 [[ 9.99150085e-01 -3.94313656e-02 -1.20114422e-02 1.49501477e+01] [ 3.94334681e-02 9.99222196e-01 -6.18431503e-05 7.22614345e-02] [ 1.20045382e-02 -4.11862232e-04 9.99927858e-01 6.72553961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters 0.02013189228910029 Centerline is valid? [True, True] Translation: X:15.01, Y:0.07, Z:0.07 [[ 9.99127195e-01 -4.02004445e-02 -1.13478276e-02 1.50119746e+01] [ 4.02023798e-02 9.99191556e-01 -5.76138960e-05 7.37901404e-02] [ 1.13409696e-02 -3.98646063e-04 9.99935610e-01 6.83595723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters 0.023113051570718083 Centerline is valid? [True, True] Translation: X:15.07, Y:0.07, Z:0.07 [[ 9.99134776e-01 -4.02026384e-02 -1.06511540e-02 1.50737108e+01] [ 4.02043522e-02 9.99191477e-01 -5.32527988e-05 7.15069293e-02] [ 1.06446832e-02 -3.75016024e-04 9.99943273e-01 6.90400668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254154 meters 0.020105788922268115 Centerline is valid? [True, True] Translation: X:15.14, Y:0.08, Z:0.07 [[ 9.99199513e-01 -3.86979014e-02 -1.01393511e-02 1.51358703e+01] [ 3.86993855e-02 9.99250897e-01 -4.98620483e-05 7.90690561e-02] [ 1.01336852e-02 -3.42564523e-04 9.99948594e-01 7.07294261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters 0.020768761539872203 Centerline is valid? [True, True] Translation: X:15.20, Y:0.08, Z:0.07 [[ 9.99264446e-01 -3.70740695e-02 -9.80206661e-03 1.51968107e+01] [ 3.70753874e-02 9.99312470e-01 -4.72861306e-05 8.04681530e-02] [ 9.79708049e-03 -3.16164068e-04 9.99951957e-01 7.17229370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters 0.019474493034892584 Centerline is valid? [True, True] Translation: X:15.26, Y:0.08, Z:0.07 [[ 9.99292784e-01 -3.63170234e-02 -9.74711440e-03 1.52594822e+01] [ 3.63183027e-02 9.99340272e-01 -4.57837228e-05 8.47588911e-02] [ 9.74234668e-03 -3.08247307e-04 9.99952495e-01 7.31203427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254154 meters 0.01959292777521628 Centerline is valid? [True, True] Translation: X:15.32, Y:0.08, Z:0.07 [[ 9.99355782e-01 -3.43827055e-02 -1.02884129e-02 1.53205700e+01] [ 3.43840371e-02 9.99408693e-01 -4.74823377e-05 8.49711734e-02] [ 1.02839619e-02 -3.06305423e-04 9.99947072e-01 7.23631778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters 0.018814249918631062 Centerline is valid? [True, True] Translation: X:15.38, Y:0.09, Z:0.07 [[ 9.99456210e-01 -3.12645973e-02 -1.04790093e-02 1.53824242e+01] [ 3.12658141e-02 9.99511104e-01 -4.77254287e-05 8.67124719e-02] [ 1.04753783e-02 -2.79935280e-04 9.99945093e-01 7.23924488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254154 meters 0.01583798026358583 Centerline is valid? [True, True] Translation: X:15.44, Y:0.10, Z:0.07 [[ 9.99691147e-01 -2.24234608e-02 -1.07143894e-02 1.54435292e+01] [ 2.24242312e-02 9.99748544e-01 -4.82401528e-05 9.57401759e-02] [ 1.07127769e-02 -1.92036691e-04 9.99942598e-01 7.38367157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254154 meters 0.014317947756323085 Centerline is valid? [True, True] Translation: X:15.51, Y:0.10, Z:0.07 [[ 9.99894380e-01 -1.01242752e-02 -1.04272223e-02 1.55054593e+01] [ 1.01243396e-02 9.99948746e-01 -4.66181700e-05 1.04915289e-01] [ 1.04271599e-02 -5.89554935e-05 9.99945634e-01 7.44221115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters 0.014259182161436346 Centerline is valid? [True, True] Translation: X:15.56, Y:0.11, Z:0.07 [[ 9.99950368e-01 -2.12054833e-03 -9.73467308e-03 1.55643736e+01] [ 2.12022671e-03 9.99997751e-01 -4.33582321e-05 1.09780027e-01] [ 9.73474313e-03 2.27163663e-05 9.99952616e-01 7.48053996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254154 meters 0.01499009269408221 Centerline is valid? [True, True] Translation: X:15.62, Y:0.11, Z:0.08 [[ 9.99943210e-01 6.09444576e-03 -8.74267967e-03 1.56217040e+01] [-6.09502429e-03 9.99981424e-01 -3.95310087e-05 1.14320449e-01] [ 8.74227635e-03 9.28156087e-05 9.99961781e-01 7.53437263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999998 meters 0.015092156043108807 Centerline is valid? [True, True] Translation: X:15.68, Y:0.11, Z:0.08 [[ 9.99940217e-01 8.07801971e-03 -7.36934238e-03 1.56801140e+01] [-8.07848941e-03 9.99967368e-01 -3.39726381e-05 1.13169816e-01] [ 7.36882747e-03 9.35037615e-05 9.99972845e-01 7.66178967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters 0.014705150897466199 Centerline is valid? [True, True] Translation: X:15.74, Y:0.11, Z:0.08 [[ 9.99957999e-01 5.95938336e-03 -6.96321335e-03 1.57388061e+01] [-5.95975468e-03 9.99982240e-01 -3.25782571e-05 1.09922969e-01] [ 6.96289553e-03 7.40759321e-05 9.99975756e-01 7.64720105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254154 meters 0.014189929752275125 Centerline is valid? [True, True] Translation: X:15.80, Y:0.10, Z:0.08 [[ 9.99970385e-01 -9.04013134e-04 -7.64282199e-03 1.57972835e+01] [ 9.03761656e-04 9.99999591e-01 -3.63574644e-05 1.02211637e-01] [ 7.64285173e-03 2.94490982e-05 9.99970793e-01 7.57888158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters 0.014188102518585122 Centerline is valid? [True, True] Translation: X:15.86, Y:0.09, Z:0.07 [[ 9.99917728e-01 -9.02139722e-03 -9.11875882e-03 1.58563031e+01] [ 9.02136996e-03 9.99959306e-01 -4.41232914e-05 9.17717905e-02] [ 9.11878579e-03 -3.81440356e-05 9.99958422e-01 7.38398272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters 0.015200818005490746 Centerline is valid? [True, True] Translation: X:15.92, Y:0.08, Z:0.07 [[ 9.99803172e-01 -1.70103633e-02 -1.02110118e-02 1.59155924e+01] [ 1.70107383e-02 9.99855306e-01 -5.01385737e-05 8.10650037e-02] [ 1.02103872e-02 -1.23568143e-04 9.99947865e-01 7.24281750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254154 meters 0.016192440197419233 Centerline is valid? [True, True] Translation: X:15.98, Y:0.07, Z:0.07 [[ 9.99691530e-01 -2.28182385e-02 -9.80678084e-03 1.59765532e+01] [ 2.28188621e-02 9.99739615e-01 -4.83093605e-05 7.21380745e-02] [ 9.80532963e-03 -1.75485122e-04 9.99951911e-01 7.25288679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters 0.016593188838229817 Centerline is valid? [True, True] Translation: X:16.04, Y:0.07, Z:0.07 [[ 9.99644480e-01 -2.49792277e-02 -9.32475504e-03 1.60384493e+01] [ 2.49798910e-02 9.99687953e-01 -4.53509218e-05 6.77807724e-02] [ 9.32297811e-03 -1.87596566e-04 9.99956522e-01 7.33956365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254154 meters 0.01748535875526803 Centerline is valid? [True, True] Translation: X:16.10, Y:0.06, Z:0.07 [[ 9.99584968e-01 -2.73188197e-02 -9.14191881e-03 1.60994497e+01] [ 2.73195606e-02 9.99626750e-01 -4.38526914e-05 6.17423857e-02] [ 9.13970459e-03 -2.05918714e-04 9.99958211e-01 7.41227009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254154 meters 0.01816877801107069 Centerline is valid? [True, True] Translation: X:16.16, Y:0.06, Z:0.07 [[ 9.99480762e-01 -3.04611233e-02 -1.05035941e-02 1.61616256e+01] [ 3.04622820e-02 9.99535916e-01 -4.96953481e-05 5.63178891e-02] [ 1.05002333e-02 -2.70293901e-04 9.99944834e-01 7.33280907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters 0.018084729171786395 Centerline is valid? [True, True] Translation: X:16.22, Y:0.05, Z:0.07 [[ 9.99399688e-01 -3.23996886e-02 -1.22688532e-02 1.62237677e+01] [ 3.24014274e-02 9.99474934e-01 -5.70682947e-05 5.37975919e-02] [ 1.22642603e-02 -3.40494321e-04 9.99924733e-01 7.24682166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254154 meters 0.019094044959802974 Centerline is valid? [True, True] Translation: X:16.29, Y:0.05, Z:0.07 [[ 9.99286096e-01 -3.48091548e-02 -1.46840456e-02 1.62858903e+01] [ 3.48119230e-02 9.99393879e-01 -6.71228812e-05 4.95394357e-02] [ 1.46774817e-02 -4.44104901e-04 9.99892181e-01 7.12756808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999998 meters 0.01891154604163416 Centerline is valid? [True, True] Translation: X:16.35, Y:0.05, Z:0.07 [[ 9.99199493e-01 -3.67549255e-02 -1.57939244e-02 1.63474927e+01] [ 3.67583873e-02 9.99324180e-01 -7.11531633e-05 4.77258287e-02] [ 1.57858658e-02 -5.09462986e-04 9.99875266e-01 7.13522667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters 0.021819196221451197 Centerline is valid? [True, True] Translation: X:16.41, Y:0.04, Z:0.07 [[ 9.99183743e-01 -3.70203293e-02 -1.61661188e-02 1.64082713e+01] [ 3.70240169e-02 9.99314374e-01 -7.12199300e-05 4.21156993e-02] [ 1.61576715e-02 -5.27372860e-04 9.99869317e-01 7.08766677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254154 meters 0.019956334209033606 Centerline is valid? [True, True] Translation: X:16.47, Y:0.05, Z:0.07 [[ 9.99202163e-01 -3.72822792e-02 -1.43202576e-02 1.64706238e+01] [ 3.72852185e-02 9.99304663e-01 -6.17604083e-05 4.62440300e-02] [ 1.43126028e-02 -4.72222801e-04 9.99897458e-01 7.36945253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999998 meters 0.020095855082068015 Centerline is valid? [True, True] Translation: X:16.53, Y:0.05, Z:0.08 [[ 9.99174624e-01 -3.84443621e-02 -1.31187750e-02 1.65326677e+01] [ 3.84469411e-02 9.99260641e-01 -5.56534595e-05 4.63184464e-02] [ 1.31112151e-02 -4.48769244e-04 9.99913944e-01 7.51742907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters 0.020475143971767282 Centerline is valid? [True, True] Translation: X:16.60, Y:0.05, Z:0.08 [[ 9.99140526e-01 -3.95643177e-02 -1.23642308e-02 1.65951659e+01] [ 3.95667050e-02 9.99216930e-01 -5.15689469e-05 4.62603983e-02] [ 1.23565890e-02 -4.37687248e-04 9.99923559e-01 7.60921886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254154 meters 0.02117985000257245 Centerline is valid? [True, True] Translation: X:16.66, Y:0.04, Z:0.08 [[ 9.99061181e-01 -4.15019086e-02 -1.24237111e-02 1.66572579e+01] [ 4.15044799e-02 9.99138317e-01 -5.09008499e-05 4.45783414e-02] [ 1.24151183e-02 -4.64786604e-04 9.99922821e-01 7.62504829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters 0.022796157743989975 Centerline is valid? [True, True] Translation: X:16.72, Y:0.04, Z:0.07 [[ 9.98981225e-01 -4.27938094e-02 -1.43248779e-02 1.67188503e+01] [ 4.27973747e-02 9.99083771e-01 -5.77082144e-05 4.22578885e-02] [ 1.43142226e-02 -5.55417744e-04 9.99897392e-01 7.44114099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters 0.023008513842834012 Centerline is valid? [True, True] Translation: X:16.78, Y:0.04, Z:0.07 [[ 9.98976832e-01 -4.28316892e-02 -1.45167497e-02 1.67807815e+01] [ 4.28353682e-02 9.99082143e-01 -5.75533491e-05 4.25508209e-02] [ 1.45058905e-02 -5.64335855e-04 9.99894625e-01 7.45832344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254154 meters 0.022349373007611174 Centerline is valid? [True, True] Translation: X:16.84, Y:0.04, Z:0.08 [[ 9.99033123e-01 -4.15146163e-02 -1.44690998e-02 1.68428820e+01] [ 4.15181481e-02 9.99137748e-01 -5.63294562e-05 4.47605479e-02] [ 1.44589623e-02 -5.44455235e-04 9.99895316e-01 7.57288008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters 0.021300513130475048 Centerline is valid? [True, True] Translation: X:16.91, Y:0.05, Z:0.08 [[ 9.99115041e-01 -3.97774356e-02 -1.36708115e-02 1.69050841e+01] [ 3.97804391e-02 9.99208444e-01 -5.22615815e-05 4.83852147e-02] [ 1.36620691e-02 -4.91615552e-04 9.99906549e-01 7.69253429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254154 meters 0.021172447731981018 Centerline is valid? [True, True] Translation: X:16.97, Y:0.05, Z:0.08 [[ 9.99155232e-01 -3.88636847e-02 -1.33580021e-02 1.69675865e+01] [ 3.88664836e-02 9.99244412e-01 -5.01096396e-05 5.02618152e-02] [ 1.33498564e-02 -4.69111260e-04 9.99910777e-01 7.69187062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254154 meters 0.02241560437851756 Centerline is valid? [True, True] Translation: X:17.03, Y:0.05, Z:0.08 [[ 9.99133096e-01 -3.92611878e-02 -1.38425618e-02 1.70287092e+01] [ 3.92642437e-02 9.99228861e-01 -5.10447095e-05 5.04518124e-02] [ 1.38338913e-02 -4.92517261e-04 9.99904186e-01 7.70058645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters 0.021601495726150294 Centerline is valid? [True, True] Translation: X:17.09, Y:0.05, Z:0.08 [[ 9.99074058e-01 -4.11963178e-02 -1.24052572e-02 1.70905436e+01] [ 4.11989301e-02 9.99150963e-01 -4.50066310e-05 5.43347609e-02] [ 1.23965787e-02 -4.66118364e-04 9.99923051e-01 7.90445202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254154 meters 0.022739277843193413 Centerline is valid? [True, True] Translation: X:17.15, Y:0.05, Z:0.08 [[ 9.98937699e-01 -4.47530889e-02 -1.09833926e-02 1.71513740e+01] [ 4.47553585e-02 9.98997976e-01 -3.91872006e-05 5.47444412e-02] [ 1.09741408e-02 -4.52420103e-04 9.99939680e-01 8.07954256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999998 meters 0.02484256256582395 Centerline is valid? [True, True] Translation: X:17.21, Y:0.05, Z:0.08 [[ 9.98807510e-01 -4.74205074e-02 -1.16126231e-02 1.72126727e+01] [ 4.74232318e-02 9.98874885e-01 -4.07956054e-05 5.37102317e-02] [ 1.16014921e-02 -5.09961160e-04 9.99932570e-01 8.14089756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters 0.024150225772171584 Centerline is valid? [True, True] Translation: X:17.28, Y:0.06, Z:0.08 [[ 9.98754859e-01 -4.83106755e-02 -1.24422780e-02 1.72750653e+01] [ 4.83138821e-02 9.98832202e-01 -4.29042210e-05 5.66725454e-02] [ 1.24298207e-02 -5.58283955e-04 9.99922591e-01 8.15368089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254154 meters 0.022640682636061775 Centerline is valid? [True, True] Translation: X:17.34, Y:0.06, Z:0.08 [[ 9.98751683e-01 -4.79934783e-02 -1.38456348e-02 1.73382147e+01] [ 4.79974376e-02 9.98847458e-01 -4.63852782e-05 6.11243844e-02] [ 1.38319033e-02 -6.18227616e-04 9.99904144e-01 8.19517938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999998 meters 0.023677034632835704 Centerline is valid? [True, True] Translation: X:17.40, Y:0.06, Z:0.08 [[ 9.98773339e-01 -4.74766111e-02 -1.40637355e-02 1.73997593e+01] [ 4.74806615e-02 9.98872156e-01 -4.59348688e-05 6.10825890e-02] [ 1.40500547e-02 -6.21876944e-04 9.99901100e-01 8.20668345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters 0.022397687883757126 Centerline is valid? [True, True] Translation: X:17.46, Y:0.06, Z:0.08 [[ 9.98817132e-01 -4.63425834e-02 -1.47207682e-02 1.74618049e+01] [ 4.63469129e-02 9.98925403e-01 -4.70907760e-05 6.47032830e-02] [ 1.47071316e-02 -6.35227089e-04 9.99891643e-01 8.28381009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254154 meters 0.023241837012980136 Centerline is valid? [True, True] Translation: X:17.52, Y:0.07, Z:0.08 [[ 9.98946605e-01 -4.31051006e-02 -1.57362781e-02 1.75220633e+01] [ 4.31096581e-02 9.99070345e-01 -4.96336465e-05 6.61987514e-02] [ 1.57237883e-02 -6.28804209e-04 9.99876176e-01 8.21789895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters 0.020710500583782515 Centerline is valid? [True, True] Translation: X:17.58, Y:0.07, Z:0.08 [[ 9.99162378e-01 -3.74721876e-02 -1.64431699e-02 1.75827243e+01] [ 3.74764071e-02 9.99297511e-01 -5.15564546e-05 7.31561605e-02] [ 1.64335507e-02 -5.64717659e-04 9.99864801e-01 8.24480327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters 0.018203525821190492 Centerline is valid? [True, True] Translation: X:17.64, Y:0.08, Z:0.08 [[ 9.99360927e-01 -3.10006884e-02 -1.77959005e-02 1.76431175e+01] [ 3.10046081e-02 9.99519240e-01 -5.56664261e-05 8.16095256e-02] [ 1.77890706e-02 -4.96124069e-04 9.99841639e-01 8.29174445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254154 meters 0.017311132761389687 Centerline is valid? [True, True] Translation: X:17.70, Y:0.09, Z:0.08 [[ 9.99509504e-01 -2.50217615e-02 -1.88325057e-02 1.77034456e+01] [ 2.50251129e-02 9.99686821e-01 -5.77187912e-05 8.79232451e-02] [ 1.88280520e-02 -4.13595102e-04 9.99822651e-01 8.23894052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters 0.015936730237204513 Centerline is valid? [True, True] Translation: X:17.76, Y:0.09, Z:0.08 [[ 9.99580384e-01 -2.15305469e-02 -1.93776059e-02 1.77636971e+01] [ 2.15334526e-02 9.99768127e-01 -5.87114097e-05 9.38263974e-02] [ 1.93743768e-02 -3.58579984e-04 9.99812235e-01 8.35491507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254154 meters 0.015653373167202892 Centerline is valid? [True, True] Translation: X:17.82, Y:0.10, Z:0.08 [[ 9.99617552e-01 -1.89400341e-02 -2.01500464e-02 1.78219324e+01] [ 1.89425818e-02 9.99820571e-01 -6.44375908e-05 9.77353773e-02] [ 2.01476513e-02 -3.17280955e-04 9.99796965e-01 8.34616599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999998 meters 0.015256152094569623 Centerline is valid? [True, True] Translation: X:17.88, Y:0.10, Z:0.09 [[ 9.99616343e-01 -1.91185739e-02 -2.00411085e-02 1.78795282e+01] [ 1.91210167e-02 9.99817174e-01 -6.97469810e-05 1.00861924e-01] [ 2.00387779e-02 -3.13486147e-04 9.99799154e-01 8.51856012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters 0.015746705554985765 Centerline is valid? [True, True] Translation: X:17.94, Y:0.10, Z:0.09 [[ 9.99586552e-01 -2.14666639e-02 -1.91286894e-02 1.79386453e+01] [ 2.14692211e-02 9.99769507e-01 -7.16870935e-05 1.01744825e-01] [ 1.91258192e-02 -3.39020606e-04 9.99817027e-01 8.61859347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254154 meters 0.016674725902636644 Centerline is valid? [True, True] Translation: X:18.00, Y:0.10, Z:0.09 [[ 9.99502500e-01 -2.62782397e-02 -1.74415238e-02 1.79979032e+01] [ 2.62810559e-02 9.99654591e-01 -6.77630912e-05 1.00299387e-01] [ 1.74372800e-02 -3.90652283e-04 9.99847883e-01 8.73325163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999998 meters 0.01868051151058702 Centerline is valid? [True, True] Translation: X:18.06, Y:0.10, Z:0.09 [[ 9.99308004e-01 -3.28638648e-02 -1.74206703e-02 1.80585756e+01] [ 3.28676685e-02 9.99459710e-01 -6.79994958e-05 9.74662748e-02] [ 1.74134928e-02 -5.04624375e-04 9.99848246e-01 8.75668735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters 0.020106666364312003 Centerline is valid? [True, True] Translation: X:18.12, Y:0.09, Z:0.09 [[ 9.99053162e-01 -3.97128514e-02 -1.77670636e-02 1.81195331e+01] [ 3.97178953e-02 9.99210931e-01 -6.90225213e-05 9.49509178e-02] [ 1.77557852e-02 -6.36713202e-04 9.99842151e-01 8.75345838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254154 meters 0.021303565189393737 Centerline is valid? [True, True] Translation: X:18.18, Y:0.09, Z:0.09 [[ 9.99014812e-01 -4.01502870e-02 -1.89039754e-02 1.81804406e+01] [ 4.01560906e-02 9.99193416e-01 -7.26357162e-05 9.23904397e-02] [ 1.88916441e-02 -6.86545593e-04 9.99821301e-01 8.52718865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999998 meters 0.02017594116742759 Centerline is valid? [True, True] Translation: X:18.24, Y:0.10, Z:0.09 [[ 9.99161934e-01 -3.66131005e-02 -1.83005356e-02 1.82423568e+01] [ 3.66179657e-02 9.99329335e-01 -6.92783799e-05 9.64665079e-02] [ 1.82907985e-02 -6.00908065e-04 9.99832529e-01 8.65361149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters 0.01785162892109484 Centerline is valid? [True, True] Translation: X:18.30, Y:0.11, Z:0.09 [[ 9.99453732e-01 -2.84074597e-02 -1.68894580e-02 1.83024806e+01] [ 2.84104371e-02 9.99596340e-01 -6.36692876e-05 1.06251493e-01] [ 1.68844491e-02 -4.16202377e-04 9.99857361e-01 8.92511092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254154 meters 0.01625122718124506 Centerline is valid? [True, True] Translation: X:18.36, Y:0.11, Z:0.09 [[ 9.99645263e-01 -2.14273669e-02 -1.58182249e-02 1.83623541e+01] [ 2.14291040e-02 9.99770369e-01 -5.96906586e-05 1.12593093e-01] [ 1.58158716e-02 -2.79300902e-04 9.99874882e-01 8.91844856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters 0.014912901866812045 Centerline is valid? [True, True] Translation: X:18.42, Y:0.12, Z:0.09 [[ 9.99710058e-01 -1.77651882e-02 -1.62541493e-02 1.84233542e+01] [ 1.77665372e-02 9.99842161e-01 -6.14087871e-05 1.17338129e-01] [ 1.62526747e-02 -2.27388967e-04 9.99867891e-01 8.93011382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254154 meters 0.014669417204336087 Centerline is valid? [True, True] Translation: X:18.48, Y:0.12, Z:0.09 [[ 9.99721020e-01 -1.64193452e-02 -1.69790281e-02 1.84832931e+01] [ 1.64206160e-02 9.99865171e-01 -6.45784273e-05 1.18259580e-01] [ 1.69777991e-02 -2.14245688e-04 9.99855844e-01 8.88247864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254154 meters 0.01515457300993784 Centerline is valid? [True, True] Translation: X:18.54, Y:0.12, Z:0.09 [[ 9.99683499e-01 -1.75437748e-02 -1.80310065e-02 1.85414560e+01] [ 1.75453713e-02 9.99846066e-01 -6.96604070e-05 1.17031228e-01] [ 1.80294530e-02 -2.46722344e-04 9.99837426e-01 8.79531728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters 0.015701674939585835 Centerline is valid? [True, True] Translation: X:18.60, Y:0.11, Z:0.09 [[ 9.99593499e-01 -2.06500121e-02 -1.96574135e-02 1.85998577e+01] [ 2.06524362e-02 9.99786713e-01 -7.97015829e-05 1.13453943e-01] [ 1.96548666e-02 -3.26304294e-04 9.99806771e-01 8.66642006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254154 meters 0.01622535968150544 Centerline is valid? [True, True] Translation: X:18.66, Y:0.11, Z:0.09 [[ 9.99549578e-01 -2.36082834e-02 -1.85280878e-02 1.86581829e+01] [ 2.36108604e-02 9.99721222e-01 -7.96827198e-05 1.11071719e-01] [ 1.85248038e-02 -3.57817267e-04 9.99828337e-01 8.75497413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999998 meters 0.016155590169508446 Centerline is valid? [True, True] Translation: X:18.72, Y:0.11, Z:0.09 [[ 9.99558105e-01 -2.38473063e-02 -1.77454615e-02 1.87186400e+01] [ 2.38496790e-02 9.99715553e-01 -7.79392823e-05 1.11178609e-01] [ 1.77422725e-02 -3.45318720e-04 9.99842534e-01 8.89453417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters 0.016303846820444542 Centerline is valid? [True, True] Translation: X:18.78, Y:0.11, Z:0.09 [[ 9.99608495e-01 -2.38897212e-02 -1.45649443e-02 1.87787723e+01] [ 2.38913316e-02 9.99714559e-01 -6.34472136e-05 1.10621714e-01] [ 1.45623026e-02 -2.84553539e-04 9.99893924e-01 9.18755472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254154 meters 0.017023930591602794 Centerline is valid? [True, True] Translation: X:18.84, Y:0.11, Z:0.09 [[ 9.99607245e-01 -2.53621583e-02 -1.19212304e-02 1.88394491e+01] [ 2.53633483e-02 9.99678297e-01 -5.13816382e-05 1.07905534e-01] [ 1.19186985e-02 -2.51000861e-04 9.99928938e-01 9.33559810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999998 meters 0.01822087072043831 Centerline is valid? [True, True] Translation: X:18.90, Y:0.11, Z:0.09 [[ 9.99560268e-01 -2.74912516e-02 -1.11131036e-02 1.89008220e+01] [ 2.74924247e-02 9.99622011e-01 -4.72258885e-05 1.05141441e-01] [ 1.11102012e-02 -2.58321041e-04 9.99938246e-01 9.39014196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters 0.01744805564625553 Centerline is valid? [True, True] Translation: X:18.96, Y:0.11, Z:0.09 [[ 9.99531838e-01 -2.86761435e-02 -1.06669716e-02 1.89626087e+01] [ 2.86773018e-02 9.99588721e-01 -4.43821687e-05 1.06339385e-01] [ 1.06638572e-02 -2.61538572e-04 9.99943105e-01 9.47093037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254154 meters 0.0177337368868068 Centerline is valid? [True, True] Translation: X:19.02, Y:0.10, Z:0.09 [[ 9.99446486e-01 -3.11634813e-02 -1.16430094e-02 1.90243840e+01] [ 3.11650393e-02 9.99514251e-01 -4.76416110e-05 1.03638119e-01] [ 1.16388385e-02 -3.15239605e-04 9.99932217e-01 9.36651535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999997 meters 0.018724659163816028 Centerline is valid? [True, True] Translation: X:19.09, Y:0.10, Z:0.09 [[ 9.99359506e-01 -3.29498170e-02 -1.39602020e-02 1.90866038e+01] [ 3.29522447e-02 9.99456926e-01 -5.61518330e-05 1.00213666e-01] [ 1.39544708e-02 -4.03904123e-04 9.99902550e-01 9.16834446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters 0.018388034874643334 Centerline is valid? [True, True] Translation: X:19.15, Y:0.10, Z:0.09 [[ 9.99394215e-01 -3.15221880e-02 -1.47497614e-02 1.91486710e+01] [ 3.15247589e-02 9.99502970e-01 -5.82282534e-05 1.01657329e-01] [ 1.47442658e-02 -4.06789692e-04 9.99891215e-01 9.23899713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254154 meters 0.017102883312057292 Centerline is valid? [True, True] Translation: X:19.21, Y:0.10, Z:0.09 [[ 9.99549099e-01 -2.66652360e-02 -1.38045080e-02 1.92097386e+01] [ 2.66670348e-02 9.99644370e-01 -5.37819046e-05 1.04820974e-01] [ 1.38010328e-02 -3.14367640e-04 9.99904712e-01 9.43840764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters 0.015647568013335385 Centerline is valid? [True, True] Translation: X:19.27, Y:0.11, Z:0.09 [[ 9.99715184e-01 -1.92694826e-02 -1.40796873e-02 1.92703651e+01] [ 1.92706277e-02 9.99814303e-01 -5.43415089e-05 1.09197987e-01] [ 1.40781199e-02 -2.16998381e-04 9.99900875e-01 9.42409540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254154 meters 0.014481288472204193 Centerline is valid? [True, True] Translation: X:19.33, Y:0.12, Z:0.10 [[ 9.99810840e-01 -1.27907517e-02 -1.46520094e-02 1.93313164e+01] [ 1.27913020e-02 9.99918186e-01 -5.61559947e-05 1.15049776e-01] [ 1.46515290e-02 -1.31272906e-04 9.99892652e-01 9.53613114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999998 meters 0.014318015906524805 Centerline is valid? [True, True] Translation: X:19.39, Y:0.13, Z:0.10 [[ 9.99883502e-01 -4.93204894e-04 -1.52558020e-02 1.93903417e+01] [ 4.92339246e-04 9.99999877e-01 -6.04978940e-05 1.25049062e-01] [ 1.52558300e-02 5.29798160e-05 9.99883622e-01 9.71775977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters 0.015175739864742892 Centerline is valid? [True, True] Translation: X:19.45, Y:0.13, Z:0.10 [[ 9.99842731e-01 8.18042099e-03 -1.57351237e-02 1.94492429e+01] [-8.18247916e-03 9.99966521e-01 -6.64243738e-05 1.31365056e-01] [ 1.57340535e-02 1.95166249e-04 9.99876193e-01 9.85074269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254154 meters 0.01772399732334914 Centerline is valid? [True, True] Translation: X:19.51, Y:0.14, Z:0.10 [[ 9.99672823e-01 1.98426801e-02 -1.61404813e-02 1.95080165e+01] [-1.98463983e-02 9.99803038e-01 -7.02082734e-05 1.38679567e-01] [ 1.61359091e-02 3.90515723e-04 9.99869731e-01 9.92434539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999998 meters 0.018646440079129082 Centerline is valid? [True, True] Translation: X:19.57, Y:0.14, Z:0.10 [[ 9.99555177e-01 2.48680507e-02 -1.64629543e-02 1.95677971e+01] [-2.48726098e-02 9.99690626e-01 -7.22022719e-05 1.40625960e-01] [ 1.64560655e-02 4.81646793e-04 9.99864474e-01 1.01328721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters 0.018437145047776292 Centerline is valid? [True, True] Translation: X:19.63, Y:0.14, Z:0.10 [[ 9.99603044e-01 2.25594713e-02 -1.68767748e-02 1.96262112e+01] [-2.25639804e-02 9.99745398e-01 -7.67796556e-05 1.38934704e-01] [ 1.68707458e-02 4.57556392e-04 9.99857574e-01 1.02326461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254154 meters 0.015067687608598848 Centerline is valid? [True, True] Translation: X:19.69, Y:0.12, Z:0.10 [[ 9.99812034e-01 7.52455032e-03 -1.78683506e-02 1.96865666e+01] [-7.52723662e-03 9.99971667e-01 -8.30871967e-05 1.23487634e-01] [ 1.78672191e-02 2.17570882e-04 9.99840345e-01 1.02609897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999998 meters 0.013880941739862967 Centerline is valid? [True, True] Translation: X:19.75, Y:0.11, Z:0.10 [[ 9.99813384e-01 -4.17799200e-03 -1.88611149e-02 1.97451533e+01] [ 4.17706422e-03 9.99991272e-01 -8.85859019e-05 1.13264122e-01] [ 1.88613204e-02 9.78528211e-06 9.99822109e-01 1.02748490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters 0.01538192119884834 Centerline is valid? [True, True] Translation: X:19.81, Y:0.10, Z:0.10 [[ 9.99574769e-01 -2.17796957e-02 -1.93887948e-02 1.98051116e+01] [ 2.17820067e-02 9.99762740e-01 -9.20062617e-05 9.65632950e-02] [ 1.93861985e-02 -3.30359721e-04 9.99812015e-01 1.03303575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254154 meters 0.01847877216911667 Centerline is valid? [True, True] Translation: X:19.87, Y:0.08, Z:0.10 [[ 9.99159330e-01 -3.58939775e-02 -1.98054387e-02 1.98651367e+01] [ 3.58991532e-02 9.99355413e-01 -9.42569276e-05 8.25763421e-02] [ 1.97960556e-02 -6.16820789e-04 9.99803849e-01 1.04344801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999997 meters 0.023394788733287205 Centerline is valid? [True, True] Translation: X:19.92, Y:0.07, Z:0.10 [[ 9.98916146e-01 -4.19644735e-02 -2.01374260e-02 1.99249922e+01] [ 4.19710698e-02 9.99118822e-01 -9.51439511e-05 7.05707077e-02] [ 2.01236740e-02 -7.50148484e-04 9.99797217e-01 1.03227601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters 0.023774456761172007 Centerline is valid? [True, True] Translation: X:19.99, Y:0.07, Z:0.11 [[ 9.98659865e-01 -4.78918712e-02 -1.96174022e-02 1.99856977e+01] [ 4.78992859e-02 9.98852166e-01 -9.20063492e-05 6.62835456e-02] [ 1.95992911e-02 -8.47776509e-04 9.99807556e-01 1.05951834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254154 meters 0.022881410156253803 Centerline is valid? [True, True] Translation: X:20.05, Y:0.07, Z:0.11 [[ 9.98497559e-01 -5.11487648e-02 -1.96577641e-02 2.00467884e+01] [ 5.11568479e-02 9.98690627e-01 -9.17781228e-05 6.56301898e-02] [ 1.96367190e-02 -9.13989015e-04 9.99806763e-01 1.08096148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters 0.024720462319381093 Centerline is valid? [True, True] Translation: X:20.11, Y:0.06, Z:0.11 [[ 9.98376136e-01 -5.32085236e-02 -2.03455968e-02 2.01076706e+01] [ 5.32176221e-02 9.98582934e-01 -9.43535932e-05 6.01375878e-02] [ 2.03217862e-02 -9.88543907e-04 9.99793002e-01 1.07285686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254154 meters 0.0260658233316329 Centerline is valid? [True, True] Translation: X:20.17, Y:0.06, Z:0.11 [[ 9.98282205e-01 -5.44797022e-02 -2.15546231e-02 2.01699365e+01] [ 5.44902390e-02 9.98514298e-01 -9.86175827e-05 5.75003885e-02] [ 2.15279721e-02 -1.07606839e-03 9.99767667e-01 1.06430629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999998 meters 0.026634135758522852 Centerline is valid? [True, True] Translation: X:20.23, Y:0.06, Z:0.11 [[ 9.98191394e-01 -5.55774247e-02 -2.29148745e-02 2.02321944e+01] [ 5.55896612e-02 9.98453694e-01 -1.03144475e-04 5.63568202e-02] [ 2.28851736e-02 -1.17087218e-03 9.99737414e-01 1.05063383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters 0.025332244441286057 Centerline is valid? [True, True] Translation: X:20.29, Y:0.06, Z:0.11 [[ 9.98154962e-01 -5.56745629e-02 -2.42283905e-02 2.02940223e+01] [ 5.56883158e-02 9.98448196e-01 -1.07236761e-04 5.81554814e-02] [ 2.41967632e-02 -1.24219936e-03 9.99706444e-01 1.05268068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254154 meters 0.024897182135879884 Centerline is valid? [True, True] Translation: X:20.36, Y:0.06, Z:0.11 [[ 9.98185485e-01 -5.52523848e-02 -2.39355709e-02 2.03565693e+01] [ 5.52657287e-02 9.98471676e-01 -1.04157949e-04 6.09562110e-02] [ 2.39047445e-02 -1.21884781e-03 9.99713498e-01 1.07118306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999998 meters 0.027442104989124905 Centerline is valid? [True, True] Translation: X:20.42, Y:0.06, Z:0.11 [[ 9.98227402e-01 -5.51223708e-02 -2.24405277e-02 2.04178882e+01] [ 5.51340965e-02 9.98478954e-01 -9.63110757e-05 5.83197746e-02] [ 2.24117035e-02 -1.14109786e-03 9.99748175e-01 1.07218061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters 0.027440570450831012 Centerline is valid? [True, True] Translation: X:20.48, Y:0.06, Z:0.11 [[ 9.98231298e-01 -5.52893442e-02 -2.18486459e-02 2.04796061e+01] [ 5.53005454e-02 9.98469750e-01 -9.16478669e-05 5.86946859e-02] [ 2.18202792e-02 -1.11675627e-03 9.99761286e-01 1.07879181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254154 meters 0.028696627421838965 Centerline is valid? [True, True] Translation: X:20.54, Y:0.06, Z:0.11 [[ 9.98284104e-01 -5.54669177e-02 -1.87688316e-02 2.05408897e+01] [ 5.54752388e-02 9.98460060e-01 -7.74151053e-05 5.76642292e-02] [ 1.87442227e-02 -9.63923143e-04 9.99823847e-01 1.10055310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999997 meters 0.028480700966823244 Centerline is valid? [True, True] Translation: X:20.60, Y:0.06, Z:0.11 [[ 9.98276778e-01 -5.58305597e-02 -1.80671659e-02 2.06035081e+01] [ 5.58383504e-02 9.98439820e-01 -7.33647740e-05 5.80372568e-02] [ 1.80430739e-02 -9.35602390e-04 9.99836773e-01 1.11165536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters 0.029639790045366793 Centerline is valid? [True, True] Translation: X:20.67, Y:0.06, Z:0.11 [[ 9.98261068e-01 -5.64721597e-02 -1.69036927e-02 2.06658276e+01] [ 5.64790905e-02 9.98403780e-01 -6.74713148e-05 5.56433127e-02] [ 1.68805210e-02 -8.87351205e-04 9.99857120e-01 1.11815448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254154 meters 0.031137941858914105 Centerline is valid? [True, True] Translation: X:20.73, Y:0.05, Z:0.11 [[ 9.98198175e-01 -5.76492557e-02 -1.66423190e-02 2.07282739e+01] [ 5.76561561e-02 9.98336498e-01 -6.52693062e-05 5.20931936e-02] [ 1.66183972e-02 -8.94380442e-04 9.99861505e-01 1.11813428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999997 meters 0.03291170889372615 Centerline is valid? [True, True] Translation: X:20.79, Y:0.05, Z:0.11 [[ 9.98139919e-01 -5.87793850e-02 -1.61766935e-02 2.07906486e+01] [ 5.87860704e-02 9.98270602e-01 -6.23391000e-05 4.73864991e-02] [ 1.61523818e-02 -8.88741100e-04 9.99869147e-01 1.11287898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254154 meters 0.026415520393441885 Centerline is valid? [True, True] Translation: X:20.85, Y:0.05, Z:0.11 [[ 9.98238940e-01 -5.71806717e-02 -1.57920847e-02 2.08525986e+01] [ 5.71868611e-02 9.98363491e-01 -5.97353702e-05 5.46507680e-02] [ 1.57696565e-02 -8.43469580e-04 9.99875295e-01 1.12959711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999998 meters 0.02557954161290479 Centerline is valid? [True, True] Translation: X:20.91, Y:0.06, Z:0.11 [[ 9.98456879e-01 -5.33090137e-02 -1.55566853e-02 2.09136065e+01] [ 5.33145621e-02 9.98577766e-01 -5.81492327e-05 5.58304983e-02] [ 1.55376599e-02 -7.71338361e-04 9.99878986e-01 1.13829628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters 0.025274500091981646 Centerline is valid? [True, True] Translation: X:20.98, Y:0.06, Z:0.11 [[ 9.98598706e-01 -5.05634305e-02 -1.56193331e-02 2.09754249e+01] [ 5.05686985e-02 9.98720583e-01 -5.77398415e-05 5.52580902e-02] [ 1.56022690e-02 -7.32190416e-04 9.99878009e-01 1.13739648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254154 meters 0.024220888934123164 Centerline is valid? [True, True] Translation: X:21.04, Y:0.05, Z:0.11 [[ 9.98816024e-01 -4.60858522e-02 -1.55770760e-02 2.10365660e+01] [ 4.60905564e-02 9.98937264e-01 -5.70599189e-05 5.49145397e-02] [ 1.55631513e-02 -6.60963739e-04 9.99878668e-01 1.12910592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999998 meters 0.020450687829326682 Centerline is valid? [True, True] Translation: X:21.10, Y:0.06, Z:0.11 [[ 9.99064999e-01 -4.07020080e-02 -1.45764844e-02 2.10969096e+01] [ 4.07055566e-02 9.99171184e-01 -5.32825015e-05 6.02727582e-02] [ 1.45665719e-02 -5.40111227e-04 9.99893756e-01 1.13251579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters 0.019105632613138645 Centerline is valid? [True, True] Translation: X:21.16, Y:0.06, Z:0.11 [[ 9.99347447e-01 -3.39820488e-02 -1.22433693e-02 2.11576146e+01] [ 3.39840501e-02 9.99422374e-01 -4.46104010e-05 6.32697074e-02] [ 1.22378132e-02 -3.71497985e-04 9.99925046e-01 1.14008647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254154 meters 0.018005948649587312 Centerline is valid? [True, True] Translation: X:21.22, Y:0.07, Z:0.11 [[ 9.99536079e-01 -2.83707259e-02 -1.10783148e-02 2.12190017e+01] [ 2.83720235e-02 9.99597432e-01 -4.00498605e-05 6.55370876e-02] [ 1.10749913e-02 -2.74282926e-04 9.99938633e-01 1.13860592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999998 meters 0.01769368305765962 Centerline is valid? [True, True] Translation: X:21.28, Y:0.07, Z:0.11 [[ 9.99589384e-01 -2.62944542e-02 -1.13870675e-02 2.12815575e+01] [ 2.62956970e-02 9.99654208e-01 -4.05828368e-05 6.58996156e-02] [ 1.13841970e-02 -2.58864704e-04 9.99935164e-01 1.13018634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters 0.016734831261370643 Centerline is valid? [True, True] Translation: X:21.34, Y:0.07, Z:0.11 [[ 9.99614328e-01 -2.53841103e-02 -1.12623852e-02 2.13439938e+01] [ 2.53852775e-02 9.99677741e-01 -3.93249771e-05 6.73285813e-02] [ 1.12597540e-02 -2.46588964e-04 9.99936577e-01 1.12213421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254154 meters 0.01717230319652887 Centerline is valid? [True, True] Translation: X:21.41, Y:0.07, Z:0.11 [[ 9.99603802e-01 -2.58568057e-02 -1.11204636e-02 2.14055052e+01] [ 2.58579812e-02 9.99665626e-01 -3.80923198e-05 6.56203080e-02] [ 1.11177302e-02 -2.49475511e-04 9.99938165e-01 1.11290981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999997 meters 0.01731198882021097 Centerline is valid? [True, True] Translation: X:21.47, Y:0.07, Z:0.11 [[ 9.99581714e-01 -2.66497498e-02 -1.12333650e-02 2.14681742e+01] [ 2.66510072e-02 9.99644798e-01 -3.77720922e-05 6.52977157e-02] [ 1.12303815e-02 -2.61624200e-04 9.99936903e-01 1.10834007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters 0.017647097924430685 Centerline is valid? [True, True] Translation: X:21.53, Y:0.06, Z:0.11 [[ 9.99543099e-01 -2.81385531e-02 -1.10369704e-02 2.15303028e+01] [ 2.81398665e-02 9.99603995e-01 -3.63076379e-05 6.48445404e-02] [ 1.10336214e-02 -2.74287825e-04 9.99939090e-01 1.11106912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254154 meters 0.018103972335542475 Centerline is valid? [True, True] Translation: X:21.59, Y:0.06, Z:0.11 [[ 9.99492102e-01 -3.00865018e-02 -1.05043494e-02 2.15928496e+01] [ 3.00878068e-02 9.99547259e-01 -3.38055375e-05 6.46060680e-02] [ 1.05006107e-02 -2.82264467e-04 9.99944827e-01 1.11527937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999997 meters 0.018575190956715396 Centerline is valid? [True, True] Translation: X:21.65, Y:0.06, Z:0.11 [[ 9.99414164e-01 -3.28630877e-02 -9.55748975e-03 2.16547428e+01] [ 3.28643013e-02 9.99459823e-01 -3.00952086e-05 6.40096807e-02] [ 9.55331603e-03 -2.84022644e-04 9.99954326e-01 1.12042350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254154 meters 0.019990601879548823 Centerline is valid? [True, True] Translation: X:21.72, Y:0.06, Z:0.11 [[ 9.99312551e-01 -3.60666831e-02 -8.58018391e-03 2.17172765e+01] [ 3.60677842e-02 9.99349345e-01 -2.64322549e-05 6.27717063e-02] [ 8.57555450e-03 -2.83054137e-04 9.99963189e-01 1.12568843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999998 meters 0.021598024752091143 Centerline is valid? [True, True] Translation: X:21.78, Y:0.06, Z:0.11 [[ 9.99154016e-01 -3.99865035e-02 -9.60897419e-03 2.17787894e+01] [ 3.99880718e-02 9.99200157e-01 -2.89437957e-05 6.09257417e-02] [ 9.60244587e-03 -3.55325040e-04 9.99953832e-01 1.11957734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters 0.02468244007287775 Centerline is valid? [True, True] Translation: X:21.84, Y:0.06, Z:0.11 [[ 9.98908211e-01 -4.53017279e-02 -1.14078616e-02 2.18384085e+01] [ 4.53042876e-02 9.98973233e-01 -3.40730397e-05 5.72826596e-02] [ 1.13976920e-02 -4.82789205e-04 9.99934928e-01 1.11115736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254154 meters 0.024975893607874087 Centerline is valid? [True, True] Translation: X:21.90, Y:0.06, Z:0.11 [[ 9.98788519e-01 -4.77900562e-02 -1.17305243e-02 2.19000478e+01] [ 4.77929372e-02 9.98857264e-01 -3.47646664e-05 5.82421960e-02] [ 1.17187808e-02 -5.25913660e-04 9.99931194e-01 1.11285062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999998 meters 0.026808294789068314 Centerline is valid? [True, True] Translation: X:21.96, Y:0.06, Z:0.11 [[ 9.98726734e-01 -4.92523407e-02 -1.09141178e-02 2.19608457e+01] [ 4.92549271e-02 9.98786239e-01 -3.18566531e-05 5.88546264e-02] [ 1.09024397e-02 -5.05757987e-04 9.99940439e-01 1.12644760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters 0.02668023233473006 Centerline is valid? [True, True] Translation: X:22.02, Y:0.06, Z:0.11 [[ 9.98782246e-01 -4.83480829e-02 -9.82280697e-03 2.20226412e+01] [ 4.83501385e-02 9.98830448e-01 -2.82361862e-05 6.39260772e-02] [ 9.81268385e-03 -4.46732276e-04 9.99951755e-01 1.14123213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254154 meters 0.027062436600809994 Centerline is valid? [True, True] Translation: X:22.08, Y:0.07, Z:0.12 [[ 9.98796027e-01 -4.80696531e-02 -9.78797350e-03 2.20845374e+01] [ 4.80716875e-02 9.98843888e-01 -2.74490658e-05 6.77654110e-02] [ 9.77797697e-03 -4.43108386e-04 9.99952096e-01 1.15347393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999997 meters 0.026751164194781997 Centerline is valid? [True, True] Translation: X:22.15, Y:0.07, Z:0.12 [[ 9.98706951e-01 -4.97264669e-02 -1.05690653e-02 2.21464134e+01] [ 4.97289398e-02 9.98762750e-01 -2.88585961e-05 7.09747885e-02] [ 1.05574238e-02 -4.96767134e-04 9.99944145e-01 1.15876927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters 0.027207251029289434 Centerline is valid? [True, True] Translation: X:22.21, Y:0.07, Z:0.12 [[ 9.98505839e-01 -5.31077899e-02 -1.28705531e-02 2.22074561e+01] [ 5.31117463e-02 9.98588575e-01 -3.44504410e-05 7.37503358e-02] [ 1.28542168e-02 -6.49178582e-04 9.99917170e-01 1.15605833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254154 meters 0.03380617870907865 Centerline is valid? [True, True] Translation: X:22.27, Y:0.07, Z:0.11 [[ 9.98350567e-01 -5.56353599e-02 -1.41722609e-02 2.22680082e+01] [ 5.56404148e-02 9.98450872e-01 -3.76686051e-05 6.76159018e-02] [ 1.41524019e-02 -7.50944001e-04 9.99899568e-01 1.14244391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999997 meters 0.03504190436782076 Centerline is valid? [True, True] Translation: X:22.33, Y:0.07, Z:0.12 [[ 9.98340413e-01 -5.57778455e-02 -1.43266320e-02 2.23290417e+01] [ 5.57830330e-02 9.98442914e-01 -3.75803776e-05 6.97197655e-02] [ 1.43064204e-02 -7.61664977e-04 9.99897368e-01 1.15675743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254154 meters 0.027418848831660854 Centerline is valid? [True, True] Translation: X:22.39, Y:0.08, Z:0.12 [[ 9.98422250e-01 -5.44734113e-02 -1.36256523e-02 2.23910384e+01] [ 5.44779935e-02 9.98514971e-01 -3.49220908e-05 8.36974562e-02] [ 1.36073202e-02 -7.07431207e-04 9.99907166e-01 1.18770947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999998 meters 0.02821660801869575 Centerline is valid? [True, True] Translation: X:22.45, Y:0.08, Z:0.12 [[ 9.98418877e-01 -5.46030901e-02 -1.33509945e-02 2.24530891e+01] [ 5.46075137e-02 9.98507896e-01 -3.32618766e-05 8.36623659e-02] [ 1.33328896e-02 -6.95855328e-04 9.99910871e-01 1.19715016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999997 meters 0.02920007842206595 Centerline is valid? [True, True] Translation: X:22.52, Y:0.08, Z:0.12 [[ 9.98359909e-01 -5.56107449e-02 -1.35991916e-02 2.25156411e+01] [ 5.56154412e-02 9.98452263e-01 -3.28960626e-05 8.42726761e-02] [ 1.35799730e-02 -7.23482929e-04 9.99907526e-01 1.20797015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254154 meters 0.029755799254356226 Centerline is valid? [True, True] Translation: X:22.58, Y:0.08, Z:0.12 [[ 9.98361800e-01 -5.54270489e-02 -1.41970987e-02 2.25788578e+01] [ 5.54321671e-02 9.98462455e-01 -3.30436054e-05 8.38066569e-02] [ 1.41771015e-02 -7.53986474e-04 9.99899216e-01 1.20869826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999998 meters 0.02999426427079986 Centerline is valid? [True, True] Translation: X:22.64, Y:0.08, Z:0.12 [[ 9.98435366e-01 -5.38417076e-02 -1.50960694e-02 2.26409350e+01] [ 5.38473343e-02 9.98549179e-01 -3.37887074e-05 8.31049237e-02] [ 1.50759869e-02 -7.79147254e-04 9.99886047e-01 1.20228493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters 0.029973915268180773 Centerline is valid? [True, True] Translation: X:22.70, Y:0.08, Z:0.12 [[ 9.98499199e-01 -5.25099460e-02 -1.55581082e-02 2.27033182e+01] [ 5.25157782e-02 9.98620094e-01 -3.37275618e-05 8.35188446e-02] [ 1.55384105e-02 -7.83369218e-04 9.99878965e-01 1.20108996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254154 meters 0.0293576420072844 Centerline is valid? [True, True] Translation: X:22.76, Y:0.08, Z:0.12 [[ 9.98596079e-01 -5.04880686e-02 -1.60258148e-02 2.27646301e+01] [ 5.04940098e-02 9.98724363e-01 -3.39421399e-05 8.43702621e-02] [ 1.60070853e-02 -7.75313160e-04 9.99871578e-01 1.19522174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999998 meters 0.026319241276352136 Centerline is valid? [True, True] Translation: X:22.83, Y:0.09, Z:0.12 [[ 9.98751536e-01 -4.72906570e-02 -1.60923019e-02 2.28259880e+01] [ 4.72962426e-02 9.98880906e-01 -3.35177956e-05 8.78371473e-02] [ 1.60758782e-02 -7.27629464e-04 9.99870510e-01 1.19843892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters 0.025416020287315575 Centerline is valid? [True, True] Translation: X:22.89, Y:0.09, Z:0.12 [[ 9.98824972e-01 -4.57169834e-02 -1.60820851e-02 2.28883618e+01] [ 4.57223728e-02 9.98954185e-01 -3.25937491e-05 8.96930715e-02] [ 1.60667563e-02 -7.02755640e-04 9.99870674e-01 1.20431896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254154 meters 0.026086242213879365 Centerline is valid? [True, True] Translation: X:22.95, Y:0.09, Z:0.12 [[ 9.98905963e-01 -4.38620441e-02 -1.62172356e-02 2.29493916e+01] [ 4.38673098e-02 9.99037366e-01 -3.10599212e-05 8.80032306e-02] [ 1.62029866e-02 -6.80380555e-04 9.99868492e-01 1.20126983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999997 meters 0.02350723057656923 Centerline is valid? [True, True] Translation: X:23.01, Y:0.09, Z:0.12 [[ 9.98860838e-01 -4.48221412e-02 -1.63707691e-02 2.30115985e+01] [ 4.48276627e-02 9.98994735e-01 -2.97016909e-05 8.90968619e-02] [ 1.63556434e-02 -7.04195459e-04 9.99865990e-01 1.20900712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters 0.029551368984906144 Centerline is valid? [True, True] Translation: X:23.07, Y:0.08, Z:0.12 [[ 9.98735282e-01 -4.69732848e-02 -1.79261412e-02 2.30726863e+01] [ 4.69802822e-02 9.98895816e-01 -3.08078991e-05 7.91450967e-02] [ 1.79077946e-02 -8.11406236e-04 9.99839313e-01 1.18918761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254154 meters 0.031029904889250105 Centerline is valid? [True, True] Translation: X:23.13, Y:0.08, Z:0.12 [[ 9.98695490e-01 -4.78089236e-02 -1.79339243e-02 2.31338552e+01] [ 4.78160938e-02 9.98856156e-01 -2.90213929e-05 7.64480288e-02] [ 1.79147982e-02 -8.28546672e-04 9.99839174e-01 1.18662577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999997 meters 0.026625008628248542 Centerline is valid? [True, True] Translation: X:23.20, Y:0.08, Z:0.12 [[ 9.98658133e-01 -4.83583670e-02 -1.85311027e-02 2.31958482e+01] [ 4.83661452e-02 9.98829673e-01 -2.84720720e-05 8.20830303e-02] [ 1.85107921e-02 -8.67844138e-04 9.99828284e-01 1.21028047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254154 meters 0.02685326845794106 Centerline is valid? [True, True] Translation: X:23.26, Y:0.08, Z:0.12 [[ 9.98694122e-01 -4.76416456e-02 -1.84478643e-02 2.32581802e+01] [ 4.76492560e-02 9.98864129e-01 -2.70432692e-05 8.20864563e-02] [ 1.84281983e-02 -8.52019055e-04 9.99829823e-01 1.22024231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999998 meters 0.026844319377756783 Centerline is valid? [True, True] Translation: X:23.32, Y:0.08, Z:0.12 [[ 9.98813467e-01 -4.55250874e-02 -1.72952045e-02 2.33196203e+01] [ 4.55314737e-02 9.98962904e-01 -2.45408855e-05 8.21370424e-02] [ 1.72783850e-02 -7.62964383e-04 9.99850426e-01 1.22717565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999997 meters 0.026513068966586298 Centerline is valid? [True, True] Translation: X:23.38, Y:0.08, Z:0.12 [[ 9.98879194e-01 -4.42481831e-02 -1.68063706e-02 2.33823036e+01] [ 4.42540515e-02 9.99020309e-01 -2.27447477e-05 8.31451958e-02] [ 1.67909120e-02 -7.21030734e-04 9.99858763e-01 1.23729883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254154 meters 0.02755327540869116 Centerline is valid? [True, True] Translation: X:23.44, Y:0.08, Z:0.12 [[ 9.98888156e-01 -4.40150557e-02 -1.68856873e-02 2.34434785e+01] [ 4.40209650e-02 9.99030607e-01 -2.17475291e-05 8.18840303e-02] [ 1.68702756e-02 -7.21600901e-04 9.99857426e-01 1.24112606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999998 meters 0.03017049896474452 Centerline is valid? [True, True] Translation: X:23.50, Y:0.08, Z:0.12 [[ 9.98713978e-01 -4.76221342e-02 -1.73931878e-02 2.35045694e+01] [ 4.76289632e-02 9.98865097e-01 -2.16393346e-05 7.74814363e-02] [ 1.73744787e-02 -8.06807993e-04 9.99848727e-01 1.24577194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters 0.03347549118231333 Centerline is valid? [True, True] Translation: X:23.56, Y:0.07, Z:0.12 [[ 9.98443305e-01 -5.21977478e-02 -1.96560798e-02 2.35649040e+01] [ 5.22073607e-02 9.98636266e-01 -2.41225728e-05 7.14978012e-02] [ 1.96305333e-02 -1.00210703e-03 9.99806800e-01 1.22918638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254154 meters 0.032383443871965054 Centerline is valid? [True, True] Translation: X:23.63, Y:0.07, Z:0.12 [[ 9.98280466e-01 -5.46905788e-02 -2.10962719e-02 2.36256825e+01] [ 5.47022131e-02 9.98502713e-01 -2.56208135e-05 7.17746782e-02] [ 2.10660859e-02 -1.12843600e-03 9.99777449e-01 1.23437997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999997 meters 0.037737728480267664 Centerline is valid? [True, True] Translation: X:23.69, Y:0.06, Z:0.12 [[ 9.98304667e-01 -5.45379249e-02 -2.03324198e-02 2.36871346e+01] [ 5.45487164e-02 9.98511110e-01 -2.38929404e-05 6.40584813e-02] [ 2.03034501e-02 -1.08525497e-03 9.99793275e-01 1.23013799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters 0.02526928220763399 Centerline is valid? [True, True] Translation: X:23.75, Y:0.08, Z:0.13 [[ 9.98433628e-01 -5.22920067e-02 -1.98956276e-02 2.37481580e+01] [ 5.23019112e-02 9.98631318e-01 -2.25502270e-05 8.11172587e-02] [ 1.98695760e-02 -1.01806444e-03 9.99802062e-01 1.29307147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254154 meters 0.02655674559104104 Centerline is valid? [True, True] Translation: X:23.81, Y:0.08, Z:0.13 [[ 9.98750777e-01 -4.66514301e-02 -1.79033543e-02 2.38075076e+01] [ 4.66585462e-02 9.98910897e-01 -2.02548260e-05 7.95562050e-02] [ 1.78848006e-02 -8.15114962e-04 9.99839722e-01 1.31321225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999997 meters 0.022722690917655945 Centerline is valid? [True, True] Translation: X:23.87, Y:0.08, Z:0.13 [[ 9.98942787e-01 -4.26665830e-02 -1.71134785e-02 2.38685561e+01] [ 4.26725026e-02 9.99089114e-01 -1.92788113e-05 8.47001882e-02] [ 1.70987126e-02 -7.11016527e-04 9.99853554e-01 1.33514511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254154 meters 0.02053472182806398 Centerline is valid? [True, True] Translation: X:23.93, Y:0.09, Z:0.13 [[ 9.99166529e-01 -3.60162813e-02 -1.92113263e-02 2.39296758e+01] [ 3.60225226e-02 9.99350978e-01 -2.11932194e-05 8.56826307e-02] [ 1.91996211e-02 -6.70864881e-04 9.99815445e-01 1.32701045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999998 meters 0.02014762603330344 Centerline is valid? [True, True] Translation: X:23.99, Y:0.09, Z:0.13 [[ 9.99274005e-01 -3.22700416e-02 -2.02510987e-02 2.39898060e+01] [ 3.22762376e-02 9.99478986e-01 -2.08984441e-05 8.61202951e-02] [ 2.02412220e-02 -6.32746003e-04 9.99794925e-01 1.32469709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999997 meters 0.01842575674726042 Centerline is valid? [True, True] Translation: X:24.05, Y:0.09, Z:0.13 [[ 9.99421240e-01 -2.69504603e-02 -2.07571086e-02 2.40509240e+01] [ 2.69558379e-02 9.99636625e-01 -2.07278657e-05 8.84065692e-02] [ 2.07501246e-02 -5.38809384e-04 9.99784548e-01 1.33387144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254154 meters 0.01774045921892079 Centerline is valid? [True, True] Translation: X:24.11, Y:0.09, Z:0.13 [[ 9.99513324e-01 -2.34737001e-02 -2.05450772e-02 2.41105050e+01] [ 2.34782246e-02 9.99724348e-01 -2.09921570e-05 8.81583832e-02] [ 2.05399067e-02 -4.61379995e-04 9.99788927e-01 1.33427724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999998 meters 0.01755537816654851 Centerline is valid? [True, True] Translation: X:24.17, Y:0.09, Z:0.13 [[ 9.99545843e-01 -2.32093685e-02 -1.92206272e-02 2.41688815e+01] [ 2.32132143e-02 9.99730537e-01 -2.30236509e-05 8.68521957e-02] [ 1.92159823e-02 -4.23159345e-04 9.99815266e-01 1.34491648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999997 meters 0.01743251621439775 Centerline is valid? [True, True] Translation: X:24.23, Y:0.08, Z:0.13 [[ 9.99501305e-01 -2.51439196e-02 -1.91030159e-02 2.42279735e+01] [ 2.51480263e-02 9.99683738e-01 -2.52548432e-05 8.42676790e-02] [ 1.90976094e-02 -4.55160898e-04 9.99817520e-01 1.34722257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254154 meters 0.019598164867182966 Centerline is valid? [True, True] Translation: X:24.29, Y:0.08, Z:0.13 [[ 9.99288229e-01 -3.19574032e-02 -2.00439327e-02 2.42879427e+01] [ 3.19632810e-02 9.99489043e-01 -2.71324101e-05 7.55257308e-02] [ 2.00345582e-02 -6.13556757e-04 9.99799100e-01 1.34313358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999998 meters 0.022108635938122095 Centerline is valid? [True, True] Translation: X:24.35, Y:0.07, Z:0.13 [[ 9.99134361e-01 -3.61359685e-02 -2.06087545e-02 2.43475781e+01] [ 3.61430630e-02 9.99346626e-01 -2.82426533e-05 6.94647754e-02] [ 2.05963099e-02 -7.16645308e-04 9.99787617e-01 1.34090802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters 0.022909428637072345 Centerline is valid? [True, True] Translation: X:24.41, Y:0.07, Z:0.14 [[ 9.98987728e-01 -4.03130056e-02 -1.99594712e-02 2.44089649e+01] [ 4.03204998e-02 9.99186798e-01 -2.69796261e-05 6.65650729e-02] [ 1.99443278e-02 -7.77823541e-04 9.99800790e-01 1.35108986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254154 meters 0.023846146039481854 Centerline is valid? [True, True] Translation: X:24.47, Y:0.06, Z:0.14 [[ 9.98837968e-01 -4.43652661e-02 -1.88265134e-02 2.44703823e+01] [ 4.43726644e-02 9.99015048e-01 -2.47799458e-05 6.18625104e-02] [ 1.88090695e-02 -8.10631408e-04 9.99822765e-01 1.35878863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999997 meters 0.023869209995931936 Centerline is valid? [True, True] Translation: X:24.53, Y:0.06, Z:0.14 [[ 9.98780273e-01 -4.56336231e-02 -1.88557569e-02 2.45326335e+01] [ 4.56412914e-02 9.98957893e-01 -2.36807272e-05 6.09368466e-02] [ 1.88371878e-02 -8.36949251e-04 9.99822214e-01 1.36580614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters 0.022864873081968048 Centerline is valid? [True, True] Translation: X:24.59, Y:0.06, Z:0.14 [[ 9.98742604e-01 -4.61984466e-02 -1.94657246e-02 2.45949130e+01] [ 4.62067549e-02 9.98931897e-01 -2.29766358e-05 6.27547784e-02] [ 1.94459946e-02 -8.76500218e-04 9.99810525e-01 1.37363768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254154 meters 0.024022711485937574 Centerline is valid? [True, True] Translation: X:24.66, Y:0.06, Z:0.14 [[ 9.98750691e-01 -4.55543785e-02 -2.05391146e-02 2.46565384e+01] [ 4.55635395e-02 9.98961442e-01 -2.19623534e-05 6.16562532e-02] [ 2.05187841e-02 -9.13899847e-04 9.99789050e-01 1.36378700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999997 meters 0.025203965319250936 Centerline is valid? [True, True] Translation: X:24.72, Y:0.06, Z:0.14 [[ 9.98757020e-01 -4.52560191e-02 -2.08879916e-02 2.47173112e+01] [ 4.52654825e-02 9.98974993e-01 -1.97687409e-05 6.02463462e-02] [ 2.08674759e-02 -9.25760852e-04 9.99781822e-01 1.36163095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254154 meters 0.026009126276111648 Centerline is valid? [True, True] Translation: X:24.78, Y:0.06, Z:0.14 [[ 9.98658358e-01 -4.75011559e-02 -2.06185293e-02 2.47790552e+01] [ 4.75108859e-02 9.98870720e-01 -1.79708720e-05 5.88269988e-02] [ 2.05960989e-02 -9.61657832e-04 9.99787415e-01 1.36911033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999998 meters 0.027883767674509376 Centerline is valid? [True, True] Translation: X:24.84, Y:0.06, Z:0.14 [[ 9.98521143e-01 -4.99585182e-02 -2.14399740e-02 2.48403551e+01] [ 4.99696233e-02 9.98750738e-01 -1.77921190e-05 5.58030769e-02] [ 2.14140787e-02 -1.05358162e-03 9.99770137e-01 1.36154331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999997 meters 0.02773197060737177 Centerline is valid? [True, True] Translation: X:24.90, Y:0.06, Z:0.14 [[ 9.98490942e-01 -5.06614683e-02 -2.11956066e-02 2.49023251e+01] [ 5.06725065e-02 9.98715323e-01 -1.63204076e-05 5.63460297e-02] [ 2.11692039e-02 -1.05773873e-03 9.99775348e-01 1.37267212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254154 meters 0.026132696601673822 Centerline is valid? [True, True] Translation: X:24.96, Y:0.06, Z:0.14 [[ 9.98552811e-01 -5.02439304e-02 -1.91789126e-02 2.49647038e+01] [ 5.02529164e-02 9.98736524e-01 -1.34236251e-05 5.94821712e-02] [ 1.91553550e-02 -9.50392094e-04 9.99816068e-01 1.40684961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999998 meters 0.025944581978651092 Centerline is valid? [True, True] Translation: X:25.03, Y:0.06, Z:0.14 [[ 9.98607248e-01 -4.97170926e-02 -1.76571730e-02 2.50269666e+01] [ 4.97246488e-02 9.98762964e-01 -1.11077096e-05 6.00169184e-02] [ 1.76358827e-02 -8.66904485e-04 9.99844100e-01 1.42478145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999997 meters 0.02683712998411597 Centerline is valid? [True, True] Translation: X:25.09, Y:0.06, Z:0.14 [[ 9.98656507e-01 -4.90214094e-02 -1.67953089e-02 2.50877577e+01] [ 4.90281646e-02 9.98797396e-01 -9.55482836e-06 5.95011967e-02] [ 1.67755792e-02 -8.13901176e-04 9.99858949e-01 1.43123525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254154 meters 0.02582336755277568 Centerline is valid? [True, True] Translation: X:25.15, Y:0.06, Z:0.14 [[ 9.98633735e-01 -4.92567052e-02 -1.74481974e-02 2.51496471e+01] [ 4.92640521e-02 9.98785789e-01 -8.76357946e-06 6.05930111e-02] [ 1.74274433e-02 -8.50817300e-04 9.99847769e-01 1.42977979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999997 meters 0.02575373142443089 Centerline is valid? [True, True] Translation: X:25.21, Y:0.06, Z:0.14 [[ 9.98573590e-01 -5.02374807e-02 -1.80826068e-02 2.52116362e+01] [ 5.02455563e-02 9.98736894e-01 -7.73541160e-06 5.96367484e-02] [ 1.80601551e-02 -9.00846258e-04 9.99836496e-01 1.42352384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters 0.024922966787667773 Centerline is valid? [True, True] Translation: X:25.27, Y:0.06, Z:0.14 [[ 9.98504994e-01 -5.14336857e-02 -1.85027824e-02 2.52741017e+01] [ 5.14423716e-02 9.98675965e-01 -6.52392913e-06 6.06863587e-02] [ 1.84786197e-02 -9.45312835e-04 9.99828809e-01 1.42665142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254154 meters 0.030415506099055425 Centerline is valid? [True, True] Translation: X:25.34, Y:0.05, Z:0.14 [[ 9.98476778e-01 -5.23586962e-02 -1.73979841e-02 2.53351735e+01] [ 5.23665342e-02 9.98627932e-01 -5.06711943e-06 5.28901200e-02] [ 1.73743782e-02 -9.06012729e-04 9.99848644e-01 1.42249153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999997 meters 0.026105703036064413 Centerline is valid? [True, True] Translation: X:25.40, Y:0.06, Z:0.14 [[ 9.98405355e-01 -5.41571110e-02 -1.59296558e-02 2.53968352e+01] [ 5.41639235e-02 9.98532057e-01 -3.77836029e-06 5.83942447e-02] [ 1.59064766e-02 -8.59040321e-04 9.99873115e-01 1.44894444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters 0.027013031439988476 Centerline is valid? [True, True] Translation: X:25.46, Y:0.06, Z:0.15 [[ 9.98332083e-01 -5.56411084e-02 -1.53986779e-02 2.54590737e+01] [ 5.56476658e-02 9.98450468e-01 -2.63755399e-06 5.71493509e-02] [ 1.53749639e-02 -8.54267326e-04 9.99881433e-01 1.46171453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999998 meters 0.036631977441098015 Centerline is valid? [True, True] Translation: X:25.52, Y:0.04, Z:0.15 [[ 9.98244608e-01 -5.73305905e-02 -1.48628739e-02 2.55197148e+01] [ 5.73368977e-02 9.98354887e-01 -1.76132643e-06 4.39635092e-02] [ 1.48385238e-02 -8.50432846e-04 9.99889541e-01 1.45367083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999997 meters 0.028548156439756004 Centerline is valid? [True, True] Translation: X:25.58, Y:0.05, Z:0.15 [[ 9.98176047e-01 -5.86166760e-02 -1.44452481e-02 2.55821479e+01] [ 5.86227797e-02 9.98280206e-01 -8.95254375e-07 5.45712862e-02] [ 1.44204578e-02 -8.45926977e-04 9.99895662e-01 1.47597134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254154 meters 0.030738700345653833 Centerline is valid? [True, True] Translation: X:25.64, Y:0.05, Z:0.15 [[ 9.98186036e-01 -5.85142630e-02 -1.41675184e-02 2.56437249e+01] [ 5.85201367e-02 9.98286228e-01 2.29580086e-08 5.16224717e-02] [ 1.41432372e-02 -8.29108031e-04 9.99899636e-01 1.47393536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999998 meters 0.027028856441998594 Centerline is valid? [True, True] Translation: X:25.71, Y:0.06, Z:0.15 [[ 9.98323383e-01 -5.61266943e-02 -1.41498425e-02 2.57056656e+01] [ 5.61323254e-02 9.98423338e-01 8.12541863e-07 5.84684811e-02] [ 1.41274874e-02 -7.95074744e-04 9.99899886e-01 1.48746346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999997 meters 0.02607263715186967 Centerline is valid? [True, True] Translation: X:25.77, Y:0.06, Z:0.15 [[ 9.98553322e-01 -5.20935831e-02 -1.33237469e-02 2.57663035e+01] [ 5.20982242e-02 9.98641965e-01 1.24507793e-06 6.16048268e-02] [ 1.33055879e-02 -6.95386828e-04 9.99911235e-01 1.49719641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254154 meters 0.024524919967967244 Centerline is valid? [True, True] Translation: X:25.83, Y:0.06, Z:0.15 [[ 9.98694769e-01 -4.91286234e-02 -1.39691308e-02 2.58281995e+01] [ 4.91334432e-02 9.98792223e-01 1.84467397e-06 6.47872061e-02] [ 1.39521686e-02 -6.88193762e-04 9.99902427e-01 1.49799973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999998 meters 0.02557276309595523 Centerline is valid? [True, True] Translation: X:25.89, Y:0.06, Z:0.15 [[ 9.98824429e-01 -4.57984826e-02 -1.58826802e-02 2.58888042e+01] [ 4.58043057e-02 9.98950432e-01 2.86566994e-06 6.47582675e-02] [ 1.58658790e-02 -7.30357439e-04 9.99873862e-01 1.48174153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999996 meters 0.023979318763604793 Centerline is valid? [True, True] Translation: X:25.95, Y:0.07, Z:0.15 [[ 9.98834928e-01 -4.53676404e-02 -1.64488359e-02 2.59505489e+01] [ 4.53738438e-02 9.98970077e-01 3.94338560e-06 6.68332696e-02] [ 1.64317160e-02 -7.50285703e-04 9.99864709e-01 1.48334502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254154 meters 0.02377914813004764 Centerline is valid? [True, True] Translation: X:26.01, Y:0.07, Z:0.15 [[ 9.98814967e-01 -4.55694944e-02 -1.70904438e-02 2.60129860e+01] [ 4.55762427e-02 9.98960863e-01 5.38042283e-06 6.71004513e-02] [ 1.70724393e-02 -7.84292261e-04 9.99853948e-01 1.48546715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999997 meters 0.024720665332444432 Centerline is valid? [True, True] Translation: X:26.07, Y:0.07, Z:0.15 [[ 9.98834562e-01 -4.47411749e-02 -1.81037348e-02 2.60744372e+01] [ 4.47486324e-02 9.98998278e-01 6.84836428e-06 6.74128165e-02] [ 1.80852935e-02 -8.16957756e-04 9.99836114e-01 1.48483584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters 0.023684841735301256 Centerline is valid? [True, True] Translation: X:26.14, Y:0.07, Z:0.15 [[ 9.98902657e-01 -4.36240618e-02 -1.70417816e-02 2.61365811e+01] [ 4.36305264e-02 9.99047735e-01 7.54913876e-06 7.05619453e-02] [ 1.70252240e-02 -7.51082759e-04 9.99854778e-01 1.50532602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254154 meters 0.023834682033159887 Centerline is valid? [True, True] Translation: X:26.20, Y:0.07, Z:0.15 [[ 9.98907483e-01 -4.37710149e-02 -1.63688300e-02 2.61989519e+01] [ 4.37770179e-02 9.99041327e-01 8.42880388e-06 7.11344152e-02] [ 1.63527687e-02 -7.24998161e-04 9.99866022e-01 1.51882522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999997 meters 0.023527513494274163 Centerline is valid? [True, True] Translation: X:26.26, Y:0.07, Z:0.15 [[ 9.98857997e-01 -4.50901879e-02 -1.57980270e-02 2.62606283e+01] [ 4.50959595e-02 9.98982660e-01 9.11313460e-06 7.37796143e-02] [ 1.57815441e-02 -7.21529912e-04 9.99875203e-01 1.54096430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254154 meters 0.02549226663127737 Centerline is valid? [True, True] Translation: X:26.32, Y:0.07, Z:0.15 [[ 9.98781049e-01 -4.70717459e-02 -1.48548373e-02 2.63217661e+01] [ 4.70770793e-02 9.98891260e-01 9.36498595e-06 7.25612016e-02] [ 1.48379263e-02 -7.08675921e-04 9.99889661e-01 1.54989467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999998 meters 0.026174628937404097 Centerline is valid? [True, True] Translation: X:26.38, Y:0.07, Z:0.15 [[ 9.98674606e-01 -4.89948954e-02 -1.57648674e-02 2.63836568e+01] [ 4.90011553e-02 9.98798722e-01 1.08231519e-05 7.24364395e-02] [ 1.57453991e-02 -7.83305524e-04 9.99875727e-01 1.54607102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999997 meters 0.026752135970221382 Centerline is valid? [True, True] Translation: X:26.45, Y:0.07, Z:0.15 [[ 9.98626687e-01 -4.97810034e-02 -1.63276445e-02 2.64454323e+01] [ 4.97878462e-02 9.98759816e-01 1.26233095e-05 7.36439885e-02] [ 1.63067668e-02 -8.25524226e-04 9.99866695e-01 1.53980788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254154 meters 0.02486763443618868 Centerline is valid? [True, True] Translation: X:26.51, Y:0.08, Z:0.15 [[ 9.98639379e-01 -4.94754577e-02 -1.64793787e-02 2.65080987e+01] [ 4.94824108e-02 9.98774995e-01 1.41990053e-05 7.72810147e-02] [ 1.64584889e-02 -8.29619073e-04 9.99864206e-01 1.54828229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999998 meters 0.027254554658420135 Centerline is valid? [True, True] Translation: X:26.57, Y:0.08, Z:0.15 [[ 9.98690519e-01 -4.84510006e-02 -1.64240231e-02 2.65698215e+01] [ 4.84577888e-02 9.98825231e-01 1.53650534e-05 7.56772670e-02] [ 1.64039842e-02 -8.11216776e-04 9.99865117e-01 1.54289049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999997 meters 0.023849418931513978 Centerline is valid? [True, True] Translation: X:26.63, Y:0.08, Z:0.15 [[ 9.98807025e-01 -4.57552630e-02 -1.70582067e-02 2.66313688e+01] [ 4.57622087e-02 9.98952361e-01 1.68560878e-05 8.32608974e-02] [ 1.70395646e-02 -7.97457196e-04 9.99854498e-01 1.54767540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254154 meters 0.02356913389434643 Centerline is valid? [True, True] Translation: X:26.69, Y:0.09, Z:0.15 [[ 9.98901473e-01 -4.35121949e-02 -1.73935519e-02 2.66932037e+01] [ 4.35190918e-02 9.99052595e-01 1.80312233e-05 8.58865772e-02] [ 1.73762886e-02 -7.74962997e-04 9.99848721e-01 1.54452022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999997 meters 0.022176909632259077 Centerline is valid? [True, True] Translation: X:26.76, Y:0.09, Z:0.15 [[ 9.98986445e-01 -4.13193858e-02 -1.78547386e-02 2.67550503e+01] [ 4.13263217e-02 9.99145702e-01 1.95102269e-05 9.07106365e-02] [ 1.78386792e-02 -7.57361122e-04 9.99840591e-01 1.54788944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999996 meters 0.02400044401820336 Centerline is valid? [True, True] Translation: X:26.82, Y:0.09, Z:0.15 [[ 9.99007455e-01 -4.07702340e-02 -1.79413962e-02 2.68165934e+01] [ 4.07771667e-02 9.99168265e-01 2.05969088e-05 8.98030051e-02] [ 1.79256340e-02 -7.52175770e-04 9.99839040e-01 1.54349367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254154 meters 0.0230600925488183 Centerline is valid? [True, True] Translation: X:26.88, Y:0.09, Z:0.16 [[ 9.98972763e-01 -4.19397771e-02 -1.71602578e-02 2.68784553e+01] [ 4.19463105e-02 9.99119866e-01 2.08196912e-05 9.21705234e-02] [ 1.71442813e-02 -7.40607805e-04 9.99852752e-01 1.55920851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999997 meters 0.025898213330153273 Centerline is valid? [True, True] Translation: X:26.94, Y:0.09, Z:0.16 [[ 9.98890429e-01 -4.41380766e-02 -1.64238194e-02 2.69399862e+01] [ 4.41443807e-02 9.99025161e-01 2.13259755e-05 8.81417647e-02] [ 1.64068676e-02 -7.46321651e-04 9.99865120e-01 1.56130353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters 0.02592712667973006 Centerline is valid? [True, True] Translation: X:27.00, Y:0.09, Z:0.16 [[ 9.98768659e-01 -4.67164221e-02 -1.66955863e-02 2.70011613e+01] [ 4.67233129e-02 9.98907869e-01 2.26900848e-05 8.88702422e-02] [ 1.66762926e-02 -8.02735250e-04 9.99860619e-01 1.57075543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999998 meters 0.02720588412159723 Centerline is valid? [True, True] Translation: X:27.06, Y:0.09, Z:0.16 [[ 9.98707773e-01 -4.84291329e-02 -1.54079007e-02 2.70628536e+01] [ 4.84352155e-02 9.98826326e-01 2.16325710e-05 8.74495571e-02] [ 1.53887692e-02 -7.67889608e-04 9.99881291e-01 1.58373195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999997 meters 0.02557838234738741 Centerline is valid? [True, True] Translation: X:27.12, Y:0.09, Z:0.16 [[ 9.98707629e-01 -4.89068581e-02 -1.38272012e-02 2.71249721e+01] [ 4.89118140e-02 9.98803101e-01 2.02653142e-05 8.97513721e-02] [ 1.38096603e-02 -6.96552616e-04 9.99904399e-01 1.60184440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254154 meters 0.026353952103647656 Centerline is valid? [True, True] Translation: X:27.19, Y:0.09, Z:0.16 [[ 9.98722755e-01 -4.87638904e-02 -1.32265361e-02 2.71875971e+01] [ 4.87684251e-02 9.98810112e-01 2.03374240e-05 8.98241072e-02] [ 1.32098063e-02 -6.65348783e-04 9.99912525e-01 1.61461479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999998 meters 0.02687463029869031 Centerline is valid? [True, True] Translation: X:27.25, Y:0.09, Z:0.16 [[ 9.98651471e-01 -5.00387557e-02 -1.38334158e-02 2.72497831e+01] [ 5.00438524e-02 9.98747021e-01 2.23062708e-05 8.93661531e-02] [ 1.38149666e-02 -7.14553607e-04 9.99904313e-01 1.61131960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999997 meters 0.02735919553647599 Centerline is valid? [True, True] Translation: X:27.31, Y:0.09, Z:0.16 [[ 9.98552955e-01 -5.19142652e-02 -1.40322870e-02 2.73121220e+01] [ 5.19197087e-02 9.98651262e-01 2.36644448e-05 8.73841618e-02] [ 1.40121326e-02 -7.52182456e-04 9.99901542e-01 1.61076294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254154 meters 0.032567513741535194 Centerline is valid? [True, True] Translation: X:27.37, Y:0.08, Z:0.16 [[ 9.98512644e-01 -5.27392433e-02 -1.38228777e-02 2.73736694e+01] [ 5.27446164e-02 9.98608034e-01 2.41858909e-05 7.87389267e-02] [ 1.38023611e-02 -7.53232298e-04 9.99904459e-01 1.60870722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999998 meters 0.02564963369266411 Centerline is valid? [True, True] Translation: X:27.44, Y:0.09, Z:0.16 [[ 9.98541436e-01 -5.22245924e-02 -1.36964136e-02 2.74358085e+01] [ 5.22298315e-02 9.98635091e-01 2.48558994e-05 8.75493638e-02] [ 1.36764212e-02 -7.40181020e-04 9.99906199e-01 1.62130772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999996 meters 0.026222527023370974 Centerline is valid? [True, True] Translation: X:27.50, Y:0.08, Z:0.16 [[ 9.98622119e-01 -5.05654547e-02 -1.40356136e-02 2.74974868e+01] [ 5.05708080e-02 9.98720478e-01 2.65358884e-05 8.41907555e-02] [ 1.40163130e-02 -7.36291648e-04 9.99901496e-01 1.61405332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254154 meters 0.02684946404878389 Centerline is valid? [True, True] Translation: X:27.56, Y:0.08, Z:0.16 [[ 9.98802600e-01 -4.67850630e-02 -1.43012256e-02 2.75575369e+01] [ 4.67902417e-02 9.98904736e-01 2.75460019e-05 8.24575300e-02] [ 1.42842732e-02 -6.96670820e-04 9.99897732e-01 1.61879385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999997 meters 0.0236235348576022 Centerline is valid? [True, True] Translation: X:27.62, Y:0.09, Z:0.16 [[ 9.99038006e-01 -4.13693706e-02 -1.45477837e-02 2.76188311e+01] [ 4.13741582e-02 9.99143723e-01 2.81513710e-05 8.61528560e-02] [ 1.45341622e-02 -6.30026596e-04 9.99894175e-01 1.62522741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999996 meters 0.02142661342138903 Centerline is valid? [True, True] Translation: X:27.68, Y:0.09, Z:0.16 [[ 9.99206978e-01 -3.72074539e-02 -1.41781674e-02 2.76791141e+01] [ 3.72115845e-02 9.99307409e-01 2.75450263e-05 8.81362066e-02] [ 1.41673229e-02 -5.55115258e-04 9.99899484e-01 1.63153976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254154 meters 0.019711861597890516 Centerline is valid? [True, True] Translation: X:27.74, Y:0.09, Z:0.16 [[ 9.99432896e-01 -3.04967952e-02 -1.42769859e-02 2.77401022e+01] [ 3.05003016e-02 9.99534757e-01 2.78719413e-05 9.09145946e-02] [ 1.42694936e-02 -4.63308509e-04 9.99898078e-01 1.63853016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999997 meters 0.017296179526218394 Centerline is valid? [True, True] Translation: X:27.80, Y:0.09, Z:0.16 [[ 9.99592808e-01 -2.45873941e-02 -1.44802876e-02 2.78012715e+01] [ 2.45903853e-02 9.99697610e-01 2.85331772e-05 9.48713201e-02] [ 1.44752073e-02 -3.84597409e-04 9.99895155e-01 1.64687249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters 0.01681622116620557 Centerline is valid? [True, True] Translation: X:27.86, Y:0.09, Z:0.17 [[ 9.99648857e-01 -2.25291132e-02 -1.39499520e-02 2.78631310e+01] [ 2.25316963e-02 9.99746129e-01 2.80081472e-05 9.44269664e-02] [ 1.39457795e-02 -3.42314393e-04 9.99902694e-01 1.65091932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999998 meters 0.017159669806965813 Centerline is valid? [True, True] Translation: X:27.92, Y:0.09, Z:0.17 [[ 9.99639475e-01 -2.34839633e-02 -1.30163129e-02 2.79241245e+01] [ 2.34863005e-02 9.99724158e-01 2.67109742e-05 9.08393461e-02] [ 1.30120952e-02 -3.32406380e-04 9.99915284e-01 1.65055398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999997 meters 0.017803874333849713 Centerline is valid? [True, True] Translation: X:27.99, Y:0.09, Z:0.16 [[ 9.99571292e-01 -2.61170025e-02 -1.32338194e-02 2.79852984e+01] [ 2.61196555e-02 9.99658823e-01 2.76453576e-05 8.69754168e-02] [ 1.32285824e-02 -3.73296311e-04 9.99912429e-01 1.64763812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254154 meters 0.019944573702719817 Centerline is valid? [True, True] Translation: X:28.05, Y:0.08, Z:0.16 [[ 9.99433248e-01 -3.06004508e-02 -1.40283477e-02 2.80451599e+01] [ 3.06038768e-02 9.99531591e-01 2.95654537e-05 7.96321982e-02] [ 1.40208720e-02 -4.58870522e-04 9.99901597e-01 1.63588887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999998 meters 0.01970716646621388 Centerline is valid? [True, True] Translation: X:28.11, Y:0.08, Z:0.16 [[ 9.99319660e-01 -3.35324684e-02 -1.53554933e-02 2.81065864e+01] [ 3.35369240e-02 9.99437479e-01 3.26828503e-05 7.72774403e-02] [ 1.53457596e-02 -5.47636627e-04 9.99882097e-01 1.63420282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999997 meters 0.020984594394131067 Centerline is valid? [True, True] Translation: X:28.17, Y:0.07, Z:0.16 [[ 9.99331906e-01 -3.35146886e-02 -1.45776580e-02 2.81674991e+01] [ 3.35187120e-02 9.99438090e-01 3.16961062e-05 7.32528714e-02] [ 1.45684044e-02 -5.20299252e-04 9.99893740e-01 1.63915775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254154 meters 0.021434602640017814 Centerline is valid? [True, True] Translation: X:28.23, Y:0.07, Z:0.16 [[ 9.99400610e-01 -3.14113290e-02 -1.45516087e-02 2.82275914e+01] [ 3.14151228e-02 9.99506423e-01 3.21470470e-05 7.15649812e-02] [ 1.45434166e-02 -4.89268353e-04 9.99894119e-01 1.64237279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999997 meters 0.017497401004844888 Centerline is valid? [True, True] Translation: X:28.29, Y:0.08, Z:0.17 [[ 9.99535813e-01 -2.67150655e-02 -1.46446111e-02 2.82889299e+01] [ 2.67184104e-02 9.99642999e-01 3.27691943e-05 7.76921569e-02] [ 1.46385075e-02 -4.24034713e-04 9.99892761e-01 1.65901544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999996 meters 0.0162795978665362 Centerline is valid? [True, True] Translation: X:28.35, Y:0.08, Z:0.17 [[ 9.99671624e-01 -2.10061496e-02 -1.46760538e-02 2.83496851e+01] [ 2.10089000e-02 9.99779288e-01 3.32381290e-05 8.03213441e-02] [ 1.46721164e-02 -3.41554960e-04 9.99892300e-01 1.66192842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254154 meters 0.015287338786803426 Centerline is valid? [True, True] Translation: X:28.41, Y:0.08, Z:0.17 [[ 9.99747857e-01 -1.67774358e-02 -1.49244682e-02 2.84102435e+01] [ 1.67798110e-02 9.99859208e-01 3.39266084e-05 8.25712177e-02] [ 1.49217977e-02 -2.84347809e-04 9.99888623e-01 1.66287640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999997 meters 0.014719808424611276 Centerline is valid? [True, True] Translation: X:28.47, Y:0.09, Z:0.17 [[ 9.99799008e-01 -1.31480796e-02 -1.51350837e-02 2.84693984e+01] [ 1.31500761e-02 9.99913533e-01 3.23981241e-05 8.50165839e-02] [ 1.51333490e-02 -2.31419115e-04 9.99885458e-01 1.66347631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999996 meters 0.014187954162747497 Centerline is valid? [True, True] Translation: X:28.53, Y:0.09, Z:0.17 [[ 9.99843885e-01 -8.95672276e-03 -1.52309638e-02 2.85281319e+01] [ 8.95820107e-03 9.99959874e-01 2.88357396e-05 8.72004775e-02] [ 1.52300944e-02 -1.65273274e-04 9.99884002e-01 1.65630772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999998 meters 0.013860564188762374 Centerline is valid? [True, True] Translation: X:28.59, Y:0.09, Z:0.17 [[ 9.99865909e-01 -6.95809554e-03 -1.48239011e-02 2.85864950e+01] [ 6.95922171e-03 9.99975784e-01 2.43859835e-05 8.87770130e-02] [ 1.48233725e-02 -1.27545528e-04 9.99890120e-01 1.66014009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999997 meters 0.013987652047423993 Centerline is valid? [True, True] Translation: X:28.64, Y:0.09, Z:0.17 [[ 9.99871958e-01 -8.10975718e-03 -1.37949409e-02 2.86431348e+01] [ 8.11080853e-03 9.99967107e-01 2.02671855e-05 8.72441752e-02] [ 1.37943228e-02 -1.32152715e-04 9.99904845e-01 1.66645455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254154 meters 0.014381837856727505 Centerline is valid? [True, True] Translation: X:28.70, Y:0.08, Z:0.17 [[ 9.99846999e-01 -1.19165157e-02 -1.28052705e-02 2.87023668e+01] [ 1.19177183e-02 9.99928981e-01 1.76053835e-05 8.40606246e-02] [ 1.28041513e-02 -1.70212297e-04 9.99918009e-01 1.67465500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999998 meters 0.015829897077717123 Centerline is valid? [True, True] Translation: X:28.76, Y:0.08, Z:0.17 [[ 9.99753674e-01 -1.78795528e-02 -1.31495981e-02 2.87607680e+01] [ 1.78813254e-02 9.99840116e-01 1.72290363e-05 7.81540543e-02] [ 1.31471876e-02 -2.52357034e-04 9.99913540e-01 1.67374679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999997 meters 0.01855249442333686 Centerline is valid? [True, True] Translation: X:28.82, Y:0.07, Z:0.17 [[ 9.99662467e-01 -2.23190271e-02 -1.32970775e-02 2.88200025e+01] [ 2.23212257e-02 9.99750850e-01 1.69411699e-05 7.08529681e-02] [ 1.32933865e-02 -3.13742520e-04 9.99911590e-01 1.66528843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254154 meters 0.01810402038272167 Centerline is valid? [True, True] Translation: X:28.88, Y:0.07, Z:0.17 [[ 9.99486631e-01 -2.93591291e-02 -1.28263883e-02 2.88815488e+01] [ 2.93617554e-02 9.99568851e-01 1.64554069e-05 6.97791724e-02] [ 1.28203750e-02 -3.93052234e-04 9.99917738e-01 1.67385178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999998 meters 0.02184713665599134 Centerline is valid? [True, True] Translation: X:28.94, Y:0.06, Z:0.17 [[ 9.99319999e-01 -3.46344548e-02 -1.26488734e-02 2.89412994e+01] [ 3.46374340e-02 9.99399944e-01 1.64739055e-05 6.15985565e-02] [ 1.26407128e-02 -4.54587222e-04 9.99920000e-01 1.67085016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999996 meters 0.023347625983010083 Centerline is valid? [True, True] Translation: X:29.00, Y:0.06, Z:0.17 [[ 9.99045060e-01 -4.21612119e-02 -1.14629911e-02 2.90014069e+01] [ 4.21641533e-02 9.99110697e-01 1.49452133e-05 5.85002205e-02] [ 1.14521669e-02 -4.98258254e-04 9.99934298e-01 1.69362906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254154 meters 0.025587519026721094 Centerline is valid? [True, True] Translation: X:29.06, Y:0.05, Z:0.17 [[ 9.98788794e-01 -4.78543418e-02 -1.14414594e-02 2.90622210e+01] [ 4.78576453e-02 9.98854166e-01 1.49586331e-05 5.46328831e-02] [ 1.14276335e-02 -5.62501820e-04 9.99934544e-01 1.70033296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999997 meters 0.02685899377932094 Centerline is valid? [True, True] Translation: X:29.12, Y:0.05, Z:0.17 [[ 9.98543489e-01 -5.24381089e-02 -1.26942679e-02 2.91226838e+01] [ 5.24425465e-02 9.98623943e-01 1.67241286e-05 5.25262390e-02] [ 1.26759229e-02 -6.82419504e-04 9.99919424e-01 1.69149648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999996 meters 0.027587163277537616 Centerline is valid? [True, True] Translation: X:29.18, Y:0.05, Z:0.17 [[ 9.98342852e-01 -5.57018932e-02 -1.44515861e-02 2.91835133e+01] [ 5.57079894e-02 9.98447104e-01 1.93069977e-05 5.10326084e-02] [ 1.44280689e-02 -8.24343808e-04 9.99895570e-01 1.68270618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254154 meters 0.031627304551103574 Centerline is valid? [True, True] Translation: X:29.25, Y:0.05, Z:0.17 [[ 9.98262267e-01 -5.68237232e-02 -1.56048597e-02 2.92450854e+01] [ 5.68309776e-02 9.98383814e-01 2.14700771e-05 4.59741870e-02] [ 1.55784193e-02 -9.08272199e-04 9.99878237e-01 1.67192973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999997 meters 0.02646537737054547 Centerline is valid? [True, True] Translation: X:29.31, Y:0.05, Z:0.17 [[ 9.98333288e-01 -5.56080936e-02 -1.54397545e-02 2.93070484e+01] [ 5.56150661e-02 9.98452284e-01 2.22681329e-05 5.41792002e-02] [ 1.54146199e-02 -8.80913986e-04 9.99880800e-01 1.68708829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999996 meters 0.025641168385943297 Centerline is valid? [True, True] Translation: X:29.37, Y:0.06, Z:0.17 [[ 9.98654811e-01 -4.96793638e-02 -1.48502223e-02 2.93668001e+01] [ 4.96851653e-02 9.98764929e-01 2.17537975e-05 5.85944974e-02] [ 1.48308005e-02 -7.59560283e-04 9.99889729e-01 1.70250260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999998 meters 0.022351122037283344 Centerline is valid? [True, True] Translation: X:29.43, Y:0.07, Z:0.17 [[ 9.99158447e-01 -3.83952739e-02 -1.44291474e-02 2.94268327e+01] [ 3.83995734e-02 9.99262464e-01 2.09418461e-05 6.89795623e-02] [ 1.44177013e-02 -5.74997326e-04 9.99895894e-01 1.71748545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999997 meters 0.01837459648479197 Centerline is valid? [True, True] Translation: X:29.49, Y:0.08, Z:0.17 [[ 9.99489053e-01 -2.87764604e-02 -1.39121607e-02 2.94878072e+01] [ 2.87795274e-02 9.99585783e-01 2.02603953e-05 7.94462151e-02] [ 1.39058150e-02 -4.20635454e-04 9.99903221e-01 1.73437445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254154 meters 0.014583381505442718 Centerline is valid? [True, True] Translation: X:29.55, Y:0.09, Z:0.17 [[ 9.99808612e-01 -1.29864768e-02 -1.46318754e-02 2.95483442e+01] [ 1.29881807e-02 9.99915650e-01 2.14326342e-05 9.32533561e-02] [ 1.46303629e-02 -2.11469975e-04 9.99892948e-01 1.73383200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999998 meters 0.013514768993645749 Centerline is valid? [True, True] Translation: X:29.61, Y:0.11, Z:0.17 [[ 9.99890934e-01 1.02967480e-03 -1.47329365e-02 2.96070105e+01] [-1.02947710e-03 9.99999470e-01 2.10026737e-05 1.05855339e-01] [ 1.47329504e-02 -5.83316229e-06 9.99891464e-01 1.73491529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999997 meters 0.014144253324090266 Centerline is valid? [True, True] Translation: X:29.67, Y:0.11, Z:0.17 [[ 9.99861548e-01 1.08553325e-02 -1.26114031e-02 2.96654412e+01] [-1.08559929e-02 9.99941072e-01 1.60927262e-05 1.14084866e-01] [ 1.26108346e-02 1.20818804e-04 9.99920473e-01 1.74785717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254154 meters 0.014792841830972833 Centerline is valid? [True, True] Translation: X:29.72, Y:0.12, Z:0.18 [[ 9.99832552e-01 1.45160264e-02 -1.11424294e-02 2.97231393e+01] [-1.45167900e-02 9.99894626e-01 1.23492216e-05 1.17385191e-01] [ 1.11414346e-02 1.49405155e-04 9.99937921e-01 1.76142220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999997 meters 0.013712283428095386 Centerline is valid? [True, True] Translation: X:29.78, Y:0.11, Z:0.18 [[ 9.99908626e-01 9.19419991e-03 -9.90986749e-03 2.97822897e+01] [-9.19455007e-03 9.99957729e-01 1.02254169e-05 1.11841505e-01] [ 9.90954261e-03 8.08922903e-05 9.99950896e-01 1.77013682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999996 meters 0.013298990532113196 Centerline is valid? [True, True] Translation: X:29.84, Y:0.10, Z:0.18 [[ 9.99951581e-01 7.58897827e-04 -9.81116511e-03 2.98408079e+01] [-7.58842050e-04 9.99999712e-01 9.40777622e-06 1.04773637e-01] [ 9.81116942e-03 -1.96219607e-06 9.99951869e-01 1.76737038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254154 meters 0.015323349005084587 Centerline is valid? [True, True] Translation: X:29.90, Y:0.09, Z:0.18 [[ 9.99819023e-01 -1.63778542e-02 -9.67926085e-03 2.98995961e+01] [ 1.63787050e-02 9.99865860e-01 8.63463793e-06 8.94427636e-02] [ 9.67782106e-03 -1.67166833e-04 9.99953155e-01 1.75617567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999997 meters 0.02033772724889581 Centerline is valid? [True, True] Translation: X:29.96, Y:0.07, Z:0.18 [[ 9.99357201e-01 -3.46243789e-02 -9.29180993e-03 2.99604201e+01] [ 3.46259478e-02 9.99400342e-01 7.97325796e-06 7.28229280e-02] [ 9.28596195e-03 -3.29705858e-04 9.99956830e-01 1.75850258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999996 meters 0.023747526478450288 Centerline is valid? [True, True] Translation: X:30.02, Y:0.06, Z:0.18 [[ 9.98769881e-01 -4.88778038e-02 -8.34771399e-03 3.00208524e+01] [ 4.88795673e-02 9.98804680e-01 7.24722799e-06 6.24756702e-02] [ 8.33738157e-03 -4.15270961e-04 9.99965157e-01 1.76650602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999998 meters 0.02767192589069804 Centerline is valid? [True, True] Translation: X:30.08, Y:0.05, Z:0.18 [[ 9.98405338e-01 -5.60185704e-02 -6.97863832e-03 3.00806091e+01] [ 5.60199771e-02 9.98429648e-01 6.10345794e-06 5.24203047e-02] [ 6.96733749e-03 -3.97036883e-04 9.99975649e-01 1.77803084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999997 meters 0.02737591433217478 Centerline is valid? [True, True] Translation: X:30.14, Y:0.05, Z:0.18 [[ 9.98355056e-01 -5.70561644e-02 -5.63697342e-03 3.01423334e+01] [ 5.70571009e-02 9.98370917e-01 5.32799174e-06 5.03539845e-02] [ 5.62748632e-03 -3.26948588e-04 9.99984112e-01 1.79205550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254154 meters 0.027895508329654956 Centerline is valid? [True, True] Translation: X:30.20, Y:0.05, Z:0.18 [[ 9.98461322e-01 -5.51975468e-02 -5.31218389e-03 3.02036113e+01] [ 5.51983539e-02 9.98475409e-01 5.32777682e-06 4.79893252e-02] [ 5.30379090e-03 -2.98543385e-04 9.99985890e-01 1.79321408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999998 meters 0.024731387574143466 Centerline is valid? [True, True] Translation: X:30.26, Y:0.05, Z:0.18 [[ 9.98692367e-01 -5.04913564e-02 -8.01113800e-03 3.02647475e+01] [ 5.04930442e-02 9.98724413e-01 8.43625585e-06 5.11326054e-02] [ 8.00049314e-03 -4.12931970e-04 9.99967910e-01 1.76704205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999997 meters 0.023867330349437638 Centerline is valid? [True, True] Translation: X:30.33, Y:0.05, Z:0.18 [[ 9.98889267e-01 -4.59155531e-02 -1.05827389e-02 3.03253904e+01] [ 4.59182450e-02 9.98945201e-01 1.14012697e-05 5.31352246e-02] [ 1.05710527e-02 -4.97329402e-04 9.99944001e-01 1.75000798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254154 meters 0.021222709088271043 Centerline is valid? [True, True] Translation: X:30.39, Y:0.06, Z:0.17 [[ 9.99227948e-01 -3.70440105e-02 -1.30862347e-02 3.03859659e+01] [ 3.70473697e-02 9.99313510e-01 1.42942234e-05 5.96005733e-02] [ 1.30767217e-02 -4.99093764e-04 9.99914371e-01 1.73663364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999998 meters 0.01850245871417922 Centerline is valid? [True, True] Translation: X:30.45, Y:0.07, Z:0.17 [[ 9.99476692e-01 -2.95214260e-02 -1.32222251e-02 3.04470660e+01] [ 2.95241988e-02 9.99564066e-01 1.45208570e-05 6.70734345e-02] [ 1.32160324e-02 -4.04888862e-04 9.99912582e-01 1.74827505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999996 meters 0.016905605910276216 Centerline is valid? [True, True] Translation: X:30.51, Y:0.07, Z:0.18 [[ 9.99698199e-01 -2.06882553e-02 -1.32479097e-02 3.05067906e+01] [ 2.06902648e-02 9.99785933e-01 1.46360450e-05 7.30866216e-02] [ 1.32447710e-02 -2.88734389e-04 9.99912242e-01 1.75757613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254154 meters 0.013778229160079444 Centerline is valid? [True, True] Translation: X:30.57, Y:0.09, Z:0.18 [[ 9.99938807e-01 -5.34633261e-04 -1.10497076e-02 3.05671945e+01] [ 5.34800518e-04 9.99999857e-01 1.21819788e-05 9.12093488e-02] [ 1.10496995e-02 -1.80906227e-05 9.99938950e-01 1.79332987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999997 meters 0.014199553763226956 Centerline is valid? [True, True] Translation: X:30.63, Y:0.10, Z:0.18 [[ 9.99916298e-01 8.50928880e-03 -9.74620371e-03 3.06261382e+01] [-8.50959621e-03 9.99963793e-01 9.92797377e-06 9.80725364e-02] [ 9.74593531e-03 7.30091154e-05 9.99952505e-01 1.80512556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999996 meters 0.01488901570444951 Centerline is valid? [True, True] Translation: X:30.68, Y:0.10, Z:0.18 [[ 9.99826619e-01 1.54880142e-02 -1.03370369e-02 3.06845541e+01] [-1.54887553e-02 9.99880042e-01 8.36415658e-06 1.03494571e-01] [ 1.03359264e-02 1.51745128e-04 9.99946571e-01 1.81294885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254154 meters 0.014796293722799402 Centerline is valid? [True, True] Translation: X:30.74, Y:0.10, Z:0.18 [[ 9.99848134e-01 1.34795260e-02 -1.10458539e-02 3.07433364e+01] [-1.34802604e-02 9.99909137e-01 7.97038644e-06 1.00825644e-01] [ 1.10449576e-02 1.40931810e-04 9.99938993e-01 1.80263128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999997 meters 0.014143947541671632 Centerline is valid? [True, True] Translation: X:30.80, Y:0.10, Z:0.18 [[ 9.99892552e-01 8.41971505e-03 -1.19997379e-02 3.08023596e+01] [-8.42022842e-03 9.99964549e-01 7.74030531e-06 9.54628213e-02] [ 1.19993777e-02 9.33010609e-05 9.99928001e-01 1.80269336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999996 meters 0.013787324223311779 Centerline is valid? [True, True] Translation: X:30.86, Y:0.09, Z:0.18 [[ 9.99920084e-01 -2.44123428e-04 -1.26398314e-02 3.08599252e+01] [ 2.44231620e-04 9.99999970e-01 7.01606892e-06 8.82393248e-02] [ 1.26398293e-02 -1.01025547e-05 9.99920114e-01 1.79753840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999998 meters 0.014048595405226245 Centerline is valid? [True, True] Translation: X:30.92, Y:0.08, Z:0.18 [[ 9.99891997e-01 -7.88673843e-03 -1.24013429e-02 3.09184777e+01] [ 7.88741670e-03 9.99968894e-01 5.78405317e-06 8.01196119e-02] [ 1.24009116e-02 -1.03597988e-04 9.99923100e-01 1.80681632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999997 meters 0.014748060859069122 Centerline is valid? [True, True] Translation: X:30.98, Y:0.07, Z:0.18 [[ 9.99837850e-01 -1.36291218e-02 -1.17695043e-02 3.09774941e+01] [ 1.36301206e-02 9.99907106e-01 4.64643188e-06 7.27441272e-02] [ 1.17683476e-02 -1.65065441e-04 9.99930737e-01 1.82383144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254154 meters 0.01597935532855318 Centerline is valid? [True, True] Translation: X:31.04, Y:0.06, Z:0.18 [[ 9.99779957e-01 -1.75064891e-02 -1.15568762e-02 3.10364900e+01] [ 1.75077071e-02 9.99846728e-01 4.22480803e-06 6.38168855e-02] [ 1.15550309e-02 -2.06558283e-04 9.99933217e-01 1.82654002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254154 meters 0.016585088175284347 Centerline is valid? [True, True] Translation: X:31.10, Y:0.06, Z:0.18 [[ 9.99752304e-01 -1.89270370e-02 -1.17088934e-02 3.10970007e+01] [ 1.89283871e-02 9.99820842e-01 4.48816187e-06 5.88052695e-02] [ 1.17067107e-02 -2.26117517e-04 9.99931449e-01 1.81730789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154000004 meters 0.015761690826528882 Centerline is valid? [True, True] Translation: X:31.16, Y:0.06, Z:0.18 [[ 9.99745201e-01 -1.80638879e-02 -1.35362191e-02 3.11570175e+01] [ 1.80656133e-02 9.99836803e-01 5.18859816e-06 5.62456892e-02] [ 1.35339163e-02 -2.49727376e-04 9.99908381e-01 1.80622702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters 0.01533677341095651 Centerline is valid? [True, True] Translation: X:31.22, Y:0.06, Z:0.18 [[ 9.99769277e-01 -1.52836726e-02 -1.50931117e-02 3.12164153e+01] [ 1.52854965e-02 9.99883170e-01 5.48330429e-06 5.59147296e-02] [ 1.50912646e-02 -2.36187746e-04 9.99886092e-01 1.79807668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254154 meters 0.015195597857176186 Centerline is valid? [True, True] Translation: X:31.27, Y:0.06, Z:0.18 [[ 9.99771042e-01 -1.35549332e-02 -1.65567883e-02 3.12739316e+01] [ 1.35568722e-02 9.99908101e-01 4.87788555e-06 5.63302410e-02] [ 1.65552006e-02 -2.29335032e-04 9.99862927e-01 1.79361037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254154 meters 0.015264005100441293 Centerline is valid? [True, True] Translation: X:31.33, Y:0.06, Z:0.18 [[ 9.99714964e-01 -1.63990850e-02 -1.73510860e-02 3.13322836e+01] [ 1.64015839e-02 9.99865485e-01 1.71443935e-06 5.58909299e-02] [ 1.73487239e-02 -2.86299242e-04 9.99849459e-01 1.80190296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters 0.01615651072437546 Centerline is valid? [True, True] Translation: X:31.39, Y:0.05, Z:0.18 [[ 9.99629761e-01 -2.02461756e-02 -1.81778304e-02 3.13897219e+01] [ 2.02494873e-02 9.99794958e-01 -1.87557889e-06 5.29166972e-02] [ 1.81741411e-02 -3.66216861e-04 9.99834770e-01 1.79355316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters 0.01740435132053186 Centerline is valid? [True, True] Translation: X:31.45, Y:0.05, Z:0.18 [[ 9.99470502e-01 -2.56991254e-02 -1.99567151e-02 3.14491663e+01] [ 2.57041571e-02 9.99669594e-01 -4.38319274e-06 5.08450444e-02] [ 1.99502339e-02 -5.08589667e-04 9.99800845e-01 1.78401499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254154 meters 0.019308492001934442 Centerline is valid? [True, True] Translation: X:31.51, Y:0.05, Z:0.18 [[ 9.99364638e-01 -2.98668621e-02 -1.94496868e-02 3.15077653e+01] [ 2.98724055e-02 9.99553720e-01 -5.52388109e-06 4.87772028e-02] [ 1.94411718e-02 -5.75488559e-04 9.99810837e-01 1.78959112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters 0.020188711779815446 Centerline is valid? [True, True] Translation: X:31.57, Y:0.05, Z:0.18 [[ 9.99269282e-01 -3.42372190e-02 -1.69916016e-02 3.15675408e+01] [ 3.42420688e-02 9.99413568e-01 -5.51358709e-06 4.79240627e-02] [ 1.69818259e-02 -5.76318032e-04 9.99855632e-01 1.81471179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters 0.02044944488559019 Centerline is valid? [True, True] Translation: X:31.63, Y:0.05, Z:0.18 [[ 9.99199100e-01 -3.65700473e-02 -1.62416134e-02 3.16292580e+01] [ 3.65747880e-02 9.99330919e-01 -5.15282870e-06 4.82770489e-02] [ 1.62309348e-02 -5.88884863e-04 9.99868096e-01 1.82495618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254154 meters 0.020376962374574745 Centerline is valid? [True, True] Translation: X:31.69, Y:0.05, Z:0.18 [[ 9.99175515e-01 -3.74912475e-02 -1.55787097e-02 3.16916366e+01] [ 3.74957348e-02 9.99296788e-01 -4.04964179e-06 5.01357713e-02] [ 1.55679064e-02 -5.80088863e-04 9.99878645e-01 1.83043648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters 0.019855348243358464 Centerline is valid? [True, True] Translation: X:31.75, Y:0.05, Z:0.18 [[ 9.99275202e-01 -3.50112644e-02 -1.49426428e-02 3.17529971e+01] [ 3.50151274e-02 9.99386782e-01 -3.10434037e-06 5.43508518e-02] [ 1.49335884e-02 -5.20116450e-04 9.99888352e-01 1.83584318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters 0.018689532456527054 Centerline is valid? [True, True] Translation: X:31.81, Y:0.06, Z:0.18 [[ 9.99431320e-01 -2.98659915e-02 -1.56543966e-02 3.18144333e+01] [ 2.98696099e-02 9.99553804e-01 -2.67057095e-06 6.17722568e-02] [ 1.56474914e-02 -4.64921666e-04 9.99877462e-01 1.83673347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254154 meters 0.01705991686314428 Centerline is valid? [True, True] Translation: X:31.87, Y:0.07, Z:0.18 [[ 9.99602045e-01 -2.28899226e-02 -1.64864303e-02 3.18749649e+01] [ 2.28929919e-02 9.99737921e-01 -2.55734544e-06 7.12882821e-02] [ 1.64821681e-02 -3.74867387e-04 9.99864090e-01 1.83154787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters 0.01559669597199776 Centerline is valid? [True, True] Translation: X:31.94, Y:0.08, Z:0.18 [[ 9.99704950e-01 -1.78191305e-02 -1.65072878e-02 3.19352620e+01] [ 1.78215165e-02 9.99841184e-01 -2.56058083e-06 7.91440629e-02] [ 1.65047119e-02 -2.91625078e-04 9.99863745e-01 1.83931389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters 0.014342561447640704 Centerline is valid? [True, True] Translation: X:31.99, Y:0.09, Z:0.19 [[ 9.99811472e-01 -1.08359143e-02 -1.61122199e-02 3.19942842e+01] [ 1.08372697e-02 9.99941275e-01 -3.18987384e-06 9.10367011e-02] [ 1.61113082e-02 -1.71423200e-04 9.99870190e-01 1.85455495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254154 meters 0.01397090152824729 Centerline is valid? [True, True] Translation: X:32.05, Y:0.10, Z:0.19 [[ 9.99855970e-01 -7.35674837e-03 -1.52943832e-02 3.20533447e+01] [ 7.35752203e-03 9.99972933e-01 -5.68336899e-06 9.66825766e-02] [ 1.52940110e-02 -1.06846211e-04 9.99883034e-01 1.86182376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154000004 meters 0.01375796422293425 Centerline is valid? [True, True] Translation: X:32.11, Y:0.10, Z:0.19 [[ 9.99912360e-01 -4.32729305e-03 -1.25118753e-02 3.21122156e+01] [ 4.32753791e-03 9.99990636e-01 -7.50396124e-06 1.03387029e-01] [ 1.25117906e-02 -4.66423111e-05 9.99921723e-01 1.88946234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters 0.013700239178834424 Centerline is valid? [True, True] Translation: X:32.17, Y:0.11, Z:0.19 [[ 9.99925499e-01 -4.61851028e-03 -1.12988870e-02 3.21702790e+01] [ 4.61869644e-03 9.99989334e-01 -9.61807582e-06 1.07374876e-01] [ 1.12988109e-02 -4.25687699e-05 9.99936165e-01 1.91505002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254154 meters 0.013854275208852017 Centerline is valid? [True, True] Translation: X:32.23, Y:0.11, Z:0.19 [[ 9.99914383e-01 -6.53403097e-03 -1.13372421e-02 3.22289729e+01] [ 6.53431578e-03 9.99978651e-01 -1.19198297e-05 1.07807965e-01] [ 1.13370780e-02 -6.21623110e-05 9.99935731e-01 1.91624941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154000004 meters 0.014343422907590744 Centerline is valid? [True, True] Translation: X:32.29, Y:0.11, Z:0.19 [[ 9.99867873e-01 -1.11792602e-02 -1.18008888e-02 3.22879241e+01] [ 1.11798822e-02 9.99937503e-01 -1.32676074e-05 1.05261822e-01] [ 1.18002996e-02 -1.18666691e-04 9.99930367e-01 1.90641106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters 0.014996592529142365 Centerline is valid? [True, True] Translation: X:32.35, Y:0.10, Z:0.19 [[ 9.99815302e-01 -1.46608345e-02 -1.24266748e-02 3.23470381e+01] [ 1.46617829e-02 9.99892510e-01 -1.47767223e-05 1.02743127e-01] [ 1.24255557e-02 -1.67423215e-04 9.99922786e-01 1.90394100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254154 meters 0.015392932765376488 Centerline is valid? [True, True] Translation: X:32.41, Y:0.10, Z:0.19 [[ 9.99769341e-01 -1.77829548e-02 -1.20429007e-02 3.24063591e+01] [ 1.77840656e-02 9.99841851e-01 -1.48574935e-05 1.00715918e-01] [ 1.20412603e-02 -1.99317670e-04 9.99927482e-01 1.91534927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154000004 meters 0.015024004095550972 Centerline is valid? [True, True] Translation: X:32.47, Y:0.10, Z:0.19 [[ 9.99776637e-01 -1.71780842e-02 -1.23121804e-02 3.24679258e+01] [ 1.71791989e-02 9.99852427e-01 -1.52293019e-05 1.01425133e-01] [ 1.23106251e-02 -1.96287496e-04 9.99924202e-01 1.92934794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters 0.014412401147139027 Centerline is valid? [True, True] Translation: X:32.53, Y:0.10, Z:0.19 [[ 9.99854384e-01 -1.25369169e-02 -1.15774325e-02 3.25287383e+01] [ 1.25375942e-02 9.99921401e-01 -1.40859315e-05 1.03046528e-01] [ 1.15766991e-02 -1.31069269e-04 9.99932979e-01 1.94658007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254154 meters 0.013994086061264526 Centerline is valid? [True, True] Translation: X:32.59, Y:0.10, Z:0.20 [[ 9.99917734e-01 -7.64007244e-03 -1.03031644e-02 3.25885640e+01] [ 7.64034748e-03 9.99970812e-01 -1.26659429e-05 1.04153813e-01] [ 1.03029604e-02 -6.60548549e-05 9.99946921e-01 1.95589359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154000004 meters 0.013779752773392807 Centerline is valid? [True, True] Translation: X:32.65, Y:0.11, Z:0.20 [[ 9.99954026e-01 -8.26063260e-04 -9.55316280e-03 3.26469498e+01] [ 8.25979506e-04 9.99999659e-01 -1.27126314e-05 1.06420329e-01] [ 9.55317004e-03 4.82133022e-06 9.99954367e-01 1.97010661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters 0.013850275213248157 Centerline is valid? [True, True] Translation: X:32.71, Y:0.11, Z:0.20 [[ 9.99931695e-01 2.31374204e-03 -1.14565574e-02 3.27058218e+01] [-2.31410687e-03 9.99997322e-01 -1.85880763e-05 1.06004092e-01] [ 1.14564838e-02 4.50985049e-05 9.99934371e-01 1.96513911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254154 meters 0.013964784664116969 Centerline is valid? [True, True] Translation: X:32.76, Y:0.10, Z:0.19 [[ 9.99915057e-01 7.36015796e-04 -1.30129860e-02 3.27632102e+01] [-7.36386296e-04 9.99999729e-01 -2.36800697e-05 1.03770658e-01] [ 1.30129650e-02 3.32606427e-05 9.99915327e-01 1.94855079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254154 meters 0.014034910164671881 Centerline is valid? [True, True] Translation: X:32.82, Y:0.10, Z:0.19 [[ 9.99877596e-01 -5.93151390e-03 -1.44779151e-02 3.28224395e+01] [ 5.93173610e-03 9.99982407e-01 -2.75945990e-05 9.71471660e-02] [ 1.44778240e-02 -5.82879502e-05 9.99895189e-01 1.94871344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters 0.014226584905503818 Centerline is valid? [True, True] Translation: X:32.88, Y:0.09, Z:0.20 [[ 9.99830319e-01 -1.18004740e-02 -1.41450068e-02 3.28811860e+01] [ 1.18012587e-02 9.99930362e-01 -2.79932316e-05 9.22876756e-02] [ 1.41443521e-02 -1.38940403e-04 9.99899954e-01 1.96113172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254154 meters 0.015939307064269725 Centerline is valid? [True, True] Translation: X:32.94, Y:0.08, Z:0.20 [[ 9.99666701e-01 -2.18267539e-02 -1.37869105e-02 3.29402685e+01] [ 2.18284403e-02 9.99761731e-01 -2.81655686e-05 8.33173477e-02] [ 1.37842403e-02 -2.72790572e-04 9.99904956e-01 1.96291093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254154 meters 0.019466380259395944 Centerline is valid? [True, True] Translation: X:33.00, Y:0.07, Z:0.20 [[ 9.99354613e-01 -3.35886102e-02 -1.27343477e-02 3.29994610e+01] [ 3.35909973e-02 9.99435663e-01 -2.64487174e-05 7.20094291e-02] [ 1.27280496e-02 -4.01327791e-04 9.99918915e-01 1.97398849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters 0.024836563495301 Centerline is valid? [True, True] Translation: X:33.06, Y:0.06, Z:0.20 [[ 9.98859580e-01 -4.62115011e-02 -1.20015656e-02 3.30592627e+01] [ 4.62145293e-02 9.98931538e-01 -2.50411427e-05 5.87675812e-02] [ 1.19898996e-02 -5.29634119e-04 9.99927978e-01 1.98221543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters 0.028587328089550716 Centerline is valid? [True, True] Translation: X:33.12, Y:0.05, Z:0.20 [[ 9.98488087e-01 -5.35903013e-02 -1.22319525e-02 3.31201000e+01] [ 5.35940006e-02 9.98562808e-01 -2.54005303e-05 5.04945254e-02] [ 1.22157341e-02 -6.30197142e-04 9.99925187e-01 1.98851154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254154 meters 0.033628866818797884 Centerline is valid? [True, True] Translation: X:33.18, Y:0.04, Z:0.20 [[ 9.98018490e-01 -6.15620460e-02 -1.30079662e-02 3.31798714e+01] [ 6.15669052e-02 9.98102958e-01 -2.69410196e-05 3.94979256e-02] [ 1.29849481e-02 -7.73972585e-04 9.99915392e-01 1.98163201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters 0.032569596394487955 Centerline is valid? [True, True] Translation: X:33.24, Y:0.04, Z:0.20 [[ 9.97806091e-01 -6.43360211e-02 -1.56166839e-02 3.32414219e+01] [ 6.43433661e-02 9.97927818e-01 -3.21760727e-05 3.83168203e-02] [ 1.55863934e-02 -9.72724531e-04 9.99878052e-01 1.96450668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters 0.029419849938615746 Centerline is valid? [True, True] Translation: X:33.30, Y:0.04, Z:0.20 [[ 9.97931009e-01 -6.17830615e-02 -1.77920082e-02 3.33029895e+01] [ 6.17922038e-02 9.98089035e-01 -3.59721504e-05 4.37372805e-02] [ 1.77602308e-02 -1.06350967e-03 9.99841709e-01 1.95916761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254154 meters 0.028625004709104295 Centerline is valid? [True, True] Translation: X:33.36, Y:0.05, Z:0.20 [[ 9.98218836e-01 -5.69556478e-02 -1.77541219e-02 3.33632583e+01] [ 5.69639950e-02 9.98376233e-01 -3.56147007e-05 4.71160314e-02] [ 1.77273218e-02 -9.75794449e-04 9.99842383e-01 1.96725605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters 0.025546334110002566 Centerline is valid? [True, True] Translation: X:33.42, Y:0.06, Z:0.20 [[ 9.98717269e-01 -4.80693099e-02 -1.59109190e-02 3.34234878e+01] [ 4.80748882e-02 9.98843734e-01 -3.19171634e-05 5.77468702e-02] [ 1.58940560e-02 -7.33039432e-04 9.99873413e-01 2.00113543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters 0.020828756873184986 Centerline is valid? [True, True] Translation: X:33.48, Y:0.07, Z:0.20 [[ 9.99091033e-01 -4.04971058e-02 -1.33076252e-02 3.34842312e+01] [ 4.05003370e-02 9.99179524e-01 -2.67075985e-05 6.98858288e-02] [ 1.32977882e-02 -5.12279981e-04 9.99911449e-01 2.03849763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254154 meters 0.01923545647354935 Centerline is valid? [True, True] Translation: X:33.55, Y:0.07, Z:0.20 [[ 9.99306903e-01 -3.48343158e-02 -1.31256901e-02 3.35450808e+01] [ 3.48369728e-02 9.99393008e-01 -2.62260424e-05 7.41575723e-02] [ 1.31186365e-02 -4.31051446e-04 9.99913854e-01 2.03549700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154000004 meters 0.018073866954787562 Centerline is valid? [True, True] Translation: X:33.61, Y:0.08, Z:0.20 [[ 9.99400567e-01 -3.14176383e-02 -1.45409657e-02 3.36064406e+01] [ 3.14205442e-02 9.99506252e-01 -2.86236877e-05 7.71776159e-02] [ 1.45346854e-02 -4.28278525e-04 9.99894274e-01 2.02898003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters 0.016628201969267245 Centerline is valid? [True, True] Translation: X:33.67, Y:0.08, Z:0.20 [[ 9.99587176e-01 -2.36389482e-02 -1.63302839e-02 3.36659623e+01] [ 2.36415777e-02 9.99720498e-01 -3.20394812e-05 8.17850067e-02] [ 1.63264769e-02 -3.54047420e-04 9.99866652e-01 2.02139809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254154 meters 0.0145905817802759 Centerline is valid? [True, True] Translation: X:33.73, Y:0.09, Z:0.20 [[ 9.99792430e-01 -1.20736813e-02 -1.64110823e-02 3.37262670e+01] [ 1.20747741e-02 9.99927097e-01 -3.24973222e-05 8.92049796e-02] [ 1.64102782e-02 -1.65669535e-04 9.99865329e-01 2.03399462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154000004 meters 0.014101938735295153 Centerline is valid? [True, True] Translation: X:33.79, Y:0.10, Z:0.21 [[ 9.99877956e-01 7.16415976e-04 -1.56064035e-02 3.37854202e+01] [-7.17020964e-04 9.99999742e-01 -3.31699752e-05 9.58045552e-02] [ 1.56063757e-02 4.43560455e-05 9.99878212e-01 2.05012335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters 0.014738939788298554 Centerline is valid? [True, True] Translation: X:33.84, Y:0.10, Z:0.21 [[ 9.99859460e-01 8.15430107e-03 -1.46480953e-02 3.38442781e+01] [-8.15568427e-03 9.99966741e-01 -3.46936968e-05 9.96419219e-02] [ 1.46473252e-02 1.54154062e-04 9.99892710e-01 2.05737315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254154 meters 0.015938352020143563 Centerline is valid? [True, True] Translation: X:33.90, Y:0.10, Z:0.21 [[ 9.99753368e-01 1.63863005e-02 -1.49897711e-02 3.39036472e+01] [-1.63887071e-02 9.99865695e-01 -3.77209671e-05 1.01586780e-01] [ 1.49871398e-02 2.83374632e-04 9.99887646e-01 2.06234132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154000004 meters 0.01599654644492176 Centerline is valid? [True, True] Translation: X:33.96, Y:0.10, Z:0.21 [[ 9.99719852e-01 1.81230792e-02 -1.52240623e-02 3.39626020e+01] [-1.81258024e-02 9.99835713e-01 -4.09011232e-05 9.80842018e-02] [ 1.52208200e-02 3.16838010e-04 9.99884106e-01 2.06486102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters 0.015750289602561005 Centerline is valid? [True, True] Translation: X:34.02, Y:0.09, Z:0.21 [[ 9.99747911e-01 1.57534411e-02 -1.59982665e-02 3.40216074e+01] [-1.57561854e-02 9.99875863e-01 -4.54994776e-05 9.40584212e-02] [ 1.59955637e-02 2.97559660e-04 9.99872019e-01 2.06635302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254154 meters 0.014915740285471216 Centerline is valid? [True, True] Translation: X:34.08, Y:0.09, Z:0.21 [[ 9.99844795e-01 8.77534355e-03 -1.52767400e-02 3.40810974e+01] [-8.77704579e-03 9.99961480e-01 -4.43830801e-05 8.50174273e-02] [ 1.52757621e-02 1.78460838e-04 9.99883303e-01 2.06907049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154000004 meters 0.01429879256280222 Centerline is valid? [True, True] Translation: X:34.14, Y:0.08, Z:0.21 [[ 9.99884112e-01 2.55796131e-03 -1.50073322e-02 3.41398097e+01] [-2.55891814e-03 9.99996725e-01 -4.45553063e-05 7.70311057e-02] [ 1.50071691e-02 8.29526773e-05 9.99887383e-01 2.06908940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters 0.014132146332178859 Centerline is valid? [True, True] Translation: X:34.20, Y:0.07, Z:0.21 [[ 9.99885406e-01 -4.23529955e-03 -1.45339943e-02 3.41982091e+01] [ 4.23510476e-03 9.99991031e-01 -4.41809261e-05 6.81336180e-02] [ 1.45340510e-02 -1.73771251e-05 9.99894375e-01 2.06979601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254154 meters 0.014954929604396858 Centerline is valid? [True, True] Translation: X:34.26, Y:0.06, Z:0.21 [[ 9.99795528e-01 -1.36590499e-02 -1.49108272e-02 3.42563989e+01] [ 1.36598724e-02 9.99906699e-01 -4.66856236e-05 5.55099413e-02] [ 1.49100736e-02 -1.57003919e-04 9.99888826e-01 2.06264040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254154 meters 0.016796252242808344 Centerline is valid? [True, True] Translation: X:34.32, Y:0.04, Z:0.21 [[ 9.99586766e-01 -2.40300046e-02 -1.57751664e-02 3.43162217e+01] [ 2.40322017e-02 9.99711184e-01 -5.03015193e-05 4.36401403e-02] [ 1.57718191e-02 -3.28831249e-04 9.99875563e-01 2.05936951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters 0.021705240730443724 Centerline is valid? [True, True] Translation: X:34.38, Y:0.03, Z:0.20 [[ 9.99176170e-01 -3.70045309e-02 -1.66627279e-02 3.43752784e+01] [ 3.70087898e-02 9.99314939e-01 -5.27895068e-05 2.80241192e-02] [ 1.66532664e-02 -5.63921378e-04 9.99861166e-01 2.04151451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254154 meters 0.023966195957330603 Centerline is valid? [True, True] Translation: X:34.44, Y:0.02, Z:0.20 [[ 9.98819001e-01 -4.55016783e-02 -1.70352699e-02 3.44357018e+01] [ 4.55073695e-02 9.98964002e-01 -5.36137691e-05 2.06370254e-02] [ 1.70200609e-02 -7.21679868e-04 9.99854888e-01 2.04030990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254154 meters 0.027331363070250712 Centerline is valid? [True, True] Translation: X:34.50, Y:0.01, Z:0.20 [[ 9.98339710e-01 -5.48759295e-02 -1.75058734e-02 3.44958365e+01] [ 5.48833769e-02 9.98492770e-01 -5.50813291e-05 1.34154245e-02] [ 1.74825107e-02 -9.05791572e-04 9.99846759e-01 2.04351565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters 0.030480623548763967 Centerline is valid? [True, True] Translation: X:34.56, Y:0.01, Z:0.20 [[ 9.98082243e-01 -5.91133630e-02 -1.83697138e-02 3.45557049e+01] [ 5.91222763e-02 9.98250747e-01 -5.79523654e-05 8.74490045e-03] [ 1.83410063e-02 -1.02821807e-03 9.99831261e-01 2.04256480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599254154 meters 0.03112289690326228 Centerline is valid? [True, True] Translation: X:34.62, Y:0.01, Z:0.21 [[ 9.98042170e-01 -5.98898720e-02 -1.80285841e-02 3.46173285e+01] [ 5.98985930e-02 9.98204466e-01 -5.63534129e-05 8.08613885e-03] [ 1.79995882e-02 -1.02364374e-03 9.99837470e-01 2.05034172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254154 meters 0.02783122605876458 Centerline is valid? [True, True] Translation: X:34.68, Y:0.01, Z:0.21 [[ 9.98140885e-01 -5.89388022e-02 -1.55239210e-02 3.46793569e+01] [ 5.89451682e-02 9.98261221e-01 -4.75565779e-05 1.44722455e-02] [ 1.54997312e-02 -8.67591968e-04 9.99879496e-01 2.08404010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters 0.029712523246968943 Centerline is valid? [True, True] Translation: X:34.74, Y:0.02, Z:0.21 [[ 9.98351869e-01 -5.54767371e-02 -1.46927814e-02 3.47389751e+01] [ 5.54820727e-02 9.98459683e-01 -4.45359242e-05 1.56908036e-02] [ 1.46726206e-02 -7.70723444e-04 9.99892054e-01 2.09750813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters 0.02544453832284254 Centerline is valid? [True, True] Translation: X:34.80, Y:0.03, Z:0.21 [[ 9.98546804e-01 -5.16333474e-02 -1.54362360e-02 3.48001980e+01] [ 5.16387810e-02 9.98665827e-01 -4.66289967e-05 2.50780728e-02] [ 1.54180490e-02 -7.50547176e-04 9.99880853e-01 2.10407666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254154 meters 0.02236057661727276 Centerline is valid? [True, True] Translation: X:34.86, Y:0.04, Z:0.21 [[ 9.98876860e-01 -4.42741156e-02 -1.68766752e-02 3.48606616e+01] [ 4.42795647e-02 9.99019178e-01 -5.08425713e-05 3.53696818e-02] [ 1.68623732e-02 -6.96506364e-04 9.99857577e-01 2.10505393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters 0.01897091230805556 Centerline is valid? [True, True] Translation: X:34.92, Y:0.05, Z:0.21 [[ 9.99252482e-01 -3.49817076e-02 -1.64546912e-02 3.49216670e+01] [ 3.49856294e-02 9.99387814e-01 -4.95440013e-05 4.82086016e-02] [ 1.64463511e-02 -5.26170764e-04 9.99864611e-01 2.12006126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters 0.016972785392685156 Centerline is valid? [True, True] Translation: X:34.98, Y:0.06, Z:0.21 [[ 9.99519214e-01 -2.59579237e-02 -1.69566083e-02 3.49820308e+01] [ 2.59607910e-02 9.99662961e-01 -5.10389994e-05 5.84936337e-02] [ 1.69522181e-02 -3.89192504e-04 9.99856225e-01 2.11692807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254154 meters 0.016157099012865675 Centerline is valid? [True, True] Translation: X:35.04, Y:0.06, Z:0.21 [[ 9.99645662e-01 -2.01594946e-02 -1.73822977e-02 3.50419229e+01] [ 2.01616314e-02 9.99796732e-01 -5.23215952e-05 6.36050668e-02] [ 1.73798192e-02 -2.98152423e-04 9.99848915e-01 2.11224113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters 0.014546651282411185 Centerline is valid? [True, True] Translation: X:35.10, Y:0.07, Z:0.21 [[ 9.99797875e-01 -1.17965318e-02 -1.62803641e-02 3.51004235e+01] [ 1.17972864e-02 9.99930408e-01 -4.96966890e-05 7.31453600e-02] [ 1.62798173e-02 -1.42377473e-04 9.99867465e-01 2.13174678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters 0.013993946089502489 Centerline is valid? [True, True] Translation: X:35.16, Y:0.08, Z:0.22 [[ 9.99899274e-01 -3.60422876e-03 -1.37277666e-02 3.51593410e+01] [ 3.60396283e-03 9.99993505e-01 -4.41096344e-05 7.96793111e-02] [ 1.37278364e-02 -5.36916923e-06 9.99905769e-01 2.15630053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254154 meters 0.014034459979444074 Centerline is valid? [True, True] Translation: X:35.22, Y:0.08, Z:0.22 [[ 9.99929780e-01 2.43782365e-03 -1.15971035e-02 3.52172929e+01] [-2.43844168e-03 9.99997026e-01 -3.91524671e-05 8.33826285e-02] [ 1.15969735e-02 6.74285783e-05 9.99932751e-01 2.17781744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154000004 meters 0.013951817452542396 Centerline is valid? [True, True] Translation: X:35.28, Y:0.08, Z:0.22 [[ 9.99929518e-01 3.34921666e-03 -1.13904555e-02 3.52762741e+01] [-3.34988260e-03 9.99994388e-01 -3.93854975e-05 8.24556640e-02] [ 1.13902597e-02 7.75394102e-05 9.99935126e-01 2.17792879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters 0.013605340878719402 Centerline is valid? [True, True] Translation: X:35.34, Y:0.08, Z:0.22 [[ 9.99913672e-01 -2.06535974e-04 -1.31379447e-02 3.53353961e+01] [ 2.05943323e-04 9.99999978e-01 -4.64627622e-05 7.76927915e-02] [ 1.31379540e-02 4.37530792e-05 9.99913692e-01 2.15750498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254154 meters 0.013693975341845634 Centerline is valid? [True, True] Translation: X:35.39, Y:0.07, Z:0.21 [[ 9.99850763e-01 -7.69573348e-03 -1.54669652e-02 3.53932331e+01] [ 7.69578679e-03 9.99970385e-01 -5.60731527e-05 7.17860162e-02] [ 1.54669387e-02 -6.29656818e-05 9.99880378e-01 2.13917723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154000004 meters 0.014891395818576071 Centerline is valid? [True, True] Translation: X:35.45, Y:0.06, Z:0.21 [[ 9.99759983e-01 -1.61320645e-02 -1.48233688e-02 3.54508335e+01] [ 1.61330213e-02 9.99869853e-01 -5.50404245e-05 6.35419239e-02] [ 1.48223275e-02 -1.84118510e-04 9.99890126e-01 2.13904728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters 0.015761221333190047 Centerline is valid? [True, True] Translation: X:35.51, Y:0.06, Z:0.22 [[ 9.99678799e-01 -2.16062975e-02 -1.32464122e-02 3.55093138e+01] [ 2.16075287e-02 9.99766529e-01 -5.01791097e-05 6.01341736e-02] [ 1.32444037e-02 -2.36059239e-04 9.99912261e-01 2.16299481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254154 meters 0.01802173251870417 Centerline is valid? [True, True] Translation: X:35.57, Y:0.05, Z:0.22 [[ 9.99469438e-01 -3.02130587e-02 -1.21660652e-02 3.55693743e+01] [ 3.02147279e-02 9.99543430e-01 -4.66206193e-05 5.30667131e-02] [ 1.21619191e-02 -3.20998467e-04 9.99925990e-01 2.17713357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154000004 meters 0.019520455877811406 Centerline is valid? [True, True] Translation: X:35.63, Y:0.05, Z:0.22 [[ 9.99176916e-01 -3.87396977e-02 -1.20302221e-02 3.56296879e+01] [ 3.87419463e-02 9.99249248e-01 -4.61671510e-05 4.79481200e-02] [ 1.20229789e-02 -4.19945068e-04 9.99927633e-01 2.18241667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters 0.023101413777963188 Centerline is valid? [True, True] Translation: X:35.69, Y:0.04, Z:0.22 [[ 9.98776076e-01 -4.75688934e-02 -1.35480854e-02 3.56908766e+01] [ 4.75725599e-02 9.98867783e-01 -5.16972515e-05 4.15481094e-02] [ 1.35352052e-02 -5.92883124e-04 9.99908219e-01 2.17285692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254154 meters 0.0250598417542807 Centerline is valid? [True, True] Translation: X:35.75, Y:0.04, Z:0.22 [[ 9.98450574e-01 -5.36666968e-02 -1.47083832e-02 3.57511851e+01] [ 5.36716822e-02 9.98558635e-01 -5.58622165e-05 3.83393725e-02] [ 1.46901810e-02 -7.33648007e-04 9.99891824e-01 2.16520856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254154 meters 0.028889363418427957 Centerline is valid? [True, True] Translation: X:35.81, Y:0.03, Z:0.22 [[ 9.97901292e-01 -6.25531267e-02 -1.67367183e-02 3.58121909e+01] [ 6.25608310e-02 9.98041151e-01 -6.33594271e-05 3.26748749e-02] [ 1.67078969e-02 -9.83836548e-04 9.99859929e-01 2.15005473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters 0.03371237274817818 Centerline is valid? [True, True] Translation: X:35.87, Y:0.03, Z:0.21 [[ 9.97547400e-01 -6.77310371e-02 -1.76547987e-02 3.58717145e+01] [ 6.77404169e-02 9.97702978e-01 -6.68748785e-05 2.85766071e-02] [ 1.76187747e-02 -1.12923256e-03 9.99844140e-01 2.14186401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254154 meters 0.0307342987869446 Centerline is valid? [True, True] Translation: X:35.93, Y:0.04, Z:0.22 [[ 9.97559899e-01 -6.76014877e-02 -1.74438256e-02 3.59348303e+01] [ 6.76106440e-02 9.97711780e-01 -6.49765937e-05 3.54956497e-02] [ 1.74083028e-02 -1.11457024e-03 9.99847843e-01 2.16047311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254154 meters 0.028295448106236236 Centerline is valid? [True, True] Translation: X:36.00, Y:0.05, Z:0.22 [[ 9.97778016e-01 -6.43105999e-02 -1.74119950e-02 3.59954927e+01] [ 6.43192401e-02 9.97929372e-01 -6.39070995e-05 4.62209979e-02] [ 1.73800512e-02 -1.05616119e-03 9.99848398e-01 2.18480181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters 0.0309899621067208 Centerline is valid? [True, True] Translation: X:36.06, Y:0.04, Z:0.22 [[ 9.97897576e-01 -6.25022116e-02 -1.71435263e-02 3.60556657e+01] [ 6.25103433e-02 9.98044314e-01 -6.16427165e-05 4.48131943e-02] [ 1.71138518e-02 -1.01013460e-03 9.99853037e-01 2.18455583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099254154 meters 0.027045947382630945 Centerline is valid? [True, True] Translation: X:36.12, Y:0.06, Z:0.22 [[ 9.98156064e-01 -5.81577140e-02 -1.73825114e-02 3.61162695e+01] [ 5.81654338e-02 9.98306956e-01 -6.15540345e-05 5.62740983e-02] [ 1.73566619e-02 -9.49620786e-04 9.99848911e-01 2.19425249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254154 meters 0.026063497156454722 Centerline is valid? [True, True] Translation: X:36.18, Y:0.06, Z:0.22 [[ 9.98369862e-01 -5.47454378e-02 -1.61417189e-02 3.61766349e+01] [ 5.47516516e-02 9.98500002e-01 -5.70464418e-05 6.42340586e-02] [ 1.61206294e-02 -8.26832323e-04 9.99869712e-01 2.21522518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters 0.0241356869669719 Centerline is valid? [True, True] Translation: X:36.24, Y:0.07, Z:0.22 [[ 9.98719696e-01 -4.83059488e-02 -1.50167891e-02 3.62371055e+01] [ 4.83106002e-02 9.98832360e-01 -5.30677343e-05 7.34028568e-02] [ 1.50018184e-02 -6.72470304e-04 9.99887240e-01 2.23524613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279254154 meters 0.02266688440036521 Centerline is valid? [True, True] Translation: X:36.30, Y:0.08, Z:0.22 [[ 9.99002280e-01 -4.21447757e-02 -1.47737163e-02 3.62970535e+01] [ 4.21486036e-02 9.99111351e-01 -5.23078084e-05 8.04769685e-02] [ 1.47627921e-02 -5.70435891e-04 9.99890861e-01 2.23463587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254154 meters 0.018036070032249853 Centerline is valid? [True, True] Translation: X:36.36, Y:0.10, Z:0.22 [[ 9.99390243e-01 -3.14722143e-02 -1.51208835e-02 3.63580284e+01] [ 3.14750045e-02 9.99504538e-01 -5.34745415e-05 9.60515735e-02] [ 1.51150746e-02 -4.22487940e-04 9.99885671e-01 2.24761181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters 0.015184394583616239 Centerline is valid? [True, True] Translation: X:36.42, Y:0.11, Z:0.23 [[ 9.99665710e-01 -2.13532689e-02 -1.45775714e-02 3.64184560e+01] [ 2.13547883e-02 9.99771959e-01 -5.14385361e-05 1.08893398e-01] [ 1.45753455e-02 -2.59879610e-04 9.99893740e-01 2.26845832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters 0.014612114326477769 Centerline is valid? [True, True] Translation: X:36.48, Y:0.11, Z:0.23 [[ 9.99774845e-01 -1.54158536e-02 -1.45811609e-02 3.64784891e+01] [ 1.54167424e-02 9.99881154e-01 -5.14512020e-05 1.14407740e-01] [ 1.45802211e-02 -1.73354384e-04 9.99893688e-01 2.26909111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254154 meters 0.013593614537750683 Centerline is valid? [True, True] Translation: X:36.54, Y:0.12, Z:0.23 [[ 9.99870158e-01 -5.03411750e-03 -1.53076852e-02 3.65376891e+01] [ 5.03384893e-03 9.99987329e-01 -5.60752247e-05 1.24976633e-01] [ 1.53077735e-02 -2.09886311e-05 9.99882829e-01 2.27400487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters 0.014563155687208784 Centerline is valid? [True, True] Translation: X:36.59, Y:0.14, Z:0.23 [[ 9.99874660e-01 7.11660888e-03 -1.41427994e-02 3.65949283e+01] [-7.11808589e-03 9.99974665e-01 -5.41002901e-05 1.35161842e-01] [ 1.41420561e-02 1.54763170e-04 9.99899984e-01 2.28289157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters 0.015537510734929129 Centerline is valid? [True, True] Translation: X:36.65, Y:0.14, Z:0.23 [[ 9.99795382e-01 1.66127480e-02 -1.15417383e-02 3.66542129e+01] [-1.66143741e-02 9.99861971e-01 -4.50118445e-05 1.39450815e-01] [ 1.15393975e-02 2.36761393e-04 9.99933391e-01 2.30782291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254154 meters 0.016429015827073717 Centerline is valid? [True, True] Translation: X:36.71, Y:0.14, Z:0.23 [[ 9.99765811e-01 1.84518818e-02 -1.13071389e-02 3.67117856e+01] [-1.84535712e-02 9.99829717e-01 -4.50833285e-05 1.40755782e-01] [ 1.13043816e-02 2.53729863e-04 9.99936071e-01 2.30702722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154000004 meters 0.0156316140717235 Centerline is valid? [True, True] Translation: X:36.77, Y:0.14, Z:0.23 [[ 9.99825872e-01 1.38176804e-02 -1.25418239e-02 3.67704582e+01] [-1.38194122e-02 9.99904506e-01 -5.14270746e-05 1.35205110e-01] [ 1.25399156e-02 2.24738754e-04 9.99921347e-01 2.29528149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters 0.013728984548387587 Centerline is valid? [True, True] Translation: X:36.83, Y:0.12, Z:0.23 [[ 9.99904472e-01 1.85668037e-03 -1.36967203e-02 3.68305113e+01] [-1.85763268e-03 9.99998273e-01 -5.68064325e-05 1.23137954e-01] [ 1.36965911e-02 8.22444811e-05 9.99906194e-01 2.28572954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254154 meters 0.013994032855787993 Centerline is valid? [True, True] Translation: X:36.89, Y:0.11, Z:0.23 [[ 9.99832264e-01 -1.37004429e-02 -1.21548772e-02 3.68888825e+01] [ 1.37008340e-02 9.99906138e-01 -5.10955665e-05 1.08143069e-01] [ 1.21544364e-02 -1.15444959e-04 9.99926125e-01 2.29137287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154000004 meters 0.015618204330148776 Centerline is valid? [True, True] Translation: X:36.95, Y:0.10, Z:0.23 [[ 9.99672698e-01 -2.33610249e-02 -1.04288234e-02 3.69489060e+01] [ 2.33618312e-02 9.99727074e-01 -4.45179762e-05 9.85162693e-02] [ 1.04270171e-02 -1.99133007e-04 9.99945617e-01 2.30776723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters 0.018381811779464345 Centerline is valid? [True, True] Translation: X:37.01, Y:0.09, Z:0.23 [[ 9.99356423e-01 -3.46243069e-02 -9.37537854e-03 3.70092520e+01] [ 3.46254527e-02 9.99400358e-01 -4.01215613e-05 8.59752382e-02] [ 9.37114585e-03 -2.84530986e-04 9.99956049e-01 2.31717803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254154 meters 0.021498858997993732 Centerline is valid? [True, True] Translation: X:37.07, Y:0.08, Z:0.23 [[ 9.99183184e-01 -3.92525521e-02 -9.60219813e-03 3.70702328e+01] [ 3.92539691e-02 9.99229265e-01 -4.09264506e-05 7.89155668e-02] [ 9.59640385e-03 -3.36031367e-04 9.99953897e-01 2.29588825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154000004 meters 0.021006052353874784 Centerline is valid? [True, True] Translation: X:37.13, Y:0.07, Z:0.23 [[ 9.98996592e-01 -4.37203384e-02 -9.71297631e-03 3.71315549e+01] [ 4.37220034e-02 9.99043735e-01 -4.09570477e-05 7.16142184e-02] [ 9.70547879e-03 -3.83754832e-04 9.99952827e-01 2.31160649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters 0.021859833632190653 Centerline is valid? [True, True] Translation: X:37.19, Y:0.07, Z:0.23 [[ 9.98911687e-01 -4.48834580e-02 -1.26852798e-02 3.71933836e+01] [ 4.48864001e-02 9.98992096e-01 -5.28323313e-05 6.70228228e-02] [ 1.26748656e-02 -5.16621712e-04 9.99919537e-01 2.28778441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254154 meters 0.023138334065431795 Centerline is valid? [True, True] Translation: X:37.25, Y:0.06, Z:0.23 [[ 9.98879914e-01 -4.46406925e-02 -1.56884261e-02 3.72541761e+01] [ 4.46451777e-02 9.99002905e-01 -6.43884621e-05 6.43166270e-02] [ 1.56756575e-02 -6.36096228e-04 9.99876927e-01 2.26621502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254154 meters 0.023666541946351236 Centerline is valid? [True, True] Translation: X:37.32, Y:0.06, Z:0.23 [[ 9.98870516e-01 -4.47157633e-02 -1.60683798e-02 3.73159848e+01] [ 4.47204950e-02 9.98999536e-01 -6.49024103e-05 6.38747837e-02] [ 1.60552061e-02 -6.53756796e-04 9.99870893e-01 2.26849032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters 0.022527507217704763 Centerline is valid? [True, True] Translation: X:37.38, Y:0.07, Z:0.23 [[ 9.98875704e-01 -4.47738612e-02 -1.55765738e-02 3.73778137e+01] [ 4.47783321e-02 9.98996946e-01 -6.17992989e-05 6.66940385e-02] [ 1.55637166e-02 -6.35763175e-04 9.99878676e-01 2.28404100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254154 meters 0.022702289278370695 Centerline is valid? [True, True] Translation: X:37.44, Y:0.07, Z:0.23 [[ 9.98947324e-01 -4.37044532e-02 -1.39342903e-02 3.74397236e+01] [ 4.37079404e-02 9.99044350e-01 -5.43197772e-05 6.90828315e-02] [ 1.39233480e-02 -5.54776535e-04 9.99902912e-01 2.30246079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254154 meters 0.022966719528781997 Centerline is valid? [True, True] Translation: X:37.50, Y:0.07, Z:0.23 [[ 9.99048255e-01 -4.18288550e-02 -1.23665139e-02 3.75014973e+01] [ 4.18314684e-02 9.99124680e-01 -4.73759478e-05 7.17296035e-02] [ 1.23576710e-02 -4.69978578e-04 9.99923531e-01 2.31998013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters 0.02328105285086013 Centerline is valid? [True, True] Translation: X:37.56, Y:0.07, Z:0.23 [[ 9.99035983e-01 -4.23107299e-02 -1.17007574e-02 3.75634724e+01] [ 4.23131118e-02 9.99104398e-01 -4.40213539e-05 7.37105677e-02] [ 1.16921407e-02 -4.51116539e-04 9.99931543e-01 2.33186320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599254154 meters 0.023721877618947226 Centerline is valid? [True, True] Translation: X:37.62, Y:0.07, Z:0.23 [[ 9.98891053e-01 -4.55226687e-02 -1.20145862e-02 3.76242573e+01] [ 4.55254191e-02 9.98963180e-01 -4.46176539e-05 7.46935363e-02] [ 1.20041603e-02 -5.02400896e-04 9.99927821e-01 2.32962438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254154 meters 0.024189229005982128 Centerline is valid? [True, True] Translation: X:37.69, Y:0.08, Z:0.23 [[ 9.98725510e-01 -4.86046568e-02 -1.35993696e-02 3.76850977e+01] [ 4.86084694e-02 9.98817908e-01 -5.02404198e-05 7.66540281e-02] [ 1.35857358e-02 -6.10868154e-04 9.99907523e-01 2.32812704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters 0.02307966831857968 Centerline is valid? [True, True] Translation: X:37.75, Y:0.08, Z:0.23 [[ 9.98711458e-01 -4.87652733e-02 -1.40488741e-02 3.77467940e+01] [ 4.87693656e-02 9.98810065e-01 -5.13619498e-05 8.12559886e-02] [ 1.40346615e-02 -6.33858907e-04 9.99901308e-01 2.33340048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779254154 meters 0.02293514760540588 Centerline is valid? [True, True] Translation: X:37.81, Y:0.09, Z:0.23 [[ 9.98852118e-01 -4.59573085e-02 -1.35045262e-02 3.78069813e+01] [ 4.59608401e-02 9.98943241e-01 -4.88828699e-05 8.56148078e-02] [ 1.34925017e-02 -5.71852614e-04 9.99908809e-01 2.34048467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254154 meters 0.020987615914655512 Centerline is valid? [True, True] Translation: X:37.87, Y:0.09, Z:0.24 [[ 9.99185356e-01 -3.82704179e-02 -1.28062419e-02 3.78667654e+01] [ 3.82729633e-02 9.99267321e-01 -4.63427047e-05 9.39546462e-02] [ 1.27986326e-02 -4.43827874e-04 9.99917996e-01 2.35234603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters 0.01897448144891087 Centerline is valid? [True, True] Translation: X:37.93, Y:0.10, Z:0.24 [[ 9.99314422e-01 -3.48693373e-02 -1.24424949e-02 3.79285382e+01] [ 3.48714793e-02 9.99391804e-01 -4.48221877e-05 9.94714255e-02] [ 1.24364904e-02 -3.89096746e-04 9.99922588e-01 2.35841208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959254154 meters 0.016555823464998218 Centerline is valid? [True, True] Translation: X:37.99, Y:0.11, Z:0.24 [[ 9.99625398e-01 -2.46464128e-02 -1.19003591e-02 3.79879761e+01] [ 2.46476515e-02 9.99696200e-01 -4.25879310e-05 1.09572511e-01] [ 1.18977934e-02 -2.50743926e-04 9.99929187e-01 2.36739633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254154 meters 0.01469375243281843 Centerline is valid? [True, True] Translation: X:38.05, Y:0.12, Z:0.24 [[ 9.99809606e-01 -1.55748544e-02 -1.17547840e-02 3.80495129e+01] [ 1.55754381e-02 9.99878695e-01 -4.18938823e-05 1.18990287e-01] [ 1.17540106e-02 -1.41200004e-04 9.99930909e-01 2.37373091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters 0.013999420647287441 Centerline is valid? [True, True] Translation: X:38.11, Y:0.12, Z:0.24 [[ 9.99867203e-01 -1.05693592e-02 -1.24042288e-02 3.81101647e+01] [ 1.05696287e-02 9.99944139e-01 -4.38323445e-05 1.24743089e-01] [ 1.24039992e-02 -8.72815697e-05 9.99923064e-01 2.36157289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters 0.01400408650977449 Centerline is valid? [True, True] Translation: X:38.17, Y:0.13, Z:0.24 [[ 9.99869118e-01 -9.70529298e-03 -1.29442648e-02 3.81674952e+01] [ 9.70550704e-03 9.99952899e-01 -4.62825999e-05 1.26518443e-01] [ 1.29441043e-02 -7.93541108e-05 9.99916218e-01 2.35461665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254154 meters 0.013910828096734855 Centerline is valid? [True, True] Translation: X:38.23, Y:0.13, Z:0.24 [[ 9.99863957e-01 -1.10046932e-02 -1.22867096e-02 3.82251380e+01] [ 1.10049570e-02 9.99939443e-01 -4.61432643e-05 1.28264820e-01] [ 1.22864734e-02 -8.90777237e-05 9.99924514e-01 2.36770534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154000004 meters 0.014431721041154581 Centerline is valid? [True, True] Translation: X:38.28, Y:0.13, Z:0.24 [[ 9.99816426e-01 -1.50088147e-02 -1.19100365e-02 3.82837075e+01] [ 1.50093208e-02 9.99887353e-01 -4.68913925e-05 1.26704022e-01] [ 1.19093987e-02 -1.31878775e-04 9.99929072e-01 2.37120321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters 0.015410003153215933 Centerline is valid? [True, True] Translation: X:38.34, Y:0.12, Z:0.24 [[ 9.99695767e-01 -2.15018254e-02 -1.20849110e-02 3.83437272e+01] [ 2.15028160e-02 9.99768787e-01 -4.79771058e-05 1.24131974e-01] [ 1.20831484e-02 -2.11897108e-04 9.99926974e-01 2.36998981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254154 meters 0.017565438154120885 Centerline is valid? [True, True] Translation: X:38.40, Y:0.12, Z:0.24 [[ 9.99527201e-01 -2.85696533e-02 -1.13643676e-02 3.84041162e+01] [ 2.85709854e-02 9.99591765e-01 -4.51478709e-05 1.18487472e-01] [ 1.13610181e-02 -2.79564655e-04 9.99935422e-01 2.37024481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154000004 meters 0.018099203949883354 Centerline is valid? [True, True] Translation: X:38.47, Y:0.12, Z:0.24 [[ 9.99400113e-01 -3.28243850e-02 -1.10441448e-02 3.84659276e+01] [ 3.28259066e-02 9.99461084e-01 -4.35174462e-05 1.17296986e-01] [ 1.10396214e-02 -3.19042725e-04 9.99939011e-01 2.37648986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters 0.019954351820952506 Centerline is valid? [True, True] Translation: X:38.53, Y:0.11, Z:0.24 [[ 9.99230918e-01 -3.76634667e-02 -1.09103641e-02 3.85273317e+01] [ 3.76652455e-02 9.99290412e-01 -4.24694630e-05 1.13327101e-01] [ 1.09042218e-02 -3.68504742e-04 9.99940479e-01 2.37371142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254154 meters 0.020890488358583387 Centerline is valid? [True, True] Translation: X:38.59, Y:0.11, Z:0.24 [[ 9.99132817e-01 -4.02371528e-02 -1.07044496e-02 3.85892109e+01] [ 4.02390174e-02 9.99190082e-01 -4.12094272e-05 1.11664498e-01] [ 1.06974380e-02 -3.89562844e-04 9.99942705e-01 2.38236467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154000004 meters 0.023050930026305927 Centerline is valid? [True, True] Translation: X:38.65, Y:0.11, Z:0.24 [[ 9.98974777e-01 -4.40248572e-02 -1.05454927e-02 3.86488568e+01] [ 4.40268814e-02 9.99030346e-01 -4.02356325e-05 1.08544067e-01] [ 1.05370386e-02 -4.24090775e-04 9.99944394e-01 2.38229727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters 0.023712897381610098 Centerline is valid? [True, True] Translation: X:38.71, Y:0.11, Z:0.24 [[ 9.98826242e-01 -4.70830137e-02 -1.13722267e-02 3.87103050e+01] [ 4.70855675e-02 9.98890859e-01 -4.32216967e-05 1.08511155e-01] [ 1.13616483e-02 -4.92296782e-04 9.99935333e-01 2.38060636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254154 meters 0.025407278421182244 Centerline is valid? [True, True] Translation: X:38.77, Y:0.11, Z:0.24 [[ 9.98653710e-01 -4.99970293e-02 -1.38226173e-02 3.87718512e+01] [ 5.00010885e-02 9.98749162e-01 -5.19856666e-05 1.07920831e-01] [ 1.38079266e-02 -6.39230232e-04 9.99904462e-01 2.36725950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254154 meters 0.02911082232678328 Centerline is valid? [True, True] Translation: X:38.83, Y:0.10, Z:0.24 [[ 9.98565265e-01 -5.14815087e-02 -1.47331556e-02 3.88331026e+01] [ 5.14862992e-02 9.98673699e-01 -5.42142638e-05 1.03625309e-01] [ 1.47164061e-02 -7.04419177e-04 9.99891460e-01 2.35743394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters 0.030368023613827906 Centerline is valid? [True, True] Translation: X:38.90, Y:0.10, Z:0.24 [[ 9.98531731e-01 -5.20718262e-02 -1.49300762e-02 3.88955953e+01] [ 5.20768316e-02 9.98643080e-01 -5.35868088e-05 1.04028320e-01] [ 1.49126077e-02 -7.24002936e-04 9.99888539e-01 2.36130351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254154 meters 0.023285358427268473 Centerline is valid? [True, True] Translation: X:38.96, Y:0.12, Z:0.24 [[ 9.98651121e-01 -4.99330752e-02 -1.42347012e-02 3.89574739e+01] [ 4.99374205e-02 9.98752347e-01 -5.02363145e-05 1.18130933e-01] [ 1.42194497e-02 -6.60675708e-04 9.99898680e-01 2.38814697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254154 meters 0.021757211377250518 Centerline is valid? [True, True] Translation: X:39.02, Y:0.12, Z:0.24 [[ 9.98920983e-01 -4.46227691e-02 -1.28715949e-02 3.90178253e+01] [ 4.46258863e-02 9.99003768e-01 -4.50850212e-05 1.24437225e-01] [ 1.28607836e-02 -5.29369958e-04 9.99917157e-01 2.41116928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters 0.020720495491850066 Centerline is valid? [True, True] Translation: X:39.08, Y:0.13, Z:0.24 [[ 9.99160086e-01 -3.93818502e-02 -1.13222352e-02 3.90772884e+01] [ 3.93839297e-02 9.99224151e-01 -3.93221573e-05 1.29181781e-01] [ 1.13149995e-02 -4.06624986e-04 9.99935901e-01 2.43606703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099254154 meters 0.018174453940982174 Centerline is valid? [True, True] Translation: X:39.14, Y:0.14, Z:0.25 [[ 9.99427837e-01 -3.20436818e-02 -1.08259486e-02 3.91386068e+01] [ 3.20451590e-02 9.99486421e-01 -3.70260217e-05 1.38665194e-01] [ 1.08215750e-02 -3.09914406e-04 9.99941397e-01 2.45328964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254154 meters 0.01675655036517918 Centerline is valid? [True, True] Translation: X:39.20, Y:0.14, Z:0.24 [[ 9.99607727e-01 -2.48410581e-02 -1.29349795e-02 3.91987465e+01] [ 2.48425670e-02 9.99691375e-01 -4.40346453e-05 1.44735653e-01] [ 1.29320814e-02 -2.77320725e-04 9.99916339e-01 2.43165749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters 0.015563479478574506 Centerline is valid? [True, True] Translation: X:39.26, Y:0.15, Z:0.24 [[ 9.99697614e-01 -1.99676323e-02 -1.43517789e-02 3.92603518e+01] [ 1.99689918e-02 9.99800599e-01 -4.85843462e-05 1.49128537e-01] [ 1.43498873e-02 -2.38020901e-04 9.99897007e-01 2.42676470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279254154 meters 0.014056543349323283 Centerline is valid? [True, True] Translation: X:39.32, Y:0.16, Z:0.24 [[ 9.99838281e-01 -1.14991082e-02 -1.38268734e-02 3.93210020e+01] [ 1.14995635e-02 9.99933877e-01 -4.65759344e-05 1.57039377e-01] [ 1.38264947e-02 -1.12434606e-04 9.99904403e-01 2.44119626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254154 meters 0.013702032872605317 Centerline is valid? [True, True] Translation: X:39.38, Y:0.16, Z:0.25 [[ 9.99906467e-01 -4.59885511e-03 -1.28804989e-02 3.93799604e+01] [ 4.59865737e-03 9.99989425e-01 -4.49701925e-05 1.61651524e-01] [ 1.28805695e-02 -1.42670151e-05 9.99917042e-01 2.45314997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters 0.01382706444297422 Centerline is valid? [True, True] Translation: X:39.44, Y:0.16, Z:0.25 [[ 9.99927401e-01 -1.09644053e-03 -1.19995778e-02 3.94380818e+01] [ 1.09597905e-03 9.99999398e-01 -4.50339154e-05 1.62559770e-01] [ 1.19996200e-02 3.18793601e-05 9.99928001e-01 2.45679247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459254154 meters 0.013828362025367249 Centerline is valid? [True, True] Translation: X:39.50, Y:0.16, Z:0.25 [[ 9.99934115e-01 -9.26514279e-04 -1.14414949e-02 3.94955064e+01] [ 9.26055592e-04 9.99999570e-01 -4.53876040e-05 1.61799033e-01] [ 1.14415321e-02 3.47891533e-05 9.99934543e-01 2.46097932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254154 meters 0.013678292557918576 Centerline is valid? [True, True] Translation: X:39.55, Y:0.16, Z:0.25 [[ 9.99908410e-01 -4.39652123e-03 -1.28000728e-02 3.95539363e+01] [ 4.39621399e-03 9.99990335e-01 -5.21404270e-05 1.56284089e-01] [ 1.28001783e-02 -4.13620750e-06 9.99918074e-01 2.45571973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters 0.014072350575934736 Centerline is valid? [True, True] Translation: X:39.61, Y:0.15, Z:0.24 [[ 9.99848589e-01 -1.14177249e-02 -1.31314074e-02 3.96129234e+01] [ 1.14179946e-02 9.99934811e-01 -5.44334974e-05 1.47451784e-01] [ 1.31311729e-02 -9.55090836e-05 9.99913778e-01 2.44899777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639254154 meters 0.015283306565366056 Centerline is valid? [True, True] Translation: X:39.67, Y:0.14, Z:0.25 [[ 9.99706394e-01 -2.01726454e-02 -1.34235107e-02 3.96722302e+01] [ 2.01737048e-02 9.99796489e-01 -5.64976235e-05 1.37881601e-01] [ 1.34219186e-02 -2.14320907e-04 9.99909899e-01 2.45216899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254154 meters 0.01672126232663767 Centerline is valid? [True, True] Translation: X:39.73, Y:0.13, Z:0.25 [[ 9.99574472e-01 -2.64952846e-02 -1.22014245e-02 3.97337548e+01] [ 2.64966290e-02 9.99648901e-01 -5.14848219e-05 1.31310901e-01] [ 1.21985047e-02 -2.71833706e-04 9.99925559e-01 2.46513172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154000004 meters 0.019132854937974737 Centerline is valid? [True, True] Translation: X:39.79, Y:0.12, Z:0.25 [[ 9.99320712e-01 -3.52879521e-02 -1.06242833e-02 3.97947556e+01] [ 3.52894708e-02 9.99377132e-01 -4.45495015e-05 1.22067578e-01] [ 1.06192378e-02 -3.30406094e-04 9.99943560e-01 2.48021755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters 0.019968731151035063 Centerline is valid? [True, True] Translation: X:39.86, Y:0.12, Z:0.25 [[ 9.99227517e-01 -3.79540450e-02 -1.01911204e-02 3.98569388e+01] [ 3.79555847e-02 9.99279426e-01 -4.23634787e-05 1.19722669e-01] [ 1.01853848e-02 -3.44479179e-04 9.99948068e-01 2.48966445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254154 meters 0.02305065251221315 Centerline is valid? [True, True] Translation: X:39.92, Y:0.11, Z:0.25 [[ 9.98904650e-01 -4.58529691e-02 -9.32762002e-03 3.99180114e+01] [ 4.58546069e-02 9.98948124e-01 -3.83150415e-05 1.11623557e-01] [ 9.31956537e-03 -3.89441276e-04 9.99956496e-01 2.49923270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154000004 meters 0.026142485688090567 Centerline is valid? [True, True] Translation: X:39.98, Y:0.10, Z:0.25 [[ 9.98582799e-01 -5.20807505e-02 -1.09539786e-02 3.99786250e+01] [ 5.20833835e-02 9.98642738e-01 -4.49560037e-05 1.03104315e-01] [ 1.09414525e-02 -5.25627975e-04 9.99940002e-01 2.48775959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters 0.0271604619922831 Centerline is valid? [True, True] Translation: X:40.04, Y:0.10, Z:0.25 [[ 9.98366713e-01 -5.56493930e-02 -1.29248108e-02 4.00401122e+01] [ 5.56533603e-02 9.98450149e-01 -5.27957389e-05 9.83570822e-02] [ 1.29077173e-02 -6.66599642e-04 9.99916470e-01 2.47985347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254154 meters 0.0250790412192943 Centerline is valid? [True, True] Translation: X:40.10, Y:0.10, Z:0.25 [[ 9.98332752e-01 -5.61131027e-02 -1.35290932e-02 4.01023818e+01] [ 5.61175025e-02 9.98424170e-01 -5.44985196e-05 1.00188833e-01] [ 1.35108317e-02 -7.04811265e-04 9.99908476e-01 2.49095263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154000004 meters 0.02785105811332513 Centerline is valid? [True, True] Translation: X:40.16, Y:0.10, Z:0.25 [[ 9.98474487e-01 -5.34829491e-02 -1.37212528e-02 4.01627251e+01] [ 5.34872358e-02 9.98568532e-01 -5.46308595e-05 9.55940869e-02] [ 1.37045331e-02 -6.79364367e-04 9.99905858e-01 2.48784718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters 0.02357213449193912 Centerline is valid? [True, True] Translation: X:40.22, Y:0.10, Z:0.25 [[ 9.98847005e-01 -4.58880307e-02 -1.41049113e-02 4.02228975e+01] [ 4.58918071e-02 9.98946414e-01 -5.59821295e-05 1.02971129e-01] [ 1.40926195e-02 -5.91382289e-04 9.99900519e-01 2.49032901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254154 meters 0.020559847587036287 Centerline is valid? [True, True] Translation: X:40.28, Y:0.11, Z:0.25 [[ 9.99151710e-01 -3.87851918e-02 -1.38408616e-02 4.02834306e+01] [ 3.87881484e-02 9.99247455e-01 -5.48626920e-05 1.10319877e-01] [ 1.38325736e-02 -4.82045241e-04 9.99904209e-01 2.50112248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254154 meters 0.017357816500849478 Centerline is valid? [True, True] Translation: X:40.34, Y:0.12, Z:0.25 [[ 9.99527043e-01 -2.75940754e-02 -1.35741495e-02 4.03434963e+01] [ 2.75958881e-02 9.99619160e-01 -5.37804660e-05 1.19025066e-01] [ 1.35704640e-02 -3.20835682e-04 9.99907866e-01 2.51227802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters 0.014526739891328333 Centerline is valid? [True, True] Translation: X:40.40, Y:0.13, Z:0.25 [[ 9.99788559e-01 -1.52229844e-02 -1.38238189e-02 4.04042406e+01] [ 1.52236837e-02 9.99884112e-01 -5.46417929e-05 1.28086302e-01] [ 1.38230487e-02 -1.55819208e-04 9.99904445e-01 2.52031205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254154 meters 0.013965876035369194 Centerline is valid? [True, True] Translation: X:40.46, Y:0.13, Z:0.25 [[ 9.99871084e-01 -7.11160691e-03 -1.43958433e-02 4.04634023e+01] [ 7.11151051e-03 9.99974711e-01 -5.78878997e-05 1.33419873e-01] [ 1.43958909e-02 -4.44957538e-05 9.99896373e-01 2.51587100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254154 meters 0.014369073552457241 Centerline is valid? [True, True] Translation: X:40.52, Y:0.14, Z:0.25 [[ 9.99886213e-01 3.77856137e-03 -1.46042516e-02 4.05223539e+01] [-3.77986573e-03 9.99992854e-01 -6.17125620e-05 1.40148897e-01] [ 1.46039141e-02 1.16907650e-04 9.99893350e-01 2.51278535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters 0.015182420152992824 Centerline is valid? [True, True] Translation: X:40.58, Y:0.14, Z:0.25 [[ 9.99848730e-01 9.79852296e-03 -1.43703223e-02 4.05808188e+01] [-9.80045920e-03 9.99951972e-01 -6.43216251e-05 1.42479547e-01] [ 1.43690019e-02 2.05147652e-04 9.99896740e-01 2.52073156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599254154 meters 0.015248027404873488 Centerline is valid? [True, True] Translation: X:40.64, Y:0.14, Z:0.25 [[ 9.99867095e-01 9.50883137e-03 -1.32428940e-02 4.06382667e+01] [-9.51047846e-03 9.99954772e-01 -6.14035174e-05 1.41011942e-01] [ 1.32417112e-02 1.87341615e-04 9.99912307e-01 2.52984863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254154 meters 0.014463785591183212 Centerline is valid? [True, True] Translation: X:40.70, Y:0.13, Z:0.25 [[ 9.99907156e-01 4.33567214e-03 -1.29182799e-02 4.06975316e+01] [-4.33681954e-03 9.99990594e-01 -6.08073613e-05 1.34132438e-01] [ 1.29178947e-02 1.16825964e-04 9.99916554e-01 2.52898553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters 0.014039457391614524 Centerline is valid? [True, True] Translation: X:40.76, Y:0.13, Z:0.25 [[ 9.99921576e-01 -4.49666368e-05 -1.25235885e-02 4.07563620e+01] [ 4.42221371e-05 9.99999997e-01 -5.97247057e-05 1.28306410e-01] [ 1.25235912e-02 5.91662020e-05 9.99921575e-01 2.53391394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779254154 meters 0.01402114055740001 Centerline is valid? [True, True] Translation: X:40.81, Y:0.12, Z:0.25 [[ 9.99891521e-01 -6.75324762e-03 -1.30896826e-02 4.08145226e+01] [ 6.75299385e-03 9.99977196e-01 -6.35862956e-05 1.20584856e-01] [ 1.30898135e-02 -2.48151485e-05 9.99914324e-01 2.53344694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254154 meters 0.014292792368893515 Centerline is valid? [True, True] Translation: X:40.87, Y:0.12, Z:0.25 [[ 9.99854315e-01 -1.09849570e-02 -1.30644087e-02 4.08736716e+01] [ 1.09850505e-02 9.99939660e-01 -6.45997354e-05 1.15040044e-01] [ 1.30643300e-02 -7.89228650e-05 9.99914655e-01 2.53627526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters 0.01504894095358228 Centerline is valid? [True, True] Translation: X:40.93, Y:0.11, Z:0.25 [[ 9.99757704e-01 -1.70267957e-02 -1.39506794e-02 4.09326873e+01] [ 1.70274760e-02 9.99855020e-01 -7.00250343e-05 1.06130145e-01] [ 1.39498492e-02 -1.67536791e-04 9.99902682e-01 2.52548320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959254154 meters 0.015246398146782811 Centerline is valid? [True, True] Translation: X:40.99, Y:0.10, Z:0.25 [[ 9.99692125e-01 -1.98521599e-02 -1.48844739e-02 4.09925213e+01] [ 1.98532351e-02 9.99802902e-01 -7.55394301e-05 1.00696625e-01] [ 1.48830399e-02 -2.19988787e-04 9.99889217e-01 2.52463824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254154 meters 0.015103732124249463 Centerline is valid? [True, True] Translation: X:41.05, Y:0.10, Z:0.25 [[ 9.99750855e-01 -1.60351352e-02 -1.55274790e-02 4.10524027e+01] [ 1.60358426e-02 9.99871414e-01 -7.89569482e-05 9.88868338e-02] [ 1.55267485e-02 -1.70058932e-04 9.99879438e-01 2.52824420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters 0.014572362627732718 Centerline is valid? [True, True] Translation: X:41.11, Y:0.10, Z:0.25 [[ 9.99818802e-01 -1.10098965e-02 -1.55288383e-02 4.11114969e+01] [ 1.10099642e-02 9.99939385e-01 -8.11326666e-05 1.01257384e-01] [ 1.55287903e-02 -8.98539888e-05 9.99879417e-01 2.54339254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139254154 meters 0.014407120736898562 Centerline is valid? [True, True] Translation: X:41.17, Y:0.10, Z:0.25 [[ 9.99868172e-01 -3.30033346e-03 -1.58979958e-02 4.11697575e+01] [ 3.29935925e-03 9.99994553e-01 -8.75068112e-05 1.03871041e-01] [ 1.58981980e-02 3.50420760e-05 9.99873615e-01 2.54220921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254154 meters 0.014758043670984586 Centerline is valid? [True, True] Translation: X:41.23, Y:0.10, Z:0.25 [[ 9.99852354e-01 1.25083429e-03 -1.71378394e-02 4.12285035e+01] [-1.25271633e-03 9.99999210e-01 -9.90828846e-05 1.03437623e-01] [ 1.71377020e-02 1.20537107e-04 9.99853132e-01 2.53374040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters 0.014969848099911354 Centerline is valid? [True, True] Translation: X:41.29, Y:0.10, Z:0.25 [[ 9.99839327e-01 1.53156144e-03 -1.78598692e-02 4.12864253e+01] [-1.53370824e-03 9.99998818e-01 -1.06505772e-04 1.00421665e-01] [ 1.78596850e-02 1.33880488e-04 9.99840494e-01 2.52249640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319254154 meters 0.014743507641852494 Centerline is valid? [True, True] Translation: X:41.35, Y:0.10, Z:0.25 [[ 9.99848098e-01 -4.67222212e-04 -1.74230453e-02 4.13451026e+01] [ 4.65454396e-04 9.99999886e-01 -1.05519224e-04 9.73862891e-02] [ 1.74230926e-02 9.73935625e-05 9.99848202e-01 2.53350263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254154 meters 0.014316862533730731 Centerline is valid? [True, True] Translation: X:41.40, Y:0.09, Z:0.26 [[ 9.99851040e-01 -5.94411165e-03 -1.62038959e-02 4.14043588e+01] [ 5.94328342e-03 9.99982334e-01 -9.92681835e-05 8.97846111e-02] [ 1.62041997e-02 2.94905055e-06 9.99868703e-01 2.55568462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154000004 meters 0.014463571525912083 Centerline is valid? [True, True] Translation: X:41.46, Y:0.08, Z:0.26 [[ 9.99813000e-01 -1.28307580e-02 -1.44684784e-02 4.14630434e+01] [ 1.28308041e-02 9.99917678e-01 -8.96425424e-05 8.21281374e-02] [ 1.44684375e-02 -9.60164337e-05 9.99895322e-01 2.56988415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters 0.014900907906990753 Centerline is valid? [True, True] Translation: X:41.52, Y:0.08, Z:0.26 [[ 9.99751263e-01 -1.79686348e-02 -1.32113405e-02 4.15213984e+01] [ 1.79691080e-02 9.99838539e-01 -8.28929157e-05 7.68566926e-02] [ 1.32106969e-02 -1.54523707e-04 9.99912723e-01 2.58149260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254154 meters 0.01695471920293192 Centerline is valid? [True, True] Translation: X:41.58, Y:0.07, Z:0.26 [[ 9.99579141e-01 -2.69152427e-02 -1.08217544e-02 4.15803907e+01] [ 2.69160772e-02 9.99637694e-01 -6.85480723e-05 6.67509241e-02] [ 1.08196786e-02 -2.22759953e-04 9.99941441e-01 2.58669143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154000004 meters 0.019301804113816295 Centerline is valid? [True, True] Translation: X:41.64, Y:0.06, Z:0.26 [[ 9.99251255e-01 -3.73880601e-02 -9.95301640e-03 4.16414670e+01] [ 3.73892829e-02 9.99300774e-01 -6.32543361e-05 5.67641122e-02] [ 9.94842195e-03 -3.08929171e-04 9.99950466e-01 2.59158173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters 0.022227587714680995 Centerline is valid? [True, True] Translation: X:41.70, Y:0.05, Z:0.26 [[ 9.98762395e-01 -4.84991459e-02 -1.10232110e-02 4.17028603e+01] [ 4.85013230e-02 9.98823116e-01 -6.98968101e-05 4.83077356e-02] [ 1.10136279e-02 -4.64830013e-04 9.99939240e-01 2.57754200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254154 meters 0.024433363576079697 Centerline is valid? [True, True] Translation: X:41.76, Y:0.04, Z:0.26 [[ 9.98603617e-01 -5.15999090e-02 -1.13253993e-02 4.17630059e+01] [ 5.16024132e-02 9.98667705e-01 -7.11873118e-05 4.41895977e-02] [ 1.13139838e-02 -5.13330030e-04 9.99935863e-01 2.57483393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254154 meters 0.02721240800364409 Centerline is valid? [True, True] Translation: X:41.82, Y:0.04, Z:0.26 [[ 9.98292377e-01 -5.73815220e-02 -1.09403555e-02 4.18238504e+01] [ 5.73842116e-02 9.98352166e-01 -6.81679132e-05 3.87318277e-02] [ 1.09262392e-02 -5.59752167e-04 9.99940150e-01 2.57743124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters 0.02573489672537569 Centerline is valid? [True, True] Translation: X:41.89, Y:0.04, Z:0.26 [[ 9.98263636e-01 -5.79337507e-02 -1.06486413e-02 4.18856199e+01] [ 5.79363335e-02 9.98320278e-01 -6.60343310e-05 4.00274759e-02] [ 1.06345802e-02 -5.51023564e-04 9.99943299e-01 2.57977212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254154 meters 0.027365545622625925 Centerline is valid? [True, True] Translation: X:41.95, Y:0.04, Z:0.26 [[ 9.98455208e-01 -5.42266677e-02 -1.21105474e-02 4.19457805e+01] [ 5.42297432e-02 9.98528482e-01 -7.45278124e-05 3.96716717e-02] [ 1.20967679e-02 -5.82339195e-04 9.99926662e-01 2.57407553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254154 meters 0.022902412486488874 Centerline is valid? [True, True] Translation: X:42.01, Y:0.05, Z:0.26 [[ 9.98655704e-01 -5.04512819e-02 -1.18934108e-02 4.20068529e+01] [ 5.04539821e-02 9.98726384e-01 -7.30945793e-05 4.84036119e-02] [ 1.18819509e-02 -5.27073618e-04 9.99929268e-01 2.58630090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters 0.02176614527312207 Centerline is valid? [True, True] Translation: X:42.07, Y:0.05, Z:0.26 [[ 9.98969182e-01 -4.43067180e-02 -9.87362648e-03 4.20675095e+01] [ 4.43082806e-02 9.99017904e-01 -6.05416008e-05 5.44901159e-02] [ 9.86661204e-03 -3.77004219e-04 9.99951253e-01 2.60376186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099254154 meters 0.019048301223949543 Centerline is valid? [True, True] Translation: X:42.13, Y:0.06, Z:0.26 [[ 9.99268330e-01 -3.71893399e-02 -8.93071594e-03 4.21283905e+01] [ 3.71903352e-02 9.99308199e-01 -5.46518385e-05 6.27173316e-02] [ 8.92657013e-03 -2.77524468e-04 9.99960119e-01 2.61331832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254154 meters 0.01794638853298526 Centerline is valid? [True, True] Translation: X:42.19, Y:0.07, Z:0.26 [[ 9.99467491e-01 -3.12529468e-02 -9.38020601e-03 4.21899149e+01] [ 3.12537862e-02 9.99511479e-01 -5.71291044e-05 6.93524160e-02] [ 9.37740904e-03 -2.36068270e-04 9.99956003e-01 2.61277864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters 0.01605644062693114 Centerline is valid? [True, True] Translation: X:42.25, Y:0.08, Z:0.26 [[ 9.99700606e-01 -2.18242759e-02 -1.10634597e-02 4.22510341e+01] [ 2.18248719e-02 9.99761807e-01 -6.68675297e-05 7.95111392e-02] [ 1.10622838e-02 -1.74611081e-04 9.99938796e-01 2.60172996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279254154 meters 0.015035232158756871 Centerline is valid? [True, True] Translation: X:42.31, Y:0.09, Z:0.26 [[ 9.99821993e-01 -1.41839333e-02 -1.24417803e-02 4.23114871e+01] [ 1.41840987e-02 9.99899398e-01 -7.49581846e-05 8.81821219e-02] [ 1.24415918e-02 -1.01530597e-04 9.99922595e-01 2.60096750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254154 meters 0.014694719938664443 Centerline is valid? [True, True] Translation: X:42.37, Y:0.10, Z:0.26 [[ 9.99884160e-01 -8.23906543e-03 -1.27978367e-02 4.23697123e+01] [ 8.23875088e-03 9.99966058e-01 -7.73005448e-05 9.60784340e-02] [ 1.27980392e-02 -2.81465978e-05 9.99918101e-01 2.61141695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters 0.014662524173135872 Centerline is valid? [True, True] Translation: X:42.43, Y:0.10, Z:0.26 [[ 9.99912287e-01 -5.49489348e-03 -1.20508721e-02 4.24271340e+01] [ 5.49439270e-03 9.99984903e-01 -7.46625668e-05 1.00390422e-01] [ 1.20511004e-02 8.44379448e-06 9.99927383e-01 2.62983283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459254154 meters 0.014599935328230096 Centerline is valid? [True, True] Translation: X:42.48, Y:0.10, Z:0.26 [[ 9.99921125e-01 -2.82705344e-03 -1.22373246e-02 4.24846463e+01] [ 2.82629337e-03 9.99996003e-01 -7.94039930e-05 1.03927750e-01] [ 1.22375001e-02 4.48114607e-05 9.99925118e-01 2.64312782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254154 meters 0.014596361288057918 Centerline is valid? [True, True] Translation: X:42.54, Y:0.10, Z:0.27 [[ 9.99928417e-01 -3.76524521e-03 -1.13571100e-02 4.25424111e+01] [ 3.76462365e-03 9.99992911e-01 -7.61067493e-05 1.04266775e-01] [ 1.13573161e-02 3.33460562e-05 9.99935503e-01 2.65452378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters 0.01459910214730442 Centerline is valid? [True, True] Translation: X:42.60, Y:0.10, Z:0.27 [[ 9.99870210e-01 -1.14380127e-02 -1.13461389e-02 4.26008189e+01] [ 1.14378729e-02 9.99934582e-01 -7.72152795e-05 9.89058122e-02] [ 1.13462798e-02 -5.25704364e-05 9.99935628e-01 2.66221761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639254154 meters 0.01612011034378442 Centerline is valid? [True, True] Translation: X:42.66, Y:0.09, Z:0.26 [[ 9.99621490e-01 -2.44915226e-02 -1.25316627e-02 4.26607639e+01] [ 2.44923681e-02 9.99700013e-01 -8.60271434e-05 8.81234898e-02] [ 1.25300103e-02 -2.20935515e-04 9.99921472e-01 2.64530411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254154 meters 0.019727637963804206 Centerline is valid? [True, True] Translation: X:42.72, Y:0.08, Z:0.26 [[ 9.99138638e-01 -3.90124000e-02 -1.41426493e-02 4.27219354e+01] [ 3.90149288e-02 9.99238623e-01 -9.71561672e-05 7.53917458e-02] [ 1.41356717e-02 -4.54701974e-04 9.99899983e-01 2.62331447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters 0.02410602184035177 Centerline is valid? [True, True] Translation: X:42.78, Y:0.06, Z:0.26 [[ 9.98707614e-01 -4.89351645e-02 -1.37277428e-02 4.27822149e+01] [ 4.89384891e-02 9.98801790e-01 -9.38408734e-05 6.46082688e-02] [ 1.37158862e-02 -5.78095397e-04 9.99905766e-01 2.63062528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819254154 meters 0.025027294780057517 Centerline is valid? [True, True] Translation: X:42.84, Y:0.06, Z:0.26 [[ 9.98538801e-01 -5.23990475e-02 -1.32137299e-02 4.28436952e+01] [ 5.24024369e-02 9.98626044e-01 -8.98299987e-05 6.22885498e-02] [ 1.32002818e-02 -6.02732908e-04 9.99912691e-01 2.63811130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254154 meters 0.023353124118762295 Centerline is valid? [True, True] Translation: X:42.91, Y:0.06, Z:0.27 [[ 9.98512314e-01 -5.31231348e-02 -1.22919081e-02 4.29062954e+01] [ 5.31261305e-02 9.98587807e-01 -8.29155736e-05 6.47734131e-02] [ 1.22789543e-02 -5.70229294e-04 9.99924448e-01 2.65375364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154000004 meters 0.022673875234755128 Centerline is valid? [True, True] Translation: X:42.97, Y:0.07, Z:0.27 [[ 9.98597867e-01 -5.16749712e-02 -1.14890236e-02 4.29680721e+01] [ 5.16775022e-02 9.98663822e-01 -7.66618806e-05 6.78429662e-02] [ 1.14776337e-02 -5.17169652e-04 9.99933996e-01 2.66221084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999254154 meters 0.022920647911490045 Centerline is valid? [True, True] Translation: X:43.03, Y:0.07, Z:0.27 [[ 9.98614172e-01 -5.13381035e-02 -1.15816850e-02 4.30300358e+01] [ 5.13406631e-02 9.98681196e-01 -7.63976123e-05 6.87413874e-02] [ 1.15703332e-02 -5.18319651e-04 9.99932927e-01 2.65457657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254154 meters 0.023430072206913028 Centerline is valid? [True, True] Translation: X:43.09, Y:0.07, Z:0.26 [[ 9.98542754e-01 -5.23429924e-02 -1.31369750e-02 4.30920490e+01] [ 5.23463863e-02 9.98628984e-01 -8.56010564e-05 6.96954868e-02] [ 1.31234446e-02 -6.02196855e-04 9.99913703e-01 2.64744775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154000004 meters 0.02508957424970785 Centerline is valid? [True, True] Translation: X:43.15, Y:0.07, Z:0.26 [[ 9.98468013e-01 -5.30744773e-02 -1.56437289e-02 4.31531843e+01] [ 5.30793971e-02 9.98590290e-01 -1.00840555e-04 7.06565324e-02] [ 1.56270278e-02 -7.29673630e-04 9.99877624e-01 2.63445142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters 0.022989346925859914 Centerline is valid? [True, True] Translation: X:43.21, Y:0.08, Z:0.26 [[ 9.98584464e-01 -5.07200413e-02 -1.60170385e-02 4.32149703e+01] [ 5.07249109e-02 9.98712658e-01 -1.02342617e-04 7.77592938e-02] [ 1.60016099e-02 -7.10265102e-04 9.99871714e-01 2.63567336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254154 meters 0.021006462714212786 Centerline is valid? [True, True] Translation: X:43.28, Y:0.09, Z:0.27 [[ 9.99002014e-01 -4.25576706e-02 -1.35580612e-02 4.32753100e+01] [ 4.25604138e-02 9.99093891e-01 -8.62718655e-05 8.70519203e-02] [ 1.35494476e-02 -4.90850926e-04 9.99908082e-01 2.66557378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254154 meters 0.016705692981447317 Centerline is valid? [True, True] Translation: X:43.34, Y:0.10, Z:0.27 [[ 9.99556997e-01 -2.73486412e-02 -1.17414769e-02 4.33360300e+01] [ 2.73496507e-02 9.99625926e-01 -7.46098188e-05 1.02137977e-01] [ 1.17391252e-02 -2.46548527e-04 9.99931064e-01 2.69099035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters 0.01513714397458541 Centerline is valid? [True, True] Translation: X:43.40, Y:0.11, Z:0.27 [[ 9.99807131e-01 -1.63324341e-02 -1.09065150e-02 4.33966549e+01] [ 1.63326515e-02 9.99866611e-01 -6.91417384e-05 1.11776300e-01] [ 1.09061894e-02 -1.09003905e-04 9.99940520e-01 2.70639977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254154 meters 0.014596260488112307 Centerline is valid? [True, True] Translation: X:43.46, Y:0.12, Z:0.27 [[ 9.99942852e-01 -2.88907236e-03 -1.02930459e-02 4.34571335e+01] [ 2.88855491e-03 9.99995826e-01 -6.51375211e-05 1.22374279e-01] [ 1.02931911e-02 3.54017703e-05 9.99947023e-01 2.71428593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254154 meters 0.015230060357118954 Centerline is valid? [True, True] Translation: X:43.52, Y:0.13, Z:0.27 [[ 9.99920006e-01 3.57385858e-03 -1.21329447e-02 4.35157751e+01] [-3.57506997e-03 9.99993606e-01 -7.81554010e-05 1.26375478e-01] [ 1.21325878e-02 1.21525275e-04 9.99926390e-01 2.69493525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters 0.015387395492460038 Centerline is valid? [True, True] Translation: X:43.57, Y:0.13, Z:0.27 [[ 9.99905285e-01 3.72028215e-03 -1.32507033e-02 4.35739406e+01] [-3.72177222e-03 9.99993070e-01 -8.77949432e-05 1.27530775e-01] [ 1.32502848e-02 1.37102727e-04 9.99912202e-01 2.68631583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599254154 meters 0.015013937479704411 Centerline is valid? [True, True] Translation: X:43.63, Y:0.12, Z:0.27 [[ 9.99908181e-01 -3.73262813e-04 -1.35458627e-02 4.36325406e+01] [ 3.72066474e-04 9.99999927e-01 -9.08376674e-05 1.23347577e-01] [ 1.35458956e-02 8.57893654e-05 9.99908246e-01 2.67979496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254154 meters 0.01469546289231335 Centerline is valid? [True, True] Translation: X:43.69, Y:0.12, Z:0.27 [[ 9.99908251e-01 -2.72124469e-03 -1.32696869e-02 4.36911733e+01] [ 2.72029118e-03 9.99996296e-01 -8.99056876e-05 1.21450370e-01] [ 1.32698824e-02 5.38000267e-05 9.99911950e-01 2.68445785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters 0.014482566810011237 Centerline is valid? [True, True] Translation: X:43.75, Y:0.12, Z:0.27 [[ 9.99874057e-01 -1.06003551e-02 -1.18111567e-02 4.37495353e+01] [ 1.06001399e-02 9.99943814e-01 -8.08203154e-05 1.15445183e-01] [ 1.18113498e-02 -4.43897766e-05 9.99930243e-01 2.70546346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779254154 meters 0.015172575726292886 Centerline is valid? [True, True] Translation: X:43.81, Y:0.11, Z:0.27 [[ 9.99746409e-01 -1.98684463e-02 -1.06001037e-02 4.38093302e+01] [ 1.98687876e-02 9.99802593e-01 -7.31234763e-05 1.07895992e-01] [ 1.05994640e-02 -1.37506275e-04 9.99943815e-01 2.71597594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254154 meters 0.017487603774553464 Centerline is valid? [True, True] Translation: X:43.87, Y:0.10, Z:0.27 [[ 9.99495701e-01 -2.98936541e-02 -1.07104450e-02 4.38691228e+01] [ 2.98945750e-02 9.99553055e-01 -7.41376289e-05 9.71939292e-02] [ 1.07078742e-02 -2.46083959e-04 9.99942639e-01 2.71196461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters 0.018903065819627765 Centerline is valid? [True, True] Translation: X:43.93, Y:0.09, Z:0.27 [[ 9.99269132e-01 -3.64652352e-02 -1.14668808e-02 4.39300345e+01] [ 3.64667241e-02 9.99334865e-01 -7.92867514e-05 9.24696194e-02] [ 1.14621450e-02 -3.38930777e-04 9.99934250e-01 2.70941985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959254154 meters 0.021303998109216404 Centerline is valid? [True, True] Translation: X:43.99, Y:0.09, Z:0.27 [[ 9.98940346e-01 -4.46079533e-02 -1.13276285e-02 4.39910884e+01] [ 4.46099306e-02 9.99004478e-01 -7.81867901e-05 8.58652943e-02] [ 1.13198394e-02 -4.27220782e-04 9.99935837e-01 2.71185474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254154 meters 0.025120295286916672 Centerline is valid? [True, True] Translation: X:44.05, Y:0.08, Z:0.27 [[ 9.98766146e-01 -4.82680698e-02 -1.16781123e-02 4.40517339e+01] [ 4.82704223e-02 9.98834300e-01 -8.04922419e-05 7.70680357e-02] [ 1.16683844e-02 -4.83314487e-04 9.99931805e-01 2.69956147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters 0.02352526043785436 Centerline is valid? [True, True] Translation: X:44.11, Y:0.08, Z:0.27 [[ 9.98775442e-01 -4.79262808e-02 -1.22755080e-02 4.41140429e+01] [ 4.79288610e-02 9.98850748e-01 -8.40805664e-05 8.10043959e-02] [ 1.22654300e-02 -5.04373510e-04 9.99924650e-01 2.70385028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139254154 meters 0.023629259967342803 Centerline is valid? [True, True] Translation: X:44.18, Y:0.08, Z:0.27 [[ 9.98851440e-01 -4.62097486e-02 -1.26672783e-02 4.41758435e+01] [ 4.62123700e-02 9.98931634e-01 -8.58402758e-05 8.30171836e-02] [ 1.26577117e-02 -4.99643268e-04 9.99919763e-01 2.70022878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254154 meters 0.023390118943030915 Centerline is valid? [True, True] Translation: X:44.24, Y:0.09, Z:0.27 [[ 9.98915968e-01 -4.44147802e-02 -1.39361266e-02 4.42385341e+01] [ 4.44177948e-02 9.99013038e-01 -9.32806067e-05 8.56530348e-02] [ 1.39265152e-02 -5.25832523e-04 9.99902883e-01 2.69026307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters 0.02479078920624386 Centerline is valid? [True, True] Translation: X:44.30, Y:0.09, Z:0.27 [[ 9.98881853e-01 -4.48486841e-02 -1.49545943e-02 4.43001573e+01] [ 4.48522199e-02 9.98993628e-01 -9.90390166e-05 8.67908085e-02] [ 1.49439862e-02 -5.71818475e-04 9.99888169e-01 2.68154723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319254154 meters 0.023339476006136683 Centerline is valid? [True, True] Translation: X:44.36, Y:0.09, Z:0.27 [[ 9.98858668e-01 -4.51662450e-02 -1.55361115e-02 4.43621243e+01] [ 4.51701149e-02 9.98979304e-01 -1.01903520e-04 9.32536516e-02] [ 1.55248565e-02 -5.99980728e-04 9.99879302e-01 2.68914890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254154 meters 0.023678512083610263 Centerline is valid? [True, True] Translation: X:44.42, Y:0.10, Z:0.27 [[ 9.98872096e-01 -4.48912517e-02 -1.54697034e-02 4.44244454e+01] [ 4.48950724e-02 9.98991703e-01 -1.00380590e-04 9.60134622e-02] [ 1.54586115e-02 -5.94246084e-04 9.99880332e-01 2.69220966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154000004 meters 0.02070516315497765 Centerline is valid? [True, True] Translation: X:44.49, Y:0.11, Z:0.27 [[ 9.98881285e-01 -4.52861138e-02 -1.36142165e-02 4.44866391e+01] [ 4.52891222e-02 9.98973917e-01 -8.74058057e-05 1.06313010e-01] [ 1.36042055e-02 -5.29267893e-04 9.99907318e-01 2.72886476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499254154 meters 0.023925521800547613 Centerline is valid? [True, True] Translation: X:44.55, Y:0.11, Z:0.27 [[ 9.98823433e-01 -4.71992469e-02 -1.11346915e-02 4.45476790e+01] [ 4.72013879e-02 9.98885391e-01 -7.05816633e-05 1.06394160e-01] [ 1.11256121e-02 -4.55074273e-04 9.99938005e-01 2.74256544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254154 meters 0.026898857619622702 Centerline is valid? [True, True] Translation: X:44.61, Y:0.11, Z:0.27 [[ 9.98535674e-01 -5.30838356e-02 -1.04217916e-02 4.46088036e+01] [ 5.30860391e-02 9.98589940e-01 -6.52844238e-05 1.06016258e-01] [ 1.04105618e-02 -4.88062810e-04 9.99945690e-01 2.74472766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154000004 meters 0.02640510427789714 Centerline is valid? [True, True] Translation: X:44.67, Y:0.11, Z:0.27 [[ 9.98234838e-01 -5.84414199e-02 -1.05739439e-02 4.46698895e+01] [ 5.84439905e-02 9.98290687e-01 -6.60014135e-05 1.09054207e-01] [ 1.05597269e-02 -5.52098566e-04 9.99944092e-01 2.74674316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679254154 meters 0.03154445283642217 Centerline is valid? [True, True] Translation: X:44.73, Y:0.10, Z:0.27 [[ 9.97801725e-01 -6.52840169e-02 -1.13892119e-02 4.47299765e+01] [ 6.52874457e-02 9.97866496e-01 -7.08767626e-05 1.04888052e-01] [ 1.13695401e-02 -6.72851599e-04 9.99935138e-01 2.73591277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254154 meters 0.030984457599059906 Centerline is valid? [True, True] Translation: X:44.79, Y:0.11, Z:0.27 [[ 9.97634545e-01 -6.76433167e-02 -1.22350432e-02 4.47907698e+01] [ 6.76474527e-02 9.97709284e-01 -7.59642017e-05 1.08417701e-01] [ 1.22121546e-02 -7.51884991e-04 9.99925146e-01 2.73824968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254154 meters 0.03221849841749899 Centerline is valid? [True, True] Translation: X:44.85, Y:0.11, Z:0.27 [[ 9.97700002e-01 -6.65759645e-02 -1.27415324e-02 4.48516716e+01] [ 6.65803691e-02 9.97781062e-01 -7.86529455e-05 1.11279126e-01] [ 1.27184961e-02 -7.69863885e-04 9.99918820e-01 2.73096515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters 0.02811484801802915 Centerline is valid? [True, True] Translation: X:44.91, Y:0.12, Z:0.27 [[ 9.98042340e-01 -6.10902569e-02 -1.33965649e-02 4.49117146e+01] [ 6.10946386e-02 9.98131974e-01 -8.23084746e-05 1.22503207e-01] [ 1.33765680e-02 -7.36310946e-04 9.99910259e-01 2.72934166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254154 meters 0.02668536554123072 Centerline is valid? [True, True] Translation: X:44.97, Y:0.13, Z:0.27 [[ 9.98354769e-01 -5.58563752e-02 -1.29545471e-02 4.49720337e+01] [ 5.58600333e-02 9.98438606e-01 -7.95684679e-05 1.28484227e-01] [ 1.29387643e-02 -6.44203870e-04 9.99916083e-01 2.73982112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254154 meters 0.024560049898262597 Centerline is valid? [True, True] Translation: X:45.03, Y:0.14, Z:0.28 [[ 9.98720131e-01 -4.92960923e-02 -1.13135215e-02 4.50324754e+01] [ 4.92984623e-02 9.98784089e-01 -6.94694866e-05 1.37649296e-01] [ 1.13031898e-02 -4.88358637e-04 9.99935998e-01 2.75794074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters 0.02375070581882333 Centerline is valid? [True, True] Translation: X:45.09, Y:0.14, Z:0.28 [[ 9.98910431e-01 -4.54228989e-02 -1.07102847e-02 4.50923575e+01] [ 4.54248006e-02 9.98967759e-01 -6.57643679e-05 1.43804319e-01] [ 1.07022163e-02 -4.20819832e-04 9.99942641e-01 2.76063097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099254154 meters 0.022013124597862678 Centerline is valid? [True, True] Translation: X:45.15, Y:0.15, Z:0.28 [[ 9.98963820e-01 -4.43288081e-02 -1.03074639e-02 4.51546633e+01] [ 4.43305140e-02 9.99016918e-01 -6.30292700e-05 1.50292994e-01] [ 1.03001248e-02 -3.93971211e-04 9.99946875e-01 2.75760817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254154 meters 0.024033505169814322 Centerline is valid? [True, True] Translation: X:45.22, Y:0.15, Z:0.27 [[ 9.98880851e-01 -4.54898136e-02 -1.29507902e-02 4.52159613e+01] [ 4.54926164e-02 9.98964672e-01 -7.82441815e-05 1.50032734e-01] [ 1.29409412e-02 -5.11008715e-04 9.99916132e-01 2.73708522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters 0.02299354079746085 Centerline is valid? [True, True] Translation: X:45.28, Y:0.15, Z:0.27 [[ 9.98828091e-01 -4.57453559e-02 -1.58052800e-02 4.52782975e+01] [ 4.57495800e-02 9.98952935e-01 -9.43952533e-05 1.53018052e-01] [ 1.57930490e-02 -6.28800291e-04 9.99875084e-01 2.71207642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279254154 meters 0.024863348624205903 Centerline is valid? [True, True] Translation: X:45.34, Y:0.15, Z:0.27 [[ 9.98853170e-01 -4.47996323e-02 -1.68919338e-02 4.53391516e+01] [ 4.48043401e-02 9.98995776e-01 -9.98276743e-05 1.52730727e-01] [ 1.68794428e-02 -6.57118758e-04 9.99857316e-01 2.70193750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254154 meters 0.021567272291793838 Centerline is valid? [True, True] Translation: X:45.40, Y:0.16, Z:0.27 [[ 9.99006744e-01 -4.22134706e-02 -1.42670602e-02 4.54008677e+01] [ 4.22165755e-02 9.99108479e-01 -8.36015742e-05 1.61121807e-01] [ 1.42578699e-02 -5.18787887e-04 9.99898217e-01 2.74549453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters 0.021934620808928034 Centerline is valid? [True, True] Translation: X:45.46, Y:0.16, Z:0.28 [[ 9.99115164e-01 -3.99963388e-02 -1.30070046e-02 4.54616783e+01] [ 3.99987391e-02 9.99199727e-01 -7.56573731e-05 1.61720931e-01] [ 1.29996215e-02 -4.44673357e-04 9.99915402e-01 2.76265778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459254154 meters 0.019667799239120026 Centerline is valid? [True, True] Translation: X:45.52, Y:0.17, Z:0.28 [[ 9.99211365e-01 -3.78047621e-02 -1.21427803e-02 4.55241284e+01] [ 3.78066999e-02 9.99285069e-01 -7.00075216e-05 1.67684062e-01] [ 1.21367456e-02 -3.89126139e-04 9.99926271e-01 2.78380486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254154 meters 0.019458441440883788 Centerline is valid? [True, True] Translation: X:45.59, Y:0.17, Z:0.28 [[ 9.99223048e-01 -3.75148523e-02 -1.20803705e-02 4.55861859e+01] [ 3.75167598e-02 9.99295996e-01 -6.87644443e-05 1.68223049e-01] [ 1.20744455e-02 -3.84505338e-04 9.99927027e-01 2.78558640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters 0.01996827112948358 Centerline is valid? [True, True] Translation: X:45.65, Y:0.17, Z:0.28 [[ 9.99205782e-01 -3.78310414e-02 -1.25147309e-02 4.56482727e+01] [ 3.78331249e-02 9.99284069e-01 -7.03027464e-05 1.66971904e-01] [ 1.25084308e-02 -4.03224466e-04 9.99921685e-01 2.78541297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639254154 meters 0.019987025021316218 Centerline is valid? [True, True] Translation: X:45.71, Y:0.17, Z:0.28 [[ 9.99200683e-01 -3.75588722e-02 -1.36867371e-02 4.57112042e+01] [ 3.75613566e-02 9.99294320e-01 -7.55880667e-05 1.66071278e-01] [ 1.36799176e-02 -4.38564763e-04 9.99906329e-01 2.78217985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254154 meters 0.020120541108445585 Centerline is valid? [True, True] Translation: X:45.77, Y:0.17, Z:0.28 [[ 9.99232805e-01 -3.62924474e-02 -1.47193487e-02 4.57729581e+01] [ 3.62952036e-02 9.99341109e-01 -7.99282271e-05 1.65453499e-01] [ 1.47125510e-02 -4.54374850e-04 9.99891661e-01 2.77986604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters 0.01850467587116636 Centerline is valid? [True, True] Translation: X:45.83, Y:0.17, Z:0.28 [[ 9.99333190e-01 -3.30612107e-02 -1.54961775e-02 4.58341348e+01] [ 3.30638902e-02 9.99453237e-01 -8.33201875e-05 1.68617180e-01] [ 1.54904594e-02 -4.29099284e-04 9.99879924e-01 2.78209836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819254154 meters 0.017476529926534957 Centerline is valid? [True, True] Translation: X:45.90, Y:0.17, Z:0.28 [[ 9.99483240e-01 -2.82233237e-02 -1.53849865e-02 4.58958136e+01] [ 2.82254030e-02 9.99601581e-01 -8.20107941e-05 1.71165584e-01] [ 1.53811715e-02 -3.52279032e-04 9.99881641e-01 2.78463994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254154 meters 0.016597351618251776 Centerline is valid? [True, True] Translation: X:45.96, Y:0.17, Z:0.28 [[ 9.99599264e-01 -2.38034764e-02 -1.53200975e-02 4.59574093e+01] [ 2.38050295e-02 9.99716617e-01 -8.09982966e-05 1.73891121e-01] [ 1.53176841e-02 -2.83729535e-04 9.99882637e-01 2.79028031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154000004 meters 0.015249967033722181 Centerline is valid? [True, True] Translation: X:46.02, Y:0.18, Z:0.28 [[ 9.99754261e-01 -1.69252660e-02 -1.43161591e-02 4.60177276e+01] [ 1.69259203e-02 9.99856744e-01 -7.54674856e-05 1.78574132e-01] [ 1.43153855e-02 -1.66865226e-04 9.99897516e-01 2.80131992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999254154 meters 0.014729502128517187 Centerline is valid? [True, True] Translation: X:46.08, Y:0.18, Z:0.28 [[ 9.99795125e-01 -1.37476566e-02 -1.48562930e-02 4.60775975e+01] [ 1.37480061e-02 9.99905489e-01 -7.86067052e-05 1.81152147e-01] [ 1.48559695e-02 -1.25653806e-04 9.99889636e-01 2.79816907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254154 meters 0.01471619585122412 Centerline is valid? [True, True] Translation: X:46.14, Y:0.18, Z:0.28 [[ 9.99731882e-01 -1.52149602e-02 -1.74548004e-02 4.61362244e+01] [ 1.52156127e-02 9.99884231e-01 -9.54243102e-05 1.80532106e-01] [ 1.74542315e-02 -1.70186757e-04 9.99847649e-01 2.78131555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154000004 meters 0.015366852042823188 Centerline is valid? [True, True] Translation: X:46.19, Y:0.18, Z:0.28 [[ 9.99667120e-01 -1.74635162e-02 -1.89914467e-02 4.61943830e+01] [ 1.74646373e-02 9.99847476e-01 -1.06835325e-04 1.77872239e-01] [ 1.89904157e-02 -2.24878966e-04 9.99819641e-01 2.75842396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179254154 meters 0.01561939194800728 Centerline is valid? [True, True] Translation: X:46.25, Y:0.18, Z:0.28 [[ 9.99614674e-01 -2.02277956e-02 -1.90089219e-02 4.62527050e+01] [ 2.02293857e-02 9.99795359e-01 -1.08653038e-04 1.77176876e-01] [ 1.90072297e-02 -2.75927640e-04 9.99819308e-01 2.77282526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254154 meters 0.016473353140928022 Centerline is valid? [True, True] Translation: X:46.31, Y:0.17, Z:0.28 [[ 9.99576318e-01 -2.41050483e-02 -1.63135266e-02 4.63118099e+01] [ 2.41067160e-02 9.99709386e-01 -9.44386498e-05 1.74348028e-01] [ 1.63110621e-02 -2.98866914e-04 9.99866921e-01 2.79805278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254154 meters 0.017979778109698703 Centerline is valid? [True, True] Translation: X:46.37, Y:0.17, Z:0.28 [[ 9.99502542e-01 -2.87289707e-02 -1.30120936e-02 4.63722023e+01] [ 2.87304222e-02 9.99587193e-01 -7.54057785e-05 1.70506954e-01] [ 1.30088885e-02 -2.98474676e-04 9.99915336e-01 2.82634246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters 0.018583865951060007 Centerline is valid? [True, True] Translation: X:46.43, Y:0.17, Z:0.28 [[ 9.99349524e-01 -3.44396886e-02 -1.06975382e-02 4.64337509e+01] [ 3.44410008e-02 9.99406731e-01 -6.15871704e-05 1.68349306e-01] [ 1.06933127e-02 -3.06886813e-04 9.99942778e-01 2.84775088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254154 meters 0.020337780733066687 Centerline is valid? [True, True] Translation: X:46.49, Y:0.16, Z:0.28 [[ 9.99180882e-01 -3.92195679e-02 -9.96952490e-03 4.64947198e+01] [ 3.92209491e-02 9.99230561e-01 -5.70067667e-05 1.63929827e-01] [ 9.96408974e-03 -3.34054158e-04 9.99950301e-01 2.84975307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254154 meters 0.023174834208105465 Centerline is valid? [True, True] Translation: X:46.56, Y:0.16, Z:0.28 [[ 9.98804216e-01 -4.75640514e-02 -1.13048565e-02 4.65551023e+01] [ 4.75663653e-02 9.98868078e-01 -6.42542813e-05 1.56400966e-01] [ 1.12951164e-02 -4.73553484e-04 9.99936096e-01 2.82721087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters 0.026003624596920884 Centerline is valid? [True, True] Translation: X:46.61, Y:0.15, Z:0.28 [[ 9.98507107e-01 -5.29187085e-02 -1.35339598e-02 4.66147423e+01] [ 5.29225148e-02 9.98598619e-01 -7.69955903e-05 1.50747961e-01] [ 1.35190681e-02 -6.39370544e-04 9.99908409e-01 2.81049610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599254154 meters 0.02827763952565563 Centerline is valid? [True, True] Translation: X:46.68, Y:0.15, Z:0.28 [[ 9.98168075e-01 -5.83521711e-02 -1.59849110e-02 4.66757089e+01] [ 5.83581745e-02 9.98295705e-01 -9.10258237e-05 1.45899025e-01] [ 1.59629796e-02 -8.41991157e-04 9.99872229e-01 2.79152978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254154 meters 0.02798999398973114 Centerline is valid? [True, True] Translation: X:46.74, Y:0.15, Z:0.28 [[ 9.98242213e-01 -5.70028282e-02 -1.62222454e-02 4.67376055e+01] [ 5.70088450e-02 9.98373669e-01 -9.16723279e-05 1.46402913e-01] [ 1.62010883e-02 -8.33300288e-04 9.99868407e-01 2.78609336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters 0.02746364189145536 Centerline is valid? [True, True] Translation: X:46.80, Y:0.15, Z:0.28 [[ 9.98538016e-01 -5.18430865e-02 -1.53011115e-02 4.67972547e+01] [ 5.18478401e-02 9.98654993e-01 -8.61244364e-05 1.49413605e-01] [ 1.52849963e-02 -7.07331056e-04 9.99882927e-01 2.79005098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779254154 meters 0.020592406548535662 Centerline is valid? [True, True] Translation: X:46.86, Y:0.17, Z:0.28 [[ 9.99147342e-01 -3.91254752e-02 -1.31828112e-02 4.68575891e+01] [ 3.91278975e-02 9.99234208e-01 -7.42172843e-05 1.65682082e-01] [ 1.31756197e-02 -4.41661684e-04 9.99913100e-01 2.82275662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254154 meters 0.016141050022317457 Centerline is valid? [True, True] Translation: X:46.92, Y:0.18, Z:0.29 [[ 9.99635760e-01 -2.50361461e-02 -1.00766087e-02 4.69178976e+01] [ 2.50368461e-02 9.99686527e-01 -5.66859671e-05 1.79864462e-01] [ 1.00748692e-02 -1.95621183e-04 9.99949228e-01 2.85832838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters 0.014462720299932638 Centerline is valid? [True, True] Translation: X:46.98, Y:0.19, Z:0.29 [[ 9.99868996e-01 -1.34480088e-02 -9.00785267e-03 4.69794852e+01] [ 1.34480991e-02 9.99909569e-01 -5.05562554e-05 1.88899642e-01] [ 9.00771797e-03 -7.05888628e-05 9.99959427e-01 2.86536683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959254154 meters 0.014161735530941254 Centerline is valid? [True, True] Translation: X:47.04, Y:0.19, Z:0.29 [[ 9.99924062e-01 -7.96920313e-03 -9.40011692e-03 4.70410611e+01] [ 7.96906378e-03 9.99968245e-01 -5.22816465e-05 1.93442768e-01] [ 9.40023506e-03 -2.26324549e-05 9.99955817e-01 2.86177503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254154 meters 0.014220152147202882 Centerline is valid? [True, True] Translation: X:47.10, Y:0.20, Z:0.28 [[ 9.99938835e-01 -2.11090462e-03 -1.08568107e-02 4.70999586e+01] [ 2.11037407e-03 9.99997771e-01 -6.03244145e-05 1.97124937e-01] [ 1.08569138e-02 3.74087930e-05 9.99941061e-01 2.83526059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters 0.01436291354219561 Centerline is valid? [True, True] Translation: X:47.16, Y:0.20, Z:0.28 [[ 9.99929099e-01 7.19105317e-04 -1.18860947e-02 4.71590103e+01] [-7.19961463e-04 9.99999739e-01 -6.77504033e-05 1.98542566e-01] [ 1.18860429e-02 7.63031298e-05 9.99929356e-01 2.83064583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139254154 meters 0.014813586454793394 Centerline is valid? [True, True] Translation: X:47.22, Y:0.20, Z:0.28 [[ 9.99921074e-01 3.87806221e-03 -1.19501262e-02 4.72163587e+01] [-3.87917926e-03 9.99992473e-01 -7.02981968e-05 2.00222611e-01] [ 1.19497636e-02 1.16649330e-04 9.99928592e-01 2.83126636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254154 meters 0.014335246138229093 Centerline is valid? [True, True] Translation: X:47.28, Y:0.20, Z:0.28 [[ 9.99931144e-01 3.41428628e-03 -1.12272092e-02 4.72753324e+01] [-3.41525305e-03 9.99994166e-01 -6.69378920e-05 1.97296656e-01] [ 1.12269152e-02 1.05277044e-04 9.99936971e-01 2.84472067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters 0.014021424885931081 Centerline is valid? [True, True] Translation: X:47.33, Y:0.19, Z:0.28 [[ 9.99930881e-01 -1.14577502e-03 -1.17013249e-02 4.73341395e+01] [ 1.14502680e-03 9.99999342e-01 -7.06426114e-05 1.91632808e-01] [ 1.17013981e-02 5.72393981e-05 9.99931535e-01 2.84244430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319254154 meters 0.013874136818913299 Centerline is valid? [True, True] Translation: X:47.39, Y:0.18, Z:0.28 [[ 9.99893797e-01 -9.29725579e-03 -1.12229654e-02 4.73934135e+01] [ 9.29707192e-03 9.99956779e-01 -6.85562160e-05 1.82508491e-01] [ 1.12231177e-02 -3.57917811e-05 9.99937018e-01 2.84834556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254154 meters 0.01462014380609286 Centerline is valid? [True, True] Translation: X:47.45, Y:0.17, Z:0.29 [[ 9.99794550e-01 -1.71276661e-02 -1.08398209e-02 4.74533950e+01] [ 1.71279479e-02 9.99853304e-01 -6.68365466e-05 1.74686225e-01] [ 1.08393755e-02 -1.18841073e-04 9.99941245e-01 2.85426060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154000004 meters 0.01512158758735704 Centerline is valid? [True, True] Translation: X:47.51, Y:0.17, Z:0.29 [[ 9.99705021e-01 -2.15942450e-02 -1.11156995e-02 4.75147436e+01] [ 2.15948164e-02 9.99766802e-01 -6.86258423e-05 1.70563017e-01] [ 1.11145892e-02 -1.71435891e-04 9.99938216e-01 2.85935513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499254154 meters 0.01827011287702385 Centerline is valid? [True, True] Translation: X:47.58, Y:0.16, Z:0.28 [[ 9.99292704e-01 -3.55607078e-02 -1.22281634e-02 4.75758099e+01] [ 3.55624475e-02 9.99367453e-01 -7.52083201e-05 1.56272834e-01] [ 1.22231030e-02 -3.59708295e-04 9.99925230e-01 2.84703104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254154 meters 0.023603127087094212 Centerline is valid? [True, True] Translation: X:47.64, Y:0.14, Z:0.28 [[ 9.98809319e-01 -4.69901206e-02 -1.31100356e-02 4.76359805e+01] [ 4.69931066e-02 9.98895210e-01 -8.03683216e-05 1.41182028e-01] [ 1.30993283e-02 -5.35808674e-04 9.99914057e-01 2.84194953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154000004 meters 0.02721741274292467 Centerline is valid? [True, True] Translation: X:47.70, Y:0.13, Z:0.28 [[ 9.98601847e-01 -5.12707655e-02 -1.28709043e-02 4.76965164e+01] [ 5.12740029e-02 9.98684620e-01 -7.85475210e-05 1.33196584e-01] [ 1.28580014e-02 -5.81505087e-04 9.99917163e-01 2.84715829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679254154 meters 0.024125305929951234 Centerline is valid? [True, True] Translation: X:47.76, Y:0.14, Z:0.29 [[ 9.98579685e-01 -5.17361953e-02 -1.27270924e-02 4.77581857e+01] [ 5.17394041e-02 9.98660617e-01 -7.72202563e-05 1.35260000e-01] [ 1.27140411e-02 -5.81381599e-04 9.99919004e-01 2.86091507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254154 meters 0.024723256346470036 Centerline is valid? [True, True] Translation: X:47.82, Y:0.13, Z:0.29 [[ 9.98711687e-01 -4.90848972e-02 -1.28700558e-02 4.78191083e+01] [ 4.90879665e-02 9.98794456e-01 -7.74875526e-05 1.34219985e-01] [ 1.28583438e-02 -5.54377143e-04 9.99917174e-01 2.86289896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254154 meters 0.0212614331072035 Centerline is valid? [True, True] Translation: X:47.88, Y:0.14, Z:0.29 [[ 9.99013147e-01 -4.20142232e-02 -1.44061734e-02 4.78793431e+01] [ 4.20173393e-02 9.99116878e-01 -8.64303516e-05 1.40779807e-01] [ 1.43970823e-02 -5.18964020e-04 9.99896222e-01 2.86782156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859254154 meters 0.018685613827963646 Centerline is valid? [True, True] Translation: X:47.94, Y:0.15, Z:0.29 [[ 9.99310584e-01 -3.34991209e-02 -1.60051497e-02 4.79396816e+01] [ 3.35018775e-02 9.99438650e-01 -9.59300950e-05 1.46002493e-01] [ 1.59993788e-02 -4.40338607e-04 9.99871905e-01 2.86658259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254154 meters 0.016998937122316062 Centerline is valid? [True, True] Translation: X:48.00, Y:0.15, Z:0.29 [[ 9.99492940e-01 -2.76163908e-02 -1.58492057e-02 4.80012908e+01] [ 2.76183631e-02 9.99618536e-01 -9.44639942e-05 1.50120058e-01] [ 1.58457686e-02 -3.43313022e-04 9.99874389e-01 2.87339289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254154 meters 0.014068070112266845 Centerline is valid? [True, True] Translation: X:48.06, Y:0.16, Z:0.29 [[ 9.99806211e-01 -1.33998815e-02 -1.44216250e-02 4.80619101e+01] [ 1.34000422e-02 9.99910212e-01 -8.54904924e-05 1.60469703e-01] [ 1.44214757e-02 -1.07776458e-04 9.99895999e-01 2.90018736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters 0.01381389247352212 Centerline is valid? [True, True] Translation: X:48.12, Y:0.17, Z:0.29 [[ 9.99887150e-01 -5.27322870e-03 -1.40669651e-02 4.81205486e+01] [ 5.27255209e-03 9.99986096e-01 -8.51853922e-05 1.66256096e-01] [ 1.40672188e-02 1.10069726e-05 9.99901052e-01 2.91375372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099254154 meters 0.014254877311037537 Centerline is valid? [True, True] Translation: X:48.18, Y:0.17, Z:0.29 [[ 9.99907084e-01 2.36758560e-03 -1.34245044e-02 4.81784210e+01] [-2.36892102e-03 9.99997191e-01 -8.35755607e-05 1.71252962e-01] [ 1.34242688e-02 1.15369386e-04 9.99909884e-01 2.92031173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254154 meters 0.015621548337304008 Centerline is valid? [True, True] Translation: X:48.24, Y:0.17, Z:0.29 [[ 9.99852396e-01 1.09931217e-02 -1.32036750e-02 4.82378196e+01] [-1.09951765e-02 9.99939548e-01 -8.30367593e-05 1.74000620e-01] [ 1.32019640e-02 2.28201240e-04 9.99912824e-01 2.92561684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters 0.016316574752767574 Centerline is valid? [True, True] Translation: X:48.30, Y:0.17, Z:0.29 [[ 9.99788932e-01 1.56041158e-02 -1.33642181e-02 4.82969658e+01] [-1.56066424e-02 9.99878205e-01 -8.47867841e-05 1.72995572e-01] [ 1.33612674e-02 2.93339462e-04 9.99910691e-01 2.92763180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279254154 meters 0.016333004564880484 Centerline is valid? [True, True] Translation: X:48.36, Y:0.17, Z:0.29 [[ 9.99774425e-01 1.63295493e-02 -1.35810534e-02 4.83562443e+01] [-1.63322393e-02 9.99866616e-01 -8.71764357e-05 1.71408251e-01] [ 1.35778183e-02 3.08965784e-04 9.99907769e-01 2.93499566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254154 meters 0.016478106693367234 Centerline is valid? [True, True] Translation: X:48.41, Y:0.16, Z:0.29 [[ 9.99821493e-01 1.35103367e-02 -1.32080301e-02 4.84138263e+01] [-1.35126492e-02 9.99908696e-01 -8.58499674e-05 1.63838261e-01] [ 1.32056643e-02 2.64310119e-04 9.99912766e-01 2.93329123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters 0.015229873798110036 Centerline is valid? [True, True] Translation: X:48.47, Y:0.16, Z:0.29 [[ 9.99870638e-01 9.66268214e-03 -1.28584299e-02 4.84723367e+01] [-9.66456921e-03 9.99953293e-01 -8.46263268e-05 1.56218915e-01] [ 1.28570116e-02 2.08886565e-04 9.99917323e-01 2.94238292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459254154 meters 0.01462187890657163 Centerline is valid? [True, True] Translation: X:48.53, Y:0.15, Z:0.29 [[ 9.99924305e-01 2.24151079e-03 -1.20979548e-02 4.85304140e+01] [-2.24264982e-03 9.99997482e-01 -8.05850683e-05 1.45740360e-01] [ 1.20977437e-02 1.07710445e-04 9.99926814e-01 2.94465433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254154 meters 0.01432309335112718 Centerline is valid? [True, True] Translation: X:48.59, Y:0.14, Z:0.29 [[ 9.99919008e-01 -2.78485924e-03 -1.24186186e-02 4.85896115e+01] [ 2.78403357e-03 9.99996121e-01 -8.37737394e-05 1.37237916e-01] [ 1.24188037e-02 4.91931032e-05 9.99922882e-01 2.94846190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters 0.01425962396339677 Centerline is valid? [True, True] Translation: X:48.65, Y:0.12, Z:0.29 [[ 9.99875734e-01 -9.33077937e-03 -1.27063925e-02 4.86480181e+01] [ 9.33043145e-03 9.99956467e-01 -8.66632796e-05 1.24484122e-01] [ 1.27066480e-02 -3.19036138e-05 9.99919267e-01 2.94448405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639254154 meters 0.014451546389062164 Centerline is valid? [True, True] Translation: X:48.71, Y:0.11, Z:0.29 [[ 9.99831512e-01 -1.30336759e-02 -1.29255702e-02 4.87054519e+01] [ 1.30336115e-02 9.99915055e-01 -8.92257347e-05 1.13113479e-01] [ 1.29256352e-02 -7.92561593e-05 9.99916457e-01 2.94547029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254154 meters 0.014324633859180577 Centerline is valid? [True, True] Translation: X:48.76, Y:0.11, Z:0.29 [[ 9.99801399e-01 -1.41087643e-02 -1.40750032e-02 4.87647110e+01] [ 1.41087592e-02 9.99900462e-01 -9.96639082e-05 1.07635390e-01] [ 1.40750083e-02 -9.89367159e-05 9.99900937e-01 2.94654480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters 0.01446049208950574 Centerline is valid? [True, True] Translation: X:48.82, Y:0.10, Z:0.29 [[ 9.99796891e-01 -1.15497814e-02 -1.65160407e-02 4.88231426e+01] [ 1.15493469e-02 9.99933297e-01 -1.21686569e-04 1.03101880e-01] [ 1.65163445e-02 -6.90876311e-05 9.99863593e-01 2.93152260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819254154 meters 0.01421352882501146 Centerline is valid? [True, True] Translation: X:48.88, Y:0.10, Z:0.29 [[ 9.99832292e-01 -7.63893741e-03 -1.66443717e-02 4.88812307e+01] [ 7.63787592e-03 9.99970823e-01 -1.27342967e-04 1.02011161e-01] [ 1.66448589e-02 1.93964489e-07 9.99861465e-01 2.93675627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254154 meters 0.014744349407400574 Centerline is valid? [True, True] Translation: X:48.94, Y:0.10, Z:0.30 [[ 9.99857503e-01 -3.39746378e-04 -1.68777532e-02 4.89398986e+01] [ 3.37539639e-04 9.99999934e-01 -1.33596903e-04 1.02237052e-01] [ 1.68777975e-02 1.27880955e-04 9.99857552e-01 2.95501199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154000004 meters 0.015825203849979312 Centerline is valid? [True, True] Translation: X:49.00, Y:0.10, Z:0.30 [[ 9.99823071e-01 6.39482631e-03 -1.76898847e-02 4.89991995e+01] [-6.39834598e-03 9.99979520e-01 -1.42374359e-04 1.01899126e-01] [ 1.76886120e-02 2.55535172e-04 9.99843512e-01 2.95685062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999254154 meters 0.016767910051062974 Centerline is valid? [True, True] Translation: X:49.06, Y:0.10, Z:0.30 [[ 9.99808724e-01 8.49216853e-03 -1.76181102e-02 4.90565216e+01] [-8.49601160e-03 9.99963898e-01 -1.43294642e-04 9.85937006e-02] [ 1.76162573e-02 2.92950902e-04 9.99844779e-01 2.95506636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254154 meters 0.015974383614536142 Centerline is valid? [True, True] Translation: X:49.12, Y:0.09, Z:0.30 [[ 9.99835023e-01 4.75550762e-03 -1.75303314e-02 4.91154801e+01] [-4.75876337e-03 9.99988667e-01 -1.44010815e-04 9.03831923e-02] [ 1.75294479e-02 2.27409756e-04 9.99846322e-01 2.95916022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154000004 meters 0.014646331789359783 Centerline is valid? [True, True] Translation: X:49.17, Y:0.08, Z:0.30 [[ 9.99857369e-01 -3.72687708e-04 -1.68850049e-02 4.91740887e+01] [ 3.70378651e-04 9.99999922e-01 -1.39878843e-04 8.21940928e-02] [ 1.68850557e-02 1.33605047e-04 9.99857428e-01 2.98316121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179254154 meters 0.014156098327422678 Centerline is valid? [True, True] Translation: X:49.23, Y:0.07, Z:0.30 [[ 9.99825489e-01 -8.20250883e-03 -1.67842410e-02 4.92333124e+01] [ 8.20130999e-03 9.99966359e-01 -1.40257732e-04 7.16026371e-02] [ 1.67848268e-02 2.58049247e-06 9.99859125e-01 2.99149528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254154 meters 0.014324396824533472 Centerline is valid? [True, True] Translation: X:49.29, Y:0.07, Z:0.30 [[ 9.99789385e-01 -1.22303622e-02 -1.64803869e-02 4.92925222e+01] [ 1.22297340e-02 9.99925204e-01 -1.38902676e-04 6.56024579e-02] [ 1.64808531e-02 -6.26773270e-05 9.99864180e-01 2.99497395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254154 meters 0.014440446863202549 Centerline is valid? [True, True] Translation: X:49.35, Y:0.06, Z:0.30 [[ 9.99748725e-01 -1.73451325e-02 -1.41997633e-02 4.93511011e+01] [ 1.73451683e-02 9.99849554e-01 -1.20642508e-04 5.77307189e-02] [ 1.41997196e-02 -1.25685090e-04 9.99899171e-01 3.01532728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359254154 meters 0.014739132148007967 Centerline is valid? [True, True] Translation: X:49.41, Y:0.06, Z:0.30 [[ 9.99729467e-01 -1.84850139e-02 -1.41172462e-02 4.94093120e+01] [ 1.84851259e-02 9.99829128e-01 -1.22566001e-04 5.66409878e-02] [ 1.41170996e-02 -1.38426230e-04 9.99900339e-01 3.01552744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254154 meters 0.014968969354295683 Centerline is valid? [True, True] Translation: X:49.47, Y:0.05, Z:0.30 [[ 9.99649173e-01 -2.24922759e-02 -1.39867167e-02 4.94683880e+01] [ 2.24927250e-02 9.99746999e-01 -1.25216281e-04 5.31626726e-02] [ 1.39859945e-02 -1.89427021e-04 9.99902173e-01 3.01804950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254154 meters 0.01599793766096337 Centerline is valid? [True, True] Translation: X:49.53, Y:0.05, Z:0.30 [[ 9.99505158e-01 -2.81349821e-02 -1.40663105e-02 4.95275131e+01] [ 2.81359443e-02 9.99604098e-01 -1.29528087e-04 4.89779404e-02] [ 1.40643858e-02 -2.66304936e-04 9.99901056e-01 3.01549393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539254154 meters 0.017829132031719975 Centerline is valid? [True, True] Translation: X:49.59, Y:0.04, Z:0.30 [[ 9.99228987e-01 -3.68099494e-02 -1.36549980e-02 4.95879556e+01] [ 3.68116410e-02 9.99322214e-01 -1.27525760e-04 4.48935314e-02] [ 1.36504370e-02 -3.75235447e-04 9.99906758e-01 3.02042648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599254154 meters 0.019282996141596197 Centerline is valid? [True, True] Translation: X:49.65, Y:0.04, Z:0.30 [[ 9.99074582e-01 -4.07373912e-02 -1.38001752e-02 4.96486534e+01] [ 4.07394933e-02 9.99169794e-01 -1.28876878e-04 4.25961697e-02] [ 1.37939683e-02 -4.33454532e-04 9.99904765e-01 3.01325788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254154 meters 0.02024086696894097 Centerline is valid? [True, True] Translation: X:49.71, Y:0.04, Z:0.30 [[ 9.99009210e-01 -4.23802696e-02 -1.35835158e-02 4.97102099e+01] [ 4.23824629e-02 9.99101452e-01 -1.26483502e-04 4.17699223e-02] [ 1.35766707e-02 -4.49344670e-04 9.99907732e-01 3.01242378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters 0.021272022256115186 Centerline is valid? [True, True] Translation: X:49.77, Y:0.04, Z:0.30 [[ 9.98892956e-01 -4.51577245e-02 -1.31773546e-02 4.97718702e+01] [ 4.51600361e-02 9.98979758e-01 -1.22231308e-04 4.34310607e-02] [ 1.31694302e-02 -4.72993819e-04 9.99913167e-01 3.02188858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779254154 meters 0.02249384574018755 Centerline is valid? [True, True] Translation: X:49.83, Y:0.04, Z:0.30 [[ 9.98903990e-01 -4.50205599e-02 -1.28049763e-02 4.98325620e+01] [ 4.50227386e-02 9.98985955e-01 -1.18213176e-04 4.40613273e-02] [ 1.27973135e-02 -4.58431486e-04 9.99918006e-01 3.02859800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254154 meters 0.01985948526483143 Centerline is valid? [True, True] Translation: X:49.89, Y:0.05, Z:0.30 [[ 9.99005562e-01 -4.28183902e-02 -1.24286846e-02 4.98937580e+01] [ 4.28202795e-02 9.99082785e-01 -1.14177440e-04 5.40514631e-02] [ 1.24221737e-02 -4.18135849e-04 9.99922754e-01 3.04413573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters 0.018963854905210336 Centerline is valid? [True, True] Translation: X:49.95, Y:0.06, Z:0.31 [[ 9.99131486e-01 -3.99697517e-02 -1.17767871e-02 4.99548729e+01] [ 3.99712553e-02 9.99200824e-01 -1.07763977e-04 6.13460368e-02] [ 1.17716826e-02 -3.63062579e-04 9.99930645e-01 3.05517191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959254154 meters 0.01799081715208114 Centerline is valid? [True, True] Translation: X:50.02, Y:0.07, Z:0.31 [[ 9.99273245e-01 -3.61697097e-02 -1.20305782e-02 5.00162725e+01] [ 3.61710091e-02 9.99345609e-01 -1.09630544e-04 6.85911919e-02] [ 1.20266708e-02 -3.25607285e-04 9.99927624e-01 3.05739966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254154 meters 0.016752896241918697 Centerline is valid? [True, True] Translation: X:50.08, Y:0.08, Z:0.31 [[ 9.99429685e-01 -3.09751948e-02 -1.34477639e-02 5.00776428e+01] [ 3.09763557e-02 9.99520110e-01 -1.22010081e-04 7.70734391e-02] [ 1.34450897e-02 -2.94622220e-04 9.99909567e-01 3.05790692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters 0.016254914167632036 Centerline is valid? [True, True] Translation: X:50.14, Y:0.08, Z:0.31 [[ 9.99556995e-01 -2.61279566e-02 -1.42528661e-02 5.01384371e+01] [ 2.61287718e-02 9.99658577e-01 -1.29044805e-04 8.25529231e-02] [ 1.42513715e-02 -2.43422248e-04 9.99898414e-01 3.05417301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139254154 meters 0.015528206321985177 Centerline is valid? [True, True] Translation: X:50.20, Y:0.09, Z:0.31 [[ 9.99686258e-01 -2.02764677e-02 -1.47054428e-02 5.01985578e+01] [ 2.02766942e-02 9.99794398e-01 -1.33709707e-04 8.95831179e-02] [ 1.47051305e-02 -1.64510011e-04 9.99891860e-01 3.06393042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254154 meters 0.01473860545440221 Centerline is valid? [True, True] Translation: X:50.26, Y:0.10, Z:0.31 [[ 9.99807449e-01 -1.33459351e-02 -1.43858010e-02 5.02570995e+01] [ 1.33454218e-02 9.99910937e-01 -1.31686274e-04 9.76612872e-02] [ 1.43862772e-02 -6.03236639e-05 9.99896510e-01 3.07756259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters 0.014810329655249718 Centerline is valid? [True, True] Translation: X:50.31, Y:0.10, Z:0.31 [[ 9.99826316e-01 -1.19855982e-02 -1.42717485e-02 5.03149049e+01] [ 1.19849175e-02 9.99928169e-01 -1.33226579e-04 1.00532322e-01] [ 1.42723202e-02 -3.78422886e-05 9.99898145e-01 3.07978636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319254154 meters 0.014810522854273919 Centerline is valid? [True, True] Translation: X:50.37, Y:0.10, Z:0.31 [[ 9.99804667e-01 -1.41371996e-02 -1.38118261e-02 5.03728176e+01] [ 1.41367118e-02 9.99900063e-01 -1.32950195e-04 1.00999876e-01] [ 1.38123253e-02 -6.23295789e-05 9.99904603e-01 3.08794535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254154 meters 0.015441838682226601 Centerline is valid? [True, True] Translation: X:50.43, Y:0.10, Z:0.31 [[ 9.99677520e-01 -2.11942962e-02 -1.39877554e-02 5.04314945e+01] [ 2.11944508e-02 9.99775363e-01 -1.37200840e-04 9.80395016e-02] [ 1.39875211e-02 -1.59306198e-04 9.99902157e-01 3.09041651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters 0.016691193860155096 Centerline is valid? [True, True] Translation: X:50.49, Y:0.09, Z:0.31 [[ 9.99423898e-01 -3.06167383e-02 -1.46453764e-02 5.04914958e+01] [ 3.06179094e-02 9.99531151e-01 -1.44299682e-04 9.21296068e-02] [ 1.46429279e-02 -3.04194257e-04 9.99892740e-01 3.08715487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499254154 meters 0.019081880842206723 Centerline is valid? [True, True] Translation: X:50.55, Y:0.09, Z:0.31 [[ 9.99199511e-01 -3.77056479e-02 -1.33649431e-02 5.05511770e+01] [ 3.77072610e-02 9.99288820e-01 -1.31359252e-04 8.67764024e-02] [ 1.33603912e-02 -3.72701297e-04 9.99910677e-01 3.09699925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254154 meters 0.018742440322608984 Centerline is valid? [True, True] Translation: X:50.61, Y:0.09, Z:0.31 [[ 9.99110823e-01 -4.01102990e-02 -1.29895065e-02 5.06133815e+01] [ 4.01120373e-02 9.99195180e-01 -1.26781143e-04 8.75662830e-02] [ 1.29841375e-02 -3.94367158e-04 9.99915625e-01 3.10763930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154000004 meters 0.019418829411279943 Centerline is valid? [True, True] Translation: X:50.68, Y:0.09, Z:0.31 [[ 9.99082108e-01 -4.09392843e-02 -1.26061721e-02 5.06759864e+01] [ 4.09409992e-02 9.99161558e-01 -1.22107772e-04 8.64792215e-02] [ 1.26006016e-02 -3.94113593e-04 9.99920532e-01 3.10885441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679254154 meters 0.019069816873710746 Centerline is valid? [True, True] Translation: X:50.74, Y:0.09, Z:0.31 [[ 9.99173054e-01 -3.89038480e-02 -1.18194049e-02 5.07370980e+01] [ 3.89052210e-02 9.99242899e-01 -1.13828750e-04 8.81459651e-02] [ 1.18148848e-02 -3.46101940e-04 9.99930142e-01 3.11439815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254154 meters 0.01837648587033251 Centerline is valid? [True, True] Translation: X:50.80, Y:0.09, Z:0.31 [[ 9.99275476e-01 -3.61192234e-02 -1.19968534e-02 5.07983488e+01] [ 3.61204428e-02 9.99347437e-01 -1.15091877e-04 9.17742327e-02] [ 1.19931817e-02 -3.18323166e-04 9.99928029e-01 3.12252802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254154 meters 0.017323809394645968 Centerline is valid? [True, True] Translation: X:50.86, Y:0.10, Z:0.31 [[ 9.99426882e-01 -3.13994565e-02 -1.26483875e-02 5.08599934e+01] [ 3.14004415e-02 9.99506877e-01 -1.20756549e-04 9.67234606e-02] [ 1.26459420e-02 -2.76477612e-04 9.99919999e-01 3.12496431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859254154 meters 0.017090729576046335 Centerline is valid? [True, True] Translation: X:50.92, Y:0.10, Z:0.31 [[ 9.99475718e-01 -2.93283656e-02 -1.37162696e-02 5.09211049e+01] [ 2.93293379e-02 9.99569794e-01 -1.30301345e-04 9.95384204e-02] [ 1.37141903e-02 -2.72056074e-04 9.99905919e-01 3.11948190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254154 meters 0.01698729570175333 Centerline is valid? [True, True] Translation: X:50.98, Y:0.10, Z:0.31 [[ 9.99428781e-01 -2.99010485e-02 -1.57492507e-02 5.09828726e+01] [ 2.99024111e-02 9.99552812e-01 -1.49010974e-04 1.01941239e-01] [ 1.57466634e-02 -3.22014714e-04 9.99875962e-01 3.11034311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254154 meters 0.017907768330585994 Centerline is valid? [True, True] Translation: X:51.04, Y:0.10, Z:0.31 [[ 9.99356723e-01 -3.15760359e-02 -1.70027939e-02 5.10427352e+01] [ 3.15778678e-02 9.99501282e-01 -1.60792414e-04 1.01878689e-01] [ 1.69993915e-02 -3.76222999e-04 9.99855429e-01 3.10188374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039254154 meters 0.019132990447869366 Centerline is valid? [True, True] Translation: X:51.10, Y:0.10, Z:0.31 [[ 9.99227575e-01 -3.49099636e-02 -1.80429360e-02 5.11034652e+01] [ 3.49125673e-02 9.99390356e-01 -1.70755686e-04 1.01270121e-01] [ 1.80378973e-02 -4.59301428e-04 9.99837198e-01 3.09879369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099254154 meters 0.018150856229317214 Centerline is valid? [True, True] Translation: X:51.16, Y:0.10, Z:0.31 [[ 9.99127139e-01 -3.81562300e-02 -1.70018426e-02 5.11642986e+01] [ 3.81590147e-02 9.99271667e-01 -1.60710631e-04 1.04861573e-01] [ 1.69955917e-02 -4.88203208e-04 9.99855445e-01 3.13655470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254154 meters 0.020110278858510834 Centerline is valid? [True, True] Translation: X:51.23, Y:0.10, Z:0.32 [[ 9.98938104e-01 -4.36970965e-02 -1.46023636e-02 5.12251151e+01] [ 4.36997454e-02 9.99044700e-01 -1.37776428e-04 1.03510497e-01] [ 1.45944344e-02 -5.00489447e-04 9.99893370e-01 3.16386245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219254154 meters 0.022148487689968115 Centerline is valid? [True, True] Translation: X:51.29, Y:0.10, Z:0.32 [[ 9.98827082e-01 -4.66544595e-02 -1.29546279e-02 5.12863637e+01] [ 4.66567984e-02 9.98910971e-01 -1.21778956e-04 1.01346781e-01] [ 1.29462015e-02 -4.82785346e-04 9.99916078e-01 3.17264467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279254154 meters 0.022722054893036716 Centerline is valid? [True, True] Translation: X:51.35, Y:0.10, Z:0.32 [[ 9.98680317e-01 -4.97111206e-02 -1.29007342e-02 5.13474151e+01] [ 4.97137038e-02 9.98763502e-01 -1.20566301e-04 1.02288523e-01] [ 1.28907759e-02 -5.20936087e-04 9.99916775e-01 3.17889733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254154 meters 0.02497083266593574 Centerline is valid? [True, True] Translation: X:51.41, Y:0.10, Z:0.32 [[ 9.98442992e-01 -5.41703582e-02 -1.33103342e-02 5.14084499e+01] [ 5.41735121e-02 9.98531529e-01 -1.23755285e-04 1.03064309e-01] [ 1.32974923e-02 -5.97504955e-04 9.99911406e-01 3.18501039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters 0.02552966909208684 Centerline is valid? [True, True] Translation: X:51.47, Y:0.11, Z:0.32 [[ 9.98329959e-01 -5.59653546e-02 -1.43238241e-02 5.14708782e+01] [ 5.59692033e-02 9.98432487e-01 -1.32344257e-04 1.06444879e-01] [ 1.43087781e-02 -6.69569789e-04 9.99897400e-01 3.17710168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459254154 meters 0.02427928780174199 Centerline is valid? [True, True] Translation: X:51.53, Y:0.11, Z:0.32 [[ 9.98445605e-01 -5.39923252e-02 -1.38275736e-02 5.15318571e+01] [ 5.39957331e-02 9.98541158e-01 -1.27027786e-04 1.13427732e-01] [ 1.38142599e-02 -6.19799639e-04 9.99904386e-01 3.18491236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254154 meters 0.0230484298757459 Centerline is valid? [True, True] Translation: X:51.59, Y:0.12, Z:0.32 [[ 9.98612304e-01 -5.05489681e-02 -1.47738939e-02 5.15929854e+01] [ 5.05524906e-02 9.98721396e-01 -1.35161941e-04 1.19954181e-01] [ 1.47618362e-02 -6.11882756e-04 9.99890851e-01 3.18160237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters 0.021204514494601326 Centerline is valid? [True, True] Translation: X:51.65, Y:0.13, Z:0.32 [[ 9.98954653e-01 -4.26695613e-02 -1.63984611e-02 5.16526520e+01] [ 4.26728429e-02 9.99089088e-01 -1.49901444e-04 1.30149319e-01] [ 1.63899198e-02 -5.50024210e-04 9.99865525e-01 3.16329458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639254154 meters 0.017407089702069865 Centerline is valid? [True, True] Translation: X:51.71, Y:0.14, Z:0.32 [[ 9.99325559e-01 -3.36079685e-02 -1.47963561e-02 5.17135590e+01] [ 3.36096464e-02 9.99435027e-01 -1.35318560e-04 1.43555194e-01] [ 1.47925443e-02 -3.62072999e-04 9.99890519e-01 3.18336384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254154 meters 0.015847919278660617 Centerline is valid? [True, True] Translation: X:51.78, Y:0.15, Z:0.32 [[ 9.99560179e-01 -2.71072404e-02 -1.20269041e-02 5.17752730e+01] [ 2.71078825e-02 9.99632508e-01 -1.09655474e-04 1.53487115e-01] [ 1.20254568e-02 -2.16416658e-04 9.99927668e-01 3.21092068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters 0.015516543297008719 Centerline is valid? [True, True] Translation: X:51.84, Y:0.16, Z:0.32 [[ 9.99664879e-01 -2.38388990e-02 -1.00914565e-02 5.18351905e+01] [ 2.38391885e-02 9.99715802e-01 -9.16152983e-05 1.59123213e-01] [ 1.00907726e-02 -1.48987538e-04 9.99949076e-01 3.21640809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819254154 meters 0.014776840269101183 Centerline is valid? [True, True] Translation: X:51.90, Y:0.16, Z:0.32 [[ 9.99707092e-01 -2.20964624e-02 -9.87301706e-03 5.18970277e+01] [ 2.20966581e-02 9.99755835e-01 -8.92775936e-05 1.63930721e-01] [ 9.87257914e-03 -1.28909239e-04 9.99951257e-01 3.21324737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254154 meters 0.01453560826018019 Centerline is valid? [True, True] Translation: X:51.96, Y:0.17, Z:0.32 [[ 9.99758077e-01 -1.95274497e-02 -1.01225633e-02 5.19582804e+01] [ 1.95275301e-02 9.99809315e-01 -9.08954071e-05 1.69629847e-01] [ 1.01224080e-02 -1.06795242e-04 9.99948761e-01 3.20455353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters 0.01432407881304177 Centerline is valid? [True, True] Translation: X:52.02, Y:0.17, Z:0.32 [[ 9.99762899e-01 -1.87297847e-02 -1.11059146e-02 5.20200667e+01] [ 1.87298371e-02 9.99824576e-01 -9.92961767e-05 1.74205167e-01] [ 1.11058262e-02 -1.08739338e-04 9.99938322e-01 3.19579430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999254154 meters 0.01456403243888914 Centerline is valid? [True, True] Translation: X:52.08, Y:0.18, Z:0.32 [[ 9.99745095e-01 -1.97912748e-02 -1.08651252e-02 5.20800807e+01] [ 1.97913910e-02 9.99804127e-01 -9.68308584e-05 1.76844733e-01] [ 1.08649134e-02 -1.18229765e-04 9.99940968e-01 3.19032676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254154 meters 0.014861293069830389 Centerline is valid? [True, True] Translation: X:52.14, Y:0.18, Z:0.32 [[ 9.99734479e-01 -2.07365025e-02 -1.00483424e-02 5.21412168e+01] [ 2.07366526e-02 9.99784969e-01 -8.92642532e-05 1.77330061e-01] [ 1.00480327e-02 -1.19128433e-04 9.99949510e-01 3.19367472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154000004 meters 0.015397377562897002 Centerline is valid? [True, True] Translation: X:52.20, Y:0.18, Z:0.32 [[ 9.99684371e-01 -2.35853962e-02 -8.65374034e-03 5.22038074e+01] [ 2.35856181e-02 9.99721818e-01 -7.64311233e-05 1.79685847e-01] [ 8.65313568e-03 -1.27696815e-04 9.99962553e-01 3.20712362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179254154 meters 0.01578807489906142 Centerline is valid? [True, True] Translation: X:52.27, Y:0.18, Z:0.32 [[ 9.99568898e-01 -2.79947098e-02 -8.84956754e-03 5.22653862e+01] [ 2.79951199e-02 9.99608057e-01 -7.75510139e-05 1.80640713e-01] [ 8.84827003e-03 -1.70227123e-04 9.99960839e-01 3.20673840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254154 meters 0.016319840874765238 Centerline is valid? [True, True] Translation: X:52.33, Y:0.18, Z:0.32 [[ 9.99501620e-01 -3.02992226e-02 -8.85826088e-03 5.23271712e+01] [ 3.02997284e-02 9.99540855e-01 -7.71271839e-05 1.79931282e-01] [ 8.85653055e-03 -1.91314154e-04 9.99960762e-01 3.20680495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254154 meters 0.018834749059196614 Centerline is valid? [True, True] Translation: X:52.39, Y:0.18, Z:0.32 [[ 9.99190381e-01 -3.91271660e-02 -9.36200679e-03 5.23867697e+01] [ 3.91281234e-02 9.99234198e-01 -8.09506345e-05 1.75501919e-01] [ 9.35800472e-03 -2.85432661e-04 9.99956172e-01 3.20241361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359254154 meters 0.022079092964041584 Centerline is valid? [True, True] Translation: X:52.45, Y:0.17, Z:0.32 [[ 9.98777565e-01 -4.84569326e-02 -9.76226203e-03 5.24474146e+01] [ 4.84584228e-02 9.98825197e-01 -8.39718320e-05 1.72160288e-01] [ 9.75486232e-03 -3.89194639e-04 9.99952344e-01 3.19829303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254154 meters 0.024305787706228172 Centerline is valid? [True, True] Translation: X:52.51, Y:0.17, Z:0.32 [[ 9.98568385e-01 -5.25520223e-02 -9.97325386e-03 5.25089143e+01] [ 5.25537828e-02 9.98618091e-01 -8.56494120e-05 1.71056164e-01] [ 9.96397278e-03 -4.38605422e-04 9.99950262e-01 3.20183025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254154 meters 0.025449274946974614 Centerline is valid? [True, True] Translation: X:52.57, Y:0.17, Z:0.32 [[ 9.98499336e-01 -5.39507766e-02 -9.40160787e-03 5.25712754e+01] [ 5.39524069e-02 9.98543505e-01 -8.03188352e-05 1.73745875e-01] [ 9.39224774e-03 -4.27041070e-04 9.99955801e-01 3.21937707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539254154 meters 0.025032391027978492 Centerline is valid? [True, True] Translation: X:52.63, Y:0.18, Z:0.32 [[ 9.98594941e-01 -5.23582493e-02 -8.17054725e-03 5.26331137e+01] [ 5.23594316e-02 9.98628302e-01 -6.92787354e-05 1.79550862e-01] [ 8.16296703e-03 -3.58623815e-04 9.99966618e-01 3.23808791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599254154 meters 0.025304743156321936 Centerline is valid? [True, True] Translation: X:52.70, Y:0.18, Z:0.32 [[ 9.98636557e-01 -5.13463686e-02 -9.41158825e-03 5.26954353e+01] [ 5.13478995e-02 9.98680823e-01 -7.90578153e-05 1.83721155e-01] [ 9.40323204e-03 -4.04315264e-04 9.99955707e-01 3.22643678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254154 meters 0.022642166570456167 Centerline is valid? [True, True] Translation: X:52.76, Y:0.19, Z:0.32 [[ 9.98598070e-01 -5.18641002e-02 -1.05834237e-02 5.27577068e+01] [ 5.18660739e-02 9.98654046e-01 -8.80798777e-05 1.90820274e-01] [ 1.05737471e-02 -4.60964241e-04 9.99943990e-01 3.22571640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719254154 meters 0.024513832265901172 Centerline is valid? [True, True] Translation: X:52.82, Y:0.20, Z:0.32 [[ 9.98555992e-01 -5.24264416e-02 -1.17216970e-02 5.28188744e+01] [ 5.24289160e-02 9.98624654e-01 -9.63048290e-05 1.95039545e-01] [ 1.17106246e-02 -5.18390105e-04 9.99931294e-01 3.23244410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779254154 meters 0.02494401007742627 Centerline is valid? [True, True] Translation: X:52.88, Y:0.20, Z:0.32 [[ 9.98569875e-01 -5.23291979e-02 -1.09480435e-02 5.28806165e+01] [ 5.23313634e-02 9.98629772e-01 -8.87765977e-05 1.98471274e-01] [ 1.09376878e-02 -4.84276408e-04 9.99940064e-01 3.24462285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254154 meters 0.021766355508892825 Centerline is valid? [True, True] Translation: X:52.94, Y:0.21, Z:0.33 [[ 9.98819803e-01 -4.74125438e-02 -1.05381456e-02 5.29409846e+01] [ 4.74142818e-02 9.98875307e-01 -8.49887583e-05 2.07587961e-01] [ 1.05303230e-02 -4.14770151e-04 9.99944469e-01 3.25300102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899254154 meters 0.02139822811985612 Centerline is valid? [True, True] Translation: X:53.00, Y:0.21, Z:0.33 [[ 9.98996652e-01 -4.37217559e-02 -9.70033471e-03 5.30017806e+01] [ 4.37230558e-02 9.99043687e-01 -7.81231768e-05 2.11140316e-01] [ 9.69447384e-03 -3.46083484e-04 9.99952948e-01 3.26617301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959254154 meters 0.020392140571474614 Centerline is valid? [True, True] Translation: X:53.06, Y:0.22, Z:0.33 [[ 9.99119242e-01 -4.06810813e-02 -1.02854636e-02 5.30637326e+01] [ 4.06823865e-02 9.99172126e-01 -8.23832291e-05 2.16432598e-01] [ 1.02803000e-02 -3.36126537e-04 9.99947100e-01 3.26779686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254154 meters 0.020244746416908148 Centerline is valid? [True, True] Translation: X:53.13, Y:0.22, Z:0.33 [[ 9.99100468e-01 -4.05119399e-02 -1.25314802e-02 5.31259901e+01] [ 4.05138749e-02 9.99178971e-01 -9.95094878e-05 2.18680006e-01] [ 1.25252228e-02 -4.08278846e-04 9.99921473e-01 3.25181508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters 0.020541388048907865 Centerline is valid? [True, True] Translation: X:53.19, Y:0.22, Z:0.32 [[ 9.99088786e-01 -4.03770146e-02 -1.38309412e-02 5.31880856e+01] [ 4.03793734e-02 9.99184415e-01 -1.08782631e-04 2.20167633e-01] [ 1.38240532e-02 -4.49801231e-04 9.99904342e-01 3.24968583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139254154 meters 0.01950680751103539 Centerline is valid? [True, True] Translation: X:53.25, Y:0.22, Z:0.33 [[ 9.99148592e-01 -3.92327916e-02 -1.27623847e-02 5.32500240e+01] [ 3.92347180e-02 9.99230017e-01 -9.94928851e-05 2.23616538e-01] [ 1.27564612e-02 -4.01320387e-04 9.99918553e-01 3.26935060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254154 meters 0.01936672290502411 Centerline is valid? [True, True] Translation: X:53.31, Y:0.22, Z:0.33 [[ 9.99241337e-01 -3.72251524e-02 -1.14472264e-02 5.33119421e+01] [ 3.72265795e-02 9.99306847e-01 -8.84589412e-05 2.24703911e-01] [ 1.14425846e-02 -3.37749251e-04 9.99934474e-01 3.28301692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters 0.018518139825877276 Centerline is valid? [True, True] Translation: X:53.37, Y:0.23, Z:0.33 [[ 9.99337966e-01 -3.51061421e-02 -9.54922375e-03 5.33739952e+01] [ 3.51070443e-02 9.99383555e-01 -7.31816640e-05 2.26781830e-01] [ 9.54590630e-03 -2.62111806e-04 9.99954402e-01 3.30690342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319254154 meters 0.017948902036484162 Centerline is valid? [True, True] Translation: X:53.44, Y:0.23, Z:0.33 [[ 9.99361570e-01 -3.44943059e-02 -9.30567707e-03 5.34360368e+01] [ 3.44951424e-02 9.99404863e-01 -7.06478447e-05 2.27947539e-01] [ 9.30257587e-03 -2.50397915e-04 9.99956699e-01 3.31266957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254154 meters 0.01792934667607476 Centerline is valid? [True, True] Translation: X:53.50, Y:0.23, Z:0.33 [[ 9.99336068e-01 -3.47005692e-02 -1.11037551e-02 5.34979593e+01] [ 3.47017830e-02 9.99397708e-01 -8.33840146e-05 2.26376834e-01] [ 1.10999609e-02 -3.01991448e-04 9.99938348e-01 3.30322120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters 0.02080645856094474 Centerline is valid? [True, True] Translation: X:53.56, Y:0.22, Z:0.33 [[ 9.99298486e-01 -3.53333292e-02 -1.24133990e-02 5.35591000e+01] [ 3.53349058e-02 9.99375523e-01 -9.23537395e-05 2.19946824e-01] [ 1.24089103e-02 -3.46337334e-04 9.99922947e-01 3.28720032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499254154 meters 0.018452282138612646 Centerline is valid? [True, True] Translation: X:53.62, Y:0.22, Z:0.33 [[ 9.99307399e-01 -3.48436124e-02 -1.30631069e-02 5.36209392e+01] [ 3.48453278e-02 9.99392713e-01 -9.63394243e-05 2.23360573e-01] [ 1.30585307e-02 -3.58915544e-04 9.99914669e-01 3.29101399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254154 meters 0.018088047390600544 Centerline is valid? [True, True] Translation: X:53.68, Y:0.22, Z:0.33 [[ 9.99382484e-01 -3.24108797e-02 -1.35715048e-02 5.36835954e+01] [ 3.24125223e-02 9.99474571e-01 -9.89650423e-05 2.24273502e-01] [ 1.35675815e-02 -3.40982772e-04 9.99907898e-01 3.28422222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154000004 meters 0.01723356299553664 Centerline is valid? [True, True] Translation: X:53.75, Y:0.23, Z:0.33 [[ 9.99454307e-01 -3.00267864e-02 -1.37651754e-02 5.37460917e+01] [ 3.00282655e-02 9.99549045e-01 -9.92574932e-05 2.26645634e-01] [ 1.37619483e-02 -3.14141013e-04 9.99905251e-01 3.28640685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679254154 meters 0.017008156573925553 Centerline is valid? [True, True] Translation: X:53.81, Y:0.23, Z:0.33 [[ 9.99517426e-01 -2.83645071e-02 -1.26637214e-02 5.38085301e+01] [ 2.83656366e-02 9.99597610e-01 -9.04462868e-05 2.28161342e-01] [ 1.26611911e-02 -2.68811879e-04 9.99919808e-01 3.30156715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254154 meters 0.017276218454087354 Centerline is valid? [True, True] Translation: X:53.87, Y:0.23, Z:0.33 [[ 9.99467020e-01 -3.03822788e-02 -1.19412204e-02 5.38709425e+01] [ 3.03834369e-02 9.99538313e-01 -8.44580424e-05 2.27597146e-01] [ 1.19382733e-02 -2.78402288e-04 9.99928698e-01 3.31375587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254154 meters 0.019041691633104926 Centerline is valid? [True, True] Translation: X:53.93, Y:0.22, Z:0.33 [[ 9.99282458e-01 -3.54169757e-02 -1.34241276e-02 5.39318207e+01] [ 3.54189022e-02 9.99372549e-01 -9.42824340e-05 2.22974354e-01] [ 1.34190438e-02 -3.81253080e-04 9.99909888e-01 3.30193490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859254154 meters 0.021665450167492592 Centerline is valid? [True, True] Translation: X:53.99, Y:0.22, Z:0.33 [[ 9.99036993e-01 -4.12862579e-02 -1.48502745e-02 5.39925082e+01] [ 4.12892673e-02 9.99147229e-01 -1.04024108e-04 2.16974220e-01] [ 1.48419053e-02 -5.09233019e-04 9.99889723e-01 3.28700172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254154 meters 0.021941181414258056 Centerline is valid? [True, True] Translation: X:54.05, Y:0.22, Z:0.33 [[ 9.98956118e-01 -4.35398021e-02 -1.38188019e-02 5.40545673e+01] [ 4.35426317e-02 9.99051565e-01 -9.61810299e-05 2.15605147e-01] [ 1.38098834e-02 -5.05626376e-04 9.99904511e-01 3.29969722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254154 meters 0.021298113897964894 Centerline is valid? [True, True] Translation: X:54.12, Y:0.22, Z:0.33 [[ 9.99021501e-01 -4.23877355e-02 -1.26222006e-02 5.41168261e+01] [ 4.23900152e-02 9.99101136e-01 -8.69884445e-05 2.16500526e-01] [ 1.26145422e-02 -4.48151948e-04 9.99920333e-01 3.32365251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039254154 meters 0.022170035654336676 Centerline is valid? [True, True] Translation: X:54.18, Y:0.22, Z:0.33 [[ 9.99184633e-01 -3.90412821e-02 -1.02881897e-02 5.41773590e+01] [ 3.90426241e-02 9.99237544e-01 -7.04450886e-05 2.16516507e-01] [ 1.02830957e-02 -3.31290275e-04 9.99947073e-01 3.34172341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099254154 meters 0.01898697982908934 Centerline is valid? [True, True] Translation: X:54.24, Y:0.22, Z:0.33 [[ 9.99304887e-01 -3.60127418e-02 -9.63456809e-03 5.42392021e+01] [ 3.60137807e-02 9.99351291e-01 -6.56981087e-05 2.22242187e-01] [ 9.63068403e-03 -2.81324781e-04 9.99953584e-01 3.34934133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254154 meters 0.017981866754978544 Centerline is valid? [True, True] Translation: X:54.30, Y:0.22, Z:0.33 [[ 9.99472293e-01 -3.09541676e-02 -9.84755742e-03 5.42999072e+01] [ 3.09550123e-02 9.99520777e-01 -6.66654428e-05 2.24661310e-01] [ 9.84490181e-03 -2.38200998e-04 9.99951509e-01 3.33516091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219254154 meters 0.01694552957665015 Centerline is valid? [True, True] Translation: X:54.36, Y:0.23, Z:0.33 [[ 9.99578236e-01 -2.66064016e-02 -1.16382842e-02 5.43605875e+01] [ 2.66072922e-02 9.99645960e-01 -7.83324244e-05 2.27852932e-01] [ 1.16362480e-02 -2.31363843e-04 9.99932270e-01 3.33254876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279254154 meters 0.01624647727286719 Centerline is valid? [True, True] Translation: X:54.42, Y:0.23, Z:0.33 [[ 9.99669263e-01 -2.26164869e-02 -1.22416578e-02 5.44211172e+01] [ 2.26171773e-02 9.99744196e-01 -8.20516349e-05 2.30315968e-01] [ 1.22403820e-02 -1.94847247e-04 9.99925065e-01 3.32090612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254154 meters 0.015430125943654532 Centerline is valid? [True, True] Translation: X:54.48, Y:0.23, Z:0.33 [[ 9.99736999e-01 -1.86727397e-02 -1.33139799e-02 5.44827455e+01] [ 1.86732115e-02 9.99825636e-01 -8.88924942e-05 2.33068833e-01] [ 1.33133183e-02 -1.59745647e-04 9.99911361e-01 3.31126788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399254154 meters 0.014765922643467487 Centerline is valid? [True, True] Translation: X:54.54, Y:0.24, Z:0.33 [[ 9.99765002e-01 -1.58806906e-02 -1.47561767e-02 5.45433783e+01] [ 1.58809697e-02 9.99873885e-01 -9.82717607e-05 2.36336330e-01] [ 1.47558763e-02 -1.36093727e-04 9.99891117e-01 3.31023298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459254154 meters 0.014181610003537555 Centerline is valid? [True, True] Translation: X:54.60, Y:0.24, Z:0.33 [[ 9.99806565e-01 -1.29865032e-02 -1.47710048e-02 5.46026234e+01] [ 1.29864626e-02 9.99915667e-01 -9.86675331e-05 2.38790433e-01] [ 1.47710404e-02 -9.31746539e-05 9.99890898e-01 3.32105099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254154 meters 0.014090904830349596 Centerline is valid? [True, True] Translation: X:54.66, Y:0.24, Z:0.33 [[ 9.99842151e-01 -1.21784161e-02 -1.29367533e-02 5.46604412e+01] [ 1.21783072e-02 9.99925838e-01 -8.71959716e-05 2.38749078e-01] [ 1.29368558e-02 -7.03655485e-05 9.99916313e-01 3.33720023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579254154 meters 0.014329450957655946 Centerline is valid? [True, True] Translation: X:54.72, Y:0.24, Z:0.34 [[ 9.99809905e-01 -1.65205096e-02 -1.03549993e-02 5.47191276e+01] [ 1.65206648e-02 9.99863522e-01 -7.05481960e-05 2.35854830e-01] [ 1.03547516e-02 -1.00536688e-04 9.99946383e-01 3.35563074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639254154 meters 0.016200550729380075 Centerline is valid? [True, True] Translation: X:54.78, Y:0.23, Z:0.34 [[ 9.99615630e-01 -2.62297698e-02 -8.97726034e-03 5.47806782e+01] [ 2.62302748e-02 9.99655925e-01 -6.15058789e-05 2.26802081e-01] [ 8.97578478e-03 -1.73993767e-04 9.99959702e-01 3.35953692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254154 meters 0.017838706946049596 Centerline is valid? [True, True] Translation: X:54.84, Y:0.22, Z:0.34 [[ 9.99403125e-01 -3.36301329e-02 -7.89987308e-03 5.48422718e+01] [ 3.36307570e-02 9.99434325e-01 -5.38672384e-05 2.20831005e-01] [ 7.89721588e-03 -2.11843626e-04 9.99968794e-01 3.35891378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters 0.020286002246884184 Centerline is valid? [True, True] Translation: X:54.90, Y:0.21, Z:0.34 [[ 9.99140055e-01 -4.08176645e-02 -7.28482951e-03 5.49035483e+01] [ 4.08183877e-02 9.99166581e-01 -4.94348480e-05 2.13187314e-01] [ 7.28077601e-03 -2.47962658e-04 9.99973464e-01 3.36073670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819254154 meters 0.02158106654919699 Centerline is valid? [True, True] Translation: X:54.96, Y:0.21, Z:0.34 [[ 9.99061043e-01 -4.27549770e-02 -7.00311488e-03 5.49643083e+01] [ 4.27556938e-02 9.99085556e-01 -4.73944613e-05 2.07092141e-01] [ 6.99873727e-03 -2.52073075e-04 9.99975477e-01 3.35539180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254154 meters 0.021845287195229768 Centerline is valid? [True, True] Translation: X:55.03, Y:0.20, Z:0.34 [[ 9.98997613e-01 -4.40966517e-02 -7.69771822e-03 5.50265349e+01] [ 4.40975601e-02 9.99027228e-01 -5.17556823e-05 2.04753710e-01] [ 7.69251234e-03 -2.87746789e-04 9.99970371e-01 3.35426667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters 0.022326389997624808 Centerline is valid? [True, True] Translation: X:55.09, Y:0.20, Z:0.33 [[ 9.98960151e-01 -4.45946526e-02 -9.48334790e-03 5.50884321e+01] [ 4.45960614e-02 9.99005099e-01 -6.29596141e-05 2.02265036e-01] [ 9.47672057e-03 -3.60025820e-04 9.99955030e-01 3.33646410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999254154 meters 0.021327019428043808 Centerline is valid? [True, True] Translation: X:55.15, Y:0.20, Z:0.33 [[ 9.99021701e-01 -4.34385602e-02 -8.29050902e-03 5.51502584e+01] [ 4.34396016e-02 9.99056054e-01 -5.45004266e-05 2.03117200e-01] [ 8.28505065e-03 -3.05689300e-04 9.99965632e-01 3.34234527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254154 meters 0.02080934193079811 Centerline is valid? [True, True] Translation: X:55.21, Y:0.20, Z:0.33 [[ 9.99066148e-01 -4.22883893e-02 -8.86141014e-03 5.52120403e+01] [ 4.22895400e-02 9.99105396e-01 -5.75690268e-05 2.04633588e-01] [ 8.85591718e-03 -3.17229692e-04 9.99960735e-01 3.34173891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154000004 meters 0.019674823321870406 Centerline is valid? [True, True] Translation: X:55.27, Y:0.21, Z:0.33 [[ 9.99186205e-01 -3.87909379e-02 -1.10539742e-02 5.52731635e+01] [ 3.87925233e-02 9.99247284e-01 -7.10370140e-05 2.08116186e-01] [ 1.10484093e-02 -3.57832347e-04 9.99938900e-01 3.33160179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179254154 meters 0.019493826633970198 Centerline is valid? [True, True] Translation: X:55.34, Y:0.21, Z:0.33 [[ 9.99223880e-01 -3.74172502e-02 -1.23120695e-02 5.53356444e+01] [ 3.74191213e-02 9.99299656e-01 -7.84406657e-05 2.08836504e-01] [ 1.23063818e-02 -3.82327034e-04 9.99924201e-01 3.32284759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254154 meters 0.01967622779372237 Centerline is valid? [True, True] Translation: X:55.40, Y:0.21, Z:0.33 [[ 9.99189347e-01 -3.78772551e-02 -1.36367950e-02 5.53973759e+01] [ 3.78796057e-02 9.99282306e-01 -8.59646906e-05 2.08975408e-01] [ 1.36302641e-02 -4.30661416e-04 9.99907011e-01 3.31661665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254154 meters 0.02075822002355306 Centerline is valid? [True, True] Translation: X:55.46, Y:0.21, Z:0.33 [[ 9.99144283e-01 -3.87089286e-02 -1.45712544e-02 5.54588178e+01] [ 3.87117127e-02 9.99250417e-01 -9.10445036e-05 2.08029934e-01] [ 1.45638563e-02 -4.73111619e-04 9.99893829e-01 3.31351399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359254154 meters 0.020677194880975098 Centerline is valid? [True, True] Translation: X:55.52, Y:0.21, Z:0.33 [[ 9.99165355e-01 -3.85378170e-02 -1.35436410e-02 5.55214018e+01] [ 3.85402176e-02 9.99257046e-01 -8.38018675e-05 2.10669098e-01] [ 1.35368082e-02 -4.38242948e-04 9.99908277e-01 3.33615407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254154 meters 0.019388704057007673 Centerline is valid? [True, True] Translation: X:55.58, Y:0.21, Z:0.34 [[ 9.99179340e-01 -3.84997989e-02 -1.25862094e-02 5.55831621e+01] [ 3.85018802e-02 9.99258525e-01 -7.69956143e-05 2.14646630e-01] [ 1.25798413e-02 -4.07660298e-04 9.99920788e-01 3.35047720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254154 meters 0.02020781915845138 Centerline is valid? [True, True] Translation: X:55.65, Y:0.22, Z:0.34 [[ 9.99136801e-01 -4.00188075e-02 -1.11422076e-02 5.56450211e+01] [ 4.00205415e-02 9.99198855e-01 -6.73938516e-05 2.16157658e-01] [ 1.11359781e-02 -3.78581504e-04 9.99937921e-01 3.36674346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539254154 meters 0.02132003982958701 Centerline is valid? [True, True] Translation: X:55.71, Y:0.22, Z:0.34 [[ 9.99059989e-01 -4.22074960e-02 -9.88262263e-03 5.57070189e+01] [ 4.22089736e-02 9.99108802e-01 -5.91050255e-05 2.17009620e-01] [ 9.87630994e-03 -3.58085891e-04 9.99951164e-01 3.38258821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599254154 meters 0.021239625844335887 Centerline is valid? [True, True] Translation: X:55.77, Y:0.22, Z:0.34 [[ 9.99185608e-01 -3.90105438e-02 -1.03100977e-02 5.57679730e+01] [ 3.90119885e-02 9.99238741e-01 -6.10212485e-05 2.18811146e-01] [ 1.03046295e-02 -3.41245860e-04 9.99946848e-01 3.36861078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254154 meters 0.019351901463810536 Centerline is valid? [True, True] Translation: X:55.83, Y:0.22, Z:0.34 [[ 9.99242174e-01 -3.75841137e-02 -1.01247822e-02 5.58306385e+01] [ 3.75854395e-02 9.99293416e-01 -5.93704098e-05 2.22043713e-01] [ 1.01198596e-02 -3.21218972e-04 9.99948741e-01 3.37014127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719254154 meters 0.020292378190654346 Centerline is valid? [True, True] Translation: X:55.89, Y:0.22, Z:0.34 [[ 9.99160632e-01 -3.96361731e-02 -1.03443197e-02 5.58927100e+01] [ 3.96376762e-02 9.99214117e-01 -5.97542310e-05 2.18954676e-01] [ 1.03385587e-02 -3.50320721e-04 9.99946494e-01 3.35398864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779254154 meters 0.021234984113758203 Centerline is valid? [True, True] Translation: X:55.96, Y:0.22, Z:0.34 [[ 9.99112394e-01 -4.09563729e-02 -9.84880957e-03 5.59551688e+01] [ 4.09578063e-02 9.99160875e-01 -5.61952656e-05 2.17018543e-01] [ 9.84284675e-03 -3.47240248e-04 9.99951498e-01 3.35608119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254154 meters 0.02102470313467513 Centerline is valid? [True, True] Translation: X:56.02, Y:0.22, Z:0.34 [[ 9.99124241e-01 -4.06300523e-02 -9.99753249e-03 5.60175249e+01] [ 4.06315203e-02 9.99174197e-01 -5.63124190e-05 2.16697563e-01] [ 9.99156447e-03 -3.49951841e-04 9.99950022e-01 3.36098499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899254154 meters 0.021070721885839652 Centerline is valid? [True, True] Translation: X:56.08, Y:0.22, Z:0.34 [[ 9.99137513e-01 -4.01307958e-02 -1.06653712e-02 5.60793191e+01] [ 4.01324467e-02 9.99194367e-01 -5.92686747e-05 2.16814604e-01] [ 1.06591573e-02 -3.68809886e-04 9.99943122e-01 3.35809273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959254154 meters 0.02082962451480814 Centerline is valid? [True, True] Translation: X:56.14, Y:0.22, Z:0.34 [[ 9.99187216e-01 -3.87187806e-02 -1.12144378e-02 5.61415688e+01] [ 3.87205264e-02 9.99250077e-01 -6.14856590e-05 2.17117214e-01] [ 1.12084085e-02 -3.72793251e-04 9.99937114e-01 3.35186060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254154 meters 0.020662929005809037 Centerline is valid? [True, True] Translation: X:56.20, Y:0.22, Z:0.33 [[ 9.99249886e-01 -3.69972782e-02 -1.14397105e-02 5.62035246e+01] [ 3.69989916e-02 9.99315301e-01 -6.18941095e-05 2.17913342e-01] [ 1.14341677e-02 -3.61410071e-04 9.99934562e-01 3.34620800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079254154 meters 0.018804086947121535 Centerline is valid? [True, True] Translation: X:56.27, Y:0.22, Z:0.33 [[ 9.99327002e-01 -3.44702776e-02 -1.25436641e-02 5.62662207e+01] [ 3.44721521e-02 9.99405657e-01 -6.68101850e-05 2.22910775e-01] [ 1.25385118e-02 -3.65641874e-04 9.99921323e-01 3.34375758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139254154 meters 0.018432478344848294 Centerline is valid? [True, True] Translation: X:56.33, Y:0.23, Z:0.33 [[ 9.99431692e-01 -3.06893084e-02 -1.39448875e-02 5.63269888e+01] [ 3.06912705e-02 9.99528909e-01 -7.33267630e-05 2.25884673e-01] [ 1.39405686e-02 -3.54701225e-04 9.99902763e-01 3.33151973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254154 meters 0.017188144123295317 Centerline is valid? [True, True] Translation: X:56.39, Y:0.23, Z:0.33 [[ 9.99534475e-01 -2.70881362e-02 -1.40380525e-02 5.63879797e+01] [ 2.70897768e-02 9.99633002e-01 -7.33056766e-05 2.31121951e-01] [ 1.40348863e-02 -3.07016158e-04 9.99901459e-01 3.34343357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259254154 meters 0.01694604158156964 Centerline is valid? [True, True] Translation: X:56.45, Y:0.23, Z:0.34 [[ 9.99580108e-01 -2.61585680e-02 -1.24634182e-02 5.64502180e+01] [ 2.61597969e-02 9.99657772e-01 -6.44503614e-05 2.32345772e-01] [ 1.24608388e-02 -2.61617189e-04 9.99922327e-01 3.35875616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319254154 meters 0.017646119450321095 Centerline is valid? [True, True] Translation: X:56.51, Y:0.23, Z:0.34 [[ 9.99561610e-01 -2.75986447e-02 -1.07192925e-02 5.65113245e+01] [ 2.75996431e-02 9.99619056e-01 -5.47991719e-05 2.30008192e-01] [ 1.07167215e-02 -2.41073500e-04 9.99942545e-01 3.36973613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254154 meters 0.018150075592469023 Centerline is valid? [True, True] Translation: X:56.57, Y:0.23, Z:0.34 [[ 9.99494175e-01 -3.03540195e-02 -9.48831233e-03 5.65738310e+01] [ 3.03549308e-02 9.99539182e-01 -4.79895970e-05 2.28367967e-01] [ 9.48539662e-03 -2.40051741e-04 9.99954984e-01 3.37892172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters 0.01959842192483386 Centerline is valid? [True, True] Translation: X:56.64, Y:0.22, Z:0.34 [[ 9.99266586e-01 -3.72037443e-02 -9.06488215e-03 5.66351668e+01] [ 3.72048625e-02 9.99307658e-01 -4.53022991e-05 2.23789527e-01] [ 9.06029157e-03 -2.91988621e-04 9.99958912e-01 3.37844712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499254154 meters 0.022270761435654807 Centerline is valid? [True, True] Translation: X:56.70, Y:0.22, Z:0.34 [[ 9.99056767e-01 -4.25405931e-02 -8.71063543e-03 5.66955165e+01] [ 4.25418305e-02 9.99094686e-01 -4.32603569e-05 2.16037556e-01] [ 8.70458989e-03 -3.27346824e-04 9.99962061e-01 3.38128489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254154 meters 0.022731452831571065 Centerline is valid? [True, True] Translation: X:56.76, Y:0.21, Z:0.34 [[ 9.98849822e-01 -4.71770097e-02 -8.56520706e-03 5.67561221e+01] [ 4.71783781e-02 9.98886479e-01 -4.23369600e-05 2.10716243e-01] [ 8.55766686e-03 -3.61804312e-04 9.99963317e-01 3.38005711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters 0.023527694168684513 Centerline is valid? [True, True] Translation: X:56.82, Y:0.21, Z:0.34 [[ 9.98728446e-01 -4.96105967e-02 -8.95987604e-03 5.68179447e+01] [ 4.96121957e-02 9.98768556e-01 -4.38508247e-05 2.05776500e-01] [ 8.95101792e-03 -4.00724058e-04 9.99959859e-01 3.37785516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679254154 meters 0.023687741404753757 Centerline is valid? [True, True] Translation: X:56.88, Y:0.20, Z:0.34 [[ 9.98645886e-01 -5.13138865e-02 -8.56034280e-03 5.68804006e+01] [ 5.13154127e-02 9.98682495e-01 -4.14003412e-05 2.01073395e-01] [ 8.55118892e-03 -3.97933244e-04 9.99963359e-01 3.36509128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254154 meters 0.02323521978782628 Centerline is valid? [True, True] Translation: X:56.94, Y:0.20, Z:0.34 [[ 9.98696212e-01 -4.99691993e-02 -1.04382068e-02 5.69424171e+01] [ 4.99714047e-02 9.98750648e-01 -4.95898314e-05 1.99475394e-01] [ 1.04276437e-02 -4.72086678e-04 9.99945519e-01 3.35208826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254154 meters 0.023020724196121636 Centerline is valid? [True, True] Translation: X:57.00, Y:0.20, Z:0.33 [[ 9.98738153e-01 -4.87687715e-02 -1.19878217e-02 5.70042059e+01] [ 4.87716057e-02 9.98809956e-01 -5.59806261e-05 1.99535437e-01] [ 1.19762858e-02 -5.28755327e-04 9.99928142e-01 3.34680652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859254154 meters 0.024971473224067838 Centerline is valid? [True, True] Translation: X:57.07, Y:0.20, Z:0.33 [[ 9.98767711e-01 -4.80393745e-02 -1.24610704e-02 5.70654409e+01] [ 4.80423970e-02 9.98845296e-01 -5.68463265e-05 1.95015510e-01] [ 1.24494124e-02 -5.41883415e-04 9.99922356e-01 3.33538497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254154 meters 0.022868198878595845 Centerline is valid? [True, True] Translation: X:57.13, Y:0.20, Z:0.33 [[ 9.98765994e-01 -4.79921585e-02 -1.27765900e-02 5.71283849e+01] [ 4.79953534e-02 9.98847557e-01 -5.66196485e-05 1.97884802e-01] [ 1.27645830e-02 -5.56667171e-04 9.99918374e-01 3.33593715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254154 meters 0.023993379897951667 Centerline is valid? [True, True] Translation: X:57.19, Y:0.20, Z:0.33 [[ 9.98768072e-01 -4.77444855e-02 -1.35204584e-02 5.71905068e+01] [ 4.77480599e-02 9.98859409e-01 -5.84911050e-05 1.95640770e-01] [ 1.35078298e-02 -5.87156611e-04 9.99908593e-01 3.32982114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039254154 meters 0.02446279292715768 Centerline is valid? [True, True] Translation: X:57.25, Y:0.20, Z:0.33 [[ 9.98733800e-01 -4.82689480e-02 -1.41741318e-02 5.72524882e+01] [ 4.82729460e-02 9.98834180e-01 -6.01308065e-05 1.95150436e-01] [ 1.41605098e-02 -6.24172431e-04 9.99899540e-01 3.32273612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099254154 meters 0.02611141545986622 Centerline is valid? [True, True] Translation: X:57.31, Y:0.19, Z:0.33 [[ 9.98591454e-01 -5.04065046e-02 -1.65617500e-02 5.73137521e+01] [ 5.04122718e-02 9.98728491e-01 -6.93435337e-05 1.93727983e-01] [ 1.65441869e-02 -7.65669581e-04 9.99862842e-01 3.30813393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254154 meters 0.026428999314704604 Centerline is valid? [True, True] Translation: X:57.38, Y:0.19, Z:0.33 [[ 9.98477705e-01 -5.25127309e-02 -1.68726168e-02 5.73760080e+01] [ 5.25190331e-02 9.98619921e-01 -6.96706229e-05 1.93912780e-01] [ 1.68529899e-02 -8.16568959e-04 9.99857645e-01 3.31111003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219254154 meters 0.02735367908289664 Centerline is valid? [True, True] Translation: X:57.44, Y:0.19, Z:0.33 [[ 9.98531393e-01 -5.18008356e-02 -1.58660046e-02 5.74369273e+01] [ 5.18063334e-02 9.98657148e-01 -6.45721545e-05 1.94525112e-01] [ 1.58480438e-02 -7.57482199e-04 9.99874125e-01 3.32646781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279254154 meters 0.024049987148154043 Centerline is valid? [True, True] Translation: X:57.50, Y:0.20, Z:0.34 [[ 9.98705724e-01 -4.86641333e-02 -1.47877961e-02 5.74983402e+01] [ 4.86685752e-02 9.98814981e-01 -5.95541215e-05 2.02759391e-01] [ 1.47731705e-02 -6.60223926e-04 9.99890653e-01 3.35086321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254154 meters 0.023341799332830884 Centerline is valid? [True, True] Translation: X:57.56, Y:0.21, Z:0.34 [[ 9.98830630e-01 -4.63800511e-02 -1.36478374e-02 5.75593412e+01] [ 4.63836282e-02 9.98923699e-01 -5.44819115e-05 2.05234377e-01] [ 1.36356751e-02 -5.78618014e-04 9.99906862e-01 3.35935776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399254154 meters 0.02232137085916269 Centerline is valid? [True, True] Translation: X:57.62, Y:0.21, Z:0.34 [[ 9.98966104e-01 -4.37630973e-02 -1.23091555e-02 5.76209170e+01] [ 4.37658139e-02 9.99041817e-01 -4.87118612e-05 2.09465645e-01] [ 1.22994929e-02 -4.90058711e-04 9.99924238e-01 3.37121726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459254154 meters 0.023187076610483907 Centerline is valid? [True, True] Translation: X:57.68, Y:0.21, Z:0.34 [[ 9.98942604e-01 -4.44586729e-02 -1.17090020e-02 5.76832687e+01] [ 4.44611857e-02 9.99011111e-01 -4.57445343e-05 2.09627886e-01] [ 1.16994569e-02 -4.74899950e-04 9.99931446e-01 3.38148248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254154 meters 0.0229595353879698 Centerline is valid? [True, True] Translation: X:57.75, Y:0.21, Z:0.34 [[ 9.98815344e-01 -4.69399569e-02 -1.28276642e-02 5.77451664e+01] [ 4.69431882e-02 9.98897560e-01 -4.92486489e-05 2.10143224e-01] [ 1.28158342e-02 -5.52981148e-04 9.99917721e-01 3.37177328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579254154 meters 0.02260207435754796 Centerline is valid? [True, True] Translation: X:57.81, Y:0.21, Z:0.34 [[ 9.98707178e-01 -4.84981421e-02 -1.52283700e-02 5.78073546e+01] [ 4.85028935e-02 9.98823040e-01 -5.73861531e-05 2.10251770e-01] [ 1.52132299e-02 -6.81308043e-04 9.99884040e-01 3.35927501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639254154 meters 0.025478102523686437 Centerline is valid? [True, True] Translation: X:57.87, Y:0.21, Z:0.33 [[ 9.98592051e-01 -5.00121362e-02 -1.76834070e-02 5.78684987e+01] [ 5.00188014e-02 9.98748274e-01 -6.54451124e-05 2.06500665e-01] [ 1.76645453e-02 -8.19149855e-04 9.99843634e-01 3.33907310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254154 meters 0.026111198940572403 Centerline is valid? [True, True] Translation: X:57.93, Y:0.21, Z:0.34 [[ 9.98611043e-01 -4.98960229e-02 -1.69225053e-02 5.79305273e+01] [ 4.99021284e-02 9.98754111e-01 -6.15449980e-05 2.05997006e-01] [ 1.69044926e-02 -7.83009517e-04 9.99856802e-01 3.35380204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759254154 meters 0.026045522587908012 Centerline is valid? [True, True] Translation: X:57.99, Y:0.21, Z:0.34 [[ 9.98695811e-01 -4.89523104e-02 -1.45034090e-02 5.79929444e+01] [ 4.89567094e-02 9.98800900e-01 -5.17834983e-05 2.07008772e-01] [ 1.44885529e-02 -6.58323217e-04 9.99894819e-01 3.38221113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819254154 meters 0.023698119606012247 Centerline is valid? [True, True] Translation: X:58.05, Y:0.21, Z:0.34 [[ 9.98807921e-01 -4.71796715e-02 -1.25226020e-02 5.80546409e+01] [ 4.71828223e-02 9.98886269e-01 -4.38730341e-05 2.10669448e-01] [ 1.25107251e-02 -5.47030972e-04 9.99921588e-01 3.39906823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254154 meters 0.026312723242917488 Centerline is valid? [True, True] Translation: X:58.12, Y:0.21, Z:0.34 [[ 9.98839762e-01 -4.64939821e-02 -1.25474825e-02 5.81156090e+01] [ 4.64971016e-02 9.98918424e-01 -4.31508461e-05 2.06875979e-01] [ 1.25359177e-02 -5.40320790e-04 9.99921276e-01 3.39560021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939254154 meters 0.023088489915071193 Centerline is valid? [True, True] Translation: X:58.18, Y:0.21, Z:0.34 [[ 9.98778336e-01 -4.76241275e-02 -1.31824840e-02 5.81773308e+01] [ 4.76276848e-02 9.98865157e-01 -4.41385255e-05 2.10386408e-01] [ 1.31696260e-02 -5.83766589e-04 9.99913106e-01 3.40007029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999254154 meters 0.02560841706256891 Centerline is valid? [True, True] Translation: X:58.24, Y:0.20, Z:0.34 [[ 9.98658073e-01 -4.97377816e-02 -1.44293544e-02 5.82379629e+01] [ 4.97422813e-02 9.98762085e-01 -4.71057327e-05 2.04797729e-01] [ 1.44138350e-02 -6.70706485e-04 9.99895890e-01 3.38474252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254154 meters 0.02537486515396028 Centerline is valid? [True, True] Translation: X:58.30, Y:0.20, Z:0.34 [[ 9.98645774e-01 -4.93848578e-02 -1.63631667e-02 5.83004738e+01] [ 4.93906133e-02 9.98779538e-01 -5.24437760e-05 2.04400034e-01] [ 1.63457860e-02 -7.55814084e-04 9.99866113e-01 3.37534453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters 0.024084290244651682 Centerline is valid? [True, True] Translation: X:58.36, Y:0.21, Z:0.34 [[ 9.98886963e-01 -4.46290961e-02 -1.52669289e-02 5.83612927e+01] [ 4.46335608e-02 9.99003425e-01 -4.83270216e-05 2.06412080e-01] [ 1.52538710e-02 -6.33144167e-04 9.99883452e-01 3.39583407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179254154 meters 0.02102516376786057 Centerline is valid? [True, True] Translation: X:58.42, Y:0.21, Z:0.34 [[ 9.99162988e-01 -3.86499405e-02 -1.33979982e-02 5.84220164e+01] [ 3.86528450e-02 9.99252699e-01 -4.21903213e-05 2.11607160e-01] [ 1.33896166e-02 -4.75715741e-04 9.99910242e-01 3.41867211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254154 meters 0.018702468302809822 Centerline is valid? [True, True] Translation: X:58.48, Y:0.22, Z:0.34 [[ 9.99537755e-01 -2.75467393e-02 -1.28628395e-02 5.84818038e+01] [ 2.75484975e-02 9.99620467e-01 -4.05062037e-05 2.16254886e-01] [ 1.28590734e-02 -3.13864421e-04 9.99917269e-01 3.42965795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254154 meters 0.015567951291780457 Centerline is valid? [True, True] Translation: X:58.54, Y:0.22, Z:0.34 [[ 9.99777143e-01 -1.59669412e-02 -1.38102117e-02 5.85417401e+01] [ 1.59678617e-02 9.99872505e-01 -4.36220225e-05 2.24205482e-01] [ 1.38091475e-02 -1.76907249e-04 9.99904634e-01 3.42391925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359254154 meters 0.013944401835668719 Centerline is valid? [True, True] Translation: X:58.60, Y:0.23, Z:0.34 [[ 9.99851652e-01 -7.61750929e-03 -1.54482169e-02 5.86010347e+01] [ 7.61763215e-03 9.99970984e-01 -5.08909507e-05 2.29470042e-01] [ 1.54481563e-02 -6.67954326e-05 9.99880668e-01 3.42618593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254154 meters 0.013944430793849065 Centerline is valid? [True, True] Translation: X:58.66, Y:0.23, Z:0.34 [[ 9.99842297e-01 -2.69399820e-03 -1.75534265e-02 5.86593884e+01] [ 2.69331729e-03 9.99996371e-01 -6.24308368e-05 2.30917002e-01] [ 1.75535309e-02 1.51440443e-05 9.99845925e-01 3.41537919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254154 meters 0.01394493030816677 Centerline is valid? [True, True] Translation: X:58.72, Y:0.23, Z:0.34 [[ 9.99817719e-01 -7.09419422e-04 -1.90794402e-02 5.87177496e+01] [ 7.08157145e-04 9.99999747e-01 -7.29151961e-05 2.32120188e-01] [ 1.90794871e-02 5.93906632e-05 9.99817968e-01 3.41110464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539254154 meters 0.014135805243738636 Centerline is valid? [True, True] Translation: X:58.78, Y:0.23, Z:0.34 [[ 9.99819652e-01 7.11536611e-04 -1.89778342e-02 5.87753131e+01] [-7.13142097e-04 9.99999743e-01 -7.78305651e-05 2.32825272e-01] [ 1.89777739e-02 9.13504210e-05 9.99819902e-01 3.41461103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599254154 meters 0.01392290455367302 Centerline is valid? [True, True] Translation: X:58.83, Y:0.23, Z:0.34 [[ 9.99856114e-01 -1.36091391e-03 -1.69085254e-02 5.88329905e+01] [ 1.35989087e-03 9.99999073e-01 -7.20020322e-05 2.30214048e-01] [ 1.69086077e-02 4.89979229e-05 9.99857038e-01 3.43111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254154 meters 0.013719317481866729 Centerline is valid? [True, True] Translation: X:58.89, Y:0.22, Z:0.35 [[ 9.99874570e-01 -8.24648225e-03 -1.35218385e-02 5.88916339e+01] [ 8.24644450e-03 9.99965996e-01 -5.85491202e-05 2.24917284e-01] [ 1.35218616e-02 -5.29653147e-05 9.99908574e-01 3.47547679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719254154 meters 0.014857609325854936 Centerline is valid? [True, True] Translation: X:58.95, Y:0.21, Z:0.35 [[ 9.99758243e-01 -1.92247372e-02 -1.06707184e-02 5.89509521e+01] [ 1.92253324e-02 9.99815175e-01 -4.68027817e-05 2.14978186e-01] [ 1.06696460e-02 -1.58356641e-04 9.99943065e-01 3.50295771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779254154 meters 0.0176664425406288 Centerline is valid? [True, True] Translation: X:59.01, Y:0.20, Z:0.35 [[ 9.99449799e-01 -3.14812162e-02 -1.04418072e-02 5.90112910e+01] [ 3.14824511e-02 9.99504304e-01 -4.61207487e-05 2.02823664e-01] [ 1.04380832e-02 -2.82638312e-04 9.99945482e-01 3.50948805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254154 meters 0.019947265809730552 Centerline is valid? [True, True] Translation: X:59.07, Y:0.19, Z:0.35 [[ 9.99210143e-01 -3.82238799e-02 -1.08639278e-02 5.90719467e+01] [ 3.82256174e-02 9.99269133e-01 -4.77452156e-05 1.94697152e-01] [ 1.08578127e-02 -3.67572843e-04 9.99940985e-01 3.50674869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899254154 meters 0.021425625548759576 Centerline is valid? [True, True] Translation: X:59.13, Y:0.19, Z:0.35 [[ 9.99088125e-01 -4.10937990e-02 -1.15852435e-02 5.91336268e+01] [ 4.10959739e-02 9.99155202e-01 -5.03681327e-05 1.90883633e-01] [ 1.15775261e-02 -4.25784662e-04 9.99932888e-01 3.50515791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959254154 meters 0.02295067099193522 Centerline is valid? [True, True] Translation: X:59.19, Y:0.18, Z:0.35 [[ 9.98873444e-01 -4.54861722e-02 -1.35222051e-02 5.91946765e+01] [ 4.54895445e-02 9.98964813e-01 -5.82394367e-05 1.83699932e-01] [ 1.35108562e-02 -5.56945125e-04 9.99908569e-01 3.49151897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254154 meters 0.02403659269434719 Centerline is valid? [True, True] Translation: X:59.26, Y:0.18, Z:0.35 [[ 9.98934268e-01 -4.35268192e-02 -1.53539836e-02 5.92563362e+01] [ 4.35309477e-02 9.99052077e-01 -6.53725310e-05 1.80331540e-01] [ 1.53422746e-02 -6.03070595e-04 9.99882119e-01 3.48058002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079254154 meters 0.02035702460329503 Centerline is valid? [True, True] Translation: X:59.32, Y:0.19, Z:0.35 [[ 9.99255563e-01 -3.47637716e-02 -1.67272182e-02 5.93167972e+01] [ 3.47674542e-02 9.99395427e-01 -7.06845875e-05 1.87046247e-01] [ 1.67195626e-02 -5.10930825e-04 9.99860088e-01 3.48189589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139254154 meters 0.016706279425070247 Centerline is valid? [True, True] Translation: X:59.38, Y:0.20, Z:0.35 [[ 9.99609718e-01 -2.27359467e-02 -1.62323147e-02 5.93776818e+01] [ 2.27378275e-02 9.99741460e-01 -6.87059719e-05 1.96656376e-01] [ 1.62296801e-02 -3.00408414e-04 9.99868245e-01 3.50046055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254154 meters 0.015111493387223182 Centerline is valid? [True, True] Translation: X:59.44, Y:0.20, Z:0.35 [[ 9.99747178e-01 -1.60587755e-02 -1.57383342e-02 5.94369699e+01] [ 1.60596826e-02 9.99871033e-01 -6.87487486e-05 2.01803200e-01] [ 1.57374085e-02 -1.84021285e-04 9.99876142e-01 3.50955087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259254154 meters 0.014412567071517786 Centerline is valid? [True, True] Translation: X:59.50, Y:0.21, Z:0.35 [[ 9.99808507e-01 -1.17478012e-02 -1.56505431e-02 5.94956313e+01] [ 1.17481119e-02 9.99930986e-01 -7.20870721e-05 2.05226074e-01] [ 1.56503098e-02 -1.11791063e-04 9.99877520e-01 3.52277408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319254154 meters 0.01481708955279347 Centerline is valid? [True, True] Translation: X:59.55, Y:0.20, Z:0.35 [[ 9.99759344e-01 -1.53140023e-02 -1.57078265e-02 5.95543392e+01] [ 1.53146942e-02 9.99882720e-01 -7.62484114e-05 2.01571765e-01] [ 1.57071519e-02 -1.64330497e-04 9.99876622e-01 3.52699034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254154 meters 0.016194999455429807 Centerline is valid? [True, True] Translation: X:59.61, Y:0.19, Z:0.35 [[ 9.99563014e-01 -2.44668194e-02 -1.65877911e-02 5.96141871e+01] [ 2.44688155e-02 9.99700590e-01 -8.26407929e-05 1.94158024e-01] [ 1.65848465e-02 -3.23278921e-04 9.99862410e-01 3.52676942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439254154 meters 0.020644825602557173 Centerline is valid? [True, True] Translation: X:59.67, Y:0.18, Z:0.35 [[ 9.99139965e-01 -3.82483374e-02 -1.60123113e-02 5.96732159e+01] [ 3.82519684e-02 9.99268122e-01 -7.95583323e-05 1.81384410e-01] [ 1.60036352e-02 -5.33012518e-04 9.99871792e-01 3.53593756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499254154 meters 0.02119344228964292 Centerline is valid? [True, True] Translation: X:59.73, Y:0.18, Z:0.35 [[ 9.98947878e-01 -4.32953714e-02 -1.51210932e-02 5.97346426e+01] [ 4.32991960e-02 9.99062147e-01 -7.45121357e-05 1.79235938e-01] [ 1.51101379e-02 -5.80297439e-04 9.99885667e-01 3.54987374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254154 meters 0.022439390386311337 Centerline is valid? [True, True] Translation: X:59.80, Y:0.18, Z:0.36 [[ 9.98856477e-01 -4.56347770e-02 -1.42550445e-02 5.97971703e+01] [ 4.56384250e-02 9.98958022e-01 -6.94551968e-05 1.77093277e-01] [ 1.42433607e-02 -5.81202008e-04 9.99898389e-01 3.56605578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619254154 meters 0.02295810792982036 Centerline is valid? [True, True] Translation: X:59.86, Y:0.18, Z:0.36 [[ 9.98942412e-01 -4.41766826e-02 -1.27467253e-02 5.98579847e+01] [ 4.41794908e-02 9.99023608e-01 -6.13349690e-05 1.77081007e-01] [ 1.27369891e-02 -5.01873731e-04 9.99918755e-01 3.58282663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679254154 meters 0.019242160375916296 Centerline is valid? [True, True] Translation: X:59.92, Y:0.18, Z:0.36 [[ 9.99178361e-01 -3.86634673e-02 -1.21547658e-02 5.99190848e+01] [ 3.86656186e-02 9.99252204e-01 -5.80350801e-05 1.84702806e-01] [ 1.21479204e-02 -4.11984144e-04 9.99926126e-01 3.59571871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254154 meters 0.018067911308602125 Centerline is valid? [True, True] Translation: X:59.98, Y:0.19, Z:0.36 [[ 9.99464315e-01 -3.05542817e-02 -1.17268797e-02 5.99788327e+01] [ 3.05557278e-02 9.99533063e-01 -5.58715014e-05 1.89053151e-01] [ 1.17231111e-02 -3.02481773e-04 9.99931236e-01 3.60008597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254154 meters 0.015723838732979178 Centerline is valid? [True, True] Translation: X:60.04, Y:0.20, Z:0.36 [[ 9.99642157e-01 -2.34629448e-02 -1.28470956e-02 6.00405992e+01] [ 2.34640994e-02 9.99724678e-01 -6.08678053e-05 1.96225580e-01] [ 1.28449867e-02 -2.40599504e-04 9.99917471e-01 3.59925107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859254154 meters 0.015052877668403469 Centerline is valid? [True, True] Translation: X:60.10, Y:0.20, Z:0.36 [[ 9.99705434e-01 -1.91409850e-02 -1.49220657e-02 6.01009358e+01] [ 1.91420680e-02 9.99816771e-01 -7.02633485e-05 1.99414670e-01] [ 1.49206765e-02 -2.15396544e-04 9.99888657e-01 3.58277372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254154 meters 0.015000367410312456 Centerline is valid? [True, True] Translation: X:60.16, Y:0.20, Z:0.36 [[ 9.99703028e-01 -1.84705750e-02 -1.58963450e-02 6.01592085e+01] [ 1.84716816e-02 9.99829381e-01 -7.72165171e-05 2.01152242e-01] [ 1.58950590e-02 -2.16438638e-04 9.99873642e-01 3.57659933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254154 meters 0.01517190708502851 Centerline is valid? [True, True] Translation: X:60.22, Y:0.20, Z:0.36 [[ 9.99657070e-01 -1.98267740e-02 -1.71067367e-02 6.02178244e+01] [ 1.98281767e-02 9.99803399e-01 -8.76240689e-05 2.01618114e-01] [ 1.71051107e-02 -2.51601378e-04 9.99853665e-01 3.57152023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039254154 meters 0.015770818521811145 Centerline is valid? [True, True] Translation: X:60.28, Y:0.20, Z:0.36 [[ 9.99582677e-01 -2.29914498e-02 -1.74890186e-02 6.02758191e+01] [ 2.29933432e-02 9.99735614e-01 -9.28393261e-05 2.00559830e-01] [ 1.74865293e-02 -3.09330426e-04 9.99847051e-01 3.56997729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099254154 meters 0.018477311463072334 Centerline is valid? [True, True] Translation: X:60.33, Y:0.20, Z:0.36 [[ 9.99382300e-01 -3.05569962e-02 -1.73576413e-02 6.03349501e+01] [ 3.05599843e-02 9.99532930e-01 -9.31284099e-05 1.96401984e-01] [ 1.73523798e-02 -4.37378360e-04 9.99849340e-01 3.57188679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254154 meters 0.022106558555241643 Centerline is valid? [True, True] Translation: X:60.40, Y:0.19, Z:0.36 [[ 9.99049662e-01 -4.06645181e-02 -1.56897926e-02 6.03954756e+01] [ 4.06682036e-02 9.99172703e-01 -8.42198596e-05 1.91349294e-01] [ 1.56802373e-02 -5.53935859e-04 9.99876904e-01 3.58964579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219254154 meters 0.022856684291437248 Centerline is valid? [True, True] Translation: X:60.46, Y:0.19, Z:0.36 [[ 9.98755841e-01 -4.76452891e-02 -1.47206223e-02 6.04562622e+01] [ 4.76492905e-02 9.98864124e-01 -7.89912634e-05 1.91083916e-01] [ 1.47076651e-02 -6.22534224e-04 9.99891643e-01 3.60872043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279254154 meters 0.027502444773308866 Centerline is valid? [True, True] Translation: X:60.52, Y:0.19, Z:0.36 [[ 9.98273561e-01 -5.69286072e-02 -1.44579036e-02 6.05167288e+01] [ 5.69334375e-02 9.98377973e-01 -7.76050087e-05 1.85427980e-01] [ 1.44388705e-02 -7.45667124e-04 9.99895476e-01 3.61337820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254154 meters 0.030594323956362142 Centerline is valid? [True, True] Translation: X:60.58, Y:0.18, Z:0.36 [[ 9.97916814e-01 -6.30606046e-02 -1.36159177e-02 6.05768171e+01] [ 6.30654556e-02 9.98009390e-01 -7.32277647e-05 1.82592138e-01] [ 1.35934315e-02 -7.85618836e-04 9.99907296e-01 3.62235819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399254154 meters 0.028748373264162526 Centerline is valid? [True, True] Translation: X:60.64, Y:0.19, Z:0.36 [[ 9.97797807e-01 -6.49435929e-02 -1.34857854e-02 6.06389078e+01] [ 6.49485284e-02 9.97888613e-01 -7.21214265e-05 1.86270123e-01] [ 1.34619955e-02 -8.03919313e-04 9.99909060e-01 3.63388125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459254154 meters 0.030501790873543617 Centerline is valid? [True, True] Translation: X:60.70, Y:0.19, Z:0.36 [[ 9.97832963e-01 -6.42050328e-02 -1.43906991e-02 6.07003335e+01] [ 6.42105903e-02 9.97936368e-01 -7.60020936e-05 1.87120178e-01] [ 1.43658817e-02 -8.48197888e-04 9.99896446e-01 3.62878301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254154 meters 0.02878319404766603 Centerline is valid? [True, True] Translation: X:60.76, Y:0.19, Z:0.36 [[ 9.98214014e-01 -5.73852015e-02 -1.66048450e-02 6.07603961e+01] [ 5.73916670e-02 9.98351736e-01 -8.72761615e-05 1.94347675e-01] [ 1.65824842e-02 -8.65859447e-04 9.99862126e-01 3.61272761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579254154 meters 0.02241604479672632 Centerline is valid? [True, True] Translation: X:60.82, Y:0.21, Z:0.36 [[ 9.98798895e-01 -4.55461051e-02 -1.80643336e-02 6.08212503e+01] [ 4.55518257e-02 9.98961972e-01 -9.48707551e-05 2.11849088e-01] [ 1.80499033e-02 -7.28106571e-04 9.99836822e-01 3.61860948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639254154 meters 0.0187508913328803 Centerline is valid? [True, True] Translation: X:60.88, Y:0.23, Z:0.36 [[ 9.99334017e-01 -3.18569971e-02 -1.77947863e-02 6.08811172e+01] [ 3.18603801e-02 9.99492325e-01 -9.34263273e-05 2.27667794e-01] [ 1.77887287e-02 -4.73584549e-04 9.99841656e-01 3.62524029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254154 meters 0.015679473193508726 Centerline is valid? [True, True] Translation: X:60.94, Y:0.24, Z:0.37 [[ 9.99605036e-01 -2.24461313e-02 -1.69098457e-02 6.09423137e+01] [ 2.24478429e-02 9.99748012e-01 -8.86038713e-05 2.40616603e-01] [ 1.69075734e-02 -2.91020684e-04 9.99857014e-01 3.65201870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759254154 meters 0.014267178084385126 Centerline is valid? [True, True] Translation: X:61.00, Y:0.25, Z:0.37 [[ 9.99782441e-01 -1.30095867e-02 -1.63040465e-02 6.10025161e+01] [ 1.30099223e-02 9.99915364e-01 -8.54868425e-05 2.51133314e-01] [ 1.63037788e-02 -1.26646134e-04 9.99867077e-01 3.66392325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819254154 meters 0.014041335358153875 Centerline is valid? [True, True] Translation: X:61.06, Y:0.26, Z:0.37 [[ 9.99865071e-01 -1.60699943e-03 -1.63480316e-02 6.10609141e+01] [ 1.60576958e-03 9.99998707e-01 -8.83553511e-05 2.64519738e-01] [ 1.63481524e-02 6.20922575e-05 9.99866358e-01 3.67404420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254154 meters 0.014367846573431155 Centerline is valid? [True, True] Translation: X:61.12, Y:0.27, Z:0.37 [[ 9.99866263e-01 1.95826333e-03 -1.62364346e-02 6.11191183e+01] [-1.95998884e-03 9.99998075e-01 -9.03619692e-05 2.70657814e-01] [ 1.62362264e-02 1.22173115e-04 9.99868176e-01 3.67449210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939254154 meters 0.014135305484093492 Centerline is valid? [True, True] Translation: X:61.18, Y:0.27, Z:0.37 [[ 9.99864455e-01 -6.13000054e-04 -1.64528437e-02 6.11781050e+01] [ 6.11554689e-04 9.99999809e-01 -9.28800389e-05 2.68670684e-01] [ 1.64528974e-02 8.28056358e-05 9.99864638e-01 3.66840723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999254154 meters 0.014125128125621673 Centerline is valid? [True, True] Translation: X:61.24, Y:0.27, Z:0.37 [[ 9.99830394e-01 -6.14027211e-03 -1.73631763e-02 6.12363713e+01] [ 6.13946752e-03 9.99981148e-01 -9.96431466e-05 2.65451150e-01] [ 1.73634608e-02 -6.97441061e-06 9.99849244e-01 3.66296942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254154 meters 0.01448784493477183 Centerline is valid? [True, True] Translation: X:61.30, Y:0.26, Z:0.37 [[ 9.99733625e-01 -1.63604782e-02 -1.62792424e-02 6.12955438e+01] [ 1.63611033e-02 9.99866144e-01 -9.47940798e-05 2.59361333e-01] [ 1.62786142e-02 -1.71577537e-04 9.99867480e-01 3.68697773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119254154 meters 0.01630558345366506 Centerline is valid? [True, True] Translation: X:61.35, Y:0.25, Z:0.37 [[ 9.99531041e-01 -2.69465039e-02 -1.45459212e-02 6.13540609e+01] [ 2.69481088e-02 9.99636830e-01 -8.56954282e-05 2.48700959e-01] [ 1.45429478e-02 -3.06329827e-04 9.99894199e-01 3.69549259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179254154 meters 0.019785586334180063 Centerline is valid? [True, True] Translation: X:61.41, Y:0.24, Z:0.37 [[ 9.99225583e-01 -3.71875451e-02 -1.28577301e-02 6.14139449e+01] [ 3.71896425e-02 9.99308223e-01 -7.60205172e-05 2.37620419e-01] [ 1.28516624e-02 -4.02212739e-04 9.99917333e-01 3.70192897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254154 meters 0.02186843269324996 Centerline is valid? [True, True] Translation: X:61.47, Y:0.23, Z:0.37 [[ 9.99010135e-01 -4.27593486e-02 -1.22632661e-02 6.14748918e+01] [ 4.27616804e-02 9.99085298e-01 -7.21220037e-05 2.32685677e-01] [ 1.22551328e-02 -4.52347254e-04 9.99924801e-01 3.71366698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254154 meters 0.024844637124179246 Centerline is valid? [True, True] Translation: X:61.54, Y:0.23, Z:0.37 [[ 9.98752987e-01 -4.86815153e-02 -1.10716669e-02 6.15352300e+01] [ 4.86837823e-02 9.98814240e-01 -6.48222469e-05 2.25057627e-01] [ 1.10616942e-02 -4.74269210e-04 9.99938705e-01 3.72046759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359254154 meters 0.025998241872954565 Centerline is valid? [True, True] Translation: X:61.60, Y:0.22, Z:0.37 [[ 9.98635432e-01 -5.11589239e-02 -1.04898835e-02 6.15972545e+01] [ 5.11610987e-02 9.98690412e-01 -6.10918816e-05 2.18848081e-01] [ 1.04792715e-02 -4.75665447e-04 9.99944978e-01 3.71788099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254154 meters 0.025000593572529702 Centerline is valid? [True, True] Translation: X:61.66, Y:0.22, Z:0.37 [[ 9.98658863e-01 -5.06583652e-02 -1.06866467e-02 6.16591551e+01] [ 5.06606020e-02 9.98715925e-01 -6.14660619e-05 2.18577670e-01] [ 1.06760380e-02 -4.80008326e-04 9.99942894e-01 3.72275463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254154 meters 0.022721154443892597 Centerline is valid? [True, True] Translation: X:61.72, Y:0.22, Z:0.37 [[ 9.98895762e-01 -4.56090547e-02 -1.12725665e-02 6.17195092e+01] [ 4.56112282e-02 9.98959264e-01 -6.43257051e-05 2.21966419e-01] [ 1.12637686e-02 -4.49900931e-04 9.99936461e-01 3.72696140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539254154 meters 0.018480290012546238 Centerline is valid? [True, True] Translation: X:61.78, Y:0.23, Z:0.37 [[ 9.99230659e-01 -3.69040372e-02 -1.32733841e-02 6.17799348e+01] [ 3.69062839e-02 9.99318728e-01 -7.57282049e-05 2.29833773e-01] [ 1.32671360e-02 -4.14201339e-04 9.99911902e-01 3.71387155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599254154 meters 0.015935292210435312 Centerline is valid? [True, True] Translation: X:61.84, Y:0.24, Z:0.37 [[ 9.99557890e-01 -2.39701578e-02 -1.75913896e-02 6.18390858e+01] [ 2.39720994e-02 9.99712623e-01 -1.00512762e-04 2.37813328e-01] [ 1.75887436e-02 -3.21234217e-04 9.99845254e-01 3.68686974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254154 meters 0.014631666340479558 Centerline is valid? [True, True] Translation: X:61.90, Y:0.24, Z:0.37 [[ 9.99712304e-01 -1.48182085e-02 -1.88607971e-02 6.18989057e+01] [ 1.48188016e-02 9.99890190e-01 -1.08322706e-04 2.44871890e-01] [ 1.88603311e-02 -1.71202868e-04 9.99822113e-01 3.69731741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719254154 meters 0.014116914092407578 Centerline is valid? [True, True] Translation: X:61.96, Y:0.25, Z:0.37 [[ 9.99846850e-01 -4.64040794e-03 -1.68743299e-02 6.19578537e+01] [ 4.63938502e-03 9.99989233e-01 -9.97654047e-05 2.50807036e-01] [ 1.68746112e-02 2.14636120e-05 9.99857613e-01 3.72757726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779254154 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.02, Y:0.25, Z:0.37 [[ 9.99861801e-01 -3.98778368e-03 -1.61393009e-02 6.20160160e+01] [ 3.98669107e-03 9.99992048e-01 -9.98710650e-05 2.51406236e-01] [ 1.61395708e-02 3.55148560e-05 9.99869748e-01 3.73811958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254154 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.07, Y:0.25, Z:0.37 [[ 9.99860576e-01 -4.28387535e-03 -1.61392703e-02 6.20733955e+01] [ 4.28274421e-03 9.99990824e-01 -1.04648034e-04 2.51839930e-01] [ 1.61395705e-02 3.55130772e-05 9.99869748e-01 3.74197784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899254154 meters 0.014030391829700553 Centerline is valid? [True, True] Translation: X:62.13, Y:0.25, Z:0.38 [[ 9.99886654e-01 -3.19279915e-03 -1.47134511e-02 6.21311262e+01] [ 3.19167917e-03 9.99994902e-01 -9.96009798e-05 2.51480326e-01] [ 1.47136941e-02 5.26290750e-05 9.99891746e-01 3.75937310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959254154 meters 0.014021833123138008 Centerline is valid? [True, True] Translation: X:62.19, Y:0.25, Z:0.38 [[ 9.99904638e-01 -3.28728750e-03 -1.34130284e-02 6.21885792e+01] [ 3.28633256e-03 9.99994596e-01 -9.32350435e-05 2.49287412e-01] [ 1.34132624e-02 4.91464802e-05 9.99910037e-01 3.76840123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254154 meters 0.01394033208516027 Centerline is valid? [True, True] Translation: X:62.25, Y:0.24, Z:0.38 [[ 9.99888842e-01 -6.32126560e-03 -1.35035026e-02 6.22478995e+01] [ 6.32055342e-03 9.99980021e-01 -9.54170967e-05 2.43730244e-01] [ 1.35038359e-02 1.00568811e-05 9.99908819e-01 3.76943351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079254154 meters 0.013937690678447016 Centerline is valid? [True, True] Translation: X:62.31, Y:0.24, Z:0.38 [[ 9.99847773e-01 -9.79388412e-03 -1.44399111e-02 6.23069565e+01] [ 9.79340936e-03 9.99952038e-01 -1.03590915e-04 2.38965058e-01] [ 1.44402331e-02 -3.78408153e-05 9.99895734e-01 3.76872495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139254154 meters 0.01431755829488725 Centerline is valid? [True, True] Translation: X:62.37, Y:0.23, Z:0.38 [[ 9.99748902e-01 -1.58879862e-02 -1.58020641e-02 6.23660405e+01] [ 1.58881596e-02 9.99873769e-01 -1.14576705e-04 2.30566576e-01] [ 1.58018897e-02 -1.36517780e-04 9.99875133e-01 3.75833274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254154 meters 0.01473364450906861 Centerline is valid? [True, True] Translation: X:62.43, Y:0.23, Z:0.38 [[ 9.99690634e-01 -1.94720143e-02 -1.54750438e-02 6.24252132e+01] [ 1.94725676e-02 9.99810385e-01 -1.14936002e-04 2.25449765e-01] [ 1.54743475e-02 -1.86438391e-04 9.99880248e-01 3.75906318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259254154 meters 0.015421459990403124 Centerline is valid? [True, True] Translation: X:62.48, Y:0.22, Z:0.38 [[ 9.99639407e-01 -2.21777861e-02 -1.51393877e-02 6.24841267e+01] [ 2.21785936e-02 9.99754018e-01 -1.14579054e-04 2.18743884e-01] [ 1.51382048e-02 -2.21232589e-04 9.99885386e-01 3.76562189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319254154 meters 0.015660678587749076 Centerline is valid? [True, True] Translation: X:62.54, Y:0.21, Z:0.38 [[ 9.99645524e-01 -2.32034021e-02 -1.30548064e-02 6.25436331e+01] [ 2.32040828e-02 9.99730744e-01 -9.93396399e-05 2.13318138e-01] [ 1.30535963e-02 -2.03620382e-04 9.99914777e-01 3.78461598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254154 meters 0.015347302575579596 Centerline is valid? [True, True] Translation: X:62.60, Y:0.21, Z:0.38 [[ 9.99651057e-01 -2.25356626e-02 -1.37807012e-02 6.26036837e+01] [ 2.25363543e-02 9.99746019e-01 -1.05114210e-04 2.09670214e-01] [ 1.37795700e-02 -2.05489234e-04 9.99905036e-01 3.78738899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439254154 meters 0.014689861436190185 Centerline is valid? [True, True] Translation: X:62.66, Y:0.21, Z:0.38 [[ 9.99728598e-01 -1.88597148e-02 -1.36762977e-02 6.26641545e+01] [ 1.88600522e-02 9.99822128e-01 -1.04317858e-04 2.07296125e-01] [ 1.36758325e-02 -1.53646143e-04 9.99906470e-01 3.79475150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499254154 meters 0.0143775804705216 Centerline is valid? [True, True] Translation: X:62.72, Y:0.21, Z:0.38 [[ 9.99798958e-01 -1.45665981e-02 -1.37789183e-02 6.27241678e+01] [ 1.45665292e-02 9.99893897e-01 -1.05363036e-04 2.06923106e-01] [ 1.37789911e-02 -9.53691625e-05 9.99905061e-01 3.79686251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254154 meters 0.014218543867036526 Centerline is valid? [True, True] Translation: X:62.78, Y:0.21, Z:0.38 [[ 9.99861480e-01 -7.14810582e-03 -1.50307937e-02 6.27824329e+01] [ 7.14717015e-03 9.99974452e-01 -1.15967012e-04 2.08026802e-01] [ 1.50312386e-02 8.52330820e-06 9.99887025e-01 3.79308470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619254154 meters 0.01423802538821715 Centerline is valid? [True, True] Translation: X:62.84, Y:0.21, Z:0.38 [[ 9.99871173e-01 -3.82924631e-03 -1.55876101e-02 6.28411604e+01] [ 3.82779111e-03 9.99992666e-01 -1.23189905e-04 2.06024082e-01] [ 1.55879675e-02 6.35079192e-05 9.99878498e-01 3.78824309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679254154 meters 0.014128371918398337 Centerline is valid? [True, True] Translation: X:62.90, Y:0.20, Z:0.38 [[ 9.99862056e-01 -5.19334476e-03 -1.57765369e-02 6.28986983e+01] [ 5.19198053e-03 9.99986513e-01 -1.27429478e-04 2.01637470e-01] [ 1.57769859e-02 4.55004271e-05 9.99875535e-01 3.78323056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254154 meters 0.013928760540274804 Centerline is valid? [True, True] Translation: X:62.96, Y:0.20, Z:0.38 [[ 9.99837698e-01 -9.22926936e-03 -1.54724974e-02 6.29576946e+01] [ 9.22841935e-03 9.99957409e-01 -1.26335185e-04 1.96042581e-01] [ 1.54730044e-02 -1.64720138e-05 9.99880286e-01 3.78825713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799254154 meters 0.014405825569106905 Centerline is valid? [True, True] Translation: X:63.02, Y:0.19, Z:0.38 [[ 9.99755131e-01 -1.51626789e-02 -1.61174304e-02 6.30167626e+01] [ 1.51625083e-02 9.99885034e-01 -1.32790304e-04 1.90067828e-01] [ 1.61175909e-02 -1.11622884e-04 9.99870097e-01 3.78319185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859254154 meters 0.016342603352484827 Centerline is valid? [True, True] Translation: X:63.08, Y:0.18, Z:0.38 [[ 9.99500717e-01 -2.65689353e-02 -1.70999660e-02 6.30764258e+01] [ 2.65703967e-02 9.99646935e-01 -1.41768027e-04 1.78418163e-01] [ 1.70976952e-02 -3.12655634e-04 9.99853775e-01 3.78264875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254154 meters 0.020835658274152444 Centerline is valid? [True, True] Translation: X:63.14, Y:0.16, Z:0.38 [[ 9.99069701e-01 -3.99907411e-02 -1.61391625e-02 6.31356957e+01] [ 3.99937880e-02 9.99199919e-01 -1.34053041e-04 1.64108420e-01] [ 1.61316108e-02 -5.11537914e-04 9.99869746e-01 3.79583744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254154 meters 0.026822153806828068 Centerline is valid? [True, True] Translation: X:63.20, Y:0.15, Z:0.38 [[ 9.98529736e-01 -5.20937670e-02 -1.49868261e-02 6.31955880e+01] [ 5.20977527e-02 9.98641982e-01 -1.24603900e-04 1.51552666e-01] [ 1.49729649e-02 -6.56359263e-04 9.99887683e-01 3.81045686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters 0.02569014870613964 Centerline is valid? [True, True] Translation: X:63.26, Y:0.15, Z:0.38 [[ 9.98235289e-01 -5.77617076e-02 -1.37801583e-02 6.32561651e+01] [ 5.77656158e-02 9.98330166e-01 -1.14579553e-04 1.52787553e-01] [ 1.37637660e-02 -6.81641977e-04 9.99905043e-01 3.82564330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099254154 meters 0.027525914148493258 Centerline is valid? [True, True] Translation: X:63.32, Y:0.15, Z:0.38 [[ 9.98024463e-01 -6.15533730e-02 -1.25838813e-02 6.33168318e+01] [ 6.15569347e-02 9.98103568e-01 -1.04464269e-04 1.50553577e-01] [ 1.25664470e-02 -6.70367265e-04 9.99920814e-01 3.83920199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159254154 meters 0.02709059417036999 Centerline is valid? [True, True] Translation: X:63.38, Y:0.15, Z:0.39 [[ 9.98110519e-01 -6.03969223e-02 -1.12962031e-02 6.33791964e+01] [ 6.03997235e-02 9.98174266e-01 -9.33275397e-05 1.53717108e-01] [ 1.12812160e-02 -5.89136346e-04 9.99936192e-01 3.85334262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219254154 meters 0.02485824330442038 Centerline is valid? [True, True] Translation: X:63.44, Y:0.16, Z:0.38 [[ 9.98237678e-01 -5.79491193e-02 -1.27843053e-02 6.34408570e+01] [ 5.79525185e-02 9.98319335e-01 -1.04721689e-04 1.60623095e-01] [ 1.27688877e-02 -6.36345556e-04 9.99918272e-01 3.84325497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters 0.025086160683830027 Centerline is valid? [True, True] Translation: X:63.50, Y:0.16, Z:0.38 [[ 9.98276373e-01 -5.65625057e-02 -1.56514234e-02 6.35034739e+01] [ 5.65674510e-02 9.98398772e-01 -1.26919025e-04 1.64606509e-01] [ 1.56335408e-02 -7.58660864e-04 9.99877501e-01 3.82157291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters 0.024311282416140233 Centerline is valid? [True, True] Translation: X:63.57, Y:0.17, Z:0.38 [[ 9.98345406e-01 -5.50745673e-02 -1.65300150e-02 6.35658029e+01] [ 5.50799028e-02 9.98481941e-01 -1.32657168e-04 1.69286339e-01] [ 1.65122275e-02 -7.78033944e-04 9.99863361e-01 3.81256065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters 0.022293328099538216 Centerline is valid? [True, True] Translation: X:63.63, Y:0.18, Z:0.38 [[ 9.98658778e-01 -4.92589947e-02 -1.59435576e-02 6.36261087e+01] [ 4.92632274e-02 9.98785822e-01 -1.27390121e-04 1.79118548e-01] [ 1.59304744e-02 -6.58211840e-04 9.99872885e-01 3.83375506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399999 meters 0.021173925284870117 Centerline is valid? [True, True] Translation: X:63.69, Y:0.19, Z:0.38 [[ 9.98953922e-01 -4.32648161e-02 -1.48059711e-02 6.36857554e+01] [ 4.32678094e-02 9.99063503e-01 -1.18249418e-04 1.86107551e-01] [ 1.47972214e-02 -5.22496216e-04 9.99890379e-01 3.84689513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519254154 meters 0.018342509038677332 Centerline is valid? [True, True] Translation: X:63.75, Y:0.20, Z:0.39 [[ 9.99358933e-01 -3.27869436e-02 -1.43784310e-02 6.37457942e+01] [ 3.27886827e-02 9.99462300e-01 -1.14837230e-04 1.98917005e-01] [ 1.43744649e-02 -3.56686199e-04 9.99896618e-01 3.86065295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579254154 meters 0.015392259989937337 Centerline is valid? [True, True] Translation: X:63.81, Y:0.21, Z:0.39 [[ 9.99653259e-01 -2.28430493e-02 -1.30979789e-02 6.38069148e+01] [ 2.28436398e-02 9.99739045e-01 -1.04546884e-04 2.11045245e-01] [ 1.30969490e-02 -1.94694877e-04 9.99914212e-01 3.87974954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639254154 meters 0.014536243565671141 Centerline is valid? [True, True] Translation: X:63.87, Y:0.22, Z:0.39 [[ 9.99810220e-01 -1.50823039e-02 -1.23307660e-02 6.38666179e+01] [ 1.50822365e-02 9.99886252e-01 -9.84601425e-05 2.18414932e-01] [ 1.23308484e-02 -8.75340732e-05 9.99923968e-01 3.88718518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters 0.014139803576701141 Centerline is valid? [True, True] Translation: X:63.93, Y:0.22, Z:0.39 [[ 9.99862822e-01 -1.04409590e-02 -1.28578311e-02 6.39260110e+01] [ 1.04404974e-02 9.99945491e-01 -1.03020173e-04 2.23690168e-01] [ 1.28582059e-02 -3.12361121e-05 9.99917329e-01 3.89329169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters 0.014092430409342353 Centerline is valid? [True, True] Translation: X:63.98, Y:0.23, Z:0.39 [[ 9.99875836e-01 -9.29307900e-03 -1.27260142e-02 6.39839220e+01] [ 9.29250863e-03 9.99956818e-01 -1.03950400e-04 2.25222421e-01] [ 1.27264306e-02 -1.43191030e-05 9.99919016e-01 3.89372522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters 0.014119682603743801 Centerline is valid? [True, True] Translation: X:64.04, Y:0.22, Z:0.39 [[ 9.99869652e-01 -1.00280978e-02 -1.26537029e-02 6.40411191e+01] [ 1.00275589e-02 9.99949717e-01 -1.06032497e-04 2.24133895e-01] [ 1.26541299e-02 -2.08670754e-05 9.99919933e-01 3.89613653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879254154 meters 0.014240053111588685 Centerline is valid? [True, True] Translation: X:64.10, Y:0.22, Z:0.39 [[ 9.99844299e-01 -1.34269812e-02 -1.14496274e-02 6.40995875e+01] [ 1.34267504e-02 9.99909852e-01 -9.70372895e-05 2.21121934e-01] [ 1.14498981e-02 -5.67091078e-05 9.99934446e-01 3.91315302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939254154 meters 0.014477595020369565 Centerline is valid? [True, True] Translation: X:64.16, Y:0.22, Z:0.39 [[ 9.99798783e-01 -1.63394306e-02 -1.16369032e-02 6.41580632e+01] [ 1.63393688e-02 9.99866499e-01 -1.00383438e-04 2.18183811e-01] [ 1.16369899e-02 -8.97764144e-05 9.99932284e-01 3.91741682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999254154 meters 0.014845396914986679 Centerline is valid? [True, True] Translation: X:64.22, Y:0.21, Z:0.39 [[ 9.99717445e-01 -1.95545072e-02 -1.35148229e-02 6.42167291e+01] [ 1.95546855e-02 9.99808782e-01 -1.18964402e-04 2.14098688e-01] [ 1.35145649e-02 -1.45347323e-04 9.99908664e-01 3.90334780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters 0.01490871887283697 Centerline is valid? [True, True] Translation: X:64.28, Y:0.21, Z:0.39 [[ 9.99682269e-01 -2.04287203e-02 -1.47657661e-02 6.42761845e+01] [ 2.04290182e-02 9.99791297e-01 -1.30671507e-04 2.13437453e-01] [ 1.47653539e-02 -1.71020116e-04 9.99890972e-01 3.90186505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters 0.014668779246676793 Centerline is valid? [True, True] Translation: X:64.34, Y:0.21, Z:0.39 [[ 9.99690186e-01 -2.01043582e-02 -1.46746908e-02 6.43358781e+01] [ 2.01046096e-02 9.99797873e-01 -1.30403338e-04 2.11740525e-01] [ 1.46743463e-02 -1.64665992e-04 9.99892312e-01 3.91022977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters 0.01434907892412063 Centerline is valid? [True, True] Translation: X:64.40, Y:0.21, Z:0.39 [[ 9.99744769e-01 -1.79850889e-02 -1.36723878e-02 6.43951500e+01] [ 1.79850832e-02 9.99838248e-01 -1.23380954e-04 2.11122782e-01] [ 1.36723952e-02 -1.22549568e-04 9.99906521e-01 3.91954550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239254154 meters 0.014089004757607186 Centerline is valid? [True, True] Translation: X:64.45, Y:0.21, Z:0.39 [[ 9.99807427e-01 -1.47826645e-02 -1.29066748e-02 6.44541624e+01] [ 1.47823530e-02 9.99890728e-01 -1.19541454e-04 2.13390563e-01] [ 1.29070316e-02 -7.12725890e-05 9.99916698e-01 3.92901956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299254154 meters 0.013838636324629436 Centerline is valid? [True, True] Translation: X:64.51, Y:0.22, Z:0.39 [[ 9.99884974e-01 -7.93216549e-03 -1.29274350e-02 6.45124102e+01] [ 7.93123788e-03 9.99968540e-01 -1.23021905e-04 2.17441474e-01] [ 1.29280041e-02 2.04771921e-05 9.99916430e-01 3.93576846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359254154 meters 0.013836604753653696 Centerline is valid? [True, True] Translation: X:64.57, Y:0.22, Z:0.39 [[ 9.99906049e-01 -3.25187930e-03 -1.33161173e-02 6.45712493e+01] [ 3.25043401e-03 9.99994709e-01 -1.30177880e-04 2.18494289e-01] [ 1.33164701e-02 8.68824895e-05 9.99911328e-01 3.93341014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters 0.013748700099539603 Centerline is valid? [True, True] Translation: X:64.63, Y:0.22, Z:0.39 [[ 9.99883215e-01 -5.30000068e-03 -1.43340819e-02 6.46299522e+01] [ 5.29850193e-03 9.99985953e-01 -1.42533264e-04 2.15233067e-01] [ 1.43346360e-02 6.65674574e-05 9.99897252e-01 3.92908611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters 0.013668651312423166 Centerline is valid? [True, True] Translation: X:64.69, Y:0.21, Z:0.39 [[ 9.99816037e-01 -1.04408586e-02 -1.60897540e-02 6.46883573e+01] [ 1.04396158e-02 9.99945493e-01 -1.61231361e-04 2.11226174e-01] [ 1.60905603e-02 -6.76914879e-06 9.99870539e-01 3.92051339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters 0.014185249248356567 Centerline is valid? [True, True] Translation: X:64.75, Y:0.20, Z:0.39 [[ 9.99651023e-01 -1.93913062e-02 -1.79390523e-02 6.47471931e+01] [ 1.93911776e-02 9.99811957e-01 -1.81131259e-04 2.03136593e-01] [ 1.79391913e-02 -1.66791299e-04 9.99839066e-01 3.91285115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599254154 meters 0.014822586268969566 Centerline is valid? [True, True] Translation: X:64.81, Y:0.20, Z:0.39 [[ 9.99555825e-01 -2.41003321e-02 -1.75307383e-02 6.48054709e+01] [ 2.41009075e-02 9.99709515e-01 -1.78481601e-04 1.98820080e-01] [ 1.75299473e-02 -2.44104377e-04 9.99846309e-01 3.92306699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659254154 meters 0.015455259424619101 Centerline is valid? [True, True] Translation: X:64.86, Y:0.20, Z:0.39 [[ 9.99485743e-01 -2.72821274e-02 -1.68503602e-02 6.48637318e+01] [ 2.72830779e-02 9.99627732e-01 -1.73518768e-04 1.96203668e-01] [ 1.68488213e-02 -2.86300153e-04 9.99858008e-01 3.93977227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719254154 meters 0.015542327792129476 Centerline is valid? [True, True] Translation: X:64.92, Y:0.19, Z:0.40 [[ 9.99492748e-01 -2.83773115e-02 -1.44559697e-02 6.49232630e+01] [ 2.83781101e-02 9.99597249e-01 -1.49922503e-04 1.94840160e-01] [ 1.44544019e-02 -2.60386644e-04 9.99895496e-01 3.96519948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters 0.01574775772097322 Centerline is valid? [True, True] Translation: X:64.98, Y:0.19, Z:0.40 [[ 9.99519489e-01 -2.76176611e-02 -1.40732630e-02 6.49834529e+01] [ 2.76183412e-02 9.99618530e-01 -1.46059295e-04 1.94227360e-01] [ 1.40719283e-02 -2.42691067e-04 9.99900956e-01 3.96882240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters 0.014407431585420223 Centerline is valid? [True, True] Translation: X:65.04, Y:0.20, Z:0.40 [[ 9.99639386e-01 -2.33953983e-02 -1.31815550e-02 6.50441902e+01] [ 2.33956294e-02 9.99726275e-01 -1.36692165e-04 1.97108026e-01] [ 1.31811449e-02 -1.71747904e-04 9.99913110e-01 3.98121211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters 0.013792200392219695 Centerline is valid? [True, True] Translation: X:65.10, Y:0.20, Z:0.40 [[ 9.99786852e-01 -1.55720636e-02 -1.35558812e-02 6.51044045e+01] [ 1.55715889e-02 9.99878746e-01 -1.40573911e-04 2.01294776e-01] [ 1.35564265e-02 -7.05426609e-05 9.99908105e-01 3.98125730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399999 meters 0.01343186826823011 Centerline is valid? [True, True] Translation: X:65.16, Y:0.20, Z:0.40 [[ 9.99846505e-01 -1.07140392e-02 -1.38627744e-02 6.51634534e+01] [ 1.07130498e-02 9.99942603e-01 -1.45630037e-04 2.04170563e-01] [ 1.38635390e-02 -2.90490951e-06 9.99903897e-01 3.98846314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019254154 meters 0.013390197490615346 Centerline is valid? [True, True] Translation: X:65.22, Y:0.21, Z:0.40 [[ 9.99871909e-01 -5.70862171e-03 -1.49525001e-02 6.52225203e+01] [ 5.70685080e-03 9.99983703e-01 -1.61101925e-04 2.05742472e-01] [ 1.49531761e-02 7.57496027e-05 9.99888192e-01 3.98502258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079254154 meters 0.013528852685822986 Centerline is valid? [True, True] Translation: X:65.28, Y:0.20, Z:0.40 [[ 9.99866479e-01 -4.86964213e-03 -1.55984090e-02 6.52810155e+01] [ 4.86754872e-03 9.99988139e-01 -1.72169069e-04 2.03813475e-01] [ 1.55990624e-02 9.62200654e-05 9.99878323e-01 3.97780666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139254154 meters 0.013523508216563191 Centerline is valid? [True, True] Translation: X:65.34, Y:0.20, Z:0.40 [[ 9.99853775e-01 -6.80964980e-03 -1.56862133e-02 6.53399433e+01] [ 6.80773371e-03 9.99976812e-01 -1.75545784e-04 2.01797545e-01] [ 1.56870450e-02 6.87325521e-05 9.99876948e-01 3.97884466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters 0.013380073978425637 Centerline is valid? [True, True] Translation: X:65.40, Y:0.20, Z:0.40 [[ 9.99799360e-01 -1.27397946e-02 -1.54575976e-02 6.53993157e+01] [ 1.27386276e-02 9.99918845e-01 -1.73957361e-04 1.95391492e-01] [ 1.54585593e-02 -2.29861205e-05 9.99880509e-01 3.98632626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters 0.01374880825046356 Centerline is valid? [True, True] Translation: X:65.46, Y:0.19, Z:0.40 [[ 9.99716527e-01 -1.84106486e-02 -1.50968412e-02 6.54577343e+01] [ 1.84101672e-02 9.99830504e-01 -1.70870859e-04 1.90457313e-01] [ 1.50974281e-02 -1.07112949e-04 9.99886022e-01 3.99472329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399999 meters 0.014830164609138476 Centerline is valid? [True, True] Translation: X:65.52, Y:0.18, Z:0.40 [[ 9.99524053e-01 -2.76707278e-02 -1.36381436e-02 6.55175413e+01] [ 2.76711871e-02 9.99617067e-01 -1.55058659e-04 1.81784643e-01] [ 1.36372117e-02 -2.22398762e-04 9.99906984e-01 4.00949188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379254154 meters 0.016979395942395056 Centerline is valid? [True, True] Translation: X:65.58, Y:0.17, Z:0.40 [[ 9.99329979e-01 -3.48872853e-02 -1.10666118e-02 6.55769989e+01] [ 3.48880268e-02 9.99391220e-01 -1.26102018e-04 1.73171435e-01] [ 1.10642740e-02 -2.60074720e-04 9.99938755e-01 4.02281858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439254154 meters 0.017769076580602585 Centerline is valid? [True, True] Translation: X:65.64, Y:0.17, Z:0.40 [[ 9.99154433e-01 -3.97706885e-02 -1.04264764e-02 6.56380183e+01] [ 3.97716118e-02 9.99208789e-01 -1.18854397e-04 1.67536068e-01] [ 1.04229537e-02 -2.95923873e-04 9.99945636e-01 4.02745940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499254154 meters 0.019113258803702952 Centerline is valid? [True, True] Translation: X:65.70, Y:0.16, Z:0.40 [[ 9.99108975e-01 -4.06074928e-02 -1.15016339e-02 6.56987536e+01] [ 4.06086754e-02 9.99175119e-01 -1.30799292e-04 1.64335766e-01] [ 1.14974578e-02 -3.36383370e-04 9.99933845e-01 4.01989462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters 0.018343412844057754 Centerline is valid? [True, True] Translation: X:65.76, Y:0.17, Z:0.40 [[ 9.99142265e-01 -3.96040164e-02 -1.20936272e-02 6.57599760e+01] [ 3.96052559e-02 9.99215395e-01 -1.37078898e-04 1.65202119e-01] [ 1.20895674e-02 -3.42009879e-04 9.99926860e-01 4.02352604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters 0.017963234724549363 Centerline is valid? [True, True] Translation: X:65.82, Y:0.17, Z:0.40 [[ 9.99237996e-01 -3.72154564e-02 -1.17659207e-02 6.58216613e+01] [ 3.72164691e-02 9.99307218e-01 -1.32947556e-04 1.66012920e-01] [ 1.17627172e-02 -3.05039776e-04 9.99930770e-01 4.03698818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters 0.017367792530642686 Centerline is valid? [True, True] Translation: X:65.88, Y:0.17, Z:0.40 [[ 9.99364151e-01 -3.37440594e-02 -1.15165665e-02 6.58825760e+01] [ 3.37448039e-02 9.99430474e-01 -1.29726027e-04 1.69163306e-01] [ 1.15143850e-02 -2.58980737e-04 9.99933674e-01 4.04341779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739254154 meters 0.016054509056068495 Centerline is valid? [True, True] Translation: X:65.94, Y:0.17, Z:0.40 [[ 9.99395042e-01 -3.26011948e-02 -1.21124605e-02 6.59438475e+01] [ 3.26019398e-02 9.99468406e-01 -1.35989479e-04 1.73513850e-01] [ 1.21104550e-02 -2.58982497e-04 9.99926632e-01 4.04893344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799254154 meters 0.016351270997481075 Centerline is valid? [True, True] Translation: X:66.00, Y:0.17, Z:0.40 [[ 9.99361351e-01 -3.25499902e-02 -1.47440797e-02 6.60044190e+01] [ 3.25510999e-02 9.99470059e-01 -1.64772662e-04 1.74105871e-01] [ 1.47416296e-02 -3.15268582e-04 9.99891287e-01 4.03382641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859254154 meters 0.016593890274953924 Centerline is valid? [True, True] Translation: X:66.06, Y:0.18, Z:0.40 [[ 9.99294899e-01 -3.38226559e-02 -1.63013049e-02 6.60648585e+01] [ 3.38241887e-02 9.99427782e-01 -1.81749942e-04 1.75126660e-01] [ 1.62981242e-02 -3.69756622e-04 9.99867108e-01 4.03496168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters 0.0167633258708306 Centerline is valid? [True, True] Translation: X:66.13, Y:0.18, Z:0.41 [[ 9.99210768e-01 -3.64324636e-02 -1.58277318e-02 6.61252131e+01] [ 3.64342357e-02 9.99336037e-01 -1.76469882e-04 1.75385734e-01] [ 1.58236520e-02 -4.00340707e-04 9.99874718e-01 4.05375027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters 0.0188054131151434 Centerline is valid? [True, True] Translation: X:66.19, Y:0.17, Z:0.41 [[ 9.99108623e-01 -3.95575472e-02 -1.47363325e-02 6.61857566e+01] [ 3.95594251e-02 9.99217206e-01 -1.64155335e-04 1.72737674e-01] [ 1.47312906e-02 -4.18951834e-04 9.99891401e-01 4.06091019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters 0.018356939612573293 Centerline is valid? [True, True] Translation: X:66.25, Y:0.18, Z:0.41 [[ 9.99032112e-01 -4.17213089e-02 -1.39345248e-02 6.62472754e+01] [ 4.17232036e-02 9.99129196e-01 -1.54839191e-04 1.76310383e-01] [ 1.39288506e-02 -4.26703690e-04 9.99902898e-01 4.07819047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099254154 meters 0.018316939094144342 Centerline is valid? [True, True] Translation: X:66.31, Y:0.18, Z:0.41 [[ 9.99064891e-01 -4.08800540e-02 -1.40771136e-02 6.63093601e+01] [ 4.08819155e-02 9.99163973e-01 -1.55622797e-04 1.78671174e-01] [ 1.40717066e-02 -4.20022095e-04 9.99900900e-01 4.08342639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159254154 meters 0.01767374284548654 Centerline is valid? [True, True] Translation: X:66.37, Y:0.18, Z:0.41 [[ 9.99136603e-01 -3.90207843e-02 -1.42628024e-02 6.63707525e+01] [ 3.90225172e-02 9.99238319e-01 -1.56887433e-04 1.83369567e-01] [ 1.42580605e-02 -3.99818473e-04 9.99898269e-01 4.08905181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219254154 meters 0.01772727305042855 Centerline is valid? [True, True] Translation: X:66.43, Y:0.19, Z:0.41 [[ 9.99116225e-01 -3.93823670e-02 -1.46900828e-02 6.64322394e+01] [ 3.93842525e-02 9.99224126e-01 -1.61031415e-04 1.86339592e-01] [ 1.46850270e-02 -4.17668832e-04 9.99892082e-01 4.09426912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters 0.019309931598952012 Centerline is valid? [True, True] Translation: X:66.49, Y:0.19, Z:0.41 [[ 9.98974290e-01 -4.21921334e-02 -1.64375006e-02 6.64926359e+01] [ 4.21948818e-02 9.99109383e-01 -1.79727229e-04 1.87331769e-01] [ 1.64304441e-02 -5.14035514e-04 9.99864879e-01 4.08092920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters 0.02233436018802896 Centerline is valid? [True, True] Translation: X:66.55, Y:0.19, Z:0.41 [[ 9.98772899e-01 -4.63367633e-02 -1.74814455e-02 6.65525754e+01] [ 4.63405204e-02 9.98925683e-01 -1.90316206e-04 1.85531527e-01] [ 1.74714835e-02 -6.20016612e-04 9.99847170e-01 4.06261275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters 0.02114360733983953 Centerline is valid? [True, True] Translation: X:66.61, Y:0.19, Z:0.41 [[ 9.98623847e-01 -4.92977291e-02 -1.78926064e-02 6.66136201e+01] [ 4.93021549e-02 9.98783890e-01 -1.93937101e-04 1.91697020e-01] [ 1.78804077e-02 -6.88473838e-04 9.99839896e-01 4.07852300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399999 meters 0.022787604503223906 Centerline is valid? [True, True] Translation: X:66.67, Y:0.19, Z:0.41 [[ 9.98583205e-01 -5.02299695e-02 -1.75651060e-02 6.66741051e+01] [ 5.02343864e-02 9.98737438e-01 -1.89947168e-04 1.91024534e-01] [ 1.75524700e-02 -6.92694272e-04 9.99845704e-01 4.07578491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519254154 meters 0.02280317571166042 Centerline is valid? [True, True] Translation: X:66.74, Y:0.20, Z:0.41 [[ 9.98482455e-01 -5.21636285e-02 -1.76562482e-02 6.67358519e+01] [ 5.21684059e-02 9.98638283e-01 -1.90209840e-04 1.95292306e-01] [ 1.76421274e-02 -7.31177136e-04 9.99844098e-01 4.08852470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579254154 meters 0.023968426086346285 Centerline is valid? [True, True] Translation: X:66.80, Y:0.20, Z:0.41 [[ 9.98440856e-01 -5.34039945e-02 -1.62440902e-02 6.67977288e+01] [ 5.34082186e-02 9.98572747e-01 -1.73971012e-04 1.98250063e-01] [ 1.62301965e-02 -6.93868155e-04 9.99868041e-01 4.10042266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639254154 meters 0.021986456748655445 Centerline is valid? [True, True] Translation: X:66.86, Y:0.21, Z:0.41 [[ 9.98560870e-01 -5.16907035e-02 -1.42919267e-02 6.68588202e+01] [ 5.16938081e-02 9.98662970e-01 -1.52355668e-04 2.08718295e-01] [ 1.42806933e-02 -5.86667706e-04 9.99897854e-01 4.12095509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters 0.021095279257028726 Centerline is valid? [True, True] Translation: X:66.92, Y:0.21, Z:0.41 [[ 9.98659706e-01 -4.96343433e-02 -1.46704845e-02 6.69207436e+01] [ 4.96374055e-02 9.98767292e-01 -1.55539281e-04 2.12947608e-01] [ 1.46601202e-02 -5.72873975e-04 9.99892371e-01 4.12354326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters 0.019357131577928514 Centerline is valid? [True, True] Translation: X:66.98, Y:0.22, Z:0.41 [[ 9.98976886e-01 -4.26226957e-02 -1.51157854e-02 6.69818256e+01] [ 4.26251549e-02 9.99091122e-01 -1.59589174e-04 2.22523157e-01] [ 1.51088492e-02 -4.84886800e-04 9.99885737e-01 4.12202760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399999 meters 0.018399749312914517 Centerline is valid? [True, True] Translation: X:67.04, Y:0.23, Z:0.41 [[ 9.99163901e-01 -3.80169046e-02 -1.50403805e-02 6.70434230e+01] [ 3.80188267e-02 9.99277011e-01 -1.58215201e-04 2.30384535e-01] [ 1.50355213e-02 -4.13734703e-04 9.99886875e-01 4.12070515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879254154 meters 0.01849299563543935 Centerline is valid? [True, True] Translation: X:67.10, Y:0.23, Z:0.41 [[ 9.99202523e-01 -3.67575666e-02 -1.55948809e-02 6.71034478e+01] [ 3.67594881e-02 9.99324128e-01 -1.63509471e-04 2.33401281e-01] [ 1.55903510e-02 -4.09880764e-04 9.99878379e-01 4.11101712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939254154 meters 0.017978998485030713 Centerline is valid? [True, True] Translation: X:67.16, Y:0.24, Z:0.41 [[ 9.99187568e-01 -3.68494392e-02 -1.63193894e-02 6.71643036e+01] [ 3.68515635e-02 9.99320736e-01 -1.70632541e-04 2.36747894e-01] [ 1.63145920e-02 -4.30901101e-04 9.99866815e-01 4.10555883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999254154 meters 0.018755985045479193 Centerline is valid? [True, True] Translation: X:67.23, Y:0.24, Z:0.41 [[ 9.99133445e-01 -3.80712570e-02 -1.68207509e-02 6.72254747e+01] [ 3.80736971e-02 9.99274919e-01 -1.75260858e-04 2.38696100e-01] [ 1.68152268e-02 -4.65319189e-04 9.99858506e-01 4.09792250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters 0.018546907880247463 Centerline is valid? [True, True] Translation: X:67.29, Y:0.24, Z:0.41 [[ 9.99072099e-01 -3.92996748e-02 -1.76203561e-02 6.72870498e+01] [ 3.93025550e-02 9.99227339e-01 -1.82939405e-04 2.43334853e-01] [ 1.76139310e-02 -5.09755358e-04 9.99844733e-01 4.10892486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters 0.018546776084160863 Centerline is valid? [True, True] Translation: X:67.35, Y:0.25, Z:0.41 [[ 9.99059918e-01 -3.97534374e-02 -1.72899900e-02 6.73487107e+01] [ 3.97562893e-02 9.99209390e-01 -1.78877995e-04 2.45918490e-01] [ 1.72834314e-02 -5.08676009e-04 9.99850501e-01 4.12256515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters 0.018215425925768188 Centerline is valid? [True, True] Translation: X:67.41, Y:0.25, Z:0.41 [[ 9.99078576e-01 -3.95816051e-02 -1.65920605e-02 6.74113281e+01] [ 3.95842239e-02 9.99216223e-01 -1.70679404e-04 2.48126840e-01] [ 1.65858118e-02 -4.86261701e-04 9.99862328e-01 4.13858173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239254154 meters 0.017708577373959096 Centerline is valid? [True, True] Translation: X:67.47, Y:0.25, Z:0.42 [[ 9.99226488e-01 -3.64407495e-02 -1.47816612e-02 6.74724386e+01] [ 3.64424955e-02 9.99335740e-01 -1.51306721e-04 2.50822497e-01] [ 1.47773561e-02 -3.87490941e-04 9.99890734e-01 4.15715207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299254154 meters 0.01654795771552046 Centerline is valid? [True, True] Translation: X:67.53, Y:0.26, Z:0.42 [[ 9.99399700e-01 -3.15018208e-02 -1.44178619e-02 6.75342915e+01] [ 3.15029779e-02 9.99503647e-01 -1.46911617e-04 2.55430405e-01] [ 1.44153335e-02 -3.07382158e-04 9.99896046e-01 4.16851147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359254154 meters 0.015135401355877813 Centerline is valid? [True, True] Translation: X:67.60, Y:0.26, Z:0.42 [[ 9.99643772e-01 -2.23906646e-02 -1.45254159e-02 6.75950656e+01] [ 2.23908848e-02 9.99749282e-01 -1.47490364e-04 2.62757721e-01] [ 1.45250766e-02 -1.77799091e-04 9.99894490e-01 4.16658796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters 0.014554008550411815 Centerline is valid? [True, True] Translation: X:67.65, Y:0.27, Z:0.42 [[ 9.99755942e-01 -1.59486789e-02 -1.52871059e-02 6.76549879e+01] [ 1.59481716e-02 9.99872808e-01 -1.55095524e-04 2.66666585e-01] [ 1.52876351e-02 -8.87437177e-05 9.99883133e-01 4.15388597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters 0.014454860160540633 Centerline is valid? [True, True] Translation: X:67.71, Y:0.27, Z:0.42 [[ 9.99778350e-01 -1.44071378e-02 -1.53520531e-02 6.77131104e+01] [ 1.44064062e-02 9.99896210e-01 -1.58251034e-04 2.68322222e-01] [ 1.53527396e-02 -6.29519549e-05 9.99882138e-01 4.15899475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters 0.01437600583198342 Centerline is valid? [True, True] Translation: X:67.77, Y:0.27, Z:0.42 [[ 9.99769729e-01 -1.49075756e-02 -1.54354626e-02 6.77705666e+01] [ 1.49068253e-02 9.99888874e-01 -1.63668033e-04 2.68402752e-01] [ 1.54361872e-02 -6.64633997e-05 9.99880853e-01 4.16734532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599254154 meters 0.014763198332503105 Centerline is valid? [True, True] Translation: X:67.83, Y:0.27, Z:0.42 [[ 9.99691970e-01 -1.83321874e-02 -1.67300812e-02 6.78287877e+01] [ 1.83317337e-02 9.99831943e-01 -1.80486691e-04 2.65565254e-01] [ 1.67305784e-02 -1.26260300e-04 9.99860026e-01 4.15406089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659254154 meters 0.015115475108808195 Centerline is valid? [True, True] Translation: X:67.89, Y:0.26, Z:0.41 [[ 9.99599533e-01 -2.20765266e-02 -1.77031094e-02 6.78879183e+01] [ 2.20765447e-02 9.99756264e-01 -1.94428604e-04 2.62677813e-01] [ 1.77030869e-02 -1.96472746e-04 9.99843269e-01 4.14733861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719254154 meters 0.016214890718528097 Centerline is valid? [True, True] Translation: X:67.95, Y:0.26, Z:0.42 [[ 9.99393002e-01 -2.94562586e-02 -1.85999030e-02 6.79476512e+01] [ 2.94575145e-02 9.99566012e-01 -2.06509609e-04 2.57318008e-01] [ 1.85979139e-02 -3.41522656e-04 9.99826986e-01 4.15135837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters 0.017874153938814554 Centerline is valid? [True, True] Translation: X:68.01, Y:0.25, Z:0.42 [[ 9.99192552e-01 -3.51677104e-02 -1.94287663e-02 6.80066188e+01] [ 3.51701458e-02 9.99381316e-01 -2.16432566e-04 2.52458093e-01] [ 1.94243574e-02 -4.67054734e-04 9.99811220e-01 4.15386348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters 0.020783080815629868 Centerline is valid? [True, True] Translation: X:68.07, Y:0.24, Z:0.42 [[ 9.98892683e-01 -4.33616867e-02 -1.82529777e-02 6.80660975e+01] [ 4.33652040e-02 9.99059266e-01 -2.03249007e-04 2.44008655e-01] [ 1.82446197e-02 -5.88520155e-04 9.99833380e-01 4.16092151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters 0.023196294552366475 Centerline is valid? [True, True] Translation: X:68.13, Y:0.24, Z:0.42 [[ 9.98452970e-01 -5.24811979e-02 -1.83681817e-02 6.81263325e+01] [ 5.24863002e-02 9.98621623e-01 -2.04523876e-04 2.38133285e-01] [ 1.83535971e-02 -7.59870430e-04 9.99831270e-01 4.17440003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399999 meters 0.027044681632970767 Centerline is valid? [True, True] Translation: X:68.19, Y:0.23, Z:0.42 [[ 9.97923163e-01 -6.13932367e-02 -1.94995440e-02 6.81874647e+01] [ 6.14006895e-02 9.98113174e-01 -2.16833300e-04 2.31514267e-01] [ 1.94760638e-02 -9.80902471e-04 9.99809842e-01 4.17086677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019254154 meters 0.02681763940756687 Centerline is valid? [True, True] Translation: X:68.25, Y:0.23, Z:0.42 [[ 9.97598040e-01 -6.61444625e-02 -2.05684318e-02 6.82483822e+01] [ 6.61537674e-02 9.97809414e-01 -2.28442479e-04 2.32385050e-01] [ 2.05384851e-02 -1.13278549e-03 9.99788421e-01 4.18042097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079254154 meters 0.029769406999855655 Centerline is valid? [True, True] Translation: X:68.31, Y:0.23, Z:0.42 [[ 9.97321556e-01 -7.02029437e-02 -2.05246155e-02 6.83085764e+01] [ 7.02130657e-02 9.97531991e-01 -2.27934709e-04 2.29333436e-01] [ 2.04899622e-02 -1.21377198e-03 9.99789322e-01 4.18957699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139254154 meters 0.03180120884254655 Centerline is valid? [True, True] Translation: X:68.37, Y:0.23, Z:0.42 [[ 9.97250529e-01 -7.11977157e-02 -2.05491758e-02 6.83696345e+01] [ 7.12080877e-02 9.97461456e-01 -2.27459005e-04 2.29429946e-01] [ 2.05132053e-02 -1.23643390e-03 9.99788818e-01 4.19284242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters 0.028642683469527867 Centerline is valid? [True, True] Translation: X:68.43, Y:0.24, Z:0.42 [[ 9.97273909e-01 -7.04575640e-02 -2.19198896e-02 6.84312822e+01] [ 7.04692218e-02 9.97513925e-01 -2.41103652e-04 2.36502435e-01] [ 2.18823827e-02 -1.30423118e-03 9.99759701e-01 4.19852188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters 0.03133550752175246 Centerline is valid? [True, True] Translation: X:68.49, Y:0.24, Z:0.42 [[ 9.97386720e-01 -6.81940310e-02 -2.38601255e-02 6.84920956e+01] [ 6.82072275e-02 9.97671141e-01 -2.61264173e-04 2.37905013e-01] [ 2.38223753e-02 -1.36685159e-03 9.99715273e-01 4.18062662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399999 meters 0.028770037491823875 Centerline is valid? [True, True] Translation: X:68.55, Y:0.25, Z:0.42 [[ 9.97655326e-01 -6.39015287e-02 -2.45040015e-02 6.85528305e+01] [ 6.39141704e-02 9.97955363e-01 -2.67740927e-04 2.47879750e-01] [ 2.44710088e-02 -1.29903977e-03 9.99699696e-01 4.19746819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379254154 meters 0.02857068866250145 Centerline is valid? [True, True] Translation: X:68.61, Y:0.25, Z:0.42 [[ 9.97784881e-01 -6.19003004e-02 -2.43656163e-02 6.86139415e+01] [ 6.19122229e-02 9.98081563e-01 -2.65480013e-04 2.50769534e-01] [ 2.43353057e-02 -1.24363753e-03 9.99703079e-01 4.20417527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439254154 meters 0.02311391182878105 Centerline is valid? [True, True] Translation: X:68.67, Y:0.27, Z:0.42 [[ 9.98222721e-01 -5.47074894e-02 -2.36323960e-02 6.86740198e+01] [ 5.47166983e-02 9.98501886e-01 -2.57272675e-04 2.65918437e-01] [ 2.36110667e-02 -1.03627125e-03 9.99720683e-01 4.24347325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499254154 meters 0.019654983830017587 Centerline is valid? [True, True] Translation: X:68.73, Y:0.28, Z:0.43 [[ 9.98746615e-01 -4.47348821e-02 -2.24497106e-02 6.87348993e+01] [ 4.47406788e-02 9.98998605e-01 -2.44246983e-04 2.79497658e-01] [ 2.24381560e-02 -7.60474446e-04 9.99747944e-01 4.27265256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters 0.01913260673197067 Centerline is valid? [True, True] Translation: X:68.79, Y:0.29, Z:0.43 [[ 9.99083002e-01 -3.65917410e-02 -2.22306145e-02 6.87948701e+01] [ 3.65954119e-02 9.99330134e-01 -2.41808007e-04 2.86269079e-01] [ 2.22245711e-02 -5.71952224e-04 9.99752840e-01 4.26142254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters 0.015150212514975647 Centerline is valid? [True, True] Translation: X:68.86, Y:0.30, Z:0.43 [[ 9.99463051e-01 -2.38178507e-02 -2.25015409e-02 6.88553206e+01] [ 2.38183738e-02 9.99716272e-01 -2.44802355e-04 3.02870251e-01] [ 2.25009872e-02 -2.91279202e-04 9.99746778e-01 4.28534214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399999 meters 0.014506194479480417 Centerline is valid? [True, True] Translation: X:68.91, Y:0.31, Z:0.43 [[ 9.99647288e-01 -1.47837952e-02 -2.20621417e-02 6.89135039e+01] [ 1.47820730e-02 9.99890710e-01 -2.41148060e-04 3.12703971e-01] [ 2.20632956e-02 -8.50611852e-05 9.99756572e-01 4.29308037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739254154 meters 0.014469272053517562 Centerline is valid? [True, True] Translation: X:68.97, Y:0.32, Z:0.43 [[ 9.99736402e-01 -1.01262149e-02 -2.06055137e-02 6.89726124e+01] [ 1.01236452e-02 9.99948728e-01 -2.29023863e-04 3.18421409e-01] [ 2.06067764e-02 2.03605838e-05 9.99787658e-01 4.31086171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799254154 meters 0.014549043076507184 Centerline is valid? [True, True] Translation: X:69.03, Y:0.32, Z:0.43 [[ 9.99731374e-01 -9.95334953e-03 -2.09311052e-02 6.90306450e+01] [ 9.95059863e-03 9.99950464e-01 -2.35574652e-04 3.20071096e-01] [ 2.09324131e-02 2.72343438e-05 9.99780893e-01 4.30541209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859254154 meters 0.014510898248158514 Centerline is valid? [True, True] Translation: X:69.09, Y:0.32, Z:0.43 [[ 9.99689886e-01 -1.29966000e-02 -2.12419385e-02 6.90898323e+01] [ 1.29944181e-02 9.99915540e-01 -2.40747008e-04 3.18552712e-01] [ 2.12432733e-02 -3.53542806e-05 9.99774336e-01 4.30091506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters 0.015056762589576379 Centerline is valid? [True, True] Translation: X:69.15, Y:0.31, Z:0.43 [[ 9.99551973e-01 -2.10983557e-02 -2.12300149e-02 6.91482887e+01] [ 2.10979645e-02 9.99777384e-01 -2.42428910e-04 3.13302805e-01] [ 2.12304036e-02 -2.05589806e-04 9.99774588e-01 4.30001063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters 0.01642912151439709 Centerline is valid? [True, True] Translation: X:69.21, Y:0.31, Z:0.43 [[ 9.99379590e-01 -2.84759429e-02 -2.07257130e-02 6.92064021e+01] [ 2.84771224e-02 9.99594416e-01 -2.38281503e-04 3.06737968e-01] [ 2.07240922e-02 -3.52074995e-04 9.99785171e-01 4.29039539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters 0.018377126906252296 Centerline is valid? [True, True] Translation: X:69.27, Y:0.30, Z:0.43 [[ 9.99035031e-01 -3.96879715e-02 -1.88114596e-02 6.92667738e+01] [ 3.96909162e-02 9.99211982e-01 -2.16935282e-04 2.99366148e-01] [ 1.88052455e-02 -5.29918119e-04 9.99823025e-01 4.30885774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099254154 meters 0.020670981913018326 Centerline is valid? [True, True] Translation: X:69.33, Y:0.29, Z:0.43 [[ 9.98728316e-01 -4.76831939e-02 -1.63726803e-02 6.93276477e+01] [ 4.76864983e-02 9.98862334e-01 -1.88743791e-04 2.91735557e-01] [ 1.63630535e-02 -5.92252021e-04 9.99865941e-01 4.31585216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159254154 meters 0.023983307437668053 Centerline is valid? [True, True] Translation: X:69.39, Y:0.28, Z:0.43 [[ 9.98521441e-01 -5.22430999e-02 -1.50196975e-02 6.93875932e+01] [ 5.22464077e-02 9.98634209e-01 -1.72341256e-04 2.84726739e-01] [ 1.50081874e-02 -6.12638801e-04 9.99887183e-01 4.31572710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219254154 meters 0.02423517978816911 Centerline is valid? [True, True] Translation: X:69.45, Y:0.28, Z:0.43 [[ 9.98439193e-01 -5.39604717e-02 -1.44029610e-02 6.94497977e+01] [ 5.39637074e-02 9.98542884e-01 -1.64172374e-04 2.83906196e-01] [ 1.43908331e-02 -6.13321041e-04 9.99896258e-01 4.31790735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters 0.023942274296619763 Centerline is valid? [True, True] Translation: X:69.51, Y:0.28, Z:0.43 [[ 9.98275575e-01 -5.68890110e-02 -1.44746720e-02 6.95109513e+01] [ 5.68925974e-02 9.98380291e-01 -1.64217474e-04 2.83945089e-01] [ 1.44605694e-02 -6.59567393e-04 9.99895223e-01 4.31639418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters 0.025585872408428856 Centerline is valid? [True, True] Translation: X:69.57, Y:0.28, Z:0.43 [[ 9.97964542e-01 -6.18150447e-02 -1.56739934e-02 6.95712094e+01] [ 6.18198622e-02 9.98087307e-01 -1.77432687e-04 2.81866885e-01] [ 1.56549819e-02 -7.91892580e-04 9.99877140e-01 4.30131918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters 0.02784446519359047 Centerline is valid? [True, True] Translation: X:69.63, Y:0.28, Z:0.43 [[ 9.97698035e-01 -6.55560348e-02 -1.73504154e-02 6.96326262e+01] [ 6.55625107e-02 9.97848445e-01 -1.95918471e-04 2.79363075e-01] [ 1.73259287e-02 -9.42069322e-04 9.99849451e-01 4.28871706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399999 meters 0.030341563455041437 Centerline is valid? [True, True] Translation: X:69.69, Y:0.28, Z:0.43 [[ 9.97453719e-01 -6.90026733e-02 -1.80197252e-02 6.96938200e+01] [ 6.90102274e-02 9.97615932e-01 -2.03017082e-04 2.77245467e-01] [ 1.79907737e-02 -1.04104519e-03 9.99837611e-01 4.27108626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519254154 meters 0.029971941217055747 Centerline is valid? [True, True] Translation: X:69.76, Y:0.28, Z:0.43 [[ 9.97571036e-01 -6.74158684e-02 -1.75251006e-02 6.97550251e+01] [ 6.74227782e-02 9.97724476e-01 -1.96936029e-04 2.82193806e-01] [ 1.74984984e-02 -9.85133290e-04 9.99846404e-01 4.28442894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579254154 meters 0.02534549810588457 Centerline is valid? [True, True] Translation: X:69.81, Y:0.30, Z:0.43 [[ 9.97947962e-01 -6.19850175e-02 -1.60537155e-02 6.98149826e+01] [ 6.19901183e-02 9.98076747e-01 -1.80167067e-04 2.95765852e-01] [ 1.60340078e-02 -8.15374367e-04 9.99871115e-01 4.31783998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters 0.02597017962334171 Centerline is valid? [True, True] Translation: X:69.88, Y:0.30, Z:0.43 [[ 9.98244225e-01 -5.72431981e-02 -1.52211473e-02 6.98752817e+01] [ 5.72472335e-02 9.98360018e-01 -1.70814887e-04 2.99987482e-01] [ 1.52059629e-02 -7.00853601e-04 9.99884137e-01 4.31523858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters 0.022487274850944376 Centerline is valid? [True, True] Translation: X:69.94, Y:0.31, Z:0.43 [[ 9.98386732e-01 -5.45461484e-02 -1.57686699e-02 6.99362597e+01] [ 5.45501490e-02 9.98511016e-01 -1.76620270e-04 3.07913135e-01] [ 1.57548246e-02 -6.83847961e-04 9.99875651e-01 4.32696140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters 0.021032774691046814 Centerline is valid? [True, True] Translation: X:70.00, Y:0.32, Z:0.43 [[ 9.98681044e-01 -4.89844757e-02 -1.53848558e-02 6.99965768e+01] [ 4.89876286e-02 9.98799371e-01 -1.72076205e-04 3.15072302e-01] [ 1.53748134e-02 -5.81818359e-04 9.99881631e-01 4.33216883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399999 meters 0.018798123152169124 Centerline is valid? [True, True] Translation: X:70.06, Y:0.32, Z:0.43 [[ 9.98941141e-01 -4.35941038e-02 -1.47020598e-02 7.00574363e+01] [ 4.35964020e-02 9.99049211e-01 -1.64290564e-04 3.23097624e-01] [ 1.46952434e-02 -4.76840307e-04 9.99891905e-01 4.34024464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879254154 meters 0.016084725299018172 Centerline is valid? [True, True] Translation: X:70.12, Y:0.33, Z:0.44 [[ 9.99399048e-01 -3.19606537e-02 -1.34186612e-02 7.01174051e+01] [ 3.19615219e-02 9.99489089e-01 -1.49798121e-04 3.34958994e-01] [ 1.34165931e-02 -2.79172734e-04 9.99909954e-01 4.35129092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939254154 meters 0.013875986619675203 Centerline is valid? [True, True] Translation: X:70.18, Y:0.35, Z:0.44 [[ 9.99770398e-01 -1.70327470e-02 -1.30014306e-02 7.01776517e+01] [ 1.70323002e-02 9.99854929e-01 -1.45104628e-04 3.50293661e-01] [ 1.30020160e-02 -7.63729569e-05 9.99915467e-01 4.36565722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999254154 meters 0.013895566032593405 Centerline is valid? [True, True] Translation: X:70.24, Y:0.36, Z:0.44 [[ 9.99893498e-01 -7.08663267e-03 -1.27581953e-02 7.02379114e+01] [ 7.08539268e-03 9.99974888e-01 -1.42389960e-04 3.60295300e-01] [ 1.27588840e-02 5.19779717e-05 9.99918601e-01 4.37646804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters 0.015174516634820886 Centerline is valid? [True, True] Translation: X:70.30, Y:0.37, Z:0.44 [[ 9.99903810e-01 2.70668816e-03 -1.36031061e-02 7.02963570e+01] [-2.70900911e-03 9.99996319e-01 -1.52195809e-04 3.70943212e-01] [ 1.36026441e-02 1.89032107e-04 9.99907462e-01 4.35390817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters 0.015148243280205843 Centerline is valid? [True, True] Translation: X:70.36, Y:0.37, Z:0.43 [[ 9.99900367e-01 2.89273623e-03 -1.38162082e-02 7.03550649e+01] [-2.89516042e-03 9.99995797e-01 -1.55462277e-04 3.73238852e-01] [ 1.38157004e-02 1.95446927e-04 9.99904540e-01 4.34907177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399999 meters 0.014092432997160675 Centerline is valid? [True, True] Translation: X:70.41, Y:0.37, Z:0.43 [[ 9.99886748e-01 -7.39434100e-03 -1.31078160e-02 7.04126144e+01] [ 7.39302943e-03 9.99972660e-01 -1.48513342e-04 3.68429103e-01] [ 1.31085558e-02 5.15900534e-05 9.99914078e-01 4.34704519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239254154 meters 0.014620522614286379 Centerline is valid? [True, True] Translation: X:70.47, Y:0.36, Z:0.44 [[ 9.99681331e-01 -2.22205197e-02 -1.19785401e-02 7.04718561e+01] [ 2.22204786e-02 9.99753085e-01 -1.36535262e-04 3.57912160e-01] [ 1.19786163e-02 -1.29677142e-04 9.99928245e-01 4.36245097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299254154 meters 0.015591736040775713 Centerline is valid? [True, True] Translation: X:70.53, Y:0.36, Z:0.44 [[ 9.99590348e-01 -2.65611774e-02 -1.06601897e-02 7.05342655e+01] [ 2.65613912e-02 9.99647177e-01 -1.21543313e-04 3.55031896e-01] [ 1.06596568e-02 -1.61655946e-04 9.99943171e-01 4.37351808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359254154 meters 0.018099371445582015 Centerline is valid? [True, True] Translation: X:70.60, Y:0.35, Z:0.44 [[ 9.99245060e-01 -3.79555627e-02 -8.28766314e-03 7.05955092e+01] [ 3.79560867e-02 9.99279404e-01 -9.40991202e-05 3.46738160e-01] [ 8.28526267e-03 -2.20539180e-04 9.99965652e-01 4.39300673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters 0.019820830153181757 Centerline is valid? [True, True] Translation: X:70.66, Y:0.34, Z:0.44 [[ 9.99003410e-01 -4.39177889e-02 -7.96336433e-03 7.06567048e+01] [ 4.39184630e-02 9.99035115e-01 -9.02819624e-05 3.40908553e-01] [ 7.95964558e-03 -2.59546733e-04 9.99968288e-01 4.39642954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters 0.024017729786962917 Centerline is valid? [True, True] Translation: X:70.72, Y:0.33, Z:0.44 [[ 9.98939595e-01 -4.52418043e-02 -8.53603165e-03 7.07181808e+01] [ 4.52426291e-02 9.98976023e-01 -9.65447864e-05 3.32978665e-01] [ 8.53165881e-03 -2.89750104e-04 9.99963563e-01 4.38908393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters 0.019995665529487717 Centerline is valid? [True, True] Translation: X:70.78, Y:0.34, Z:0.44 [[ 9.99000638e-01 -4.36105226e-02 -9.79014423e-03 7.07802468e+01] [ 4.36115356e-02 9.99048558e-01 -1.10089938e-04 3.37049807e-01] [ 9.78563056e-03 -3.16983306e-04 9.99952069e-01 4.37914799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599254154 meters 0.018090555076391585 Centerline is valid? [True, True] Translation: X:70.84, Y:0.34, Z:0.44 [[ 9.99263018e-01 -3.67330129e-02 -1.11403293e-02 7.08408533e+01] [ 3.67339045e-02 9.99325075e-01 -1.24639913e-04 3.40164299e-01] [ 1.11373888e-02 -2.84679738e-04 9.99937937e-01 4.37439231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659254154 meters 0.015476577075763682 Centerline is valid? [True, True] Translation: X:70.90, Y:0.35, Z:0.44 [[ 9.99539138e-01 -2.75929604e-02 -1.26546672e-02 7.09018004e+01] [ 2.75933817e-02 9.99619220e-01 -1.41338265e-04 3.47116739e-01] [ 1.26537485e-02 -2.07911936e-04 9.99919917e-01 4.36151593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719254154 meters 0.014844377575650053 Centerline is valid? [True, True] Translation: X:70.96, Y:0.35, Z:0.44 [[ 9.99652929e-01 -2.25232471e-02 -1.36647177e-02 7.09620211e+01] [ 2.25232683e-02 9.99746307e-01 -1.52362176e-04 3.50062180e-01] [ 1.36646828e-02 -1.55464808e-04 9.99906622e-01 4.35478132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters 0.0145521110532319 Centerline is valid? [True, True] Translation: X:71.02, Y:0.35, Z:0.44 [[ 9.99687241e-01 -1.98730177e-02 -1.51816580e-02 7.10232377e+01] [ 1.98727450e-02 9.99802503e-01 -1.68835266e-04 3.52834657e-01] [ 1.51820150e-02 -1.32918757e-04 9.99884738e-01 4.35179546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters 0.015251370437361224 Centerline is valid? [True, True] Translation: X:71.08, Y:0.35, Z:0.43 [[ 9.99603130e-01 -2.30184483e-02 -1.62398475e-02 7.10831032e+01] [ 2.30185527e-02 9.99735022e-01 -1.80513152e-04 3.50373615e-01] [ 1.62396994e-02 -1.93376274e-04 9.99868109e-01 4.34931016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters 0.01554237158772261 Centerline is valid? [True, True] Translation: X:71.14, Y:0.35, Z:0.44 [[ 9.99479145e-01 -2.78833261e-02 -1.62468283e-02 7.11438019e+01] [ 2.78840712e-02 9.99611147e-01 -1.80710471e-04 3.47791114e-01] [ 1.62455494e-02 -2.72411368e-04 9.99867995e-01 4.36779150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399999 meters 0.0182146623837039 Centerline is valid? [True, True] Translation: X:71.20, Y:0.34, Z:0.44 [[ 9.99186214e-01 -3.72085311e-02 -1.55703465e-02 7.12035031e+01] [ 3.72103467e-02 9.99307440e-01 -1.73186090e-04 3.39305055e-01] [ 1.55660071e-02 -4.06332838e-04 9.99878760e-01 4.37425206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019254154 meters 0.022048579092070524 Centerline is valid? [True, True] Translation: X:71.26, Y:0.33, Z:0.44 [[ 9.98818757e-01 -4.65498092e-02 -1.39357968e-02 7.12631793e+01] [ 4.65521700e-02 9.98915848e-01 -1.55109009e-04 3.30429980e-01] [ 1.39279086e-02 -4.93815795e-04 9.99902880e-01 4.40031179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079254154 meters 0.02383045043394296 Centerline is valid? [True, True] Translation: X:71.32, Y:0.33, Z:0.44 [[ 9.98458270e-01 -5.42492967e-02 -1.17514656e-02 7.13237974e+01] [ 5.42515068e-02 9.98527294e-01 -1.30861683e-04 3.25458107e-01] [ 1.17412583e-02 -5.06874788e-04 9.99930941e-01 4.42836083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters 0.026994954070086136 Centerline is valid? [True, True] Translation: X:71.38, Y:0.32, Z:0.44 [[ 9.98273410e-01 -5.77311302e-02 -1.08312339e-02 7.13840224e+01] [ 5.77332161e-02 9.98332040e-01 -1.20247929e-04 3.19312252e-01] [ 1.08201099e-02 -5.05281657e-04 9.99941333e-01 4.44103028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters 0.025582598286879088 Centerline is valid? [True, True] Translation: X:71.45, Y:0.32, Z:0.45 [[ 9.98153594e-01 -5.96036602e-02 -1.16964026e-02 7.14456966e+01] [ 5.96062352e-02 9.98221959e-01 -1.28629212e-04 3.18518041e-01] [ 1.16832727e-02 -5.68786811e-04 9.99931586e-01 4.45016381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters 0.025741391320713444 Centerline is valid? [True, True] Translation: X:71.51, Y:0.32, Z:0.44 [[ 9.98216056e-01 -5.83029670e-02 -1.28634678e-02 7.15075228e+01] [ 5.83059913e-02 9.98298749e-01 -1.40105944e-04 3.17424544e-01] [ 1.28497524e-02 -6.10161239e-04 9.99917252e-01 4.43800870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399999 meters 0.023465189341203986 Centerline is valid? [True, True] Translation: X:71.57, Y:0.32, Z:0.44 [[ 9.98476380e-01 -5.27888140e-02 -1.60704300e-02 7.15679210e+01] [ 5.27928315e-02 9.98605471e-01 -1.74425655e-04 3.20998973e-01] [ 1.60572270e-02 -6.74243606e-04 9.99870847e-01 4.42543862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379254154 meters 0.021603718536565168 Centerline is valid? [True, True] Translation: X:71.63, Y:0.33, Z:0.44 [[ 9.98897980e-01 -4.36410670e-02 -1.72708712e-02 7.16276057e+01] [ 4.36443381e-02 9.99047114e-01 -1.87646730e-04 3.25461849e-01] [ 1.72626031e-02 -5.66335803e-04 9.99850830e-01 4.41353618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439254154 meters 0.017692611767869786 Centerline is valid? [True, True] Translation: X:71.69, Y:0.33, Z:0.44 [[ 9.99173224e-01 -3.65750746e-02 -1.77519817e-02 7.16883577e+01] [ 3.65774185e-02 9.99330804e-01 -1.92743239e-04 3.34730867e-01] [ 1.77471517e-02 -4.56737780e-04 9.99842403e-01 4.43853918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499254154 meters 0.01564458426561316 Centerline is valid? [True, True] Translation: X:71.75, Y:0.34, Z:0.45 [[ 9.99495422e-01 -2.68465658e-02 -1.69753891e-02 7.17488777e+01] [ 2.68473120e-02 9.99639529e-01 -1.83973805e-04 3.41700773e-01] [ 1.69742090e-02 -2.71862590e-04 9.99855891e-01 4.45846500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters 0.014658362469912936 Centerline is valid? [True, True] Translation: X:71.81, Y:0.35, Z:0.45 [[ 9.99691663e-01 -1.94425187e-02 -1.54456520e-02 7.18090957e+01] [ 1.94422544e-02 9.99810968e-01 -1.67282708e-04 3.45711175e-01] [ 1.54459847e-02 -1.33067167e-04 9.99880695e-01 4.47488950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters 0.014505104615624643 Centerline is valid? [True, True] Translation: X:71.87, Y:0.35, Z:0.45 [[ 9.99774062e-01 -1.50317139e-02 -1.50290336e-02 7.18686730e+01] [ 1.50309631e-02 9.99887015e-01 -1.62918970e-04 3.47942088e-01] [ 1.50297845e-02 -6.30186878e-05 9.99887044e-01 4.48134231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399999 meters 0.014345838513909226 Centerline is valid? [True, True] Translation: X:71.93, Y:0.35, Z:0.45 [[ 9.99778055e-01 -1.41621916e-02 -1.55972195e-02 7.19271554e+01] [ 1.41612408e-02 9.99899710e-01 -1.71402244e-04 3.48079548e-01] [ 1.55980826e-02 -4.95117796e-05 9.99878341e-01 4.48092385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739254154 meters 0.014364086079800012 Centerline is valid? [True, True] Translation: X:71.99, Y:0.35, Z:0.45 [[ 9.99760498e-01 -1.45135816e-02 -1.63799306e-02 7.19852100e+01] [ 1.45125049e-02 9.99894671e-01 -1.84603515e-04 3.46734394e-01] [ 1.63808846e-02 -5.31545207e-05 9.99865823e-01 4.48560452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799254154 meters 0.01462615792874492 Centerline is valid? [True, True] Translation: X:72.04, Y:0.35, Z:0.45 [[ 9.99736455e-01 -1.48721951e-02 -1.74882184e-02 7.20434353e+01] [ 1.48709686e-02 9.99889401e-01 -2.00184188e-04 3.45647684e-01] [ 1.74892614e-02 -5.99353155e-05 9.99847049e-01 4.48390816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859254154 meters 0.014407560730998591 Centerline is valid? [True, True] Translation: X:72.10, Y:0.34, Z:0.45 [[ 9.99753314e-01 -1.38461199e-02 -1.73665451e-02 7.21013918e+01] [ 1.38446922e-02 9.99904137e-01 -2.02441713e-04 3.44114733e-01] [ 1.73676834e-02 -3.80426987e-05 9.99849170e-01 4.48933321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters 0.014454743591622327 Centerline is valid? [True, True] Translation: X:72.16, Y:0.34, Z:0.45 [[ 9.99770942e-01 -1.31652418e-02 -1.68742420e-02 7.21588921e+01] [ 1.31637155e-02 9.99913334e-01 -2.01525679e-04 3.43044953e-01] [ 1.68754327e-02 -2.06482040e-05 9.99857600e-01 4.49868164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters 0.014454595835908865 Centerline is valid? [True, True] Translation: X:72.22, Y:0.34, Z:0.45 [[ 9.99816597e-01 -1.18310403e-02 -1.50598689e-02 7.22168921e+01] [ 1.18296357e-02 9.99930011e-01 -1.82347458e-04 3.39929912e-01] [ 1.50609722e-02 4.16125204e-06 9.99886577e-01 4.50929508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399999 meters 0.01433499188866693 Centerline is valid? [True, True] Translation: X:72.27, Y:0.34, Z:0.45 [[ 9.99809183e-01 -1.27199252e-02 -1.48257067e-02 7.22744925e+01] [ 1.27186190e-02 9.99919098e-01 -1.82392112e-04 3.37223119e-01] [ 1.48268273e-02 -6.20520613e-06 9.99890077e-01 4.52150141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099254154 meters 0.014506789189317653 Centerline is valid? [True, True] Translation: X:72.33, Y:0.33, Z:0.45 [[ 9.99752233e-01 -1.63592661e-02 -1.50945713e-02 7.23332279e+01] [ 1.63582885e-02 9.99866177e-01 -1.88240589e-04 3.30187677e-01] [ 1.50956308e-02 -5.87274021e-05 9.99886053e-01 4.52561546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159254154 meters 0.014959264640457635 Centerline is valid? [True, True] Translation: X:72.39, Y:0.32, Z:0.45 [[ 9.99670107e-01 -2.07754229e-02 -1.51016378e-02 7.23914979e+01] [ 2.07749293e-02 9.99784160e-01 -1.89576203e-04 3.24388399e-01] [ 1.51023167e-02 -1.24221794e-04 9.99885946e-01 4.52292639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219254154 meters 0.01522635971827618 Centerline is valid? [True, True] Translation: X:72.45, Y:0.32, Z:0.45 [[ 9.99610003e-01 -2.34350939e-02 -1.51867965e-02 7.24514035e+01] [ 2.34348879e-02 9.99725347e-01 -1.91552553e-04 3.21422207e-01] [ 1.51871145e-02 -1.64423026e-04 9.99884656e-01 4.52529651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters 0.018506613252072972 Centerline is valid? [True, True] Translation: X:72.51, Y:0.31, Z:0.45 [[ 9.99178524e-01 -3.74034142e-02 -1.55968424e-02 7.25120153e+01] [ 3.74048924e-02 9.99300173e-01 -1.97032167e-04 3.05638704e-01] [ 1.55932970e-02 -3.86527901e-04 9.99878342e-01 4.51660220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters 0.02003276281103661 Centerline is valid? [True, True] Translation: X:72.57, Y:0.30, Z:0.45 [[ 9.98853884e-01 -4.49305144e-02 -1.64974863e-02 7.25725994e+01] [ 4.49331958e-02 9.98989972e-01 -2.08284218e-04 3.00403887e-01] [ 1.64901817e-02 -5.33239284e-04 9.99863886e-01 4.52027227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters 0.022582030197989433 Centerline is valid? [True, True] Translation: X:72.63, Y:0.29, Z:0.45 [[ 9.98254986e-01 -5.69918205e-02 -1.54569103e-02 7.26334517e+01] [ 5.69956199e-02 9.98374409e-01 -1.94958414e-04 2.92624754e-01] [ 1.54428947e-02 -6.86357974e-04 9.99880516e-01 4.53478529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399999 meters 0.031101952088228118 Centerline is valid? [True, True] Translation: X:72.69, Y:0.28, Z:0.45 [[ 9.97649370e-01 -6.71945190e-02 -1.34398731e-02 7.26931973e+01] [ 6.71983175e-02 9.97739624e-01 -1.69271896e-04 2.76469293e-01] [ 1.34208681e-02 -7.34262859e-04 9.99909666e-01 4.54281055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519254154 meters 0.030034178092525593 Centerline is valid? [True, True] Translation: X:72.75, Y:0.28, Z:0.46 [[ 9.97257238e-01 -7.27749306e-02 -1.34837278e-02 7.27532940e+01] [ 7.27792634e-02 9.97348059e-01 -1.69732358e-04 2.75132548e-01] [ 1.34603220e-02 -8.12068952e-04 9.99909076e-01 4.55185539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579254154 meters 0.030163625853014634 Centerline is valid? [True, True] Translation: X:72.82, Y:0.28, Z:0.46 [[ 9.97207184e-01 -7.34025206e-02 -1.37804694e-02 7.28150616e+01] [ 7.34071098e-02 9.97302044e-01 -1.73178776e-04 2.75136612e-01] [ 1.37560020e-02 -8.38889309e-04 9.99905030e-01 4.55721226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters 0.029994333261113077 Centerline is valid? [True, True] Translation: X:72.88, Y:0.28, Z:0.45 [[ 9.97361530e-01 -7.10562063e-02 -1.48658363e-02 7.28761966e+01] [ 7.10612978e-02 9.97471933e-01 -1.86114452e-04 2.75877437e-01] [ 1.48414791e-02 -8.70762227e-04 9.99889480e-01 4.54921761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters 0.02918172892713242 Centerline is valid? [True, True] Translation: X:72.94, Y:0.28, Z:0.45 [[ 9.97728232e-01 -6.53568433e-02 -1.63357965e-02 7.29356900e+01] [ 6.53622316e-02 9.97861582e-01 -2.04414733e-04 2.78182579e-01] [ 1.63142236e-02 -8.63793763e-04 9.99866541e-01 4.54014672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters 0.024931020114047776 Centerline is valid? [True, True] Translation: X:73.00, Y:0.29, Z:0.46 [[ 9.98072784e-01 -5.97458682e-02 -1.67675140e-02 7.29958207e+01] [ 5.97507538e-02 9.98213306e-01 -2.09895143e-04 2.87522565e-01] [ 1.67500960e-02 -7.92380972e-04 9.99859393e-01 4.55166391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399999 meters 0.02037265118795641 Centerline is valid? [True, True] Translation: X:73.06, Y:0.30, Z:0.46 [[ 9.98751230e-01 -4.71795889e-02 -1.64337348e-02 7.30565335e+01] [ 4.71825852e-02 9.98886260e-01 -2.05564671e-04 3.01376671e-01] [ 1.64251303e-02 -5.70078123e-04 9.99864936e-01 4.57085882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879254154 meters 0.016873716191710342 Centerline is valid? [True, True] Translation: X:73.12, Y:0.31, Z:0.46 [[ 9.99359749e-01 -3.24711212e-02 -1.50239558e-02 7.31156907e+01] [ 3.24719623e-02 9.99472629e-01 -1.88016738e-04 3.14239176e-01] [ 1.50221377e-02 -2.99960966e-04 9.99887116e-01 4.58287542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939254154 meters 0.014577886930119875 Centerline is valid? [True, True] Translation: X:73.18, Y:0.33, Z:0.46 [[ 9.99723146e-01 -1.85336500e-02 -1.44960356e-02 7.31764882e+01] [ 1.85329679e-02 9.99828233e-01 -1.81400630e-04 3.28165619e-01] [ 1.44969076e-02 -8.73041531e-05 9.99894911e-01 4.59733005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999254154 meters 0.014327326606497633 Centerline is valid? [True, True] Translation: X:73.23, Y:0.34, Z:0.46 [[ 9.99868923e-01 -8.71025410e-03 -1.36479880e-02 7.32348737e+01] [ 8.70873085e-03 9.99962064e-01 -1.71038546e-04 3.38054583e-01] [ 1.36489601e-02 5.21594723e-05 9.99906847e-01 4.60663583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters 0.014603765925848163 Centerline is valid? [True, True] Translation: X:73.29, Y:0.34, Z:0.46 [[ 9.99888127e-01 -6.07262088e-03 -1.36695900e-02 7.32937989e+01] [ 6.07081857e-03 9.99981557e-01 -1.73339086e-04 3.40565491e-01] [ 1.36703905e-02 9.03340932e-05 9.99906552e-01 4.60686524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters 0.014561099590256131 Centerline is valid? [True, True] Translation: X:73.35, Y:0.34, Z:0.46 [[ 9.99847892e-01 -8.38997168e-03 -1.52905530e-02 7.33506162e+01] [ 8.38794426e-03 9.99964801e-01 -1.96721615e-04 3.39000138e-01] [ 1.52916652e-02 6.84353866e-05 9.99883073e-01 4.58528387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399999 meters 0.014314784329747279 Centerline is valid? [True, True] Translation: X:73.41, Y:0.34, Z:0.46 [[ 9.99805181e-01 -1.17911833e-02 -1.58293512e-02 7.34096106e+01] [ 1.17894141e-02 9.99930481e-01 -2.05082194e-04 3.36134844e-01] [ 1.58306689e-02 1.84234638e-05 9.99874687e-01 4.57966818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239254154 meters 0.01449532248579226 Centerline is valid? [True, True] Translation: X:73.47, Y:0.33, Z:0.46 [[ 9.99755518e-01 -1.56013804e-02 -1.56684859e-02 7.34675370e+01] [ 1.56000709e-02 9.99878290e-01 -2.05796984e-04 3.32707033e-01] [ 1.56697897e-02 -3.86828219e-05 9.99877221e-01 4.58524945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299254154 meters 0.015029147262398835 Centerline is valid? [True, True] Translation: X:73.53, Y:0.33, Z:0.46 [[ 9.99678299e-01 -2.08946981e-02 -1.43773960e-02 7.35254574e+01] [ 2.08941106e-02 9.99781676e-01 -1.91080930e-04 3.27004161e-01] [ 1.43782496e-02 -1.09383444e-04 9.99896622e-01 4.59863821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359254154 meters 0.016226333883833027 Centerline is valid? [True, True] Translation: X:73.58, Y:0.32, Z:0.46 [[ 9.99572167e-01 -2.57598529e-02 -1.38532645e-02 7.35845193e+01] [ 2.57597702e-02 9.99668145e-01 -1.84431453e-04 3.20910265e-01] [ 1.38534181e-02 -1.72504362e-04 9.99904022e-01 4.60521323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters 0.018432976808212466 Centerline is valid? [True, True] Translation: X:73.64, Y:0.31, Z:0.46 [[ 9.99422455e-01 -3.11497743e-02 -1.35811866e-02 7.36449755e+01] [ 3.11501949e-02 9.99514699e-01 -1.80618392e-04 3.12463240e-01] [ 1.35802218e-02 -2.42542531e-04 9.99907755e-01 4.60121135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters 0.017466524096426635 Centerline is valid? [True, True] Translation: X:73.71, Y:0.31, Z:0.46 [[ 9.99235271e-01 -3.65671348e-02 -1.38462418e-02 7.37063391e+01] [ 3.65680953e-02 9.99331147e-01 -1.83885588e-04 3.10738409e-01] [ 1.38437048e-02 -3.22585723e-04 9.99904119e-01 4.61735555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399999 meters 0.01752667086624702 Centerline is valid? [True, True] Translation: X:73.77, Y:0.31, Z:0.46 [[ 9.99122295e-01 -3.94081923e-02 -1.41997878e-02 7.37684104e+01] [ 3.94095008e-02 9.99223126e-01 -1.87769707e-04 3.09536217e-01] [ 1.41961560e-02 -3.72001646e-04 9.99899160e-01 4.62920406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599254154 meters 0.018333880342854027 Centerline is valid? [True, True] Translation: X:73.83, Y:0.31, Z:0.46 [[ 9.99048037e-01 -4.12867305e-02 -1.40863726e-02 7.38300781e+01] [ 4.12882176e-02 9.99147261e-01 -1.85358432e-04 3.06175702e-01] [ 1.40820135e-02 -3.96419240e-04 9.99900765e-01 4.63155784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659254154 meters 0.01852915372077026 Centerline is valid? [True, True] Translation: X:73.89, Y:0.30, Z:0.46 [[ 9.99054847e-01 -4.12562543e-02 -1.36870195e-02 7.38925356e+01] [ 4.12576673e-02 9.99148524e-01 -1.79223362e-04 3.04802833e-01] [ 1.36827594e-02 -3.85640529e-04 9.99906312e-01 4.63721208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719254154 meters 0.019676641362933307 Centerline is valid? [True, True] Translation: X:73.95, Y:0.30, Z:0.46 [[ 9.99040753e-01 -4.16645443e-02 -1.34773755e-02 7.39533045e+01] [ 4.16659631e-02 9.99131581e-01 -1.75619456e-04 3.02716627e-01] [ 1.34729886e-02 -3.86096838e-04 9.99909161e-01 4.63043454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters 0.02156654402316261 Centerline is valid? [True, True] Translation: X:74.01, Y:0.30, Z:0.46 [[ 9.98887125e-01 -4.48777289e-02 -1.45086734e-02 7.40144507e+01] [ 4.48797234e-02 9.98992380e-01 -1.88258173e-04 2.99692918e-01] [ 1.45025028e-02 -4.63096586e-04 9.99894726e-01 4.62600391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters 0.020715711482936935 Centerline is valid? [True, True] Translation: X:74.08, Y:0.30, Z:0.46 [[ 9.98673391e-01 -4.91055504e-02 -1.54952437e-02 7.40754167e+01] [ 4.91083419e-02 9.98793437e-01 -2.00523759e-04 3.01454374e-01] [ 1.54863945e-02 -5.60687983e-04 9.99879921e-01 4.63472767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters 0.023353917819387143 Centerline is valid? [True, True] Translation: X:74.14, Y:0.30, Z:0.47 [[ 9.98180944e-01 -5.83535540e-02 -1.51547463e-02 7.41366671e+01] [ 5.83572936e-02 9.98295742e-01 -1.95718229e-04 2.97345315e-01] [ 1.51403395e-02 -6.89027771e-04 9.99885141e-01 4.65095166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399999 meters 0.02441560572037133 Centerline is valid? [True, True] Translation: X:74.20, Y:0.30, Z:0.47 [[ 9.98021258e-01 -6.12857453e-02 -1.40579460e-02 7.41974450e+01] [ 6.12892581e-02 9.98120030e-01 -1.81211337e-04 2.95982451e-01] [ 1.40426231e-02 -6.80748313e-04 9.99901166e-01 4.66430885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019254154 meters 0.02577794691060283 Centerline is valid? [True, True] Translation: X:74.26, Y:0.29, Z:0.47 [[ 9.98032358e-01 -6.13368423e-02 -1.30078551e-02 7.42598455e+01] [ 6.13398633e-02 9.98116924e-01 -1.66972797e-04 2.94863149e-01] [ 1.29936019e-02 -6.31255798e-04 9.99915380e-01 4.67682115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079254154 meters 0.02708058006156955 Centerline is valid? [True, True] Translation: X:74.32, Y:0.29, Z:0.47 [[ 9.98120384e-01 -5.99193962e-02 -1.28594595e-02 7.43212831e+01] [ 5.99222507e-02 9.98203034e-01 -1.63553416e-04 2.94304199e-01] [ 1.28461515e-02 -6.07321756e-04 9.99917300e-01 4.68209829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters 0.023473608698341406 Centerline is valid? [True, True] Translation: X:74.38, Y:0.30, Z:0.47 [[ 9.98456998e-01 -5.40811725e-02 -1.26035397e-02 7.43815236e+01] [ 5.40834628e-02 9.98536406e-01 -1.59294459e-04 3.04046863e-01] [ 1.25937080e-02 -5.22594402e-04 9.99920560e-01 4.69986233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters 0.019584921350784767 Centerline is valid? [True, True] Translation: X:74.44, Y:0.31, Z:0.47 [[ 9.98890263e-01 -4.52754042e-02 -1.29761369e-02 7.44417714e+01] [ 4.52770904e-02 9.98974453e-01 -1.63950150e-04 3.14584002e-01] [ 1.29702522e-02 -4.23753514e-04 9.99915793e-01 4.70556531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters 0.01725479943330249 Centerline is valid? [True, True] Translation: X:74.50, Y:0.32, Z:0.47 [[ 9.99289125e-01 -3.49773439e-02 -1.40652185e-02 7.45012617e+01] [ 3.49783039e-02 9.99388056e-01 -1.77817052e-04 3.23078474e-01] [ 1.40628310e-02 -3.14286842e-04 9.99901064e-01 4.70827406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399999 meters 0.01563312376396611 Centerline is valid? [True, True] Translation: X:74.56, Y:0.33, Z:0.47 [[ 9.99504053e-01 -2.74215321e-02 -1.54825017e-02 7.45626717e+01] [ 2.74217925e-02 9.99623933e-01 -1.95516095e-04 3.29927905e-01] [ 1.54820406e-02 -2.29138819e-04 9.99880120e-01 4.70775943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379254154 meters 0.014761361214491654 Centerline is valid? [True, True] Translation: X:74.62, Y:0.34, Z:0.47 [[ 9.99712792e-01 -1.64950880e-02 -1.73852237e-02 7.46227541e+01] [ 1.64937656e-02 9.99863945e-01 -2.19458222e-04 3.38783199e-01] [ 1.73864784e-02 -6.73526128e-05 9.99848841e-01 4.69570855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439254154 meters 0.014606421474025447 Centerline is valid? [True, True] Translation: X:74.68, Y:0.34, Z:0.47 [[ 9.99797314e-01 -9.66830256e-03 -1.76594325e-02 7.46802068e+01] [ 9.66581447e-03 9.99953259e-01 -2.26242518e-04 3.44881698e-01] [ 1.76607945e-02 5.55038631e-05 9.99844034e-01 4.70699512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499254154 meters 0.014716892188662886 Centerline is valid? [True, True] Translation: X:74.74, Y:0.35, Z:0.47 [[ 9.99835412e-01 -8.46037749e-03 -1.60490121e-02 7.47383415e+01] [ 8.45809480e-03 9.99964208e-01 -2.10104588e-04 3.45935296e-01] [ 1.60502153e-02 7.43259407e-05 9.99871184e-01 4.72394262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters 0.01430636782138839 Centerline is valid? [True, True] Translation: X:74.80, Y:0.34, Z:0.47 [[ 9.99826806e-01 -1.12664616e-02 -1.48130156e-02 7.47968065e+01] [ 1.12647897e-02 9.99936531e-01 -1.96306038e-04 3.43574453e-01] [ 1.48142871e-02 2.94065338e-05 9.99890262e-01 4.73783710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters 0.014520301548954905 Centerline is valid? [True, True] Translation: X:74.86, Y:0.34, Z:0.47 [[ 9.99671450e-01 -2.06842291e-02 -1.51378707e-02 7.48559255e+01] [ 2.06835457e-02 9.99786052e-01 -2.01719104e-04 3.36183198e-01] [ 1.51388043e-02 -1.11452010e-04 9.99885396e-01 4.73480032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399999 meters 0.016190337556072944 Centerline is valid? [True, True] Translation: X:74.92, Y:0.33, Z:0.47 [[ 9.99287604e-01 -3.39073292e-02 -1.65703703e-02 7.49158100e+01] [ 3.39083166e-02 9.99424923e-01 -2.21446048e-04 3.26055702e-01] [ 1.65683497e-02 -3.40585073e-04 9.99862677e-01 4.72932581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739254154 meters 0.019627802068483385 Centerline is valid? [True, True] Translation: X:74.98, Y:0.32, Z:0.47 [[ 9.98942022e-01 -4.27803595e-02 -1.68723818e-02 7.49764237e+01] [ 4.27826494e-02 9.99084378e-01 -2.25373609e-04 3.16933652e-01] [ 1.68665746e-02 -4.96710024e-04 9.99857626e-01 4.72636965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799254154 meters 0.023984950573445105 Centerline is valid? [True, True] Translation: X:75.04, Y:0.31, Z:0.47 [[ 9.98428245e-01 -5.35626669e-02 -1.64948719e-02 7.50372765e+01] [ 5.35663278e-02 9.98564269e-01 -2.20115676e-04 3.07527971e-01] [ 1.64829797e-02 -6.63800009e-04 9.99863926e-01 4.73074206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859254154 meters 0.024856566236389484 Centerline is valid? [True, True] Translation: X:75.10, Y:0.31, Z:0.47 [[ 9.98012668e-01 -6.08585000e-02 -1.63388143e-02 7.50977364e+01] [ 6.08630688e-02 9.98146101e-01 -2.17934884e-04 3.05865309e-01] [ 1.63217869e-02 -7.76928601e-04 9.99866489e-01 4.73616341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters 0.025542771504098498 Centerline is valid? [True, True] Translation: X:75.16, Y:0.31, Z:0.48 [[ 9.97743160e-01 -6.54774995e-02 -1.48756031e-02 7.51586397e+01] [ 6.54818009e-02 9.97853744e-01 -1.98245586e-04 3.05533279e-01] [ 1.48566569e-02 -7.76283102e-04 9.99889332e-01 4.75495657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters 0.02842526756941067 Centerline is valid? [True, True] Translation: X:75.22, Y:0.30, Z:0.48 [[ 9.97494971e-01 -6.93003296e-02 -1.41861843e-02 7.52190950e+01] [ 6.93046305e-02 9.97595526e-01 -1.88800457e-04 3.03916731e-01] [ 1.41651579e-02 -7.94840753e-04 9.99899353e-01 4.75452572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399999 meters 0.027994235822571465 Centerline is valid? [True, True] Translation: X:75.28, Y:0.31, Z:0.48 [[ 9.97357433e-01 -7.11635520e-02 -1.46253191e-02 7.52809957e+01] [ 7.11683335e-02 9.97464300e-01 -1.93923642e-04 3.07104202e-01] [ 1.46020340e-02 -8.47448402e-04 9.99893025e-01 4.75839832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099254154 meters 0.03090191420376281 Centerline is valid? [True, True] Translation: X:75.34, Y:0.31, Z:0.48 [[ 9.97264411e-01 -7.23835719e-02 -1.49770777e-02 7.53416882e+01] [ 7.23887356e-02 9.97376474e-01 -1.97765434e-04 3.06241359e-01] [ 1.49521000e-02 -8.86947292e-04 9.99887818e-01 4.75685346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159254154 meters 0.031522997660123134 Centerline is valid? [True, True] Translation: X:75.40, Y:0.31, Z:0.48 [[ 9.97369261e-01 -7.06984007e-02 -1.60091428e-02 7.54025844e+01] [ 7.07040939e-02 9.97497312e-01 -2.10793822e-04 3.10062174e-01] [ 1.59839797e-02 -9.21672662e-04 9.99871823e-01 4.75305454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219254154 meters 0.02590194242133756 Centerline is valid? [True, True] Translation: X:75.46, Y:0.32, Z:0.48 [[ 9.97799354e-01 -6.42650459e-02 -1.63234171e-02 7.54630066e+01] [ 6.42701102e-02 9.97932516e-01 -2.14690859e-04 3.24834299e-01] [ 1.63034659e-02 -8.34889419e-04 9.99866741e-01 4.76972186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters 0.023169231494759638 Centerline is valid? [True, True] Translation: X:75.52, Y:0.33, Z:0.48 [[ 9.98193405e-01 -5.75664478e-02 -1.72055112e-02 7.55230665e+01] [ 5.75710814e-02 9.98341384e-01 -2.26286223e-04 3.34506912e-01] [ 1.71900004e-02 -7.64662473e-04 9.99851949e-01 4.77786477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters 0.019534822641566047 Centerline is valid? [True, True] Translation: X:75.58, Y:0.35, Z:0.48 [[ 9.98813386e-01 -4.57507089e-02 -1.66941084e-02 7.55833771e+01] [ 4.57534246e-02 9.98952740e-01 -2.19426773e-04 3.49012334e-01] [ 1.66866642e-02 -5.44646230e-04 9.99860620e-01 4.79624348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399999 meters 0.01683059965807202 Centerline is valid? [True, True] Translation: X:75.64, Y:0.36, Z:0.48 [[ 9.99308999e-01 -3.40068854e-02 -1.50018946e-02 7.56434921e+01] [ 3.40077565e-02 9.99421550e-01 -1.97106450e-04 3.61763241e-01] [ 1.49999197e-02 -3.13210531e-04 9.99887446e-01 4.81895606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399999 meters 0.015314650050513584 Centerline is valid? [True, True] Translation: X:75.70, Y:0.37, Z:0.48 [[ 9.99562354e-01 -2.61495134e-02 -1.38312779e-02 7.57041160e+01] [ 2.61495053e-02 9.99658027e-01 -1.81469041e-04 3.69785960e-01] [ 1.38312933e-02 -1.80291454e-04 9.99904327e-01 4.83231063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519254154 meters 0.01435885212323358 Centerline is valid? [True, True] Translation: X:75.77, Y:0.38, Z:0.48 [[ 9.99764244e-01 -1.67573897e-02 -1.38074902e-02 7.57650765e+01] [ 1.67564909e-02 9.99859584e-01 -1.80788382e-04 3.80395424e-01] [ 1.38085809e-02 -5.06193246e-05 9.99904656e-01 4.82941997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579254154 meters 0.01420930138274232 Centerline is valid? [True, True] Translation: X:75.82, Y:0.38, Z:0.48 [[ 9.99812449e-01 -1.27839724e-02 -1.45477123e-02 7.58246864e+01] [ 1.27825518e-02 9.99918282e-01 -1.90635016e-04 3.84853552e-01] [ 1.45489606e-02 4.64237586e-06 9.99894158e-01 4.82494427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters 0.014185561760811996 Centerline is valid? [True, True] Translation: X:75.88, Y:0.38, Z:0.48 [[ 9.99767293e-01 -1.51947580e-02 -1.53126820e-02 7.58825703e+01] [ 1.51934251e-02 9.99884553e-01 -2.03380138e-04 3.84821324e-01] [ 1.53140045e-02 -2.93192761e-05 9.99882733e-01 4.82305746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters 0.01440931938181292 Centerline is valid? [True, True] Translation: X:75.94, Y:0.38, Z:0.48 [[ 9.99678728e-01 -2.10651098e-02 -1.40961512e-02 7.59416475e+01] [ 2.10645310e-02 9.99778100e-01 -1.89543531e-04 3.81958232e-01] [ 1.40970160e-02 -1.07446177e-04 9.99900626e-01 4.83629067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters 0.014692631254934634 Centerline is valid? [True, True] Translation: X:76.00, Y:0.38, Z:0.48 [[ 9.99599277e-01 -2.51563867e-02 -1.29784748e-02 7.60024294e+01] [ 2.51562349e-02 9.99683517e-01 -1.74974243e-04 3.79646525e-01] [ 1.29787690e-02 -1.51585433e-04 9.99915761e-01 4.84898421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399999 meters 0.01563222279333874 Centerline is valid? [True, True] Translation: X:76.06, Y:0.38, Z:0.49 [[ 9.99424941e-01 -3.17255654e-02 -1.19697666e-02 7.60637917e+01] [ 3.17259095e-02 9.99496594e-01 -1.61179766e-04 3.75807074e-01] [ 1.19688545e-02 -2.18664654e-04 9.99928347e-01 4.86521033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879254154 meters 0.017564168633451033 Centerline is valid? [True, True] Translation: X:76.12, Y:0.37, Z:0.49 [[ 9.99208299e-01 -3.80944820e-02 -1.14710980e-02 7.61238001e+01] [ 3.80952251e-02 9.99274102e-01 -1.53794918e-04 3.70027910e-01] [ 1.14686299e-02 -2.83320902e-04 9.99934193e-01 4.86483074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939254154 meters 0.018078535970714925 Centerline is valid? [True, True] Translation: X:76.19, Y:0.37, Z:0.49 [[ 9.99029519e-01 -4.23487502e-02 -1.21079534e-02 7.61856239e+01] [ 4.23499017e-02 9.99102827e-01 -1.61390376e-04 3.67031187e-01] [ 1.21039252e-02 -3.51536887e-04 9.99926683e-01 4.86602582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999254154 meters 0.019058260844120743 Centerline is valid? [True, True] Translation: X:76.25, Y:0.37, Z:0.49 [[ 9.98997847e-01 -4.31053176e-02 -1.20512772e-02 7.62467602e+01] [ 4.31065214e-02 9.99070469e-01 -1.59966966e-04 3.65220213e-01] [ 1.20469706e-02 -3.59681983e-04 9.99927368e-01 4.86428038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters 0.019472999644523085 Centerline is valid? [True, True] Translation: X:76.31, Y:0.36, Z:0.49 [[ 9.99053904e-01 -4.15516222e-02 -1.28358689e-02 7.63084473e+01] [ 4.15528704e-02 9.99136292e-01 -1.69547170e-04 3.63989220e-01] [ 1.28318274e-02 -3.63980434e-04 9.99917602e-01 4.85635623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters 0.016007561565291272 Centerline is valid? [True, True] Translation: X:76.37, Y:0.37, Z:0.49 [[ 9.99340588e-01 -3.34620924e-02 -1.40953266e-02 7.63693737e+01] [ 3.34628030e-02 9.99439946e-01 -1.85496693e-04 3.71869659e-01] [ 1.40936396e-02 -2.86294765e-04 9.99900639e-01 4.85535273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399999 meters 0.014480847165691103 Centerline is valid? [True, True] Translation: X:76.43, Y:0.38, Z:0.49 [[ 9.99672482e-01 -2.11398362e-02 -1.44234431e-02 7.64287487e+01] [ 2.11392977e-02 9.99776522e-01 -1.89810443e-04 3.80337287e-01] [ 1.44242324e-02 -1.15153180e-04 9.99895959e-01 4.86321621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239254154 meters 0.014373116140945627 Centerline is valid? [True, True] Translation: X:76.49, Y:0.39, Z:0.49 [[ 9.99838654e-01 -1.04758124e-02 -1.45918697e-02 7.64889020e+01] [ 1.04741236e-02 9.99945126e-01 -1.92152435e-04 3.87169536e-01] [ 1.45930819e-02 3.92843850e-05 9.99893515e-01 4.86904915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299254154 meters 0.014688146178907515 Centerline is valid? [True, True] Translation: X:76.55, Y:0.39, Z:0.49 [[ 9.99864623e-01 -7.24705508e-03 -1.47721479e-02 7.65480010e+01] [ 7.24494164e-03 9.99973736e-01 -1.96579826e-04 3.89684923e-01] [ 1.47731845e-02 8.95298648e-05 9.99890867e-01 4.86996665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359254154 meters 0.014516812878059537 Centerline is valid? [True, True] Translation: X:76.61, Y:0.39, Z:0.49 [[ 9.99858755e-01 -7.32298392e-03 -1.51275587e-02 7.66055958e+01] [ 7.32071215e-03 9.99973182e-01 -2.05545562e-04 3.88503068e-01] [ 1.51286583e-02 9.47720270e-05 9.99885551e-01 4.87971008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters 0.014557353570219795 Centerline is valid? [True, True] Translation: X:76.66, Y:0.38, Z:0.49 [[ 9.99781759e-01 -1.31901340e-02 -1.62004626e-02 7.66643561e+01] [ 1.31882529e-02 9.99913006e-01 -2.22944870e-04 3.83634249e-01] [ 1.62019939e-02 9.24041554e-06 9.99868739e-01 4.87385261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters 0.014649756327977773 Centerline is valid? [True, True] Translation: X:76.72, Y:0.38, Z:0.49 [[ 9.99665137e-01 -1.97593725e-02 -1.67086912e-02 7.67235098e+01] [ 1.97582683e-02 9.99804760e-01 -2.31179844e-04 3.78658226e-01] [ 1.67099970e-02 -9.90323739e-05 9.99860373e-01 4.87073855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399999 meters 0.01591936900162611 Centerline is valid? [True, True] Translation: X:76.78, Y:0.37, Z:0.49 [[ 9.99395398e-01 -3.09959982e-02 -1.57507453e-02 7.67830801e+01] [ 3.09963991e-02 9.99519472e-01 -2.18723479e-04 3.69926928e-01] [ 1.57499562e-02 -2.69625149e-04 9.99875925e-01 4.87680706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599254154 meters 0.018254384542028608 Centerline is valid? [True, True] Translation: X:76.84, Y:0.36, Z:0.49 [[ 9.99034845e-01 -4.14252866e-02 -1.46056045e-02 7.68437662e+01] [ 4.14267436e-02 9.99141523e-01 -2.02906722e-04 3.61974615e-01] [ 1.46014714e-02 -4.02351748e-04 9.99893312e-01 4.89825378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659254154 meters 0.019998048733775687 Centerline is valid? [True, True] Translation: X:76.90, Y:0.36, Z:0.49 [[ 9.98757843e-01 -4.79333567e-02 -1.36075153e-02 7.69045245e+01] [ 4.79352279e-02 9.98850428e-01 -1.88798168e-04 3.57562621e-01] [ 1.36009222e-02 -4.63715695e-04 9.99907396e-01 4.90716217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719254154 meters 0.023645107304846032 Centerline is valid? [True, True] Translation: X:76.97, Y:0.35, Z:0.49 [[ 9.98262139e-01 -5.75092886e-02 -1.28601611e-02 7.69660843e+01] [ 5.75117565e-02 9.98344813e-01 -1.78142890e-04 3.48587067e-01] [ 1.28491200e-02 -5.61777151e-04 9.99917289e-01 4.90579074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters 0.02729755207874965 Centerline is valid? [True, True] Translation: X:77.03, Y:0.34, Z:0.49 [[ 9.97780821e-01 -6.54523091e-02 -1.22240716e-02 7.70269338e+01] [ 6.54551361e-02 9.97855499e-01 -1.69102592e-04 3.43085246e-01] [ 1.22089252e-02 -6.31400947e-04 9.99925269e-01 4.91688468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters 0.029826570353799847 Centerline is valid? [True, True] Translation: X:77.09, Y:0.34, Z:0.49 [[ 9.97430095e-01 -7.04396620e-02 -1.30942623e-02 7.70878979e+01] [ 7.04433354e-02 9.97515766e-01 -1.81049488e-04 3.40603678e-01] [ 1.30744861e-02 -7.41819302e-04 9.99914250e-01 4.91099427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399999 meters 0.031872765784740874 Centerline is valid? [True, True] Translation: X:77.15, Y:0.34, Z:0.49 [[ 9.97244792e-01 -7.29379799e-02 -1.35231349e-02 7.71491215e+01] [ 7.29421303e-02 9.97336157e-01 -1.86712780e-04 3.38631643e-01] [ 1.35007299e-02 -8.00207924e-04 9.99908541e-01 4.91001482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399999 meters 0.031631061895620344 Centerline is valid? [True, True] Translation: X:77.21, Y:0.34, Z:0.49 [[ 9.97088722e-01 -7.47976753e-02 -1.48117340e-02 7.72099010e+01] [ 7.48028651e-02 9.97198320e-01 -2.04093574e-04 3.41150804e-01] [ 1.47855020e-02 -9.04460739e-04 9.99890279e-01 4.90336664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019254154 meters 0.03136062419660321 Centerline is valid? [True, True] Translation: X:77.27, Y:0.35, Z:0.49 [[ 9.97231547e-01 -7.27192920e-02 -1.55288841e-02 7.72716073e+01] [ 7.27247549e-02 9.97352026e-01 -2.13369311e-04 3.45261327e-01] [ 1.55032801e-02 -9.16555685e-04 9.99879397e-01 4.90639582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079254154 meters 0.02604375936092301 Centerline is valid? [True, True] Translation: X:77.33, Y:0.36, Z:0.49 [[ 9.97648414e-01 -6.70767120e-02 -1.40839090e-02 7.73323039e+01] [ 6.70806494e-02 9.97747538e-01 -1.93184941e-04 3.57258709e-01] [ 1.40651438e-02 -7.52027112e-04 9.99900798e-01 4.93267326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters 0.023408646709686155 Centerline is valid? [True, True] Translation: X:77.39, Y:0.37, Z:0.50 [[ 9.98304112e-01 -5.69224178e-02 -1.21957976e-02 7.73915424e+01] [ 5.69246124e-02 9.98378466e-01 -1.67399444e-04 3.66774341e-01] [ 1.21855505e-02 -5.27125499e-04 9.99925614e-01 4.95661324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters 0.020153070519212807 Centerline is valid? [True, True] Translation: X:77.45, Y:0.38, Z:0.50 [[ 9.98742468e-01 -4.88316627e-02 -1.13556689e-02 7.74520351e+01] [ 4.88330414e-02 9.98806943e-01 -1.55993559e-04 3.76217064e-01] [ 1.13497384e-02 -3.98734459e-04 9.99935510e-01 4.97184534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters 0.017595476366769325 Centerline is valid? [True, True] Translation: X:77.51, Y:0.39, Z:0.50 [[ 9.99285912e-01 -3.60678655e-02 -1.12594252e-02 7.75119867e+01] [ 3.60684110e-02 9.99349311e-01 -1.54671183e-04 3.86184564e-01] [ 1.12576775e-02 -2.51548842e-04 9.99936599e-01 4.97342704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399999 meters 0.015144445785076652 Centerline is valid? [True, True] Translation: X:77.57, Y:0.40, Z:0.50 [[ 9.99606556e-01 -2.50148078e-02 -1.26882875e-02 7.75724497e+01] [ 2.50146101e-02 9.99687070e-01 -1.74307188e-04 3.97167181e-01] [ 1.26886772e-02 -1.43153957e-04 9.99919485e-01 4.96853824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379254154 meters 0.014515894918798624 Centerline is valid? [True, True] Translation: X:77.63, Y:0.40, Z:0.50 [[ 9.99770726e-01 -1.70769411e-02 -1.29179666e-02 7.76325667e+01] [ 1.70760750e-02 9.99854177e-01 -1.77351354e-04 4.04077765e-01] [ 1.29191115e-02 -4.32774751e-05 9.99916544e-01 4.97031236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439254154 meters 0.014525140930269858 Centerline is valid? [True, True] Translation: X:77.69, Y:0.41, Z:0.50 [[ 9.99827227e-01 -1.37762832e-02 -1.24791579e-02 7.76923828e+01] [ 1.37752167e-02 9.99905103e-01 -1.71413804e-04 4.06968947e-01] [ 1.24803351e-02 -5.18916335e-07 9.99922118e-01 4.97458039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499254154 meters 0.01452952869565273 Centerline is valid? [True, True] Translation: X:77.75, Y:0.41, Z:0.50 [[ 9.99870777e-01 -1.06731224e-02 -1.20213680e-02 7.77513383e+01] [ 1.06719035e-02 9.99943040e-01 -1.65536892e-04 4.09256276e-01] [ 1.20224501e-02 3.72246212e-05 9.99927727e-01 4.98412514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters 0.014538022976684568 Centerline is valid? [True, True] Translation: X:77.81, Y:0.41, Z:0.50 [[ 9.99877256e-01 -1.02223439e-02 -1.18733291e-02 7.78105344e+01] [ 1.02211057e-02 9.99947750e-01 -1.64962550e-04 4.08160012e-01] [ 1.18743950e-02 4.35837504e-05 9.99929496e-01 4.98664082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters 0.014553814892740194 Centerline is valid? [True, True] Translation: X:77.87, Y:0.40, Z:0.50 [[ 9.99823061e-01 -1.43595345e-02 -1.21511639e-02 7.78681198e+01] [ 1.43585177e-02 9.99896897e-01 -1.70922122e-04 4.02176667e-01] [ 1.21523654e-02 -3.58082321e-06 9.99926157e-01 4.97527638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399999 meters 0.014632262242941386 Centerline is valid? [True, True] Translation: X:77.93, Y:0.40, Z:0.50 [[ 9.99725873e-01 -1.98585033e-02 -1.24023575e-02 7.79282339e+01] [ 1.98578574e-02 9.99802798e-01 -1.75234817e-04 3.96470337e-01] [ 1.24033917e-02 -7.10974660e-05 9.99923072e-01 4.98405300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739254154 meters 0.016088037381387896 Centerline is valid? [True, True] Translation: X:77.99, Y:0.39, Z:0.50 [[ 9.99476873e-01 -2.96170632e-02 -1.29926844e-02 7.79884988e+01] [ 2.96171750e-02 9.99561298e-01 -1.83845769e-04 3.85881166e-01] [ 1.29924295e-02 -2.01057014e-04 9.99915575e-01 4.98077166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799254154 meters 0.01819675424937371 Centerline is valid? [True, True] Translation: X:78.05, Y:0.38, Z:0.50 [[ 9.99169667e-01 -3.86144308e-02 -1.29962708e-02 7.80497430e+01] [ 3.86153063e-02 9.99254134e-01 -1.83659593e-04 3.76645467e-01] [ 1.29936692e-02 -3.18347883e-04 9.99915528e-01 4.98331396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859254154 meters 0.020609086460614632 Centerline is valid? [True, True] Translation: X:78.11, Y:0.37, Z:0.50 [[ 9.98942159e-01 -4.41687805e-02 -1.27938041e-02 7.81097823e+01] [ 4.41700875e-02 9.99024009e-01 -1.80529042e-04 3.70378983e-01] [ 1.27892912e-02 -3.84765374e-04 9.99918140e-01 4.98621838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters 0.023396101780857614 Centerline is valid? [True, True] Translation: X:78.17, Y:0.36, Z:0.50 [[ 9.98692394e-01 -4.96424400e-02 -1.22118923e-02 7.81708177e+01] [ 4.96440406e-02 9.98766960e-01 -1.72223148e-04 3.64272052e-01] [ 1.22053841e-02 -4.34249730e-04 9.99925417e-01 4.98903172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters 0.022444994428788504 Centerline is valid? [True, True] Translation: X:78.23, Y:0.36, Z:0.50 [[ 9.98398944e-01 -5.50397092e-02 -1.30452422e-02 7.82322625e+01] [ 5.50420002e-02 9.98484023e-01 -1.83619285e-04 3.64347831e-01] [ 1.30355723e-02 -5.34710924e-04 9.99914890e-01 4.99794406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399999 meters 0.025934051913557694 Centerline is valid? [True, True] Translation: X:78.29, Y:0.36, Z:0.50 [[ 9.97920033e-01 -6.30283466e-02 -1.35290606e-02 7.82935901e+01] [ 6.30315490e-02 9.98011517e-01 -1.89987936e-04 3.58192385e-01] [ 1.35141329e-02 -6.63164877e-04 9.99908460e-01 5.00150750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099254154 meters 0.026936110437476776 Centerline is valid? [True, True] Translation: X:78.35, Y:0.36, Z:0.50 [[ 9.97514927e-01 -6.91073017e-02 -1.37168072e-02 7.83540373e+01] [ 6.91111694e-02 9.97608946e-01 -1.92416051e-04 3.56989880e-01] [ 1.36973069e-02 -7.56046702e-04 9.99905902e-01 5.01280051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159254154 meters 0.02825984257301574 Centerline is valid? [True, True] Translation: X:78.42, Y:0.36, Z:0.50 [[ 9.97375442e-01 -7.09818750e-02 -1.42758723e-02 7.84159251e+01] [ 7.09862690e-02 9.97477273e-01 -1.99328891e-04 3.57317697e-01] [ 1.42540069e-02 -8.14585173e-04 9.99898075e-01 5.01364740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219254154 meters 0.028370215870690118 Centerline is valid? [True, True] Translation: X:78.48, Y:0.36, Z:0.50 [[ 9.97419877e-01 -7.02962770e-02 -1.45609710e-02 7.84785767e+01] [ 7.03007980e-02 9.97525818e-01 -2.01763517e-04 3.59562876e-01] [ 1.45391277e-02 -8.22404936e-04 9.99893963e-01 5.01202315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters 0.03342211568678484 Centerline is valid? [True, True] Translation: X:78.54, Y:0.36, Z:0.50 [[ 9.97576651e-01 -6.78043411e-02 -1.56012058e-02 7.85392437e+01] [ 6.78092428e-02 9.97698281e-01 -2.15187340e-04 3.58117928e-01] [ 1.55798869e-02 -8.43240090e-04 9.99878271e-01 5.00385947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters 0.027615743563796796 Centerline is valid? [True, True] Translation: X:78.60, Y:0.37, Z:0.50 [[ 9.97921008e-01 -6.25372975e-02 -1.55803626e-02 7.85997824e+01] [ 6.25415504e-02 9.98042338e-01 -2.14602474e-04 3.72435106e-01] [ 1.55632822e-02 -7.60263717e-04 9.99878596e-01 5.02007951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399999 meters 0.025522521292838985 Centerline is valid? [True, True] Translation: X:78.66, Y:0.38, Z:0.50 [[ 9.98189634e-01 -5.84059240e-02 -1.43597371e-02 7.86608603e+01] [ 5.84091130e-02 9.98292711e-01 -1.97572924e-04 3.80388959e-01] [ 1.43467603e-02 -6.41524263e-04 9.99896874e-01 5.04041771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399999 meters 0.02190481190356585 Centerline is valid? [True, True] Translation: X:78.72, Y:0.39, Z:0.51 [[ 9.98566235e-01 -5.16088769e-02 -1.42126152e-02 7.87214864e+01] [ 5.16113158e-02 9.98667229e-01 -1.95371352e-04 3.93860847e-01] [ 1.42037560e-02 -5.38440539e-04 9.99898977e-01 5.05538516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519254154 meters 0.01876714319169456 Centerline is valid? [True, True] Translation: X:78.78, Y:0.41, Z:0.51 [[ 9.98879986e-01 -4.47482037e-02 -1.53743813e-02 7.87825466e+01] [ 4.47502495e-02 9.98998183e-01 -2.11106161e-04 4.07142068e-01] [ 1.53684256e-02 -4.77137679e-04 9.99881785e-01 5.05727358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579254154 meters 0.017226361328778302 Centerline is valid? [True, True] Translation: X:78.84, Y:0.42, Z:0.51 [[ 9.99211548e-01 -3.65155703e-02 -1.55851352e-02 7.88425890e+01] [ 3.65166742e-02 9.99333021e-01 -2.13831175e-04 4.18231367e-01] [ 1.55825484e-02 -3.55454726e-04 9.99878522e-01 5.06158561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters 0.015237599466854337 Centerline is valid? [True, True] Translation: X:78.90, Y:0.43, Z:0.51 [[ 9.99512655e-01 -2.72219720e-02 -1.52779894e-02 7.89028819e+01] [ 2.72219473e-02 9.99629392e-01 -2.09617073e-04 4.30541124e-01] [ 1.52780335e-02 -2.06381705e-04 9.99883263e-01 5.08241623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters 0.014668597847664146 Centerline is valid? [True, True] Translation: X:78.96, Y:0.44, Z:0.51 [[ 9.99640816e-01 -2.20813288e-02 -1.51873179e-02 7.89645013e+01] [ 2.20807159e-02 9.99756170e-01 -2.08059438e-04 4.37612692e-01] [ 1.51882090e-02 -1.27362146e-04 9.99884644e-01 5.09447381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters 0.014338963440406131 Centerline is valid? [True, True] Translation: X:79.02, Y:0.44, Z:0.51 [[ 9.99727657e-01 -1.80727834e-02 -1.47643861e-02 7.90247385e+01] [ 1.80717706e-02 9.99836672e-01 -2.02024101e-04 4.43536871e-01] [ 1.47656258e-02 -6.48495175e-05 9.99890980e-01 5.09865305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399999 meters 0.014509670521658913 Centerline is valid? [True, True] Translation: X:79.08, Y:0.44, Z:0.51 [[ 9.99693042e-01 -1.94757893e-02 -1.53138811e-02 7.90841811e+01] [ 1.94748595e-02 9.99810325e-01 -2.09853886e-04 4.44546653e-01] [ 1.53150635e-02 -8.84462135e-05 9.99882714e-01 5.09531310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879254154 meters 0.014836015596657901 Centerline is valid? [True, True] Translation: X:79.14, Y:0.44, Z:0.51 [[ 9.99618967e-01 -2.35597778e-02 -1.43825407e-02 7.91438083e+01] [ 2.35593751e-02 9.99722420e-01 -1.97455304e-04 4.42929149e-01] [ 1.43832004e-02 -1.41463604e-04 9.99896546e-01 5.10359784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939254154 meters 0.01619000984120824 Centerline is valid? [True, True] Translation: X:79.20, Y:0.44, Z:0.51 [[ 9.99384786e-01 -3.21919606e-02 -1.39185971e-02 7.92048783e+01] [ 3.21924244e-02 9.99481671e-01 -1.90778878e-04 4.38432672e-01] [ 1.39175243e-02 -2.57411879e-04 9.99903113e-01 5.11384373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999254154 meters 0.017687184205148032 Centerline is valid? [True, True] Translation: X:79.27, Y:0.43, Z:0.51 [[ 9.99174950e-01 -3.80053685e-02 -1.43181875e-02 7.92655928e+01] [ 3.80064636e-02 9.99277474e-01 -1.95714530e-04 4.34348954e-01] [ 1.43152804e-02 -3.48630616e-04 9.99897470e-01 5.11063843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters 0.020296601368332154 Centerline is valid? [True, True] Translation: X:79.33, Y:0.43, Z:0.51 [[ 9.98929121e-01 -4.38476133e-02 -1.47647689e-02 7.93262333e+01] [ 4.38494192e-02 9.99038131e-01 -2.01551650e-04 4.27765075e-01] [ 1.47594047e-02 -4.46090728e-04 9.99890975e-01 5.10189057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters 0.020406451084324793 Centerline is valid? [True, True] Translation: X:79.39, Y:0.43, Z:0.51 [[ 9.98963877e-01 -4.29312547e-02 -1.51022990e-02 7.93887801e+01] [ 4.29330502e-02 9.99077930e-01 -2.05452180e-04 4.27305170e-01] [ 1.50971940e-02 -4.43148455e-04 9.99885933e-01 5.10222419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399999 meters 0.018046360970387566 Centerline is valid? [True, True] Translation: X:79.45, Y:0.43, Z:0.51 [[ 9.99192792e-01 -3.73962778e-02 -1.46724922e-02 7.94505126e+01] [ 3.73973891e-02 9.99300453e-01 -1.98721133e-04 4.32442774e-01] [ 1.46696595e-02 -3.50152175e-04 9.99892333e-01 5.11653960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239254154 meters 0.015817638251660937 Centerline is valid? [True, True] Translation: X:79.51, Y:0.44, Z:0.51 [[ 9.99496620e-01 -2.82889401e-02 -1.43611582e-02 7.95101411e+01] [ 2.82890698e-02 9.99599765e-01 -1.94150513e-04 4.37413596e-01] [ 1.43609026e-02 -2.12211024e-04 9.99896854e-01 5.12764507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299254154 meters 0.01460392549852424 Centerline is valid? [True, True] Translation: X:79.57, Y:0.44, Z:0.51 [[ 9.99685499e-01 -1.98906711e-02 -1.52729668e-02 7.95716350e+01] [ 1.98898425e-02 9.99802156e-01 -2.06164789e-04 4.41935667e-01] [ 1.52740459e-02 -9.76769547e-05 9.99883340e-01 5.13099948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359254154 meters 0.014508513805546647 Centerline is valid? [True, True] Translation: X:79.63, Y:0.44, Z:0.51 [[ 9.99727868e-01 -1.65793121e-02 -1.64108802e-02 7.96314502e+01] [ 1.65779078e-02 9.99862552e-01 -2.21612103e-04 4.42665805e-01] [ 1.64122988e-02 -5.05062651e-05 9.99865308e-01 5.12773910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters 0.014529201669013406 Centerline is valid? [True, True] Translation: X:79.69, Y:0.44, Z:0.51 [[ 9.99715205e-01 -1.56941991e-02 -1.79777833e-02 7.96902046e+01] [ 1.56923135e-02 9.99876838e-01 -2.45954313e-04 4.40558782e-01] [ 1.79794291e-02 -3.62287445e-05 9.99838356e-01 5.12652702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters 0.014808372382705721 Centerline is valid? [True, True] Translation: X:79.75, Y:0.43, Z:0.51 [[ 9.99593777e-01 -1.96406232e-02 -2.06525383e-02 7.97485630e+01] [ 1.96389090e-02 9.99807097e-01 -2.85840663e-04 4.34539479e-01] [ 2.06541685e-02 -1.19868772e-04 9.99786673e-01 5.11422235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399999 meters 0.01539150582673119 Centerline is valid? [True, True] Translation: X:79.81, Y:0.43, Z:0.51 [[ 9.99449861e-01 -2.61340824e-02 -2.04201998e-02 7.98069804e+01] [ 2.61337229e-02 9.99658415e-01 -2.84505502e-04 4.27150777e-01] [ 2.04206599e-02 -2.49306860e-04 9.99791446e-01 5.11673120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599254154 meters 0.015769961492964217 Centerline is valid? [True, True] Translation: X:79.87, Y:0.42, Z:0.51 [[ 9.99379825e-01 -2.93288611e-02 -1.94880458e-02 7.98655172e+01] [ 2.93290656e-02 9.99569772e-01 -2.75380592e-04 4.23074221e-01] [ 1.94877381e-02 -2.96356366e-04 9.99810052e-01 5.12962604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659254154 meters 0.016103323585951346 Centerline is valid? [True, True] Translation: X:79.93, Y:0.42, Z:0.52 [[ 9.99353345e-01 -3.12448976e-02 -1.77946057e-02 7.99259441e+01] [ 3.12453436e-02 9.99511713e-01 -2.53020184e-04 4.18918671e-01] [ 1.77938225e-02 -3.03142003e-04 9.99841631e-01 5.15446656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719254154 meters 0.01579430325397879 Centerline is valid? [True, True] Translation: X:79.99, Y:0.42, Z:0.52 [[ 9.99420001e-01 -2.97411274e-02 -1.65869792e-02 7.99873901e+01] [ 2.97413139e-02 9.99557602e-01 -2.35488031e-04 4.15533112e-01] [ 1.65866448e-02 -2.57967107e-04 9.99862399e-01 5.16190661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters 0.015582667061915936 Centerline is valid? [True, True] Translation: X:80.05, Y:0.41, Z:0.52 [[ 9.99457831e-01 -2.85456737e-02 -1.64069786e-02 8.00491877e+01] [ 2.85457050e-02 9.99592461e-01 -2.32329802e-04 4.14465270e-01] [ 1.64069241e-02 -2.36144930e-04 9.99865369e-01 5.16536447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters 0.01563302393780083 Centerline is valid? [True, True] Translation: X:80.11, Y:0.41, Z:0.52 [[ 9.99492766e-01 -2.75876827e-02 -1.59100738e-02 8.01099427e+01] [ 2.75875973e-02 9.99619365e-01 -2.24883662e-04 4.11614004e-01] [ 1.59102219e-02 -2.14151116e-04 9.99873401e-01 5.15966005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399999 meters 0.015514927357661346 Centerline is valid? [True, True] Translation: X:80.17, Y:0.41, Z:0.52 [[ 9.99518635e-01 -2.64220706e-02 -1.62595248e-02 8.01709170e+01] [ 2.64218293e-02 9.99650856e-01 -2.29697732e-04 4.10257011e-01] [ 1.62599170e-02 -2.00019226e-04 9.99867779e-01 5.15963563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399999 meters 0.01517262224592607 Centerline is valid? [True, True] Translation: X:80.23, Y:0.41, Z:0.52 [[ 9.99604597e-01 -2.28495110e-02 -1.63874588e-02 8.02311036e+01] [ 2.28487858e-02 9.99738906e-01 -2.31505051e-04 4.08816790e-01] [ 1.63884699e-02 -1.43020024e-04 9.99865690e-01 5.15940130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019254154 meters 0.01486051272722423 Centerline is valid? [True, True] Translation: X:80.29, Y:0.41, Z:0.52 [[ 9.99695233e-01 -1.77400785e-02 -1.71677467e-02 8.02903938e+01] [ 1.77385225e-02 9.99842631e-01 -2.42921116e-04 4.09400310e-01] [ 1.71693545e-02 -6.16833803e-05 9.99852594e-01 5.16600610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079254154 meters 0.015037583686861637 Centerline is valid? [True, True] Translation: X:80.35, Y:0.41, Z:0.52 [[ 9.99734579e-01 -1.37932934e-02 -1.84530983e-02 8.03479399e+01] [ 1.37907984e-02 9.99904868e-01 -2.62462815e-04 4.08372134e-01] [ 1.84549630e-02 7.91019470e-06 9.99829693e-01 5.16088037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters 0.014993384876374477 Centerline is valid? [True, True] Translation: X:80.41, Y:0.41, Z:0.52 [[ 9.99747087e-01 -1.27175013e-02 -1.85479830e-02 8.04056746e+01] [ 1.27147189e-02 9.99919129e-01 -2.67934416e-04 4.07178955e-01] [ 1.85498904e-02 3.20342609e-05 9.99827935e-01 5.16368705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters 0.015231899259082641 Centerline is valid? [True, True] Translation: X:80.46, Y:0.40, Z:0.52 [[ 9.99756576e-01 -1.27546527e-02 -1.80029867e-02 8.04637960e+01] [ 1.27519434e-02 9.99918655e-01 -2.65287687e-04 4.04335533e-01] [ 1.80049059e-02 3.56500426e-05 9.99837898e-01 5.17223365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399999 meters 0.014868213774474568 Centerline is valid? [True, True] Translation: X:80.52, Y:0.40, Z:0.52 [[ 9.99754858e-01 -1.49591737e-02 -1.63231956e-02 8.05226714e+01] [ 1.49571710e-02 9.99888105e-01 -2.44773514e-04 3.99556124e-01] [ 1.63250307e-02 5.64681565e-07 9.99866738e-01 5.19158288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399999 meters 0.014844895668405363 Centerline is valid? [True, True] Translation: X:80.58, Y:0.39, Z:0.52 [[ 9.99721429e-01 -1.84186579e-02 -1.47586683e-02 8.05804471e+01] [ 1.84173394e-02 9.99830361e-01 -2.25254018e-04 3.93268910e-01] [ 1.47603135e-02 -4.66241356e-05 9.99891060e-01 5.20446650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379254154 meters 0.015016907719068657 Centerline is valid? [True, True] Translation: X:80.64, Y:0.39, Z:0.52 [[ 9.99657820e-01 -2.17096357e-02 -1.45922858e-02 8.06390516e+01] [ 2.17086390e-02 9.99764314e-01 -2.26709530e-04 3.89228980e-01] [ 1.45937684e-02 -9.01467103e-05 9.99893501e-01 5.20475001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439254154 meters 0.015540981388125739 Centerline is valid? [True, True] Translation: X:80.70, Y:0.38, Z:0.52 [[ 9.99494783e-01 -2.78212227e-02 -1.53674492e-02 8.06991078e+01] [ 2.78208067e-02 9.99612897e-01 -2.40887689e-04 3.81747403e-01] [ 1.53682022e-02 -1.86768845e-04 9.99881885e-01 5.19859768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499254154 meters 0.01622427315169976 Centerline is valid? [True, True] Translation: X:80.76, Y:0.37, Z:0.52 [[ 9.99306556e-01 -3.36555244e-02 -1.59283454e-02 8.07593185e+01] [ 3.36558116e-02 9.99433451e-01 -2.50106551e-04 3.74706400e-01] [ 1.59277387e-02 -2.86148276e-04 9.99873105e-01 5.19692699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters 0.017773270824343757 Centerline is valid? [True, True] Translation: X:80.82, Y:0.37, Z:0.52 [[ 9.99196933e-01 -3.68234727e-02 -1.57962492e-02 8.08191732e+01] [ 3.68241488e-02 9.99321730e-01 -2.48155788e-04 3.69390856e-01] [ 1.57946731e-02 -3.33726931e-04 9.99875201e-01 5.19569144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters 0.017364831213673892 Centerline is valid? [True, True] Translation: X:80.88, Y:0.37, Z:0.52 [[ 9.99087033e-01 -3.97891389e-02 -1.55539150e-02 8.08801315e+01] [ 3.97901561e-02 9.99208028e-01 -2.44184429e-04 3.67964989e-01] [ 1.55513127e-02 -3.74931211e-04 9.99879001e-01 5.21803779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399999 meters 0.017900250447380986 Centerline is valid? [True, True] Translation: X:80.94, Y:0.36, Z:0.52 [[ 9.98918873e-01 -4.34414747e-02 -1.65506338e-02 8.09412082e+01] [ 4.34431326e-02 9.99055868e-01 -2.59515196e-04 3.62589789e-01] [ 1.65462815e-02 -4.59776751e-04 9.99862995e-01 5.21418091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739254154 meters 0.021186785250534277 Centerline is valid? [True, True] Translation: X:81.00, Y:0.36, Z:0.52 [[ 9.98821258e-01 -4.56544138e-02 -1.64854019e-02 8.10018819e+01] [ 4.56563648e-02 9.98957171e-01 -2.58186909e-04 3.55391563e-01] [ 1.64799978e-02 -4.94780949e-04 9.99864073e-01 5.19935786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799254154 meters 0.021283025723178937 Centerline is valid? [True, True] Translation: X:81.06, Y:0.35, Z:0.52 [[ 9.98591786e-01 -5.07466876e-02 -1.54666680e-02 8.10630179e+01] [ 5.07490206e-02 9.98711409e-01 -2.41860864e-04 3.52623827e-01] [ 1.54590114e-02 -5.43397978e-04 9.99880355e-01 5.21433028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859254154 meters 0.02289346201588586 Centerline is valid? [True, True] Translation: X:81.12, Y:0.35, Z:0.52 [[ 9.98400867e-01 -5.45116229e-02 -1.49730097e-02 8.11242336e+01] [ 5.45142392e-02 9.98512966e-01 -2.33656818e-04 3.48104275e-01] [ 1.49634814e-02 -5.82959065e-04 9.99887871e-01 5.21850478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters 0.02401657594704639 Centerline is valid? [True, True] Translation: X:81.19, Y:0.34, Z:0.52 [[ 9.98149477e-01 -5.88201807e-02 -1.54209968e-02 8.11851185e+01] [ 5.88234753e-02 9.98268371e-01 -2.40243277e-04 3.44269432e-01] [ 1.54084245e-02 -6.67317922e-04 9.99881060e-01 5.21436134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters 0.024008693493188762 Centerline is valid? [True, True] Translation: X:81.25, Y:0.34, Z:0.52 [[ 9.98115247e-01 -5.94422547e-02 -1.52502957e-02 8.12472285e+01] [ 5.94455606e-02 9.98231521e-01 -2.36839837e-04 3.44308113e-01] [ 1.52374041e-02 -6.70168922e-04 9.99883679e-01 5.21682246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399999 meters 0.022251120281726867 Centerline is valid? [True, True] Translation: X:81.31, Y:0.35, Z:0.52 [[ 9.98309990e-01 -5.63996245e-02 -1.40088116e-02 8.13083546e+01] [ 5.64021250e-02 9.98408110e-01 -2.16836744e-04 3.48403841e-01] [ 1.39987406e-02 -5.73656456e-04 9.99901848e-01 5.22252579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099254154 meters 0.02023164003384849 Centerline is valid? [True, True] Translation: X:81.37, Y:0.35, Z:0.52 [[ 9.98525782e-01 -5.25029637e-02 -1.37731802e-02 8.13698066e+01] [ 5.25050177e-02 9.98620638e-01 -2.12675585e-04 3.53599714e-01] [ 1.37653481e-02 -5.10799013e-04 9.99905123e-01 5.23078275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159254154 meters 0.01851646499595031 Centerline is valid? [True, True] Translation: X:81.43, Y:0.36, Z:0.52 [[ 9.98917730e-01 -4.44496994e-02 -1.36964906e-02 8.14300657e+01] [ 4.44509782e-02 9.99011544e-01 -2.11189855e-04 3.59514306e-01] [ 1.36923395e-02 -3.97861113e-04 9.99906176e-01 5.23644945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219254154 meters 0.016165947606889556 Centerline is valid? [True, True] Translation: X:81.49, Y:0.37, Z:0.52 [[ 9.99236159e-01 -3.69656961e-02 -1.26742292e-02 8.14912528e+01] [ 3.69661914e-02 9.99316498e-01 -1.95272358e-04 3.66047737e-01] [ 1.26727847e-02 -2.73394781e-04 9.99919660e-01 5.24616141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters 0.015628311469912722 Centerline is valid? [True, True] Translation: X:81.55, Y:0.37, Z:0.52 [[ 9.99393175e-01 -3.22700630e-02 -1.31119820e-02 8.15517933e+01] [ 3.22701979e-02 9.99479161e-01 -2.01334726e-04 3.67872296e-01] [ 1.31116498e-02 -2.21913703e-04 9.99914014e-01 5.23811350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters 0.015159322077184768 Centerline is valid? [True, True] Translation: X:81.61, Y:0.37, Z:0.52 [[ 9.99415582e-01 -3.11970261e-02 -1.39728561e-02 8.16128714e+01] [ 3.11970869e-02 9.99513230e-01 -2.13667944e-04 3.69842617e-01] [ 1.39727204e-02 -2.22369335e-04 9.99902352e-01 5.23688966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399999 meters 0.015189710985612233 Centerline is valid? [True, True] Translation: X:81.67, Y:0.37, Z:0.52 [[ 9.99390986e-01 -3.18002887e-02 -1.43665526e-02 8.16734063e+01] [ 3.18004190e-02 9.99494215e-01 -2.19432545e-04 3.69261727e-01] [ 1.43662643e-02 -2.37563486e-04 9.99896772e-01 5.23804917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399999 meters 0.015878568739018984 Centerline is valid? [True, True] Translation: X:81.73, Y:0.37, Z:0.53 [[ 9.99306357e-01 -3.50374084e-02 -1.26168781e-02 8.17340964e+01] [ 3.50377668e-02 9.99385970e-01 -1.92708281e-04 3.66296273e-01] [ 1.26158829e-02 -2.49492621e-04 9.99920385e-01 5.25418320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519254154 meters 0.016647510401023604 Centerline is valid? [True, True] Translation: X:81.80, Y:0.36, Z:0.53 [[ 9.99193809e-01 -3.87506726e-02 -1.04936814e-02 8.17951094e+01] [ 3.87511268e-02 9.99248880e-01 -1.60108716e-04 3.62471398e-01] [ 1.04920037e-02 -2.46662341e-04 9.99944927e-01 5.26794983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579254154 meters 0.017652732953634877 Centerline is valid? [True, True] Translation: X:81.86, Y:0.36, Z:0.53 [[ 9.99127760e-01 -4.05430996e-02 -9.99881300e-03 8.18561488e+01] [ 4.05436064e-02 9.99177758e-01 -1.52090802e-04 3.59681326e-01] [ 9.99675779e-03 -2.53429797e-04 9.99949999e-01 5.27075045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters 0.01785747497945202 Centerline is valid? [True, True] Translation: X:81.92, Y:0.36, Z:0.53 [[ 9.99040211e-01 -4.27728617e-02 -9.44136392e-03 8.19182689e+01] [ 4.27734182e-02 9.99084788e-01 -1.43063319e-04 3.57908042e-01] [ 9.43884230e-03 -2.60913399e-04 9.99955419e-01 5.27150512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters 0.018929607878096964 Centerline is valid? [True, True] Translation: X:81.98, Y:0.35, Z:0.53 [[ 9.98985120e-01 -4.41484090e-02 -8.92455104e-03 8.19795170e+01] [ 4.41489664e-02 9.99024950e-01 -1.34642374e-04 3.54963351e-01] [ 8.92179340e-03 -2.59503976e-04 9.99960166e-01 5.27017456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399999 meters 0.01882459990680256 Centerline is valid? [True, True] Translation: X:82.04, Y:0.35, Z:0.53 [[ 9.98977187e-01 -4.44645722e-02 -8.21466346e-03 8.20417314e+01] [ 4.44650588e-02 9.99010933e-01 -1.23484744e-04 3.54872818e-01] [ 8.21202930e-03 -2.41907052e-04 9.99966251e-01 5.27362628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399999 meters 0.017833352272458313 Centerline is valid? [True, True] Translation: X:82.10, Y:0.36, Z:0.53 [[ 9.99093440e-01 -4.18468343e-02 -7.81927408e-03 8.21039138e+01] [ 4.18471994e-02 9.99124015e-01 -1.16990262e-04 3.57162130e-01] [ 7.81732019e-03 -2.10330518e-04 9.99969422e-01 5.27843997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879254154 meters 0.0169093375474556 Centerline is valid? [True, True] Translation: X:82.17, Y:0.36, Z:0.53 [[ 9.99265914e-01 -3.75048949e-02 -7.81124152e-03 8.21656964e+01] [ 3.75051310e-02 9.99296428e-01 -1.16310458e-04 3.59385234e-01] [ 7.81010797e-03 -1.76736560e-04 9.99969485e-01 5.27745820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939254154 meters 0.01623695925925155 Centerline is valid? [True, True] Translation: X:82.23, Y:0.36, Z:0.53 [[ 9.99359258e-01 -3.50547469e-02 -7.22766187e-03 8.22282166e+01] [ 3.50548877e-02 9.99385383e-01 -1.07240609e-04 3.61513040e-01] [ 7.22697891e-03 -1.46192980e-04 9.99973874e-01 5.27921332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999254154 meters 0.015997010632807732 Centerline is valid? [True, True] Translation: X:82.29, Y:0.36, Z:0.53 [[ 9.99404766e-01 -3.37109910e-02 -7.32687152e-03 8.22902824e+01] [ 3.37111036e-02 9.99431613e-01 -1.08165506e-04 3.62903501e-01] [ 7.32635339e-03 -1.38895802e-04 9.99973152e-01 5.27559757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters 0.016747754179792008 Centerline is valid? [True, True] Translation: X:82.35, Y:0.36, Z:0.53 [[ 9.99381597e-01 -3.44019824e-02 -7.27515866e-03 8.23514259e+01] [ 3.44021155e-02 9.99408066e-01 -1.06879256e-04 3.62146233e-01] [ 7.27452911e-03 -1.43467687e-04 9.99973530e-01 5.27791386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters 0.017186502282222228 Centerline is valid? [True, True] Translation: X:82.41, Y:0.36, Z:0.53 [[ 9.99331640e-01 -3.58168286e-02 -7.30941156e-03 8.24140324e+01] [ 3.58170038e-02 9.99358360e-01 -1.06972162e-04 3.61604296e-01] [ 7.30855295e-03 -1.54900556e-04 9.99973280e-01 5.28155594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399999 meters 0.01669709103928644 Centerline is valid? [True, True] Translation: X:82.48, Y:0.36, Z:0.53 [[ 9.99297438e-01 -3.67884812e-02 -7.15803400e-03 8.24765430e+01] [ 3.67886778e-02 9.99323062e-01 -1.04255398e-04 3.63559467e-01] [ 7.15702385e-03 -1.59152454e-04 9.99974376e-01 5.28499751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239254154 meters 0.016955907325850426 Centerline is valid? [True, True] Translation: X:82.54, Y:0.36, Z:0.53 [[ 9.99231650e-01 -3.87361191e-02 -5.96853060e-03 8.25383604e+01] [ 3.87362927e-02 9.99249464e-01 -8.65675295e-05 3.63005756e-01] [ 5.96740429e-03 -1.44697733e-04 9.99982184e-01 5.28823847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299254154 meters 0.01869021130813206 Centerline is valid? [True, True] Translation: X:82.60, Y:0.36, Z:0.53 [[ 9.99092079e-01 -4.22435410e-02 -5.52267797e-03 8.25991247e+01] [ 4.22437454e-02 9.99107331e-01 -7.96747335e-05 3.59008196e-01] [ 5.52111379e-03 -1.53696207e-04 9.99984747e-01 5.29102977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359254154 meters 0.020550052759838067 Centerline is valid? [True, True] Translation: X:82.66, Y:0.36, Z:0.53 [[ 9.98895178e-01 -4.67341127e-02 -4.93417101e-03 8.26598177e+01] [ 4.67343316e-02 9.98907352e-01 -7.09919321e-05 3.56261445e-01] [ 4.93209744e-03 -1.59681685e-04 9.99987824e-01 5.29864750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters 0.02110462671770549 Centerline is valid? [True, True] Translation: X:82.72, Y:0.36, Z:0.53 [[ 9.98763972e-01 -4.94631293e-02 -4.89143688e-03 8.27222749e+01] [ 4.94633771e-02 9.98775936e-01 -7.03909600e-05 3.56673447e-01] [ 4.88893121e-03 -1.71643032e-04 9.99988034e-01 5.30248549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters 0.022855803178174622 Centerline is valid? [True, True] Translation: X:82.78, Y:0.36, Z:0.53 [[ 9.98647366e-01 -5.17054906e-02 -5.47545052e-03 8.27836441e+01] [ 5.17058374e-02 9.98662355e-01 -7.83118837e-05 3.55387401e-01] [ 5.47217547e-03 -2.04906798e-04 9.99985007e-01 5.30666582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399999 meters 0.02292522980710545 Centerline is valid? [True, True] Translation: X:82.85, Y:0.36, Z:0.53 [[ 9.98581211e-01 -5.29134640e-02 -5.97748215e-03 8.28457338e+01] [ 5.29139008e-02 9.98599075e-01 -8.51488654e-05 3.57172821e-01] [ 5.97361367e-03 -2.31263841e-04 9.99982131e-01 5.30356297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599254154 meters 0.024338573299156317 Centerline is valid? [True, True] Translation: X:82.91, Y:0.36, Z:0.53 [[ 9.98506450e-01 -5.41714468e-02 -7.09392853e-03 8.29072258e+01] [ 5.41720982e-02 9.98531609e-01 -1.00438059e-04 3.57732225e-01] [ 7.08895274e-03 -2.84004943e-04 9.99974833e-01 5.30120586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659254154 meters 0.023552269208885247 Centerline is valid? [True, True] Translation: X:82.97, Y:0.36, Z:0.53 [[ 9.98455425e-01 -5.51483345e-02 -6.73978146e-03 8.29692895e+01] [ 5.51489491e-02 9.98478134e-01 -9.47660300e-05 3.62133226e-01] [ 6.73475061e-03 -2.77072208e-04 9.99977283e-01 5.31116389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719254154 meters 0.024804969194703326 Centerline is valid? [True, True] Translation: X:83.03, Y:0.36, Z:0.53 [[ 9.98385185e-01 -5.63076120e-02 -7.51500590e-03 8.30302998e+01] [ 5.63084133e-02 9.98413417e-01 -1.05079788e-04 3.63653199e-01] [ 7.50899952e-03 -3.18247954e-04 9.99971756e-01 5.32172407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters 0.026344277863024734 Centerline is valid? [True, True] Translation: X:83.09, Y:0.37, Z:0.53 [[ 9.98233739e-01 -5.88769167e-02 -7.93163689e-03 8.30923438e+01] [ 5.88778940e-02 9.98265186e-01 -1.10439598e-04 3.65246296e-01] [ 7.92437932e-03 -3.56753543e-04 9.99968538e-01 5.32643711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters 0.027140009143856152 Centerline is valid? [True, True] Translation: X:83.15, Y:0.37, Z:0.53 [[ 9.98045503e-01 -6.21066798e-02 -6.92350527e-03 8.31537500e+01] [ 6.21075049e-02 9.98069461e-01 -9.59837066e-05 3.67244268e-01] [ 6.91610040e-03 -3.34205530e-04 9.99976028e-01 5.33850826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399999 meters 0.025839730605237265 Centerline is valid? [True, True] Translation: X:83.22, Y:0.38, Z:0.53 [[ 9.97911472e-01 -6.41887232e-02 -7.24582063e-03 8.32152978e+01] [ 6.41896839e-02 9.97937711e-01 -1.00136639e-04 3.75126992e-01] [ 7.23730530e-03 -3.65179435e-04 9.99973744e-01 5.34212997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399999 meters 0.026147247671557534 Centerline is valid? [True, True] Translation: X:83.28, Y:0.38, Z:0.53 [[ 9.97842970e-01 -6.51382625e-02 -8.14942128e-03 8.32776549e+01] [ 6.51395176e-02 9.97876160e-01 -1.11602161e-04 3.80808794e-01] [ 8.13938278e-03 -4.19487940e-04 9.99966787e-01 5.33775133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019254154 meters 0.02619483042128665 Centerline is valid? [True, True] Translation: X:83.34, Y:0.39, Z:0.53 [[ 9.97929834e-01 -6.38015740e-02 -8.08740810e-03 8.33401400e+01] [ 6.38027711e-02 9.97962521e-01 -1.10155249e-04 3.85239215e-01] [ 8.07795826e-03 -4.06071838e-04 9.99967290e-01 5.34283252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079254154 meters 0.024445304724167893 Centerline is valid? [True, True] Translation: X:83.40, Y:0.40, Z:0.54 [[ 9.98251250e-01 -5.84410651e-02 -8.89291249e-03 8.34007988e+01] [ 5.84423053e-02 9.98290780e-01 -1.20557075e-04 3.96648792e-01] [ 8.88475803e-03 -3.99376056e-04 9.99960450e-01 5.35340499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters 0.020926207931286005 Centerline is valid? [True, True] Translation: X:83.46, Y:0.41, Z:0.54 [[ 9.98642622e-01 -5.13777070e-02 -8.55830116e-03 8.34607689e+01] [ 5.13785974e-02 9.98679241e-01 -1.15934504e-04 4.11029614e-01] [ 8.55295415e-03 -3.23936373e-04 9.99963370e-01 5.36277307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters 0.019128058198560182 Centerline is valid? [True, True] Translation: X:83.52, Y:0.42, Z:0.54 [[ 9.98877224e-01 -4.66012124e-02 -8.52163503e-03 8.35219338e+01] [ 4.66019224e-02 9.98913534e-01 -1.15329471e-04 4.19618952e-01] [ 8.51775105e-03 -2.81924593e-04 9.99963684e-01 5.36891676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399999 meters 0.017856943504506603 Centerline is valid? [True, True] Translation: X:83.58, Y:0.43, Z:0.54 [[ 9.99173814e-01 -3.96864430e-02 -8.75651722e-03 8.35817702e+01] [ 3.96869296e-02 9.99212156e-01 -1.18246555e-04 4.29559109e-01] [ 8.75431124e-03 -2.29370421e-04 9.99961654e-01 5.37602270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399999 meters 0.016125281112676183 Centerline is valid? [True, True] Translation: X:83.64, Y:0.44, Z:0.54 [[ 9.99408125e-01 -3.29831078e-02 -9.77314541e-03 8.36433213e+01] [ 3.29833953e-02 9.99455891e-01 -1.31804699e-04 4.40763057e-01] [ 9.77217509e-03 -1.90624831e-04 9.99952233e-01 5.38106570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379254154 meters 0.015383207524399846 Centerline is valid? [True, True] Translation: X:83.70, Y:0.45, Z:0.54 [[ 9.99581216e-01 -2.74466900e-02 -9.16910972e-03 8.37048208e+01] [ 2.74467142e-02 9.99623260e-01 -1.23217941e-04 4.48588686e-01] [ 9.16903728e-03 -1.28495595e-04 9.99957955e-01 5.38748103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439254154 meters 0.014806124740567613 Centerline is valid? [True, True] Translation: X:83.77, Y:0.46, Z:0.54 [[ 9.99677663e-01 -2.37831520e-02 -8.88440898e-03 8.37666381e+01] [ 2.37830336e-02 9.99717137e-01 -1.18994912e-04 4.55026002e-01] [ 8.88472597e-03 -9.23416414e-05 9.99960526e-01 5.39601921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters 0.014582920917397298 Centerline is valid? [True, True] Translation: X:83.83, Y:0.46, Z:0.54 [[ 9.99717484e-01 -2.21572597e-02 -8.60280821e-03 8.38284547e+01] [ 2.21570934e-02 9.99754495e-01 -1.14647848e-04 4.58325887e-01] [ 8.60323645e-03 -7.59977671e-05 9.99962989e-01 5.39166777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters 0.014363393237060028 Centerline is valid? [True, True] Translation: X:83.89, Y:0.46, Z:0.54 [[ 9.99758715e-01 -1.99840610e-02 -9.11862051e-03 8.38898182e+01] [ 1.99837885e-02 9.99800297e-01 -1.21002357e-04 4.62403629e-01] [ 9.11921761e-03 -6.12514233e-05 9.99958417e-01 5.38542048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399999 meters 0.014404558046490084 Centerline is valid? [True, True] Translation: X:83.95, Y:0.46, Z:0.54 [[ 9.99763118e-01 -1.95876611e-02 -9.48853806e-03 8.39522572e+01] [ 1.95873538e-02 9.99808142e-01 -1.25325659e-04 4.64207705e-01] [ 9.48917244e-03 -6.05593800e-05 9.99954975e-01 5.38566712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399999 meters 0.01452050427074449 Centerline is valid? [True, True] Translation: X:84.01, Y:0.47, Z:0.54 [[ 9.99774423e-01 -1.89898674e-02 -9.51248266e-03 8.40132878e+01] [ 1.89895373e-02 9.99819675e-01 -1.25036246e-04 4.65423728e-01] [ 9.51314174e-03 -5.56296028e-05 9.99954747e-01 5.38671934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739254154 meters 0.014388352823141595 Centerline is valid? [True, True] Translation: X:84.07, Y:0.47, Z:0.54 [[ 9.99801341e-01 -1.79837850e-02 -8.59433552e-03 8.40746590e+01] [ 1.79834808e-02 9.99838278e-01 -1.12675943e-04 4.66169894e-01] [ 8.59497197e-03 -4.19025091e-05 9.99963062e-01 5.39772914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799254154 meters 0.014468314889186294 Centerline is valid? [True, True] Translation: X:84.14, Y:0.47, Z:0.54 [[ 9.99803500e-01 -1.80393339e-02 -8.21849669e-03 8.41357517e+01] [ 1.80390600e-02 9.99837277e-01 -1.07455508e-04 4.66228417e-01] [ 8.21909778e-03 -4.08195624e-05 9.99966222e-01 5.40073763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859254154 meters 0.014571265596329609 Centerline is valid? [True, True] Translation: X:84.20, Y:0.46, Z:0.54 [[ 9.99759912e-01 -2.01366806e-02 -8.63901962e-03 8.41972564e+01] [ 2.01364596e-02 9.99797235e-01 -1.12580302e-04 4.63079094e-01] [ 8.63953492e-03 -6.14059962e-05 9.99962677e-01 5.39599181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters 0.01494758019637769 Centerline is valid? [True, True] Translation: X:84.26, Y:0.46, Z:0.54 [[ 9.99632710e-01 -2.52588862e-02 -9.82006691e-03 8.42588689e+01] [ 2.52588530e-02 9.99680936e-01 -1.27431702e-04 4.58055092e-01] [ 9.82015246e-03 -1.20658728e-04 9.99951774e-01 5.38542997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters 0.01676519696270591 Centerline is valid? [True, True] Translation: X:84.32, Y:0.45, Z:0.54 [[ 9.99463655e-01 -3.10028756e-02 -1.05462697e-02 8.43200176e+01] [ 3.10031619e-02 9.99519277e-01 -1.36385394e-04 4.51610554e-01] [ 1.05454282e-02 -1.90655463e-04 9.99944377e-01 5.38555051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399999 meters 0.018131320492211327 Centerline is valid? [True, True] Translation: X:84.38, Y:0.45, Z:0.54 [[ 9.99354909e-01 -3.42030522e-02 -1.09507111e-02 8.43812868e+01] [ 3.42035614e-02 9.99414877e-01 -1.40834353e-04 4.48659653e-01] [ 1.09491205e-02 -2.33809816e-04 9.99940029e-01 5.38851991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099254154 meters 0.018064579289703942 Centerline is valid? [True, True] Translation: X:84.44, Y:0.45, Z:0.54 [[ 9.99092418e-01 -4.13782325e-02 -1.01085234e-02 8.44419397e+01] [ 4.13790399e-02 9.99143512e-01 -1.29348931e-04 4.46712082e-01] [ 1.01052178e-02 -2.89049456e-04 9.99948899e-01 5.40134120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159254154 meters 0.019719817678050613 Centerline is valid? [True, True] Translation: X:84.50, Y:0.44, Z:0.54 [[ 9.98889407e-01 -4.60590476e-02 -9.92552512e-03 8.45033725e+01] [ 4.60600592e-02 9.98938664e-01 -1.26766035e-04 4.43897092e-01] [ 9.92082953e-03 -3.30545025e-04 9.99950733e-01 5.39927697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219254154 meters 0.022821192432738786 Centerline is valid? [True, True] Translation: X:84.56, Y:0.44, Z:0.54 [[ 9.98454453e-01 -5.47714482e-02 -9.42306144e-03 8.45634359e+01] [ 5.47727491e-02 9.98498839e-01 -1.20155362e-04 4.39284078e-01] [ 9.41549699e-03 -3.96157324e-04 9.99955595e-01 5.40923412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters 0.02578285364119135 Centerline is valid? [True, True] Translation: X:84.62, Y:0.43, Z:0.54 [[ 9.97860283e-01 -6.46393840e-02 -9.82882333e-03 8.46244397e+01] [ 6.46412762e-02 9.97908558e-01 -1.25384533e-04 4.34940301e-01] [ 9.81637169e-03 -5.10231437e-04 9.99951688e-01 5.40741340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters 0.03142726486759271 Centerline is valid? [True, True] Translation: X:84.68, Y:0.43, Z:0.54 [[ 9.97489983e-01 -6.99577628e-02 -1.09382812e-02 8.46842660e+01] [ 6.99604257e-02 9.97549758e-01 -1.39472889e-04 4.28208944e-01] [ 1.09212369e-02 -6.26123998e-04 9.99940165e-01 5.40326073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399999 meters 0.030782096770046917 Centerline is valid? [True, True] Translation: X:84.74, Y:0.43, Z:0.54 [[ 9.97159660e-01 -7.43700949e-02 -1.19038196e-02 8.47444084e+01] [ 7.43735607e-02 9.97230440e-01 -1.51878656e-04 4.32580278e-01] [ 1.18821465e-02 -7.33882182e-04 9.99929135e-01 5.39665503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399999 meters 0.031158004391958115 Centerline is valid? [True, True] Translation: X:84.81, Y:0.44, Z:0.54 [[ 9.97176376e-01 -7.39968279e-02 -1.27962968e-02 8.48068411e+01] [ 7.40008084e-02 9.97258168e-01 -1.62793226e-04 4.36926045e-01] [ 1.27732577e-02 -7.84602750e-04 9.99918111e-01 5.40033592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519254154 meters 0.034894660606783555 Centerline is valid? [True, True] Translation: X:84.87, Y:0.44, Z:0.54 [[ 9.97406307e-01 -7.07746434e-02 -1.30999182e-02 8.48665455e+01] [ 7.07785447e-02 9.97492040e-01 -1.66152137e-04 4.36289882e-01] [ 1.30788235e-02 -7.61471956e-04 9.99914179e-01 5.39823034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579254154 meters 0.02795831595585884 Centerline is valid? [True, True] Translation: X:84.93, Y:0.45, Z:0.54 [[ 9.97984271e-01 -6.23122305e-02 -1.20241359e-02 8.49268154e+01] [ 6.23149044e-02 9.98056526e-01 -1.52517493e-04 4.53640053e-01] [ 1.20102711e-02 -5.97072822e-04 9.99927696e-01 5.42251081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters 0.023332093440953803 Centerline is valid? [True, True] Translation: X:84.99, Y:0.47, Z:0.54 [[ 9.98721525e-01 -4.95062931e-02 -1.02196896e-02 8.49872028e+01] [ 4.95075548e-02 9.98773741e-01 -1.29637066e-04 4.69027585e-01] [ 1.02135755e-02 -3.76480518e-04 9.99947769e-01 5.44357965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters 0.016590609473126603 Centerline is valid? [True, True] Translation: X:85.05, Y:0.49, Z:0.55 [[ 9.99328769e-01 -3.53578444e-02 -9.58302687e-03 8.50478131e+01] [ 3.53583041e-02 9.99374692e-01 -1.21506095e-04 4.89511199e-01] [ 9.58133073e-03 -2.17415042e-04 9.99954074e-01 5.45702524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399999 meters 0.015360134364867514 Centerline is valid? [True, True] Translation: X:85.11, Y:0.50, Z:0.55 [[ 9.99565812e-01 -2.77220251e-02 -9.98379827e-03 8.51084313e+01] [ 2.77221456e-02 9.99615659e-01 -1.26345655e-04 4.97807355e-01] [ 9.98346365e-03 -1.50481513e-04 9.99950153e-01 5.45408590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399999 meters 0.014299654174370876 Centerline is valid? [True, True] Translation: X:85.17, Y:0.51, Z:0.54 [[ 9.99736350e-01 -1.98907363e-02 -1.14712454e-02 8.51700426e+01] [ 1.98903862e-02 9.99802156e-01 -1.44618193e-04 5.08292255e-01] [ 1.14718524e-02 -8.35874360e-05 9.99934193e-01 5.44619539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879254154 meters 0.01416953533579129 Centerline is valid? [True, True] Translation: X:85.23, Y:0.51, Z:0.54 [[ 9.99759025e-01 -1.72979653e-02 -1.35156386e-02 8.52316669e+01] [ 1.72972517e-02 9.99850377e-01 -1.69704203e-04 5.13653392e-01] [ 1.35165519e-02 -6.41200934e-05 9.99908645e-01 5.43406229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939254154 meters 0.014252210653742874 Centerline is valid? [True, True] Translation: X:85.29, Y:0.52, Z:0.54 [[ 9.99743610e-01 -1.85615897e-02 -1.29684516e-02 8.52910748e+01] [ 1.85610390e-02 9.99827716e-01 -1.62829153e-04 5.16527202e-01] [ 1.29692397e-02 -7.79205313e-05 9.99915893e-01 5.44860724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters 0.014526434855582344 Centerline is valid? [True, True] Translation: X:85.35, Y:0.52, Z:0.55 [[ 9.99699198e-01 -2.14723475e-02 -1.18512129e-02 8.53516416e+01] [ 2.14720895e-02 9.99769437e-01 -1.49027055e-04 5.17150766e-01] [ 1.18516804e-02 -1.05488075e-04 9.99929761e-01 5.46543527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters 0.01483439271837948 Centerline is valid? [True, True] Translation: X:85.41, Y:0.52, Z:0.55 [[ 9.99652981e-01 -2.40619276e-02 -1.07210389e-02 8.54125098e+01] [ 2.40618677e-02 9.99710462e-01 -1.34591887e-04 5.15778216e-01] [ 1.07211733e-02 -1.23423038e-04 9.99942519e-01 5.47331466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399999 meters 0.015553225127134085 Centerline is valid? [True, True] Translation: X:85.47, Y:0.51, Z:0.55 [[ 9.99555319e-01 -2.79998017e-02 -1.02555416e-02 8.54747771e+01] [ 2.79999605e-02 9.99607916e-01 -1.28132180e-04 5.14076765e-01] [ 1.02551082e-02 -1.59079558e-04 9.99947402e-01 5.47447042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399999 meters 0.0158504040087593 Centerline is valid? [True, True] Translation: X:85.54, Y:0.51, Z:0.55 [[ 9.99480025e-01 -3.02157524e-02 -1.12556045e-02 8.55368625e+01] [ 3.02160939e-02 9.99543380e-01 -1.39754688e-04 5.13489548e-01] [ 1.12546878e-02 -2.00418385e-04 9.99936644e-01 5.46873069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239254154 meters 0.016991917539209235 Centerline is valid? [True, True] Translation: X:85.60, Y:0.51, Z:0.55 [[ 9.99385060e-01 -3.30884988e-02 -1.16040341e-02 8.55975456e+01] [ 3.30890685e-02 9.99452397e-01 -1.42947992e-04 5.10261374e-01] [ 1.16024097e-02 -2.41106593e-04 9.99932661e-01 5.46571443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299254154 meters 0.016201606890178764 Centerline is valid? [True, True] Translation: X:85.66, Y:0.51, Z:0.55 [[ 9.99421623e-01 -3.20375272e-02 -1.14024775e-02 8.56595547e+01] [ 3.20380224e-02 9.99486641e-01 -1.39277774e-04 5.12630708e-01] [ 1.14010861e-02 -2.26115611e-04 9.99934980e-01 5.47232629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359254154 meters 0.015366005823462989 Centerline is valid? [True, True] Translation: X:85.72, Y:0.52, Z:0.55 [[ 9.99517533e-01 -2.85352127e-02 -1.22655392e-02 8.57220660e+01] [ 2.85355338e-02 9.99592768e-01 -1.48866393e-04 5.15243640e-01] [ 1.22647922e-02 -2.01209138e-04 9.99924764e-01 5.46506184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters 0.014892422643074235 Centerline is valid? [True, True] Translation: X:85.78, Y:0.52, Z:0.55 [[ 9.99620859e-01 -2.45010686e-02 -1.25632785e-02 8.57832050e+01] [ 2.45010961e-02 9.99699792e-01 -1.51746064e-04 5.18117713e-01] [ 1.25632249e-02 -1.56125564e-04 9.99921067e-01 5.46262878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters 0.014378102520218173 Centerline is valid? [True, True] Translation: X:85.84, Y:0.52, Z:0.55 [[ 9.99758813e-01 -1.80149352e-02 -1.25609796e-02 8.58432269e+01] [ 1.80144593e-02 9.99837715e-01 -1.51039374e-04 5.21751965e-01] [ 1.25616621e-02 -7.52763106e-05 9.99921096e-01 5.47280648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399999 meters 0.014302470052653657 Centerline is valid? [True, True] Translation: X:85.90, Y:0.52, Z:0.55 [[ 9.99807641e-01 -1.56590101e-02 -1.18099814e-02 8.59034029e+01] [ 1.56584305e-02 9.99877389e-01 -1.41547548e-04 5.22665239e-01] [ 1.18107498e-02 -4.34054526e-05 9.99930250e-01 5.48139429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599254154 meters 0.014248540859056589 Centerline is valid? [True, True] Translation: X:85.96, Y:0.52, Z:0.55 [[ 9.99808441e-01 -1.50853762e-02 -1.24705055e-02 8.59632667e+01] [ 1.50846827e-02 9.99886209e-01 -1.49676661e-04 5.21754368e-01] [ 1.24713443e-02 -3.84656283e-05 9.99922229e-01 5.47896480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659254154 meters 0.014416530609394088 Centerline is valid? [True, True] Translation: X:86.02, Y:0.52, Z:0.55 [[ 9.99746184e-01 -1.67006471e-02 -1.51213791e-02 8.60225178e+01] [ 1.66997986e-02 9.99860532e-01 -1.82391264e-04 5.17800171e-01] [ 1.51223162e-02 -7.01790147e-05 9.99885649e-01 5.45355008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719254154 meters 0.014768691109445006 Centerline is valid? [True, True] Translation: X:86.08, Y:0.51, Z:0.54 [[ 9.99628662e-01 -2.12812231e-02 -1.70190613e-02 8.60801010e+01] [ 2.12807872e-02 9.99773517e-01 -2.06737714e-04 5.12855218e-01] [ 1.70196064e-02 -1.55518077e-04 9.99855144e-01 5.44118750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters 0.01624804527953929 Centerline is valid? [True, True] Translation: X:86.14, Y:0.51, Z:0.54 [[ 9.99428668e-01 -2.88605004e-02 -1.75900100e-02 8.61396987e+01] [ 2.88611904e-02 9.99583406e-01 -2.14674879e-04 5.05647552e-01] [ 1.75888777e-02 -2.93116399e-04 9.99845261e-01 5.44193939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters 0.0166470795761475 Centerline is valid? [True, True] Translation: X:86.20, Y:0.50, Z:0.55 [[ 9.99279180e-01 -3.39318972e-02 -1.70219515e-02 8.62005122e+01] [ 3.39332748e-02 9.99424079e-01 -2.07970288e-04 5.03064147e-01] [ 1.70192050e-02 -3.69790179e-04 9.99855094e-01 5.45980194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399999 meters 0.018659053120147494 Centerline is valid? [True, True] Translation: X:86.26, Y:0.50, Z:0.55 [[ 9.99072113e-01 -4.04279866e-02 -1.48489283e-02 8.62621281e+01] [ 4.04297561e-02 9.99182367e-01 -1.81124742e-04 4.98193390e-01] [ 1.48441098e-02 -4.19381870e-04 9.99889732e-01 5.47414453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399999 meters 0.019852774844180982 Centerline is valid? [True, True] Translation: X:86.32, Y:0.49, Z:0.55 [[ 9.98868666e-01 -4.55463280e-02 -1.36718415e-02 8.63238013e+01] [ 4.55483134e-02 9.98962123e-01 -1.66285512e-04 4.93985684e-01] [ 1.36652255e-02 -4.56631931e-04 9.99906522e-01 5.47770566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019254154 meters 0.021197800208129457 Centerline is valid? [True, True] Translation: X:86.38, Y:0.49, Z:0.55 [[ 9.98659423e-01 -5.02524491e-02 -1.24115787e-02 8.63849039e+01] [ 5.02544543e-02 9.98736435e-01 -1.50462180e-04 4.90982212e-01] [ 1.24034570e-02 -4.73476641e-04 9.99922962e-01 5.48813827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079254154 meters 0.022247391076770862 Centerline is valid? [True, True] Translation: X:86.45, Y:0.49, Z:0.55 [[ 9.98512252e-01 -5.30653111e-02 -1.25441720e-02 8.64471499e+01] [ 5.30675905e-02 9.98590911e-01 -1.51313971e-04 4.89241213e-01] [ 1.25345257e-02 -5.14600131e-04 9.99921307e-01 5.48467519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters 0.02301604944315289 Centerline is valid? [True, True] Translation: X:86.51, Y:0.49, Z:0.55 [[ 9.98294355e-01 -5.65339214e-02 -1.45704012e-02 8.65084019e+01] [ 5.65373781e-02 9.98400468e-01 -1.74882476e-04 4.87946467e-01] [ 1.45569821e-02 -6.49188091e-04 9.99893831e-01 5.47276444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters 0.023056382531533887 Centerline is valid? [True, True] Translation: X:86.57, Y:0.49, Z:0.55 [[ 9.98314333e-01 -5.61047956e-02 -1.48574796e-02 8.65705331e+01] [ 5.61083553e-02 9.98424670e-01 -1.77464802e-04 4.89773101e-01] [ 1.48440308e-02 -6.56463087e-04 9.99889606e-01 5.47454752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399999 meters 0.02116679986173469 Centerline is valid? [True, True] Translation: X:86.63, Y:0.50, Z:0.55 [[ 9.98535516e-01 -5.18956990e-02 -1.52859470e-02 8.66311664e+01] [ 5.18989850e-02 9.98652323e-01 -1.81906549e-04 4.97188603e-01] [ 1.52747867e-02 -6.11684984e-04 9.99883147e-01 5.48018748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399999 meters 0.0203073516884888 Centerline is valid? [True, True] Translation: X:86.69, Y:0.50, Z:0.55 [[ 9.98783208e-01 -4.65770469e-02 -1.62075008e-02 8.66909256e+01] [ 4.65800439e-02 9.98914542e-01 -1.92739702e-04 5.03989717e-01] [ 1.61988855e-02 -5.62440921e-04 9.99868631e-01 5.46698831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379254154 meters 0.019075591622141598 Centerline is valid? [True, True] Translation: X:86.75, Y:0.51, Z:0.55 [[ 9.98936213e-01 -4.30280130e-02 -1.65840836e-02 8.67524062e+01] [ 4.30306684e-02 9.99073732e-01 -1.96851495e-04 5.09859774e-01] [ 1.65771925e-02 -5.16982117e-04 9.99862455e-01 5.47189224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439254154 meters 0.01741357330177717 Centerline is valid? [True, True] Translation: X:86.81, Y:0.52, Z:0.55 [[ 9.99150078e-01 -3.79118032e-02 -1.61807423e-02 8.68137787e+01] [ 3.79136702e-02 9.99281000e-01 -1.91467349e-04 5.18523948e-01] [ 1.61763672e-02 -4.22166711e-04 9.99869065e-01 5.49134491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters 0.016650847904104663 Centerline is valid? [True, True] Translation: X:86.87, Y:0.53, Z:0.55 [[ 9.99349835e-01 -3.29304261e-02 -1.46797485e-02 8.68737372e+01] [ 3.29314310e-02 9.99457598e-01 -1.73331719e-04 5.25257875e-01] [ 1.46774941e-02 -3.10206101e-04 9.99892232e-01 5.50675018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters 0.015819943295014516 Centerline is valid? [True, True] Translation: X:86.94, Y:0.53, Z:0.55 [[ 9.99450151e-01 -3.03073459e-02 -1.34484361e-02 8.69355981e+01] [ 3.03079584e-02 9.99540596e-01 -1.58305957e-04 5.30533871e-01] [ 1.34470556e-02 -2.49375729e-04 9.99909553e-01 5.51739521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399999 meters 0.015117934069764869 Centerline is valid? [True, True] Translation: X:87.00, Y:0.54, Z:0.55 [[ 9.99558820e-01 -2.67025789e-02 -1.30052970e-02 8.69974166e+01] [ 2.67028555e-02 9.99643404e-01 -1.52405345e-04 5.37214856e-01] [ 1.30047290e-02 -1.94940460e-04 9.99915416e-01 5.52436272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399999 meters 0.014602966447307042 Centerline is valid? [True, True] Translation: X:87.06, Y:0.54, Z:0.55 [[ 9.99661848e-01 -2.26210992e-02 -1.28247752e-02 8.70578589e+01] [ 2.26210382e-02 9.99744100e-01 -1.49839188e-04 5.43899515e-01] [ 1.28248829e-02 -1.40321210e-04 9.99917748e-01 5.52999118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739254154 meters 0.014239775244038157 Centerline is valid? [True, True] Translation: X:87.12, Y:0.55, Z:0.55 [[ 9.99723091e-01 -1.97936540e-02 -1.27260887e-02 8.71192490e+01] [ 1.97933691e-02 9.99804081e-01 -1.48349565e-04 5.50079512e-01] [ 1.27265318e-02 -1.03583686e-04 9.99919009e-01 5.54200469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799254154 meters 0.014042486962175497 Centerline is valid? [True, True] Translation: X:87.18, Y:0.55, Z:0.55 [[ 9.99731251e-01 -1.93757537e-02 -1.27281284e-02 8.71801844e+01] [ 1.93754408e-02 9.99812268e-01 -1.47911636e-04 5.52341372e-01] [ 1.27286048e-02 -9.87412129e-05 9.99918983e-01 5.54091692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859254154 meters 0.0142035132189879 Centerline is valid? [True, True] Translation: X:87.24, Y:0.55, Z:0.55 [[ 9.99703631e-01 -2.06927265e-02 -1.28242703e-02 8.72405925e+01] [ 2.06925203e-02 9.99785876e-01 -1.48782567e-04 5.53727105e-01] [ 1.28246030e-02 -1.16628001e-04 9.99917755e-01 5.53722847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters 0.014397839795078854 Centerline is valid? [True, True] Translation: X:87.30, Y:0.55, Z:0.55 [[ 9.99637091e-01 -2.36446398e-02 -1.29080091e-02 8.73016232e+01] [ 2.36446799e-02 9.99720414e-01 -1.49526625e-04 5.53397409e-01] [ 1.29079357e-02 -1.55733382e-04 9.99916677e-01 5.54010323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399999 meters 0.015535594360654393 Centerline is valid? [True, True] Translation: X:87.36, Y:0.55, Z:0.55 [[ 9.99510089e-01 -2.85787722e-02 -1.27606829e-02 8.73633779e+01] [ 2.85792239e-02 9.99591520e-01 -1.46992670e-04 5.51243930e-01] [ 1.27596713e-02 -2.17769758e-04 9.99918568e-01 5.54343084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399999 meters 0.016606275982024833 Centerline is valid? [True, True] Translation: X:87.42, Y:0.55, Z:0.55 [[ 9.99345410e-01 -3.34205445e-02 -1.38498580e-02 8.74249826e+01] [ 3.34215564e-02 9.99441331e-01 -1.58446498e-04 5.48457104e-01] [ 1.38474159e-02 -3.04541029e-04 9.99904074e-01 5.53961386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099254154 meters 0.018383975039749718 Centerline is valid? [True, True] Translation: X:87.49, Y:0.54, Z:0.55 [[ 9.99041029e-01 -4.09013838e-02 -1.56236493e-02 8.74859906e+01] [ 4.09035945e-02 9.99163082e-01 -1.78162768e-04 5.44089422e-01] [ 1.56178607e-02 -4.61071500e-04 9.99877927e-01 5.51957869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159254154 meters 0.02159059310865608 Centerline is valid? [True, True] Translation: X:87.55, Y:0.54, Z:0.55 [[ 9.98777359e-01 -4.66000220e-02 -1.64992601e-02 8.75458284e+01] [ 4.66032661e-02 9.98913460e-01 -1.88017925e-04 5.38694818e-01] [ 1.64900946e-02 -5.81131362e-04 9.99863860e-01 5.50731691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219254154 meters 0.02222574850455118 Centerline is valid? [True, True] Translation: X:87.61, Y:0.54, Z:0.55 [[ 9.98599054e-01 -5.02055231e-02 -1.67133215e-02 8.76066638e+01] [ 5.02093591e-02 9.98738697e-01 -1.90277441e-04 5.40275047e-01] [ 1.67017939e-02 -6.49154289e-04 9.99860305e-01 5.51715083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters 0.024083325671920248 Centerline is valid? [True, True] Translation: X:87.67, Y:0.54, Z:0.55 [[ 9.98483242e-01 -5.27279962e-02 -1.58421558e-02 8.76678044e+01] [ 5.27317692e-02 9.98608696e-01 -1.79758156e-04 5.39305327e-01] [ 1.58295928e-02 -6.55899394e-04 9.99874489e-01 5.52385997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters 0.023891834774282496 Centerline is valid? [True, True] Translation: X:87.73, Y:0.54, Z:0.55 [[ 9.98288586e-01 -5.66660383e-02 -1.44519780e-02 8.77289342e+01] [ 5.66695965e-02 9.98392974e-01 -1.63515595e-04 5.42471277e-01] [ 1.44380190e-02 -6.55752007e-04 9.99895551e-01 5.54450448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399999 meters 0.027268127351722706 Centerline is valid? [True, True] Translation: X:87.79, Y:0.54, Z:0.55 [[ 9.98100629e-01 -5.98560505e-02 -1.45735521e-02 8.77894742e+01] [ 5.98600153e-02 9.98206768e-01 -1.64396504e-04 5.40681614e-01] [ 1.45572585e-02 -7.08288798e-04 9.99893787e-01 5.54299082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399999 meters 0.025952364422936497 Centerline is valid? [True, True] Translation: X:87.85, Y:0.54, Z:0.55 [[ 9.98050885e-01 -6.06194232e-02 -1.48228463e-02 8.78515602e+01] [ 6.06236223e-02 9.98160683e-01 -1.66294015e-04 5.44156168e-01] [ 1.48056630e-02 -7.32644744e-04 9.99890122e-01 5.54814627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519254154 meters 0.028123819586224903 Centerline is valid? [True, True] Translation: X:87.91, Y:0.54, Z:0.55 [[ 9.97975886e-01 -6.12926743e-02 -1.69510532e-02 8.79123261e+01] [ 6.12982943e-02 9.98119474e-01 -1.88321379e-04 5.43661874e-01] [ 1.69307190e-02 -8.51130453e-04 9.99856303e-01 5.52611037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579254154 meters 0.026985805762473437 Centerline is valid? [True, True] Translation: X:87.97, Y:0.55, Z:0.55 [[ 9.98014960e-01 -6.00035743e-02 -1.91235478e-02 8.79742913e+01] [ 6.00105267e-02 9.98197722e-01 -2.10617613e-04 5.49156847e-01] [ 1.91017196e-02 -9.37414644e-04 9.99817106e-01 5.51634262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters 0.023339463569025755 Centerline is valid? [True, True] Translation: X:88.04, Y:0.56, Z:0.55 [[ 9.98335973e-01 -5.41093515e-02 -1.99364563e-02 8.80353116e+01] [ 5.41157466e-02 9.98534645e-01 -2.18971932e-04 5.60148873e-01] [ 1.99190908e-02 -8.60268660e-04 9.99801225e-01 5.52841787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters 0.020962468558817563 Centerline is valid? [True, True] Translation: X:88.10, Y:0.57, Z:0.55 [[ 9.98710608e-01 -4.71998420e-02 -1.86894962e-02 8.80959113e+01] [ 4.72042549e-02 9.98885237e-01 -2.05209313e-04 5.68540696e-01] [ 1.86783476e-02 -6.77279023e-04 9.99825315e-01 5.54915974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399999 meters 0.016923646869143702 Centerline is valid? [True, True] Translation: X:88.16, Y:0.58, Z:0.56 [[ 9.99308671e-01 -3.36927391e-02 -1.57155704e-02 8.81560830e+01] [ 3.36941912e-02 9.99432175e-01 -1.72442707e-04 5.83106264e-01] [ 1.57124568e-02 -3.57199944e-04 9.99876488e-01 5.58130049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399999 meters 0.014212965926195772 Centerline is valid? [True, True] Translation: X:88.22, Y:0.60, Z:0.56 [[ 9.99680549e-01 -2.08828879e-02 -1.42374253e-02 8.82166435e+01] [ 2.08827834e-02 9.99781919e-01 -1.56015775e-04 5.97908076e-01] [ 1.42375785e-02 -1.41351134e-04 9.99898631e-01 5.60554435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879254154 meters 0.013642707190366381 Centerline is valid? [True, True] Translation: X:88.28, Y:0.60, Z:0.56 [[ 9.99794967e-01 -1.43655655e-02 -1.42707882e-02 8.82769795e+01] [ 1.43647985e-02 9.99896809e-01 -1.56258400e-04 6.04810656e-01] [ 1.42715603e-02 -4.87706341e-05 9.99898155e-01 5.60821329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939254154 meters 0.013724593543876775 Centerline is valid? [True, True] Translation: X:88.34, Y:0.61, Z:0.56 [[ 9.99839093e-01 -8.38532223e-03 -1.58579448e-02 8.83352873e+01] [ 8.38361509e-03 9.99964842e-01 -1.74127750e-04 6.10867629e-01] [ 1.58588474e-02 4.11528267e-05 9.99874240e-01 5.59546072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters 0.013904662452313256 Centerline is valid? [True, True] Translation: X:88.39, Y:0.61, Z:0.56 [[ 9.99839142e-01 -6.50314004e-03 -1.67152617e-02 8.83943726e+01] [ 6.50093268e-03 9.99978851e-01 -1.86389731e-04 6.12760104e-01] [ 1.67161203e-02 7.76949580e-05 9.99860273e-01 5.59274257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters 0.013833961277237792 Centerline is valid? [True, True] Translation: X:88.45, Y:0.61, Z:0.56 [[ 9.99856497e-01 -6.92184651e-03 -1.54620014e-02 8.84530763e+01] [ 6.91995123e-03 9.99976041e-01 -1.76075519e-04 6.11432539e-01] [ 1.54628497e-02 6.90539568e-05 9.99880441e-01 5.60149085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399999 meters 0.013763299990260325 Centerline is valid? [True, True] Translation: X:88.51, Y:0.61, Z:0.56 [[ 9.99860630e-01 -8.77642654e-03 -1.42019262e-02 8.85121216e+01] [ 8.77496728e-03 9.99961486e-01 -1.65062761e-04 6.08517211e-01] [ 1.42028279e-02 4.04183180e-05 9.99899134e-01 5.61079134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399999 meters 0.013754329553889744 Centerline is valid? [True, True] Translation: X:88.57, Y:0.60, Z:0.56 [[ 9.99825154e-01 -1.32081182e-02 -1.32365991e-02 8.85710416e+01] [ 1.32072125e-02 9.99912769e-01 -1.55835436e-04 6.02708886e-01] [ 1.32375028e-02 -1.90103895e-05 9.99912380e-01 5.62161316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239254154 meters 0.013948184624924463 Centerline is valid? [True, True] Translation: X:88.63, Y:0.60, Z:0.56 [[ 9.99741037e-01 -1.93285711e-02 -1.20110400e-02 8.86298742e+01] [ 1.93282572e-02 9.99813182e-01 -1.42222371e-04 5.95547001e-01] [ 1.20115451e-02 -8.99669306e-05 9.99927855e-01 5.63802988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299254154 meters 0.014827512312432168 Centerline is valid? [True, True] Translation: X:88.69, Y:0.59, Z:0.56 [[ 9.99578371e-01 -2.62694524e-02 -1.23691238e-02 8.86914713e+01] [ 2.62696470e-02 9.99654883e-01 -1.46763254e-04 5.85736369e-01] [ 1.23687104e-02 -1.78231142e-04 9.99923489e-01 5.63240331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359254154 meters 0.01680878103466428 Centerline is valid? [True, True] Translation: X:88.75, Y:0.58, Z:0.56 [[ 9.99370821e-01 -3.30654976e-02 -1.28309928e-02 8.87530563e+01] [ 3.30662730e-02 9.99453150e-01 -1.51769772e-04 5.75722423e-01] [ 1.28289945e-02 -2.72598829e-04 9.99917668e-01 5.61415952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters 0.017394033299681012 Centerline is valid? [True, True] Translation: X:88.81, Y:0.57, Z:0.56 [[ 9.99203438e-01 -3.78268184e-02 -1.27130145e-02 8.88149763e+01] [ 3.78279719e-02 9.99284255e-01 -1.49804882e-04 5.67997738e-01] [ 1.27095819e-02 -3.31222003e-04 9.99919175e-01 5.62770485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399999 meters 0.017418395408505573 Centerline is valid? [True, True] Translation: X:88.88, Y:0.57, Z:0.56 [[ 9.99163663e-01 -3.91954895e-02 -1.16485486e-02 8.88774063e+01] [ 3.91965591e-02 9.99231510e-01 -1.36557777e-04 5.65332253e-01] [ 1.16449493e-02 -3.20139456e-04 9.99932144e-01 5.63890854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399999 meters 0.01923535956559377 Centerline is valid? [True, True] Translation: X:88.94, Y:0.56, Z:0.56 [[ 9.99089252e-01 -4.14262498e-02 -1.02241386e-02 8.89385015e+01] [ 4.14271968e-02 9.99141518e-01 -1.19227710e-04 5.57934139e-01] [ 1.02203006e-02 -3.04438280e-04 9.99947725e-01 5.64617805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599254154 meters 0.020226309345393805 Centerline is valid? [True, True] Translation: X:89.00, Y:0.55, Z:0.56 [[ 9.98873156e-01 -4.63150059e-02 -1.03604656e-02 8.89992459e+01] [ 4.63162456e-02 9.98926820e-01 -1.20377018e-04 5.51718567e-01] [ 1.03549222e-02 -3.59616498e-04 9.99946322e-01 5.64485949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659254154 meters 0.022308967911975865 Centerline is valid? [True, True] Translation: X:89.06, Y:0.54, Z:0.56 [[ 9.98549186e-01 -5.22789505e-02 -1.29009322e-02 8.90599214e+01] [ 5.22813722e-02 9.98632383e-01 -1.49694649e-04 5.44723206e-01] [ 1.28911145e-02 -5.25000968e-04 9.99916768e-01 5.62409888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719254154 meters 0.02279004486355911 Centerline is valid? [True, True] Translation: X:89.12, Y:0.54, Z:0.56 [[ 9.98359435e-01 -5.55154360e-02 -1.40169532e-02 8.91211449e+01] [ 5.55186179e-02 9.98457639e-01 -1.62318552e-04 5.42594682e-01] [ 1.40043452e-02 -6.16149613e-04 9.99901745e-01 5.62524495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters 0.024561463047083947 Centerline is valid? [True, True] Translation: X:89.18, Y:0.54, Z:0.56 [[ 9.98293837e-01 -5.67938866e-02 -1.35598335e-02 8.91818925e+01] [ 5.67969970e-02 9.98385735e-01 -1.55913912e-04 5.40187028e-01] [ 1.35467993e-02 -6.14509928e-04 9.99908049e-01 5.63062244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters 0.023148421761972578 Centerline is valid? [True, True] Translation: X:89.24, Y:0.54, Z:0.56 [[ 9.98254184e-01 -5.72664172e-02 -1.44617058e-02 8.92435644e+01] [ 5.72700336e-02 9.98358711e-01 -1.64277644e-04 5.41876963e-01] [ 1.44473776e-02 -6.64231535e-04 9.99895411e-01 5.63325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399999 meters 0.02466600439126774 Centerline is valid? [True, True] Translation: X:89.30, Y:0.54, Z:0.56 [[ 9.98302551e-01 -5.62151297e-02 -1.52274996e-02 8.93045853e+01] [ 5.62190397e-02 9.98418444e-01 -1.71507091e-04 5.40894344e-01] [ 1.52130578e-02 -6.84859441e-04 9.99884040e-01 5.62825706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399999 meters 0.02260143298675535 Centerline is valid? [True, True] Translation: X:89.37, Y:0.55, Z:0.56 [[ 9.98432180e-01 -5.40716128e-02 -1.44721133e-02 8.93655557e+01] [ 5.40749290e-02 9.98536867e-01 -1.62357874e-04 5.45515651e-01] [ 1.44597176e-02 -6.20475173e-04 9.99895260e-01 5.64612071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019254154 meters 0.02013829604462634 Centerline is valid? [True, True] Translation: X:89.43, Y:0.55, Z:0.57 [[ 9.98799229e-01 -4.72885128e-02 -1.28021883e-02 8.94265128e+01] [ 4.72905545e-02 9.98881166e-01 -1.43361092e-04 5.52907013e-01] [ 1.27946441e-02 -4.62233635e-04 9.99918038e-01 5.67964042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079254154 meters 0.017255862290076616 Centerline is valid? [True, True] Translation: X:89.49, Y:0.56, Z:0.57 [[ 9.99268645e-01 -3.66397786e-02 -1.09408161e-02 8.94867458e+01] [ 3.66406325e-02 9.99328499e-01 -1.22454598e-04 5.62466602e-01] [ 1.09379561e-02 -2.78513383e-04 9.99940140e-01 5.70018376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters 0.015499689709780145 Centerline is valid? [True, True] Translation: X:89.55, Y:0.57, Z:0.57 [[ 9.99643882e-01 -2.36907385e-02 -1.22824190e-02 8.95477611e+01] [ 2.36908391e-02 9.99719323e-01 -1.37326422e-04 5.73258302e-01] [ 1.22822250e-02 -1.53703295e-04 9.99924559e-01 5.68779866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters 0.013854549273554482 Centerline is valid? [True, True] Translation: X:89.61, Y:0.58, Z:0.57 [[ 9.99786581e-01 -1.49260123e-02 -1.42830578e-02 8.96089776e+01] [ 1.49252599e-02 9.99888599e-01 -1.59272784e-04 5.80212894e-01] [ 1.42838440e-02 -5.39395577e-05 9.99897979e-01 5.68922888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399999 meters 0.014276871740815022 Centerline is valid? [True, True] Translation: X:89.67, Y:0.59, Z:0.57 [[ 9.99863699e-01 -3.61289928e-03 -1.61099337e-02 8.96675316e+01] [ 3.61043909e-03 9.99993466e-01 -1.81794148e-04 5.89074684e-01] [ 1.61104853e-02 1.23605435e-04 9.99870210e-01 5.68862414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399999 meters 0.01508513537601076 Centerline is valid? [True, True] Translation: X:89.72, Y:0.59, Z:0.57 [[ 9.99858327e-01 2.66589686e-03 -1.66198468e-02 8.97247513e+01] [-2.66943805e-03 9.99996419e-01 -1.90889361e-04 5.94101100e-01] [ 1.66192784e-02 2.35227969e-04 9.99861863e-01 5.69453974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379254154 meters 0.015754351426905133 Centerline is valid? [True, True] Translation: X:89.78, Y:0.60, Z:0.57 [[ 9.99837003e-01 7.00675125e-03 -1.66394936e-02 8.97833357e+01] [-7.01096121e-03 9.99975404e-01 -1.94689228e-04 5.96950429e-01] [ 1.66377202e-02 3.11316339e-04 9.99861535e-01 5.70782499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439254154 meters 0.015637425802292597 Centerline is valid? [True, True] Translation: X:89.84, Y:0.60, Z:0.57 [[ 9.99833256e-01 8.03005621e-03 -1.64005748e-02 8.98421837e+01] [-8.03435255e-03 9.99967705e-01 -1.96090010e-04 5.95670246e-01] [ 1.63984706e-02 3.27825313e-04 9.99865482e-01 5.72719588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters 0.014821586085436938 Centerline is valid? [True, True] Translation: X:89.90, Y:0.59, Z:0.57 [[ 9.99855619e-01 2.12894155e-04 -1.69910370e-02 8.99003392e+01] [-2.16420388e-04 9.99999955e-01 -2.05696421e-04 5.89361315e-01] [ 1.69909925e-02 2.09343929e-04 9.99855621e-01 5.73546779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters 0.013909742052307796 Centerline is valid? [True, True] Translation: X:89.96, Y:0.58, Z:0.57 [[ 9.99716261e-01 -1.53380405e-02 -1.82247606e-02 8.99598899e+01] [ 1.53365459e-02 9.99882364e-01 -2.21779506e-04 5.75981542e-01] [ 1.82260184e-02 -5.77882992e-05 9.99833891e-01 5.73775717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399999 meters 0.015197652222217186 Centerline is valid? [True, True] Translation: X:90.02, Y:0.57, Z:0.57 [[ 9.99443485e-01 -2.72898271e-02 -1.91829302e-02 9.00195766e+01] [ 2.72903556e-02 9.99627521e-01 -2.34278676e-04 5.65821259e-01] [ 1.91821784e-02 -2.89360688e-04 9.99815963e-01 5.74087265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399999 meters 0.018931838264717834 Centerline is valid? [True, True] Translation: X:90.08, Y:0.55, Z:0.58 [[ 9.98875811e-01 -4.30178289e-02 -1.99143310e-02 9.00805715e+01] [ 4.30215156e-02 9.99074116e-01 -2.43449982e-04 5.51981550e-01] [ 1.99063653e-02 -6.13568401e-04 9.99801660e-01 5.75002042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739254154 meters 0.023137330302382877 Centerline is valid? [True, True] Translation: X:90.14, Y:0.54, Z:0.58 [[ 9.98330914e-01 -5.40798462e-02 -2.02671272e-02 9.01415003e+01] [ 5.40859430e-02 9.98536253e-01 -2.47597876e-04 5.41000432e-01] [ 2.02508513e-02 -8.48982073e-04 9.99794570e-01 5.76394005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799254154 meters 0.027471144838394405 Centerline is valid? [True, True] Translation: X:90.20, Y:0.53, Z:0.58 [[ 9.97943671e-01 -6.08368089e-02 -2.01819893e-02 9.02010906e+01] [ 6.08442372e-02 9.98147243e-01 -2.46342896e-04 5.30934398e-01] [ 2.01595837e-02 -9.82121412e-04 9.99796293e-01 5.77143986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859254154 meters 0.029334196177828217 Centerline is valid? [True, True] Translation: X:90.26, Y:0.53, Z:0.58 [[ 9.97698786e-01 -6.44670702e-02 -2.10030893e-02 9.02620724e+01] [ 6.44759243e-02 9.97919230e-01 -2.56042743e-04 5.27009373e-01] [ 2.09758930e-02 -1.09874006e-03 9.99779378e-01 5.77974947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters 0.02599566862659574 Centerline is valid? [True, True] Translation: X:90.32, Y:0.53, Z:0.58 [[ 9.97610060e-01 -6.49918970e-02 -2.34567850e-02 9.03237708e+01] [ 6.50031115e-02 9.97885021e-01 -2.84884881e-04 5.32620480e-01] [ 2.34256896e-02 -1.24055999e-03 9.99724811e-01 5.78737319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399999 meters 0.025663734059397446 Centerline is valid? [True, True] Translation: X:90.39, Y:0.53, Z:0.58 [[ 9.97671871e-01 -6.31363096e-02 -2.57806899e-02 9.03858593e+01] [ 6.31492869e-02 9.98004043e-01 -3.11279734e-04 5.34237470e-01] [ 2.57488858e-02 -1.31747715e-03 9.99667574e-01 5.77951127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399999 meters 0.025814710809450834 Centerline is valid? [True, True] Translation: X:90.45, Y:0.54, Z:0.58 [[ 9.97910502e-01 -5.80628250e-02 -2.83432175e-02 9.04457601e+01] [ 5.80764861e-02 9.98312078e-01 -3.41672346e-04 5.36801881e-01] [ 2.83152148e-02 -1.30511605e-03 9.99598192e-01 5.76675142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099254154 meters 0.021639126315070725 Centerline is valid? [True, True] Translation: X:90.51, Y:0.55, Z:0.58 [[ 9.98352710e-01 -4.95607105e-02 -2.89067912e-02 9.05064350e+01] [ 4.95713659e-02 9.98770523e-01 -3.48338245e-04 5.47916635e-01] [ 2.88885149e-02 -1.08518469e-03 9.99582051e-01 5.79236758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159254154 meters 0.01831448706703133 Centerline is valid? [True, True] Translation: X:90.57, Y:0.56, Z:0.58 [[ 9.98886097e-01 -3.87237104e-02 -2.69636523e-02 9.05671348e+01] [ 3.87290356e-02 9.99249697e-01 -3.24906878e-04 5.59824902e-01] [ 2.69560030e-02 -7.19731284e-04 9.99636362e-01 5.82129349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219254154 meters 0.016047365554317374 Centerline is valid? [True, True] Translation: X:90.63, Y:0.57, Z:0.58 [[ 9.99301272e-01 -2.75024046e-02 -2.53097997e-02 9.06259708e+01] [ 2.75034878e-02 9.99621661e-01 -3.05377398e-04 5.72054909e-01] [ 2.53086226e-02 -3.90943744e-04 9.99679609e-01 5.84400678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters 0.014910573762733647 Centerline is valid? [True, True] Translation: X:90.69, Y:0.58, Z:0.59 [[ 9.99464667e-01 -2.11783156e-02 -2.49370815e-02 9.06851197e+01] [ 2.11772921e-02 9.99775689e-01 -3.05161765e-04 5.80007416e-01] [ 2.49379506e-02 -2.23101457e-04 9.99688976e-01 5.85166771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399999 meters 0.014455352139809398 Centerline is valid? [True, True] Translation: X:90.74, Y:0.59, Z:0.59 [[ 9.99565241e-01 -1.50245648e-02 -2.53691192e-02 9.07434814e+01] [ 1.50213686e-02 9.99887123e-01 -3.16562469e-04 5.88936820e-01] [ 2.53710118e-02 -6.46540511e-05 9.99678102e-01 5.85850784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399999 meters 0.014378971416242486 Centerline is valid? [True, True] Translation: X:90.80, Y:0.59, Z:0.59 [[ 9.99589973e-01 -1.41097251e-02 -2.49159010e-02 9.08014161e+01] [ 1.41061862e-02 9.99900452e-01 -3.17799426e-04 5.92678556e-01] [ 2.49179048e-02 -3.37992199e-05 9.99689500e-01 5.88286343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399999 meters 0.01419523840894982 Centerline is valid? [True, True] Translation: X:90.86, Y:0.59, Z:0.59 [[ 9.99599940e-01 -1.47558424e-02 -2.41293265e-02 9.08604195e+01] [ 1.47525596e-02 9.99891126e-01 -3.14063161e-04 5.94203507e-01] [ 2.41313337e-02 -4.20318118e-05 9.99708796e-01 5.89810057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519254154 meters 0.014623149958835008 Centerline is valid? [True, True] Translation: X:90.92, Y:0.60, Z:0.59 [[ 9.99580106e-01 -1.54666952e-02 -2.45029128e-02 9.09177353e+01] [ 1.54634425e-02 9.99880382e-01 -3.22233657e-04 5.95122879e-01] [ 2.45049657e-02 -5.68010298e-05 9.99699707e-01 5.88912416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579254154 meters 0.013885185095893182 Centerline is valid? [True, True] Translation: X:90.98, Y:0.59, Z:0.59 [[ 9.99563645e-01 -1.66896685e-02 -2.43716018e-02 9.09757858e+01] [ 1.66866741e-02 9.99860715e-01 -3.26246116e-04 5.94672588e-01] [ 2.43736522e-02 -8.05772200e-05 9.99702915e-01 5.93217079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters 0.014228631683373717 Centerline is valid? [True, True] Translation: X:91.03, Y:0.59, Z:0.59 [[ 9.99475565e-01 -2.04363454e-02 -2.51187245e-02 9.10343420e+01] [ 2.04341789e-02 9.99791142e-01 -3.42954734e-04 5.91102172e-01] [ 2.51204870e-02 -1.70505633e-04 9.99684416e-01 5.93117265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters 0.014368290940945423 Centerline is valid? [True, True] Translation: X:91.09, Y:0.59, Z:0.59 [[ 9.99395901e-01 -2.38219991e-02 -2.53050293e-02 9.10930806e+01] [ 2.38207211e-02 9.99716184e-01 -3.51988000e-04 5.88355910e-01] [ 2.53062324e-02 -2.51008680e-04 9.99679715e-01 5.93826438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399999 meters 0.015098418410737082 Centerline is valid? [True, True] Translation: X:91.15, Y:0.58, Z:0.59 [[ 9.99284668e-01 -2.85289395e-02 -2.48244333e-02 9.11517971e+01] [ 2.85290052e-02 9.99592903e-01 -3.51589673e-04 5.82863403e-01] [ 2.48243579e-02 -3.56878217e-04 9.99691764e-01 5.94549400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399999 meters 0.015407643580294148 Centerline is valid? [True, True] Translation: X:91.21, Y:0.58, Z:0.60 [[ 9.99197364e-01 -3.30433199e-02 -2.26443455e-02 9.12104138e+01] [ 3.30444047e-02 9.99453831e-01 -3.26376434e-04 5.77088922e-01] [ 2.26427624e-02 -4.22154445e-04 9.99743531e-01 5.96194929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879254154 meters 0.016392060840999746 Centerline is valid? [True, True] Translation: X:91.27, Y:0.57, Z:0.60 [[ 9.99041601e-01 -3.81436596e-02 -2.14695260e-02 9.12699017e+01] [ 3.81457646e-02 9.99272137e-01 -3.11628316e-04 5.70502908e-01] [ 2.14657857e-02 -5.07641831e-04 9.99769455e-01 5.95828281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939254154 meters 0.018585573335229255 Centerline is valid? [True, True] Translation: X:91.33, Y:0.56, Z:0.59 [[ 9.98724555e-01 -4.54899339e-02 -2.19072972e-02 9.13308699e+01] [ 4.54938915e-02 9.98964566e-01 -3.17956569e-04 5.62444037e-01] [ 2.18990775e-02 -6.79097171e-04 9.99759956e-01 5.93810463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters 0.019833937871333113 Centerline is valid? [True, True] Translation: X:91.39, Y:0.56, Z:0.59 [[ 9.98467163e-01 -5.09670856e-02 -2.15796435e-02 9.13923643e+01] [ 5.09722174e-02 9.98700023e-01 -3.12529125e-04 5.58210059e-01] [ 2.15675191e-02 -7.87912209e-04 9.99767084e-01 5.93471711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters 0.024089236107089212 Centerline is valid? [True, True] Translation: X:91.45, Y:0.55, Z:0.59 [[ 9.98041591e-01 -5.89077750e-02 -2.10441461e-02 9.14524851e+01] [ 5.89144170e-02 9.98262991e-01 -3.04750629e-04 5.49287627e-01] [ 2.10255444e-02 -9.35649793e-04 9.99778501e-01 5.92606920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399999 meters 0.026664897922144774 Centerline is valid? [True, True] Translation: X:91.51, Y:0.54, Z:0.59 [[ 9.97759098e-01 -6.38668235e-02 -1.99452026e-02 9.15138404e+01] [ 6.38737805e-02 9.97957943e-01 -2.88697423e-04 5.44511533e-01] [ 1.99229115e-02 -9.85925012e-04 9.99801033e-01 5.92532616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399999 meters 0.02706123276470586 Centerline is valid? [True, True] Translation: X:91.58, Y:0.54, Z:0.59 [[ 9.97787533e-01 -6.39033182e-02 -1.83413508e-02 9.15758986e+01] [ 6.39092244e-02 9.97955681e-01 -2.64542705e-04 5.44972129e-01] [ 1.83207604e-02 -9.08224094e-04 9.99831748e-01 5.93529934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239254154 meters 0.024470194428352632 Centerline is valid? [True, True] Translation: X:91.64, Y:0.55, Z:0.59 [[ 9.97925020e-01 -6.18168468e-02 -1.80092308e-02 9.16373483e+01] [ 6.18222179e-02 9.98087144e-01 -2.58866885e-04 5.50172003e-01] [ 1.79907841e-02 -8.55040852e-04 9.99837787e-01 5.94415790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299254154 meters 0.02388913401354133 Centerline is valid? [True, True] Translation: X:91.70, Y:0.55, Z:0.59 [[ 9.98046996e-01 -5.98551930e-02 -1.78759662e-02 9.16984483e+01] [ 5.98601826e-02 9.98206739e-01 -2.56296973e-04 5.53710240e-01] [ 1.78592507e-02 -8.14262181e-04 9.99840179e-01 5.94618334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359254154 meters 0.02358583311875632 Centerline is valid? [True, True] Translation: X:91.76, Y:0.56, Z:0.59 [[ 9.98165075e-01 -5.77909298e-02 -1.80745815e-02 9.17597445e+01] [ 5.77957052e-02 9.98328398e-01 -2.58478821e-04 5.57671562e-01] [ 1.80593058e-02 -7.86628655e-04 9.99836608e-01 5.94329491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters 0.022394031354267298 Centerline is valid? [True, True] Translation: X:91.82, Y:0.56, Z:0.59 [[ 9.98289913e-01 -5.57774899e-02 -1.74962942e-02 9.18208545e+01] [ 5.57816669e-02 9.98442959e-01 -2.49576587e-04 5.62118569e-01] [ 1.74829726e-02 -7.26822669e-04 9.99846897e-01 5.94444263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399999 meters 0.019201654754593768 Centerline is valid? [True, True] Translation: X:91.88, Y:0.57, Z:0.60 [[ 9.98624445e-01 -4.97766104e-02 -1.64774369e-02 9.18820004e+01] [ 4.97795059e-02 9.98760204e-01 -2.34631395e-04 5.73082467e-01] [ 1.64686874e-02 -5.85930020e-04 9.99864210e-01 5.96093738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399999 meters 0.017026909783482667 Centerline is valid? [True, True] Translation: X:91.94, Y:0.58, Z:0.60 [[ 9.98961821e-01 -4.30036539e-02 -1.50321364e-02 9.19423902e+01] [ 4.30052991e-02 9.99074821e-01 -2.13937609e-04 5.81881569e-01] [ 1.50274291e-02 -4.32746019e-04 9.99886988e-01 5.97752309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599254154 meters 0.014958030421312624 Centerline is valid? [True, True] Translation: X:92.00, Y:0.59, Z:0.60 [[ 9.99397672e-01 -3.21717877e-02 -1.30103316e-02 9.20032373e+01] [ 3.21721028e-02 9.99482327e-01 -1.85123219e-04 5.92844428e-01] [ 1.30095522e-02 -2.33558012e-04 9.99915345e-01 5.98966815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659254154 meters 0.01268759679415326 Centerline is valid? [True, True] Translation: X:92.06, Y:0.60, Z:0.60 [[ 9.99591872e-01 -2.55718595e-02 -1.27345654e-02 9.20648865e+01] [ 2.55716307e-02 9.99672976e-01 -1.80821929e-04 6.01567608e-01] [ 1.27350248e-02 -1.44895472e-04 9.99918896e-01 5.99047501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719254154 meters 0.01502702783855289 Centerline is valid? [True, True] Translation: X:92.13, Y:0.60, Z:0.60 [[ 9.99604789e-01 -2.37106297e-02 -1.51020748e-02 9.21257717e+01] [ 2.37101069e-02 9.99718853e-01 -2.13686396e-04 6.04569955e-01] [ 1.51028955e-02 -1.44469864e-04 9.99885934e-01 5.96552946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters 0.013155467513788557 Centerline is valid? [True, True] Translation: X:92.19, Y:0.60, Z:0.60 [[ 9.99572164e-01 -2.66075364e-02 -1.21461259e-02 9.21861985e+01] [ 2.66074156e-02 9.99645945e-01 -1.71564178e-04 6.04911853e-01] [ 1.21463904e-02 -1.51686244e-04 9.99926218e-01 5.97804668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399999 meters 0.013518349275127357 Centerline is valid? [True, True] Translation: X:92.25, Y:0.61, Z:0.60 [[ 9.99548980e-01 -2.81145962e-02 -1.05549385e-02 9.22479857e+01] [ 2.81145930e-02 9.99604696e-01 -1.48707430e-04 6.05791087e-01] [ 1.05549469e-02 -1.48107440e-04 9.99944284e-01 5.99150178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399999 meters 0.014636175946580943 Centerline is valid? [True, True] Translation: X:92.31, Y:0.61, Z:0.60 [[ 9.99552016e-01 -2.83469755e-02 -9.60290513e-03 9.23104827e+01] [ 2.83469897e-02 9.99598134e-01 -1.34652128e-04 6.08071105e-01] [ 9.60286303e-03 -1.37621647e-04 9.99953882e-01 5.99445124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399999 meters 0.01447879311835283 Centerline is valid? [True, True] Translation: X:92.37, Y:0.61, Z:0.60 [[ 9.99484187e-01 -3.07865673e-02 -9.14046478e-03 9.23728392e+01] [ 3.07866879e-02 9.99525969e-01 -1.27541121e-04 6.10480209e-01] [ 9.14005847e-03 -1.53929302e-04 9.99958217e-01 5.99684629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019254154 meters 0.015180535510165122 Centerline is valid? [True, True] Translation: X:92.44, Y:0.61, Z:0.60 [[ 9.99324901e-01 -3.54876332e-02 -9.50627600e-03 9.24350223e+01] [ 3.54879830e-02 9.99370094e-01 -1.31936493e-04 6.11454710e-01] [ 9.50497006e-03 -2.05511138e-04 9.99954806e-01 6.00025230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079254154 meters 0.017528156140455702 Centerline is valid? [True, True] Translation: X:92.50, Y:0.61, Z:0.60 [[ 9.99195976e-01 -3.87188971e-02 -1.04042114e-02 9.24958175e+01] [ 3.87195017e-02 9.99250109e-01 -1.43394052e-04 6.09579817e-01] [ 1.04019614e-02 -2.59567119e-04 9.99945864e-01 5.99096358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters 0.016951892341784614 Centerline is valid? [True, True] Translation: X:92.56, Y:0.61, Z:0.60 [[ 9.99154904e-01 -3.95087596e-02 -1.13373169e-02 9.25575521e+01] [ 3.95095424e-02 9.99219181e-01 -1.54999188e-04 6.14158464e-01] [ 1.13345883e-02 -2.93064003e-04 9.99935719e-01 5.99334003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters 0.016165131303854243 Centerline is valid? [True, True] Translation: X:92.62, Y:0.62, Z:0.60 [[ 9.99250848e-01 -3.73062511e-02 -1.02949623e-02 9.26199223e+01] [ 3.73067870e-02 9.99303850e-01 -1.40048648e-04 6.18774460e-01] [ 1.02930201e-02 -2.44128234e-04 9.99946996e-01 6.00934711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399999 meters 0.01548589382196989 Centerline is valid? [True, True] Translation: X:92.68, Y:0.62, Z:0.60 [[ 9.99324838e-01 -3.53616257e-02 -9.97108936e-03 9.26824946e+01] [ 3.53620394e-02 9.99374558e-01 -1.34870313e-04 6.22634913e-01] [ 9.96962226e-03 -2.17818801e-04 9.99950278e-01 6.01628016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399999 meters 0.015080795251980866 Centerline is valid? [True, True] Translation: X:92.74, Y:0.63, Z:0.60 [[ 9.99406715e-01 -3.27090213e-02 -1.07860169e-02 9.27446310e+01] [ 3.27093613e-02 9.99464895e-01 -1.44929409e-04 6.26577493e-01] [ 1.07849858e-02 -2.07960300e-04 9.99941819e-01 6.01352786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379254154 meters 0.015245387900691527 Centerline is valid? [True, True] Translation: X:92.81, Y:0.63, Z:0.60 [[ 9.99395755e-01 -3.17404185e-02 -1.41658241e-02 9.28065171e+01] [ 3.17409263e-02 9.99496112e-01 -1.89033105e-04 6.28635663e-01] [ 1.41646861e-02 -2.60717496e-04 9.99899642e-01 5.99207009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439254154 meters 0.015187732188245194 Centerline is valid? [True, True] Translation: X:92.87, Y:0.63, Z:0.60 [[ 9.99362930e-01 -3.14809318e-02 -1.68132156e-02 9.28690810e+01] [ 3.14816348e-02 9.99504306e-01 -2.22921318e-04 6.30882626e-01] [ 1.68118992e-02 -3.06528214e-04 9.99858623e-01 5.98074566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters 0.015161393579057053 Centerline is valid? [True, True] Translation: X:92.93, Y:0.63, Z:0.60 [[ 9.99327856e-01 -3.12746136e-02 -1.91242176e-02 9.29311352e+01] [ 3.12755130e-02 9.99510770e-01 -2.52127482e-04 6.34681541e-01] [ 1.91227466e-02 -3.46161700e-04 9.99817084e-01 5.97953341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters 0.01466606392996359 Centerline is valid? [True, True] Translation: X:92.99, Y:0.64, Z:0.60 [[ 9.99367579e-01 -3.08001785e-02 -1.77704863e-02 9.29926212e+01] [ 3.08008953e-02 9.99525513e-01 -2.33426364e-04 6.38625455e-01] [ 1.77692440e-02 -3.14068147e-04 9.99842065e-01 6.00454543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399999 meters 0.01588932481760399 Centerline is valid? [True, True] Translation: X:93.05, Y:0.64, Z:0.60 [[ 9.99452204e-01 -2.89886238e-02 -1.59671767e-02 9.30529972e+01] [ 2.89889775e-02 9.99579709e-01 -2.09348027e-04 6.41590635e-01] [ 1.59665345e-02 -2.53638778e-04 9.99872495e-01 6.02139079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399999 meters 0.014711907379093555 Centerline is valid? [True, True] Translation: X:93.11, Y:0.65, Z:0.60 [[ 9.99475884e-01 -2.96502174e-02 -1.29931610e-02 9.31147221e+01] [ 2.96505145e-02 9.99560312e-01 -1.69809789e-04 6.45050268e-01] [ 1.29924830e-02 -2.15533120e-04 9.99915571e-01 6.04683368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739254154 meters 0.01642960138206368 Centerline is valid? [True, True] Translation: X:93.18, Y:0.64, Z:0.60 [[ 9.99406924e-01 -3.20874125e-02 -1.24979272e-02 9.31765556e+01] [ 3.20878888e-02 9.99485038e-01 -1.62463421e-04 6.44323073e-01] [ 1.24967043e-02 -2.38665030e-04 9.99921885e-01 6.04968492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799254154 meters 0.017572794371592308 Centerline is valid? [True, True] Translation: X:93.24, Y:0.64, Z:0.60 [[ 9.99122166e-01 -3.97231225e-02 -1.33030206e-02 9.32380475e+01] [ 3.97243483e-02 9.99210662e-01 -1.72181687e-04 6.40066568e-01] [ 1.32993596e-02 -3.56423284e-04 9.99911496e-01 6.03971089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859254154 meters 0.019652251949268295 Centerline is valid? [True, True] Translation: X:93.30, Y:0.64, Z:0.60 [[ 9.98735144e-01 -4.77096200e-02 -1.58715025e-02 9.32987866e+01] [ 4.77123772e-02 9.98861095e-01 -2.05105153e-04 6.36097230e-01] [ 1.58632118e-02 -5.52421389e-04 9.99874019e-01 6.02000377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters 0.02253022693786565 Centerline is valid? [True, True] Translation: X:93.36, Y:0.63, Z:0.60 [[ 9.98509064e-01 -5.15915399e-02 -1.78314762e-02 9.33589243e+01] [ 5.15956389e-02 9.98668031e-01 -2.30404124e-04 6.31607105e-01] [ 1.78196121e-02 -6.89965801e-04 9.99840980e-01 5.99571228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399999 meters 0.020526319875729095 Centerline is valid? [True, True] Translation: X:93.42, Y:0.64, Z:0.60 [[ 9.98683598e-01 -4.81551055e-02 -1.76679519e-02 9.34202805e+01] [ 4.81585996e-02 9.98839675e-01 -2.27895578e-04 6.36633569e-01] [ 1.76584257e-02 -6.23268245e-04 9.99843884e-01 6.00313485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399999 meters 0.017991103164011948 Centerline is valid? [True, True] Translation: X:93.48, Y:0.65, Z:0.60 [[ 9.99068803e-01 -4.04467854e-02 -1.50194571e-02 9.34808660e+01] [ 4.04484434e-02 9.99181608e-01 -1.93491781e-04 6.45122518e-01] [ 1.50149915e-02 -4.14202061e-04 9.99887183e-01 6.03207031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099254154 meters 0.016264751993563222 Centerline is valid? [True, True] Translation: X:93.54, Y:0.65, Z:0.61 [[ 9.99275633e-01 -3.57145071e-02 -1.31408802e-02 9.35423966e+01] [ 3.57153722e-02 9.99361988e-01 -1.68912893e-04 6.51155055e-01] [ 1.31385288e-02 -3.00540887e-04 9.99913641e-01 6.05143193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159254154 meters 0.015578003843841266 Centerline is valid? [True, True] Translation: X:93.60, Y:0.65, Z:0.61 [[ 9.99433632e-01 -3.16170905e-02 -1.15228308e-02 9.36039086e+01] [ 3.16174891e-02 9.99500031e-01 -1.47617361e-04 6.54401786e-01] [ 1.15217370e-02 -2.16789221e-04 9.99933599e-01 6.06048517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219254154 meters 0.014238114871564022 Centerline is valid? [True, True] Translation: X:93.67, Y:0.66, Z:0.61 [[ 9.99611494e-01 -2.53663556e-02 -1.15502570e-02 9.36656666e+01] [ 2.53663447e-02 9.99678212e-01 -1.47461106e-04 6.59084129e-01] [ 1.15502808e-02 -1.45583983e-04 9.99933283e-01 6.05539314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters 0.013368025741349598 Centerline is valid? [True, True] Translation: X:93.73, Y:0.66, Z:0.60 [[ 9.99736299e-01 -1.89830998e-02 -1.29218677e-02 9.37275103e+01] [ 1.89825643e-02 9.99819801e-01 -1.64103775e-04 6.63506137e-01] [ 1.29226544e-02 -8.12296843e-05 9.99916496e-01 6.04287326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399999 meters 0.013141560221502112 Centerline is valid? [True, True] Translation: X:93.79, Y:0.67, Z:0.60 [[ 9.99794377e-01 -1.50797214e-02 -1.35574799e-02 9.37874575e+01] [ 1.50787859e-02 9.99886294e-01 -1.71225104e-04 6.65664371e-01] [ 1.35585204e-02 -3.32404411e-05 9.99908078e-01 6.03567822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399999 meters 0.013264008412953544 Centerline is valid? [True, True] Translation: X:93.85, Y:0.67, Z:0.60 [[ 9.99846998e-01 -1.02429141e-02 -1.41796658e-02 9.38473735e+01] [ 1.02414068e-02 9.99947539e-01 -1.78911766e-04 6.67168508e-01] [ 1.41807545e-02 3.36646659e-05 9.99899447e-01 6.02567869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399999 meters 0.013351583762218925 Centerline is valid? [True, True] Translation: X:93.91, Y:0.67, Z:0.60 [[ 9.99872893e-01 -8.79136545e-03 -1.33007557e-02 9.39050914e+01] [ 8.78988207e-03 9.99961354e-01 -1.69981322e-04 6.66385674e-01] [ 1.33017360e-02 5.30476426e-05 9.99911527e-01 6.02887894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519254154 meters 0.013200267510025374 Centerline is valid? [True, True] Translation: X:93.96, Y:0.66, Z:0.60 [[ 9.99881801e-01 -1.03309772e-02 -1.13866066e-02 9.39641871e+01] [ 1.03299572e-02 9.99946634e-01 -1.48388603e-04 6.63396299e-01] [ 1.13875319e-02 3.07479047e-05 9.99935159e-01 6.04386634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579254154 meters 0.01338280235877897 Centerline is valid? [True, True] Translation: X:94.02, Y:0.66, Z:0.61 [[ 9.99859404e-01 -1.28452094e-02 -1.07783402e-02 9.40227914e+01] [ 1.28444133e-02 9.99917497e-01 -1.43088928e-04 6.60363218e-01] [ 1.07792890e-02 4.62735414e-06 9.99941902e-01 6.05123497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters 0.01331384821059323 Centerline is valid? [True, True] Translation: X:94.08, Y:0.65, Z:0.61 [[ 9.99783679e-01 -1.79795057e-02 -1.04561821e-02 9.40824368e+01] [ 1.79790187e-02 9.99838354e-01 -1.40575695e-04 6.54819439e-01] [ 1.04570194e-02 -4.74466082e-05 9.99945323e-01 6.06730311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters 0.014169273270679242 Centerline is valid? [True, True] Translation: X:94.14, Y:0.65, Z:0.61 [[ 9.99613522e-01 -2.50348428e-02 -1.20856659e-02 9.41432388e+01] [ 2.50347067e-02 9.99686569e-01 -1.62571421e-04 6.47084081e-01] [ 1.20859478e-02 -1.40052509e-04 9.99926952e-01 6.06120796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399999 meters 0.015980446143412996 Centerline is valid? [True, True] Translation: X:94.20, Y:0.64, Z:0.60 [[ 9.99386012e-01 -3.20165885e-02 -1.42315178e-02 9.42031309e+01] [ 3.20171208e-02 9.99487302e-01 -1.90489491e-04 6.38941129e-01] [ 1.42303201e-02 -2.65279690e-04 9.99898709e-01 6.04733392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399999 meters 0.01612681594570927 Centerline is valid? [True, True] Translation: X:94.26, Y:0.64, Z:0.61 [[ 9.99252996e-01 -3.55816413e-02 -1.50796612e-02 9.42647405e+01] [ 3.55826611e-02 9.99366716e-01 -2.00751837e-04 6.36212866e-01] [ 1.50772546e-02 -3.35972599e-04 9.99886275e-01 6.05520389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879254154 meters 0.016191855004076914 Centerline is valid? [True, True] Translation: X:94.33, Y:0.64, Z:0.61 [[ 9.99254085e-01 -3.53366836e-02 -1.55753587e-02 9.43273867e+01] [ 3.53377580e-02 9.99375405e-01 -2.06312094e-04 6.36253091e-01] [ 1.55729208e-02 -3.44240056e-04 9.99878675e-01 6.06220716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939254154 meters 0.015444666626344793 Centerline is valid? [True, True] Translation: X:94.39, Y:0.64, Z:0.61 [[ 9.99378786e-01 -3.22233743e-02 -1.42722464e-02 9.43892730e+01] [ 3.22239716e-02 9.99480655e-01 -1.88172159e-04 6.38289795e-01] [ 1.42708978e-02 -2.71853201e-04 9.99898129e-01 6.08424626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters 0.01523719584045855 Centerline is valid? [True, True] Translation: X:94.45, Y:0.64, Z:0.61 [[ 9.99493952e-01 -2.82699079e-02 -1.45826076e-02 9.44500785e+01] [ 2.82701228e-02 9.99600302e-01 -1.91443639e-04 6.38320247e-01] [ 1.45821910e-02 -2.20905348e-04 9.99893650e-01 6.08938483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters 0.015405568317451416 Centerline is valid? [True, True] Translation: X:94.51, Y:0.64, Z:0.61 [[ 9.99509811e-01 -2.60788865e-02 -1.73213571e-02 9.45118842e+01] [ 2.60788820e-02 9.99659863e-01 -2.26175789e-04 6.40345393e-01] [ 1.73213638e-02 -2.25656707e-04 9.99849948e-01 6.08117295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399999 meters 0.014986657046408199 Centerline is valid? [True, True] Translation: X:94.57, Y:0.64, Z:0.61 [[ 9.99448942e-01 -2.66817644e-02 -1.97457565e-02 9.45726415e+01] [ 2.66818875e-02 9.99643942e-01 -2.57268623e-04 6.39855579e-01] [ 1.97455903e-02 -2.69727202e-04 9.99805000e-01 6.07039073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399999 meters 0.015509700950463775 Centerline is valid? [True, True] Translation: X:94.63, Y:0.64, Z:0.61 [[ 9.99343910e-01 -2.81831114e-02 -2.27477843e-02 9.46324542e+01] [ 2.81836503e-02 9.99602718e-01 -2.96969442e-04 6.39241609e-01] [ 2.27471166e-02 -3.44340996e-04 9.99741192e-01 6.06407185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239254154 meters 0.015667623461165833 Centerline is valid? [True, True] Translation: X:94.69, Y:0.64, Z:0.61 [[ 9.99304499e-01 -2.89163370e-02 -2.35449148e-02 9.46909731e+01] [ 2.89170841e-02 9.99581766e-01 -3.08813919e-04 6.40345695e-01] [ 2.35439973e-02 -3.72251142e-04 9.99722732e-01 6.07610477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299254154 meters 0.015401532082194677 Centerline is valid? [True, True] Translation: X:94.75, Y:0.64, Z:0.61 [[ 9.99258963e-01 -3.14361582e-02 -2.22102004e-02 9.47497056e+01] [ 3.14373443e-02 9.99505681e-01 -2.95838348e-04 6.41470534e-01] [ 2.22085215e-02 -4.02610598e-04 9.99753279e-01 6.10919916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359254154 meters 0.016487617639472072 Centerline is valid? [True, True] Translation: X:94.81, Y:0.64, Z:0.61 [[ 9.99157154e-01 -3.56164795e-02 -2.04070746e-02 9.48094402e+01] [ 3.56183136e-02 9.99365429e-01 -2.73699018e-04 6.38096601e-01] [ 2.04038731e-02 -4.53397253e-04 9.99791717e-01 6.12042507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters 0.01671480939643172 Centerline is valid? [True, True] Translation: X:94.87, Y:0.64, Z:0.61 [[ 9.99039498e-01 -3.90213868e-02 -1.99352034e-02 9.48707583e+01] [ 3.90238219e-02 9.99238245e-01 -2.66995871e-04 6.38361604e-01] [ 1.99304362e-02 -5.11208407e-04 9.99801238e-01 6.14029503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399999 meters 0.01904120965935049 Centerline is valid? [True, True] Translation: X:94.93, Y:0.63, Z:0.62 [[ 9.98685690e-01 -4.73560107e-02 -1.96035747e-02 9.49310900e+01] [ 4.73599782e-02 9.98877852e-01 -2.62079430e-04 6.33063972e-01] [ 1.95939876e-02 -6.66689895e-04 9.99807797e-01 6.15370393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399999 meters 0.021260716996989344 Centerline is valid? [True, True] Translation: X:94.99, Y:0.63, Z:0.61 [[ 9.98497494e-01 -5.10565225e-02 -1.98993778e-02 9.49914537e+01] [ 5.10613517e-02 9.98695483e-01 -2.65672220e-04 6.28194599e-01] [ 1.98869830e-02 -7.50816082e-04 9.99801952e-01 6.14208649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599254154 meters 0.022311824817318863 Centerline is valid? [True, True] Translation: X:95.05, Y:0.63, Z:0.61 [[ 9.98288886e-01 -5.45236999e-02 -2.11297591e-02 9.50531065e+01] [ 5.45299340e-02 9.98512097e-01 -2.81442190e-04 6.25831515e-01] [ 2.11136653e-02 -8.71243757e-04 9.99776702e-01 6.13467436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659254154 meters 0.02096320698415239 Centerline is valid? [True, True] Translation: X:95.12, Y:0.63, Z:0.61 [[ 9.98385066e-01 -5.26438903e-02 -2.13513758e-02 9.51157002e+01] [ 5.26498611e-02 9.98612994e-01 -2.82785310e-04 6.29154267e-01] [ 2.13366482e-02 -8.41818339e-04 9.99771993e-01 6.14501082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719254154 meters 0.02043475912066255 Centerline is valid? [True, True] Translation: X:95.18, Y:0.63, Z:0.61 [[ 9.98610550e-01 -4.82580511e-02 -2.11690671e-02 9.51758921e+01] [ 4.82629547e-02 9.98834625e-01 -2.79495784e-04 6.31574659e-01] [ 2.11578851e-02 -7.42574285e-04 9.99775871e-01 6.14382447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters 0.017241987514498392 Centerline is valid? [True, True] Translation: X:95.24, Y:0.64, Z:0.62 [[ 9.99013195e-01 -3.96446790e-02 -2.00233614e-02 9.52367742e+01] [ 3.96473403e-02 9.99213700e-01 -2.64208154e-04 6.40282192e-01] [ 2.00180915e-02 -5.29925590e-04 9.99799477e-01 6.15800440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399999 meters 0.01515086250668088 Centerline is valid? [True, True] Translation: X:95.30, Y:0.65, Z:0.62 [[ 9.99355606e-01 -3.09712309e-02 -1.81426393e-02 9.52970597e+01] [ 3.09719870e-02 9.99520224e-01 -2.39369971e-04 6.48380862e-01] [ 1.81413485e-02 -3.22697867e-04 9.99835380e-01 6.17100469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399999 meters 0.01407791370302492 Centerline is valid? [True, True] Translation: X:95.36, Y:0.65, Z:0.62 [[ 9.99593785e-01 -2.34824252e-02 -1.61505711e-02 9.53567716e+01] [ 2.34820468e-02 9.99724236e-01 -2.13087064e-04 6.54434843e-01] [ 1.61511212e-02 -1.66247963e-04 9.99869548e-01 6.17564667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399999 meters 0.013572225594046756 Centerline is valid? [True, True] Translation: X:95.42, Y:0.66, Z:0.62 [[ 9.99747782e-01 -1.68128258e-02 -1.48896628e-02 9.54172979e+01] [ 1.68117645e-02 9.99858653e-01 -1.96450919e-04 6.60704981e-01] [ 1.48908611e-02 -5.39201351e-05 9.99889124e-01 6.18222942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019254154 meters 0.013652209759613001 Centerline is valid? [True, True] Translation: X:95.48, Y:0.67, Z:0.62 [[ 9.99815458e-01 -1.23128785e-02 -1.47459369e-02 9.54758326e+01] [ 1.23113417e-02 9.99924194e-01 -1.94992268e-04 6.65116388e-01] [ 1.47472200e-02 1.34140149e-05 9.99891254e-01 6.18043106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079254154 meters 0.013845353590390784 Centerline is valid? [True, True] Translation: X:95.53, Y:0.67, Z:0.62 [[ 9.99854839e-01 -8.52106929e-03 -1.47544106e-02 9.55345427e+01] [ 8.51908207e-03 9.99963692e-01 -1.97533269e-04 6.68349733e-01] [ 1.47555581e-02 7.18105605e-05 9.99891128e-01 6.18398123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters 0.01447004630132964 Centerline is valid? [True, True] Translation: X:95.59, Y:0.67, Z:0.62 [[ 9.99907349e-01 -3.35698346e-03 -1.31917860e-02 9.55931349e+01] [ 3.35490353e-03 9.99994356e-01 -1.79795401e-04 6.70929683e-01] [ 1.31923152e-02 1.35521574e-04 9.99912968e-01 6.18746927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399999 meters 0.015073289590768023 Centerline is valid? [True, True] Translation: X:95.65, Y:0.67, Z:0.62 [[ 9.99929121e-01 -1.69309220e-03 -1.17850206e-02 9.56506387e+01] [ 1.69129346e-03 9.99998557e-01 -1.62593797e-04 6.71563882e-01] [ 1.17852788e-02 1.42650344e-04 9.99930541e-01 6.19362077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399999 meters 0.014399863911907158 Centerline is valid? [True, True] Translation: X:95.71, Y:0.67, Z:0.62 [[ 9.99935932e-01 -3.51565231e-03 -1.07596986e-02 9.57100253e+01] [ 3.51425019e-03 9.99993814e-01 -1.49216372e-04 6.67246635e-01] [ 1.07601567e-02 1.11394539e-04 9.99942102e-01 6.19789077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399999 meters 0.013909438426997737 Centerline is valid? [True, True] Translation: X:95.77, Y:0.66, Z:0.62 [[ 9.99892447e-01 -9.68472205e-03 -1.10136675e-02 9.57690345e+01] [ 9.68361945e-03 9.99953101e-01 -1.53436519e-04 6.59462861e-01] [ 1.10146369e-02 4.67678520e-05 9.99939336e-01 6.19218277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379254154 meters 0.013903209382452247 Centerline is valid? [True, True] Translation: X:95.83, Y:0.65, Z:0.62 [[ 9.99776308e-01 -1.81658853e-02 -1.08321447e-02 9.58276525e+01] [ 1.81653079e-02 9.99834986e-01 -1.51701081e-04 6.50347078e-01] [ 1.08331131e-02 -4.51020972e-05 9.99941319e-01 6.18846540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439254154 meters 0.014910898261157995 Centerline is valid? [True, True] Translation: X:95.89, Y:0.64, Z:0.62 [[ 9.99564837e-01 -2.76407767e-02 -1.03016536e-02 9.58885221e+01] [ 2.76407540e-02 9.99617911e-01 -1.44611928e-04 6.38955081e-01] [ 1.03017146e-02 -1.40196473e-04 9.99946926e-01 6.18763093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters 0.015986801504596006 Centerline is valid? [True, True] Translation: X:95.95, Y:0.63, Z:0.62 [[ 9.99400895e-01 -3.32139668e-02 -9.73056310e-03 9.59503822e+01] [ 3.32142156e-02 9.99448246e-01 -1.36070929e-04 6.32474851e-01] [ 9.72971368e-03 -1.87203612e-04 9.99952648e-01 6.18384175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters 0.017513059307892525 Centerline is valid? [True, True] Translation: X:96.01, Y:0.62, Z:0.62 [[ 9.99193526e-01 -3.88564091e-02 -1.01230634e-02 9.60115013e+01] [ 3.88569752e-02 9.99244773e-01 -1.40823778e-04 6.24653698e-01] [ 1.01208901e-02 -2.52641415e-04 9.99948751e-01 6.18186779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399999 meters 0.018737952256089308 Centerline is valid? [True, True] Translation: X:96.07, Y:0.62, Z:0.62 [[ 9.99041888e-01 -4.28268849e-02 -9.00908870e-03 9.60739537e+01] [ 4.28274971e-02 9.99082474e-01 -1.25051320e-04 6.19634037e-01] [ 9.00617819e-03 -2.60905214e-04 9.99959410e-01 6.18695686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399999 meters 0.020292601486442286 Centerline is valid? [True, True] Translation: X:96.14, Y:0.61, Z:0.62 [[ 9.98884830e-01 -4.65832819e-02 -7.68733904e-03 9.61360452e+01] [ 4.65838425e-02 9.98914378e-01 -1.06217107e-04 6.14195511e-01] [ 7.68394144e-03 -2.52007134e-04 9.99970446e-01 6.18710291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739254154 meters 0.02227485745587388 Centerline is valid? [True, True] Translation: X:96.20, Y:0.61, Z:0.62 [[ 9.98677378e-01 -5.07700441e-02 -8.11767991e-03 9.61972217e+01] [ 5.07708120e-02 9.98710324e-01 -1.11587151e-04 6.09971123e-01] [ 8.11287602e-03 -3.00701637e-04 9.99967045e-01 6.18239959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799254154 meters 0.023566839580307353 Centerline is valid? [True, True] Translation: X:96.26, Y:0.61, Z:0.62 [[ 9.98568986e-01 -5.28446200e-02 -8.21131264e-03 9.62591906e+01] [ 5.28454792e-02 9.98602695e-01 -1.12448633e-04 6.07471552e-01] [ 8.20578124e-03 -3.21643034e-04 9.99966280e-01 6.18078264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859254154 meters 0.02265903385750832 Centerline is valid? [True, True] Translation: X:96.32, Y:0.61, Z:0.62 [[ 9.98419713e-01 -5.54605794e-02 -9.06650016e-03 9.63212994e+01] [ 5.54617409e-02 9.98460805e-01 -1.23459304e-04 6.09385060e-01] [ 9.05939218e-03 -3.79579680e-04 9.99958891e-01 6.17401452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters 0.02392055379610291 Centerline is valid? [True, True] Translation: X:96.38, Y:0.61, Z:0.62 [[ 9.98302037e-01 -5.73991224e-02 -9.91889844e-03 9.63830165e+01] [ 5.74006152e-02 9.98351216e-01 -1.34346170e-04 6.08916734e-01] [ 9.91025567e-03 -4.35232818e-04 9.99950797e-01 6.16941352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399999 meters 0.02454118047330006 Centerline is valid? [True, True] Translation: X:96.44, Y:0.61, Z:0.62 [[ 9.98315272e-01 -5.69449258e-02 -1.11306980e-02 9.64449586e+01] [ 5.69467857e-02 9.98377204e-01 -1.50026368e-04 6.10363356e-01] [ 1.11211784e-02 -4.84083860e-04 9.99938041e-01 6.16615496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399999 meters 0.023613177396625582 Centerline is valid? [True, True] Translation: X:96.51, Y:0.61, Z:0.62 [[ 9.98410202e-01 -5.52704811e-02 -1.10563758e-02 9.65072119e+01] [ 5.52722225e-02 9.98471311e-01 -1.48229473e-04 6.13703215e-01] [ 1.10476668e-02 -4.63116646e-04 9.99938865e-01 6.17465796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099254154 meters 0.02087402526846483 Centerline is valid? [True, True] Translation: X:96.57, Y:0.62, Z:0.62 [[ 9.98644853e-01 -5.12513655e-02 -9.04183440e-03 9.65686767e+01] [ 5.12523704e-02 9.98685726e-01 -1.20693601e-04 6.21262478e-01] [ 9.03613666e-03 -3.42885402e-04 9.99959114e-01 6.19497034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159254154 meters 0.020491904191591855 Centerline is valid? [True, True] Translation: X:96.63, Y:0.63, Z:0.62 [[ 9.98937099e-01 -4.53936876e-02 -8.00534784e-03 9.66280751e+01] [ 4.53942898e-02 9.98969142e-01 -1.06549715e-04 6.25283689e-01] [ 8.00193215e-03 -2.56960617e-04 9.99967951e-01 6.20831256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219254154 meters 0.01694246141279023 Centerline is valid? [True, True] Translation: X:96.69, Y:0.64, Z:0.62 [[ 9.99252256e-01 -3.78424419e-02 -7.92963695e-03 9.66887274e+01] [ 3.78427944e-02 9.99283699e-01 -1.05641570e-04 6.35322310e-01] [ 7.92795468e-03 -1.94517043e-04 9.99968554e-01 6.21977142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters 0.015223462610172734 Centerline is valid? [True, True] Translation: X:96.75, Y:0.64, Z:0.62 [[ 9.99504295e-01 -3.00244893e-02 -9.47068708e-03 9.67503023e+01] [ 3.00246441e-02 9.99549151e-01 -1.25871526e-04 6.42541192e-01] [ 9.47019646e-03 -1.58544877e-04 9.99955144e-01 6.21598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399999 meters 0.014373144273603828 Centerline is valid? [True, True] Translation: X:96.81, Y:0.65, Z:0.62 [[ 9.99630535e-01 -2.53029053e-02 -9.92751337e-03 9.68120510e+01] [ 2.53028488e-02 9.99679823e-01 -1.31318839e-04 6.46627398e-01] [ 9.92765756e-03 -1.19924048e-04 9.99950712e-01 6.21244883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399999 meters 0.013702990257412315 Centerline is valid? [True, True] Translation: X:96.87, Y:0.65, Z:0.62 [[ 9.99749218e-01 -1.98076385e-02 -1.04478777e-02 9.68730221e+01] [ 1.98072827e-02 9.99803807e-01 -1.37543797e-04 6.51397443e-01] [ 1.04485523e-02 -6.94347628e-05 9.99945410e-01 6.21596375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399999 meters 0.013612492913330469 Centerline is valid? [True, True] Translation: X:96.93, Y:0.65, Z:0.62 [[ 9.99806281e-01 -1.63851248e-02 -1.09054019e-02 9.69338320e+01] [ 1.63845381e-02 9.99865754e-01 -1.43145376e-04 6.53842757e-01] [ 1.09062834e-02 -3.55623269e-05 9.99940524e-01 6.22013710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519254154 meters 0.014884559414814999 Centerline is valid? [True, True] Translation: X:96.99, Y:0.65, Z:0.62 [[ 9.99844155e-01 -1.45013968e-02 -1.00684982e-02 9.69939100e+01] [ 1.45008035e-02 9.99894849e-01 -1.31929567e-04 6.54436089e-01] [ 1.00693527e-02 -1.40923076e-05 9.99949303e-01 6.21982509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579254154 meters 0.01357116114236907 Centerline is valid? [True, True] Translation: X:97.05, Y:0.65, Z:0.62 [[ 9.99831904e-01 -1.54349054e-02 -9.89587460e-03 9.70545488e+01] [ 1.54343780e-02 9.99880874e-01 -1.29667645e-04 6.53670768e-01] [ 9.89669716e-03 -2.30908205e-05 9.99951026e-01 6.23924570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters 0.013751510055853575 Centerline is valid? [True, True] Translation: X:97.12, Y:0.65, Z:0.62 [[ 9.99772318e-01 -1.89413941e-02 -9.82523482e-03 9.71152267e+01] [ 1.89410435e-02 9.99820594e-01 -1.28742038e-04 6.49536282e-01] [ 9.82591067e-03 -5.73874745e-05 9.99951723e-01 6.24351860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399999 meters 0.014363359944541425 Centerline is valid? [True, True] Translation: X:97.18, Y:0.64, Z:0.62 [[ 9.99600992e-01 -2.59911063e-02 -1.10597919e-02 9.71769571e+01] [ 2.59910952e-02 9.99662164e-01 -1.44757643e-04 6.41939824e-01] [ 1.10598179e-02 -1.42756221e-04 9.99938828e-01 6.23719770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399999 meters 0.016298538348436108 Centerline is valid? [True, True] Translation: X:97.24, Y:0.63, Z:0.62 [[ 9.99339876e-01 -3.43265513e-02 -1.18953977e-02 9.72374257e+01] [ 3.43271330e-02 9.99410638e-01 -1.55332656e-04 6.33559553e-01] [ 1.18937190e-02 -2.53104781e-04 9.99929235e-01 6.22492783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399999 meters 0.017972047340533887 Centerline is valid? [True, True] Translation: X:97.30, Y:0.63, Z:0.62 [[ 9.99092657e-01 -4.08848214e-02 -1.19286873e-02 9.72986717e+01] [ 4.08858759e-02 9.99163811e-01 -1.55549668e-04 6.27201171e-01] [ 1.19250723e-02 -3.32306298e-04 9.99928839e-01 6.22622009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879254154 meters 0.01980182760705846 Centerline is valid? [True, True] Translation: X:97.36, Y:0.62, Z:0.62 [[ 9.98974186e-01 -4.38636073e-02 -1.12498698e-02 9.73601367e+01] [ 4.38647379e-02 9.99037468e-01 -1.46337961e-04 6.22924099e-01] [ 1.12454604e-02 -3.47284745e-04 9.99936708e-01 6.22825494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939254154 meters 0.020303530671985353 Centerline is valid? [True, True] Translation: X:97.42, Y:0.62, Z:0.62 [[ 9.98872592e-01 -4.62281194e-02 -1.07937684e-02 9.74217915e+01] [ 4.62293043e-02 9.98930844e-01 -1.39836681e-04 6.21917711e-01] [ 1.07886925e-02 -3.59309373e-04 9.99941736e-01 6.23514445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters 0.02024712861958231 Centerline is valid? [True, True] Translation: X:97.48, Y:0.62, Z:0.62 [[ 9.98779058e-01 -4.82619986e-02 -1.05438665e-02 9.74833770e+01] [ 4.82632484e-02 9.98834641e-01 -1.36032632e-04 6.22647648e-01] [ 1.05381443e-02 -3.73014701e-04 9.99944403e-01 6.23735743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters 0.021245003985145918 Centerline is valid? [True, True] Translation: X:97.55, Y:0.62, Z:0.62 [[ 9.98711350e-01 -4.96098882e-02 -1.07003601e-02 9.75453154e+01] [ 4.96112598e-02 9.98768594e-01 -1.37384229e-04 6.21948360e-01] [ 1.06939992e-02 -3.93651155e-04 9.99942740e-01 6.23198201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399999 meters 0.021389695190518202 Centerline is valid? [True, True] Translation: X:97.61, Y:0.62, Z:0.62 [[ 9.98566578e-01 -5.23107400e-02 -1.13302611e-02 9.76068408e+01] [ 5.23124601e-02 9.98630755e-01 -1.44694972e-04 6.22908124e-01] [ 1.13223163e-02 -4.48226269e-04 9.99935800e-01 6.22886886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399999 meters 0.02237770508552161 Centerline is valid? [True, True] Translation: X:97.67, Y:0.62, Z:0.62 [[ 9.98358008e-01 -5.58248074e-02 -1.28405260e-02 9.76683145e+01] [ 5.58273153e-02 9.98440426e-01 -1.63328907e-04 6.24414775e-01] [ 1.28296181e-02 -5.53791372e-04 9.99917544e-01 6.22388018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239254154 meters 0.02274293814377222 Centerline is valid? [True, True] Translation: X:97.73, Y:0.63, Z:0.62 [[ 9.98227248e-01 -5.79887601e-02 -1.34039015e-02 9.77303899e+01] [ 5.79916978e-02 9.98317051e-01 -1.69731249e-04 6.27774210e-01] [ 1.33911859e-02 -6.07884647e-04 9.99910149e-01 6.23328145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299254154 meters 0.02257267946769007 Centerline is valid? [True, True] Translation: X:97.79, Y:0.63, Z:0.62 [[ 9.98259589e-01 -5.76963364e-02 -1.22035320e-02 9.77926633e+01] [ 5.76987603e-02 9.98334027e-01 -1.53657148e-04 6.34234874e-01] [ 1.21920667e-02 -5.50738945e-04 9.99925522e-01 6.24582743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359254154 meters 0.024738328329180288 Centerline is valid? [True, True] Translation: X:97.85, Y:0.64, Z:0.63 [[ 9.98319671e-01 -5.68021002e-02 -1.14610673e-02 9.78534432e+01] [ 5.68041877e-02 9.98385328e-01 -1.43567714e-04 6.36427192e-01] [ 1.14507164e-02 -5.07710146e-04 9.99934310e-01 6.25017279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters 0.023465185997538156 Centerline is valid? [True, True] Translation: X:97.92, Y:0.64, Z:0.63 [[ 9.98340493e-01 -5.64457194e-02 -1.14079282e-02 9.79159821e+01] [ 5.64477726e-02 9.98405543e-01 -1.42183709e-04 6.43084806e-01] [ 1.13977644e-02 -5.02004384e-04 9.99934917e-01 6.25386808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399999 meters 0.02468600463205107 Centerline is valid? [True, True] Translation: X:97.98, Y:0.65, Z:0.63 [[ 9.98237754e-01 -5.79429871e-02 -1.28061241e-02 9.79776133e+01] [ 5.79457088e-02 9.98319723e-01 -1.58722619e-04 6.47396824e-01] [ 1.27938031e-02 -5.83617026e-04 9.99917986e-01 6.25564440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399999 meters 0.027540058555514505 Centerline is valid? [True, True] Translation: X:98.04, Y:0.65, Z:0.62 [[ 9.98029077e-01 -6.12293799e-02 -1.37449572e-02 9.80386810e+01] [ 6.12328334e-02 9.98123495e-01 -1.69839219e-04 6.50153492e-01] [ 1.37295639e-02 -6.72138196e-04 9.99905519e-01 6.24215375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599254154 meters 0.0296097143789778 Centerline is valid? [True, True] Translation: X:98.10, Y:0.65, Z:0.63 [[ 9.97761152e-01 -6.54945049e-02 -1.35334043e-02 9.80992948e+01] [ 6.54982473e-02 9.97852670e-01 -1.66986577e-04 6.51646648e-01] [ 1.35152803e-02 -7.19801542e-04 9.99908405e-01 6.26392512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659254154 meters 0.030640197358101345 Centerline is valid? [True, True] Translation: X:98.16, Y:0.66, Z:0.63 [[ 9.97697321e-01 -6.64629602e-02 -1.35178180e-02 9.81617222e+01] [ 6.64667907e-02 9.97788624e-01 -1.66195843e-04 6.56471897e-01] [ 1.34989708e-02 -7.32672830e-04 9.99908616e-01 6.27461229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719254154 meters 0.032307542610954455 Centerline is valid? [True, True] Translation: X:98.22, Y:0.66, Z:0.63 [[ 9.97758045e-01 -6.55207956e-02 -1.36348809e-02 9.82227600e+01] [ 6.55246165e-02 9.97850939e-01 -1.66795412e-04 6.59194473e-01] [ 1.36165073e-02 -7.26998879e-04 9.99907027e-01 6.28078992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters 0.0310088127411336 Centerline is valid? [True, True] Translation: X:98.28, Y:0.67, Z:0.63 [[ 9.97927214e-01 -6.30289138e-02 -1.29858384e-02 9.82839365e+01] [ 6.30321762e-02 9.98011483e-01 -1.58305881e-04 6.68372481e-01] [ 1.29699937e-02 -6.60547906e-04 9.99915668e-01 6.30327564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399999 meters 0.03009615176659261 Centerline is valid? [True, True] Translation: X:98.34, Y:0.68, Z:0.63 [[ 9.98206492e-01 -5.86254985e-02 -1.21181528e-02 9.83441188e+01] [ 5.86280183e-02 9.98279887e-01 -1.47512771e-04 6.76377296e-01] [ 1.21059562e-02 -5.63215077e-04 9.99926562e-01 6.31987241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399999 meters 0.02330315596860173 Centerline is valid? [True, True] Translation: X:98.40, Y:0.69, Z:0.63 [[ 9.98457209e-01 -5.41360288e-02 -1.23488044e-02 9.84044769e+01] [ 5.41383026e-02 9.98533435e-01 -1.50320524e-04 6.91324049e-01] [ 1.23388318e-02 -5.18454699e-04 9.99923739e-01 6.32761323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399999 meters 0.0219544873387311 Centerline is valid? [True, True] Translation: X:98.46, Y:0.70, Z:0.63 [[ 9.98739752e-01 -4.86989547e-02 -1.21375457e-02 9.84643179e+01] [ 4.87007504e-02 9.98813404e-01 -1.47748897e-04 6.99954150e-01] [ 1.21303386e-02 -4.43544888e-04 9.99926326e-01 6.33649849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019254154 meters 0.020259888758875296 Centerline is valid? [True, True] Translation: X:98.53, Y:0.71, Z:0.63 [[ 9.98934067e-01 -4.42919980e-02 -1.29980347e-02 9.85253787e+01] [ 4.42936877e-02 9.99018541e-01 -1.57995908e-04 7.06981000e-01] [ 1.29922757e-02 -4.17903396e-04 9.99915509e-01 6.33456493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079254154 meters 0.0196335808099911 Centerline is valid? [True, True] Translation: X:98.59, Y:0.71, Z:0.63 [[ 9.99082149e-01 -4.07073402e-02 -1.33331461e-02 9.85854355e+01] [ 4.07088041e-02 9.99171040e-01 -1.61701648e-04 7.11009151e-01] [ 1.33286759e-02 -3.81223204e-04 9.99911097e-01 6.32206709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters 0.01772018448560148 Centerline is valid? [True, True] Translation: X:98.65, Y:0.72, Z:0.63 [[ 9.99238951e-01 -3.66753203e-02 -1.32830673e-02 9.86471981e+01] [ 3.66764252e-02 9.99327181e-01 -1.60485664e-04 7.17898291e-01] [ 1.32800161e-02 -3.26811899e-04 9.99911763e-01 6.32718648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399999 meters 0.017226771700848367 Centerline is valid? [True, True] Translation: X:98.71, Y:0.72, Z:0.63 [[ 9.99329173e-01 -3.40238168e-02 -1.35492918e-02 9.87092182e+01] [ 3.40247365e-02 9.99420978e-01 -1.62702215e-04 7.20620109e-01] [ 1.35469822e-02 -2.98418012e-04 9.99908191e-01 6.32912718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399999 meters 0.01636449709058996 Centerline is valid? [True, True] Translation: X:98.77, Y:0.72, Z:0.63 [[ 9.99445795e-01 -3.06639363e-02 -1.29547900e-02 9.87710783e+01] [ 3.06645067e-02 9.99529721e-01 -1.54647798e-04 7.24977310e-01] [ 1.29534397e-02 -2.42690153e-04 9.99916071e-01 6.33636060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399999 meters 0.015846342835536386 Centerline is valid? [True, True] Translation: X:98.83, Y:0.73, Z:0.63 [[ 9.99527067e-01 -2.80403252e-02 -1.26246608e-02 9.88330888e+01] [ 2.80406691e-02 9.99606772e-01 -1.49802670e-04 7.26556650e-01] [ 1.26238970e-02 -2.04272114e-04 9.99920295e-01 6.33238147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379254154 meters 0.0153698133545407 Centerline is valid? [True, True] Translation: X:98.90, Y:0.73, Z:0.63 [[ 9.99578519e-01 -2.61263781e-02 -1.26568916e-02 9.88951497e+01] [ 2.61265820e-02 9.99658631e-01 -1.49259288e-04 7.28442882e-01] [ 1.26564705e-02 -1.81484938e-04 9.99919887e-01 6.33362483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439254154 meters 0.015473498059973407 Centerline is valid? [True, True] Translation: X:98.96, Y:0.73, Z:0.63 [[ 9.99584383e-01 -2.56697119e-02 -1.31197430e-02 9.89566622e+01] [ 2.56699030e-02 9.99670462e-01 -1.53854617e-04 7.27715167e-01] [ 1.31193690e-02 -1.82991858e-04 9.99913921e-01 6.32276867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters 0.015524924744573433 Centerline is valid? [True, True] Translation: X:99.02, Y:0.73, Z:0.63 [[ 9.99574989e-01 -2.60477732e-02 -1.30902741e-02 9.90190925e+01] [ 2.60480067e-02 9.99660681e-01 -1.52683993e-04 7.28391650e-01] [ 1.30898094e-02 -1.88356445e-04 9.99914307e-01 6.31925561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399999 meters 0.017431409736090427 Centerline is valid? [True, True] Translation: X:99.08, Y:0.72, Z:0.63 [[ 9.99550063e-01 -2.72684807e-02 -1.24940381e-02 9.90805998e+01] [ 2.72687984e-02 9.99628127e-01 -1.44958103e-04 7.23638559e-01] [ 1.24933446e-02 -1.95804524e-04 9.99921936e-01 6.30834059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399999 meters 0.01648276633548135 Centerline is valid? [True, True] Translation: X:99.14, Y:0.72, Z:0.63 [[ 9.99473885e-01 -3.07523588e-02 -1.03075247e-02 9.91431113e+01] [ 3.07527659e-02 9.99527015e-01 -1.19034744e-04 7.24287044e-01] [ 1.03063100e-02 -1.98012777e-04 9.99946869e-01 6.33238385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399999 meters 0.017456331065370447 Centerline is valid? [True, True] Translation: X:99.21, Y:0.72, Z:0.63 [[ 9.99387637e-01 -3.37806442e-02 -9.12248345e-03 9.92056412e+01] [ 3.37810947e-02 9.99429250e-01 -1.04749789e-04 7.21119202e-01] [ 9.12081531e-03 -2.03481833e-04 9.99958384e-01 6.33966925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739254154 meters 0.019157119058565514 Centerline is valid? [True, True] Translation: X:99.27, Y:0.72, Z:0.63 [[ 9.99238890e-01 -3.80040126e-02 -8.79405141e-03 9.92675016e+01] [ 3.80045996e-02 9.99277559e-01 -1.00409080e-04 7.16772570e-01] [ 8.79151418e-03 -2.33881746e-04 9.99961327e-01 6.33668091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799254154 meters 0.020497119275306373 Centerline is valid? [True, True] Translation: X:99.33, Y:0.71, Z:0.63 [[ 9.99146638e-01 -4.03884514e-02 -8.64685249e-03 9.93293343e+01] [ 4.03891120e-02 9.99184022e-01 -9.82793688e-05 7.13798895e-01] [ 8.64376620e-03 -2.51043193e-04 9.99962610e-01 6.33306633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859254154 meters 0.019749133380255007 Centerline is valid? [True, True] Translation: X:99.39, Y:0.71, Z:0.63 [[ 9.99069082e-01 -4.22075274e-02 -8.91593118e-03 9.93909725e+01] [ 4.22083064e-02 9.99108827e-01 -1.00857587e-04 7.14217811e-01] [ 8.91224250e-03 -2.75562658e-04 9.99960247e-01 6.32839850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters 0.022209215146133613 Centerline is valid? [True, True] Translation: X:99.45, Y:0.71, Z:0.63 [[ 9.99073247e-01 -4.19811313e-02 -9.49905795e-03 9.94534687e+01] [ 4.19820114e-02 9.99118361e-01 -1.06816308e-04 7.08207358e-01] [ 9.49516748e-03 -2.92072243e-04 9.99954877e-01 6.31357565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399999 meters 0.0191940992815398 Centerline is valid? [True, True] Translation: X:99.52, Y:0.71, Z:0.63 [[ 9.99160267e-01 -3.99071307e-02 -9.28344471e-03 9.95157785e+01] [ 3.99078890e-02 9.99203358e-01 -1.03619995e-04 7.13724041e-01] [ 9.28018430e-03 -2.66949700e-04 9.99956903e-01 6.32138060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399999 meters 0.017861531254989238 Centerline is valid? [True, True] Translation: X:99.58, Y:0.72, Z:0.63 [[ 9.99351145e-01 -3.50584418e-02 -8.25797338e-03 9.95773382e+01] [ 3.50588809e-02 9.99385244e-01 -9.16257842e-05 7.18931904e-01] [ 8.25610900e-03 -1.97948973e-04 9.99965898e-01 6.33581247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099254154 meters 0.016616973889266945 Centerline is valid? [True, True] Translation: X:99.64, Y:0.72, Z:0.63 [[ 9.99489913e-01 -3.08775599e-02 -8.15409052e-03 9.96386785e+01] [ 3.08778534e-02 9.99523161e-01 -8.99166827e-05 7.23083795e-01] [ 8.15297874e-03 -1.61909995e-04 9.99966751e-01 6.33618164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159254154 meters 0.01645690301883965 Centerline is valid? [True, True] Translation: X:99.70, Y:0.72, Z:0.63 [[ 9.99529725e-01 -2.95666780e-02 -8.13261362e-03 9.97007952e+01] [ 2.95669294e-02 9.99562799e-01 -8.93354075e-05 7.23483300e-01] [ 8.13169938e-03 -1.51163017e-04 9.99966926e-01 6.32467585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219254154 meters 0.016315028452879927 Centerline is valid? [True, True] Translation: X:99.76, Y:0.72, Z:0.63 [[ 9.99485469e-01 -3.03392081e-02 -1.04081577e-02 9.97634533e+01] [ 3.03396710e-02 9.99539640e-01 -1.13448201e-04 7.24377879e-01] [ 1.04068081e-02 -2.02390251e-04 9.99945827e-01 6.31029597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters 0.016340983640624588 Centerline is valid? [True, True] Translation: X:99.83, Y:0.73, Z:0.63 [[ 9.99433357e-01 -3.16419401e-02 -1.14783822e-02 9.98260753e+01] [ 3.16425992e-02 9.99499240e-01 -1.24223100e-04 7.25654488e-01] [ 1.14765649e-02 -2.39053138e-04 9.99934113e-01 6.30733402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399999 meters 0.017794545239207128 Centerline is valid? [True, True] Translation: X:99.89, Y:0.72, Z:0.63 [[ 9.99348871e-01 -3.42040058e-02 -1.14856071e-02 9.98872628e+01] [ 3.42048436e-02 9.99414835e-01 -1.23544063e-04 7.22761712e-01] [ 1.14831118e-02 -2.69399774e-04 9.99934031e-01 6.30282993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399999 meters 0.0181063914639572 Centerline is valid? [True, True] Translation: X:99.95, Y:0.72, Z:0.63 [[ 9.99294429e-01 -3.61271556e-02 -1.02699634e-02 9.99495122e+01] [ 3.61279329e-02 9.99347167e-01 -1.09885865e-04 7.23411522e-01] [ 1.02672287e-02 -2.61224217e-04 9.99947256e-01 6.32243207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399999 meters 0.017845591300172745 Centerline is valid? [True, True] Translation: X:100.01, Y:0.73, Z:0.63 [[ 9.99324569e-01 -3.58142470e-02 -8.23082339e-03 1.00011872e+02] [ 3.58147397e-02 9.99358443e-01 -8.75729101e-05 7.26302063e-01] [ 8.22867920e-03 -2.07271037e-04 9.99966122e-01 6.34748586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519254154 meters 0.017602643086551156 Centerline is valid? [True, True] Translation: X:100.07, Y:0.73, Z:0.64 [[ 9.99400451e-01 -3.40607402e-02 -6.21330469e-03 1.00074443e+02] [ 3.40609892e-02 9.99419754e-01 -6.57773635e-05 7.28686284e-01] [ 6.21193987e-03 -1.45893377e-04 9.99980695e-01 6.36851975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579254154 meters 0.0174715042593652 Centerline is valid? [True, True] Translation: X:100.14, Y:0.73, Z:0.64 [[ 9.99430840e-01 -3.33211743e-02 -5.26268382e-03 1.00136419e+02] [ 3.33213442e-02 9.99444688e-01 -5.54120144e-05 7.30055402e-01] [ 5.26160778e-03 -1.19979223e-04 9.99986150e-01 6.38057679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters 0.016747382065573312 Centerline is valid? [True, True] Translation: X:100.20, Y:0.73, Z:0.64 [[ 9.99405817e-01 -3.39603907e-02 -5.89109658e-03 1.00199029e+02] [ 3.39606175e-02 9.99423170e-01 -6.15591540e-05 7.32709142e-01] [ 5.88978899e-03 -1.38542701e-04 9.99982645e-01 6.37675895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399999 meters 0.017936736952696816 Centerline is valid? [True, True] Translation: X:100.26, Y:0.73, Z:0.64 [[ 9.99287809e-01 -3.68205250e-02 -8.25367215e-03 1.00260811e+02] [ 3.68210741e-02 9.99321871e-01 -8.54693341e-05 7.29488820e-01] [ 8.25122212e-03 -2.18500610e-04 9.99965934e-01 6.35856055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399999 meters 0.018575006631003272 Centerline is valid? [True, True] Translation: X:100.32, Y:0.73, Z:0.63 [[ 9.99193096e-01 -3.87163519e-02 -1.06864486e-02 1.00322963e+02] [ 3.87173889e-02 9.99250195e-01 -1.09897826e-04 7.27352591e-01] [ 1.06826907e-02 -3.03942239e-04 9.99942892e-01 6.34064867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399999 meters 0.01923477267981665 Centerline is valid? [True, True] Translation: X:100.38, Y:0.73, Z:0.63 [[ 9.99204989e-01 -3.80964478e-02 -1.17494637e-02 1.00383854e+02] [ 3.80976731e-02 9.99274013e-01 -1.19602720e-04 7.27370311e-01] [ 1.17454902e-02 -3.28119594e-04 9.99930966e-01 6.34019550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879254154 meters 0.018646722978868293 Centerline is valid? [True, True] Translation: X:100.45, Y:0.73, Z:0.63 [[ 9.99271458e-01 -3.64082858e-02 -1.14450802e-02 1.00445988e+02] [ 3.64093519e-02 9.99336953e-01 -1.15272490e-04 7.29222434e-01] [ 1.14416884e-02 -3.01519441e-04 9.99934496e-01 6.34874248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939254154 meters 0.016655150728169518 Centerline is valid? [True, True] Translation: X:100.51, Y:0.73, Z:0.64 [[ 9.99378100e-01 -3.35566100e-02 -1.08336275e-02 1.00508130e+02] [ 3.35574059e-02 9.99436786e-01 -1.08361284e-04 7.34154560e-01] [ 1.08311621e-02 -2.55254543e-04 9.99941309e-01 6.36817087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters 0.01602962559571422 Centerline is valid? [True, True] Translation: X:100.57, Y:0.74, Z:0.64 [[ 9.99466462e-01 -3.07969201e-02 -1.08784861e-02 1.00569921e+02] [ 3.07975679e-02 9.99525637e-01 -1.08001796e-04 7.37347109e-01] [ 1.08766518e-02 -2.27086740e-04 9.99940822e-01 6.37557005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399999 meters 0.01582487260418097 Centerline is valid? [True, True] Translation: X:100.63, Y:0.74, Z:0.64 [[ 9.99512104e-01 -2.89851841e-02 -1.16367501e-02 1.00631859e+02] [ 2.89858131e-02 9.99579816e-01 -1.14634284e-04 7.39352457e-01] [ 1.16351832e-02 -2.22722309e-04 9.99932284e-01 6.38052926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399999 meters 0.016253360695271436 Centerline is valid? [True, True] Translation: X:100.69, Y:0.74, Z:0.64 [[ 9.99485572e-01 -2.93887720e-02 -1.28409777e-02 1.00693169e+02] [ 2.93895826e-02 9.99568025e-01 -1.25617792e-04 7.38792591e-01] [ 1.28391225e-02 -2.51837804e-04 9.99917543e-01 6.38354129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399999 meters 0.016750416806398036 Centerline is valid? [True, True] Translation: X:100.76, Y:0.74, Z:0.64 [[ 9.99446341e-01 -3.04961374e-02 -1.33040427e-02 1.00755102e+02] [ 3.04971169e-02 9.99534846e-01 -1.29298590e-04 7.37445056e-01] [ 1.33017974e-02 -2.76507942e-04 9.99911489e-01 6.38347527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239254154 meters 0.01773110034769332 Centerline is valid? [True, True] Translation: X:100.82, Y:0.73, Z:0.64 [[ 9.99372817e-01 -3.28889467e-02 -1.31258844e-02 1.00817232e+02] [ 3.28901185e-02 9.99458966e-01 -1.26642976e-04 7.33070498e-01] [ 1.31229480e-02 -3.05148346e-04 9.99913844e-01 6.38674900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299254154 meters 0.018309016721224737 Centerline is valid? [True, True] Translation: X:100.88, Y:0.73, Z:0.64 [[ 9.99348735e-01 -3.36043903e-02 -1.31472889e-02 1.00879488e+02] [ 3.36056399e-02 9.99435163e-01 -1.25926303e-04 7.30700195e-01] [ 1.31440945e-02 -3.15978765e-04 9.99913563e-01 6.39870133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters 0.01746143724312717 Centerline is valid? [True, True] Translation: X:100.94, Y:0.73, Z:0.64 [[ 9.99384725e-01 -3.22943920e-02 -1.36837073e-02 1.00942155e+02] [ 3.22956390e-02 9.99478351e-01 -1.29891103e-04 7.32245534e-01] [ 1.36807639e-02 -3.12112885e-04 9.99906365e-01 6.40725694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters 0.017125805329705018 Centerline is valid? [True, True] Translation: X:101.00, Y:0.73, Z:0.64 [[ 9.99429392e-01 -3.07875887e-02 -1.38929724e-02 1.01004447e+02] [ 3.07887450e-02 9.99525906e-01 -1.30694423e-04 7.32872278e-01] [ 1.38904096e-02 -2.97127337e-04 9.99903479e-01 6.41007484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399999 meters 0.0167871794304026 Centerline is valid? [True, True] Translation: X:101.07, Y:0.73, Z:0.64 [[ 9.99496852e-01 -2.83946863e-02 -1.41344936e-02 1.01065409e+02] [ 2.83956565e-02 9.99596753e-01 -1.32084516e-04 7.32783927e-01] [ 1.41325444e-02 -2.69340165e-04 9.99900094e-01 6.40676991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399999 meters 0.016273588618574652 Centerline is valid? [True, True] Translation: X:101.13, Y:0.73, Z:0.64 [[ 9.99566906e-01 -2.55249135e-02 -1.46451001e-02 1.01127011e+02] [ 2.55256565e-02 9.99674158e-01 -1.36212487e-04 7.34616402e-01] [ 1.46438050e-02 -2.37672302e-04 9.99892745e-01 6.40926495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599254154 meters 0.015257720171683638 Centerline is valid? [True, True] Translation: X:101.19, Y:0.74, Z:0.64 [[ 9.99693720e-01 -1.96641452e-02 -1.50262074e-02 1.01187932e+02] [ 1.96642733e-02 9.99806630e-01 -1.39232867e-04 7.38580556e-01] [ 1.50260397e-02 -1.56289226e-04 9.99887090e-01 6.40280368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659254154 meters 0.014542765741293602 Centerline is valid? [True, True] Translation: X:101.25, Y:0.74, Z:0.64 [[ 9.99766754e-01 -1.44961303e-02 -1.60093383e-02 1.01246963e+02] [ 1.44956183e-02 9.99894922e-01 -1.48027845e-04 7.41825661e-01] [ 1.60098020e-02 -8.40719396e-05 9.99871831e-01 6.40072565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719254154 meters 0.014199846969109774 Centerline is valid? [True, True] Translation: X:101.31, Y:0.74, Z:0.64 [[ 9.99777029e-01 -1.28162509e-02 -1.67820321e-02 1.01305045e+02] [ 1.28154029e-02 9.99917867e-01 -1.58077289e-04 7.43100041e-01] [ 1.67826797e-02 -5.70264608e-05 9.99859159e-01 6.42285769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters 0.014230192121393192 Centerline is valid? [True, True] Translation: X:101.36, Y:0.74, Z:0.64 [[ 9.99770887e-01 -1.34091720e-02 -1.66843796e-02 1.01363050e+02] [ 1.34083347e-02 9.99910091e-01 -1.62054028e-04 7.42789056e-01] [ 1.66850525e-02 -6.16928465e-05 9.99860793e-01 6.42525759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399999 meters 0.014424309393720608 Centerline is valid? [True, True] Translation: X:101.42, Y:0.74, Z:0.64 [[ 9.99725181e-01 -1.67160486e-02 -1.64358122e-02 1.01421388e+02] [ 1.67156103e-02 9.99860271e-01 -1.64051834e-04 7.39257536e-01] [ 1.64362579e-02 -1.10727882e-04 9.99864909e-01 6.42972452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399999 meters 0.014774632222727263 Centerline is valid? [True, True] Translation: X:101.48, Y:0.74, Z:0.64 [[ 9.99640098e-01 -2.07528965e-02 -1.69997452e-02 1.01480421e+02] [ 2.07529374e-02 9.99784619e-01 -1.74023575e-04 7.35087420e-01] [ 1.69996953e-02 -1.78833704e-04 9.99855479e-01 6.42831348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399999 meters 0.017079948947552527 Centerline is valid? [True, True] Translation: X:101.54, Y:0.72, Z:0.64 [[ 9.99376240e-01 -3.02577153e-02 -1.82099307e-02 1.01540746e+02] [ 3.02593026e-02 9.99542065e-01 -1.88421801e-04 7.24451118e-01] [ 1.82072930e-02 -3.62715533e-04 9.99834168e-01 6.41613232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019254154 meters 0.017419677618679665 Centerline is valid? [True, True] Translation: X:101.60, Y:0.72, Z:0.64 [[ 9.99260986e-01 -3.38432204e-02 -1.82240860e-02 1.01601871e+02] [ 3.38454115e-02 9.99427062e-01 -1.88271892e-04 7.21084050e-01] [ 1.82200165e-02 -4.28668934e-04 9.99833910e-01 6.42734332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079254154 meters 0.018143079921923374 Centerline is valid? [True, True] Translation: X:101.66, Y:0.72, Z:0.64 [[ 9.99221466e-01 -3.56474320e-02 -1.69033059e-02 1.01663559e+02] [ 3.56495849e-02 9.99364336e-01 -1.74037446e-04 7.17499018e-01] [ 1.68987651e-02 -4.28693886e-04 9.99857114e-01 6.44795892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters 0.017213113193997865 Centerline is valid? [True, True] Translation: X:101.73, Y:0.72, Z:0.65 [[ 9.99312356e-01 -3.35822157e-02 -1.57178395e-02 1.01725967e+02] [ 3.35838355e-02 9.99435891e-01 -1.60951576e-04 7.17347827e-01] [ 1.57143781e-02 -3.67024439e-04 9.99876454e-01 6.46035136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399999 meters 0.016563429228012926 Centerline is valid? [True, True] Translation: X:101.79, Y:0.72, Z:0.65 [[ 9.99431274e-01 -3.02167962e-02 -1.49690753e-02 1.01787204e+02] [ 3.02178995e-02 9.99543323e-01 -1.52519044e-04 7.16970716e-01] [ 1.49668480e-02 -2.99901711e-04 9.99887945e-01 6.46185537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399999 meters 0.016285717161489265 Centerline is valid? [True, True] Translation: X:101.85, Y:0.72, Z:0.65 [[ 9.99478257e-01 -2.85173152e-02 -1.51649555e-02 1.01848984e+02] [ 2.85182650e-02 9.99593260e-01 -1.53665599e-04 7.16602255e-01] [ 1.51631694e-02 -2.78892793e-04 9.99884994e-01 6.46175872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399999 meters 0.016366609174778998 Centerline is valid? [True, True] Translation: X:101.91, Y:0.72, Z:0.65 [[ 9.99495425e-01 -2.73035688e-02 -1.62298986e-02 1.01909600e+02] [ 2.73045077e-02 9.99627149e-01 -1.63777581e-04 7.15116314e-01] [ 1.62283190e-02 -2.79454448e-04 9.99868273e-01 6.45676848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379254154 meters 0.018300656900456153 Centerline is valid? [True, True] Translation: X:101.97, Y:0.71, Z:0.64 [[ 9.99467023e-01 -2.72584343e-02 -1.79624137e-02 1.01971151e+02] [ 2.72595868e-02 9.99628372e-01 -1.80720517e-04 7.13206294e-01] [ 1.79606645e-02 -3.09023777e-04 9.99838647e-01 6.42640572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439254154 meters 0.016454172057796156 Centerline is valid? [True, True] Translation: X:102.03, Y:0.71, Z:0.64 [[ 9.99411333e-01 -2.88615706e-02 -1.85471443e-02 1.02032075e+02] [ 2.88630801e-02 9.99583357e-01 -1.86350991e-04 7.09351891e-01] [ 1.85447951e-02 -3.49086419e-04 9.99827970e-01 6.43876205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters 0.01618559637458099 Centerline is valid? [True, True] Translation: X:102.09, Y:0.71, Z:0.65 [[ 9.99422761e-01 -2.92789546e-02 -1.72304114e-02 1.02092426e+02] [ 2.92803193e-02 9.99571225e-01 -1.73121220e-04 7.07709364e-01] [ 1.72280923e-02 -3.31490662e-04 9.99851530e-01 6.45578010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399999 meters 0.016050216523887596 Centerline is valid? [True, True] Translation: X:102.15, Y:0.71, Z:0.65 [[ 9.99473521e-01 -2.85354245e-02 -1.54405721e-02 1.02153625e+02] [ 2.85364365e-02 9.99592741e-01 -1.54818004e-04 7.07582549e-01] [ 1.54387016e-02 -2.85882411e-04 9.99880775e-01 6.47472379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399999 meters 0.016036165890747918 Centerline is valid? [True, True] Translation: X:102.21, Y:0.71, Z:0.65 [[ 9.99516915e-01 -2.77014210e-02 -1.40913820e-02 1.02214545e+02] [ 2.77021880e-02 9.99616211e-01 -1.40799244e-04 7.05993219e-01] [ 1.40898742e-02 -2.49630887e-04 9.99900702e-01 6.48894162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399999 meters 0.01614013100115616 Centerline is valid? [True, True] Translation: X:102.28, Y:0.70, Z:0.65 [[ 9.99479335e-01 -2.92959094e-02 -1.35206956e-02 1.02275389e+02] [ 2.92967661e-02 9.99570749e-01 -1.34740319e-04 7.03785982e-01] [ 1.35188392e-02 -2.61442492e-04 9.99908582e-01 6.49501229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739254154 meters 0.016555818075881013 Centerline is valid? [True, True] Translation: X:102.34, Y:0.70, Z:0.65 [[ 9.99379802e-01 -3.24025142e-02 -1.37872375e-02 1.02336863e+02] [ 3.24037058e-02 9.99474853e-01 -1.37009225e-04 6.99002236e-01] [ 1.37844366e-02 -3.09833336e-04 9.99904942e-01 6.49073599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799254154 meters 0.01744998606325465 Centerline is valid? [True, True] Translation: X:102.40, Y:0.70, Z:0.65 [[ 9.99308331e-01 -3.46902793e-02 -1.33956461e-02 1.02399368e+02] [ 3.46916194e-02 9.99398056e-01 -1.32385050e-04 6.95585138e-01] [ 1.33921752e-02 -3.32423174e-04 9.99910266e-01 6.49282639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters 0.018550180209368872 Centerline is valid? [True, True] Translation: X:102.46, Y:0.69, Z:0.65 [[ 9.99219209e-01 -3.69113797e-02 -1.40898311e-02 1.02460719e+02] [ 3.69130960e-02 9.99318470e-01 -1.38325028e-04 6.91309258e-01] [ 1.40853342e-02 -3.81882263e-04 9.99900724e-01 6.48884228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399999 meters 0.01807771596527973 Centerline is valid? [True, True] Translation: X:102.52, Y:0.69, Z:0.65 [[ 9.99217791e-01 -3.66038258e-02 -1.49655266e-02 1.02522724e+02] [ 3.66057424e-02 9.99329775e-01 -1.45931154e-04 6.90871634e-01] [ 1.49608379e-02 -4.02007206e-04 9.99888000e-01 6.49117002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399999 meters 0.017780895573331054 Centerline is valid? [True, True] Translation: X:102.58, Y:0.69, Z:0.65 [[ 9.99291508e-01 -3.45245980e-02 -1.49844557e-02 1.02584273e+02] [ 3.45262976e-02 9.99403779e-01 -1.45327676e-04 6.91052007e-01] [ 1.49805391e-02 -3.72133066e-04 9.99887716e-01 6.49575637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399999 meters 0.01608232726114999 Centerline is valid? [True, True] Translation: X:102.65, Y:0.70, Z:0.65 [[ 9.99473837e-01 -2.91469260e-02 -1.42304257e-02 1.02645844e+02] [ 2.91479232e-02 9.99575100e-01 -1.37369620e-04 6.95096159e-01] [ 1.42283831e-02 -2.77490013e-04 9.99898733e-01 6.50698831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099254154 meters 0.01512485060424492 Centerline is valid? [True, True] Translation: X:102.71, Y:0.70, Z:0.65 [[ 9.99629212e-01 -2.32869904e-02 -1.41121864e-02 1.02707072e+02] [ 2.32873963e-02 9.99728803e-01 -1.35589486e-04 6.99103427e-01] [ 1.41115167e-02 -1.93096866e-04 9.99900409e-01 6.51614103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159254154 meters 0.015192000220294584 Centerline is valid? [True, True] Translation: X:102.77, Y:0.71, Z:0.65 [[ 9.99802572e-01 -1.39866173e-02 -1.41135013e-02 1.02767738e+02] [ 1.39861000e-02 9.99902181e-01 -1.35356660e-04 7.05393937e-01] [ 1.41140139e-02 -6.20629044e-05 9.99900390e-01 6.51642446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219254154 meters 0.013993130080911947 Centerline is valid? [True, True] Translation: X:102.83, Y:0.71, Z:0.65 [[ 9.99868294e-01 -8.68933120e-03 -1.37073118e-02 1.02825194e+02] [ 8.68833706e-03 9.99962247e-01 -1.32075664e-04 7.08774966e-01] [ 1.37079420e-02 1.29645235e-05 9.99906042e-01 6.53251580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters 0.013899590923068098 Centerline is valid? [True, True] Translation: X:102.88, Y:0.71, Z:0.65 [[ 9.99883324e-01 -7.14570723e-03 -1.35010436e-02 1.02883012e+02] [ 7.14456796e-03 9.99974468e-01 -1.32614016e-04 7.08868892e-01] [ 1.35016465e-02 3.61394200e-05 9.99908848e-01 6.54016483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399999 meters 0.014057089563853367 Centerline is valid? [True, True] Translation: X:102.94, Y:0.71, Z:0.65 [[ 9.99854124e-01 -8.22014921e-03 -1.49719794e-02 1.02941528e+02] [ 8.21880484e-03 9.99966214e-01 -1.51320597e-04 7.06786212e-01] [ 1.49727174e-02 2.82467467e-05 9.99887902e-01 6.53033704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399999 meters 0.014186812882700383 Centerline is valid? [True, True] Translation: X:103.00, Y:0.71, Z:0.65 [[ 9.99813127e-01 -9.79927981e-03 -1.66638803e-02 1.02998931e+02] [ 9.79778667e-03 9.99951986e-01 -1.71242755e-04 7.05838830e-01] [ 1.66647583e-02 7.94160978e-06 9.99861133e-01 6.51701262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399999 meters 0.014281172901374772 Centerline is valid? [True, True] Translation: X:103.06, Y:0.71, Z:0.65 [[ 9.99787642e-01 -1.13479437e-02 -1.72015780e-02 1.03056727e+02] [ 1.13465194e-02 9.99935610e-01 -1.80398378e-04 7.05102534e-01] [ 1.72025176e-02 -1.48179700e-05 9.99852026e-01 6.51807186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519254154 meters 0.01452004801480247 Centerline is valid? [True, True] Translation: X:103.11, Y:0.70, Z:0.65 [[ 9.99764158e-01 -1.39201916e-02 -1.66690589e-02 1.03113298e+02] [ 1.39191602e-02 9.99903108e-01 -1.77900679e-04 7.02853668e-01] [ 1.66699202e-02 -5.41605785e-05 9.99861046e-01 6.52197524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579254154 meters 0.01452256001435284 Centerline is valid? [True, True] Translation: X:103.17, Y:0.70, Z:0.65 [[ 9.99791019e-01 -1.41584619e-02 -1.47463902e-02 1.03172346e+02] [ 1.41576408e-02 9.99899763e-01 -1.60077325e-04 7.02961496e-01] [ 1.47471785e-02 -4.87302241e-05 9.99891253e-01 6.54808279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters 0.014552861296946376 Centerline is valid? [True, True] Translation: X:103.23, Y:0.71, Z:0.66 [[ 9.99866112e-01 -9.10989552e-03 -1.35929440e-02 1.03230678e+02] [ 9.10868691e-03 9.99958504e-01 -1.50822733e-04 7.06788113e-01] [ 1.35937539e-02 2.69886689e-05 9.99907600e-01 6.56461253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399999 meters 0.014653178579826056 Centerline is valid? [True, True] Translation: X:103.29, Y:0.71, Z:0.66 [[ 9.99888379e-01 -6.84344184e-03 -1.32814316e-02 1.03288747e+02] [ 6.84204000e-03 9.99976582e-01 -1.50984950e-04 7.08953309e-01] [ 1.32821538e-02 6.00960104e-05 9.99911786e-01 6.57359517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399999 meters 0.015354184990932725 Centerline is valid? [True, True] Translation: X:103.35, Y:0.71, Z:0.66 [[ 9.99925315e-01 8.77601512e-04 -1.21899381e-02 1.03347391e+02] [-8.79395557e-04 9.99999603e-01 -1.41814890e-04 7.13894397e-01] [ 1.21898089e-02 1.52524076e-04 9.99925690e-01 6.58944080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399999 meters 0.0161186274802281 Centerline is valid? [True, True] Translation: X:103.40, Y:0.72, Z:0.66 [[ 9.99916299e-01 3.90051934e-03 -1.23361384e-02 1.03404848e+02] [-3.90261452e-03 9.99992374e-01 -1.45772872e-04 7.16281679e-01] [ 1.23354758e-02 1.93903864e-04 9.99923896e-01 6.58787077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879254154 meters 0.015448086623272045 Centerline is valid? [True, True] Translation: X:103.46, Y:0.71, Z:0.66 [[ 9.99900702e-01 1.81552324e-03 -1.39745884e-02 1.03463836e+02] [-1.81802540e-03 9.99998334e-01 -1.66349198e-04 7.12098185e-01] [ 1.39742631e-02 1.91738837e-04 9.99902337e-01 6.57801444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939254154 meters 0.01491194641208484 Centerline is valid? [True, True] Translation: X:103.52, Y:0.71, Z:0.66 [[ 9.99874222e-01 -3.02409432e-03 -1.55690514e-02 1.03522830e+02] [ 3.02155638e-03 9.99995418e-01 -1.86532106e-04 7.07684098e-01] [ 1.55695441e-02 1.39465877e-04 9.99878778e-01 6.56772281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters 0.014355038350065696 Centerline is valid? [True, True] Translation: X:103.58, Y:0.70, Z:0.66 [[ 9.99784613e-01 -1.16258702e-02 -1.71920824e-02 1.03581286e+02] [ 1.16240241e-02 9.99932417e-01 -2.07306321e-04 7.00789827e-01] [ 1.71933306e-02 7.42048952e-06 9.99852184e-01 6.55571696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399999 meters 0.01441832153979626 Centerline is valid? [True, True] Translation: X:103.64, Y:0.70, Z:0.66 [[ 9.99649703e-01 -1.90375476e-02 -1.83859576e-02 1.03640576e+02] [ 1.90366639e-02 9.99818761e-01 -2.23097105e-04 6.95469292e-01] [ 1.83868726e-02 -1.26988341e-04 9.99830939e-01 6.56035781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399999 meters 0.01536190398008456 Centerline is valid? [True, True] Translation: X:103.70, Y:0.69, Z:0.66 [[ 9.99540262e-01 -2.55227693e-02 -1.63661916e-02 1.03698058e+02] [ 2.55229144e-02 9.99674217e-01 -2.00040032e-04 6.89219721e-01] [ 1.63659654e-02 -2.17764841e-04 9.99866045e-01 6.57882255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399999 meters 0.0162234199165133 Centerline is valid? [True, True] Translation: X:103.76, Y:0.69, Z:0.66 [[ 9.99462415e-01 -2.95642364e-02 -1.41716822e-02 1.03758051e+02] [ 2.95647388e-02 9.99562852e-01 -1.74089871e-04 6.86348058e-01] [ 1.41706339e-02 -2.44985801e-04 9.99899562e-01 6.59724270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239254154 meters 0.01748401076318267 Centerline is valid? [True, True] Translation: X:103.82, Y:0.68, Z:0.66 [[ 9.99333553e-01 -3.43722490e-02 -1.22881051e-02 1.03819715e+02] [ 3.43729899e-02 9.99409063e-01 -1.50961791e-04 6.82114640e-01] [ 1.22860325e-02 -2.71517728e-04 9.99924487e-01 6.60974909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299254154 meters 0.0203475062258469 Centerline is valid? [True, True] Translation: X:103.88, Y:0.68, Z:0.66 [[ 9.99072377e-01 -4.13634395e-02 -1.19770992e-02 1.03879628e+02] [ 4.13646522e-02 9.99144106e-01 -1.46556049e-04 6.75714325e-01] [ 1.19729101e-02 -3.49008442e-04 9.99928261e-01 6.61333676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters 0.02324075974935054 Centerline is valid? [True, True] Translation: X:103.94, Y:0.67, Z:0.66 [[ 9.98470969e-01 -5.36182662e-02 -1.34464047e-02 1.03940304e+02] [ 5.36209101e-02 9.98561351e-01 -1.64076981e-04 6.69420916e-01] [ 1.34358575e-02 -5.57182353e-04 9.99909580e-01 6.60664831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399999 meters 0.024283360529587416 Centerline is valid? [True, True] Translation: X:104.00, Y:0.67, Z:0.66 [[ 9.98176745e-01 -5.86425333e-02 -1.42912436e-02 1.04001094e+02] [ 5.86460349e-02 9.98278825e-01 -1.74299997e-04 6.67698421e-01] [ 1.42768673e-02 -6.64142568e-04 9.99897860e-01 6.59957133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399999 meters 0.02541174345110455 Centerline is valid? [True, True] Translation: X:104.06, Y:0.67, Z:0.66 [[ 9.97890480e-01 -6.29076825e-02 -1.60378940e-02 1.04061868e+02] [ 6.29126470e-02 9.98019018e-01 -1.95291773e-04 6.66924680e-01] [ 1.60184085e-02 -8.14106561e-04 9.99871366e-01 6.58760665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399999 meters 0.029214693781173088 Centerline is valid? [True, True] Translation: X:104.12, Y:0.66, Z:0.66 [[ 9.97865690e-01 -6.28740149e-02 -1.76329923e-02 1.04123153e+02] [ 6.28800240e-02 9.98021070e-01 -2.13977234e-04 6.63476236e-01] [ 1.76115515e-02 -8.95242440e-04 9.99844504e-01 6.56793584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599254154 meters 0.023799423954302724 Centerline is valid? [True, True] Translation: X:104.18, Y:0.68, Z:0.66 [[ 9.98100236e-01 -5.91474076e-02 -1.72482712e-02 1.04183999e+02] [ 5.91526117e-02 9.98248929e-01 -2.08750710e-04 6.77082961e-01] [ 1.72304153e-02 -8.11926155e-04 9.99851216e-01 6.59456738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659254154 meters 0.022724957552292313 Centerline is valid? [True, True] Translation: X:104.24, Y:0.68, Z:0.66 [[ 9.98443787e-01 -5.38140756e-02 -1.46304391e-02 1.04244059e+02] [ 5.38172483e-02 9.98550786e-01 -1.77046285e-04 6.84448609e-01] [ 1.46187640e-02 -6.10599210e-04 9.99892954e-01 6.62499175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719254154 meters 0.02154314139689814 Centerline is valid? [True, True] Translation: X:104.30, Y:0.69, Z:0.66 [[ 9.98708558e-01 -4.91787458e-02 -1.27541400e-02 1.04304473e+02] [ 4.91807785e-02 9.98789881e-01 -1.54403336e-04 6.92081112e-01] [ 1.27462993e-02 -4.73054602e-04 9.99918651e-01 6.64366153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters 0.020370503399326455 Centerline is valid? [True, True] Translation: X:104.36, Y:0.70, Z:0.67 [[ 9.98955809e-01 -4.41568333e-02 -1.17245859e-02 1.04364221e+02] [ 4.41582055e-02 9.99024541e-01 -1.41939416e-04 6.99497718e-01] [ 1.17194167e-02 -3.75945471e-04 9.99931255e-01 6.65523768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399999 meters 0.019475916821798805 Centerline is valid? [True, True] Translation: X:104.43, Y:0.71, Z:0.67 [[ 9.99117592e-01 -4.01702406e-02 -1.22633252e-02 1.04425527e+02] [ 4.01714442e-02 9.99192791e-01 -1.48264184e-04 7.06093166e-01] [ 1.22593819e-02 -3.44502129e-04 9.99924792e-01 6.65098747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399999 meters 0.018637981448683887 Centerline is valid? [True, True] Translation: X:104.49, Y:0.71, Z:0.66 [[ 9.99156342e-01 -3.87285202e-02 -1.36640199e-02 1.04487374e+02] [ 3.87298903e-02 9.99249703e-01 -1.64432753e-04 7.10758816e-01] [ 1.36601360e-02 -3.64911962e-04 9.99906629e-01 6.64369830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399999 meters 0.01931654513257646 Centerline is valid? [True, True] Translation: X:104.55, Y:0.71, Z:0.66 [[ 9.99115430e-01 -3.90505646e-02 -1.56016129e-02 1.04548796e+02] [ 3.90524061e-02 9.99237146e-01 -1.86725692e-04 7.12859134e-01] [ 1.55970029e-02 -4.22720002e-04 9.99878270e-01 6.63129106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019254154 meters 0.019744468251830512 Centerline is valid? [True, True] Translation: X:104.61, Y:0.72, Z:0.66 [[ 9.99117788e-01 -3.89975839e-02 -1.55831237e-02 1.04611398e+02] [ 3.89994297e-02 9.99239216e-01 -1.85530626e-04 7.15687477e-01] [ 1.55785036e-02 -4.22365990e-04 9.99878559e-01 6.63599892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079254154 meters 0.019655125578613496 Centerline is valid? [True, True] Translation: X:104.67, Y:0.72, Z:0.67 [[ 9.99207542e-01 -3.75920435e-02 -1.30815251e-02 1.04672458e+02] [ 3.75932392e-02 9.99293112e-01 -1.54569768e-04 7.17836151e-01] [ 1.30780885e-02 -3.37329624e-04 9.99914421e-01 6.65569618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters 0.020009569093143637 Centerline is valid? [True, True] Translation: X:104.73, Y:0.72, Z:0.67 [[ 9.99237099e-01 -3.72077980e-02 -1.18658836e-02 1.04734435e+02] [ 3.72087677e-02 9.99307504e-01 -1.39107312e-04 7.19667767e-01] [ 1.18628424e-02 -3.02513721e-04 9.99929588e-01 6.66722097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399999 meters 0.021146784307090664 Centerline is valid? [True, True] Translation: X:104.80, Y:0.72, Z:0.67 [[ 9.99176772e-01 -3.90080048e-02 -1.11424563e-02 1.04795992e+02] [ 3.90089811e-02 9.99238852e-01 -1.29787624e-04 7.19901265e-01] [ 1.11390380e-02 -3.04975087e-04 9.99937912e-01 6.67548501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399999 meters 0.02100137377637428 Centerline is valid? [True, True] Translation: X:104.86, Y:0.72, Z:0.67 [[ 9.98888739e-01 -4.56423891e-02 -1.17499068e-02 1.04856750e+02] [ 4.56439419e-02 9.98957763e-01 -1.36113339e-04 7.21849070e-01] [ 1.17438732e-02 -4.00349982e-04 9.99930958e-01 6.68138417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399999 meters 0.022658423393228638 Centerline is valid? [True, True] Translation: X:104.92, Y:0.72, Z:0.67 [[ 9.98506442e-01 -5.32285933e-02 -1.23126626e-02 1.04917828e+02] [ 5.32308759e-02 9.98582222e-01 -1.42487549e-04 7.20986670e-01] [ 1.23027904e-02 -5.13139080e-04 9.99924186e-01 6.67896180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379254154 meters 0.024387621026395828 Centerline is valid? [True, True] Translation: X:104.98, Y:0.72, Z:0.67 [[ 9.98293975e-01 -5.68637489e-02 -1.32534481e-02 1.04979050e+02] [ 5.68667170e-02 9.98381767e-01 -1.53111620e-04 7.20645931e-01] [ 1.32407074e-02 -6.00829672e-04 9.99912157e-01 6.67530829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439254154 meters 0.024472412115065248 Centerline is valid? [True, True] Translation: X:105.04, Y:0.72, Z:0.67 [[ 9.98197670e-01 -5.84404494e-02 -1.36428101e-02 1.05041560e+02] [ 5.84437517e-02 9.98290691e-01 -1.56843137e-04 7.23914892e-01] [ 1.36286563e-02 -6.40776553e-04 9.99906920e-01 6.67757865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters 0.024860179424048834 Centerline is valid? [True, True] Translation: X:105.10, Y:0.73, Z:0.67 [[ 9.98388536e-01 -5.50832330e-02 -1.36443415e-02 1.05102343e+02] [ 5.50862335e-02 9.98481588e-01 -1.56108979e-04 7.27264124e-01] [ 1.36322227e-02 -5.95757964e-04 9.99906899e-01 6.68135572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399999 meters 0.024391915882258086 Centerline is valid? [True, True] Translation: X:105.16, Y:0.73, Z:0.67 [[ 9.98507196e-01 -5.29846963e-02 -1.32665858e-02 1.05163744e+02] [ 5.29873543e-02 9.98595172e-01 -1.51313146e-04 7.30169309e-01] [ 1.32559658e-02 -5.51874017e-04 9.99911984e-01 6.69305777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399999 meters 0.02119313333199014 Centerline is valid? [True, True] Translation: X:105.22, Y:0.74, Z:0.67 [[ 9.98928999e-01 -4.47317525e-02 -1.18289714e-02 1.05224550e+02] [ 4.47332901e-02 9.98998956e-01 -1.34697158e-04 7.40637901e-01] [ 1.18231553e-02 -3.94595911e-04 9.99930026e-01 6.71516288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399999 meters 0.017612048964732327 Centerline is valid? [True, True] Translation: X:105.29, Y:0.75, Z:0.67 [[ 9.99279054e-01 -3.58119828e-02 -1.26045608e-02 1.05285011e+02] [ 3.58130209e-02 9.99358498e-01 -1.43418556e-04 7.51930433e-01] [ 1.26016111e-02 -3.08092241e-04 9.99920549e-01 6.71152747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739254154 meters 0.015917879002758657 Centerline is valid? [True, True] Translation: X:105.35, Y:0.76, Z:0.67 [[ 9.99550384e-01 -2.64967376e-02 -1.40340202e-02 1.05345736e+02] [ 2.64971102e-02 9.99648877e-01 -1.59420403e-04 7.60706215e-01] [ 1.40333166e-02 -2.12512255e-04 9.99901506e-01 6.69531520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799254154 meters 0.014548904249418083 Centerline is valid? [True, True] Translation: X:105.41, Y:0.77, Z:0.67 [[ 9.99788218e-01 -1.51749933e-02 -1.39010155e-02 1.05406762e+02] [ 1.51742697e-02 9.99884852e-01 -1.57530204e-04 7.72031892e-01] [ 1.39018054e-02 -5.34409173e-05 9.99903364e-01 6.70640689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters 0.014578284956644521 Centerline is valid? [True, True] Translation: X:105.47, Y:0.78, Z:0.67 [[ 9.99866891e-01 -7.82954458e-03 -1.43142990e-02 1.05466421e+02] [ 7.82802412e-03 9.99969347e-01 -1.62246677e-04 7.79503414e-01] [ 1.43151305e-02 5.01724033e-05 9.99897532e-01 6.71787320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399999 meters 0.015552499683148424 Centerline is valid? [True, True] Translation: X:105.52, Y:0.79, Z:0.67 [[ 9.99907831e-01 7.77935365e-04 -1.35544937e-02 1.05524328e+02] [-7.80101138e-04 9.99999684e-01 -1.54496188e-04 7.87491052e-01] [ 1.35543692e-02 1.65055824e-04 9.99908122e-01 6.72117028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399999 meters 0.015568583341974241 Centerline is valid? [True, True] Translation: X:105.58, Y:0.79, Z:0.67 [[ 9.99902851e-01 4.24485054e-03 -1.32766795e-02 1.05582670e+02] [-4.24726448e-03 9.99990969e-01 -1.53627358e-04 7.89122267e-01] [ 1.32759075e-02 2.10002003e-04 9.99911849e-01 6.73131659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399999 meters 0.015374863572252354 Centerline is valid? [True, True] Translation: X:105.64, Y:0.79, Z:0.67 [[ 9.99918109e-01 2.03249568e-03 -1.26350315e-02 1.05641190e+02] [-2.03453166e-03 9.99997919e-01 -1.48286141e-04 7.87597561e-01] [ 1.26347038e-02 1.73980369e-04 9.99920164e-01 6.72661512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099254154 meters 0.014456858009316087 Centerline is valid? [True, True] Translation: X:105.70, Y:0.78, Z:0.67 [[ 9.99885711e-01 -6.55366858e-03 -1.36240297e-02 1.05700466e+02] [ 6.55208597e-03 9.99978522e-01 -1.60794706e-04 7.80978921e-01] [ 1.36247908e-02 7.15105154e-05 9.99907176e-01 6.72168206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159254154 meters 0.014367989017319165 Centerline is valid? [True, True] Translation: X:105.76, Y:0.77, Z:0.67 [[ 9.99794170e-01 -1.48829326e-02 -1.37882672e-02 1.05759318e+02] [ 1.48820916e-02 9.99889242e-01 -1.63605756e-04 7.74482934e-01] [ 1.37891750e-02 -4.16261746e-05 9.99904924e-01 6.71659276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219254154 meters 0.016484565016699135 Centerline is valid? [True, True] Translation: X:105.82, Y:0.76, Z:0.67 [[ 9.99511464e-01 -2.77054433e-02 -1.44652156e-02 1.05819323e+02] [ 2.77058486e-02 9.99616104e-01 -1.72415495e-04 7.63321685e-01] [ 1.44644393e-02 -2.28439809e-04 9.99895358e-01 6.70700401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399999 meters 0.018306169433319076 Centerline is valid? [True, True] Translation: X:105.88, Y:0.75, Z:0.67 [[ 9.99153295e-01 -3.85745156e-02 -1.43073037e-02 1.05880663e+02] [ 3.85760239e-02 9.99255654e-01 -1.70636352e-04 7.54581243e-01] [ 1.43032363e-02 -3.81427016e-04 9.99897631e-01 6.71155904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399999 meters 0.021040219634756763 Centerline is valid? [True, True] Translation: X:105.94, Y:0.75, Z:0.67 [[ 9.98970533e-01 -4.33159129e-02 -1.34760861e-02 1.05940806e+02] [ 4.33176834e-02 9.99061336e-01 -1.60613439e-04 7.48618786e-01] [ 1.34703937e-02 -4.23304741e-04 9.99909181e-01 6.71489373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399999 meters 0.019275553881523036 Centerline is valid? [True, True] Translation: X:106.00, Y:0.75, Z:0.67 [[ 9.98855328e-01 -4.59418574e-02 -1.33183717e-02 1.06002784e+02] [ 4.59438266e-02 9.98944012e-01 -1.58236042e-04 7.51862073e-01] [ 1.33115773e-02 -4.53842046e-04 9.99911294e-01 6.73646054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399999 meters 0.01925394677200936 Centerline is valid? [True, True] Translation: X:106.06, Y:0.75, Z:0.67 [[ 9.98935462e-01 -4.40852016e-02 -1.35807624e-02 1.06064910e+02] [ 4.40870916e-02 9.99027679e-01 -1.60328000e-04 7.53670882e-01] [ 1.35746256e-02 -4.38578992e-04 9.99907764e-01 6.73995542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519254154 meters 0.0221937638819089 Centerline is valid? [True, True] Translation: X:106.13, Y:0.75, Z:0.67 [[ 9.99053579e-01 -4.10766470e-02 -1.43058155e-02 1.06125560e+02] [ 4.10784455e-02 9.99155910e-01 -1.68224579e-04 7.50187536e-01] [ 1.43006502e-02 -4.19595296e-04 9.99897652e-01 6.71948503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579254154 meters 0.018332645223118102 Centerline is valid? [True, True] Translation: X:106.19, Y:0.76, Z:0.67 [[ 9.99119439e-01 -3.93944264e-02 -1.44369360e-02 1.06187474e+02] [ 3.93960925e-02 9.99223658e-01 -1.69076827e-04 7.58334678e-01] [ 1.44323887e-02 -3.99830923e-04 9.99895768e-01 6.73627728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters 0.017962587836684477 Centerline is valid? [True, True] Translation: X:106.25, Y:0.76, Z:0.67 [[ 9.99245833e-01 -3.54905801e-02 -1.57538548e-02 1.06247710e+02] [ 3.54920903e-02 9.99369940e-01 -1.83800438e-04 7.61936327e-01] [ 1.57504522e-02 -3.75475418e-04 9.99875883e-01 6.72340099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399999 meters 0.015879969810224794 Centerline is valid? [True, True] Translation: X:106.31, Y:0.77, Z:0.67 [[ 9.99399773e-01 -2.92250259e-02 -1.86008656e-02 1.06309295e+02] [ 2.92260616e-02 9.99572804e-01 -2.16212181e-04 7.71027393e-01] [ 1.85992382e-02 -3.27547639e-04 9.99826966e-01 6.71844488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399999 meters 0.015080883463184449 Centerline is valid? [True, True] Translation: X:106.37, Y:0.78, Z:0.67 [[ 9.99544945e-01 -2.27498246e-02 -1.98077657e-02 1.06370285e+02] [ 2.27497405e-02 9.99741165e-01 -2.29602951e-04 7.79471261e-01] [ 1.98078622e-02 -2.21123063e-04 9.99803781e-01 6.71879402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399999 meters 0.014677608661257117 Centerline is valid? [True, True] Translation: X:106.43, Y:0.79, Z:0.67 [[ 9.99664561e-01 -1.79967395e-02 -1.86248133e-02 1.06428840e+02] [ 1.79958305e-02 9.99838039e-01 -2.16419426e-04 7.85039437e-01] [ 1.86256916e-02 -1.18822153e-04 9.99826520e-01 6.72796618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879254154 meters 0.014391337267975387 Centerline is valid? [True, True] Translation: X:106.49, Y:0.79, Z:0.68 [[ 9.99817895e-01 -1.04900963e-02 -1.59415911e-02 1.06488004e+02] [ 1.04884363e-02 9.99944977e-01 -1.87736225e-04 7.94153653e-01] [ 1.59426834e-02 2.04996748e-05 9.99872907e-01 6.76423380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939254154 meters 0.014873272694267727 Centerline is valid? [True, True] Translation: X:106.55, Y:0.80, Z:0.68 [[ 9.99909001e-01 -2.51448574e-03 -1.32539088e-02 1.06545829e+02] [ 2.51261243e-03 9.99996831e-01 -1.57990462e-04 8.03532883e-01] [ 1.32542641e-02 1.24674149e-04 9.99912151e-01 6.79343565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters 0.015547164707708705 Centerline is valid? [True, True] Translation: X:106.60, Y:0.81, Z:0.68 [[ 9.99934528e-01 1.09717620e-03 -1.13901324e-02 1.06604358e+02] [-1.09881296e-03 9.99999387e-01 -1.37442731e-04 8.08051855e-01] [ 1.13899747e-02 1.49949357e-04 9.99935121e-01 6.80723861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399999 meters 0.014885787676061727 Centerline is valid? [True, True] Translation: X:106.66, Y:0.81, Z:0.68 [[ 9.99917465e-01 -3.76943766e-03 -1.22823123e-02 1.06662031e+02] [ 3.76787311e-03 9.99992890e-01 -1.50519600e-04 8.05075770e-01] [ 1.22827924e-02 1.04228983e-04 9.99924558e-01 6.79537618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399999 meters 0.014059001112582742 Centerline is valid? [True, True] Translation: X:106.72, Y:0.80, Z:0.68 [[ 9.99850232e-01 -1.16272861e-02 -1.28187667e-02 1.06720849e+02] [ 1.16262133e-02 9.99932401e-01 -1.58207174e-04 7.98345446e-01] [ 1.28197396e-02 9.14976364e-06 9.99917824e-01 6.79522734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399999 meters 0.014857420787623315 Centerline is valid? [True, True] Translation: X:106.78, Y:0.79, Z:0.68 [[ 9.99585250e-01 -2.52942623e-02 -1.37669621e-02 1.06780183e+02] [ 2.52943079e-02 9.99680033e-01 -1.70831268e-04 7.87876477e-01] [ 1.37668782e-02 -1.77465363e-04 9.99905216e-01 6.78446426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239254154 meters 0.017146481868670804 Centerline is valid? [True, True] Translation: X:106.84, Y:0.78, Z:0.68 [[ 9.99233640e-01 -3.67181547e-02 -1.35613706e-02 1.06841175e+02] [ 3.67192494e-02 9.99325607e-01 -1.68351635e-04 7.78143871e-01] [ 1.35584065e-02 -3.29740731e-04 9.99908026e-01 6.78236642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299254154 meters 0.019410862291722116 Centerline is valid? [True, True] Translation: X:106.90, Y:0.77, Z:0.68 [[ 9.98978674e-01 -4.35425696e-02 -1.20687224e-02 1.06901454e+02] [ 4.35439422e-02 9.99051502e-01 -1.49138173e-04 7.71507117e-01] [ 1.20637691e-02 -3.76533896e-04 9.99927159e-01 6.79439365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters 0.020682941385749616 Centerline is valid? [True, True] Translation: X:106.96, Y:0.77, Z:0.68 [[ 9.98788606e-01 -4.78603709e-02 -1.14326635e-02 1.06962752e+02] [ 4.78618928e-02 9.98853953e-01 -1.40598531e-04 7.68703488e-01] [ 1.14262902e-02 -4.06760705e-04 9.99934635e-01 6.79739255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399999 meters 0.022147058949733945 Centerline is valid? [True, True] Translation: X:107.02, Y:0.77, Z:0.68 [[ 9.98635938e-01 -5.09708424e-02 -1.13241489e-02 1.07024523e+02] [ 5.09725409e-02 9.98700045e-01 -1.38771489e-04 7.65852651e-01] [ 1.13165014e-02 -4.38638449e-04 9.99935870e-01 6.79744144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399999 meters 0.023496688451204315 Centerline is valid? [True, True] Translation: X:107.09, Y:0.76, Z:0.68 [[ 9.98478986e-01 -5.39828933e-02 -1.12054250e-02 1.07085832e+02] [ 5.39847515e-02 9.98541751e-01 -1.36794874e-04 7.63117918e-01] [ 1.11964692e-02 -4.68335275e-04 9.99937208e-01 6.79824398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399999 meters 0.025845794994271913 Centerline is valid? [True, True] Translation: X:107.15, Y:0.76, Z:0.68 [[ 9.98298754e-01 -5.71941121e-02 -1.13327864e-02 1.07145661e+02] [ 5.71962266e-02 9.98362946e-01 -1.37706003e-04 7.60479962e-01] [ 1.13221099e-02 -5.10720884e-04 9.99935772e-01 6.80084124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599254154 meters 0.026959389549958464 Centerline is valid? [True, True] Translation: X:107.21, Y:0.76, Z:0.68 [[ 9.98250314e-01 -5.80327834e-02 -1.13361014e-02 1.07207941e+02] [ 5.80349633e-02 9.98314542e-01 -1.36842515e-04 7.60170278e-01] [ 1.13249362e-02 -5.21287143e-04 9.99935735e-01 6.80326736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659254154 meters 0.026486901865746596 Centerline is valid? [True, True] Translation: X:107.27, Y:0.76, Z:0.68 [[ 9.98261832e-01 -5.77838046e-02 -1.15908089e-02 1.07270205e+02] [ 5.77860764e-02 9.98328979e-01 -1.39090077e-04 7.61969974e-01] [ 1.15794775e-02 -5.30939051e-04 9.99932815e-01 6.80010132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719254154 meters 0.02499189524659797 Centerline is valid? [True, True] Translation: X:107.33, Y:0.77, Z:0.68 [[ 9.98336711e-01 -5.60546636e-02 -1.34790645e-02 1.07332158e+02] [ 5.60575927e-02 9.98427524e-01 -1.60712451e-04 7.65755394e-01] [ 1.34668777e-02 -5.95158768e-04 9.99909140e-01 6.78835634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399999 meters 0.02433141657572633 Centerline is valid? [True, True] Translation: X:107.39, Y:0.77, Z:0.68 [[ 9.98424742e-01 -5.40391446e-02 -1.50932211e-02 1.07394569e+02] [ 5.40426046e-02 9.98538615e-01 -1.78820398e-04 7.69133744e-01] [ 1.50808274e-02 -6.37138270e-04 9.99886075e-01 6.78652555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399999 meters 0.021243710879550688 Centerline is valid? [True, True] Translation: X:107.46, Y:0.78, Z:0.68 [[ 9.98738381e-01 -4.76669069e-02 -1.57959436e-02 1.07455344e+02] [ 4.76699112e-02 9.98863126e-01 -1.86483787e-04 7.78228570e-01] [ 1.57868747e-02 -5.66742712e-04 9.99875219e-01 6.79785749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399999 meters 0.017931770244526735 Centerline is valid? [True, True] Translation: X:107.52, Y:0.79, Z:0.68 [[ 9.99173012e-01 -3.79193013e-02 -1.46771305e-02 1.07516053e+02] [ 3.79208461e-02 9.99280731e-01 -1.73129290e-04 7.89060476e-01] [ 1.46731387e-02 -3.83583094e-04 9.99892270e-01 6.82387544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399999 meters 0.01645005910601323 Centerline is valid? [True, True] Translation: X:107.58, Y:0.80, Z:0.68 [[ 9.99457212e-01 -3.01097570e-02 -1.33672464e-02 1.07575984e+02] [ 3.01103405e-02 9.99546568e-01 -1.57650227e-04 7.96680627e-01] [ 1.33659321e-02 -2.44927684e-04 9.99910642e-01 6.84061341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019254154 meters 0.014069893288193188 Centerline is valid? [True, True] Translation: X:107.64, Y:0.81, Z:0.69 [[ 9.99846943e-01 -1.31235362e-02 -1.15699524e-02 1.07636959e+02] [ 1.31228369e-02 9.99913883e-01 -1.36362759e-04 8.13625766e-01] [ 1.15707456e-02 -1.54887106e-05 9.99933057e-01 6.86425210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079254154 meters 0.014444412937515404 Centerline is valid? [True, True] Translation: X:107.70, Y:0.82, Z:0.69 [[ 9.99916424e-01 -5.16464377e-03 -1.18520638e-02 1.07696699e+02] [ 5.16335228e-03 9.99986660e-01 -1.39563741e-04 8.20554418e-01] [ 1.18526265e-02 7.83556968e-05 9.99929752e-01 6.86476469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters 0.016071559245136764 Centerline is valid? [True, True] Translation: X:107.76, Y:0.83, Z:0.69 [[ 9.99902940e-01 5.31429643e-03 -1.28790177e-02 1.07755346e+02] [-5.31669481e-03 9.99985855e-01 -1.51992616e-04 8.30075551e-01] [ 1.28780277e-02 2.20451670e-04 9.99917050e-01 6.86954848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399999 meters 0.016997924324033412 Centerline is valid? [True, True] Translation: X:107.81, Y:0.83, Z:0.69 [[ 9.99867198e-01 9.81205737e-03 -1.30118881e-02 1.07814491e+02] [-9.81489531e-03 9.99951821e-01 -1.54262122e-04 8.33631895e-01] [ 1.30097476e-02 2.81951955e-04 9.99915330e-01 6.87409424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399999 meters 0.016656775990226125 Centerline is valid? [True, True] Translation: X:107.87, Y:0.83, Z:0.69 [[ 9.99852230e-01 1.05867964e-02 -1.35439280e-02 1.07872916e+02] [-1.05899542e-02 9.99943912e-01 -1.61450487e-04 8.31719019e-01] [ 1.35414591e-02 3.04856207e-04 9.99908264e-01 6.87345127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399999 meters 0.01598489542161722 Centerline is valid? [True, True] Translation: X:107.93, Y:0.83, Z:0.69 [[ 9.99877172e-01 5.57687562e-03 -1.46471679e-02 1.07932092e+02] [-5.58004787e-03 9.99984416e-01 -1.75718476e-04 8.26866249e-01] [ 1.46459597e-02 2.57428791e-04 9.99892709e-01 6.86194138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379254154 meters 0.014671202938458512 Centerline is valid? [True, True] Translation: X:107.99, Y:0.82, Z:0.69 [[ 9.99876133e-01 -3.50898664e-03 -1.53429094e-02 1.07990944e+02] [ 3.50655752e-03 9.99993835e-01 -1.85221220e-04 8.18810277e-01] [ 1.53434648e-02 1.31397483e-04 9.99882273e-01 6.87174820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439254154 meters 0.014456339951153228 Centerline is valid? [True, True] Translation: X:108.05, Y:0.81, Z:0.69 [[ 9.99815846e-01 -1.06327139e-02 -1.59755837e-02 1.08048502e+02] [ 1.06309677e-02 9.99943471e-01 -1.94227402e-04 8.13041340e-01] [ 1.59767457e-02 2.43557201e-05 9.99872363e-01 6.86346605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters 0.014784957366516494 Centerline is valid? [True, True] Translation: X:108.11, Y:0.80, Z:0.69 [[ 9.99632152e-01 -2.16932074e-02 -1.62777456e-02 1.08107287e+02] [ 2.16928387e-02 9.99764663e-01 -1.99237738e-04 8.02727280e-01] [ 1.62782369e-02 -1.53946061e-04 9.99867489e-01 6.87500263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399999 meters 0.016457699669431083 Centerline is valid? [True, True] Translation: X:108.17, Y:0.79, Z:0.69 [[ 9.99366821e-01 -3.19422237e-02 -1.56732462e-02 1.08167664e+02] [ 3.19431315e-02 9.99489669e-01 -1.92483147e-04 7.92990311e-01] [ 1.56713960e-02 -3.08291294e-04 9.99877149e-01 6.88427108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399999 meters 0.017722696534320896 Centerline is valid? [True, True] Translation: X:108.23, Y:0.79, Z:0.69 [[ 9.99159739e-01 -3.81418712e-02 -1.50004673e-02 1.08228419e+02] [ 3.81434013e-02 9.99272259e-01 -1.84185509e-04 7.87209430e-01] [ 1.49965760e-02 -3.88138099e-04 9.99887470e-01 6.88779571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399999 meters 0.020276383025977635 Centerline is valid? [True, True] Translation: X:108.29, Y:0.78, Z:0.69 [[ 9.98800674e-01 -4.63360427e-02 -1.58172446e-02 1.08289059e+02] [ 4.63387728e-02 9.98925763e-01 -1.94044212e-04 7.79052895e-01] [ 1.58092444e-02 -5.39140215e-04 9.99874881e-01 6.88948435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739254154 meters 0.02375969608569125 Centerline is valid? [True, True] Translation: X:108.35, Y:0.77, Z:0.69 [[ 9.98439493e-01 -5.28338582e-02 -1.80876080e-02 1.08348944e+02] [ 5.28384976e-02 9.98603046e-01 -2.21640469e-04 7.73647052e-01] [ 1.80740506e-02 -7.34427436e-04 9.99836381e-01 6.87843894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799254154 meters 0.02476107197122682 Centerline is valid? [True, True] Translation: X:108.41, Y:0.77, Z:0.69 [[ 9.98247751e-01 -5.57813399e-02 -1.97451131e-02 1.08410289e+02] [ 5.57874564e-02 9.98442638e-01 -2.41338934e-04 7.72425717e-01] [ 1.97278251e-02 -8.60613589e-04 9.99805017e-01 6.87334290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters 0.024097222888785668 Centerline is valid? [True, True] Translation: X:108.47, Y:0.77, Z:0.69 [[ 9.98072987e-01 -5.84320630e-02 -2.08807948e-02 1.08471081e+02] [ 5.84395036e-02 9.98290919e-01 -2.54206768e-04 7.73370678e-01] [ 2.08599617e-02 -9.66546374e-04 9.99781940e-01 6.87842369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399999 meters 0.026459136751606143 Centerline is valid? [True, True] Translation: X:108.53, Y:0.77, Z:0.69 [[ 9.98042593e-01 -5.78781262e-02 -2.36876511e-02 1.08531878e+02] [ 5.78876081e-02 9.98323066e-01 -2.85797370e-04 7.70713578e-01] [ 2.36644699e-02 -1.08598351e-03 9.99719367e-01 6.85283132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399999 meters 0.023369577264151797 Centerline is valid? [True, True] Translation: X:108.59, Y:0.78, Z:0.69 [[ 9.98173240e-01 -5.49551396e-02 -2.51021005e-02 1.08593440e+02] [ 5.49649144e-02 9.98488241e-01 -3.00928805e-04 7.78410096e-01] [ 2.50806897e-02 -1.07935572e-03 9.99684847e-01 6.86354614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399999 meters 0.020750052787409844 Centerline is valid? [True, True] Translation: X:108.65, Y:0.79, Z:0.69 [[ 9.98616286e-01 -4.61222538e-02 -2.52636497e-02 1.08653461e+02] [ 4.61293412e-02 9.98935430e-01 -3.02491428e-04 7.87953236e-01] [ 2.52507063e-02 -8.63322650e-04 9.99680777e-01 6.88264879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099254154 meters 0.0181164884529207 Centerline is valid? [True, True] Translation: X:108.71, Y:0.80, Z:0.69 [[ 9.99112882e-01 -3.43517428e-02 -2.43599400e-02 1.08713188e+02] [ 3.43548349e-02 9.99409656e-01 -2.91680019e-04 7.99304656e-01] [ 2.43555790e-02 -5.45460454e-04 9.99703210e-01 6.90656882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159254154 meters 0.016013264038301257 Centerline is valid? [True, True] Translation: X:108.77, Y:0.81, Z:0.69 [[ 9.99520900e-01 -2.13375142e-02 -2.24205317e-02 1.08772290e+02] [ 2.13368511e-02 9.99772307e-01 -2.68826712e-04 8.11395340e-01] [ 2.24211628e-02 -2.09685629e-04 9.99748592e-01 6.92530286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219254154 meters 0.01548335275402718 Centerline is valid? [True, True] Translation: X:108.83, Y:0.82, Z:0.69 [[ 9.99686872e-01 -1.27840449e-02 -2.15110640e-02 1.08831294e+02] [ 1.27813761e-02 9.99918281e-01 -2.61552735e-04 8.20196850e-01] [ 2.15126498e-02 -1.34701643e-05 9.99768576e-01 6.94725535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399999 meters 0.016272841285361234 Centerline is valid? [True, True] Translation: X:108.89, Y:0.83, Z:0.70 [[ 9.99776770e-01 -4.01116198e-04 -2.11246124e-02 1.08889760e+02] [ 3.95668918e-04 9.99999887e-01 -2.62043194e-04 8.30561188e-01] [ 2.11247151e-02 2.53626345e-04 9.99776816e-01 6.95231363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399999 meters 0.0182358829274114 Centerline is valid? [True, True] Translation: X:108.95, Y:0.84, Z:0.70 [[ 9.99758203e-01 8.26070895e-03 -2.03788392e-02 1.08947786e+02] [-8.26763005e-03 9.99965790e-01 -2.55393014e-04 8.38808361e-01] [ 2.03760323e-02 4.23815964e-04 9.99792297e-01 6.95449834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399999 meters 0.018291050459978666 Centerline is valid? [True, True] Translation: X:109.01, Y:0.84, Z:0.70 [[ 9.99751261e-01 9.61612467e-03 -2.01232829e-02 1.09006479e+02] [-9.62322396e-03 9.99953663e-01 -2.55982143e-04 8.40425705e-01] [ 2.01198888e-02 4.49569328e-04 9.99797473e-01 6.96393351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399999 meters 0.01757979071141602 Centerline is valid? [True, True] Translation: X:109.07, Y:0.84, Z:0.70 [[ 9.99777067e-01 8.26780298e-03 -1.94283425e-02 1.09065640e+02] [-8.27421479e-03 9.99965737e-01 -2.49660771e-04 8.38460080e-01] [ 1.94256126e-02 4.10359391e-04 9.99811221e-01 6.97281371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519254154 meters 0.016190000220270714 Centerline is valid? [True, True] Translation: X:109.12, Y:0.83, Z:0.70 [[ 9.99820041e-01 2.96606370e-03 -1.87373500e-02 1.09124281e+02] [-2.97112200e-03 9.99995557e-01 -2.42125673e-04 8.33066453e-01] [ 1.87365485e-02 2.97753053e-04 9.99824411e-01 6.97591775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579254154 meters 0.014922154643347788 Centerline is valid? [True, True] Translation: X:109.18, Y:0.82, Z:0.70 [[ 9.99774404e-01 -1.01614915e-02 -1.86517050e-02 1.09184785e+02] [ 1.01587500e-02 9.99948369e-01 -2.41724508e-04 8.20766495e-01] [ 1.86531983e-02 5.21919671e-05 9.99826013e-01 6.96053852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters 0.015454834684321421 Centerline is valid? [True, True] Translation: X:109.24, Y:0.81, Z:0.70 [[ 9.99502039e-01 -2.55259408e-02 -1.85499684e-02 1.09243303e+02] [ 2.55258519e-02 9.99674133e-01 -2.41603106e-04 8.06307721e-01] [ 1.85500907e-02 -2.32020950e-04 9.99827905e-01 6.95556795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399999 meters 0.01691612941026731 Centerline is valid? [True, True] Translation: X:109.30, Y:0.80, Z:0.70 [[ 9.99202023e-01 -3.51748757e-02 -1.89220669e-02 1.09303591e+02] [ 3.51764961e-02 9.99381085e-01 -2.47295566e-04 7.97589073e-01] [ 1.89190544e-02 -4.18513783e-04 9.99820931e-01 6.95789471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399999 meters 0.02067998380558954 Centerline is valid? [True, True] Translation: X:109.36, Y:0.78, Z:0.70 [[ 9.98687436e-01 -4.76083437e-02 -1.88904778e-02 1.09364857e+02] [ 4.76121850e-02 9.98865866e-01 -2.46607918e-04 7.84527345e-01] [ 1.88807940e-02 -6.53132692e-04 9.99821529e-01 6.95347870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399999 meters 0.02474661932378652 Centerline is valid? [True, True] Translation: X:109.43, Y:0.77, Z:0.70 [[ 9.98201605e-01 -5.73538662e-02 -1.74381759e-02 1.09425829e+02] [ 5.73586342e-02 9.98353612e-01 -2.27019234e-04 7.73121433e-01] [ 1.74224863e-02 -7.73618989e-04 9.99847918e-01 6.95010806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879254154 meters 0.025409784296037435 Centerline is valid? [True, True] Translation: X:109.49, Y:0.77, Z:0.70 [[ 9.97922203e-01 -6.24044734e-02 -1.60299334e-02 1.09486952e+02] [ 6.24091589e-02 9.98050627e-01 -2.08268109e-04 7.68663530e-01] [ 1.60116820e-02 -7.92579292e-04 9.99871491e-01 6.95738765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939254154 meters 0.025987041789365718 Centerline is valid? [True, True] Translation: X:109.55, Y:0.77, Z:0.70 [[ 9.97868584e-01 -6.32786298e-02 -1.59406414e-02 1.09548935e+02] [ 6.32833872e-02 9.97995576e-01 -2.06303183e-04 7.67883793e-01] [ 1.59217442e-02 -8.02914317e-04 9.99872919e-01 6.95644221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters 0.03028404495392088 Centerline is valid? [True, True] Translation: X:109.61, Y:0.76, Z:0.69 [[ 9.97861258e-01 -6.31740205e-02 -1.67914825e-02 1.09610358e+02] [ 6.31793154e-02 9.98002168e-01 -2.15484069e-04 7.62550818e-01] [ 1.67715489e-02 -8.45851162e-04 9.99858990e-01 6.93627259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399999 meters 0.026621019021994475 Centerline is valid? [True, True] Translation: X:109.67, Y:0.77, Z:0.69 [[ 9.97868238e-01 -6.29175400e-02 -1.73309730e-02 1.09672631e+02] [ 6.29231711e-02 9.98018349e-01 -2.20731326e-04 7.68992673e-01] [ 1.73105170e-02 -8.70259003e-04 9.99849783e-01 6.93798079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399999 meters 0.02554006891155755 Centerline is valid? [True, True] Translation: X:109.73, Y:0.77, Z:0.69 [[ 9.97888932e-01 -6.24336417e-02 -1.78806897e-02 1.09734601e+02] [ 6.24395822e-02 9.98048720e-01 -2.26398793e-04 7.71586814e-01] [ 1.78599344e-02 -8.90541943e-04 9.99840102e-01 6.93560698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399999 meters 0.02597250220066499 Centerline is valid? [True, True] Translation: X:109.79, Y:0.77, Z:0.69 [[ 9.98022022e-01 -5.98181534e-02 -1.93347408e-02 1.09794726e+02] [ 5.98246469e-02 9.98208872e-01 -2.42896361e-04 7.73671542e-01] [ 1.93146395e-02 -9.14278126e-04 9.99813037e-01 6.91943154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239254154 meters 0.023231469708265687 Centerline is valid? [True, True] Translation: X:109.86, Y:0.78, Z:0.69 [[ 9.98381962e-01 -5.32068040e-02 -2.00622490e-02 1.09855132e+02] [ 5.32124790e-02 9.98583181e-01 -2.51240290e-04 7.82345083e-01] [ 2.00471921e-02 -8.16728231e-04 9.99798701e-01 6.92024865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299254154 meters 0.02112145683461026 Centerline is valid? [True, True] Translation: X:109.92, Y:0.79, Z:0.69 [[ 9.98695543e-01 -4.71208789e-02 -1.96681325e-02 1.09916015e+02] [ 4.71251592e-02 9.98888962e-01 -2.46052865e-04 7.89649060e-01] [ 1.96578747e-02 -6.81131976e-04 9.99806533e-01 6.93149463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters 0.0181978083004589 Centerline is valid? [True, True] Translation: X:109.98, Y:0.80, Z:0.70 [[ 9.99196343e-01 -3.65442265e-02 -1.64677507e-02 1.09975975e+02] [ 3.65457927e-02 9.99331958e-01 -2.05921370e-04 8.01399235e-01] [ 1.64642748e-02 -3.96071121e-04 9.99864376e-01 6.96729968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399999 meters 0.015030782834235552 Centerline is valid? [True, True] Translation: X:110.04, Y:0.82, Z:0.70 [[ 9.99628301e-01 -2.38981241e-02 -1.31201903e-02 1.10036900e+02] [ 2.38980300e-02 9.99714388e-01 -1.63975582e-04 8.15478825e-01] [ 1.31203617e-02 -1.49632068e-04 9.99913913e-01 7.00624500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399999 meters 0.014316781409057584 Centerline is valid? [True, True] Translation: X:110.10, Y:0.83, Z:0.70 [[ 9.99874062e-01 -1.13161242e-02 -1.11268189e-02 1.10097448e+02] [ 1.13152792e-02 9.99935971e-01 -1.38903265e-04 8.26040553e-01] [ 1.11276783e-02 1.29827100e-05 9.99938085e-01 7.00974379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399999 meters 0.0147507238890265 Centerline is valid? [True, True] Translation: X:110.16, Y:0.83, Z:0.70 [[ 9.99924072e-01 -4.45130002e-03 -1.14907251e-02 1.10157160e+02] [ 4.44994487e-03 9.99990089e-01 -1.43498459e-04 8.32068945e-01] [ 1.14912500e-02 9.23544703e-05 9.99933969e-01 7.01121930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599254154 meters 0.015514521583223969 Centerline is valid? [True, True] Translation: X:110.21, Y:0.84, Z:0.70 [[ 9.99927704e-01 1.24887163e-03 -1.19594220e-02 1.10214944e+02] [-1.25075601e-03 9.99999207e-01 -1.50086099e-04 8.38459670e-01] [ 1.19592251e-02 1.65033567e-04 9.99928472e-01 7.01374996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659254154 meters 0.015301313931499855 Centerline is valid? [True, True] Translation: X:110.27, Y:0.84, Z:0.70 [[ 9.99933804e-01 9.18478098e-04 -1.14693077e-02 1.10273288e+02] [-9.20200095e-04 9.99999566e-01 -1.44863254e-04 8.38514830e-01] [ 1.14691696e-02 1.55407722e-04 9.99934215e-01 7.01910610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719254154 meters 0.015182047429002355 Centerline is valid? [True, True] Translation: X:110.33, Y:0.84, Z:0.70 [[ 9.99933338e-01 -1.29616854e-03 -1.14734177e-02 1.10332420e+02] [ 1.29458161e-03 9.99999151e-01 -1.45739130e-04 8.36929009e-01] [ 1.14735969e-02 1.30876139e-04 9.99934168e-01 7.01379447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399999 meters 0.014500053215363684 Centerline is valid? [True, True] Translation: X:110.39, Y:0.83, Z:0.70 [[ 9.99924358e-01 -5.35674955e-03 -1.10717867e-02 1.10390855e+02] [ 5.35551207e-03 9.99985649e-01 -1.41414725e-04 8.32497293e-01] [ 1.10723854e-02 8.21089406e-05 9.99938696e-01 7.01999928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399999 meters 0.014184910691941461 Centerline is valid? [True, True] Translation: X:110.45, Y:0.83, Z:0.70 [[ 9.99881638e-01 -1.08869370e-02 -1.08713081e-02 1.10448328e+02] [ 1.08860615e-02 9.99940735e-01 -1.39703120e-04 8.26922398e-01] [ 1.08721848e-02 2.13408553e-05 9.99940896e-01 7.02541572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399999 meters 0.013922511722718472 Centerline is valid? [True, True] Translation: X:110.51, Y:0.82, Z:0.70 [[ 9.99808742e-01 -1.65290231e-02 -1.04532977e-02 1.10507037e+02] [ 1.65285131e-02 9.99863386e-01 -1.35183251e-04 8.19520736e-01] [ 1.04541041e-02 -3.76200720e-05 9.99945354e-01 7.03975948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399999 meters 0.014284593499588967 Centerline is valid? [True, True] Translation: X:110.57, Y:0.81, Z:0.70 [[ 9.99749439e-01 -2.02979345e-02 -9.43679697e-03 1.10567629e+02] [ 2.02976826e-02 9.99793973e-01 -1.22484356e-04 8.12656943e-01] [ 9.43733892e-03 -6.90914436e-05 9.99955465e-01 7.04714531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019254154 meters 0.014102750699770792 Centerline is valid? [True, True] Translation: X:110.63, Y:0.81, Z:0.71 [[ 9.99751358e-01 -1.98945881e-02 -1.00711006e-02 1.10629759e+02] [ 1.98942832e-02 9.99802081e-01 -1.30469776e-04 8.09807724e-01] [ 1.00717030e-02 -6.99199920e-05 9.99949277e-01 7.05026939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079254154 meters 0.014153105724362413 Centerline is valid? [True, True] Translation: X:110.69, Y:0.81, Z:0.70 [[ 9.99827481e-01 -1.53976336e-02 -1.03885493e-02 1.10689810e+02] [ 1.53970723e-02 9.99881449e-01 -1.34006019e-04 8.07922444e-01] [ 1.03893811e-02 -2.59703439e-05 9.99946029e-01 7.04104962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399999 meters 0.014409327197415599 Centerline is valid? [True, True] Translation: X:110.75, Y:0.81, Z:0.70 [[ 9.99899060e-01 -8.40131378e-03 -1.14580936e-02 1.10750542e+02] [ 8.40017318e-03 9.99964707e-01 -1.47668879e-04 8.08321601e-01] [ 1.14589298e-02 5.14040026e-05 9.99934343e-01 7.03808453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399999 meters 0.01465107330504521 Centerline is valid? [True, True] Translation: X:110.81, Y:0.81, Z:0.70 [[ 9.99917257e-01 -4.71422470e-03 -1.19689491e-02 1.10809673e+02] [ 4.71269982e-03 9.99988883e-01 -1.55604502e-04 8.08378809e-01] [ 1.19695496e-02 9.91855622e-05 9.99928357e-01 7.04144678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399999 meters 0.014854550647960584 Centerline is valid? [True, True] Translation: X:110.87, Y:0.81, Z:0.70 [[ 9.99908163e-01 -2.84920404e-03 -1.32494643e-02 1.10868324e+02] [ 2.84712414e-03 9.99995931e-01 -1.75838873e-04 8.05388008e-01] [ 1.32499114e-02 1.38099855e-04 9.99912207e-01 7.03767184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399999 meters 0.014901250188484061 Centerline is valid? [True, True] Translation: X:110.93, Y:0.80, Z:0.70 [[ 9.99902052e-01 -3.53990137e-03 -1.35408794e-02 1.10925851e+02] [ 3.53774173e-03 9.99993725e-01 -1.83440418e-04 8.04335780e-01] [ 1.35414438e-02 1.35518316e-04 9.99908301e-01 7.03698661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379254154 meters 0.01454876342423883 Centerline is valid? [True, True] Translation: X:110.98, Y:0.80, Z:0.70 [[ 9.99870771e-01 -6.30293131e-03 -1.47889790e-02 1.10984366e+02] [ 6.30061719e-03 9.99980130e-01 -2.03064041e-04 7.98694416e-01] [ 1.47899650e-02 1.09858104e-04 9.99890616e-01 7.04092528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439254154 meters 0.014214975720748849 Centerline is valid? [True, True] Translation: X:111.04, Y:0.79, Z:0.70 [[ 9.99811088e-01 -1.10708932e-02 -1.59757341e-02 1.11043544e+02] [ 1.10687819e-02 9.99938715e-01 -2.20573879e-04 7.92043718e-01] [ 1.59771970e-02 4.37002935e-05 9.99872355e-01 7.04357480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters 0.014221280347508566 Centerline is valid? [True, True] Translation: X:111.10, Y:0.78, Z:0.71 [[ 9.99748553e-01 -1.69051135e-02 -1.47325778e-02 1.11101037e+02] [ 1.69039341e-02 9.99857097e-01 -2.04588742e-04 7.84326268e-01] [ 1.47339311e-02 -4.45012258e-05 9.99891449e-01 7.05205904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399999 meters 0.014528119121675025 Centerline is valid? [True, True] Translation: X:111.16, Y:0.78, Z:0.71 [[ 9.99693193e-01 -2.14552315e-02 -1.23771185e-02 1.11160304e+02] [ 2.14547234e-02 9.99769806e-01 -1.73848760e-04 7.77739323e-01] [ 1.23779994e-02 -9.17522326e-05 9.99923385e-01 7.08030978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399999 meters 0.014455008452228496 Centerline is valid? [True, True] Translation: X:111.22, Y:0.78, Z:0.71 [[ 9.99698885e-01 -2.17752870e-02 -1.13126843e-02 1.11220365e+02] [ 2.17748651e-02 9.99762887e-01 -1.60478852e-04 7.75318350e-01] [ 1.13134964e-02 -8.59016458e-05 9.99935997e-01 7.09734865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399999 meters 0.01424930233909431 Centerline is valid? [True, True] Translation: X:111.28, Y:0.77, Z:0.71 [[ 9.99774106e-01 -1.84157695e-02 -1.06111172e-02 1.11280986e+02] [ 1.84152091e-02 9.99830414e-01 -1.50526600e-04 7.73648800e-01] [ 1.06120898e-02 -4.49133453e-05 9.99943689e-01 7.10849992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739254154 meters 0.014082875386436267 Centerline is valid? [True, True] Translation: X:111.34, Y:0.77, Z:0.71 [[ 9.99822115e-01 -1.51348680e-02 -1.12549939e-02 1.11341592e+02] [ 1.51340296e-02 9.99885461e-01 -1.59660470e-04 7.73598950e-01] [ 1.12561212e-02 -1.07013420e-05 9.99936648e-01 7.11172524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799254154 meters 0.014133128082765727 Centerline is valid? [True, True] Translation: X:111.40, Y:0.77, Z:0.71 [[ 9.99842802e-01 -1.11653927e-02 -1.37733630e-02 1.11401019e+02] [ 1.11637570e-02 9.99937664e-01 -1.95642939e-04 7.71692771e-01] [ 1.37746889e-02 4.18497067e-05 9.99905124e-01 7.10086294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters 0.014347973225025316 Centerline is valid? [True, True] Translation: X:111.46, Y:0.77, Z:0.71 [[ 9.99818132e-01 -1.13392666e-02 -1.53337427e-02 1.11460191e+02] [ 1.13372219e-02 9.99935707e-01 -2.20269145e-04 7.69728415e-01] [ 1.53352545e-02 4.63870427e-05 9.99882407e-01 7.09265515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399999 meters 0.01726617191205705 Centerline is valid? [True, True] Translation: X:111.52, Y:0.76, Z:0.71 [[ 9.99784069e-01 -1.27516259e-02 -1.64076494e-02 1.11517807e+02] [ 1.27493977e-02 9.99918694e-01 -2.40403128e-04 7.64939982e-01] [ 1.64093809e-02 3.11635705e-05 9.99865357e-01 7.07068439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399999 meters 0.014375961508378068 Centerline is valid? [True, True] Translation: X:111.58, Y:0.76, Z:0.71 [[ 9.99739014e-01 -1.63203097e-02 -1.59859977e-02 1.11575610e+02] [ 1.63185755e-02 9.99866815e-01 -2.38922738e-04 7.62013690e-01] [ 1.59877679e-02 -2.20083285e-05 9.99872187e-01 7.10513347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399999 meters 0.017085387309314325 Centerline is valid? [True, True] Translation: X:111.63, Y:0.75, Z:0.71 [[ 9.99604891e-01 -2.27079510e-02 -1.65653217e-02 1.11633862e+02] [ 2.27069167e-02 9.99742133e-01 -2.50542744e-04 7.53090482e-01] [ 1.65667394e-02 -1.25703629e-04 9.99862754e-01 7.08084916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099254154 meters 0.016689695627439625 Centerline is valid? [True, True] Translation: X:111.69, Y:0.74, Z:0.71 [[ 9.99365079e-01 -3.23381137e-02 -1.49561111e-02 1.11692645e+02] [ 3.23383339e-02 9.99476953e-01 -2.27180435e-04 7.42116240e-01] [ 1.49556349e-02 -2.56619521e-04 9.99888125e-01 7.12089394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159254154 meters 0.018058996208027762 Centerline is valid? [True, True] Translation: X:111.75, Y:0.74, Z:0.71 [[ 9.99095244e-01 -3.98206761e-02 -1.49334325e-02 1.11752591e+02] [ 3.98217234e-02 9.99206775e-01 -2.27329915e-04 7.35957168e-01] [ 1.49306393e-02 -3.67550781e-04 9.99888464e-01 7.13987485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219254154 meters 0.019111344021078138 Centerline is valid? [True, True] Translation: X:111.81, Y:0.73, Z:0.71 [[ 9.98963650e-01 -4.30800970e-02 -1.46878049e-02 1.11814387e+02] [ 4.30814647e-02 9.99071538e-01 -2.23416243e-04 7.31012583e-01] [ 1.46837926e-02 -4.09587444e-04 9.99892103e-01 7.14410332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399999 meters 0.018946594075702015 Centerline is valid? [True, True] Translation: X:111.88, Y:0.73, Z:0.72 [[ 9.98909890e-01 -4.42608172e-02 -1.48328093e-02 1.11876104e+02] [ 4.42623502e-02 9.99019917e-01 -2.25073559e-04 7.29028122e-01] [ 1.48282339e-02 -4.31706797e-04 9.99889963e-01 7.15520139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399999 meters 0.019484894363206204 Centerline is valid? [True, True] Translation: X:111.94, Y:0.73, Z:0.71 [[ 9.98883248e-01 -4.42295720e-02 -1.66132910e-02 1.11937538e+02] [ 4.42315046e-02 9.99021276e-01 -2.51274217e-04 7.26993066e-01] [ 1.66081450e-02 -4.83837253e-04 9.99861958e-01 7.14195094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399999 meters 0.0191496762707396 Centerline is valid? [True, True] Translation: X:112.00, Y:0.73, Z:0.71 [[ 9.98853884e-01 -4.42098453e-02 -1.83414245e-02 1.11998023e+02] [ 4.42122051e-02 9.99022124e-01 -2.77007856e-04 7.28026928e-01] [ 1.83357354e-02 -5.34224451e-04 9.99831744e-01 7.13673287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399999 meters 0.018776211854774866 Centerline is valid? [True, True] Translation: X:112.06, Y:0.73, Z:0.71 [[ 9.98816309e-01 -4.49250872e-02 -1.86471641e-02 1.12058798e+02] [ 4.49276510e-02 9.98990204e-01 -2.81625395e-04 7.29112198e-01] [ 1.86409863e-02 -5.56481241e-04 9.99826087e-01 7.14583571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519254154 meters 0.021651487004710063 Centerline is valid? [True, True] Translation: X:112.12, Y:0.72, Z:0.71 [[ 9.98717430e-01 -4.70003610e-02 -1.88271389e-02 1.12118377e+02] [ 4.70033387e-02 9.98894692e-01 -2.84565179e-04 7.24550989e-01] [ 1.88197038e-02 -6.00738184e-04 9.99822713e-01 7.13697142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579254154 meters 0.02154735058119328 Centerline is valid? [True, True] Translation: X:112.18, Y:0.73, Z:0.71 [[ 9.98537108e-01 -5.06540879e-02 -1.89158128e-02 1.12178323e+02] [ 5.06577418e-02 9.98716031e-01 -2.86248276e-04 7.26071106e-01] [ 1.89060251e-02 -6.72402835e-04 9.99821039e-01 7.14639280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399999 meters 0.02252601434200686 Centerline is valid? [True, True] Translation: X:112.24, Y:0.73, Z:0.71 [[ 9.98396736e-01 -5.32875849e-02 -1.90890054e-02 1.12238672e+02] [ 5.32917843e-02 9.98578941e-01 -2.88990936e-04 7.25500120e-01] [ 1.90772784e-02 -7.28759550e-04 9.99817747e-01 7.14788292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399999 meters 0.02286010749534666 Centerline is valid? [True, True] Translation: X:112.30, Y:0.73, Z:0.72 [[ 9.98292420e-01 -5.54625856e-02 -1.83342590e-02 1.12299623e+02] [ 5.54668295e-02 9.98460492e-01 -2.77353996e-04 7.27165863e-01] [ 1.83214160e-02 -7.40062826e-04 9.99831875e-01 7.16220004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399999 meters 0.02463804892576172 Centerline is valid? [True, True] Translation: X:112.36, Y:0.73, Z:0.72 [[ 9.98386764e-01 -5.38425272e-02 -1.80236559e-02 1.12360206e+02] [ 5.38463820e-02 9.98549194e-01 -2.71701033e-04 7.29990081e-01] [ 1.80121362e-02 -6.99245948e-04 9.99837524e-01 7.15811151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399999 meters 0.022923461303662906 Centerline is valid? [True, True] Translation: X:112.42, Y:0.73, Z:0.72 [[ 9.98492811e-01 -5.22179794e-02 -1.68934794e-02 1.12421144e+02] [ 5.22211475e-02 9.98635513e-01 -2.53840785e-04 7.34010745e-01] [ 1.68836835e-02 -6.28738680e-04 9.99857263e-01 7.18624779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879254154 meters 0.022295598895259148 Centerline is valid? [True, True] Translation: X:112.48, Y:0.74, Z:0.72 [[ 9.98671896e-01 -4.82902353e-02 -1.79582331e-02 1.12482661e+02] [ 4.82931974e-02 9.98833167e-01 -2.68939241e-04 7.43813550e-01] [ 1.79502659e-02 -5.98678432e-04 9.99838702e-01 7.17682338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939254154 meters 0.019803702089797683 Centerline is valid? [True, True] Translation: X:112.54, Y:0.75, Z:0.72 [[ 9.98727067e-01 -4.68992944e-02 -1.85661325e-02 1.12544431e+02] [ 4.69022398e-02 9.98899446e-01 -2.76994462e-04 7.50379075e-01] [ 1.85586903e-02 -5.94151335e-04 9.99827596e-01 7.18780257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters 0.020596813147450013 Centerline is valid? [True, True] Translation: X:112.60, Y:0.75, Z:0.72 [[ 9.98724373e-01 -4.67367412e-02 -1.91129127e-02 1.12604476e+02] [ 4.67398445e-02 9.98907056e-01 -2.84552024e-04 7.51961307e-01] [ 1.91053223e-02 -6.09145525e-04 9.99817291e-01 7.18246094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399999 meters 0.01957664099942795 Centerline is valid? [True, True] Translation: X:112.67, Y:0.76, Z:0.72 [[ 9.98707042e-01 -4.72903323e-02 -1.86512186e-02 1.12665888e+02] [ 4.72933943e-02 9.98881003e-01 -2.77121074e-04 7.57913289e-01] [ 1.86434531e-02 -6.05316670e-04 9.99826012e-01 7.19605466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399999 meters 0.01894976863194948 Centerline is valid? [True, True] Translation: X:112.73, Y:0.76, Z:0.72 [[ 9.98762472e-01 -4.65565156e-02 -1.74933096e-02 1.12726961e+02] [ 4.65591077e-02 9.98915503e-01 -2.59280787e-04 7.64251698e-01] [ 1.74864094e-02 -5.55512967e-04 9.99846947e-01 7.21783217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399999 meters 0.019119115338845794 Centerline is valid? [True, True] Translation: X:112.79, Y:0.77, Z:0.72 [[ 9.98811384e-01 -4.57202650e-02 -1.68960619e-02 1.12787653e+02] [ 4.57225708e-02 9.98954145e-01 -2.49998129e-04 7.65954259e-01] [ 1.68898210e-02 -5.22830409e-04 9.99857220e-01 7.22616505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239254154 meters 0.018965082426579776 Centerline is valid? [True, True] Translation: X:112.85, Y:0.77, Z:0.72 [[ 9.98972040e-01 -4.28547471e-02 -1.47761239e-02 1.12847691e+02] [ 4.28562010e-02 9.99081227e-01 -2.18377507e-04 7.70935494e-01] [ 1.47719065e-02 -4.15095512e-04 9.99890803e-01 7.24638339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299254154 meters 0.018405829742818926 Centerline is valid? [True, True] Translation: X:112.91, Y:0.78, Z:0.73 [[ 9.99097983e-01 -4.00673601e-02 -1.40651084e-02 1.12909437e+02] [ 4.00684082e-02 9.99196917e-01 -2.07384461e-04 7.76561490e-01] [ 1.40621223e-02 -3.56369109e-04 9.99901060e-01 7.25225665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters 0.017207491655798858 Centerline is valid? [True, True] Translation: X:112.97, Y:0.78, Z:0.73 [[ 9.99190499e-01 -3.75271422e-02 -1.44934713e-02 1.12970486e+02] [ 3.75279972e-02 9.99295554e-01 -2.13066957e-04 7.83147105e-01] [ 1.44912572e-02 -3.31016470e-04 9.99894941e-01 7.25924741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399999 meters 0.015966802702215472 Centerline is valid? [True, True] Translation: X:113.03, Y:0.79, Z:0.73 [[ 9.99354761e-01 -3.27294065e-02 -1.47935077e-02 1.13032013e+02] [ 3.27297801e-02 9.99464214e-01 -2.16921520e-04 7.90190884e-01] [ 1.47926813e-02 -2.67406702e-04 9.99890547e-01 7.26561661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399999 meters 0.0152959998627174 Centerline is valid? [True, True] Translation: X:113.09, Y:0.79, Z:0.73 [[ 9.99478808e-01 -2.87430938e-02 -1.46951535e-02 1.13093236e+02] [ 2.87430396e-02 9.99586810e-01 -2.14931342e-04 7.94780551e-01] [ 1.46952594e-02 -2.07564057e-04 9.99891997e-01 7.27642224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399999 meters 0.01542303750435163 Centerline is valid? [True, True] Translation: X:113.15, Y:0.80, Z:0.73 [[ 9.99513023e-01 -2.76869196e-02 -1.43927451e-02 1.13154857e+02] [ 2.76867657e-02 9.99616626e-01 -2.09981631e-04 7.96550160e-01] [ 1.43930410e-02 -1.88609187e-04 9.99896397e-01 7.27708155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599254154 meters 0.01564110379207979 Centerline is valid? [True, True] Translation: X:113.22, Y:0.80, Z:0.73 [[ 9.99461716e-01 -2.94192100e-02 -1.45185629e-02 1.13215060e+02] [ 2.94192398e-02 9.99567138e-01 -2.11568412e-04 7.96238750e-01] [ 1.45185025e-02 -2.15670555e-04 9.99894578e-01 7.27652552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659254154 meters 0.016440460767343273 Centerline is valid? [True, True] Translation: X:113.28, Y:0.79, Z:0.73 [[ 9.99261268e-01 -3.52980113e-02 -1.51976627e-02 1.13275855e+02] [ 3.52987259e-02 9.99376781e-01 -2.21307548e-04 7.92261820e-01] [ 1.51960029e-02 -3.15314068e-04 9.99884484e-01 7.27302823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719254154 meters 0.01775081988079266 Centerline is valid? [True, True] Translation: X:113.34, Y:0.79, Z:0.73 [[ 9.99092463e-01 -3.97664359e-02 -1.52604077e-02 1.13337521e+02] [ 3.97676839e-02 9.99208928e-01 -2.21782437e-04 7.89361394e-01] [ 1.52571551e-02 -3.85289908e-04 9.99883529e-01 7.27625194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399999 meters 0.019856902357085846 Centerline is valid? [True, True] Translation: X:113.40, Y:0.78, Z:0.73 [[ 9.98803370e-01 -4.67409740e-02 -1.43912857e-02 1.13398653e+02] [ 4.67428123e-02 9.98906936e-01 -2.08778781e-04 7.84447741e-01] [ 1.43853136e-02 -4.64160216e-04 9.99896418e-01 7.28723584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399999 meters 0.021243405231853182 Centerline is valid? [True, True] Translation: X:113.46, Y:0.78, Z:0.73 [[ 9.98569644e-01 -5.17080373e-02 -1.35994691e-02 1.13460180e+02] [ 5.17101439e-02 9.98662116e-01 -1.96922295e-04 7.80891609e-01] [ 1.35914571e-02 -5.06589880e-04 9.99907504e-01 7.29364568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399999 meters 0.0208526265615624 Centerline is valid? [True, True] Translation: X:113.52, Y:0.78, Z:0.73 [[ 9.98569166e-01 -5.18027067e-02 -1.32702880e-02 1.13522259e+02] [ 5.18047305e-02 9.98657215e-01 -1.91423680e-04 7.81904221e-01] [ 1.32623851e-02 -4.96313910e-04 9.99911928e-01 7.29858073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399999 meters 0.021424334786863845 Centerline is valid? [True, True] Translation: X:113.58, Y:0.78, Z:0.73 [[ 9.98688147e-01 -4.94031293e-02 -1.34653414e-02 1.13582631e+02] [ 4.94050038e-02 9.98778808e-01 -1.93604236e-04 7.82152564e-01] [ 1.34584623e-02 -4.71904988e-04 9.99909319e-01 7.29759809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019254154 meters 0.01790119983243755 Centerline is valid? [True, True] Translation: X:113.64, Y:0.79, Z:0.73 [[ 9.98972279e-01 -4.31847746e-02 -1.37644624e-02 1.13643070e+02] [ 4.31861452e-02 9.99067024e-01 -1.97779421e-04 7.90994402e-01] [ 1.37601616e-02 -3.96857915e-04 9.99905246e-01 7.30904752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079254154 meters 0.017216446491772817 Centerline is valid? [True, True] Translation: X:113.70, Y:0.80, Z:0.73 [[ 9.99239675e-01 -3.64276927e-02 -1.38958934e-02 1.13702662e+02] [ 3.64284365e-02 9.99336244e-01 -1.99667931e-04 7.96172124e-01] [ 1.38939433e-02 -3.06689550e-04 9.99903427e-01 7.31374584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399999 meters 0.016067886204666416 Centerline is valid? [True, True] Translation: X:113.76, Y:0.80, Z:0.73 [[ 9.99351633e-01 -3.29656819e-02 -1.44768008e-02 1.13763678e+02] [ 3.29661303e-02 9.99456448e-01 -2.07727701e-04 8.01344164e-01] [ 1.44757798e-02 -2.69651084e-04 9.99895184e-01 7.31832166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399999 meters 0.015673186244578318 Centerline is valid? [True, True] Translation: X:113.83, Y:0.81, Z:0.73 [[ 9.99395010e-01 -3.10792100e-02 -1.56107757e-02 1.13825115e+02] [ 3.10795106e-02 9.99516890e-01 -2.23401581e-04 8.06244305e-01] [ 1.56101771e-02 -2.61908844e-04 9.99878119e-01 7.31052711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399999 meters 0.016160108637372404 Centerline is valid? [True, True] Translation: X:113.89, Y:0.81, Z:0.73 [[ 9.99298511e-01 -3.31416315e-02 -1.74389666e-02 1.13886241e+02] [ 3.31423323e-02 9.99450611e-01 -2.48894454e-04 8.07860292e-01] [ 1.74376346e-02 -3.29248170e-04 9.99847899e-01 7.29715685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399999 meters 0.017176063035143782 Centerline is valid? [True, True] Translation: X:113.95, Y:0.81, Z:0.73 [[ 9.99071710e-01 -3.92380747e-02 -1.77789616e-02 1.13946921e+02] [ 3.92397722e-02 9.99229791e-01 -2.53497011e-04 8.08646461e-01] [ 1.77752148e-02 -4.44380710e-04 9.99841910e-01 7.30785275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379254154 meters 0.020331651726757022 Centerline is valid? [True, True] Translation: X:114.01, Y:0.81, Z:0.73 [[ 9.98723514e-01 -4.76068412e-02 -1.68798924e-02 1.14006830e+02] [ 4.76095728e-02 9.98865992e-01 -2.40218845e-04 8.05559800e-01] [ 1.68721865e-02 -5.63732254e-04 9.99857496e-01 7.31948595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439254154 meters 0.021081972877921677 Centerline is valid? [True, True] Translation: X:114.07, Y:0.81, Z:0.73 [[ 9.98398866e-01 -5.43356967e-02 -1.57269326e-02 1.14067904e+02] [ 5.43389082e-02 9.98522525e-01 -2.23363450e-04 8.06063330e-01] [ 1.57158330e-02 -6.31578529e-04 9.99876299e-01 7.33660817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399998 meters 0.02658694436223852 Centerline is valid? [True, True] Translation: X:114.13, Y:0.80, Z:0.73 [[ 9.97867217e-01 -6.35458138e-02 -1.49314035e-02 1.14127604e+02] [ 6.35497377e-02 9.97978650e-01 -2.12004034e-04 8.01047785e-01] [ 1.49146939e-02 -7.37334900e-04 9.99888498e-01 7.33714725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399999 meters 0.0284819551136376 Centerline is valid? [True, True] Translation: X:114.19, Y:0.80, Z:0.73 [[ 9.97422338e-01 -7.00541131e-02 -1.55274266e-02 1.14188204e+02] [ 7.00591424e-02 9.97542815e-01 -2.20488339e-04 8.03633317e-01] [ 1.55047190e-02 -8.67918198e-04 9.99879418e-01 7.34340661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399999 meters 0.028165286013385207 Centerline is valid? [True, True] Translation: X:114.25, Y:0.81, Z:0.74 [[ 9.97280249e-01 -7.21564343e-02 -1.50184766e-02 1.14250153e+02] [ 7.21613863e-02 9.97392946e-01 -2.12623150e-04 8.08029354e-01] [ 1.49946648e-02 -8.71709224e-04 9.99887194e-01 7.35435124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399999 meters 0.029935933439156168 Centerline is valid? [True, True] Translation: X:114.31, Y:0.81, Z:0.74 [[ 9.97186301e-01 -7.34024474e-02 -1.52171568e-02 1.14312075e+02] [ 7.34076932e-02 9.97301993e-01 -2.14300881e-04 8.11228889e-01] [ 1.51918310e-02 -9.03358473e-04 9.99884189e-01 7.35236978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739254154 meters 0.029927983045063136 Centerline is valid? [True, True] Translation: X:114.38, Y:0.82, Z:0.73 [[ 9.97187897e-01 -7.29406901e-02 -1.72032870e-02 1.14375020e+02] [ 7.29473560e-02 9.97335764e-01 -2.40552306e-04 8.17197157e-01] [ 1.71749994e-02 -1.01505845e-03 9.99851984e-01 7.34333257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799254154 meters 0.03055540847871707 Centerline is valid? [True, True] Translation: X:114.44, Y:0.82, Z:0.73 [[ 9.97365959e-01 -7.01150204e-02 -1.85749065e-02 1.14435840e+02] [ 7.01223263e-02 9.97538366e-01 -2.58501649e-04 8.23088759e-01] [ 1.85473068e-02 -1.04469491e-03 9.99827438e-01 7.32198750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters 0.026121137420022398 Centerline is valid? [True, True] Translation: X:114.50, Y:0.84, Z:0.73 [[ 9.97566908e-01 -6.72234412e-02 -1.84735696e-02 1.14497296e+02] [ 6.72301899e-02 9.97737458e-01 -2.56188097e-04 8.35796813e-01] [ 1.84489942e-02 -9.86416823e-04 9.99829316e-01 7.34216273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399999 meters 0.025854659746027586 Centerline is valid? [True, True] Translation: X:114.56, Y:0.85, Z:0.74 [[ 9.97903271e-01 -6.23769360e-02 -1.72678551e-02 1.14557008e+02] [ 6.23821125e-02 9.98052311e-01 -2.39228108e-04 8.45306982e-01] [ 1.72491450e-02 -8.38478771e-04 9.99850871e-01 7.36207783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399999 meters 0.024382018071328716 Centerline is valid? [True, True] Translation: X:114.62, Y:0.86, Z:0.74 [[ 9.98211632e-01 -5.79397957e-02 -1.47145448e-02 1.14618129e+02] [ 5.79430751e-02 9.98319868e-01 -2.03717552e-04 8.56049336e-01] [ 1.47016257e-02 -6.49252742e-04 9.99891714e-01 7.39092950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399999 meters 0.022426255972058287 Centerline is valid? [True, True] Translation: X:114.68, Y:0.87, Z:0.74 [[ 9.98416260e-01 -5.46554239e-02 -1.33325560e-02 1.14679193e+02] [ 5.46578291e-02 9.98505127e-01 -1.84189485e-04 8.65420112e-01] [ 1.33226925e-02 -5.44830791e-04 9.99911101e-01 7.40693187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099254154 meters 0.023149371025658665 Centerline is valid? [True, True] Translation: X:114.74, Y:0.87, Z:0.74 [[ 9.98452135e-01 -5.39606670e-02 -1.34751674e-02 1.14740910e+02] [ 5.39630706e-02 9.98542915e-01 -1.85421809e-04 8.66567014e-01] [ 1.34655384e-02 -5.42026609e-04 9.99909189e-01 7.40254132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159254154 meters 0.02299333305270677 Centerline is valid? [True, True] Translation: X:114.80, Y:0.87, Z:0.74 [[ 9.98456449e-01 -5.33538085e-02 -1.54301989e-02 1.14803500e+02] [ 5.33569063e-02 9.98575483e-01 -2.11142169e-04 8.71739754e-01] [ 1.54194835e-02 -6.12491416e-04 9.99880925e-01 7.38900936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters 0.021522238393867535 Centerline is valid? [True, True] Translation: X:114.87, Y:0.88, Z:0.74 [[ 9.98375781e-01 -5.39592899e-02 -1.82809785e-02 1.14865167e+02] [ 5.39637622e-02 9.98542864e-01 -2.48928241e-04 8.79756928e-01] [ 1.82677726e-02 -7.37986448e-04 9.99832858e-01 7.38186523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399999 meters 0.02245511504456022 Centerline is valid? [True, True] Translation: X:114.93, Y:0.88, Z:0.74 [[ 9.98363181e-01 -5.41299329e-02 -1.84637027e-02 1.14926533e+02] [ 5.41345432e-02 9.98533619e-01 -2.50384956e-04 8.81521003e-01] [ 1.84501812e-02 -7.49548988e-04 9.99829500e-01 7.37930263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399999 meters 0.022890161341584003 Centerline is valid? [True, True] Translation: X:114.99, Y:0.89, Z:0.74 [[ 9.98504339e-01 -5.22862025e-02 -1.59761646e-02 1.14987267e+02] [ 5.22894288e-02 9.98631949e-01 -2.15994325e-04 8.85964543e-01] [ 1.59656019e-02 -6.19713252e-04 9.99872350e-01 7.40158023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399999 meters 0.0210783414654023 Centerline is valid? [True, True] Translation: X:115.05, Y:0.89, Z:0.74 [[ 9.98630615e-01 -5.05653558e-02 -1.34178775e-02 1.15049471e+02] [ 5.05674856e-02 9.98720630e-01 -1.80708307e-04 8.92988974e-01] [ 1.34098486e-02 -4.98047478e-04 9.99909960e-01 7.42457081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399999 meters 0.020985191046127886 Centerline is valid? [True, True] Translation: X:115.11, Y:0.90, Z:0.74 [[ 9.98760260e-01 -4.85203718e-02 -1.11227718e-02 1.15111255e+02] [ 4.85217167e-02 9.98822117e-01 -1.49070436e-04 8.98151079e-01] [ 1.11169035e-02 -3.90810356e-04 9.99938129e-01 7.44127695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519254154 meters 0.02096749235109759 Centerline is valid? [True, True] Translation: X:115.17, Y:0.90, Z:0.74 [[ 9.98880906e-01 -4.57998450e-02 -1.18029869e-02 1.15171808e+02] [ 4.58011769e-02 9.98950563e-01 -1.57582283e-04 9.01301797e-01] [ 1.17978176e-02 -3.83184757e-04 9.99930330e-01 7.42392991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579254154 meters 0.019965493184235614 Centerline is valid? [True, True] Translation: X:115.23, Y:0.90, Z:0.74 [[ 9.98872614e-01 -4.58118376e-02 -1.24409370e-02 1.15233581e+02] [ 4.58133250e-02 9.98950005e-01 -1.65557155e-04 9.04113373e-01] [ 1.24354586e-02 -4.04590182e-04 9.99922595e-01 7.42686264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399999 meters 0.019797044116703282 Centerline is valid? [True, True] Translation: X:115.30, Y:0.91, Z:0.74 [[ 9.98864457e-01 -4.60133309e-02 -1.23519510e-02 1.15296216e+02] [ 4.60148236e-02 9.98940744e-01 -1.63474066e-04 9.05161254e-01] [ 1.23463891e-02 -4.05084411e-04 9.99923698e-01 7.42911670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399999 meters 0.020959882412088165 Centerline is valid? [True, True] Translation: X:115.36, Y:0.90, Z:0.74 [[ 9.98889809e-01 -4.55642880e-02 -1.19601751e-02 1.15357389e+02] [ 4.55656700e-02 9.98961333e-01 -1.57060745e-04 9.03336745e-01] [ 1.19549088e-02 -3.88087015e-04 9.99928462e-01 7.41646652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399999 meters 0.021015362269289788 Centerline is valid? [True, True] Translation: X:115.42, Y:0.90, Z:0.74 [[ 9.98916306e-01 -4.51557567e-02 -1.12770418e-02 1.15420033e+02] [ 4.51569732e-02 9.98979893e-01 -1.46863793e-04 9.04345663e-01] [ 1.12721698e-02 -3.62532438e-04 9.99936401e-01 7.42341606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399999 meters 0.0207622416715783 Centerline is valid? [True, True] Translation: X:115.48, Y:0.91, Z:0.74 [[ 9.98938345e-01 -4.48043488e-02 -1.07122866e-02 1.15481956e+02] [ 4.48054341e-02 9.98995723e-01 -1.38776700e-04 9.05096534e-01] [ 1.07077462e-02 -3.41339282e-04 9.99942612e-01 7.42762545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879254154 meters 0.019595716567297767 Centerline is valid? [True, True] Translation: X:115.54, Y:0.91, Z:0.74 [[ 9.98917325e-01 -4.52319412e-02 -1.08742829e-02 1.15544255e+02] [ 4.52330935e-02 9.98976450e-01 -1.40086644e-04 9.07317783e-01] [ 1.08694889e-02 -3.51942479e-04 9.99940863e-01 7.43312130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939254154 meters 0.021278867938931044 Centerline is valid? [True, True] Translation: X:115.60, Y:0.90, Z:0.74 [[ 9.98777100e-01 -4.80370910e-02 -1.16937274e-02 1.15604897e+02] [ 4.80386291e-02 9.98845467e-01 -1.49480865e-04 9.03252675e-01] [ 1.16874072e-02 -4.12452569e-04 9.99931615e-01 7.42374837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399998 meters 0.020807003061186522 Centerline is valid? [True, True] Translation: X:115.67, Y:0.90, Z:0.74 [[ 9.98579066e-01 -5.15061215e-02 -1.36736496e-02 1.15665632e+02] [ 5.15085680e-02 9.98672538e-01 -1.73428154e-04 9.01894676e-01] [ 1.36644310e-02 -5.31128387e-04 9.99906496e-01 7.41121541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399999 meters 0.02180727807904347 Centerline is valid? [True, True] Translation: X:115.73, Y:0.90, Z:0.74 [[ 9.98438443e-01 -5.39916200e-02 -1.43381097e-02 1.15727946e+02] [ 5.39945794e-02 9.98541212e-01 -1.80913423e-04 8.99331780e-01] [ 1.43269612e-02 -5.93549284e-04 9.99897188e-01 7.41571549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399999 meters 0.022872819801130782 Centerline is valid? [True, True] Translation: X:115.79, Y:0.90, Z:0.74 [[ 9.98395750e-01 -5.49705341e-02 -1.35707812e-02 1.15790585e+02] [ 5.49732887e-02 9.98487811e-01 -1.70250347e-04 8.98417054e-01] [ 1.35596183e-02 -5.76053247e-04 9.99907898e-01 7.42993242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399999 meters 0.023462751242762352 Centerline is valid? [True, True] Translation: X:115.85, Y:0.90, Z:0.75 [[ 9.98415761e-01 -5.51166142e-02 -1.13193265e-02 1.15854006e+02] [ 5.51185502e-02 9.98479807e-01 -1.41085653e-04 8.96425807e-01] [ 1.13098951e-02 -4.83042726e-04 9.99935924e-01 7.45441261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239254154 meters 0.02573600371753198 Centerline is valid? [True, True] Translation: X:115.92, Y:0.89, Z:0.75 [[ 9.98363597e-01 -5.63350671e-02 -9.82284742e-03 1.15915295e+02] [ 5.63365918e-02 9.98411826e-01 -1.21626357e-04 8.92133186e-01] [ 9.81409886e-03 -4.31958419e-04 9.99951747e-01 7.46586778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299254154 meters 0.02526669801089461 Centerline is valid? [True, True] Translation: X:115.98, Y:0.89, Z:0.75 [[ 9.98230432e-01 -5.85423308e-02 -1.04307450e-02 1.15977112e+02] [ 5.85441765e-02 9.98284810e-01 -1.28567449e-04 8.91264587e-01] [ 1.04203810e-02 -4.82319439e-04 9.99945590e-01 7.46261061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters 0.027961362846546583 Centerline is valid? [True, True] Translation: X:116.04, Y:0.88, Z:0.74 [[ 9.98017588e-01 -6.16840009e-02 -1.24890842e-02 1.16037767e+02] [ 6.16869011e-02 9.98095538e-01 -1.53240522e-04 8.84779395e-01] [ 1.24747517e-02 -6.17476165e-04 9.99921997e-01 7.43722795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399999 meters 0.02768340933967736 Centerline is valid? [True, True] Translation: X:116.10, Y:0.88, Z:0.74 [[ 9.97917970e-01 -6.30831641e-02 -1.34253520e-02 1.16100215e+02] [ 6.30866526e-02 9.98008040e-01 -1.63919712e-04 8.84142561e-01] [ 1.34089498e-02 -6.83382090e-04 9.99909862e-01 7.43872274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399999 meters 0.0271802793368725 Centerline is valid? [True, True] Translation: X:116.16, Y:0.88, Z:0.74 [[ 9.97869194e-01 -6.36650330e-02 -1.42771129e-02 1.16161865e+02] [ 6.36690509e-02 9.97971053e-01 -1.73392408e-04 8.84608962e-01] [ 1.42591844e-02 -7.35987285e-04 9.99898062e-01 7.44252522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399999 meters 0.02676717378386596 Centerline is valid? [True, True] Translation: X:116.22, Y:0.88, Z:0.74 [[ 9.97910865e-01 -6.29042079e-02 -1.47297628e-02 1.16224380e+02] [ 6.29084161e-02 9.98019288e-01 -1.77926940e-04 8.84313215e-01] [ 1.47117798e-02 -7.49070823e-04 9.99891495e-01 7.43665558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599254154 meters 0.02514213864228967 Centerline is valid? [True, True] Translation: X:116.29, Y:0.89, Z:0.74 [[ 9.98025747e-01 -6.10344122e-02 -1.48124282e-02 1.16285839e+02] [ 6.10384741e-02 9.98135398e-01 -1.78130760e-04 8.87366254e-01] [ 1.47956810e-02 -7.26348928e-04 9.99890274e-01 7.43819327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659254154 meters 0.02388886716149081 Centerline is valid? [True, True] Translation: X:116.35, Y:0.89, Z:0.75 [[ 9.98256854e-01 -5.73460077e-02 -1.39531052e-02 1.16347046e+02] [ 5.73492578e-02 9.98354163e-01 -1.67404009e-04 8.89681501e-01] [ 1.39397406e-02 -6.33088028e-04 9.99902637e-01 7.46223908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters 0.02319127603869164 Centerline is valid? [True, True] Translation: X:116.41, Y:0.89, Z:0.75 [[ 9.98449516e-01 -5.42069040e-02 -1.26560141e-02 1.16408601e+02] [ 5.42093319e-02 9.98529582e-01 -1.51384577e-04 8.92101711e-01] [ 1.26456106e-02 -5.34924212e-04 9.99919898e-01 7.48768732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399999 meters 0.023906873901629877 Centerline is valid? [True, True] Translation: X:116.47, Y:0.89, Z:0.75 [[ 9.98514176e-01 -5.29372404e-02 -1.29262634e-02 1.16469534e+02] [ 5.29396834e-02 9.98597700e-01 -1.53345507e-04 8.90279560e-01] [ 1.29162545e-02 -5.31194627e-04 9.99916441e-01 7.47691568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399999 meters 0.022747266738839356 Centerline is valid? [True, True] Translation: X:116.53, Y:0.89, Z:0.75 [[ 9.98479126e-01 -5.31797979e-02 -1.45377024e-02 1.16531284e+02] [ 5.31829378e-02 9.98584772e-01 -1.70802670e-04 8.91567972e-01] [ 1.45262115e-02 -6.02614824e-04 9.99894307e-01 7.46498832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399999 meters 0.023503124925445044 Centerline is valid? [True, True] Translation: X:116.59, Y:0.89, Z:0.74 [[ 9.98418810e-01 -5.36461693e-02 -1.67918957e-02 1.16593264e+02] [ 5.36504463e-02 9.98559758e-01 -1.95993692e-04 8.90067310e-01] [ 1.67782256e-02 -7.05208911e-04 9.99858987e-01 7.44415724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399999 meters 0.021698271506063797 Centerline is valid? [True, True] Translation: X:116.66, Y:0.89, Z:0.75 [[ 9.98498917e-01 -5.21439347e-02 -1.67607449e-02 1.16655142e+02] [ 5.21480051e-02 9.98639348e-01 -1.94401657e-04 8.92656816e-01] [ 1.67480763e-02 -6.79929569e-04 9.99859510e-01 7.45665553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019254154 meters 0.02170835589273737 Centerline is valid? [True, True] Translation: X:116.72, Y:0.89, Z:0.75 [[ 9.98579631e-01 -5.08203838e-02 -1.60003053e-02 1.16717319e+02] [ 5.08239420e-02 9.98707611e-01 -1.84425692e-04 8.92899119e-01] [ 1.59889993e-02 -6.29034849e-04 9.99871970e-01 7.46147452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079254154 meters 0.02056370423322445 Centerline is valid? [True, True] Translation: X:116.78, Y:0.90, Z:0.75 [[ 9.98860836e-01 -4.56871833e-02 -1.37735860e-02 1.16777942e+02] [ 4.56893400e-02 9.98955684e-01 -1.58209057e-04 8.96707127e-01] [ 1.37664302e-02 -4.71277225e-04 9.99905127e-01 7.48711461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399999 meters 0.018500405968187656 Centerline is valid? [True, True] Translation: X:116.84, Y:0.90, Z:0.75 [[ 9.99111460e-01 -4.03414935e-02 -1.22006114e-02 1.16838789e+02] [ 4.03427900e-02 9.99185888e-01 -1.39934437e-04 9.01602515e-01] [ 1.21963239e-02 -3.52396604e-04 9.99925560e-01 7.50336558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399999 meters 0.01720421879008245 Centerline is valid? [True, True] Translation: X:116.90, Y:0.90, Z:0.75 [[ 9.99218440e-01 -3.75592700e-02 -1.23211759e-02 1.16901281e+02] [ 3.75603874e-02 9.99294350e-01 -1.40777087e-04 9.03749235e-01] [ 1.23177690e-02 -3.22121081e-04 9.99924082e-01 7.49863257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399999 meters 0.017365701260668512 Centerline is valid? [True, True] Translation: X:116.96, Y:0.90, Z:0.75 [[ 9.99243661e-01 -3.69101327e-02 -1.22371301e-02 1.16963295e+02] [ 3.69111973e-02 9.99318540e-01 -1.38917246e-04 9.03733851e-01] [ 1.22339184e-02 -3.12874945e-04 9.99925114e-01 7.50036948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399999 meters 0.018337185292851107 Centerline is valid? [True, True] Translation: X:117.02, Y:0.90, Z:0.75 [[ 9.99208175e-01 -3.72374323e-02 -1.40141472e-02 1.17024430e+02] [ 3.72388742e-02 9.99306380e-01 -1.58134042e-04 9.02218171e-01] [ 1.40103153e-02 -3.63862238e-04 9.99901785e-01 7.48451149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379254154 meters 0.017275054840649676 Centerline is valid? [True, True] Translation: X:117.09, Y:0.90, Z:0.75 [[ 9.99118042e-01 -3.89954232e-02 -1.55722254e-02 1.17086481e+02] [ 3.89974337e-02 9.99239295e-01 -1.74645295e-04 9.03420870e-01] [ 1.55671899e-02 -4.32785564e-04 9.99878730e-01 7.48343077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439254154 meters 0.017914490377027546 Centerline is valid? [True, True] Translation: X:117.15, Y:0.90, Z:0.75 [[ 9.99082699e-01 -4.03642407e-02 -1.42999570e-02 1.17148211e+02] [ 4.03660888e-02 9.99184945e-01 -1.59487182e-04 9.00842548e-01] [ 1.42947393e-02 -4.17892450e-04 9.99897738e-01 7.49335817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399998 meters 0.017952934121819312 Centerline is valid? [True, True] Translation: X:117.21, Y:0.90, Z:0.75 [[ 9.99127686e-01 -3.96061278e-02 -1.32371140e-02 1.17210473e+02] [ 3.96076558e-02 9.99215298e-01 -1.46804022e-04 9.00494600e-01] [ 1.32325412e-02 -3.77615094e-04 9.99912375e-01 7.50650125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399999 meters 0.016815470051669324 Centerline is valid? [True, True] Translation: X:117.27, Y:0.90, Z:0.75 [[ 9.99259025e-01 -3.62972652e-02 -1.28027430e-02 1.17271693e+02] [ 3.62984322e-02 9.99340985e-01 -1.41280341e-04 9.03417202e-01] [ 1.27994338e-02 -3.23543842e-04 9.99918032e-01 7.51922924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399999 meters 0.016418236617006123 Centerline is valid? [True, True] Translation: X:117.33, Y:0.90, Z:0.75 [[ 9.99356491e-01 -3.32342386e-02 -1.34940669e-02 1.17333844e+02] [ 3.32352663e-02 9.99447545e-01 -1.48146486e-04 9.03820227e-01] [ 1.34915355e-02 -3.00427753e-04 9.99908940e-01 7.52082693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399999 meters 0.017006272530298617 Centerline is valid? [True, True] Translation: X:117.40, Y:0.90, Z:0.75 [[ 9.99347397e-01 -3.33431979e-02 -1.38928275e-02 1.17395320e+02] [ 3.33443102e-02 9.99443912e-01 -1.51626836e-04 8.99948074e-01] [ 1.38901576e-02 -3.11718865e-04 9.99903479e-01 7.51162872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739254154 meters 0.017763937980820415 Centerline is valid? [True, True] Translation: X:117.46, Y:0.90, Z:0.75 [[ 9.99243800e-01 -3.59550908e-02 -1.48006382e-02 1.17457513e+02] [ 3.59566539e-02 9.99353338e-01 -1.60568731e-04 8.96776259e-01] [ 1.47968404e-02 -3.71734114e-04 9.99890452e-01 7.50744630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799254154 meters 0.017846911046133947 Centerline is valid? [True, True] Translation: X:117.52, Y:0.90, Z:0.75 [[ 9.99153197e-01 -3.79507135e-02 -1.58944172e-02 1.17519410e+02] [ 3.79527873e-02 9.99279519e-01 -1.71250046e-04 8.95099956e-01] [ 1.58894646e-02 -4.32132403e-04 9.99873661e-01 7.50793079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399998 meters 0.0198268105972775 Centerline is valid? [True, True] Translation: X:117.58, Y:0.89, Z:0.75 [[ 9.99005055e-01 -4.13525816e-02 -1.66992534e-02 1.17580114e+02] [ 4.13553751e-02 9.99144485e-01 -1.78154699e-04 8.89542333e-01] [ 1.66923341e-02 -5.12626443e-04 9.99860542e-01 7.50275875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399999 meters 0.021817250556082197 Centerline is valid? [True, True] Translation: X:117.64, Y:0.89, Z:0.75 [[ 9.98873144e-01 -4.44607439e-02 -1.66037259e-02 1.17642009e+02] [ 4.44639570e-02 9.99010974e-01 -1.75775047e-04 8.86468042e-01] [ 1.65951195e-02 -5.62690382e-04 9.99862133e-01 7.50455846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399999 meters 0.0218913706075119 Centerline is valid? [True, True] Translation: X:117.70, Y:0.89, Z:0.75 [[ 9.98642833e-01 -4.97180790e-02 -1.55114135e-02 1.17703035e+02] [ 4.97215272e-02 9.98763107e-01 -1.63505891e-04 8.85275089e-01] [ 1.55003568e-02 -6.07967184e-04 9.99879677e-01 7.53441852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399999 meters 0.023862146202003463 Centerline is valid? [True, True] Translation: X:117.76, Y:0.88, Z:0.75 [[ 9.98450333e-01 -5.36282923e-02 -1.48639866e-02 1.17763433e+02] [ 5.36319007e-02 9.98560762e-01 -1.56033025e-04 8.79412663e-01] [ 1.48509616e-02 -6.41392629e-04 9.99889513e-01 7.54877869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099254154 meters 0.025231455085297637 Centerline is valid? [True, True] Translation: X:117.83, Y:0.88, Z:0.75 [[ 9.98312136e-01 -5.60717603e-02 -1.51273496e-02 1.17825343e+02] [ 5.60757892e-02 9.98426502e-01 -1.58030148e-04 8.76217724e-01] [ 1.51124078e-02 -6.90514655e-04 9.99885563e-01 7.54903061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159254154 meters 0.024422097226417593 Centerline is valid? [True, True] Translation: X:117.89, Y:0.88, Z:0.76 [[ 9.98242560e-01 -5.71833560e-02 -1.55517037e-02 1.17887588e+02] [ 5.71877646e-02 9.98363428e-01 -1.61442844e-04 8.77020099e-01] [ 1.55354840e-02 -7.28208051e-04 9.99879052e-01 7.55617522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters 0.02365760037458656 Centerline is valid? [True, True] Translation: X:117.95, Y:0.88, Z:0.76 [[ 9.98217322e-01 -5.73745237e-02 -1.64420726e-02 1.17949251e+02] [ 5.73794951e-02 9.98352425e-01 -1.69620112e-04 8.78619532e-01] [ 1.64247149e-02 -7.74120088e-04 9.99864806e-01 7.56658121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399999 meters 0.02321524939710856 Centerline is valid? [True, True] Translation: X:118.01, Y:0.88, Z:0.76 [[ 9.98328637e-01 -5.55739349e-02 -1.58578408e-02 1.18010576e+02] [ 5.55783437e-02 9.98454316e-01 -1.62888544e-04 8.81469188e-01] [ 1.58423820e-02 -7.18736230e-04 9.99874243e-01 7.57396527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399999 meters 0.021774972006302976 Centerline is valid? [True, True] Translation: X:118.07, Y:0.89, Z:0.76 [[ 9.98609069e-01 -5.03830568e-02 -1.55394403e-02 1.18071724e+02] [ 5.03866692e-02 9.98729772e-01 -1.59208711e-04 8.85835392e-01] [ 1.55277231e-02 -6.23993376e-04 9.99879243e-01 7.58054789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399999 meters 0.022394070185569555 Centerline is valid? [True, True] Translation: X:118.13, Y:0.89, Z:0.76 [[ 9.98859769e-01 -4.51783868e-02 -1.54296798e-02 1.18131535e+02] [ 4.51813300e-02 9.98978790e-01 -1.57960920e-04 8.89331866e-01] [ 1.54210592e-02 -5.39352645e-04 9.99880943e-01 7.57024936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399999 meters 0.018087610854341504 Centerline is valid? [True, True] Translation: X:118.19, Y:0.90, Z:0.76 [[ 9.99174184e-01 -3.77633709e-02 -1.49959277e-02 1.18192511e+02] [ 3.77653188e-02 9.99286624e-01 -1.53367448e-04 8.99184538e-01] [ 1.49910216e-02 -4.13085194e-04 9.99887543e-01 7.60736773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519254154 meters 0.01679560722634644 Centerline is valid? [True, True] Translation: X:118.25, Y:0.90, Z:0.76 [[ 9.99366681e-01 -3.23683137e-02 -1.47827430e-02 1.18254008e+02] [ 3.23696228e-02 9.99475955e-01 -1.50764788e-04 9.03992498e-01] [ 1.47798762e-02 -3.27842509e-04 9.99890718e-01 7.61551106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579254154 meters 0.016605865513392663 Centerline is valid? [True, True] Translation: X:118.32, Y:0.90, Z:0.76 [[ 9.99413240e-01 -3.08091435e-02 -1.49656874e-02 1.18316313e+02] [ 3.08103234e-02 9.99525238e-01 -1.51773838e-04 9.03965101e-01] [ 1.49632583e-02 -3.09412885e-04 9.99887996e-01 7.62126406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399999 meters 0.01746539446338438 Centerline is valid? [True, True] Translation: X:118.38, Y:0.90, Z:0.76 [[ 9.99384449e-01 -3.14816783e-02 -1.54799027e-02 1.18377747e+02] [ 3.14830341e-02 9.99504274e-01 -1.56160288e-04 9.02718032e-01] [ 1.54771451e-02 -3.31290141e-04 9.99880167e-01 7.61061014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399999 meters 0.01715191887004523 Centerline is valid? [True, True] Translation: X:118.44, Y:0.90, Z:0.76 [[ 9.99282715e-01 -3.41360590e-02 -1.63946389e-02 1.18439354e+02] [ 3.41379470e-02 9.99417117e-01 -1.64767538e-04 9.00298383e-01] [ 1.63907073e-02 -3.95029961e-04 9.99865585e-01 7.61416503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399999 meters 0.01775507691855225 Centerline is valid? [True, True] Translation: X:118.50, Y:0.90, Z:0.76 [[ 9.99179604e-01 -3.69281278e-02 -1.66262831e-02 1.18500490e+02] [ 3.69304661e-02 9.99317824e-01 -1.66472774e-04 8.96699532e-01] [ 1.66210886e-02 -4.47680187e-04 9.99861760e-01 7.61388351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399999 meters 0.01812600542393464 Centerline is valid? [True, True] Translation: X:118.56, Y:0.89, Z:0.76 [[ 9.99125605e-01 -3.83375769e-02 -1.66810225e-02 1.18562311e+02] [ 3.83401434e-02 9.99264733e-01 -1.66028848e-04 8.94646528e-01] [ 1.66751226e-02 -4.73669121e-04 9.99860848e-01 7.62732597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879254154 meters 0.018442284423911905 Centerline is valid? [True, True] Translation: X:118.62, Y:0.89, Z:0.76 [[ 9.99085023e-01 -3.98939027e-02 -1.54140875e-02 1.18624153e+02] [ 3.98962962e-02 9.99203814e-01 -1.52309516e-04 8.91817016e-01] [ 1.54078913e-02 -4.62794845e-04 9.99881184e-01 7.64281118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939254154 meters 0.020308558017763725 Centerline is valid? [True, True] Translation: X:118.69, Y:0.89, Z:0.76 [[ 9.99074041e-01 -4.02822516e-02 -1.51129507e-02 1.18685318e+02] [ 4.02846195e-02 9.99188234e-01 -1.47837563e-04 8.87936750e-01] [ 1.51066377e-02 -4.61118796e-04 9.99885782e-01 7.63753163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399998 meters 0.019080776463748835 Centerline is valid? [True, True] Translation: X:118.75, Y:0.89, Z:0.76 [[ 9.99056562e-01 -4.05691681e-02 -1.54960576e-02 1.18747824e+02] [ 4.05717149e-02 9.99176618e-01 -1.50116708e-04 8.86719891e-01] [ 1.54893885e-02 -4.78726548e-04 9.99879918e-01 7.63698511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399999 meters 0.018559974091442256 Centerline is valid? [True, True] Translation: X:118.81, Y:0.89, Z:0.76 [[ 9.99102643e-01 -3.95779981e-02 -1.50828146e-02 1.18810491e+02] [ 3.95803177e-02 9.99216382e-01 -1.44802070e-04 8.86312303e-01] [ 1.50767264e-02 -4.52310462e-04 9.99886237e-01 7.64275310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399999 meters 0.0182406074574744 Centerline is valid? [True, True] Translation: X:118.87, Y:0.89, Z:0.77 [[ 9.99186895e-01 -3.75757891e-02 -1.46153919e-02 1.18871850e+02] [ 3.75777668e-02 9.99293697e-01 -1.39377463e-04 8.86108802e-01] [ 1.46103062e-02 -4.09949655e-04 9.99893180e-01 7.65040688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399999 meters 0.01782707604523804 Centerline is valid? [True, True] Translation: X:118.93, Y:0.89, Z:0.76 [[ 9.99182749e-01 -3.72246797e-02 -1.57530225e-02 1.18934081e+02] [ 3.72269486e-02 9.99306826e-01 -1.49286749e-04 8.85144083e-01] [ 1.57476601e-02 -4.37272216e-04 9.99875902e-01 7.64641324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239254154 meters 0.018178267575105597 Centerline is valid? [True, True] Translation: X:119.00, Y:0.88, Z:0.76 [[ 9.99117517e-01 -3.83243951e-02 -1.71880457e-02 1.18996240e+02] [ 3.83272816e-02 9.99265227e-01 -1.61562276e-04 8.83361658e-01] [ 1.71816081e-02 -4.97351366e-04 9.99852262e-01 7.63709052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299254154 meters 0.018611932385267663 Centerline is valid? [True, True] Translation: X:119.06, Y:0.88, Z:0.76 [[ 9.99042788e-01 -3.95912401e-02 -1.86021698e-02 1.19057445e+02] [ 3.95948589e-02 9.99215801e-01 -1.73875754e-04 8.81127713e-01] [ 1.85944659e-02 -5.62840970e-04 9.99826950e-01 7.62433200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399998 meters 0.018470718627934393 Centerline is valid? [True, True] Translation: X:119.12, Y:0.88, Z:0.76 [[ 9.99089884e-01 -3.79766223e-02 -1.94211441e-02 1.19119228e+02] [ 3.79802807e-02 9.99278473e-01 -1.80571697e-04 8.82113519e-01] [ 1.94139887e-02 -5.57213149e-04 9.99811375e-01 7.63111395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399999 meters 0.01898921715096209 Centerline is valid? [True, True] Translation: X:119.18, Y:0.88, Z:0.76 [[ 9.99155185e-01 -3.63738844e-02 -1.91273612e-02 1.19179546e+02] [ 3.63771508e-02 9.99338117e-01 -1.77251348e-04 8.81704132e-01] [ 1.91211484e-02 -5.18697299e-04 9.99817040e-01 7.63686776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399999 meters 0.017121921907158923 Centerline is valid? [True, True] Translation: X:119.24, Y:0.89, Z:0.77 [[ 9.99256111e-01 -3.42657584e-02 -1.76941149e-02 1.19240248e+02] [ 3.42682251e-02 9.99412658e-01 -1.63857233e-04 8.85685060e-01] [ 1.76893371e-02 -4.42610572e-04 9.99843433e-01 7.66214827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399999 meters 0.016569626392995165 Centerline is valid? [True, True] Translation: X:119.30, Y:0.89, Z:0.77 [[ 9.99375086e-01 -3.11162760e-02 -1.67694358e-02 1.19300985e+02] [ 3.11180484e-02 9.99515704e-01 -1.55294196e-04 8.87148187e-01] [ 1.67661466e-02 -3.66634964e-04 9.99859371e-01 7.67354517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599254154 meters 0.01531731205856248 Centerline is valid? [True, True] Translation: X:119.36, Y:0.89, Z:0.77 [[ 9.99548074e-01 -2.57581246e-02 -1.54972969e-02 1.19362051e+02] [ 2.57589970e-02 9.99668172e-01 -1.43349117e-04 8.90959998e-01] [ 1.54958469e-02 -2.55910492e-04 9.99879899e-01 7.69089637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659254154 meters 0.01491289181007799 Centerline is valid? [True, True] Translation: X:119.42, Y:0.89, Z:0.77 [[ 9.99641482e-01 -2.20765490e-02 -1.51503934e-02 1.19421707e+02] [ 2.20769594e-02 9.99756264e-01 -1.40172762e-04 8.91991264e-01] [ 1.51497952e-02 -1.94352113e-04 9.99885216e-01 7.68935827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters 0.014430687513763094 Centerline is valid? [True, True] Translation: X:119.48, Y:0.89, Z:0.77 [[ 9.99698546e-01 -1.92643898e-02 -1.52217147e-02 1.19481460e+02] [ 1.92644715e-02 9.99814413e-01 -1.41272940e-04 8.93165679e-01] [ 1.52216113e-02 -1.52007936e-04 9.99884133e-01 7.69110434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399999 meters 0.014456861050597979 Centerline is valid? [True, True] Translation: X:119.54, Y:0.89, Z:0.77 [[ 9.99690091e-01 -1.95303998e-02 -1.54365005e-02 1.19540584e+02] [ 1.95304768e-02 9.99809251e-01 -1.45777782e-04 8.92071882e-01] [ 1.54364031e-02 -1.55749610e-04 9.99880840e-01 7.68585224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399999 meters 0.014814815159867526 Centerline is valid? [True, True] Translation: X:119.60, Y:0.89, Z:0.77 [[ 9.99640765e-01 -2.15343736e-02 -1.59565392e-02 1.19599172e+02] [ 2.15346744e-02 9.99768090e-01 -1.52988262e-04 8.88321254e-01] [ 1.59561332e-02 -1.90685572e-04 9.99872675e-01 7.67892358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399999 meters 0.01518991147580671 Centerline is valid? [True, True] Translation: X:119.66, Y:0.89, Z:0.77 [[ 9.99576397e-01 -2.42294761e-02 -1.61232545e-02 1.19657651e+02] [ 2.42300885e-02 9.99706396e-01 -1.57394182e-04 8.85117567e-01] [ 1.61223342e-02 -2.33340373e-04 9.99869999e-01 7.67823970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399999 meters 0.0158833753291469 Centerline is valid? [True, True] Translation: X:119.72, Y:0.88, Z:0.77 [[ 9.99558222e-01 -2.52008857e-02 -1.57568082e-02 1.19716229e+02] [ 2.52015567e-02 9.99682378e-01 -1.56009335e-04 8.82594265e-01] [ 1.57557350e-02 -2.41155681e-04 9.99875842e-01 7.67269914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019254154 meters 0.0152581226821088 Centerline is valid? [True, True] Translation: X:119.78, Y:0.88, Z:0.77 [[ 9.99587396e-01 -2.47740025e-02 -1.45357113e-02 1.19775450e+02] [ 2.47745191e-02 9.99693054e-01 -1.44549597e-04 8.84020576e-01] [ 1.45348307e-02 -2.15625303e-04 9.99894341e-01 7.69580316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079254154 meters 0.015084831838520042 Centerline is valid? [True, True] Translation: X:119.84, Y:0.88, Z:0.77 [[ 9.99649258e-01 -2.29278661e-02 -1.32542365e-02 1.19835758e+02] [ 2.29281304e-02 9.99737107e-01 -1.32034889e-04 8.83202832e-01] [ 1.32537794e-02 -1.71906285e-04 9.99912150e-01 7.71148985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399999 meters 0.014558724349731484 Centerline is valid? [True, True] Translation: X:119.90, Y:0.88, Z:0.77 [[ 9.99711120e-01 -2.12652321e-02 -1.12011525e-02 1.19895800e+02] [ 2.12653165e-02 9.99773861e-01 -1.11582657e-04 8.83232197e-01] [ 1.12009923e-02 -1.26645630e-04 9.99937259e-01 7.72986229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399999 meters 0.014343442395750151 Centerline is valid? [True, True] Translation: X:119.96, Y:0.88, Z:0.77 [[ 9.99781617e-01 -1.82237335e-02 -1.02281183e-02 1.19957257e+02] [ 1.82236461e-02 9.99833930e-01 -1.01759272e-04 8.82644660e-01] [ 1.02282742e-02 -8.46565598e-05 9.99947686e-01 7.74128462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399999 meters 0.014089713701718454 Centerline is valid? [True, True] Translation: X:120.02, Y:0.88, Z:0.77 [[ 9.99820893e-01 -1.57943000e-02 -1.04270188e-02 1.20017659e+02] [ 1.57940804e-02 9.99875260e-01 -1.03416918e-04 8.82122804e-01] [ 1.04273515e-02 -6.12867771e-05 9.99945632e-01 7.73950533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399999 meters 0.014014700612657156 Centerline is valid? [True, True] Translation: X:120.08, Y:0.88, Z:0.77 [[ 9.99838329e-01 -1.40616420e-02 -1.12065419e-02 1.20077016e+02] [ 1.40612790e-02 9.99901129e-01 -1.11185247e-04 8.80139805e-01] [ 1.12069974e-02 -4.64110405e-05 9.99937199e-01 7.73467646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379254154 meters 0.01395890759364078 Centerline is valid? [True, True] Translation: X:120.14, Y:0.88, Z:0.77 [[ 9.99817407e-01 -1.52562776e-02 -1.15064988e-02 1.20136100e+02] [ 1.52559568e-02 9.99883614e-01 -1.15659959e-04 8.77323384e-01] [ 1.15069242e-02 -5.99038084e-05 9.99933791e-01 7.73117083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439254154 meters 0.01422543286783813 Centerline is valid? [True, True] Translation: X:120.19, Y:0.87, Z:0.77 [[ 9.99733107e-01 -1.99065976e-02 -1.17235678e-02 1.20194925e+02] [ 1.99065592e-02 9.99801838e-01 -1.19978861e-04 8.70530211e-01] [ 1.17236330e-02 -1.13429056e-04 9.99931269e-01 7.72793568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399998 meters 0.015696247567925665 Centerline is valid? [True, True] Translation: X:120.25, Y:0.86, Z:0.77 [[ 9.99596852e-01 -2.54408409e-02 -1.26054663e-02 1.20254271e+02] [ 2.54412290e-02 9.99676311e-01 -1.29591193e-04 8.61668693e-01] [ 1.26046829e-02 -1.91159605e-04 9.99920540e-01 7.71989556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399999 meters 0.015843636673495854 Centerline is valid? [True, True] Translation: X:120.31, Y:0.86, Z:0.77 [[ 9.99501852e-01 -2.91509294e-02 -1.20942805e-02 1.20314532e+02] [ 2.91515574e-02 9.99574995e-01 -1.24398534e-04 8.58206111e-01] [ 1.20927667e-02 -2.28230548e-04 9.99926854e-01 7.73090872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399999 meters 0.01792216067202516 Centerline is valid? [True, True] Translation: X:120.37, Y:0.85, Z:0.77 [[ 9.99339414e-01 -3.47124142e-02 -1.07602652e-02 1.20374379e+02] [ 3.47132369e-02 9.99397308e-01 -1.10356258e-04 8.48394219e-01] [ 1.07576108e-02 -2.63240276e-04 9.99942101e-01 7.73831834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399999 meters 0.018223752461826163 Centerline is valid? [True, True] Translation: X:120.44, Y:0.84, Z:0.78 [[ 9.99132031e-01 -4.07512820e-02 -8.63239471e-03 1.20435477e+02] [ 4.07520407e-02 9.99169287e-01 -8.80701835e-05 8.44070143e-01] [ 8.62881264e-03 -2.63793959e-04 9.99962736e-01 7.75896014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739254154 meters 0.020746952110268776 Centerline is valid? [True, True] Translation: X:120.50, Y:0.84, Z:0.77 [[ 9.98981103e-01 -4.44130916e-02 -8.01462055e-03 1.20498022e+02] [ 4.44138649e-02 9.99013214e-01 -8.15528295e-05 8.39603034e-01] [ 8.01033384e-03 -2.74490539e-04 9.99967879e-01 7.74498044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799254154 meters 0.02380831617419667 Centerline is valid? [True, True] Translation: X:120.56, Y:0.83, Z:0.77 [[ 9.98763101e-01 -4.89590873e-02 -8.67620235e-03 1.20558256e+02] [ 4.89601710e-02 9.98800728e-01 -8.75744231e-05 8.33975238e-01] [ 8.67008479e-03 -3.37322248e-04 9.99962357e-01 7.73970433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399998 meters 0.023865078801428127 Centerline is valid? [True, True] Translation: X:120.62, Y:0.83, Z:0.78 [[ 9.98496594e-01 -5.40749423e-02 -8.96957299e-03 1.20619631e+02] [ 5.40763126e-02 9.98536802e-01 -8.98669971e-05 8.30026075e-01] [ 8.96130828e-03 -3.95309542e-04 9.99959769e-01 7.75711735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399999 meters 0.02891165244271261 Centerline is valid? [True, True] Translation: X:120.68, Y:0.82, Z:0.77 [[ 9.98149482e-01 -5.98626773e-02 -1.06804699e-02 1.20679480e+02] [ 5.98649531e-02 9.98206480e-01 -1.06774692e-04 8.23560950e-01] [ 1.06677061e-02 -5.32808727e-04 9.99942956e-01 7.72679239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399999 meters 0.029122424882235418 Centerline is valid? [True, True] Translation: X:120.74, Y:0.82, Z:0.77 [[ 9.98003520e-01 -6.22444450e-02 -1.07052501e-02 1.20740705e+02] [ 6.22468686e-02 9.98060778e-01 -1.06978736e-04 8.21792775e-01] [ 1.06911491e-02 -5.59603142e-04 9.99942691e-01 7.74440535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399999 meters 0.030282049541306623 Centerline is valid? [True, True] Translation: X:120.80, Y:0.82, Z:0.78 [[ 9.97989002e-01 -6.24345657e-02 -1.09488621e-02 1.20803295e+02] [ 6.24371182e-02 9.98048894e-01 -1.08871118e-04 8.21788922e-01] [ 1.09342970e-02 -5.74963220e-04 9.99940053e-01 7.75560442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099254154 meters 0.03016839278044594 Centerline is valid? [True, True] Translation: X:120.86, Y:0.82, Z:0.78 [[ 9.98148434e-01 -5.97067998e-02 -1.16103850e-02 1.20864184e+02] [ 5.97094938e-02 9.98215790e-01 -1.14778210e-04 8.23693022e-01] [ 1.15965227e-02 -5.78684521e-04 9.99932591e-01 7.75438611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159254154 meters 0.029194496355278637 Centerline is valid? [True, True] Translation: X:120.93, Y:0.83, Z:0.78 [[ 9.98313002e-01 -5.68602074e-02 -1.17501640e-02 1.20925304e+02] [ 5.68627747e-02 9.98381997e-01 -1.15750410e-04 8.27334386e-01] [ 1.17377338e-02 -5.52591790e-04 9.99930958e-01 7.75606948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399998 meters 0.02694093697431189 Centerline is valid? [True, True] Translation: X:120.98, Y:0.83, Z:0.78 [[ 9.98672807e-01 -5.01853056e-02 -1.15784491e-02 1.20984458e+02] [ 5.01873522e-02 9.98739814e-01 -1.13912594e-04 8.34610875e-01] [ 1.15695748e-02 -4.67330293e-04 9.99932961e-01 7.76664104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399999 meters 0.023843293859413257 Centerline is valid? [True, True] Translation: X:121.04, Y:0.84, Z:0.78 [[ 9.99029743e-01 -4.22731066e-02 -1.23514159e-02 1.21043688e+02] [ 4.22748289e-02 9.99106012e-01 -1.21729730e-04 8.43189506e-01] [ 1.23455198e-02 -4.00542374e-04 9.99923711e-01 7.76619165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399999 meters 0.021178104769616006 Centerline is valid? [True, True] Translation: X:121.10, Y:0.85, Z:0.78 [[ 9.99268062e-01 -3.62744160e-02 -1.21452355e-02 1.21104887e+02] [ 3.62756382e-02 9.99341815e-01 -1.19722601e-04 8.49686373e-01] [ 1.21415846e-02 -3.20941198e-04 9.99926237e-01 7.77220596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399999 meters 0.015797814726731547 Centerline is valid? [True, True] Translation: X:121.17, Y:0.86, Z:0.78 [[ 9.99582972e-01 -2.68278486e-02 -1.06840374e-02 1.21165450e+02] [ 2.68282566e-02 9.99640052e-01 -1.05157396e-04 8.63974093e-01] [ 1.06830128e-02 -1.81520554e-04 9.99942919e-01 7.80116977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399999 meters 0.014357148264389592 Centerline is valid? [True, True] Translation: X:121.23, Y:0.87, Z:0.78 [[ 9.99774992e-01 -1.86486685e-02 -1.01090340e-02 1.21226598e+02] [ 1.86486181e-02 9.99826094e-01 -9.92568681e-05 8.73080975e-01] [ 1.01091270e-02 -8.92849793e-05 9.99948897e-01 7.81930196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519254154 meters 0.014147614177725549 Centerline is valid? [True, True] Translation: X:121.29, Y:0.88, Z:0.78 [[ 9.99816630e-01 -1.59871797e-02 -1.05411693e-02 1.21287083e+02] [ 1.59869798e-02 9.99872195e-01 -1.03237832e-04 8.75193945e-01] [ 1.05414726e-02 -6.53025596e-05 9.99944435e-01 7.81687095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579254154 meters 0.014067181958353393 Centerline is valid? [True, True] Translation: X:121.35, Y:0.87, Z:0.78 [[ 9.99788961e-01 -1.74787248e-02 -1.07947966e-02 1.21346354e+02] [ 1.74786012e-02 9.99847232e-01 -1.05796354e-04 8.73845708e-01] [ 1.07949967e-02 -8.29039182e-05 9.99941729e-01 7.82134166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399999 meters 0.014679204285924662 Centerline is valid? [True, True] Translation: X:121.41, Y:0.87, Z:0.78 [[ 9.99728635e-01 -2.08633631e-02 -1.03622628e-02 1.21405920e+02] [ 2.08634284e-02 9.99782330e-01 -1.01806605e-04 8.71559235e-01] [ 1.03621312e-02 -1.14413349e-04 9.99946305e-01 7.83113146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399999 meters 0.015582926219552333 Centerline is valid? [True, True] Translation: X:121.47, Y:0.87, Z:0.78 [[ 9.99570048e-01 -2.73084565e-02 -1.06755455e-02 1.21466867e+02] [ 2.73088914e-02 9.99627037e-01 -1.05060911e-04 8.65948812e-01] [ 1.06744330e-02 -1.86521573e-04 9.99943009e-01 7.83171719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399999 meters 0.01604006381457487 Centerline is valid? [True, True] Translation: X:121.53, Y:0.86, Z:0.78 [[ 9.99430403e-01 -3.16580578e-02 -1.16891674e-02 1.21528527e+02] [ 3.16588803e-02 9.99498725e-01 -1.14714117e-04 8.62843643e-01] [ 1.16869395e-02 -2.55417174e-04 9.99931673e-01 7.83411282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399999 meters 0.018237505970500847 Centerline is valid? [True, True] Translation: X:121.59, Y:0.86, Z:0.78 [[ 9.99282948e-01 -3.56518289e-02 -1.27490156e-02 1.21589230e+02] [ 3.56531371e-02 9.99364217e-01 -1.24729471e-04 8.57002185e-01] [ 1.27453569e-02 -3.29902369e-04 9.99918720e-01 7.82398161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879254154 meters 0.0174167804890931 Centerline is valid? [True, True] Translation: X:121.65, Y:0.86, Z:0.78 [[ 9.99240152e-01 -3.68723789e-02 -1.26311410e-02 1.21650375e+02] [ 3.68737648e-02 9.99319924e-01 -1.23231439e-04 8.58074233e-01] [ 1.26270947e-02 -3.42619922e-04 9.99920216e-01 7.83928686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939254154 meters 0.018384214446146428 Centerline is valid? [True, True] Translation: X:121.71, Y:0.85, Z:0.78 [[ 9.99180968e-01 -3.85140739e-02 -1.24120278e-02 1.21711773e+02] [ 3.85155444e-02 9.99257994e-01 -1.20635980e-04 8.53954728e-01] [ 1.24074641e-02 -3.57518830e-04 9.99922961e-01 7.83654474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399998 meters 0.01985542718110919 Centerline is valid? [True, True] Translation: X:121.77, Y:0.85, Z:0.78 [[ 9.99020550e-01 -4.22864940e-02 -1.30304880e-02 1.21772886e+02] [ 4.22884400e-02 9.99105436e-01 -1.26271776e-04 8.50756175e-01] [ 1.30241710e-02 -4.24890911e-04 9.99915092e-01 7.83509863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399999 meters 0.020298887074273686 Centerline is valid? [True, True] Translation: X:121.83, Y:0.85, Z:0.78 [[ 9.98848770e-01 -4.59914675e-02 -1.36352418e-02 1.21834321e+02] [ 4.59939484e-02 9.98941710e-01 -1.31746668e-04 8.49476710e-01] [ 1.36268710e-02 -4.95543610e-04 9.99907027e-01 7.83403857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399999 meters 0.022052301079177654 Centerline is valid? [True, True] Translation: X:121.90, Y:0.85, Z:0.78 [[ 9.98532476e-01 -5.23538994e-02 -1.38551026e-02 1.21895456e+02] [ 5.23570782e-02 9.98628419e-01 -1.33442695e-04 8.45726944e-01] [ 1.38430855e-02 -5.92165827e-04 9.99904005e-01 7.83662366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399999 meters 0.024155746835617376 Centerline is valid? [True, True] Translation: X:121.96, Y:0.84, Z:0.78 [[ 9.98317710e-01 -5.64126203e-02 -1.33927484e-02 1.21956473e+02] [ 5.64159587e-02 9.98407343e-01 -1.28706863e-04 8.42834435e-01] [ 1.33786790e-02 -6.27074397e-04 9.99910305e-01 7.84394733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239254154 meters 0.02543375188792946 Centerline is valid? [True, True] Translation: X:122.02, Y:0.84, Z:0.79 [[ 9.98005552e-01 -6.15331114e-02 -1.40923249e-02 1.22017410e+02] [ 6.15373191e-02 9.98104774e-01 -1.35262983e-04 8.43159779e-01] [ 1.40739399e-02 -7.32210688e-04 9.99900689e-01 7.85114679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299254154 meters 0.02668827166712574 Centerline is valid? [True, True] Translation: X:122.08, Y:0.84, Z:0.79 [[ 9.97806703e-01 -6.45694728e-02 -1.45796903e-02 1.22078238e+02] [ 6.45743054e-02 9.97912892e-01 -1.39545310e-04 8.42171910e-01] [ 1.45582712e-02 -8.02234127e-04 9.99893701e-01 7.85628244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399998 meters 0.0283844959324887 Centerline is valid? [True, True] Translation: X:122.14, Y:0.84, Z:0.78 [[ 9.97521737e-01 -6.85980263e-02 -1.56427497e-02 1.22138799e+02] [ 6.86040907e-02 9.97643953e-01 -1.49228724e-04 8.41955987e-01] [ 1.56161314e-02 -9.24297721e-04 9.99877634e-01 7.84763823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399999 meters 0.03249296745659924 Centerline is valid? [True, True] Translation: X:122.20, Y:0.84, Z:0.78 [[ 9.97356051e-01 -7.05034224e-02 -1.76117569e-02 1.22198955e+02] [ 7.05114120e-02 9.97510959e-01 -1.67676602e-04 8.41009077e-01] [ 1.75797423e-02 -1.07459657e-03 9.99844887e-01 7.82038417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399999 meters 0.02977176830252873 Centerline is valid? [True, True] Translation: X:122.26, Y:0.85, Z:0.79 [[ 9.97135961e-01 -7.35624834e-02 -1.75623407e-02 1.22259733e+02] [ 7.35709064e-02 9.97289975e-01 -1.66878736e-04 8.48805241e-01] [ 1.75270223e-02 -1.12567653e-03 9.99845756e-01 7.85007407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399999 meters 0.032572084767124136 Centerline is valid? [True, True] Translation: X:122.32, Y:0.85, Z:0.79 [[ 9.97124556e-01 -7.40524073e-02 -1.60891677e-02 1.22320858e+02] [ 7.40595581e-02 9.97253809e-01 -1.51729707e-04 8.50449409e-01] [ 1.60562197e-02 -1.04026323e-03 9.99870549e-01 7.85945907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599254154 meters 0.0328259260745742 Centerline is valid? [True, True] Translation: X:122.38, Y:0.85, Z:0.79 [[ 9.97249833e-01 -7.26532803e-02 -1.46380120e-02 1.22382572e+02] [ 7.26590653e-02 9.97356828e-01 -1.36937301e-04 8.54838508e-01] [ 1.46092701e-02 -9.27023565e-04 9.99892849e-01 7.87760271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659254154 meters 0.02847082480303826 Centerline is valid? [True, True] Translation: X:122.44, Y:0.87, Z:0.79 [[ 9.97622303e-01 -6.77094258e-02 -1.28519744e-02 1.22442979e+02] [ 6.77134806e-02 9.97704801e-01 -1.19876743e-04 8.68719711e-01] [ 1.28305933e-02 -7.50660204e-04 9.99917403e-01 7.89610859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399998 meters 0.027528766276530812 Centerline is valid? [True, True] Translation: X:122.50, Y:0.87, Z:0.79 [[ 9.97776794e-01 -6.54771602e-02 -1.24181896e-02 1.22504138e+02] [ 6.54807766e-02 9.97853824e-01 -1.15583979e-04 8.72775434e-01] [ 1.23991061e-02 -6.97825690e-04 9.99922885e-01 7.90121111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399999 meters 0.026655225653408283 Centerline is valid? [True, True] Translation: X:122.56, Y:0.88, Z:0.79 [[ 9.98048132e-01 -6.11110049e-02 -1.28596842e-02 1.22564625e+02] [ 6.11145265e-02 9.98130753e-01 -1.19318534e-04 8.78518334e-01] [ 1.28429380e-02 -6.66827874e-04 9.99917304e-01 7.89901854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399999 meters 0.025677603807820287 Centerline is valid? [True, True] Translation: X:122.62, Y:0.89, Z:0.79 [[ 9.98425910e-01 -5.43701081e-02 -1.37692643e-02 1.22624018e+02] [ 5.43735059e-02 9.98520659e-01 -1.27753165e-04 8.87046897e-01] [ 1.37558408e-02 -6.21131101e-04 9.99905191e-01 7.89408301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399999 meters 0.021557616572837158 Centerline is valid? [True, True] Translation: X:122.69, Y:0.90, Z:0.79 [[ 9.98613379e-01 -5.05588661e-02 -1.46669949e-02 1.22685130e+02] [ 5.05623136e-02 9.98720899e-01 -1.35907971e-04 8.98385286e-01] [ 1.46551057e-02 -6.05877676e-04 9.99892425e-01 7.89776248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399999 meters 0.020686405544165627 Centerline is valid? [True, True] Translation: X:122.74, Y:0.91, Z:0.79 [[ 9.98849321e-01 -4.50782698e-02 -1.63702177e-02 1.22744455e+02] [ 4.50818460e-02 9.98983285e-01 -1.50687821e-04 9.06070466e-01] [ 1.63603666e-02 -5.87485204e-04 9.99865988e-01 7.88406195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019254154 meters 0.019582746103690374 Centerline is valid? [True, True] Translation: X:122.81, Y:0.91, Z:0.79 [[ 9.98990980e-01 -4.18367885e-02 -1.63311037e-02 1.22806309e+02] [ 4.18399319e-02 9.99124315e-01 -1.49292829e-04 9.12703245e-01] [ 1.63230487e-02 -5.34150077e-04 9.99866627e-01 7.89078157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079254154 meters 0.018031255512159294 Centerline is valid? [True, True] Translation: X:122.87, Y:0.92, Z:0.79 [[ 9.99170727e-01 -3.79237586e-02 -1.48204591e-02 1.22867672e+02] [ 3.79259268e-02 9.99280544e-01 -1.34834546e-04 9.22019604e-01] [ 1.48149099e-02 -4.27356916e-04 9.99890162e-01 7.91507560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399999 meters 0.01820785759261645 Centerline is valid? [True, True] Translation: X:122.93, Y:0.93, Z:0.79 [[ 9.99210344e-01 -3.71315032e-02 -1.41400453e-02 1.22929669e+02] [ 3.71334088e-02 9.99310309e-01 -1.27845590e-04 9.25424113e-01] [ 1.41350401e-02 -3.97323446e-04 9.99900016e-01 7.92543012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399999 meters 0.02042608531764466 Centerline is valid? [True, True] Translation: X:122.99, Y:0.92, Z:0.79 [[ 9.99116576e-01 -3.97262217e-02 -1.37074823e-02 1.22990918e+02] [ 3.97282684e-02 9.99210513e-01 -1.23061252e-04 9.24509919e-01] [ 1.37015491e-02 -4.21621997e-04 9.99906040e-01 7.92611265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399999 meters 0.020780431827690377 Centerline is valid? [True, True] Translation: X:123.05, Y:0.93, Z:0.79 [[ 9.98930772e-01 -4.38945158e-02 -1.45114884e-02 1.23051914e+02] [ 4.38972567e-02 9.99036042e-01 -1.29744453e-04 9.25792102e-01] [ 1.45031950e-02 -5.07408804e-04 9.99894694e-01 7.93104989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399999 meters 0.022402016564420032 Centerline is valid? [True, True] Translation: X:123.11, Y:0.92, Z:0.79 [[ 9.98612330e-01 -5.04434534e-02 -1.51285065e-02 1.23112172e+02] [ 5.04471850e-02 9.98726721e-01 -1.35096434e-04 9.24616963e-01] [ 1.51160585e-02 -6.28281603e-04 9.99885548e-01 7.93033166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379254154 meters 0.023632620969068745 Centerline is valid? [True, True] Translation: X:123.17, Y:0.92, Z:0.79 [[ 9.98512978e-01 -5.24059348e-02 -1.50149928e-02 1.23174016e+02] [ 5.24098454e-02 9.98625651e-01 -1.33194501e-04 9.24091338e-01] [ 1.50013371e-02 -6.53937013e-04 9.99887260e-01 7.92956584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439254154 meters 0.02431585793427588 Centerline is valid? [True, True] Translation: X:123.24, Y:0.93, Z:0.79 [[ 9.98563821e-01 -5.11484876e-02 -1.59413876e-02 1.23235106e+02] [ 5.11527674e-02 9.98690831e-01 -1.39431412e-04 9.26775630e-01] [ 1.59276493e-02 -6.76214927e-04 9.99872918e-01 7.92758372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399998 meters 0.022992124823090744 Centerline is valid? [True, True] Translation: X:123.30, Y:0.93, Z:0.79 [[ 9.98726301e-01 -4.80670433e-02 -1.53406555e-02 1.23296308e+02] [ 4.80706617e-02 9.98843929e-01 -1.32995021e-04 9.32154722e-01] [ 1.53293133e-02 -6.04609836e-04 9.99882316e-01 7.93948359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399999 meters 0.01943879782467355 Centerline is valid? [True, True] Translation: X:123.36, Y:0.94, Z:0.80 [[ 9.98968868e-01 -4.27596502e-02 -1.52582047e-02 1.23357113e+02] [ 4.27626175e-02 9.99085252e-01 -1.31879466e-04 9.42767460e-01] [ 1.52498864e-02 -5.20737292e-04 9.99883578e-01 7.95669298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399999 meters 0.019116002619521556 Centerline is valid? [True, True] Translation: X:123.42, Y:0.95, Z:0.79 [[ 9.99103710e-01 -3.93914580e-02 -1.54948385e-02 1.23417326e+02] [ 3.93941180e-02 9.99223742e-01 -1.33636049e-04 9.46079131e-01] [ 1.54880746e-02 -4.76889224e-04 9.99879939e-01 7.94885659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399999 meters 0.018162093384495016 Centerline is valid? [True, True] Translation: X:123.48, Y:0.95, Z:0.79 [[ 9.99210815e-01 -3.58933276e-02 -1.70122423e-02 1.23478534e+02] [ 3.58960363e-02 9.99355519e-01 -1.46208928e-04 9.51747828e-01] [ 1.70065261e-02 -4.64578523e-04 9.99855271e-01 7.94031903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739254154 meters 0.017902920372758074 Centerline is valid? [True, True] Translation: X:123.54, Y:0.96, Z:0.79 [[ 9.99245845e-01 -3.44098489e-02 -1.79917492e-02 1.23540274e+02] [ 3.44126578e-02 9.99407697e-01 -1.53546862e-04 9.55080785e-01] [ 1.79863761e-02 -4.65712843e-04 9.99838124e-01 7.93728417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799254154 meters 0.017126613553804137 Centerline is valid? [True, True] Translation: X:123.60, Y:0.96, Z:0.79 [[ 9.99276258e-01 -3.35227427e-02 -1.79773768e-02 1.23601222e+02] [ 3.35254199e-02 9.99437853e-01 -1.52519746e-04 9.59834204e-01] [ 1.79723837e-02 -4.50289744e-04 9.99838382e-01 7.94793193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399998 meters 0.017274163881887194 Centerline is valid? [True, True] Translation: X:123.66, Y:0.96, Z:0.80 [[ 9.99282909e-01 -3.39605763e-02 -1.67435445e-02 1.23662429e+02] [ 3.39629700e-02 9.99423082e-01 -1.41449566e-04 9.62083206e-01] [ 1.67386886e-02 -4.27312366e-04 9.99859807e-01 7.95931051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399999 meters 0.01741309744101057 Centerline is valid? [True, True] Translation: X:123.72, Y:0.96, Z:0.80 [[ 9.99246642e-01 -3.51805066e-02 -1.63853527e-02 1.23724255e+02] [ 3.51829786e-02 9.99380878e-01 -1.37458807e-04 9.63626564e-01] [ 1.63800441e-02 -4.39130264e-04 9.99865742e-01 7.96772547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399999 meters 0.01873127223348398 Centerline is valid? [True, True] Translation: X:123.79, Y:0.96, Z:0.80 [[ 9.99152637e-01 -3.80653970e-02 -1.56535238e-02 1.23785274e+02] [ 3.80680220e-02 9.99275142e-01 -1.30348530e-04 9.62535474e-01] [ 1.56471390e-02 -4.65660611e-04 9.99877468e-01 7.96741414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399999 meters 0.021902336339817665 Centerline is valid? [True, True] Translation: X:123.85, Y:0.96, Z:0.80 [[ 9.98792253e-01 -4.66147108e-02 -1.55275338e-02 1.23846040e+02] [ 4.66183312e-02 9.98912766e-01 -1.28906187e-04 9.57601046e-01] [ 1.55166607e-02 -5.95117214e-04 9.99879432e-01 7.95951365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099254154 meters 0.02553020531839778 Centerline is valid? [True, True] Translation: X:123.91, Y:0.95, Z:0.80 [[ 9.98417500e-01 -5.40205870e-02 -1.56291759e-02 1.23906933e+02] [ 5.40251611e-02 9.98539566e-01 -1.29702790e-04 9.52614857e-01] [ 1.56133572e-02 -7.14871212e-04 9.99877849e-01 7.95967555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159254154 meters 0.03098368592784966 Centerline is valid? [True, True] Translation: X:123.97, Y:0.95, Z:0.80 [[ 9.97870001e-01 -6.34625338e-02 -1.50986156e-02 1.23966607e+02] [ 6.34678837e-02 9.97983874e-01 -1.25054088e-04 9.45672487e-01] [ 1.50761112e-02 -8.33489459e-04 9.99886002e-01 7.96290087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399998 meters 0.032381871752455146 Centerline is valid? [True, True] Translation: X:124.03, Y:0.94, Z:0.80 [[ 9.97630491e-01 -6.72391150e-02 -1.45706652e-02 1.24027370e+02] [ 6.72445032e-02 9.97736519e-01 -1.20367719e-04 9.44660712e-01] [ 1.45457782e-02 -8.59714634e-04 9.99893835e-01 7.97165764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399999 meters 0.035396609852541984 Centerline is valid? [True, True] Translation: X:124.09, Y:0.94, Z:0.80 [[ 9.97526155e-01 -6.89661722e-02 -1.36101859e-02 1.24088795e+02] [ 6.89710399e-02 9.97618656e-01 -1.11960961e-04 9.41697088e-01] [ 1.35854969e-02 -8.27024689e-04 9.99907371e-01 7.97342175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399999 meters 0.035122370423547065 Centerline is valid? [True, True] Translation: X:124.15, Y:0.94, Z:0.80 [[ 9.97630969e-01 -6.74216349e-02 -1.36664591e-02 1.24150215e+02] [ 6.74264066e-02 9.97724244e-01 -1.11830535e-04 9.44011447e-01] [ 1.36428974e-02 -8.09914624e-04 9.99906603e-01 7.97291981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399999 meters 0.02821998978097196 Centerline is valid? [True, True] Translation: X:124.21, Y:0.96, Z:0.80 [[ 9.97947298e-01 -6.23706962e-02 -1.45288124e-02 1.24210239e+02] [ 6.23755594e-02 9.98052742e-01 -1.18618845e-04 9.56447461e-01] [ 1.45079193e-02 -7.87867442e-04 9.99894444e-01 7.98256619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399999 meters 0.02528671091988712 Centerline is valid? [True, True] Translation: X:124.27, Y:0.96, Z:0.80 [[ 9.98372854e-01 -5.51768012e-02 -1.43932422e-02 1.24270609e+02] [ 5.51808283e-02 9.98476370e-01 -1.17502301e-04 9.64950273e-01] [ 1.43777956e-02 -6.76919920e-04 9.99896405e-01 7.98973778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519254154 meters 0.022166906318705517 Centerline is valid? [True, True] Translation: X:124.33, Y:0.97, Z:0.80 [[ 9.98729687e-01 -4.84835855e-02 -1.37242334e-02 1.24331570e+02] [ 4.84866177e-02 9.98823826e-01 -1.11906982e-04 9.72501945e-01] [ 1.37135169e-02 -5.53676832e-04 9.99905812e-01 8.00438736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579254154 meters 0.01831163594852456 Centerline is valid? [True, True] Translation: X:124.39, Y:0.98, Z:0.80 [[ 9.99265928e-01 -3.60086670e-02 -1.30759406e-02 1.24391704e+02] [ 3.60103547e-02 9.99351411e-01 -1.06423219e-04 9.83800125e-01] [ 1.30712919e-02 -3.64524164e-04 9.99914501e-01 8.01345557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399999 meters 0.017058794464847694 Centerline is valid? [True, True] Translation: X:124.45, Y:0.99, Z:0.80 [[ 9.99432694e-01 -3.12031181e-02 -1.26750333e-02 1.24453667e+02] [ 3.12043227e-02 9.99513021e-01 -1.02763018e-04 9.87963592e-01] [ 1.26720674e-02 -2.92811110e-04 9.99919663e-01 8.01927704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399999 meters 0.014908325310988959 Centerline is valid? [True, True] Translation: X:124.51, Y:1.00, Z:0.80 [[ 9.99690572e-01 -2.16943908e-02 -1.21701594e-02 1.24514117e+02] [ 2.16948011e-02 9.99764635e-01 -9.83167025e-05 9.96337975e-01] [ 1.21694279e-02 -1.65742907e-04 9.99925936e-01 8.02922426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399999 meters 0.013929719562264041 Centerline is valid? [True, True] Translation: X:124.58, Y:1.00, Z:0.80 [[ 9.99881338e-01 -9.54143669e-03 -1.20942635e-02 1.24575903e+02] [ 9.54095647e-03 9.99954479e-01 -9.74044881e-05 1.00497645e+00] [ 1.20946423e-02 -1.79979117e-05 9.99926857e-01 8.03287628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399999 meters 0.014117241980928555 Centerline is valid? [True, True] Translation: X:124.63, Y:1.01, Z:0.80 [[ 9.99914864e-01 -3.92686448e-03 -1.24436539e-02 1.24634150e+02] [ 3.92590768e-03 9.99992288e-01 -1.01317411e-04 1.00858389e+00] [ 1.24439558e-02 5.24561486e-05 9.99922570e-01 8.03760723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879254154 meters 0.014397438518226804 Centerline is valid? [True, True] Translation: X:124.69, Y:1.01, Z:0.80 [[ 9.99932033e-01 -6.89668747e-04 -1.16385004e-02 1.24691863e+02] [ 6.88585724e-04 9.99999758e-01 -9.70621407e-05 1.00931504e+00] [ 1.16385645e-02 8.90414384e-05 9.99932266e-01 8.04216467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939254154 meters 0.014240123315177919 Centerline is valid? [True, True] Translation: X:124.75, Y:1.01, Z:0.80 [[ 9.99938794e-01 -2.71545256e-03 -1.07253954e-02 1.24750587e+02] [ 2.71463716e-03 9.99996311e-01 -9.05829667e-05 1.00604220e+00] [ 1.07256018e-02 6.14618657e-05 9.99942477e-01 8.04649006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399998 meters 0.013877369469677594 Centerline is valid? [True, True] Translation: X:124.81, Y:1.00, Z:0.81 [[ 9.99878046e-01 -1.18953022e-02 -1.01190772e-02 1.24809317e+02] [ 1.18950394e-02 9.99929248e-01 -8.61605250e-05 9.95569268e-01] [ 1.01193861e-02 -3.42168044e-05 9.99948797e-01 8.05089627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399999 meters 0.014770461402058947 Centerline is valid? [True, True] Translation: X:124.87, Y:0.99, Z:0.81 [[ 9.99732530e-01 -2.11043142e-02 -9.45915614e-03 1.24869223e+02] [ 2.11044914e-02 9.99777272e-01 -8.10950425e-05 9.86875695e-01] [ 9.45876078e-03 -1.18557327e-04 9.99955258e-01 8.05151926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399999 meters 0.017214714953386678 Centerline is valid? [True, True] Translation: X:124.93, Y:0.97, Z:0.81 [[ 9.99332476e-01 -3.52181890e-02 -9.70987273e-03 1.24929752e+02] [ 3.52190391e-02 9.99379614e-01 -8.34833042e-05 9.73387023e-01] [ 9.70678899e-03 -2.58544810e-04 9.99952855e-01 8.05132075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399999 meters 0.02076651643057929 Centerline is valid? [True, True] Translation: X:124.99, Y:0.96, Z:0.80 [[ 9.99011868e-01 -4.34054918e-02 -9.55256566e-03 1.24989451e+02] [ 4.34066882e-02 9.99057482e-01 -8.21488080e-05 9.62397734e-01] [ 9.54712790e-03 -3.32577605e-04 9.99954370e-01 8.04944016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239254154 meters 0.024411552797746074 Centerline is valid? [True, True] Translation: X:125.05, Y:0.95, Z:0.81 [[ 9.98598497e-01 -5.22652736e-02 -8.32965152e-03 1.25050363e+02] [ 5.22664902e-02 9.98633170e-01 -7.17120004e-05 9.49543640e-01] [ 8.32201435e-03 -3.63750154e-04 9.99965305e-01 8.05491534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299254154 meters 0.024889317782919397 Centerline is valid? [True, True] Translation: X:125.11, Y:0.94, Z:0.81 [[ 9.98399820e-01 -5.60466128e-02 -7.52170652e-03 1.25111609e+02] [ 5.60477121e-02 9.98428089e-01 -6.47230935e-05 9.44402747e-01] [ 7.51351058e-03 -3.56954917e-04 9.99971709e-01 8.05477812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399998 meters 0.024014224446079802 Centerline is valid? [True, True] Translation: X:125.17, Y:0.94, Z:0.80 [[ 9.98295850e-01 -5.78644333e-02 -7.55668326e-03 1.25173923e+02] [ 5.78655962e-02 9.98324380e-01 -6.48364348e-05 9.39329798e-01] [ 7.54777286e-03 -3.72546039e-04 9.99971446e-01 8.04541782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399999 meters 0.024640488980556315 Centerline is valid? [True, True] Translation: X:125.24, Y:0.94, Z:0.80 [[ 9.98316900e-01 -5.73460349e-02 -8.64869983e-03 1.25235863e+02] [ 5.73475451e-02 9.98354273e-01 -7.34791889e-05 9.35601118e-01] [ 8.63868017e-03 -4.22626188e-04 9.99962597e-01 8.03526503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399999 meters 0.023848577162506008 Centerline is valid? [True, True] Translation: X:125.30, Y:0.93, Z:0.80 [[ 9.98430764e-01 -5.49153042e-02 -1.09690134e-02 1.25297538e+02] [ 5.49175976e-02 9.98490886e-01 -9.22401222e-05 9.33627574e-01] [ 1.09575253e-02 -5.10296488e-04 9.99939834e-01 8.02129302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399999 meters 0.023352413761712515 Centerline is valid? [True, True] Translation: X:125.36, Y:0.93, Z:0.80 [[ 9.98500706e-01 -5.33403596e-02 -1.22941134e-02 1.25359961e+02] [ 5.33431335e-02 9.98576236e-01 -1.02407951e-04 9.33317345e-01] [ 1.22820719e-02 -5.53552120e-04 9.99924419e-01 8.00627179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599254154 meters 0.022420735503170287 Centerline is valid? [True, True] Translation: X:125.42, Y:0.93, Z:0.80 [[ 9.98548944e-01 -5.16045133e-02 -1.53942002e-02 1.25421850e+02] [ 5.16086767e-02 9.98667376e-01 -1.26951323e-04 9.33573312e-01] [ 1.53802368e-02 -6.67707192e-04 9.99881494e-01 7.98982397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659254154 meters 0.024922237144262907 Centerline is valid? [True, True] Translation: X:125.48, Y:0.93, Z:0.80 [[ 9.98543392e-01 -5.14244747e-02 -1.63284299e-02 1.25483124e+02] [ 5.14291523e-02 9.98676637e-01 -1.33587811e-04 9.30154268e-01] [ 1.63136912e-02 -7.06364084e-04 9.99866673e-01 7.98273505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399998 meters 0.02264833815756788 Centerline is valid? [True, True] Translation: X:125.55, Y:0.93, Z:0.80 [[ 9.98497213e-01 -5.22027304e-02 -1.66790700e-02 1.25545537e+02] [ 5.22077383e-02 9.98636237e-01 -1.35327439e-04 9.34443502e-01] [ 1.66633882e-02 -7.35652450e-04 9.99860885e-01 7.99551887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399999 meters 0.024133907768382572 Centerline is valid? [True, True] Translation: X:125.61, Y:0.93, Z:0.80 [[ 9.98370094e-01 -5.45868529e-02 -1.66562681e-02 1.25607310e+02] [ 5.45921957e-02 9.98508725e-01 -1.34084060e-04 9.33892788e-01] [ 1.66387483e-02 -7.75436732e-04 9.99861266e-01 8.00898768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399999 meters 0.024908074425714535 Centerline is valid? [True, True] Translation: X:125.67, Y:0.93, Z:0.80 [[ 9.98192411e-01 -5.82428743e-02 -1.48215151e-02 1.25668719e+02] [ 5.82475161e-02 9.98302165e-01 -1.18678834e-04 9.34051878e-01] [ 1.48032628e-02 -7.44852125e-04 9.99890148e-01 8.03946264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399999 meters 0.02715966208031184 Centerline is valid? [True, True] Translation: X:125.73, Y:0.93, Z:0.80 [[ 9.98020911e-01 -6.13365836e-02 -1.38594331e-02 1.25730308e+02] [ 6.13409466e-02 9.98116865e-01 -1.10478832e-04 9.31255336e-01] [ 1.38401103e-02 -7.39890563e-04 9.99903947e-01 8.04644748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399999 meters 0.03131012791829401 Centerline is valid? [True, True] Translation: X:125.79, Y:0.93, Z:0.80 [[ 9.97809803e-01 -6.48604087e-02 -1.29893721e-02 1.25790844e+02] [ 6.48645450e-02 9.97894073e-01 -1.03045065e-04 9.26039487e-01] [ 1.29687010e-02 -7.39730338e-04 9.99915629e-01 8.04951912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019254154 meters 0.03158755438624803 Centerline is valid? [True, True] Translation: X:125.85, Y:0.93, Z:0.81 [[ 9.97406593e-01 -7.08511854e-02 -1.26569644e-02 1.25851470e+02] [ 7.08555997e-02 9.97486578e-01 -9.98773011e-05 9.25497375e-01] [ 1.26322285e-02 -7.97198522e-04 9.99919892e-01 8.05170136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079254154 meters 0.03379904748396373 Centerline is valid? [True, True] Translation: X:125.91, Y:0.92, Z:0.81 [[ 9.97162445e-01 -7.41186012e-02 -1.31715709e-02 1.25912049e+02] [ 7.41236711e-02 9.97249051e-01 -1.03524107e-04 9.23327124e-01] [ 1.31430097e-02 -8.73094841e-04 9.99913246e-01 8.05399195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399999 meters 0.0363449355804734 Centerline is valid? [True, True] Translation: X:125.97, Y:0.92, Z:0.81 [[ 9.96981681e-01 -7.63936295e-02 -1.38398411e-02 1.25972413e+02] [ 7.63994487e-02 9.97077285e-01 -1.08520934e-04 9.21148254e-01] [ 1.38076815e-02 -9.49162844e-04 9.99904219e-01 8.05107453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399999 meters 0.03662920186811031 Centerline is valid? [True, True] Translation: X:126.03, Y:0.92, Z:0.80 [[ 9.96906800e-01 -7.72445382e-02 -1.44952646e-02 1.26034883e+02] [ 7.72510212e-02 9.97011668e-01 -1.12974931e-04 9.23016969e-01] [ 1.44606746e-02 -1.00714851e-03 9.99894932e-01 8.04589421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399999 meters 0.031779659739432024 Centerline is valid? [True, True] Translation: X:126.10, Y:0.93, Z:0.81 [[ 9.97058814e-01 -7.53321900e-02 -1.40990588e-02 1.26095955e+02] [ 7.53381435e-02 9.97158038e-01 -1.09138869e-04 9.32704583e-01] [ 1.40672115e-02 -9.53379044e-04 9.99900597e-01 8.05612800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399999 meters 0.03143494455619233 Centerline is valid? [True, True] Translation: X:126.16, Y:0.94, Z:0.81 [[ 9.97218648e-01 -7.32774114e-02 -1.36157973e-02 1.26157979e+02] [ 7.32827838e-02 9.97311196e-01 -1.04600979e-04 9.37051241e-01] [ 1.35868520e-02 -8.93493485e-04 9.99907295e-01 8.06606859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379254154 meters 0.033313131325224586 Centerline is valid? [True, True] Translation: X:126.22, Y:0.94, Z:0.81 [[ 9.97390349e-01 -7.09954582e-02 -1.31201023e-02 1.26218887e+02] [ 7.10002597e-02 9.97476292e-01 -1.00038827e-04 9.39676496e-01] [ 1.30940933e-02 -8.31752909e-04 9.99913923e-01 8.07275218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439254154 meters 0.031178662673533704 Centerline is valid? [True, True] Translation: X:126.28, Y:0.94, Z:0.81 [[ 9.97409622e-01 -7.08053930e-02 -1.26744548e-02 1.26281419e+02] [ 7.08098672e-02 9.97489826e-01 -9.59587340e-05 9.44616540e-01] [ 1.26494341e-02 -8.01766295e-04 9.99919671e-01 8.07976002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399998 meters 0.03370182220455066 Centerline is valid? [True, True] Translation: X:126.34, Y:0.94, Z:0.81 [[ 9.97372466e-01 -7.14707096e-02 -1.18364723e-02 1.26342322e+02] [ 7.14746720e-02 9.97442411e-01 -8.84571527e-05 9.42786595e-01] [ 1.18125216e-02 -7.57783246e-04 9.99929943e-01 8.08299043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399999 meters 0.03424675383465491 Centerline is valid? [True, True] Translation: X:126.40, Y:0.94, Z:0.81 [[ 9.97261665e-01 -7.29786716e-02 -1.19702114e-02 1.26404674e+02] [ 7.29828478e-02 9.97333192e-01 -8.81602679e-05 9.43909967e-01] [ 1.19447230e-02 -7.85701264e-04 9.99928351e-01 8.08748814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399999 meters 0.03627180932352596 Centerline is valid? [True, True] Translation: X:126.47, Y:0.94, Z:0.81 [[ 9.97132916e-01 -7.45887970e-02 -1.27459171e-02 1.26467098e+02] [ 7.45936749e-02 9.97214007e-01 -9.29302341e-05 9.42630020e-01] [ 1.27173386e-02 -8.58100999e-04 9.99918763e-01 8.07937801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399999 meters 0.03345723048093066 Centerline is valid? [True, True] Translation: X:126.53, Y:0.95, Z:0.81 [[ 9.97009294e-01 -7.59708822e-02 -1.41736463e-02 1.26529084e+02] [ 7.59770686e-02 9.97109560e-01 -1.02259385e-04 9.47090351e-01] [ 1.41404469e-02 -9.74918538e-04 9.99899544e-01 8.07011988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739254154 meters 0.03495581889337503 Centerline is valid? [True, True] Translation: X:126.59, Y:0.95, Z:0.81 [[ 9.96943354e-01 -7.66387348e-02 -1.51807115e-02 1.26591518e+02] [ 7.66459262e-02 9.97058369e-01 -1.08372463e-04 9.46029779e-01] [ 1.51443610e-02 -1.05549849e-03 9.99884760e-01 8.06181737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799254154 meters 0.03580587011172068 Centerline is valid? [True, True] Translation: X:126.65, Y:0.95, Z:0.81 [[ 9.97040769e-01 -7.53488751e-02 -1.52397994e-02 1.26654109e+02] [ 7.53559917e-02 9.97156689e-01 -1.07536470e-04 9.47198624e-01] [ 1.52045707e-02 -1.04119195e-03 9.99883862e-01 8.06916791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399998 meters 0.030906309883650597 Centerline is valid? [True, True] Translation: X:126.71, Y:0.96, Z:0.81 [[ 9.97568024e-01 -6.83968854e-02 -1.34128007e-02 1.26714540e+02] [ 6.84017786e-02 9.97657851e-01 -9.41266014e-05 9.58483875e-01] [ 1.33878239e-02 -8.23561739e-04 9.99910040e-01 8.09817088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399999 meters 0.027271441254050448 Centerline is valid? [True, True] Translation: X:126.77, Y:0.97, Z:0.81 [[ 9.98053568e-01 -6.11266499e-02 -1.23534721e-02 1.26774745e+02] [ 6.11302451e-02 9.98129794e-01 -8.67133679e-05 9.67632409e-01] [ 1.23356691e-02 -6.68626193e-04 9.99923689e-01 8.11298050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399999 meters 0.026786093645508935 Centerline is valid? [True, True] Translation: X:126.83, Y:0.97, Z:0.81 [[ 9.98754346e-01 -4.85149670e-02 -1.16642521e-02 1.26834457e+02] [ 4.85173123e-02 9.98822338e-01 -8.19777293e-05 9.73697104e-01] [ 1.16544927e-02 -4.84042549e-04 9.99931967e-01 8.11331720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399999 meters 0.02008684424612236 Centerline is valid? [True, True] Translation: X:126.89, Y:0.99, Z:0.81 [[ 9.99097696e-01 -4.06217921e-02 -1.23961016e-02 1.26894860e+02] [ 4.06238328e-02 9.99174508e-01 -8.72408301e-05 9.88371976e-01] [ 1.23894126e-02 -4.16415047e-04 9.99923162e-01 8.12307418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099254154 meters 0.01789514163133726 Centerline is valid? [True, True] Translation: X:126.96, Y:1.00, Z:0.81 [[ 9.99371396e-01 -3.23844134e-02 -1.44243577e-02 1.26955263e+02] [ 3.23863193e-02 9.99475420e-01 -1.01499801e-04 9.96298620e-01] [ 1.44200780e-02 -3.65715857e-04 9.99895958e-01 8.10859450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159254154 meters 0.017101344586354775 Centerline is valid? [True, True] Translation: X:127.02, Y:1.00, Z:0.81 [[ 9.99464477e-01 -2.91478848e-02 -1.48714362e-02 1.27016216e+02] [ 2.91495570e-02 9.99575056e-01 -1.04346404e-04 9.99777018e-01] [ 1.48681582e-02 -3.29205255e-04 9.99889409e-01 8.10920411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399998 meters 0.016520998027176548 Centerline is valid? [True, True] Translation: X:127.08, Y:1.00, Z:0.81 [[ 9.99540982e-01 -2.65693970e-02 -1.45565603e-02 1.27077540e+02] [ 2.65707336e-02 9.99646931e-01 -1.01606147e-04 1.00277539e+00] [ 1.45541204e-02 -2.85218978e-04 9.99894043e-01 8.11560082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399999 meters 0.016252445879348907 Centerline is valid? [True, True] Translation: X:127.14, Y:1.00, Z:0.81 [[ 9.99564609e-01 -2.59944430e-02 -1.39599925e-02 1.27139029e+02] [ 2.59956233e-02 9.99662052e-01 -9.69332291e-05 1.00408403e+00] [ 1.39577945e-02 -2.66007680e-04 9.99902550e-01 8.11873342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399999 meters 0.01671343081671948 Centerline is valid? [True, True] Translation: X:127.20, Y:1.00, Z:0.81 [[ 9.99542886e-01 -2.67933552e-02 -1.40047924e-02 1.27200595e+02] [ 2.67946369e-02 9.99640955e-01 -9.61463227e-05 1.00324328e+00] [ 1.40023401e-02 -2.79150954e-04 9.99901923e-01 8.11286054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399999 meters 0.016892724325442064 Centerline is valid? [True, True] Translation: X:127.26, Y:1.00, Z:0.81 [[ 9.99509048e-01 -2.83200849e-02 -1.34028449e-02 1.27262595e+02] [ 2.83214126e-02 9.99598864e-01 -9.07701299e-05 1.00347727e+00] [ 1.34000391e-02 -2.88861933e-04 9.99910174e-01 8.11710990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399999 meters 0.018280000886942014 Centerline is valid? [True, True] Translation: X:127.32, Y:1.00, Z:0.81 [[ 9.99363878e-01 -3.31909862e-02 -1.30460220e-02 1.27324106e+02] [ 3.31926682e-02 9.99448968e-01 -8.76345309e-05 1.00117268e+00] [ 1.30417419e-02 -3.45453496e-04 9.99914893e-01 8.12249504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519254154 meters 0.019169752609436933 Centerline is valid? [True, True] Translation: X:127.38, Y:1.00, Z:0.81 [[ 9.99198459e-01 -3.78211121e-02 -1.31150224e-02 1.27384990e+02] [ 3.78232152e-02 9.99284442e-01 -8.77319740e-05 9.97923830e-01] [ 1.31089559e-02 -4.08390660e-04 9.99913991e-01 8.12351705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579254154 meters 0.02265363349842697 Centerline is valid? [True, True] Translation: X:127.44, Y:0.99, Z:0.81 [[ 9.98848284e-01 -4.61433964e-02 -1.31488713e-02 1.27444830e+02] [ 4.61462331e-02 9.98934691e-01 -8.77444017e-05 9.89984949e-01] [ 1.31389126e-02 -5.19127536e-04 9.99913546e-01 8.11642196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399999 meters 0.024331022647794496 Centerline is valid? [True, True] Translation: X:127.51, Y:0.99, Z:0.81 [[ 9.98624221e-01 -5.08645998e-02 -1.27458772e-02 1.27505619e+02] [ 5.08676515e-02 9.98705399e-01 -8.48552194e-05 9.86914438e-01] [ 1.27336925e-02 -5.63614361e-04 9.99918764e-01 8.12436389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399999 meters 0.025339497503807092 Centerline is valid? [True, True] Translation: X:127.57, Y:0.98, Z:0.81 [[ 9.98438052e-01 -5.45941681e-02 -1.18715319e-02 1.27566902e+02] [ 5.45970821e-02 9.98508464e-01 -7.87317808e-05 9.84052023e-01] [ 1.18581234e-02 -5.69542195e-04 9.99929528e-01 8.13518712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399999 meters 0.02593981004427963 Centerline is valid? [True, True] Translation: X:127.63, Y:0.98, Z:0.81 [[ 9.98460854e-01 -5.42118303e-02 -1.17047193e-02 1.27629142e+02] [ 5.42146438e-02 9.98529302e-01 -7.70188248e-05 9.82574920e-01] [ 1.16916805e-02 -5.57666904e-04 9.99931494e-01 8.13679882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399999 meters 0.025969613073571342 Centerline is valid? [True, True] Translation: X:127.69, Y:0.98, Z:0.81 [[ 9.98588838e-01 -5.16882633e-02 -1.21924420e-02 1.27689438e+02] [ 5.16911359e-02 9.98663116e-01 -7.96189463e-05 9.83351400e-01] [ 1.21802575e-02 -5.50734583e-04 9.99925666e-01 8.14120289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879254154 meters 0.022902922581668733 Centerline is valid? [True, True] Translation: X:127.75, Y:0.99, Z:0.81 [[ 9.98731181e-01 -4.86341155e-02 -1.30671878e-02 1.27751031e+02] [ 4.86371605e-02 9.98816509e-01 -8.48480594e-05 9.89004413e-01] [ 1.30558495e-02 -5.50810510e-04 9.99914617e-01 8.14119492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939254154 meters 0.021058667002206963 Centerline is valid? [True, True] Translation: X:127.81, Y:0.99, Z:0.81 [[ 9.98970809e-01 -4.29465184e-02 -1.45917782e-02 1.27811962e+02] [ 4.29497178e-02 9.99077231e-01 -9.41868348e-05 9.93151672e-01] [ 1.45823583e-02 -5.32622856e-04 9.99893530e-01 8.13116403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399998 meters 0.019438901233021666 Centerline is valid? [True, True] Translation: X:127.87, Y:1.00, Z:0.81 [[ 9.99153521e-01 -3.80828325e-02 -1.55544165e-02 1.27873908e+02] [ 3.80858890e-02 9.99274464e-01 -9.97767691e-05 9.97456625e-01] [ 1.55469310e-02 -4.92711470e-04 9.99879018e-01 8.13279788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters 0.017802197859493708 Centerline is valid? [True, True] Translation: X:127.93, Y:1.00, Z:0.81 [[ 9.99406046e-01 -3.02116768e-02 -1.65774123e-02 1.27933710e+02] [ 3.02140730e-02 9.99543445e-01 -1.05940787e-04 1.00401799e+00] [ 1.65730444e-02 -3.94993282e-04 9.99862580e-01 8.13762456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters 0.016660485896520236 Centerline is valid? [True, True] Translation: X:127.99, Y:1.01, Z:0.81 [[ 9.99562286e-01 -2.44110249e-02 -1.67133880e-02 1.27993877e+02] [ 2.44126500e-02 9.99701961e-01 -1.06809763e-04 1.00840169e+00] [ 1.67110141e-02 -3.01255080e-04 9.99860316e-01 8.14212234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179254154 meters 0.015236357952631419 Centerline is valid? [True, True] Translation: X:128.05, Y:1.02, Z:0.82 [[ 9.99763958e-01 -1.54524675e-02 -1.52724952e-02 1.28054483e+02] [ 1.54527793e-02 9.99880594e-01 -9.76014913e-05 1.01506074e+00] [ 1.52721798e-02 -1.38424045e-04 9.99883364e-01 8.16026744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239254154 meters 0.014761000972006978 Centerline is valid? [True, True] Translation: X:128.11, Y:1.02, Z:0.82 [[ 9.99854021e-01 -9.95726045e-03 -1.38849034e-02 1.28113375e+02] [ 9.95696271e-03 9.99950424e-01 -9.05736728e-05 1.01952878e+00] [ 1.38851169e-02 -4.76910146e-05 9.99903596e-01 8.18197274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299254154 meters 0.014703633351918585 Centerline is valid? [True, True] Translation: X:128.17, Y:1.02, Z:0.82 [[ 9.99902111e-01 -5.92010027e-03 -1.26775821e-02 1.28171859e+02] [ 5.91948819e-03 9.99982476e-01 -8.58041578e-05 1.02220943e+00] [ 1.26778679e-02 1.07509610e-05 9.99919633e-01 8.19542770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359254154 meters 0.01474832155579216 Centerline is valid? [True, True] Translation: X:128.23, Y:1.02, Z:0.82 [[ 9.99906391e-01 -4.23759043e-03 -1.30096745e-02 1.28230005e+02] [ 4.23675653e-03 9.99991021e-01 -9.16591081e-05 1.02130802e+00] [ 1.30099461e-02 3.65317047e-05 9.99915366e-01 8.19732275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41925415400001 meters 0.014574250861778978 Centerline is valid? [True, True] Translation: X:128.29, Y:1.02, Z:0.82 [[ 9.99893388e-01 -6.13375387e-03 -1.32510141e-02 1.28288113e+02] [ 6.13301935e-03 9.99981188e-01 -9.60667459e-05 1.01849493e+00] [ 1.32513541e-02 1.47877783e-05 9.99912197e-01 8.19303892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47925415400002 meters 0.014532904625916714 Centerline is valid? [True, True] Translation: X:128.35, Y:1.01, Z:0.82 [[ 9.99847668e-01 -1.03327568e-02 -1.40668102e-02 1.28347194e+02] [ 1.03323262e-02 9.99946615e-01 -1.03293761e-04 1.01367045e+00] [ 1.40671266e-02 -4.20648458e-05 9.99901052e-01 8.18572888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters 0.014894997853489066 Centerline is valid? [True, True] Translation: X:128.41, Y:1.01, Z:0.82 [[ 9.99768932e-01 -1.59088725e-02 -1.44565113e-02 1.28405491e+02] [ 1.59089823e-02 9.99873438e-01 -1.07410813e-04 1.00743050e+00] [ 1.44563905e-02 -1.22602388e-04 9.99895493e-01 8.18405662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters 0.01591435335894605 Centerline is valid? [True, True] Translation: X:128.46, Y:1.00, Z:0.82 [[ 9.99617644e-01 -2.39942018e-02 -1.37420280e-02 1.28464932e+02] [ 2.39950527e-02 9.99712072e-01 -1.02981087e-04 9.97487058e-01] [ 1.37405423e-02 -2.26798976e-04 9.99905569e-01 8.18637310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters 0.016645766546016325 Centerline is valid? [True, True] Translation: X:128.53, Y:0.99, Z:0.82 [[ 9.99498730e-01 -2.88560045e-02 -1.30238323e-02 1.28526061e+02] [ 2.88571813e-02 9.99583540e-01 -9.75984956e-05 9.91671002e-01] [ 1.30212247e-02 -2.78281518e-04 9.99915182e-01 8.19146807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters 0.018670821962170972 Centerline is valid? [True, True] Translation: X:128.59, Y:0.98, Z:0.82 [[ 9.99304482e-01 -3.50761194e-02 -1.26577178e-02 1.28586628e+02] [ 3.50777339e-02 9.99384582e-01 -9.45056082e-05 9.83049593e-01] [ 1.26532429e-02 -3.49564178e-04 9.99919883e-01 8.19359168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters 0.019976430510822357 Centerline is valid? [True, True] Translation: X:128.65, Y:0.98, Z:0.82 [[ 9.99081995e-01 -4.12389349e-02 -1.15981438e-02 1.28648041e+02] [ 4.12407086e-02 9.99149236e-01 -8.63020231e-05 9.75479522e-01] [ 1.15918356e-02 -3.92092873e-04 9.99932736e-01 8.20318414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters 0.021278732439524967 Centerline is valid? [True, True] Translation: X:128.71, Y:0.97, Z:0.82 [[ 9.98886465e-01 -4.57686693e-02 -1.14480779e-02 1.28708691e+02] [ 4.57706981e-02 9.98951969e-01 -8.48526206e-05 9.69970457e-01] [ 1.14399635e-02 -4.39228383e-04 9.99934465e-01 8.20284943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899254154 meters 0.02406633812734931 Centerline is valid? [True, True] Translation: X:128.77, Y:0.96, Z:0.82 [[ 9.98590472e-01 -5.14776890e-02 -1.29273595e-02 1.28768136e+02] [ 5.14807544e-02 9.98673982e-01 -9.57564774e-05 9.61929822e-01] [ 1.29151469e-02 -5.69888712e-04 9.99916434e-01 8.19388871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959254154 meters 0.025124699022375623 Centerline is valid? [True, True] Translation: X:128.83, Y:0.96, Z:0.82 [[ 9.98489310e-01 -5.33193329e-02 -1.32720443e-02 1.28830511e+02] [ 5.33227314e-02 9.98577326e-01 -9.79213683e-05 9.58391765e-01] [ 1.32583836e-02 -6.09928213e-04 9.99911918e-01 8.18971323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019254154 meters 0.02485918130145151 Centerline is valid? [True, True] Translation: X:128.89, Y:0.96, Z:0.82 [[ 9.98393397e-01 -5.50503101e-02 -1.34197165e-02 1.28892468e+02] [ 5.50539539e-02 9.98483376e-01 -9.80220981e-05 9.56814052e-01] [ 1.34047600e-02 -6.40943837e-04 9.99909947e-01 8.19729689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079254154 meters 0.023476806764248175 Centerline is valid? [True, True] Translation: X:128.95, Y:0.96, Z:0.82 [[ 9.98411928e-01 -5.44310386e-02 -1.45218388e-02 1.28954822e+02] [ 5.44352566e-02 9.98517297e-01 -1.04946540e-04 9.58391209e-01] [ 1.45060196e-02 -6.85720146e-04 9.99894547e-01 8.19848819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139254154 meters 0.023387291120848953 Centerline is valid? [True, True] Translation: X:129.02, Y:0.96, Z:0.82 [[ 9.98498447e-01 -5.23112165e-02 -1.62600317e-02 1.29017392e+02] [ 5.23162513e-02 9.98630561e-01 -1.15857137e-04 9.59039089e-01] [ 1.62438252e-02 -7.34980735e-04 9.99867790e-01 8.19025781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19925415400002 meters 0.02036966570084748 Centerline is valid? [True, True] Translation: X:129.08, Y:0.97, Z:0.82 [[ 9.98800402e-01 -4.53589999e-02 -1.84476941e-02 1.29078306e+02] [ 4.53643150e-02 9.98970501e-01 -1.30468294e-04 9.66147301e-01] [ 1.84346202e-02 -7.06555223e-04 9.99829818e-01 8.18251961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25925415400002 meters 0.019272908212460086 Centerline is valid? [True, True] Translation: X:129.14, Y:0.97, Z:0.82 [[ 9.99170266e-01 -3.61253400e-02 -1.88079572e-02 1.29137677e+02] [ 3.61292275e-02 9.99347117e-01 -1.33165156e-04 9.70788960e-01] [ 1.88004885e-02 -5.46462300e-04 9.99823106e-01 8.18060011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters 0.016593125032498105 Centerline is valid? [True, True] Translation: X:129.20, Y:0.98, Z:0.82 [[ 9.99415783e-01 -2.89315022e-02 -1.81950548e-02 1.29198251e+02] [ 2.89339506e-02 9.99581317e-01 -1.28726140e-04 9.79087813e-01] [ 1.81911611e-02 -3.97803880e-04 9.99834448e-01 8.20563947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters 0.014978462589773119 Centerline is valid? [True, True] Translation: X:129.26, Y:0.99, Z:0.82 [[ 9.99644889e-01 -2.02971484e-02 -1.72661729e-02 1.29257898e+02] [ 2.02980606e-02 9.99793966e-01 -1.22434137e-04 9.86125668e-01] [ 1.72651006e-02 -2.28079165e-04 9.99850921e-01 8.22412154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters 0.014269310981596218 Centerline is valid? [True, True] Translation: X:129.32, Y:1.00, Z:0.82 [[ 9.99845894e-01 -6.81560479e-03 -1.61782235e-02 1.29315736e+02] [ 6.81462267e-03 9.99976773e-01 -1.15834182e-04 9.96447324e-01] [ 1.61786372e-02 5.56784324e-06 9.99869117e-01 8.23434236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters 0.015536793594225167 Centerline is valid? [True, True] Translation: X:129.37, Y:1.00, Z:0.82 [[ 9.99877145e-01 5.60947684e-04 -1.56645983e-02 1.29374328e+02] [-5.62818878e-04 9.99999835e-01 -1.15045490e-04 1.00127841e+00] [ 1.56645312e-02 1.23847688e-04 9.99877296e-01 8.23714789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters 0.0154218025166887 Centerline is valid? [True, True] Translation: X:129.43, Y:1.00, Z:0.83 [[ 9.99874915e-01 5.45918106e-03 -1.48442693e-02 1.29431949e+02] [-5.46143600e-03 9.99985080e-01 -1.11372538e-04 1.00471324e+00] [ 1.48434398e-02 1.92429634e-04 9.99889812e-01 8.25222211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters 0.014955249771039058 Centerline is valid? [True, True] Translation: X:129.49, Y:1.00, Z:0.83 [[ 9.99881754e-01 4.87318152e-03 -1.45852533e-02 1.29490850e+02] [-4.87531316e-03 9.99988109e-01 -1.10597509e-04 1.00300094e+00] [ 1.45845409e-02 1.81692109e-04 9.99893623e-01 8.26274912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679254154 meters 0.014206129482534394 Centerline is valid? [True, True] Translation: X:129.55, Y:1.00, Z:0.83 [[ 9.99888124e-01 -1.62497506e-03 -1.48693799e-02 1.29550161e+02] [ 1.62345491e-03 9.99998676e-01 -1.14303254e-04 9.97798152e-01] [ 1.48695459e-02 9.01506988e-05 9.99889438e-01 8.25825981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739254154 meters 0.013838650338981528 Centerline is valid? [True, True] Translation: X:129.61, Y:0.99, Z:0.83 [[ 9.99850528e-01 -7.86942737e-03 -1.53946246e-02 1.29609071e+02] [ 7.86851449e-03 9.99969036e-01 -1.19868969e-04 9.91835143e-01] [ 1.53950912e-02 -1.28177435e-06 9.99881489e-01 8.25286694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799254154 meters 0.014265011628702336 Centerline is valid? [True, True] Translation: X:129.67, Y:0.98, Z:0.83 [[ 9.99726054e-01 -1.80953908e-02 -1.48450252e-02 1.29668299e+02] [ 1.80956530e-02 9.99836253e-01 -1.16669154e-04 9.82376742e-01] [ 1.48447056e-02 -1.51993233e-04 9.99889800e-01 8.25968616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859254154 meters 0.015582617748798266 Centerline is valid? [True, True] Translation: X:129.73, Y:0.98, Z:0.83 [[ 9.99600916e-01 -2.42978519e-02 -1.44091261e-02 1.29726753e+02] [ 2.42987300e-02 9.99704736e-01 -1.14153137e-04 9.75827464e-01] [ 1.44076452e-02 -2.36015884e-04 9.99896177e-01 8.26261275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91925415400001 meters 0.01771796172734114 Centerline is valid? [True, True] Translation: X:129.79, Y:0.97, Z:0.83 [[ 9.99361118e-01 -3.23790533e-02 -1.51311981e-02 1.29787072e+02] [ 3.23809390e-02 9.99475593e-01 -1.20414777e-04 9.68339966e-01] [ 1.51271621e-02 -3.69624556e-04 9.99885510e-01 8.26209218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97925415400002 meters 0.01837126801569296 Centerline is valid? [True, True] Translation: X:129.85, Y:0.97, Z:0.83 [[ 9.99226657e-01 -3.64361487e-02 -1.47815907e-02 1.29848241e+02] [ 3.64383945e-02 9.99335894e-01 -1.17452193e-04 9.65245357e-01] [ 1.47760537e-02 -4.21256072e-04 9.99890739e-01 8.26792782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters 0.019510306797891598 Centerline is valid? [True, True] Translation: X:129.91, Y:0.96, Z:0.83 [[ 9.99050617e-01 -4.10994377e-02 -1.44464771e-02 1.29909614e+02] [ 4.11020774e-02 9.99154946e-01 -1.14258445e-04 9.59407690e-01] [ 1.44389650e-02 -4.79630248e-04 9.99895638e-01 8.27727730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters 0.020435641729799964 Centerline is valid? [True, True] Translation: X:129.97, Y:0.96, Z:0.83 [[ 9.98892951e-01 -4.47311163e-02 -1.45601918e-02 1.29970534e+02] [ 4.47341888e-02 9.98998919e-01 -1.14759906e-04 9.56110083e-01] [ 1.45507492e-02 -5.36705507e-04 9.99893988e-01 8.28437340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters 0.02127253501494951 Centerline is valid? [True, True] Translation: X:130.03, Y:0.95, Z:0.83 [[ 9.98748489e-01 -4.77489325e-02 -1.48826993e-02 1.30032979e+02] [ 4.77524881e-02 9.98859192e-01 -1.16563433e-04 9.54617397e-01] [ 1.48712868e-02 -5.94268370e-04 9.99889240e-01 8.29033440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters 0.024359078036853714 Centerline is valid? [True, True] Translation: X:130.09, Y:0.95, Z:0.83 [[ 9.98412547e-01 -5.41089335e-02 -1.56399906e-02 1.30092261e+02] [ 5.41136495e-02 9.98534776e-01 -1.21808978e-04 9.48368043e-01] [ 1.56236655e-02 -7.24721360e-04 9.99877680e-01 8.28522804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters 0.029518640236656835 Centerline is valid? [True, True] Translation: X:130.15, Y:0.94, Z:0.83 [[ 9.98176683e-01 -5.79491132e-02 -1.68881642e-02 1.30152209e+02] [ 5.79551744e-02 9.98319178e-01 -1.30703589e-04 9.40396415e-01] [ 1.68673524e-02 -8.48291228e-04 9.99857376e-01 8.27006736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters 0.026687004772591616 Centerline is valid? [True, True] Translation: X:130.21, Y:0.94, Z:0.83 [[ 9.98078929e-01 -5.94997809e-02 -1.72692845e-02 1.30214231e+02] [ 5.95063717e-02 9.98227917e-01 -1.32405112e-04 9.44446556e-01] [ 1.72465599e-02 -8.95481708e-04 9.99850866e-01 8.28277792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399254154 meters 0.029435799019782924 Centerline is valid? [True, True] Translation: X:130.27, Y:0.94, Z:0.83 [[ 9.97895568e-01 -6.24447858e-02 -1.74666540e-02 1.30274800e+02] [ 6.24519901e-02 9.98047960e-01 -1.33224175e-04 9.40263674e-01] [ 1.74408776e-02 -9.57883490e-04 9.99847437e-01 8.28587938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459254154 meters 0.027393547009595235 Centerline is valid? [True, True] Translation: X:130.34, Y:0.94, Z:0.83 [[ 9.97894577e-01 -6.25027012e-02 -1.73154598e-02 1.30336670e+02] [ 6.25098056e-02 9.98044341e-01 -1.31165761e-04 9.43876674e-01] [ 1.72897949e-02 -9.51496427e-04 9.99850068e-01 8.29921222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519254154 meters 0.027868549354910743 Centerline is valid? [True, True] Translation: X:130.40, Y:0.95, Z:0.83 [[ 9.98122692e-01 -5.87840617e-02 -1.71908841e-02 1.30396591e+02] [ 5.87905227e-02 9.98270333e-01 -1.29728843e-04 9.45788435e-01] [ 1.71687756e-02 -8.81175759e-04 9.99852217e-01 8.30560730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579254154 meters 0.023391952233059312 Centerline is valid? [True, True] Translation: X:130.46, Y:0.96, Z:0.83 [[ 9.98393489e-01 -5.41981962e-02 -1.65225887e-02 1.30457298e+02] [ 5.42035409e-02 9.98529900e-01 -1.24501296e-04 9.55746879e-01] [ 1.65050466e-02 -7.71281529e-04 9.99863485e-01 8.33486015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639254154 meters 0.021220921124993585 Centerline is valid? [True, True] Translation: X:130.52, Y:0.96, Z:0.84 [[ 9.98873048e-01 -4.50459142e-02 -1.49499162e-02 1.30516492e+02] [ 4.50492653e-02 9.98984760e-01 -1.12701670e-04 9.62834703e-01] [ 1.49398152e-02 -5.60908080e-04 9.99888237e-01 8.35344419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69925415400002 meters 0.019593723901603237 Centerline is valid? [True, True] Translation: X:130.58, Y:0.97, Z:0.84 [[ 9.99174340e-01 -3.81442537e-02 -1.39876250e-02 1.30577217e+02] [ 3.81465116e-02 9.99272151e-01 -1.05444389e-04 9.69016116e-01] [ 1.39814662e-02 -4.28221771e-04 9.99902163e-01 8.36225493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75925415400002 meters 0.01595961149084219 Centerline is valid? [True, True] Translation: X:130.64, Y:0.98, Z:0.84 [[ 9.99544281e-01 -2.67833390e-02 -1.39242154e-02 1.30637681e+02] [ 2.67844768e-02 9.99641226e-01 -1.04798798e-04 9.81117543e-01] [ 1.39220266e-02 -2.68201785e-04 9.99903048e-01 8.37512035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters 0.015064209711732834 Centerline is valid? [True, True] Translation: X:130.70, Y:0.99, Z:0.84 [[ 9.99684906e-01 -2.06744999e-02 -1.42356494e-02 1.30697770e+02] [ 2.06750706e-02 9.99786242e-01 -1.07095677e-04 9.86673945e-01] [ 1.42348206e-02 -1.87261125e-04 9.99898662e-01 8.37571793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters 0.014644563770432995 Centerline is valid? [True, True] Translation: X:130.76, Y:0.99, Z:0.84 [[ 9.99740082e-01 -1.60831478e-02 -1.61586064e-02 1.30757565e+02] [ 1.60832779e-02 9.99870648e-01 -1.21905538e-04 9.91866775e-01] [ 1.61584769e-02 -1.38009505e-04 9.99869434e-01 8.36007708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters 0.015009705420239996 Centerline is valid? [True, True] Translation: X:130.82, Y:0.99, Z:0.83 [[ 9.99700568e-01 -1.71148664e-02 -1.74887125e-02 1.30816764e+02] [ 1.71151247e-02 9.99853516e-01 -1.34912230e-04 9.93163064e-01] [ 1.74884597e-02 -1.64449661e-04 9.99847052e-01 8.34872737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters 0.015603399305043768 Centerline is valid? [True, True] Translation: X:130.88, Y:0.99, Z:0.84 [[ 9.99592199e-01 -2.25400735e-02 -1.75322757e-02 1.30875879e+02] [ 2.25411240e-02 9.99745907e-01 -1.37720160e-04 9.90750109e-01] [ 1.75309251e-02 -2.57533204e-04 9.99846288e-01 8.35308622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters 0.016097959768008537 Centerline is valid? [True, True] Translation: X:130.93, Y:0.99, Z:0.84 [[ 9.99488738e-01 -2.73137111e-02 -1.66200062e-02 1.30934473e+02] [ 2.73152646e-02 9.99626860e-01 -1.33566213e-04 9.89007925e-01] [ 1.66174528e-02 -3.20481940e-04 9.99861869e-01 8.37160944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119254154 meters 0.016985151153683476 Centerline is valid? [True, True] Translation: X:131.00, Y:0.99, Z:0.84 [[ 9.99371837e-01 -3.19345758e-02 -1.53659828e-02 1.30995149e+02] [ 3.19364249e-02 9.99489894e-01 -1.25086728e-04 9.86735491e-01] [ 1.53621391e-02 -3.65726402e-04 9.99881928e-01 8.38702690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179254154 meters 0.01863545207091529 Centerline is valid? [True, True] Translation: X:131.06, Y:0.98, Z:0.84 [[ 9.99221384e-01 -3.69523749e-02 -1.38255921e-02 1.31055341e+02] [ 3.69543535e-02 9.99316948e-01 -1.12416961e-04 9.82278292e-01] [ 1.38203026e-02 -3.98586388e-04 9.99904416e-01 8.39907385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239254154 meters 0.02012318775703254 Centerline is valid? [True, True] Translation: X:131.12, Y:0.98, Z:0.84 [[ 9.99157707e-01 -3.90022279e-02 -1.27555374e-02 1.31117694e+02] [ 3.90040861e-02 9.99239046e-01 -1.03152865e-04 9.80409320e-01] [ 1.27498543e-02 -3.94452100e-04 9.99918640e-01 8.39949862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299254154 meters 0.020194653907217537 Centerline is valid? [True, True] Translation: X:131.18, Y:0.98, Z:0.84 [[ 9.99139576e-01 -3.94626678e-02 -1.27594924e-02 1.31178443e+02] [ 3.94645753e-02 9.99220965e-01 -1.02352233e-04 9.77890829e-01] [ 1.27535914e-02 -4.01283782e-04 9.99918589e-01 8.40935612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359254154 meters 0.01854474198466271 Centerline is valid? [True, True] Translation: X:131.24, Y:0.98, Z:0.84 [[ 9.99295866e-01 -3.50314793e-02 -1.34375768e-02 1.31240401e+02] [ 3.50332052e-02 9.99386143e-01 -1.07006939e-04 9.79909309e-01] [ 1.34330767e-02 -3.63829795e-04 9.99909706e-01 8.40825177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41925415400001 meters 0.016420422881943265 Centerline is valid? [True, True] Translation: X:131.30, Y:0.98, Z:0.84 [[ 9.99508836e-01 -2.78856403e-02 -1.42995849e-02 1.31301934e+02] [ 2.78868755e-02 9.99611079e-01 -1.13051882e-04 9.84651321e-01] [ 1.42971760e-02 -2.85774389e-04 9.99897749e-01 8.41197958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47925415400002 meters 0.016273554073570753 Centerline is valid? [True, True] Translation: X:131.36, Y:0.99, Z:0.84 [[ 9.99817570e-01 -1.25141671e-02 -1.44298982e-02 1.31363054e+02] [ 1.25138311e-02 9.99921693e-01 -1.13582845e-04 9.91660829e-01] [ 1.44301897e-02 -6.70111850e-05 9.99895877e-01 8.40373777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters 0.014884228198174752 Centerline is valid? [True, True] Translation: X:131.42, Y:1.00, Z:0.84 [[ 9.99899356e-01 1.82398594e-04 -1.41860605e-02 1.31420740e+02] [-1.84009070e-04 9.99999977e-01 -1.12220095e-04 9.98084229e-01] [ 1.41860397e-02 1.14819165e-04 9.99899366e-01 8.42541646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters 0.015320711654579575 Centerline is valid? [True, True] Translation: X:131.48, Y:1.00, Z:0.84 [[ 9.99889322e-01 4.85499370e-03 -1.40631375e-02 1.31479646e+02] [-4.85707339e-03 9.99988198e-01 -1.13731814e-04 9.98726196e-01] [ 1.40624193e-02 1.82024917e-04 9.99901103e-01 8.43334868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters 0.015537049941222417 Centerline is valid? [True, True] Translation: X:131.54, Y:0.99, Z:0.84 [[ 9.99885336e-01 4.36358917e-03 -1.45008300e-02 1.31537955e+02] [-4.36578674e-03 9.99990463e-01 -1.19896204e-04 9.94068839e-01] [ 1.45001685e-02 1.83189988e-04 9.99894850e-01 8.43172211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters 0.015093558430936932 Centerline is valid? [True, True] Translation: X:131.60, Y:0.99, Z:0.84 [[ 9.99880076e-01 -6.54589436e-04 -1.54727488e-02 1.31597160e+02] [ 6.52666007e-04 9.99999779e-01 -1.29360011e-04 9.88162731e-01] [ 1.54728300e-02 1.19245960e-04 9.99880281e-01 8.43810412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters 0.014807995708953126 Centerline is valid? [True, True] Translation: X:131.66, Y:0.98, Z:0.84 [[ 9.99771248e-01 -1.31381240e-02 -1.68772558e-02 1.31656363e+02] [ 1.31375922e-02 9.99913688e-01 -1.42383845e-04 9.75812400e-01] [ 1.68776697e-02 -7.93752302e-05 9.99857559e-01 8.43896578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters 0.015931024776768814 Centerline is valid? [True, True] Translation: X:131.72, Y:0.97, Z:0.84 [[ 9.99595542e-01 -2.28962765e-02 -1.68674933e-02 1.31715611e+02] [ 2.28971142e-02 9.99737816e-01 -1.43480131e-04 9.66331717e-01] [ 1.68663561e-02 -2.42794821e-04 9.99857723e-01 8.44029244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899254154 meters 0.018467387722963344 Centerline is valid? [True, True] Translation: X:131.78, Y:0.96, Z:0.85 [[ 9.99216539e-01 -3.58634109e-02 -1.67369195e-02 1.31776188e+02] [ 3.58660444e-02 9.99356596e-01 -1.42885089e-04 9.55422724e-01] [ 1.67312753e-02 -4.57513955e-04 9.99859918e-01 8.45493343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959254154 meters 0.022070954952073594 Centerline is valid? [True, True] Translation: X:131.84, Y:0.95, Z:0.85 [[ 9.98962284e-01 -4.24341736e-02 -1.65437835e-02 1.31836780e+02] [ 4.24376489e-02 9.99099107e-01 -1.41100018e-04 9.47913358e-01] [ 1.65348668e-02 -5.61125678e-04 9.99863132e-01 8.45234397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019254154 meters 0.02597456729247211 Centerline is valid? [True, True] Translation: X:131.90, Y:0.94, Z:0.85 [[ 9.98551113e-01 -5.11393529e-02 -1.67464088e-02 1.31896557e+02] [ 5.11441352e-02 9.98691272e-01 -1.42853645e-04 9.37961673e-01] [ 1.67317978e-02 -7.13833931e-04 9.99859759e-01 8.46420093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079254154 meters 0.027013446981107664 Centerline is valid? [True, True] Translation: X:131.96, Y:0.94, Z:0.85 [[ 9.98153623e-01 -5.84660378e-02 -1.64641083e-02 1.31956920e+02] [ 5.84716531e-02 9.98289059e-01 -1.40514409e-04 9.35353389e-01] [ 1.64441545e-02 -8.22428665e-04 9.99864448e-01 8.49061476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139254154 meters 0.027148575857700634 Centerline is valid? [True, True] Translation: X:132.02, Y:0.94, Z:0.85 [[ 9.97875673e-01 -6.29448097e-02 -1.67955738e-02 1.32017882e+02] [ 6.29512893e-02 9.98016590e-01 -1.43142769e-04 9.35288331e-01] [ 1.67712714e-02 -9.14464335e-04 9.99858934e-01 8.50168926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19925415400002 meters 0.030412675109182826 Centerline is valid? [True, True] Translation: X:132.08, Y:0.93, Z:0.85 [[ 9.97605988e-01 -6.68398654e-02 -1.77404673e-02 1.32077952e+02] [ 6.68477225e-02 9.97763178e-01 -1.50402110e-04 9.30678694e-01] [ 1.77108379e-02 -1.03586779e-03 9.99842614e-01 8.50039179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25925415400002 meters 0.0317293882537428 Centerline is valid? [True, True] Translation: X:132.14, Y:0.93, Z:0.85 [[ 9.97408697e-01 -6.95133087e-02 -1.85415970e-02 1.32139021e+02] [ 6.95223637e-02 9.97580381e-01 -1.56554908e-04 9.29181217e-01] [ 1.85076160e-02 -1.13290642e-03 9.99828078e-01 8.49829017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters 0.03056693622477209 Centerline is valid? [True, True] Translation: X:132.20, Y:0.93, Z:0.85 [[ 9.97356316e-01 -6.98786380e-02 -1.99337845e-02 1.32201361e+02] [ 6.98891991e-02 9.97554746e-01 -1.67201092e-04 9.31631022e-01] [ 1.98967251e-02 -1.22639717e-03 9.99801288e-01 8.49680857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters 0.03090275793878328 Centerline is valid? [True, True] Translation: X:132.26, Y:0.93, Z:0.85 [[ 9.97433125e-01 -6.79021391e-02 -2.27257831e-02 1.32262349e+02] [ 6.79153821e-02 9.97691067e-01 -1.89471225e-04 9.34469620e-01] [ 2.26861762e-02 -1.35444536e-03 9.99741718e-01 8.48419215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters 0.030058722234764818 Centerline is valid? [True, True] Translation: X:132.32, Y:0.94, Z:0.85 [[ 9.97566153e-01 -6.55163479e-02 -2.38616664e-02 1.32324111e+02] [ 6.55302966e-02 9.97850561e-01 -1.97750854e-04 9.38711775e-01] [ 2.38233331e-02 -1.36639251e-03 9.99715250e-01 8.48110976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters 0.027702251782676518 Centerline is valid? [True, True] Translation: X:132.38, Y:0.95, Z:0.85 [[ 9.97999297e-01 -5.81808271e-02 -2.47466090e-02 1.32384873e+02] [ 5.81935915e-02 9.98305296e-01 -2.04649135e-04 9.46957967e-01] [ 2.47165775e-02 -1.23585436e-03 9.99693735e-01 8.48755452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters 0.025131409981776938 Centerline is valid? [True, True] Translation: X:132.45, Y:0.96, Z:0.85 [[ 9.98440785e-01 -5.05350325e-02 -2.37109559e-02 1.32445007e+02] [ 5.05445981e-02 9.98721786e-01 -1.96098643e-04 9.55149949e-01] [ 2.36905581e-02 -1.00266785e-03 9.99718837e-01 8.50489568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619254154 meters 0.020080801236906604 Centerline is valid? [True, True] Translation: X:132.50, Y:0.97, Z:0.85 [[ 9.99082386e-01 -3.62279013e-02 -2.28456873e-02 1.32504965e+02] [ 3.62330423e-02 9.99343350e-01 -1.89003493e-04 9.70250263e-01] [ 2.28375329e-02 -6.38938693e-04 9.99738985e-01 8.52839438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679254154 meters 0.01726231012185631 Centerline is valid? [True, True] Translation: X:132.57, Y:0.98, Z:0.85 [[ 9.99397531e-01 -2.70249116e-02 -2.17767857e-02 1.32565286e+02] [ 2.70273946e-02 9.99634677e-01 -1.80344832e-04 9.79791025e-01] [ 2.17737040e-02 -4.08333602e-04 9.99762841e-01 8.53922294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739254154 meters 0.014450319706740673 Centerline is valid? [True, True] Translation: X:132.63, Y:0.99, Z:0.86 [[ 9.99636262e-01 -1.73861930e-02 -2.06170815e-02 1.32625273e+02] [ 1.73863620e-02 9.99848831e-01 -1.71059985e-04 9.91310250e-01] [ 2.06169389e-02 -1.87458280e-04 9.99787431e-01 8.57219057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799254154 meters 0.014310276247772449 Centerline is valid? [True, True] Translation: X:132.68, Y:1.00, Z:0.86 [[ 9.99679392e-01 -1.43131819e-02 -2.08864926e-02 1.32684147e+02] [ 1.43126087e-02 9.99897554e-01 -1.76937298e-04 9.95692360e-01] [ 2.08868854e-02 -1.22059624e-04 9.99781838e-01 8.56792197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859254154 meters 0.014590702655862575 Centerline is valid? [True, True] Translation: X:132.74, Y:1.00, Z:0.86 [[ 9.99639347e-01 -1.53182614e-02 -2.20573446e-02 1.32742924e+02] [ 1.53177447e-02 9.99882658e-01 -1.92391639e-04 9.96426884e-01] [ 2.20577034e-02 -1.45546521e-04 9.99756689e-01 8.56006255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91925415400001 meters 0.014923242418034853 Centerline is valid? [True, True] Translation: X:132.80, Y:1.00, Z:0.86 [[ 9.99568000e-01 -1.88032896e-02 -2.25887037e-02 1.32802011e+02] [ 1.88035095e-02 9.99823178e-01 -2.02681425e-04 9.95158280e-01] [ 2.25885206e-02 -2.22153039e-04 9.99744822e-01 8.56128691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97925415400002 meters 0.015716146031566954 Centerline is valid? [True, True] Translation: X:132.86, Y:0.99, Z:0.86 [[ 9.99528553e-01 -2.14619800e-02 -2.19557757e-02 1.32859740e+02] [ 2.14627639e-02 9.99769628e-01 -1.99966598e-04 9.92348787e-01] [ 2.19550094e-02 -2.71359305e-04 9.99758923e-01 8.55291194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters 0.017125700618193164 Centerline is valid? [True, True] Translation: X:132.92, Y:0.99, Z:0.86 [[ 9.99458713e-01 -2.61615593e-02 -1.99462719e-02 1.32917476e+02] [ 2.61631090e-02 9.99657670e-01 -1.83302803e-04 9.86887969e-01] [ 1.99442392e-02 -3.38652902e-04 9.99801037e-01 8.56273391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters 0.0170803607790736 Centerline is valid? [True, True] Translation: X:132.98, Y:0.99, Z:0.86 [[ 9.99382062e-01 -2.96579424e-02 -1.88653530e-02 1.32976128e+02] [ 2.96598850e-02 9.99560033e-01 -1.76880577e-04 9.85185081e-01] [ 1.88622988e-02 -3.82772923e-04 9.99822018e-01 8.58576851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters 0.018764053164749342 Centerline is valid? [True, True] Translation: X:133.04, Y:0.98, Z:0.86 [[ 9.99225165e-01 -3.48290566e-02 -1.83304854e-02 1.33036115e+02] [ 3.48317232e-02 9.99393176e-01 -1.73870914e-04 9.78881151e-01] [ 1.83254178e-02 -4.64746203e-04 9.99831967e-01 8.58837225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters 0.02019013729227549 Centerline is valid? [True, True] Translation: X:133.10, Y:0.97, Z:0.86 [[ 9.99088441e-01 -3.87559461e-02 -1.78958873e-02 1.33096984e+02] [ 3.87591130e-02 9.99248569e-01 -1.69977284e-04 9.73772843e-01] [ 1.78890274e-02 -5.23806379e-04 9.99839841e-01 8.58848889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters 0.022965254685607006 Centerline is valid? [True, True] Translation: X:133.16, Y:0.97, Z:0.86 [[ 9.98892118e-01 -4.37381329e-02 -1.73641334e-02 1.33157431e+02] [ 4.37418693e-02 9.99042853e-01 -1.64743163e-04 9.65903189e-01] [ 1.73547189e-02 -5.94979005e-04 9.99849218e-01 8.57812197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters 0.02554635791625009 Centerline is valid? [True, True] Translation: X:133.22, Y:0.96, Z:0.86 [[ 9.98684831e-01 -4.76039439e-02 -1.90387325e-02 1.33217465e+02] [ 4.76091398e-02 9.98866026e-01 -1.80504300e-04 9.59907396e-01] [ 1.90257358e-02 -7.26150770e-04 9.99818731e-01 8.55055446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399254154 meters 0.022855205654854355 Centerline is valid? [True, True] Translation: X:133.28, Y:0.96, Z:0.86 [[ 9.98610456e-01 -4.88977344e-02 -1.96511868e-02 1.33278464e+02] [ 4.89035293e-02 9.98803489e-01 -1.85844925e-04 9.63141981e-01] [ 1.96367613e-02 -7.75425703e-04 9.99806880e-01 8.55613042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459254154 meters 0.0239091959966314 Centerline is valid? [True, True] Translation: X:133.34, Y:0.96, Z:0.86 [[ 9.98610585e-01 -4.89260900e-02 -1.95738912e-02 1.33340078e+02] [ 4.89318630e-02 9.98802102e-01 -1.84184920e-04 9.62097648e-01] [ 1.95594551e-02 -7.73857952e-04 9.99808396e-01 8.55226536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519254154 meters 0.023762772904984117 Centerline is valid? [True, True] Translation: X:133.40, Y:0.96, Z:0.86 [[ 9.98653648e-01 -4.82332052e-02 -1.90905756e-02 1.33401380e+02] [ 4.82385851e-02 9.98835826e-01 -1.78851440e-04 9.63239625e-01] [ 1.90769774e-02 -7.42291711e-04 9.99817742e-01 8.55767290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579254154 meters 0.0246961948433928 Centerline is valid? [True, True] Translation: X:133.46, Y:0.96, Z:0.86 [[ 9.98671773e-01 -4.83191524e-02 -1.78871205e-02 1.33462041e+02] [ 4.83238963e-02 9.98831704e-01 -1.67162183e-04 9.63229418e-01] [ 1.78743002e-02 -6.97435203e-04 9.99839999e-01 8.55992645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639254154 meters 0.02542205734002614 Centerline is valid? [True, True] Translation: X:133.52, Y:0.96, Z:0.86 [[ 9.98647053e-01 -4.92610028e-02 -1.66558656e-02 1.33522956e+02] [ 4.92652543e-02 9.98785718e-01 -1.55206227e-04 9.63100236e-01] [ 1.66432863e-02 -6.65559213e-04 9.99861269e-01 8.56403529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69925415400002 meters 0.022997817847252012 Centerline is valid? [True, True] Translation: X:133.59, Y:0.97, Z:0.86 [[ 9.98562697e-01 -5.11215994e-02 -1.60972909e-02 1.33585386e+02] [ 5.11258264e-02 9.98692209e-01 -1.49089233e-04 9.67705875e-01] [ 1.60838607e-02 -6.74112354e-04 9.99870419e-01 8.58224032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75925415400002 meters 0.025758994557055877 Centerline is valid? [True, True] Translation: X:133.65, Y:0.96, Z:0.86 [[ 9.98479573e-01 -5.26496389e-02 -1.63265840e-02 1.33646371e+02] [ 5.26542157e-02 9.98612793e-01 -1.49706827e-04 9.64621603e-01] [ 1.63118177e-02 -7.10184266e-04 9.99866701e-01 8.56977468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters 0.025833860319417146 Centerline is valid? [True, True] Translation: X:133.71, Y:0.97, Z:0.86 [[ 9.98508426e-01 -5.20179500e-02 -1.65848374e-02 1.33708135e+02] [ 5.20226090e-02 9.98645896e-01 -1.50670569e-04 9.66315322e-01] [ 1.65702174e-02 -7.12340680e-04 9.99862451e-01 8.57255014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters 0.02155836657499068 Centerline is valid? [True, True] Translation: X:133.77, Y:0.98, Z:0.86 [[ 9.98727789e-01 -4.80543596e-02 -1.52833886e-02 1.33768759e+02] [ 4.80578616e-02 9.98844544e-01 -1.38256353e-04 9.76329884e-01] [ 1.52723731e-02 -5.96406510e-04 9.99883193e-01 8.60031460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters 0.019862628224347617 Centerline is valid? [True, True] Translation: X:133.83, Y:0.98, Z:0.86 [[ 9.98969954e-01 -4.31494396e-02 -1.40412500e-02 1.33829377e+02] [ 4.31519149e-02 9.99068514e-01 -1.26770560e-04 9.82224094e-01] [ 1.40336409e-02 -4.79266845e-04 9.99901409e-01 8.61543154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters 0.01737291073857301 Centerline is valid? [True, True] Translation: X:133.89, Y:0.99, Z:0.86 [[ 9.99321170e-01 -3.43562263e-02 -1.32984893e-02 1.33889544e+02] [ 3.43576710e-02 9.99409594e-01 -1.19879281e-04 9.91688135e-01] [ 1.32947564e-02 -3.37107219e-04 9.99911564e-01 8.62251589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters 0.016258043756789787 Centerline is valid? [True, True] Translation: X:133.95, Y:1.00, Z:0.86 [[ 9.99477539e-01 -2.94173475e-02 -1.33890998e-02 1.33951143e+02] [ 2.94183749e-02 9.99567179e-01 -1.20254124e-04 9.97390746e-01] [ 1.33868423e-02 -2.73694262e-04 9.99910355e-01 8.62569170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119254154 meters 0.015701941984619203 Centerline is valid? [True, True] Translation: X:134.01, Y:1.00, Z:0.86 [[ 9.99554228e-01 -2.62973505e-02 -1.41348951e-02 1.34012409e+02] [ 2.62981932e-02 9.99654135e-01 -1.26283075e-04 1.00226355e+00] [ 1.41333272e-02 -2.45495419e-04 9.99900089e-01 8.62035770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179254154 meters 0.015766765667962555 Centerline is valid? [True, True] Translation: X:134.07, Y:1.00, Z:0.86 [[ 9.99538385e-01 -2.67440898e-02 -1.44142276e-02 1.34073655e+02] [ 2.67450203e-02 9.99642280e-01 -1.28241427e-04 1.00295601e+00] [ 1.44125011e-02 -2.57326581e-04 9.99896101e-01 8.62252809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239254154 meters 0.017089154259163 Centerline is valid? [True, True] Translation: X:134.13, Y:1.00, Z:0.86 [[ 9.99384783e-01 -3.20146037e-02 -1.43220074e-02 1.34133987e+02] [ 3.20160667e-02 9.99487346e-01 -1.27174738e-04 9.99810109e-01] [ 1.43187366e-02 -3.31437845e-04 9.99897427e-01 8.61634186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299254154 meters 0.018985218792864314 Centerline is valid? [True, True] Translation: X:134.19, Y:1.00, Z:0.86 [[ 9.99192903e-01 -3.73081473e-02 -1.48877653e-02 1.34193920e+02] [ 3.73103229e-02 9.99303719e-01 -1.31690340e-04 9.95617420e-01] [ 1.48823123e-02 -4.23883276e-04 9.99889162e-01 8.61251531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359254154 meters 0.021372081829059274 Centerline is valid? [True, True] Translation: X:134.25, Y:0.99, Z:0.86 [[ 9.98955628e-01 -4.33350198e-02 -1.44820531e-02 1.34254917e+02] [ 4.33377188e-02 9.99060472e-01 -1.27558029e-04 9.91442361e-01] [ 1.44739745e-02 -5.00194334e-04 9.99895121e-01 8.61573398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41925415400001 meters 0.026273783116633562 Centerline is valid? [True, True] Translation: X:134.32, Y:0.98, Z:0.86 [[ 9.98536780e-01 -5.24368622e-02 -1.32164594e-02 1.34315361e+02] [ 5.24399077e-02 9.98624075e-01 -1.16248305e-04 9.84629631e-01] [ 1.32043702e-02 -5.76991701e-04 9.99912652e-01 8.62571372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47925415400002 meters 0.031621759354605886 Centerline is valid? [True, True] Translation: X:134.38, Y:0.98, Z:0.86 [[ 9.98093314e-01 -6.04170380e-02 -1.26300714e-02 1.34375380e+02] [ 6.04204579e-02 9.98173009e-01 -1.10974082e-04 9.78074627e-01] [ 1.26137011e-02 -6.52352207e-04 9.99920231e-01 8.64187405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters 0.027501106249923093 Centerline is valid? [True, True] Translation: X:134.44, Y:0.99, Z:0.87 [[ 9.97865382e-01 -6.41087112e-02 -1.24399661e-02 1.34436036e+02] [ 6.41123186e-02 9.97942683e-01 -1.09002494e-04 9.85773734e-01] [ 1.24213612e-02 -6.88785254e-04 9.99922615e-01 8.66458526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters 0.03389352843069028 Centerline is valid? [True, True] Translation: X:134.50, Y:0.98, Z:0.87 [[ 9.97737953e-01 -6.61380919e-02 -1.20303466e-02 1.34497493e+02] [ 6.61416192e-02 9.97810240e-01 -1.04861693e-04 9.78788940e-01] [ 1.20109384e-02 -6.91082111e-04 9.99927627e-01 8.66104984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters 0.03250394431171433 Centerline is valid? [True, True] Translation: X:134.56, Y:0.98, Z:0.87 [[ 9.97702287e-01 -6.65848106e-02 -1.25144028e-02 1.34559349e+02] [ 6.65886725e-02 9.97780505e-01 -1.08288841e-04 9.82667031e-01] [ 1.24938375e-02 -7.25277444e-04 9.99921686e-01 8.66292636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters 0.02858154265993358 Centerline is valid? [True, True] Translation: X:134.62, Y:0.99, Z:0.87 [[ 9.97759838e-01 -6.53059258e-02 -1.45065977e-02 1.34621242e+02] [ 6.53109969e-02 9.97864950e-01 -1.24401820e-04 9.90807100e-01] [ 1.44837495e-02 -8.23317216e-04 9.99894766e-01 8.65757171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters 0.027251640618269797 Centerline is valid? [True, True] Translation: X:134.68, Y:1.00, Z:0.87 [[ 9.97861324e-01 -6.35577582e-02 -1.52705519e-02 1.34682236e+02] [ 6.35631864e-02 9.97977808e-01 -1.30111701e-04 9.95811013e-01] [ 1.52479416e-02 -8.40811505e-04 9.99883390e-01 8.65642478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters 0.025920886199604226 Centerline is valid? [True, True] Translation: X:134.74, Y:1.00, Z:0.87 [[ 9.98030531e-01 -6.07833384e-02 -1.55062952e-02 1.34744103e+02] [ 6.07886131e-02 9.98150654e-01 -1.31372773e-04 1.00088712e+00] [ 1.54856040e-02 -8.11492142e-04 9.99879762e-01 8.66536525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899254154 meters 0.023733118558572526 Centerline is valid? [True, True] Translation: X:134.80, Y:1.01, Z:0.87 [[ 9.98450476e-01 -5.37079954e-02 -1.45636036e-02 1.34804500e+02] [ 5.37119021e-02 9.98556466e-01 -1.23035974e-04 1.00931349e+00] [ 1.45491885e-02 -6.59393523e-04 9.99893938e-01 8.68441342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959254154 meters 0.020280734892155487 Centerline is valid? [True, True] Translation: X:134.87, Y:1.02, Z:0.87 [[ 9.98954314e-01 -4.37374777e-02 -1.33158456e-02 1.34865103e+02] [ 4.37398597e-02 9.99042948e-01 -1.12429958e-04 1.02060306e+00] [ 1.33080190e-02 -4.70120827e-04 9.99911334e-01 8.70087724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019254154 meters 0.01824450606783748 Centerline is valid? [True, True] Translation: X:134.93, Y:1.03, Z:0.87 [[ 9.99235458e-01 -3.68149824e-02 -1.31588714e-02 1.34925865e+02] [ 3.68167113e-02 9.99322029e-01 -1.10917775e-04 1.02768641e+00] [ 1.31540335e-02 -3.73633394e-04 9.99913412e-01 8.70643010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079254154 meters 0.016447634205291137 Centerline is valid? [True, True] Translation: X:134.99, Y:1.03, Z:0.87 [[ 9.99516534e-01 -2.80480591e-02 -1.34165846e-02 1.34985967e+02] [ 2.80490685e-02 9.99606541e-01 -1.12963398e-04 1.03458075e+00] [ 1.34144741e-02 -2.63413917e-04 9.99909987e-01 8.70167043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139254154 meters 0.015586169458657114 Centerline is valid? [True, True] Translation: X:135.05, Y:1.04, Z:0.87 [[ 9.99593708e-01 -2.43945460e-02 -1.47419526e-02 1.35047539e+02] [ 2.43953719e-02 9.99702381e-01 -1.23830016e-04 1.03914401e+00] [ 1.47405859e-02 -2.35855712e-04 9.99891324e-01 8.69970751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19925415400002 meters 0.015095834346233482 Centerline is valid? [True, True] Translation: X:135.11, Y:1.04, Z:0.87 [[ 9.99622854e-01 -2.17853605e-02 -1.67196670e-02 1.35107776e+02] [ 2.17860626e-02 9.99762646e-01 -1.40165212e-04 1.04225007e+00] [ 1.67187520e-02 -2.24143363e-04 9.99860207e-01 8.69105111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25925415400002 meters 0.015123299346184926 Centerline is valid? [True, True] Translation: X:135.17, Y:1.04, Z:0.87 [[ 9.99616118e-01 -2.18012568e-02 -1.70974087e-02 1.35167442e+02] [ 2.18019868e-02 9.99762298e-01 -1.43715025e-04 1.04273756e+00] [ 1.70964778e-02 -2.29097625e-04 9.99853818e-01 8.69537830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters 0.015375040000924777 Centerline is valid? [True, True] Translation: X:135.23, Y:1.04, Z:0.87 [[ 9.99594279e-01 -2.32096123e-02 -1.65103616e-02 1.35226988e+02] [ 2.32104752e-02 9.99730591e-01 -1.39382889e-04 1.04226449e+00] [ 1.65091486e-02 -2.43887000e-04 9.99863685e-01 8.71163840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters 0.016775771517909096 Centerline is valid? [True, True] Translation: X:135.29, Y:1.04, Z:0.87 [[ 9.99549866e-01 -2.50909753e-02 -1.64471515e-02 1.35286540e+02] [ 2.50920762e-02 9.99685135e-01 -1.39452909e-04 1.04008798e+00] [ 1.64454718e-02 -2.73303041e-04 9.99864727e-01 8.71319167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters 0.01674803945775364 Centerline is valid? [True, True] Translation: X:135.35, Y:1.04, Z:0.87 [[ 9.99398517e-01 -3.06165350e-02 -1.62859172e-02 1.35346737e+02] [ 3.06183408e-02 9.99531139e-01 -1.38505257e-04 1.03634562e+00] [ 1.62825219e-02 -3.60225814e-04 9.99867366e-01 8.72486184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters 0.019042510966584745 Centerline is valid? [True, True] Translation: X:135.41, Y:1.03, Z:0.87 [[ 9.99226205e-01 -3.54431799e-02 -1.70520459e-02 1.35407428e+02] [ 3.54458629e-02 9.99371587e-01 -1.44962772e-04 1.03120712e+00] [ 1.70464682e-02 -4.59573882e-04 9.99854593e-01 8.72013809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters 0.021104510573444705 Centerline is valid? [True, True] Translation: X:135.47, Y:1.02, Z:0.87 [[ 9.98900529e-01 -4.38079896e-02 -1.66911243e-02 1.35468411e+02] [ 4.38117289e-02 9.99039795e-01 -1.41736995e-04 1.02469336e+00] [ 1.66813066e-02 -5.89685853e-04 9.99860683e-01 8.72730380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619254154 meters 0.024263015979112346 Centerline is valid? [True, True] Translation: X:135.53, Y:1.02, Z:0.87 [[ 9.98645706e-01 -4.91216312e-02 -1.71411753e-02 1.35528441e+02] [ 4.91263568e-02 9.98792561e-01 -1.45532289e-04 1.01813326e+00] [ 1.71276271e-02 -6.96748296e-04 9.99853069e-01 8.71914340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679254154 meters 0.023695752848632092 Centerline is valid? [True, True] Translation: X:135.59, Y:1.02, Z:0.87 [[ 9.98327859e-01 -5.46755256e-02 -1.87635799e-02 1.35588694e+02] [ 5.46821682e-02 9.98503798e-01 -1.59250604e-04 1.01913497e+00] [ 1.87442130e-02 -8.67048919e-04 9.99823936e-01 8.71789949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739254154 meters 0.024879041421572674 Centerline is valid? [True, True] Translation: X:135.65, Y:1.02, Z:0.87 [[ 9.98215031e-01 -5.64034135e-02 -1.96317860e-02 1.35651140e+02] [ 5.64110379e-02 9.98407616e-01 -1.65633443e-04 1.01820654e+00] [ 1.96098669e-02 -9.42111629e-04 9.99807264e-01 8.71621238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799254154 meters 0.026505798457772872 Centerline is valid? [True, True] Translation: X:135.71, Y:1.02, Z:0.87 [[ 9.98258910e-01 -5.56369171e-02 -1.95878049e-02 1.35712261e+02] [ 5.56443835e-02 9.98450638e-01 -1.64066967e-04 1.01647840e+00] [ 1.95665845e-02 -9.26170017e-04 9.99808127e-01 8.71981407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859254154 meters 0.0243760111172635 Centerline is valid? [True, True] Translation: X:135.77, Y:1.02, Z:0.87 [[ 9.98467796e-01 -5.19839708e-02 -1.89664997e-02 1.35772641e+02] [ 5.19903199e-02 9.98647576e-01 -1.58508926e-04 1.02257338e+00] [ 1.89490888e-02 -8.27808328e-04 9.99820107e-01 8.74057974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91925415400001 meters 0.022293438234456803 Centerline is valid? [True, True] Translation: X:135.83, Y:1.03, Z:0.87 [[ 9.98642282e-01 -4.82984517e-02 -1.95154235e-02 1.35834055e+02] [ 4.83044804e-02 9.98832644e-01 -1.62623756e-04 1.02863342e+00] [ 1.95004966e-02 -7.80279434e-04 9.99809543e-01 8.74634449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97925415400002 meters 0.020441043315780977 Centerline is valid? [True, True] Translation: X:135.90, Y:1.03, Z:0.87 [[ 9.98825112e-01 -4.37735366e-02 -2.07911710e-02 1.35895825e+02] [ 4.37794223e-02 9.99041207e-01 -1.72207970e-04 1.03434304e+00] [ 2.07787748e-02 -7.38219812e-04 9.99783825e-01 8.74774514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters 0.020435515934594566 Centerline is valid? [True, True] Translation: X:135.96, Y:1.04, Z:0.87 [[ 9.98927441e-01 -4.10998737e-02 -2.13252702e-02 1.35956240e+02] [ 4.11054711e-02 9.99154797e-01 -1.75984214e-04 1.03587920e+00] [ 2.13144790e-02 -7.00789819e-04 9.99772575e-01 8.74271052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters 0.017137153100985066 Centerline is valid? [True, True] Translation: X:136.02, Y:1.05, Z:0.88 [[ 9.99238896e-01 -3.21936568e-02 -2.20271893e-02 1.36017434e+02] [ 3.21974751e-02 9.99481510e-01 -1.81375197e-04 1.04642029e+00] [ 2.20216075e-02 -5.27982727e-04 9.99757356e-01 8.75996608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters 0.015508074659893477 Centerline is valid? [True, True] Translation: X:136.08, Y:1.06, Z:0.88 [[ 9.99491824e-01 -2.35399807e-02 -2.14933406e-02 1.36077040e+02] [ 2.35416068e-02 9.99722842e-01 -1.77396645e-04 1.05564987e+00] [ 2.14915594e-02 -3.28681276e-04 9.99768976e-01 8.77278139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters 0.0147155678094023 Centerline is valid? [True, True] Translation: X:136.14, Y:1.06, Z:0.88 [[ 9.99596850e-01 -1.91912673e-02 -2.09244344e-02 1.36136012e+02] [ 1.91917739e-02 9.99815805e-01 -1.76619238e-04 1.06100846e+00] [ 2.09239698e-02 -2.25028981e-04 9.99781044e-01 8.78665224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters 0.014165276020564393 Centerline is valid? [True, True] Translation: X:136.19, Y:1.07, Z:0.88 [[ 9.99702128e-01 -1.49631736e-02 -1.92810508e-02 1.36194579e+02] [ 1.49627241e-02 9.99888038e-01 -1.67580202e-04 1.06513579e+00] [ 1.92813996e-02 -1.20966759e-04 9.99814089e-01 8.79619803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters 0.014159924898489584 Centerline is valid? [True, True] Translation: X:136.25, Y:1.07, Z:0.88 [[ 9.99763592e-01 -1.28657059e-02 -1.75280955e-02 1.36252026e+02] [ 1.28649674e-02 9.99917231e-01 -1.54889460e-04 1.06688462e+00] [ 1.75286375e-02 -7.06455352e-05 9.99846359e-01 8.80671802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399254154 meters 0.013886995098600691 Centerline is valid? [True, True] Translation: X:136.31, Y:1.07, Z:0.88 [[ 9.99789998e-01 -1.26837956e-02 -1.60960151e-02 1.36310345e+02] [ 1.26831015e-02 9.99919556e-01 -1.45208490e-04 1.06764155e+00] [ 1.60965621e-02 -5.89693969e-05 9.99870440e-01 8.83165376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459254154 meters 0.014026709735247452 Centerline is valid? [True, True] Translation: X:136.37, Y:1.06, Z:0.88 [[ 9.99762651e-01 -1.53293785e-02 -1.54807063e-02 1.36368229e+02] [ 1.53289878e-02 9.99882494e-01 -1.43906545e-04 1.06453614e+00] [ 1.54810932e-02 -9.34311689e-05 9.99880156e-01 8.83177103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519254154 meters 0.014585638467006544 Centerline is valid? [True, True] Translation: X:136.43, Y:1.06, Z:0.88 [[ 9.99631822e-01 -2.16115456e-02 -1.64061401e-02 1.36427322e+02] [ 2.16119065e-02 9.99766423e-01 -1.55315633e-04 1.05749032e+00] [ 1.64056646e-02 -1.99309517e-04 9.99865398e-01 8.81399445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579254154 meters 0.01623653606918656 Centerline is valid? [True, True] Translation: X:136.49, Y:1.05, Z:0.88 [[ 9.99523761e-01 -2.58937585e-02 -1.67858575e-02 1.36486096e+02] [ 2.58947224e-02 9.99664663e-01 -1.59956435e-04 1.05223529e+00] [ 1.67843705e-02 -2.74784863e-04 9.99859095e-01 8.79874722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639254154 meters 0.01629871941994559 Centerline is valid? [True, True] Translation: X:136.55, Y:1.05, Z:0.88 [[ 9.99390493e-01 -3.04814820e-02 -1.70153679e-02 1.36546642e+02] [ 3.04831308e-02 9.99535268e-01 -1.62510918e-04 1.04914907e+00] [ 1.70124139e-02 -3.56269820e-04 9.99855215e-01 8.80928868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69925415400002 meters 0.018059925128081897 Centerline is valid? [True, True] Translation: X:136.61, Y:1.04, Z:0.88 [[ 9.99194001e-01 -3.67870435e-02 -1.60642879e-02 1.36607839e+02] [ 3.67893300e-02 9.99323032e-01 -1.53257147e-04 1.04274284e+00] [ 1.60590507e-02 -4.37860765e-04 9.99870949e-01 8.81550927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75925415400002 meters 0.01892285963376922 Centerline is valid? [True, True] Translation: X:136.67, Y:1.04, Z:0.88 [[ 9.98966292e-01 -4.28889777e-02 -1.50626462e-02 1.36669175e+02] [ 4.28916872e-02 9.99079718e-01 -1.43273387e-04 1.03995046e+00] [ 1.50549291e-02 -5.02937024e-04 9.99886542e-01 8.83180926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters 0.020222020441342272 Centerline is valid? [True, True] Translation: X:136.73, Y:1.04, Z:0.88 [[ 9.98814778e-01 -4.65060222e-02 -1.43606997e-02 1.36730716e+02] [ 4.65088678e-02 9.98917868e-01 -1.35932717e-04 1.03740005e+00] [ 1.43514812e-02 -5.32128278e-04 9.99896871e-01 8.83640517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters 0.02742195036983227 Centerline is valid? [True, True] Translation: X:136.79, Y:1.03, Z:0.88 [[ 9.98513711e-01 -5.28848391e-02 -1.31743026e-02 1.36790643e+02] [ 5.28877913e-02 9.98600454e-01 -1.24451273e-04 1.02503751e+00] [ 1.31624462e-02 -5.72493464e-04 9.99913207e-01 8.82972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters 0.024568179896930276 Centerline is valid? [True, True] Translation: X:136.85, Y:1.03, Z:0.88 [[ 9.98275421e-01 -5.71437810e-02 -1.34451554e-02 1.36851489e+02] [ 5.71472416e-02 9.98365753e-01 -1.26980831e-04 1.02825664e+00] [ 1.34304388e-02 -6.41591700e-04 9.99909602e-01 8.83578149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters 0.02723155391527905 Centerline is valid? [True, True] Translation: X:136.91, Y:1.03, Z:0.88 [[ 9.97979590e-01 -6.19346907e-02 -1.41715021e-02 1.36912496e+02] [ 6.19390194e-02 9.98079927e-01 -1.33673486e-04 1.02502477e+00] [ 1.41525709e-02 -7.44365535e-04 9.99899570e-01 8.83268658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters 0.02795023852105952 Centerline is valid? [True, True] Translation: X:136.97, Y:1.03, Z:0.88 [[ 9.97868679e-01 -6.35161705e-02 -1.49597826e-02 1.36974929e+02] [ 6.35211810e-02 9.97980481e-01 -1.40470301e-04 1.02561804e+00] [ 1.49384932e-02 -8.10092144e-04 9.99888086e-01 8.83044680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119254154 meters 0.02908726483465992 Centerline is valid? [True, True] Translation: X:137.04, Y:1.03, Z:0.88 [[ 9.97915659e-01 -6.25419105e-02 -1.59011350e-02 1.37036132e+02] [ 6.25474644e-02 9.98041979e-01 -1.48289842e-04 1.02627213e+00] [ 1.58792746e-02 -8.46594918e-04 9.99873558e-01 8.83161595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179254154 meters 0.02884905513336763 Centerline is valid? [True, True] Translation: X:137.10, Y:1.03, Z:0.88 [[ 9.98087753e-01 -5.97060197e-02 -1.60009073e-02 1.37097446e+02] [ 5.97112912e-02 9.98215678e-01 -1.48526188e-04 1.02976547e+00] [ 1.59812244e-02 -8.07192663e-04 9.99871966e-01 8.83484871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239254154 meters 0.02647648920524176 Centerline is valid? [True, True] Translation: X:137.16, Y:1.04, Z:0.88 [[ 9.98460062e-01 -5.29572023e-02 -1.65239313e-02 1.37158269e+02] [ 5.29619058e-02 9.98596522e-01 -1.53123475e-04 1.03845212e+00] [ 1.65088493e-02 -7.22251219e-04 9.99863459e-01 8.83731888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299254154 meters 0.021738315811635177 Centerline is valid? [True, True] Translation: X:137.22, Y:1.05, Z:0.89 [[ 9.98733842e-01 -4.74029164e-02 -1.68426883e-02 1.37219016e+02] [ 4.74070179e-02 9.98875643e-01 -1.55884513e-04 1.05001967e+00] [ 1.68311405e-02 -6.42774488e-04 9.99858140e-01 8.85610786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359254154 meters 0.01945502111824411 Centerline is valid? [True, True] Translation: X:137.28, Y:1.06, Z:0.89 [[ 9.99115029e-01 -3.88824228e-02 -1.60410994e-02 1.37278650e+02] [ 3.88850452e-02 9.99243680e-01 -1.48508866e-04 1.05934048e+00] [ 1.60347416e-02 -4.75381435e-04 9.99871322e-01 8.87444096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41925415400001 meters 0.016818995559451277 Centerline is valid? [True, True] Translation: X:137.34, Y:1.07, Z:0.89 [[ 9.99310000e-01 -3.40472293e-02 -1.48428208e-02 1.37340076e+02] [ 3.40489444e-02 9.99420157e-01 -1.37216344e-04 1.06800050e+00] [ 1.48388862e-02 -3.68260716e-04 9.99889830e-01 8.90406493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47925415400002 meters 0.01574066198015097 Centerline is valid? [True, True] Translation: X:137.40, Y:1.07, Z:0.89 [[ 9.99511308e-01 -2.79532151e-02 -1.39915397e-02 1.37401285e+02] [ 2.79541492e-02 9.99609198e-01 -1.28840841e-04 1.07462493e+00] [ 1.39896733e-02 -2.62343711e-04 9.99902105e-01 8.92032532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters 0.015186169089630752 Centerline is valid? [True, True] Translation: X:137.46, Y:1.08, Z:0.89 [[ 9.99582397e-01 -2.53276045e-02 -1.39120156e-02 1.37462833e+02] [ 2.53282809e-02 9.99679179e-01 -1.27596293e-04 1.07817005e+00] [ 1.39107841e-02 -2.24824431e-04 9.99903215e-01 8.92419601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters 0.014629522541080096 Centerline is valid? [True, True] Translation: X:137.52, Y:1.08, Z:0.89 [[ 9.99683302e-01 -1.98320683e-02 -1.54914238e-02 1.37524400e+02] [ 1.98322566e-02 9.99803311e-01 -1.41486181e-04 1.08251025e+00] [ 1.54911827e-02 -1.65788519e-04 9.99879991e-01 8.91634833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters 0.014282205450721008 Centerline is valid? [True, True] Translation: X:137.58, Y:1.09, Z:0.89 [[ 9.99744951e-01 -1.56995673e-02 -1.62344296e-02 1.37584435e+02] [ 1.56992276e-02 9.99876749e-01 -1.48370901e-04 1.08688548e+00] [ 1.62347580e-02 -1.06534946e-04 9.99868202e-01 8.92394129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters 0.014136903369668864 Centerline is valid? [True, True] Translation: X:137.64, Y:1.09, Z:0.89 [[ 9.99805408e-01 -1.05002018e-02 -1.67000763e-02 1.37642167e+02] [ 1.04990907e-02 9.99944871e-01 -1.54207436e-04 1.09154715e+00] [ 1.67007749e-02 -2.11581875e-05 9.99860532e-01 8.92624910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters 0.014133929125969929 Centerline is valid? [True, True] Translation: X:137.70, Y:1.09, Z:0.89 [[ 9.99815434e-01 -8.79048672e-03 -1.70828709e-02 1.37700399e+02] [ 8.78900590e-03 9.99961363e-01 -1.61759916e-04 1.09295788e+00] [ 1.70836328e-02 1.15886076e-05 9.99854064e-01 8.93429063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839254154 meters 0.013997173265591077 Centerline is valid? [True, True] Translation: X:137.76, Y:1.09, Z:0.89 [[ 9.99802032e-01 -9.50670392e-03 -1.74790976e-02 1.37757566e+02] [ 9.50518866e-03 9.99954810e-01 -1.69766784e-04 1.09261787e+00] [ 1.74799217e-02 3.59105525e-06 9.99847214e-01 8.93308556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899254154 meters 0.014003208788490453 Centerline is valid? [True, True] Translation: X:137.82, Y:1.09, Z:0.89 [[ 9.99781638e-01 -1.27154787e-02 -1.65829149e-02 1.37816649e+02] [ 1.27145228e-02 9.99919154e-01 -1.63080292e-04 1.09052575e+00] [ 1.65836479e-02 -4.77991674e-05 9.99862481e-01 8.94539844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959254154 meters 0.014689292857555783 Centerline is valid? [True, True] Translation: X:137.88, Y:1.08, Z:0.90 [[ 9.99620513e-01 -2.24745181e-02 -1.59287561e-02 1.37875910e+02] [ 2.24748565e-02 9.99747396e-01 -1.57785392e-04 1.08221995e+00] [ 1.59282785e-02 -2.00270992e-04 9.99873117e-01 8.95374703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019254154 meters 0.015282967149462444 Centerline is valid? [True, True] Translation: X:137.94, Y:1.08, Z:0.90 [[ 9.99514924e-01 -2.67840619e-02 -1.58912291e-02 1.37936150e+02] [ 2.67849355e-02 9.99641207e-01 -1.57899603e-04 1.07937983e+00] [ 1.58897567e-02 -2.67822539e-04 9.99873714e-01 8.95925528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079254154 meters 0.01702566122543784 Centerline is valid? [True, True] Translation: X:138.00, Y:1.07, Z:0.90 [[ 9.99240050e-01 -3.54256188e-02 -1.62587788e-02 1.37997092e+02] [ 3.54276791e-02 9.99372230e-01 -1.61375025e-04 1.07183450e+00] [ 1.62542888e-02 -4.14758411e-04 9.99867804e-01 8.95712341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139254154 meters 0.021018298289700386 Centerline is valid? [True, True] Translation: X:138.06, Y:1.06, Z:0.90 [[ 9.98748586e-01 -4.73824516e-02 -1.60051649e-02 1.38058404e+02] [ 4.73859871e-02 9.98876641e-01 -1.58477469e-04 1.05967669e+00] [ 1.59946944e-02 -6.00141388e-04 9.99871897e-01 8.95064641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19925415400002 meters 0.024249570525704024 Centerline is valid? [True, True] Translation: X:138.12, Y:1.05, Z:0.90 [[ 9.98384334e-01 -5.48019493e-02 -1.50155916e-02 1.38119413e+02] [ 5.48059015e-02 9.98497016e-01 -1.48470450e-04 1.05037790e+00] [ 1.50011599e-02 -6.74712462e-04 9.99887249e-01 8.95324299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25925415400002 meters 0.023550959003409005 Centerline is valid? [True, True] Translation: X:138.18, Y:1.05, Z:0.90 [[ 9.98315055e-01 -5.60470019e-02 -1.50261146e-02 1.38181423e+02] [ 5.60511101e-02 9.98427890e-01 -1.47926598e-04 1.05032531e+00] [ 1.50107828e-02 -6.94553055e-04 9.99887091e-01 8.95862830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters 0.026217878113320516 Centerline is valid? [True, True] Translation: X:138.24, Y:1.05, Z:0.89 [[ 9.98334153e-01 -5.55037658e-02 -1.57559653e-02 1.38243193e+02] [ 5.55082341e-02 9.98458218e-01 -1.53921860e-04 1.04592163e+00] [ 1.57402163e-02 -7.20920361e-04 9.99875855e-01 8.94936437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters 0.0234823280253094 Centerline is valid? [True, True] Translation: X:138.31, Y:1.05, Z:0.90 [[ 9.98402430e-01 -5.41682127e-02 -1.60746162e-02 1.38305358e+02] [ 5.41727101e-02 9.98531568e-01 -1.55839137e-04 1.04994461e+00] [ 1.60594532e-02 -7.15215347e-04 9.99870783e-01 8.95567001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters 0.025334356496559737 Centerline is valid? [True, True] Translation: X:138.37, Y:1.05, Z:0.90 [[ 9.98468294e-01 -5.28425620e-02 -1.63929971e-02 1.38366703e+02] [ 5.28470779e-02 9.98602604e-01 -1.57890170e-04 1.04673141e+00] [ 1.63784329e-02 -7.08673665e-04 9.99865613e-01 8.95241277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters 0.023018989011469496 Centerline is valid? [True, True] Translation: X:138.43, Y:1.05, Z:0.90 [[ 9.98501284e-01 -5.22840874e-02 -1.61728020e-02 1.38429228e+02] [ 5.22884268e-02 9.98632013e-01 -1.54711754e-04 1.05063559e+00] [ 1.61587668e-02 -6.91170490e-04 9.99869200e-01 8.96191799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters 0.022963270938542994 Centerline is valid? [True, True] Translation: X:138.49, Y:1.05, Z:0.90 [[ 9.98427708e-01 -5.28395143e-02 -1.87109118e-02 1.38490918e+02] [ 5.28454435e-02 9.98602688e-01 -1.77756202e-04 1.05135246e+00] [ 1.86941593e-02 -8.11309713e-04 9.99824920e-01 8.95510341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619254154 meters 0.02412039073207395 Centerline is valid? [True, True] Translation: X:138.55, Y:1.05, Z:0.90 [[ 9.98353130e-01 -5.40110771e-02 -1.93347314e-02 1.38552781e+02] [ 5.40176528e-02 9.98539964e-01 -1.82377747e-04 1.04987757e+00] [ 1.93163524e-02 -8.62339411e-04 9.99813050e-01 8.95031579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679254154 meters 0.02467198860188371 Centerline is valid? [True, True] Translation: X:138.61, Y:1.05, Z:0.90 [[ 9.98289423e-01 -5.51887603e-02 -1.92984161e-02 1.38614683e+02] [ 5.51955580e-02 9.98475547e-01 -1.80629064e-04 1.05013664e+00] [ 1.92789653e-02 -8.84866763e-04 9.99813752e-01 8.96177632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739254154 meters 0.02410768071592021 Centerline is valid? [True, True] Translation: X:138.68, Y:1.05, Z:0.90 [[ 9.98368206e-01 -5.42400977e-02 -1.78588235e-02 1.38676942e+02] [ 5.42457900e-02 9.98527599e-01 -1.65885188e-04 1.05290024e+00] [ 1.78415258e-02 -8.03151494e-04 9.99840505e-01 8.98736721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799254154 meters 0.020717413939142844 Centerline is valid? [True, True] Translation: X:138.74, Y:1.06, Z:0.90 [[ 9.98733718e-01 -4.78214494e-02 -1.56227039e-02 1.38737462e+02] [ 4.78250282e-02 9.98855718e-01 -1.44656636e-04 1.06123553e+00] [ 1.56117449e-02 -6.02682796e-04 9.99877948e-01 9.01579167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859254154 meters 0.01874032064281874 Centerline is valid? [True, True] Translation: X:138.80, Y:1.07, Z:0.90 [[ 9.98997916e-01 -4.21910458e-02 -1.49358242e-02 1.38798119e+02] [ 4.21936908e-02 9.99109440e-01 -1.38121689e-04 1.06727496e+00] [ 1.49283504e-02 -4.92214269e-04 9.99888445e-01 9.03114526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91925415400001 meters 0.017545129342487708 Centerline is valid? [True, True] Translation: X:138.86, Y:1.07, Z:0.90 [[ 9.99220534e-01 -3.64410723e-02 -1.51780444e-02 1.38858968e+02] [ 3.64431452e-02 9.99335718e-01 -1.40076617e-04 1.07254820e+00] [ 1.51730664e-02 -4.13168243e-04 9.99884797e-01 9.03336981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97925415400002 meters 0.017503943445975383 Centerline is valid? [True, True] Translation: X:138.92, Y:1.07, Z:0.90 [[ 9.99269935e-01 -3.48563415e-02 -1.56407253e-02 1.38921617e+02] [ 3.48583636e-02 9.99392252e-01 -1.43403475e-04 1.07356185e+00] [ 1.56362182e-02 -4.01911309e-04 9.99877666e-01 9.02300250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters 0.01826810659918093 Centerline is valid? [True, True] Translation: X:138.98, Y:1.07, Z:0.90 [[ 9.99180316e-01 -3.61621190e-02 -1.81933134e-02 1.38983609e+02] [ 3.61650995e-02 9.99345815e-01 -1.65265793e-04 1.07245952e+00] [ 1.81873880e-02 -4.92832662e-04 9.99834474e-01 9.00589040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters 0.019812395321904586 Centerline is valid? [True, True] Translation: X:139.04, Y:1.07, Z:0.90 [[ 9.99044885e-01 -3.91551332e-02 -1.93956940e-02 1.39044139e+02] [ 3.91590987e-02 9.99232973e-01 -1.75447751e-04 1.07045100e+00] [ 1.93876867e-02 -5.84237719e-04 9.99811870e-01 8.99660590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters 0.021118327487112735 Centerline is valid? [True, True] Translation: X:139.11, Y:1.07, Z:0.90 [[ 9.98955909e-01 -4.14490009e-02 -1.92112627e-02 1.39105192e+02] [ 4.14533256e-02 9.99140426e-01 -1.73226470e-04 1.06896250e+00] [ 1.92019292e-02 -6.23325121e-04 9.99815432e-01 8.99979356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters 0.021203669492296087 Centerline is valid? [True, True] Translation: X:139.17, Y:1.07, Z:0.90 [[ 9.98862425e-01 -4.40429848e-02 -1.82776253e-02 1.39166291e+02] [ 4.40473446e-02 9.99029431e-01 -1.64172738e-04 1.07065906e+00] [ 1.82671163e-02 -6.41094883e-04 9.99832937e-01 9.01769579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters 0.02255066394052635 Centerline is valid? [True, True] Translation: X:139.23, Y:1.07, Z:0.90 [[ 9.98774246e-01 -4.63148119e-02 -1.74626526e-02 1.39227979e+02] [ 4.63191521e-02 9.98926680e-01 -1.56051540e-04 1.07063033e+00] [ 1.74511371e-02 -6.52995003e-04 9.99847504e-01 9.02389615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339254154 meters 0.024008866728737963 Centerline is valid? [True, True] Translation: X:139.29, Y:1.07, Z:0.90 [[ 9.98598617e-01 -5.00479650e-02 -1.72047457e-02 1.39288780e+02] [ 5.00527402e-02 9.98746564e-01 -1.53209338e-04 1.06996030e+00] [ 1.71908485e-02 -7.08150035e-04 9.99851976e-01 9.03093792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399254154 meters 0.02544427988935291 Centerline is valid? [True, True] Translation: X:139.35, Y:1.07, Z:0.90 [[ 9.98199612e-01 -5.75382258e-02 -1.69377290e-02 1.39349669e+02] [ 5.75439315e-02 9.98342964e-01 -1.50715243e-04 1.06984808e+00] [ 1.69183344e-02 -8.24219618e-04 9.99856535e-01 9.04101295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459254154 meters 0.029484092552839798 Centerline is valid? [True, True] Translation: X:139.41, Y:1.07, Z:0.90 [[ 9.97782419e-01 -6.45220359e-02 -1.63447495e-02 1.39409695e+02] [ 6.45282844e-02 9.97915868e-01 -1.45355530e-04 1.06659370e+00] [ 1.63200635e-02 -9.09665452e-04 9.99866405e-01 9.04303785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519254154 meters 0.036177459223524354 Centerline is valid? [True, True] Translation: X:139.47, Y:1.06, Z:0.90 [[ 9.97600910e-01 -6.73810631e-02 -1.58813226e-02 1.39469788e+02] [ 6.73873240e-02 9.97726881e-01 -1.41177629e-04 1.05911137e+00] [ 1.58547351e-02 -9.29360899e-04 9.99873874e-01 9.03876776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579254154 meters 0.03184418791451158 Centerline is valid? [True, True] Translation: X:139.53, Y:1.07, Z:0.91 [[ 9.97549949e-01 -6.82874204e-02 -1.51962887e-02 1.39531551e+02] [ 6.82932667e-02 9.97665280e-01 -1.34481005e-04 1.06687591e+00] [ 1.51699930e-02 -9.03652680e-04 9.99884521e-01 9.05709524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639254154 meters 0.03248283164005623 Centerline is valid? [True, True] Translation: X:139.59, Y:1.07, Z:0.91 [[ 9.97579462e-01 -6.77922508e-02 -1.54734799e-02 1.39593864e+02] [ 6.77982703e-02 9.97699041e-01 -1.35824833e-04 1.06775477e+00] [ 1.54470839e-02 -9.13579106e-04 9.99880269e-01 9.05271028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69925415400002 meters 0.0327025226981397 Centerline is valid? [True, True] Translation: X:139.66, Y:1.07, Z:0.90 [[ 9.97704487e-01 -6.56812793e-02 -1.64841239e-02 1.39655850e+02] [ 6.56878406e-02 9.97840211e-01 -1.43677182e-04 1.06929430e+00] [ 1.64579585e-02 -9.39459130e-04 9.99864117e-01 9.04150478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters 0.026989217537188148 Centerline is valid? [True, True] Translation: X:139.72, Y:1.08, Z:0.91 [[ 9.97915991e-01 -6.23080819e-02 -1.67742914e-02 1.39716297e+02] [ 6.23144070e-02 9.98056558e-01 -1.45847962e-04 1.07960191e+00] [ 1.67507790e-02 -8.99736006e-04 9.99859291e-01 9.05469492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters 0.02292301668086774 Centerline is valid? [True, True] Translation: X:139.78, Y:1.09, Z:0.91 [[ 9.98410587e-01 -5.38670832e-02 -1.65721746e-02 1.39777227e+02] [ 5.38720991e-02 9.98547834e-01 -1.43923318e-04 1.09120711e+00] [ 1.65558618e-02 -7.49083269e-04 9.99862662e-01 9.07282380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters 0.024182803022531663 Centerline is valid? [True, True] Translation: X:139.84, Y:1.09, Z:0.91 [[ 9.98597370e-01 -5.02345392e-02 -1.67267470e-02 1.39838039e+02] [ 5.02391485e-02 9.98737206e-01 -1.44782149e-04 1.09157044e+00] [ 1.67128976e-02 -6.95758453e-04 9.99860088e-01 9.07408194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters 0.018737464744792598 Centerline is valid? [True, True] Translation: X:139.90, Y:1.10, Z:0.91 [[ 9.98973358e-01 -4.24545941e-02 -1.58062241e-02 1.39898180e+02] [ 4.24577412e-02 9.99098254e-01 -1.36565649e-04 1.10365804e+00] [ 1.57977688e-02 -5.34671127e-04 9.99875065e-01 9.09800955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters 0.015905385669401365 Centerline is valid? [True, True] Translation: X:139.96, Y:1.11, Z:0.91 [[ 9.99392258e-01 -3.10417059e-02 -1.58596204e-02 1.39958863e+02] [ 3.10434381e-02 9.99518027e-01 -1.37011183e-04 1.11255463e+00] [ 1.58562295e-02 -3.55409228e-04 9.99874219e-01 9.10060909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters 0.01453851105380936 Centerline is valid? [True, True] Translation: X:140.02, Y:1.12, Z:0.91 [[ 9.99660314e-01 -2.07221827e-02 -1.58065961e-02 1.40018260e+02] [ 2.07226108e-02 9.99785254e-01 -1.36717727e-04 1.11906681e+00] [ 1.58060347e-02 -1.90882652e-04 9.99875059e-01 9.10403949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119254154 meters 0.01390410633154658 Centerline is valid? [True, True] Translation: X:140.08, Y:1.12, Z:0.91 [[ 9.99783697e-01 -1.42074254e-02 -1.51890712e-02 1.40078068e+02] [ 1.42070689e-02 9.99899066e-01 -1.31377800e-04 1.12262524e+00] [ 1.51894046e-02 -8.44427986e-05 9.99884631e-01 9.11032997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179254154 meters 0.013801900749331141 Centerline is valid? [True, True] Translation: X:140.14, Y:1.13, Z:0.91 [[ 9.99870875e-01 -5.93761379e-03 -1.49324504e-02 1.40136873e+02] [ 5.93631668e-03 9.99982371e-01 -1.31188503e-04 1.12540450e+00] [ 1.49329661e-02 4.25278087e-05 9.99888496e-01 9.12253297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239254154 meters 0.014059702525943884 Centerline is valid? [True, True] Translation: X:140.20, Y:1.13, Z:0.91 [[ 9.99892806e-01 -2.38569357e-03 -1.44459562e-02 1.40195095e+02] [ 2.38407462e-03 9.99997150e-01 -1.29289059e-04 1.12533247e+00] [ 1.44462235e-02 9.48349620e-05 9.99895643e-01 9.12363304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299254154 meters 0.014255972952991892 Centerline is valid? [True, True] Translation: X:140.25, Y:1.12, Z:0.91 [[ 9.99886228e-01 -1.00705669e-03 -1.50504941e-02 1.40254055e+02] [ 1.00510242e-03 9.99999485e-01 -1.37411070e-04 1.12204167e+00] [ 1.50506248e-02 1.22268148e-04 9.99886725e-01 9.11578910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359254154 meters 0.014445896867168361 Centerline is valid? [True, True] Translation: X:140.31, Y:1.12, Z:0.91 [[ 9.99869135e-01 -1.33582326e-03 -1.61222816e-02 1.40313111e+02] [ 1.33358385e-03 9.99999100e-01 -1.49651566e-04 1.11872532e+00] [ 1.61224670e-02 1.28131567e-04 9.99870016e-01 9.10633934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41925415400001 meters 0.014019886940882834 Centerline is valid? [True, True] Translation: X:140.37, Y:1.11, Z:0.91 [[ 9.99847372e-01 -3.10634427e-03 -1.71925149e-02 1.40371080e+02] [ 3.10403106e-03 9.99995169e-01 -1.61230649e-04 1.11185582e+00] [ 1.71929327e-02 1.07839940e-04 9.99852185e-01 9.10415738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47925415400002 meters 0.013931061573295276 Centerline is valid? [True, True] Translation: X:140.43, Y:1.10, Z:0.91 [[ 9.99845451e-01 -6.76940505e-03 -1.62249404e-02 1.40429816e+02] [ 6.76780466e-03 9.99977086e-01 -1.53543067e-04 1.10302543e+00] [ 1.62256081e-02 4.37121093e-05 9.99868355e-01 9.11190133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters 0.013829335315930997 Centerline is valid? [True, True] Translation: X:140.49, Y:1.10, Z:0.91 [[ 9.99825681e-01 -1.06566294e-02 -1.53311331e-02 1.40488293e+02] [ 1.06556408e-02 9.99943216e-01 -1.46175489e-04 1.09568824e+00] [ 1.53318203e-02 -1.72130387e-05 9.99882461e-01 9.11873690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters 0.01405241579018414 Centerline is valid? [True, True] Translation: X:140.55, Y:1.09, Z:0.91 [[ 9.99789344e-01 -1.48454215e-02 -1.41732843e-02 1.40546221e+02] [ 1.48449816e-02 9.99889798e-01 -1.36254022e-04 1.08732539e+00] [ 1.41737451e-02 -7.41768250e-05 9.99899545e-01 9.11853223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters 0.01401021870190654 Centerline is valid? [True, True] Translation: X:140.60, Y:1.08, Z:0.91 [[ 9.99727726e-01 -1.88440656e-02 -1.37613832e-02 1.40604621e+02] [ 1.88439963e-02 9.99822427e-01 -1.34712515e-04 1.07875388e+00] [ 1.37614781e-02 -1.24643619e-04 9.99905299e-01 9.13761624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters 0.014345102994607586 Centerline is valid? [True, True] Translation: X:140.66, Y:1.07, Z:0.91 [[ 9.99707510e-01 -1.87366874e-02 -1.52915264e-02 1.40663707e+02] [ 1.87365548e-02 9.99824444e-01 -1.51947041e-04 1.07048458e+00] [ 1.52916888e-02 -1.34607923e-04 9.99883066e-01 9.11637366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters 0.01406905513660898 Centerline is valid? [True, True] Translation: X:140.72, Y:1.07, Z:0.91 [[ 9.99712114e-01 -1.74180834e-02 -1.65014737e-02 1.40722501e+02] [ 1.74177026e-02 9.99848286e-01 -1.66805441e-04 1.06825478e+00] [ 1.65018757e-02 -1.20660342e-04 9.99863827e-01 9.11766263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839254154 meters 0.013950615354582951 Centerline is valid? [True, True] Translation: X:140.78, Y:1.06, Z:0.91 [[ 9.99747367e-01 -1.49067196e-02 -1.68223706e-02 1.40780177e+02] [ 1.49059225e-02 9.99888886e-01 -1.72774994e-04 1.06432132e+00] [ 1.68230769e-02 -7.80216066e-05 9.99858479e-01 9.11826971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899254154 meters 0.013917657539918585 Centerline is valid? [True, True] Translation: X:140.84, Y:1.06, Z:0.91 [[ 9.99751440e-01 -1.45800224e-02 -1.68665920e-02 1.40838198e+02] [ 1.45791136e-02 9.99893703e-01 -1.76850850e-04 1.06122096e+00] [ 1.68673776e-02 -6.90930676e-05 9.99857733e-01 9.12415038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959254154 meters 0.013966611249909304 Centerline is valid? [True, True] Translation: X:140.90, Y:1.06, Z:0.91 [[ 9.99728990e-01 -1.59460523e-02 -1.69608235e-02 1.40895881e+02] [ 1.59452453e-02 9.99872850e-01 -1.82820638e-04 1.05520159e+00] [ 1.69615822e-02 -8.76733992e-05 9.99856138e-01 9.12198299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019254154 meters 0.014102384208475231 Centerline is valid? [True, True] Translation: X:140.96, Y:1.05, Z:0.91 [[ 9.99697645e-01 -1.75205273e-02 -1.72525037e-02 1.40955018e+02] [ 1.75198450e-02 9.99846498e-01 -1.90702138e-04 1.05217290e+00] [ 1.72531966e-02 -1.11616713e-04 9.99851146e-01 9.12970621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079254154 meters 0.014433218909901674 Centerline is valid? [True, True] Translation: X:141.01, Y:1.05, Z:0.91 [[ 9.99643879e-01 -2.13123776e-02 -1.60591730e-02 1.41014067e+02] [ 2.13122109e-02 9.99772853e-01 -1.81538679e-04 1.04508302e+00] [ 1.60593942e-02 -1.60782452e-04 9.99871027e-01 9.13820669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139254154 meters 0.0149994257261833 Centerline is valid? [True, True] Translation: X:141.07, Y:1.04, Z:0.92 [[ 9.99569695e-01 -2.53892866e-02 -1.46904270e-02 1.41072787e+02] [ 2.53895339e-02 9.99677619e-01 -1.69697606e-04 1.03987610e+00] [ 1.46899996e-02 -2.03358510e-04 9.99892075e-01 9.15206550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19925415400002 meters 0.01721152854046605 Centerline is valid? [True, True] Translation: X:141.13, Y:1.03, Z:0.92 [[ 9.99320925e-01 -3.42888145e-02 -1.34894883e-02 1.41131758e+02] [ 3.42898085e-02 9.99411919e-01 -1.57658486e-04 1.02811318e+00] [ 1.34869613e-02 -3.05000546e-04 9.99909000e-01 9.15866664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters 0.018694388098170974 Centerline is valid? [True, True] Translation: X:141.19, Y:1.02, Z:0.92 [[ 9.99078797e-01 -4.08212226e-02 -1.32357647e-02 1.41192725e+02] [ 4.08227507e-02 9.99166392e-01 -1.54812320e-04 1.02191763e+00] [ 1.32310509e-02 -3.85650619e-04 9.99912391e-01 9.16308233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters 0.021290918835604866 Centerline is valid? [True, True] Translation: X:141.25, Y:1.01, Z:0.92 [[ 9.98634587e-01 -5.06937859e-02 -1.26135204e-02 1.41253753e+02] [ 5.06959616e-02 9.98714122e-01 -1.47398139e-04 1.01201339e+00] [ 1.26047731e-02 -4.92257666e-04 9.99920436e-01 9.16589073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters 0.023199206177527874 Centerline is valid? [True, True] Translation: X:141.31, Y:1.01, Z:0.92 [[ 9.98301678e-01 -5.68556816e-02 -1.26960974e-02 1.41314852e+02] [ 5.68583837e-02 9.98382243e-01 -1.48316690e-04 1.00713481e+00] [ 1.26839908e-02 -5.73814776e-04 9.99919390e-01 9.16989884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters 0.026589082864414287 Centerline is valid? [True, True] Translation: X:141.38, Y:1.00, Z:0.92 [[ 9.97817801e-01 -6.47180315e-02 -1.30847894e-02 1.41375652e+02] [ 6.47215795e-02 9.97903349e-01 -1.52562890e-04 9.99551126e-01] [ 1.30672288e-02 -6.94638271e-04 9.99914379e-01 9.16880427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters 0.0297972692178386 Centerline is valid? [True, True] Translation: X:141.44, Y:0.99, Z:0.92 [[ 9.97530396e-01 -6.89519754e-02 -1.33691303e-02 1.41435412e+02] [ 6.89560615e-02 9.97619686e-01 -1.55634435e-04 9.94770072e-01] [ 1.33480389e-02 -7.66632495e-04 9.99910617e-01 9.16511283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters 0.03247830045224722 Centerline is valid? [True, True] Translation: X:141.50, Y:0.99, Z:0.92 [[ 9.97306887e-01 -7.20012339e-02 -1.39568839e-02 1.41495579e+02] [ 7.20059841e-02 9.97404187e-01 -1.62521993e-04 9.90888922e-01] [ 1.39323562e-02 -8.42894859e-04 9.99902585e-01 9.16167378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619254154 meters 0.02912215007734742 Centerline is valid? [True, True] Translation: X:141.56, Y:1.00, Z:0.92 [[ 9.97310680e-01 -7.20649467e-02 -1.33435461e-02 1.41557379e+02] [ 7.20693008e-02 9.97399615e-01 -1.54882058e-04 9.96466586e-01] [ 1.33200093e-02 -8.07194509e-04 9.99910959e-01 9.17102705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679254154 meters 0.03215718982625836 Centerline is valid? [True, True] Translation: X:141.62, Y:1.00, Z:0.92 [[ 9.97505389e-01 -6.94329219e-02 -1.27305759e-02 1.41618221e+02] [ 6.94366804e-02 9.97586350e-01 -1.47063380e-04 9.95514912e-01] [ 1.27100598e-02 -7.37272419e-04 9.99918952e-01 9.18043022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739254154 meters 0.027402581786192485 Centerline is valid? [True, True] Translation: X:141.68, Y:1.01, Z:0.92 [[ 9.97726198e-01 -6.60745344e-02 -1.32887109e-02 1.41678906e+02] [ 6.60783379e-02 9.97814427e-01 -1.53129424e-04 1.00571438e+00] [ 1.32697854e-02 -7.25314693e-04 9.99911689e-01 9.19096259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799254154 meters 0.02571350080421222 Centerline is valid? [True, True] Translation: X:141.74, Y:1.01, Z:0.92 [[ 9.97986949e-01 -6.19666439e-02 -1.34975558e-02 1.41739200e+02] [ 6.19701948e-02 9.98077988e-01 -1.55409747e-04 1.01217195e+00] [ 1.34812436e-02 -6.81349263e-04 9.99908892e-01 9.19767369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859254154 meters 0.026970759940698124 Centerline is valid? [True, True] Translation: X:141.80, Y:1.01, Z:0.92 [[ 9.98274945e-01 -5.72189846e-02 -1.31575534e-02 1.41798638e+02] [ 5.72219535e-02 9.98361470e-01 -1.51025856e-04 1.01414827e+00] [ 1.31446359e-02 -6.02135578e-04 9.99913424e-01 9.19685355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91925415400001 meters 0.022867984873494934 Centerline is valid? [True, True] Translation: X:141.86, Y:1.02, Z:0.92 [[ 9.98570501e-01 -5.18854593e-02 -1.28395695e-02 1.41859619e+02] [ 5.18878537e-02 9.98652907e-01 -1.46788216e-04 1.02358381e+00] [ 1.28298896e-02 -5.19639321e-04 9.99917559e-01 9.20736556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97925415400002 meters 0.020055608345246414 Centerline is valid? [True, True] Translation: X:141.92, Y:1.04, Z:0.92 [[ 9.99044691e-01 -4.17066462e-02 -1.30483746e-02 1.41920211e+02] [ 4.17082532e-02 9.99129821e-01 -1.49058767e-04 1.03551422e+00] [ 1.30432370e-02 -3.95308544e-04 9.99914855e-01 9.20960967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters 0.016714960335698883 Centerline is valid? [True, True] Translation: X:141.98, Y:1.05, Z:0.92 [[ 9.99462806e-01 -2.95272815e-02 -1.42210881e-02 1.41979112e+02] [ 2.95279559e-02 9.99563942e-01 -1.62587605e-04 1.04925496e+00] [ 1.42196877e-02 -2.57419400e-04 9.99898862e-01 9.20957818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters 0.014831520879180443 Centerline is valid? [True, True] Translation: X:142.04, Y:1.06, Z:0.92 [[ 9.99655594e-01 -2.15098699e-02 -1.50339446e-02 1.42039658e+02] [ 2.15097153e-02 9.99768625e-01 -1.71998102e-04 1.05947442e+00] [ 1.50341657e-02 -1.51437002e-04 9.99886969e-01 9.21685669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters 0.01431663330700803 Centerline is valid? [True, True] Translation: X:142.10, Y:1.07, Z:0.92 [[ 9.99833652e-01 -1.08067518e-02 -1.46929104e-02 1.42099048e+02] [ 1.08054441e-02 9.99941605e-01 -1.68386115e-04 1.06964454e+00] [ 1.46938721e-02 9.59468237e-06 9.99892039e-01 9.22639973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters 0.014348469951284018 Centerline is valid? [True, True] Translation: X:142.16, Y:1.08, Z:0.92 [[ 9.99885575e-01 -6.11951247e-03 -1.38343488e-02 1.42157405e+02] [ 6.11787542e-03 9.99981273e-01 -1.60649872e-04 1.07501709e+00] [ 1.38350728e-02 7.59946673e-05 9.99904288e-01 9.24283133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters 0.014539386385496735 Centerline is valid? [True, True] Translation: X:142.22, Y:1.08, Z:0.92 [[ 9.99902183e-01 -4.21191344e-03 -1.33373273e-02 1.42215320e+02] [ 4.21019138e-03 9.99991125e-01 -1.57190795e-04 1.07824801e+00] [ 1.33378710e-02 1.01022718e-04 9.99911042e-01 9.24834628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339254154 meters 0.014380153679820283 Centerline is valid? [True, True] Translation: X:142.27, Y:1.08, Z:0.92 [[ 9.99881024e-01 -6.51341466e-03 -1.39826287e-02 1.42273823e+02] [ 6.51173048e-03 9.99978785e-01 -1.65973049e-04 1.07786088e+00] [ 1.39834131e-02 7.49021923e-05 9.99902224e-01 9.24724763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399254154 meters 0.01445042839783234 Centerline is valid? [True, True] Translation: X:142.33, Y:1.07, Z:0.92 [[ 9.99792595e-01 -1.40159794e-02 -1.47756078e-02 1.42331384e+02] [ 1.40148997e-02 9.99901771e-01 -1.76622929e-04 1.07329672e+00] [ 1.47766320e-02 -3.04923642e-05 9.99890819e-01 9.24221552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459254154 meters 0.015401056573262748 Centerline is valid? [True, True] Translation: X:142.39, Y:1.06, Z:0.92 [[ 9.99609329e-01 -2.42553855e-02 -1.38876408e-02 1.42391404e+02] [ 2.42554081e-02 9.99705780e-01 -1.66827411e-04 1.06465119e+00] [ 1.38876012e-02 -1.70088160e-04 9.99903548e-01 9.24821740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519254154 meters 0.01617965360905906 Centerline is valid? [True, True] Translation: X:142.45, Y:1.06, Z:0.93 [[ 9.99421847e-01 -3.11490549e-02 -1.36274902e-02 1.42452078e+02] [ 3.11497141e-02 9.99514716e-01 -1.63935791e-04 1.05980044e+00] [ 1.36259835e-02 -2.60651412e-04 9.99907128e-01 9.26004780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579254154 meters 0.018080571752350394 Centerline is valid? [True, True] Translation: X:142.51, Y:1.05, Z:0.93 [[ 9.99092492e-01 -4.04287656e-02 -1.34055087e-02 1.42513440e+02] [ 4.04302397e-02 9.99182351e-01 -1.61140407e-04 1.05329058e+00] [ 1.34010624e-02 -3.80993758e-04 9.99910129e-01 9.26439457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639254154 meters 0.020559135362723868 Centerline is valid? [True, True] Translation: X:142.57, Y:1.05, Z:0.93 [[ 9.98875406e-01 -4.53324159e-02 -1.38887016e-02 1.42574042e+02] [ 4.53344752e-02 9.98971850e-01 -1.66686603e-04 1.04771857e+00] [ 1.38819782e-02 -4.63137851e-04 9.99903533e-01 9.25602960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69925415400002 meters 0.022970162138562445 Centerline is valid? [True, True] Translation: X:142.63, Y:1.04, Z:0.93 [[ 9.98547358e-01 -5.19019436e-02 -1.44693295e-02 1.42634370e+02] [ 5.19048697e-02 9.98652019e-01 -1.73486272e-04 1.04234672e+00] [ 1.44588294e-02 -5.77794403e-04 9.99895299e-01 9.25246272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters 0.023104131705366023 Centerline is valid? [True, True] Translation: X:142.70, Y:1.04, Z:0.93 [[ 9.98313868e-01 -5.63631232e-02 -1.38787602e-02 1.42695512e+02] [ 5.63662503e-02 9.98410145e-01 -1.66063399e-04 1.04241240e+00] [ 1.38660549e-02 -6.16510278e-04 9.99903672e-01 9.26547385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters 0.03097301218878788 Centerline is valid? [True, True] Translation: X:142.76, Y:1.03, Z:0.93 [[ 9.97846830e-01 -6.42079413e-02 -1.33807357e-02 1.42756049e+02] [ 6.42115586e-02 9.97936296e-01 -1.59553592e-04 1.03093141e+00] [ 1.33633665e-02 -6.99987851e-04 9.99910461e-01 9.26490606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters 0.027374085481684445 Centerline is valid? [True, True] Translation: X:142.82, Y:1.04, Z:0.93 [[ 9.97520557e-01 -6.89402351e-02 -1.41414824e-02 1.42816442e+02] [ 6.89447539e-02 9.97620465e-01 -1.68303029e-04 1.03699754e+00] [ 1.41194351e-02 -8.07095296e-04 9.99899990e-01 9.27677334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters 0.03288175766837464 Centerline is valid? [True, True] Translation: X:142.88, Y:1.03, Z:0.93 [[ 9.97241503e-01 -7.25290379e-02 -1.57773087e-02 1.42876299e+02] [ 7.25351108e-02 9.97365842e-01 -1.87738880e-04 1.03238074e+00] [ 1.57493653e-02 -9.57187833e-04 9.99875513e-01 9.26611704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters 0.028457978658892834 Centerline is valid? [True, True] Translation: X:142.94, Y:1.04, Z:0.93 [[ 9.97306884e-01 -7.13873541e-02 -1.68173865e-02 1.42938596e+02] [ 7.13941054e-02 9.97448165e-01 -1.99352712e-04 1.04362150e+00] [ 1.67887026e-02 -1.00184644e-03 9.99858558e-01 9.28739470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters 0.029248424111980902 Centerline is valid? [True, True] Translation: X:143.00, Y:1.05, Z:0.93 [[ 9.97563122e-01 -6.77216130e-02 -1.67809701e-02 1.42998611e+02] [ 6.77278265e-02 9.97703815e-01 -1.98415922e-04 1.04718376e+00] [ 1.67558750e-02 -9.38606228e-04 9.99859170e-01 9.29590372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119254154 meters 0.026160560914870137 Centerline is valid? [True, True] Translation: X:143.06, Y:1.06, Z:0.93 [[ 9.98166634e-01 -5.85097533e-02 -1.54912935e-02 1.43059441e+02] [ 5.85139434e-02 9.98286575e-01 -1.83026511e-04 1.05875878e+00] [ 1.54754591e-02 -7.23765713e-04 9.99879986e-01 9.31908745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179254154 meters 0.022338427968708628 Centerline is valid? [True, True] Translation: X:143.12, Y:1.07, Z:0.93 [[ 9.98587274e-01 -5.09898871e-02 -1.49495112e-02 1.43119865e+02] [ 5.09929493e-02 9.98698998e-01 -1.76521873e-04 1.07025488e+00] [ 1.49390627e-02 -5.86047173e-04 9.99888234e-01 9.34077099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239254154 meters 0.018149503409351102 Centerline is valid? [True, True] Translation: X:143.18, Y:1.08, Z:0.94 [[ 9.99112455e-01 -3.97146636e-02 -1.40373985e-02 1.43179842e+02] [ 3.97162513e-02 9.99210985e-01 -1.65759103e-04 1.08484175e+00] [ 1.40329058e-02 -3.91900863e-04 9.99901457e-01 9.36011866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299254154 meters 0.0172930738745413 Centerline is valid? [True, True] Translation: X:143.24, Y:1.09, Z:0.94 [[ 9.99348953e-01 -3.31964775e-02 -1.41302233e-02 1.43240219e+02] [ 3.31974464e-02 9.99448799e-01 -1.66047931e-04 1.09121588e+00] [ 1.41279469e-02 -3.03147503e-04 9.99900150e-01 9.36011452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359254154 meters 0.015826922298321625 Centerline is valid? [True, True] Translation: X:143.30, Y:1.10, Z:0.94 [[ 9.99495949e-01 -2.79296681e-02 -1.50924270e-02 1.43301927e+02] [ 2.79301920e-02 9.99609861e-01 -1.76104357e-04 1.09861815e+00] [ 1.50914574e-02 -2.45518794e-04 9.99886087e-01 9.36162537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41925415400001 meters 0.016337145981213757 Centerline is valid? [True, True] Translation: X:143.36, Y:1.10, Z:0.93 [[ 9.99609048e-01 -2.22613469e-02 -1.69169627e-02 1.43362390e+02] [ 2.22612038e-02 9.99752169e-01 -1.96792728e-04 1.10435314e+00] [ 1.69171510e-02 -1.79876162e-04 9.99856879e-01 9.34373388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47925415400002 meters 0.01474649530457325 Centerline is valid? [True, True] Translation: X:143.42, Y:1.11, Z:0.94 [[ 9.99639185e-01 -2.11217367e-02 -1.65943436e-02 1.43422457e+02] [ 2.11214379e-02 9.99776899e-01 -1.93285032e-04 1.10703900e+00] [ 1.65947239e-02 -1.57281104e-04 9.99862286e-01 9.36014453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters 0.014850355525118342 Centerline is valid? [True, True] Translation: X:143.48, Y:1.11, Z:0.94 [[ 9.99605144e-01 -2.25029807e-02 -1.68277045e-02 1.43481674e+02] [ 2.25028216e-02 9.99746760e-01 -1.98829058e-04 1.10612847e+00] [ 1.68279173e-02 -1.79920284e-04 9.99858384e-01 9.35448606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters 0.01565742702345571 Centerline is valid? [True, True] Translation: X:143.54, Y:1.10, Z:0.94 [[ 9.99517894e-01 -2.62981387e-02 -1.65041553e-02 1.43540568e+02] [ 2.62984665e-02 9.99654116e-01 -1.97206368e-04 1.10286908e+00] [ 1.65036330e-02 -2.36922683e-04 9.99863778e-01 9.35475413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters 0.015478610674014199 Centerline is valid? [True, True] Translation: X:143.60, Y:1.10, Z:0.94 [[ 9.99486196e-01 -2.78153826e-02 -1.59263495e-02 1.43601057e+02] [ 2.78158748e-02 9.99613046e-01 -1.90649335e-04 1.10356385e+00] [ 1.59254897e-02 -2.52453965e-04 9.99873149e-01 9.37179904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters 0.01571419913151919 Centerline is valid? [True, True] Translation: X:143.66, Y:1.10, Z:0.94 [[ 9.99436402e-01 -3.00719428e-02 -1.49183366e-02 1.43661793e+02] [ 3.00726260e-02 9.99547700e-01 -1.78582729e-04 1.10172652e+00] [ 1.49169594e-02 -2.70151476e-04 9.99888699e-01 9.38711169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters 0.016692838555684368 Centerline is valid? [True, True] Translation: X:143.72, Y:1.10, Z:0.94 [[ 9.99384220e-01 -3.21069658e-02 -1.41536024e-02 1.43722405e+02] [ 3.21077899e-02 9.99484398e-01 -1.69062073e-04 1.09759226e+00] [ 1.41517328e-02 -2.85482923e-04 9.99899818e-01 9.38994736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839254154 meters 0.015729633437501653 Centerline is valid? [True, True] Translation: X:143.78, Y:1.10, Z:0.94 [[ 9.99427235e-01 -3.08102556e-02 -1.39975183e-02 1.43783507e+02] [ 3.08109429e-02 9.99525216e-01 -1.66599823e-04 1.09878720e+00] [ 1.39960055e-02 -2.64772336e-04 9.99902016e-01 9.39797951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899254154 meters 0.015271206305704844 Centerline is valid? [True, True] Translation: X:143.85, Y:1.10, Z:0.94 [[ 9.99490057e-01 -2.86719237e-02 -1.40551295e-02 1.43845250e+02] [ 2.86724127e-02 9.99588848e-01 -1.66759353e-04 1.09920345e+00] [ 1.40541320e-02 -2.36320158e-04 9.99901208e-01 9.39682688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959254154 meters 0.01618329488614073 Centerline is valid? [True, True] Translation: X:143.91, Y:1.10, Z:0.94 [[ 9.99596465e-01 -2.45639259e-02 -1.42660552e-02 1.43906459e+02] [ 2.45640189e-02 9.99698245e-01 -1.68727697e-04 1.09890333e+00] [ 1.42658949e-02 -1.81772039e-04 9.99898220e-01 9.37061162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019254154 meters 0.014426250955141164 Centerline is valid? [True, True] Translation: X:143.97, Y:1.10, Z:0.94 [[ 9.99671070e-01 -2.11190510e-02 -1.45511814e-02 1.43966708e+02] [ 2.11187866e-02 9.99776959e-01 -1.71847293e-04 1.10025156e+00] [ 1.45515652e-02 -1.35512528e-04 9.99894111e-01 9.37657287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079254154 meters 0.014112315357319142 Centerline is valid? [True, True] Translation: X:144.03, Y:1.10, Z:0.94 [[ 9.99734045e-01 -1.79435260e-02 -1.44868923e-02 1.44026420e+02] [ 1.79429263e-02 9.99838998e-01 -1.71380080e-04 1.10179700e+00] [ 1.44876350e-02 -8.86027408e-05 9.99895045e-01 9.38367946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139254154 meters 0.01402641998738603 Centerline is valid? [True, True] Translation: X:144.09, Y:1.10, Z:0.94 [[ 9.99818415e-01 -1.33840343e-02 -1.35648299e-02 1.44085670e+02] [ 1.33830630e-02 9.99910430e-01 -1.62378918e-04 1.10239293e+00] [ 1.35657882e-02 -1.91895409e-05 9.99907980e-01 9.39278573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19925415400002 meters 0.013940911966665956 Centerline is valid? [True, True] Translation: X:144.14, Y:1.10, Z:0.94 [[ 9.99839171e-01 -1.21455748e-02 -1.31953369e-02 1.44143380e+02] [ 1.21445016e-02 9.99926240e-01 -1.61462183e-04 1.10141386e+00] [ 1.31963247e-02 1.18542467e-06 9.99912925e-01 9.39236206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters 0.013985181969080234 Centerline is valid? [True, True] Translation: X:144.20, Y:1.10, Z:0.94 [[ 9.99829710e-01 -1.25637181e-02 -1.35167684e-02 1.44201069e+02] [ 1.25625944e-02 9.99921073e-01 -1.68041794e-04 1.09928457e+00] [ 1.35178128e-02 -1.79250064e-06 9.99908630e-01 9.38526163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters 0.013879733516677541 Centerline is valid? [True, True] Translation: X:144.26, Y:1.09, Z:0.94 [[ 9.99772396e-01 -1.64830694e-02 -1.35449027e-02 1.44260190e+02] [ 1.64822858e-02 9.99864144e-01 -1.69489256e-04 1.09382033e+00] [ 1.35458562e-02 -5.38002777e-05 9.99908249e-01 9.38649181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters 0.014517326248378834 Centerline is valid? [True, True] Translation: X:144.32, Y:1.09, Z:0.94 [[ 9.99636168e-01 -2.33490085e-02 -1.35039236e-02 1.44319353e+02] [ 2.33488427e-02 9.99727364e-01 -1.69959132e-04 1.08768919e+00] [ 1.35042103e-02 -1.45403692e-04 9.99908803e-01 9.39410890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters 0.015194288593549694 Centerline is valid? [True, True] Translation: X:144.38, Y:1.08, Z:0.94 [[ 9.99507766e-01 -2.84201219e-02 -1.32861888e-02 1.44380154e+02] [ 2.84204027e-02 9.99596045e-01 -1.67708921e-04 1.08297876e+00] [ 1.32855881e-02 -2.09972467e-04 9.99911721e-01 9.39931346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters 0.018028456142440127 Centerline is valid? [True, True] Translation: X:144.44, Y:1.08, Z:0.94 [[ 9.99333877e-01 -3.47473198e-02 -1.11546188e-02 1.44441375e+02] [ 3.47479135e-02 9.99396099e-01 -1.40635786e-04 1.07711372e+00] [ 1.11527692e-02 -2.47057624e-04 9.99937775e-01 9.39768637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters 0.016735183965854578 Centerline is valid? [True, True] Translation: X:144.50, Y:1.07, Z:0.94 [[ 9.99234482e-01 -3.79561696e-02 -9.47516890e-03 1.44503403e+02] [ 3.79567461e-02 9.99279376e-01 -1.19038919e-04 1.07457618e+00] [ 9.47285912e-03 -2.40698788e-04 9.99955102e-01 9.42932189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619254154 meters 0.017339700529145283 Centerline is valid? [True, True] Translation: X:144.57, Y:1.07, Z:0.94 [[ 9.99187764e-01 -3.96671093e-02 -7.09458007e-03 1.44565600e+02] [ 3.96674785e-02 9.99212932e-01 -8.87227151e-05 1.07227221e+00] [ 7.09251552e-03 -1.92773451e-04 9.99974829e-01 9.44168713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679254154 meters 0.01748701618079717 Centerline is valid? [True, True] Translation: X:144.63, Y:1.07, Z:0.94 [[ 9.99250943e-01 -3.81560736e-02 -6.45498744e-03 1.44627472e+02] [ 3.81563506e-02 9.99271778e-01 -8.02832475e-05 1.07238696e+00] [ 6.45335007e-03 -1.66075653e-04 9.99979163e-01 9.44249364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739254154 meters 0.01624998272473678 Centerline is valid? [True, True] Translation: X:144.69, Y:1.08, Z:0.94 [[ 9.99421227e-01 -3.35121075e-02 -5.84383374e-03 1.44688552e+02] [ 3.35122576e-02 9.99438304e-01 -7.22633760e-05 1.07514985e+00] [ 5.84297298e-03 -1.23618510e-04 9.99982922e-01 9.44020351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799254154 meters 0.015524018161937507 Centerline is valid? [True, True] Translation: X:144.75, Y:1.08, Z:0.94 [[ 9.99601739e-01 -2.76527932e-02 -5.62906132e-03 1.44749326e+02] [ 2.76528408e-02 9.99617585e-01 -6.94041875e-05 1.07646677e+00] [ 5.62882790e-03 -8.62829897e-05 9.99984154e-01 9.43261381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859254154 meters 0.015125564113347674 Centerline is valid? [True, True] Translation: X:144.81, Y:1.08, Z:0.94 [[ 9.99695630e-01 -2.37008231e-02 -6.84968494e-03 1.44811035e+02] [ 2.37008028e-02 9.99719093e-01 -8.41424235e-05 1.07758612e+00] [ 6.84975506e-03 -7.82262191e-05 9.99976537e-01 9.42645128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91925415400001 meters 0.014593518118230077 Centerline is valid? [True, True] Translation: X:144.87, Y:1.08, Z:0.94 [[ 9.99768597e-01 -1.93991463e-02 -9.29654042e-03 1.44872319e+02] [ 1.93989299e-02 9.99811817e-01 -1.13450797e-04 1.08064662e+00] [ 9.29699182e-03 -6.69183924e-05 9.99956780e-01 9.40462976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97925415400002 meters 0.014392501594891595 Centerline is valid? [True, True] Translation: X:144.93, Y:1.08, Z:0.94 [[ 9.99778324e-01 -1.82510983e-02 -1.04976206e-02 1.44932645e+02] [ 1.82507621e-02 9.99833433e-01 -1.27832147e-04 1.08052353e+00] [ 1.04982051e-02 -6.37857653e-05 9.99944890e-01 9.39789538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters 0.014642254026253564 Centerline is valid? [True, True] Translation: X:144.99, Y:1.08, Z:0.94 [[ 9.99758177e-01 -1.92474162e-02 -1.06359842e-02 1.44993176e+02] [ 1.92471275e-02 9.99814748e-01 -1.29517035e-04 1.08051838e+00] [ 1.06365067e-02 -7.52264276e-05 9.99943428e-01 9.40927167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters 0.014745709657725422 Centerline is valid? [True, True] Translation: X:145.05, Y:1.08, Z:0.94 [[ 9.99724009e-01 -2.15297787e-02 -9.40081726e-03 1.45053453e+02] [ 2.15296540e-02 9.99768204e-01 -1.14476100e-04 1.07958246e+00] [ 9.40110283e-03 -8.79518381e-05 9.99955805e-01 9.42569058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters 0.015501418528242219 Centerline is valid? [True, True] Translation: X:145.12, Y:1.07, Z:0.94 [[ 9.99591456e-01 -2.77492767e-02 -6.84819693e-03 1.45115079e+02] [ 2.77493565e-02 9.99614909e-01 -8.33871228e-05 1.07481564e+00] [ 6.84787368e-03 -1.06680002e-04 9.99976547e-01 9.44175172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters 0.018153605770912212 Centerline is valid? [True, True] Translation: X:145.18, Y:1.07, Z:0.95 [[ 9.99320212e-01 -3.64831024e-02 -5.30069013e-03 1.45175100e+02] [ 3.64832740e-02 9.99334262e-01 -6.43513649e-05 1.06720611e+00] [ 5.29950900e-03 -1.29078911e-04 9.99985949e-01 9.45333851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters 0.019933021840410983 Centerline is valid? [True, True] Translation: X:145.24, Y:1.06, Z:0.95 [[ 9.99051500e-01 -4.31966760e-02 -5.49070726e-03 1.45236596e+02] [ 4.31969612e-02 9.99066573e-01 -6.67022972e-05 1.06266093e+00] [ 5.48846340e-03 -1.70542838e-04 9.99984924e-01 9.45724502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339254154 meters 0.02323466492138149 Centerline is valid? [True, True] Translation: X:145.30, Y:1.06, Z:0.94 [[ 9.98655906e-01 -5.14373302e-02 -6.37039942e-03 1.45297620e+02] [ 5.14378832e-02 9.98676193e-01 -7.71088374e-05 1.05617265e+00] [ 6.36593251e-03 -2.50674666e-04 9.99979706e-01 9.44997682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399254154 meters 0.02693678538067085 Centerline is valid? [True, True] Translation: X:145.36, Y:1.05, Z:0.94 [[ 9.97874748e-01 -6.45603853e-02 -8.82861732e-03 1.45357826e+02] [ 6.45619596e-02 9.97913695e-01 -1.06863056e-04 1.04880154e+00] [ 8.81709724e-03 -4.63356889e-04 9.99961021e-01 9.42693983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459254154 meters 0.03006371326401048 Centerline is valid? [True, True] Translation: X:145.42, Y:1.05, Z:0.94 [[ 9.97410225e-01 -7.12671982e-02 -9.68655006e-03 1.45418583e+02] [ 7.12694077e-02 9.97457096e-01 -1.17325247e-04 1.04527023e+00] [ 9.67027953e-03 -5.73333284e-04 9.99953077e-01 9.42471561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519254154 meters 0.031248494847022787 Centerline is valid? [True, True] Translation: X:145.48, Y:1.05, Z:0.94 [[ 9.97132804e-01 -7.49187970e-02 -1.06463742e-02 1.45479646e+02] [ 7.49216750e-02 9.97189413e-01 -1.28806987e-04 1.04727093e+00] [ 1.06261017e-02 -6.69206516e-04 9.99943317e-01 9.41982916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579254154 meters 0.028400312318014764 Centerline is valid? [True, True] Translation: X:145.54, Y:1.06, Z:0.94 [[ 9.97269012e-01 -7.30693187e-02 -1.07420622e-02 1.45541025e+02] [ 7.30721448e-02 9.97326649e-01 -1.29687725e-04 1.05553605e+00] [ 1.07228211e-02 -6.55611974e-04 9.99942294e-01 9.42307543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639254154 meters 0.029476379652827324 Centerline is valid? [True, True] Translation: X:145.60, Y:1.06, Z:0.94 [[ 9.97409877e-01 -7.11351617e-02 -1.06454264e-02 1.45601581e+02] [ 7.11378309e-02 9.97466487e-01 -1.28193254e-04 1.05674614e+00] [ 1.06275751e-02 -6.29431327e-04 9.99943328e-01 9.42629085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69925415400002 meters 0.026629024001836255 Centerline is valid? [True, True] Translation: X:145.66, Y:1.07, Z:0.94 [[ 9.97853542e-01 -6.46111247e-02 -1.06635547e-02 1.45661890e+02] [ 6.46134328e-02 9.97910361e-01 -1.28287182e-04 1.06893144e+00] [ 1.06495605e-02 -5.60997057e-04 9.99943134e-01 9.43542376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters 0.024838322029966785 Centerline is valid? [True, True] Translation: X:145.72, Y:1.08, Z:0.94 [[ 9.98155864e-01 -5.96779991e-02 -1.11088742e-02 1.45722619e+02] [ 5.96802000e-02 9.98217539e-01 -1.33569256e-04 1.07955698e+00] [ 1.10970442e-02 -5.29656897e-04 9.99938286e-01 9.43407394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters 0.02450372889699976 Centerline is valid? [True, True] Translation: X:145.78, Y:1.08, Z:0.94 [[ 9.98242137e-01 -5.81307027e-02 -1.15523441e-02 1.45784622e+02] [ 5.81329850e-02 9.98308838e-01 -1.38418262e-04 1.08484108e+00] [ 1.15408535e-02 -5.33397302e-04 9.99933260e-01 9.43658550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters 0.024090412236575987 Centerline is valid? [True, True] Translation: X:145.85, Y:1.09, Z:0.94 [[ 9.98415956e-01 -5.48323354e-02 -1.26093123e-02 1.45845935e+02] [ 5.48348015e-02 9.98495429e-01 -1.50325550e-04 1.09340211e+00] [ 1.25985834e-02 -5.41341711e-04 9.99920488e-01 9.42610104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters 0.022281547455475996 Centerline is valid? [True, True] Translation: X:145.91, Y:1.10, Z:0.94 [[ 9.98629797e-01 -5.08180977e-02 -1.24919770e-02 1.45907909e+02] [ 5.08202129e-02 9.98707807e-01 -1.48251006e-04 1.10073093e+00] [ 1.24833688e-02 -4.86797058e-04 9.99921961e-01 9.44909527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters 0.018861333232285577 Centerline is valid? [True, True] Translation: X:145.97, Y:1.11, Z:0.95 [[ 9.99165158e-01 -3.93668344e-02 -1.09197193e-02 1.45967869e+02] [ 3.93677719e-02 9.99224780e-01 -1.29160514e-04 1.11455704e+00] [ 1.09163387e-02 -3.00832332e-04 9.99940370e-01 9.46681409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059254154 meters 0.014422475170386521 Centerline is valid? [True, True] Translation: X:146.03, Y:1.13, Z:0.95 [[ 9.99652946e-01 -2.43128342e-02 -1.01426930e-02 1.46028345e+02] [ 2.43128681e-02 9.99704391e-01 -1.19973050e-04 1.13202305e+00] [ 1.01426116e-02 -1.26666544e-04 9.99948554e-01 9.48160461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119254154 meters 0.01345176618331271 Centerline is valid? [True, True] Translation: X:146.09, Y:1.14, Z:0.95 [[ 9.99830875e-01 -1.55197895e-02 -9.86695917e-03 1.46089966e+02] [ 1.55193952e-02 9.99879560e-01 -1.16529798e-04 1.14169568e+00] [ 9.86757931e-03 -3.66191483e-05 9.99951314e-01 9.49024406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179254154 meters 0.013532993353565389 Centerline is valid? [True, True] Translation: X:146.15, Y:1.15, Z:0.95 [[ 9.99901993e-01 -1.00537016e-02 -9.74304195e-03 1.46150887e+02] [ 1.00530606e-02 9.99949460e-01 -1.14754629e-04 1.14855482e+00] [ 9.74370324e-03 1.67959904e-05 9.99952529e-01 9.49040057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239254154 meters 0.013671056640290787 Centerline is valid? [True, True] Translation: X:146.21, Y:1.15, Z:0.95 [[ 9.99902875e-01 -9.16630463e-03 -1.04985344e-02 1.46209156e+02] [ 9.16549994e-03 9.99957988e-01 -1.24759894e-04 1.15197410e+00] [ 1.04992370e-02 2.85234599e-05 9.99944881e-01 9.47938088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299254154 meters 0.013718047658077393 Centerline is valid? [True, True] Translation: X:146.27, Y:1.15, Z:0.95 [[ 9.99854360e-01 -1.25755815e-02 -1.15374968e-02 1.46267893e+02] [ 1.25748104e-02 9.99920924e-01 -1.39371938e-04 1.15182443e+00] [ 1.15383372e-02 -5.73019556e-06 9.99933431e-01 9.47758463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359254154 meters 0.014176326494206455 Centerline is valid? [True, True] Translation: X:146.33, Y:1.15, Z:0.95 [[ 9.99701617e-01 -2.13235826e-02 -1.19156411e-02 1.46327217e+02] [ 2.13233731e-02 9.99772621e-01 -1.44644697e-04 1.14857885e+00] [ 1.19160161e-02 -1.09480123e-04 9.99928996e-01 9.47962845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41925415400001 meters 0.015205146000201435 Centerline is valid? [True, True] Translation: X:146.39, Y:1.15, Z:0.95 [[ 9.99530830e-01 -2.81117649e-02 -1.21592745e-02 1.46388016e+02] [ 2.81120503e-02 9.99604767e-01 -1.47480332e-04 1.14576056e+00] [ 1.21586147e-02 -1.94410998e-04 9.99926062e-01 9.47830980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47925415400002 meters 0.01705732946270127 Centerline is valid? [True, True] Translation: X:146.45, Y:1.14, Z:0.95 [[ 9.99205406e-01 -3.78404095e-02 -1.25163785e-02 1.46448875e+02] [ 3.78414819e-02 9.99283743e-01 -1.51229133e-04 1.14087987e+00] [ 1.25131361e-02 -3.22529343e-04 9.99921656e-01 9.48333699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters 0.019081040585620383 Centerline is valid? [True, True] Translation: X:146.51, Y:1.14, Z:0.95 [[ 9.98987877e-01 -4.33418684e-02 -1.20292694e-02 1.46510158e+02] [ 4.33432611e-02 9.99060229e-01 -1.45028166e-04 1.13794988e+00] [ 1.20242505e-02 -3.76506387e-04 9.99927635e-01 9.48874367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters 0.021289866895316468 Centerline is valid? [True, True] Translation: X:146.57, Y:1.13, Z:0.95 [[ 9.98583135e-01 -5.18416885e-02 -1.20067114e-02 1.46571034e+02] [ 5.18436924e-02 9.98655201e-01 -1.44492700e-04 1.13441537e+00] [ 1.19980556e-02 -4.78184282e-04 9.99927906e-01 9.48985126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters 0.025563358861183556 Centerline is valid? [True, True] Translation: X:146.63, Y:1.13, Z:0.95 [[ 9.98067090e-01 -6.09100546e-02 -1.23308109e-02 1.46631582e+02] [ 6.09128596e-02 9.98143077e-01 -1.48305852e-04 1.12852064e+00] [ 1.23169469e-02 -6.03085766e-04 9.99923962e-01 9.48003863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters 0.027527000192637867 Centerline is valid? [True, True] Translation: X:146.69, Y:1.13, Z:0.95 [[ 9.97771452e-01 -6.55483956e-02 -1.24714782e-02 1.46692191e+02] [ 6.55516278e-02 9.97849168e-01 -1.49874854e-04 1.12726047e+00] [ 1.24544782e-02 -6.67984845e-04 9.99922217e-01 9.48233024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters 0.03057119519225117 Centerline is valid? [True, True] Translation: X:146.75, Y:1.13, Z:0.95 [[ 9.97525286e-01 -6.91262585e-02 -1.28399625e-02 1.46752670e+02] [ 6.91299821e-02 9.97607649e-01 -1.54138621e-04 1.12621971e+00] [ 1.28198999e-02 -7.33869208e-04 9.99917552e-01 9.48290365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839254154 meters 0.03112331845649075 Centerline is valid? [True, True] Translation: X:146.81, Y:1.13, Z:0.95 [[ 9.97497933e-01 -6.93983452e-02 -1.34812480e-02 1.46814849e+02] [ 6.94024830e-02 9.97588728e-01 -1.61225961e-04 1.12860087e+00] [ 1.34599299e-02 -7.74809523e-04 9.99909111e-01 9.48071634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899254154 meters 0.031445233936430936 Centerline is valid? [True, True] Translation: X:146.88, Y:1.13, Z:0.95 [[ 9.97577380e-01 -6.79015237e-02 -1.51245939e-02 1.46877243e+02] [ 6.79065776e-02 9.97691668e-01 -1.79747911e-04 1.13232039e+00] [ 1.51018865e-02 -8.47746959e-04 9.99885601e-01 9.47068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959254154 meters 0.02726435936257275 Centerline is valid? [True, True] Translation: X:146.94, Y:1.14, Z:0.95 [[ 9.97702753e-01 -6.57160925e-02 -1.64502919e-02 1.46938934e+02] [ 6.57217925e-02 9.97837967e-01 -1.94451177e-04 1.14133255e+00] [ 1.64275044e-02 -8.87138194e-04 9.99864666e-01 9.46870727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019254154 meters 0.02643632755755394 Centerline is valid? [True, True] Translation: X:147.00, Y:1.15, Z:0.95 [[ 9.98035159e-01 -5.98370797e-02 -1.85834748e-02 1.46998504e+02] [ 5.98433420e-02 9.98207757e-01 -2.19432048e-04 1.14831246e+00] [ 1.85632989e-02 -8.93096339e-04 9.99827288e-01 9.45067456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079254154 meters 0.02401499633458568 Centerline is valid? [True, True] Translation: X:147.06, Y:1.16, Z:0.95 [[ 9.98401866e-01 -5.34528049e-02 -1.83442606e-02 1.47059259e+02] [ 5.34578296e-02 9.98570084e-01 -2.16691690e-04 1.15730315e+00] [ 1.83296126e-02 -7.64298967e-04 9.99831706e-01 9.46591193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139254154 meters 0.01968575705672813 Centerline is valid? [True, True] Translation: X:147.12, Y:1.17, Z:0.95 [[ 9.99028991e-01 -4.08320993e-02 -1.65473577e-02 1.47120029e+02] [ 4.08344604e-02 9.99165906e-01 -1.95303838e-04 1.17247482e+00] [ 1.65415304e-02 -4.80588228e-04 9.99863064e-01 9.49944944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19925415400002 meters 0.015971053185315432 Centerline is valid? [True, True] Translation: X:147.18, Y:1.19, Z:0.95 [[ 9.99402631e-01 -3.15422722e-02 -1.41232242e-02 1.47180655e+02] [ 3.15430678e-02 9.99502380e-01 -1.66473898e-04 1.18507583e+00] [ 1.41214471e-02 -2.79115366e-04 9.99900248e-01 9.53304266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters 0.013911774328390412 Centerline is valid? [True, True] Translation: X:147.24, Y:1.20, Z:0.96 [[ 9.99769351e-01 -1.81340983e-02 -1.15064776e-02 1.47241085e+02] [ 1.81337403e-02 9.99835561e-01 -1.35446615e-04 1.19964236e+00] [ 1.15070417e-02 -7.32401031e-05 9.99933789e-01 9.56252320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters 0.013829058621307282 Centerline is valid? [True, True] Translation: X:147.30, Y:1.21, Z:0.96 [[ 9.99908974e-01 -8.61108948e-03 -1.03871965e-02 1.47300930e+02] [ 8.61028575e-03 9.99962923e-01 -1.22095270e-04 1.20895546e+00] [ 1.03878627e-02 3.26474266e-05 9.99946044e-01 9.56908743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters 0.01404870827961229 Centerline is valid? [True, True] Translation: X:147.36, Y:1.21, Z:0.96 [[ 9.99913799e-01 -6.23278019e-03 -1.15562623e-02 1.47359314e+02] [ 6.23161367e-03 9.99980574e-01 -1.36948961e-04 1.21175190e+00] [ 1.15568914e-02 6.49229944e-05 9.99933215e-01 9.56414797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters 0.013956646456217506 Centerline is valid? [True, True] Translation: X:147.42, Y:1.21, Z:0.95 [[ 9.99861530e-01 -8.83146198e-03 -1.41041221e-02 1.47418225e+02] [ 8.82994540e-03 9.99961001e-01 -1.69797043e-04 1.21118088e+00] [ 1.41050716e-02 4.52349023e-05 9.99900518e-01 9.54913971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters 0.01388768567456395 Centerline is valid? [True, True] Translation: X:147.48, Y:1.21, Z:0.95 [[ 9.99829998e-01 -1.11623507e-02 -1.46757001e-02 1.47476410e+02] [ 1.11609392e-02 9.99937699e-01 -1.78083720e-04 1.21044285e+00] [ 1.46767736e-02 1.42588496e-05 9.99892290e-01 9.54483423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559254154 meters 0.014029281741550978 Centerline is valid? [True, True] Translation: X:147.54, Y:1.21, Z:0.95 [[ 9.99744003e-01 -1.66597584e-02 -1.53095028e-02 1.47535654e+02] [ 1.66588451e-02 9.99861214e-01 -1.87184860e-04 1.20677268e+00] [ 1.53104965e-02 -6.79016950e-05 9.99882785e-01 9.53816857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619254154 meters 0.014951765385448144 Centerline is valid? [True, True] Translation: X:147.59, Y:1.20, Z:0.96 [[ 9.99572061e-01 -2.54815259e-02 -1.43661832e-02 1.47594635e+02] [ 2.54816200e-02 9.99675275e-01 -1.76527090e-04 1.19998318e+00] [ 1.43660163e-02 -1.89622074e-04 9.99896785e-01 9.55100451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679254154 meters 0.017167038797835786 Centerline is valid? [True, True] Translation: X:147.66, Y:1.19, Z:0.96 [[ 9.99349269e-01 -3.39113424e-02 -1.22906493e-02 1.47655051e+02] [ 3.39120458e-02 9.99424810e-01 -1.51235342e-04 1.19202219e+00] [ 1.22887084e-02 -2.65664133e-04 9.99924456e-01 9.57973283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739254154 meters 0.01782308324038865 Centerline is valid? [True, True] Translation: X:147.72, Y:1.19, Z:0.96 [[ 9.99183725e-01 -3.87866287e-02 -1.12907219e-02 1.47717235e+02] [ 3.87875383e-02 9.99247471e-01 -1.38485260e-04 1.18960547e+00] [ 1.12875967e-02 -2.99567091e-04 9.99936248e-01 9.60958671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799254154 meters 0.018678965668659363 Centerline is valid? [True, True] Translation: X:147.78, Y:1.18, Z:0.96 [[ 9.98981155e-01 -4.36977858e-02 -1.12762948e-02 1.47778853e+02] [ 4.36990131e-02 9.99044732e-01 -1.37645342e-04 1.18498298e+00] [ 1.12715377e-02 -3.55257851e-04 9.99936411e-01 9.62833823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859254154 meters 0.019356314597641106 Centerline is valid? [True, True] Translation: X:147.84, Y:1.18, Z:0.96 [[ 9.98900966e-01 -4.51689325e-02 -1.25150584e-02 1.47840513e+02] [ 4.51705672e-02 9.98979277e-01 -1.52166270e-04 1.18279735e+00] [ 1.25091572e-02 -4.13313251e-04 9.99921672e-01 9.62794079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91925415400001 meters 0.019512792224495656 Centerline is valid? [True, True] Translation: X:147.90, Y:1.18, Z:0.96 [[ 9.98920726e-01 -4.38654275e-02 -1.52711636e-02 1.47901274e+02] [ 4.38677235e-02 9.99037331e-01 -1.84753119e-04 1.18143233e+00] [ 1.52645668e-02 -4.85357464e-04 9.99883372e-01 9.60616784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97925415400002 meters 0.01880134353091955 Centerline is valid? [True, True] Translation: X:147.96, Y:1.18, Z:0.96 [[ 9.99016863e-01 -4.07824091e-02 -1.73811005e-02 1.47963658e+02] [ 4.07849380e-02 9.99167926e-01 -2.09092813e-04 1.18278213e+00] [ 1.73751654e-02 -4.99999860e-04 9.99848915e-01 9.59370586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters 0.017058209252138766 Centerline is valid? [True, True] Translation: X:148.03, Y:1.19, Z:0.96 [[ 9.99231752e-01 -3.35259449e-02 -2.02957231e-02 1.48025510e+02] [ 3.35279238e-02 9.99437752e-01 -2.42860275e-04 1.18881389e+00] [ 2.02924540e-02 -4.37799758e-04 9.99793991e-01 9.58383453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters 0.016090742374876284 Centerline is valid? [True, True] Translation: X:148.09, Y:1.19, Z:0.96 [[ 9.99410652e-01 -2.68068688e-02 -2.14415647e-02 1.48085265e+02] [ 2.68075397e-02 9.99640581e-01 -2.56190358e-04 1.19397186e+00] [ 2.14407259e-02 -3.18756225e-04 9.99770070e-01 9.57838269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters 0.014402668917950983 Centerline is valid? [True, True] Translation: X:148.14, Y:1.20, Z:0.96 [[ 9.99621334e-01 -1.69333647e-02 -2.16898553e-02 1.48144963e+02] [ 1.69317153e-02 9.99856615e-01 -2.59696193e-04 1.20347721e+00] [ 2.16911428e-02 -1.07648600e-04 9.99764714e-01 9.60603365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters 0.014276890313766057 Centerline is valid? [True, True] Translation: X:148.20, Y:1.21, Z:0.96 [[ 9.99705600e-01 -1.14768446e-02 -2.13774432e-02 1.48203486e+02] [ 1.14739091e-02 9.99934139e-01 -2.59970740e-04 1.20816878e+00] [ 2.13790189e-02 1.46113646e-05 9.99771443e-01 9.62454619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters 0.014504247779343877 Centerline is valid? [True, True] Translation: X:148.26, Y:1.21, Z:0.96 [[ 9.99726763e-01 -7.57438055e-03 -2.21139989e-02 1.48261832e+02] [ 7.57015768e-03 9.99971308e-01 -2.74667531e-04 1.21165770e+00] [ 2.21154448e-02 1.07186023e-04 9.99755418e-01 9.62702920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339254154 meters 0.014516011995577824 Centerline is valid? [True, True] Translation: X:148.32, Y:1.21, Z:0.96 [[ 9.99695211e-01 -8.63847849e-03 -2.31270763e-02 1.48320988e+02] [ 8.63400611e-03 9.99962683e-01 -2.93230708e-04 1.21135990e+00] [ 2.31287463e-02 9.34620164e-05 9.99732490e-01 9.62458120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399254154 meters 0.014331149739675076 Centerline is valid? [True, True] Translation: X:148.38, Y:1.21, Z:0.96 [[ 9.99588180e-01 -1.51991621e-02 -2.43404267e-02 1.48380264e+02] [ 1.51960778e-02 9.99884484e-01 -3.11686827e-04 1.20714506e+00] [ 2.43423524e-02 -5.83205507e-05 9.99703679e-01 9.62794721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459254154 meters 0.014576679473858078 Centerline is valid? [True, True] Translation: X:148.44, Y:1.20, Z:0.96 [[ 9.99474174e-01 -2.11534121e-02 -2.45745611e-02 1.48438708e+02] [ 2.11520240e-02 9.99776221e-01 -3.16455757e-04 1.20359242e+00] [ 2.45757559e-02 -2.03512348e-04 9.99697950e-01 9.63553587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519254154 meters 0.0157514591477264 Centerline is valid? [True, True] Translation: X:148.50, Y:1.20, Z:0.97 [[ 9.99299789e-01 -2.93428417e-02 -2.32148444e-02 1.48496146e+02] [ 2.93437604e-02 9.99569334e-01 -3.01150289e-04 1.19805214e+00] [ 2.32136832e-02 -3.80271412e-04 9.99730454e-01 9.65506427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579254154 meters 0.016741527476335834 Centerline is valid? [True, True] Translation: X:148.56, Y:1.19, Z:0.97 [[ 9.99108501e-01 -3.64496284e-02 -2.12985257e-02 1.48555294e+02] [ 3.64519841e-02 9.99335367e-01 -2.77744276e-04 1.19482357e+00] [ 2.12944937e-02 -4.98876853e-04 9.99773122e-01 9.68324745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639254154 meters 0.01814175572888941 Centerline is valid? [True, True] Translation: X:148.62, Y:1.19, Z:0.97 [[ 9.98958564e-01 -4.09481867e-02 -2.01254282e-02 1.48616863e+02] [ 4.09512047e-02 9.99161113e-01 -2.62310200e-04 1.19187533e+00] [ 2.01192864e-02 -5.62123512e-04 9.99797429e-01 9.69218993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69925415400002 meters 0.020603338315488155 Centerline is valid? [True, True] Translation: X:148.68, Y:1.19, Z:0.97 [[ 9.98539518e-01 -5.02246171e-02 -1.99077715e-02 1.48677186e+02] [ 5.02294165e-02 9.98737673e-01 -2.59185094e-04 1.18601517e+00] [ 1.98956589e-02 -7.41149189e-04 9.99801787e-01 9.69912923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters 0.02419204518083666 Centerline is valid? [True, True] Translation: X:148.74, Y:1.18, Z:0.97 [[ 9.98174540e-01 -5.70486533e-02 -1.98252255e-02 1.48737160e+02] [ 5.70547528e-02 9.98371017e-01 -2.58278371e-04 1.17926538e+00] [ 1.98076650e-02 -8.73316446e-04 9.99803428e-01 9.68815997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters 0.02655449339976118 Centerline is valid? [True, True] Translation: X:148.80, Y:1.18, Z:0.97 [[ 9.97622136e-01 -6.54969252e-02 -2.14529118e-02 1.48798204e+02] [ 6.55060172e-02 9.97852135e-01 -2.79397391e-04 1.17521435e+00] [ 2.14251335e-02 -1.12656178e-03 9.99769821e-01 9.67849933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters 0.027009974389354412 Centerline is valid? [True, True] Translation: X:148.86, Y:1.17, Z:0.97 [[ 9.97461204e-01 -6.75612854e-02 -2.25082146e-02 1.48859752e+02] [ 6.75718333e-02 9.97714369e-01 -2.92469745e-04 1.17472562e+00] [ 2.24765287e-02 -1.22919410e-03 9.99746615e-01 9.66983054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters 0.030436020588001746 Centerline is valid? [True, True] Translation: X:148.92, Y:1.17, Z:0.97 [[ 9.97610793e-01 -6.53645726e-02 -2.23646835e-02 1.48920315e+02] [ 6.53744793e-02 9.97860759e-01 -2.88661411e-04 1.17153939e+00] [ 2.23357082e-02 -1.17410780e-03 9.99749838e-01 9.65329412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters 0.024004003349109206 Centerline is valid? [True, True] Translation: X:148.98, Y:1.19, Z:0.97 [[ 9.98118573e-01 -5.76257516e-02 -2.09424466e-02 1.48980658e+02] [ 5.76327517e-02 9.98337815e-01 -2.69643108e-04 1.18567020e+00] [ 2.09231747e-02 -9.37835030e-04 9.99780647e-01 9.67728145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059254154 meters 0.020683304949274756 Centerline is valid? [True, True] Translation: X:149.04, Y:1.20, Z:0.97 [[ 9.98567037e-01 -4.96922794e-02 -1.98632654e-02 1.49041070e+02] [ 4.96970087e-02 9.98764307e-01 -2.55762693e-04 1.19555909e+00] [ 1.98514299e-02 -7.31748677e-04 9.99802673e-01 9.69725769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119254154 meters 0.01674446111080183 Centerline is valid? [True, True] Translation: X:149.10, Y:1.21, Z:0.97 [[ 9.99205232e-01 -3.60147809e-02 -1.70833002e-02 1.49101367e+02] [ 3.60162802e-02 9.99351179e-01 -2.19985110e-04 1.20846364e+00] [ 1.70801389e-02 -3.95466656e-04 9.99854046e-01 9.71872272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179254154 meters 0.015195286631529826 Centerline is valid? [True, True] Translation: X:149.16, Y:1.22, Z:0.97 [[ 9.99524302e-01 -2.70709375e-02 -1.47760996e-02 1.49161089e+02] [ 2.70710818e-02 9.99633493e-01 -1.90283403e-04 1.21536520e+00] [ 1.47758352e-02 -2.09812116e-04 9.99890809e-01 9.72354133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239254154 meters 0.014021570414530452 Centerline is valid? [True, True] Translation: X:149.22, Y:1.23, Z:0.97 [[ 9.99766279e-01 -1.61726377e-02 -1.43469128e-02 1.49221916e+02] [ 1.61716535e-02 9.99869213e-01 -1.84618430e-04 1.22599764e+00] [ 1.43480222e-02 -4.74380213e-05 9.99897061e-01 9.72138366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299254154 meters 0.014502079631492476 Centerline is valid? [True, True] Translation: X:149.28, Y:1.23, Z:0.97 [[ 9.99866559e-01 -6.66271918e-03 -1.49154903e-02 1.49280837e+02] [ 6.66060566e-03 9.99977800e-01 -1.91371264e-04 1.23403996e+00] [ 1.49164342e-02 9.19995278e-05 9.99888740e-01 9.69942825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359254154 meters 0.014676228837722453 Centerline is valid? [True, True] Translation: X:149.34, Y:1.24, Z:0.97 [[ 9.99888051e-01 -1.75491567e-03 -1.48595423e-02 1.49339806e+02] [ 1.75224989e-03 9.99998446e-01 -1.92416166e-04 1.23690655e+00] [ 1.48598569e-02 1.66356993e-04 9.99889572e-01 9.70975394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41925415400001 meters 0.015102421211129263 Centerline is valid? [True, True] Translation: X:149.40, Y:1.24, Z:0.97 [[ 9.99895083e-01 4.17420206e-04 -1.44792282e-02 1.49397995e+02] [-4.20213865e-04 9.99999894e-01 -1.89900703e-04 1.23965734e+00] [ 1.44791474e-02 1.95965152e-04 9.99895152e-01 9.71064631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47925415400002 meters 0.015541772182974757 Centerline is valid? [True, True] Translation: X:149.46, Y:1.24, Z:0.97 [[ 9.99888839e-01 4.55894288e-03 -1.41959854e-02 1.49456866e+02] [-4.56208151e-03 9.99989576e-01 -1.88717205e-04 1.24245863e+00] [ 1.41949771e-02 2.53459470e-04 9.99899214e-01 9.71294611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters 0.015869925961921882 Centerline is valid? [True, True] Translation: X:149.52, Y:1.24, Z:0.97 [[ 9.99893777e-01 5.65283900e-03 -1.34343078e-02 1.49515547e+02] [-5.65577708e-03 9.99983990e-01 -1.80716979e-04 1.24375393e+00] [ 1.34330711e-02 2.56679233e-04 9.99909739e-01 9.71505983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters 0.015766487648165448 Centerline is valid? [True, True] Translation: X:149.57, Y:1.24, Z:0.97 [[ 9.99928831e-01 2.48901317e-03 -1.16677667e-02 1.49573796e+02] [-2.49102304e-03 9.99996885e-01 -1.57728720e-04 1.24088557e+00] [ 1.16673378e-02 1.86782171e-04 9.99931917e-01 9.71622164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters 0.016197580473152194 Centerline is valid? [True, True] Translation: X:149.63, Y:1.23, Z:0.97 [[ 9.99939940e-01 -6.37265855e-03 -8.91660892e-03 1.49632534e+02] [ 6.37183234e-03 9.99979692e-01 -1.21064996e-04 1.23002445e+00] [ 8.91719935e-03 6.42425875e-05 9.99960239e-01 9.73345016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters 0.013682645142187852 Centerline is valid? [True, True] Translation: X:149.69, Y:1.22, Z:0.97 [[ 9.99875530e-01 -1.33806673e-02 -8.35953836e-03 1.49691031e+02] [ 1.33801812e-02 9.99910475e-01 -1.14083580e-04 1.22289605e+00] [ 8.36031648e-03 2.21724273e-06 9.99965052e-01 9.74179086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters 0.01405548514975658 Centerline is valid? [True, True] Translation: X:149.75, Y:1.21, Z:0.97 [[ 9.99711312e-01 -2.20954776e-02 -9.43840489e-03 1.49751554e+02] [ 2.20952409e-02 9.99755862e-01 -1.29359347e-04 1.21127821e+00] [ 9.43895888e-03 -7.92218281e-05 9.99955449e-01 9.73930740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839254154 meters 0.014293516278056247 Centerline is valid? [True, True] Translation: X:149.81, Y:1.21, Z:0.97 [[ 9.99633456e-01 -2.49737408e-02 -1.04530386e-02 1.49813866e+02] [ 2.49736108e-02 9.99688101e-01 -1.42990660e-04 1.20507524e+00] [ 1.04533493e-02 -1.18111870e-04 9.99945355e-01 9.73688751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899254154 meters 0.014414615071269267 Centerline is valid? [True, True] Translation: X:149.88, Y:1.20, Z:0.97 [[ 9.99633671e-01 -2.47008348e-02 -1.10630862e-02 1.49876347e+02] [ 2.47006817e-02 9.99694880e-01 -1.50493822e-04 1.19811422e+00] [ 1.10634280e-02 -1.22827080e-04 9.99938791e-01 9.73620660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959254154 meters 0.014156020522970051 Centerline is valid? [True, True] Translation: X:149.94, Y:1.20, Z:0.97 [[ 9.99707742e-01 -2.16257950e-02 -1.08053045e-02 1.49938112e+02] [ 2.16254762e-02 9.99766131e-01 -1.46353736e-04 1.19618079e+00] [ 1.08059425e-02 -8.73588927e-05 9.99941610e-01 9.74141360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019254154 meters 0.013802564041751652 Centerline is valid? [True, True] Translation: X:150.00, Y:1.20, Z:0.97 [[ 9.99827226e-01 -1.47526629e-02 -1.13083043e-02 1.49999100e+02] [ 1.47518789e-02 9.99891173e-01 -1.52740418e-04 1.19604781e+00] [ 1.13093270e-02 -1.41047069e-05 9.99936047e-01 9.74307889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079254154 meters 0.013834915637316814 Centerline is valid? [True, True] Translation: X:150.06, Y:1.20, Z:0.97 [[ 9.99880051e-01 -9.33552858e-03 -1.23584402e-02 1.50058574e+02] [ 9.33417913e-03 9.99956422e-01 -1.66868958e-04 1.19643394e+00] [ 1.23594595e-02 5.14930475e-05 9.99923618e-01 9.74230267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139254154 meters 0.014217936373550427 Centerline is valid? [True, True] Translation: X:150.12, Y:1.19, Z:0.97 [[ 9.99909361e-01 -4.26062961e-03 -1.27717402e-02 1.50116858e+02] [ 4.25876393e-03 9.99990916e-01 -1.73272306e-04 1.19430717e+00] [ 1.27723624e-02 1.18864774e-04 9.99918423e-01 9.74175762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19925415400002 meters 0.014245091689208077 Centerline is valid? [True, True] Translation: X:150.17, Y:1.19, Z:0.97 [[ 9.99912817e-01 -4.25307878e-03 -1.25008051e-02 1.50174829e+02] [ 4.25126175e-03 9.99990949e-01 -1.71922818e-04 1.19113728e+00] [ 1.25014231e-02 1.18763634e-04 9.99921847e-01 9.74717089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters 0.013948199435674939 Centerline is valid? [True, True] Translation: X:150.23, Y:1.18, Z:0.97 [[ 9.99866192e-01 -7.96252026e-03 -1.42897301e-02 1.50233564e+02] [ 7.96048431e-03 9.99968295e-01 -1.99351073e-04 1.18350894e+00] [ 1.42908644e-02 8.55712255e-05 9.99897877e-01 9.73876693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters 0.013830925165123931 Centerline is valid? [True, True] Translation: X:150.29, Y:1.17, Z:0.97 [[ 9.99767066e-01 -1.33690512e-02 -1.69434780e-02 1.50292150e+02] [ 1.33669426e-02 9.99910630e-01 -2.37696502e-04 1.17315067e+00] [ 1.69451416e-02 1.11586357e-05 9.99856421e-01 9.71930069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters 0.013868468101145377 Centerline is valid? [True, True] Translation: X:150.35, Y:1.16, Z:0.97 [[ 9.99673359e-01 -1.85373264e-02 -1.75938354e-02 1.50350767e+02] [ 1.85358302e-02 9.99828166e-01 -2.48123135e-04 1.16301522e+00] [ 1.75954117e-02 -7.80742582e-05 9.99845186e-01 9.72820306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters 0.014132928581315034 Centerline is valid? [True, True] Translation: X:150.41, Y:1.16, Z:0.97 [[ 9.99640472e-01 -2.09121955e-02 -1.67811539e-02 1.50408576e+02] [ 2.09111118e-02 9.99781310e-01 -2.40063457e-04 1.15761822e+00] [ 1.67825043e-02 -1.10935438e-04 9.99859158e-01 9.73905561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters 0.01419881378921989 Centerline is valid? [True, True] Translation: X:150.47, Y:1.15, Z:0.98 [[ 9.99613181e-01 -2.27692691e-02 -1.59702769e-02 1.50466645e+02] [ 2.27684523e-02 9.99740738e-01 -2.32985786e-04 1.15317721e+00] [ 1.59714414e-02 -1.30722826e-04 9.99872440e-01 9.75379394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559254154 meters 0.014484505728404519 Centerline is valid? [True, True] Translation: X:150.52, Y:1.15, Z:0.98 [[ 9.99569417e-01 -2.44874605e-02 -1.61661398e-02 1.50524514e+02] [ 2.44867963e-02 9.99700125e-01 -2.39060128e-04 1.14705094e+00] [ 1.61671459e-02 -1.56899778e-04 9.99869291e-01 9.75966848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619254154 meters 0.014911295866946454 Centerline is valid? [True, True] Translation: X:150.58, Y:1.14, Z:0.98 [[ 9.99481563e-01 -2.75256826e-02 -1.67015709e-02 1.50583275e+02] [ 2.75253409e-02 9.99621075e-01 -2.50374578e-04 1.14072755e+00] [ 1.67021339e-02 -2.09471657e-04 9.99860488e-01 9.75712358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679254154 meters 0.016145749401802887 Centerline is valid? [True, True] Translation: X:150.64, Y:1.14, Z:0.98 [[ 9.99417065e-01 -2.98788897e-02 -1.65160972e-02 1.50642335e+02] [ 2.98788413e-02 9.99553497e-01 -2.49745534e-04 1.13524854e+00] [ 1.65161848e-02 -2.43881897e-04 9.99863569e-01 9.75434296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739254154 meters 0.01627216984311514 Centerline is valid? [True, True] Translation: X:150.70, Y:1.13, Z:0.98 [[ 9.99269815e-01 -3.41255741e-02 -1.71837564e-02 1.50702175e+02] [ 3.41261364e-02 9.99417500e-01 -2.60593892e-04 1.13227051e+00] [ 1.71826398e-02 -3.26011604e-04 9.99852314e-01 9.77064345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799254154 meters 0.016233347772490803 Centerline is valid? [True, True] Translation: X:150.76, Y:1.13, Z:0.98 [[ 9.99151661e-01 -3.72886874e-02 -1.74788995e-02 1.50761981e+02] [ 3.72897415e-02 9.99304460e-01 -2.65723016e-04 1.12908254e+00] [ 1.74766507e-02 -3.86286052e-04 9.99847197e-01 9.77052371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859254154 meters 0.01757327471448686 Centerline is valid? [True, True] Translation: X:150.82, Y:1.12, Z:0.98 [[ 9.98957546e-01 -4.18483497e-02 -1.82355737e-02 1.50822426e+02] [ 4.18502514e-02 9.99123856e-01 -2.77486322e-04 1.12401442e+00] [ 1.82312090e-02 -4.85966287e-04 9.99833680e-01 9.75915537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91925415400001 meters 0.019010376600205846 Centerline is valid? [True, True] Translation: X:150.88, Y:1.12, Z:0.98 [[ 9.98860731e-01 -4.40040626e-02 -1.84630146e-02 1.50882276e+02] [ 4.40063994e-02 9.99031210e-01 -2.79888015e-04 1.12129098e+00] [ 1.84574440e-02 -5.32921646e-04 9.99829505e-01 9.75461887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97925415400002 meters 0.019613728159722493 Centerline is valid? [True, True] Translation: X:150.94, Y:1.12, Z:0.98 [[ 9.98773237e-01 -4.63655885e-02 -1.73854162e-02 1.50942716e+02] [ 4.63680277e-02 9.98924390e-01 -2.62982804e-04 1.12106556e+00] [ 1.73789096e-02 -5.43467272e-04 9.99848828e-01 9.76221897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters 0.019408834908092133 Centerline is valid? [True, True] Translation: X:151.00, Y:1.12, Z:0.98 [[ 9.98724535e-01 -4.77215539e-02 -1.64911070e-02 1.51004059e+02] [ 4.77239391e-02 9.98860533e-01 -2.49093917e-04 1.12336805e+00] [ 1.64842031e-02 -5.38244380e-04 9.99863981e-01 9.78078830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters 0.02045778394125309 Centerline is valid? [True, True] Translation: X:151.07, Y:1.12, Z:0.98 [[ 9.98686895e-01 -4.93467273e-02 -1.37617511e-02 1.51065720e+02] [ 4.93485486e-02 9.98781597e-01 -2.07403877e-04 1.12448438e+00] [ 1.37552184e-02 -4.71990907e-04 9.99905281e-01 9.79878976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters 0.023183621318212947 Centerline is valid? [True, True] Translation: X:151.13, Y:1.12, Z:0.98 [[ 9.98679499e-01 -4.98925136e-02 -1.22472636e-02 1.51127238e+02] [ 4.98940034e-02 9.98754502e-01 -1.84062008e-04 1.12243517e+00] [ 1.22411929e-02 -4.27246056e-04 9.99924983e-01 9.80433953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters 0.021763855324539984 Centerline is valid? [True, True] Translation: X:151.19, Y:1.13, Z:0.98 [[ 9.98718679e-01 -4.94536287e-02 -1.07396088e-02 1.51189562e+02] [ 4.94547554e-02 9.98776352e-01 -1.60799830e-04 1.12883399e+00] [ 1.07344194e-02 -3.70530931e-04 9.99942316e-01 9.81542946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters 0.019853956566702184 Centerline is valid? [True, True] Translation: X:151.25, Y:1.13, Z:0.98 [[ 9.98775758e-01 -4.82714493e-02 -1.08097853e-02 1.51251657e+02] [ 4.82725300e-02 9.98834189e-01 -1.61067981e-04 1.13420540e+00] [ 1.08049582e-02 -3.60944892e-04 9.99941560e-01 9.82047328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339254154 meters 0.018912390852985492 Centerline is valid? [True, True] Translation: X:151.31, Y:1.14, Z:0.98 [[ 9.98980366e-01 -4.37284297e-02 -1.12273012e-02 1.51312820e+02] [ 4.37293165e-02 9.99043402e-01 -1.66607899e-04 1.14140724e+00] [ 1.12238466e-02 -3.24524185e-04 9.99936958e-01 9.81463274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399254154 meters 0.019095604594734115 Centerline is valid? [True, True] Translation: X:151.37, Y:1.15, Z:0.98 [[ 9.99124172e-01 -4.01633670e-02 -1.17385271e-02 1.51373158e+02] [ 4.01640946e-02 9.99193082e-01 -1.73847102e-04 1.14508649e+00] [ 1.17360374e-02 -2.97772472e-04 9.99931086e-01 9.80610133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459254154 meters 0.01649831426792646 Centerline is valid? [True, True] Translation: X:151.43, Y:1.16, Z:0.98 [[ 9.99301047e-01 -3.53193299e-02 -1.22459157e-02 1.51434433e+02] [ 3.53197622e-02 9.99376046e-01 -1.81031504e-04 1.15538282e+00] [ 1.22446687e-02 -2.51617859e-04 9.99925000e-01 9.80681837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519254154 meters 0.016141578241752393 Centerline is valid? [True, True] Translation: X:151.50, Y:1.16, Z:0.98 [[ 9.99401208e-01 -3.23284280e-02 -1.23327899e-02 1.51495139e+02] [ 3.23286444e-02 9.99477276e-01 -1.81863299e-04 1.16000094e+00] [ 1.23322226e-02 -2.16947978e-04 9.99923932e-01 9.80881772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579254154 meters 0.015441838213460195 Centerline is valid? [True, True] Translation: X:151.56, Y:1.17, Z:0.98 [[ 9.99474462e-01 -2.98949572e-02 -1.25336055e-02 1.51556521e+02] [ 2.98949952e-02 9.99553028e-01 -1.84365516e-04 1.16675909e+00] [ 1.25335149e-02 -1.90423451e-04 9.99921434e-01 9.81502960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639254154 meters 0.015402798515787202 Centerline is valid? [True, True] Translation: X:151.62, Y:1.17, Z:0.98 [[ 9.99481907e-01 -2.95630742e-02 -1.27256283e-02 1.51617508e+02] [ 2.95630924e-02 9.99562899e-01 -1.86719617e-04 1.17022197e+00] [ 1.27255859e-02 -1.89586047e-04 9.99919008e-01 9.82041724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69925415400002 meters 0.01618578999397421 Centerline is valid? [True, True] Translation: X:151.68, Y:1.17, Z:0.98 [[ 9.99367176e-01 -3.32179874e-02 -1.27205303e-02 1.51678410e+02] [ 3.32183061e-02 9.99448102e-01 -1.86289434e-04 1.17123489e+00] [ 1.27196980e-02 -2.36382923e-04 9.99919073e-01 9.82601006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters 0.016917658259970002 Centerline is valid? [True, True] Translation: X:151.74, Y:1.17, Z:0.98 [[ 9.99201703e-01 -3.81757528e-02 -1.17715339e-02 1.51740082e+02] [ 3.81763741e-02 9.99271002e-01 -1.71996499e-04 1.17023082e+00] [ 1.17695186e-02 -2.77535290e-04 9.99930698e-01 9.83551941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters 0.019166804290207805 Centerline is valid? [True, True] Translation: X:151.80, Y:1.17, Z:0.98 [[ 9.98869262e-01 -4.63081168e-02 -1.07590098e-02 1.51801602e+02] [ 4.63091124e-02 9.98927145e-01 -1.56710645e-04 1.16666933e+00] [ 1.07547240e-02 -3.41706749e-04 9.99942108e-01 9.84595459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters 0.021355212780094328 Centerline is valid? [True, True] Translation: X:151.86, Y:1.16, Z:0.98 [[ 9.98722845e-01 -4.92238414e-02 -1.13882653e-02 1.51863087e+02] [ 4.92251521e-02 9.98787694e-01 -1.65357379e-04 1.16423995e+00] [ 1.13825988e-02 -3.95442900e-04 9.99935138e-01 9.84038495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters 0.020289921886899636 Centerline is valid? [True, True] Translation: X:151.93, Y:1.17, Z:0.98 [[ 9.98772012e-01 -4.80904177e-02 -1.19070983e-02 1.51925061e+02] [ 4.80917792e-02 9.98842906e-01 -1.72125812e-04 1.16920571e+00] [ 1.19015983e-02 -4.00719100e-04 9.99929093e-01 9.84096205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters 0.018657553782170308 Centerline is valid? [True, True] Translation: X:151.99, Y:1.18, Z:0.99 [[ 9.99080707e-01 -4.14144993e-02 -1.10715939e-02 1.51985366e+02] [ 4.14152718e-02 9.99142007e-01 -1.59591578e-04 1.17519021e+00] [ 1.10687039e-02 -2.99088204e-04 9.99938695e-01 9.85551678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059254154 meters 0.017086154915497784 Centerline is valid? [True, True] Translation: X:152.05, Y:1.18, Z:0.99 [[ 9.99293445e-01 -3.61004862e-02 -1.04577682e-02 1.52046500e+02] [ 3.61008859e-02 9.99348139e-01 -1.50608309e-04 1.18102465e+00] [ 1.04563882e-02 -2.27032800e-04 9.99945305e-01 9.86793993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119254154 meters 0.016056943936119665 Centerline is valid? [True, True] Translation: X:152.11, Y:1.19, Z:0.99 [[ 9.99492576e-01 -3.01480638e-02 -1.02802800e-02 1.52106966e+02] [ 3.01481384e-02 9.99545431e-01 -1.47750272e-04 1.18642051e+00] [ 1.02800613e-02 -1.62256003e-04 9.99947146e-01 9.86645978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179254154 meters 0.015570981199384744 Centerline is valid? [True, True] Translation: X:152.17, Y:1.19, Z:0.99 [[ 9.99518676e-01 -2.89016464e-02 -1.12743759e-02 1.52169534e+02] [ 2.89016620e-02 9.99582247e-01 -1.61581259e-04 1.18798800e+00] [ 1.12743359e-02 -1.64344714e-04 9.99936429e-01 9.85856491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239254154 meters 0.016237969917545815 Centerline is valid? [True, True] Translation: X:152.23, Y:1.19, Z:0.98 [[ 9.99405540e-01 -3.19087298e-02 -1.30537263e-02 1.52231268e+02] [ 3.19090173e-02 9.99490760e-01 -1.86304107e-04 1.18689045e+00] [ 1.30530236e-02 -2.30338222e-04 9.99914779e-01 9.84794267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299254154 meters 0.016553504705669537 Centerline is valid? [True, True] Translation: X:152.29, Y:1.19, Z:0.99 [[ 9.99255946e-01 -3.58334174e-02 -1.42660977e-02 1.52292459e+02] [ 3.58341683e-02 9.99357729e-01 -2.03068003e-04 1.18695223e+00] [ 1.42642116e-02 -3.08296835e-04 9.99898213e-01 9.85340723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359254154 meters 0.01972988102932393 Centerline is valid? [True, True] Translation: X:152.35, Y:1.18, Z:0.99 [[ 9.98979594e-01 -4.27112541e-02 -1.46805528e-02 1.52352984e+02] [ 4.27127970e-02 9.99087370e-01 -2.08567792e-04 1.18055464e+00] [ 1.46760631e-02 -4.18692503e-04 9.99892213e-01 9.85187909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41925415400001 meters 0.019847936077168907 Centerline is valid? [True, True] Translation: X:152.42, Y:1.18, Z:0.99 [[ 9.98830271e-01 -4.62579158e-02 -1.40817458e-02 1.52415047e+02] [ 4.62596967e-02 9.98929427e-01 -1.99407623e-04 1.18074687e+00] [ 1.40758945e-02 -4.52242921e-04 9.99900827e-01 9.86744289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47925415400002 meters 0.021686728590214296 Centerline is valid? [True, True] Translation: X:152.48, Y:1.18, Z:0.99 [[ 9.98717160e-01 -4.91762916e-02 -1.20717117e-02 1.52476600e+02] [ 4.91778242e-02 9.98790024e-01 -1.70029280e-04 1.17883815e+00] [ 1.20654666e-02 -4.23849355e-04 9.99927120e-01 9.88494972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters 0.02127777851810738 Centerline is valid? [True, True] Translation: X:152.54, Y:1.18, Z:0.99 [[ 9.98808591e-01 -4.74605658e-02 -1.13531155e-02 1.52538618e+02] [ 4.74618210e-02 9.98873040e-01 -1.58994431e-04 1.18229569e+00] [ 1.13478670e-02 -3.80034534e-04 9.99935539e-01 9.89288320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters 0.020223366164276616 Centerline is valid? [True, True] Translation: X:152.60, Y:1.19, Z:0.99 [[ 9.98953665e-01 -4.43740623e-02 -1.10687446e-02 1.52600210e+02] [ 4.43750738e-02 9.99014929e-01 -1.54318523e-04 1.18590167e+00] [ 1.10646889e-02 -3.37019306e-04 9.99938728e-01 9.90129740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters 0.01865539312791078 Centerline is valid? [True, True] Translation: X:152.66, Y:1.19, Z:0.99 [[ 9.99155935e-01 -3.94099201e-02 -1.15877110e-02 1.52662164e+02] [ 3.94107027e-02 9.99223084e-01 -1.60891336e-04 1.19204325e+00] [ 1.15850490e-02 -2.95924299e-04 9.99932847e-01 9.90800362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters 0.017697047240507816 Centerline is valid? [True, True] Translation: X:152.72, Y:1.20, Z:0.99 [[ 9.99259524e-01 -3.64008636e-02 -1.24652193e-02 1.52724023e+02] [ 3.64015456e-02 9.99337229e-01 -1.72244722e-04 1.19607688e+00] [ 1.24632276e-02 -2.81636071e-04 9.99922291e-01 9.90750297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779254154 meters 0.0171914883698933 Centerline is valid? [True, True] Translation: X:152.78, Y:1.20, Z:0.99 [[ 9.99349032e-01 -3.29525038e-02 -1.46848448e-02 1.52784483e+02] [ 3.29530883e-02 9.99456879e-01 -2.02232418e-04 1.20065646e+00] [ 1.46835332e-02 -2.81810215e-04 9.99892151e-01 9.88080118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839254154 meters 0.01530936654507407 Centerline is valid? [True, True] Translation: X:152.85, Y:1.21, Z:0.99 [[ 9.99389367e-01 -3.10987151e-02 -1.59299464e-02 1.52846069e+02] [ 3.10991749e-02 9.99516280e-01 -2.18916000e-04 1.20737721e+00] [ 1.59290488e-02 -2.76625868e-04 9.99873086e-01 9.88670534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899254154 meters 0.01511952623339877 Centerline is valid? [True, True] Translation: X:152.91, Y:1.21, Z:0.99 [[ 9.99427694e-01 -2.86463389e-02 -1.79908890e-02 1.52906283e+02] [ 2.86465369e-02 9.99589573e-01 -2.46754857e-04 1.21153091e+00] [ 1.79905737e-02 -2.68763028e-04 9.99838120e-01 9.87201727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959254154 meters 0.014716578210005294 Centerline is valid? [True, True] Translation: X:152.97, Y:1.22, Z:0.99 [[ 9.99447746e-01 -2.76853974e-02 -1.83772274e-02 1.52965577e+02] [ 2.76854360e-02 9.99616653e-01 -2.52361476e-04 1.21587186e+00] [ 1.83771693e-02 -2.56559446e-04 9.99831093e-01 9.88681991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019254154 meters 0.014705230854027446 Centerline is valid? [True, True] Translation: X:153.02, Y:1.22, Z:0.99 [[ 9.99497430e-01 -2.70084914e-02 -1.65960458e-02 1.53024000e+02] [ 2.70084168e-02 9.99635180e-01 -2.28666070e-04 1.21932892e+00] [ 1.65961671e-02 -2.19681773e-04 9.99862250e-01 9.91323349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079254154 meters 0.014787894349501418 Centerline is valid? [True, True] Translation: X:153.08, Y:1.22, Z:0.99 [[ 9.99495175e-01 -2.78642009e-02 -1.52637398e-02 1.53084274e+02] [ 2.78642324e-02 9.99611695e-01 -2.10646192e-04 1.22046282e+00] [ 1.52636823e-02 -2.14772542e-04 9.99883480e-01 9.92551852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.139254154 meters 0.015307609611086148 Centerline is valid? [True, True] Translation: X:153.15, Y:1.22, Z:0.99 [[ 9.99383860e-01 -3.15805765e-02 -1.53156073e-02 1.53145130e+02] [ 3.15810469e-02 9.99501172e-01 -2.11204613e-04 1.22050870e+00] [ 1.53146374e-02 -2.72608430e-04 9.99882687e-01 9.92846297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19925415400002 meters 0.017091061507057016 Centerline is valid? [True, True] Translation: X:153.21, Y:1.22, Z:0.99 [[ 9.99247867e-01 -3.55046154e-02 -1.55924095e-02 1.53205566e+02] [ 3.55055848e-02 9.99369455e-01 -2.14736918e-04 1.21759539e+00] [ 1.55902019e-02 -3.39042210e-04 9.99878408e-01 9.92069637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters 0.01873756717878061 Centerline is valid? [True, True] Translation: X:153.27, Y:1.22, Z:0.99 [[ 9.99103241e-01 -3.91506115e-02 -1.61227500e-02 1.53265658e+02] [ 3.91521270e-02 9.99233237e-01 -2.21752914e-04 1.21544605e+00] [ 1.61190694e-02 -4.09685899e-04 9.99869995e-01 9.91993554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters 0.019509355918469414 Centerline is valid? [True, True] Translation: X:153.33, Y:1.22, Z:0.99 [[ 9.98988072e-01 -4.17269669e-02 -1.67837060e-02 1.53327031e+02] [ 4.17289805e-02 9.99128940e-01 -2.30374585e-04 1.21529317e+00] [ 1.67786993e-02 -4.70225479e-04 9.99859117e-01 9.92488939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters 0.018444598129558346 Centerline is valid? [True, True] Translation: X:153.39, Y:1.22, Z:0.99 [[ 9.98903173e-01 -4.32285161e-02 -1.79929383e-02 1.53388195e+02] [ 4.32310856e-02 9.99065069e-01 -2.46312693e-04 1.21952118e+00] [ 1.79867639e-02 -5.31811727e-04 9.99838084e-01 9.93510005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters 0.01842440822982055 Centerline is valid? [True, True] Translation: X:153.45, Y:1.22, Z:0.99 [[ 9.98908262e-01 -4.25371428e-02 -1.93099680e-02 1.53450122e+02] [ 4.25399962e-02 9.99094730e-01 -2.63159313e-04 1.22187764e+00] [ 1.93036813e-02 -5.58573954e-04 9.99813511e-01 9.93283160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters 0.01801147361550126 Centerline is valid? [True, True] Translation: X:153.51, Y:1.23, Z:0.99 [[ 9.98980677e-01 -3.98332221e-02 -2.12348966e-02 1.53511777e+02] [ 3.98360851e-02 9.99206187e-01 -2.88330746e-04 1.22615465e+00] [ 2.12295252e-02 -5.57878302e-04 9.99774473e-01 9.92426269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559254154 meters 0.01773724011804656 Centerline is valid? [True, True] Translation: X:153.57, Y:1.23, Z:0.99 [[ 9.99093937e-01 -3.67151283e-02 -2.15245166e-02 1.53571845e+02] [ 3.67173521e-02 9.99325648e-01 -2.92018422e-04 1.22957866e+00] [ 2.15207230e-02 -4.98569418e-04 9.99768278e-01 9.92508488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619254154 meters 0.01679596725893796 Centerline is valid? [True, True] Translation: X:153.63, Y:1.24, Z:0.99 [[ 9.99202181e-01 -3.33000171e-02 -2.20478951e-02 1.53632598e+02] [ 3.33015194e-02 9.99445306e-01 -2.99118984e-04 1.23542837e+00] [ 2.20456259e-02 -4.35348065e-04 9.99756871e-01 9.94130212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679254154 meters 0.016726425617461925 Centerline is valid? [True, True] Translation: X:153.69, Y:1.24, Z:0.99 [[ 9.99225305e-01 -3.21151054e-02 -2.27466413e-02 1.53692415e+02] [ 3.21163852e-02 9.99484088e-01 -3.09149200e-04 1.23743964e+00] [ 2.27448344e-02 -4.21630188e-04 9.99741214e-01 9.94157804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739254154 meters 0.01610078440830727 Centerline is valid? [True, True] Translation: X:153.75, Y:1.24, Z:1.00 [[ 9.99184310e-01 -3.34900133e-02 -2.25639870e-02 1.53751343e+02] [ 3.34915262e-02 9.99438953e-01 -3.10951471e-04 1.24048842e+00] [ 2.25617413e-02 -4.45004532e-04 9.99745352e-01 9.97011336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799254154 meters 0.01670488022858951 Centerline is valid? [True, True] Translation: X:153.81, Y:1.24, Z:1.00 [[ 9.99106084e-01 -3.59192896e-02 -2.22898418e-02 1.53810527e+02] [ 3.59213134e-02 9.99354573e-01 -3.09720378e-04 1.24063754e+00] [ 2.22865803e-02 -4.91236878e-04 9.99751503e-01 9.97898934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859254154 meters 0.017338295163114168 Centerline is valid? [True, True] Translation: X:153.87, Y:1.24, Z:1.00 [[ 9.99033623e-01 -3.81251876e-02 -2.18698690e-02 1.53871025e+02] [ 3.81276560e-02 9.99272830e-01 -3.04244387e-04 1.24061692e+00] [ 2.18655653e-02 -5.29896471e-04 9.99760780e-01 9.98320353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91925415400001 meters 0.017473143104609526 Centerline is valid? [True, True] Translation: X:153.93, Y:1.24, Z:1.00 [[ 9.98965655e-01 -3.99439876e-02 -2.17278347e-02 1.53931803e+02] [ 3.99468540e-02 9.99201760e-01 -3.02268465e-04 1.24257715e+00] [ 2.17225644e-02 -5.66002823e-04 9.99763877e-01 9.99460802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97925415400002 meters 0.017289087371498278 Centerline is valid? [True, True] Translation: X:153.99, Y:1.25, Z:1.00 [[ 9.98997053e-01 -3.94925937e-02 -2.11002885e-02 1.53992919e+02] [ 3.94952074e-02 9.99219717e-01 -2.93006154e-04 1.24606859e+00] [ 2.10953959e-02 -5.40647985e-04 9.99777321e-01 1.00036645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters 0.017733046297354036 Centerline is valid? [True, True] Translation: X:154.05, Y:1.25, Z:1.00 [[ 9.99041382e-01 -3.88003399e-02 -2.02694691e-02 1.54053019e+02] [ 3.88026191e-02 9.99246855e-01 -2.80984461e-04 1.24726958e+00] [ 2.02651055e-02 -5.05793384e-04 9.99794514e-01 1.00064721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters 0.016948566856658874 Centerline is valid? [True, True] Translation: X:154.11, Y:1.25, Z:1.00 [[ 9.99121810e-01 -3.75825299e-02 -1.85246195e-02 1.54114336e+02] [ 3.75842344e-02 9.99293430e-01 -2.56252157e-04 1.25021034e+00] [ 1.85211611e-02 -4.40206520e-04 9.99828372e-01 1.00105274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters 0.017168996462455944 Centerline is valid? [True, True] Translation: X:154.18, Y:1.25, Z:1.00 [[ 9.99131993e-01 -3.72772555e-02 -1.85921249e-02 1.54175890e+02] [ 3.72789322e-02 9.99304866e-01 -2.56506018e-04 1.25162713e+00] [ 1.85887628e-02 -4.36811196e-04 9.99827119e-01 1.00075672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters 0.01683807052723356 Centerline is valid? [True, True] Translation: X:154.24, Y:1.25, Z:1.00 [[ 9.99142787e-01 -3.72708539e-02 -1.80159515e-02 1.54236942e+02] [ 3.72724390e-02 9.99305110e-01 -2.47902160e-04 1.25344953e+00] [ 1.80126719e-02 -4.23808799e-04 9.99837669e-01 1.00122739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279254154 meters 0.01730686712583537 Centerline is valid? [True, True] Translation: X:154.30, Y:1.25, Z:1.00 [[ 9.99099218e-01 -3.84787481e-02 -1.78924173e-02 1.54298696e+02] [ 3.84805330e-02 9.99259320e-01 -2.44644167e-04 1.25315542e+00] [ 1.78885784e-02 -4.44085959e-04 9.99839888e-01 1.00143328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339254154 meters 0.017827899646684554 Centerline is valid? [True, True] Translation: X:154.36, Y:1.25, Z:1.00 [[ 9.99013418e-01 -4.06663112e-02 -1.78449421e-02 1.54361267e+02] [ 4.06684641e-02 9.99172666e-01 -2.42383430e-04 1.25263438e+00] [ 1.78400353e-02 -4.83582089e-04 9.99840737e-01 1.00182211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399254154 meters 0.018689289781547786 Centerline is valid? [True, True] Translation: X:154.42, Y:1.25, Z:1.00 [[ 9.98839467e-01 -4.45585270e-02 -1.82826908e-02 1.54422859e+02] [ 4.45614553e-02 9.99006614e-01 -2.47390640e-04 1.25091275e+00] [ 1.82755524e-02 -5.67599772e-04 9.99832827e-01 1.00172757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459254154 meters 0.020349915613229203 Centerline is valid? [True, True] Translation: X:154.48, Y:1.25, Z:1.00 [[ 9.98690265e-01 -4.79864176e-02 -1.77498546e-02 1.54484969e+02] [ 4.79897368e-02 9.98847800e-01 -2.39133611e-04 1.24898788e+00] [ 1.77408784e-02 -6.12990441e-04 9.99842430e-01 1.00196852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519254154 meters 0.02073480023790409 Centerline is valid? [True, True] Translation: X:154.55, Y:1.25, Z:1.00 [[ 9.98679222e-01 -4.85870254e-02 -1.67066855e-02 1.54547158e+02] [ 4.85900696e-02 9.98818780e-01 -2.23889753e-04 1.24971523e+00] [ 1.66978294e-02 -5.88184968e-04 9.99860409e-01 1.00306265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579254154 meters 0.019439854650648732 Centerline is valid? [True, True] Translation: X:154.61, Y:1.25, Z:1.01 [[ 9.98853554e-01 -4.52117352e-02 -1.57314160e-02 1.54608993e+02] [ 4.52140313e-02 9.98977301e-01 -2.09861262e-04 1.25478843e+00] [ 1.57248156e-02 -5.01660066e-04 9.99876232e-01 1.00557970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639254154 meters 0.018252530894057276 Centerline is valid? [True, True] Translation: X:154.67, Y:1.26, Z:1.01 [[ 9.99029964e-01 -4.14166592e-02 -1.49596752e-02 1.54670415e+02] [ 4.14183202e-02 9.99141873e-01 -1.98908050e-04 1.25905199e+00] [ 1.49550760e-02 -4.20889516e-04 9.99888078e-01 1.00725705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69925415400002 meters 0.017496553908732643 Centerline is valid? [True, True] Translation: X:154.73, Y:1.26, Z:1.01 [[ 9.99165607e-01 -3.80171809e-02 -1.49259252e-02 1.54732167e+02] [ 3.80184671e-02 9.99277017e-01 -1.97662924e-04 1.26191651e+00] [ 1.49226486e-02 -3.69962801e-04 9.99888583e-01 1.00764977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters 0.0173839399462301 Centerline is valid? [True, True] Translation: X:154.79, Y:1.26, Z:1.01 [[ 9.99235099e-01 -3.53489644e-02 -1.67232459e-02 1.54793613e+02] [ 3.53502232e-02 9.99374961e-01 -2.20418892e-04 1.26318015e+00] [ 1.67205848e-02 -3.70920182e-04 9.99860132e-01 1.00624838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters 0.017528162362937746 Centerline is valid? [True, True] Translation: X:154.86, Y:1.26, Z:1.01 [[ 9.99245528e-01 -3.44802864e-02 -1.78741323e-02 1.54855341e+02] [ 3.44816069e-02 9.99405305e-01 -2.34399985e-04 1.26335556e+00] [ 1.78715848e-02 -3.82105666e-04 9.99840217e-01 1.00525655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters 0.016910424885922825 Centerline is valid? [True, True] Translation: X:154.92, Y:1.27, Z:1.01 [[ 9.99247265e-01 -3.38111958e-02 -1.90185960e-02 1.54917003e+02] [ 3.38125880e-02 9.99428160e-01 -2.48446649e-04 1.26510174e+00] [ 1.90161207e-02 -3.94808317e-04 9.99819099e-01 1.00590703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters 0.01769113254759792 Centerline is valid? [True, True] Translation: X:154.98, Y:1.26, Z:1.01 [[ 9.99226242e-01 -3.42607683e-02 -1.93162159e-02 1.54976995e+02] [ 3.42622976e-02 9.99412843e-01 -2.51857197e-04 1.26402632e+00] [ 1.93135031e-02 -4.10155617e-04 9.99813393e-01 1.00555372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters 0.017646696333935785 Centerline is valid? [True, True] Translation: X:155.04, Y:1.26, Z:1.01 [[ 9.99235545e-01 -3.35364637e-02 -2.00905679e-02 1.55038810e+02] [ 3.35379838e-02 9.99437409e-01 -2.61359367e-04 1.26476675e+00] [ 2.00880302e-02 -4.12637573e-04 9.99798130e-01 1.00595330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059254154 meters 0.017894619988561008 Centerline is valid? [True, True] Translation: X:155.10, Y:1.27, Z:1.01 [[ 9.99256490e-01 -3.25877852e-02 -2.06034770e-02 1.55099636e+02] [ 3.25891874e-02 9.99468795e-01 -2.67790953e-04 1.26692943e+00] [ 2.06012590e-02 -4.03858723e-04 9.99787690e-01 1.00656504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119254154 meters 0.01675746553676019 Centerline is valid? [True, True] Translation: X:155.16, Y:1.27, Z:1.01 [[ 9.99298827e-01 -3.14405845e-02 -2.03308576e-02 1.55159753e+02] [ 3.14417125e-02 9.99505552e-01 -2.64247620e-04 1.26962551e+00] [ 2.03291132e-02 -3.75174643e-04 9.99793272e-01 1.00814374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179254154 meters 0.015946209813227107 Centerline is valid? [True, True] Translation: X:155.22, Y:1.27, Z:1.01 [[ 9.99334564e-01 -3.07152714e-02 -1.96723267e-02 1.55219973e+02] [ 3.07161869e-02 9.99528114e-01 -2.55688451e-04 1.27218723e+00] [ 1.96708971e-02 -3.48740556e-04 9.99806448e-01 1.01024330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239254154 meters 0.017660184057387552 Centerline is valid? [True, True] Translation: X:155.28, Y:1.27, Z:1.01 [[ 9.99340785e-01 -3.00126889e-02 -2.04262912e-02 1.55279613e+02] [ 3.00135241e-02 9.99549457e-01 -2.65740192e-04 1.27247871e+00] [ 2.04250639e-02 -3.47499972e-04 9.99791326e-01 1.00999421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299254154 meters 0.015717281744899197 Centerline is valid? [True, True] Translation: X:155.34, Y:1.28, Z:1.01 [[ 9.99351853e-01 -2.95339342e-02 -2.05820412e-02 1.55339698e+02] [ 2.95346675e-02 9.99563721e-01 -2.68410033e-04 1.27505265e+00] [ 2.05809889e-02 -3.39647680e-04 9.99788131e-01 1.01144914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359254154 meters 0.015413120657740271 Centerline is valid? [True, True] Translation: X:155.40, Y:1.28, Z:1.01 [[ 9.99437840e-01 -2.67106220e-02 -2.02619432e-02 1.55399435e+02] [ 2.67107374e-02 9.99643169e-01 -2.64986376e-04 1.27721235e+00] [ 2.02617911e-02 -2.76374033e-04 9.99794671e-01 1.01212954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41925415400001 meters 0.015218655494934301 Centerline is valid? [True, True] Translation: X:155.46, Y:1.28, Z:1.01 [[ 9.99518263e-01 -2.37723913e-02 -1.99528469e-02 1.55459323e+02] [ 2.37719032e-02 9.99717374e-01 -2.61676628e-04 1.27890735e+00] [ 1.99534283e-02 -2.12766575e-04 9.99800888e-01 1.01346064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47925415400002 meters 0.01503845510547374 Centerline is valid? [True, True] Translation: X:155.52, Y:1.28, Z:1.01 [[ 9.99589662e-01 -2.06738787e-02 -1.98267154e-02 1.55516784e+02] [ 2.06727482e-02 9.99786262e-01 -2.61994288e-04 1.28099582e+00] [ 1.98278941e-02 -1.47985914e-04 9.99803397e-01 1.01400724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters 0.014789653980968695 Centerline is valid? [True, True] Translation: X:155.57, Y:1.28, Z:1.01 [[ 9.99609607e-01 -1.80616065e-02 -2.13169291e-02 1.55574498e+02] [ 1.80595958e-02 9.99836871e-01 -2.86841704e-04 1.28358681e+00] [ 2.13186325e-02 -9.82454009e-05 9.99772727e-01 1.01342036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters 0.014903935343638364 Centerline is valid? [True, True] Translation: X:155.63, Y:1.28, Z:1.01 [[ 9.99583064e-01 -1.83388462e-02 -2.23021264e-02 1.55633574e+02] [ 1.83365819e-02 9.99831824e-01 -3.06041683e-04 1.28295859e+00] [ 2.23039882e-02 -1.03030684e-04 9.99751230e-01 1.01326391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters 0.015248856341920664 Centerline is valid? [True, True] Translation: X:155.69, Y:1.28, Z:1.01 [[ 9.99515044e-01 -2.19574651e-02 -2.20804383e-02 1.55691385e+02] [ 2.19560614e-02 9.99758890e-01 -3.06027629e-04 1.27818061e+00] [ 2.20818340e-02 -1.78920239e-04 9.99756151e-01 1.01262279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters 0.015562245960778162 Centerline is valid? [True, True] Translation: X:155.75, Y:1.27, Z:1.01 [[ 9.99444441e-01 -2.54542990e-02 -2.15148556e-02 1.55749960e+02] [ 2.54536847e-02 9.99675957e-01 -3.02444424e-04 1.27490677e+00] [ 2.15155824e-02 -2.45355953e-04 9.99768483e-01 1.01352491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779254154 meters 0.016250087353474964 Centerline is valid? [True, True] Translation: X:155.81, Y:1.27, Z:1.02 [[ 9.99312702e-01 -3.11520370e-02 -2.00916463e-02 1.55808590e+02] [ 3.11525506e-02 9.99514600e-01 -2.87494849e-04 1.27145059e+00] [ 2.00908499e-02 -3.38608774e-04 9.99798101e-01 1.01533239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839254154 meters 0.01669308295346812 Centerline is valid? [True, True] Translation: X:155.87, Y:1.27, Z:1.01 [[ 9.99231658e-01 -3.40805024e-02 -1.93549363e-02 1.55868557e+02] [ 3.40814863e-02 9.99419018e-01 -2.79109444e-04 1.26767818e+00] [ 1.93532037e-02 -3.80750006e-04 9.99812637e-01 1.01484631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899254154 meters 0.017622410954026346 Centerline is valid? [True, True] Translation: X:155.93, Y:1.26, Z:1.02 [[ 9.99090470e-01 -3.84239414e-02 -1.84887654e-02 1.55929336e+02] [ 3.84255780e-02 9.99261429e-01 -2.66854687e-04 1.26285607e+00] [ 1.84853637e-02 -4.43829521e-04 9.99829033e-01 1.01517571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959254154 meters 0.01884713642352063 Centerline is valid? [True, True] Translation: X:155.99, Y:1.26, Z:1.02 [[ 9.98987765e-01 -4.16404653e-02 -1.70151737e-02 1.55989644e+02] [ 4.16423207e-02 9.99132552e-01 -2.45400400e-04 1.25950986e+00] [ 1.70106325e-02 -4.63399321e-04 9.99855201e-01 1.01599330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019254154 meters 0.022445110346748447 Centerline is valid? [True, True] Translation: X:156.05, Y:1.25, Z:1.02 [[ 9.98714132e-01 -4.76234232e-02 -1.73808232e-02 1.56051117e+02] [ 4.76262729e-02 9.98865194e-01 -2.50169466e-04 1.25330881e+00] [ 1.73730133e-02 -5.77936049e-04 9.99848911e-01 1.01598207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079254154 meters 0.023258624555440602 Centerline is valid? [True, True] Translation: X:156.11, Y:1.25, Z:1.02 [[ 9.98496514e-01 -5.23605705e-02 -1.62198176e-02 1.56112206e+02] [ 5.23636824e-02 9.98628054e-01 -2.33066979e-04 1.24867984e+00] [ 1.62097684e-02 -6.16612811e-04 9.99868423e-01 1.01610416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.139254154 meters 0.026276452886179753 Centerline is valid? [True, True] Translation: X:156.17, Y:1.24, Z:1.02 [[ 9.98275468e-01 -5.64897433e-02 -1.59686795e-02 1.56172491e+02] [ 5.64932913e-02 9.98402952e-01 -2.29180551e-04 1.24445391e+00] [ 1.59561231e-02 -6.73337941e-04 9.99872466e-01 1.01627906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19925415400002 meters 0.027254843344169888 Centerline is valid? [True, True] Translation: X:156.24, Y:1.24, Z:1.02 [[ 9.98225943e-01 -5.71716764e-02 -1.66242830e-02 1.56235111e+02] [ 5.71756294e-02 9.98364107e-01 -2.37788523e-04 1.24403564e+00] [ 1.66106822e-02 -7.13137171e-04 9.99861779e-01 1.01555490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters 0.027850482370588334 Centerline is valid? [True, True] Translation: X:156.30, Y:1.25, Z:1.01 [[ 9.98235599e-01 -5.67229296e-02 -1.75555979e-02 1.56297165e+02] [ 5.67272903e-02 9.98389679e-01 -2.49892042e-04 1.24567113e+00] [ 1.75415024e-02 -7.46430367e-04 9.99845857e-01 1.01460840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters 0.02853876704302685 Centerline is valid? [True, True] Translation: X:156.36, Y:1.25, Z:1.01 [[ 9.98269584e-01 -5.61423482e-02 -1.74892480e-02 1.56359320e+02] [ 5.61466074e-02 9.98422504e-01 -2.47779382e-04 1.24741022e+00] [ 1.74755697e-02 -7.34611318e-04 9.99847021e-01 1.01434316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters 0.02264591868256452 Centerline is valid? [True, True] Translation: X:156.42, Y:1.26, Z:1.02 [[ 9.98418829e-01 -5.33916037e-02 -1.75834611e-02 1.56420962e+02] [ 5.33955014e-02 9.98573412e-01 -2.48066796e-04 1.26058952e+00] [ 1.75716215e-02 -6.91203164e-04 9.99845368e-01 1.01649069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters 0.02156588784025891 Centerline is valid? [True, True] Translation: X:156.48, Y:1.26, Z:1.02 [[ 9.98590443e-01 -5.03763850e-02 -1.67136739e-02 1.56482463e+02] [ 5.03794967e-02 9.98730119e-01 -2.35077691e-04 1.26483875e+00] [ 1.67042919e-02 -6.07280142e-04 9.99860289e-01 1.01699103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters 0.020271595157304992 Centerline is valid? [True, True] Translation: X:156.54, Y:1.27, Z:1.02 [[ 9.98838763e-01 -4.56449341e-02 -1.54164245e-02 1.56543430e+02] [ 4.56470246e-02 9.98957608e-01 -2.16431736e-04 1.27269136e+00] [ 1.54102335e-02 -4.87533500e-04 9.99881136e-01 1.01831247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559254154 meters 0.01928501095991526 Centerline is valid? [True, True] Translation: X:156.60, Y:1.28, Z:1.02 [[ 9.98978712e-01 -4.27441736e-02 -1.46447264e-02 1.56604535e+02] [ 4.27457547e-02 9.99085961e-01 -2.05181354e-04 1.27764394e+00] [ 1.46401108e-02 -4.21028076e-04 9.99892739e-01 1.01883800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619254154 meters 0.017787951733371325 Centerline is valid? [True, True] Translation: X:156.67, Y:1.29, Z:1.02 [[ 9.99165163e-01 -3.81511709e-02 -1.46104529e-02 1.56665832e+02] [ 3.81522616e-02 9.99271917e-01 -2.04164680e-04 1.28555875e+00] [ 1.46076044e-02 -3.53427587e-04 9.99893241e-01 1.01903360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679254154 meters 0.016683804028067517 Centerline is valid? [True, True] Translation: X:156.73, Y:1.29, Z:1.02 [[ 9.99305514e-01 -3.41974155e-02 -1.47995561e-02 1.56727129e+02] [ 3.41981094e-02 9.99415052e-01 -2.06253914e-04 1.29096343e+00] [ 1.47979525e-02 -3.00006167e-04 9.99890459e-01 1.01942002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739254154 meters 0.015604607588714663 Centerline is valid? [True, True] Translation: X:156.79, Y:1.30, Z:1.02 [[ 9.99508265e-01 -2.78531052e-02 -1.44025564e-02 1.56788546e+02] [ 2.78531114e-02 9.99612007e-01 -2.00194867e-04 1.29790666e+00] [ 1.44025444e-02 -2.01059585e-04 9.99896258e-01 1.01975048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799254154 meters 0.0148800371981035 Centerline is valid? [True, True] Translation: X:156.85, Y:1.30, Z:1.02 [[ 9.99629631e-01 -2.33141769e-02 -1.40374690e-02 1.56850065e+02] [ 2.33137426e-02 9.99728179e-01 -1.94605875e-04 1.30297899e+00] [ 1.40381904e-02 -1.32732140e-04 9.99901451e-01 1.02034274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859254154 meters 0.014462002399480959 Centerline is valid? [True, True] Translation: X:156.91, Y:1.31, Z:1.02 [[ 9.99718344e-01 -1.89090465e-02 -1.43415713e-02 1.56910761e+02] [ 1.89081508e-02 9.99821205e-01 -1.98054355e-04 1.30716318e+00] [ 1.43427521e-02 -7.31740202e-05 9.99897135e-01 1.02024914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91925415400001 meters 0.014363112203352426 Centerline is valid? [True, True] Translation: X:156.97, Y:1.31, Z:1.02 [[ 9.99804109e-01 -1.50011049e-02 -1.29116329e-02 1.56970325e+02] [ 1.50000554e-02 9.99887477e-01 -1.78126939e-04 1.31019302e+00] [ 1.29128522e-02 -1.55831634e-05 9.99916626e-01 1.02109347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97925415400002 meters 0.014389059462244282 Centerline is valid? [True, True] Translation: X:157.03, Y:1.31, Z:1.02 [[ 9.99813457e-01 -1.56216664e-02 -1.13584390e-02 1.57029509e+02] [ 1.56208900e-02 9.99877974e-01 -1.57081293e-04 1.30911406e+00] [ 1.13595069e-02 -2.03769353e-05 9.99935479e-01 1.02267405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters 0.014365780481677009 Centerline is valid? [True, True] Translation: X:157.09, Y:1.31, Z:1.02 [[ 9.99800232e-01 -1.65164183e-02 -1.12563104e-02 1.57089511e+02] [ 1.65157088e-02 9.99863594e-01 -1.55993640e-04 1.30852709e+00] [ 1.12573514e-02 -2.99434667e-05 9.99936634e-01 1.02320504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters 0.01465381865976066 Centerline is valid? [True, True] Translation: X:157.15, Y:1.30, Z:1.02 [[ 9.99711749e-01 -2.07690714e-02 -1.20442798e-02 1.57150345e+02] [ 2.07685661e-02 9.99784296e-01 -1.67045608e-04 1.30348826e+00] [ 1.20451512e-02 -8.31449638e-05 9.99927451e-01 1.02219035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters 0.0149620541338772 Centerline is valid? [True, True] Translation: X:157.21, Y:1.30, Z:1.02 [[ 9.99619558e-01 -2.41092029e-02 -1.33972194e-02 1.57211482e+02] [ 2.41088809e-02 9.99709321e-01 -1.85564517e-04 1.29967595e+00] [ 1.33977989e-02 -1.37498046e-04 9.99910236e-01 1.02130343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters 0.01555336646365967 Centerline is valid? [True, True] Translation: X:157.27, Y:1.30, Z:1.02 [[ 9.99546561e-01 -2.68166609e-02 -1.36944810e-02 1.57271971e+02] [ 2.68165836e-02 9.99640353e-01 -1.89304208e-04 1.29568488e+00] [ 1.36946323e-02 -1.78020824e-04 9.99906208e-01 1.02085765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279254154 meters 0.015732343975556864 Centerline is valid? [True, True] Translation: X:157.33, Y:1.29, Z:1.02 [[ 9.99515452e-01 -2.77974551e-02 -1.40057791e-02 1.57333142e+02] [ 2.77974759e-02 9.99613557e-01 -1.93225905e-04 1.29274865e+00] [ 1.40057378e-02 -1.96193029e-04 9.99901896e-01 1.02056878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339254154 meters 0.015186343433954908 Centerline is valid? [True, True] Translation: X:157.39, Y:1.29, Z:1.02 [[ 9.99545979e-01 -2.65465711e-02 -1.42518678e-02 1.57394699e+02] [ 2.65464729e-02 9.99647561e-01 -1.96101612e-04 1.29345054e+00] [ 1.42520507e-02 -1.82324244e-04 9.99898418e-01 1.02138947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399254154 meters 0.014537185417810364 Centerline is valid? [True, True] Translation: X:157.45, Y:1.29, Z:1.02 [[ 9.99672788e-01 -2.23122835e-02 -1.25091291e-02 1.57454795e+02] [ 2.23118791e-02 9.99751044e-01 -1.71904820e-04 1.29317778e+00] [ 1.25098504e-02 -1.07253604e-04 9.99921743e-01 1.02327776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459254154 meters 0.014359342600458978 Centerline is valid? [True, True] Translation: X:157.52, Y:1.29, Z:1.02 [[ 9.99761277e-01 -1.82437948e-02 -1.20230580e-02 1.57515678e+02] [ 1.82431294e-02 9.99833567e-01 -1.65029337e-04 1.29345067e+00] [ 1.20240677e-02 -5.43482616e-05 9.99927707e-01 1.02412908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519254154 meters 0.01417808393980308 Centerline is valid? [True, True] Translation: X:157.58, Y:1.29, Z:1.03 [[ 9.99846283e-01 -1.26564386e-02 -1.21335987e-02 1.57576045e+02] [ 1.26553524e-02 9.99919904e-01 -1.66297097e-04 1.29353994e+00] [ 1.21347316e-02 1.27165666e-05 9.99926371e-01 1.02522399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579254154 meters 0.014191009774218263 Centerline is valid? [True, True] Translation: X:157.63, Y:1.29, Z:1.02 [[ 9.99866194e-01 -1.03297047e-02 -1.26842683e-02 1.57634880e+02] [ 1.03283108e-02 9.99946646e-01 -1.75392803e-04 1.29203456e+00] [ 1.26854033e-02 4.43622689e-05 9.99919536e-01 1.02482613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.639254154 meters 0.014102482893613886 Centerline is valid? [True, True] Translation: X:157.69, Y:1.29, Z:1.02 [[ 9.99854184e-01 -9.78656966e-03 -1.39940609e-02 1.57692228e+02] [ 9.78477697e-03 9.99952109e-01 -1.96567540e-04 1.28723431e+00] [ 1.39953144e-02 5.96101123e-05 9.99902059e-01 1.02348133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69925415400002 meters 0.014026370056458374 Centerline is valid? [True, True] Translation: X:157.75, Y:1.28, Z:1.02 [[ 9.99812371e-01 -1.20287972e-02 -1.51832615e-02 1.57749869e+02] [ 1.20268911e-02 9.99927651e-01 -2.16845627e-04 1.28273318e+00] [ 1.51847714e-02 3.41975076e-05 9.99884704e-01 1.02242960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters 0.013851358841642828 Centerline is valid? [True, True] Translation: X:157.81, Y:1.27, Z:1.02 [[ 9.99734742e-01 -1.66993416e-02 -1.58611798e-02 1.57808941e+02] [ 1.66978066e-02 9.99860556e-01 -2.29213860e-04 1.27482414e+00] [ 1.58627957e-02 -3.56938528e-05 9.99874177e-01 1.02296766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters 0.01391219574701472 Centerline is valid? [True, True] Translation: X:157.87, Y:1.27, Z:1.02 [[ 9.99699167e-01 -1.94530229e-02 -1.49383718e-02 1.57865753e+02] [ 1.94519461e-02 9.99810769e-01 -2.17391912e-04 1.26935639e+00] [ 1.49397740e-02 -7.32538903e-05 9.99888393e-01 1.02291110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters 0.013914141936871627 Centerline is valid? [True, True] Translation: X:157.92, Y:1.27, Z:1.03 [[ 9.99663782e-01 -2.21017382e-02 -1.35586129e-02 1.57924650e+02] [ 2.21010604e-02 9.99755722e-01 -1.99839766e-04 1.26528465e+00] [ 1.35597176e-02 -9.98871455e-05 9.99908058e-01 1.02529475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters 0.01451963458657475 Centerline is valid? [True, True] Translation: X:157.98, Y:1.26, Z:1.03 [[ 9.99573110e-01 -2.64341238e-02 -1.24432282e-02 1.57984152e+02] [ 2.64338676e-02 9.99650547e-01 -1.85078538e-04 1.25759695e+00] [ 1.24437723e-02 -1.43923117e-04 9.99922563e-01 1.02625024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters 0.015645761102777635 Centerline is valid? [True, True] Translation: X:158.04, Y:1.25, Z:1.03 [[ 9.99371988e-01 -3.32719398e-02 -1.21904781e-02 1.58044672e+02] [ 3.32722010e-02 9.99446311e-01 -1.81437293e-04 1.24850462e+00] [ 1.21897651e-02 -2.24280689e-04 9.99925677e-01 1.02637124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059254154 meters 0.01776485354998428 Centerline is valid? [True, True] Translation: X:158.10, Y:1.24, Z:1.03 [[ 9.99164649e-01 -3.90269271e-02 -1.21203225e-02 1.58104860e+02] [ 3.90276138e-02 9.99238116e-01 -1.79951977e-04 1.24014112e+00] [ 1.21181112e-02 -2.93225611e-04 9.99926530e-01 1.02598266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119254154 meters 0.0194118812059404 Centerline is valid? [True, True] Translation: X:158.17, Y:1.23, Z:1.03 [[ 9.98715452e-01 -4.91567307e-02 -1.22907519e-02 1.58165639e+02] [ 4.91582100e-02 9.98790988e-01 -1.81907803e-04 1.23277551e+00] [ 1.22848342e-02 -4.22517228e-04 9.99924449e-01 1.02601635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179254154 meters 0.02181430235511974 Centerline is valid? [True, True] Translation: X:158.23, Y:1.23, Z:1.03 [[ 9.98356437e-01 -5.58229197e-02 -1.29701845e-02 1.58225904e+02] [ 5.58251292e-02 9.98440543e-01 -1.91912685e-04 1.22658098e+00] [ 1.29606712e-02 -5.32464962e-04 9.99915865e-01 1.02559294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239254154 meters 0.027138860960256698 Centerline is valid? [True, True] Translation: X:158.29, Y:1.22, Z:1.02 [[ 9.97756271e-01 -6.54396767e-02 -1.41447288e-02 1.58285941e+02] [ 6.54432680e-02 9.97856270e-01 -2.09313431e-04 1.21622894e+00] [ 1.41281037e-02 -7.16833489e-04 9.99899936e-01 1.02375682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299254154 meters 0.02901890276984554 Centerline is valid? [True, True] Translation: X:158.35, Y:1.21, Z:1.02 [[ 9.97405486e-01 -7.03905843e-02 -1.50818276e-02 1.58346439e+02] [ 7.03952311e-02 9.97519154e-01 -2.23201933e-04 1.21391455e+00] [ 1.50601232e-02 -8.39065908e-04 9.99886238e-01 1.02384117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359254154 meters 0.032020069670540656 Centerline is valid? [True, True] Translation: X:158.41, Y:1.21, Z:1.02 [[ 9.97045563e-01 -7.51685973e-02 -1.58059173e-02 1.58407255e+02] [ 7.51743004e-02 9.97170382e-01 -2.33848113e-04 1.21260173e+00] [ 1.57787707e-02 -9.55041554e-04 9.99875051e-01 1.02406408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41925415400001 meters 0.033750899937446434 Centerline is valid? [True, True] Translation: X:158.47, Y:1.21, Z:1.02 [[ 9.96954498e-01 -7.62953572e-02 -1.61476500e-02 1.58469199e+02] [ 7.63014682e-02 9.97084765e-01 -2.38201059e-04 1.21351373e+00] [ 1.61187494e-02 -9.94613782e-04 9.99869590e-01 1.02467396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47925415400002 meters 0.034095528774988657 Centerline is valid? [True, True] Translation: X:158.53, Y:1.22, Z:1.03 [[ 9.97025310e-01 -7.53952643e-02 -1.60026659e-02 1.58531755e+02] [ 7.54011710e-02 9.97153252e-01 -2.34777899e-04 1.21622132e+00] [ 1.59748115e-02 -9.72540241e-04 9.99871922e-01 1.02570132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters 0.033990458432506386 Centerline is valid? [True, True] Translation: X:158.59, Y:1.22, Z:1.03 [[ 9.97227284e-01 -7.28223048e-02 -1.53184847e-02 1.58593515e+02] [ 7.28274300e-02 9.97344532e-01 -2.23730958e-04 1.22134115e+00] [ 1.52940995e-02 -8.92495255e-04 9.99882640e-01 1.02694006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters 0.03077096724948504 Centerline is valid? [True, True] Translation: X:158.65, Y:1.23, Z:1.03 [[ 9.97512581e-01 -6.87091027e-02 -1.57388293e-02 1.58654287e+02] [ 6.87140107e-02 9.97636373e-01 -2.29354560e-04 1.23111636e+00] [ 1.57173873e-02 -8.52694026e-04 9.99876111e-01 1.02727998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters 0.0293215660719971 Centerline is valid? [True, True] Translation: X:158.71, Y:1.24, Z:1.03 [[ 9.97729626e-01 -6.53340927e-02 -1.63416831e-02 1.58714975e+02] [ 6.53389373e-02 9.97863100e-01 -2.37850490e-04 1.23705467e+00] [ 1.63223023e-02 -8.30437729e-04 9.99866437e-01 1.02716358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters 0.02372674696020326 Centerline is valid? [True, True] Translation: X:158.78, Y:1.25, Z:1.03 [[ 9.98198843e-01 -5.76072223e-02 -1.67474440e-02 1.58775051e+02] [ 5.76112269e-02 9.98339064e-01 -2.43640296e-04 1.25456882e+00] [ 1.67336630e-02 -7.21639336e-04 9.99859722e-01 1.02866222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779254154 meters 0.020396477642635333 Centerline is valid? [True, True] Translation: X:158.84, Y:1.26, Z:1.03 [[ 9.98544924e-01 -5.13472173e-02 -1.64772198e-02 1.58835626e+02] [ 5.13502469e-02 9.98680677e-01 -2.39442226e-04 1.26405826e+00] [ 1.64677757e-02 -6.07015484e-04 9.99864213e-01 1.03074043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839254154 meters 0.016711466515110025 Centerline is valid? [True, True] Translation: X:158.90, Y:1.28, Z:1.03 [[ 9.99101597e-01 -3.91758556e-02 -1.61632619e-02 1.58895522e+02] [ 3.91771817e-02 9.99232252e-01 -2.34706527e-04 1.27772501e+00] [ 1.61600475e-02 -3.98735383e-04 9.99869338e-01 1.03090501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899254154 meters 0.014417294076839542 Centerline is valid? [True, True] Translation: X:158.96, Y:1.29, Z:1.03 [[ 9.99395658e-01 -3.10270370e-02 -1.56729734e-02 1.58955722e+02] [ 3.10272819e-02 9.99518512e-01 -2.27592650e-04 1.28785720e+00] [ 1.56724886e-02 -2.58834658e-04 9.99877146e-01 1.03180529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959254154 meters 0.013650297516578314 Centerline is valid? [True, True] Translation: X:159.02, Y:1.29, Z:1.03 [[ 9.99523453e-01 -2.69652212e-02 -1.50247420e-02 1.59016577e+02] [ 2.69649869e-02 9.99636355e-01 -2.18208993e-04 1.29303121e+00] [ 1.50251624e-02 -1.87036966e-04 9.99887098e-01 1.03272336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019254154 meters 0.01298817592275034 Centerline is valid? [True, True] Translation: X:159.08, Y:1.30, Z:1.03 [[ 9.99751232e-01 -1.82193011e-02 -1.28658717e-02 1.59076523e+02] [ 1.82184048e-02 9.99834014e-01 -1.86875462e-04 1.30416221e+00] [ 1.28671409e-02 -4.75666848e-05 9.99917214e-01 1.03385152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079254154 meters 0.013074766209665665 Centerline is valid? [True, True] Translation: X:159.14, Y:1.31, Z:1.04 [[ 9.99787729e-01 -1.67137172e-02 -1.20477607e-02 1.59135720e+02] [ 1.67128195e-02 9.99860316e-01 -1.75190205e-04 1.30943175e+00] [ 1.20490059e-02 -2.61990329e-05 9.99927408e-01 1.03501917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.139254154 meters 0.013944938485806727 Centerline is valid? [True, True] Translation: X:159.20, Y:1.31, Z:1.04 [[ 9.99726385e-01 -2.07814812e-02 -1.07370890e-02 1.59195272e+02] [ 2.07809988e-02 9.99784039e-01 -1.56502839e-04 1.30974021e+00] [ 1.07380226e-02 -6.66674162e-05 9.99942344e-01 1.03556413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19925415400002 meters 0.014059722387026295 Centerline is valid? [True, True] Translation: X:159.26, Y:1.31, Z:1.04 [[ 9.99583885e-01 -2.69691860e-02 -1.02332246e-02 1.59256022e+02] [ 2.69690702e-02 9.99636257e-01 -1.49332178e-04 1.30714647e+00] [ 1.02335297e-02 -1.26710514e-04 9.99947628e-01 1.03603381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters 0.01601872570209757 Centerline is valid? [True, True] Translation: X:159.32, Y:1.30, Z:1.04 [[ 9.99248480e-01 -3.74189768e-02 -1.01140729e-02 1.59316827e+02] [ 3.74194005e-02 9.99299638e-01 -1.47409315e-04 1.30264954e+00] [ 1.01125053e-02 -2.31164010e-04 9.99948841e-01 1.03574457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters 0.017654417791832903 Centerline is valid? [True, True] Translation: X:159.38, Y:1.30, Z:1.04 [[ 9.99031632e-01 -4.29102749e-02 -9.72145219e-03 1.59378360e+02] [ 4.29109283e-02 9.99078892e-01 -1.41458377e-04 1.29975856e+00] [ 9.71856770e-03 -2.75835144e-04 9.99952736e-01 1.03623755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters 0.020135527529396575 Centerline is valid? [True, True] Translation: X:159.44, Y:1.30, Z:1.04 [[ 9.98861854e-01 -4.63660792e-02 -1.11885793e-02 1.59439541e+02] [ 4.63671671e-02 9.98924451e-01 -1.62281216e-04 1.29854564e+00] [ 1.11840698e-02 -3.56686212e-04 9.99937393e-01 1.03569958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters 0.01856892986556974 Centerline is valid? [True, True] Translation: X:159.50, Y:1.30, Z:1.04 [[ 9.99014468e-01 -4.29288837e-02 -1.12784419e-02 1.59500961e+02] [ 4.29297763e-02 9.99078079e-01 -1.63049933e-04 1.30496793e+00] [ 1.12750436e-02 -3.21291747e-04 9.99936383e-01 1.03661348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters 0.01767183901853071 Centerline is valid? [True, True] Translation: X:159.56, Y:1.31, Z:1.04 [[ 9.99210942e-01 -3.82829878e-02 -1.05785381e-02 1.59561004e+02] [ 3.82835160e-02 9.99266906e-01 -1.52630373e-04 1.30838474e+00] [ 1.05766262e-02 -2.52473695e-04 9.99944034e-01 1.03730745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559254154 meters 0.015137002472199759 Centerline is valid? [True, True] Translation: X:159.62, Y:1.32, Z:1.04 [[ 9.99482351e-01 -3.03120501e-02 -1.07800520e-02 1.59622336e+02] [ 3.03121381e-02 9.99540470e-01 -1.55261793e-04 1.31676440e+00] [ 1.07798045e-02 -1.71585001e-04 9.99941881e-01 1.03800783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619254154 meters 0.014674589154009118 Centerline is valid? [True, True] Translation: X:159.68, Y:1.32, Z:1.04 [[ 9.99609379e-01 -2.55723951e-02 -1.12757280e-02 1.59684045e+02] [ 2.55721956e-02 9.99672965e-01 -1.61886858e-04 1.32118112e+00] [ 1.12761802e-02 -1.26521499e-04 9.99936414e-01 1.03779334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679254154 meters 0.01413117456218965 Centerline is valid? [True, True] Translation: X:159.75, Y:1.33, Z:1.04 [[ 9.99720179e-01 -1.99367444e-02 -1.27314194e-02 1.59745665e+02] [ 1.99360413e-02 9.99801241e-01 -1.82149646e-04 1.32540744e+00] [ 1.27325204e-02 -7.17154256e-05 9.99918936e-01 1.03788547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739254154 meters 0.014167770084189974 Centerline is valid? [True, True] Translation: X:159.81, Y:1.33, Z:1.04 [[ 9.99766195e-01 -1.72268025e-02 -1.30687331e-02 1.59805689e+02] [ 1.72258334e-02 9.99851607e-01 -1.86725685e-04 1.32767894e+00] [ 1.30700104e-02 -3.84377903e-05 9.99914583e-01 1.03787136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799254154 meters 0.01401996580896649 Centerline is valid? [True, True] Translation: X:159.87, Y:1.33, Z:1.04 [[ 9.99798831e-01 -1.50923926e-02 -1.32104859e-02 1.59865295e+02] [ 1.50912128e-02 9.99886103e-01 -1.88992656e-04 1.32908021e+00] [ 1.32118336e-02 -1.04076166e-05 9.99912720e-01 1.03879700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859254154 meters 0.013938408885823992 Centerline is valid? [True, True] Translation: X:159.92, Y:1.33, Z:1.04 [[ 9.99801497e-01 -1.45442343e-02 -1.36173096e-02 1.59924104e+02] [ 1.45429020e-02 9.99894227e-01 -1.96865852e-04 1.32905376e+00] [ 1.36187326e-02 -1.20842495e-06 9.99907261e-01 1.03870345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91925415400001 meters 0.01484753634501941 Centerline is valid? [True, True] Translation: X:159.98, Y:1.33, Z:1.04 [[ 9.99798062e-01 -1.49018799e-02 -1.34821859e-02 1.59982144e+02] [ 1.49005748e-02 9.99888961e-01 -1.97258546e-04 1.32680343e+00] [ 1.34836284e-02 -3.67360775e-06 9.99909092e-01 1.03841582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97925415400002 meters 0.01408081791814521 Centerline is valid? [True, True] Translation: X:160.04, Y:1.32, Z:1.04 [[ 9.99736113e-01 -1.90634689e-02 -1.28174789e-02 1.60040926e+02] [ 1.90626037e-02 9.99818274e-01 -1.89682383e-04 1.32346399e+00] [ 1.28187656e-02 -5.47021915e-05 9.99917835e-01 1.04037241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters 0.014249637741980428 Centerline is valid? [True, True] Translation: X:160.10, Y:1.32, Z:1.04 [[ 9.99649062e-01 -2.33861551e-02 -1.24434790e-02 1.60100321e+02] [ 2.33856511e-02 9.99726501e-01 -1.86026638e-04 1.31925158e+00] [ 1.24444262e-02 -1.05037504e-04 9.99922560e-01 1.04099681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters 0.015927960707995445 Centerline is valid? [True, True] Translation: X:160.16, Y:1.31, Z:1.04 [[ 9.99339275e-01 -3.41099841e-02 -1.25508067e-02 1.60160977e+02] [ 3.41103136e-02 9.99418056e-01 -1.87876499e-04 1.30954332e+00] [ 1.25499113e-02 -2.40359588e-04 9.99921218e-01 1.04106957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters 0.018706983075195416 Centerline is valid? [True, True] Translation: X:160.22, Y:1.30, Z:1.04 [[ 9.99047592e-01 -4.16501555e-02 -1.30066325e-02 1.60221696e+02] [ 4.16511493e-02 9.99132195e-01 -1.94583872e-04 1.30235244e+00] [ 1.30034497e-02 -3.47342641e-04 9.99915391e-01 1.04014020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters 0.02069434467961456 Centerline is valid? [True, True] Translation: X:160.28, Y:1.29, Z:1.04 [[ 9.98665399e-01 -5.00220902e-02 -1.28534564e-02 1.60282802e+02] [ 5.00237551e-02 9.98748010e-01 -1.92145897e-04 1.29436136e+00] [ 1.28469756e-02 -4.51088698e-04 9.99917372e-01 1.04131637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279254154 meters 0.024698934344579187 Centerline is valid? [True, True] Translation: X:160.34, Y:1.28, Z:1.04 [[ 9.98001751e-01 -6.19432019e-02 -1.24717727e-02 1.60343765e+02] [ 6.19456987e-02 9.98079504e-01 -1.86378748e-04 1.28439924e+00] [ 1.24593656e-02 -5.86566360e-04 9.99922207e-01 1.04152538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339254154 meters 0.028385435654567245 Centerline is valid? [True, True] Translation: X:160.40, Y:1.28, Z:1.04 [[ 9.97368992e-01 -7.14382442e-02 -1.23154748e-02 1.60404325e+02] [ 7.14414012e-02 9.97444782e-01 -1.83961464e-04 1.27760231e+00] [ 1.22971480e-02 -6.96357320e-04 9.99924145e-01 1.04202879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399254154 meters 0.03308448209456808 Centerline is valid? [True, True] Translation: X:160.46, Y:1.27, Z:1.04 [[ 9.97101882e-01 -7.50917964e-02 -1.22090122e-02 1.60464199e+02] [ 7.50951725e-02 9.97176354e-01 -1.82323126e-04 1.27159626e+00] [ 1.21882293e-02 -7.35043146e-04 9.99925451e-01 1.04217700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459254154 meters 0.0335690598851312 Centerline is valid? [True, True] Translation: X:160.53, Y:1.27, Z:1.04 [[ 9.96990203e-01 -7.65604803e-02 -1.22077279e-02 1.60526013e+02] [ 7.65639690e-02 9.97064655e-01 -1.82009489e-04 1.27216706e+00] [ 1.21858288e-02 -7.53210427e-04 9.99925466e-01 1.04314889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519254154 meters 0.03429878988078707 Centerline is valid? [True, True] Translation: X:160.59, Y:1.27, Z:1.04 [[ 9.97065126e-01 -7.55835189e-02 -1.21764243e-02 1.60588505e+02] [ 7.55869261e-02 9.97139200e-01 -1.80799957e-04 1.27261156e+00] [ 1.21552555e-02 -7.40109153e-04 9.99925848e-01 1.04361344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579254154 meters 0.03412370712769661 Centerline is valid? [True, True] Translation: X:160.65, Y:1.28, Z:1.04 [[ 9.97228586e-01 -7.31131368e-02 -1.37701145e-02 1.60650330e+02] [ 7.31172721e-02 9.97323329e-01 -2.03561778e-04 1.27524207e+00] [ 1.37481395e-02 -8.03835587e-04 9.99905167e-01 1.04229705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.639254154 meters 0.03470472470121242 Centerline is valid? [True, True] Translation: X:160.71, Y:1.28, Z:1.04 [[ 9.97348486e-01 -7.12456869e-02 -1.48340527e-02 1.60710442e+02] [ 7.12502879e-02 9.97458445e-01 -2.18774200e-04 1.27665872e+00] [ 1.48119379e-02 -8.38736409e-04 9.99889945e-01 1.04211728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69925415400002 meters 0.033387782794001016 Centerline is valid? [True, True] Translation: X:160.77, Y:1.28, Z:1.04 [[ 9.97652464e-01 -6.66870098e-02 -1.55693294e-02 1.60770224e+02] [ 6.66915251e-02 9.97773615e-01 -2.29594374e-04 1.28202144e+00] [ 1.55499771e-02 -8.09286931e-04 9.99878764e-01 1.04268845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters 0.0314877948043919 Centerline is valid? [True, True] Translation: X:160.83, Y:1.29, Z:1.04 [[ 9.97985277e-01 -6.17020074e-02 -1.47732499e-02 1.60831088e+02] [ 6.17055269e-02 9.98094375e-01 -2.17902488e-04 1.28847068e+00] [ 1.47585427e-02 -6.94127696e-04 9.99890846e-01 1.04405257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters 0.021111026342748578 Centerline is valid? [True, True] Translation: X:160.89, Y:1.31, Z:1.05 [[ 9.98375167e-01 -5.53900291e-02 -1.33779881e-02 1.60891168e+02] [ 5.53923499e-02 9.98464646e-01 -1.97279857e-04 1.30739932e+00] [ 1.33683755e-02 -5.44078887e-04 9.99910491e-01 1.04773963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters 0.020085962463174144 Centerline is valid? [True, True] Translation: X:160.95, Y:1.31, Z:1.05 [[ 9.98756165e-01 -4.81572771e-02 -1.29227998e-02 1.60950290e+02] [ 4.81588371e-02 9.98839672e-01 -1.90625044e-04 1.31317834e+00] [ 1.29169851e-02 -4.31959070e-04 9.99916479e-01 1.04843962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters 0.015962259252127735 Centerline is valid? [True, True] Translation: X:161.01, Y:1.33, Z:1.05 [[ 9.99267769e-01 -3.58764890e-02 -1.32967446e-02 1.61010244e+02] [ 3.58770525e-02 9.99356192e-01 -1.96231893e-04 1.32606568e+00] [ 1.32952241e-02 -2.80959797e-04 9.99911575e-01 1.04950667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999254154 meters 0.014906707949116933 Centerline is valid? [True, True] Translation: X:161.07, Y:1.33, Z:1.05 [[ 9.99519529e-01 -2.78013624e-02 -1.37038795e-02 1.61071290e+02] [ 2.78012056e-02 9.99613451e-01 -2.01977885e-04 1.33274088e+00] [ 1.37041976e-02 -1.79103532e-04 9.99906077e-01 1.04922840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059254154 meters 0.013850552315056944 Centerline is valid? [True, True] Translation: X:161.13, Y:1.34, Z:1.05 [[ 9.99791162e-01 -1.56050813e-02 -1.31952101e-02 1.61131945e+02] [ 1.56038767e-02 9.99878233e-01 -1.94240131e-04 1.34266576e+00] [ 1.31966345e-02 -1.16968647e-05 9.99912921e-01 1.05036938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119254154 meters 0.01433335543618936 Centerline is valid? [True, True] Translation: X:161.19, Y:1.35, Z:1.05 [[ 9.99888504e-01 -8.08230044e-03 -1.25560780e-02 1.61190104e+02] [ 8.08061154e-03 9.99967334e-01 -1.85235392e-04 1.34862785e+00] [ 1.25571649e-02 8.37539502e-05 9.99921152e-01 1.05077558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179254154 meters 0.015180872330665778 Centerline is valid? [True, True] Translation: X:161.25, Y:1.35, Z:1.05 [[ 9.99935303e-01 2.11448029e-05 -1.13749167e-02 1.61248566e+02] [-2.30733305e-05 9.99999985e-01 -1.69410917e-04 1.35361788e+00] [ 1.13749130e-02 1.69662414e-04 9.99935289e-01 1.05192115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239254154 meters 0.01564251282447938 Centerline is valid? [True, True] Translation: X:161.31, Y:1.35, Z:1.05 [[ 9.99941115e-01 1.57118804e-03 -1.07377051e-02 1.61307294e+02] [-1.57302415e-03 9.99998750e-01 -1.62552926e-04 1.35314771e+00] [ 1.07374363e-02 1.79434023e-04 9.99942336e-01 1.05156221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299254154 meters 0.01487303998062902 Centerline is valid? [True, True] Translation: X:161.37, Y:1.35, Z:1.05 [[ 9.99946859e-01 -1.15714452e-03 -1.02439868e-02 1.61366640e+02] [ 1.15559516e-03 9.99999320e-01 -1.57163232e-04 1.34788464e+00] [ 1.02441617e-02 1.45316979e-04 9.99947517e-01 1.05182806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359254154 meters 0.01434605740730602 Centerline is valid? [True, True] Translation: X:161.42, Y:1.34, Z:1.05 [[ 9.99931955e-01 -5.92760686e-03 -1.00473706e-02 1.61424432e+02] [ 5.92634568e-03 9.99982427e-01 -1.55291576e-04 1.34397605e+00] [ 1.00481145e-02 9.57368183e-05 9.99949512e-01 1.05197025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41925415400001 meters 0.014025054347042747 Centerline is valid? [True, True] Translation: X:161.48, Y:1.33, Z:1.05 [[ 9.99809412e-01 -1.64831252e-02 -1.04616646e-02 1.61483061e+02] [ 1.64823261e-02 9.99864144e-01 -1.62610405e-04 1.33335158e+00] [ 1.04629236e-02 -9.85315237e-06 9.99945262e-01 1.05084228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47925415400002 meters 0.014887867480599578 Centerline is valid? [True, True] Translation: X:161.54, Y:1.32, Z:1.05 [[ 9.99642311e-01 -2.45374027e-02 -1.06379173e-02 1.61542743e+02] [ 2.45370274e-02 9.99698908e-01 -1.65817028e-04 1.32423464e+00] [ 1.06387830e-02 -9.52651497e-05 9.99943402e-01 1.05002797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters 0.016904014913882656 Centerline is valid? [True, True] Translation: X:161.60, Y:1.31, Z:1.05 [[ 9.99299709e-01 -3.59369744e-02 -1.04223748e-02 1.61604105e+02] [ 3.59372362e-02 9.99354036e-01 -1.62221948e-04 1.31282147e+00] [ 1.04214721e-02 -2.12442998e-04 9.99945672e-01 1.05029440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters 0.018717455549379387 Centerline is valid? [True, True] Translation: X:161.67, Y:1.31, Z:1.05 [[ 9.99091639e-01 -4.13622407e-02 -1.02500056e-02 1.61665188e+02] [ 4.13627833e-02 9.99144181e-01 -1.59145265e-04 1.30638045e+00] [ 1.02478160e-02 -2.64968056e-04 9.99947455e-01 1.05055071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters 0.021100296221104126 Centerline is valid? [True, True] Translation: X:161.73, Y:1.30, Z:1.05 [[ 9.98830524e-01 -4.72506682e-02 -1.02449111e-02 1.61726451e+02] [ 4.72515214e-02 9.98883010e-01 -1.58886382e-04 1.29816530e+00] [ 1.02409751e-02 -3.25387067e-04 9.99947507e-01 1.05033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters 0.024289237882366334 Centerline is valid? [True, True] Translation: X:161.79, Y:1.29, Z:1.05 [[ 9.98548695e-01 -5.28716788e-02 -1.02513529e-02 1.61786339e+02] [ 5.28728300e-02 9.98601241e-01 -1.58869402e-04 1.29194891e+00] [ 1.02454134e-02 -3.83379207e-04 9.99947441e-01 1.05073178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779254154 meters 0.02709138922030128 Centerline is valid? [True, True] Translation: X:161.85, Y:1.29, Z:1.05 [[ 9.98319827e-01 -5.70354287e-02 -1.02216626e-02 1.61846317e+02] [ 5.70367911e-02 9.98372065e-01 -1.58409279e-04 1.28797238e+00] [ 1.02140574e-02 -4.24867712e-04 9.99947745e-01 1.05035002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839254154 meters 0.02796689401349175 Centerline is valid? [True, True] Translation: X:161.91, Y:1.29, Z:1.05 [[ 9.97933328e-01 -6.32164869e-02 -1.15216445e-02 1.61907233e+02] [ 6.32186291e-02 9.97999686e-01 -1.78540941e-04 1.28884669e+00] [ 1.15098843e-02 -5.50210614e-04 9.99933608e-01 1.04746205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899254154 meters 0.024942899643087466 Centerline is valid? [True, True] Translation: X:161.97, Y:1.29, Z:1.05 [[ 9.97689141e-01 -6.69111243e-02 -1.18016399e-02 1.61967916e+02] [ 6.69136311e-02 9.97758755e-01 -1.82762653e-04 1.29259988e+00] [ 1.17874184e-02 -6.07350268e-04 9.99930342e-01 1.05008809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959254154 meters 0.02657402637785183 Centerline is valid? [True, True] Translation: X:162.03, Y:1.29, Z:1.05 [[ 9.97543595e-01 -6.87486445e-02 -1.34313134e-02 1.62029245e+02] [ 6.87520647e-02 9.97633756e-01 -2.07478728e-04 1.29486637e+00] [ 1.34137955e-02 -7.16461453e-04 9.99909774e-01 1.04986864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019254154 meters 0.027791572126791748 Centerline is valid? [True, True] Translation: X:162.09, Y:1.30, Z:1.05 [[ 9.97620771e-01 -6.76401527e-02 -1.33269619e-02 1.62091937e+02] [ 6.76434342e-02 9.97709539e-01 -2.04887276e-04 1.29766354e+00] [ 1.33102956e-02 -6.97081667e-04 9.99911171e-01 1.04893841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079254154 meters 0.026721175206499127 Centerline is valid? [True, True] Translation: X:162.15, Y:1.30, Z:1.05 [[ 9.97790112e-01 -6.51842382e-02 -1.28804800e-02 1.62153450e+02] [ 6.51871114e-02 9.97873039e-01 -1.97091900e-04 1.30276371e+00] [ 1.28659310e-02 -6.42984933e-04 9.99917024e-01 1.05071612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.139254154 meters 0.026756507545375167 Centerline is valid? [True, True] Translation: X:162.21, Y:1.31, Z:1.05 [[ 9.98222168e-01 -5.83918208e-02 -1.19539871e-02 1.62214376e+02] [ 5.83938145e-02 9.98293609e-01 -1.82480167e-04 1.31276937e+00] [ 1.19442443e-02 -5.15883158e-04 9.99928532e-01 1.05002086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19925415400002 meters 0.023381388739774633 Centerline is valid? [True, True] Translation: X:162.28, Y:1.32, Z:1.05 [[ 9.98557631e-01 -5.26675611e-02 -1.04300284e-02 1.62275442e+02] [ 5.26687687e-02 9.98612025e-01 -1.59047913e-04 1.32245023e+00] [ 1.04239285e-02 -3.90518248e-04 9.99945593e-01 1.05435289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters 0.020111162644513247 Centerline is valid? [True, True] Translation: X:162.33, Y:1.34, Z:1.06 [[ 9.99047580e-01 -4.25151470e-02 -9.81806510e-03 1.62334900e+02] [ 4.25157277e-02 9.99095786e-01 -1.49664207e-04 1.33524435e+00] [ 9.81555047e-03 -2.67900518e-04 9.99951790e-01 1.05526033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters 0.01757393860759538 Centerline is valid? [True, True] Translation: X:162.40, Y:1.35, Z:1.06 [[ 9.99387888e-01 -3.39207545e-02 -8.55756377e-03 1.62395753e+02] [ 3.39208799e-02 9.99424513e-01 -1.30522872e-04 1.34650976e+00] [ 8.55706644e-03 -1.59837116e-04 9.99963375e-01 1.05628202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters 0.016595667134067293 Centerline is valid? [True, True] Translation: X:162.46, Y:1.35, Z:1.06 [[ 9.99508881e-01 -3.00281453e-02 -8.96142376e-03 1.62457529e+02] [ 3.00281289e-02 9.99549045e-01 -1.36412711e-04 1.35277172e+00] [ 8.96147878e-03 -1.32749072e-04 9.99959836e-01 1.05655745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters 0.015819505629895002 Centerline is valid? [True, True] Translation: X:162.52, Y:1.36, Z:1.06 [[ 9.99602505e-01 -2.62629725e-02 -1.02512467e-02 1.62518975e+02] [ 2.62627602e-02 9.99655062e-01 -1.55355927e-04 1.35909648e+00] [ 1.02517908e-02 -1.13931860e-04 9.99947443e-01 1.05537879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499254154 meters 0.015390724874172782 Centerline is valid? [True, True] Translation: X:162.58, Y:1.36, Z:1.05 [[ 9.99649688e-01 -2.40680745e-02 -1.10104432e-02 1.62580473e+02] [ 2.40677019e-02 9.99710317e-01 -1.66365483e-04 1.36264330e+00] [ 1.10112578e-02 -9.86888613e-05 9.99939369e-01 1.05454865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559254154 meters 0.015205514608872433 Centerline is valid? [True, True] Translation: X:162.64, Y:1.37, Z:1.06 [[ 9.99701707e-01 -2.19044973e-02 -1.08023502e-02 1.62640753e+02] [ 2.19040170e-02 9.99760065e-01 -1.62782909e-04 1.36789003e+00] [ 1.08033240e-02 -7.38805105e-05 9.99941640e-01 1.05546070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619254154 meters 0.014892272607363942 Centerline is valid? [True, True] Translation: X:162.70, Y:1.37, Z:1.06 [[ 9.99730671e-01 -2.09538264e-02 -9.97613601e-03 1.62701673e+02] [ 2.09533739e-02 9.99780443e-01 -1.49888102e-04 1.37043810e+00] [ 9.97708641e-03 -5.91859755e-05 9.99950226e-01 1.05695699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679254154 meters 0.014853681157447717 Centerline is valid? [True, True] Translation: X:162.76, Y:1.37, Z:1.06 [[ 9.99708519e-01 -2.25278881e-02 -8.68167642e-03 1.62763164e+02] [ 2.25276070e-02 9.99746213e-01 -1.30185371e-04 1.37157140e+00] [ 8.68240592e-03 -6.54299703e-05 9.99962305e-01 1.05880484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739254154 meters 0.015019401002409005 Centerline is valid? [True, True] Translation: X:162.83, Y:1.37, Z:1.06 [[ 9.99689461e-01 -2.35283935e-02 -8.20955468e-03 1.62825523e+02] [ 2.35281786e-02 9.99723167e-01 -1.22773263e-04 1.37156183e+00] [ 8.21017066e-03 -7.04207310e-05 9.99966294e-01 1.05941099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799254154 meters 0.01545349243125787 Centerline is valid? [True, True] Translation: X:162.89, Y:1.37, Z:1.06 [[ 9.99607703e-01 -2.69544063e-02 -7.60925290e-03 1.62887625e+02] [ 2.69543248e-02 9.99636660e-01 -1.13282974e-04 1.37016119e+00] [ 7.60954163e-03 -9.18637407e-05 9.99971043e-01 1.06014930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859254154 meters 0.016359463994666205 Centerline is valid? [True, True] Translation: X:162.95, Y:1.37, Z:1.06 [[ 9.99440347e-01 -3.23208172e-02 -8.62305164e-03 1.62949638e+02] [ 3.23209182e-02 9.99477534e-01 -1.27683153e-04 1.36692646e+00] [ 8.62267322e-03 -1.51093252e-04 9.99962813e-01 1.06009910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91925415400001 meters 0.017622928049114448 Centerline is valid? [True, True] Translation: X:163.01, Y:1.36, Z:1.06 [[ 9.99344921e-01 -3.48377205e-02 -9.80110277e-03 1.63011486e+02] [ 3.48379806e-02 9.99392963e-01 -1.44248745e-04 1.36422857e+00] [ 9.80017844e-03 -1.97296377e-04 9.99951958e-01 1.05803547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97925415400002 meters 0.017221124523770594 Centerline is valid? [True, True] Translation: X:163.07, Y:1.36, Z:1.06 [[ 9.99257529e-01 -3.65632503e-02 -1.21457584e-02 1.63073989e+02] [ 3.65637924e-02 9.99331305e-01 -1.77490114e-04 1.36371178e+00] [ 1.21441262e-02 -2.66736656e-04 9.99926222e-01 1.05746612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters 0.01698522848249693 Centerline is valid? [True, True] Translation: X:163.14, Y:1.37, Z:1.06 [[ 9.99291249e-01 -3.53402026e-02 -1.29642097e-02 1.63136111e+02] [ 3.53407303e-02 9.99375304e-01 -1.88457334e-04 1.36543654e+00] [ 1.29627711e-02 -2.69840875e-04 9.99915943e-01 1.05746369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters 0.01572594430161233 Centerline is valid? [True, True] Translation: X:163.20, Y:1.37, Z:1.06 [[ 9.99496514e-01 -2.88918150e-02 -1.31142111e-02 1.63198036e+02] [ 2.88918114e-02 9.99582526e-01 -1.89773819e-04 1.36994048e+00] [ 1.31142191e-02 -1.89215042e-04 9.99913987e-01 1.05771123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters 0.014966879543962204 Centerline is valid? [True, True] Translation: X:163.26, Y:1.38, Z:1.06 [[ 9.99744925e-01 -1.83979795e-02 -1.30995637e-02 1.63259324e+02] [ 1.83970830e-02 9.99830741e-01 -1.88946350e-04 1.37730469e+00] [ 1.31008227e-02 -5.20956061e-05 9.99914179e-01 1.05889173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters 0.014902515261041069 Centerline is valid? [True, True] Translation: X:163.32, Y:1.38, Z:1.06 [[ 9.99842132e-01 -1.18890182e-02 -1.32046006e-02 1.63318788e+02] [ 1.18875399e-02 9.99929323e-01 -1.90445964e-04 1.38259843e+00] [ 1.32059316e-02 3.34456824e-05 9.99912797e-01 1.05976329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279254154 meters 0.015175132846496884 Centerline is valid? [True, True] Translation: X:163.38, Y:1.38, Z:1.06 [[ 9.99871855e-01 -7.66341780e-03 -1.40550941e-02 1.63377276e+02] [ 7.66129571e-03 9.99970631e-01 -2.04820996e-04 1.38484498e+00] [ 1.40562510e-02 9.71145163e-05 9.99901201e-01 1.05942335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339254154 meters 0.014919014330025591 Centerline is valid? [True, True] Translation: X:163.43, Y:1.38, Z:1.06 [[ 9.99839710e-01 -9.44817309e-03 -1.52080828e-02 1.63434910e+02] [ 9.44582943e-03 9.99955362e-01 -2.25931295e-04 1.38236518e+00] [ 1.52095386e-02 8.22421238e-05 9.99884325e-01 1.05926725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399254154 meters 0.01481775207857749 Centerline is valid? [True, True] Translation: X:163.49, Y:1.38, Z:1.06 [[ 9.99733781e-01 -1.67854500e-02 -1.58308532e-02 1.63493624e+02] [ 1.67837875e-02 9.99859114e-01 -2.37877732e-04 1.37640943e+00] [ 1.58326158e-02 -2.78872730e-05 9.99874656e-01 1.05963022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459254154 meters 0.015636000557390384 Centerline is valid? [True, True] Translation: X:163.55, Y:1.37, Z:1.06 [[ 9.99549329e-01 -2.53095381e-02 -1.61420819e-02 1.63551921e+02] [ 2.53088994e-02 9.99679649e-01 -2.43880854e-04 1.36861375e+00] [ 1.61430832e-02 -1.64767382e-04 9.99869678e-01 1.05932588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519254154 meters 0.015868198050314343 Centerline is valid? [True, True] Translation: X:163.61, Y:1.37, Z:1.06 [[ 9.99423345e-01 -3.02645320e-02 -1.53959494e-02 1.63611949e+02] [ 3.02645250e-02 9.99541897e-01 -2.33495800e-04 1.36534304e+00] [ 1.53959631e-02 -2.32589941e-04 9.99881448e-01 1.06095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579254154 meters 0.016598493208840808 Centerline is valid? [True, True] Translation: X:163.67, Y:1.36, Z:1.06 [[ 9.99303324e-01 -3.43654356e-02 -1.45562251e-02 1.63673372e+02] [ 3.43658650e-02 9.99409295e-01 -2.20708462e-04 1.36162545e+00] [ 1.45552114e-02 -2.79682566e-04 9.99894028e-01 1.06209871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.639254154 meters 0.01788160593719613 Centerline is valid? [True, True] Translation: X:163.73, Y:1.36, Z:1.06 [[ 9.99117806e-01 -4.00058311e-02 -1.27727747e-02 1.63734301e+02] [ 4.00066263e-02 9.99199396e-01 -1.93340530e-04 1.35667904e+00] [ 1.27702835e-02 -3.17825660e-04 9.99918406e-01 1.06311875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69925415400002 meters 0.01915960263710216 Centerline is valid? [True, True] Translation: X:163.80, Y:1.35, Z:1.06 [[ 9.98958412e-01 -4.38425714e-02 -1.26459660e-02 1.63796340e+02] [ 4.38436652e-02 9.99038386e-01 -1.90864892e-04 1.35276275e+00] [ 1.26421734e-02 -3.63779408e-04 9.99920018e-01 1.06303571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters 0.02258256861700066 Centerline is valid? [True, True] Translation: X:163.86, Y:1.34, Z:1.06 [[ 9.98586466e-01 -5.15836004e-02 -1.28141218e-02 1.63856046e+02] [ 5.15853651e-02 9.98668570e-01 -1.92991871e-04 1.34449699e+00] [ 1.28070159e-02 -4.68302080e-04 9.99917877e-01 1.06194729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters 0.02387036414974471 Centerline is valid? [True, True] Translation: X:163.92, Y:1.34, Z:1.06 [[ 9.98232103e-01 -5.80700795e-02 -1.26701812e-02 1.63916859e+02] [ 5.80723253e-02 9.98312360e-01 -1.90892817e-04 1.34133337e+00] [ 1.26598837e-02 -5.45231549e-04 9.99919712e-01 1.06256781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters 0.026951523772550987 Centerline is valid? [True, True] Translation: X:163.98, Y:1.34, Z:1.06 [[ 9.97704316e-01 -6.64575915e-02 -1.30187205e-02 1.63977675e+02] [ 6.64606760e-02 9.97789026e-01 -1.96043900e-04 1.33653197e+00] [ 1.30029651e-02 -6.69639123e-04 9.99915234e-01 1.06274104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters 0.0289768971622011 Centerline is valid? [True, True] Translation: X:164.04, Y:1.33, Z:1.06 [[ 9.97461636e-01 -6.98012466e-02 -1.40737867e-02 1.64039130e+02] [ 6.98051881e-02 9.97560620e-01 -2.11583538e-04 1.33428946e+00] [ 1.40542242e-02 -7.71376864e-04 9.99900937e-01 1.06229284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999254154 meters 0.0304267625287392 Centerline is valid? [True, True] Translation: X:164.10, Y:1.33, Z:1.06 [[ 9.97332275e-01 -7.14440591e-02 -1.49693016e-02 1.64101657e+02] [ 7.14487154e-02 9.97444249e-01 -2.24193283e-04 1.33459937e+00] [ 1.49470611e-02 -8.45942175e-04 9.99887929e-01 1.06105779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059254154 meters 0.031166992477727876 Centerline is valid? [True, True] Translation: X:164.16, Y:1.34, Z:1.06 [[ 9.97337165e-01 -7.11635986e-02 -1.59474888e-02 1.64164694e+02] [ 7.11688719e-02 9.97464253e-01 -2.37328802e-04 1.33668595e+00] [ 1.59239392e-02 -8.98267954e-04 9.99872803e-01 1.06030415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119254154 meters 0.03170975268136082 Centerline is valid? [True, True] Translation: X:164.23, Y:1.34, Z:1.06 [[ 9.97358363e-01 -7.08176373e-02 -1.61603841e-02 1.64225684e+02] [ 7.08230271e-02 9.97488868e-01 -2.39257222e-04 1.34030813e+00] [ 1.61367469e-02 -9.05902133e-04 9.99869384e-01 1.06125357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179254154 meters 0.031847633355642585 Centerline is valid? [True, True] Translation: X:164.29, Y:1.34, Z:1.06 [[ 9.97401966e-01 -7.03679797e-02 -1.54164371e-02 1.64288164e+02] [ 7.03728457e-02 9.97520732e-01 -2.27290097e-04 1.34385695e+00] [ 1.53942096e-02 -8.58198963e-04 9.99881134e-01 1.06287273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239254154 meters 0.02916139397163903 Centerline is valid? [True, True] Translation: X:164.35, Y:1.35, Z:1.07 [[ 9.97524489e-01 -6.91001261e-02 -1.30409769e-02 1.64349448e+02] [ 6.91035080e-02 9.97609477e-01 -1.91639403e-04 1.35276644e+00] [ 1.30230444e-02 -7.10012252e-04 9.99914944e-01 1.06608101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299254154 meters 0.027177001505114196 Centerline is valid? [True, True] Translation: X:164.41, Y:1.36, Z:1.07 [[ 9.97688362e-01 -6.71472323e-02 -1.04490278e-02 1.64411169e+02] [ 6.71493007e-02 9.97742927e-01 -1.53148584e-04 1.36023384e+00] [ 1.04357271e-02 -5.48850352e-04 9.99945396e-01 1.06866206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359254154 meters 0.02776497215009927 Centerline is valid? [True, True] Translation: X:164.47, Y:1.36, Z:1.07 [[ 9.97770434e-01 -6.59695474e-02 -1.01084070e-02 1.64471941e+02] [ 6.59714283e-02 9.97821502e-01 -1.47612593e-04 1.36276213e+00] [ 1.00961238e-02 -5.19582568e-04 9.99948898e-01 1.06875024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41925415400001 meters 0.027162582063805518 Centerline is valid? [True, True] Translation: X:164.53, Y:1.37, Z:1.07 [[ 9.97775610e-01 -6.55492515e-02 -1.21296019e-02 1.64534520e+02] [ 6.55519392e-02 9.97849143e-01 -1.76294556e-04 1.36743084e+00] [ 1.21150688e-02 -6.19216515e-04 9.99926418e-01 1.06653332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47925415400002 meters 0.026131128231169004 Centerline is valid? [True, True] Translation: X:164.60, Y:1.37, Z:1.07 [[ 9.97748719e-01 -6.54865720e-02 -1.44569399e-02 1.64596205e+02] [ 6.54904079e-02 9.97853177e-01 -2.08439680e-04 1.37191235e+00] [ 1.44395534e-02 -7.38820469e-04 9.99895471e-01 1.06537646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters 0.025188410656622987 Centerline is valid? [True, True] Translation: X:164.66, Y:1.38, Z:1.06 [[ 9.97673265e-01 -6.59594926e-02 -1.72453621e-02 1.64658070e+02] [ 6.59650550e-02 9.97821903e-01 -2.46715412e-04 1.37773285e+00] [ 1.72240733e-02 -8.91449891e-04 9.99851257e-01 1.06429975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters 0.02878066332462209 Centerline is valid? [True, True] Translation: X:164.72, Y:1.38, Z:1.06 [[ 9.97718268e-01 -6.52207843e-02 -1.74501285e-02 1.64719028e+02] [ 6.52264023e-02 9.97870460e-01 -2.47618117e-04 1.37570491e+00] [ 1.74291176e-02 -8.91155985e-04 9.99847704e-01 1.06348860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters 0.026501640879410662 Centerline is valid? [True, True] Translation: X:164.78, Y:1.38, Z:1.06 [[ 9.97792927e-01 -6.41267444e-02 -1.72347068e-02 1.64781588e+02] [ 6.41320943e-02 9.97941389e-01 -2.42667884e-04 1.38112629e+00] [ 1.72147888e-02 -8.63165545e-04 9.99851442e-01 1.06480433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters 0.023143280762724094 Centerline is valid? [True, True] Translation: X:164.84, Y:1.39, Z:1.07 [[ 9.98106973e-01 -5.93258188e-02 -1.62147551e-02 1.64842233e+02] [ 5.93299340e-02 9.98238402e-01 -2.27554262e-04 1.39149360e+00] [ 1.61996911e-02 -7.34896854e-04 9.99868506e-01 1.06650102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779254154 meters 0.023637073295920963 Centerline is valid? [True, True] Translation: X:164.90, Y:1.39, Z:1.07 [[ 9.98365439e-01 -5.51755091e-02 -1.49034699e-02 1.64901979e+02] [ 5.51785255e-02 9.98476483e-01 -2.09036689e-04 1.39479149e+00] [ 1.48922979e-02 -6.13656489e-04 9.99888915e-01 1.06725332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839254154 meters 0.020544905777879964 Centerline is valid? [True, True] Translation: X:164.96, Y:1.40, Z:1.07 [[ 9.98651794e-01 -4.99937541e-02 -1.39720672e-02 1.64963115e+02] [ 4.99959006e-02 9.98749404e-01 -1.95838791e-04 1.40451778e+00] [ 1.39643845e-02 -5.02971324e-04 9.99902367e-01 1.06915214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899254154 meters 0.021010647460665787 Centerline is valid? [True, True] Translation: X:165.02, Y:1.41, Z:1.07 [[ 9.98737058e-01 -4.82214201e-02 -1.41061343e-02 1.65024166e+02] [ 4.82234389e-02 9.98836554e-01 -1.97188099e-04 1.40673886e+00] [ 1.40992312e-02 -4.83307242e-04 9.99900484e-01 1.06910748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959254154 meters 0.021010356589115185 Centerline is valid? [True, True] Translation: X:165.09, Y:1.41, Z:1.07 [[ 9.98832880e-01 -4.58064270e-02 -1.53182341e-02 1.65085693e+02] [ 4.58085395e-02 9.98950215e-01 -2.13122718e-04 1.41036403e+00] [ 1.53119156e-02 -4.88831951e-04 9.99882646e-01 1.06773384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019254154 meters 0.01827483234102738 Centerline is valid? [True, True] Translation: X:165.15, Y:1.42, Z:1.07 [[ 9.98977848e-01 -4.24224183e-02 -1.56075889e-02 1.65147024e+02] [ 4.24242114e-02 9.99099664e-01 -2.16334455e-04 1.41815405e+00] [ 1.56027143e-02 -4.46026324e-04 9.99878171e-01 1.06880496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079254154 meters 0.016223980354818087 Centerline is valid? [True, True] Translation: X:165.21, Y:1.43, Z:1.07 [[ 9.99309620e-01 -3.37931477e-02 -1.54371542e-02 1.65207865e+02] [ 3.37938788e-02 9.99428801e-01 -2.13568296e-04 1.42649056e+00] [ 1.54355536e-02 -3.08260464e-04 9.99880817e-01 1.06926792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.139254154 meters 0.01584912775902376 Centerline is valid? [True, True] Translation: X:165.27, Y:1.43, Z:1.07 [[ 9.99528661e-01 -2.66892159e-02 -1.51703920e-02 1.65269259e+02] [ 2.66891102e-02 9.99643760e-01 -2.09452801e-04 1.43294467e+00] [ 1.51705779e-02 -1.95530187e-04 9.99884901e-01 1.06876443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19925415400002 meters 0.014030036312503555 Centerline is valid? [True, True] Translation: X:165.33, Y:1.44, Z:1.07 [[ 9.99704565e-01 -1.97367691e-02 -1.41859957e-02 1.65329130e+02] [ 1.97359818e-02 9.99805207e-01 -1.95503384e-04 1.43985912e+00] [ 1.41870910e-02 -8.45289270e-05 9.99899355e-01 1.07069685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters 0.013851400968175968 Centerline is valid? [True, True] Translation: X:165.39, Y:1.44, Z:1.07 [[ 9.99741692e-01 -1.79657521e-02 -1.39205356e-02 1.65389457e+02] [ 1.79648239e-02 9.99838601e-01 -1.91729014e-04 1.44226768e+00] [ 1.39217334e-02 -5.84004818e-05 9.99903086e-01 1.07107106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters 0.014007833464392515 Centerline is valid? [True, True] Translation: X:165.45, Y:1.44, Z:1.07 [[ 9.99646731e-01 -2.13062616e-02 -1.58889004e-02 1.65449487e+02] [ 2.13054717e-02 9.99772989e-01 -2.19007165e-04 1.44044620e+00] [ 1.58899596e-02 -1.19590720e-04 9.99873739e-01 1.07033046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters 0.014726116411788986 Centerline is valid? [True, True] Translation: X:165.51, Y:1.44, Z:1.07 [[ 9.99499366e-01 -2.70008467e-02 -1.64915582e-02 1.65509171e+02] [ 2.70007625e-02 9.99635387e-01 -2.27801379e-04 1.43683269e+00] [ 1.64916960e-02 -2.17597313e-04 9.99863979e-01 1.06958571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters 0.016725327210042367 Centerline is valid? [True, True] Translation: X:165.57, Y:1.43, Z:1.07 [[ 9.99173280e-01 -3.68931088e-02 -1.70779317e-02 1.65569706e+02] [ 3.68944581e-02 9.99319140e-01 -2.36156964e-04 1.42993372e+00] [ 1.70750166e-02 -3.94119307e-04 9.99854134e-01 1.06942470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499254154 meters 0.01869028607883687 Centerline is valid? [True, True] Translation: X:165.63, Y:1.43, Z:1.07 [[ 9.98933014e-01 -4.28751063e-02 -1.71627323e-02 1.65630566e+02] [ 4.28773542e-02 9.99080315e-01 -2.37140137e-04 1.42580055e+00] [ 1.71571154e-02 -4.99005441e-04 9.99852681e-01 1.06979774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559254154 meters 0.020095700450711605 Centerline is valid? [True, True] Translation: X:165.69, Y:1.42, Z:1.07 [[ 9.98628781e-01 -5.00032905e-02 -1.54993284e-02 1.65691790e+02] [ 5.00059852e-02 9.98748895e-01 -2.13883371e-04 1.42351355e+00] [ 1.54906320e-02 -5.61469096e-04 9.99879855e-01 1.07218700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619254154 meters 0.021827119033969937 Centerline is valid? [True, True] Translation: X:165.75, Y:1.42, Z:1.07 [[ 9.98515204e-01 -5.28802539e-02 -1.30791955e-02 1.65753298e+02] [ 5.28824291e-02 9.98600729e-01 -1.79714578e-04 1.42135676e+00] [ 1.30703975e-02 -5.12211892e-04 9.99914448e-01 1.07437308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679254154 meters 0.02349602894521134 Centerline is valid? [True, True] Translation: X:165.81, Y:1.42, Z:1.08 [[ 9.98449590e-01 -5.46039749e-02 -1.08084541e-02 1.65814238e+02] [ 5.46055731e-02 9.98507992e-01 -1.47409454e-04 1.42059950e+00] [ 1.08003769e-02 -4.43020921e-04 9.99941576e-01 1.07668379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739254154 meters 0.024443523114931375 Centerline is valid? [True, True] Translation: X:165.88, Y:1.42, Z:1.08 [[ 9.98418617e-01 -5.51294345e-02 -1.10004948e-02 1.65876330e+02] [ 5.51311348e-02 9.98479111e-01 -1.48850725e-04 1.42105982e+00] [ 1.09919704e-02 -4.57854428e-04 9.99939482e-01 1.07724830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799254154 meters 0.02642612385944532 Centerline is valid? [True, True] Translation: X:165.94, Y:1.42, Z:1.08 [[ 9.98302016e-01 -5.70131154e-02 -1.19410579e-02 1.65937800e+02] [ 5.70152629e-02 9.98373294e-01 -1.60783533e-04 1.41921500e+00] [ 1.19308000e-02 -5.20312028e-04 9.99928690e-01 1.07621521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859254154 meters 0.02797539461772039 Centerline is valid? [True, True] Translation: X:166.00, Y:1.42, Z:1.08 [[ 9.98207374e-01 -5.85096277e-02 -1.25960766e-02 1.65999572e+02] [ 5.85121496e-02 9.98286682e-01 -1.68541590e-04 1.41755058e+00] [ 1.25843568e-02 -5.68784058e-04 9.99920652e-01 1.07534180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91925415400001 meters 0.025687558178175553 Centerline is valid? [True, True] Translation: X:166.06, Y:1.42, Z:1.07 [[ 9.98070686e-01 -6.01429559e-02 -1.54185377e-02 1.66061055e+02] [ 6.01469514e-02 9.98189512e-01 -2.04872608e-04 1.42272497e+00] [ 1.54029443e-02 -7.22900693e-04 9.99881106e-01 1.07460554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97925415400002 meters 0.02966371547021397 Centerline is valid? [True, True] Translation: X:166.12, Y:1.42, Z:1.07 [[ 9.98089701e-01 -5.92518924e-02 -1.74974822e-02 1.66122250e+02] [ 5.92569190e-02 9.98242738e-01 -2.31505991e-04 1.41893764e+00] [ 1.74804517e-02 -8.05783140e-04 9.99846881e-01 1.07197920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters 0.023680380013418347 Centerline is valid? [True, True] Translation: X:166.18, Y:1.43, Z:1.07 [[ 9.98389862e-01 -5.36174193e-02 -1.85163607e-02 1.66182815e+02] [ 5.36220935e-02 9.98561271e-01 -2.44309717e-04 1.43085462e+00] [ 1.85028199e-02 -7.48969681e-04 9.99828528e-01 1.07352503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters 0.019782918161098863 Centerline is valid? [True, True] Translation: X:166.24, Y:1.44, Z:1.08 [[ 9.98759857e-01 -4.66980179e-02 -1.72639379e-02 1.66243214e+02] [ 4.67010522e-02 9.98908885e-01 -2.27567872e-04 1.44055853e+00] [ 1.72557279e-02 -5.78958410e-04 9.99850941e-01 1.07710706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters 0.016168135078866584 Centerline is valid? [True, True] Translation: X:166.30, Y:1.45, Z:1.08 [[ 9.99320893e-01 -3.41538581e-02 -1.38299338e-02 1.66303542e+02] [ 3.41546046e-02 9.99416545e-01 -1.82278093e-04 1.45386359e+00] [ 1.38280901e-02 -2.90201613e-04 9.99904345e-01 1.08219949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters 0.014882040803577364 Centerline is valid? [True, True] Translation: X:166.37, Y:1.46, Z:1.08 [[ 9.99596711e-01 -2.56078300e-02 -1.22741281e-02 1.66365031e+02] [ 2.56077779e-02 9.99672054e-01 -1.61428886e-04 1.46114962e+00] [ 1.22742367e-02 -1.52949363e-04 9.99924657e-01 1.08391620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279254154 meters 0.014193793395800697 Centerline is valid? [True, True] Translation: X:166.43, Y:1.47, Z:1.08 [[ 9.99776903e-01 -1.78950972e-02 -1.12209820e-02 1.66426903e+02] [ 1.78945750e-02 9.99839868e-01 -1.46944041e-04 1.46722559e+00] [ 1.12218148e-02 -5.38834464e-05 9.99937032e-01 1.08458418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339254154 meters 0.014092600615874211 Centerline is valid? [True, True] Translation: X:166.49, Y:1.47, Z:1.08 [[ 9.99868843e-01 -1.00116087e-02 -1.27304662e-02 1.66487231e+02] [ 1.00103029e-02 9.99949882e-01 -1.66291341e-04 1.47353578e+00] [ 1.27314931e-02 3.88337077e-05 9.99918951e-01 1.08423658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399254154 meters 0.014106463117681548 Centerline is valid? [True, True] Translation: X:166.55, Y:1.47, Z:1.08 [[ 9.99868607e-01 -8.79102611e-03 -1.36193772e-02 1.66546172e+02] [ 8.78939410e-03 9.99961356e-01 -1.79681842e-04 1.47490712e+00] [ 1.36204305e-02 5.99521591e-05 9.99907236e-01 1.08379536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459254154 meters 0.013991595628558196 Centerline is valid? [True, True] Translation: X:166.61, Y:1.47, Z:1.08 [[ 9.99800622e-01 -1.24487056e-02 -1.56123414e-02 1.66605255e+02] [ 1.24469656e-02 9.99922512e-01 -2.08613406e-04 1.47110063e+00] [ 1.56137286e-02 1.42455353e-05 9.99878098e-01 1.08233572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519254154 meters 0.014341007987453299 Centerline is valid? [True, True] Translation: X:166.66, Y:1.46, Z:1.08 [[ 9.99645427e-01 -2.05586050e-02 -1.69223179e-02 1.66663674e+02] [ 2.05576977e-02 9.99788642e-01 -2.27583521e-04 1.46433573e+00] [ 1.69234201e-02 -1.20381071e-04 9.99856781e-01 1.08125082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579254154 meters 0.015086640401888831 Centerline is valid? [True, True] Translation: X:166.72, Y:1.46, Z:1.08 [[ 9.99589965e-01 -2.28813233e-02 -1.72147374e-02 1.66723685e+02] [ 2.28807116e-02 9.99738175e-01 -2.32518737e-04 1.46278589e+00] [ 1.72155505e-02 -1.61462045e-04 9.99851788e-01 1.08113111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639254154 meters 0.015849156520244514 Centerline is valid? [True, True] Translation: X:166.78, Y:1.46, Z:1.08 [[ 9.99492392e-01 -2.72318412e-02 -1.65343427e-02 1.66783180e+02] [ 2.72318622e-02 9.99629119e-01 -2.23915784e-04 1.45899887e+00] [ 1.65343081e-02 -2.26458820e-04 9.99863273e-01 1.08190840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69925415400002 meters 0.015734523763359848 Centerline is valid? [True, True] Translation: X:166.84, Y:1.45, Z:1.08 [[ 9.99404318e-01 -3.09035282e-02 -1.53617055e-02 1.66844936e+02] [ 3.09039813e-02 9.99522336e-01 -2.07946066e-04 1.45490476e+00] [ 1.53607940e-02 -2.66915663e-04 9.99881980e-01 1.08456299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters 0.015747943212359488 Centerline is valid? [True, True] Translation: X:166.91, Y:1.45, Z:1.09 [[ 9.99365310e-01 -3.22421224e-02 -1.51466996e-02 1.66907050e+02] [ 3.22427297e-02 9.99480047e-01 -2.04168010e-04 1.45456749e+00] [ 1.51454069e-02 -2.84332515e-04 9.99885261e-01 1.08642601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters 0.01658540384805445 Centerline is valid? [True, True] Translation: X:166.97, Y:1.45, Z:1.09 [[ 9.99313472e-01 -3.39272787e-02 -1.48837231e-02 1.66968617e+02] [ 3.39280658e-02 9.99424258e-01 -1.99682776e-04 1.45074585e+00] [ 1.48819286e-02 -3.05430248e-04 9.99889211e-01 1.08663844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters 0.01682066511189612 Centerline is valid? [True, True] Translation: X:167.03, Y:1.45, Z:1.09 [[ 9.99301556e-01 -3.44711623e-02 -1.44270257e-02 1.67030806e+02] [ 3.44719718e-02 9.99405646e-01 -1.92640081e-04 1.44860300e+00] [ 1.44250915e-02 -3.04822489e-04 9.99895906e-01 1.08692343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters 0.018035283699287447 Centerline is valid? [True, True] Translation: X:167.09, Y:1.45, Z:1.09 [[ 9.99366461e-01 -3.24064403e-02 -1.47139103e-02 1.67092603e+02] [ 3.24070746e-02 9.99474734e-01 -1.95382739e-04 1.44947089e+00] [ 1.47125132e-02 -2.81575832e-04 9.99891725e-01 1.08566674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999254154 meters 0.015404246634304484 Centerline is valid? [True, True] Translation: X:167.15, Y:1.45, Z:1.09 [[ 9.99451212e-01 -2.95043844e-02 -1.50587370e-02 1.67153861e+02] [ 2.95047318e-02 9.99564621e-01 -1.99142671e-04 1.45229177e+00] [ 1.50580563e-02 -2.45270614e-04 9.99886591e-01 1.08811305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059254154 meters 0.014636272811109758 Centerline is valid? [True, True] Translation: X:167.22, Y:1.45, Z:1.09 [[ 9.99594740e-01 -2.40488919e-02 -1.52317832e-02 1.67215785e+02] [ 2.40486245e-02 9.99710770e-01 -2.00740904e-04 1.45452263e+00] [ 1.52322053e-02 -1.65643882e-04 9.99883970e-01 1.08805529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119254154 meters 0.014526706978126384 Centerline is valid? [True, True] Translation: X:167.28, Y:1.46, Z:1.09 [[ 9.99639103e-01 -2.19972162e-02 -1.54203256e-02 1.67276257e+02] [ 2.19967121e-02 9.99758023e-01 -2.02320573e-04 1.45533023e+00] [ 1.54210447e-02 -1.36948905e-04 9.99881079e-01 1.08761631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179254154 meters 0.014549115271606817 Centerline is valid? [True, True] Translation: X:167.34, Y:1.46, Z:1.09 [[ 9.99621947e-01 -2.16932385e-02 -1.68927761e-02 1.67337002e+02] [ 2.16925981e-02 9.99764663e-01 -2.21170685e-04 1.45555043e+00] [ 1.68935985e-02 -1.45361132e-04 9.99857282e-01 1.08667545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239254154 meters 0.01494728355878419 Centerline is valid? [True, True] Translation: X:167.40, Y:1.45, Z:1.09 [[ 9.99577664e-01 -2.34702476e-02 -1.71359564e-02 1.67396260e+02] [ 2.34698434e-02 9.99724520e-01 -2.24718917e-04 1.45357048e+00] [ 1.71365100e-02 -1.77554203e-04 9.99853143e-01 1.08644127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299254154 meters 0.015810644001234126 Centerline is valid? [True, True] Translation: X:167.46, Y:1.45, Z:1.09 [[ 9.99484331e-01 -2.71814202e-02 -1.70951045e-02 1.67455892e+02] [ 2.71815502e-02 9.99630488e-01 -2.24795084e-04 1.45022181e+00] [ 1.70948980e-02 -2.39992278e-04 9.99853843e-01 1.08674413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359254154 meters 0.01562139992015446 Centerline is valid? [True, True] Translation: X:167.52, Y:1.45, Z:1.09 [[ 9.99423425e-01 -2.96429524e-02 -1.65563683e-02 1.67516745e+02] [ 2.96434109e-02 9.99560514e-01 -2.17768679e-04 1.44969120e+00] [ 1.65555473e-02 -2.73144109e-04 9.99862910e-01 1.08916034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41925415400001 meters 0.017347870505518958 Centerline is valid? [True, True] Translation: X:167.58, Y:1.45, Z:1.09 [[ 9.99356444e-01 -3.17447616e-02 -1.67023105e-02 1.67578308e+02] [ 3.17455298e-02 9.99495960e-01 -2.19201715e-04 1.44887678e+00] [ 1.67008504e-02 -3.11163049e-04 9.99860483e-01 1.08861554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47925415400002 meters 0.017469740595638703 Centerline is valid? [True, True] Translation: X:167.64, Y:1.45, Z:1.09 [[ 9.99241577e-01 -3.60005697e-02 -1.48401331e-02 1.67639265e+02] [ 3.60016505e-02 9.99351712e-01 -1.94398581e-04 1.44514412e+00] [ 1.48375109e-02 -3.40018141e-04 9.99889860e-01 1.09053509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters 0.018138329959929603 Centerline is valid? [True, True] Translation: X:167.70, Y:1.44, Z:1.09 [[ 9.99100437e-01 -4.01787469e-02 -1.35640869e-02 1.67701389e+02] [ 4.01800428e-02 9.99192440e-01 -1.77073051e-04 1.44201978e+00] [ 1.35602476e-02 -3.68091829e-04 9.99907988e-01 1.09176338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters 0.019325349474226705 Centerline is valid? [True, True] Translation: X:167.76, Y:1.44, Z:1.09 [[ 9.99005004e-01 -4.24750716e-02 -1.35966958e-02 1.67762795e+02] [ 4.24765979e-02 9.99097446e-01 -1.76637925e-04 1.44019387e+00] [ 1.35919267e-02 -4.01079208e-04 9.99907545e-01 1.09254360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters 0.01933140921158855 Centerline is valid? [True, True] Translation: X:167.82, Y:1.44, Z:1.09 [[ 9.98886361e-01 -4.49176348e-02 -1.44376032e-02 1.67824807e+02] [ 4.49196244e-02 9.98990587e-01 -1.86612026e-04 1.44001880e+00] [ 1.44314119e-02 -4.62127506e-04 9.99895755e-01 1.09328306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719254154 meters 0.02027268870980517 Centerline is valid? [True, True] Translation: X:167.89, Y:1.44, Z:1.09 [[ 9.98846499e-01 -4.57645718e-02 -1.45353352e-02 1.67887063e+02] [ 4.57666934e-02 9.98952138e-01 -1.86814631e-04 1.43801139e+00] [ 1.45286537e-02 -4.78635090e-04 9.99894339e-01 1.09328307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779254154 meters 0.01979160345334485 Centerline is valid? [True, True] Translation: X:167.95, Y:1.44, Z:1.09 [[ 9.98777727e-01 -4.67480924e-02 -1.60520472e-02 1.67949393e+02] [ 4.67508266e-02 9.98906561e-01 -2.05081096e-04 1.43837795e+00] [ 1.60440824e-02 -5.45616042e-04 9.99871137e-01 1.09242822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839254154 meters 0.020467553154447708 Centerline is valid? [True, True] Translation: X:168.01, Y:1.44, Z:1.09 [[ 9.98751239e-01 -4.71057738e-02 -1.66435793e-02 1.68011876e+02] [ 4.71087834e-02 9.98889743e-01 -2.11398807e-04 1.43681438e+00] [ 1.66350588e-02 -5.72923953e-04 9.99861464e-01 1.09156283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899254154 meters 0.02175407422740477 Centerline is valid? [True, True] Translation: X:168.07, Y:1.44, Z:1.09 [[ 9.98741270e-01 -4.69397314e-02 -1.76787416e-02 1.68072827e+02] [ 4.69431208e-02 9.98897539e-01 -2.23435715e-04 1.43558210e+00] [ 1.76697395e-02 -6.06740836e-04 9.99843694e-01 1.09020137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959254154 meters 0.02018628601317272 Centerline is valid? [True, True] Translation: X:168.14, Y:1.44, Z:1.09 [[ 9.98805228e-01 -4.56898591e-02 -1.73364640e-02 1.68135046e+02] [ 4.56929500e-02 9.98955508e-01 -2.17982504e-04 1.43860693e+00] [ 1.73283158e-02 -5.74432119e-04 9.99849688e-01 1.09239537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019254154 meters 0.018576013906400658 Centerline is valid? [True, True] Translation: X:168.20, Y:1.44, Z:1.09 [[ 9.98949308e-01 -4.24401224e-02 -1.72949876e-02 1.68196952e+02] [ 4.24427306e-02 9.99098878e-01 -2.16384985e-04 1.44379980e+00] [ 1.72885861e-02 -5.17888867e-04 9.99850407e-01 1.09404319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079254154 meters 0.018054657227482052 Centerline is valid? [True, True] Translation: X:168.26, Y:1.45, Z:1.09 [[ 9.99012608e-01 -4.08752397e-02 -1.74075990e-02 1.68259617e+02] [ 4.08776684e-02 9.99164135e-01 -2.16425962e-04 1.44565430e+00] [ 1.74018951e-02 -4.95369796e-04 9.99848453e-01 1.09446664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.139254154 meters 0.017915865062372277 Centerline is valid? [True, True] Translation: X:168.32, Y:1.45, Z:1.09 [[ 9.99084868e-01 -3.92964085e-02 -1.68884053e-02 1.68321882e+02] [ 3.92984919e-02 9.99227494e-01 -2.08619924e-04 1.44668246e+00] [ 1.68835569e-02 -4.55259847e-04 9.99857359e-01 1.09433542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19925415400002 meters 0.017770734596472326 Centerline is valid? [True, True] Translation: X:168.38, Y:1.45, Z:1.10 [[ 9.99161064e-01 -3.77043187e-02 -1.59859911e-02 1.68383763e+02] [ 3.77059971e-02 9.99288857e-01 -1.96502254e-04 1.44865014e+00] [ 1.59820318e-02 -4.06430334e-04 9.99872197e-01 1.09520719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters 0.016390773384892178 Centerline is valid? [True, True] Translation: X:168.45, Y:1.45, Z:1.10 [[ 9.99331934e-01 -3.34321465e-02 -1.47640396e-02 1.68445689e+02] [ 3.34331237e-02 9.99440941e-01 -1.80691235e-04 1.45465790e+00] [ 1.47618266e-02 -3.13037442e-04 9.99890989e-01 1.09704574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters 0.015733277176524157 Centerline is valid? [True, True] Translation: X:168.51, Y:1.46, Z:1.10 [[ 9.99420807e-01 -3.06173721e-02 -1.48535381e-02 1.68506686e+02] [ 3.06180606e-02 9.99531141e-01 -1.81105938e-04 1.45785951e+00] [ 1.48521189e-02 -2.73785488e-04 9.99889664e-01 1.09787390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters 0.01554008270007853 Centerline is valid? [True, True] Translation: X:168.57, Y:1.46, Z:1.10 [[ 9.99504459e-01 -2.79780740e-02 -1.44243831e-02 1.68568033e+02] [ 2.79784560e-02 9.99608511e-01 -1.75352409e-04 1.45894267e+00] [ 1.44236422e-02 -2.28306454e-04 9.99895948e-01 1.09752807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters 0.015402388974695059 Centerline is valid? [True, True] Translation: X:168.63, Y:1.46, Z:1.10 [[ 9.99529428e-01 -2.70713086e-02 -1.44245490e-02 1.68629172e+02] [ 2.70716037e-02 9.99633482e-01 -1.74833019e-04 1.45958659e+00] [ 1.44239951e-02 -2.15744927e-04 9.99895945e-01 1.09771835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499254154 meters 0.015091692283933323 Centerline is valid? [True, True] Translation: X:168.69, Y:1.46, Z:1.10 [[ 9.99595620e-01 -2.44383618e-02 -1.45383232e-02 1.68690500e+02] [ 2.44383909e-02 9.99701322e-01 -1.75685951e-04 1.46195779e+00] [ 1.45382744e-02 -1.79678319e-04 9.99894298e-01 1.09759815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559254154 meters 0.014691312446947841 Centerline is valid? [True, True] Translation: X:168.75, Y:1.46, Z:1.10 [[ 9.99642366e-01 -2.21805707e-02 -1.49386465e-02 1.68752069e+02] [ 2.21803574e-02 9.99753969e-01 -1.79978335e-04 1.46300667e+00] [ 1.49389631e-02 -1.51430550e-04 9.99888396e-01 1.09732039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619254154 meters 0.014622413091979746 Centerline is valid? [True, True] Translation: X:168.81, Y:1.46, Z:1.10 [[ 9.99680654e-01 -1.97902388e-02 -1.57141943e-02 1.68812529e+02] [ 1.97897115e-02 9.99804147e-01 -1.89068135e-04 1.46478128e+00] [ 1.57148584e-02 -1.21971615e-04 9.99876507e-01 1.09686012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679254154 meters 0.014370335484038882 Centerline is valid? [True, True] Translation: X:168.87, Y:1.47, Z:1.10 [[ 9.99707796e-01 -1.78808573e-02 -1.62664504e-02 1.68872421e+02] [ 1.78800338e-02 9.99840120e-01 -1.96063030e-04 1.46651977e+00] [ 1.62673555e-02 -9.48389428e-05 9.99867673e-01 1.09749241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739254154 meters 0.014449698862189022 Centerline is valid? [True, True] Translation: X:168.93, Y:1.47, Z:1.10 [[ 9.99752880e-01 -1.59322029e-02 -1.55030577e-02 1.68929849e+02] [ 1.59312048e-02 9.99873073e-01 -1.87888135e-04 1.46666922e+00] [ 1.55040834e-02 -5.91406833e-05 9.99879803e-01 1.09770174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799254154 meters 0.014326041696869164 Centerline is valid? [True, True] Translation: X:168.99, Y:1.47, Z:1.10 [[ 9.99790744e-01 -1.50616684e-02 -1.38424915e-02 1.68989075e+02] [ 1.50607581e-02 9.99886566e-01 -1.70014355e-04 1.46574936e+00] [ 1.38434820e-02 -3.84996379e-05 9.99904174e-01 1.09931099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859254154 meters 0.014184877062875795 Centerline is valid? [True, True] Translation: X:169.05, Y:1.47, Z:1.10 [[ 9.99796859e-01 -1.51027815e-02 -1.33471284e-02 1.69047822e+02] [ 1.51018954e-02 9.99885946e-01 -1.67179927e-04 1.46509012e+00] [ 1.33481310e-02 -3.44209707e-05 9.99910909e-01 1.09977514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91925415400001 meters 0.016906930365389428 Centerline is valid? [True, True] Translation: X:169.11, Y:1.46, Z:1.10 [[ 9.99805818e-01 -1.40341372e-02 -1.38336502e-02 1.69106325e+02] [ 1.40330333e-02 9.99901517e-01 -1.76871117e-04 1.46289469e+00] [ 1.38347700e-02 -1.72913020e-05 9.99904295e-01 1.09780097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters 0.014120116119145265 Centerline is valid? [True, True] Translation: X:169.17, Y:1.46, Z:1.10 [[ 9.99810673e-01 -1.46033268e-02 -1.28593088e-02 1.69165258e+02] [ 1.46023791e-02 9.99893366e-01 -1.67594865e-04 1.46148757e+00] [ 1.28603850e-02 -2.02133671e-05 9.99917302e-01 1.10097915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters 0.014230089861001922 Centerline is valid? [True, True] Translation: X:169.22, Y:1.46, Z:1.10 [[ 9.99799067e-01 -1.54267176e-02 -1.28000755e-02 1.69224300e+02] [ 1.54258040e-02 9.99881001e-01 -1.70105948e-04 1.45635491e+00] [ 1.28011765e-02 -2.73796882e-05 9.99918061e-01 1.10109448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters 0.014259423865035889 Centerline is valid? [True, True] Translation: X:169.28, Y:1.45, Z:1.10 [[ 9.99772713e-01 -1.68813897e-02 -1.30208038e-02 1.69283240e+02] [ 1.68805242e-02 9.99857498e-01 -1.76379124e-04 1.45079607e+00] [ 1.30219259e-02 -4.34589591e-05 9.99915210e-01 1.10099047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters 0.01415406481391577 Centerline is valid? [True, True] Translation: X:169.34, Y:1.45, Z:1.10 [[ 9.99736283e-01 -1.76882435e-02 -1.46454903e-02 1.69342001e+02] [ 1.76872010e-02 9.99843549e-01 -2.00715462e-04 1.44642608e+00] [ 1.46467493e-02 -5.83752007e-05 9.99892729e-01 1.10001512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219254154 meters 0.014042481092391113 Centerline is valid? [True, True] Translation: X:169.40, Y:1.44, Z:1.10 [[ 9.99714588e-01 -1.86172436e-02 -1.49713210e-02 1.69400923e+02] [ 1.86162205e-02 9.99826682e-01 -2.07712773e-04 1.44173890e+00] [ 1.49725932e-02 -7.10559219e-05 9.99887902e-01 1.10072110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279254154 meters 0.014237565827946275 Centerline is valid? [True, True] Translation: X:169.46, Y:1.44, Z:1.10 [[ 9.99704480e-01 -1.93089436e-02 -1.47687746e-02 1.69458782e+02] [ 1.93079868e-02 9.99813562e-01 -2.07380354e-04 1.43839354e+00] [ 1.47700254e-02 -7.78362362e-05 9.99890914e-01 1.10117744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339254154 meters 0.014713510423042732 Centerline is valid? [True, True] Translation: X:169.52, Y:1.43, Z:1.10 [[ 9.99651244e-01 -2.26237861e-02 -1.36218478e-02 1.69516974e+02] [ 2.26232636e-02 9.99744043e-01 -1.92468130e-04 1.42959345e+00] [ 1.36227156e-02 -1.15769649e-04 9.99907200e-01 1.10153800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399254154 meters 0.014958633362134396 Centerline is valid? [True, True] Translation: X:169.58, Y:1.42, Z:1.10 [[ 9.99554513e-01 -2.68602290e-02 -1.30116925e-02 1.69576634e+02] [ 2.68601006e-02 9.99639185e-01 -1.84657130e-04 1.42410631e+00] [ 1.30119577e-02 -1.64920503e-04 9.99915327e-01 1.10326815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459254154 meters 0.016366927415716437 Centerline is valid? [True, True] Translation: X:169.64, Y:1.41, Z:1.10 [[ 9.99331366e-01 -3.44368533e-02 -1.22851008e-02 1.69637407e+02] [ 3.44373081e-02 9.99406845e-01 -1.74578791e-04 1.41304840e+00] [ 1.22838258e-02 -2.48603739e-04 9.99924520e-01 1.10302623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519254154 meters 0.017672162225632393 Centerline is valid? [True, True] Translation: X:169.70, Y:1.41, Z:1.10 [[ 9.99143997e-01 -3.94397254e-02 -1.24812565e-02 1.69699090e+02] [ 3.94405876e-02 9.99221902e-01 -1.77154975e-04 1.40616680e+00] [ 1.24785318e-02 -3.15264759e-04 9.99922090e-01 1.10229242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579254154 meters 0.0206731418131741 Centerline is valid? [True, True] Translation: X:169.76, Y:1.40, Z:1.10 [[ 9.98740403e-01 -4.84059144e-02 -1.32089214e-02 1.69760355e+02] [ 4.84076685e-02 9.98827644e-01 -1.87080726e-04 1.39506689e+00] [ 1.32024917e-02 -4.52568009e-04 9.99912741e-01 1.10138533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.639254154 meters 0.023418574080731832 Centerline is valid? [True, True] Translation: X:169.82, Y:1.39, Z:1.10 [[ 9.98168535e-01 -5.90305725e-02 -1.32275084e-02 1.69821210e+02] [ 5.90332654e-02 9.98255999e-01 -1.87114685e-04 1.38603598e+00] [ 1.32154851e-02 -5.94091021e-04 9.99912495e-01 1.10184050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69925415400002 meters 0.02619698604338369 Centerline is valid? [True, True] Translation: X:169.88, Y:1.38, Z:1.10 [[ 9.97747437e-01 -6.58068177e-02 -1.30198131e-02 1.69881315e+02] [ 6.58100039e-02 9.97832155e-01 -1.84033729e-04 1.38048698e+00] [ 1.30036989e-02 -6.73214772e-04 9.99915222e-01 1.10283872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters 0.030380175471993894 Centerline is valid? [True, True] Translation: X:169.94, Y:1.37, Z:1.10 [[ 9.97348874e-01 -7.15316602e-02 -1.33583459e-02 1.69941255e+02] [ 7.15355255e-02 9.97438035e-01 -1.88853939e-04 1.37404463e+00] [ 1.33376313e-02 -7.67243029e-04 9.99910755e-01 1.10272285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters 0.030433336263291307 Centerline is valid? [True, True] Translation: X:170.00, Y:1.38, Z:1.10 [[ 9.97371538e-01 -7.08684360e-02 -1.50890974e-02 1.70003667e+02] [ 7.08733000e-02 9.97485303e-01 -2.12816224e-04 1.37730743e+00] [ 1.50662348e-02 -8.57157282e-04 9.99886130e-01 1.10108244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters 0.027199811632221516 Centerline is valid? [True, True] Translation: X:170.06, Y:1.38, Z:1.10 [[ 9.97508264e-01 -6.88156046e-02 -1.55459100e-02 1.70064946e+02] [ 6.88205321e-02 9.97629033e-01 -2.18415563e-04 1.38361012e+00] [ 1.55240816e-02 -8.52006473e-04 9.99879131e-01 1.10387733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters 0.02619291140319913 Centerline is valid? [True, True] Translation: X:170.13, Y:1.39, Z:1.10 [[ 9.97679646e-01 -6.61077910e-02 -1.62813720e-02 1.70126448e+02] [ 6.61128465e-02 9.97812126e-01 -2.28126606e-04 1.38840730e+00] [ 1.62608314e-02 -8.48810577e-04 9.99867424e-01 1.10417132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999254154 meters 0.024826004808028844 Centerline is valid? [True, True] Translation: X:170.19, Y:1.39, Z:1.11 [[ 9.97956987e-01 -6.18928878e-02 -1.58468348e-02 1.70187030e+02] [ 6.18971533e-02 9.98082508e-01 -2.21624017e-04 1.39471973e+00] [ 1.58301655e-02 -7.59702725e-04 9.99874406e-01 1.10536505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059254154 meters 0.02252169154921836 Centerline is valid? [True, True] Translation: X:170.25, Y:1.40, Z:1.11 [[ 9.98275546e-01 -5.67538276e-02 -1.49978911e-02 1.70247694e+02] [ 5.67570734e-02 9.98387996e-01 -2.09478592e-04 1.40364559e+00] [ 1.49856032e-02 -6.42119052e-04 9.99887503e-01 1.10726647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119254154 meters 0.02138657447617991 Centerline is valid? [True, True] Translation: X:170.31, Y:1.41, Z:1.11 [[ 9.98518597e-01 -5.21425790e-02 -1.55487009e-02 1.70308307e+02] [ 5.21455140e-02 9.98639474e-01 -2.16878791e-04 1.40950060e+00] [ 1.55388551e-02 -5.94237492e-04 9.99879088e-01 1.10760055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179254154 meters 0.0190756236824195 Centerline is valid? [True, True] Translation: X:170.37, Y:1.42, Z:1.11 [[ 9.98861524e-01 -4.45329866e-02 -1.71017218e-02 1.70369220e+02] [ 4.45354285e-02 9.99007777e-01 -2.38218278e-04 1.41858120e+00] [ 1.70953616e-02 -5.23685435e-04 9.99853726e-01 1.10750056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239254154 meters 0.017054066045732726 Centerline is valid? [True, True] Translation: X:170.43, Y:1.43, Z:1.11 [[ 9.99197103e-01 -3.62835305e-02 -1.69898148e-02 1.70430331e+02] [ 3.62847538e-02 9.99341464e-01 -2.36351174e-04 1.42816730e+00] [ 1.69872021e-02 -3.80309839e-04 9.99855635e-01 1.10895002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299254154 meters 0.015783437602784587 Centerline is valid? [True, True] Translation: X:170.49, Y:1.44, Z:1.11 [[ 9.99401036e-01 -3.02578432e-02 -1.67938057e-02 1.70490669e+02] [ 3.02581899e-02 9.99542089e-01 -2.33502646e-04 1.43502319e+00] [ 1.67931809e-02 -2.74787377e-04 9.99858947e-01 1.11033688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359254154 meters 0.01513024776110835 Centerline is valid? [True, True] Translation: X:170.55, Y:1.44, Z:1.11 [[ 9.99496475e-01 -2.72655801e-02 -1.62291050e-02 1.70551057e+02] [ 2.72655096e-02 9.99628201e-01 -2.25650993e-04 1.43934768e+00] [ 1.62292235e-02 -2.16957444e-04 9.99868274e-01 1.11169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41925415400001 meters 0.015213053076336863 Centerline is valid? [True, True] Translation: X:170.61, Y:1.45, Z:1.11 [[ 9.99696774e-01 -1.88428204e-02 -1.58526825e-02 1.70609631e+02] [ 1.88416861e-02 9.99822455e-01 -2.20915857e-04 1.44644675e+00] [ 1.58540306e-02 -7.78423967e-05 9.99874314e-01 1.11154034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters 0.014218340478471956 Centerline is valid? [True, True] Translation: X:170.67, Y:1.45, Z:1.11 [[ 9.99767490e-01 -1.51825857e-02 -1.53119311e-02 1.70668591e+02] [ 1.51810591e-02 9.99884738e-01 -2.15931352e-04 1.45076970e+00] [ 1.53134446e-02 -1.65701851e-05 9.99882742e-01 1.11328634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters 0.014204882726392963 Centerline is valid? [True, True] Translation: X:170.73, Y:1.45, Z:1.11 [[ 9.99738610e-01 -1.69201065e-02 -1.53760218e-02 1.70726404e+02] [ 1.69187078e-02 9.99856844e-01 -2.21054522e-04 1.45063072e+00] [ 1.53775609e-02 -3.91456782e-05 9.99881758e-01 1.11327556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters 0.014758814682833197 Centerline is valid? [True, True] Translation: X:170.78, Y:1.45, Z:1.11 [[ 9.99569676e-01 -2.47365943e-02 -1.57659033e-02 1.70784998e+02] [ 2.47360541e-02 9.99693991e-01 -2.29297247e-04 1.44530218e+00] [ 1.57667508e-02 -1.60787663e-04 9.99875684e-01 1.11377145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters 0.0171149525401984 Centerline is valid? [True, True] Translation: X:170.84, Y:1.44, Z:1.11 [[ 9.99254684e-01 -3.54300598e-02 -1.53227523e-02 1.70844273e+02] [ 3.54308007e-02 9.99372107e-01 -2.23194628e-04 1.43604719e+00] [ 1.53210391e-02 -3.19869106e-04 9.99882575e-01 1.11380758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719254154 meters 0.017730167867989897 Centerline is valid? [True, True] Translation: X:170.91, Y:1.43, Z:1.11 [[ 9.98986565e-01 -4.24553132e-02 -1.49462467e-02 1.70905514e+02] [ 4.24568097e-02 9.99098279e-01 -2.17302860e-04 1.43328652e+00] [ 1.49419950e-02 -4.17487314e-04 9.99888275e-01 1.11454368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779254154 meters 0.020855908845180064 Centerline is valid? [True, True] Translation: X:170.97, Y:1.43, Z:1.11 [[ 9.98633864e-01 -5.00487623e-02 -1.50175642e-02 1.70965607e+02] [ 5.00511396e-02 9.98746633e-01 -2.17740432e-04 1.42565447e+00] [ 1.50096393e-02 -5.34203234e-04 9.99887206e-01 1.11392334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839254154 meters 0.021103933511181436 Centerline is valid? [True, True] Translation: X:171.03, Y:1.43, Z:1.11 [[ 9.98482608e-01 -5.30895523e-02 -1.46280674e-02 1.71027653e+02] [ 5.30921462e-02 9.98589595e-01 -2.11234362e-04 1.42515318e+00] [ 1.46186502e-02 -5.65721656e-04 9.99892982e-01 1.11441057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899254154 meters 0.022279442053238206 Centerline is valid? [True, True] Translation: X:171.09, Y:1.42, Z:1.12 [[ 9.98323074e-01 -5.61352877e-02 -1.41375395e-02 1.71089212e+02] [ 5.61380279e-02 9.98422997e-01 -2.03260977e-04 1.42327765e+00] [ 1.41266547e-02 -5.90733464e-04 9.99900039e-01 1.11559052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959254154 meters 0.022298806892852477 Centerline is valid? [True, True] Translation: X:171.15, Y:1.42, Z:1.12 [[ 9.98217938e-01 -5.80344306e-02 -1.38907828e-02 1.71151175e+02] [ 5.80372720e-02 9.98314397e-01 -1.98808173e-04 1.42355579e+00] [ 1.38789062e-02 -6.07729259e-04 9.99903499e-01 1.11561480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019254154 meters 0.026972571778010084 Centerline is valid? [True, True] Translation: X:171.21, Y:1.42, Z:1.11 [[ 9.98138328e-01 -5.90878642e-02 -1.51162665e-02 1.71212213e+02] [ 5.90913652e-02 9.98252555e-01 -2.15328618e-04 1.41751016e+00] [ 1.51025750e-02 -6.78313078e-04 9.99885720e-01 1.11419530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079254154 meters 0.022487404890433955 Centerline is valid? [True, True] Translation: X:171.27, Y:1.43, Z:1.11 [[ 9.98187861e-01 -5.78785208e-02 -1.64642065e-02 1.71274204e+02] [ 5.78825288e-02 9.98323374e-01 -2.33388415e-04 1.42754189e+00] [ 1.64501103e-02 -7.20024423e-04 9.99864429e-01 1.11485336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139254154 meters 0.022261233377772298 Centerline is valid? [True, True] Translation: X:171.34, Y:1.43, Z:1.12 [[ 9.98299910e-01 -5.56810754e-02 -1.72309857e-02 1.71336170e+02] [ 5.56851613e-02 9.98448348e-01 -2.42945000e-04 1.43124510e+00] [ 1.72177767e-02 -7.16978248e-04 9.99851506e-01 1.11510193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19925415400002 meters 0.02096476914557843 Centerline is valid? [True, True] Translation: X:171.40, Y:1.44, Z:1.12 [[ 9.98569315e-01 -5.06052553e-02 -1.72751706e-02 1.71397056e+02] [ 5.06086157e-02 9.98718533e-01 -2.42872099e-04 1.43794939e+00] [ 1.72653237e-02 -6.31747847e-04 9.99850744e-01 1.11587646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters 0.019366473283824206 Centerline is valid? [True, True] Translation: X:171.46, Y:1.44, Z:1.12 [[ 9.98798354e-01 -4.62846703e-02 -1.61114130e-02 1.71459023e+02] [ 4.62870427e-02 9.98928155e-01 -2.25816675e-04 1.44470509e+00] [ 1.61045959e-02 -5.20204338e-04 9.99870177e-01 1.11783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters 0.0182526293510166 Centerline is valid? [True, True] Translation: X:171.52, Y:1.45, Z:1.12 [[ 9.99102918e-01 -3.95252242e-02 -1.52025200e-02 1.71519963e+02] [ 3.95265627e-02 9.99218497e-01 -2.12530854e-04 1.45289119e+00] [ 1.51990395e-02 -3.88563162e-04 9.99884412e-01 1.11891392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters 0.017768865322961964 Centerline is valid? [True, True] Translation: X:171.58, Y:1.46, Z:1.12 [[ 9.99208523e-01 -3.67126367e-02 -1.53136933e-02 1.71580484e+02] [ 3.67136690e-02 9.99325803e-01 -2.13803938e-04 1.45620424e+00] [ 1.53112182e-02 -3.48587151e-04 9.99882716e-01 1.11956233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters 0.017506436339005095 Centerline is valid? [True, True] Translation: X:171.64, Y:1.46, Z:1.12 [[ 9.99292421e-01 -3.43247046e-02 -1.53776385e-02 1.71642083e+02] [ 3.43254695e-02 9.99410684e-01 -2.14273494e-04 1.46037037e+00] [ 1.53759311e-02 -3.13722784e-04 9.99881734e-01 1.11962879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499254154 meters 0.01815320695511783 Centerline is valid? [True, True] Translation: X:171.70, Y:1.46, Z:1.12 [[ 9.99243803e-01 -3.59744164e-02 -1.47534236e-02 1.71702920e+02] [ 3.59753055e-02 9.99352658e-01 -2.05213462e-04 1.46208686e+00] [ 1.47512556e-02 -3.25700642e-04 9.99891141e-01 1.12060018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559254154 meters 0.017562618243297533 Centerline is valid? [True, True] Translation: X:171.76, Y:1.47, Z:1.12 [[ 9.99132951e-01 -3.90682351e-02 -1.43881960e-02 1.71764873e+02] [ 3.90694111e-02 9.99236479e-01 -1.99449276e-04 1.46511461e+00] [ 1.43850024e-02 -3.62862000e-04 9.99896465e-01 1.12238866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619254154 meters 0.02116286196754779 Centerline is valid? [True, True] Translation: X:171.82, Y:1.46, Z:1.12 [[ 9.98913048e-01 -4.43260189e-02 -1.44196255e-02 1.71824629e+02] [ 4.43277545e-02 9.99017022e-01 -1.99384602e-04 1.46134919e+00] [ 1.44142892e-02 -4.40021737e-04 9.99896012e-01 1.11986635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679254154 meters 0.021271352835524168 Centerline is valid? [True, True] Translation: X:171.89, Y:1.46, Z:1.12 [[ 9.98651761e-01 -4.99175136e-02 -1.42443654e-02 1.71885233e+02] [ 4.99197772e-02 9.98753211e-01 -1.96819078e-04 1.46364668e+00] [ 1.42364304e-02 -5.14521830e-04 9.99898525e-01 1.12135734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739254154 meters 0.023303906872865855 Centerline is valid? [True, True] Translation: X:171.95, Y:1.46, Z:1.12 [[ 9.98478566e-01 -5.32021832e-02 -1.44941663e-02 1.71946633e+02] [ 5.32048785e-02 9.98583597e-01 -1.99847882e-04 1.46347430e+00] [ 1.44842691e-02 -5.71616532e-04 9.99894934e-01 1.12077296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799254154 meters 0.02272026130718438 Centerline is valid? [True, True] Translation: X:172.01, Y:1.46, Z:1.12 [[ 9.98237599e-01 -5.76638232e-02 -1.40206711e-02 1.72008164e+02] [ 5.76667918e-02 9.98335867e-01 -1.92800153e-04 1.46388920e+00] [ 1.40084564e-02 -6.16066757e-04 9.99901687e-01 1.12471144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859254154 meters 0.023413097819115953 Centerline is valid? [True, True] Translation: X:172.07, Y:1.46, Z:1.13 [[ 9.98168246e-01 -5.90438263e-02 -1.31901261e-02 1.72070047e+02] [ 5.90465833e-02 9.98255212e-01 -1.80655732e-04 1.46484783e+00] [ 1.31777787e-02 -5.98507064e-04 9.99912990e-01 1.12571946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91925415400001 meters 0.02535625023983115 Centerline is valid? [True, True] Translation: X:172.13, Y:1.46, Z:1.13 [[ 9.98125183e-01 -5.98488847e-02 -1.28151902e-02 1.72131298e+02] [ 5.98515639e-02 9.98207273e-01 -1.74691851e-04 1.46368987e+00] [ 1.28026712e-02 -5.92644842e-04 9.99917867e-01 1.12593615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters 0.024155121188071883 Centerline is valid? [True, True] Translation: X:172.19, Y:1.47, Z:1.13 [[ 9.98147418e-01 -5.92954826e-02 -1.36299932e-02 1.72193878e+02] [ 5.92984745e-02 9.98240280e-01 -1.84883773e-04 1.46800868e+00] [ 1.36169710e-02 -6.23696542e-04 9.99907090e-01 1.12513267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters 0.024729794354007184 Centerline is valid? [True, True] Translation: X:172.25, Y:1.47, Z:1.13 [[ 9.98189122e-01 -5.83821364e-02 -1.44914570e-02 1.72254603e+02] [ 5.83854364e-02 9.98294096e-01 -1.95603073e-04 1.46998066e+00] [ 1.44781557e-02 -6.50841181e-04 9.99894974e-01 1.12603584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters 0.02240087662463204 Centerline is valid? [True, True] Translation: X:172.32, Y:1.48, Z:1.13 [[ 9.98266612e-01 -5.68656636e-02 -1.51679839e-02 1.72317009e+02] [ 5.68691198e-02 9.98381621e-01 -2.03703947e-04 1.47746532e+00] [ 1.51550201e-02 -6.59239044e-04 9.99884939e-01 1.12667085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters 0.022092637281835113 Centerline is valid? [True, True] Translation: X:172.38, Y:1.48, Z:1.13 [[ 9.98362731e-01 -5.51017552e-02 -1.53510488e-02 1.72379726e+02] [ 5.51051077e-02 9.98480538e-01 -2.04833058e-04 1.48090898e+00] [ 1.53390101e-02 -6.41423507e-04 9.99882145e-01 1.12738607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219254154 meters 0.021798989217896126 Centerline is valid? [True, True] Translation: X:172.44, Y:1.49, Z:1.13 [[ 9.98707972e-01 -4.84199363e-02 -1.54238619e-02 1.72438871e+02] [ 4.84225309e-02 9.98826920e-01 -2.05403045e-04 1.48744324e+00] [ 1.54157140e-02 -5.41724769e-04 9.99881024e-01 1.12666313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279254154 meters 0.020116365352583352 Centerline is valid? [True, True] Translation: X:172.50, Y:1.49, Z:1.13 [[ 9.98828753e-01 -4.59474486e-02 -1.51642126e-02 1.72501172e+02] [ 4.59496787e-02 9.98943735e-01 -2.01505864e-04 1.49136991e+00] [ 1.51574539e-02 -4.95520847e-04 9.99884996e-01 1.12902177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339254154 meters 0.018757473622254543 Centerline is valid? [True, True] Translation: X:172.56, Y:1.50, Z:1.13 [[ 9.99092192e-01 -4.00706041e-02 -1.44616562e-02 1.72562271e+02] [ 4.00720258e-02 9.99196775e-01 -1.91563775e-04 1.49858584e+00] [ 1.44577164e-02 -3.88117991e-04 9.99895406e-01 1.13032322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399254154 meters 0.0185640784825425 Centerline is valid? [True, True] Translation: X:172.62, Y:1.51, Z:1.13 [[ 9.99320759e-01 -3.38258443e-02 -1.46230244e-02 1.72623850e+02] [ 3.38266378e-02 9.99427697e-01 -1.93143543e-04 1.50702818e+00] [ 1.46211888e-02 -3.01635398e-04 9.99893059e-01 1.12949126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459254154 meters 0.016794247961896092 Centerline is valid? [True, True] Translation: X:172.69, Y:1.51, Z:1.13 [[ 9.99316088e-01 -3.38038696e-02 -1.49884924e-02 1.72685859e+02] [ 3.38047155e-02 9.99428438e-01 -1.96983326e-04 1.50977314e+00] [ 1.49865843e-02 -3.09833114e-04 9.99887647e-01 1.13120482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519254154 meters 0.018012094490433454 Centerline is valid? [True, True] Translation: X:172.75, Y:1.51, Z:1.13 [[ 9.99221624e-01 -3.61676894e-02 -1.57494309e-02 1.72746578e+02] [ 3.61689302e-02 9.99345669e-01 -2.06136558e-04 1.50847750e+00] [ 1.57465810e-02 -3.63663960e-04 9.99875949e-01 1.13106680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579254154 meters 0.01884670395216592 Centerline is valid? [True, True] Translation: X:172.81, Y:1.51, Z:1.13 [[ 9.99051066e-01 -4.04663996e-02 -1.61070564e-02 1.72807794e+02] [ 4.04682651e-02 9.99180802e-01 -2.10228725e-04 1.50864304e+00] [ 1.61023687e-02 -4.41795398e-04 9.99870251e-01 1.13150615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639254154 meters 0.02033650215740881 Centerline is valid? [True, True] Translation: X:172.87, Y:1.51, Z:1.13 [[ 9.98938223e-01 -4.28990647e-02 -1.67957275e-02 1.72868989e+02] [ 4.29014500e-02 9.99079285e-01 -2.18424691e-04 1.50667332e+00] [ 1.67896336e-02 -5.02368292e-04 9.99858918e-01 1.13057175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69925415400002 meters 0.01941881479401528 Centerline is valid? [True, True] Translation: X:172.93, Y:1.51, Z:1.13 [[ 9.98827708e-01 -4.52410210e-02 -1.72180253e-02 1.72930583e+02] [ 4.52438919e-02 9.98975946e-01 -2.22959156e-04 1.50983458e+00] [ 1.72104800e-02 -5.56312693e-04 9.99851734e-01 1.13198717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters 0.019391485200904668 Centerline is valid? [True, True] Translation: X:172.99, Y:1.51, Z:1.13 [[ 9.98831917e-01 -4.53459552e-02 -1.66896698e-02 1.72992778e+02] [ 4.53486857e-02 9.98971196e-01 -2.15006077e-04 1.51183288e+00] [ 1.66822491e-02 -5.42099657e-04 9.99860695e-01 1.13375396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters 0.019055099999740848 Centerline is valid? [True, True] Translation: X:173.06, Y:1.51, Z:1.13 [[ 9.98918999e-01 -4.31440001e-02 -1.73040079e-02 1.73055348e+02] [ 4.31466313e-02 9.99068726e-01 -2.21418851e-04 1.51367988e+00] [ 1.72974461e-02 -5.25430154e-04 9.99850250e-01 1.13408005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters 0.017512522934367353 Centerline is valid? [True, True] Translation: X:173.12, Y:1.52, Z:1.14 [[ 9.99151491e-01 -3.74471475e-02 -1.71467055e-02 1.73116650e+02] [ 3.74489099e-02 9.99298520e-01 -2.18401168e-04 1.51949750e+00] [ 1.71428559e-02 -4.23909576e-04 9.99852961e-01 1.13548293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters 0.016640517492973114 Centerline is valid? [True, True] Translation: X:173.18, Y:1.52, Z:1.14 [[ 9.99301398e-01 -3.34025374e-02 -1.67626409e-02 1.73177886e+02] [ 3.34036633e-02 9.99441919e-01 -2.12890935e-04 1.52346111e+00] [ 1.67603971e-02 -3.47191404e-04 9.99859474e-01 1.13648286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999254154 meters 0.01697699190986521 Centerline is valid? [True, True] Translation: X:173.24, Y:1.53, Z:1.14 [[ 9.99443105e-01 -2.82229926e-02 -1.78028615e-02 1.73239765e+02] [ 2.82234569e-02 9.99601614e-01 -2.25218651e-04 1.52698447e+00] [ 1.78021254e-02 -2.77365067e-04 9.99841491e-01 1.13525999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059254154 meters 0.015369879840853504 Centerline is valid? [True, True] Translation: X:173.30, Y:1.53, Z:1.14 [[ 9.99494954e-01 -2.63273577e-02 -1.77962692e-02 1.73300338e+02] [ 2.63275279e-02 9.99653345e-01 -2.24761238e-04 1.52948891e+00] [ 1.77960174e-02 -2.43884051e-04 9.99841609e-01 1.13644936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119254154 meters 0.015230969662864092 Centerline is valid? [True, True] Translation: X:173.36, Y:1.53, Z:1.14 [[ 9.99486324e-01 -2.64445461e-02 -1.81045418e-02 1.73361008e+02] [ 2.64447415e-02 9.99650251e-01 -2.28654622e-04 1.53022306e+00] [ 1.81042564e-02 -2.50232759e-04 9.99836073e-01 1.13701968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179254154 meters 0.016950181645009194 Centerline is valid? [True, True] Translation: X:173.42, Y:1.53, Z:1.13 [[ 9.99431696e-01 -2.74063151e-02 -1.96259816e-02 1.73420458e+02] [ 2.74067255e-02 9.99624334e-01 -2.48108165e-04 1.52796648e+00] [ 1.96254085e-02 -2.89916726e-04 9.99807361e-01 1.13420159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239254154 meters 0.01716492273319914 Centerline is valid? [True, True] Translation: X:173.48, Y:1.53, Z:1.13 [[ 9.99384803e-01 -2.88728767e-02 -1.99090989e-02 1.73480406e+02] [ 2.88735778e-02 9.99583040e-01 -2.52297476e-04 1.52706024e+00] [ 1.99080822e-02 -3.22704653e-04 9.99801762e-01 1.13421586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299254154 meters 0.015831070176288934 Centerline is valid? [True, True] Translation: X:173.54, Y:1.53, Z:1.14 [[ 9.99336817e-01 -3.14386888e-02 -1.83721186e-02 1.73539672e+02] [ 3.14397069e-02 9.99505623e-01 -2.33485328e-04 1.52703645e+00] [ 1.83703763e-02 -3.44283538e-04 9.99831191e-01 1.13760839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359254154 meters 0.016324414448819345 Centerline is valid? [True, True] Translation: X:173.60, Y:1.53, Z:1.14 [[ 9.99329774e-01 -3.23654139e-02 -1.71021173e-02 1.73599927e+02] [ 3.23664309e-02 9.99476046e-01 -2.17388252e-04 1.52532646e+00] [ 1.71001924e-02 -3.36291944e-04 9.99853724e-01 1.13789407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41925415400001 meters 0.016521059371653404 Centerline is valid? [True, True] Translation: X:173.66, Y:1.52, Z:1.14 [[ 9.99315247e-01 -3.37693012e-02 -1.51218672e-02 1.73661700e+02] [ 3.37702632e-02 9.99429604e-01 -1.91798410e-04 1.52319994e+00] [ 1.51197187e-02 -3.19002361e-04 9.99885640e-01 1.13932195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters 0.017845737200229566 Centerline is valid? [True, True] Translation: X:173.72, Y:1.52, Z:1.14 [[ 9.99311997e-01 -3.43882005e-02 -1.38918987e-02 1.73724164e+02] [ 3.43890827e-02 9.99408505e-01 -1.75435525e-04 1.52109418e+00] [ 1.38897146e-02 -3.02414828e-04 9.99903488e-01 1.13881066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters 0.01674857875528288 Centerline is valid? [True, True] Translation: X:173.79, Y:1.52, Z:1.14 [[ 9.99249580e-01 -3.62059750e-02 -1.37623898e-02 1.73785862e+02] [ 3.62070254e-02 9.99344296e-01 -1.72904636e-04 1.51848377e+00] [ 1.37596259e-02 -3.25520313e-04 9.99905279e-01 1.13985460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters 0.01722778194344997 Centerline is valid? [True, True] Translation: X:173.85, Y:1.52, Z:1.14 [[ 9.99229245e-01 -3.67309094e-02 -1.38476381e-02 1.73847162e+02] [ 3.67320341e-02 9.99325136e-01 -1.73195991e-04 1.51625188e+00] [ 1.38446545e-02 -3.35589414e-04 9.99904102e-01 1.13998111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters 0.017297590969636685 Centerline is valid? [True, True] Translation: X:173.91, Y:1.52, Z:1.14 [[ 9.99211936e-01 -3.74588918e-02 -1.31277405e-02 1.73909111e+02] [ 3.74599763e-02 9.99298115e-01 -1.63357430e-04 1.51525595e+00] [ 1.31246456e-02 -3.28536155e-04 9.99913814e-01 1.14030058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719254154 meters 0.020740522842264908 Centerline is valid? [True, True] Translation: X:173.97, Y:1.51, Z:1.14 [[ 9.99223584e-01 -3.70217197e-02 -1.34767344e-02 1.73970242e+02] [ 3.70228349e-02 9.99314406e-01 -1.66810702e-04 1.51052425e+00] [ 1.34736704e-02 -3.32265724e-04 9.99909171e-01 1.13710035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779254154 meters 0.017343367194030828 Centerline is valid? [True, True] Translation: X:174.03, Y:1.51, Z:1.14 [[ 9.99216488e-01 -3.70611954e-02 -1.38880354e-02 1.74032762e+02] [ 3.70623963e-02 9.99312939e-01 -1.70983395e-04 1.51289895e+00] [ 1.38848303e-02 -3.43874443e-04 9.99903542e-01 1.13946782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839254154 meters 0.017152170690109502 Centerline is valid? [True, True] Translation: X:174.09, Y:1.51, Z:1.14 [[ 9.99257464e-01 -3.62754615e-02 -1.29850788e-02 1.74094797e+02] [ 3.62764571e-02 9.99341780e-01 -1.58926668e-04 1.51364885e+00] [ 1.29822969e-02 -3.12243994e-04 9.99915678e-01 1.14077630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899254154 meters 0.016931160036450316 Centerline is valid? [True, True] Translation: X:174.16, Y:1.51, Z:1.14 [[ 9.99331310e-01 -3.49201669e-02 -1.08403790e-02 1.74156890e+02] [ 3.49207889e-02 9.99390075e-01 -1.31950269e-04 1.51343397e+00] [ 1.08383749e-02 -2.46692553e-04 9.99941233e-01 1.14277197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959254154 meters 0.017119141755417063 Centerline is valid? [True, True] Translation: X:174.22, Y:1.51, Z:1.14 [[ 9.99349475e-01 -3.48874592e-02 -9.13741464e-03 1.74218776e+02] [ 3.48879052e-02 9.99391226e-01 -1.10623208e-04 1.51143978e+00] [ 9.13571138e-03 -2.08234011e-04 9.99958247e-01 1.14358041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019254154 meters 0.01816280102855783 Centerline is valid? [True, True] Translation: X:174.28, Y:1.51, Z:1.14 [[ 9.99271551e-01 -3.72664358e-02 -8.22071815e-03 1.74280619e+02] [ 3.72668823e-02 9.99305344e-01 -9.89149367e-05 1.50734618e+00] [ 8.21869378e-03 -2.07517654e-04 9.99966204e-01 1.14302953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079254154 meters 0.0198865255412999 Centerline is valid? [True, True] Translation: X:174.34, Y:1.50, Z:1.14 [[ 9.99143948e-01 -4.04506217e-02 -8.66710685e-03 1.74341610e+02] [ 4.04512463e-02 9.99181508e-01 -1.03293532e-04 1.50108045e+00] [ 8.66419118e-03 -2.47390166e-04 9.99962435e-01 1.14210921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139254154 meters 0.020271242619508044 Centerline is valid? [True, True] Translation: X:174.40, Y:1.50, Z:1.14 [[ 9.99097942e-01 -4.15039312e-02 -8.98478318e-03 1.74403345e+02] [ 4.15046531e-02 9.99138305e-01 -1.06183185e-04 1.50011592e+00] [ 8.98144806e-03 -2.66822907e-04 9.99959630e-01 1.14191394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19925415400002 meters 0.01944962828751819 Centerline is valid? [True, True] Translation: X:174.47, Y:1.50, Z:1.14 [[ 9.98998051e-01 -4.36926940e-02 -9.68728657e-03 1.74465544e+02] [ 4.36936418e-02 9.99044970e-01 -1.13881099e-04 1.50011917e+00] [ 9.68301069e-03 -3.09505833e-04 9.99953071e-01 1.14171532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters 0.020406460880795868 Centerline is valid? [True, True] Translation: X:174.53, Y:1.50, Z:1.14 [[ 9.98927664e-01 -4.52597058e-02 -9.75092082e-03 1.74527889e+02] [ 4.52607477e-02 9.98975201e-01 -1.13906561e-04 1.49783632e+00] [ 9.74608347e-03 -3.27549553e-04 9.99952452e-01 1.14128316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters 0.021102434566448326 Centerline is valid? [True, True] Translation: X:174.59, Y:1.50, Z:1.14 [[ 9.98821926e-01 -4.73006714e-02 -1.08353890e-02 1.74590357e+02] [ 4.73020871e-02 9.98880622e-01 -1.25728948e-04 1.49620053e+00] [ 1.08292072e-02 -3.86955684e-04 9.99941288e-01 1.14138483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters 0.02100469008311212 Centerline is valid? [True, True] Translation: X:174.65, Y:1.50, Z:1.14 [[ 9.98777733e-01 -4.82927583e-02 -1.05284742e-02 1.74652011e+02] [ 4.82941571e-02 9.98833149e-01 -1.21480304e-04 1.49633157e+00] [ 1.05220557e-02 -3.87131966e-04 9.99944567e-01 1.14136368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters 0.021277774985678642 Centerline is valid? [True, True] Translation: X:174.71, Y:1.50, Z:1.14 [[ 9.98736133e-01 -4.91217444e-02 -1.06391509e-02 1.74714172e+02] [ 4.91232269e-02 9.98792718e-01 -1.22091986e-04 1.49567643e+00] [ 1.06323038e-02 -4.00691744e-04 9.99943395e-01 1.14181298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499254154 meters 0.02085579871069053 Centerline is valid? [True, True] Translation: X:174.78, Y:1.50, Z:1.14 [[ 9.98725739e-01 -4.93422515e-02 -1.05943745e-02 1.74776700e+02] [ 4.93437423e-02 9.98781848e-01 -1.20795838e-04 1.49775358e+00] [ 1.05874293e-02 -4.02124170e-04 9.99943871e-01 1.14178494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559254154 meters 0.022905085694720887 Centerline is valid? [True, True] Translation: X:174.84, Y:1.50, Z:1.14 [[ 9.98706274e-01 -4.94963388e-02 -1.16572049e-02 1.74837773e+02] [ 4.94981638e-02 9.98774206e-01 -1.32087874e-04 1.49707355e+00] [ 1.16494534e-02 -4.45093248e-04 9.99932044e-01 1.14111584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619254154 meters 0.0218430889751688 Centerline is valid? [True, True] Translation: X:174.90, Y:1.50, Z:1.14 [[ 9.98696498e-01 -4.97415527e-02 -1.14491542e-02 1.74899468e+02] [ 4.97433373e-02 9.98762026e-01 -1.29018898e-04 1.50146742e+00] [ 1.14413981e-02 -4.40668419e-04 9.99934448e-01 1.14201605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679254154 meters 0.02086916806382815 Centerline is valid? [True, True] Translation: X:174.96, Y:1.51, Z:1.14 [[ 9.98751317e-01 -4.89161733e-02 -1.01495870e-02 1.74962161e+02] [ 4.89175409e-02 9.98802814e-01 -1.13617276e-04 1.50528450e+00] [ 1.01429938e-02 -3.83017434e-04 9.99948485e-01 1.14319978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739254154 meters 0.019890209865918888 Centerline is valid? [True, True] Translation: X:175.02, Y:1.51, Z:1.14 [[ 9.98981419e-01 -4.38909424e-02 -1.04742696e-02 1.75021765e+02] [ 4.38921297e-02 9.99036269e-01 -1.16605729e-04 1.51194844e+00] [ 1.04692932e-02 -3.43251043e-04 9.99945137e-01 1.14357064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799254154 meters 0.017090239407152544 Centerline is valid? [True, True] Translation: X:175.08, Y:1.52, Z:1.14 [[ 9.99265555e-01 -3.67029860e-02 -1.10109538e-02 1.75082818e+02] [ 3.67038631e-02 9.99326179e-01 -1.22478673e-04 1.52198152e+00] [ 1.10080297e-02 -2.81755821e-04 9.99939370e-01 1.14368980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859254154 meters 0.01678121306010747 Centerline is valid? [True, True] Translation: X:175.14, Y:1.53, Z:1.14 [[ 9.99383976e-01 -3.32685438e-02 -1.11746656e-02 1.75144796e+02] [ 3.32692379e-02 9.99446418e-01 -1.23815266e-04 1.52570944e+00] [ 1.11725986e-02 -2.48033616e-04 9.99937554e-01 1.14304253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91925415400001 meters 0.015580456106703446 Centerline is valid? [True, True] Translation: X:175.21, Y:1.53, Z:1.14 [[ 9.99422013e-01 -3.16047163e-02 -1.25212790e-02 1.75206916e+02] [ 3.16054696e-02 9.99500413e-01 -1.37754971e-04 1.53037366e+00] [ 1.25193772e-02 -2.58065552e-04 9.99921596e-01 1.14330698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters 0.015867325956914608 Centerline is valid? [True, True] Translation: X:175.27, Y:1.53, Z:1.14 [[ 9.99417436e-01 -3.17773557e-02 -1.24494088e-02 1.75269485e+02] [ 3.17781254e-02 9.99494939e-01 -1.36033519e-04 1.53201081e+00] [ 1.24474439e-02 -2.59664604e-04 9.99922494e-01 1.14367847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters 0.016486368805863096 Centerline is valid? [True, True] Translation: X:175.33, Y:1.53, Z:1.14 [[ 9.99425349e-01 -3.19369752e-02 -1.13579032e-02 1.75330718e+02] [ 3.19376343e-02 9.99489856e-01 -1.23391108e-04 1.53245349e+00] [ 1.13560498e-02 -2.39424358e-04 9.99935489e-01 1.14414236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters 0.015985174405536307 Centerline is valid? [True, True] Translation: X:175.39, Y:1.53, Z:1.15 [[ 9.99433169e-01 -3.18307684e-02 -1.09610087e-02 1.75393315e+02] [ 3.18313832e-02 9.99493246e-01 -1.18406958e-04 1.53482500e+00] [ 1.09592231e-02 -2.30564226e-04 9.99939919e-01 1.14538139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters 0.017023588764883867 Centerline is valid? [True, True] Translation: X:175.45, Y:1.53, Z:1.15 [[ 9.99433519e-01 -3.18512899e-02 -1.08690927e-02 1.75454005e+02] [ 3.18519026e-02 9.99492593e-01 -1.16770205e-04 1.53438175e+00] [ 1.08672969e-02 -2.29497226e-04 9.99940923e-01 1.14523533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219254154 meters 0.016138562858487426 Centerline is valid? [True, True] Translation: X:175.52, Y:1.54, Z:1.15 [[ 9.99425030e-01 -3.19780403e-02 -1.12700208e-02 1.75516061e+02] [ 3.19787138e-02 9.99488543e-01 -1.20484788e-04 1.53651045e+00] [ 1.12681096e-02 -2.39985259e-04 9.99936484e-01 1.14541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279254154 meters 0.01644474329989735 Centerline is valid? [True, True] Translation: X:175.58, Y:1.54, Z:1.15 [[ 9.99416304e-01 -3.19796098e-02 -1.20148468e-02 1.75578697e+02] [ 3.19803864e-02 9.99488488e-01 -1.27528365e-04 1.53628977e+00] [ 1.20127794e-02 -2.56785518e-04 9.99927811e-01 1.14517471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339254154 meters 0.015982142748568604 Centerline is valid? [True, True] Translation: X:175.64, Y:1.54, Z:1.15 [[ 9.99450049e-01 -3.08130658e-02 -1.22537276e-02 1.75640573e+02] [ 3.08137971e-02 9.99525134e-01 -1.29155446e-04 1.53785393e+00] [ 1.22518883e-02 -2.48499458e-04 9.99924912e-01 1.14577987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399254154 meters 0.015283353208603663 Centerline is valid? [True, True] Translation: X:175.70, Y:1.54, Z:1.15 [[ 9.99571065e-01 -2.68214207e-02 -1.17600216e-02 1.75702019e+02] [ 2.68218259e-02 9.99640223e-01 -1.23292661e-04 1.54063381e+00] [ 1.17590975e-02 -1.92185475e-04 9.99930841e-01 1.14675764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459254154 meters 0.015333664124081211 Centerline is valid? [True, True] Translation: X:175.76, Y:1.54, Z:1.15 [[ 9.99739185e-01 -1.97771618e-02 -1.14204485e-02 1.75763419e+02] [ 1.97770890e-02 9.99804407e-01 -1.19319822e-04 1.54446494e+00] [ 1.14205746e-02 -1.06574525e-04 9.99934777e-01 1.14624366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519254154 meters 0.01407671100626125 Centerline is valid? [True, True] Translation: X:175.82, Y:1.55, Z:1.15 [[ 9.99822165e-01 -1.54637720e-02 -1.07939831e-02 1.75823488e+02] [ 1.54634589e-02 9.99880427e-01 -1.12466473e-04 1.54672336e+00] [ 1.07944316e-02 -5.44658422e-05 9.99941737e-01 1.14762430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579254154 meters 0.013953359950342845 Centerline is valid? [True, True] Translation: X:175.88, Y:1.55, Z:1.15 [[ 9.99873698e-01 -1.09448785e-02 -1.15237724e-02 1.75883657e+02] [ 1.09442230e-02 9.99940103e-01 -1.19941262e-04 1.54820354e+00] [ 1.15243949e-02 -6.19262174e-06 9.99933592e-01 1.14730594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.639254154 meters 0.014028666777955823 Centerline is valid? [True, True] Translation: X:175.94, Y:1.55, Z:1.15 [[ 9.99856503e-01 -9.75191037e-03 -1.38518190e-02 1.75942689e+02] [ 9.75082381e-03 9.99952449e-01 -1.45977367e-04 1.54697970e+00] [ 1.38525839e-02 1.08897731e-05 9.99904048e-01 1.14538816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69925415400002 meters 0.014040517160578058 Centerline is valid? [True, True] Translation: X:176.00, Y:1.55, Z:1.15 [[ 9.99830791e-01 -1.03687127e-02 -1.51947176e-02 1.76001273e+02] [ 1.03674148e-02 9.99946243e-01 -1.64185710e-04 1.54584570e+00] [ 1.51956031e-02 6.62798804e-06 9.99884540e-01 1.14502036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters 0.013949724764818188 Centerline is valid? [True, True] Translation: X:176.06, Y:1.54, Z:1.14 [[ 9.99803706e-01 -1.17937949e-02 -1.59202930e-02 1.76059230e+02] [ 1.17924787e-02 9.99930451e-01 -1.76548611e-04 1.54420559e+00] [ 1.59212679e-02 -1.12257606e-05 9.99873249e-01 1.14497069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters 0.013997664456079485 Centerline is valid? [True, True] Translation: X:176.12, Y:1.54, Z:1.15 [[ 9.99753552e-01 -1.54720198e-02 -1.59201440e-02 1.76117594e+02] [ 1.54711252e-02 9.99880299e-01 -1.79356117e-04 1.54007267e+00] [ 1.59210134e-02 -6.69906263e-05 9.99873250e-01 1.14556573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters 0.014250753650438541 Centerline is valid? [True, True] Translation: X:176.18, Y:1.54, Z:1.15 [[ 9.99713700e-01 -1.84492570e-02 -1.52362516e-02 1.76176319e+02] [ 1.84487411e-02 9.99829792e-01 -1.74428910e-04 1.53735922e+00] [ 1.52368763e-02 -1.06710688e-04 9.99883906e-01 1.14636078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939254154 meters 0.014665359651729323 Centerline is valid? [True, True] Translation: X:176.23, Y:1.53, Z:1.15 [[ 9.99638031e-01 -2.35743249e-02 -1.29637575e-02 1.76233834e+02] [ 2.35743559e-02 9.99722075e-01 -1.50445081e-04 1.53202444e+00] [ 1.29637012e-02 -1.55221609e-04 9.99915956e-01 1.14823457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999254154 meters 0.015305854518752908 Centerline is valid? [True, True] Translation: X:176.29, Y:1.53, Z:1.15 [[ 9.99545136e-01 -2.74957406e-02 -1.23896986e-02 1.76294627e+02] [ 2.74960629e-02 9.99621901e-01 -1.44361608e-04 1.52873598e+00] [ 1.23889834e-02 -1.96371988e-04 9.99923234e-01 1.14916015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059254154 meters 0.017478780221037358 Centerline is valid? [True, True] Translation: X:176.36, Y:1.52, Z:1.15 [[ 9.99373362e-01 -3.31524007e-02 -1.24017197e-02 1.76355105e+02] [ 3.31531617e-02 9.99450272e-01 -1.44279524e-04 1.52205370e+00] [ 1.23996854e-02 -2.66967106e-04 9.99923085e-01 1.14900496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119254154 meters 0.021083982585921243 Centerline is valid? [True, True] Translation: X:176.42, Y:1.51, Z:1.15 [[ 9.98947168e-01 -4.40526438e-02 -1.28031315e-02 1.76416081e+02] [ 4.40543527e-02 9.99029125e-01 -1.48659559e-04 1.51151700e+00] [ 1.27972501e-02 -4.15530627e-04 9.99918026e-01 1.14880430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179254154 meters 0.02590669464871344 Centerline is valid? [True, True] Translation: X:176.48, Y:1.50, Z:1.15 [[ 9.98586775e-01 -5.14083361e-02 -1.34772653e-02 1.76475641e+02] [ 5.14109003e-02 9.98677573e-01 -1.56359410e-04 1.50341573e+00] [ 1.34674808e-02 -5.36739902e-04 9.99909165e-01 1.14731019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239254154 meters 0.025279742997544815 Centerline is valid? [True, True] Translation: X:176.54, Y:1.50, Z:1.15 [[ 9.98226898e-01 -5.79464497e-02 -1.36113873e-02 1.76535991e+02] [ 5.79496735e-02 9.98319493e-01 -1.57772918e-04 1.50262154e+00] [ 1.35976556e-02 -6.31282277e-04 9.99907348e-01 1.14943138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299254154 meters 0.02650015602380046 Centerline is valid? [True, True] Translation: X:176.60, Y:1.50, Z:1.15 [[ 9.97948702e-01 -6.25300553e-02 -1.37251976e-02 1.76596595e+02] [ 6.25337679e-02 9.98042836e-01 -1.58927875e-04 1.50060457e+00] [ 1.37082729e-02 -6.99686453e-04 9.99905792e-01 1.15023798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359254154 meters 0.025444704157850898 Centerline is valid? [True, True] Translation: X:176.66, Y:1.51, Z:1.15 [[ 9.97956381e-01 -6.22966585e-02 -1.42193023e-02 1.76658726e+02] [ 6.23006293e-02 9.98057416e-01 -1.63962285e-04 1.50507752e+00] [ 1.42018945e-02 -7.22244276e-04 9.99898887e-01 1.15104779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41925415400001 meters 0.025578153422122427 Centerline is valid? [True, True] Translation: X:176.72, Y:1.51, Z:1.15 [[ 9.98092394e-01 -6.01756263e-02 -1.38009859e-02 1.76720111e+02] [ 6.01791749e-02 9.98187578e-01 -1.58391158e-04 1.50740053e+00] [ 1.37855040e-02 -6.72442935e-04 9.99904749e-01 1.15216088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters 0.024662492103635622 Centerline is valid? [True, True] Translation: X:176.78, Y:1.51, Z:1.15 [[ 9.98442589e-01 -5.45779453e-02 -1.15604791e-02 1.76779191e+02] [ 5.45800622e-02 9.98509389e-01 -1.32541232e-04 1.51304932e+00] [ 1.15504807e-02 -4.98636855e-04 9.99933167e-01 1.15456990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters 0.021361057569955325 Centerline is valid? [True, True] Translation: X:176.84, Y:1.52, Z:1.16 [[ 9.98739337e-01 -4.90759344e-02 -1.05494124e-02 1.76840417e+02] [ 4.90773904e-02 9.98794972e-01 -1.20968832e-04 1.52205769e+00] [ 1.05426367e-02 -3.96921301e-04 9.99944346e-01 1.15632066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters 0.018012155091888873 Centerline is valid? [True, True] Translation: X:176.90, Y:1.53, Z:1.16 [[ 9.99161936e-01 -3.94534949e-02 -1.09016877e-02 1.76900541e+02] [ 3.94544788e-02 9.99221361e-01 -1.24878270e-04 1.53385825e+00] [ 1.08981261e-02 -3.05346792e-04 9.99940567e-01 1.15710272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters 0.01660170848970637 Centerline is valid? [True, True] Translation: X:176.96, Y:1.54, Z:1.16 [[ 9.99381871e-01 -3.33068576e-02 -1.12485285e-02 1.76961643e+02] [ 3.33075180e-02 9.99445142e-01 -1.28676591e-04 1.54121536e+00] [ 1.12465730e-02 -2.46063511e-04 9.99936725e-01 1.15685714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719254154 meters 0.015612926725954894 Centerline is valid? [True, True] Translation: X:177.02, Y:1.55, Z:1.16 [[ 9.99539845e-01 -2.81788233e-02 -1.12272966e-02 1.77023114e+02] [ 2.81791624e-02 9.99602880e-01 -1.28015306e-04 1.54805823e+00] [ 1.12264453e-02 -1.88419414e-04 9.99936964e-01 1.15758775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779254154 meters 0.01583685663568486 Centerline is valid? [True, True] Translation: X:177.09, Y:1.55, Z:1.16 [[ 9.99515421e-01 -2.82809404e-02 -1.30042796e-02 1.77085690e+02] [ 2.82814138e-02 9.99599990e-01 -1.47529899e-04 1.54966566e+00] [ 1.30032500e-02 -2.20321003e-04 9.99915430e-01 1.15632573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839254154 meters 0.015888374280196224 Centerline is valid? [True, True] Translation: X:177.15, Y:1.55, Z:1.16 [[ 9.99451692e-01 -2.99132365e-02 -1.41955821e-02 1.77147360e+02] [ 2.99139767e-02 9.99552464e-01 -1.60236006e-04 1.55041141e+00] [ 1.41940223e-02 -2.64498166e-04 9.99899225e-01 1.15565375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899254154 meters 0.018535355276403976 Centerline is valid? [True, True] Translation: X:177.21, Y:1.55, Z:1.15 [[ 9.99367512e-01 -3.23759866e-02 -1.47095387e-02 1.77208150e+02] [ 3.23770561e-02 9.99475712e-01 -1.65489938e-04 1.54939028e+00] [ 1.47071845e-02 -3.10866291e-04 9.99891795e-01 1.15342090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959254154 meters 0.016875545264250343 Centerline is valid? [True, True] Translation: X:177.27, Y:1.55, Z:1.16 [[ 9.99298440e-01 -3.49469885e-02 -1.34661160e-02 1.77269459e+02] [ 3.49481245e-02 9.99389116e-01 -1.51026483e-04 1.55104870e+00] [ 1.34631676e-02 -3.19694968e-04 9.99909316e-01 1.15742938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019254154 meters 0.01777764035298302 Centerline is valid? [True, True] Translation: X:177.33, Y:1.55, Z:1.16 [[ 9.99182256e-01 -3.86497616e-02 -1.18750246e-02 1.77331305e+02] [ 3.86509122e-02 9.99252766e-01 -1.32674798e-04 1.55006457e+00] [ 1.18712790e-02 -3.26414228e-04 9.99929481e-01 1.15957956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079254154 meters 0.01996574246485345 Centerline is valid? [True, True] Translation: X:177.39, Y:1.55, Z:1.16 [[ 9.99037958e-01 -4.22882186e-02 -1.16131570e-02 1.77393274e+02] [ 4.22895731e-02 9.99105388e-01 -1.29016612e-04 1.54778772e+00] [ 1.16082236e-02 -3.62222961e-04 9.99932557e-01 1.15852575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.139254154 meters 0.02358018977344736 Centerline is valid? [True, True] Translation: X:177.45, Y:1.54, Z:1.16 [[ 9.98628290e-01 -5.09303296e-02 -1.21507306e-02 1.77452899e+02] [ 5.09324564e-02 9.98702091e-01 -1.34548228e-04 1.53904707e+00] [ 1.21418126e-02 -4.84502888e-04 9.99926168e-01 1.15836786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19925415400002 meters 0.02322336088611663 Centerline is valid? [True, True] Translation: X:177.51, Y:1.54, Z:1.16 [[ 9.98307299e-01 -5.66273089e-02 -1.32621204e-02 1.77513457e+02] [ 5.66303439e-02 9.98395204e-01 -1.46880343e-04 1.53953806e+00] [ 1.32491548e-02 -6.04406720e-04 9.99912043e-01 1.15806610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters 0.026373195662036084 Centerline is valid? [True, True] Translation: X:177.57, Y:1.54, Z:1.16 [[ 9.97851881e-01 -6.38988294e-02 -1.44417087e-02 1.77574211e+02] [ 6.39031901e-02 9.97956090e-01 -1.59777468e-04 1.53519650e+00] [ 1.44224007e-02 -7.63437009e-04 9.99895700e-01 1.15700961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters 0.031147954141452976 Centerline is valid? [True, True] Translation: X:177.63, Y:1.53, Z:1.16 [[ 9.97652850e-01 -6.67939996e-02 -1.50782013e-02 1.77634398e+02] [ 6.67990838e-02 9.97766433e-01 -1.66757416e-04 1.53002263e+00] [ 1.50556615e-02 -8.40844018e-04 9.99886304e-01 1.15626744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters 0.028878697433017516 Centerline is valid? [True, True] Translation: X:177.70, Y:1.54, Z:1.16 [[ 9.97661785e-01 -6.66982600e-02 -1.49098900e-02 1.77697191e+02] [ 6.67032342e-02 9.97772846e-01 -1.63981805e-04 1.53713709e+00] [ 1.48876207e-02 -8.30939504e-04 9.99888828e-01 1.15649078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439254154 meters 0.025332575075753767 Centerline is valid? [True, True] Translation: X:177.76, Y:1.54, Z:1.16 [[ 9.97815584e-01 -6.46101084e-02 -1.37693068e-02 1.77758342e+02] [ 6.46141655e-02 9.97910310e-01 -1.50477634e-04 1.54491328e+00] [ 1.37502556e-02 -7.39543339e-04 9.99905187e-01 1.15950286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499254154 meters 0.026936628986861694 Centerline is valid? [True, True] Translation: X:177.82, Y:1.54, Z:1.16 [[ 9.97958925e-01 -6.24060476e-02 -1.35450736e-02 1.77818505e+02] [ 6.24097764e-02 9.98050599e-01 -1.47646952e-04 1.54497609e+00] [ 1.35278829e-02 -6.97999421e-04 9.99908250e-01 1.15963587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559254154 meters 0.02371175416200858 Centerline is valid? [True, True] Translation: X:177.88, Y:1.55, Z:1.16 [[ 9.98240355e-01 -5.76758881e-02 -1.37726388e-02 1.77879330e+02] [ 5.76792975e-02 9.98335152e-01 -1.49867784e-04 1.55403797e+00] [ 1.37583533e-02 -6.44792064e-04 9.99905141e-01 1.15979152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619254154 meters 0.02286671445620497 Centerline is valid? [True, True] Translation: X:177.94, Y:1.56, Z:1.16 [[ 9.98458471e-01 -5.35273088e-02 -1.46802387e-02 1.77940380e+02] [ 5.35307389e-02 9.98566189e-01 -1.59465322e-04 1.55928240e+00] [ 1.46677257e-02 -6.26624522e-04 9.99892227e-01 1.15981973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679254154 meters 0.020157844578148145 Centerline is valid? [True, True] Translation: X:178.00, Y:1.57, Z:1.16 [[ 9.98890513e-01 -4.42107132e-02 -1.62220635e-02 1.78000654e+02] [ 4.42136768e-02 9.99022082e-01 -1.76082676e-04 1.57087148e+00] [ 1.62139843e-02 -5.41349756e-04 9.99868398e-01 1.15921522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739254154 meters 0.018630846808413835 Centerline is valid? [True, True] Translation: X:178.06, Y:1.58, Z:1.16 [[ 9.99017334e-01 -4.11638963e-02 -1.64286334e-02 1.78062139e+02] [ 4.11665301e-02 9.99152283e-01 -1.77970361e-04 1.57562842e+00] [ 1.64220325e-02 -4.98514355e-04 9.99865025e-01 1.15994741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799254154 meters 0.015597002911762421 Centerline is valid? [True, True] Translation: X:178.12, Y:1.59, Z:1.16 [[ 9.99416555e-01 -3.02728544e-02 -1.58146637e-02 1.78122873e+02] [ 3.02739363e-02 9.99541625e-01 -1.71038623e-04 1.58787775e+00] [ 1.58125924e-02 -3.07833290e-04 9.99874926e-01 1.16181862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859254154 meters 0.015777634586893224 Centerline is valid? [True, True] Translation: X:178.18, Y:1.60, Z:1.16 [[ 9.99640500e-01 -2.18937436e-02 -1.54769009e-02 1.78183623e+02] [ 2.18937811e-02 9.99760288e-01 -1.67033167e-04 1.59528169e+00] [ 1.54768479e-02 -1.71874762e-04 9.99880212e-01 1.16156138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91925415400001 meters 0.013506185216341914 Centerline is valid? [True, True] Translation: X:178.24, Y:1.61, Z:1.16 [[ 9.99817724e-01 -1.15242423e-02 -1.52220401e-02 1.78244289e+02] [ 1.15230804e-02 9.99933594e-01 -1.64040400e-04 1.60550220e+00] [ 1.52229197e-02 -1.13942927e-05 9.99884125e-01 1.16350103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters 0.013675192653925208 Centerline is valid? [True, True] Translation: X:178.30, Y:1.61, Z:1.16 [[ 9.99835632e-01 -9.26965182e-03 -1.55814652e-02 1.78302301e+02] [ 9.26812028e-03 9.99957036e-01 -1.70501011e-04 1.60825944e+00] [ 1.55823763e-02 2.60620920e-05 9.99878587e-01 1.16364598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters 0.013760588049004433 Centerline is valid? [True, True] Translation: X:178.36, Y:1.61, Z:1.16 [[ 9.99853495e-01 -5.18532109e-03 -1.63125871e-02 1.78360505e+02] [ 5.18304490e-03 9.99986551e-01 -1.81810386e-04 1.61161202e+00] [ 1.63133104e-02 9.72348785e-05 9.99866924e-01 1.16361961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters 0.013835251157759113 Centerline is valid? [True, True] Translation: X:178.42, Y:1.61, Z:1.16 [[ 9.99853155e-01 -4.82703698e-03 -1.64428899e-02 1.78418052e+02] [ 4.82461601e-03 9.99988344e-01 -1.86900008e-04 1.61223550e+00] [ 1.64436004e-02 1.07541933e-04 9.99864789e-01 1.16423544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters 0.013927787300582384 Centerline is valid? [True, True] Translation: X:178.48, Y:1.61, Z:1.16 [[ 9.99863366e-01 -4.73357323e-03 -1.58380125e-02 1.78475441e+02] [ 4.73126890e-03 9.99988791e-01 -1.82959748e-04 1.61080849e+00] [ 1.58387010e-02 1.08000854e-04 9.99874554e-01 1.16412736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219254154 meters 0.013641431303430198 Centerline is valid? [True, True] Translation: X:178.53, Y:1.61, Z:1.17 [[ 9.99865756e-01 -5.92241986e-03 -1.52772887e-02 1.78533623e+02] [ 5.92036529e-03 9.99982458e-01 -1.79708270e-04 1.60838476e+00] [ 1.52780850e-02 8.92370155e-05 9.99883279e-01 1.16518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279254154 meters 0.013795838706617382 Centerline is valid? [True, True] Translation: X:178.59, Y:1.60, Z:1.17 [[ 9.99861046e-01 -7.96212781e-03 -1.46456010e-02 1.78592057e+02] [ 7.96042318e-03 9.99968300e-01 -1.74684951e-04 1.60358342e+00] [ 1.46465276e-02 5.80754958e-05 9.99892732e-01 1.16584750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339254154 meters 0.013880318691814234 Centerline is valid? [True, True] Translation: X:178.65, Y:1.60, Z:1.17 [[ 9.99848674e-01 -9.01887045e-03 -1.48758046e-02 1.78649763e+02] [ 9.01718554e-03 9.99959328e-01 -1.80335275e-04 1.60114029e+00] [ 1.48768260e-02 4.61700957e-05 9.99889333e-01 1.16660906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399254154 meters 0.014139826017602374 Centerline is valid? [True, True] Translation: X:178.71, Y:1.60, Z:1.17 [[ 9.99848304e-01 -8.73130842e-03 -1.50709355e-02 1.78707371e+02] [ 8.72947901e-03 9.99961880e-01 -1.87167653e-04 1.59617864e+00] [ 1.50719952e-02 5.55778452e-05 9.99886409e-01 1.16618013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459254154 meters 0.014352293637735887 Centerline is valid? [True, True] Translation: X:178.76, Y:1.59, Z:1.17 [[ 9.99860701e-01 -7.27972597e-03 -1.50194561e-02 1.78764887e+02] [ 7.27767819e-03 9.99973499e-01 -1.90994743e-04 1.59387591e+00] [ 1.50204485e-02 8.16613690e-05 9.99887183e-01 1.16712331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519254154 meters 0.01480112931638147 Centerline is valid? [True, True] Translation: X:178.82, Y:1.59, Z:1.17 [[ 9.99873893e-01 -2.68385937e-03 -1.56523240e-02 1.78822909e+02] [ 2.68102646e-03 9.99996386e-01 -2.01970576e-04 1.59201900e+00] [ 1.56528095e-02 1.59980811e-04 9.99877474e-01 1.16678892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579254154 meters 0.015821242806000828 Centerline is valid? [True, True] Translation: X:178.88, Y:1.59, Z:1.17 [[ 9.99863091e-01 2.90898413e-03 -1.62891694e-02 1.78881164e+02] [-2.91281892e-03 9.99995735e-01 -2.11699398e-04 1.59076772e+00] [ 1.62884841e-02 2.59117816e-04 9.99867300e-01 1.16648071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.639254154 meters 0.016241495605285584 Centerline is valid? [True, True] Translation: X:178.94, Y:1.59, Z:1.17 [[ 9.99850038e-01 5.77390412e-03 -1.63267599e-02 1.78939743e+02] [-5.77818811e-03 9.99983283e-01 -2.15229361e-04 1.58862164e+00] [ 1.63252443e-02 3.09536174e-04 9.99866686e-01 1.16662972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69925415400002 meters 0.01687793595330643 Centerline is valid? [True, True] Translation: X:179.00, Y:1.59, Z:1.17 [[ 9.99828650e-01 7.20064543e-03 -1.70534573e-02 1.78998830e+02] [-7.20560138e-03 9.99974013e-01 -2.29184867e-04 1.58545714e+00] [ 1.70513639e-02 3.52026011e-04 9.99854553e-01 1.16655186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters 0.016096038081783913 Centerline is valid? [True, True] Translation: X:179.06, Y:1.58, Z:1.17 [[ 9.99852479e-01 6.08506890e-03 -1.60621594e-02 1.79057808e+02] [-6.08935816e-03 9.99981436e-01 -2.18147270e-04 1.57535130e+00] [ 1.60605337e-02 3.15923330e-04 9.99870971e-01 1.16848549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters 0.01540317592578636 Centerline is valid? [True, True] Translation: X:179.12, Y:1.56, Z:1.17 [[ 9.99886097e-01 6.59944894e-04 -1.50783662e-02 1.79116483e+02] [-6.63124457e-04 9.99999759e-01 -2.05870438e-04 1.56302436e+00] [ 1.50782267e-02 2.15845822e-04 9.99886294e-01 1.16925045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters 0.014606317255269702 Centerline is valid? [True, True] Translation: X:179.18, Y:1.55, Z:1.17 [[ 9.99876520e-01 -4.17162142e-03 -1.51506625e-02 1.79175752e+02] [ 4.16894885e-03 9.99991288e-01 -2.07978751e-04 1.55318040e+00] [ 1.51513981e-02 1.44790732e-04 9.99885200e-01 1.16942493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939254154 meters 0.014101490751510109 Centerline is valid? [True, True] Translation: X:179.23, Y:1.54, Z:1.17 [[ 9.99810735e-01 -1.29925728e-02 -1.44806155e-02 1.79234883e+02] [ 1.29910412e-02 9.99915593e-01 -1.99834083e-04 1.53698570e+00] [ 1.44819896e-02 1.16779891e-05 9.99895130e-01 1.17002741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999254154 meters 0.014151068969569537 Centerline is valid? [True, True] Translation: X:179.29, Y:1.53, Z:1.17 [[ 9.99733234e-01 -1.91281294e-02 -1.29450883e-02 1.79293414e+02] [ 1.91274079e-02 9.99817038e-01 -1.79552873e-04 1.52644936e+00] [ 1.29461544e-02 -6.81010105e-05 9.99916193e-01 1.17081941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059254154 meters 0.015066354975905128 Centerline is valid? [True, True] Translation: X:179.35, Y:1.51, Z:1.17 [[ 9.99597516e-01 -2.65470392e-02 -1.00030044e-02 1.79351779e+02] [ 2.65469735e-02 9.99647557e-01 -1.39369910e-04 1.50937351e+00] [ 1.00031788e-02 -1.26235677e-04 9.99949959e-01 1.17187084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119254154 meters 0.015583422153296703 Centerline is valid? [True, True] Translation: X:179.41, Y:1.50, Z:1.17 [[ 9.99475683e-01 -3.11592308e-02 -8.80126510e-03 1.79412991e+02] [ 3.11593556e-02 9.99514422e-01 -1.22980648e-04 1.49691280e+00] [ 8.80082338e-03 -1.51325582e-04 9.99961261e-01 1.17150037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179254154 meters 0.015607998575797418 Centerline is valid? [True, True] Translation: X:179.47, Y:1.49, Z:1.17 [[ 9.99450138e-01 -3.20745774e-02 -8.40494431e-03 1.79474516e+02] [ 3.20747260e-02 9.99485467e-01 -1.17144731e-04 1.49044961e+00] [ 8.40437705e-03 -1.52505968e-04 9.99964671e-01 1.17077717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239254154 meters 0.01564593660534645 Centerline is valid? [True, True] Translation: X:179.54, Y:1.48, Z:1.17 [[ 9.99448337e-01 -3.21286367e-02 -8.41269129e-03 1.79536317e+02] [ 3.21287904e-02 9.99483730e-01 -1.16909222e-04 1.48084304e+00] [ 8.41210420e-03 -1.53444867e-04 9.99964606e-01 1.17052831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299254154 meters 0.015377744935759342 Centerline is valid? [True, True] Translation: X:179.60, Y:1.48, Z:1.17 [[ 9.99454498e-01 -3.20650822e-02 -7.90806474e-03 1.79597915e+02] [ 3.20652192e-02 9.99485773e-01 -1.09503635e-04 1.47660752e+00] [ 7.90750944e-03 -1.44129929e-04 9.99968725e-01 1.17080886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359254154 meters 0.018406573609347245 Centerline is valid? [True, True] Translation: X:179.66, Y:1.47, Z:1.17 [[ 9.99414792e-01 -3.28688609e-02 -9.47161200e-03 1.79659263e+02] [ 3.28690973e-02 9.99459657e-01 -1.30746727e-04 1.46858505e+00] [ 9.47079158e-03 -1.80653124e-04 9.99955135e-01 1.16860254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41925415400001 meters 0.017510544856122405 Centerline is valid? [True, True] Translation: X:179.72, Y:1.46, Z:1.17 [[ 9.99340548e-01 -3.48385746e-02 -1.02344401e-02 1.79720953e+02] [ 3.48389580e-02 9.99392929e-01 -1.40871426e-04 1.46382323e+00] [ 1.02331349e-02 -2.15778702e-04 9.99947617e-01 1.16845352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters 0.017420440830406326 Centerline is valid? [True, True] Translation: X:179.78, Y:1.46, Z:1.17 [[ 9.99161167e-01 -3.93288002e-02 -1.14108358e-02 1.79781266e+02] [ 3.93295748e-02 9.99226281e-01 -1.56591658e-04 1.45617836e+00] [ 1.14081655e-02 -2.92323015e-04 9.99934882e-01 1.16859544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters 0.017768726288225633 Centerline is valid? [True, True] Translation: X:179.84, Y:1.45, Z:1.17 [[ 9.99033236e-01 -4.24350400e-02 -1.14831000e-02 1.79842940e+02] [ 4.24360347e-02 9.99099173e-01 -1.57129981e-04 1.45274775e+00] [ 1.14794235e-02 -3.30319155e-04 9.99934055e-01 1.16943846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters 0.020014550471454347 Centerline is valid? [True, True] Translation: X:179.90, Y:1.45, Z:1.17 [[ 9.98867868e-01 -4.63761280e-02 -1.05942123e-02 1.79903212e+02] [ 4.63771992e-02 9.98923988e-01 -1.44665428e-04 1.44697963e+00] [ 1.05895218e-02 -3.46828246e-04 9.99943869e-01 1.17017446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters 0.022232008749506142 Centerline is valid? [True, True] Translation: X:179.96, Y:1.44, Z:1.17 [[ 9.98680328e-01 -5.06800892e-02 -8.31450788e-03 1.79964040e+02] [ 5.06808990e-02 9.98714891e-01 -1.13409964e-04 1.44330639e+00] [ 8.30957045e-03 -3.08126433e-04 9.99965427e-01 1.17119515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719254154 meters 0.021216339735156933 Centerline is valid? [True, True] Translation: X:180.03, Y:1.44, Z:1.17 [[ 9.98608942e-01 -5.21999542e-02 -7.43949172e-03 1.80025619e+02] [ 5.22006456e-02 9.98636612e-01 -1.01337557e-04 1.44286922e+00] [ 7.43463862e-03 -2.87149680e-04 9.99972321e-01 1.17396438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779254154 meters 0.022225422900472035 Centerline is valid? [True, True] Translation: X:180.09, Y:1.44, Z:1.17 [[ 9.98542871e-01 -5.34918898e-02 -7.12402950e-03 1.80087850e+02] [ 5.34925586e-02 9.98568243e-01 -9.67733552e-05 1.44163116e+00] [ 7.11900621e-03 -2.84450221e-04 9.99974619e-01 1.17410597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839254154 meters 0.02131125138192062 Centerline is valid? [True, True] Translation: X:180.15, Y:1.45, Z:1.17 [[ 9.98508673e-01 -5.40427366e-02 -7.73391603e-03 1.80149921e+02] [ 5.40435460e-02 9.98538574e-01 -1.04447591e-04 1.44589923e+00] [ 7.72825812e-03 -3.13676421e-04 9.99970087e-01 1.17421110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899254154 meters 0.0217462270304627 Centerline is valid? [True, True] Translation: X:180.21, Y:1.45, Z:1.17 [[ 9.98507050e-01 -5.40102955e-02 -8.15841291e-03 1.80212164e+02] [ 5.40112003e-02 9.98540324e-01 -1.09541063e-04 1.44695720e+00] [ 8.15242062e-03 -3.31268150e-04 9.99966714e-01 1.17456227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959254154 meters 0.02210735417709193 Centerline is valid? [True, True] Translation: X:180.27, Y:1.45, Z:1.17 [[ 9.98482164e-01 -5.44102634e-02 -8.53758908e-03 1.80274457e+02] [ 5.44112744e-02 9.98518603e-01 -1.13974644e-04 1.44925336e+00] [ 8.53114291e-03 -3.50739453e-04 9.99963548e-01 1.17488105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019254154 meters 0.026506732736715808 Centerline is valid? [True, True] Translation: X:180.34, Y:1.45, Z:1.17 [[ 9.98405849e-01 -5.57384188e-02 -8.88760478e-03 1.80335824e+02] [ 5.57395727e-02 9.98445335e-01 -1.18011669e-04 1.44906260e+00] [ 8.88036531e-03 -3.77567752e-04 9.99960497e-01 1.17238044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079254154 meters 0.02529688856040983 Centerline is valid? [True, True] Translation: X:180.40, Y:1.45, Z:1.17 [[ 9.98247535e-01 -5.84249757e-02 -9.40107191e-03 1.80397181e+02] [ 5.84263902e-02 9.98291712e-01 -1.24344817e-04 1.45431534e+00] [ 9.39227701e-03 -4.25143789e-04 9.99955801e-01 1.17412032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.139254154 meters 0.02411625197359112 Centerline is valid? [True, True] Translation: X:180.46, Y:1.46, Z:1.17 [[ 9.98123439e-01 -6.04527149e-02 -9.75042334e-03 1.80459465e+02] [ 6.04543376e-02 9.98170956e-01 -1.28489397e-04 1.45954879e+00] [ 9.74035692e-03 -4.61207106e-04 9.99952455e-01 1.17435554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19925415400002 meters 0.025611511212411727 Centerline is valid? [True, True] Translation: X:180.52, Y:1.46, Z:1.18 [[ 9.97955785e-01 -6.32156907e-02 -9.38226641e-03 1.80520380e+02] [ 6.32173200e-02 9.97999777e-01 -1.23107054e-04 1.46305432e+00] [ 9.37128208e-03 -4.70266341e-04 9.99955978e-01 1.17556031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters 0.027628185157390548 Centerline is valid? [True, True] Translation: X:180.58, Y:1.47, Z:1.18 [[ 9.97914127e-01 -6.40501282e-02 -8.06073951e-03 1.80582638e+02] [ 6.40513596e-02 9.97946598e-01 -1.05561936e-04 1.46738049e+00] [ 8.05094883e-03 -4.10959578e-04 9.99967506e-01 1.17610954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters 0.026589212482224553 Centerline is valid? [True, True] Translation: X:180.65, Y:1.47, Z:1.18 [[ 9.98019246e-01 -6.24549645e-02 -7.54728602e-03 1.80645215e+02] [ 6.24560026e-02 9.98047713e-01 -9.83029225e-05 1.47328877e+00] [ 7.53869106e-03 -3.73265107e-04 9.99971514e-01 1.17789089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters 0.023838095177204643 Centerline is valid? [True, True] Translation: X:180.71, Y:1.48, Z:1.18 [[ 9.98269617e-01 -5.82811104e-02 -7.81556996e-03 1.80705709e+02] [ 5.82821010e-02 9.98300148e-01 -1.01145870e-04 1.48266899e+00] [ 7.80817954e-03 -3.54536989e-04 9.99969453e-01 1.17835041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439254154 meters 0.020411201974886734 Centerline is valid? [True, True] Translation: X:180.77, Y:1.50, Z:1.18 [[ 9.98824112e-01 -4.78422538e-02 -7.84301381e-03 1.80766046e+02] [ 4.78429309e-02 9.98854866e-01 -1.01378113e-04 1.49658447e+00] [ 7.83888267e-03 -2.73973864e-04 9.99969238e-01 1.17896982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499254154 meters 0.018772933683368225 Centerline is valid? [True, True] Translation: X:180.83, Y:1.51, Z:1.18 [[ 9.99336867e-01 -3.53297422e-02 -8.81109495e-03 1.80826295e+02] [ 3.53301104e-02 9.99375690e-01 -1.13903700e-04 1.51151251e+00] [ 8.80961829e-03 -1.97468791e-04 9.99961175e-01 1.17736987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559254154 meters 0.015745722304319757 Centerline is valid? [True, True] Translation: X:180.89, Y:1.52, Z:1.18 [[ 9.99539543e-01 -2.87779709e-02 -9.61930602e-03 1.80887466e+02] [ 2.87781074e-02 9.99585817e-01 -1.24253074e-04 1.52074675e+00] [ 9.61889761e-03 -1.52629561e-04 9.99953726e-01 1.17898557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619254154 meters 0.01477928820295312 Centerline is valid? [True, True] Translation: X:180.95, Y:1.53, Z:1.18 [[ 9.99679289e-01 -2.32897038e-02 -9.94532241e-03 1.80948327e+02] [ 2.32895818e-02 9.99728753e-01 -1.28095797e-04 1.53091087e+00] [ 9.94560808e-03 -1.03567685e-04 9.99950536e-01 1.17923981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679254154 meters 0.014935214403868056 Centerline is valid? [True, True] Translation: X:181.01, Y:1.53, Z:1.18 [[ 9.99677730e-01 -2.34116451e-02 -9.81486021e-03 1.81008729e+02] [ 2.34115351e-02 9.99725904e-01 -1.26115425e-04 1.53280062e+00] [ 9.81512257e-03 -1.03706162e-04 9.99951825e-01 1.17919163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739254154 meters 0.015875499766511033 Centerline is valid? [True, True] Translation: X:181.07, Y:1.53, Z:1.18 [[ 9.99550446e-01 -2.82838117e-02 -9.94643517e-03 1.81070411e+02] [ 2.82839422e-02 9.99599921e-01 -1.27567205e-04 1.53207349e+00] [ 9.94606390e-03 -1.53814541e-04 9.99950525e-01 1.17933557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799254154 meters 0.017175833304249058 Centerline is valid? [True, True] Translation: X:181.13, Y:1.53, Z:1.18 [[ 9.99389484e-01 -3.34419209e-02 -1.01142454e-02 1.81131750e+02] [ 3.34423236e-02 9.99440641e-01 -1.29354666e-04 1.52993192e+00] [ 1.01129138e-02 -2.08968174e-04 9.99948841e-01 1.17969860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859254154 meters 0.01910851386469744 Centerline is valid? [True, True] Translation: X:181.19, Y:1.53, Z:1.18 [[ 9.99001122e-01 -4.32850007e-02 -1.10980799e-02 1.81192724e+02] [ 4.32860954e-02 9.99062708e-01 -1.41658912e-04 1.52682059e+00] [ 1.10938095e-02 -3.38875133e-04 9.99938404e-01 1.17926993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91925415400001 meters 0.021159125556694587 Centerline is valid? [True, True] Translation: X:181.25, Y:1.52, Z:1.18 [[ 9.98713072e-01 -4.94280176e-02 -1.13609740e-02 1.81253432e+02] [ 4.94295630e-02 9.98777602e-01 -1.44901125e-04 1.52346631e+00] [ 1.13542486e-02 -4.16853334e-04 9.99935452e-01 1.17904765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters 0.024178809435963546 Centerline is valid? [True, True] Translation: X:181.31, Y:1.52, Z:1.18 [[ 9.98388459e-01 -5.57228517e-02 -1.07447174e-02 1.81312773e+02] [ 5.57245984e-02 9.98446168e-01 -1.36982550e-04 1.52031338e+00] [ 1.07356550e-02 -4.61983266e-04 9.99942264e-01 1.17993141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters 0.026765740605232513 Centerline is valid? [True, True] Translation: X:181.37, Y:1.52, Z:1.18 [[ 9.98130841e-01 -6.01072799e-02 -1.10426472e-02 1.81374142e+02] [ 6.01093931e-02 9.98191786e-01 -1.40725320e-04 1.51799232e+00] [ 1.10311383e-02 -5.23304539e-04 9.99939018e-01 1.18001490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters 0.02883823409348123 Centerline is valid? [True, True] Translation: X:181.44, Y:1.52, Z:1.18 [[ 9.97958021e-01 -6.29845565e-02 -1.06175828e-02 1.81435345e+02] [ 6.29866765e-02 9.98014359e-01 -1.34940868e-04 1.51669678e+00] [ 1.06049993e-02 -5.34100933e-04 9.99943623e-01 1.18045890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters 0.02730301352097912 Centerline is valid? [True, True] Translation: X:181.50, Y:1.52, Z:1.18 [[ 9.97688375e-01 -6.72300072e-02 -9.90114752e-03 1.81496252e+02] [ 6.72320619e-02 9.97737357e-01 -1.25556023e-04 1.52239057e+00] [ 9.88718590e-03 -5.40408778e-04 9.99950975e-01 1.18168868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219254154 meters 0.03007157241633952 Centerline is valid? [True, True] Translation: X:181.56, Y:1.52, Z:1.18 [[ 9.97532553e-01 -6.94165201e-02 -1.04953749e-02 1.81556377e+02] [ 6.94189516e-02 9.97587586e-01 -1.32890254e-04 1.52148717e+00] [ 1.04792805e-02 -5.96015567e-04 9.99944913e-01 1.18160061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279254154 meters 0.030241804454950866 Centerline is valid? [True, True] Translation: X:181.62, Y:1.53, Z:1.18 [[ 9.97384945e-01 -7.11207170e-02 -1.28497226e-02 1.81617995e+02] [ 7.11245092e-02 9.97467432e-01 -1.62205932e-04 1.52771699e+00] [ 1.28287160e-02 -7.52148459e-04 9.99917426e-01 1.17904866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339254154 meters 0.02989110754661331 Centerline is valid? [True, True] Translation: X:181.68, Y:1.53, Z:1.18 [[ 9.97379495e-01 -7.09411794e-02 -1.41948164e-02 1.81680692e+02] [ 7.09458068e-02 9.97480156e-01 -1.77930666e-04 1.53349173e+00] [ 1.41716703e-02 -8.29598303e-04 9.99899233e-01 1.17901730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399254154 meters 0.029207954664165193 Centerline is valid? [True, True] Translation: X:181.74, Y:1.54, Z:1.18 [[ 9.97457277e-01 -6.96277805e-02 -1.51971170e-02 1.81742587e+02] [ 6.96329544e-02 9.97572662e-01 -1.89066048e-04 1.53812936e+00] [ 1.51733927e-02 -8.69634846e-04 9.99884499e-01 1.18011482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459254154 meters 0.028218676267429632 Centerline is valid? [True, True] Translation: X:181.80, Y:1.55, Z:1.18 [[ 9.97683884e-01 -6.60041166e-02 -1.64415408e-02 1.81803430e+02] [ 6.60096941e-02 9.97818961e-01 -2.03811594e-04 1.54538182e+00] [ 1.64191335e-02 -8.81961536e-04 9.99864808e-01 1.18070226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519254154 meters 0.025491737372745085 Centerline is valid? [True, True] Translation: X:181.86, Y:1.56, Z:1.18 [[ 9.98265654e-01 -5.69125910e-02 -1.50546293e-02 1.81864130e+02] [ 5.69162392e-02 9.98378940e-01 -1.86358481e-04 1.55812749e+00] [ 1.50408310e-02 -6.70817610e-04 9.99886655e-01 1.18221067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579254154 meters 0.019050120908194607 Centerline is valid? [True, True] Translation: X:181.92, Y:1.58, Z:1.19 [[ 9.98908223e-01 -4.49520648e-02 -1.27151388e-02 1.81924676e+02] [ 4.49537015e-02 9.98989059e-01 -1.57203787e-04 1.57791727e+00] [ 1.27093512e-02 -4.14560400e-04 9.99919147e-01 1.18585231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.639254154 meters 0.01904845572387236 Centerline is valid? [True, True] Translation: X:181.98, Y:1.58, Z:1.19 [[ 9.99226629e-01 -3.75404044e-02 -1.16988212e-02 1.81984014e+02] [ 3.75412824e-02 9.99295067e-01 -1.44622304e-04 1.58436987e+00] [ 1.16960035e-02 -2.94678294e-04 9.99931556e-01 1.18629921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69925415400002 meters 0.015544000245040487 Centerline is valid? [True, True] Translation: X:182.04, Y:1.60, Z:1.19 [[ 9.99531871e-01 -2.85253427e-02 -1.10608718e-02 1.82044322e+02] [ 2.85255743e-02 9.99593054e-01 -1.36852052e-04 1.59826807e+00] [ 1.10602743e-02 -1.78729732e-04 9.99938817e-01 1.18690349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters 0.014815901836503682 Centerline is valid? [True, True] Translation: X:182.11, Y:1.60, Z:1.19 [[ 9.99585149e-01 -2.64256846e-02 -1.14548441e-02 1.82106467e+02] [ 2.64257993e-02 9.99650768e-01 -1.41371280e-04 1.60247585e+00] [ 1.14545795e-02 -1.61390778e-04 9.99934381e-01 1.18732520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters 0.014560419673830016 Centerline is valid? [True, True] Translation: X:182.17, Y:1.61, Z:1.19 [[ 9.99641799e-01 -2.35610648e-02 -1.26944637e-02 1.82167245e+02] [ 2.35609845e-02 9.99722389e-01 -1.55893941e-04 1.60792524e+00] [ 1.26946126e-02 -1.43255963e-04 9.99919410e-01 1.18661781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters 0.014370109078517613 Centerline is valid? [True, True] Translation: X:182.23, Y:1.61, Z:1.19 [[ 9.99633089e-01 -2.37791083e-02 -1.29707730e-02 1.82228993e+02] [ 2.37790491e-02 9.99717226e-01 -1.58807465e-04 1.60950694e+00] [ 1.29708815e-02 -1.49683452e-04 9.99915863e-01 1.18681072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939254154 meters 0.01494738090705448 Centerline is valid? [True, True] Translation: X:182.29, Y:1.61, Z:1.19 [[ 9.99562179e-01 -2.64518240e-02 -1.32571445e-02 1.82290008e+02] [ 2.64520036e-02 9.99650071e-01 -1.61827361e-04 1.60919816e+00] [ 1.32567861e-02 -1.88921526e-04 9.99912107e-01 1.18669128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999254154 meters 0.015376510556072923 Centerline is valid? [True, True] Translation: X:182.35, Y:1.61, Z:1.19 [[ 9.99495101e-01 -2.90622442e-02 -1.28424775e-02 1.82351233e+02] [ 2.90626340e-02 9.99577580e-01 -1.56308415e-04 1.60845018e+00] [ 1.28415953e-02 -2.17006728e-04 9.99917520e-01 1.18715282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059254154 meters 0.017077235810936984 Centerline is valid? [True, True] Translation: X:182.41, Y:1.61, Z:1.19 [[ 9.99359347e-01 -3.32958813e-02 -1.31255174e-02 1.82411837e+02] [ 3.32966598e-02 9.99445500e-01 -1.59272854e-04 1.60521646e+00] [ 1.31235425e-02 -2.77865074e-04 9.99913844e-01 1.18663797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119254154 meters 0.017944409684559445 Centerline is valid? [True, True] Translation: X:182.47, Y:1.60, Z:1.19 [[ 9.99164886e-01 -3.91350806e-02 -1.17463406e-02 1.82473274e+02] [ 3.91361119e-02 9.99233879e-01 -1.42137335e-04 1.60333908e+00] [ 1.17429040e-02 -3.17687467e-04 9.99930999e-01 1.18731807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179254154 meters 0.019105495603021203 Centerline is valid? [True, True] Translation: X:182.54, Y:1.60, Z:1.19 [[ 9.99009754e-01 -4.29433639e-02 -1.16352838e-02 1.82535604e+02] [ 4.29446409e-02 9.99077444e-01 -1.40192468e-04 1.60105161e+00] [ 1.16305699e-02 -3.59619442e-04 9.99932298e-01 1.18774517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239254154 meters 0.0200607199479307 Centerline is valid? [True, True] Translation: X:182.60, Y:1.60, Z:1.19 [[ 9.98802925e-01 -4.73185546e-02 -1.23964102e-02 1.82597148e+02] [ 4.73203497e-02 9.98879754e-01 -1.48632405e-04 1.59997418e+00] [ 1.23895562e-02 -4.38147983e-04 9.99923151e-01 1.18765977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299254154 meters 0.021413332851489286 Centerline is valid? [True, True] Translation: X:182.66, Y:1.60, Z:1.19 [[ 9.98558590e-01 -5.21140629e-02 -1.28400518e-02 1.82658267e+02] [ 5.21163893e-02 9.98641006e-01 -1.53582073e-04 1.59850388e+00] [ 1.28306060e-02 -5.15816438e-04 9.99917551e-01 1.18690520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359254154 meters 0.023037570159265545 Centerline is valid? [True, True] Translation: X:182.72, Y:1.60, Z:1.19 [[ 9.98463129e-01 -5.39078707e-02 -1.28577694e-02 1.82719385e+02] [ 5.39103618e-02 9.98545767e-01 -1.53030950e-04 1.59671349e+00] [ 1.28473208e-02 -5.40371241e-04 9.99917324e-01 1.18625846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41925415400001 meters 0.02229107891764292 Centerline is valid? [True, True] Translation: X:182.78, Y:1.60, Z:1.19 [[ 9.98562907e-01 -5.20207837e-02 -1.28824723e-02 1.82781202e+02] [ 5.20231424e-02 9.98645868e-01 -1.52174869e-04 1.60100870e+00] [ 1.28729440e-02 -5.18230509e-04 9.99917006e-01 1.18617200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters 0.020323299631314864 Centerline is valid? [True, True] Translation: X:182.84, Y:1.61, Z:1.19 [[ 9.98894901e-01 -4.50888955e-02 -1.32653405e-02 1.82841886e+02] [ 4.50907934e-02 9.98982881e-01 -1.56124307e-04 1.61069726e+00] [ 1.32588875e-02 -4.42192955e-04 9.99911999e-01 1.18669418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters 0.019997659115119457 Centerline is valid? [True, True] Translation: X:182.90, Y:1.62, Z:1.19 [[ 9.99088593e-01 -4.06535211e-02 -1.30105739e-02 1.82902846e+02] [ 4.06549749e-02 9.99173233e-01 -1.52833225e-04 1.61547792e+00] [ 1.30060304e-02 -3.76250623e-04 9.99915347e-01 1.18696904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters 0.017359498887457234 Centerline is valid? [True, True] Translation: X:182.96, Y:1.63, Z:1.19 [[ 9.99204592e-01 -3.73692285e-02 -1.39184693e-02 1.82964631e+02] [ 3.73705830e-02 9.99301463e-01 -1.62844144e-04 1.62514271e+00] [ 1.39148321e-02 -3.57426696e-04 9.99903120e-01 1.18769867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659254154 meters 0.017273034542461606 Centerline is valid? [True, True] Translation: X:183.03, Y:1.63, Z:1.19 [[ 9.99180115e-01 -3.75265354e-02 -1.51939760e-02 1.83026430e+02] [ 3.75281834e-02 9.99295554e-01 -1.76738824e-04 1.62854732e+00] [ 1.51899050e-02 -3.93608397e-04 9.99884549e-01 1.18713952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719254154 meters 0.017545323410833227 Centerline is valid? [True, True] Translation: X:183.09, Y:1.63, Z:1.19 [[ 9.99119228e-01 -3.85504706e-02 -1.65719681e-02 1.83088826e+02] [ 3.85525929e-02 9.99256554e-01 -1.91500646e-04 1.63157151e+00] [ 1.65670302e-02 -4.47560363e-04 9.99862657e-01 1.18688605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779254154 meters 0.018116641828836048 Centerline is valid? [True, True] Translation: X:183.15, Y:1.64, Z:1.19 [[ 9.99097799e-01 -3.88299803e-02 -1.71994374e-02 1.83149690e+02] [ 3.88323265e-02 9.99245721e-01 -1.97664883e-04 1.63536953e+00] [ 1.71941395e-02 -4.70407619e-04 9.99852059e-01 1.18720011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839254154 meters 0.01777128186988778 Centerline is valid? [True, True] Translation: X:183.21, Y:1.64, Z:1.19 [[ 9.99148863e-01 -3.78084404e-02 -1.64945830e-02 1.83211941e+02] [ 3.78104765e-02 9.99284910e-01 -1.88505891e-04 1.64134506e+00] [ 1.64899150e-02 -4.35322596e-04 9.99863937e-01 1.18908668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899254154 meters 0.017664458302741506 Centerline is valid? [True, True] Translation: X:183.27, Y:1.65, Z:1.19 [[ 9.99226023e-01 -3.67142261e-02 -1.41216136e-02 1.83274108e+02] [ 3.67156225e-02 9.99325741e-01 -1.60440506e-04 1.64647727e+00] [ 1.41179825e-02 -3.58167507e-04 9.99900272e-01 1.19151497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959254154 meters 0.017382179494704997 Centerline is valid? [True, True] Translation: X:183.34, Y:1.65, Z:1.19 [[ 9.99301915e-01 -3.51492681e-02 -1.26574913e-02 1.83335847e+02] [ 3.51502753e-02 9.99382028e-01 -1.42950960e-04 1.65023727e+00] [ 1.26546939e-02 -3.02063135e-04 9.99919881e-01 1.19256513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019254154 meters 0.01798535173115829 Centerline is valid? [True, True] Translation: X:183.40, Y:1.65, Z:1.19 [[ 9.99394472e-01 -3.24039510e-02 -1.26757040e-02 1.83398147e+02] [ 3.24047518e-02 9.99474818e-01 -1.42254641e-04 1.65420523e+00] [ 1.26736565e-02 -2.68584540e-04 9.99919650e-01 1.19203153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079254154 meters 0.015692911869340874 Centerline is valid? [True, True] Translation: X:183.46, Y:1.66, Z:1.19 [[ 9.99487933e-01 -2.97336399e-02 -1.18229235e-02 1.83460387e+02] [ 2.97341595e-02 9.99557833e-01 -1.31872890e-04 1.66112168e+00] [ 1.18216169e-02 -2.19739330e-04 9.99930098e-01 1.19442216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.139254154 meters 0.015479038860056558 Centerline is valid? [True, True] Translation: X:183.52, Y:1.66, Z:1.19 [[ 9.99470568e-01 -2.98859681e-02 -1.28612844e-02 1.83522347e+02] [ 2.98866081e-02 9.99553285e-01 -1.42476135e-04 1.66365992e+00] [ 1.28597971e-02 -2.41979463e-04 9.99917280e-01 1.19338464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19925415400002 meters 0.015384443323141614 Centerline is valid? [True, True] Translation: X:183.58, Y:1.66, Z:1.19 [[ 9.99420581e-01 -3.09202435e-02 -1.42281627e-02 1.83584302e+02] [ 3.09211474e-02 9.99521815e-01 -1.56507718e-04 1.66442293e+00] [ 1.42261982e-02 -2.83534081e-04 9.99898762e-01 1.19275553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters 0.017432714486303912 Centerline is valid? [True, True] Translation: X:183.65, Y:1.66, Z:1.19 [[ 9.99393325e-01 -3.13848990e-02 -1.50986801e-02 1.83645306e+02] [ 3.13859922e-02 9.99507325e-01 -1.64606385e-04 1.66132375e+00] [ 1.50964075e-02 -3.09380534e-04 9.99885995e-01 1.19052196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters 0.015426662384349008 Centerline is valid? [True, True] Translation: X:183.71, Y:1.67, Z:1.19 [[ 9.99440450e-01 -2.99319723e-02 -1.49286356e-02 1.83707151e+02] [ 2.99328992e-02 9.99551897e-01 -1.61401193e-04 1.66670672e+00] [ 1.49267771e-02 -2.85546465e-04 9.99888549e-01 1.19276910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters 0.014908876641805072 Centerline is valid? [True, True] Translation: X:183.77, Y:1.67, Z:1.19 [[ 9.99558249e-01 -2.59517927e-02 -1.44848880e-02 1.83767168e+02] [ 2.59522564e-02 9.99663171e-01 -1.55983640e-04 1.67010226e+00] [ 1.44840571e-02 -2.20000794e-04 9.99895076e-01 1.19351651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439254154 meters 0.014602554328698912 Centerline is valid? [True, True] Translation: X:183.83, Y:1.67, Z:1.19 [[ 9.99611040e-01 -2.40188799e-02 -1.41725595e-02 1.83828292e+02] [ 2.40191350e-02 9.99711487e-01 -1.52235223e-04 1.67218289e+00] [ 1.41721270e-02 -1.88236610e-04 9.99899553e-01 1.19389812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499254154 meters 0.014092287082303045 Centerline is valid? [True, True] Translation: X:183.89, Y:1.67, Z:1.19 [[ 9.99675152e-01 -2.16697195e-02 -1.34169078e-02 1.83889510e+02] [ 2.16697430e-02 9.99765173e-01 -1.43644997e-04 1.67408326e+00] [ 1.34168699e-02 -1.47142609e-04 9.99909979e-01 1.19431637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559254154 meters 0.013826866019753503 Centerline is valid? [True, True] Translation: X:183.95, Y:1.68, Z:1.19 [[ 9.99730541e-01 -1.89505628e-02 -1.34060326e-02 1.83950518e+02] [ 1.89503467e-02 9.99820416e-01 -1.43160865e-04 1.67527564e+00] [ 1.34063381e-02 -1.10926678e-04 9.99910125e-01 1.19474484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619254154 meters 0.01358794165662581 Centerline is valid? [True, True] Translation: X:184.01, Y:1.68, Z:1.20 [[ 9.99816752e-01 -1.42979095e-02 -1.27291984e-02 1.84010616e+02] [ 1.42973329e-02 9.99897779e-01 -1.36298730e-04 1.67690842e+00] [ 1.27298460e-02 -4.57198338e-05 9.99918971e-01 1.19549558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679254154 meters 0.013871805207458166 Centerline is valid? [True, True] Translation: X:184.07, Y:1.68, Z:1.19 [[ 9.99844323e-01 -1.22177897e-02 -1.27301047e-02 1.84069707e+02] [ 1.22170334e-02 9.99925360e-01 -1.37174454e-04 1.67630721e+00] [ 1.27308305e-02 -1.83710151e-05 9.99918960e-01 1.19472376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739254154 meters 0.013912935697657095 Centerline is valid? [True, True] Translation: X:184.13, Y:1.68, Z:1.19 [[ 9.99843491e-01 -1.19063988e-02 -1.30855272e-02 1.84128533e+02] [ 1.19055466e-02 9.99929116e-01 -1.43021566e-04 1.67580961e+00] [ 1.30863025e-02 -1.27911727e-05 9.99914371e-01 1.19465999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799254154 meters 0.014009923389869523 Centerline is valid? [True, True] Translation: X:184.19, Y:1.67, Z:1.19 [[ 9.99805491e-01 -1.31458605e-02 -1.47026057e-02 1.84186018e+02] [ 1.31448796e-02 9.99913589e-01 -1.63357113e-04 1.67070117e+00] [ 1.47034827e-02 -2.99386427e-05 9.99891898e-01 1.19307427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859254154 meters 0.014134968994358111 Centerline is valid? [True, True] Translation: X:184.24, Y:1.67, Z:1.19 [[ 9.99760043e-01 -1.60596368e-02 -1.48978134e-02 1.84243566e+02] [ 1.60589271e-02 9.99871033e-01 -1.67272535e-04 1.66551790e+00] [ 1.48985785e-02 -7.20105039e-05 9.99889007e-01 1.19208886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91925415400001 meters 0.014817547866822468 Centerline is valid? [True, True] Translation: X:184.30, Y:1.66, Z:1.19 [[ 9.99630611e-01 -2.24005613e-02 -1.53901343e-02 1.84302684e+02] [ 2.24005310e-02 9.99749061e-01 -1.74376885e-04 1.65594941e+00] [ 1.53901785e-02 -1.70434709e-04 9.99881550e-01 1.19154415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters 0.015567514992221596 Centerline is valid? [True, True] Translation: X:184.36, Y:1.65, Z:1.19 [[ 9.99484396e-01 -2.77343067e-02 -1.61786801e-02 1.84362296e+02] [ 2.77349580e-02 9.99615295e-01 -1.84159049e-04 1.65007222e+00] [ 1.61775636e-02 -2.64650918e-04 9.99869100e-01 1.19127912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters 0.017342295386293654 Centerline is valid? [True, True] Translation: X:184.42, Y:1.64, Z:1.19 [[ 9.99235552e-01 -3.55979761e-02 -1.61584639e-02 1.84422913e+02] [ 3.55996492e-02 9.99366115e-01 -1.84173518e-04 1.64059175e+00] [ 1.61547775e-02 -3.91202919e-04 9.99869427e-01 1.19095789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters 0.018492387975140877 Centerline is valid? [True, True] Translation: X:184.48, Y:1.64, Z:1.19 [[ 9.99070227e-01 -4.02567330e-02 -1.54297615e-02 1.84484637e+02] [ 4.02588185e-02 9.99189270e-01 -1.75548821e-04 1.63543704e+00] [ 1.54243192e-02 -4.45798370e-04 9.99880939e-01 1.19204749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159254154 meters 0.020743662214782025 Centerline is valid? [True, True] Translation: X:184.55, Y:1.63, Z:1.19 [[ 9.98778279e-01 -4.73500561e-02 -1.41393743e-02 1.84545698e+02] [ 4.73525241e-02 9.98878227e-01 -1.60372452e-04 1.62848363e+00] [ 1.41311068e-02 -5.09358540e-04 9.99900021e-01 1.19356703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219254154 meters 0.023391744516229905 Centerline is valid? [True, True] Translation: X:184.61, Y:1.62, Z:1.19 [[ 9.98585463e-01 -5.10226256e-02 -1.49587945e-02 1.84606585e+02] [ 5.10258055e-02 9.98697321e-01 -1.69257789e-04 1.62453339e+00] [ 1.49479440e-02 -5.94266172e-04 9.99888097e-01 1.19298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279254154 meters 0.024753584498357024 Centerline is valid? [True, True] Translation: X:184.67, Y:1.62, Z:1.19 [[ 9.98337360e-01 -5.57806108e-02 -1.45272101e-02 1.84667924e+02] [ 5.57841183e-02 9.98442840e-01 -1.63974375e-04 1.61877207e+00] [ 1.45137355e-02 -6.46685862e-04 9.99894461e-01 1.19359868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339254154 meters 0.024100652021986906 Centerline is valid? [True, True] Translation: X:184.73, Y:1.62, Z:1.19 [[ 9.98235329e-01 -5.75036692e-02 -1.48174191e-02 1.84730039e+02] [ 5.75075203e-02 9.98345059e-01 -1.66402529e-04 1.61997796e+00] [ 1.48024660e-02 -6.86004149e-04 9.99890202e-01 1.19469918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399254154 meters 0.02433601382097577 Centerline is valid? [True, True] Translation: X:184.79, Y:1.62, Z:1.19 [[ 9.98159206e-01 -5.84294440e-02 -1.62542323e-02 1.84792317e+02] [ 5.84342212e-02 9.98291245e-01 -1.81283627e-04 1.61962100e+00] [ 1.62370501e-02 -7.68853483e-04 9.99867875e-01 1.19463588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459254154 meters 0.024929838860016797 Centerline is valid? [True, True] Translation: X:184.85, Y:1.62, Z:1.19 [[ 9.98149525e-01 -5.82673555e-02 -1.73908414e-02 1.84854019e+02] [ 5.82728192e-02 9.98300677e-01 -1.92837983e-04 1.61917526e+00] [ 1.73725249e-02 -8.20932219e-04 9.99848749e-01 1.19458367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519254154 meters 0.025107452845924395 Centerline is valid? [True, True] Translation: X:184.92, Y:1.62, Z:1.19 [[ 9.98245785e-01 -5.59427102e-02 -1.93846644e-02 1.84915098e+02] [ 5.59490829e-02 9.98433600e-01 -2.13849422e-04 1.62045174e+00] [ 1.93662636e-02 -8.71079908e-04 9.99812077e-01 1.19352281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579254154 meters 0.02254005861670344 Centerline is valid? [True, True] Translation: X:184.98, Y:1.63, Z:1.19 [[ 9.98380330e-01 -5.27619482e-02 -2.12813145e-02 1.84976221e+02] [ 5.27689281e-02 9.98606722e-01 -2.33836609e-04 1.62674847e+00] [ 2.12640014e-02 -8.89534284e-04 9.99773500e-01 1.19379849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639254154 meters 0.022419385315433686 Centerline is valid? [True, True] Translation: X:185.04, Y:1.63, Z:1.19 [[ 9.98590131e-01 -4.83844725e-02 -2.18332830e-02 1.85035728e+02] [ 4.83907741e-02 9.98828451e-01 -2.39919766e-04 1.63052794e+00] [ 2.18193127e-02 -8.16947956e-04 9.99761597e-01 1.19378878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69925415400002 meters 0.018820853360719095 Centerline is valid? [True, True] Translation: X:185.10, Y:1.64, Z:1.20 [[ 9.99015262e-01 -3.92861681e-02 -2.06180468e-02 1.85095998e+02] [ 3.92898490e-02 9.99227830e-01 -2.26678927e-04 1.64202718e+00] [ 2.06110315e-02 -5.83624238e-04 9.99787400e-01 1.19713410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters 0.016294291036323447 Centerline is valid? [True, True] Translation: X:185.16, Y:1.65, Z:1.20 [[ 9.99302683e-01 -3.19620170e-02 -1.93022549e-02 1.85156840e+02] [ 3.19638816e-02 9.99489002e-01 -2.11986006e-04 1.65071947e+00] [ 1.92991670e-02 -4.05136807e-04 9.99813672e-01 1.19915059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters 0.014040167418239718 Centerline is valid? [True, True] Translation: X:185.22, Y:1.66, Z:1.20 [[ 9.99620781e-01 -2.02985397e-02 -1.86081831e-02 1.85216885e+02] [ 2.02982540e-02 9.99793948e-01 -2.04247133e-04 1.66229040e+00] [ 1.86084948e-02 -1.73543949e-04 9.99826832e-01 1.19996599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters 0.013402498595355318 Centerline is valid? [True, True] Translation: X:185.28, Y:1.67, Z:1.20 [[ 9.99729296e-01 -1.38977570e-02 -1.86597494e-02 1.85275851e+02] [ 1.38963005e-02 9.99903420e-01 -2.07718708e-04 1.66915894e+00] [ 1.86608341e-02 -5.16390071e-05 9.99825870e-01 1.20058674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939254154 meters 0.01327910222749558 Centerline is valid? [True, True] Translation: X:185.33, Y:1.67, Z:1.20 [[ 9.99775288e-01 -9.76499536e-03 -1.88153702e-02 1.85333793e+02] [ 9.76268697e-03 9.99952321e-01 -2.14536924e-04 1.67335763e+00] [ 1.88165680e-02 3.08001461e-05 9.99822952e-01 1.20165521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999254154 meters 0.013462790648341091 Centerline is valid? [True, True] Translation: X:185.39, Y:1.68, Z:1.20 [[ 9.99793093e-01 -8.15951353e-03 -1.86331353e-02 1.85391459e+02] [ 8.15687167e-03 9.99966708e-01 -2.17780608e-04 1.67508010e+00] [ 1.86342919e-02 6.57474542e-05 9.99826364e-01 1.20247726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059254154 meters 0.013448295980964815 Centerline is valid? [True, True] Translation: X:185.45, Y:1.67, Z:1.20 [[ 9.99759398e-01 -1.06984455e-02 -1.91491247e-02 1.85449913e+02] [ 1.06960576e-02 9.99942770e-01 -2.27119603e-04 1.67370693e+00] [ 1.91504586e-02 2.22448165e-05 9.99816613e-01 1.20272873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119254154 meters 0.01340079143351302 Centerline is valid? [True, True] Translation: X:185.51, Y:1.67, Z:1.20 [[ 9.99701932e-01 -1.38119817e-02 -2.01314528e-02 1.85508221e+02] [ 1.38098899e-02 9.99904609e-01 -2.42929754e-04 1.67177184e+00] [ 2.01328878e-02 -3.51558023e-05 9.99797312e-01 1.20337617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179254154 meters 0.013860085094841445 Centerline is valid? [True, True] Translation: X:185.57, Y:1.67, Z:1.20 [[ 9.99611881e-01 -2.03247417e-02 -1.90523420e-02 1.85566763e+02] [ 2.03240027e-02 9.99793419e-01 -2.32432460e-04 1.66734665e+00] [ 1.90531302e-02 -1.54877601e-04 9.99818461e-01 1.20435888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239254154 meters 0.015495137078594574 Centerline is valid? [True, True] Translation: X:185.62, Y:1.66, Z:1.20 [[ 9.99508967e-01 -2.56907798e-02 -1.79390360e-02 1.85624724e+02] [ 2.56909620e-02 9.99669908e-01 -2.20336882e-04 1.66225268e+00] [ 1.79387751e-02 -2.40642403e-04 9.99839058e-01 1.20363909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299254154 meters 0.01618780562631578 Centerline is valid? [True, True] Translation: X:185.68, Y:1.66, Z:1.21 [[ 9.99367506e-01 -3.12372134e-02 -1.69948082e-02 1.85683889e+02] [ 3.12381593e-02 9.99511948e-01 -2.09865482e-04 1.65959116e+00] [ 1.69930694e-02 -3.21153781e-04 9.99855556e-01 1.20547187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359254154 meters 0.015561189884800286 Centerline is valid? [True, True] Translation: X:185.75, Y:1.66, Z:1.21 [[ 9.99317523e-01 -3.27425953e-02 -1.71000162e-02 1.85745396e+02] [ 3.27437737e-02 9.99463757e-01 -2.11136187e-04 1.66079465e+00] [ 1.70977596e-02 -3.48926969e-04 9.99853762e-01 1.20668602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41925415400001 meters 0.015685529418976666 Centerline is valid? [True, True] Translation: X:185.81, Y:1.66, Z:1.21 [[ 9.99312766e-01 -3.30175022e-02 -1.68475826e-02 1.85806466e+02] [ 3.30186956e-02 9.99454713e-01 -2.07396741e-04 1.65997808e+00] [ 1.68452435e-02 -3.49030990e-04 9.99858048e-01 1.20609300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters 0.015923052170031964 Centerline is valid? [True, True] Translation: X:185.87, Y:1.66, Z:1.21 [[ 9.99333823e-01 -3.25135451e-02 -1.65764744e-02 1.85868090e+02] [ 3.25146412e-02 9.99471239e-01 -2.03452876e-04 1.65987822e+00] [ 1.65743244e-02 -3.35660776e-04 9.99862580e-01 1.20509190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters 0.015928661048581143 Centerline is valid? [True, True] Translation: X:185.93, Y:1.66, Z:1.20 [[ 9.99357851e-01 -3.16125905e-02 -1.68679917e-02 1.85929441e+02] [ 3.16136077e-02 9.99500144e-01 -2.06411902e-04 1.66065136e+00] [ 1.68660854e-02 -3.26978718e-04 9.99857704e-01 1.20434576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters 0.015610418871079048 Centerline is valid? [True, True] Translation: X:185.99, Y:1.66, Z:1.20 [[ 9.99373841e-01 -3.10780223e-02 -1.69139760e-02 1.85990510e+02] [ 3.10789789e-02 9.99516911e-01 -2.06354192e-04 1.66216377e+00] [ 1.69122181e-02 -3.19444123e-04 9.99856927e-01 1.20393586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659254154 meters 0.01595667435610556 Centerline is valid? [True, True] Translation: X:186.05, Y:1.66, Z:1.20 [[ 9.99350864e-01 -3.18872375e-02 -1.67647130e-02 1.86052157e+02] [ 3.18883014e-02 9.99491418e-01 -2.03921358e-04 1.66249208e+00] [ 1.67626893e-02 -3.30809236e-04 9.99859442e-01 1.20424146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719254154 meters 0.017392985759903282 Centerline is valid? [True, True] Translation: X:186.11, Y:1.66, Z:1.20 [[ 9.99197921e-01 -3.65285251e-02 -1.64067338e-02 1.86112615e+02] [ 3.65301761e-02 9.99332531e-01 -1.99153896e-04 1.65903831e+00] [ 1.64030576e-02 -4.00346713e-04 9.99865381e-01 1.20437528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779254154 meters 0.019073378067979516 Centerline is valid? [True, True] Translation: X:186.17, Y:1.66, Z:1.20 [[ 9.98861219e-01 -4.47393438e-02 -1.65727429e-02 1.86174051e+02] [ 4.47421650e-02 9.98998548e-01 -2.00689340e-04 1.65523207e+00] [ 1.65651248e-02 -5.41039599e-04 9.99862643e-01 1.20438548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839254154 meters 0.021150910853306424 Centerline is valid? [True, True] Translation: X:186.24, Y:1.65, Z:1.20 [[ 9.98613612e-01 -4.98993905e-02 -1.67601909e-02 1.86235351e+02] [ 4.99030118e-02 9.98754048e-01 -2.02345142e-04 1.65194290e+00] [ 1.67494054e-02 -6.34319390e-04 9.99859518e-01 1.20376795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899254154 meters 0.023259149171832923 Centerline is valid? [True, True] Translation: X:186.30, Y:1.65, Z:1.20 [[ 9.98414864e-01 -5.36360434e-02 -1.70567912e-02 1.86296281e+02] [ 5.36403507e-02 9.98560299e-01 -2.05198940e-04 1.65017004e+00] [ 1.70432406e-02 -7.10058591e-04 9.99854501e-01 1.20307359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959254154 meters 0.02328984979165453 Centerline is valid? [True, True] Translation: X:186.36, Y:1.65, Z:1.20 [[ 9.98343151e-01 -5.53412172e-02 -1.57576398e-02 1.86358252e+02] [ 5.53451201e-02 9.98467266e-01 -1.88619872e-04 1.65259379e+00] [ 1.57439260e-02 -6.83801111e-04 9.99875823e-01 1.20438558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019254154 meters 0.021426375976573278 Centerline is valid? [True, True] Translation: X:186.42, Y:1.66, Z:1.21 [[ 9.98494037e-01 -5.32048820e-02 -1.33753292e-02 1.86419269e+02] [ 5.32075115e-02 9.98583464e-01 -1.59433636e-04 1.65990682e+00] [ 1.33648652e-02 -5.52474446e-04 9.99910534e-01 1.20733942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079254154 meters 0.021575206428085126 Centerline is valid? [True, True] Translation: X:186.48, Y:1.66, Z:1.21 [[ 9.98647907e-01 -5.06726979e-02 -1.16032230e-02 1.86479675e+02] [ 5.06745097e-02 9.98715212e-01 -1.37998803e-04 1.66364476e+00] [ 1.15953081e-02 -4.50175420e-04 9.99932671e-01 1.20877861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139254154 meters 0.021903566692186245 Centerline is valid? [True, True] Translation: X:186.54, Y:1.67, Z:1.21 [[ 9.98789380e-01 -4.82320374e-02 -9.66668625e-03 1.86540112e+02] [ 4.82331822e-02 9.98836096e-01 -1.14809510e-04 1.66679108e+00] [ 9.66097266e-03 -3.51584520e-04 9.99953270e-01 1.21024535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19925415400002 meters 0.019150633795364965 Centerline is valid? [True, True] Translation: X:186.60, Y:1.68, Z:1.21 [[ 9.99015125e-01 -4.35807429e-02 -8.33660280e-03 1.86601690e+02] [ 4.35814342e-02 9.99049873e-01 -9.88176258e-05 1.67642352e+00] [ 8.33298851e-03 -2.64600803e-04 9.99965245e-01 1.21128405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters 0.0185837173172966 Centerline is valid? [True, True] Translation: X:186.66, Y:1.68, Z:1.21 [[ 9.99187693e-01 -3.95165893e-02 -7.89891559e-03 1.86662139e+02] [ 3.95170859e-02 9.99218891e-01 -9.32547104e-05 1.68100936e+00] [ 7.89643078e-03 -2.18963167e-04 9.99968799e-01 1.21119447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters 0.016747121837407522 Centerline is valid? [True, True] Translation: X:186.72, Y:1.69, Z:1.21 [[ 9.99422265e-01 -3.31571183e-02 -7.46598446e-03 1.86723881e+02] [ 3.31573858e-02 9.99450139e-01 -8.79853777e-05 1.69027730e+00] [ 7.46479655e-03 -1.59617981e-04 9.99972125e-01 1.21155397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters 0.016053520261311224 Centerline is valid? [True, True] Translation: X:186.79, Y:1.70, Z:1.21 [[ 9.99535715e-01 -2.95584256e-02 -7.39286567e-03 1.86785911e+02] [ 2.95585925e-02 9.99563046e-01 -8.67081349e-05 1.69501962e+00] [ 7.39219828e-03 -1.31854826e-04 9.99972669e-01 1.21147463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439254154 meters 0.015790434526868003 Centerline is valid? [True, True] Translation: X:186.85, Y:1.70, Z:1.21 [[ 9.99593841e-01 -2.72802528e-02 -8.24257517e-03 1.86847166e+02] [ 2.72803880e-02 9.99627816e-01 -9.60519043e-05 1.69834147e+00] [ 8.24212773e-03 -1.28847756e-04 9.99966025e-01 1.21097484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499254154 meters 0.015623490549481228 Centerline is valid? [True, True] Translation: X:186.91, Y:1.70, Z:1.21 [[ 9.99612957e-01 -2.63037729e-02 -9.05796858e-03 1.86909368e+02] [ 2.63039011e-02 9.99653987e-01 -1.04995491e-04 1.70091028e+00] [ 9.05759618e-03 -1.33305057e-04 9.99958970e-01 1.20981317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559254154 meters 0.015588804899627681 Centerline is valid? [True, True] Translation: X:186.97, Y:1.70, Z:1.21 [[ 9.99611975e-01 -2.65951398e-02 -8.28233299e-03 1.86971380e+02] [ 2.65952615e-02 9.99646279e-01 -9.54611943e-05 1.70270439e+00] [ 8.28194216e-03 -1.24846659e-04 9.99965696e-01 1.21055854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619254154 meters 0.015350397858967073 Centerline is valid? [True, True] Translation: X:187.03, Y:1.70, Z:1.21 [[ 9.99612171e-01 -2.68986114e-02 -7.20911315e-03 1.87033702e+02] [ 2.68987148e-02 9.99638161e-01 -8.26369005e-05 1.70456217e+00] [ 7.20872743e-03 -1.11311027e-04 9.99974011e-01 1.21230261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679254154 meters 0.015795797402347194 Centerline is valid? [True, True] Translation: X:187.10, Y:1.70, Z:1.21 [[ 9.99553209e-01 -2.91102456e-02 -6.78059170e-03 1.87095768e+02] [ 2.91103911e-02 9.99576200e-01 -7.72536205e-05 1.70419574e+00] [ 6.77996695e-03 -1.20166572e-04 9.99977009e-01 1.21228887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739254154 meters 0.016410563184440573 Centerline is valid? [True, True] Translation: X:187.16, Y:1.70, Z:1.21 [[ 9.99460409e-01 -3.21795978e-02 -6.58511432e-03 1.87157820e+02] [ 3.21798048e-02 9.99482093e-01 -7.45534889e-05 1.70270550e+00] [ 6.58410294e-03 -1.37394433e-04 9.99978315e-01 1.21265205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799254154 meters 0.017188922544413305 Centerline is valid? [True, True] Translation: X:187.22, Y:1.70, Z:1.21 [[ 9.99299946e-01 -3.67245997e-02 -7.13589015e-03 1.87220215e+02] [ 3.67249625e-02 9.99325408e-01 -8.02180684e-05 1.69996047e+00] [ 7.13402231e-03 -1.81903387e-04 9.99974536e-01 1.21215568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859254154 meters 0.01794085783047373 Centerline is valid? [True, True] Translation: X:187.28, Y:1.70, Z:1.21 [[ 9.99253479e-01 -3.79578469e-02 -7.18933639e-03 1.87282415e+02] [ 3.79582510e-02 9.99279323e-01 -8.02764564e-05 1.69880588e+00] [ 7.18720232e-03 -1.92678107e-04 9.99974153e-01 1.21229734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91925415400001 meters 0.017591191119060007 Centerline is valid? [True, True] Translation: X:187.34, Y:1.70, Z:1.21 [[ 9.99307124e-01 -3.65819495e-02 -6.85799382e-03 1.87344380e+02] [ 3.65822881e-02 9.99330641e-01 -7.60920474e-05 1.69986745e+00] [ 6.85618696e-03 -1.74841781e-04 9.99976481e-01 1.21366096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters 0.017592244480038363 Centerline is valid? [True, True] Translation: X:187.41, Y:1.70, Z:1.21 [[ 9.99381209e-01 -3.45687878e-02 -6.49601662e-03 1.87405569e+02] [ 3.45690522e-02 9.99402309e-01 -7.16173097e-05 1.70012903e+00] [ 6.49460973e-03 -1.52988144e-04 9.99978898e-01 1.21417678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters 0.01695391843694803 Centerline is valid? [True, True] Translation: X:187.47, Y:1.70, Z:1.21 [[ 9.99457743e-01 -3.22249494e-02 -6.76559427e-03 1.87468011e+02] [ 3.22251850e-02 9.99480631e-01 -7.42030688e-05 1.70088862e+00] [ 6.76447162e-03 -1.43859696e-04 9.99977110e-01 1.21331397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters 0.016386180477483355 Centerline is valid? [True, True] Translation: X:187.53, Y:1.70, Z:1.21 [[ 9.99524828e-01 -2.98228045e-02 -7.79220853e-03 1.87530559e+02] [ 2.98230491e-02 9.99555190e-01 -8.48284396e-05 1.70107853e+00] [ 7.79127230e-03 -1.47599286e-04 9.99969637e-01 1.21252006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159254154 meters 0.016170267157271153 Centerline is valid? [True, True] Translation: X:187.59, Y:1.70, Z:1.21 [[ 9.99542463e-01 -2.88812955e-02 -8.98525238e-03 1.87593027e+02] [ 2.88815892e-02 9.99582835e-01 -9.70988806e-05 1.70038021e+00] [ 8.98430839e-03 -1.62453914e-04 9.99959627e-01 1.21231332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219254154 meters 0.016687668297821468 Centerline is valid? [True, True] Translation: X:187.66, Y:1.70, Z:1.21 [[ 9.99444864e-01 -3.14482007e-02 -1.09988561e-02 1.87655493e+02] [ 3.14488061e-02 9.99505357e-01 -1.17959094e-04 1.69837535e+00] [ 1.09971252e-02 -2.28007281e-04 9.99939504e-01 1.21143720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279254154 meters 0.01737497649489219 Centerline is valid? [True, True] Translation: X:187.72, Y:1.70, Z:1.21 [[ 9.99323414e-01 -3.47158986e-02 -1.21458393e-02 1.87717499e+02] [ 3.47168893e-02 9.99397179e-01 -1.29328394e-04 1.69641961e+00] [ 1.21430072e-02 -2.92424864e-04 9.99926228e-01 1.21141676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339254154 meters 0.018924676548856913 Centerline is valid? [True, True] Translation: X:187.78, Y:1.69, Z:1.21 [[ 9.99060069e-01 -4.13257060e-02 -1.30829953e-02 1.87778125e+02] [ 4.13274300e-02 9.99145647e-01 -1.38663753e-04 1.69206350e+00] [ 1.30775481e-02 -4.02153153e-04 9.99914404e-01 1.21154539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399254154 meters 0.020626629925411363 Centerline is valid? [True, True] Translation: X:187.84, Y:1.69, Z:1.21 [[ 9.98840364e-01 -4.63918468e-02 -1.28733899e-02 1.87839417e+02] [ 4.63939407e-02 9.98923212e-01 -1.36094034e-04 1.68871716e+00] [ 1.28658417e-02 -4.61311074e-04 9.99917125e-01 1.21230123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459254154 meters 0.02346880839644168 Centerline is valid? [True, True] Translation: X:187.90, Y:1.68, Z:1.21 [[ 9.98501345e-01 -5.33717212e-02 -1.21047138e-02 1.87900032e+02] [ 5.33740875e-02 9.98574579e-01 -1.27715208e-04 1.68429605e+00] [ 1.20942759e-02 -5.18554248e-04 9.99926727e-01 1.21377732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519254154 meters 0.02587266372478079 Centerline is valid? [True, True] Translation: X:187.96, Y:1.68, Z:1.21 [[ 9.98341278e-01 -5.63147697e-02 -1.19724135e-02 1.87960160e+02] [ 5.63172960e-02 9.98412914e-01 -1.26294274e-04 1.68117189e+00] [ 1.19605245e-02 -5.48169170e-04 9.99928320e-01 1.21492381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579254154 meters 0.02569067730498652 Centerline is valid? [True, True] Translation: X:188.02, Y:1.68, Z:1.22 [[ 9.98264053e-01 -5.79074191e-02 -1.07523073e-02 1.88022462e+02] [ 5.79095520e-02 9.98321827e-01 -1.13130237e-04 1.68107443e+00] [ 1.07408141e-02 -5.09727449e-04 9.99942186e-01 1.21683495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.639254154 meters 0.026026044364730307 Centerline is valid? [True, True] Translation: X:188.08, Y:1.68, Z:1.21 [[ 9.98313461e-01 -5.71612091e-02 -1.01404769e-02 1.88084618e+02] [ 5.71630749e-02 9.98364849e-01 -1.05978723e-04 1.68240400e+00] [ 1.01299536e-02 -4.73860856e-04 9.99948578e-01 1.21468444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69925415400002 meters 0.024624281269635184 Centerline is valid? [True, True] Translation: X:188.15, Y:1.68, Z:1.22 [[ 9.98329525e-01 -5.66929249e-02 -1.11387143e-02 1.88147110e+02] [ 5.66951569e-02 9.98391529e-01 -1.15537172e-04 1.68302676e+00] [ 1.11273481e-02 -5.16166984e-04 9.99937956e-01 1.21598473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters 0.024835689734006988 Centerline is valid? [True, True] Translation: X:188.21, Y:1.68, Z:1.22 [[ 9.98442490e-01 -5.45658220e-02 -1.16260699e-02 1.88207728e+02] [ 5.45681167e-02 9.98510043e-01 -1.19986689e-04 1.68336877e+00] [ 1.16152948e-02 -5.14612932e-04 9.99932408e-01 1.21529410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters 0.02311775174279487 Centerline is valid? [True, True] Translation: X:188.27, Y:1.69, Z:1.22 [[ 9.98740921e-01 -4.86589513e-02 -1.22016341e-02 1.88268740e+02] [ 4.86610414e-02 9.98815342e-01 -1.25706426e-04 1.68825591e+00] [ 1.21932961e-02 -4.68196072e-04 9.99925549e-01 1.21504828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters 0.019901545733619453 Centerline is valid? [True, True] Translation: X:188.33, Y:1.70, Z:1.22 [[ 9.99005472e-01 -4.27338526e-02 -1.27234321e-02 1.88329366e+02] [ 4.27356482e-02 9.99086406e-01 -1.30853400e-04 1.69632801e+00] [ 1.27173999e-02 -4.13020856e-04 9.99919045e-01 1.21579107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939254154 meters 0.01705931705559373 Centerline is valid? [True, True] Translation: X:188.39, Y:1.71, Z:1.22 [[ 9.99431266e-01 -3.11405775e-02 -1.29386594e-02 1.88388780e+02] [ 3.11414633e-02 9.99514978e-01 -1.33050507e-04 1.70586329e+00] [ 1.29365271e-02 -2.69953951e-04 9.99916283e-01 1.21615520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999254154 meters 0.01509654050902652 Centerline is valid? [True, True] Translation: X:188.45, Y:1.71, Z:1.22 [[ 9.99681834e-01 -2.21522559e-02 -1.20626863e-02 1.88450169e+02] [ 2.21523725e-02 9.99754598e-01 -1.23959335e-04 1.71326871e+00] [ 1.20624721e-02 -1.43297225e-04 9.99927235e-01 1.21731206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059254154 meters 0.01407176577904165 Centerline is valid? [True, True] Translation: X:188.51, Y:1.72, Z:1.22 [[ 9.99899284e-01 -9.52355069e-03 -1.05225839e-02 1.88511072e+02] [ 9.52294218e-03 9.99954650e-01 -1.07932832e-04 1.72200253e+00] [ 1.05231346e-02 7.71600327e-06 9.99944630e-01 1.21889311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119254154 meters 0.015002292740620397 Centerline is valid? [True, True] Translation: X:188.57, Y:1.73, Z:1.22 [[ 9.99943751e-01 -2.93421921e-03 -1.01924095e-02 1.88570176e+02] [ 2.93330333e-03 9.99995692e-01 -1.04807012e-04 1.72655742e+00] [ 1.01926731e-02 7.49036881e-05 9.99948051e-01 1.21875885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179254154 meters 0.01559742572275549 Centerline is valid? [True, True] Translation: X:188.63, Y:1.73, Z:1.22 [[ 9.99949564e-01 2.16934975e-03 -9.80627761e-03 1.88627395e+02] [-2.17045046e-03 9.99997639e-01 -1.01604646e-04 1.72902861e+00] [ 9.80603405e-03 1.22883562e-04 9.99951912e-01 1.22006687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239254154 meters 0.01564417177454682 Centerline is valid? [True, True] Translation: X:188.68, Y:1.73, Z:1.22 [[ 9.99953060e-01 1.44490749e-03 -9.58066709e-03 1.88684788e+02] [-1.44593358e-03 9.99998950e-01 -1.00174518e-04 1.72621423e+00] [ 9.58051229e-03 1.14022824e-04 9.99954099e-01 1.22028178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299254154 meters 0.014423517982270895 Centerline is valid? [True, True] Translation: X:188.74, Y:1.72, Z:1.22 [[ 9.99939392e-01 -6.11799276e-03 -9.15325600e-03 1.88744180e+02] [ 6.11736702e-03 9.99981284e-01 -9.63595411e-05 1.71582814e+00] [ 9.15367421e-03 4.03598747e-05 9.99958103e-01 1.22062431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359254154 meters 0.014402539684257351 Centerline is valid? [True, True] Translation: X:188.80, Y:1.71, Z:1.22 [[ 9.99854153e-01 -1.42109005e-02 -9.47223434e-03 1.88803374e+02] [ 1.42105884e-02 9.99899019e-01 -1.00259589e-04 1.70648733e+00] [ 9.47270261e-03 -3.43610571e-05 9.99955132e-01 1.22069666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41925415400001 meters 0.015809396686733847 Centerline is valid? [True, True] Translation: X:188.86, Y:1.69, Z:1.22 [[ 9.99583338e-01 -2.70888134e-02 -9.96727286e-03 1.88863891e+02] [ 2.70891026e-02 9.99633017e-01 -1.06012147e-04 1.69198042e+00] [ 9.96648678e-03 -1.64036501e-04 9.99950320e-01 1.22026118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters 0.01910500725487201 Centerline is valid? [True, True] Translation: X:188.92, Y:1.68, Z:1.22 [[ 9.99177963e-01 -3.89482390e-02 -1.12442681e-02 1.88924784e+02] [ 3.89493575e-02 9.99241179e-01 -1.19578597e-04 1.67890702e+00] [ 1.12403930e-02 -3.18476718e-04 9.99936774e-01 1.21997701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters 0.02187829780321993 Centerline is valid? [True, True] Translation: X:188.98, Y:1.67, Z:1.22 [[ 9.98905603e-01 -4.52641041e-02 -1.17795324e-02 1.88984876e+02] [ 4.52657705e-02 9.98974972e-01 -1.25246582e-04 1.67063833e+00] [ 1.17731272e-02 -4.08100097e-04 9.99930611e-01 1.22011805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters 0.023157918100671967 Centerline is valid? [True, True] Translation: X:189.05, Y:1.66, Z:1.22 [[ 9.98471421e-01 -5.42552106e-02 -1.05448260e-02 1.89045425e+02] [ 5.42570464e-02 9.98526995e-01 -1.12106051e-04 1.66450066e+00] [ 1.05353758e-02 -4.60196426e-04 9.99944395e-01 1.22195207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659254154 meters 0.026544774955644106 Centerline is valid? [True, True] Translation: X:189.11, Y:1.66, Z:1.22 [[ 9.98225380e-01 -5.88911030e-02 -8.82776952e-03 1.89105716e+02] [ 5.88925719e-02 9.98264322e-01 -9.36879081e-05 1.65704658e+00] [ 8.81796474e-03 -4.26368404e-04 9.99961030e-01 1.22326625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719254154 meters 0.027542737789109484 Centerline is valid? [True, True] Translation: X:189.17, Y:1.65, Z:1.22 [[ 9.97978935e-01 -6.29352963e-02 -8.78595783e-03 1.89166625e+02] [ 6.29369120e-02 9.98017503e-01 -9.27479758e-05 1.65295076e+00] [ 8.77437681e-03 -4.60400528e-04 9.99961398e-01 1.22396838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779254154 meters 0.027243903811527286 Centerline is valid? [True, True] Translation: X:189.23, Y:1.65, Z:1.22 [[ 9.97957415e-01 -6.32352193e-02 -9.07221935e-03 1.89229123e+02] [ 6.32369570e-02 9.97998536e-01 -9.54687597e-05 1.65258671e+00] [ 9.06009862e-03 -4.78425788e-04 9.99958842e-01 1.22391724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839254154 meters 0.02644300444802878 Centerline is valid? [True, True] Translation: X:189.29, Y:1.65, Z:1.22 [[ 9.97911686e-01 -6.37898414e-02 -1.01549821e-02 1.89291098e+02] [ 6.37920556e-02 9.97963207e-01 -1.06048861e-04 1.65290899e+00] [ 1.01410633e-02 -5.41979783e-04 9.99948431e-01 1.22343799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899254154 meters 0.027496803320046295 Centerline is valid? [True, True] Translation: X:189.35, Y:1.65, Z:1.22 [[ 9.97789468e-01 -6.48205187e-02 -1.46450745e-02 1.89353206e+02] [ 6.48252543e-02 9.97896620e-01 -1.51623095e-04 1.65158519e+00] [ 1.46240986e-02 -7.98082750e-04 9.99892744e-01 1.22084405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959254154 meters 0.02838636760051646 Centerline is valid? [True, True] Translation: X:189.42, Y:1.65, Z:1.22 [[ 9.97752182e-01 -6.49631117e-02 -1.64431613e-02 1.89415239e+02] [ 6.49691220e-02 9.97887260e-01 -1.68964811e-04 1.65245292e+00] [ 1.64193977e-02 -8.99712744e-04 9.99864788e-01 1.22002176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019254154 meters 0.027973123329821516 Centerline is valid? [True, True] Translation: X:189.48, Y:1.66, Z:1.22 [[ 9.97872729e-01 -6.25871947e-02 -1.82444339e-02 1.89476595e+02] [ 6.25942160e-02 9.98039042e-01 -1.86505454e-04 1.65708225e+00] [ 1.82203302e-02 -9.55887330e-04 9.99833539e-01 1.21997325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079254154 meters 0.027181283183255724 Centerline is valid? [True, True] Translation: X:189.54, Y:1.66, Z:1.22 [[ 9.98139095e-01 -5.80967224e-02 -1.85234602e-02 1.89535916e+02] [ 5.81032090e-02 9.98310564e-01 -1.88265436e-04 1.66271059e+00] [ 1.85031036e-02 -8.88357388e-04 9.99828408e-01 1.22092699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.139254154 meters 0.023899183871592542 Centerline is valid? [True, True] Translation: X:189.60, Y:1.67, Z:1.22 [[ 9.98707301e-01 -4.78856768e-02 -1.70496091e-02 1.89596971e+02] [ 4.78896964e-02 9.98852615e-01 -1.72681720e-04 1.67487353e+00] [ 1.70383157e-02 -6.44042110e-04 9.99854630e-01 1.22375462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19925415400002 meters 0.020935479852561327 Centerline is valid? [True, True] Translation: X:189.66, Y:1.68, Z:1.23 [[ 9.99085688e-01 -3.95485479e-02 -1.62388590e-02 1.89657531e+02] [ 3.95510956e-02 9.99217536e-01 -1.64358966e-04 1.68441507e+00] [ 1.62326529e-02 -4.78055975e-04 9.99868128e-01 1.22619671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters 0.01675858360795201 Centerline is valid? [True, True] Translation: X:189.72, Y:1.70, Z:1.23 [[ 9.99495229e-01 -2.77355033e-02 -1.54928971e-02 1.89718035e+02] [ 2.77364039e-02 9.99615260e-01 -1.56776736e-04 1.69959865e+00] [ 1.54912846e-02 -2.73019652e-04 9.99879966e-01 1.22928060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters 0.015360839578956453 Centerline is valid? [True, True] Translation: X:189.78, Y:1.71, Z:1.23 [[ 9.99667761e-01 -1.90754995e-02 -1.73347342e-02 1.89778625e+02] [ 1.90753256e-02 9.99818034e-01 -1.75393340e-04 1.70818937e+00] [ 1.73349255e-02 -1.55330631e-04 9.99849727e-01 1.22928559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters 0.015386205412525632 Centerline is valid? [True, True] Translation: X:189.84, Y:1.71, Z:1.23 [[ 9.99690646e-01 -1.73148875e-02 -1.78551893e-02 1.89836553e+02] [ 1.73144039e-02 9.99850078e-01 -1.81682820e-04 1.70967048e+00] [ 1.78556582e-02 -1.27525344e-04 9.99840567e-01 1.22844456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439254154 meters 0.015185601771108661 Centerline is valid? [True, True] Translation: X:189.89, Y:1.71, Z:1.23 [[ 9.99681819e-01 -1.63457306e-02 -1.92114158e-02 1.89894269e+02] [ 1.63449083e-02 9.99866393e-01 -1.99832190e-04 1.71172144e+00] [ 1.92121155e-02 -1.14240223e-04 9.99815424e-01 1.22883181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499254154 meters 0.01519762474322707 Centerline is valid? [True, True] Translation: X:189.95, Y:1.71, Z:1.23 [[ 9.99627363e-01 -1.79262798e-02 -2.05860136e-02 1.89952772e+02] [ 1.79255532e-02 9.99839300e-01 -2.19839847e-04 1.71218577e+00] [ 2.05866464e-02 -1.49257755e-04 9.99788061e-01 1.22909291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559254154 meters 0.015187747646966614 Centerline is valid? [True, True] Translation: X:190.01, Y:1.71, Z:1.23 [[ 9.99580861e-01 -2.02906901e-02 -2.06492229e-02 1.90011372e+02] [ 2.02903530e-02 9.99794104e-01 -2.25861370e-04 1.71155406e+00] [ 2.06495542e-02 -1.93213319e-04 9.99786757e-01 1.23000103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619254154 meters 0.017774543523320738 Centerline is valid? [True, True] Translation: X:190.07, Y:1.71, Z:1.23 [[ 9.99474884e-01 -2.48075593e-02 -2.08456333e-02 1.90070228e+02] [ 2.48080852e-02 9.99692205e-01 -2.33412227e-04 1.70812948e+00] [ 2.08450075e-02 -2.83850587e-04 9.99782679e-01 1.22995799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679254154 meters 0.01698402028843753 Centerline is valid? [True, True] Translation: X:190.13, Y:1.70, Z:1.23 [[ 9.99317958e-01 -3.20946066e-02 -1.82634758e-02 1.90129048e+02] [ 3.20961871e-02 9.99484763e-01 -2.06645935e-04 1.70280198e+00] [ 1.82606980e-02 -3.79682942e-04 9.99833187e-01 1.23253294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739254154 meters 0.018683567852820288 Centerline is valid? [True, True] Translation: X:190.19, Y:1.70, Z:1.23 [[ 9.99138764e-01 -3.79273997e-02 -1.68298418e-02 1.90189784e+02] [ 3.79295659e-02 9.99280397e-01 -1.90579684e-04 1.69779334e+00] [ 1.68249592e-02 -4.47933044e-04 9.99858350e-01 1.23351984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799254154 meters 0.023542661072878994 Centerline is valid? [True, True] Translation: X:190.25, Y:1.68, Z:1.23 [[ 9.98655061e-01 -4.98712754e-02 -1.41748303e-02 1.90250199e+02] [ 4.98740186e-02 9.98755504e-01 -1.60124418e-04 1.68488572e+00] [ 1.41651754e-02 -5.47046688e-04 9.99899519e-01 1.23370725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859254154 meters 0.024305442857584666 Centerline is valid? [True, True] Translation: X:190.31, Y:1.68, Z:1.23 [[ 9.98193387e-01 -5.85006368e-02 -1.36981005e-02 1.90310940e+02] [ 5.85040134e-02 9.98287161e-01 -1.54429238e-04 1.68202499e+00] [ 1.36836721e-02 -6.47243610e-04 9.99906165e-01 1.23376553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91925415400001 meters 0.02744390296468703 Centerline is valid? [True, True] Translation: X:190.37, Y:1.67, Z:1.23 [[ 9.97525254e-01 -6.89518901e-02 -1.37479190e-02 1.90371241e+02] [ 6.89562815e-02 9.97619671e-01 -1.54912821e-04 1.67458448e+00] [ 1.37258759e-02 -7.93475920e-04 9.99905481e-01 1.23305234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters 0.03155890646657961 Centerline is valid? [True, True] Translation: X:190.43, Y:1.67, Z:1.23 [[ 9.97246882e-01 -7.28882257e-02 -1.36368149e-02 1.90431470e+02] [ 7.28929132e-02 9.97339761e-01 -1.53645103e-04 1.66839540e+00] [ 1.36117366e-02 -8.40805066e-04 9.99907003e-01 1.23176707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters 0.029763357044013602 Centerline is valid? [True, True] Translation: X:190.49, Y:1.67, Z:1.23 [[ 9.97294928e-01 -7.21720693e-02 -1.39290634e-02 1.90493715e+02] [ 7.21768977e-02 9.97391834e-01 -1.56404695e-04 1.67243467e+00] [ 1.39040222e-02 -8.49374979e-04 9.99902974e-01 1.23217777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters 0.027202125769195003 Centerline is valid? [True, True] Translation: X:190.55, Y:1.68, Z:1.23 [[ 9.97522130e-01 -6.88145066e-02 -1.46343635e-02 1.90554475e+02] [ 6.88194862e-02 9.97629115e-01 -1.63650064e-04 1.67974817e+00] [ 1.46109286e-02 -8.43884814e-04 9.99892899e-01 1.23194508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159254154 meters 0.02875527122183709 Centerline is valid? [True, True] Translation: X:190.62, Y:1.68, Z:1.23 [[ 9.97704965e-01 -6.53254748e-02 -1.78153194e-02 1.90615251e+02] [ 6.53323105e-02 9.97863543e-01 -1.98654983e-04 1.67998818e+00] [ 1.77902350e-02 -9.65716917e-04 9.99841275e-01 1.22851154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219254154 meters 0.02428223908094381 Centerline is valid? [True, True] Translation: X:190.68, Y:1.69, Z:1.23 [[ 9.98093762e-01 -5.82891694e-02 -2.02784254e-02 1.90676158e+02] [ 5.82965887e-02 9.98299282e-01 -2.25578073e-04 1.69081286e+00] [ 2.02570863e-02 -9.57014956e-04 9.99794346e-01 1.22706345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279254154 meters 0.02124878472790355 Centerline is valid? [True, True] Translation: X:190.74, Y:1.70, Z:1.23 [[ 9.98620031e-01 -4.86339024e-02 -1.98186148e-02 1.90737084e+02] [ 4.86390955e-02 9.98816394e-01 -2.20196743e-04 1.70076945e+00] [ 1.98058664e-02 -7.44066619e-04 9.99803568e-01 1.22871251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339254154 meters 0.017356720434097344 Centerline is valid? [True, True] Translation: X:190.80, Y:1.71, Z:1.23 [[ 9.99179144e-01 -3.66556378e-02 -1.72453425e-02 1.90797590e+02] [ 3.66577873e-02 9.99327859e-01 -1.91558960e-04 1.71280855e+00] [ 1.72407729e-02 -4.40774379e-04 9.99851270e-01 1.23233313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399254154 meters 0.015061021545787109 Centerline is valid? [True, True] Translation: X:190.86, Y:1.72, Z:1.23 [[ 9.99611826e-01 -2.30520816e-02 -1.56460400e-02 1.90857692e+02] [ 2.30521851e-02 9.99734248e-01 -1.73753771e-04 1.72470909e+00] [ 1.56458874e-02 -1.86989086e-04 9.99877578e-01 1.23401273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459254154 meters 0.014244647798766552 Centerline is valid? [True, True] Translation: X:190.92, Y:1.73, Z:1.24 [[ 9.99760341e-01 -1.57562142e-02 -1.51987425e-02 1.90917748e+02] [ 1.57554694e-02 9.99875861e-01 -1.68750313e-04 1.73090040e+00] [ 1.51995146e-02 -7.07534525e-05 9.99884478e-01 1.23526384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519254154 meters 0.014204126590438447 Centerline is valid? [True, True] Translation: X:190.98, Y:1.73, Z:1.24 [[ 9.99816136e-01 -1.17974158e-02 -1.51167090e-02 1.90976460e+02] [ 1.17961937e-02 9.99930408e-01 -1.70013273e-04 1.73424643e+00] [ 1.51176627e-02 -8.33761338e-06 9.99885722e-01 1.23520645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579254154 meters 0.014311403986463515 Centerline is valid? [True, True] Translation: X:191.03, Y:1.74, Z:1.23 [[ 9.99810388e-01 -1.23811096e-02 -1.50298699e-02 1.91033689e+02] [ 1.23799256e-02 9.99923351e-01 -1.71817459e-04 1.73504165e+00] [ 1.50308452e-02 -1.42837912e-05 9.99887030e-01 1.23496662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.639254154 meters 0.014426261981345624 Centerline is valid? [True, True] Translation: X:191.09, Y:1.73, Z:1.24 [[ 9.99736173e-01 -1.87343287e-02 -1.32894670e-02 1.91092598e+02] [ 1.87339479e-02 9.99824492e-01 -1.53147498e-04 1.73048824e+00] [ 1.32900037e-02 -9.58570901e-05 9.99911679e-01 1.23598486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69925415400002 meters 0.014836257561297249 Centerline is valid? [True, True] Translation: X:191.15, Y:1.73, Z:1.24 [[ 9.99636921e-01 -2.41706145e-02 -1.19083070e-02 1.91152190e+02] [ 2.41706870e-02 9.99707837e-01 -1.37857033e-04 1.72674306e+00] [ 1.19081599e-02 -1.50024981e-04 9.99929084e-01 1.23752315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters 0.015904112776284514 Centerline is valid? [True, True] Translation: X:191.21, Y:1.72, Z:1.24 [[ 9.99499071e-01 -2.95329031e-02 -1.13760261e-02 1.91213890e+02] [ 2.95333167e-02 9.99563788e-01 -1.31675565e-04 1.72158851e+00] [ 1.13749525e-02 -2.04362178e-04 9.99935282e-01 1.23720116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters 0.01870331413266834 Centerline is valid? [True, True] Translation: X:191.27, Y:1.71, Z:1.24 [[ 9.99197184e-01 -3.84960423e-02 -1.10924306e-02 1.91273578e+02] [ 3.84969913e-02 9.99258708e-01 -1.28030792e-04 1.71194457e+00] [ 1.10891366e-02 -2.99097199e-04 9.99938469e-01 1.23704242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879254154 meters 0.02131434298880331 Centerline is valid? [True, True] Translation: X:191.33, Y:1.70, Z:1.24 [[ 9.98838665e-01 -4.73461295e-02 -8.92557051e-03 1.91333851e+02] [ 4.73470969e-02 9.98878492e-01 -1.03012057e-04 1.70103723e+00] [ 8.92043764e-03 -3.19707427e-04 9.99960161e-01 1.23826406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939254154 meters 0.020371966056858135 Centerline is valid? [True, True] Translation: X:191.40, Y:1.70, Z:1.24 [[ 9.98791018e-01 -4.81080744e-02 -1.01051988e-02 1.91396199e+02] [ 4.81093562e-02 9.98842068e-01 -1.16343109e-04 1.69948718e+00] [ 1.00990947e-02 -3.69952157e-04 9.99948934e-01 1.23803874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999254154 meters 0.02048973766572501 Centerline is valid? [True, True] Translation: X:191.46, Y:1.70, Z:1.24 [[ 9.98979630e-01 -4.39086546e-02 -1.05702268e-02 1.91456438e+02] [ 4.39098286e-02 9.99035491e-01 -1.21099165e-04 1.69792710e+00] [ 1.05653490e-02 -3.43161248e-04 9.99944126e-01 1.23762591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059254154 meters 0.018949280042255004 Centerline is valid? [True, True] Translation: X:191.52, Y:1.70, Z:1.24 [[ 9.99075522e-01 -4.16481462e-02 -1.06551670e-02 1.91519149e+02] [ 4.16492158e-02 9.99132288e-01 -1.21584577e-04 1.70059307e+00] [ 1.06509852e-02 -3.22307178e-04 9.99943225e-01 1.23797274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119254154 meters 0.01671454558593589 Centerline is valid? [True, True] Translation: X:191.58, Y:1.70, Z:1.24 [[ 9.99318042e-01 -3.49561302e-02 -1.18962099e-02 1.91579549e+02] [ 3.49569978e-02 9.99388808e-01 -1.35058961e-04 1.70481076e+00] [ 1.18936602e-02 -2.80888928e-04 9.99929228e-01 1.23750780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179254154 meters 0.016358235106550892 Centerline is valid? [True, True] Translation: X:191.64, Y:1.71, Z:1.24 [[ 9.99423169e-01 -3.13040060e-02 -1.31676776e-02 1.91641376e+02] [ 3.13047568e-02 9.99509875e-01 -1.49138841e-04 1.70651438e+00] [ 1.31658924e-02 -2.63158131e-04 9.99913291e-01 1.23671815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239254154 meters 0.01590404408366752 Centerline is valid? [True, True] Translation: X:191.70, Y:1.71, Z:1.24 [[ 9.99451369e-01 -2.94523864e-02 -1.51498228e-02 1.91702880e+02] [ 2.94531790e-02 9.99566146e-01 -1.70849492e-04 1.70708665e+00] [ 1.51482819e-02 -2.75454684e-04 9.99885220e-01 1.23560519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299254154 meters 0.016032962103768793 Centerline is valid? [True, True] Translation: X:191.76, Y:1.71, Z:1.24 [[ 9.99419491e-01 -3.03662337e-02 -1.54457735e-02 1.91764639e+02] [ 3.03671756e-02 9.99538796e-01 -1.73606992e-04 1.70561525e+00] [ 1.54439217e-02 -2.95538305e-04 9.99880692e-01 1.23575673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359254154 meters 0.016635686972445086 Centerline is valid? [True, True] Translation: X:191.82, Y:1.70, Z:1.24 [[ 9.99396115e-01 -3.11647882e-02 -1.53675509e-02 1.91824673e+02] [ 3.11658266e-02 9.99514213e-01 -1.71971550e-04 1.70325228e+00] [ 1.53654450e-02 -3.07074728e-04 9.99881897e-01 1.23555601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41925415400001 meters 0.01684156891780343 Centerline is valid? [True, True] Translation: X:191.89, Y:1.70, Z:1.24 [[ 9.99307730e-01 -3.41086987e-02 -1.48545352e-02 1.91886258e+02] [ 3.41100040e-02 9.99418071e-01 -1.65546634e-04 1.70116975e+00] [ 1.48515375e-02 -3.41256225e-04 9.99889652e-01 1.23691993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters 0.018396178508993437 Centerline is valid? [True, True] Translation: X:191.95, Y:1.70, Z:1.24 [[ 9.99099023e-01 -4.00076425e-02 -1.41609239e-02 1.91947297e+02] [ 4.00094261e-02 9.99199290e-01 -1.57440448e-04 1.69520156e+00] [ 1.41558840e-02 -4.09271841e-04 9.99899717e-01 1.23746054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters 0.020450123927217255 Centerline is valid? [True, True] Translation: X:192.01, Y:1.69, Z:1.24 [[ 9.98770149e-01 -4.76156142e-02 -1.38181801e-02 1.92007922e+02] [ 4.76180418e-02 9.98865606e-01 -1.53464477e-04 1.68801694e+00] [ 1.38098122e-02 -5.04718940e-04 9.99904513e-01 1.23808567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters 0.022663539752224383 Centerline is valid? [True, True] Translation: X:192.07, Y:1.68, Z:1.24 [[ 9.98496506e-01 -5.32224291e-02 -1.31187422e-02 1.92068567e+02] [ 5.32251022e-02 9.98582529e-01 -1.45538635e-04 1.68269057e+00] [ 1.31078927e-02 -5.52926577e-04 9.99913935e-01 1.23887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659254154 meters 0.02525555018444142 Centerline is valid? [True, True] Translation: X:192.13, Y:1.68, Z:1.24 [[ 9.98101897e-01 -6.04205937e-02 -1.19145077e-02 1.92128660e+02] [ 6.04233105e-02 9.98172834e-01 -1.32146843e-04 1.67748670e+00] [ 1.19007223e-02 -5.88017984e-04 9.99929011e-01 1.24020104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719254154 meters 0.02942770530420432 Centerline is valid? [True, True] Translation: X:192.19, Y:1.67, Z:1.24 [[ 9.97933805e-01 -6.33196975e-02 -1.08965969e-02 1.92188482e+02] [ 6.33221451e-02 9.97993132e-01 -1.20579571e-04 1.67246404e+00] [ 1.08823639e-02 -5.69665458e-04 9.99940623e-01 1.24166389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779254154 meters 0.02803909940831521 Centerline is valid? [True, True] Translation: X:192.25, Y:1.68, Z:1.24 [[ 9.97885003e-01 -6.41168777e-02 -1.07026512e-02 1.92250506e+02] [ 6.41192941e-02 9.97942234e-01 -1.17556329e-04 1.67550243e+00] [ 1.06881650e-02 -5.68938740e-04 9.99942718e-01 1.24220309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839254154 meters 0.026657857786533325 Centerline is valid? [True, True] Translation: X:192.31, Y:1.68, Z:1.24 [[ 9.97851640e-01 -6.43427860e-02 -1.23333300e-02 1.92312376e+02] [ 6.43460242e-02 9.97927638e-01 -1.34484466e-04 1.67919936e+00] [ 1.23164240e-02 -6.59405207e-04 9.99923933e-01 1.24128674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899254154 meters 0.02803496318620372 Centerline is valid? [True, True] Translation: X:192.37, Y:1.68, Z:1.24 [[ 9.97877746e-01 -6.38228998e-02 -1.29089576e-02 1.92373372e+02] [ 6.38264153e-02 9.97961006e-01 -1.39895399e-04 1.67911408e+00] [ 1.28915648e-02 -6.84333980e-04 9.99916666e-01 1.24070773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959254154 meters 0.027698819912389358 Centerline is valid? [True, True] Translation: X:192.43, Y:1.68, Z:1.24 [[ 9.98029960e-01 -6.12128018e-02 -1.37547138e-02 1.92434865e+02] [ 6.12165547e-02 9.98124497e-01 -1.48412114e-04 1.68351248e+00] [ 1.37380015e-02 -6.93896452e-04 9.99905388e-01 1.24082425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019254154 meters 0.024436113718486533 Centerline is valid? [True, True] Translation: X:192.50, Y:1.69, Z:1.24 [[ 9.98383374e-01 -5.48267537e-02 -1.49888753e-02 1.92495222e+02] [ 5.48304964e-02 9.98495664e-01 -1.61448333e-04 1.69259200e+00] [ 1.49751786e-02 -6.60660138e-04 9.99887647e-01 1.24067028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079254154 meters 0.022768435271349117 Centerline is valid? [True, True] Translation: X:192.56, Y:1.70, Z:1.24 [[ 9.98738768e-01 -4.79423975e-02 -1.49131010e-02 1.92555209e+02] [ 4.79453365e-02 9.98849948e-01 -1.60599777e-04 1.69929376e+00] [ 1.49036497e-02 -5.54616424e-04 9.99888781e-01 1.24103760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.139254154 meters 0.020201824446704 Centerline is valid? [True, True] Translation: X:192.61, Y:1.71, Z:1.24 [[ 9.99114151e-01 -3.95535887e-02 -1.43675879e-02 1.92614591e+02] [ 3.95554483e-02 9.99217365e-01 -1.54832562e-04 1.70745403e+00] [ 1.43624675e-02 -4.13620978e-04 9.99896769e-01 1.24210672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19925415400002 meters 0.015956176846129082 Centerline is valid? [True, True] Translation: X:192.68, Y:1.72, Z:1.24 [[ 9.99525275e-01 -2.79482917e-02 -1.29659935e-02 1.92675317e+02] [ 2.79488289e-02 9.99609345e-01 -1.39804148e-04 1.72090790e+00] [ 1.29648355e-02 -2.22646553e-04 9.99915928e-01 1.24420756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters 0.014936952947053429 Centerline is valid? [True, True] Translation: X:192.74, Y:1.73, Z:1.24 [[ 9.99679746e-01 -2.21618614e-02 -1.22170897e-02 1.92736667e+02] [ 2.21619090e-02 9.99754386e-01 -1.31507597e-04 1.72628179e+00] [ 1.22170035e-02 -1.39288549e-04 9.99925360e-01 1.24476469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters 0.014412640104525653 Centerline is valid? [True, True] Translation: X:192.80, Y:1.73, Z:1.24 [[ 9.99740022e-01 -1.84260339e-02 -1.34301694e-02 1.92796835e+02] [ 1.84257595e-02 9.99830221e-01 -1.44177978e-04 1.73026227e+00] [ 1.34305459e-02 -1.03320577e-04 9.99909801e-01 1.24393140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379254154 meters 0.015120309773753714 Centerline is valid? [True, True] Translation: X:192.86, Y:1.73, Z:1.24 [[ 9.99665380e-01 -2.18073923e-02 -1.39127858e-02 1.92855858e+02] [ 2.18074234e-02 9.99762179e-01 -1.49486522e-04 1.72887290e+00] [ 1.39127370e-02 -1.53965510e-04 9.99903201e-01 1.24304082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439254154 meters 0.016326859569650992 Centerline is valid? [True, True] Translation: X:192.92, Y:1.72, Z:1.24 [[ 9.99531221e-01 -2.75023516e-02 -1.34520799e-02 1.92915768e+02] [ 2.75028901e-02 9.99621713e-01 -1.44994225e-04 1.72447961e+00] [ 1.34509789e-02 -2.25044821e-04 9.99909506e-01 1.24334388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499254154 meters 0.01714848350739356 Centerline is valid? [True, True] Translation: X:192.98, Y:1.72, Z:1.24 [[ 9.99258002e-01 -3.62251836e-02 -1.30836461e-02 1.92976616e+02] [ 3.62264387e-02 9.99343597e-01 -1.41128793e-04 1.72128724e+00] [ 1.30801704e-02 -3.32949828e-04 9.99914395e-01 1.24404955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559254154 meters 0.02191766936623836 Centerline is valid? [True, True] Translation: X:193.04, Y:1.71, Z:1.24 [[ 9.98596344e-01 -5.16332574e-02 -1.18046055e-02 1.93037748e+02] [ 5.16353561e-02 9.98665997e-01 -1.27124830e-04 1.71070692e+00] [ 1.17954220e-02 -4.82588618e-04 9.99930315e-01 1.24487437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619254154 meters 0.026671668972245093 Centerline is valid? [True, True] Translation: X:193.10, Y:1.70, Z:1.24 [[ 9.98084448e-01 -6.08347879e-02 -1.12500704e-02 1.93097868e+02] [ 6.08372803e-02 9.98147690e-01 -1.20861161e-04 1.70256124e+00] [ 1.12365844e-02 -5.63794045e-04 9.99936709e-01 1.24497137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679254154 meters 0.02852115799022751 Centerline is valid? [True, True] Translation: X:193.16, Y:1.70, Z:1.25 [[ 9.97572200e-01 -6.88206941e-02 -1.06497851e-02 1.93158694e+02] [ 6.88233842e-02 9.97628853e-01 -1.14118951e-04 1.69922090e+00] [ 1.06323866e-02 -6.19112357e-04 9.99943283e-01 1.24551356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739254154 meters 0.029216596778780423 Centerline is valid? [True, True] Translation: X:193.22, Y:1.70, Z:1.25 [[ 9.97437657e-01 -7.08307878e-02 -1.00558014e-02 1.93220869e+02] [ 7.08332912e-02 9.97488162e-01 -1.07424130e-04 1.69894996e+00] [ 1.00381518e-02 -6.05136639e-04 9.99949433e-01 1.24595628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799254154 meters 0.030429433085832024 Centerline is valid? [True, True] Translation: X:193.28, Y:1.70, Z:1.25 [[ 9.97406545e-01 -7.11216480e-02 -1.10406115e-02 1.93283229e+02] [ 7.11246931e-02 9.97467425e-01 -1.17081091e-04 1.69805349e+00] [ 1.10209773e-02 -6.68482655e-04 9.99939044e-01 1.24510957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859254154 meters 0.028466362979911473 Centerline is valid? [True, True] Translation: X:193.34, Y:1.70, Z:1.24 [[ 9.97529214e-01 -6.92553630e-02 -1.17966783e-02 1.93344348e+02] [ 6.92587179e-02 9.97598724e-01 -1.24380551e-04 1.70193360e+00] [ 1.17769653e-02 -6.92949584e-04 9.99930409e-01 1.24384789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91925415400001 meters 0.027024129813138457 Centerline is valid? [True, True] Translation: X:193.40, Y:1.71, Z:1.24 [[ 9.97957196e-01 -6.25399387e-02 -1.30457301e-02 1.93403993e+02] [ 6.25434716e-02 9.98042231e-01 -1.37395420e-04 1.70761265e+00] [ 1.30287823e-02 -6.78810503e-04 9.99914891e-01 1.24240303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters 0.024352576304763177 Centerline is valid? [True, True] Translation: X:193.46, Y:1.72, Z:1.24 [[ 9.98406734e-01 -5.48690585e-02 -1.31674171e-02 1.93464039e+02] [ 5.48719907e-02 9.98493388e-01 -1.38761904e-04 1.71542793e+00] [ 1.31551927e-02 -5.83981571e-04 9.99913296e-01 1.24294125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters 0.0191588542181919 Centerline is valid? [True, True] Translation: X:193.52, Y:1.73, Z:1.24 [[ 9.99096053e-01 -4.04098073e-02 -1.31955940e-02 1.93524360e+02] [ 4.04114930e-02 9.99183112e-01 -1.38976300e-04 1.73011884e+00] [ 1.31904307e-02 -3.94402982e-04 9.99912925e-01 1.24308440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters 0.016648476838117272 Centerline is valid? [True, True] Translation: X:193.58, Y:1.74, Z:1.24 [[ 9.99428626e-01 -3.07259439e-02 -1.40832631e-02 1.93584096e+02] [ 3.07269034e-02 9.99527806e-01 -1.48292229e-04 1.73996929e+00] [ 1.40811695e-02 -2.84527565e-04 9.99900815e-01 1.24302531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159254154 meters 0.01385042710921832 Centerline is valid? [True, True] Translation: X:193.64, Y:1.75, Z:1.24 [[ 9.99748463e-01 -1.74313579e-02 -1.41123313e-02 1.93644847e+02] [ 1.74309987e-02 9.99848058e-01 -1.48463711e-04 1.75464074e+00] [ 1.41127750e-02 -9.75656619e-05 9.99900405e-01 1.24399435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219254154 meters 0.013778188902299184 Centerline is valid? [True, True] Translation: X:193.70, Y:1.76, Z:1.24 [[ 9.99797320e-01 -1.40738012e-02 -1.43960668e-02 1.93703880e+02] [ 1.40730527e-02 9.99900958e-01 -1.53302033e-04 1.75812099e+00] [ 1.43967985e-02 -4.93256443e-05 9.99896360e-01 1.24386113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279254154 meters 0.01374996821061654 Centerline is valid? [True, True] Translation: X:193.76, Y:1.76, Z:1.24 [[ 9.99839835e-01 -8.95706024e-03 -1.54943641e-02 1.93761614e+02] [ 8.95550985e-03 9.99959884e-01 -1.69444193e-04 1.76344378e+00] [ 1.54952602e-02 3.06571243e-05 9.99879941e-01 1.24352266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339254154 meters 0.013894718614175423 Centerline is valid? [True, True] Translation: X:193.82, Y:1.77, Z:1.24 [[ 9.99863029e-01 -5.64667452e-03 -1.55575980e-02 1.93819876e+02] [ 5.64464459e-03 9.99984054e-01 -1.74387231e-04 1.76708711e+00] [ 1.55583346e-02 8.65462333e-05 9.99878958e-01 1.24421449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399254154 meters 0.01388206063943121 Centerline is valid? [True, True] Translation: X:193.88, Y:1.77, Z:1.25 [[ 9.99875777e-01 -6.03642154e-03 -1.45599822e-02 1.93877339e+02] [ 6.03465122e-03 9.99981778e-01 -1.65520409e-04 1.76789696e+00] [ 1.45607160e-02 7.76354332e-05 9.99893984e-01 1.24561093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459254154 meters 0.013503467068150218 Centerline is valid? [True, True] Translation: X:193.94, Y:1.76, Z:1.25 [[ 9.99872384e-01 -9.93898907e-03 -1.25072539e-02 1.93936433e+02] [ 9.93797625e-03 9.99950607e-01 -1.43128532e-04 1.76474166e+00] [ 1.25080587e-02 1.88134744e-05 9.99921771e-01 1.24746767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519254154 meters 0.013896369196559476 Centerline is valid? [True, True] Translation: X:193.99, Y:1.76, Z:1.25 [[ 9.99769319e-01 -1.82313836e-02 -1.13545577e-02 1.93994981e+02] [ 1.82310745e-02 9.99833792e-01 -1.30730547e-04 1.75837794e+00] [ 1.13550539e-02 -7.63053974e-05 9.99935526e-01 1.24863373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579254154 meters 0.014868905522974828 Centerline is valid? [True, True] Translation: X:194.05, Y:1.75, Z:1.25 [[ 9.99601072e-01 -2.57862343e-02 -1.15224973e-02 1.94054275e+02] [ 2.57864122e-02 9.99667466e-01 -1.33149842e-04 1.75175115e+00] [ 1.15220992e-02 -1.64027141e-04 9.99933605e-01 1.24864049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639254154 meters 0.018447722687008627 Centerline is valid? [True, True] Translation: X:194.11, Y:1.74, Z:1.25 [[ 9.99145256e-01 -3.94809035e-02 -1.22480628e-02 1.94114504e+02] [ 3.94821319e-02 9.99220267e-01 -1.41588032e-04 1.73904927e+00] [ 1.22441026e-02 -3.42112622e-04 9.99924980e-01 1.24715326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69925415400002 meters 0.02143597533495655 Centerline is valid? [True, True] Translation: X:194.18, Y:1.73, Z:1.25 [[ 9.98749464e-01 -4.83298996e-02 -1.27956321e-02 1.94175636e+02] [ 4.83319643e-02 9.98831317e-01 -1.48003954e-04 1.73066942e+00] [ 1.27878311e-02 -4.70619165e-04 9.99918122e-01 1.24693174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters 0.02593333694434288 Centerline is valid? [True, True] Translation: X:194.24, Y:1.72, Z:1.25 [[ 9.98199709e-01 -5.86666078e-02 -1.24728066e-02 1.94236924e+02] [ 5.86693771e-02 9.98277458e-01 -1.44068105e-04 1.72016884e+00] [ 1.24597736e-02 -5.87963052e-04 9.99922201e-01 1.24733474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters 0.028017664968783072 Centerline is valid? [True, True] Translation: X:194.30, Y:1.72, Z:1.25 [[ 9.98008967e-01 -6.17827928e-02 -1.26881263e-02 1.94297773e+02] [ 6.17859159e-02 9.98089414e-01 -1.46069801e-04 1.71522804e+00] [ 1.26729091e-02 -6.38168532e-04 9.99919492e-01 1.24724881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879254154 meters 0.028057160380050957 Centerline is valid? [True, True] Translation: X:194.36, Y:1.71, Z:1.25 [[ 9.97997277e-01 -6.19008239e-02 -1.30278198e-02 1.94360355e+02] [ 6.19041366e-02 9.98082089e-01 -1.49214789e-04 1.71428998e+00] [ 1.30120701e-02 -6.57559985e-04 9.99915123e-01 1.24726170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939254154 meters 0.02373321891004931 Centerline is valid? [True, True] Translation: X:194.42, Y:1.72, Z:1.25 [[ 9.98274698e-01 -5.70862439e-02 -1.37400429e-02 1.94421089e+02] [ 5.70894823e-02 9.98369053e-01 -1.56736359e-04 1.72094093e+00] [ 1.37265811e-02 -6.27945996e-04 9.99905589e-01 1.24790269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999254154 meters 0.020671125503824158 Centerline is valid? [True, True] Translation: X:194.48, Y:1.73, Z:1.25 [[ 9.98714746e-01 -4.83661337e-02 -1.51516701e-02 1.94481974e+02] [ 4.83690740e-02 9.98829516e-01 -1.72550389e-04 1.72805948e+00] [ 1.51422809e-02 -5.60543633e-04 9.99885192e-01 1.24787506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059254154 meters 0.01933385697773284 Centerline is valid? [True, True] Translation: X:194.54, Y:1.73, Z:1.25 [[ 9.98926216e-01 -4.28665313e-02 -1.75748604e-02 1.94543605e+02] [ 4.28696503e-02 9.99080654e-01 -1.99410647e-04 1.73221476e+00] [ 1.75672510e-02 -5.54231594e-04 9.99845530e-01 1.24701016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119254154 meters 0.017949320126816225 Centerline is valid? [True, True] Translation: X:194.60, Y:1.74, Z:1.25 [[ 9.99099211e-01 -3.72271100e-02 -2.03693308e-02 1.94604716e+02] [ 3.72301477e-02 9.99306691e-01 -2.30194200e-04 1.73743480e+00] [ 2.03637780e-02 -5.28366351e-04 9.99792497e-01 1.24609719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179254154 meters 0.017286617644195302 Centerline is valid? [True, True] Translation: X:194.67, Y:1.74, Z:1.25 [[ 9.99165173e-01 -3.49894817e-02 -2.10877370e-02 1.94665541e+02] [ 3.49922449e-02 9.99387556e-01 -2.38060118e-04 1.74077431e+00] [ 2.10831516e-02 -5.00045879e-04 9.99777601e-01 1.24686921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239254154 meters 0.017582738958035103 Centerline is valid? [True, True] Translation: X:194.72, Y:1.74, Z:1.25 [[ 9.99186789e-01 -3.43317388e-02 -2.11445665e-02 1.94724705e+02] [ 3.43343589e-02 9.99410373e-01 -2.39215510e-04 1.74197499e+00] [ 2.11403118e-02 -4.86964157e-04 9.99776400e-01 1.24693814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299254154 meters 0.01694540271256285 Centerline is valid? [True, True] Translation: X:194.78, Y:1.74, Z:1.25 [[ 9.99172345e-01 -3.51723529e-02 -2.04335513e-02 1.94784480e+02] [ 3.51749603e-02 9.99381143e-01 -2.31904648e-04 1.74421323e+00] [ 2.04290625e-02 -4.87036645e-04 9.99791186e-01 1.24925094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359254154 meters 0.018371811800349032 Centerline is valid? [True, True] Translation: X:194.84, Y:1.74, Z:1.25 [[ 9.99105705e-01 -3.74623792e-02 -1.96051026e-02 1.94844256e+02] [ 3.74652108e-02 9.99297908e-01 -2.22970229e-04 1.74328371e+00] [ 1.95996911e-02 -5.11738475e-04 9.99807777e-01 1.25036357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41925415400001 meters 0.017695470244501056 Centerline is valid? [True, True] Translation: X:194.91, Y:1.75, Z:1.25 [[ 9.99041959e-01 -3.93594152e-02 -1.91311216e-02 1.94905408e+02] [ 3.93624655e-02 9.99224974e-01 -2.17236027e-04 1.74539301e+00] [ 1.91248448e-02 -5.36020209e-04 9.99816960e-01 1.25265800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters 0.0181950062086487 Centerline is valid? [True, True] Translation: X:194.97, Y:1.74, Z:1.25 [[ 9.98976077e-01 -4.15201675e-02 -1.79686937e-02 1.94966917e+02] [ 4.15232192e-02 9.99137519e-01 -2.03383263e-04 1.74446083e+00] [ 1.79616405e-02 -5.42942994e-04 9.99838529e-01 1.25381714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters 0.019739113783129536 Centerline is valid? [True, True] Translation: X:195.03, Y:1.74, Z:1.26 [[ 9.98806606e-01 -4.62725800e-02 -1.56273137e-02 1.95027952e+02] [ 4.62754749e-02 9.98928701e-01 -1.76499757e-04 1.74090221e+00] [ 1.56187393e-02 -5.46872240e-04 9.99877870e-01 1.25610548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters 0.02076252947046652 Centerline is valid? [True, True] Translation: X:195.09, Y:1.74, Z:1.26 [[ 9.98677827e-01 -4.94177550e-02 -1.41592055e-02 1.95089830e+02] [ 4.94204545e-02 9.98778050e-01 -1.59390179e-04 1.73874428e+00] [ 1.41497804e-02 -5.40574934e-04 9.99899741e-01 1.25750462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659254154 meters 0.023902927797221647 Centerline is valid? [True, True] Translation: X:195.15, Y:1.73, Z:1.26 [[ 9.98523813e-01 -5.25665100e-02 -1.36732151e-02 1.95151299e+02] [ 5.25693305e-02 9.98617265e-01 -1.53302311e-04 1.73474059e+00] [ 1.36623672e-02 -5.65715755e-04 9.99906505e-01 1.25570297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719254154 meters 0.024312370534400017 Centerline is valid? [True, True] Translation: X:195.21, Y:1.73, Z:1.26 [[ 9.98432350e-01 -5.43721294e-02 -1.32858655e-02 1.95212137e+02] [ 5.43749660e-02 9.98520576e-01 -1.47889434e-04 1.73178932e+00] [ 1.32742511e-02 -5.74760888e-04 9.99911728e-01 1.25689441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779254154 meters 0.02328908680688491 Centerline is valid? [True, True] Translation: X:195.27, Y:1.73, Z:1.26 [[ 9.98384753e-01 -5.46439557e-02 -1.55539074e-02 1.95274587e+02] [ 5.46479022e-02 9.98505672e-01 -1.71491763e-04 1.73283476e+00] [ 1.55400357e-02 -6.78773646e-04 9.99879016e-01 1.25557421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839254154 meters 0.025821350158367277 Centerline is valid? [True, True] Translation: X:195.34, Y:1.73, Z:1.25 [[ 9.98402105e-01 -5.37048542e-02 -1.75791041e-02 1.95335564e+02] [ 5.37097831e-02 9.98556569e-01 -1.91955860e-04 1.72945610e+00] [ 1.75640388e-02 -7.52520733e-04 9.99845457e-01 1.25316738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899254154 meters 0.021305950106727603 Centerline is valid? [True, True] Translation: X:195.40, Y:1.74, Z:1.25 [[ 9.98526961e-01 -5.07605159e-02 -1.91644946e-02 1.95396568e+02] [ 5.07658587e-02 9.98710561e-01 -2.07921518e-04 1.73750042e+00] [ 1.91503373e-02 -7.65286783e-04 9.99816323e-01 1.25458364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959254154 meters 0.021624298308851733 Centerline is valid? [True, True] Translation: X:195.46, Y:1.74, Z:1.26 [[ 9.98688623e-01 -4.76977055e-02 -1.86000828e-02 1.95457453e+02] [ 4.77022204e-02 9.98861581e-01 -2.01116404e-04 1.73832629e+00] [ 1.85885009e-02 -6.86412586e-04 9.99826983e-01 1.25509736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019254154 meters 0.018988776513844962 Centerline is valid? [True, True] Translation: X:195.52, Y:1.75, Z:1.26 [[ 9.99046255e-01 -4.04862391e-02 -1.63537113e-02 1.95517747e+02] [ 4.04887686e-02 9.99179978e-01 -1.76524158e-04 1.74563525e+00] [ 1.63474477e-02 -4.85785834e-04 9.99866254e-01 1.25839733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079254154 meters 0.017457120629024447 Centerline is valid? [True, True] Translation: X:195.58, Y:1.75, Z:1.26 [[ 9.99281452e-01 -3.46727764e-02 -1.53094443e-02 1.95578463e+02] [ 3.46743144e-02 9.99398652e-01 -1.65042271e-04 1.75027897e+00] [ 1.53059605e-02 -3.65920806e-04 9.99882790e-01 1.26032414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.139254154 meters 0.016115008395500507 Centerline is valid? [True, True] Translation: X:195.64, Y:1.75, Z:1.26 [[ 9.99470508e-01 -2.88004386e-02 -1.51406028e-02 1.95639351e+02] [ 2.88012734e-02 9.99585144e-01 -1.62953958e-04 1.75480981e+00] [ 1.51390147e-02 -2.73200964e-04 9.99885361e-01 1.26102232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19925415400002 meters 0.015097869232907611 Centerline is valid? [True, True] Translation: X:195.70, Y:1.76, Z:1.26 [[ 9.99591113e-01 -2.38214832e-02 -1.58159057e-02 1.95700417e+02] [ 2.38217755e-02 9.99716207e-01 -1.69939167e-04 1.75803733e+00] [ 1.58154655e-02 -2.06893275e-04 9.99874906e-01 1.26074052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters 0.014188253151803417 Centerline is valid? [True, True] Translation: X:195.76, Y:1.76, Z:1.26 [[ 9.99655642e-01 -2.05741038e-02 -1.62881620e-02 1.95760245e+02] [ 2.05739790e-02 9.99788318e-01 -1.75245934e-04 1.76183157e+00] [ 1.62883196e-02 -1.59926715e-04 9.99867324e-01 1.26159201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters 0.013941466509638546 Centerline is valid? [True, True] Translation: X:195.82, Y:1.76, Z:1.26 [[ 9.99673475e-01 -1.90136076e-02 -1.70712364e-02 1.95819421e+02] [ 1.90131928e-02 9.99819216e-01 -1.86613341e-04 1.76225590e+00] [ 1.70716983e-02 -1.38026300e-04 9.99854258e-01 1.26167219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379254154 meters 0.014332128026918151 Centerline is valid? [True, True] Translation: X:195.88, Y:1.76, Z:1.26 [[ 9.99622496e-01 -2.06951035e-02 -1.80714726e-02 1.95876764e+02] [ 2.06948578e-02 9.99785818e-01 -2.00624658e-04 1.75949986e+00] [ 1.80717540e-02 -1.73437634e-04 9.99836677e-01 1.26032673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439254154 meters 0.01453399261549026 Centerline is valid? [True, True] Translation: X:195.94, Y:1.76, Z:1.26 [[ 9.99573003e-01 -2.29109974e-02 -1.81355293e-02 1.95935719e+02] [ 2.29110490e-02 9.99737486e-01 -2.04951400e-04 1.75731531e+00] [ 1.81354642e-02 -2.10640114e-04 9.99835517e-01 1.26018236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499254154 meters 0.015061059369115386 Centerline is valid? [True, True] Translation: X:195.99, Y:1.75, Z:1.26 [[ 9.99508041e-01 -2.60737349e-02 -1.74308958e-02 1.95994771e+02] [ 2.60741882e-02 9.99659990e-01 -2.01295587e-04 1.75479072e+00] [ 1.74302177e-02 -2.53299901e-04 9.99848050e-01 1.26109749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559254154 meters 0.016997707000859702 Centerline is valid? [True, True] Translation: X:196.05, Y:1.75, Z:1.26 [[ 9.99376997e-01 -3.12692794e-02 -1.63661190e-02 1.96053201e+02] [ 3.12703412e-02 9.99510945e-01 -1.91082906e-04 1.74849548e+00] [ 1.63640901e-02 -3.20810264e-04 9.99866048e-01 1.26117575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619254154 meters 0.01817498174025637 Centerline is valid? [True, True] Translation: X:196.11, Y:1.74, Z:1.26 [[ 9.99229403e-01 -3.58886426e-02 -1.58935630e-02 1.96113532e+02] [ 3.58902225e-02 9.99355721e-01 -1.85908617e-04 1.74351839e+00] [ 1.58899952e-02 -3.84658157e-04 9.99873672e-01 1.26182187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679254154 meters 0.017940459993579436 Centerline is valid? [True, True] Translation: X:196.18, Y:1.74, Z:1.26 [[ 9.99051765e-01 -4.05689467e-02 -1.58029017e-02 1.96175101e+02] [ 4.05710988e-02 9.99176637e-01 -1.84513203e-04 1.74263202e+00] [ 1.57973757e-02 -4.56802845e-04 9.99875109e-01 1.26322660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739254154 meters 0.019332565912256 Centerline is valid? [True, True] Translation: X:196.24, Y:1.74, Z:1.26 [[ 9.98842354e-01 -4.53532736e-02 -1.60322595e-02 1.96236119e+02] [ 4.53561110e-02 9.98970865e-01 -1.86768208e-04 1.73690523e+00] [ 1.60242307e-02 -5.40608945e-04 9.99871458e-01 1.26358887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799254154 meters 0.021294746405200415 Centerline is valid? [True, True] Translation: X:196.30, Y:1.73, Z:1.26 [[ 9.98742996e-01 -4.76639936e-02 -1.55104018e-02 1.96296969e+02] [ 4.76669344e-02 9.98863269e-01 -1.80246516e-04 1.73215255e+00] [ 1.55013619e-02 -5.59313360e-04 9.99879690e-01 1.26385378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859254154 meters 0.01974422825945094 Centerline is valid? [True, True] Translation: X:196.36, Y:1.73, Z:1.27 [[ 9.98742589e-01 -4.76457097e-02 -1.55925582e-02 1.96358655e+02] [ 4.76487006e-02 9.98864139e-01 -1.79845364e-04 1.73464573e+00] [ 1.55834161e-02 -5.63345913e-04 9.99878413e-01 1.26510595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91925415400001 meters 0.019994593562455074 Centerline is valid? [True, True] Translation: X:196.42, Y:1.73, Z:1.26 [[ 9.98780252e-01 -4.69156360e-02 -1.53926015e-02 1.96421350e+02] [ 4.69184892e-02 9.98898706e-01 -1.75905563e-04 1.73489444e+00] [ 1.53839024e-02 -5.46506605e-04 9.99881511e-01 1.26484336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters 0.020594171385541156 Centerline is valid? [True, True] Translation: X:196.48, Y:1.73, Z:1.27 [[ 9.98777091e-01 -4.69822167e-02 -1.53945892e-02 1.96482999e+02] [ 4.69850955e-02 9.98895575e-01 -1.74827287e-04 1.73449227e+00] [ 1.53858008e-02 -5.48702753e-04 9.99881481e-01 1.26518718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters 0.019979989166979937 Centerline is valid? [True, True] Translation: X:196.54, Y:1.74, Z:1.27 [[ 9.98725175e-01 -4.77626418e-02 -1.63326048e-02 1.96544718e+02] [ 4.77660016e-02 9.98858536e-01 -1.84546848e-04 1.73641053e+00] [ 1.63227761e-02 -5.95831642e-04 9.99866597e-01 1.26511764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters 0.02184961196154925 Centerline is valid? [True, True] Translation: X:196.60, Y:1.73, Z:1.26 [[ 9.98515739e-01 -5.15142337e-02 -1.76805603e-02 1.96604367e+02] [ 5.15187655e-02 9.98672007e-01 -1.99368994e-04 1.73344398e+00] [ 1.76673510e-02 -7.11807561e-04 9.99843667e-01 1.26350821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159254154 meters 0.022372061576297574 Centerline is valid? [True, True] Translation: X:196.67, Y:1.73, Z:1.26 [[ 9.98344406e-01 -5.46364413e-02 -1.79807034e-02 1.96665897e+02] [ 5.46416412e-02 9.98506009e-01 -2.02334163e-04 1.73325362e+00] [ 1.79648952e-02 -7.80495963e-04 9.99838314e-01 1.26401116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219254154 meters 0.026920264628439623 Centerline is valid? [True, True] Translation: X:196.73, Y:1.73, Z:1.26 [[ 9.98162435e-01 -5.80489977e-02 -1.73800787e-02 1.96726371e+02] [ 5.80543847e-02 9.98313403e-01 -1.94844489e-04 1.72730005e+00] [ 1.73620760e-02 -8.14503323e-04 9.99848936e-01 1.26444388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279254154 meters 0.024224857401929784 Centerline is valid? [True, True] Translation: X:196.79, Y:1.73, Z:1.27 [[ 9.98097166e-01 -5.94664120e-02 -1.63031639e-02 1.96788053e+02] [ 5.94713541e-02 9.98229996e-01 -1.81944255e-04 1.73174093e+00] [ 1.62851268e-02 -7.87973185e-04 9.99867078e-01 1.26701658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339254154 meters 0.02547839659380409 Centerline is valid? [True, True] Translation: X:196.85, Y:1.73, Z:1.27 [[ 9.98183955e-01 -5.82229720e-02 -1.54556536e-02 1.96849493e+02] [ 5.82272883e-02 9.98303338e-01 -1.70963968e-04 1.73043078e+00] [ 1.54393846e-02 -7.29287307e-04 9.99880540e-01 1.26747092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399254154 meters 0.02587230855497502 Centerline is valid? [True, True] Translation: X:196.91, Y:1.73, Z:1.27 [[ 9.98306591e-01 -5.61253822e-02 -1.52935476e-02 1.96910314e+02] [ 5.61293809e-02 9.98423490e-01 -1.67978699e-04 1.73020877e+00] [ 1.52788650e-02 -6.90723116e-04 9.99883033e-01 1.26745087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459254154 meters 0.022837783527907073 Centerline is valid? [True, True] Translation: X:196.97, Y:1.74, Z:1.27 [[ 9.98592121e-01 -5.09161233e-02 -1.48769657e-02 1.96971197e+02] [ 5.09193357e-02 9.98702756e-01 -1.63021759e-04 1.73737362e+00] [ 1.48659670e-02 -5.94732964e-04 9.99889319e-01 1.26876200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519254154 meters 0.019904388813954153 Centerline is valid? [True, True] Translation: X:197.03, Y:1.74, Z:1.27 [[ 9.98818988e-01 -4.61151740e-02 -1.52977180e-02 1.97031995e+02] [ 4.61180126e-02 9.98935984e-01 -1.67348429e-04 1.74394856e+00] [ 1.52891583e-02 -5.38349564e-04 9.99882969e-01 1.26982664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579254154 meters 0.0177145329965774 Centerline is valid? [True, True] Translation: X:197.09, Y:1.75, Z:1.27 [[ 9.99168733e-01 -3.76802782e-02 -1.55576046e-02 1.97092783e+02] [ 3.76821956e-02 9.99289759e-01 -1.69980886e-04 1.75088483e+00] [ 1.55529599e-02 -4.16405114e-04 9.99878959e-01 1.26990823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639254154 meters 0.016563993090660766 Centerline is valid? [True, True] Translation: X:197.15, Y:1.76, Z:1.27 [[ 9.99388433e-01 -3.16274962e-02 -1.49151535e-02 1.97153732e+02] [ 3.16285861e-02 9.99499678e-01 -1.62866511e-04 1.75650633e+00] [ 1.49128422e-02 -3.08978311e-04 9.99888750e-01 1.27016535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69925415400002 meters 0.014876517738257546 Centerline is valid? [True, True] Translation: X:197.21, Y:1.76, Z:1.27 [[ 9.99544227e-01 -2.62853769e-02 -1.48464873e-02 1.97214751e+02] [ 2.62858676e-02 9.99654454e-01 -1.62121215e-04 1.76339467e+00] [ 1.48456186e-02 -2.28205475e-04 9.99889772e-01 1.27104273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters 0.014592361448932454 Centerline is valid? [True, True] Translation: X:197.27, Y:1.77, Z:1.27 [[ 9.99672248e-01 -2.06314825e-02 -1.51571225e-02 1.97274599e+02] [ 2.06313437e-02 9.99787137e-01 -1.65540382e-04 1.76794105e+00] [ 1.51573115e-02 -1.47225678e-04 9.99885111e-01 1.26976963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters 0.014157002972885054 Centerline is valid? [True, True] Translation: X:197.33, Y:1.77, Z:1.27 [[ 9.99720765e-01 -1.85795493e-02 -1.46010823e-02 1.97333299e+02] [ 1.85791716e-02 9.99827379e-01 -1.61522428e-04 1.77187774e+00] [ 1.46015628e-02 -1.09798688e-04 9.99893385e-01 1.27166260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879254154 meters 0.013976569008070825 Centerline is valid? [True, True] Translation: X:197.39, Y:1.77, Z:1.27 [[ 9.99712729e-01 -1.88962603e-02 -1.47442075e-02 1.97391587e+02] [ 1.88958529e-02 9.99821443e-01 -1.66956450e-04 1.77256143e+00] [ 1.47447297e-02 -1.11695887e-04 9.99891284e-01 1.27260325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939254154 meters 0.014204178028504063 Centerline is valid? [True, True] Translation: X:197.45, Y:1.77, Z:1.27 [[ 9.99659924e-01 -2.11225803e-02 -1.52928917e-02 1.97449001e+02] [ 2.11223628e-02 9.99776883e-01 -1.75759065e-04 1.76889901e+00] [ 1.52931921e-02 -1.47322714e-04 9.99883041e-01 1.27197256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999254154 meters 0.014340866617433641 Centerline is valid? [True, True] Translation: X:197.51, Y:1.77, Z:1.27 [[ 9.99634090e-01 -2.22154323e-02 -1.54324345e-02 1.97507811e+02] [ 2.22152974e-02 9.99753194e-01 -1.80191373e-04 1.76774802e+00] [ 1.54326287e-02 -1.62710683e-04 9.99880897e-01 1.27217154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059254154 meters 0.014329390222440298 Centerline is valid? [True, True] Translation: X:197.57, Y:1.77, Z:1.27 [[ 9.99612259e-01 -2.32599001e-02 -1.53071423e-02 1.97566785e+02] [ 2.32598306e-02 9.99729437e-01 -1.82595599e-04 1.76669383e+00] [ 1.53072479e-02 -1.73516737e-04 9.99882822e-01 1.27242856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119254154 meters 0.014676841161576429 Centerline is valid? [True, True] Translation: X:197.63, Y:1.76, Z:1.27 [[ 9.99589415e-01 -2.42845810e-02 -1.52072681e-02 1.97625105e+02] [ 2.42845964e-02 9.99705069e-01 -1.83675852e-04 1.76431931e+00] [ 1.52072435e-02 -1.85701931e-04 9.99884346e-01 1.27254204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179254154 meters 0.0146463936009249 Centerline is valid? [True, True] Translation: X:197.68, Y:1.76, Z:1.27 [[ 9.99596035e-01 -2.33898570e-02 -1.61456066e-02 1.97684297e+02] [ 2.33897445e-02 9.99726403e-01 -1.95828199e-04 1.76412943e+00] [ 1.61457697e-02 -1.81892522e-04 9.99869632e-01 1.27218603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239254154 meters 0.014593823682815373 Centerline is valid? [True, True] Translation: X:197.74, Y:1.76, Z:1.27 [[ 9.99605768e-01 -2.21211998e-02 -1.72904882e-02 1.97742623e+02] [ 2.21208671e-02 9.99755282e-01 -2.10515221e-04 1.76464784e+00] [ 1.72909137e-02 -1.72048362e-04 9.99850486e-01 1.27142619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299254154 meters 0.0144974733917211 Centerline is valid? [True, True] Translation: X:197.80, Y:1.76, Z:1.27 [[ 9.99595870e-01 -2.18552324e-02 -1.81781361e-02 1.97800348e+02] [ 2.18547548e-02 9.99761131e-01 -2.24954867e-04 1.76475392e+00] [ 1.81787104e-02 -1.72414752e-04 9.99834739e-01 1.27122227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359254154 meters 0.014373412898919758 Centerline is valid? [True, True] Translation: X:197.86, Y:1.76, Z:1.27 [[ 9.99530334e-01 -2.42904556e-02 -1.86838077e-02 1.97858688e+02] [ 2.42903190e-02 9.99704919e-01 -2.34279643e-04 1.76389823e+00] [ 1.86839852e-02 -2.19666038e-04 9.99825415e-01 1.27223728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41925415400001 meters 0.016885822499955554 Centerline is valid? [True, True] Translation: X:197.92, Y:1.76, Z:1.27 [[ 9.99306825e-01 -3.23385043e-02 -1.84415377e-02 1.97916788e+02] [ 3.23397140e-02 9.99476908e-01 -2.32701951e-04 1.75667628e+00] [ 1.84394163e-02 -3.63853408e-04 9.99829913e-01 1.27136671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters 0.019702874153039552 Centerline is valid? [True, True] Translation: X:197.98, Y:1.75, Z:1.27 [[ 9.99054407e-01 -3.93015232e-02 -1.85925268e-02 1.97977322e+02] [ 3.93039483e-02 9.99227274e-01 -2.35097623e-04 1.75054976e+00] [ 1.85873995e-02 -4.95884395e-04 9.99827116e-01 1.27077333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters 0.02344983200568223 Centerline is valid? [True, True] Translation: X:198.04, Y:1.74, Z:1.27 [[ 9.98696200e-01 -4.70566641e-02 -1.97881514e-02 1.98036634e+02] [ 4.70609327e-02 9.98891989e-01 -2.50157386e-04 1.74285271e+00] [ 1.97779974e-02 -6.81417628e-04 9.99804164e-01 1.26992204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599254154 meters 0.02535904174223074 Centerline is valid? [True, True] Translation: X:198.10, Y:1.74, Z:1.27 [[ 9.98095581e-01 -5.87712927e-02 -1.87388936e-02 1.98096833e+02] [ 5.87771773e-02 9.98271099e-01 -2.37046677e-04 1.73810048e+00] [ 1.87204275e-02 -8.64824033e-04 9.99824383e-01 1.27242215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659254154 meters 0.027339072868699063 Centerline is valid? [True, True] Translation: X:198.16, Y:1.73, Z:1.28 [[ 9.97752067e-01 -6.48032876e-02 -1.70688638e-02 1.98157223e+02] [ 6.48090489e-02 9.97897660e-01 -2.15979153e-04 1.73443709e+00] [ 1.70469754e-02 -8.90723185e-04 9.99854293e-01 1.27507104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719254154 meters 0.028501232775562255 Centerline is valid? [True, True] Translation: X:198.22, Y:1.73, Z:1.28 [[ 9.97405716e-01 -7.00004447e-02 -1.67861457e-02 1.98217529e+02] [ 7.00067513e-02 9.97546495e-01 -2.12341800e-04 1.73330359e+00] [ 1.67598248e-02 -9.63352603e-04 9.99859080e-01 1.27653321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779254154 meters 0.03053265006718128 Centerline is valid? [True, True] Translation: X:198.28, Y:1.73, Z:1.28 [[ 9.97309693e-01 -7.05563856e-02 -1.98789340e-02 1.98278647e+02] [ 7.05653560e-02 9.97507127e-01 -2.50712131e-04 1.73287857e+00] [ 1.98470676e-02 -1.15272641e-03 9.99802363e-01 1.27516611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839254154 meters 0.027801506356171807 Centerline is valid? [True, True] Translation: X:198.34, Y:1.74, Z:1.28 [[ 9.97344235e-01 -6.94683007e-02 -2.18776500e-02 1.98340444e+02] [ 6.94789392e-02 9.97583381e-01 -2.74380783e-04 1.73983144e+00] [ 2.18438409e-02 -1.24638383e-03 9.99760618e-01 1.27546413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899254154 meters 0.02677849213932777 Centerline is valid? [True, True] Translation: X:198.40, Y:1.74, Z:1.28 [[ 9.97444745e-01 -6.77950376e-02 -2.25347401e-02 1.98402602e+02] [ 6.78059375e-02 9.97698489e-01 -2.80927658e-04 1.74434373e+00] [ 2.25019217e-02 -1.24777936e-03 9.99746021e-01 1.27655206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959254154 meters 0.02509131817053196 Centerline is valid? [True, True] Translation: X:198.46, Y:1.75, Z:1.28 [[ 9.97756880e-01 -6.33237829e-02 -2.17095887e-02 1.98463326e+02] [ 6.33328596e-02 9.97992423e-01 -2.69885938e-04 1.75231838e+00] [ 2.16830952e-02 -1.10564978e-03 9.99764283e-01 1.27924597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019254154 meters 0.02373280366239176 Centerline is valid? [True, True] Translation: X:198.52, Y:1.76, Z:1.28 [[ 9.98331415e-01 -5.39839710e-02 -2.04967610e-02 1.98523302e+02] [ 5.39900982e-02 9.98541439e-01 -2.54719614e-04 1.76217568e+00] [ 2.04806160e-02 -8.52327544e-04 9.99789887e-01 1.28183848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079254154 meters 0.019605405342144052 Centerline is valid? [True, True] Translation: X:198.58, Y:1.77, Z:1.29 [[ 9.98755134e-01 -4.60695419e-02 -1.91253737e-02 1.98583312e+02] [ 4.60734268e-02 9.98938028e-01 -2.37681463e-04 1.77455148e+00] [ 1.91160129e-02 -6.43785922e-04 9.99817065e-01 1.28503886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.139254154 meters 0.017563390250926524 Centerline is valid? [True, True] Translation: X:198.64, Y:1.78, Z:1.29 [[ 9.99116916e-01 -3.77763495e-02 -1.83939203e-02 1.98643733e+02] [ 3.77785421e-02 9.99286110e-01 -2.28387569e-04 1.78275738e+00] [ 1.83894167e-02 -4.66709610e-04 9.99830791e-01 1.28692399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19925415400002 meters 0.015852730843800872 Centerline is valid? [True, True] Translation: X:198.70, Y:1.79, Z:1.29 [[ 9.99416481e-01 -2.86925029e-02 -1.85320863e-02 1.98704418e+02] [ 2.86931733e-02 9.99588240e-01 -2.29770410e-04 1.79224874e+00] [ 1.85310482e-02 -3.02108031e-04 9.99828240e-01 1.28786850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters 0.015528182766366774 Centerline is valid? [True, True] Translation: X:198.76, Y:1.80, Z:1.29 [[ 9.99430135e-01 -2.63287186e-02 -2.11235356e-02 1.98763702e+02] [ 2.63290538e-02 9.99653296e-01 -2.62287567e-04 1.79548067e+00] [ 2.11231177e-02 -2.94024609e-04 9.99776839e-01 1.28663989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters 0.015672886089535893 Centerline is valid? [True, True] Translation: X:198.82, Y:1.80, Z:1.29 [[ 9.99375528e-01 -2.73270697e-02 -2.24005709e-02 1.98822089e+02] [ 2.73276009e-02 9.99626491e-01 -2.82461515e-04 1.79593965e+00] [ 2.23999229e-02 -3.29868735e-04 9.99749036e-01 1.28649427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379254154 meters 0.01591214976862518 Centerline is valid? [True, True] Translation: X:198.88, Y:1.79, Z:1.29 [[ 9.99294596e-01 -3.02527392e-02 -2.22504381e-02 1.98881229e+02] [ 3.02538594e-02 9.99542206e-01 -2.86348810e-04 1.79419869e+00] [ 2.22489148e-02 -3.87014809e-04 9.99752387e-01 1.28767438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439254154 meters 0.016489037919027536 Centerline is valid? [True, True] Translation: X:198.94, Y:1.79, Z:1.29 [[ 9.99199936e-01 -3.32566695e-02 -2.22144696e-02 1.98940150e+02] [ 3.32584006e-02 9.99446744e-01 -2.91626741e-04 1.79287449e+00] [ 2.22118779e-02 -4.47424309e-04 9.99753186e-01 1.28812652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499254154 meters 0.017697652842896282 Centerline is valid? [True, True] Translation: X:199.00, Y:1.79, Z:1.29 [[ 9.99036679e-01 -3.81027189e-02 -2.17691927e-02 1.98999736e+02] [ 3.81054819e-02 9.99273681e-01 -2.88024054e-04 1.78898473e+00] [ 2.17643559e-02 -5.41778987e-04 9.99762982e-01 1.28875023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559254154 meters 0.018447654793583547 Centerline is valid? [True, True] Translation: X:199.06, Y:1.79, Z:1.29 [[ 9.98921348e-01 -4.16074301e-02 -2.06145935e-02 1.99060134e+02] [ 4.16106485e-02 9.99133865e-01 -2.72979765e-04 1.78725771e+00] [ 2.06080965e-02 -5.85101290e-04 9.99787459e-01 1.29005395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619254154 meters 0.019814409577672075 Centerline is valid? [True, True] Translation: X:199.12, Y:1.78, Z:1.29 [[ 9.98762835e-01 -4.55511005e-02 -1.99473635e-02 1.99121543e+02] [ 4.55549090e-02 9.98961801e-01 -2.63661991e-04 1.78435832e+00] [ 1.99386642e-02 -6.45364531e-04 9.99800997e-01 1.29060203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679254154 meters 0.02154519842346578 Centerline is valid? [True, True] Translation: X:199.18, Y:1.78, Z:1.29 [[ 9.98450696e-01 -5.22430077e-02 -1.91539867e-02 1.99182833e+02] [ 5.22477572e-02 9.98634121e-01 -2.52715376e-04 1.77969526e+00] [ 1.91410273e-02 -7.48429004e-04 9.99816514e-01 1.29201460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739254154 meters 0.023765818252767038 Centerline is valid? [True, True] Translation: X:199.24, Y:1.78, Z:1.29 [[ 9.98190205e-01 -5.68220798e-02 -1.96866847e-02 1.99243862e+02] [ 5.68279931e-02 9.98383950e-01 -2.59383097e-04 1.77520803e+00] [ 1.96696087e-02 -8.59841117e-04 9.99806165e-01 1.29147080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799254154 meters 0.02607552129886277 Centerline is valid? [True, True] Translation: X:199.30, Y:1.77, Z:1.29 [[ 9.97708979e-01 -6.44652379e-02 -2.05189301e-02 1.99304579e+02] [ 6.44732789e-02 9.97919397e-01 -2.70093745e-04 1.77057116e+00] [ 2.04936500e-02 -1.05344775e-03 9.99789428e-01 1.29115205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859254154 meters 0.028882995991534443 Centerline is valid? [True, True] Translation: X:199.37, Y:1.77, Z:1.29 [[ 9.97356607e-01 -6.95062180e-02 -2.11821712e-02 1.99365245e+02] [ 6.95159229e-02 9.97580803e-01 -2.78714409e-04 1.76607761e+00] [ 2.11502997e-02 -1.19452052e-03 9.99775594e-01 1.29103037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91925415400001 meters 0.03154961626250758 Centerline is valid? [True, True] Translation: X:199.43, Y:1.76, Z:1.29 [[ 9.96933074e-01 -7.50345413e-02 -2.22320490e-02 1.99426026e+02] [ 7.50466032e-02 9.97179985e-01 -2.92459034e-04 1.76361260e+00] [ 2.21912988e-02 -1.37687767e-03 9.99752795e-01 1.29074015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters 0.029811824848283517 Centerline is valid? [True, True] Translation: X:199.49, Y:1.77, Z:1.29 [[ 9.96828452e-01 -7.61337954e-02 -2.31663899e-02 1.99488201e+02] [ 7.61472176e-02 9.97096540e-01 -3.03495210e-04 1.76719117e+00] [ 2.31222334e-02 -1.46152347e-03 9.99731577e-01 1.29185462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters 0.03199411724207901 Centerline is valid? [True, True] Translation: X:199.55, Y:1.77, Z:1.29 [[ 9.96647050e-01 -7.84457717e-02 -2.32576651e-02 1.99548967e+02] [ 7.84599454e-02 9.96917221e-01 -3.03881377e-04 1.76603953e+00] [ 2.32098051e-02 -1.52193266e-03 9.99729458e-01 1.29152405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099254154 meters 0.03399665674111605 Centerline is valid? [True, True] Translation: X:199.61, Y:1.76, Z:1.29 [[ 9.96594092e-01 -7.89603760e-02 -2.37797311e-02 1.99611154e+02] [ 7.89753719e-02 9.96876519e-01 -3.09333574e-04 1.76494143e+00] [ 2.37298807e-02 -1.56973309e-03 9.99717174e-01 1.29072438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159254154 meters 0.03342267625088952 Centerline is valid? [True, True] Translation: X:199.67, Y:1.77, Z:1.29 [[ 9.96729067e-01 -7.72486329e-02 -2.37448036e-02 1.99672962e+02] [ 7.72631345e-02 9.97010689e-01 -3.07467077e-04 1.76961210e+00] [ 2.36975744e-02 -1.52813658e-03 9.99718005e-01 1.29258085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219254154 meters 0.030273153575790492 Centerline is valid? [True, True] Translation: X:199.73, Y:1.78, Z:1.29 [[ 9.96852365e-01 -7.57025591e-02 -2.35475163e-02 1.99734864e+02] [ 7.57164216e-02 9.97129345e-01 -3.03611239e-04 1.77580209e+00] [ 2.35029036e-02 -1.48027809e-03 9.99722673e-01 1.29430854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279254154 meters 0.03325491309359287 Centerline is valid? [True, True] Translation: X:199.79, Y:1.78, Z:1.29 [[ 9.97243828e-01 -7.05653051e-02 -2.29190855e-02 1.99794064e+02] [ 7.05770868e-02 9.97506284e-01 -2.95434880e-04 1.77540072e+00] [ 2.28827793e-02 -1.32294168e-03 9.99737280e-01 1.29427303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339254154 meters 0.023848771656664998 Centerline is valid? [True, True] Translation: X:199.85, Y:1.79, Z:1.30 [[ 9.97990028e-01 -5.98160887e-02 -2.09270238e-02 1.99854416e+02] [ 5.98235519e-02 9.98208931e-01 -2.69783736e-04 1.79476136e+00] [ 2.09056795e-02 -9.82687418e-04 9.99780969e-01 1.29906035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399254154 meters 0.020138454801192827 Centerline is valid? [True, True] Translation: X:199.92, Y:1.81, Z:1.30 [[ 9.98705123e-01 -4.74580116e-02 -1.83252328e-02 1.99915101e+02] [ 4.74616579e-02 9.98873033e-01 -2.36127630e-04 1.80699333e+00] [ 1.83157870e-02 -6.33924054e-04 9.99832051e-01 1.30226584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459254154 meters 0.017408459177687775 Centerline is valid? [True, True] Translation: X:199.98, Y:1.82, Z:1.30 [[ 9.99059695e-01 -3.95547653e-02 -1.77523795e-02 1.99976210e+02] [ 3.95569446e-02 9.99217292e-01 -2.28497717e-04 1.81534461e+00] [ 1.77475228e-02 -4.73947035e-04 9.99842388e-01 1.30301456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519254154 meters 0.01616607456210292 Centerline is valid? [True, True] Translation: X:200.04, Y:1.82, Z:1.30 [[ 9.99301412e-01 -3.25059125e-02 -1.84405484e-02 2.00037822e+02] [ 3.25070800e-02 9.99471477e-01 -2.36513424e-04 1.82185201e+00] [ 1.84384902e-02 -3.63100183e-04 9.99829931e-01 1.30220483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579254154 meters 0.01489536366225699 Centerline is valid? [True, True] Translation: X:200.10, Y:1.83, Z:1.30 [[ 9.99515599e-01 -2.31281865e-02 -2.08243605e-02 2.00098818e+02] [ 2.31276555e-02 9.99732485e-01 -2.66363988e-04 1.83076206e+00] [ 2.08249501e-02 -2.15383674e-04 9.99783114e-01 1.30096400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.639254154 meters 0.014634688413517474 Centerline is valid? [True, True] Translation: X:200.16, Y:1.84, Z:1.30 [[ 9.99625957e-01 -1.76180899e-02 -2.09176888e-02 2.00157191e+02] [ 1.76162739e-02 9.99844785e-01 -2.71090244e-04 1.83583133e+00] [ 2.09192182e-02 -9.75028927e-05 9.99781164e-01 1.30128723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69925415400002 meters 0.014600864868735733 Centerline is valid? [True, True] Translation: X:200.22, Y:1.84, Z:1.30 [[ 9.99756117e-01 -1.01640274e-02 -1.96061130e-02 2.00216194e+02] [ 1.01609023e-02 9.99948343e-01 -2.59008797e-04 1.84235646e+00] [ 1.96077328e-02 5.97298316e-05 9.99807748e-01 1.30342117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters 0.014798721991925123 Centerline is valid? [True, True] Translation: X:200.27, Y:1.85, Z:1.30 [[ 9.99807053e-01 -6.97073897e-03 -1.83647961e-02 2.00274139e+02] [ 6.96736649e-03 9.99975697e-01 -2.47614944e-04 1.84503660e+00] [ 1.83660759e-02 1.19612902e-04 9.99831322e-01 1.30496905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters 0.014679990968240153 Centerline is valid? [True, True] Translation: X:200.33, Y:1.84, Z:1.31 [[ 9.99828965e-01 -5.93233625e-03 -1.75170538e-02 2.00331661e+02] [ 5.92901945e-03 9.99982394e-01 -2.41274758e-04 1.84333771e+00] [ 1.75181767e-02 1.37374540e-04 9.99846536e-01 1.30543935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879254154 meters 0.01454262175941653 Centerline is valid? [True, True] Translation: X:200.39, Y:1.84, Z:1.31 [[ 9.99797084e-01 -8.36504334e-03 -1.83253040e-02 2.00390594e+02] [ 8.36176775e-03 9.99965007e-01 -2.55363198e-04 1.84055864e+00] [ 1.83267989e-02 1.02079445e-04 9.99832045e-01 1.30534097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939254154 meters 0.014385154288006888 Centerline is valid? [True, True] Translation: X:200.45, Y:1.83, Z:1.31 [[ 9.99700336e-01 -1.63616241e-02 -1.82080903e-02 2.00449962e+02] [ 1.63596793e-02 9.99866139e-01 -2.55769346e-04 1.83339927e+00] [ 1.82098378e-02 -4.21858166e-05 9.99834186e-01 1.30597304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999254154 meters 0.015051047867572167 Centerline is valid? [True, True] Translation: X:200.51, Y:1.83, Z:1.31 [[ 9.99539120e-01 -2.43001996e-02 -1.81947085e-02 2.00508554e+02] [ 2.42995409e-02 9.99704689e-01 -2.57314539e-04 1.82560606e+00] [ 1.81955882e-02 -1.84927114e-04 9.99834429e-01 1.30591062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059254154 meters 0.017243436751816735 Centerline is valid? [True, True] Translation: X:200.57, Y:1.81, Z:1.31 [[ 9.99177063e-01 -3.65430016e-02 -1.76012859e-02 2.00569050e+02] [ 3.65442715e-02 9.99332004e-01 -2.49589926e-04 1.81238987e+00] [ 1.75986491e-02 -3.93841641e-04 9.99845054e-01 1.30630471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119254154 meters 0.018822686582751356 Centerline is valid? [True, True] Translation: X:200.63, Y:1.81, Z:1.31 [[ 9.98929517e-01 -4.31819167e-02 -1.65874363e-02 2.00630310e+02] [ 4.31839618e-02 9.99067110e-01 -2.35037288e-04 1.80593813e+00] [ 1.65821114e-02 -4.81525531e-04 9.99862391e-01 1.30765705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179254154 meters 0.02233682974662815 Centerline is valid? [True, True] Translation: X:200.69, Y:1.80, Z:1.31 [[ 9.98650303e-01 -4.96436847e-02 -1.52668240e-02 2.00690709e+02] [ 4.96461738e-02 9.98766845e-01 -2.16142994e-04 1.79563541e+00] [ 1.52587277e-02 -5.42088130e-04 9.99883432e-01 1.30854412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239254154 meters 0.023887876702514837 Centerline is valid? [True, True] Translation: X:200.75, Y:1.79, Z:1.31 [[ 9.98516273e-01 -5.21414344e-02 -1.57010901e-02 2.00752961e+02] [ 5.21443852e-02 9.98639532e-01 -2.21665605e-04 1.79080660e+00] [ 1.56912872e-02 -5.97386975e-04 9.99876706e-01 1.30830767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299254154 meters 0.027126252980627905 Centerline is valid? [True, True] Translation: X:200.81, Y:1.78, Z:1.31 [[ 9.98273402e-01 -5.60959420e-02 -1.74200800e-02 2.00814527e+02] [ 5.61001910e-02 9.98425114e-01 -2.45048283e-04 1.78417719e+00] [ 1.74063915e-02 -7.32644630e-04 9.99848229e-01 1.30536188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359254154 meters 0.024026111164003397 Centerline is valid? [True, True] Translation: X:200.88, Y:1.79, Z:1.31 [[ 9.98011936e-01 -6.03103830e-02 -1.82984356e-02 2.00875326e+02] [ 6.03157865e-02 9.98179312e-01 -2.56948084e-04 1.78598683e+00] [ 1.82806165e-02 -8.47247281e-04 9.99832537e-01 1.30793086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41925415400001 meters 0.027391574023853914 Centerline is valid? [True, True] Translation: X:200.94, Y:1.78, Z:1.31 [[ 9.97560799e-01 -6.70712249e-02 -1.93365652e-02 2.00936294e+02] [ 6.70785288e-02 9.97747662e-01 -2.71357387e-04 1.77894968e+00] [ 1.93112130e-02 -1.02637286e-03 9.99812994e-01 1.30760010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters 0.03179009688543994 Centerline is valid? [True, True] Translation: X:201.00, Y:1.77, Z:1.31 [[ 9.97321522e-01 -7.04779675e-02 -1.95611543e-02 2.00996771e+02] [ 7.04861000e-02 9.97512724e-01 -2.74258501e-04 1.77345708e+00] [ 1.95318295e-02 -1.10526557e-03 9.99808625e-01 1.30757550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters 0.03022043126450227 Centerline is valid? [True, True] Translation: X:201.06, Y:1.78, Z:1.31 [[ 9.97205441e-01 -7.22015994e-02 -1.91895119e-02 2.01059100e+02] [ 7.22097635e-02 9.97389432e-01 -2.68021075e-04 1.77795555e+00] [ 1.91587679e-02 -1.11839804e-03 9.99815828e-01 1.31090505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599254154 meters 0.030768485559568945 Centerline is valid? [True, True] Translation: X:201.12, Y:1.78, Z:1.31 [[ 9.97260427e-01 -7.14242368e-02 -1.92410836e-02 2.01120929e+02] [ 7.14323273e-02 9.97445413e-01 -2.67349184e-04 1.77966195e+00] [ 1.92110258e-02 -1.10781862e-03 9.99814837e-01 1.31196446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659254154 meters 0.028117977103159043 Centerline is valid? [True, True] Translation: X:201.18, Y:1.79, Z:1.32 [[ 9.97347096e-01 -7.02907805e-02 -1.89202618e-02 2.01182919e+02] [ 7.02984262e-02 9.97525971e-01 -2.61510532e-04 1.78659739e+00] [ 1.88918343e-02 -1.06924786e-03 9.99820962e-01 1.31519696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719254154 meters 0.02809911989765894 Centerline is valid? [True, True] Translation: X:201.24, Y:1.79, Z:1.32 [[ 9.97429910e-01 -6.92316043e-02 -1.84542642e-02 2.01244813e+02] [ 6.92387221e-02 9.97600088e-01 -2.53716641e-04 1.78926959e+00] [ 1.84275408e-02 -1.02468510e-03 9.99829673e-01 1.31620475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779254154 meters 0.02564267954042506 Centerline is valid? [True, True] Translation: X:201.31, Y:1.80, Z:1.32 [[ 9.97690247e-01 -6.53188096e-02 -1.86447046e-02 2.01305968e+02] [ 6.53254072e-02 9.97863982e-01 -2.55611681e-04 1.79707433e+00] [ 1.86215754e-02 -9.62951636e-04 9.99826140e-01 1.31787103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839254154 meters 0.02707559480203614 Centerline is valid? [True, True] Translation: X:201.37, Y:1.80, Z:1.32 [[ 9.97822140e-01 -6.33346483e-02 -1.84309264e-02 2.01366620e+02] [ 6.33407681e-02 9.97991926e-01 -2.52125113e-04 1.79689021e+00] [ 1.84098840e-02 -9.15853014e-04 9.99830104e-01 1.31796093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899254154 meters 0.02703436625444243 Centerline is valid? [True, True] Translation: X:201.43, Y:1.80, Z:1.32 [[ 9.98104319e-01 -5.84758210e-02 -1.91923480e-02 2.01426798e+02] [ 5.84815655e-02 9.98288454e-01 -2.62283323e-04 1.80068152e+00] [ 1.91748367e-02 -8.60612440e-04 9.99815776e-01 1.31794424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959254154 meters 0.022085787349473963 Centerline is valid? [True, True] Translation: X:201.49, Y:1.81, Z:1.32 [[ 9.98663331e-01 -4.79140083e-02 -1.93855257e-02 2.01486980e+02] [ 4.79178810e-02 9.98851243e-01 -2.64944260e-04 1.81372979e+00] [ 1.93759510e-02 -6.64323196e-04 9.99812048e-01 1.31991184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019254154 meters 0.016594289960929494 Centerline is valid? [True, True] Translation: X:201.55, Y:1.83, Z:1.32 [[ 9.99241645e-01 -3.39887629e-02 -1.89973614e-02 2.01547125e+02] [ 3.39899657e-02 9.99422140e-01 -2.59665496e-04 1.82914926e+00] [ 1.89952093e-02 -3.86251085e-04 9.99819500e-01 1.32270139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079254154 meters 0.01514697883455309 Centerline is valid? [True, True] Translation: X:201.61, Y:1.84, Z:1.32 [[ 9.99508844e-01 -2.49366164e-02 -1.89798967e-02 2.01606840e+02] [ 2.49361850e-02 9.99689011e-01 -2.59435208e-04 1.83607640e+00] [ 1.89804637e-02 -2.13978431e-04 9.99819832e-01 1.32348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.139254154 meters 0.015179185272862982 Centerline is valid? [True, True] Translation: X:201.67, Y:1.84, Z:1.32 [[ 9.99684356e-01 -1.49748751e-02 -2.01728059e-02 2.01665984e+02] [ 1.49722960e-02 9.99887870e-01 -2.78885545e-04 1.84209994e+00] [ 2.01747202e-02 -2.32357044e-05 9.99796469e-01 1.32206365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters 0.014688253117749057 Centerline is valid? [True, True] Translation: X:201.72, Y:1.84, Z:1.32 [[ 9.99710715e-01 -1.31219981e-02 -2.01568793e-02 2.01723551e+02] [ 1.31189377e-02 9.99913903e-01 -2.84059757e-04 1.84307513e+00] [ 2.01588712e-02 1.95407390e-05 9.99796789e-01 1.32256173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters 0.014400028424812639 Centerline is valid? [True, True] Translation: X:201.78, Y:1.84, Z:1.32 [[ 9.99669541e-01 -1.60110667e-02 -2.01110620e-02 2.01781458e+02] [ 1.60084883e-02 9.99871814e-01 -2.89202070e-04 1.83871767e+00] [ 2.01131145e-02 -3.28411997e-05 9.99797710e-01 1.32350979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters 0.015039097577656394 Centerline is valid? [True, True] Translation: X:201.84, Y:1.83, Z:1.32 [[ 9.99580831e-01 -2.14123783e-02 -1.94851740e-02 2.01839391e+02] [ 2.14109161e-02 9.99770720e-01 -2.83681478e-04 1.83166202e+00] [ 1.94867807e-02 -1.33632858e-04 9.99810106e-01 1.32284788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379254154 meters 0.016206355147008217 Centerline is valid? [True, True] Translation: X:201.90, Y:1.82, Z:1.33 [[ 9.99307537e-01 -3.29197588e-02 -1.73417609e-02 2.01898646e+02] [ 3.29203092e-02 9.99457948e-01 -2.53808612e-04 1.82043832e+00] [ 1.73407161e-02 -3.17263272e-04 9.99849588e-01 1.32559696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439254154 meters 0.019631293952117105 Centerline is valid? [True, True] Translation: X:201.96, Y:1.81, Z:1.33 [[ 9.98841022e-01 -4.55071740e-02 -1.56751504e-02 2.01958775e+02] [ 4.55091687e-02 9.98963895e-01 -2.29613768e-04 1.80682580e+00] [ 1.56693584e-02 -4.84015415e-04 9.99877111e-01 1.32628042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499254154 meters 0.021025304472107147 Centerline is valid? [True, True] Translation: X:202.02, Y:1.80, Z:1.33 [[ 9.98497042e-01 -5.24659638e-02 -1.58423539e-02 2.02019481e+02] [ 5.24688790e-02 9.98622533e-01 -2.31857209e-04 1.80058910e+00] [ 1.58326961e-02 -5.99721811e-04 9.99874475e-01 1.32624453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559254154 meters 0.024308187016193524 Centerline is valid? [True, True] Translation: X:202.08, Y:1.79, Z:1.33 [[ 9.98097401e-01 -5.96683563e-02 -1.55326915e-02 2.02079570e+02] [ 5.96720319e-02 9.98218011e-01 -2.27130300e-04 1.79159861e+00] [ 1.55185649e-02 -7.00169102e-04 9.99879335e-01 1.32600645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619254154 meters 0.025177531759722985 Centerline is valid? [True, True] Translation: X:202.14, Y:1.79, Z:1.33 [[ 9.97932253e-01 -6.25069302e-02 -1.49700509e-02 2.02140556e+02] [ 6.25106665e-02 9.98044272e-01 -2.18661676e-04 1.78839365e+00] [ 1.49544414e-02 -7.17578321e-04 9.99887919e-01 1.32651661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679254154 meters 0.026718658182106232 Centerline is valid? [True, True] Translation: X:202.20, Y:1.78, Z:1.33 [[ 9.97831349e-01 -6.42124730e-02 -1.44691519e-02 2.02202194e+02] [ 6.42161501e-02 9.97935991e-01 -2.10801862e-04 1.78318299e+00] [ 1.44528236e-02 -7.18808525e-04 9.99895294e-01 1.32605811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739254154 meters 0.024996919519193615 Centerline is valid? [True, True] Translation: X:202.26, Y:1.79, Z:1.33 [[ 9.97858271e-01 -6.37519597e-02 -1.46478291e-02 2.02263976e+02] [ 6.37556928e-02 9.97965514e-01 -2.12440311e-04 1.78544646e+00] [ 1.46315718e-02 -7.21897174e-04 9.99892692e-01 1.32634530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799254154 meters 0.024850590228455264 Centerline is valid? [True, True] Translation: X:202.33, Y:1.79, Z:1.33 [[ 9.97993097e-01 -6.13639027e-02 -1.56284657e-02 2.02325921e+02] [ 6.13678764e-02 9.98115190e-01 -2.25633070e-04 1.78630954e+00] [ 1.56128547e-02 -7.33905504e-04 9.99877843e-01 1.32568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859254154 meters 0.022077941179474418 Centerline is valid? [True, True] Translation: X:202.39, Y:1.79, Z:1.33 [[ 9.98308544e-01 -5.56966733e-02 -1.66712957e-02 2.02386267e+02] [ 5.57004129e-02 9.98447498e-01 -2.40292068e-04 1.79278451e+00] [ 1.66587970e-02 -6.88712433e-04 9.99860995e-01 1.32613684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91925415400001 meters 0.02176791596849058 Centerline is valid? [True, True] Translation: X:202.45, Y:1.80, Z:1.33 [[ 9.98484485e-01 -5.22919468e-02 -1.71547749e-02 2.02447350e+02] [ 5.22954114e-02 9.98631628e-01 -2.46875090e-04 1.79539691e+00] [ 1.71442104e-02 -6.50615065e-04 9.99852816e-01 1.32630701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters 0.02069898669027615 Centerline is valid? [True, True] Translation: X:202.51, Y:1.80, Z:1.33 [[ 9.98629221e-01 -4.93055026e-02 -1.75683332e-02 2.02508829e+02] [ 4.93086862e-02 9.98783555e-01 -2.52172572e-04 1.79925626e+00] [ 1.75593958e-02 -6.14444531e-04 9.99845633e-01 1.32694039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters 0.021488576237317532 Centerline is valid? [True, True] Translation: X:202.57, Y:1.80, Z:1.33 [[ 9.98675874e-01 -4.83309943e-02 -1.76242619e-02 2.02570205e+02] [ 4.83340615e-02 9.98831194e-01 -2.52135289e-04 1.80075849e+00] [ 1.76158485e-02 -6.00050730e-04 9.99844649e-01 1.32645910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099254154 meters 0.020908138633009242 Centerline is valid? [True, True] Translation: X:202.63, Y:1.81, Z:1.33 [[ 9.98751740e-01 -4.67492885e-02 -1.75916306e-02 2.02631973e+02] [ 4.67521158e-02 9.98906491e-01 -2.50723642e-04 1.80633747e+00] [ 1.75841152e-02 -5.72035279e-04 9.99845224e-01 1.32803885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159254154 meters 0.020311323037332615 Centerline is valid? [True, True] Translation: X:202.69, Y:1.81, Z:1.33 [[ 9.98856399e-01 -4.48352367e-02 -1.66040669e-02 2.02693000e+02] [ 4.48375027e-02 9.98994266e-01 -2.35959256e-04 1.81026988e+00] [ 1.65979469e-02 -5.08795482e-04 9.99862115e-01 1.32991207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219254154 meters 0.01831033826154264 Centerline is valid? [True, True] Translation: X:202.75, Y:1.82, Z:1.33 [[ 9.99034916e-01 -4.11107633e-02 -1.54642163e-02 2.02754388e+02] [ 4.11122913e-02 9.99154508e-01 -2.19215466e-04 1.81918548e+00] [ 1.54601535e-02 -4.16765459e-04 9.99880398e-01 1.33256426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279254154 meters 0.01805701244880987 Centerline is valid? [True, True] Translation: X:202.81, Y:1.82, Z:1.33 [[ 9.99172509e-01 -3.77363920e-02 -1.51744092e-02 2.02814689e+02] [ 3.77374804e-02 9.99287665e-01 -2.14710651e-04 1.82346913e+00] [ 1.51717023e-02 -3.58110990e-04 9.99884839e-01 1.33343770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339254154 meters 0.016891180533712247 Centerline is valid? [True, True] Translation: X:202.88, Y:1.83, Z:1.33 [[ 9.99408056e-01 -3.10883629e-02 -1.47326635e-02 2.02876416e+02] [ 3.10886749e-02 9.99516609e-01 -2.07901216e-04 1.83305332e+00] [ 1.47320052e-02 -2.50240837e-04 9.99891447e-01 1.33385914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399254154 meters 0.015547624460171399 Centerline is valid? [True, True] Translation: X:202.94, Y:1.84, Z:1.34 [[ 9.99556286e-01 -2.60685268e-02 -1.44105206e-02 2.02937428e+02] [ 2.60683129e-02 9.99660143e-01 -2.02716324e-04 1.83959406e+00] [ 1.44109076e-02 -1.73031584e-04 9.99896143e-01 1.33566671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459254154 meters 0.014762801320404612 Centerline is valid? [True, True] Translation: X:203.00, Y:1.85, Z:1.34 [[ 9.99737870e-01 -1.80594984e-02 -1.40728597e-02 2.02997533e+02] [ 1.80585042e-02 9.99836912e-01 -1.97729820e-04 1.84858953e+00] [ 1.40741355e-02 -5.64568063e-05 9.99900953e-01 1.33700561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519254154 meters 0.014812237585616084 Centerline is valid? [True, True] Translation: X:203.06, Y:1.85, Z:1.34 [[ 9.99784134e-01 -1.43815845e-02 -1.49951745e-02 2.03056946e+02] [ 1.43800375e-02 9.99896580e-01 -2.10989154e-04 1.85290053e+00] [ 1.49966581e-02 -4.68756280e-06 9.99887544e-01 1.33683887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579254154 meters 0.014935541262347337 Centerline is valid? [True, True] Translation: X:203.11, Y:1.85, Z:1.34 [[ 9.99783131e-01 -1.23577786e-02 -1.67623698e-02 2.03114376e+02] [ 1.23555414e-02 9.99923639e-01 -2.37024015e-04 1.85490993e+00] [ 1.67640189e-02 2.98644573e-05 9.99859474e-01 1.33593643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.639254154 meters 0.014890940112768083 Centerline is valid? [True, True] Translation: X:203.17, Y:1.85, Z:1.34 [[ 9.99755972e-01 -1.29150545e-02 -1.79219925e-02 2.03172825e+02] [ 1.29125256e-02 9.99916597e-01 -2.56825767e-04 1.85418800e+00] [ 1.79238146e-02 2.53449082e-05 9.99839355e-01 1.33563096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters 0.015081525128841523 Centerline is valid? [True, True] Translation: X:203.23, Y:1.85, Z:1.34 [[ 9.99706570e-01 -1.58341488e-02 -1.83317437e-02 2.03230983e+02] [ 1.58319441e-02 9.99874632e-01 -2.65395345e-04 1.85135567e+00] [ 1.83336478e-02 -2.49096723e-05 9.99831924e-01 1.33577422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters 0.015049780164669494 Centerline is valid? [True, True] Translation: X:203.29, Y:1.85, Z:1.34 [[ 9.99677047e-01 -1.76518198e-02 -1.82815511e-02 2.03288869e+02] [ 1.76498621e-02 9.99844193e-01 -2.68437385e-04 1.85016900e+00] [ 1.82834411e-02 -5.43161640e-05 9.99832842e-01 1.33635080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters 0.01573320380570963 Centerline is valid? [True, True] Translation: X:203.35, Y:1.84, Z:1.34 [[ 9.99543113e-01 -2.42305246e-02 -1.80678356e-02 2.03347133e+02] [ 2.42296365e-02 9.99706383e-01 -2.68089547e-04 1.84195193e+00] [ 1.80690265e-02 -1.69810028e-04 9.99836727e-01 1.33653252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879254154 meters 0.016931063990988815 Centerline is valid? [True, True] Translation: X:203.41, Y:1.84, Z:1.34 [[ 9.99387564e-01 -3.04212907e-02 -1.72928382e-02 2.03405962e+02] [ 3.04213511e-02 9.99537130e-01 -2.59624119e-04 1.83527165e+00] [ 1.72927320e-02 -2.66606387e-04 9.99850434e-01 1.33765356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939254154 meters 0.02054165361189477 Centerline is valid? [True, True] Translation: X:203.46, Y:1.82, Z:1.34 [[ 9.99065155e-01 -4.03870889e-02 -1.54175126e-02 2.03464925e+02] [ 4.03882982e-02 9.99184033e-01 -2.33040308e-04 1.82209417e+00] [ 1.54143443e-02 -3.89864646e-04 9.99881116e-01 1.33845032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999254154 meters 0.0239603513000791 Centerline is valid? [True, True] Translation: X:203.53, Y:1.81, Z:1.34 [[ 9.98786041e-01 -4.69184995e-02 -1.50032592e-02 2.03526436e+02] [ 4.69203829e-02 9.98898607e-01 -2.26631819e-04 1.81274806e+00] [ 1.49973680e-02 -4.77601971e-04 9.99887419e-01 1.33870071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059254154 meters 0.023445180509551775 Centerline is valid? [True, True] Translation: X:203.59, Y:1.81, Z:1.34 [[ 9.98368870e-01 -5.50850091e-02 -1.50080399e-02 2.03586803e+02] [ 5.50878185e-02 9.98481488e-01 -2.26459392e-04 1.81028702e+00] [ 1.49977246e-02 -6.00670173e-04 9.99887347e-01 1.33940902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119254154 meters 0.025456333290393218 Centerline is valid? [True, True] Translation: X:203.65, Y:1.80, Z:1.34 [[ 9.98011614e-01 -6.09289610e-02 -1.61394141e-02 2.03647349e+02] [ 6.09329735e-02 9.98141830e-01 -2.43467208e-04 1.80377811e+00] [ 1.61242585e-02 -7.40439389e-04 9.99869722e-01 1.33792926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179254154 meters 0.02730483798245166 Centerline is valid? [True, True] Translation: X:203.71, Y:1.80, Z:1.34 [[ 9.97829034e-01 -6.40984341e-02 -1.51198535e-02 2.03707435e+02] [ 6.41023189e-02 9.97943305e-01 -2.28059704e-04 1.79812275e+00] [ 1.51033749e-02 -7.41653080e-04 9.99885662e-01 1.33910349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239254154 meters 0.028486110092066266 Centerline is valid? [True, True] Translation: X:203.77, Y:1.80, Z:1.34 [[ 9.97786147e-01 -6.49177080e-02 -1.44393632e-02 2.03769402e+02] [ 6.49213445e-02 9.97890361e-01 -2.17238496e-04 1.79730663e+00] [ 1.44230039e-02 -7.20665309e-04 9.99895723e-01 1.33918163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299254154 meters 0.02724832946130698 Centerline is valid? [True, True] Translation: X:203.83, Y:1.80, Z:1.34 [[ 9.97828963e-01 -6.45080342e-02 -1.32692835e-02 2.03831224e+02] [ 6.45110812e-02 9.97916971e-01 -1.98717789e-04 1.79887550e+00] [ 1.32544621e-02 -6.57729463e-04 9.99911939e-01 1.34053560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359254154 meters 0.027466836897199868 Centerline is valid? [True, True] Translation: X:203.89, Y:1.80, Z:1.34 [[ 9.97908231e-01 -6.31494924e-02 -1.38312718e-02 2.03893471e+02] [ 6.31526868e-02 9.98003856e-01 -2.06122893e-04 1.79935038e+00] [ 1.38166792e-02 -6.67790247e-04 9.99904322e-01 1.33951105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41925415400001 meters 0.027794848708782665 Centerline is valid? [True, True] Translation: X:203.96, Y:1.80, Z:1.34 [[ 9.97999592e-01 -6.14687117e-02 -1.47787893e-02 2.03955137e+02] [ 6.14721908e-02 9.98108772e-01 -2.19167086e-04 1.80056101e+00] [ 1.47643111e-02 -6.89755892e-04 9.99890764e-01 1.33911145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters 0.025590466465375973 Centerline is valid? [True, True] Translation: X:204.02, Y:1.81, Z:1.34 [[ 9.98248693e-01 -5.68706582e-02 -1.62872451e-02 2.04015684e+02] [ 5.68742844e-02 9.98381319e-01 -2.40844548e-04 1.80931203e+00] [ 1.62745783e-02 -6.85902656e-04 9.99867325e-01 1.33726399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters 0.02330509440296084 Centerline is valid? [True, True] Translation: X:204.08, Y:1.81, Z:1.34 [[ 9.98423122e-01 -5.41327994e-02 -1.48630551e-02 2.04076750e+02] [ 5.41355221e-02 9.98533573e-01 -2.19379292e-04 1.81267349e+00] [ 1.48531351e-02 -5.85585890e-04 9.99889515e-01 1.33936765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599254154 meters 0.021879706320996582 Centerline is valid? [True, True] Translation: X:204.14, Y:1.82, Z:1.34 [[ 9.98724645e-01 -4.86268370e-02 -1.35835902e-02 2.04136632e+02] [ 4.86286054e-02 9.98816909e-01 -2.00273228e-04 1.81782863e+00] [ 1.35772583e-02 -4.60533240e-04 9.99907719e-01 1.34049329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659254154 meters 0.02023126445560928 Centerline is valid? [True, True] Translation: X:204.20, Y:1.82, Z:1.34 [[ 9.98892628e-01 -4.51947685e-02 -1.30747740e-02 2.04197668e+02] [ 4.51961161e-02 9.98978115e-01 -1.92543675e-04 1.82262344e+00] [ 1.30701150e-02 -3.98598543e-04 9.99914503e-01 1.34116046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719254154 meters 0.019666952203295732 Centerline is valid? [True, True] Translation: X:204.26, Y:1.83, Z:1.34 [[ 9.99061486e-01 -4.14707988e-02 -1.25028161e-02 2.04259117e+02] [ 4.14717451e-02 9.99139660e-01 -1.83681350e-04 1.82748960e+00] [ 1.24996768e-02 -3.35004639e-04 9.99921820e-01 1.34071021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779254154 meters 0.016992738812273846 Centerline is valid? [True, True] Translation: X:204.32, Y:1.83, Z:1.34 [[ 9.99228964e-01 -3.73040601e-02 -1.22427010e-02 2.04320866e+02] [ 3.73046616e-02 9.99303923e-01 -1.79314113e-04 1.83360759e+00] [ 1.22408683e-02 -2.77533963e-04 9.99925039e-01 1.34175140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839254154 meters 0.01630557031597518 Centerline is valid? [True, True] Translation: X:204.38, Y:1.84, Z:1.34 [[ 9.99312627e-01 -3.48679171e-02 -1.25897457e-02 2.04383162e+02] [ 3.48683701e-02 9.99391897e-01 -1.83577125e-04 1.83628960e+00] [ 1.25884908e-02 -2.55532973e-04 9.99920729e-01 1.34180052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899254154 meters 0.01566105098531329 Centerline is valid? [True, True] Translation: X:204.44, Y:1.84, Z:1.34 [[ 9.99427527e-01 -3.15789657e-02 -1.21403140e-02 2.04444089e+02] [ 3.15791527e-02 9.99501239e-01 -1.76342784e-04 1.83975295e+00] [ 1.21398276e-02 -2.07138997e-04 9.99926288e-01 1.34211397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959254154 meters 0.01501164215503024 Centerline is valid? [True, True] Translation: X:204.51, Y:1.84, Z:1.34 [[ 9.99548456e-01 -2.74564373e-02 -1.22077146e-02 2.04505088e+02] [ 2.74563245e-02 9.99622988e-01 -1.76868970e-04 1.84295892e+00] [ 1.22079683e-02 -1.58389866e-04 9.99925467e-01 1.34216075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019254154 meters 0.016175709750452547 Centerline is valid? [True, True] Translation: X:204.57, Y:1.84, Z:1.34 [[ 9.99616509e-01 -2.48158455e-02 -1.22885364e-02 2.04566069e+02] [ 2.48155373e-02 9.99692031e-01 -1.77584968e-04 1.84440846e+00] [ 1.22891588e-02 -1.27429768e-04 9.99924477e-01 1.34099051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079254154 meters 0.014447793140791277 Centerline is valid? [True, True] Translation: X:204.63, Y:1.84, Z:1.34 [[ 9.99666300e-01 -2.31259970e-02 -1.15098417e-02 2.04626621e+02] [ 2.31256183e-02 9.99732553e-01 -1.66013856e-04 1.84482233e+00] [ 1.15106027e-02 -1.00213749e-04 9.99933746e-01 1.34315487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.139254154 meters 0.014965428189081106 Centerline is valid? [True, True] Translation: X:204.69, Y:1.84, Z:1.34 [[ 9.99657108e-01 -2.36376519e-02 -1.12661973e-02 2.04688001e+02] [ 2.36373247e-02 9.99720586e-01 -1.62219541e-04 1.84332564e+00] [ 1.12668839e-02 -1.04138846e-04 9.99936521e-01 1.34318802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters 0.015472237140423789 Centerline is valid? [True, True] Translation: X:204.75, Y:1.84, Z:1.34 [[ 9.99517530e-01 -2.88104275e-02 -1.16045768e-02 2.04748419e+02] [ 2.88104317e-02 9.99584879e-01 -1.66846764e-04 1.83762227e+00] [ 1.16045664e-02 -1.67566603e-04 9.99932651e-01 1.34321459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters 0.017067190117325045 Centerline is valid? [True, True] Translation: X:204.81, Y:1.83, Z:1.34 [[ 9.99344716e-01 -3.42170085e-02 -1.18040226e-02 2.04809808e+02] [ 3.42173919e-02 9.99414399e-01 -1.69538559e-04 1.83187548e+00] [ 1.18029112e-02 -2.34475403e-04 9.99930316e-01 1.34301273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters 0.018662901131709337 Centerline is valid? [True, True] Translation: X:204.87, Y:1.83, Z:1.34 [[ 9.99000383e-01 -4.30551449e-02 -1.20203356e-02 2.04870480e+02] [ 4.30561856e-02 9.99072638e-01 -1.72313505e-04 1.82553618e+00] [ 1.20166073e-02 -3.45408541e-04 9.99927738e-01 1.34402189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379254154 meters 0.021894318405606402 Centerline is valid? [True, True] Translation: X:204.93, Y:1.82, Z:1.34 [[ 9.98607269e-01 -5.12114234e-02 -1.26851550e-02 2.04931432e+02] [ 5.12132416e-02 9.98687724e-01 -1.81678178e-04 1.81752290e+00] [ 1.26778126e-02 -4.68222760e-04 9.99919524e-01 1.34382099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439254154 meters 0.02338449513497673 Centerline is valid? [True, True] Translation: X:204.99, Y:1.81, Z:1.34 [[ 9.98338149e-01 -5.62475183e-02 -1.25362096e-02 2.04992899e+02] [ 5.62496935e-02 9.98416717e-01 -1.79293071e-04 1.81356599e+00] [ 1.25264461e-02 -5.26162836e-04 9.99921403e-01 1.34470776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499254154 meters 0.025239731351191685 Centerline is valid? [True, True] Translation: X:205.05, Y:1.81, Z:1.35 [[ 9.97984800e-01 -6.25258027e-02 -1.08102801e-02 2.05053897e+02] [ 6.25277899e-02 9.98043211e-01 -1.54386565e-04 1.80933659e+00] [ 1.07987798e-02 -5.21867479e-04 9.99941555e-01 1.34633774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559254154 meters 0.027214219652759213 Centerline is valid? [True, True] Translation: X:205.12, Y:1.81, Z:1.35 [[ 9.97750331e-01 -6.60004478e-02 -1.17566215e-02 2.05115390e+02] [ 6.60030412e-02 9.97819408e-01 -1.67694623e-04 1.80682500e+00] [ 1.17420531e-02 -6.08655410e-04 9.99930874e-01 1.34655669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619254154 meters 0.028621920940062984 Centerline is valid? [True, True] Translation: X:205.18, Y:1.81, Z:1.35 [[ 9.97660680e-01 -6.73801127e-02 -1.15363841e-02 2.05177556e+02] [ 6.73827086e-02 9.97727189e-01 -1.63965356e-04 1.80534376e+00] [ 1.15212120e-02 -6.13771016e-04 9.99933440e-01 1.34629119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679254154 meters 0.029062806665887612 Centerline is valid? [True, True] Translation: X:205.24, Y:1.80, Z:1.35 [[ 9.97295758e-01 -7.22869601e-02 -1.32577146e-02 2.05238608e+02] [ 7.22908285e-02 9.97383578e-01 -1.87837960e-04 1.80462828e+00] [ 1.32366050e-02 -7.71081171e-04 9.99912095e-01 1.34504298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739254154 meters 0.028822742994837006 Centerline is valid? [True, True] Translation: X:205.30, Y:1.81, Z:1.34 [[ 9.97075156e-01 -7.51025406e-02 -1.41683199e-02 2.05300070e+02] [ 7.51072464e-02 9.97175442e-01 -2.00420961e-04 1.80664855e+00] [ 1.41433528e-02 -8.64308733e-04 9.99899604e-01 1.34477308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799254154 meters 0.02959638112246224 Centerline is valid? [True, True] Translation: X:205.36, Y:1.81, Z:1.34 [[ 9.96815431e-01 -7.81106959e-02 -1.60535054e-02 2.05361570e+02] [ 7.81171363e-02 9.96944162e-01 -2.26449921e-04 1.80837657e+00] [ 1.60221367e-02 -1.02832509e-03 9.99871109e-01 1.34456653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859254154 meters 0.030429546167080414 Centerline is valid? [True, True] Translation: X:205.42, Y:1.81, Z:1.35 [[ 9.96808663e-01 -7.81415427e-02 -1.63214431e-02 2.05423987e+02] [ 7.81482200e-02 9.96941725e-01 -2.29249545e-04 1.81033654e+00] [ 1.62894415e-02 -1.04697379e-03 9.99866770e-01 1.34527218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91925415400001 meters 0.02985294241285353 Centerline is valid? [True, True] Translation: X:205.48, Y:1.82, Z:1.35 [[ 9.97123576e-01 -7.41507407e-02 -1.56920908e-02 2.05484809e+02] [ 7.41564299e-02 9.97246597e-01 -2.19806512e-04 1.81710767e+00] [ 1.56651829e-02 -9.44495173e-04 9.99876847e-01 1.34728066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters 0.02783480027789403 Centerline is valid? [True, True] Translation: X:205.54, Y:1.83, Z:1.35 [[ 9.97669827e-01 -6.64386980e-02 -1.55182629e-02 2.05544009e+02] [ 6.64433302e-02 9.97790177e-01 -2.17458482e-04 1.82709716e+00] [ 1.54984180e-02 -8.14133301e-04 9.99879561e-01 1.34793503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters 0.02463582657578249 Centerline is valid? [True, True] Translation: X:205.60, Y:1.84, Z:1.35 [[ 9.98036659e-01 -6.06667596e-02 -1.55683010e-02 2.05604354e+02] [ 6.06707193e-02 9.98157811e-01 -2.18267017e-04 1.83677684e+00] [ 1.55528628e-02 -7.26701536e-04 9.99878783e-01 1.34878621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099254154 meters 0.02163710850786263 Centerline is valid? [True, True] Translation: X:205.66, Y:1.85, Z:1.35 [[ 9.98336496e-01 -5.52394839e-02 -1.65179043e-02 2.05664751e+02] [ 5.52432002e-02 9.98472902e-01 -2.31559572e-04 1.84606986e+00] [ 1.65054710e-02 -6.81327520e-04 9.99863543e-01 1.34908571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159254154 meters 0.019460798861936152 Centerline is valid? [True, True] Translation: X:205.73, Y:1.86, Z:1.35 [[ 9.98690732e-01 -4.80382773e-02 -1.75825477e-02 2.05725569e+02] [ 4.80413757e-02 9.98845316e-01 -2.46356711e-04 1.85639516e+00] [ 1.75740799e-02 -5.98655614e-04 9.99845385e-01 1.35037489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219254154 meters 0.020493802391002097 Centerline is valid? [True, True] Translation: X:205.79, Y:1.86, Z:1.35 [[ 9.98881695e-01 -4.38764811e-02 -1.76128703e-02 2.05785902e+02] [ 4.38789488e-02 9.99036825e-01 -2.46499826e-04 1.85932270e+00] [ 1.76067215e-02 -5.26610069e-04 9.99844851e-01 1.35041185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279254154 meters 0.016951386098969307 Centerline is valid? [True, True] Translation: X:205.85, Y:1.87, Z:1.35 [[ 9.99145726e-01 -3.72164026e-02 -1.79654453e-02 2.05846918e+02] [ 3.72179001e-02 9.99307142e-01 -2.51103070e-04 1.87085549e+00] [ 1.79623429e-02 -4.17747588e-04 9.99838577e-01 1.35223990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339254154 meters 0.015135083462965136 Centerline is valid? [True, True] Translation: X:205.91, Y:1.88, Z:1.35 [[ 9.99427941e-01 -2.90717846e-02 -1.72806780e-02 2.05907381e+02] [ 2.90719547e-02 9.99577292e-01 -2.41415135e-04 1.88066728e+00] [ 1.72803917e-02 -2.61106058e-04 9.99850649e-01 1.35401869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399254154 meters 0.014368701314074792 Centerline is valid? [True, True] Translation: X:205.97, Y:1.89, Z:1.35 [[ 9.99591303e-01 -2.29265754e-02 -1.70762689e-02 2.05967325e+02] [ 2.29258416e-02 9.99737140e-01 -2.38750987e-04 1.88615888e+00] [ 1.70772539e-02 -1.52834425e-04 9.99854161e-01 1.35482938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459254154 meters 0.014165595513970848 Centerline is valid? [True, True] Translation: X:206.03, Y:1.89, Z:1.36 [[ 9.99729921e-01 -1.62889920e-02 -1.65757213e-02 2.06026903e+02] [ 1.62873802e-02 9.99867325e-01 -2.32240173e-04 1.89145099e+00] [ 1.65773051e-02 -3.77976254e-05 9.99862586e-01 1.35512198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519254154 meters 0.014245780014337734 Centerline is valid? [True, True] Translation: X:206.09, Y:1.89, Z:1.35 [[ 9.99738195e-01 -1.49971584e-02 -1.72808193e-02 2.06085155e+02] [ 1.49951551e-02 9.99887536e-01 -2.45496842e-04 1.89193769e+00] [ 1.72825576e-02 -1.36959965e-05 9.99850645e-01 1.35485056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579254154 meters 0.014143937138985173 Centerline is valid? [True, True] Translation: X:206.14, Y:1.89, Z:1.36 [[ 9.99708039e-01 -1.65976875e-02 -1.75600046e-02 2.06143465e+02] [ 1.65957740e-02 9.99862248e-01 -2.54692503e-04 1.89079489e+00] [ 1.75618130e-02 -3.68037268e-05 9.99845779e-01 1.35559738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.639254154 meters 0.014329466693898552 Centerline is valid? [True, True] Translation: X:206.20, Y:1.89, Z:1.36 [[ 9.99625892e-01 -2.11361594e-02 -1.73591138e-02 2.06202753e+02] [ 2.11349257e-02 9.99776600e-01 -2.54541763e-04 1.88605375e+00] [ 1.73606158e-02 -1.12437043e-04 9.99849287e-01 1.35587154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters 0.014781732545392631 Centerline is valid? [True, True] Translation: X:206.26, Y:1.88, Z:1.36 [[ 9.99535720e-01 -2.55077311e-02 -1.66643530e-02 2.06260366e+02] [ 2.55071784e-02 9.99674609e-01 -2.45748263e-04 1.88087773e+00] [ 1.66651990e-02 -1.79426458e-04 9.99861110e-01 1.35601585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters 0.015423116971563504 Centerline is valid? [True, True] Translation: X:206.32, Y:1.88, Z:1.36 [[ 9.99407625e-01 -3.06746542e-02 -1.56033256e-02 2.06320261e+02] [ 3.06747849e-02 9.99529391e-01 -2.31005903e-04 1.87648563e+00] [ 1.56030686e-02 -2.47759597e-04 9.99878234e-01 1.35738125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819254154 meters 0.016792150969312834 Centerline is valid? [True, True] Translation: X:206.38, Y:1.87, Z:1.36 [[ 9.99113326e-01 -3.93026068e-02 -1.50952820e-02 2.06381024e+02] [ 3.93037119e-02 9.99227286e-01 -2.23566770e-04 1.86949648e+00] [ 1.50924044e-02 -3.69932076e-04 9.99886035e-01 1.35876585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879254154 meters 0.02082265538443542 Centerline is valid? [True, True] Translation: X:206.44, Y:1.86, Z:1.36 [[ 9.98744956e-01 -4.77885089e-02 -1.49923590e-02 2.06442298e+02] [ 4.77905573e-02 9.98857354e-01 -2.21816952e-04 1.85973266e+00] [ 1.49858284e-02 -4.94954631e-04 9.99887584e-01 1.35668395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939254154 meters 0.021729680631164917 Centerline is valid? [True, True] Translation: X:206.50, Y:1.85, Z:1.36 [[ 9.98427060e-01 -5.41566984e-02 -1.45071958e-02 2.06501918e+02] [ 5.41592955e-02 9.98532285e-01 -2.14077410e-04 1.85224132e+00] [ 1.44974971e-02 -5.71958827e-04 9.99894742e-01 1.35844690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999254154 meters 0.023881496375720738 Centerline is valid? [True, True] Translation: X:206.56, Y:1.85, Z:1.36 [[ 9.98000293e-01 -6.13912198e-02 -1.50510194e-02 2.06562697e+02] [ 6.13948429e-02 9.98113533e-01 -2.21650829e-04 1.84558236e+00] [ 1.50362336e-02 -7.02847381e-04 9.99886702e-01 1.35774745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059254154 meters 0.024372858935171122 Centerline is valid? [True, True] Translation: X:206.62, Y:1.84, Z:1.36 [[ 9.97803874e-01 -6.44591600e-02 -1.52461906e-02 2.06623450e+02] [ 6.44632376e-02 9.97920057e-01 -2.24348142e-04 1.84351601e+00] [ 1.52289407e-02 -7.58963365e-04 9.99883745e-01 1.35773917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119254154 meters 0.02566398041719211 Centerline is valid? [True, True] Translation: X:206.68, Y:1.84, Z:1.36 [[ 9.97578941e-01 -6.76686760e-02 -1.60376787e-02 2.06684158e+02] [ 6.76736065e-02 9.97707486e-01 -2.35687553e-04 1.83991562e+00] [ 1.60168608e-02 -8.50210621e-04 9.99871360e-01 1.35711396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179254154 meters 0.02652833048717188 Centerline is valid? [True, True] Translation: X:206.75, Y:1.84, Z:1.36 [[ 9.97543760e-01 -6.82930462e-02 -1.55726121e-02 2.06746544e+02] [ 6.82977829e-02 9.97664954e-01 -2.28070776e-04 1.83870830e+00] [ 1.55518250e-02 -8.36064300e-04 9.99878714e-01 1.35767061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239254154 meters 0.027877556515190662 Centerline is valid? [True, True] Translation: X:206.81, Y:1.84, Z:1.36 [[ 9.97608461e-01 -6.75336452e-02 -1.47161658e-02 2.06807377e+02] [ 6.75378061e-02 9.97716693e-01 -2.14614884e-04 1.83811657e+00] [ 1.46970579e-02 -7.79795925e-04 9.99891688e-01 1.35899158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299254154 meters 0.026731402340443446 Centerline is valid? [True, True] Translation: X:206.87, Y:1.84, Z:1.36 [[ 9.97710357e-01 -6.59576981e-02 -1.49540867e-02 2.06869304e+02] [ 6.59618328e-02 9.97822123e-01 -2.17105091e-04 1.84096172e+00] [ 1.49358383e-02 -7.69790968e-04 9.99888158e-01 1.35979858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359254154 meters 0.024657052027968935 Centerline is valid? [True, True] Translation: X:206.93, Y:1.85, Z:1.36 [[ 9.97917956e-01 -6.25633953e-02 -1.56707925e-02 2.06930786e+02] [ 6.25675343e-02 9.98040707e-01 -2.26496318e-04 1.84635667e+00] [ 1.56542592e-02 -7.54458106e-04 9.99877180e-01 1.36011959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41925415400001 meters 0.022668974308879996 Centerline is valid? [True, True] Translation: X:206.99, Y:1.85, Z:1.36 [[ 9.98254870e-01 -5.70585472e-02 -1.52163438e-02 2.06991436e+02] [ 5.70618184e-02 9.98370623e-01 -2.19454451e-04 1.85401400e+00] [ 1.52040724e-02 -6.49200769e-04 9.99884201e-01 1.36223284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters 0.02198520464235193 Centerline is valid? [True, True] Translation: X:207.05, Y:1.86, Z:1.36 [[ 9.98529947e-01 -5.23211586e-02 -1.41577513e-02 2.07050863e+02] [ 5.23235140e-02 9.98630166e-01 -2.04240245e-04 1.85950912e+00] [ 1.41490436e-02 -5.36843296e-04 9.99899753e-01 1.36397579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters 0.019856441441213634 Centerline is valid? [True, True] Translation: X:207.11, Y:1.87, Z:1.37 [[ 9.98675284e-01 -4.96396790e-02 -1.35491301e-02 2.07112147e+02] [ 4.96415917e-02 9.98767077e-01 -1.95319586e-04 1.86587070e+00] [ 1.35421207e-02 -4.77539544e-04 9.99908187e-01 1.36542248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599254154 meters 0.018323640080985276 Centerline is valid? [True, True] Translation: X:207.17, Y:1.87, Z:1.37 [[ 9.99041564e-01 -4.20348492e-02 -1.22076008e-02 2.07171566e+02] [ 4.20358372e-02 9.99116088e-01 -1.75757289e-04 1.87343019e+00] [ 1.22041983e-02 -3.37567882e-04 9.99925469e-01 1.36641703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659254154 meters 0.01749702984059598 Centerline is valid? [True, True] Translation: X:207.23, Y:1.88, Z:1.37 [[ 9.99204449e-01 -3.77989160e-02 -1.27165813e-02 2.07233369e+02] [ 3.77996493e-02 9.99285321e-01 -1.82766710e-04 1.87831285e+00] [ 1.27144014e-02 -2.98061004e-04 9.99919124e-01 1.36646367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719254154 meters 0.01612871152277884 Centerline is valid? [True, True] Translation: X:207.30, Y:1.89, Z:1.37 [[ 9.99372373e-01 -3.27059897e-02 -1.36079911e-02 2.07295218e+02] [ 3.27063678e-02 9.99464985e-01 -1.94820511e-04 1.88543451e+00] [ 1.36070824e-02 -2.50369726e-04 9.99907388e-01 1.36600594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779254154 meters 0.01581809630281941 Centerline is valid? [True, True] Translation: X:207.36, Y:1.89, Z:1.37 [[ 9.99424706e-01 -3.09209912e-02 -1.39337467e-02 2.07356373e+02] [ 3.09212229e-02 9.99521805e-01 -1.98857626e-04 1.88811169e+00] [ 1.39332326e-02 -2.32105264e-04 9.99902901e-01 1.36618785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839254154 meters 0.015160790305230452 Centerline is valid? [True, True] Translation: X:207.42, Y:1.89, Z:1.37 [[ 9.99496038e-01 -2.90749666e-02 -1.27403281e-02 2.07418180e+02] [ 2.90750165e-02 9.99577216e-01 -1.81344932e-04 1.89197527e+00] [ 1.27402143e-02 -1.89171709e-04 9.99918822e-01 1.36770885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899254154 meters 0.01480727821510999 Centerline is valid? [True, True] Translation: X:207.48, Y:1.89, Z:1.37 [[ 9.99556525e-01 -2.69719084e-02 -1.26201663e-02 2.07479137e+02] [ 2.69717961e-02 9.99636179e-01 -1.79126539e-04 1.89400001e+00] [ 1.26204062e-02 -1.61341452e-04 9.99920346e-01 1.36806189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959254154 meters 0.014469114238992551 Centerline is valid? [True, True] Translation: X:207.54, Y:1.90, Z:1.37 [[ 9.99639866e-01 -2.36901064e-02 -1.26062220e-02 2.07539443e+02] [ 2.36897379e-02 9.99719343e-01 -1.78573262e-04 1.89569587e+00] [ 1.26069143e-02 -1.20129143e-04 9.99920522e-01 1.36780942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019254154 meters 0.014576627877564882 Centerline is valid? [True, True] Translation: X:207.60, Y:1.89, Z:1.37 [[ 9.99667476e-01 -2.27612148e-02 -1.21187324e-02 2.07599910e+02] [ 2.27608087e-02 9.99740925e-01 -1.71454125e-04 1.89431062e+00] [ 1.21194952e-02 -1.04435037e-04 9.99926551e-01 1.36741590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079254154 meters 0.01438075061682292 Centerline is valid? [True, True] Translation: X:207.66, Y:1.89, Z:1.37 [[ 9.99655958e-01 -2.38439582e-02 -1.09284305e-02 2.07660555e+02] [ 2.38436938e-02 9.99715687e-01 -1.54506287e-04 1.89296833e+00] [ 1.09290074e-02 -1.06121020e-04 9.99940271e-01 1.36887945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.139254154 meters 0.014944055177075494 Centerline is valid? [True, True] Translation: X:207.72, Y:1.89, Z:1.37 [[ 9.99595702e-01 -2.62158267e-02 -1.10074005e-02 2.07722090e+02] [ 2.62157048e-02 9.99656297e-01 -1.55387808e-04 1.88914909e+00] [ 1.10076908e-02 -1.33241776e-04 9.99939405e-01 1.36863228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters 0.015531286464053677 Centerline is valid? [True, True] Translation: X:207.78, Y:1.88, Z:1.37 [[ 9.99387259e-01 -3.29125541e-02 -1.19108932e-02 2.07783564e+02] [ 3.29128938e-02 9.99458210e-01 -1.67550062e-04 1.88366907e+00] [ 1.19099545e-02 -2.24574566e-04 9.99929049e-01 1.36813696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters 0.016989714706774385 Centerline is valid? [True, True] Translation: X:207.84, Y:1.88, Z:1.37 [[ 9.99168843e-01 -3.89355302e-02 -1.20684533e-02 2.07844921e+02] [ 3.89363234e-02 9.99241680e-01 -1.69312368e-04 1.87810029e+00] [ 1.20658938e-02 -3.00729556e-04 9.99927159e-01 1.36784926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319254154 meters 0.0194384235866017 Centerline is valid? [True, True] Translation: X:207.91, Y:1.87, Z:1.37 [[ 9.98829452e-01 -4.69268808e-02 -1.17300241e-02 2.07905979e+02] [ 4.69281845e-02 9.98898252e-01 -1.64230806e-04 1.87054432e+00] [ 1.17248074e-02 -3.86430168e-04 9.99931187e-01 1.36826058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379254154 meters 0.020194876098395074 Centerline is valid? [True, True] Translation: X:207.97, Y:1.87, Z:1.37 [[ 9.98668187e-01 -5.02711620e-02 -1.16044442e-02 2.07967677e+02] [ 5.02726704e-02 9.98735517e-01 -1.61868600e-04 1.86853787e+00] [ 1.15979079e-02 -4.21733378e-04 9.99932653e-01 1.36881366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439254154 meters 0.022790718711042917 Centerline is valid? [True, True] Translation: X:208.03, Y:1.86, Z:1.37 [[ 9.98568795e-01 -5.22161971e-02 -1.15685208e-02 2.08028714e+02] [ 5.22178372e-02 9.98635705e-01 -1.60439255e-04 1.86445645e+00] [ 1.15611155e-02 -4.43873503e-04 9.99933070e-01 1.36828331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499254154 meters 0.023793157706239878 Centerline is valid? [True, True] Translation: X:208.09, Y:1.86, Z:1.37 [[ 9.98579716e-01 -5.18572587e-02 -1.22219389e-02 2.08090170e+02] [ 5.18590709e-02 9.98654399e-01 -1.68819882e-04 1.86340252e+00] [ 1.22142475e-02 -4.65238283e-04 9.99925295e-01 1.36813277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559254154 meters 0.020518087848831777 Centerline is valid? [True, True] Translation: X:208.15, Y:1.87, Z:1.37 [[ 9.98743714e-01 -4.88515253e-02 -1.11589252e-02 2.08151919e+02] [ 4.88528550e-02 9.98805975e-01 -1.53558231e-04 1.87257152e+00] [ 1.11531027e-02 -3.91780036e-04 9.99937725e-01 1.36876223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619254154 meters 0.01899179496067783 Centerline is valid? [True, True] Translation: X:208.21, Y:1.88, Z:1.37 [[ 9.98868784e-01 -4.64917528e-02 -9.98345166e-03 2.08214056e+02] [ 4.64927052e-02 9.98918620e-01 -1.36792505e-04 1.87518774e+00] [ 9.97901548e-03 -3.27519912e-04 9.99950155e-01 1.37104260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679254154 meters 0.018172468502238952 Centerline is valid? [True, True] Translation: X:208.27, Y:1.88, Z:1.37 [[ 9.99124476e-01 -4.04267201e-02 -1.07685622e-02 2.08273358e+02] [ 4.04274812e-02 9.99182464e-01 -1.47080326e-04 1.87934180e+00] [ 1.07657045e-02 -2.88394292e-04 9.99942007e-01 1.37131329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739254154 meters 0.016692787738666427 Centerline is valid? [True, True] Translation: X:208.33, Y:1.88, Z:1.37 [[ 9.99325759e-01 -3.46067951e-02 -1.22636279e-02 2.08334348e+02] [ 3.46073449e-02 9.99400972e-01 -1.67440192e-04 1.88475821e+00] [ 1.22620763e-02 -2.57084306e-04 9.99924785e-01 1.37100099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799254154 meters 0.015881486147580566 Centerline is valid? [True, True] Translation: X:208.40, Y:1.89, Z:1.37 [[ 9.99403373e-01 -3.18569430e-02 -1.33429151e-02 2.08395818e+02] [ 3.18573556e-02 9.99492409e-01 -1.81669047e-04 1.88823000e+00] [ 1.33419298e-02 -2.43509332e-04 9.99910963e-01 1.37093918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859254154 meters 0.015700841878411184 Centerline is valid? [True, True] Translation: X:208.46, Y:1.89, Z:1.37 [[ 9.99443102e-01 -3.04506058e-02 -1.36471943e-02 2.08457692e+02] [ 3.04509150e-02 9.99536246e-01 -1.85184360e-04 1.88904784e+00] [ 1.36465043e-02 -2.30488321e-04 9.99906856e-01 1.37097352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91925415400001 meters 0.016026789561834454 Centerline is valid? [True, True] Translation: X:208.52, Y:1.89, Z:1.37 [[ 9.99426596e-01 -3.11751053e-02 -1.32133467e-02 2.08519157e+02] [ 3.11754662e-02 9.99513911e-01 -1.78712596e-04 1.88863574e+00] [ 1.32124952e-02 -2.33322122e-04 9.99912684e-01 1.37159996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters 0.0161788866247538 Centerline is valid? [True, True] Translation: X:208.58, Y:1.89, Z:1.37 [[ 9.99376155e-01 -3.34077439e-02 -1.14552800e-02 2.08580690e+02] [ 3.34081661e-02 9.99441779e-01 -1.54552862e-04 1.88748273e+00] [ 1.14540487e-02 -2.28243453e-04 9.99934374e-01 1.37343011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters 0.016825470783141037 Centerline is valid? [True, True] Translation: X:208.64, Y:1.88, Z:1.37 [[ 9.99312560e-01 -3.54259352e-02 -1.09275194e-02 2.08642376e+02] [ 3.54264450e-02 9.99372276e-01 -1.46967836e-04 1.88461956e+00] [ 1.09258664e-02 -2.40256360e-04 9.99940282e-01 1.37406162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099254154 meters 0.017182138932014045 Centerline is valid? [True, True] Translation: X:208.70, Y:1.88, Z:1.38 [[ 9.99159582e-01 -3.97985076e-02 -9.80858265e-03 2.08704846e+02] [ 3.97991344e-02 9.99207692e-01 -1.31358858e-04 1.88035329e+00] [ 9.80603911e-03 -2.59124637e-04 9.99951886e-01 1.37546839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159254154 meters 0.018393836729567657 Centerline is valid? [True, True] Translation: X:208.77, Y:1.88, Z:1.38 [[ 9.98990542e-01 -4.39975185e-02 -9.06176892e-03 2.08766470e+02] [ 4.39982314e-02 9.99031602e-01 -1.20762706e-04 1.87613377e+00] [ 9.05830678e-03 -2.78061005e-04 9.99958934e-01 1.37584056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219254154 meters 0.024415656714517866 Centerline is valid? [True, True] Translation: X:208.83, Y:1.86, Z:1.37 [[ 9.98517929e-01 -5.34795798e-02 -1.00936100e-02 2.08826524e+02] [ 5.34809523e-02 9.98568861e-01 -1.34076955e-04 1.86222639e+00] [ 1.00863351e-02 -4.05937634e-04 9.99949049e-01 1.37350639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279254154 meters 0.025119437421804 Centerline is valid? [True, True] Translation: X:208.89, Y:1.86, Z:1.37 [[ 9.98079716e-01 -6.09764224e-02 -1.08975197e-02 2.08886859e+02] [ 6.09784687e-02 9.98139071e-01 -1.44700224e-04 1.85889279e+00] [ 1.08860635e-02 -5.20091705e-04 9.99940610e-01 1.37235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339254154 meters 0.02946115301621335 Centerline is valid? [True, True] Translation: X:208.95, Y:1.85, Z:1.37 [[ 9.97444984e-01 -7.04481883e-02 -1.18556885e-02 2.08947053e+02] [ 7.04512774e-02 9.97515209e-01 -1.57397586e-04 1.85188775e+00] [ 1.18373179e-02 -6.78252963e-04 9.99929706e-01 1.37189769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399254154 meters 0.02935810382355312 Centerline is valid? [True, True] Translation: X:209.01, Y:1.85, Z:1.37 [[ 9.97158809e-01 -7.42929515e-02 -1.24445544e-02 2.09008296e+02] [ 7.42966560e-02 9.97236170e-01 -1.65008073e-04 1.85376204e+00] [ 1.24224187e-02 -7.60049524e-04 9.99922550e-01 1.37281473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459254154 meters 0.0327363183186038 Centerline is valid? [True, True] Translation: X:209.07, Y:1.85, Z:1.37 [[ 9.97169517e-01 -7.41693625e-02 -1.23231423e-02 2.09070447e+02] [ 7.41730010e-02 9.97245376e-01 -1.62151045e-04 1.85067331e+00] [ 1.23012234e-02 -7.52352370e-04 9.99924054e-01 1.37272686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519254154 meters 0.029097452575363347 Centerline is valid? [True, True] Translation: X:209.13, Y:1.86, Z:1.37 [[ 9.97304644e-01 -7.24061276e-02 -1.18659427e-02 2.09131427e+02] [ 7.24093928e-02 9.97374983e-01 -1.54778942e-04 1.85886712e+00] [ 1.18460013e-02 -7.04843946e-04 9.99929585e-01 1.37279857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579254154 meters 0.02841934735407676 Centerline is valid? [True, True] Translation: X:209.19, Y:1.86, Z:1.37 [[ 9.97399597e-01 -7.11543951e-02 -1.14497063e-02 2.09193788e+02] [ 7.11573598e-02 9.97465091e-01 -1.48752522e-04 1.86216057e+00] [ 1.14312667e-02 -6.66365163e-04 9.99934439e-01 1.37389580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.639254154 meters 0.02628747567201928 Centerline is valid? [True, True] Translation: X:209.26, Y:1.87, Z:1.37 [[ 9.97596347e-01 -6.82876238e-02 -1.17613048e-02 2.09255136e+02] [ 6.82905618e-02 9.97665463e-01 -1.52094718e-04 1.87032542e+00] [ 1.17442338e-02 -6.51456977e-04 9.99930822e-01 1.37476922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters 0.026435182171281796 Centerline is valid? [True, True] Translation: X:209.32, Y:1.87, Z:1.38 [[ 9.97787597e-01 -6.54849671e-02 -1.14730153e-02 2.09316539e+02] [ 6.54875829e-02 9.97853373e-01 -1.47940379e-04 1.87434282e+00] [ 1.14580749e-02 -6.03726965e-04 9.99934172e-01 1.37581141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters 0.02686704801261193 Centerline is valid? [True, True] Translation: X:209.38, Y:1.88, Z:1.38 [[ 9.98157748e-01 -5.95093938e-02 -1.18212888e-02 2.09375972e+02] [ 5.95117547e-02 9.98227593e-01 -1.52259208e-04 1.87956590e+00] [ 1.18093976e-02 -5.51526933e-04 9.99930115e-01 1.37577316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819254154 meters 0.023355749787647605 Centerline is valid? [True, True] Translation: X:209.44, Y:1.89, Z:1.38 [[ 9.98461132e-01 -5.41981938e-02 -1.17440846e-02 2.09436707e+02] [ 5.42001574e-02 9.98530080e-01 -1.51250414e-04 1.88905889e+00] [ 1.17350193e-02 -4.85513576e-04 9.99931024e-01 1.37638245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879254154 meters 0.02021018633202539 Centerline is valid? [True, True] Translation: X:209.50, Y:1.90, Z:1.38 [[ 9.98902048e-01 -4.49937321e-02 -1.30484595e-02 2.09497241e+02] [ 4.49953740e-02 9.98987181e-01 -1.67864631e-04 1.90051161e+00] [ 1.30427966e-02 -4.19439991e-04 9.99914851e-01 1.37555170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939254154 meters 0.016945571831052973 Centerline is valid? [True, True] Translation: X:209.56, Y:1.91, Z:1.38 [[ 9.99323210e-01 -3.38630921e-02 -1.43670828e-02 2.09557293e+02] [ 3.38639329e-02 9.99426435e-01 -1.84818646e-04 1.91215802e+00] [ 1.43651009e-02 -3.01832365e-04 9.99896771e-01 1.37552335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999254154 meters 0.014921374687832696 Centerline is valid? [True, True] Translation: X:209.62, Y:1.92, Z:1.38 [[ 9.99566550e-01 -2.60336770e-02 -1.37462431e-02 2.09618476e+02] [ 2.60337098e-02 9.99661050e-01 -1.76585692e-04 1.92100108e+00] [ 1.37461810e-02 -1.81356554e-04 9.99905500e-01 1.37678586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059254154 meters 0.013992220030727762 Centerline is valid? [True, True] Translation: X:209.68, Y:1.93, Z:1.38 [[ 9.99744461e-01 -1.82883304e-02 -1.32871921e-02 2.09679480e+02] [ 1.82876815e-02 9.99832752e-01 -1.70350152e-04 1.92942487e+00] [ 1.32880853e-02 -7.26853158e-05 9.99911707e-01 1.37857672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119254154 meters 0.01383186077315305 Centerline is valid? [True, True] Translation: X:209.74, Y:1.94, Z:1.38 [[ 9.99874314e-01 -9.60903128e-03 -1.26104241e-02 2.09738944e+02] [ 9.60775521e-03 9.99953831e-01 -1.61769946e-04 1.93707739e+00] [ 1.26113963e-02 4.05917462e-05 9.99920472e-01 1.37974869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179254154 meters 0.014091142267670038 Centerline is valid? [True, True] Translation: X:209.80, Y:1.94, Z:1.38 [[ 9.99898616e-01 -7.67407722e-03 -1.19944051e-02 2.09797246e+02] [ 7.67276268e-03 9.99970552e-01 -1.55609147e-04 1.93931498e+00] [ 1.19952460e-02 6.35631473e-05 9.99928052e-01 1.38002441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239254154 meters 0.013943396903837167 Centerline is valid? [True, True] Translation: X:209.86, Y:1.94, Z:1.38 [[ 9.99883847e-01 -9.26836640e-03 -1.20992085e-02 2.09855665e+02] [ 9.26710484e-03 9.99957047e-01 -1.60329668e-04 1.93787597e+00] [ 1.21001748e-02 4.81864114e-05 9.99926789e-01 1.38024918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299254154 meters 0.013847091042588973 Centerline is valid? [True, True] Translation: X:209.91, Y:1.94, Z:1.38 [[ 9.99841549e-01 -1.25243089e-02 -1.26498532e-02 2.09913860e+02] [ 1.25231605e-02 9.99921568e-01 -1.69997058e-04 1.93606139e+00] [ 1.26509902e-02 1.15539798e-05 9.99919973e-01 1.38016249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359254154 meters 0.014264468086861723 Centerline is valid? [True, True] Translation: X:209.97, Y:1.93, Z:1.38 [[ 9.99747215e-01 -1.83400867e-02 -1.30056489e-02 2.09972258e+02] [ 1.83393494e-02 9.99831805e-01 -1.75955611e-04 1.93064160e+00] [ 1.30066884e-02 -6.26040073e-05 9.99915407e-01 1.38028329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41925415400001 meters 0.014912403291236373 Centerline is valid? [True, True] Translation: X:210.03, Y:1.93, Z:1.38 [[ 9.99676174e-01 -2.18325705e-02 -1.30723754e-02 2.10032410e+02] [ 2.18321131e-02 9.99761635e-01 -1.77714523e-04 1.92726268e+00] [ 1.30731394e-02 -1.07740604e-04 9.99914537e-01 1.38041588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters 0.016117873970260276 Centerline is valid? [True, True] Translation: X:210.09, Y:1.92, Z:1.38 [[ 9.99586407e-01 -2.59852305e-02 -1.23200026e-02 2.10093078e+02] [ 2.59851366e-02 9.99662315e-01 -1.67719784e-04 1.92218266e+00] [ 1.23202006e-02 -1.52486535e-04 9.99924092e-01 1.38042482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters 0.016095882727354464 Centerline is valid? [True, True] Translation: X:210.15, Y:1.92, Z:1.38 [[ 9.99488388e-01 -2.97565024e-02 -1.17265998e-02 2.10154576e+02] [ 2.97566790e-02 9.99557159e-01 -1.59457678e-04 1.91802647e+00] [ 1.17261517e-02 -1.89568568e-04 9.99931228e-01 1.38131703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599254154 meters 0.01765977690886961 Centerline is valid? [True, True] Translation: X:210.22, Y:1.91, Z:1.38 [[ 9.99255191e-01 -3.67827786e-02 -1.16657501e-02 2.10216139e+02] [ 3.67834368e-02 9.99323248e-01 -1.58206835e-04 1.91002153e+00] [ 1.16636746e-02 -2.71017382e-04 9.99931940e-01 1.38176175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659254154 meters 0.01971822734100673 Centerline is valid? [True, True] Translation: X:210.28, Y:1.90, Z:1.38 [[ 9.98871461e-01 -4.56972795e-02 -1.29446446e-02 2.10276524e+02] [ 4.56988419e-02 9.98955247e-01 -1.75220273e-04 1.90200812e+00] [ 1.29391277e-02 -4.16532736e-04 9.99916199e-01 1.38175394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719254154 meters 0.025730756651205285 Centerline is valid? [True, True] Translation: X:210.34, Y:1.89, Z:1.38 [[ 9.98278242e-01 -5.68271810e-02 -1.45335444e-02 2.10336555e+02] [ 5.68303370e-02 9.98383831e-01 -1.96085158e-04 1.88939804e+00] [ 1.45211987e-02 -6.30198680e-04 9.99894363e-01 1.38010199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779254154 meters 0.029935920670546255 Centerline is valid? [True, True] Translation: X:210.40, Y:1.88, Z:1.38 [[ 9.97795438e-01 -6.47311930e-02 -1.46333796e-02 2.10398071e+02] [ 6.47352505e-02 9.97902454e-01 -1.96720314e-04 1.88211651e+00] [ 1.46154193e-02 -7.51008859e-04 9.99892907e-01 1.37991007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839254154 meters 0.03000598818880633 Centerline is valid? [True, True] Translation: X:210.46, Y:1.88, Z:1.38 [[ 9.97350887e-01 -7.12416557e-02 -1.46913364e-02 2.10459141e+02] [ 7.12464551e-02 9.97458723e-01 -1.97100261e-04 1.88144885e+00] [ 1.46680434e-02 -8.50127522e-04 9.99892057e-01 1.38100598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899254154 meters 0.03504179487685652 Centerline is valid? [True, True] Translation: X:210.52, Y:1.88, Z:1.38 [[ 9.96902903e-01 -7.70813205e-02 -1.55907708e-02 2.10518868e+02] [ 7.70874511e-02 9.97024313e-01 -2.08254964e-04 1.87673288e+00] [ 1.55604301e-02 -9.94242804e-04 9.99878435e-01 1.38008380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959254154 meters 0.03524808468680062 Centerline is valid? [True, True] Translation: X:210.58, Y:1.88, Z:1.38 [[ 9.96800426e-01 -7.84628010e-02 -1.52479495e-02 2.10581043e+02] [ 7.84688432e-02 9.96916546e-01 -2.02530500e-04 1.87885374e+00] [ 1.52168242e-02 -9.94606468e-04 9.99883723e-01 1.38304271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019254154 meters 0.03554608101244 Centerline is valid? [True, True] Translation: X:210.64, Y:1.88, Z:1.38 [[ 9.96874213e-01 -7.74917867e-02 -1.53891684e-02 2.10643568e+02] [ 7.74978432e-02 9.96992499e-01 -2.03304275e-04 1.88196439e+00] [ 1.53586399e-02 -9.89958574e-04 9.99881559e-01 1.38289142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079254154 meters 0.03475387993011599 Centerline is valid? [True, True] Translation: X:210.70, Y:1.89, Z:1.39 [[ 9.97057808e-01 -7.52809352e-02 -1.44398484e-02 2.10704818e+02] [ 7.52860468e-02 9.97161960e-01 -1.90040887e-04 1.88768875e+00] [ 1.44131740e-02 -8.97637350e-04 9.99895722e-01 1.38559538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.139254154 meters 0.028024376046497542 Centerline is valid? [True, True] Translation: X:210.77, Y:1.90, Z:1.39 [[ 9.97270698e-01 -7.24752605e-02 -1.40886824e-02 2.10766139e+02] [ 7.24798566e-02 9.97369859e-01 -1.84772269e-04 1.90267320e+00] [ 1.40650186e-02 -8.36877710e-04 9.99900733e-01 1.38721550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters 0.028565571196448838 Centerline is valid? [True, True] Translation: X:210.83, Y:1.91, Z:1.39 [[ 9.97409991e-01 -7.04461309e-02 -1.45139031e-02 2.10826117e+02] [ 7.04508023e-02 9.97515237e-01 -1.89813309e-04 1.90623822e+00] [ 1.44912111e-02 -8.33194426e-04 9.99894650e-01 1.38719359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters 0.02728242288282248 Centerline is valid? [True, True] Translation: X:210.89, Y:1.91, Z:1.39 [[ 9.97727479e-01 -6.55610122e-02 -1.55445017e-02 2.10887038e+02] [ 6.55657832e-02 9.97848228e-01 -2.03043857e-04 1.91460547e+00] [ 1.55243652e-02 -8.16604991e-04 9.99879156e-01 1.38679619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319254154 meters 0.025425141670924942 Centerline is valid? [True, True] Translation: X:210.95, Y:1.92, Z:1.39 [[ 9.98002395e-01 -6.11512992e-02 -1.58662667e-02 2.10947755e+02] [ 6.11557180e-02 9.98128216e-01 -2.06991892e-04 1.92239661e+00] [ 1.58492263e-02 -7.63734528e-04 9.99874101e-01 1.38765445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379254154 meters 0.02406517813795772 Centerline is valid? [True, True] Translation: X:211.01, Y:1.93, Z:1.39 [[ 9.98326404e-01 -5.54680529e-02 -1.63611477e-02 2.11008021e+02] [ 5.54719938e-02 9.98460221e-01 -2.13207621e-04 1.93004701e+00] [ 1.63477814e-02 -6.94734689e-04 9.99866125e-01 1.38735032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439254154 meters 0.02223321334855664 Centerline is valid? [True, True] Translation: X:211.07, Y:1.94, Z:1.39 [[ 9.98626304e-01 -4.96180215e-02 -1.68391428e-02 2.11068760e+02] [ 4.96213698e-02 9.98768077e-01 -2.19173681e-04 1.93636616e+00] [ 1.68292732e-02 -6.16708730e-04 9.99858188e-01 1.38764957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499254154 meters 0.01909064074950317 Centerline is valid? [True, True] Translation: X:211.13, Y:1.95, Z:1.39 [[ 9.99088191e-01 -3.88507609e-02 -1.77032517e-02 2.11129070e+02] [ 3.88527747e-02 9.99244919e-01 -2.30299513e-04 1.94789796e+00] [ 1.76988316e-02 -4.57730925e-04 9.99843259e-01 1.38722201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559254154 meters 0.01688849228596296 Centerline is valid? [True, True] Translation: X:211.19, Y:1.96, Z:1.39 [[ 9.99378427e-01 -3.05376578e-02 -1.76128120e-02 2.11189346e+02] [ 3.05383604e-02 9.99533569e-01 -2.29126159e-04 1.95649409e+00] [ 1.76115938e-02 -3.08882660e-04 9.99844856e-01 1.38817026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619254154 meters 0.014682100615560502 Centerline is valid? [True, True] Translation: X:211.25, Y:1.97, Z:1.39 [[ 9.99722591e-01 -1.85807392e-02 -1.44739989e-02 2.11249577e+02] [ 1.85799603e-02 9.99827360e-01 -1.88293145e-04 1.96739505e+00] [ 1.44749987e-02 -8.06854135e-05 9.99895228e-01 1.39147195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679254154 meters 0.014377545929017455 Centerline is valid? [True, True] Translation: X:211.31, Y:1.97, Z:1.39 [[ 9.99857587e-01 -1.10936036e-02 -1.27175791e-02 2.11309222e+02] [ 1.10923938e-02 9.99938464e-01 -1.65661555e-04 1.97276613e+00] [ 1.27186343e-02 2.45695674e-05 9.99919115e-01 1.39404687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739254154 meters 0.014396654444746719 Centerline is valid? [True, True] Translation: X:211.37, Y:1.97, Z:1.39 [[ 9.99875283e-01 -9.78460563e-03 -1.23968022e-02 2.11367604e+02] [ 9.78333225e-03 9.99952129e-01 -1.63358615e-04 1.97324073e+00] [ 1.23978071e-02 4.20562074e-05 9.99923143e-01 1.39376839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799254154 meters 0.014149142756767322 Centerline is valid? [True, True] Translation: X:211.43, Y:1.97, Z:1.39 [[ 9.99814942e-01 -1.33071299e-02 -1.38924854e-02 2.11425662e+02] [ 1.33058318e-02 9.99911456e-01 -1.85869661e-04 1.96803344e+00] [ 1.38937287e-02 9.84189412e-07 9.99903477e-01 1.39138681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859254154 meters 0.014387082711263127 Centerline is valid? [True, True] Translation: X:211.48, Y:1.96, Z:1.39 [[ 9.99723305e-01 -1.82985867e-02 -1.47808825e-02 2.11484598e+02] [ 1.82976447e-02 9.99832564e-01 -1.98977095e-04 1.96270808e+00] [ 1.47820487e-02 -7.15332981e-05 9.99890737e-01 1.39092504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91925415400001 meters 0.015259584553998782 Centerline is valid? [True, True] Translation: X:211.54, Y:1.95, Z:1.39 [[ 9.99542077e-01 -2.66809065e-02 -1.42746488e-02 2.11543562e+02] [ 2.66808698e-02 9.99643984e-01 -1.93044853e-04 1.95310585e+00] [ 1.42747174e-02 -1.87903593e-04 9.99898093e-01 1.39101583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters 0.01597834424676414 Centerline is valid? [True, True] Translation: X:211.60, Y:1.95, Z:1.39 [[ 9.99407153e-01 -3.16325976e-02 -1.35911967e-02 2.11604272e+02] [ 3.16330173e-02 9.99499534e-01 -1.84147100e-04 1.94824884e+00] [ 1.35902198e-02 -2.45892633e-04 9.99907618e-01 1.39211741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters 0.01717842915074938 Centerline is valid? [True, True] Translation: X:211.67, Y:1.94, Z:1.39 [[ 9.99166834e-01 -3.89930728e-02 -1.20489849e-02 2.11665466e+02] [ 3.89939396e-02 9.99239434e-01 -1.63069200e-04 1.93982684e+00] [ 1.20461794e-02 -3.06904054e-04 9.99927395e-01 1.39341643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099254154 meters 0.020422533830750614 Centerline is valid? [True, True] Translation: X:211.73, Y:1.93, Z:1.39 [[ 9.98839887e-01 -4.65660406e-02 -1.22672081e-02 2.11726473e+02] [ 4.65675136e-02 9.98915131e-01 -1.65685595e-04 1.93087128e+00] [ 1.22616151e-02 -4.05759999e-04 9.99924741e-01 1.39243520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159254154 meters 0.02191387865330792 Centerline is valid? [True, True] Translation: X:211.79, Y:1.92, Z:1.39 [[ 9.98484933e-01 -5.35241133e-02 -1.27674916e-02 2.11787651e+02] [ 5.35262803e-02 9.98566426e-01 -1.72172769e-04 1.92453662e+00] [ 1.27584038e-02 -5.11484418e-04 9.99918477e-01 1.39286440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219254154 meters 0.025870861779682012 Centerline is valid? [True, True] Translation: X:211.85, Y:1.92, Z:1.39 [[ 9.97813923e-01 -6.44706097e-02 -1.45229630e-02 2.11848396e+02] [ 6.44745733e-02 9.97919331e-01 -1.95606196e-04 1.91567190e+00] [ 1.45053564e-02 -7.41183257e-04 9.99894517e-01 1.39220958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279254154 meters 0.02999313595409605 Centerline is valid? [True, True] Translation: X:211.91, Y:1.91, Z:1.39 [[ 9.97345575e-01 -7.11539793e-02 -1.54568935e-02 2.11908792e+02] [ 7.11592712e-02 9.97464944e-01 -2.08044602e-04 1.90849280e+00] [ 1.54325126e-02 -8.92408915e-04 9.99880513e-01 1.39104674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339254154 meters 0.03369629444156383 Centerline is valid? [True, True] Translation: X:211.97, Y:1.90, Z:1.39 [[ 9.96890117e-01 -7.70670922e-02 -1.64547350e-02 2.11969618e+02] [ 7.70738944e-02 9.97025359e-01 -2.21314755e-04 1.90404600e+00] [ 1.64228441e-02 -1.04760402e-03 9.99864587e-01 1.39077802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399254154 meters 0.03557806812698772 Centerline is valid? [True, True] Translation: X:212.03, Y:1.90, Z:1.39 [[ 9.96902889e-01 -7.69421844e-02 -1.62643738e-02 2.12031205e+02] [ 7.69488228e-02 9.97035020e-01 -2.18184609e-04 1.90474929e+00] [ 1.62329379e-02 -1.03401555e-03 9.99867703e-01 1.39188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459254154 meters 0.02906740092927067 Centerline is valid? [True, True] Translation: X:212.09, Y:1.92, Z:1.39 [[ 9.97318665e-01 -7.13700374e-02 -1.61801757e-02 2.12091097e+02] [ 7.13758820e-02 9.97449466e-01 -2.16705108e-04 1.91846814e+00] [ 1.61543738e-02 -9.38750258e-04 9.99869069e-01 1.39358032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519254154 meters 0.026120511593300175 Centerline is valid? [True, True] Translation: X:212.15, Y:1.93, Z:1.39 [[ 9.97823911e-01 -6.40399067e-02 -1.56949692e-02 2.12151633e+02] [ 6.40445027e-02 9.97947021e-01 -2.10127940e-04 1.92873453e+00] [ 1.56762043e-02 -7.95505815e-04 9.99876804e-01 1.39499023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579254154 meters 0.02485673742448158 Centerline is valid? [True, True] Translation: X:212.21, Y:1.94, Z:1.40 [[ 9.98126634e-01 -5.90700606e-02 -1.59358305e-02 2.12212867e+02] [ 5.90741703e-02 9.98253573e-01 -2.13123750e-04 1.93504901e+00] [ 1.59205890e-02 -7.28671472e-04 9.99872994e-01 1.39583213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.639254154 meters 0.021917296419293752 Centerline is valid? [True, True] Translation: X:212.27, Y:1.95, Z:1.40 [[ 9.98510417e-01 -5.20210685e-02 -1.64546478e-02 2.12272890e+02] [ 5.20244969e-02 9.98645785e-01 -2.19916312e-04 1.94620492e+00] [ 1.64438050e-02 -6.36456048e-04 9.99864589e-01 1.39673325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters 0.025106603267764316 Centerline is valid? [True, True] Translation: X:212.33, Y:1.95, Z:1.39 [[ 9.98759134e-01 -4.69059630e-02 -1.67338656e-02 2.12332192e+02] [ 4.69087889e-02 9.98899152e-01 -2.23813304e-04 1.94590355e+00] [ 1.67259424e-02 -5.61429788e-04 9.99859954e-01 1.39492277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters 0.017684173487529427 Centerline is valid? [True, True] Translation: X:212.39, Y:1.97, Z:1.40 [[ 9.99156998e-01 -3.74869987e-02 -1.67337633e-02 2.12392944e+02] [ 3.74885030e-02 9.99297034e-01 -2.23888379e-04 1.96638865e+00] [ 1.67303929e-02 -4.03624095e-04 9.99859956e-01 1.39839638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819254154 meters 0.01483656062252249 Centerline is valid? [True, True] Translation: X:212.45, Y:1.98, Z:1.40 [[ 9.99549765e-01 -2.48760762e-02 -1.67764336e-02 2.12454036e+02] [ 2.48758156e-02 9.99690524e-01 -2.24245258e-04 1.98261485e+00] [ 1.67768201e-02 -1.93183174e-04 9.99859241e-01 1.39947689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879254154 meters 0.014601917937345305 Centerline is valid? [True, True] Translation: X:212.51, Y:1.99, Z:1.40 [[ 9.99608436e-01 -2.26918299e-02 -1.63724182e-02 2.12514035e+02] [ 2.26912850e-02 9.99742496e-01 -2.19074978e-04 1.98607263e+00] [ 1.63731734e-02 -1.52522010e-04 9.99865939e-01 1.40000606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939254154 meters 0.014507891270911007 Centerline is valid? [True, True] Translation: X:212.57, Y:1.99, Z:1.40 [[ 9.99681549e-01 -1.92197715e-02 -1.63524209e-02 2.12573984e+02] [ 1.92187536e-02 9.99815279e-01 -2.19405821e-04 1.99133017e+00] [ 1.63536172e-02 -9.49371976e-05 9.99866266e-01 1.40079077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999254154 meters 0.014412971268428951 Centerline is valid? [True, True] Translation: X:212.63, Y:2.00, Z:1.40 [[ 9.99734501e-01 -1.66697059e-02 -1.59074698e-02 2.12632819e+02] [ 1.66684081e-02 9.99861050e-01 -2.14176456e-04 1.99755707e+00] [ 1.59088297e-02 -5.10326061e-05 9.99873445e-01 1.40152154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059254154 meters 0.014359675199129143 Centerline is valid? [True, True] Translation: X:212.69, Y:2.00, Z:1.40 [[ 9.99727033e-01 -1.75358284e-02 -1.54387243e-02 2.12691230e+02] [ 1.75346694e-02 9.99846234e-01 -2.10439060e-04 1.99857094e+00] [ 1.54400406e-02 -6.03313101e-05 9.99880794e-01 1.40223476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119254154 meters 0.01453203483303195 Centerline is valid? [True, True] Translation: X:212.75, Y:2.00, Z:1.40 [[ 9.99688633e-01 -2.00079985e-02 -1.49103167e-02 2.12750244e+02] [ 2.00071371e-02 9.99799816e-01 -2.06944788e-04 1.99798522e+00] [ 1.49114725e-02 -9.14323993e-05 9.99888814e-01 1.40290128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179254154 meters 0.014948612233480948 Centerline is valid? [True, True] Translation: X:212.81, Y:2.00, Z:1.40 [[ 9.99593251e-01 -2.47774586e-02 -1.41212847e-02 2.12809468e+02] [ 2.47771338e-02 9.99692980e-01 -1.97981999e-04 1.99558937e+00] [ 1.41218547e-02 -1.51983491e-04 9.99900270e-01 1.40446263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239254154 meters 0.01601962175876851 Centerline is valid? [True, True] Translation: X:212.87, Y:1.99, Z:1.40 [[ 9.99489568e-01 -2.88894750e-02 -1.36382785e-02 2.12870973e+02] [ 2.88895533e-02 9.99582591e-01 -1.91312197e-04 1.99179425e+00] [ 1.36381126e-02 -2.02789228e-04 9.99906976e-01 1.40433110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299254154 meters 0.01714610867240353 Centerline is valid? [True, True] Translation: X:212.93, Y:1.99, Z:1.40 [[ 9.99368621e-01 -3.27523987e-02 -1.37709963e-02 2.12932441e+02] [ 3.27528517e-02 9.99463463e-01 -1.92695922e-04 1.98693221e+00] [ 1.37699189e-02 -2.58465143e-04 9.99905157e-01 1.40351086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359254154 meters 0.018201732928769844 Centerline is valid? [True, True] Translation: X:212.99, Y:1.98, Z:1.40 [[ 9.99264182e-01 -3.56743739e-02 -1.40866805e-02 2.12994865e+02] [ 3.56751485e-02 9.99363420e-01 -1.96370364e-04 1.98373222e+00] [ 1.40847186e-02 -3.06318547e-04 9.99900759e-01 1.40338223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41925415400001 meters 0.01901474966662315 Centerline is valid? [True, True] Translation: X:213.06, Y:1.98, Z:1.40 [[ 9.99177295e-01 -3.79815584e-02 -1.42173733e-02 2.13056595e+02] [ 3.79825930e-02 9.99278381e-01 -1.97340619e-04 1.98035709e+00] [ 1.42146091e-02 -3.42834440e-04 9.99898909e-01 1.40321189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters 0.019696972951287677 Centerline is valid? [True, True] Translation: X:213.12, Y:1.98, Z:1.40 [[ 9.99119473e-01 -3.91991109e-02 -1.49568841e-02 2.13118842e+02] [ 3.92004061e-02 9.99231347e-01 -2.06681884e-04 1.97846591e+00] [ 1.49534892e-02 -3.79816035e-04 9.99888118e-01 1.40267449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539254154 meters 0.018379822807017693 Centerline is valid? [True, True] Translation: X:213.18, Y:1.98, Z:1.40 [[ 9.98992317e-01 -4.18843328e-02 -1.61261417e-02 2.13180466e+02] [ 4.18862044e-02 9.99122363e-01 -2.21823640e-04 1.97900886e+00] [ 1.61212798e-02 -4.53862757e-04 9.99869941e-01 1.40322499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599254154 meters 0.01930019582280915 Centerline is valid? [True, True] Translation: X:213.24, Y:1.98, Z:1.40 [[ 9.98868400e-01 -4.47834837e-02 -1.60112228e-02 2.13242381e+02] [ 4.47857177e-02 9.98996592e-01 -2.19183044e-04 1.97703354e+00] [ 1.60049728e-02 -4.98139087e-04 9.99871788e-01 1.40387942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659254154 meters 0.01972363570095523 Centerline is valid? [True, True] Translation: X:213.30, Y:1.98, Z:1.40 [[ 9.98800746e-01 -4.63245468e-02 -1.58463555e-02 2.13304193e+02] [ 4.63269473e-02 9.98926307e-01 -2.15757382e-04 1.97643651e+00] [ 1.58393362e-02 -5.18614642e-04 9.99874415e-01 1.40473306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719254154 meters 0.020706121677032212 Centerline is valid? [True, True] Translation: X:213.37, Y:1.98, Z:1.41 [[ 9.98628757e-01 -4.98556940e-02 -1.59691990e-02 2.13365552e+02] [ 4.98585962e-02 9.98756263e-01 -2.16586300e-04 1.97509092e+00] [ 1.59601355e-02 -5.79912536e-04 9.99872461e-01 1.40555122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779254154 meters 0.02319626427303137 Centerline is valid? [True, True] Translation: X:213.43, Y:1.97, Z:1.41 [[ 9.98479855e-01 -5.28170379e-02 -1.57588244e-02 2.13426230e+02] [ 5.28202544e-02 9.98604013e-01 -2.12331524e-04 1.97149344e+00] [ 1.57480400e-02 -6.20376363e-04 9.99875799e-01 1.40573502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839254154 meters 0.022601917477606377 Centerline is valid? [True, True] Translation: X:213.49, Y:1.97, Z:1.41 [[ 9.98259324e-01 -5.68410805e-02 -1.57293906e-02 2.13487416e+02] [ 5.68448023e-02 9.98383005e-01 -2.10742033e-04 1.97349811e+00] [ 1.57159351e-02 -6.83758900e-04 9.99876263e-01 1.40721205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899254154 meters 0.023451534432222504 Centerline is valid? [True, True] Translation: X:213.55, Y:1.97, Z:1.41 [[ 9.98185019e-01 -5.79404733e-02 -1.64185561e-02 2.13549666e+02] [ 5.79446930e-02 9.98319771e-01 -2.18992629e-04 1.97413390e+00] [ 1.64036577e-02 -7.32773029e-04 9.99865182e-01 1.40761927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959254154 meters 0.02261382162808895 Centerline is valid? [True, True] Translation: X:213.61, Y:1.98, Z:1.41 [[ 9.98299978e-01 -5.58522535e-02 -1.66637021e-02 2.13611930e+02] [ 5.58563305e-02 9.98438792e-01 -2.21021475e-04 1.97843834e+00] [ 1.66500312e-02 -7.10127519e-04 9.99861126e-01 1.40750450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019254154 meters 0.021980741379777114 Centerline is valid? [True, True] Translation: X:213.67, Y:1.98, Z:1.41 [[ 9.98469028e-01 -5.26779140e-02 -1.68711824e-02 2.13673638e+02] [ 5.26816587e-02 9.98611332e-01 -2.22707672e-04 1.98228564e+00] [ 1.68594857e-02 -6.66435159e-04 9.99857647e-01 1.40738147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079254154 meters 0.02023345512409996 Centerline is valid? [True, True] Translation: X:213.73, Y:1.99, Z:1.41 [[ 9.98837728e-01 -4.55317091e-02 -1.58131749e-02 2.13732812e+02] [ 4.55341077e-02 9.98962763e-01 -2.08512315e-04 1.98997723e+00] [ 1.58062668e-02 -5.11768842e-04 9.99874942e-01 1.40863192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.139254154 meters 0.017808218123510612 Centerline is valid? [True, True] Translation: X:213.79, Y:2.00, Z:1.41 [[ 9.99167223e-01 -3.82006471e-02 -1.43377347e-02 2.13793399e+02] [ 3.82018654e-02 9.99270024e-01 -1.88998225e-04 1.99862425e+00] [ 1.43344884e-02 -3.58887378e-04 9.99897192e-01 1.40975967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters 0.01689247681782079 Centerline is valid? [True, True] Translation: X:213.85, Y:2.00, Z:1.41 [[ 9.99316381e-01 -3.39698350e-02 -1.45884034e-02 2.13854366e+02] [ 3.39706516e-02 9.99422812e-01 -1.91891904e-04 2.00265856e+00] [ 1.45865017e-02 -3.03816845e-04 9.99893565e-01 1.41024484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters 0.01584087336209877 Centerline is valid? [True, True] Translation: X:213.92, Y:2.01, Z:1.41 [[ 9.99444738e-01 -3.00258785e-02 -1.44451751e-02 2.13915818e+02] [ 3.00262750e-02 9.99549092e-01 -1.89480810e-04 2.00809821e+00] [ 1.44443510e-02 -2.44359203e-04 9.99895645e-01 1.41090079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319254154 meters 0.01557410100828184 Centerline is valid? [True, True] Translation: X:213.98, Y:2.01, Z:1.41 [[ 9.99468942e-01 -2.89713105e-02 -1.49163253e-02 2.13977143e+02] [ 2.89716242e-02 9.99580215e-01 -1.95102161e-04 2.00967945e+00] [ 1.49157160e-02 -2.37151620e-04 9.99888726e-01 1.41065907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379254154 meters 0.015630351422893173 Centerline is valid? [True, True] Translation: X:214.04, Y:2.01, Z:1.41 [[ 9.99442961e-01 -2.90314959e-02 -1.64602809e-02 2.14038167e+02] [ 2.90318965e-02 9.99578463e-01 -2.14666045e-04 2.00980293e+00] [ 1.64595743e-02 -2.63326702e-04 9.99864497e-01 1.40896541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439254154 meters 0.015630260600313743 Centerline is valid? [True, True] Translation: X:214.10, Y:2.01, Z:1.41 [[ 9.99423200e-01 -2.92913836e-02 -1.71838008e-02 2.14099242e+02] [ 2.92918697e-02 9.99570876e-01 -2.23457991e-04 2.01057185e+00] [ 1.71829722e-02 -2.80016553e-04 9.99852323e-01 1.40864481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499254154 meters 0.016025311539577477 Centerline is valid? [True, True] Translation: X:214.16, Y:2.01, Z:1.41 [[ 9.99440077e-01 -2.93443264e-02 -1.60761685e-02 2.14159343e+02] [ 2.93447651e-02 9.99569328e-01 -2.08652162e-04 2.00990256e+00] [ 1.60753677e-02 -2.63216056e-04 9.99870748e-01 1.40910570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559254154 meters 0.01519741796878954 Centerline is valid? [True, True] Translation: X:214.22, Y:2.01, Z:1.41 [[ 9.99550082e-01 -2.62852397e-02 -1.44471104e-02 2.14219560e+02] [ 2.62852760e-02 9.99654465e-01 -1.87399030e-04 2.01217598e+00] [ 1.44470443e-02 -1.92431569e-04 9.99895617e-01 1.41079299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619254154 meters 0.014488801085684939 Centerline is valid? [True, True] Translation: X:214.28, Y:2.02, Z:1.41 [[ 9.99676964e-01 -2.19401524e-02 -1.28295608e-02 2.14280389e+02] [ 2.19398232e-02 9.99759279e-01 -1.66417171e-04 2.01509267e+00] [ 1.28301237e-02 -1.15114883e-04 9.99917684e-01 1.41201265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679254154 meters 0.01389318800788231 Centerline is valid? [True, True] Translation: X:214.34, Y:2.02, Z:1.41 [[ 9.99788339e-01 -1.65403307e-02 -1.22349405e-02 2.14341101e+02] [ 1.65396270e-02 9.99863198e-01 -1.58704123e-04 2.01846780e+00] [ 1.22358918e-02 -4.36908215e-05 9.99925138e-01 1.41328299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739254154 meters 0.013902058649261261 Centerline is valid? [True, True] Translation: X:214.40, Y:2.02, Z:1.41 [[ 9.99788747e-01 -1.57797536e-02 -1.31704684e-02 2.14400956e+02] [ 1.57788690e-02 9.99875491e-01 -1.71078960e-04 2.01644822e+00] [ 1.31715281e-02 -3.67722770e-05 9.99913251e-01 1.41234613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799254154 meters 0.013935406520425757 Centerline is valid? [True, True] Translation: X:214.46, Y:2.01, Z:1.41 [[ 9.99730634e-01 -1.76795530e-02 -1.50363657e-02 2.14459700e+02] [ 1.76786037e-02 9.99843702e-01 -1.96056146e-04 2.01415043e+00] [ 1.50374817e-02 -6.98186146e-05 9.99886928e-01 1.41093292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859254154 meters 0.014536398761780953 Centerline is valid? [True, True] Translation: X:214.52, Y:2.01, Z:1.41 [[ 9.99596984e-01 -2.29394751e-02 -1.67227288e-02 2.14518995e+02] [ 2.29390180e-02 9.99736842e-01 -2.19176435e-04 2.00895699e+00] [ 1.67233559e-02 -1.64514874e-04 9.99860141e-01 1.41000439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91925415400001 meters 0.015759167063651044 Centerline is valid? [True, True] Translation: X:214.58, Y:2.00, Z:1.41 [[ 9.99432469e-01 -2.94279977e-02 -1.63930579e-02 2.14578087e+02] [ 2.94284146e-02 9.99566867e-01 -2.15847299e-04 2.00238470e+00] [ 1.63923095e-02 -2.66696906e-04 9.99865601e-01 1.40933195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters 0.0171267050686101 Centerline is valid? [True, True] Translation: X:214.64, Y:2.00, Z:1.41 [[ 9.99296795e-01 -3.40967575e-02 -1.55989547e-02 2.14638848e+02] [ 3.40976981e-02 9.99418483e-01 -2.05731766e-04 1.99870588e+00] [ 1.55968984e-02 -3.26301352e-04 9.99878308e-01 1.41070228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039254154 meters 0.02034760105369908 Centerline is valid? [True, True] Translation: X:214.70, Y:1.99, Z:1.41 [[ 9.98978102e-01 -4.29705978e-02 -1.40100036e-02 2.14700170e+02] [ 4.29722300e-02 9.99076250e-01 -1.84648515e-04 1.99171173e+00] [ 1.40049963e-02 -4.17581273e-04 9.99901838e-01 1.41200262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099254154 meters 0.02372783917386834 Centerline is valid? [True, True] Translation: X:214.76, Y:1.99, Z:1.41 [[ 9.98616749e-01 -5.08090493e-02 -1.35288565e-02 2.14760714e+02] [ 5.08112913e-02 9.98708256e-01 -1.78171888e-04 1.98573707e+00] [ 1.35204334e-02 -5.09493237e-04 9.99908465e-01 1.41282922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159254154 meters 0.023386730259414856 Centerline is valid? [True, True] Translation: X:214.82, Y:1.99, Z:1.41 [[ 9.98384139e-01 -5.51503017e-02 -1.36951032e-02 2.14821839e+02] [ 5.51530089e-02 9.98477898e-01 -1.80212316e-04 1.98667345e+00] [ 1.36841967e-02 -5.75405032e-04 9.99906201e-01 1.41392091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219254154 meters 0.028521999205468107 Centerline is valid? [True, True] Translation: X:214.88, Y:1.98, Z:1.41 [[ 9.97679435e-01 -6.66475299e-02 -1.39230814e-02 2.14882812e+02] [ 6.66514465e-02 9.97776303e-01 -1.83042808e-04 1.98012216e+00] [ 1.39043201e-02 -7.45375473e-04 9.99903052e-01 1.41350555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279254154 meters 0.03129720711238296 Centerline is valid? [True, True] Translation: X:214.94, Y:1.98, Z:1.41 [[ 9.97065861e-01 -7.53188214e-02 -1.36654458e-02 2.14943371e+02] [ 7.53234061e-02 9.97159141e-01 -1.79614205e-04 1.97620308e+00] [ 1.36401525e-02 -8.50240729e-04 9.99906607e-01 1.41390744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339254154 meters 0.03235535064794889 Centerline is valid? [True, True] Translation: X:215.00, Y:1.98, Z:1.42 [[ 9.96843779e-01 -7.82466522e-02 -1.34141992e-02 2.15004181e+02] [ 7.82513354e-02 9.96933647e-01 -1.76189202e-04 1.97530932e+00] [ 1.33868528e-02 -8.74045894e-04 9.99910010e-01 1.41527514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399254154 meters 0.03329968278912646 Centerline is valid? [True, True] Translation: X:215.07, Y:1.98, Z:1.41 [[ 9.96950711e-01 -7.65400188e-02 -1.51956027e-02 2.15065757e+02] [ 7.65458381e-02 9.97066043e-01 -1.99137794e-04 1.97812813e+00] [ 1.51662614e-02 -9.64629577e-04 9.99884520e-01 1.41248085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459254154 meters 0.03009062208730833 Centerline is valid? [True, True] Translation: X:215.13, Y:1.99, Z:1.41 [[ 9.97162966e-01 -7.36642636e-02 -1.54788870e-02 2.15126790e+02] [ 7.36699634e-02 9.97282656e-01 -2.02423189e-04 1.98552800e+00] [ 1.54517369e-02 -9.38480129e-04 9.99880174e-01 1.41358217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519254154 meters 0.027906880341080017 Centerline is valid? [True, True] Translation: X:215.19, Y:2.00, Z:1.42 [[ 9.97730101e-01 -6.57031112e-02 -1.47562358e-02 2.15186947e+02] [ 6.57074262e-02 9.97838913e-01 -1.92740050e-04 1.99719723e+00] [ 1.47370099e-02 -7.77291728e-04 9.99891102e-01 1.41516504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579254154 meters 0.024659203619673213 Centerline is valid? [True, True] Translation: X:215.25, Y:2.01, Z:1.42 [[ 9.98118558e-01 -5.97642452e-02 -1.36959425e-02 2.15247242e+02] [ 5.97674055e-02 9.98212315e-01 -1.78802587e-04 2.00786681e+00] [ 1.36821445e-02 -6.40104772e-04 9.99906190e-01 1.41690495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.639254154 meters 0.022107947470622828 Centerline is valid? [True, True] Translation: X:215.31, Y:2.02, Z:1.42 [[ 9.98590665e-01 -5.13626135e-02 -1.33628739e-02 2.15307322e+02] [ 5.13648715e-02 9.98679939e-01 -1.74403141e-04 2.01903200e+00] [ 1.33541919e-02 -5.12224951e-04 9.99910698e-01 1.41738648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters 0.020132739111774912 Centerline is valid? [True, True] Translation: X:215.37, Y:2.03, Z:1.42 [[ 9.98958490e-01 -4.35708682e-02 -1.35467839e-02 2.15367979e+02] [ 4.35724742e-02 9.99050253e-01 -1.76717267e-04 2.03149781e+00] [ 1.35416176e-02 -4.13733679e-04 9.99908222e-01 1.41628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters 0.01757022904619109 Centerline is valid? [True, True] Translation: X:215.43, Y:2.04, Z:1.42 [[ 9.99133868e-01 -3.93895149e-02 -1.34156962e-02 2.15429059e+02] [ 3.93907172e-02 9.99223869e-01 -1.74716444e-04 2.03934883e+00] [ 1.34121659e-02 -3.53888778e-04 9.99909990e-01 1.41771585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819254154 meters 0.016066070128047064 Centerline is valid? [True, True] Translation: X:215.49, Y:2.05, Z:1.42 [[ 9.99379214e-01 -3.20246500e-02 -1.46836365e-02 2.15490381e+02] [ 3.20253039e-02 9.99487040e-01 -1.90662109e-04 2.04890929e+00] [ 1.46822103e-02 -2.79704172e-04 9.99892171e-01 1.41718473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879254154 meters 0.015175678127677074 Centerline is valid? [True, True] Translation: X:215.55, Y:2.06, Z:1.42 [[ 9.99538542e-01 -2.66622742e-02 -1.45542671e-02 2.15550418e+02] [ 2.66623539e-02 9.99644478e-01 -1.88597218e-04 2.05594034e+00] [ 1.45541212e-02 -1.99540832e-04 9.99894063e-01 1.41788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939254154 meters 0.014060635975054029 Centerline is valid? [True, True] Translation: X:215.61, Y:2.07, Z:1.42 [[ 9.99743970e-01 -1.89945096e-02 -1.22964505e-02 2.15611371e+02] [ 1.89939901e-02 9.99819585e-01 -1.59036155e-04 2.06636278e+00] [ 1.22972529e-02 -7.45632229e-05 9.99924383e-01 1.42016518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999254154 meters 0.015718540652907308 Centerline is valid? [True, True] Translation: X:215.67, Y:2.07, Z:1.42 [[ 9.99814403e-01 -1.54049930e-02 -1.15691324e-02 2.15672918e+02] [ 1.54042976e-02 9.99881336e-01 -1.49222265e-04 2.07135252e+00] [ 1.15700583e-02 -2.90197879e-05 9.99933064e-01 1.41916064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059254154 meters 0.01389337545124528 Centerline is valid? [True, True] Translation: X:215.73, Y:2.08, Z:1.42 [[ 9.99817908e-01 -1.58170471e-02 -1.06757621e-02 2.15733566e+02] [ 1.58164808e-02 9.99874902e-01 -1.37471702e-04 2.07520381e+00] [ 1.06766010e-02 -3.14063167e-05 9.99943003e-01 1.42099005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119254154 meters 0.014000438912454395 Centerline is valid? [True, True] Translation: X:215.79, Y:2.08, Z:1.42 [[ 9.99764839e-01 -1.89060551e-02 -1.06220812e-02 2.15794234e+02] [ 1.89056689e-02 9.99821263e-01 -1.36780454e-04 2.07544941e+00] [ 1.06227686e-02 -6.40692617e-05 9.99943575e-01 1.42131731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179254154 meters 0.015108699237926225 Centerline is valid? [True, True] Translation: X:215.86, Y:2.07, Z:1.42 [[ 9.99555799e-01 -2.75566927e-02 -1.13504655e-02 2.15856212e+02] [ 2.75568162e-02 9.99620228e-01 -1.45550622e-04 2.07135980e+00] [ 1.13501658e-02 -1.67296723e-04 9.99935571e-01 1.42097454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239254154 meters 0.017517237788093328 Centerline is valid? [True, True] Translation: X:215.92, Y:2.06, Z:1.42 [[ 9.99205361e-01 -3.83270626e-02 -1.09399687e-02 2.15917264e+02] [ 3.83278324e-02 9.99265209e-01 -1.39360064e-04 2.06387070e+00] [ 1.09372714e-02 -2.80055965e-04 9.99940147e-01 1.42066310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299254154 meters 0.020957317870809726 Centerline is valid? [True, True] Translation: X:215.98, Y:2.06, Z:1.42 [[ 9.99000711e-01 -4.33493566e-02 -1.08817439e-02 2.15978332e+02] [ 4.33504180e-02 9.99059919e-01 -1.38419194e-04 2.06033132e+00] [ 1.08775145e-02 -3.33447272e-04 9.99940782e-01 1.41885156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359254154 meters 0.022571433533919102 Centerline is valid? [True, True] Translation: X:216.04, Y:2.05, Z:1.42 [[ 9.98682446e-01 -5.03343698e-02 -9.99114351e-03 2.16038804e+02] [ 5.03356153e-02 9.98732351e-01 -1.26924091e-04 2.05340544e+00] [ 9.98486690e-03 -3.76153494e-04 9.99950079e-01 1.42066197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41925415400001 meters 0.0251524891255623 Centerline is valid? [True, True] Translation: X:216.10, Y:2.05, Z:1.42 [[ 9.98476618e-01 -5.43491627e-02 -9.51898320e-03 2.16099421e+02] [ 5.43504767e-02 9.98521913e-01 -1.20774796e-04 2.04969859e+00] [ 9.51147733e-03 -3.96770465e-04 9.99954686e-01 1.42093354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters 0.026872935403449472 Centerline is valid? [True, True] Translation: X:216.16, Y:2.05, Z:1.42 [[ 9.98156979e-01 -5.98754071e-02 -9.87826517e-03 2.16160234e+02] [ 5.98770938e-02 9.98205749e-01 -1.25181410e-04 2.04764118e+00] [ 9.86803637e-03 -4.66531111e-04 9.99951201e-01 1.42138242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539254154 meters 0.026509871694156324 Centerline is valid? [True, True] Translation: X:216.22, Y:2.05, Z:1.42 [[ 9.97919759e-01 -6.36118236e-02 -1.04733507e-02 2.16221758e+02] [ 6.36139269e-02 9.97974574e-01 -1.32517667e-04 2.04779916e+00] [ 1.04605674e-02 -5.34008966e-04 9.99945144e-01 1.42083212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599254154 meters 0.02806815009004175 Centerline is valid? [True, True] Translation: X:216.28, Y:2.05, Z:1.42 [[ 9.97700515e-01 -6.68681994e-02 -1.10601581e-02 2.16282401e+02] [ 6.68707484e-02 9.97761637e-01 -1.39604032e-04 2.04572441e+00] [ 1.10447365e-02 -6.00318032e-04 9.99938825e-01 1.42002112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659254154 meters 0.02973721416572517 Centerline is valid? [True, True] Translation: X:216.34, Y:2.04, Z:1.42 [[ 9.97539629e-01 -6.91494768e-02 -1.15342107e-02 2.16343226e+02] [ 6.91524034e-02 9.97606097e-01 -1.45372530e-04 2.04463746e+00] [ 1.15166513e-02 -6.52603529e-04 9.99933468e-01 1.41913079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719254154 meters 0.029357065191853153 Centerline is valid? [True, True] Translation: X:216.41, Y:2.05, Z:1.42 [[ 9.97534146e-01 -6.91348249e-02 -1.20832029e-02 2.16405012e+02] [ 6.91380419e-02 9.97607091e-01 -1.51773770e-04 2.04748515e+00] [ 1.20647818e-02 -6.84009471e-04 9.99926984e-01 1.41938821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779254154 meters 0.030563735066582096 Centerline is valid? [True, True] Translation: X:216.47, Y:2.05, Z:1.42 [[ 9.97600797e-01 -6.80331982e-02 -1.28114627e-02 2.16467703e+02] [ 6.80367379e-02 9.97682804e-01 -1.59855599e-04 2.04941637e+00] [ 1.27926515e-02 -7.12178056e-04 9.99917917e-01 1.41760866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839254154 meters 0.030504200959022485 Centerline is valid? [True, True] Translation: X:216.53, Y:2.05, Z:1.42 [[ 9.97589477e-01 -6.82240424e-02 -1.26773905e-02 2.16529586e+02] [ 6.82275366e-02 9.97669774e-01 -1.57161442e-04 2.05069563e+00] [ 1.26585716e-02 -7.08164527e-04 9.99919626e-01 1.41913364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899254154 meters 0.03135473330953298 Centerline is valid? [True, True] Translation: X:216.59, Y:2.05, Z:1.42 [[ 9.97662849e-01 -6.72912294e-02 -1.18629664e-02 2.16592077e+02] [ 6.72942329e-02 9.97733163e-01 -1.46256771e-04 2.05264505e+00] [ 1.18459168e-02 -6.52394278e-04 9.99929622e-01 1.42006994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959254154 meters 0.02973627696693663 Centerline is valid? [True, True] Translation: X:216.65, Y:2.06, Z:1.42 [[ 9.97778798e-01 -6.57975540e-02 -1.03996195e-02 2.16653130e+02] [ 6.57997869e-02 9.97832838e-01 -1.27671343e-04 2.05837467e+00] [ 1.03854823e-02 -5.56904985e-04 9.99945914e-01 1.42217978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019254154 meters 0.026720902437019422 Centerline is valid? [True, True] Translation: X:216.71, Y:2.07, Z:1.42 [[ 9.98073018e-01 -6.14617314e-02 -8.52679478e-03 2.16714360e+02] [ 6.14630765e-02 9.98109352e-01 -1.04450235e-04 2.06665318e+00] [ 8.51709331e-03 -4.19834079e-04 9.99963641e-01 1.42461992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079254154 meters 0.026516372119410134 Centerline is valid? [True, True] Translation: X:216.78, Y:2.07, Z:1.42 [[ 9.98173162e-01 -5.98654651e-02 -8.15257727e-03 2.16776975e+02] [ 5.98666436e-02 9.98206379e-01 -9.96218214e-05 2.06857353e+00] [ 8.14391854e-03 -3.88627609e-04 9.99966762e-01 1.42496436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.139254154 meters 0.028649145288962577 Centerline is valid? [True, True] Translation: X:216.84, Y:2.07, Z:1.42 [[ 9.98369404e-01 -5.63405896e-02 -9.17991864e-03 2.16836321e+02] [ 5.63419410e-02 9.98411525e-01 -1.11544020e-04 2.06835466e+00] [ 9.17162102e-03 -4.05852297e-04 9.99957857e-01 1.42337999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters 0.025863172577795197 Centerline is valid? [True, True] Translation: X:216.90, Y:2.07, Z:1.42 [[ 9.98419550e-01 -5.52677100e-02 -1.01922856e-02 2.16898915e+02] [ 5.52693233e-02 9.98471475e-01 -1.23527555e-04 2.07411354e+00] [ 1.01835335e-02 -4.39988401e-04 9.99948050e-01 1.42316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters 0.02313230274080327 Centerline is valid? [True, True] Translation: X:216.96, Y:2.08, Z:1.42 [[ 9.98420984e-01 -5.46667599e-02 -1.29261043e-02 2.16960894e+02] [ 5.46693247e-02 9.98504502e-01 -1.55110341e-04 2.07985444e+00] [ 1.29152527e-02 -5.51795975e-04 9.99916442e-01 1.42214127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319254154 meters 0.02616676439903933 Centerline is valid? [True, True] Translation: X:217.02, Y:2.08, Z:1.42 [[ 9.98515773e-01 -5.27687446e-02 -1.34799737e-02 2.17022609e+02] [ 5.27713747e-02 9.98606607e-01 -1.60758311e-04 2.07683513e+00] [ 1.34696738e-02 -5.50837034e-04 9.99909128e-01 1.42157692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379254154 meters 0.021659040394814436 Centerline is valid? [True, True] Translation: X:217.08, Y:2.09, Z:1.42 [[ 9.98776170e-01 -4.77677003e-02 -1.28222148e-02 2.17083694e+02] [ 4.77696756e-02 9.98858366e-01 -1.52346643e-04 2.08624117e+00] [ 1.28148538e-02 -4.60352844e-04 9.99917780e-01 1.42312902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439254154 meters 0.01938010735349138 Centerline is valid? [True, True] Translation: X:217.14, Y:2.09, Z:1.42 [[ 9.99011834e-01 -4.28071357e-02 -1.19543004e-02 2.17144626e+02] [ 4.28085003e-02 9.99083286e-01 -1.41829884e-04 2.09312247e+00] [ 1.19494130e-02 -3.70055939e-04 9.99928535e-01 1.42495285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499254154 meters 0.017680607679690073 Centerline is valid? [True, True] Translation: X:217.21, Y:2.10, Z:1.43 [[ 9.99127719e-01 -4.03288820e-02 -1.08343540e-02 2.17206786e+02] [ 4.03298617e-02 9.99186412e-01 -1.28128185e-04 2.09780701e+00] [ 1.08307066e-02 -3.08931577e-04 9.99941298e-01 1.42656749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559254154 meters 0.018051356669516218 Centerline is valid? [True, True] Translation: X:217.27, Y:2.10, Z:1.43 [[ 9.99188271e-01 -3.88855755e-02 -1.05219101e-02 2.17268194e+02] [ 3.88864268e-02 9.99243629e-01 -1.23742063e-04 2.09878591e+00] [ 1.05187635e-02 -2.85517871e-04 9.99944636e-01 1.42661937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619254154 meters 0.01878835180959 Centerline is valid? [True, True] Translation: X:217.33, Y:2.10, Z:1.43 [[ 9.99127820e-01 -4.00609526e-02 -1.17778883e-02 2.17330427e+02] [ 4.00621100e-02 9.99197182e-01 -1.37741719e-04 2.09881053e+00] [ 1.17739508e-02 -3.34225473e-04 9.99930629e-01 1.42566167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679254154 meters 0.019635269559626346 Centerline is valid? [True, True] Translation: X:217.39, Y:2.10, Z:1.42 [[ 9.98868211e-01 -4.53650703e-02 -1.42936324e-02 2.17391806e+02] [ 4.53673296e-02 9.98970359e-01 -1.66307285e-04 2.09812186e+00] [ 1.42864597e-02 -4.82344874e-04 9.99897827e-01 1.42420600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739254154 meters 0.021046813583371453 Centerline is valid? [True, True] Translation: X:217.45, Y:2.10, Z:1.42 [[ 9.98621325e-01 -5.02002311e-02 -1.53422770e-02 2.17453187e+02] [ 5.02034129e-02 9.98738998e-01 -1.77928346e-04 2.09573757e+00] [ 1.53318624e-02 -5.92551627e-04 9.99882285e-01 1.42355752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799254154 meters 0.025687228967862272 Centerline is valid? [True, True] Translation: X:217.51, Y:2.09, Z:1.42 [[ 9.98315273e-01 -5.58696529e-02 -1.56587811e-02 2.17512745e+02] [ 5.58736656e-02 9.98437830e-01 -1.81453202e-04 2.08791462e+00] [ 1.56444571e-02 -6.93765994e-04 9.99877377e-01 1.42335076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859254154 meters 0.024261316414897937 Centerline is valid? [True, True] Translation: X:217.57, Y:2.09, Z:1.42 [[ 9.98378991e-01 -5.46179030e-02 -1.60085856e-02 2.17574914e+02] [ 5.46219458e-02 9.98507090e-01 -1.84913910e-04 2.09078305e+00] [ 1.59947858e-02 -6.89805932e-04 9.99871837e-01 1.42346848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91925415400001 meters 0.025159518809399935 Centerline is valid? [True, True] Translation: X:217.64, Y:2.09, Z:1.43 [[ 9.98429377e-01 -5.37106788e-02 -1.59355738e-02 2.17636549e+02] [ 5.37145878e-02 9.98556313e-01 -1.82925971e-04 2.08979694e+00] [ 1.59223929e-02 -6.73334115e-04 9.99873004e-01 1.42509987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters 0.024538675306201182 Centerline is valid? [True, True] Translation: X:217.70, Y:2.09, Z:1.43 [[ 9.98449507e-01 -5.33547218e-02 -1.58699556e-02 2.17698693e+02] [ 5.33585715e-02 9.98575400e-01 -1.81050240e-04 2.09176670e+00] [ 1.58570072e-02 -6.66028639e-04 9.99874048e-01 1.42668659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039254154 meters 0.024971106837918176 Centerline is valid? [True, True] Translation: X:217.76, Y:2.09, Z:1.43 [[ 9.98444392e-01 -5.34182502e-02 -1.59776687e-02 2.17761356e+02] [ 5.34221784e-02 9.98571999e-01 -1.81155956e-04 2.09078511e+00] [ 1.59645296e-02 -6.72687719e-04 9.99872332e-01 1.42688843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099254154 meters 0.025302517202429178 Centerline is valid? [True, True] Translation: X:217.82, Y:2.09, Z:1.43 [[ 9.98433964e-01 -5.31413687e-02 -1.74818214e-02 2.17823829e+02] [ 5.31460512e-02 9.98586731e-01 -1.96946603e-04 2.09236043e+00] [ 1.74675809e-02 -7.32451599e-04 9.99847162e-01 1.42675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159254154 meters 0.021960684620176203 Centerline is valid? [True, True] Translation: X:217.89, Y:2.10, Z:1.43 [[ 9.98482329e-01 -5.20530232e-02 -1.79866932e-02 2.17885892e+02] [ 5.20578276e-02 9.98644052e-01 -2.01318608e-04 2.09956204e+00] [ 1.79727835e-02 -7.35335104e-04 9.99838206e-01 1.42900327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219254154 meters 0.024557250846012027 Centerline is valid? [True, True] Translation: X:217.95, Y:2.10, Z:1.43 [[ 9.98623872e-01 -4.88877455e-02 -1.89829013e-02 2.17946046e+02] [ 4.88925614e-02 9.98804021e-01 -2.10605378e-04 2.09851096e+00] [ 1.89704942e-02 -7.17807109e-04 9.99819786e-01 1.42859432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279254154 meters 0.021565123160705 Centerline is valid? [True, True] Translation: X:218.01, Y:2.11, Z:1.43 [[ 9.98751131e-01 -4.62353373e-02 -1.89333724e-02 2.18006989e+02] [ 4.62396742e-02 9.98930352e-01 -2.08886132e-04 2.10529490e+00] [ 1.89227782e-02 -6.66847708e-04 9.99820726e-01 1.43029162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339254154 meters 0.019851044556950047 Centerline is valid? [True, True] Translation: X:218.07, Y:2.11, Z:1.43 [[ 9.98914155e-01 -4.23494931e-02 -1.94173027e-02 2.18068495e+02] [ 4.23533350e-02 9.99102672e-01 -2.13514065e-04 2.11091404e+00] [ 1.94089212e-02 -6.09105304e-04 9.99811444e-01 1.43222935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399254154 meters 0.01889349710072221 Centerline is valid? [True, True] Translation: X:218.13, Y:2.11, Z:1.43 [[ 9.99040065e-01 -3.91064449e-02 -1.97391700e-02 2.18129814e+02] [ 3.91097970e-02 9.99234896e-01 -2.16335378e-04 2.11402165e+00] [ 1.97325276e-02 -5.55867224e-04 9.99805140e-01 1.43411729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459254154 meters 0.017918911322483688 Centerline is valid? [True, True] Translation: X:218.19, Y:2.12, Z:1.44 [[ 9.99093465e-01 -3.78618957e-02 -1.94608416e-02 2.18192228e+02] [ 3.78649408e-02 9.99282843e-01 -2.12109058e-04 2.11622839e+00] [ 1.94549160e-02 -5.24966841e-04 9.99810597e-01 1.43611437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519254154 meters 0.01817704135776998 Centerline is valid? [True, True] Translation: X:218.25, Y:2.11, Z:1.44 [[ 9.99113903e-01 -3.74700911e-02 -1.91676852e-02 2.18253452e+02] [ 3.74730120e-02 9.99297619e-01 -2.06885500e-04 2.11494071e+00] [ 1.91619742e-02 -5.11568718e-04 9.99816262e-01 1.43804843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579254154 meters 0.01864716828483792 Centerline is valid? [True, True] Translation: X:218.32, Y:2.11, Z:1.44 [[ 9.99074718e-01 -3.83379960e-02 -1.94911704e-02 2.18315607e+02] [ 3.83412158e-02 9.99264683e-01 -2.08611117e-04 2.11357217e+00] [ 1.94848359e-02 -5.38897077e-04 9.99810007e-01 1.43912841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.639254154 meters 0.019625316750882187 Centerline is valid? [True, True] Translation: X:218.38, Y:2.11, Z:1.44 [[ 9.98959269e-01 -4.04360164e-02 -2.11023105e-02 2.18377798e+02] [ 4.04402911e-02 9.99181932e-01 -2.24304022e-04 2.10992116e+00] [ 2.10941173e-02 -6.29312998e-04 9.99777296e-01 1.43950450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters 0.01969594482984958 Centerline is valid? [True, True] Translation: X:218.44, Y:2.11, Z:1.44 [[ 9.98886045e-01 -4.15578470e-02 -2.23520644e-02 2.18440184e+02] [ 4.15629604e-02 9.99135859e-01 -2.35953479e-04 2.10833141e+00] [ 2.23425548e-02 -6.93327331e-04 9.99750134e-01 1.44060153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters 0.018977557799339427 Centerline is valid? [True, True] Translation: X:218.50, Y:2.11, Z:1.44 [[ 9.98916613e-01 -4.08351999e-02 -2.23178659e-02 2.18502678e+02] [ 4.08401538e-02 9.99165665e-01 -2.33962716e-04 2.10836214e+00] [ 2.23087993e-02 -6.77755833e-04 9.99750898e-01 1.44348135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819254154 meters 0.01831653361397469 Centerline is valid? [True, True] Translation: X:218.56, Y:2.11, Z:1.45 [[ 9.99143829e-01 -3.58552211e-02 -2.06400607e-02 2.18562244e+02] [ 3.58584248e-02 9.99356857e-01 -2.14980813e-04 2.10887778e+00] [ 2.06344943e-02 -5.25323310e-04 9.99786948e-01 1.44569279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879254154 meters 0.016703775836703055 Centerline is valid? [True, True] Translation: X:218.62, Y:2.11, Z:1.45 [[ 9.99329929e-01 -3.09479282e-02 -1.95427550e-02 2.18623241e+02] [ 3.09498799e-02 9.99520917e-01 -2.02650886e-04 2.11192881e+00] [ 1.95396640e-02 -4.02330823e-04 9.99809002e-01 1.44776562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939254154 meters 0.015510361958865909 Centerline is valid? [True, True] Translation: X:218.68, Y:2.11, Z:1.45 [[ 9.99553701e-01 -2.31487776e-02 -1.88820977e-02 2.18683441e+02] [ 2.31492127e-02 9.99732002e-01 -1.95560992e-04 2.11387646e+00] [ 1.88815643e-02 -2.41631981e-04 9.99821698e-01 1.44823310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999254154 meters 0.015310958479702843 Centerline is valid? [True, True] Translation: X:218.74, Y:2.11, Z:1.45 [[ 9.99596987e-01 -2.08636554e-02 -1.92502246e-02 2.18743011e+02] [ 2.08636751e-02 9.99782310e-01 -1.99832135e-04 2.11473611e+00] [ 1.92502032e-02 -2.01878830e-04 9.99814677e-01 1.44834640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059254154 meters 0.01513048244207706 Centerline is valid? [True, True] Translation: X:218.80, Y:2.11, Z:1.45 [[ 9.99662518e-01 -1.62116271e-02 -2.02986241e-02 2.18801771e+02] [ 1.62106140e-02 9.99868576e-01 -2.14466571e-04 2.11315526e+00] [ 2.02994332e-02 -1.14658967e-04 9.99793939e-01 1.44614455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119254154 meters 0.015009288355909117 Centerline is valid? [True, True] Translation: X:218.86, Y:2.11, Z:1.44 [[ 9.99665011e-01 -1.48197524e-02 -2.12188877e-02 2.18859529e+02] [ 1.48182037e-02 9.99890178e-01 -2.30224338e-04 2.10851471e+00] [ 2.12199692e-02 -8.42785852e-05 9.99774828e-01 1.44421640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179254154 meters 0.015253885291648004 Centerline is valid? [True, True] Translation: X:218.92, Y:2.10, Z:1.44 [[ 9.99656857e-01 -1.54971597e-02 -2.11188452e-02 2.18917411e+02] [ 1.54956475e-02 9.99879908e-01 -2.35255614e-04 2.10473628e+00] [ 2.11199548e-02 -9.20752935e-05 9.99776945e-01 1.44377137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239254154 meters 0.015230970453541983 Centerline is valid? [True, True] Translation: X:218.98, Y:2.10, Z:1.44 [[ 9.99659550e-01 -1.84190675e-02 -1.84803131e-02 2.18976613e+02] [ 1.84183227e-02 9.99830346e-01 -2.10517774e-04 2.09662401e+00] [ 1.84810554e-02 -1.29930267e-04 9.99829202e-01 1.44349285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299254154 meters 0.015236071229952932 Centerline is valid? [True, True] Translation: X:219.04, Y:2.09, Z:1.44 [[ 9.99620756e-01 -2.18672022e-02 -1.67382528e-02 2.19035322e+02] [ 2.18670055e-02 9.99760869e-01 -1.94788914e-04 2.09074187e+00] [ 1.67385096e-02 -1.71300425e-04 9.99859887e-01 1.44429369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359254154 meters 0.016028253534795766 Centerline is valid? [True, True] Translation: X:219.10, Y:2.08, Z:1.44 [[ 9.99485290e-01 -2.87825252e-02 -1.41676377e-02 2.19095192e+02] [ 2.87830540e-02 9.99585668e-01 -1.66616460e-04 2.08083139e+00] [ 1.41665632e-02 -2.41257181e-04 9.99899620e-01 1.44434642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41925415400001 meters 0.019249135642202233 Centerline is valid? [True, True] Translation: X:219.16, Y:2.07, Z:1.44 [[ 9.99150111e-01 -3.92672814e-02 -1.25353912e-02 2.19156497e+02] [ 3.92685184e-02 9.99228683e-01 -1.47531108e-04 2.06921579e+00] [ 1.25315156e-02 -3.44840518e-04 9.99921418e-01 1.44294196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters 0.021511213800207665 Centerline is valid? [True, True] Translation: X:219.22, Y:2.06, Z:1.44 [[ 9.98803309e-01 -4.76003089e-02 -1.12321254e-02 2.19216610e+02] [ 4.76018308e-02 9.98866382e-01 -1.31963469e-04 2.05905914e+00] [ 1.12256740e-02 -4.02864184e-04 9.99936909e-01 1.44411312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539254154 meters 0.023103758912272454 Centerline is valid? [True, True] Translation: X:219.28, Y:2.05, Z:1.45 [[ 9.98412957e-01 -5.55038795e-02 -9.53347382e-03 2.19276902e+02] [ 5.55053369e-02 9.98458384e-01 -1.11849747e-04 2.05288593e+00] [ 9.52498496e-03 -4.17486440e-04 9.99954549e-01 1.44505051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599254154 meters 0.027473624605254262 Centerline is valid? [True, True] Translation: X:219.34, Y:2.04, Z:1.44 [[ 9.97947269e-01 -6.34287413e-02 -8.83419324e-03 2.19337850e+02] [ 6.34303027e-02 9.97986265e-01 -1.03603308e-04 2.04281683e+00] [ 8.82297495e-03 -4.56964913e-04 9.99960972e-01 1.44334937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659254154 meters 0.029526289764904224 Centerline is valid? [True, True] Translation: X:219.40, Y:2.04, Z:1.44 [[ 9.97698225e-01 -6.72488283e-02 -8.70901050e-03 2.19397995e+02] [ 6.72504927e-02 9.97736118e-01 -1.01934862e-04 2.03610504e+00] [ 8.69614933e-03 -4.83985016e-04 9.99962071e-01 1.44336206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719254154 meters 0.0292651026989387 Centerline is valid? [True, True] Translation: X:219.46, Y:2.04, Z:1.44 [[ 9.97680695e-01 -6.74285033e-02 -9.30739880e-03 2.19460145e+02] [ 6.74304183e-02 9.97723973e-01 -1.08259941e-04 2.03634699e+00] [ 9.29351472e-03 -5.19592942e-04 9.99956679e-01 1.44291416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779254154 meters 0.029035907840343593 Centerline is valid? [True, True] Translation: X:219.52, Y:2.04, Z:1.44 [[ 9.97923878e-01 -6.37195860e-02 -9.36741220e-03 2.19520138e+02] [ 6.37213675e-02 9.97967723e-01 -1.08465316e-04 2.03779513e+00] [ 9.35528639e-03 -4.88664187e-04 9.99956119e-01 1.44270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839254154 meters 0.026636770599316316 Centerline is valid? [True, True] Translation: X:219.58, Y:2.04, Z:1.44 [[ 9.98351614e-01 -5.68626089e-02 -7.79090478e-03 2.19580578e+02] [ 5.68636328e-02 9.98381951e-01 -9.02118053e-05 2.04426763e+00] [ 7.78342839e-03 -3.52956047e-04 9.99969646e-01 1.44362680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899254154 meters 0.02173002739772066 Centerline is valid? [True, True] Translation: X:219.64, Y:2.05, Z:1.44 [[ 9.98686399e-01 -5.06843172e-02 -7.52176392e-03 2.19640762e+02] [ 5.06850965e-02 9.98714681e-01 -8.70936321e-05 2.05459403e+00] [ 7.51651033e-03 -2.94262105e-04 9.99971707e-01 1.44448719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959254154 meters 0.017914396629066746 Centerline is valid? [True, True] Translation: X:219.70, Y:2.07, Z:1.44 [[ 9.99184097e-01 -3.98442814e-02 -6.60096691e-03 2.19700787e+02] [ 3.98446455e-02 9.99205884e-01 -7.63807316e-05 2.06661025e+00] [ 6.59876831e-03 -1.86694774e-04 9.99978210e-01 1.44494121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019254154 meters 0.015174161930907313 Centerline is valid? [True, True] Translation: X:219.76, Y:2.08, Z:1.44 [[ 9.99624346e-01 -2.67076220e-02 -6.15386429e-03 2.19760932e+02] [ 2.67076895e-02 9.99643284e-01 -7.12131867e-05 2.07790382e+00] [ 6.15357104e-03 -9.31690619e-05 9.99981062e-01 1.44488469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079254154 meters 0.014269364941757907 Centerline is valid? [True, True] Translation: X:219.82, Y:2.09, Z:1.45 [[ 9.99831436e-01 -1.73827788e-02 -5.91094355e-03 2.19822647e+02] [ 1.73826780e-02 9.99848908e-01 -6.84195626e-05 2.08559530e+00] [ 5.91123977e-03 -3.43399991e-05 9.99982528e-01 1.44557292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.139254154 meters 0.014279957389200135 Centerline is valid? [True, True] Translation: X:219.88, Y:2.10, Z:1.45 [[ 9.99974044e-01 -4.43311934e-03 -5.67966460e-03 2.19883982e+02] [ 4.43281926e-03 9.99990173e-01 -6.54227868e-05 2.09535111e+00] [ 5.67989881e-03 4.02441621e-05 9.99983868e-01 1.44704893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters 0.014800401926230864 Centerline is valid? [True, True] Translation: X:219.94, Y:2.10, Z:1.45 [[ 9.99987059e-01 1.57256053e-03 -4.83824422e-03 2.19943571e+02] [-1.57284722e-03 9.99998762e-01 -5.54510843e-05 2.09938580e+00] [ 4.83815103e-03 6.30601857e-05 9.99988294e-01 1.44795645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters 0.015214675949290726 Centerline is valid? [True, True] Translation: X:220.00, Y:2.10, Z:1.45 [[ 9.99979722e-01 4.75408137e-03 -4.23724033e-03 2.20001953e+02] [-4.75432802e-03 9.99988697e-01 -4.81393066e-05 2.09955318e+00] [ 4.23696358e-03 6.82835609e-05 9.99991022e-01 1.44847848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319254154 meters 0.0147041320373693 Centerline is valid? [True, True] Translation: X:220.06, Y:2.09, Z:1.45 [[ 9.99987234e-01 8.68248997e-04 -4.97770095e-03 2.20060470e+02] [-8.68550744e-04 9.99999621e-01 -5.84584155e-05 2.09477092e+00] [ 4.97764831e-03 6.27810551e-05 9.99987609e-01 1.44750156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379254154 meters 0.014109061184545081 Centerline is valid? [True, True] Translation: X:220.12, Y:2.09, Z:1.45 [[ 9.99969037e-01 -5.53423972e-03 -5.59437171e-03 2.20119644e+02] [ 5.53395612e-03 9.99984685e-01 -6.61722576e-05 2.08949706e+00] [ 5.59465225e-03 3.52112012e-05 9.99984349e-01 1.44723203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439254154 meters 0.014245252748027152 Centerline is valid? [True, True] Translation: X:220.18, Y:2.08, Z:1.45 [[ 9.99813874e-01 -1.87225534e-02 -4.65652593e-03 2.20179522e+02] [ 1.87224984e-02 9.99824717e-01 -5.54153416e-05 2.07753704e+00] [ 4.65674723e-03 -3.17767717e-05 9.99989157e-01 1.44787438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499254154 meters 0.015814644666419648 Centerline is valid? [True, True] Translation: X:220.24, Y:2.07, Z:1.45 [[ 9.99611342e-01 -2.76867528e-02 -3.25712886e-03 2.20240606e+02] [ 2.76867703e-02 9.99616647e-01 -3.97448293e-05 2.06897094e+00] [ 3.25698063e-03 -5.04499962e-05 9.99994695e-01 1.44899998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559254154 meters 0.019421506583575956 Centerline is valid? [True, True] Translation: X:220.30, Y:2.06, Z:1.45 [[ 9.99189645e-01 -4.01839554e-02 -2.30271352e-03 2.20301206e+02] [ 4.01839998e-02 9.99192297e-01 -2.69993526e-05 2.05636309e+00] [ 2.30193855e-03 -6.55547662e-05 9.99997348e-01 1.44954330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619254154 meters 0.02140097836973306 Centerline is valid? [True, True] Translation: X:220.36, Y:2.05, Z:1.45 [[ 9.98734935e-01 -5.01903045e-02 -3.07620104e-03 2.20362141e+02] [ 5.01904312e-02 9.98739665e-01 -3.60491881e-05 2.04771374e+00] [ 3.07413332e-03 -1.18392273e-04 9.99995268e-01 1.44816224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679254154 meters 0.025671007650926832 Centerline is valid? [True, True] Translation: X:220.42, Y:2.04, Z:1.45 [[ 9.98415057e-01 -5.61299833e-02 -4.09852906e-03 2.20421643e+02] [ 5.61302579e-02 9.98423453e-01 -4.80876067e-05 2.03916481e+00] [ 4.09476669e-03 -1.82040103e-04 9.99991600e-01 1.44729706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739254154 meters 0.03011466816395843 Centerline is valid? [True, True] Translation: X:220.48, Y:2.03, Z:1.45 [[ 9.97918184e-01 -6.41858547e-02 -6.28289837e-03 2.20482605e+02] [ 6.41866613e-02 9.97937907e-01 -7.33871142e-05 2.03062003e+00] [ 6.27465287e-03 -3.30043934e-04 9.99980260e-01 1.44616608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799254154 meters 0.031182437695029472 Centerline is valid? [True, True] Translation: X:220.54, Y:2.03, Z:1.44 [[ 9.97433449e-01 -7.11240342e-02 -8.23931815e-03 2.20543772e+02] [ 7.11256584e-02 9.97467359e-01 -9.60939713e-05 2.02782735e+00] [ 8.22528551e-03 -4.90179587e-04 9.99966052e-01 1.44482544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859254154 meters 0.03314268888175568 Centerline is valid? [True, True] Translation: X:220.60, Y:2.03, Z:1.44 [[ 9.97276125e-01 -7.31893173e-02 -9.14632009e-03 2.20604699e+02] [ 7.31914085e-02 9.97317906e-01 -1.06328247e-04 2.02527928e+00] [ 9.12957089e-03 -5.63393427e-04 9.99958166e-01 1.44462425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91925415400001 meters 0.03395299260574438 Centerline is valid? [True, True] Translation: X:220.67, Y:2.03, Z:1.44 [[ 9.97277709e-01 -7.30462489e-02 -1.00706255e-02 2.20668175e+02] [ 7.30487844e-02 9.97328362e-01 -1.16324722e-04 2.02649117e+00] [ 1.00522175e-02 -6.19638899e-04 9.99949283e-01 1.44465107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters 0.03371676739054342 Centerline is valid? [True, True] Translation: X:220.73, Y:2.03, Z:1.44 [[ 9.97413342e-01 -7.09394254e-02 -1.15854858e-02 2.20729315e+02] [ 7.09426511e-02 9.97480387e-01 -1.32822956e-04 2.02974850e+00] [ 1.15657173e-02 -6.89425689e-04 9.99932877e-01 1.44489035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039254154 meters 0.032755561433823376 Centerline is valid? [True, True] Translation: X:220.79, Y:2.04, Z:1.44 [[ 9.97669540e-01 -6.69531599e-02 -1.31439257e-02 2.20790520e+02] [ 6.69569725e-02 9.97755853e-01 -1.50266811e-04 2.03567945e+00] [ 1.31244896e-02 -7.30160849e-04 9.99913604e-01 1.44483631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099254154 meters 0.032395073379413636 Centerline is valid? [True, True] Translation: X:220.85, Y:2.04, Z:1.45 [[ 9.97831433e-01 -6.44278604e-02 -1.34715344e-02 2.20852511e+02] [ 6.44316430e-02 9.97922111e-01 -1.53499605e-04 2.03902601e+00] [ 1.34534317e-02 -7.14826363e-04 9.99909243e-01 1.44540657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159254154 meters 0.031674433206396534 Centerline is valid? [True, True] Translation: X:220.91, Y:2.04, Z:1.45 [[ 9.97997624e-01 -6.16062170e-02 -1.43323593e-02 2.20914250e+02] [ 6.16102190e-02 9.98100273e-01 -1.62553230e-04 2.04383545e+00] [ 1.43151460e-02 -7.20792056e-04 9.99897273e-01 1.44631780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219254154 meters 0.03097666058079222 Centerline is valid? [True, True] Translation: X:220.98, Y:2.05, Z:1.45 [[ 9.98165181e-01 -5.86214162e-02 -1.51591895e-02 2.20976032e+02] [ 5.86255619e-02 9.98280028e-01 -1.71145241e-04 2.04796465e+00] [ 1.51431489e-02 -7.17884783e-04 9.99885078e-01 1.44671023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279254154 meters 0.027818257216794717 Centerline is valid? [True, True] Translation: X:221.04, Y:2.06, Z:1.45 [[ 9.98551650e-01 -5.12517736e-02 -1.63663941e-02 2.21036653e+02] [ 5.12556235e-02 9.98685550e-01 -1.84416687e-04 2.05655280e+00] [ 1.63543330e-02 -6.54720148e-04 9.99866045e-01 1.44766881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339254154 meters 0.022959544677501588 Centerline is valid? [True, True] Translation: X:221.10, Y:2.07, Z:1.45 [[ 9.99062534e-01 -3.98670415e-02 -1.68722490e-02 2.21096479e+02] [ 3.98695125e-02 9.99204877e-01 -1.90024485e-04 2.06907820e+00] [ 1.68664092e-02 -4.82842001e-04 9.99857635e-01 1.44863468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399254154 meters 0.019231434194930452 Centerline is valid? [True, True] Translation: X:221.16, Y:2.08, Z:1.45 [[ 9.99375850e-01 -3.08917460e-02 -1.71350461e-02 2.21157137e+02] [ 3.08929796e-02 9.99522679e-01 -1.92758011e-04 2.07964838e+00] [ 1.71328218e-02 -3.36714929e-04 9.99853166e-01 1.45003618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459254154 meters 0.01574291697326176 Centerline is valid? [True, True] Translation: X:221.22, Y:2.09, Z:1.45 [[ 9.99683393e-01 -1.82217016e-02 -1.73517442e-02 2.21217017e+02] [ 1.82210599e-02 9.99833964e-01 -1.95090596e-04 2.09333628e+00] [ 1.73524181e-02 -1.21138341e-04 9.99849428e-01 1.45161102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519254154 meters 0.014951903947134566 Centerline is valid? [True, True] Translation: X:221.28, Y:2.10, Z:1.45 [[ 9.99760526e-01 -1.28572465e-02 -1.77082316e-02 2.21275204e+02] [ 1.28556877e-02 9.99917342e-01 -2.01864008e-04 2.09961476e+00] [ 1.77093633e-02 -2.58358279e-05 9.99843177e-01 1.45495796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579254154 meters 0.014813704966322682 Centerline is valid? [True, True] Translation: X:221.33, Y:2.10, Z:1.46 [[ 9.99778998e-01 -9.82266335e-03 -1.85868567e-02 2.21333568e+02] [ 9.82033168e-03 9.99951756e-01 -2.16717918e-04 2.10124521e+00] [ 1.85880887e-02 3.41409259e-05 9.99827226e-01 1.45628999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.639254154 meters 0.014729151702485654 Centerline is valid? [True, True] Translation: X:221.39, Y:2.10, Z:1.46 [[ 9.99719624e-01 -1.37323798e-02 -1.92897527e-02 2.21392656e+02] [ 1.37305438e-02 9.99905706e-01 -2.27624660e-04 2.09679252e+00] [ 1.92910596e-02 -3.72979536e-05 9.99813910e-01 1.45626799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters 0.014900213937557846 Centerline is valid? [True, True] Translation: X:221.45, Y:2.09, Z:1.46 [[ 9.99606790e-01 -1.96724161e-02 -1.99815171e-02 2.21451817e+02] [ 1.96716034e-02 9.99806467e-01 -2.37243500e-04 2.09091086e+00] [ 1.99823172e-02 -1.55918268e-04 9.99800321e-01 1.45601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759254154 meters 0.016707500741732995 Centerline is valid? [True, True] Translation: X:221.51, Y:2.08, Z:1.46 [[ 9.99304613e-01 -3.17229632e-02 -1.95945104e-02 2.21511576e+02] [ 3.17244785e-02 9.99496625e-01 -2.33582213e-04 2.07910070e+00] [ 1.95920569e-02 -3.88205841e-04 9.99807982e-01 1.45729668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819254154 meters 0.02012088037159929 Centerline is valid? [True, True] Translation: X:221.57, Y:2.07, Z:1.46 [[ 9.98896789e-01 -4.29499567e-02 -1.89870027e-02 2.21570784e+02] [ 4.29533959e-02 9.99077051e-01 -2.26827288e-04 2.06586144e+00] [ 1.89792209e-02 -5.88979194e-04 9.99819705e-01 1.45755449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879254154 meters 0.020047815775641013 Centerline is valid? [True, True] Translation: X:221.63, Y:2.06, Z:1.46 [[ 9.98662555e-01 -4.80706368e-02 -1.90345780e-02 2.21631842e+02] [ 4.80750239e-02 9.98843702e-01 -2.27303606e-04 2.06337070e+00] [ 1.90234950e-02 -6.88088193e-04 9.99818800e-01 1.45883659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939254154 meters 0.025381940404037524 Centerline is valid? [True, True] Translation: X:221.69, Y:2.05, Z:1.46 [[ 9.98466849e-01 -5.19331477e-02 -1.91546264e-02 2.21691802e+02] [ 5.19383185e-02 9.98650269e-01 -2.27763790e-04 2.05121993e+00] [ 1.91406013e-02 -7.67444493e-04 9.99816507e-01 1.45707592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999254154 meters 0.021855691910620163 Centerline is valid? [True, True] Translation: X:221.75, Y:2.05, Z:1.46 [[ 9.98427569e-01 -5.24875800e-02 -1.96835696e-02 2.21754282e+02] [ 5.24931762e-02 9.98621256e-01 -2.32617774e-04 2.05466823e+00] [ 1.96686406e-02 -8.01001090e-04 9.99806233e-01 1.45877588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059254154 meters 0.02166303578459096 Centerline is valid? [True, True] Translation: X:221.82, Y:2.06, Z:1.46 [[ 9.98454118e-01 -5.17085135e-02 -2.03863692e-02 2.21816119e+02] [ 5.17143805e-02 9.98661887e-01 -2.39643721e-04 2.05500063e+00] [ 2.03714815e-02 -8.14995194e-04 9.99792148e-01 1.45874818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119254154 meters 0.020481997674029116 Centerline is valid? [True, True] Translation: X:221.88, Y:2.06, Z:1.46 [[ 9.98619033e-01 -4.82309052e-02 -2.08280454e-02 2.21877288e+02] [ 4.82362930e-02 9.98835923e-01 -2.43925577e-04 2.05816515e+00] [ 2.08155647e-02 -7.61078978e-04 9.99783043e-01 1.45841813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179254154 meters 0.020619139630668935 Centerline is valid? [True, True] Translation: X:221.94, Y:2.06, Z:1.46 [[ 9.98755897e-01 -4.53646797e-02 -2.07051768e-02 2.21937319e+02] [ 4.53693940e-02 9.98970250e-01 -2.42237061e-04 2.05941132e+00] [ 2.06948446e-02 -6.97445632e-04 9.99785596e-01 1.45738568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239254154 meters 0.0201981548218547 Centerline is valid? [True, True] Translation: X:222.00, Y:2.06, Z:1.46 [[ 9.98909777e-01 -4.19683355e-02 -2.04429834e-02 2.21997250e+02] [ 4.19722206e-02 9.99118749e-01 -2.39169569e-04 2.06245694e+00] [ 2.04350056e-02 -6.19128590e-04 9.99790992e-01 1.45657243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299254154 meters 0.01885163055719585 Centerline is valid? [True, True] Translation: X:222.06, Y:2.07, Z:1.46 [[ 9.98928925e-01 -4.13073393e-02 -2.08496142e-02 2.22057754e+02] [ 4.13112367e-02 9.99146297e-01 -2.43926884e-04 2.06679676e+00] [ 2.08418908e-02 -6.17657728e-04 9.99782593e-01 1.45703327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359254154 meters 0.020049793928982092 Centerline is valid? [True, True] Translation: X:222.12, Y:2.07, Z:1.46 [[ 9.98840839e-01 -4.31089439e-02 -2.14149039e-02 2.22117769e+02] [ 4.31134844e-02 9.99070150e-01 -2.49831767e-04 2.06667423e+00] [ 2.14057613e-02 -6.73728955e-04 9.99770643e-01 1.45591827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41925415400001 meters 0.021319120710984997 Centerline is valid? [True, True] Translation: X:222.18, Y:2.07, Z:1.46 [[ 9.98737937e-01 -4.59298039e-02 -2.03220585e-02 2.22178428e+02] [ 4.59344821e-02 9.98944427e-01 -2.36775470e-04 2.06574321e+00] [ 2.03114821e-02 -6.97006589e-04 9.99793458e-01 1.45637796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters 0.025728341846201423 Centerline is valid? [True, True] Translation: X:222.24, Y:2.06, Z:1.46 [[ 9.98489621e-01 -5.13314448e-02 -1.95846952e-02 2.22238367e+02] [ 5.13368268e-02 9.98681370e-01 -2.28184335e-04 2.06241436e+00] [ 1.95705832e-02 -7.77576414e-04 9.99808175e-01 1.45641774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539254154 meters 0.028300206814063346 Centerline is valid? [True, True] Translation: X:222.30, Y:2.06, Z:1.46 [[ 9.98218557e-01 -5.68129613e-02 -1.82208543e-02 2.22298348e+02] [ 5.68185307e-02 9.98384500e-01 -2.12299100e-04 2.05974335e+00] [ 1.82034799e-02 -8.23361268e-04 9.99833964e-01 1.45735816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599254154 meters 0.030989053083495064 Centerline is valid? [True, True] Translation: X:222.36, Y:2.06, Z:1.46 [[ 9.98036057e-01 -6.04078797e-02 -1.65806093e-02 2.22358300e+02] [ 6.04129860e-02 9.98173449e-01 -1.93190591e-04 2.05905843e+00] [ 1.65619942e-02 -8.08872942e-04 9.99862514e-01 1.45913336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659254154 meters 0.024530263891717113 Centerline is valid? [True, True] Translation: X:222.42, Y:2.07, Z:1.46 [[ 9.97968105e-01 -6.18746856e-02 -1.52047572e-02 2.22420101e+02] [ 6.18791590e-02 9.98083633e-01 -1.76518440e-04 2.07133072e+00] [ 1.51865413e-02 -7.64697816e-04 9.99884385e-01 1.46206983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719254154 meters 0.026000947629664418 Centerline is valid? [True, True] Translation: X:222.48, Y:2.07, Z:1.46 [[ 9.97957750e-01 -6.24527328e-02 -1.34158937e-02 2.22481036e+02] [ 6.24562785e-02 9.98047689e-01 -1.54930122e-04 2.07257737e+00] [ 1.33993775e-02 -6.83293073e-04 9.99909991e-01 1.46236104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779254154 meters 0.025128856398032386 Centerline is valid? [True, True] Translation: X:222.54, Y:2.08, Z:1.46 [[ 9.98001450e-01 -6.18700418e-02 -1.28531298e-02 2.22543221e+02] [ 6.18732585e-02 9.98084004e-01 -1.47613447e-04 2.07561739e+00] [ 1.28376361e-02 -6.47946589e-04 9.99917384e-01 1.46307276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839254154 meters 0.023435476338182142 Centerline is valid? [True, True] Translation: X:222.60, Y:2.08, Z:1.46 [[ 9.98182087e-01 -5.88432894e-02 -1.30379431e-02 2.22604504e+02] [ 5.88463514e-02 9.98267041e-01 -1.48986686e-04 2.08403026e+00] [ 1.30241158e-02 -6.18519542e-04 9.99914991e-01 1.46340132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899254154 meters 0.024386742596811537 Centerline is valid? [True, True] Translation: X:222.67, Y:2.09, Z:1.46 [[ 9.98395527e-01 -5.52068100e-02 -1.25928233e-02 2.22665096e+02] [ 5.52093836e-02 9.98474789e-01 -1.43438804e-04 2.08823437e+00] [ 1.25815353e-02 -5.52033350e-04 9.99920697e-01 1.46326376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959254154 meters 0.020155668632037174 Centerline is valid? [True, True] Translation: X:222.73, Y:2.10, Z:1.46 [[ 9.98702486e-01 -4.94530850e-02 -1.21546857e-02 2.22725849e+02] [ 4.94550612e-02 9.98776340e-01 -1.38107708e-04 2.09939457e+00] [ 1.21466423e-02 -4.63182213e-04 9.99926120e-01 1.46414383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019254154 meters 0.01942213775285807 Centerline is valid? [True, True] Translation: X:222.79, Y:2.11, Z:1.46 [[ 9.98936200e-01 -4.46439320e-02 -1.15493150e-02 2.22786544e+02] [ 4.46453976e-02 9.99002889e-01 -1.31017919e-04 2.10506729e+00] [ 1.15436482e-02 -3.84745217e-04 9.99933296e-01 1.46383447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079254154 meters 0.017070563233696275 Centerline is valid? [True, True] Translation: X:222.85, Y:2.12, Z:1.46 [[ 9.99265156e-01 -3.64260356e-02 -1.19286299e-02 2.22847327e+02] [ 3.64270170e-02 9.99336307e-01 -1.35056233e-04 2.11556436e+00] [ 1.19256326e-02 -2.99567418e-04 9.99928842e-01 1.46375722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.139254154 meters 0.016508081251122877 Centerline is valid? [True, True] Translation: X:222.91, Y:2.12, Z:1.46 [[ 9.99437786e-01 -3.14086196e-02 -1.17307198e-02 2.22907954e+02] [ 3.14092275e-02 9.99506600e-01 -1.32458407e-04 2.12172836e+00] [ 1.17290922e-02 -2.36068909e-04 9.99931184e-01 1.46370750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters 0.015399694909806548 Centerline is valid? [True, True] Translation: X:222.97, Y:2.13, Z:1.46 [[ 9.99611655e-01 -2.57941459e-02 -1.05451955e-02 2.22969563e+02] [ 2.57943293e-02 9.99667264e-01 -1.18636946e-04 2.12964318e+00] [ 1.05447469e-02 -1.53415372e-04 9.99944391e-01 1.46441230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259254154 meters 0.01484763623755484 Centerline is valid? [True, True] Translation: X:223.03, Y:2.14, Z:1.46 [[ 9.99705658e-01 -2.20169982e-02 -1.01906681e-02 2.23030569e+02] [ 2.20169782e-02 9.99757590e-01 -1.14165583e-04 2.13550709e+00] [ 1.01907114e-02 -1.10235738e-04 9.99948067e-01 1.46431211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319254154 meters 0.014521359510604698 Centerline is valid? [True, True] Translation: X:223.09, Y:2.14, Z:1.46 [[ 9.99758154e-01 -1.99175562e-02 -9.32336123e-03 2.23091732e+02] [ 1.99174512e-02 9.99801622e-01 -1.04130027e-04 2.13994050e+00] [ 9.32358570e-03 -8.15927483e-05 9.99956531e-01 1.46477782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379254154 meters 0.014280530644067986 Centerline is valid? [True, True] Translation: X:223.15, Y:2.14, Z:1.47 [[ 9.99830156e-01 -1.63267294e-02 -8.54969702e-03 2.23152565e+02] [ 1.63265126e-02 9.99866709e-01 -9.51570041e-05 2.14428741e+00] [ 8.55011103e-03 -4.44458943e-05 9.99963446e-01 1.46560045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439254154 meters 0.014127504457458279 Centerline is valid? [True, True] Translation: X:223.21, Y:2.15, Z:1.47 [[ 9.99867566e-01 -1.47228164e-02 -6.93464871e-03 2.23214246e+02] [ 1.47226373e-02 9.99891613e-01 -7.68717138e-05 2.14729566e+00] [ 6.93502885e-03 -2.52347845e-05 9.99975952e-01 1.46587565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499254154 meters 0.014055235800447624 Centerline is valid? [True, True] Translation: X:223.28, Y:2.15, Z:1.47 [[ 9.99855225e-01 -1.52080357e-02 -7.63184784e-03 2.23276427e+02] [ 1.52078356e-02 9.99884351e-01 -8.42578230e-05 2.14748279e+00] [ 7.63224662e-03 -3.18182625e-05 9.99970873e-01 1.46592467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559254154 meters 0.014247828692801006 Centerline is valid? [True, True] Translation: X:223.34, Y:2.15, Z:1.47 [[ 9.99812913e-01 -1.76860346e-02 -7.83215739e-03 2.23338272e+02] [ 1.76859042e-02 9.99843588e-01 -8.59172200e-05 2.14590132e+00] [ 7.83245188e-03 -5.26176392e-05 9.99969324e-01 1.46509329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619254154 meters 0.014374118243083333 Centerline is valid? [True, True] Translation: X:223.40, Y:2.14, Z:1.46 [[ 9.99763047e-01 -1.99322952e-02 -8.74952448e-03 2.23400080e+02] [ 1.99322221e-02 9.99801329e-01 -9.55569783e-05 2.14468094e+00] [ 8.74969087e-03 -7.88631296e-05 9.99961718e-01 1.46430941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679254154 meters 0.015067713086181296 Centerline is valid? [True, True] Translation: X:223.46, Y:2.14, Z:1.46 [[ 9.99660282e-01 -2.41434609e-02 -9.81901299e-03 2.23462223e+02] [ 2.41435796e-02 9.99708496e-01 -1.06459013e-04 2.14252331e+00] [ 9.81872099e-03 -1.30643275e-04 9.99951787e-01 1.46349611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739254154 meters 0.01591679716825007 Centerline is valid? [True, True] Translation: X:223.52, Y:2.14, Z:1.46 [[ 9.99555054e-01 -2.78582258e-02 -1.06589706e-02 2.23524241e+02] [ 2.78585855e-02 9.99611868e-01 -1.14756309e-04 2.14097761e+00] [ 1.06580304e-02 -1.82238595e-04 9.99943185e-01 1.46350701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799254154 meters 0.01609807884910855 Centerline is valid? [True, True] Translation: X:223.59, Y:2.14, Z:1.46 [[ 9.99484598e-01 -3.01156047e-02 -1.11170050e-02 2.23586799e+02] [ 3.01161447e-02 9.99546399e-01 -1.18865345e-04 2.14156493e+00] [ 1.11155420e-02 -2.15997250e-04 9.99938197e-01 1.46393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859254154 meters 0.016811608425467695 Centerline is valid? [True, True] Translation: X:223.65, Y:2.14, Z:1.46 [[ 9.99387900e-01 -3.34743048e-02 -1.01634730e-02 2.23648896e+02] [ 3.34749369e-02 9.99439551e-01 -1.07969306e-04 2.14062851e+00] [ 1.01613911e-02 -2.32318400e-04 9.99948345e-01 1.46489575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91925415400001 meters 0.017927233304130336 Centerline is valid? [True, True] Translation: X:223.71, Y:2.14, Z:1.47 [[ 9.99301444e-01 -3.59531164e-02 -1.01979337e-02 2.23710339e+02] [ 3.59538901e-02 9.99353444e-01 -1.07505542e-04 2.13881521e+00] [ 1.01952053e-02 -2.59224943e-04 9.99947994e-01 1.46542680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters 0.01918044007110326 Centerline is valid? [True, True] Translation: X:223.77, Y:2.14, Z:1.47 [[ 9.99037361e-01 -4.24330476e-02 -1.11259846e-02 2.23771549e+02] [ 4.24343801e-02 9.99099249e-01 -1.16386169e-04 2.13693336e+00] [ 1.11209015e-02 -3.55850128e-04 9.99938098e-01 1.46549843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039254154 meters 0.023380814833824676 Centerline is valid? [True, True] Translation: X:223.83, Y:2.13, Z:1.47 [[ 9.98560672e-01 -5.20473700e-02 -1.29482068e-02 2.23831225e+02] [ 5.20499925e-02 9.98644471e-01 -1.34599096e-04 2.12953229e+00] [ 1.29376606e-02 -5.39548701e-04 9.99916159e-01 1.46504160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099254154 meters 0.02384718415793927 Centerline is valid? [True, True] Translation: X:223.89, Y:2.13, Z:1.47 [[ 9.98149003e-01 -5.92778961e-02 -1.35904024e-02 2.23891830e+02] [ 5.92814619e-02 9.98241298e-01 -1.40674720e-04 2.12864458e+00] [ 1.35748398e-02 -6.65244590e-04 9.99907636e-01 1.46554196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159254154 meters 0.028603664379780035 Centerline is valid? [True, True] Translation: X:223.95, Y:2.12, Z:1.46 [[ 9.97583658e-01 -6.79074384e-02 -1.46773759e-02 2.23951285e+02] [ 6.79125334e-02 9.97691267e-01 -1.51578660e-04 2.12197411e+00] [ 1.46537830e-02 -8.45565385e-04 9.99892270e-01 1.46496584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219254154 meters 0.030564940065717826 Centerline is valid? [True, True] Translation: X:224.01, Y:2.12, Z:1.47 [[ 9.97262643e-01 -7.21544816e-02 -1.61539986e-02 2.24012163e+02] [ 7.21612140e-02 9.97392967e-01 -1.66491406e-04 2.12131859e+00] [ 1.61238977e-02 -9.99656490e-04 9.99869502e-01 1.46515187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279254154 meters 0.030931701853146847 Centerline is valid? [True, True] Translation: X:224.07, Y:2.12, Z:1.47 [[ 9.97296506e-01 -7.15847316e-02 -1.65923204e-02 2.24074083e+02] [ 7.15917683e-02 9.97434003e-01 -1.70257012e-04 2.12268409e+00] [ 1.65619323e-02 -1.01807683e-03 9.99862323e-01 1.46536684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339254154 meters 0.028640004362017468 Centerline is valid? [True, True] Translation: X:224.13, Y:2.13, Z:1.47 [[ 9.97649600e-01 -6.63233134e-02 -1.72189998e-02 2.24134877e+02] [ 6.63301196e-02 9.97797717e-01 -1.76165591e-04 2.13045679e+00] [ 1.71927625e-02 -9.66386783e-04 9.99851727e-01 1.46637302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399254154 meters 0.026807978309244796 Centerline is valid? [True, True] Translation: X:224.20, Y:2.14, Z:1.47 [[ 9.98059433e-01 -5.99006676e-02 -1.70081945e-02 2.24195698e+02] [ 5.99063810e-02 9.98203985e-01 -1.73822863e-04 2.13724050e+00] [ 1.69880596e-02 -8.45413832e-04 9.99855335e-01 1.46730353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459254154 meters 0.02263146937275396 Centerline is valid? [True, True] Translation: X:224.26, Y:2.15, Z:1.47 [[ 9.98742036e-01 -4.76543937e-02 -1.56014211e-02 2.24255254e+02] [ 4.76577083e-02 9.98863713e-01 -1.59473055e-04 2.14962680e+00] [ 1.55912930e-02 -5.84255532e-04 9.99878278e-01 1.46975582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519254154 meters 0.017721787103992952 Centerline is valid? [True, True] Translation: X:224.32, Y:2.16, Z:1.47 [[ 9.99292359e-01 -3.49009606e-02 -1.40251001e-02 2.24315756e+02] [ 3.49023823e-02 9.99390716e-01 -1.43462247e-04 2.16412003e+00] [ 1.40215618e-02 -3.46148678e-04 9.99901633e-01 1.47197985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579254154 meters 0.015512108780367486 Centerline is valid? [True, True] Translation: X:224.38, Y:2.17, Z:1.47 [[ 9.99501688e-01 -2.81646025e-02 -1.42523988e-02 2.24377471e+02] [ 2.81653918e-02 9.99603266e-01 -1.45383141e-04 2.17226560e+00] [ 1.42508390e-02 -2.56113699e-04 9.99898419e-01 1.47256507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.639254154 meters 0.015590025112976955 Centerline is valid? [True, True] Translation: X:224.44, Y:2.18, Z:1.47 [[ 9.99680763e-01 -1.76446125e-02 -1.80842128e-02 2.24438374e+02] [ 1.76441780e-02 9.99844313e-01 -1.83591933e-04 2.18127217e+00] [ 1.80846367e-02 -1.35547745e-04 9.99836450e-01 1.46828251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters 0.013908304623674124 Centerline is valid? [True, True] Translation: X:224.50, Y:2.18, Z:1.47 [[ 9.99700775e-01 -1.59008020e-02 -1.85882978e-02 2.24496673e+02] [ 1.58999828e-02 9.99873569e-01 -1.91871684e-04 2.18440435e+00] [ 1.85889985e-02 -1.03739343e-04 9.99827204e-01 1.46966790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759254154 meters 0.013899287070975916 Centerline is valid? [True, True] Translation: X:224.56, Y:2.19, Z:1.47 [[ 9.99756089e-01 -1.15593837e-02 -1.88187051e-02 2.24555020e+02] [ 1.15576812e-02 9.99933188e-01 -1.99229725e-04 2.18924061e+00] [ 1.88197508e-02 -1.83194640e-05 9.99822893e-01 1.47004163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819254154 meters 0.01395761953289932 Centerline is valid? [True, True] Translation: X:224.61, Y:2.19, Z:1.47 [[ 9.99845055e-01 -5.09285284e-03 -1.68502063e-02 2.24612614e+02] [ 5.09049467e-03 9.99987027e-01 -1.82837634e-04 2.19477957e+00] [ 1.68509189e-02 9.70334185e-05 9.99858008e-01 1.47308278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879254154 meters 0.014136383838801931 Centerline is valid? [True, True] Translation: X:224.67, Y:2.20, Z:1.47 [[ 9.99881998e-01 -2.73200796e-03 -1.51171065e-02 2.24670209e+02] [ 2.72977683e-03 9.99996260e-01 -1.68221904e-04 2.19680000e+00] [ 1.51175095e-02 1.26935726e-04 9.99885716e-01 1.47453067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939254154 meters 0.013944636713211736 Centerline is valid? [True, True] Translation: X:224.73, Y:2.20, Z:1.48 [[ 9.99905587e-01 -3.46501434e-03 -1.32970096e-02 2.24729194e+02] [ 3.46332383e-03 9.99993991e-01 -1.50158885e-04 2.19516878e+00] [ 1.32974500e-02 1.04092858e-04 9.99911580e-01 1.47569206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999254154 meters 0.01473682177363137 Centerline is valid? [True, True] Translation: X:224.79, Y:2.19, Z:1.47 [[ 9.99878358e-01 -8.01262836e-03 -1.33816118e-02 2.24788583e+02] [ 8.01130587e-03 9.99967897e-01 -1.52431018e-04 2.18881545e+00] [ 1.33824036e-02 4.52082902e-05 9.99910451e-01 1.47485767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059254154 meters 0.013513896758865718 Centerline is valid? [True, True] Translation: X:224.85, Y:2.18, Z:1.47 [[ 9.99796908e-01 -1.35842885e-02 -1.48865574e-02 2.24847721e+02] [ 1.35832469e-02 9.99907729e-01 -1.71082068e-04 2.18320243e+00] [ 1.48875078e-02 -3.11604618e-05 9.99889174e-01 1.47435794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119254154 meters 0.01445984340758222 Centerline is valid? [True, True] Translation: X:224.91, Y:2.17, Z:1.47 [[ 9.99607381e-01 -2.28735867e-02 -1.61828013e-02 2.24907005e+02] [ 2.28735563e-02 9.99738349e-01 -1.86996125e-04 2.17143787e+00] [ 1.61828443e-02 -1.83235510e-04 9.99869032e-01 1.47273056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179254154 meters 0.015712338260142997 Centerline is valid? [True, True] Translation: X:224.97, Y:2.16, Z:1.47 [[ 9.99477577e-01 -2.79750843e-02 -1.61854146e-02 2.24967421e+02] [ 2.79757168e-02 9.99608585e-01 -1.87379332e-04 2.16447689e+00] [ 1.61843213e-02 -2.65517134e-04 9.99868990e-01 1.47256556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239254154 meters 0.016624466399524106 Centerline is valid? [True, True] Translation: X:225.03, Y:2.16, Z:1.47 [[ 9.99419782e-01 -3.02952880e-02 -1.55658427e-02 2.25027349e+02] [ 3.02961661e-02 9.99540950e-01 -1.79447319e-04 2.15613709e+00] [ 1.55641336e-02 -2.92242157e-04 9.99878829e-01 1.47252790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299254154 meters 0.01586298783506228 Centerline is valid? [True, True] Translation: X:225.09, Y:2.15, Z:1.47 [[ 9.99474482e-01 -2.83515824e-02 -1.57145451e-02 2.25088948e+02] [ 2.83522512e-02 9.99597978e-01 -1.80271669e-04 2.15355927e+00] [ 1.57133385e-02 -2.65365797e-04 9.99876503e-01 1.47354078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359254154 meters 0.014980890342176098 Centerline is valid? [True, True] Translation: X:225.15, Y:2.15, Z:1.47 [[ 9.99584437e-01 -2.40775313e-02 -1.58501074e-02 2.25149431e+02] [ 2.40776781e-02 9.99710074e-01 -1.81594443e-04 2.15297508e+00] [ 1.58498844e-02 -2.00114805e-04 9.99874363e-01 1.47443935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41925415400001 meters 0.014303884077329514 Centerline is valid? [True, True] Translation: X:225.21, Y:2.15, Z:1.47 [[ 9.99673378e-01 -2.02438894e-02 -1.55988177e-02 2.25209478e+02] [ 2.02435552e-02 9.99795062e-01 -1.79340796e-04 2.15286153e+00] [ 1.55992514e-02 -1.36493307e-04 9.99878315e-01 1.47483965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters 0.013741013521617574 Centerline is valid? [True, True] Translation: X:225.27, Y:2.15, Z:1.48 [[ 9.99785515e-01 -1.28999056e-02 -1.62023430e-02 2.25269364e+02] [ 1.28985673e-02 9.99916793e-01 -1.87099415e-04 2.15473856e+00] [ 1.62034084e-02 -2.19277273e-05 9.99868716e-01 1.47627711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539254154 meters 0.013748389066118485 Centerline is valid? [True, True] Translation: X:225.33, Y:2.16, Z:1.48 [[ 9.99827950e-01 -7.12127587e-03 -1.71277173e-02 2.25327673e+02] [ 7.11891193e-03 9.99974640e-01 -1.98984649e-04 2.15555187e+00] [ 1.71287000e-02 7.70197018e-05 9.99853290e-01 1.47767778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599254154 meters 0.015461588734833883 Centerline is valid? [True, True] Translation: X:225.39, Y:2.16, Z:1.48 [[ 9.99851751e-01 1.11826010e-03 -1.71821213e-02 2.25385744e+02] [-1.12188230e-03 9.99999350e-01 -2.01174564e-04 2.15819122e+00] [ 1.71818852e-02 2.20421058e-04 9.99852356e-01 1.47718515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659254154 meters 0.015542275308375608 Centerline is valid? [True, True] Translation: X:225.44, Y:2.15, Z:1.48 [[ 9.99834493e-01 5.83580957e-03 -1.72316455e-02 2.25444382e+02] [-5.84020955e-03 9.99982925e-01 -2.05031565e-04 2.15417294e+00] [ 1.72301548e-02 3.05634052e-04 9.99851503e-01 1.47930351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719254154 meters 0.01503025491689117 Centerline is valid? [True, True] Translation: X:225.50, Y:2.15, Z:1.48 [[ 9.99830940e-01 3.50207623e-03 -1.80506747e-02 2.25503018e+02] [-3.50657163e-03 9.99993828e-01 -2.17399037e-04 2.14587761e+00] [ 1.80498020e-02 2.80658268e-04 9.99837050e-01 1.47981647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779254154 meters 0.01370749312476239 Centerline is valid? [True, True] Translation: X:225.56, Y:2.13, Z:1.48 [[ 9.99816307e-01 -9.21088159e-03 -1.68080981e-02 2.25562963e+02] [ 9.20876591e-03 9.99957578e-01 -2.03266005e-04 2.12737094e+00] [ 1.68092573e-02 4.84468259e-05 9.99858713e-01 1.48139284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839254154 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:225.62, Y:2.11, Z:1.48 [[ 9.99573552e-01 -2.54101005e-02 -1.43888961e-02 2.25620836e+02] [ 2.54102147e-02 9.99677093e-01 -1.74916639e-04 2.10676113e+00] [ 1.43886944e-02 -1.90782892e-04 9.99896459e-01 1.48241810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899254154 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:225.68, Y:2.11, Z:1.48 [[ 9.99573552e-01 -2.54101046e-02 -1.43888886e-02 2.25680837e+02] [ 2.54102100e-02 9.99677093e-01 -1.75524632e-04 2.10749336e+00] [ 1.43887025e-02 -1.90174902e-04 9.99896459e-01 1.48282101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959254154 meters 0.016692063639711034 Centerline is valid? [True, True] Translation: X:225.74, Y:2.10, Z:1.48 [[ 9.99362037e-01 -3.30421064e-02 -1.35549993e-02 2.25740876e+02] [ 3.30428999e-02 9.99453921e-01 -1.65474114e-04 2.09763962e+00] [ 1.35530648e-02 -2.82527937e-04 9.99908113e-01 1.48296970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019254154 meters 0.01824043452218789 Centerline is valid? [True, True] Translation: X:225.80, Y:2.09, Z:1.48 [[ 9.98951618e-01 -4.38863109e-02 -1.30252450e-02 2.25802050e+02] [ 4.38879632e-02 9.99036446e-01 -1.59099539e-04 2.08714013e+00] [ 1.30196768e-02 -4.12718733e-04 9.99915155e-01 1.48450461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079254154 meters 0.020213356840982223 Centerline is valid? [True, True] Translation: X:225.86, Y:2.08, Z:1.48 [[ 9.98618080e-01 -5.08691815e-02 -1.32005945e-02 2.25862663e+02] [ 5.08714886e-02 9.98705195e-01 -1.61165583e-04 2.07957186e+00] [ 1.31917007e-02 -5.10591030e-04 9.99912855e-01 1.48475284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.139254154 meters 0.025245182926256857 Centerline is valid? [True, True] Translation: X:225.92, Y:2.07, Z:1.48 [[ 9.98110737e-01 -5.99090208e-02 -1.36332399e-02 2.25923019e+02] [ 5.99123275e-02 9.98203629e-01 -1.66104840e-04 2.06685399e+00] [ 1.36187007e-02 -6.51008110e-04 9.99907049e-01 1.48445311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters 0.025472005627439405 Centerline is valid? [True, True] Translation: X:225.98, Y:2.06, Z:1.48 [[ 9.97691315e-01 -6.63043925e-02 -1.46890465e-02 2.25984026e+02] [ 6.63089270e-02 9.97799125e-01 -1.78655125e-04 2.06406126e+00] [ 1.46685634e-02 -7.95772246e-04 9.99892094e-01 1.48412210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259254154 meters 0.026360080848435427 Centerline is valid? [True, True] Translation: X:226.05, Y:2.06, Z:1.48 [[ 9.97567882e-01 -6.80014994e-02 -1.53008551e-02 2.26045926e+02] [ 6.80066262e-02 9.97684852e-01 -1.85597140e-04 2.06306034e+00] [ 1.52780523e-02 -8.55413789e-04 9.99882918e-01 1.48438472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319254154 meters 0.02708513382576095 Centerline is valid? [True, True] Translation: X:226.11, Y:2.06, Z:1.48 [[ 9.97621655e-01 -6.71193023e-02 -1.56854200e-02 2.26108601e+02] [ 6.71246006e-02 9.97744583e-01 -1.89036870e-04 2.06403859e+00] [ 1.56627308e-02 -8.64290276e-04 9.99876958e-01 1.48462994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379254154 meters 0.025565980535822975 Centerline is valid? [True, True] Translation: X:226.17, Y:2.07, Z:1.49 [[ 9.97729992e-01 -6.53304135e-02 -1.63340022e-02 2.26170427e+02] [ 6.53359424e-02 9.97863305e-01 -1.95484477e-04 2.06802272e+00] [ 1.63118725e-02 -8.72156699e-04 9.99866572e-01 1.48542285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439254154 meters 0.024473787069094626 Centerline is valid? [True, True] Translation: X:226.23, Y:2.07, Z:1.49 [[ 9.97971643e-01 -6.16800839e-02 -1.57533464e-02 2.26231196e+02] [ 6.16847833e-02 9.98095663e-01 -1.87882367e-04 2.07228582e+00] [ 1.57349353e-02 -7.84240486e-04 9.99875891e-01 1.48617395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499254154 meters 0.02348900904648223 Centerline is valid? [True, True] Translation: X:226.29, Y:2.08, Z:1.49 [[ 9.98257795e-01 -5.72074164e-02 -1.44459477e-02 2.26292212e+02] [ 5.72109044e-02 9.98362100e-01 -1.72031468e-04 2.07685921e+00] [ 1.44321282e-02 -6.54733981e-04 9.99895637e-01 1.48701844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559254154 meters 0.02273600713001162 Centerline is valid? [True, True] Translation: X:226.35, Y:2.08, Z:1.49 [[ 9.98458387e-01 -5.36326940e-02 -1.42962534e-02 2.26353773e+02] [ 5.36357520e-02 9.98560553e-01 -1.69707434e-04 2.08106236e+00] [ 1.42847766e-02 -5.97344490e-04 9.99897789e-01 1.48685881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619254154 meters 0.021908451043117817 Centerline is valid? [True, True] Translation: X:226.41, Y:2.09, Z:1.49 [[ 9.98679119e-01 -4.93658811e-02 -1.42487556e-02 2.26414111e+02] [ 4.93684903e-02 9.98780618e-01 -1.68774551e-04 2.08588235e+00] [ 1.42397127e-02 -5.34887935e-04 9.99898467e-01 1.48648638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679254154 meters 0.02080306544973482 Centerline is valid? [True, True] Translation: X:226.48, Y:2.09, Z:1.49 [[ 9.98900889e-01 -4.47646598e-02 -1.38974811e-02 2.26475092e+02] [ 4.47666989e-02 9.98997455e-01 -1.64485997e-04 2.09147916e+00] [ 1.38909114e-02 -4.57839143e-04 9.99903412e-01 1.48642841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739254154 meters 0.01803388769839002 Centerline is valid? [True, True] Translation: X:226.54, Y:2.10, Z:1.49 [[ 9.99261008e-01 -3.60807579e-02 -1.32520439e-02 2.26535814e+02] [ 3.60818509e-02 9.99348826e-01 -1.56684017e-04 2.10015091e+00] [ 1.32490678e-02 -3.21590044e-04 9.99912176e-01 1.48711167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799254154 meters 0.015442621465558238 Centerline is valid? [True, True] Translation: X:226.60, Y:2.11, Z:1.49 [[ 9.99493893e-01 -2.91638759e-02 -1.27053477e-02 2.26597689e+02] [ 2.91643271e-02 9.99574619e-01 -1.49806735e-04 2.10905476e+00] [ 1.27043120e-02 -2.20811998e-04 9.99919273e-01 1.48835432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859254154 meters 0.014326902514095427 Centerline is valid? [True, True] Translation: X:226.66, Y:2.12, Z:1.49 [[ 9.99735585e-01 -1.89970209e-02 -1.29565792e-02 2.26657857e+02] [ 1.89966417e-02 9.99819536e-01 -1.52351976e-04 2.11697439e+00] [ 1.29571353e-02 -9.38198012e-05 9.99916048e-01 1.48826562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91925415400001 meters 0.013948844309109771 Centerline is valid? [True, True] Translation: X:226.72, Y:2.12, Z:1.49 [[ 9.99842627e-01 -1.30594487e-02 -1.20071498e-02 2.26717541e+02] [ 1.30586925e-02 9.99914722e-01 -1.41385444e-04 2.12131114e+00] [ 1.20079722e-02 -1.54344821e-05 9.99927902e-01 1.48945097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters 0.0140375411377769 Centerline is valid? [True, True] Translation: X:226.78, Y:2.12, Z:1.49 [[ 9.99913576e-01 -7.67250644e-03 -1.06758246e-02 2.26776576e+02] [ 7.67158830e-03 9.99970565e-01 -1.26951493e-04 2.12458409e+00] [ 1.06764844e-02 4.50399902e-05 9.99943004e-01 1.49055113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039254154 meters 0.014275448787629806 Centerline is valid? [True, True] Translation: X:226.83, Y:2.13, Z:1.49 [[ 9.99918235e-01 -6.58692033e-03 -1.09606214e-02 2.26834722e+02] [ 6.58586370e-03 9.99978304e-01 -1.32493584e-04 2.12594929e+00] [ 1.09612563e-02 6.02975919e-05 9.99939922e-01 1.48971502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099254154 meters 0.014005487118955414 Centerline is valid? [True, True] Translation: X:226.89, Y:2.12, Z:1.49 [[ 9.99892166e-01 -8.74302248e-03 -1.17989906e-02 2.26894011e+02] [ 8.74193594e-03 9.99961778e-01 -1.43659608e-04 2.12093592e+00] [ 1.17997957e-02 4.04980965e-05 9.99930379e-01 1.49024622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159254154 meters 0.013835666732337855 Centerline is valid? [True, True] Translation: X:226.95, Y:2.12, Z:1.49 [[ 9.99853741e-01 -1.14096683e-02 -1.27402948e-02 2.26952509e+02] [ 1.14086025e-02 9.99934908e-01 -1.56337059e-04 2.11676461e+00] [ 1.27412492e-02 1.09652353e-05 9.99918827e-01 1.48944035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219254154 meters 0.013879077564599265 Centerline is valid? [True, True] Translation: X:227.01, Y:2.11, Z:1.49 [[ 9.99809639e-01 -1.49177008e-02 -1.25757017e-02 2.27010794e+02] [ 1.49169222e-02 9.99888724e-01 -1.55711174e-04 2.11138098e+00] [ 1.25766252e-02 -3.19092320e-05 9.99920911e-01 1.48944455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279254154 meters 0.013960262436542187 Centerline is valid? [True, True] Translation: X:227.07, Y:2.11, Z:1.49 [[ 9.99753048e-01 -1.80120312e-02 -1.30157604e-02 2.27069439e+02] [ 1.80114282e-02 9.99837768e-01 -1.63554766e-04 2.10556662e+00] [ 1.30165947e-02 -7.09180573e-05 9.99915278e-01 1.48930486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339254154 meters 0.014128111203158359 Centerline is valid? [True, True] Translation: X:227.13, Y:2.10, Z:1.49 [[ 9.99711229e-01 -2.02944403e-02 -1.28683718e-02 2.27128071e+02] [ 2.02939978e-02 9.99794042e-01 -1.64977332e-04 2.10189451e+00] [ 1.28690695e-02 -9.62210174e-05 9.99917185e-01 1.48907828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399254154 meters 0.014550725610605022 Centerline is valid? [True, True] Translation: X:227.19, Y:2.10, Z:1.49 [[ 9.99654590e-01 -2.31833237e-02 -1.23787929e-02 2.27187487e+02] [ 2.31831128e-02 9.99731223e-01 -1.60549574e-04 2.09585644e+00] [ 1.23791878e-02 -1.26484834e-04 9.99923367e-01 1.48875618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459254154 meters 0.015053350826795995 Centerline is valid? [True, True] Translation: X:227.25, Y:2.09, Z:1.49 [[ 9.99590011e-01 -2.56925677e-02 -1.26373065e-02 2.27247247e+02] [ 2.56925426e-02 9.99669879e-01 -1.64359634e-04 2.09038713e+00] [ 1.26373575e-02 -1.60392287e-04 9.99920133e-01 1.48808240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519254154 meters 0.01497757773317251 Centerline is valid? [True, True] Translation: X:227.31, Y:2.09, Z:1.49 [[ 9.99560791e-01 -2.63699764e-02 -1.35221683e-02 2.27308097e+02] [ 2.63700062e-02 9.99652235e-01 -1.76123142e-04 2.08876997e+00] [ 1.35221101e-02 -1.80533875e-04 9.99908556e-01 1.48786517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579254154 meters 0.014941549385802149 Centerline is valid? [True, True] Translation: X:227.37, Y:2.09, Z:1.49 [[ 9.99574069e-01 -2.52257950e-02 -1.46744604e-02 2.27367430e+02] [ 2.52257049e-02 9.99681763e-01 -1.91269992e-04 2.08850605e+00] [ 1.46746154e-02 -1.78985084e-04 9.99892306e-01 1.48763599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.639254154 meters 0.014293247978685626 Centerline is valid? [True, True] Translation: X:227.43, Y:2.09, Z:1.49 [[ 9.99618141e-01 -2.31302676e-02 -1.51182732e-02 2.27427014e+02] [ 2.31299258e-02 9.99732448e-01 -1.97482668e-04 2.09083341e+00] [ 1.51187961e-02 -1.52277280e-04 9.99885693e-01 1.48822188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters 0.013823539227286201 Centerline is valid? [True, True] Translation: X:227.49, Y:2.09, Z:1.49 [[ 9.99718819e-01 -1.79127048e-02 -1.55376410e-02 2.27485409e+02] [ 1.79116737e-02 9.99839552e-01 -2.05528523e-04 2.09399364e+00] [ 1.55388296e-02 -7.28344239e-05 9.99879262e-01 1.48908408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759254154 meters 0.01375153586368778 Centerline is valid? [True, True] Translation: X:227.54, Y:2.10, Z:1.49 [[ 9.99784005e-01 -1.42476211e-02 -1.51310238e-02 2.27544634e+02] [ 1.42461668e-02 9.99898497e-01 -2.03897912e-04 2.09614265e+00] [ 1.51323930e-02 -1.17052175e-05 9.99885499e-01 1.49001203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819254154 meters 0.01373326611400675 Centerline is valid? [True, True] Translation: X:227.60, Y:2.10, Z:1.49 [[ 9.99824075e-01 -1.05127143e-02 -1.55339167e-02 2.27603618e+02] [ 1.05106692e-02 9.99944739e-01 -2.13289170e-04 2.09827354e+00] [ 1.55353005e-02 4.99797881e-05 9.99879319e-01 1.49098917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879254154 meters 0.014089364122635973 Centerline is valid? [True, True] Translation: X:227.66, Y:2.10, Z:1.49 [[ 9.99809522e-01 -1.07412996e-02 -1.62955549e-02 2.27661607e+02] [ 1.07390034e-02 9.99942309e-01 -2.28411755e-04 2.09856443e+00] [ 1.62970682e-02 5.33702288e-05 9.99867193e-01 1.49109650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939254154 meters 0.014501860449375679 Centerline is valid? [True, True] Translation: X:227.72, Y:2.10, Z:1.49 [[ 9.99747121e-01 -1.57657115e-02 -1.60354509e-02 2.27719747e+02] [ 1.57640894e-02 9.99875713e-01 -2.27561542e-04 2.09521750e+00] [ 1.60370456e-02 -2.52802841e-05 9.99871398e-01 1.49145794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999254154 meters 0.015010760241547932 Centerline is valid? [True, True] Translation: X:227.78, Y:2.09, Z:1.49 [[ 9.99632635e-01 -2.20061833e-02 -1.58215669e-02 2.27778302e+02] [ 2.20053656e-02 9.99757827e-01 -2.25793517e-04 2.09183821e+00] [ 1.58227042e-02 -1.22448795e-04 9.99874806e-01 1.49254662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059254154 meters 0.01677425604463559 Centerline is valid? [True, True] Translation: X:227.84, Y:2.08, Z:1.49 [[ 9.99306902e-01 -3.40864407e-02 -1.49609286e-02 2.27837372e+02] [ 3.40870489e-02 9.99418845e-01 -2.14424415e-04 2.08444930e+00] [ 1.49595429e-02 -2.95698107e-04 9.99888056e-01 1.49312070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119254154 meters 0.0190578462653588 Centerline is valid? [True, True] Translation: X:227.90, Y:2.08, Z:1.49 [[ 9.98941553e-01 -4.33851095e-02 -1.52808797e-02 2.27898099e+02] [ 4.33868251e-02 9.99058324e-01 -2.19382698e-04 2.07939593e+00] [ 1.52760081e-02 -4.43838364e-04 9.99883216e-01 1.49330809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179254154 meters 0.02391634764824637 Centerline is valid? [True, True] Translation: X:227.96, Y:2.07, Z:1.49 [[ 9.98182204e-01 -5.79762467e-02 -1.64633951e-02 2.27958456e+02] [ 5.79802197e-02 9.98317704e-01 -2.36288499e-04 2.07065732e+00] [ 1.64493980e-02 -7.18692292e-04 9.99864441e-01 1.49405044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239254154 meters 0.028384154559588922 Centerline is valid? [True, True] Translation: X:228.02, Y:2.07, Z:1.49 [[ 9.97220835e-01 -7.23679256e-02 -1.77056240e-02 2.28018787e+02] [ 7.23747799e-02 9.97377475e-01 -2.54181013e-04 2.06503118e+00] [ 1.76775851e-02 -1.02796604e-03 9.99843211e-01 1.49470620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299254154 meters 0.03776898999861071 Centerline is valid? [True, True] Translation: X:228.08, Y:2.05, Z:1.50 [[ 9.96406424e-01 -8.28870260e-02 -1.74350249e-02 2.28077932e+02] [ 8.28952804e-02 9.96558232e-01 -2.49965561e-04 2.05431747e+00] [ 1.73957365e-02 -1.19621398e-03 9.99847967e-01 1.49502776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359254154 meters 0.03679716354554112 Centerline is valid? [True, True] Translation: X:228.14, Y:2.06, Z:1.50 [[ 9.96124893e-01 -8.63367626e-02 -1.67678360e-02 2.28138545e+02] [ 8.63448887e-02 9.96265277e-01 -2.40082681e-04 2.05764108e+00] [ 1.67259407e-02 -1.20866460e-03 9.99859381e-01 1.49668560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41925415400001 meters 0.0361802566519535 Centerline is valid? [True, True] Translation: X:228.20, Y:2.06, Z:1.50 [[ 9.96093175e-01 -8.65897241e-02 -1.73380006e-02 2.28200508e+02] [ 8.65984649e-02 9.96243266e-01 -2.47415591e-04 2.06363007e+00] [ 1.72942900e-02 -1.25499526e-03 9.99849655e-01 1.49692745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479254154 meters 0.03670973293742747 Centerline is valid? [True, True] Translation: X:228.26, Y:2.07, Z:1.50 [[ 9.96169720e-01 -8.56597310e-02 -1.75584727e-02 2.28262425e+02] [ 8.56685744e-02 9.96323659e-01 -2.49276931e-04 2.06533931e+00] [ 1.75152748e-02 -1.25588719e-03 9.99845807e-01 1.49683946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539254154 meters 0.030263234122478857 Centerline is valid? [True, True] Translation: X:228.32, Y:2.08, Z:1.50 [[ 9.96585681e-01 -8.04771019e-02 -1.84504031e-02 2.28322686e+02] [ 8.04859919e-02 9.96755706e-01 -2.61428661e-04 2.08080457e+00] [ 1.84115835e-02 -1.22446293e-03 9.99829743e-01 1.49789702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599254154 meters 0.029929517245748945 Centerline is valid? [True, True] Translation: X:228.38, Y:2.09, Z:1.50 [[ 9.96988208e-01 -7.49927391e-02 -1.97636811e-02 2.28383167e+02] [ 7.50018666e-02 9.97183354e-01 -2.80040777e-04 2.08694592e+00] [ 1.97290149e-02 -1.20311562e-03 9.99804640e-01 1.49722249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659254154 meters 0.026451987983288048 Centerline is valid? [True, True] Translation: X:228.44, Y:2.10, Z:1.50 [[ 9.97684224e-01 -6.50211068e-02 -1.99610695e-02 2.28443902e+02] [ 6.50284278e-02 9.97883372e-01 -2.82789014e-04 2.10053844e+00] [ 1.99372065e-02 -1.01590283e-03 9.99800718e-01 1.49824403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719254154 meters 0.02315803960561661 Centerline is valid? [True, True] Translation: X:228.50, Y:2.11, Z:1.50 [[ 9.98145332e-01 -5.74483412e-02 -2.01391089e-02 2.28504518e+02] [ 5.74542552e-02 9.98348099e-01 -2.85292998e-04 2.11159044e+00] [ 2.01222307e-02 -8.72313631e-04 9.99797147e-01 1.49943179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779254154 meters 0.019444646641763506 Centerline is valid? [True, True] Translation: X:228.56, Y:2.13, Z:1.50 [[ 9.98799081e-01 -4.47720156e-02 -1.98962730e-02 2.28564738e+02] [ 4.47752744e-02 9.98997045e-01 -2.81880277e-04 2.12603790e+00] [ 1.98889383e-02 -6.09319321e-04 9.99802010e-01 1.50031284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839254154 meters 0.01677824169273612 Centerline is valid? [True, True] Translation: X:228.62, Y:2.14, Z:1.50 [[ 9.99302654e-01 -3.21887896e-02 -1.89231978e-02 2.28623925e+02] [ 3.21894774e-02 9.99481748e-01 -2.68321645e-04 2.14110938e+00] [ 1.89220278e-02 -3.40993316e-04 9.99820904e-01 1.50174078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899254154 meters 0.014999616138953014 Centerline is valid? [True, True] Translation: X:228.68, Y:2.15, Z:1.50 [[ 9.99542992e-01 -2.48039324e-02 -1.72792229e-02 2.28683367e+02] [ 2.48033941e-02 9.99692318e-01 -2.45490306e-04 2.15007614e+00] [ 1.72799955e-02 -1.83205261e-04 9.99850673e-01 1.50332925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959254154 meters 0.01582784345200747 Centerline is valid? [True, True] Translation: X:228.74, Y:2.16, Z:1.50 [[ 9.99753529e-01 -1.40626617e-02 -1.71791212e-02 2.28742569e+02] [ 1.40605336e-02 9.99901116e-01 -2.44663625e-04 2.16111281e+00] [ 1.71808630e-02 3.05571313e-06 9.99852398e-01 1.50308999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019254154 meters 0.014494836329513419 Centerline is valid? [True, True] Translation: X:228.80, Y:2.17, Z:1.50 [[ 9.99818419e-01 -8.96426707e-03 -1.68158232e-02 2.28800695e+02] [ 8.96148867e-03 9.99959816e-01 -2.40572668e-04 2.16793965e+00] [ 1.68173040e-02 8.98341763e-05 9.99858575e-01 1.50444552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079254154 meters 0.014654444069363075 Centerline is valid? [True, True] Translation: X:228.86, Y:2.17, Z:1.51 [[ 9.99845345e-01 -4.39144421e-03 -1.70294471e-02 2.28859235e+02] [ 4.38787717e-03 9.99990343e-01 -2.46821834e-04 2.17193121e+00] [ 1.70303665e-02 1.72060540e-04 9.99854958e-01 1.50566858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.139254154 meters 0.014523221837043849 Centerline is valid? [True, True] Translation: X:228.92, Y:2.17, Z:1.51 [[ 9.99849452e-01 -5.07473936e-03 -1.65928100e-02 2.28916710e+02] [ 5.07137144e-03 9.99987110e-01 -2.45045539e-04 2.17151054e+00] [ 1.65938397e-02 1.60860345e-04 9.99862300e-01 1.50597089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters 0.01422305166799454 Centerline is valid? [True, True] Translation: X:228.98, Y:2.17, Z:1.51 [[ 9.99835093e-01 -7.62828504e-03 -1.64801848e-02 2.28975350e+02] [ 7.62526572e-03 9.99970897e-01 -2.46039349e-04 2.16937247e+00] [ 1.64815820e-02 1.20332988e-04 9.99864162e-01 1.50632054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259254154 meters 0.01392311734466584 Centerline is valid? [True, True] Translation: X:229.03, Y:2.16, Z:1.51 [[ 9.99786560e-01 -1.37486911e-02 -1.54210238e-02 2.29033976e+02] [ 1.37467586e-02 9.99905482e-01 -2.31315885e-04 2.16377789e+00] [ 1.54227466e-02 1.92774202e-05 9.99881062e-01 1.50724478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319254154 meters 0.014065855315039852 Centerline is valid? [True, True] Translation: X:229.09, Y:2.16, Z:1.51 [[ 9.99694030e-01 -1.95723345e-02 -1.51251451e-02 2.29091871e+02] [ 1.95711231e-02 9.99808441e-01 -2.28115461e-04 2.15862926e+00] [ 1.51267125e-02 -6.79704138e-05 9.99885582e-01 1.50731444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379254154 meters 0.014909987588852069 Centerline is valid? [True, True] Translation: X:229.15, Y:2.15, Z:1.51 [[ 9.99430948e-01 -3.06878766e-02 -1.40012173e-02 2.29151391e+02] [ 3.06879172e-02 9.99528992e-01 -2.11997041e-04 2.14917008e+00] [ 1.40011284e-02 -2.17791794e-04 9.99901956e-01 1.50932207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439254154 meters 0.016753015216252474 Centerline is valid? [True, True] Translation: X:229.21, Y:2.14, Z:1.51 [[ 9.99136127e-01 -3.92919237e-02 -1.35331011e-02 2.29212623e+02] [ 3.92927486e-02 9.99227721e-01 -2.05026133e-04 2.14134365e+00] [ 1.35307056e-02 -3.26903722e-04 9.99908402e-01 1.50946470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499254154 meters 0.020851938778010705 Centerline is valid? [True, True] Translation: X:229.27, Y:2.13, Z:1.51 [[ 9.98525481e-01 -5.26687779e-02 -1.31477283e-02 2.29274131e+02] [ 5.26707184e-02 9.98611915e-01 -1.98872234e-04 2.12875702e+00] [ 1.31399525e-02 -4.93921303e-04 9.99913545e-01 1.50947099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559254154 meters 0.025799832135690856 Centerline is valid? [True, True] Translation: X:229.33, Y:2.12, Z:1.51 [[ 9.98024001e-01 -6.13725248e-02 -1.34724415e-02 2.29333882e+02] [ 6.13753554e-02 9.98114735e-01 -2.03638622e-04 2.11873476e+00] [ 1.34595402e-02 -6.23639656e-04 9.99909222e-01 1.50900926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619254154 meters 0.027837692639284758 Centerline is valid? [True, True] Translation: X:229.39, Y:2.11, Z:1.51 [[ 9.97303730e-01 -7.20430116e-02 -1.39669239e-02 2.29394245e+02] [ 7.20470966e-02 9.97401209e-01 -2.11125753e-04 2.11366081e+00] [ 1.39458369e-02 -7.95719815e-04 9.99902435e-01 1.50923381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679254154 meters 0.031724325716601456 Centerline is valid? [True, True] Translation: X:229.45, Y:2.11, Z:1.51 [[ 9.96936794e-01 -7.69407560e-02 -1.40409878e-02 2.29454037e+02] [ 7.69453704e-02 9.97035288e-01 -2.12091251e-04 2.10857735e+00] [ 1.40156788e-02 -8.68947436e-04 9.99901398e-01 1.50930666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739254154 meters 0.029634741207681507 Centerline is valid? [True, True] Translation: X:229.52, Y:2.11, Z:1.51 [[ 9.96928074e-01 -7.69209952e-02 -1.47504721e-02 2.29516362e+02] [ 7.69260960e-02 9.97036773e-01 -2.22104407e-04 2.11368597e+00] [ 1.47238476e-02 -9.13274116e-04 9.99891181e-01 1.51018043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799254154 meters 0.02748279056497439 Centerline is valid? [True, True] Translation: X:229.58, Y:2.12, Z:1.51 [[ 9.97280223e-01 -7.21736998e-02 -1.49370072e-02 2.29577091e+02] [ 7.21784077e-02 9.97391712e-01 -2.24371451e-04 2.12238215e+00] [ 1.49142409e-02 -8.54368188e-04 9.99888412e-01 1.51124287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859254154 meters 0.0268830513813763 Centerline is valid? [True, True] Translation: X:229.64, Y:2.13, Z:1.51 [[ 9.97642528e-01 -6.70328741e-02 -1.46962627e-02 2.29636712e+02] [ 6.70368738e-02 9.97750474e-01 -2.20851548e-04 2.12697077e+00] [ 1.46780074e-02 -7.64860614e-04 9.99891980e-01 1.51223562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91925415400001 meters 0.02317932858578019 Centerline is valid? [True, True] Translation: X:229.70, Y:2.14, Z:1.51 [[ 9.98157636e-01 -5.91685441e-02 -1.34319246e-02 2.29696868e+02] [ 5.91711730e-02 9.98247831e-01 -2.01955197e-04 2.13772310e+00] [ 1.34203390e-02 -5.93199615e-04 9.99909767e-01 1.51421377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979254154 meters 0.02085922377431821 Centerline is valid? [True, True] Translation: X:229.76, Y:2.15, Z:1.51 [[ 9.98432181e-01 -5.41530424e-02 -1.41643009e-02 2.29757544e+02] [ 5.41554637e-02 9.98532493e-01 -2.12836677e-04 2.14527033e+00] [ 1.41550404e-02 -5.54571295e-04 9.99899659e-01 1.51450959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039254154 meters 0.019482520214352657 Centerline is valid? [True, True] Translation: X:229.82, Y:2.15, Z:1.51 [[ 9.98771381e-01 -4.69962886e-02 -1.57187260e-02 2.29817396e+02] [ 4.69983874e-02 9.98894937e-01 -2.36054612e-04 2.15279133e+00] [ 1.57124495e-02 -5.02990181e-04 9.99876425e-01 1.51392171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099254154 meters 0.017680409429157776 Centerline is valid? [True, True] Translation: X:229.88, Y:2.16, Z:1.51 [[ 9.99028241e-01 -4.10685771e-02 -1.59982869e-02 2.29878477e+02] [ 4.10699943e-02 9.99156243e-01 -2.40083823e-04 2.16121657e+00] [ 1.59946481e-02 -4.17199033e-04 9.99871990e-01 1.51449359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159254154 meters 0.01896209746764227 Centerline is valid? [True, True] Translation: X:229.94, Y:2.17, Z:1.51 [[ 9.99167163e-01 -3.74041420e-02 -1.63067497e-02 2.29939826e+02] [ 3.74051346e-02 9.99300153e-01 -2.44230510e-04 2.16671792e+00] [ 1.63044727e-02 -3.65929061e-04 9.99867006e-01 1.51342109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219254154 meters 0.01590327498383745 Centerline is valid? [True, True] Translation: X:230.00, Y:2.17, Z:1.52 [[ 9.99353616e-01 -3.24881978e-02 -1.53904849e-02 2.29999923e+02] [ 3.24885052e-02 9.99472083e-01 -2.30113426e-04 2.17408322e+00] [ 1.53898359e-02 -2.70049163e-04 9.99881533e-01 1.51630601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279254154 meters 0.015331668512948322 Centerline is valid? [True, True] Translation: X:230.06, Y:2.18, Z:1.52 [[ 9.99496669e-01 -2.79746825e-02 -1.49608066e-02 2.30060739e+02] [ 2.79744736e-02 9.99608613e-01 -2.23278483e-04 2.17918274e+00] [ 1.49611973e-02 -1.95354589e-04 9.99888056e-01 1.51694410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339254154 meters 0.014418790406479951 Centerline is valid? [True, True] Translation: X:230.12, Y:2.19, Z:1.52 [[ 9.99644640e-01 -2.24479732e-02 -1.43764678e-02 2.30120900e+02] [ 2.24472120e-02 9.99748007e-01 -2.14329608e-04 2.18646147e+00] [ 1.43776563e-02 -1.08458176e-04 9.99896630e-01 1.51925982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399254154 meters 0.014237655993050267 Centerline is valid? [True, True] Translation: X:230.18, Y:2.19, Z:1.52 [[ 9.99700233e-01 -2.01946942e-02 -1.38426499e-02 2.30181466e+02] [ 2.01937724e-02 9.99796064e-01 -2.06371257e-04 2.19006593e+00] [ 1.38439945e-02 -7.32259278e-05 9.99904165e-01 1.52043279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459254154 meters 0.014033828689782566 Centerline is valid? [True, True] Translation: X:230.24, Y:2.19, Z:1.52 [[ 9.99710842e-01 -1.95945136e-02 -1.39386785e-02 2.30241450e+02] [ 1.95935171e-02 9.99808007e-01 -2.08061740e-04 2.19151887e+00] [ 1.39400792e-02 -6.51061587e-05 9.99902830e-01 1.52114778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519254154 meters 0.01620403019600098 Centerline is valid? [True, True] Translation: X:230.30, Y:2.19, Z:1.52 [[ 9.99693618e-01 -1.96287735e-02 -1.50791921e-02 2.30300735e+02] [ 1.96276027e-02 9.99807335e-01 -2.25645955e-04 2.19184772e+00] [ 1.50807160e-02 -7.03915707e-05 9.99886277e-01 1.51872720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579254154 meters 0.014334193729290491 Centerline is valid? [True, True] Translation: X:230.36, Y:2.19, Z:1.52 [[ 9.99597388e-01 -2.41569432e-02 -1.48830340e-02 2.30359637e+02] [ 2.41562695e-02 9.99708169e-01 -2.25065082e-04 2.18969110e+00] [ 1.48841276e-02 -1.34544113e-04 9.99889216e-01 1.52154144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.639254154 meters 0.01482893364867145 Centerline is valid? [True, True] Translation: X:230.42, Y:2.19, Z:1.52 [[ 9.99502094e-01 -2.81908577e-02 -1.41717733e-02 2.30418958e+02] [ 2.81906281e-02 9.99602542e-01 -2.16010846e-04 2.18622593e+00] [ 1.41722302e-02 -1.83607898e-04 9.99899552e-01 1.52217567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters 0.016448142788824963 Centerline is valid? [True, True] Translation: X:230.48, Y:2.18, Z:1.52 [[ 9.99268795e-01 -3.54225588e-02 -1.43916085e-02 2.30480488e+02] [ 3.54230750e-02 9.99372382e-01 -2.19124842e-04 2.18074014e+00] [ 1.43903380e-02 -2.90830410e-04 9.99896411e-01 1.52211680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759254154 meters 0.017771747973628904 Centerline is valid? [True, True] Translation: X:230.54, Y:2.18, Z:1.52 [[ 9.99089554e-01 -3.96784587e-02 -1.56742964e-02 2.30540666e+02] [ 3.96796010e-02 9.99212426e-01 -2.38228754e-04 2.17630345e+00] [ 1.56714043e-02 -3.83937970e-04 9.99877122e-01 1.52142839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819254154 meters 0.019737271167546613 Centerline is valid? [True, True] Translation: X:230.60, Y:2.17, Z:1.52 [[ 9.98855220e-01 -4.48245637e-02 -1.67035107e-02 2.30601674e+02] [ 4.48265850e-02 9.98994751e-01 -2.53565405e-04 2.17191307e+00] [ 1.66980854e-02 -4.95486212e-04 9.99860454e-01 1.52085330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879254154 meters 0.02065956348990286 Centerline is valid? [True, True] Translation: X:230.66, Y:2.17, Z:1.52 [[ 9.98837326e-01 -4.53959844e-02 -1.62234721e-02 2.30663121e+02] [ 4.53979765e-02 9.98968950e-01 -2.45659245e-04 2.17026395e+00] [ 1.62178969e-02 -4.91139183e-04 9.99868361e-01 1.52132766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939254154 meters 0.021706297230258034 Centerline is valid? [True, True] Translation: X:230.72, Y:2.17, Z:1.52 [[ 9.98868655e-01 -4.48539062e-02 -1.57967310e-02 2.30724203e+02] [ 4.48557488e-02 9.98993446e-01 -2.37820913e-04 2.16896223e+00] [ 1.57914980e-02 -4.71022343e-04 9.99875196e-01 1.52132884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999254154 meters 0.022130777505889036 Centerline is valid? [True, True] Translation: X:230.79, Y:2.17, Z:1.52 [[ 9.98867016e-01 -4.48668120e-02 -1.58636198e-02 2.30786021e+02] [ 4.48686938e-02 9.98992865e-01 -2.37445415e-04 2.16785244e+00] [ 1.58582964e-02 -4.74603504e-04 9.99874137e-01 1.52232523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059254154 meters 0.01961673853653942 Centerline is valid? [True, True] Translation: X:230.85, Y:2.17, Z:1.52 [[ 9.98835137e-01 -4.54403622e-02 -1.62339999e-02 2.30848092e+02] [ 4.54424274e-02 9.98966930e-01 -2.41833013e-04 2.17192990e+00] [ 1.62282180e-02 -4.96161051e-04 9.99868191e-01 1.52446606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119254154 meters 0.021610505844741636 Centerline is valid? [True, True] Translation: X:230.91, Y:2.17, Z:1.52 [[ 9.98727054e-01 -4.73855383e-02 -1.72882048e-02 2.30908765e+02] [ 4.73881872e-02 9.98876516e-01 -2.56637252e-04 2.16889073e+00] [ 1.72809427e-02 -5.62946120e-04 9.99850515e-01 1.52376882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179254154 meters 0.021018455209445515 Centerline is valid? [True, True] Translation: X:230.97, Y:2.17, Z:1.53 [[ 9.98581988e-01 -5.00316626e-02 -1.81891489e-02 2.30970982e+02] [ 5.00350531e-02 9.98747426e-01 -2.68920464e-04 2.17053912e+00] [ 1.81798202e-02 -6.41555901e-04 9.99834528e-01 1.52500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239254154 meters 0.02365575317370911 Centerline is valid? [True, True] Translation: X:231.03, Y:2.17, Z:1.52 [[ 9.98259126e-01 -5.57641890e-02 -1.92112374e-02 2.31032439e+02] [ 5.57690490e-02 9.98443655e-01 -2.83093683e-04 2.16825655e+00] [ 1.91971246e-02 -7.88791588e-04 9.99815407e-01 1.52499257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299254154 meters 0.025625066381712747 Centerline is valid? [True, True] Translation: X:231.09, Y:2.17, Z:1.53 [[ 9.98072818e-01 -5.89842732e-02 -1.92744678e-02 2.31093685e+02] [ 5.89897774e-02 9.98258547e-01 -2.83353708e-04 2.16653058e+00] [ 1.92576156e-02 -8.54188928e-04 9.99814190e-01 1.52592714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359254154 meters 0.027616757823210644 Centerline is valid? [True, True] Translation: X:231.16, Y:2.17, Z:1.53 [[ 9.97942910e-01 -6.15280785e-02 -1.80067898e-02 2.31156128e+02] [ 6.15333136e-02 9.98104995e-01 -2.63704665e-04 2.16549554e+00] [ 1.79888921e-02 -8.44855245e-04 9.99837830e-01 1.52787000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters 0.02686854488762688 Centerline is valid? [True, True] Translation: X:231.22, Y:2.17, Z:1.53 [[ 9.97975461e-01 -6.12912765e-02 -1.69811397e-02 2.31218468e+02] [ 6.12959177e-02 9.98119607e-01 -2.47512996e-04 2.16954608e+00] [ 1.69643788e-02 -7.93862644e-04 9.99855779e-01 1.53002404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479254154 meters 0.023087244580264066 Centerline is valid? [True, True] Translation: X:231.28, Y:2.18, Z:1.53 [[ 9.98086370e-01 -5.94872752e-02 -1.68778566e-02 2.31280904e+02] [ 5.94916301e-02 9.98228774e-01 -2.44384236e-04 2.17758116e+00] [ 1.68624999e-02 -7.60174629e-04 9.99857529e-01 1.53215552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539254154 meters 0.024814971526803325 Centerline is valid? [True, True] Translation: X:231.34, Y:2.18, Z:1.53 [[ 9.98279060e-01 -5.61211980e-02 -1.70097026e-02 2.31341078e+02] [ 5.61251497e-02 9.98423711e-01 -2.45335719e-04 2.17792190e+00] [ 1.69966590e-02 -7.09758596e-04 9.99855294e-01 1.53121187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599254154 meters 0.021726621503632595 Centerline is valid? [True, True] Translation: X:231.40, Y:2.19, Z:1.53 [[ 9.98504825e-01 -5.18640816e-02 -1.72693731e-02 2.31402277e+02] [ 5.18675279e-02 9.98653943e-01 -2.48572255e-04 2.18569055e+00] [ 1.72590195e-02 -6.47519095e-04 9.99850842e-01 1.53180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659254154 meters 0.020242194200112133 Centerline is valid? [True, True] Translation: X:231.46, Y:2.19, Z:1.53 [[ 9.98726453e-01 -4.75525676e-02 -1.68589598e-02 2.31463827e+02] [ 4.75552519e-02 9.98868580e-01 -2.41867852e-04 2.19077803e+00] [ 1.68513867e-02 -5.60172259e-04 9.99857848e-01 1.53223647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719254154 meters 0.017373842906104348 Centerline is valid? [True, True] Translation: X:231.52, Y:2.20, Z:1.53 [[ 9.99155789e-01 -3.75104143e-02 -1.67534650e-02 2.31524011e+02] [ 3.75116607e-02 9.99296161e-01 -2.39954743e-04 2.20090074e+00] [ 1.67506740e-02 -3.88698123e-04 9.99859622e-01 1.53299120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779254154 meters 0.01640489105944985 Centerline is valid? [True, True] Translation: X:231.58, Y:2.21, Z:1.53 [[ 9.99427655e-01 -2.92129825e-02 -1.70576401e-02 2.31584876e+02] [ 2.92130727e-02 9.99573177e-01 -2.43936627e-04 2.20779740e+00] [ 1.70574856e-02 -2.54509069e-04 9.99854478e-01 1.53271889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839254154 meters 0.014836756199407785 Centerline is valid? [True, True] Translation: X:231.65, Y:2.22, Z:1.53 [[ 9.99696057e-01 -1.84696544e-02 -1.63298865e-02 2.31645059e+02] [ 1.84683043e-02 9.99829419e-01 -2.33488750e-04 2.21694450e+00] [ 1.63314134e-02 -6.81675304e-05 9.99866631e-01 1.53389090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899254154 meters 0.015977264198568087 Centerline is valid? [True, True] Translation: X:231.70, Y:2.22, Z:1.53 [[ 9.99779354e-01 -1.36308449e-02 -1.59825887e-02 2.31703162e+02] [ 1.36289179e-02 9.99907096e-01 -2.29492020e-04 2.22009513e+00] [ 1.59842320e-02 1.16159955e-05 9.99872244e-01 1.53319102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959254154 meters 0.014546807606235864 Centerline is valid? [True, True] Translation: X:231.76, Y:2.22, Z:1.54 [[ 9.99813574e-01 -1.28521572e-02 -1.44096825e-02 2.31761980e+02] [ 1.28504731e-02 9.99917407e-01 -2.09458620e-04 2.22099584e+00] [ 1.44111844e-02 2.42483336e-05 9.99896153e-01 1.53540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019254154 meters 0.014489739982207067 Centerline is valid? [True, True] Translation: X:231.82, Y:2.22, Z:1.54 [[ 9.99718867e-01 -1.87390477e-02 -1.45270572e-02 2.31819372e+02] [ 1.87379250e-02 9.99824407e-01 -2.13397919e-04 2.21593804e+00] [ 1.45285052e-02 -5.88689818e-05 9.99894454e-01 1.53507009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079254154 meters 0.015126789712119781 Centerline is valid? [True, True] Translation: X:231.88, Y:2.21, Z:1.53 [[ 9.99539463e-01 -2.66475094e-02 -1.45180012e-02 2.31878607e+02] [ 2.66472100e-02 9.99644877e-01 -2.14099325e-04 2.21002779e+00] [ 1.45185508e-02 -1.72863502e-04 9.99894585e-01 1.53497966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.139254154 meters 0.018314696926041714 Centerline is valid? [True, True] Translation: X:231.94, Y:2.20, Z:1.53 [[ 9.99027088e-01 -4.16710721e-02 -1.44360278e-02 2.31939649e+02] [ 4.16723384e-02 9.99131308e-01 -2.13213646e-04 2.19784580e+00] [ 1.44323722e-02 -3.88576829e-04 9.99895772e-01 1.53472158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters 0.020992196139168615 Centerline is valid? [True, True] Translation: X:232.00, Y:2.19, Z:1.53 [[ 9.98584867e-01 -5.12035901e-02 -1.43686012e-02 2.32000179e+02] [ 5.12058307e-02 9.98688098e-01 -2.12157012e-04 2.19106097e+00] [ 1.43606142e-02 -5.23899378e-04 9.99896744e-01 1.53452520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259254154 meters 0.026932703620997603 Centerline is valid? [True, True] Translation: X:232.06, Y:2.18, Z:1.53 [[ 9.98002507e-01 -6.17055977e-02 -1.35430686e-02 2.32060746e+02] [ 6.17085566e-02 9.98094191e-01 -1.99694159e-04 2.17922280e+00] [ 1.35295803e-02 -6.36427944e-04 9.99908269e-01 1.53417949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319254154 meters 0.02555900100437569 Centerline is valid? [True, True] Translation: X:232.12, Y:2.18, Z:1.53 [[ 9.97878192e-01 -6.36110425e-02 -1.38834059e-02 2.32122348e+02] [ 6.36143513e-02 9.97974535e-01 -2.03600402e-04 2.18289069e+00] [ 1.38682368e-02 -6.80015462e-04 9.99903600e-01 1.53369184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379254154 meters 0.026150663481582053 Centerline is valid? [True, True] Translation: X:232.18, Y:2.18, Z:1.53 [[ 9.97506954e-01 -6.92968899e-02 -1.33348263e-02 2.32182624e+02] [ 6.93004594e-02 9.97595814e-01 -1.94763286e-04 2.18048032e+00] [ 1.33162634e-02 -7.29831858e-04 9.99911068e-01 1.53461582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439254154 meters 0.028910484484343746 Centerline is valid? [True, True] Translation: X:232.24, Y:2.18, Z:1.54 [[ 9.97309674e-01 -7.22979607e-02 -1.21003403e-02 2.32242714e+02] [ 7.23011202e-02 9.97382834e-01 -1.76713342e-04 2.17753103e+00] [ 1.20814477e-02 -6.98630235e-04 9.99926773e-01 1.53529344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.499254154 meters 0.030932749725172286 Centerline is valid? [True, True] Translation: X:232.30, Y:2.18, Z:1.54 [[ 9.97244336e-01 -7.33249880e-02 -1.12774324e-02 2.32304347e+02] [ 7.33278043e-02 9.97307879e-01 -1.64116345e-04 2.17599860e+00] [ 1.12591060e-02 -6.63285259e-04 9.99936394e-01 1.53620663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.559254154 meters 0.031531459098938744 Centerline is valid? [True, True] Translation: X:232.37, Y:2.18, Z:1.54 [[ 9.97258392e-01 -7.30501817e-02 -1.18055703e-02 2.32366598e+02] [ 7.30532636e-02 9.97328026e-01 -1.70543661e-04 2.17705462e+00] [ 1.17864844e-02 -6.92359344e-04 9.99930297e-01 1.53585892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.619254154 meters 0.028177154632959413 Centerline is valid? [True, True] Translation: X:232.43, Y:2.19, Z:1.53 [[ 9.97398630e-01 -7.09834026e-02 -1.25430691e-02 2.32428219e+02] [ 7.09867293e-02 9.97477244e-01 -1.80351634e-04 2.18508122e+00] [ 1.25242280e-02 -7.10508982e-04 9.99921316e-01 1.53477514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.679254154 meters 0.025735149343132657 Centerline is valid? [True, True] Translation: X:232.49, Y:2.19, Z:1.54 [[ 9.97701766e-01 -6.64566311e-02 -1.32175205e-02 2.32489239e+02] [ 6.64599367e-02 9.97789076e-01 -1.89477308e-04 2.19204987e+00] [ 1.32008896e-02 -6.89393728e-04 9.99912627e-01 1.53602543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739254154 meters 0.02806465050311785 Centerline is valid? [True, True] Translation: X:232.55, Y:2.19, Z:1.54 [[ 9.97993275e-01 -6.17797167e-02 -1.38812930e-02 2.32549348e+02] [ 6.17829138e-02 9.98089591e-01 -1.98808898e-04 2.19282009e+00] [ 1.38670564e-02 -6.59216784e-04 9.99903630e-01 1.53596606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799254154 meters 0.025744216350263503 Centerline is valid? [True, True] Translation: X:232.61, Y:2.20, Z:1.54 [[ 9.98500378e-01 -5.29501117e-02 -1.39025709e-02 2.32608964e+02] [ 5.29524639e-02 9.98597014e-01 -1.99123808e-04 2.20220387e+00] [ 1.38936094e-02 -5.37350186e-04 9.99903335e-01 1.53678300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859254154 meters 0.020698651107238522 Centerline is valid? [True, True] Translation: X:232.67, Y:2.21, Z:1.54 [[ 9.98837334e-01 -4.66098734e-02 -1.23085207e-02 2.32669882e+02] [ 4.66112377e-02 9.98913090e-01 -1.76161357e-04 2.21478166e+00] [ 1.23033534e-02 -3.97758846e-04 9.99924232e-01 1.53913068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters 0.017447065172990446 Centerline is valid? [True, True] Translation: X:232.73, Y:2.23, Z:1.54 [[ 9.99260073e-01 -3.68393356e-02 -1.10530416e-02 2.32730174e+02] [ 3.68398401e-02 9.99321170e-01 -1.58024069e-04 2.22732433e+00] [ 1.10513600e-02 -2.49285143e-04 9.99938901e-01 1.54126403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979254154 meters 0.015438016067175713 Centerline is valid? [True, True] Translation: X:232.79, Y:2.24, Z:1.54 [[ 9.99549328e-01 -2.79297088e-02 -1.10033014e-02 2.32791405e+02] [ 2.79296711e-02 9.99609878e-01 -1.57124851e-04 2.23752205e+00] [ 1.10033972e-02 -1.50264550e-04 9.99939450e-01 1.54193944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039254154 meters 0.014642525541236514 Centerline is valid? [True, True] Translation: X:232.85, Y:2.24, Z:1.54 [[ 9.99676515e-01 -2.29880484e-02 -1.08818455e-02 2.32852643e+02] [ 2.29877230e-02 9.99735735e-01 -1.54990263e-04 2.24206641e+00] [ 1.08825327e-02 -9.52087241e-05 9.99940779e-01 1.54251337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099254154 meters 0.014328550906519156 Centerline is valid? [True, True] Translation: X:232.91, Y:2.25, Z:1.54 [[ 9.99792122e-01 -1.79179659e-02 -9.72925243e-03 2.32913593e+02] [ 1.79174690e-02 9.99839460e-01 -1.38243676e-04 2.24610232e+00] [ 9.73016754e-03 -3.61086400e-05 9.99952660e-01 1.54318717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159254154 meters 0.01418998902029508 Centerline is valid? [True, True] Translation: X:232.98, Y:2.25, Z:1.54 [[ 9.99816063e-01 -1.59939543e-02 -1.05845683e-02 2.32975185e+02] [ 1.59932626e-02 9.99872088e-01 -1.49987490e-04 2.24772724e+00] [ 1.05856133e-02 -1.93218787e-05 9.99943971e-01 1.54269171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219254154 meters 0.01419732831376195 Centerline is valid? [True, True] Translation: X:233.04, Y:2.25, Z:1.54 [[ 9.99801289e-01 -1.63565242e-02 -1.13950460e-02 2.33035946e+02] [ 1.63557492e-02 9.99866223e-01 -1.61203820e-04 2.24670823e+00] [ 1.13961584e-02 -2.52027283e-05 9.99935061e-01 1.54113732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279254154 meters 0.01418078046264099 Centerline is valid? [True, True] Translation: X:233.10, Y:2.24, Z:1.54 [[ 9.99762789e-01 -1.83903008e-02 -1.16689120e-02 2.33095720e+02] [ 1.83896255e-02 9.99830883e-01 -1.65168097e-04 2.24441203e+00] [ 1.16699761e-02 -4.94580046e-05 9.99931902e-01 1.54049853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339254154 meters 0.014715236096281684 Centerline is valid? [True, True] Translation: X:233.16, Y:2.24, Z:1.54 [[ 9.99640682e-01 -2.44450905e-02 -1.09974832e-02 2.33156049e+02] [ 2.44448559e-02 9.99701168e-01 -1.55779060e-04 2.23936011e+00] [ 1.09980048e-02 -1.13108805e-04 9.99939514e-01 1.54127679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399254154 meters 0.016030764354727545 Centerline is valid? [True, True] Translation: X:233.22, Y:2.23, Z:1.54 [[ 9.99430776e-01 -3.22345791e-02 -9.95265740e-03 2.33217211e+02] [ 3.22347806e-02 9.99480315e-01 -1.40211277e-04 2.23075945e+00] [ 9.95200480e-03 -1.80690262e-04 9.99950461e-01 1.54163697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459254154 meters 0.017621998360444428 Centerline is valid? [True, True] Translation: X:233.28, Y:2.22, Z:1.54 [[ 9.99231136e-01 -3.79902979e-02 -9.68884861e-03 2.33278479e+02] [ 3.79907753e-02 9.99278081e-01 -1.34839758e-04 2.22454279e+00] [ 9.68697665e-03 -2.33350786e-04 9.99953053e-01 1.54152324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519254154 meters 0.020586296769864097 Centerline is valid? [True, True] Translation: X:233.34, Y:2.22, Z:1.54 [[ 9.98980047e-01 -4.40171201e-02 -1.00677131e-02 2.33339265e+02] [ 4.40179445e-02 9.99030731e-01 -1.39800133e-04 2.21598296e+00] [ 1.00641084e-02 -3.03502494e-04 9.99949310e-01 1.54001579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579254154 meters 0.020579807814196983 Centerline is valid? [True, True] Translation: X:233.40, Y:2.21, Z:1.54 [[ 9.98913922e-01 -4.54216433e-02 -1.03851274e-02 2.33401794e+02] [ 4.54226002e-02 9.98967851e-01 -1.43821801e-04 2.21285986e+00] [ 1.03809410e-02 -3.28053890e-04 9.99946063e-01 1.54013856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.639254154 meters 0.01994807787120308 Centerline is valid? [True, True] Translation: X:233.46, Y:2.21, Z:1.54 [[ 9.99034593e-01 -4.23452512e-02 -1.16945015e-02 2.33463185e+02] [ 4.23462625e-02 9.99102982e-01 -1.61241470e-04 2.21195553e+00] [ 1.16908391e-02 -3.34132624e-04 9.99931604e-01 1.53930177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters 0.01691972529252334 Centerline is valid? [True, True] Translation: X:233.52, Y:2.22, Z:1.54 [[ 9.99217321e-01 -3.74825919e-02 -1.26412009e-02 2.33524904e+02] [ 3.74833921e-02 9.99297236e-01 -1.73708193e-04 2.21720931e+00] [ 1.26388281e-02 -3.00262853e-04 9.99920082e-01 1.53961517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759254154 meters 0.016341044201696353 Centerline is valid? [True, True] Translation: X:233.58, Y:2.22, Z:1.54 [[ 9.99522332e-01 -2.79990722e-02 -1.30828241e-02 2.33584327e+02] [ 2.79991205e-02 9.99607932e-01 -1.79505265e-04 2.21971607e+00] [ 1.30827207e-02 -1.86888048e-04 9.99914400e-01 1.53862685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819254154 meters 0.014740465654368854 Centerline is valid? [True, True] Translation: X:233.65, Y:2.23, Z:1.54 [[ 9.99678919e-01 -2.14926129e-02 -1.34210976e-02 2.33645155e+02] [ 2.14920772e-02 9.99769002e-01 -1.84160451e-04 2.22519406e+00] [ 1.34219554e-02 -1.04345944e-04 9.99909916e-01 1.53908425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879254154 meters 0.01424576275409065 Centerline is valid? [True, True] Translation: X:233.70, Y:2.23, Z:1.54 [[ 9.99829148e-01 -1.29130581e-02 -1.32259897e-02 2.33704013e+02] [ 1.29117835e-02 9.99916623e-01 -1.81760053e-04 2.23101417e+00] [ 1.32272340e-02 1.09578831e-05 9.99912516e-01 1.53864717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939254154 meters 0.014262566522488073 Centerline is valid? [True, True] Translation: X:233.76, Y:2.23, Z:1.54 [[ 9.99871886e-01 -7.82285884e-03 -1.39647652e-02 2.33763018e+02] [ 7.82090987e-03 9.99969397e-01 -1.94169781e-04 2.23328496e+00] [ 1.39658568e-02 8.49277351e-05 9.99902469e-01 1.54026759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999254154 meters 0.014079599103087322 Centerline is valid? [True, True] Translation: X:233.82, Y:2.23, Z:1.54 [[ 9.99880604e-01 -7.36516967e-03 -1.35842858e-02 2.33820706e+02] [ 7.36323353e-03 9.99972872e-01 -1.92537991e-04 2.23199918e+00] [ 1.35853354e-02 9.24907342e-05 9.99907711e-01 1.54138104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059254154 meters 0.014819690792911627 Centerline is valid? [True, True] Translation: X:233.88, Y:2.23, Z:1.54 [[ 9.99860466e-01 -1.02575093e-02 -1.31845368e-02 2.33879823e+02] [ 1.02559057e-02 9.99947389e-01 -1.89242029e-04 2.22582815e+00] [ 1.31857843e-02 5.39962582e-05 9.99913062e-01 1.54098578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.119254154 meters 0.013922188890947701 Centerline is valid? [True, True] Translation: X:233.94, Y:2.22, Z:1.54 [[ 9.99828866e-01 -1.34266899e-02 -1.27264225e-02 2.33938073e+02] [ 1.34254397e-02 9.99909858e-01 -1.83672858e-04 2.22168350e+00] [ 1.27277414e-02 1.27836077e-05 9.99918999e-01 1.54294872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.179254154 meters 0.014269657045241682 Centerline is valid? [True, True] Translation: X:234.00, Y:2.21, Z:1.54 [[ 9.99757484e-01 -1.88932973e-02 -1.13143949e-02 2.33996563e+02] [ 1.88926495e-02 9.99821505e-01 -1.64150149e-04 2.21169544e+00] [ 1.13154767e-02 -4.96485569e-05 9.99935977e-01 1.54405686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.239254154 meters 0.014269657045241682 Centerline is valid? [True, True] Translation: X:234.06, Y:2.21, Z:1.54 [[ 9.99756819e-01 -1.89284749e-02 -1.13143857e-02 2.34055711e+02] [ 1.89278221e-02 9.99820839e-01 -1.64783897e-04 2.21258813e+00] [ 1.13154777e-02 -4.94128552e-05 9.99935977e-01 1.54445402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.299254154 meters 0.014208864452551626 Centerline is valid? [True, True] Translation: X:234.12, Y:2.21, Z:1.54 [[ 9.99739618e-01 -1.99061175e-02 -1.11553772e-02 2.34115466e+02] [ 1.99055395e-02 9.99801852e-01 -1.62855165e-04 2.20660319e+00] [ 1.11564086e-02 -5.92410409e-05 9.99937764e-01 1.54478902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.359254154 meters 0.014294489528607015 Centerline is valid? [True, True] Translation: X:234.17, Y:2.20, Z:1.55 [[ 9.99729281e-01 -2.01716226e-02 -1.15961450e-02 2.34174709e+02] [ 2.01710120e-02 9.99796530e-01 -1.69615448e-04 2.20398094e+00] [ 1.15972070e-02 -6.43364510e-05 9.99932748e-01 1.54522219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters 0.014847621245697221 Centerline is valid? [True, True] Translation: X:234.23, Y:2.20, Z:1.55 [[ 9.99734402e-01 -1.94866877e-02 -1.23042159e-02 2.34234478e+02] [ 1.94859445e-02 9.99810115e-01 -1.80299584e-04 2.20107138e+00] [ 1.23053929e-02 -5.95075707e-05 9.99924284e-01 1.54570856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.479254154 meters 0.014290038014452314 Centerline is valid? [True, True] Translation: X:234.29, Y:2.20, Z:1.55 [[ 9.99769397e-01 -1.73195282e-02 -1.26959724e-02 2.34293632e+02] [ 1.73185548e-02 9.99850005e-01 -1.86619176e-04 2.19723431e+00] [ 1.26973002e-02 -3.32997522e-05 9.99919385e-01 1.54612876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.539254154 meters 0.014147815540468893 Centerline is valid? [True, True] Translation: X:234.35, Y:2.20, Z:1.55 [[ 9.99788636e-01 -1.48401342e-02 -1.42286387e-02 2.34352031e+02] [ 1.48386269e-02 9.99889879e-01 -2.11506070e-04 2.19722109e+00] [ 1.42302106e-02 3.27903842e-07 9.99898745e-01 1.54675057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.599254154 meters 0.014887870985833183 Centerline is valid? [True, True] Translation: X:234.41, Y:2.20, Z:1.54 [[ 9.99821171e-01 -1.08609724e-02 -1.54811540e-02 2.34409949e+02] [ 1.08586693e-02 9.99941016e-01 -2.32816360e-04 2.19751714e+00] [ 1.54827695e-02 6.46699926e-05 9.99880133e-01 1.54421368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.659254154 meters 0.014408583225410273 Centerline is valid? [True, True] Translation: X:234.47, Y:2.19, Z:1.55 [[ 9.99847719e-01 -8.27436879e-03 -1.53646733e-02 2.34468833e+02] [ 8.27175174e-03 9.99965761e-01 -2.33872399e-04 2.19239097e+00] [ 1.53660823e-02 1.06744022e-04 9.99881929e-01 1.54715127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.719254154 meters 0.014428165662619986 Centerline is valid? [True, True] Translation: X:234.53, Y:2.19, Z:1.55 [[ 9.99844306e-01 -8.69165725e-03 -1.53564096e-02 2.34527209e+02] [ 8.68902739e-03 9.99962221e-01 -2.37968178e-04 2.18968595e+00] [ 1.53578978e-02 1.04498864e-04 9.99882055e-01 1.54799648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.779254154 meters 0.014252938309878534 Centerline is valid? [True, True] Translation: X:234.59, Y:2.18, Z:1.55 [[ 9.99818035e-01 -1.16165508e-02 -1.51311632e-02 2.34586513e+02] [ 1.16142939e-02 9.99932524e-01 -2.37020087e-04 2.18353176e+00] [ 1.51328955e-02 6.12391814e-05 9.99885489e-01 1.54870066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.839254154 meters 0.014069141280020146 Centerline is valid? [True, True] Translation: X:234.64, Y:2.18, Z:1.55 [[ 9.99758546e-01 -1.52760996e-02 -1.57952571e-02 2.34644863e+02] [ 1.52740727e-02 9.99883314e-01 -2.48956659e-04 2.17790814e+00] [ 1.57972171e-02 7.63864163e-06 9.99875216e-01 1.54918292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.899254154 meters 0.014461108510719876 Centerline is valid? [True, True] Translation: X:234.70, Y:2.17, Z:1.55 [[ 9.99632826e-01 -2.13699098e-02 -1.66595279e-02 2.34703051e+02] [ 2.13684727e-02 9.99771633e-01 -2.64287887e-04 2.16903150e+00] [ 1.66613713e-02 -9.17978200e-05 9.99861186e-01 1.54757041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.959254154 meters 0.015625361828904883 Centerline is valid? [True, True] Translation: X:234.76, Y:2.16, Z:1.55 [[ 9.99527018e-01 -2.55372531e-02 -1.71344214e-02 2.34761969e+02] [ 2.55362884e-02 9.99673858e-01 -2.75126156e-04 2.16488306e+00] [ 1.71358591e-02 -1.62553500e-04 9.99853157e-01 1.54822958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.019254154 meters 0.015474320641853343 Centerline is valid? [True, True] Translation: X:234.82, Y:2.16, Z:1.55 [[ 9.99363937e-01 -3.13059113e-02 -1.70780797e-02 2.34820850e+02] [ 3.13057206e-02 9.99509817e-01 -2.78574329e-04 2.15738715e+00] [ 1.70784294e-02 -2.56244454e-04 9.99854120e-01 1.54886406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.079254154 meters 0.016126527676006388 Centerline is valid? [True, True] Translation: X:234.88, Y:2.15, Z:1.55 [[ 9.99181771e-01 -3.67227329e-02 -1.69478345e-02 2.34879488e+02] [ 3.67232499e-02 9.99325435e-01 -2.80814909e-04 2.15259191e+00] [ 1.69467143e-02 -3.41794421e-04 9.99856336e-01 1.55011493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.139254154 meters 0.016857574892818857 Centerline is valid? [True, True] Translation: X:234.94, Y:2.15, Z:1.55 [[ 9.99046907e-01 -4.02633597e-02 -1.68564614e-02 2.34938723e+02] [ 4.02643358e-02 9.99189023e-01 -2.81608619e-04 2.15068962e+00] [ 1.68541297e-02 -3.97374004e-04 9.99857880e-01 1.55066038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters 0.018504879090409748 Centerline is valid? [True, True] Translation: X:235.00, Y:2.15, Z:1.55 [[ 9.98826147e-01 -4.55398371e-02 -1.65061114e-02 2.34998067e+02] [ 4.55414868e-02 9.98962410e-01 -2.76119997e-04 2.14663931e+00] [ 1.65015592e-02 -4.75916980e-04 9.99863727e-01 1.55065842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259254154 meters 0.019277255972808764 Centerline is valid? [True, True] Translation: X:235.06, Y:2.15, Z:1.55 [[ 9.98679701e-01 -4.87314588e-02 -1.62511308e-02 2.35058799e+02] [ 4.87334800e-02 9.98811781e-01 -2.71852556e-04 2.14577703e+00] [ 1.62450687e-02 -5.20480531e-04 9.99867905e-01 1.55139705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319254154 meters 0.02167774840864817 Centerline is valid? [True, True] Translation: X:235.12, Y:2.14, Z:1.55 [[ 9.98481323e-01 -5.27485222e-02 -1.58946550e-02 2.35117830e+02] [ 5.27509640e-02 9.98607663e-01 -2.65882762e-04 2.14484680e+00] [ 1.58865492e-02 -5.72979403e-04 9.99873637e-01 1.55181431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.379254154 meters 0.02239156889225817 Centerline is valid? [True, True] Translation: X:235.18, Y:2.15, Z:1.55 [[ 9.98362898e-01 -5.50143787e-02 -1.56506154e-02 2.35178582e+02] [ 5.50170266e-02 9.98485382e-01 -2.61634371e-04 2.14689467e+00] [ 1.56413044e-02 -5.99844276e-04 9.99877487e-01 1.55250240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.439254154 meters 0.02267006527345073 Centerline is valid? [True, True] Translation: X:235.24, Y:2.15, Z:1.55 [[ 9.98256755e-01 -5.69181704e-02 -1.56132337e-02 2.35240214e+02] [ 5.69210451e-02 9.98378649e-01 -2.60564649e-04 2.15011902e+00] [ 1.56027500e-02 -6.28611159e-04 9.99878072e-01 1.55314793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499254154 meters 0.023880263824011795 Centerline is valid? [True, True] Translation: X:235.30, Y:2.15, Z:1.55 [[ 9.98231969e-01 -5.72835492e-02 -1.58597439e-02 2.35301457e+02] [ 5.72865706e-02 9.98357741e-01 -2.64100397e-04 2.15398997e+00] [ 1.58488267e-02 -6.44916878e-04 9.99874191e-01 1.55271973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559254154 meters 0.023237669978501213 Centerline is valid? [True, True] Translation: X:235.36, Y:2.16, Z:1.55 [[ 9.98298511e-01 -5.63808799e-02 -1.48754510e-02 2.35362643e+02] [ 5.63834456e-02 9.98409158e-01 -2.47187130e-04 2.15892328e+00] [ 1.48657231e-02 -5.91962637e-04 9.99889324e-01 1.55406519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.619254154 meters 0.021624426979722552 Centerline is valid? [True, True] Translation: X:235.42, Y:2.17, Z:1.55 [[ 9.98469535e-01 -5.33135771e-02 -1.47054171e-02 2.35423880e+02] [ 5.33157602e-02 9.98577674e-01 -2.43825190e-04 2.16773175e+00] [ 1.46975004e-02 -5.40578469e-04 9.99891840e-01 1.55435781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.679254154 meters 0.02236389983807731 Centerline is valid? [True, True] Translation: X:235.48, Y:2.17, Z:1.55 [[ 9.98602391e-01 -5.05090175e-02 -1.55597002e-02 2.35484039e+02] [ 5.05111282e-02 9.98723465e-01 -2.57566500e-04 2.17311719e+00] [ 1.55528471e-02 -5.28731490e-04 9.99878907e-01 1.55362545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.739254154 meters 0.019045466238505924 Centerline is valid? [True, True] Translation: X:235.54, Y:2.19, Z:1.56 [[ 9.98842703e-01 -4.56688624e-02 -1.50867154e-02 2.35544933e+02] [ 4.56703014e-02 9.98956536e-01 -2.49313940e-04 2.18521509e+00] [ 1.50823589e-02 -4.39989430e-04 9.99886158e-01 1.55567499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.799254154 meters 0.018279731407787395 Centerline is valid? [True, True] Translation: X:235.61, Y:2.20, Z:1.56 [[ 9.99039034e-01 -4.12674156e-02 -1.47651436e-02 2.35606160e+02] [ 4.12683214e-02 9.99148070e-01 -2.43458768e-04 2.19534978e+00] [ 1.47626117e-02 -3.66107879e-04 9.99890960e-01 1.55699032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.859254154 meters 0.017729988956764992 Centerline is valid? [True, True] Translation: X:235.67, Y:2.20, Z:1.56 [[ 9.99189320e-01 -3.73604491e-02 -1.49966534e-02 2.35666995e+02] [ 3.73609521e-02 9.99301805e-01 -2.46716312e-04 2.20212830e+00] [ 1.49954003e-02 -3.13772947e-04 9.99887513e-01 1.55777900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters 0.01653716438138315 Centerline is valid? [True, True] Translation: X:235.73, Y:2.21, Z:1.56 [[ 9.99407639e-01 -3.11592584e-02 -1.46106737e-02 2.35727466e+02] [ 3.11590768e-02 9.99514409e-01 -2.40126121e-04 2.21318840e+00] [ 1.46110611e-02 -2.15271225e-04 9.99893230e-01 1.55853646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.979254154 meters 0.01624220240996534 Centerline is valid? [True, True] Translation: X:235.79, Y:2.22, Z:1.56 [[ 9.99504037e-01 -2.82096129e-02 -1.39963433e-02 2.35788382e+02] [ 2.82091589e-02 9.99602016e-01 -2.29898777e-04 2.21929447e+00] [ 1.39972584e-02 -1.65040316e-04 9.99902020e-01 1.55937512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.039254154 meters 0.01603262963829808 Centerline is valid? [True, True] Translation: X:235.85, Y:2.22, Z:1.56 [[ 9.99546428e-01 -2.73066807e-02 -1.26997783e-02 2.35848288e+02] [ 2.73062368e-02 9.99627093e-01 -2.08386646e-04 2.22418654e+00] [ 1.27007328e-02 -1.38491025e-04 9.99919333e-01 1.56045807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.099254154 meters 0.01618566707298165 Centerline is valid? [True, True] Translation: X:235.91, Y:2.23, Z:1.56 [[ 9.99511816e-01 -2.85684683e-02 -1.26480160e-02 2.35908853e+02] [ 2.85681305e-02 9.99591826e-01 -2.07419135e-04 2.22589260e+00] [ 1.26487791e-02 -1.54012296e-04 9.99919989e-01 1.56093584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.159254154 meters 0.016393893478140933 Centerline is valid? [True, True] Translation: X:235.97, Y:2.23, Z:1.56 [[ 9.99437946e-01 -3.11462077e-02 -1.23977878e-02 2.35970466e+02] [ 3.11460840e-02 9.99514822e-01 -2.03106789e-04 2.22751524e+00] [ 1.23980987e-02 -1.83149909e-04 9.99923124e-01 1.56129508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.219254154 meters 0.01769667638128015 Centerline is valid? [True, True] Translation: X:236.03, Y:2.22, Z:1.56 [[ 9.99220060e-01 -3.74222269e-02 -1.26034932e-02 2.36031367e+02] [ 3.74226025e-02 9.99299508e-01 -2.06118902e-04 2.22471853e+00] [ 1.26023780e-02 -2.65697374e-04 9.99920552e-01 1.56074926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.279254154 meters 0.019256102779379055 Centerline is valid? [True, True] Translation: X:236.09, Y:2.22, Z:1.56 [[ 9.99031389e-01 -4.21290773e-02 -1.27053050e-02 2.36091857e+02] [ 4.21298422e-02 9.99112122e-01 -2.07552980e-04 2.22159688e+00] [ 1.27027683e-02 -3.27920553e-04 9.99919263e-01 1.56073469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.339254154 meters 0.01931594286460046 Centerline is valid? [True, True] Translation: X:236.15, Y:2.22, Z:1.56 [[ 9.98806278e-01 -4.71802536e-02 -1.26508327e-02 2.36152889e+02] [ 4.71814197e-02 9.98886315e-01 -2.06431114e-04 2.22278913e+00] [ 1.26464831e-02 -3.90699554e-04 9.99919954e-01 1.56168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.399254154 meters 0.019424694293955668 Centerline is valid? [True, True] Translation: X:236.21, Y:2.22, Z:1.56 [[ 9.98830709e-01 -4.66342432e-02 -1.27460590e-02 2.36214751e+02] [ 4.66353899e-02 9.98911957e-01 -2.07405828e-04 2.22414262e+00] [ 1.27418629e-02 -3.87254120e-04 9.99918744e-01 1.56134302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.459254154 meters 0.019145329013240456 Centerline is valid? [True, True] Translation: X:236.27, Y:2.23, Z:1.56 [[ 9.99001924e-01 -4.26540497e-02 -1.32584826e-02 2.36274969e+02] [ 4.26549487e-02 9.99089840e-01 -2.15099846e-04 2.22753502e+00] [ 1.32555902e-02 -3.50654736e-04 9.99912079e-01 1.56142460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.519254154 meters 0.017177494896979187 Centerline is valid? [True, True] Translation: X:236.34, Y:2.23, Z:1.56 [[ 9.99268462e-01 -3.62156502e-02 -1.22868699e-02 2.36336030e+02] [ 3.62159397e-02 9.99343968e-01 -1.99013199e-04 2.23450513e+00] [ 1.22860167e-02 -2.46112927e-04 9.99924494e-01 1.56219285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.579254154 meters 0.015392351676582743 Centerline is valid? [True, True] Translation: X:236.40, Y:2.24, Z:1.56 [[ 9.99638248e-01 -2.46051538e-02 -1.08609114e-02 2.36396566e+02] [ 2.46046978e-02 9.99697243e-01 -1.75621191e-04 2.24459936e+00] [ 1.08619444e-02 -9.16717837e-05 9.99941003e-01 1.56354640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.639254154 meters 0.015046526426712075 Centerline is valid? [True, True] Translation: X:236.46, Y:2.25, Z:1.56 [[ 9.99846437e-01 -1.42906778e-02 -1.01429753e-02 2.36457490e+02] [ 1.42897501e-02 9.99897883e-01 -1.63932595e-04 2.25225030e+00] [ 1.01442823e-02 1.89668383e-05 9.99948545e-01 1.56418967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.699254154 meters 0.015038685336771582 Centerline is valid? [True, True] Translation: X:236.52, Y:2.26, Z:1.56 [[ 9.99888539e-01 -1.01469101e-02 -1.09521229e-02 2.36517185e+02] [ 1.01455775e-02 9.99948517e-01 -1.77233710e-04 2.25577643e+00] [ 1.09533574e-02 6.60983446e-05 9.99940008e-01 1.56421857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.759254154 meters 0.01510461138619834 Centerline is valid? [True, True] Translation: X:236.58, Y:2.26, Z:1.56 [[ 9.99893675e-01 -8.32538184e-03 -1.19719380e-02 2.36575785e+02] [ 8.32363962e-03 9.99965339e-01 -1.95346064e-04 2.25698430e+00] [ 1.19731494e-02 9.56751958e-05 9.99928315e-01 1.56413417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.819254154 meters 0.01641547516176995 Centerline is valid? [True, True] Translation: X:236.63, Y:2.26, Z:1.56 [[ 9.99886130e-01 -9.30256176e-03 -1.18823107e-02 2.36633311e+02] [ 9.30087659e-03 9.99956726e-01 -1.97075088e-04 2.25575541e+00] [ 1.18836298e-02 8.65367423e-05 9.99929383e-01 1.56343888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.879254154 meters 0.014558568074992374 Centerline is valid? [True, True] Translation: X:236.69, Y:2.25, Z:1.57 [[ 9.99832920e-01 -1.42180076e-02 -1.14882869e-02 2.36691845e+02] [ 1.42167314e-02 9.99898919e-01 -1.92752986e-04 2.25079301e+00] [ 1.14898662e-02 2.93948925e-05 9.99933989e-01 1.56541109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.939254154 meters 0.014443823544058607 Centerline is valid? [True, True] Translation: X:236.75, Y:2.25, Z:1.57 [[ 9.99761260e-01 -1.85510999e-02 -1.15446895e-02 2.36750259e+02] [ 1.85500915e-02 9.99827913e-01 -1.94434219e-04 2.24720285e+00] [ 1.15463098e-02 -1.97672471e-05 9.99933339e-01 1.56636726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.999254154 meters 0.014867048760048488 Centerline is valid? [True, True] Translation: X:236.81, Y:2.24, Z:1.57 [[ 9.99631389e-01 -2.51508119e-02 -1.02236030e-02 2.36809550e+02] [ 2.51503610e-02 9.99683665e-01 -1.72687364e-04 2.23962756e+00] [ 1.02247122e-02 -8.45035976e-05 9.99947723e-01 1.56863946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.059254154 meters 0.015810354744180095 Centerline is valid? [True, True] Translation: X:236.87, Y:2.23, Z:1.57 [[ 9.99467847e-01 -3.14275135e-02 -8.73697061e-03 2.36871193e+02] [ 3.14274218e-02 9.99506026e-01 -1.47814291e-04 2.23127895e+00] [ 8.73730021e-03 -1.26844830e-04 9.99961821e-01 1.57070500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.119254154 meters 0.01986037441188192 Centerline is valid? [True, True] Translation: X:236.93, Y:2.22, Z:1.57 [[ 9.99359604e-01 -3.46633521e-02 -8.87888089e-03 2.36931945e+02] [ 3.46633879e-02 9.99399033e-01 -1.49896486e-04 2.22441251e+00] [ 8.87874089e-03 -1.57971600e-04 9.99960571e-01 1.57021608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.179254154 meters 0.018586986854110202 Centerline is valid? [True, True] Translation: X:236.99, Y:2.22, Z:1.57 [[ 9.99152834e-01 -4.02298374e-02 -8.67035530e-03 2.36993610e+02] [ 4.02300836e-02 9.99190432e-01 -1.46077362e-04 2.21848589e+00] [ 8.66921272e-03 -2.02855508e-04 9.99962401e-01 1.57305198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.239254154 meters 0.019758092486965483 Centerline is valid? [True, True] Translation: X:237.06, Y:2.21, Z:1.57 [[ 9.99063197e-01 -4.23459800e-02 -8.91893187e-03 2.37055077e+02] [ 4.23463279e-02 9.99102981e-01 -1.49914301e-04 2.21405104e+00] [ 8.91727969e-03 -2.27910153e-04 9.99960214e-01 1.57340087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.299254154 meters 0.021034026166375105 Centerline is valid? [True, True] Translation: X:237.12, Y:2.21, Z:1.57 [[ 9.99079909e-01 -4.16728667e-02 -1.01344713e-02 2.37117525e+02] [ 4.16732876e-02 9.99131277e-01 -1.69725495e-04 2.21202200e+00] [ 1.01327402e-02 -2.52767404e-04 9.99948631e-01 1.57229707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.359254154 meters 0.018869757755786094 Centerline is valid? [True, True] Translation: X:237.18, Y:2.21, Z:1.57 [[ 9.99233177e-01 -3.75596974e-02 -1.10601434e-02 2.37178179e+02] [ 3.75599540e-02 9.99294359e-01 -1.84592545e-04 2.21488997e+00] [ 1.10592721e-02 -2.30967481e-04 9.99938818e-01 1.57239602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters 0.015675777735565378 Centerline is valid? [True, True] Translation: X:237.24, Y:2.22, Z:1.57 [[ 9.99395560e-01 -3.28565476e-02 -1.13561724e-02 2.37239671e+02] [ 3.28565190e-02 9.99460061e-01 -1.89133536e-04 2.22237637e+00] [ 1.13562550e-02 -1.84105078e-04 9.99935499e-01 1.57288578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479254154 meters 0.01448781900050754 Centerline is valid? [True, True] Translation: X:237.30, Y:2.23, Z:1.57 [[ 9.99601634e-01 -2.56837657e-02 -1.17011683e-02 2.37300483e+02] [ 2.56832480e-02 9.99670112e-01 -1.94533502e-04 2.22605945e+00] [ 1.17023046e-02 -1.06068001e-04 9.99931520e-01 1.57160578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539254154 meters 0.014340269673265234 Centerline is valid? [True, True] Translation: X:237.36, Y:2.23, Z:1.57 [[ 9.99649749e-01 -2.32298531e-02 -1.26788891e-02 2.37360506e+02] [ 2.32290496e-02 9.99730147e-01 -2.10655979e-04 2.22779532e+00] [ 1.26803612e-02 -8.39363473e-05 9.99919597e-01 1.57028479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.599254154 meters 0.01443382298417733 Centerline is valid? [True, True] Translation: X:237.42, Y:2.23, Z:1.57 [[ 9.99630440e-01 -2.38941967e-02 -1.29634486e-02 2.37418817e+02] [ 2.38934070e-02 9.99714489e-01 -2.15812914e-04 2.22613810e+00] [ 1.29649040e-02 -9.40077949e-05 9.99915948e-01 1.56844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.659254154 meters 0.014729645993666073 Centerline is valid? [True, True] Translation: X:237.48, Y:2.22, Z:1.57 [[ 9.99561304e-01 -2.67995560e-02 -1.26088501e-02 2.37478355e+02] [ 2.67990317e-02 9.99640819e-01 -2.10565155e-04 2.22320652e+00] [ 1.26099643e-02 -1.27432192e-04 9.99920483e-01 1.56817831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.719254154 meters 0.016333001133485434 Centerline is valid? [True, True] Translation: X:237.54, Y:2.22, Z:1.57 [[ 9.99331877e-01 -3.45849043e-02 -1.18187840e-02 2.37537975e+02] [ 3.45849831e-02 9.99401741e-01 -1.97771699e-04 2.21620521e+00] [ 1.18185532e-02 -2.11112882e-04 9.99930136e-01 1.56825653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.779254154 meters 0.018529894630456806 Centerline is valid? [True, True] Translation: X:237.60, Y:2.21, Z:1.57 [[ 9.99030844e-01 -4.28152852e-02 -1.02090356e-02 2.37599584e+02] [ 4.28157726e-02 9.99082970e-01 -1.70913652e-04 2.20939352e+00] [ 1.02069913e-02 -2.66359735e-04 9.99947872e-01 1.56939998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.839254154 meters 0.021815033580571592 Centerline is valid? [True, True] Translation: X:237.66, Y:2.21, Z:1.57 [[ 9.98842815e-01 -4.71232510e-02 -9.61407274e-03 2.37660444e+02] [ 4.71238853e-02 9.98889040e-01 -1.60677646e-04 2.20542662e+00] [ 9.61096354e-03 -2.92560749e-04 9.99953771e-01 1.56906665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.899254154 meters 0.020272385710753318 Centerline is valid? [True, True] Translation: X:237.72, Y:2.21, Z:1.57 [[ 9.98598052e-01 -5.25628583e-02 -6.25108431e-03 2.37721790e+02] [ 5.25632332e-02 9.98617592e-01 -1.04413021e-04 2.20534761e+00] [ 6.24793101e-03 -2.24310563e-04 9.99980456e-01 1.57365875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.959254154 meters 0.023545607851264735 Centerline is valid? [True, True] Translation: X:237.78, Y:2.20, Z:1.57 [[ 9.98486140e-01 -5.47089082e-02 -5.68884508e-03 2.37783373e+02] [ 5.47092544e-02 9.98502323e-01 -9.48515299e-05 2.20091720e+00] [ 5.68551425e-03 -2.16524535e-04 9.99983814e-01 1.57464630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.019254154 meters 0.023224209549326726 Centerline is valid? [True, True] Translation: X:237.85, Y:2.20, Z:1.58 [[ 9.98366105e-01 -5.69009655e-02 -5.23454550e-03 2.37845620e+02] [ 5.69012899e-02 9.98379805e-01 -8.70435588e-05 2.20236863e+00] [ 5.23101738e-03 -2.10951052e-04 9.99986296e-01 1.57524614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.079254154 meters 0.025564383561085924 Centerline is valid? [True, True] Translation: X:237.91, Y:2.20, Z:1.57 [[ 9.98234652e-01 -5.90636232e-02 -6.25048365e-03 2.37907859e+02] [ 5.90641315e-02 9.98254185e-01 -1.03389885e-04 2.20148682e+00] [ 6.24567804e-03 -2.65972022e-04 9.99980460e-01 1.57485114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.139254154 meters 0.025410122395448344 Centerline is valid? [True, True] Translation: X:237.97, Y:2.20, Z:1.58 [[ 9.98032985e-01 -6.23809935e-02 -6.22669497e-03 2.37968569e+02] [ 6.23815653e-02 9.98052368e-01 -1.02528068e-04 2.20232249e+00] [ 6.22096346e-03 -2.86104585e-04 9.99980609e-01 1.57670242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.199254154 meters 0.02581259786158989 Centerline is valid? [True, True] Translation: X:238.03, Y:2.20, Z:1.58 [[ 9.97869092e-01 -6.48990362e-02 -6.73730880e-03 2.38030117e+02] [ 6.48997638e-02 9.97891782e-01 -1.10803298e-04 2.20453297e+00] [ 6.73029611e-03 -3.26682564e-04 9.99977298e-01 1.57659541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.259254154 meters 0.028623636710851295 Centerline is valid? [True, True] Translation: X:238.09, Y:2.20, Z:1.58 [[ 9.97773433e-01 -6.63092736e-02 -7.15939369e-03 2.38091389e+02] [ 6.63101344e-02 9.97799054e-01 -1.17332504e-04 2.20292519e+00] [ 7.15141648e-03 -3.57669102e-04 9.99974364e-01 1.57748273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.319254154 meters 0.027255716084908135 Centerline is valid? [True, True] Translation: X:238.15, Y:2.21, Z:1.58 [[ 9.97812439e-01 -6.55426248e-02 -8.63133361e-03 2.38153187e+02] [ 6.55438524e-02 9.97849680e-01 -1.40876578e-04 2.20917089e+00] [ 8.62200690e-03 -4.25162455e-04 9.99962739e-01 1.57724712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.379254154 meters 0.027232447734842444 Centerline is valid? [True, True] Translation: X:238.22, Y:2.21, Z:1.58 [[ 9.97884745e-01 -6.42954366e-02 -9.59852413e-03 2.38215066e+02] [ 6.42969043e-02 9.97930801e-01 -1.55918547e-04 2.21308566e+00] [ 9.58868773e-03 -4.61566648e-04 9.99953921e-01 1.57698837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.439254154 meters 0.025307565043706418 Centerline is valid? [True, True] Translation: X:238.28, Y:2.22, Z:1.58 [[ 9.98066810e-01 -6.13354872e-02 -1.00299888e-02 2.38276117e+02] [ 6.13369469e-02 9.98117104e-01 -1.62305510e-04 2.22167511e+00] [ 1.00210584e-02 -4.53217146e-04 9.99949685e-01 1.57655095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.499254154 meters 0.024767705483714583 Centerline is valid? [True, True] Translation: X:238.34, Y:2.23, Z:1.58 [[ 9.98267414e-01 -5.80016927e-02 -9.89821430e-03 2.38337788e+02] [ 5.80029547e-02 9.98316399e-01 -1.59762788e-04 2.22687657e+00] [ 9.89081616e-03 -4.14639690e-04 9.99950999e-01 1.57638704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.559254154 meters 0.022972712174252157 Centerline is valid? [True, True] Translation: X:238.40, Y:2.24, Z:1.58 [[ 9.98623671e-01 -5.16345216e-02 -9.19999963e-03 2.38396855e+02] [ 5.16353448e-02 9.98665995e-01 -1.48186601e-04 2.23672832e+00] [ 9.19537832e-03 -3.27062506e-04 9.99957668e-01 1.57656178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.619254154 meters 0.02209161306102742 Centerline is valid? [True, True] Translation: X:238.46, Y:2.24, Z:1.58 [[ 9.98875368e-01 -4.63533158e-02 -9.96840031e-03 2.38456415e+02] [ 4.63540188e-02 9.98925062e-01 -1.60639583e-04 2.24380178e+00] [ 9.96513108e-03 -3.01616493e-04 9.99950301e-01 1.57570190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.679254154 meters 0.017966364864422896 Centerline is valid? [True, True] Translation: X:238.52, Y:2.26, Z:1.58 [[ 9.99269617e-01 -3.68569226e-02 -1.00895407e-02 2.38516757e+02] [ 3.68571590e-02 9.99320531e-01 -1.62570556e-04 2.25764061e+00] [ 1.00886770e-02 -2.09419988e-04 9.99949086e-01 1.57566779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.739254154 meters 0.015453984438148865 Centerline is valid? [True, True] Translation: X:238.58, Y:2.27, Z:1.58 [[ 9.99553880e-01 -2.83253275e-02 -9.47185418e-03 2.38578283e+02] [ 2.83251545e-02 9.99598751e-01 -1.52446217e-04 2.27000939e+00] [ 9.47237170e-03 -1.15913525e-04 9.99955129e-01 1.57772146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.799254154 meters 0.014787306724151624 Centerline is valid? [True, True] Translation: X:238.64, Y:2.28, Z:1.58 [[ 9.99661520e-01 -2.43085830e-02 -9.27029168e-03 2.38639038e+02] [ 2.43082482e-02 9.99704500e-01 -1.48803668e-04 2.27610063e+00] [ 9.27116952e-03 -7.65912503e-05 9.99957019e-01 1.57868662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.859254154 meters 0.014352348779298302 Centerline is valid? [True, True] Translation: X:238.70, Y:2.28, Z:1.58 [[ 9.99700670e-01 -2.26438604e-02 -9.26418859e-03 2.38700474e+02] [ 2.26434574e-02 9.99743593e-01 -1.48402807e-04 2.27975094e+00] [ 9.26517360e-03 -6.14148741e-05 9.99957075e-01 1.57916621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters 0.014781870277981635 Centerline is valid? [True, True] Translation: X:238.76, Y:2.28, Z:1.58 [[ 9.99649185e-01 -2.42496737e-02 -1.06518178e-02 2.38760758e+02] [ 2.42492354e-02 9.99705930e-01 -1.70318516e-04 2.28033944e+00] [ 1.06528156e-02 -8.80396715e-05 9.99943253e-01 1.57893651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.979254154 meters 0.01613475646753271 Centerline is valid? [True, True] Translation: X:238.82, Y:2.28, Z:1.58 [[ 9.99532731e-01 -2.84776681e-02 -1.11059730e-02 2.38822537e+02] [ 2.84774553e-02 9.99594419e-01 -1.77329015e-04 2.27788239e+00] [ 1.11065186e-02 -1.39023696e-04 9.99938311e-01 1.57987244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.039254154 meters 0.01712492744736384 Centerline is valid? [True, True] Translation: X:238.88, Y:2.28, Z:1.58 [[ 9.99447959e-01 -3.11134570e-02 -1.16503552e-02 2.38882748e+02] [ 3.11134054e-02 9.99515844e-01 -1.85720033e-04 2.27552818e+00] [ 1.16504930e-02 -1.76864715e-04 9.99932115e-01 1.58023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.099254154 meters 0.018140874423260192 Centerline is valid? [True, True] Translation: X:238.94, Y:2.27, Z:1.58 [[ 9.99375473e-01 -3.30356819e-02 -1.25422208e-02 2.38944295e+02] [ 3.30357771e-02 9.99454150e-01 -1.99643363e-04 2.27383223e+00] [ 1.25419700e-02 -2.14823332e-04 9.99921323e-01 1.57978263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.159254154 meters 0.018534716516172462 Centerline is valid? [True, True] Translation: X:239.00, Y:2.27, Z:1.58 [[ 9.99376288e-01 -3.29901796e-02 -1.25969284e-02 2.39004323e+02] [ 3.29902758e-02 9.99455653e-01 -2.00215124e-04 2.27350619e+00] [ 1.25966764e-02 -2.15485893e-04 9.99920636e-01 1.57949938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.219254154 meters 0.018677300944503376 Centerline is valid? [True, True] Translation: X:239.07, Y:2.27, Z:1.58 [[ 9.99425794e-01 -3.17497254e-02 -1.18337532e-02 2.39065601e+02] [ 3.17497264e-02 9.99495833e-01 -1.87833353e-04 2.27418709e+00] [ 1.18337507e-02 -1.87992929e-04 9.99929961e-01 1.57876072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.279254154 meters 0.015322989628490276 Centerline is valid? [True, True] Translation: X:239.13, Y:2.28, Z:1.58 [[ 9.99479639e-01 -3.00129187e-02 -1.18184786e-02 2.39127194e+02] [ 3.00128028e-02 9.99549497e-01 -1.87205765e-04 2.28132657e+00] [ 1.18187729e-02 -1.67597316e-04 9.99930142e-01 1.58014033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.339254154 meters 0.015220201192370903 Centerline is valid? [True, True] Translation: X:239.19, Y:2.28, Z:1.58 [[ 9.99496991e-01 -2.93058018e-02 -1.21216807e-02 2.39188896e+02] [ 2.93056333e-02 9.99570479e-01 -1.91566119e-04 2.28347542e+00] [ 1.21220882e-02 -1.63763771e-04 9.99926511e-01 1.57985089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.399254154 meters 0.015112564106670725 Centerline is valid? [True, True] Translation: X:239.25, Y:2.29, Z:1.58 [[ 9.99527927e-01 -2.86277079e-02 -1.11524367e-02 2.39250330e+02] [ 2.86275273e-02 9.99590133e-01 -1.75862258e-04 2.28520886e+00] [ 1.11529003e-02 -1.43487449e-04 9.99937794e-01 1.58083339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.459254154 meters 0.014792350176516275 Centerline is valid? [True, True] Translation: X:239.31, Y:2.29, Z:1.58 [[ 9.99591412e-01 -2.69517671e-02 -9.51904773e-03 2.39311924e+02] [ 2.69515625e-02 9.99636729e-01 -1.49795088e-04 2.28793549e+00] [ 9.51962699e-03 -1.06819326e-04 9.99954682e-01 1.58298272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519254154 meters 0.015081524806317312 Centerline is valid? [True, True] Translation: X:239.37, Y:2.29, Z:1.58 [[ 9.99586480e-01 -2.71934613e-02 -9.34802078e-03 2.39373354e+02] [ 2.71932781e-02 9.99630184e-01 -1.46720515e-04 2.28867500e+00] [ 9.34855357e-03 -1.07543486e-04 9.99956296e-01 1.58364724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579254154 meters 0.015492715251302868 Centerline is valid? [True, True] Translation: X:239.43, Y:2.29, Z:1.58 [[ 9.99525091e-01 -2.88925939e-02 -1.07149235e-02 2.39434289e+02] [ 2.88924569e-02 9.99582512e-01 -1.67616352e-04 2.28872500e+00] [ 1.07152930e-02 -1.42043715e-04 9.99942580e-01 1.58349723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.639254154 meters 0.016969588984951496 Centerline is valid? [True, True] Translation: X:239.49, Y:2.28, Z:1.58 [[ 9.99312996e-01 -3.46217985e-02 -1.32237351e-02 2.39494720e+02] [ 3.46220966e-02 9.99400454e-01 -2.06454896e-04 2.28482933e+00] [ 1.32229547e-02 -2.51520372e-04 9.99912541e-01 1.58217565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699254154 meters 0.01873783930592597 Centerline is valid? [True, True] Translation: X:239.56, Y:2.28, Z:1.58 [[ 9.99109281e-01 -3.96842568e-02 -1.43458846e-02 2.39556319e+02] [ 3.96851347e-02 9.99212210e-01 -2.23583484e-04 2.28157106e+00] [ 1.43434558e-02 -3.45934027e-04 9.99897068e-01 1.58167736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759254154 meters 0.01884288136211097 Centerline is valid? [True, True] Translation: X:239.62, Y:2.28, Z:1.58 [[ 9.98794114e-01 -4.66158760e-02 -1.54038221e-02 2.39617808e+02] [ 4.66177204e-02 9.98912774e-01 -2.39499711e-04 2.28190567e+00] [ 1.53982392e-02 -4.78880170e-04 9.99881325e-01 1.58327566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819254154 meters 0.019624571595975516 Centerline is valid? [True, True] Translation: X:239.68, Y:2.28, Z:1.58 [[ 9.98650778e-01 -4.96078338e-02 -1.53520542e-02 2.39679421e+02] [ 4.96100302e-02 9.98768636e-01 -2.37960181e-04 2.28121204e+00] [ 1.53449549e-02 -5.23976754e-04 9.99882122e-01 1.58378480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879254154 meters 0.021670653580374934 Centerline is valid? [True, True] Translation: X:239.74, Y:2.28, Z:1.58 [[ 9.98544217e-01 -5.13383609e-02 -1.65474802e-02 2.39741361e+02] [ 5.13411690e-02 9.98681140e-01 -2.55349097e-04 2.28131509e+00] [ 1.65387656e-02 -5.94589612e-04 9.99863048e-01 1.58260134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939254154 meters 0.021182630953252644 Centerline is valid? [True, True] Translation: X:239.80, Y:2.28, Z:1.58 [[ 9.98540277e-01 -5.18592097e-02 -1.50976136e-02 2.39803073e+02] [ 5.18616227e-02 9.98654254e-01 -2.31903087e-04 2.28160402e+00] [ 1.50893224e-02 -5.51422170e-04 9.99885998e-01 1.58355282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999254154 meters 0.02047078964919338 Centerline is valid? [True, True] Translation: X:239.87, Y:2.28, Z:1.58 [[ 9.98563873e-01 -5.14786847e-02 -1.48369773e-02 2.39865364e+02] [ 5.14809894e-02 9.98673949e-01 -2.26809991e-04 2.28458310e+00] [ 1.48289786e-02 -5.37338007e-04 9.99889900e-01 1.58376236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059254154 meters 0.019518556904348134 Centerline is valid? [True, True] Translation: X:239.93, Y:2.29, Z:1.58 [[ 9.98709653e-01 -4.88712120e-02 -1.38069810e-02 2.39926438e+02] [ 4.88729690e-02 9.98804980e-01 -2.10332434e-04 2.29007935e+00] [ 1.38007606e-02 -4.64727122e-04 9.99904657e-01 1.58385576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119254154 meters 0.020319944519340185 Centerline is valid? [True, True] Translation: X:239.99, Y:2.29, Z:1.58 [[ 9.98895368e-01 -4.49815616e-02 -1.35905259e-02 2.39986842e+02] [ 4.49829093e-02 9.98987735e-01 -2.06658093e-04 2.29203547e+00] [ 1.35860645e-02 -4.04911580e-04 9.99907623e-01 1.58363550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179254154 meters 0.018192592985392976 Centerline is valid? [True, True] Translation: X:240.05, Y:2.30, Z:1.58 [[ 9.99018239e-01 -4.21152217e-02 -1.37428349e-02 2.40048012e+02] [ 4.21163341e-02 9.99112692e-01 -2.08588949e-04 2.29885489e+00] [ 1.37394256e-02 -3.70413663e-04 9.99905541e-01 1.58477363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239254154 meters 0.01732683830016094 Centerline is valid? [True, True] Translation: X:240.11, Y:2.30, Z:1.59 [[ 9.99146228e-01 -3.87886794e-02 -1.42216158e-02 2.40109545e+02] [ 3.87895414e-02 9.99247379e-01 -2.15324962e-04 2.30375013e+00] [ 1.42192645e-02 -3.36508831e-04 9.99898845e-01 1.58502211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299254154 meters 0.01567194697762383 Centerline is valid? [True, True] Translation: X:240.17, Y:2.31, Z:1.59 [[ 9.99330580e-01 -3.35066849e-02 -1.46865127e-02 2.40170579e+02] [ 3.35070421e-02 9.99438457e-01 -2.21814440e-04 2.31114735e+00] [ 1.46856979e-02 -2.70435646e-04 9.99892123e-01 1.58538555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359254154 meters 0.015508583548809265 Centerline is valid? [True, True] Translation: X:240.23, Y:2.32, Z:1.59 [[ 9.99466047e-01 -2.92959135e-02 -1.44696697e-02 2.40230650e+02] [ 2.92958316e-02 9.99570761e-01 -2.17666754e-04 2.31564608e+00] [ 1.44698355e-02 -2.06350476e-04 9.99895285e-01 1.58507465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters 0.014829724072710514 Centerline is valid? [True, True] Translation: X:240.29, Y:2.32, Z:1.59 [[ 9.99524296e-01 -2.74604620e-02 -1.40394047e-02 2.40291576e+02] [ 2.74602131e-02 9.99622875e-01 -2.10535801e-04 2.32067213e+00] [ 1.40398915e-02 -1.75089395e-04 9.99901421e-01 1.58650142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479254154 meters 0.014794093404529097 Centerline is valid? [True, True] Translation: X:240.35, Y:2.32, Z:1.59 [[ 9.99565857e-01 -2.66911672e-02 -1.24771743e-02 2.40353088e+02] [ 2.66909146e-02 9.99643717e-01 -1.86797606e-04 2.32477674e+00] [ 1.24777148e-02 -1.46310685e-04 9.99922140e-01 1.58793643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539254154 meters 0.015347118320695834 Centerline is valid? [True, True] Translation: X:240.41, Y:2.33, Z:1.59 [[ 9.99537246e-01 -2.83854862e-02 -1.09342447e-02 2.40413626e+02] [ 2.83853966e-02 9.99597040e-01 -1.63416816e-04 2.32550162e+00] [ 1.09344773e-02 -1.47031677e-04 9.99940206e-01 1.58865326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599254154 meters 0.015803049100920043 Centerline is valid? [True, True] Translation: X:240.48, Y:2.33, Z:1.59 [[ 9.99335128e-01 -3.51233098e-02 -9.78029413e-03 2.40475121e+02] [ 3.51235627e-02 9.99382967e-01 -1.45952230e-04 2.32534094e+00] [ 9.77938569e-03 -1.97663584e-04 9.99952161e-01 1.58916134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659254154 meters 0.021252819592105426 Centerline is valid? [True, True] Translation: X:240.54, Y:2.32, Z:1.59 [[ 9.99013733e-01 -4.34368233e-02 -9.20893825e-03 2.40535637e+02] [ 4.34374030e-02 9.99056141e-01 -1.37145727e-04 2.31682314e+00] [ 9.20620348e-03 -2.63001897e-04 9.99957587e-01 1.58848076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719254154 meters 0.020259158085095392 Centerline is valid? [True, True] Translation: X:240.60, Y:2.32, Z:1.59 [[ 9.98751925e-01 -4.91067995e-02 -9.11668004e-03 2.40596262e+02] [ 4.91076051e-02 9.98793485e-01 -1.35606355e-04 2.32007060e+00] [ 9.11233982e-03 -3.12261215e-04 9.99958433e-01 1.58910451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779254154 meters 0.022607969906896515 Centerline is valid? [True, True] Translation: X:240.66, Y:2.32, Z:1.59 [[ 9.98282520e-01 -5.78695646e-02 -9.11725340e-03 2.40656842e+02] [ 5.78707361e-02 9.98324075e-01 -1.35491412e-04 2.31765171e+00] [ 9.10981440e-03 -3.92363457e-04 9.99958428e-01 1.58994506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839254154 meters 0.027088900790059777 Centerline is valid? [True, True] Translation: X:240.72, Y:2.31, Z:1.59 [[ 9.98015872e-01 -6.23226133e-02 -8.95608824e-03 2.40717300e+02] [ 6.23239234e-02 9.98055966e-01 -1.33007307e-04 2.31276401e+00] [ 8.94696666e-03 -4.25435155e-04 9.99959885e-01 1.59037615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899254154 meters 0.026802154954786297 Centerline is valid? [True, True] Translation: X:240.78, Y:2.32, Z:1.59 [[ 9.97838871e-01 -6.51866668e-02 -8.26353362e-03 2.40778728e+02] [ 6.51878826e-02 9.97873000e-01 -1.22426602e-04 2.31715533e+00] [ 8.25393767e-03 -4.16520237e-04 9.99965849e-01 1.59078665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959254154 meters 0.027560039916262127 Centerline is valid? [True, True] Translation: X:240.84, Y:2.32, Z:1.59 [[ 9.97848794e-01 -6.49699435e-02 -8.75729944e-03 2.40841355e+02] [ 6.49713041e-02 9.97887124e-01 -1.29336183e-04 2.31976041e+00] [ 8.74719932e-03 -4.39915211e-04 9.99961646e-01 1.59120374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019254154 meters 0.027905821520190825 Centerline is valid? [True, True] Translation: X:240.90, Y:2.32, Z:1.59 [[ 9.97995133e-01 -6.26879396e-02 -8.71415695e-03 2.40901731e+02] [ 6.26892046e-02 9.98033089e-01 -1.28182494e-04 2.32418281e+00] [ 8.70505248e-03 -4.18358062e-04 9.99962023e-01 1.59150010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079254154 meters 0.02472881708529799 Centerline is valid? [True, True] Translation: X:240.96, Y:2.33, Z:1.59 [[ 9.98243371e-01 -5.84286616e-02 -9.81143110e-03 2.40962137e+02] [ 5.84300611e-02 9.98291494e-01 -1.44187726e-04 2.33414006e+00] [ 9.80309290e-03 -4.29348077e-04 9.99951856e-01 1.59116266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.139254154 meters 0.02144472185659619 Centerline is valid? [True, True] Translation: X:241.02, Y:2.34, Z:1.59 [[ 9.98449067e-01 -5.45352240e-02 -1.11968296e-02 2.41023948e+02] [ 5.45368064e-02 9.98511747e-01 -1.64186303e-04 2.34400401e+00] [ 1.11891198e-02 -4.46707665e-04 9.99937300e-01 1.59038691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199254154 meters 0.02016508437178969 Centerline is valid? [True, True] Translation: X:241.08, Y:2.36, Z:1.59 [[ 9.98820254e-01 -4.69993104e-02 -1.22132793e-02 2.41084359e+02] [ 4.70006380e-02 9.98894843e-01 -1.78462824e-04 2.35510091e+00] [ 1.22081693e-02 -3.95779636e-04 9.99925399e-01 1.58800157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259254154 meters 0.017487813696857854 Centerline is valid? [True, True] Translation: X:241.14, Y:2.36, Z:1.59 [[ 9.99086521e-01 -4.14011979e-02 -1.05860226e-02 2.41144565e+02] [ 4.14018816e-02 9.99142563e-01 -1.54643651e-04 2.36239119e+00] [ 1.05833481e-02 -2.83778865e-04 9.99943955e-01 1.59028660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319254154 meters 0.0162728584567313 Centerline is valid? [True, True] Translation: X:241.20, Y:2.37, Z:1.59 [[ 9.99372159e-01 -3.41313437e-02 -9.50473336e-03 2.41203969e+02] [ 3.41315657e-02 9.99417339e-01 -1.38898112e-04 2.37056611e+00] [ 9.50393610e-03 -1.85600525e-04 9.99954819e-01 1.59154054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379254154 meters 0.01390247156742932 Centerline is valid? [True, True] Translation: X:241.27, Y:2.39, Z:1.59 [[ 9.99714954e-01 -2.25390705e-02 -7.87408365e-03 2.41265275e+02] [ 2.25388630e-02 9.99745961e-01 -1.15104892e-04 2.38505283e+00] [ 7.87467768e-03 -6.24008107e-05 9.99968992e-01 1.59421815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439254154 meters 0.013455186134429939 Centerline is valid? [True, True] Translation: X:241.33, Y:2.39, Z:1.60 [[ 9.99838319e-01 -1.64068758e-02 -7.35862896e-03 2.41327083e+02] [ 1.64065313e-02 9.99865398e-01 -1.07180059e-04 2.39117110e+00] [ 7.35939696e-03 -1.35668462e-05 9.99972919e-01 1.59503382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499254154 meters 0.0136073518699301 Centerline is valid? [True, True] Translation: X:241.39, Y:2.40, Z:1.60 [[ 9.99908482e-01 -1.16797867e-02 -6.82721952e-03 2.41388490e+02] [ 1.16793831e-02 9.99931789e-01 -9.89836632e-05 2.39545845e+00] [ 6.82790994e-03 1.92368923e-05 9.99976689e-01 1.59628993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559254154 meters 0.01336877850352272 Centerline is valid? [True, True] Translation: X:241.45, Y:2.39, Z:1.60 [[ 9.99873678e-01 -1.38316554e-02 -7.83032129e-03 2.41450251e+02] [ 1.38311930e-02 9.99904338e-01 -1.13209764e-04 2.39350104e+00] [ 7.83113810e-03 4.89277823e-06 9.99969336e-01 1.59549599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619254154 meters 0.013669886232141631 Centerline is valid? [True, True] Translation: X:241.51, Y:2.39, Z:1.59 [[ 9.99772606e-01 -1.91450822e-02 -9.39159803e-03 2.41511806e+02] [ 1.91446549e-02 9.99816715e-01 -1.35398142e-04 2.38938029e+00] [ 9.39246890e-03 -4.44315505e-05 9.99955889e-01 1.59390652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679254154 meters 0.014745294805802583 Centerline is valid? [True, True] Translation: X:241.57, Y:2.38, Z:1.59 [[ 9.99470771e-01 -3.06036622e-02 -1.10269610e-02 2.41573762e+02] [ 3.06037851e-02 9.99531582e-01 -1.57634027e-04 2.38053582e+00] [ 1.10266199e-02 -1.79916141e-04 9.99939189e-01 1.59276072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739254154 meters 0.016953543074776253 Centerline is valid? [True, True] Translation: X:241.63, Y:2.37, Z:1.59 [[ 9.99173322e-01 -3.91228617e-02 -1.10486872e-02 2.41633879e+02] [ 3.91235236e-02 9.99234370e-01 -1.56305371e-04 2.37367727e+00] [ 1.10463431e-02 -2.76087419e-04 9.99938949e-01 1.59308605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799254154 meters 0.02115981907708165 Centerline is valid? [True, True] Translation: X:241.69, Y:2.36, Z:1.59 [[ 9.98672951e-01 -5.05239548e-02 -9.98330542e-03 2.41693784e+02] [ 5.05250666e-02 9.98722783e-01 -1.40970592e-04 2.36403536e+00] [ 9.97767697e-03 -3.63623655e-04 9.99950156e-01 1.59402470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859254154 meters 0.020897279237688478 Centerline is valid? [True, True] Translation: X:241.76, Y:2.36, Z:1.59 [[ 9.98517663e-01 -5.35370836e-02 -9.81111594e-03 2.41755707e+02] [ 5.35383096e-02 9.98565787e-01 -1.37834925e-04 2.36387489e+00] [ 9.80442399e-03 -3.87639955e-04 9.99951860e-01 1.59443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters 0.02502440666825492 Centerline is valid? [True, True] Translation: X:241.82, Y:2.36, Z:1.59 [[ 9.98074134e-01 -6.12515827e-02 -9.81158132e-03 2.41815486e+02] [ 6.12531839e-02 9.98122251e-01 -1.37511252e-04 2.35660461e+00] [ 9.80158042e-03 -4.63744170e-04 9.99951856e-01 1.59400168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979254154 meters 0.02595467982546866 Centerline is valid? [True, True] Translation: X:241.88, Y:2.36, Z:1.59 [[ 9.97698684e-01 -6.69472955e-02 -1.07422698e-02 2.41876318e+02] [ 6.69495430e-02 9.97756351e-01 -1.50652826e-04 2.35681804e+00] [ 1.07282537e-02 -5.68883925e-04 9.99942289e-01 1.59395201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039254154 meters 0.030613310177573017 Centerline is valid? [True, True] Translation: X:241.94, Y:2.35, Z:1.59 [[ 9.97496383e-01 -6.99843171e-02 -1.01568544e-02 2.41936075e+02] [ 6.99864835e-02 9.97547930e-01 -1.42419516e-04 2.35117055e+00] [ 1.01419162e-02 -5.68779567e-04 9.99948408e-01 1.59447842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099254154 meters 0.027941108961696947 Centerline is valid? [True, True] Translation: X:242.00, Y:2.36, Z:1.60 [[ 9.97231447e-01 -7.37455425e-02 -9.54124865e-03 2.41997222e+02] [ 7.37476263e-02 9.97276927e-01 -1.33734158e-04 2.35637275e+00] [ 9.52512943e-03 -5.70280532e-04 9.99954472e-01 1.59560214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159254154 meters 0.029271357065157867 Centerline is valid? [True, True] Translation: X:242.06, Y:2.36, Z:1.60 [[ 9.97164976e-01 -7.46190915e-02 -9.69544626e-03 2.42059514e+02] [ 7.46212876e-02 9.97211936e-01 -1.35544195e-04 2.35745476e+00] [ 9.67852892e-03 -5.88326761e-04 9.99952989e-01 1.59620005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219254154 meters 0.030605305647776134 Centerline is valid? [True, True] Translation: X:242.12, Y:2.36, Z:1.59 [[ 9.97184331e-01 -7.41946687e-02 -1.08885534e-02 2.42121161e+02] [ 7.41974229e-02 9.97243561e-01 -1.51355216e-04 2.35992007e+00] [ 1.08697695e-02 -6.56973550e-04 9.99940706e-01 1.59470859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279254154 meters 0.029525718163334786 Centerline is valid? [True, True] Translation: X:242.18, Y:2.36, Z:1.59 [[ 9.97190117e-01 -7.39473393e-02 -1.19858804e-02 2.42184007e+02] [ 7.39506725e-02 9.97261887e-01 -1.65478446e-04 2.36394916e+00] [ 1.19652983e-02 -7.21350441e-04 9.99928153e-01 1.59378631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339254154 meters 0.02922320693683656 Centerline is valid? [True, True] Translation: X:242.25, Y:2.37, Z:1.59 [[ 9.97141646e-01 -7.42360743e-02 -1.40549741e-02 2.42245853e+02] [ 7.42407063e-02 9.97240332e-01 -1.92619811e-04 2.36900436e+00] [ 1.40304864e-02 -8.51381968e-04 9.99901205e-01 1.59237572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399254154 meters 0.0320326398040352 Centerline is valid? [True, True] Translation: X:242.31, Y:2.37, Z:1.59 [[ 9.97216976e-01 -7.31702053e-02 -1.42976886e-02 2.42307277e+02] [ 7.31749028e-02 9.97319104e-01 -1.95020563e-04 2.36882963e+00] [ 1.42736277e-02 -8.51754158e-04 9.99897764e-01 1.59305642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459254154 meters 0.026082207283176385 Centerline is valid? [True, True] Translation: X:242.37, Y:2.38, Z:1.60 [[ 9.97622527e-01 -6.80695009e-02 -1.07627236e-02 2.42367699e+02] [ 6.80718696e-02 9.97680409e-01 -1.46520837e-04 2.38387285e+00] [ 1.07477321e-02 -5.86466232e-04 9.99942069e-01 1.59788865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519254154 meters 0.025050449978809872 Centerline is valid? [True, True] Translation: X:242.43, Y:2.39, Z:1.60 [[ 9.98038107e-01 -6.21365247e-02 -7.68041874e-03 2.42427276e+02] [ 6.21375555e-02 9.98067590e-01 -1.04570827e-04 2.39043891e+00] [ 7.67207469e-03 -3.72876775e-04 9.99970500e-01 1.60099839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579254154 meters 0.022531992620773416 Centerline is valid? [True, True] Translation: X:242.49, Y:2.40, Z:1.60 [[ 9.98435638e-01 -5.56289214e-02 -5.63025091e-03 2.42487314e+02] [ 5.56293715e-02 9.98451485e-01 -7.67486389e-05 2.39911474e+00] [ 5.62580182e-03 -2.36578743e-04 9.99984147e-01 1.60318811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.639254154 meters 0.019921158548407834 Centerline is valid? [True, True] Translation: X:242.55, Y:2.41, Z:1.60 [[ 9.98875391e-01 -4.71368159e-02 -5.10617532e-03 2.42547727e+02] [ 4.71370753e-02 9.98888428e-01 -6.95928282e-05 2.40714086e+00] [ 5.10377982e-03 -1.71175607e-04 9.99986961e-01 1.60263358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699254154 meters 0.018757301039111062 Centerline is valid? [True, True] Translation: X:242.61, Y:2.41, Z:1.60 [[ 9.99036527e-01 -4.31358789e-02 -8.08173949e-03 2.42608762e+02] [ 4.31363985e-02 9.99069186e-01 -1.10093157e-04 2.41235838e+00] [ 8.07896586e-03 -2.38630050e-04 9.99967336e-01 1.60008461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759254154 meters 0.018500775476047962 Centerline is valid? [True, True] Translation: X:242.67, Y:2.41, Z:1.60 [[ 9.99007573e-01 -4.31979198e-02 -1.08539574e-02 2.42671254e+02] [ 4.31988675e-02 9.99066482e-01 -1.47228392e-04 2.41419768e+00] [ 1.08501850e-02 -3.21796388e-04 9.99941083e-01 1.59780430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819254154 meters 0.01811859995544039 Centerline is valid? [True, True] Translation: X:242.73, Y:2.42, Z:1.60 [[ 9.99020023e-01 -4.27180371e-02 -1.15828532e-02 2.42733873e+02] [ 4.27190943e-02 9.99087111e-01 -1.56236500e-04 2.41623123e+00] [ 1.15789534e-02 -3.38725605e-04 9.99932904e-01 1.59682218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879254154 meters 0.01773529797213581 Centerline is valid? [True, True] Translation: X:242.80, Y:2.42, Z:1.60 [[ 9.99071143e-01 -4.14875462e-02 -1.16462610e-02 2.42795739e+02] [ 4.14885415e-02 9.99138968e-01 -1.56231694e-04 2.41789151e+00] [ 1.16427148e-02 -3.27099805e-04 9.99932168e-01 1.59729093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939254154 meters 0.016367717120886895 Centerline is valid? [True, True] Translation: X:242.86, Y:2.42, Z:1.60 [[ 9.99343760e-01 -3.47504557e-02 -1.02203248e-02 2.42855877e+02] [ 3.47508744e-02 9.99395997e-01 -1.36669343e-04 2.42368559e+00] [ 1.02189010e-02 -2.18585568e-04 9.99947762e-01 1.59921552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999254154 meters 0.01452866923704088 Centerline is valid? [True, True] Translation: X:242.92, Y:2.43, Z:1.60 [[ 9.99623523e-01 -2.60373756e-02 -8.65253516e-03 2.42917224e+02] [ 2.60373499e-02 9.99660964e-01 -1.15634466e-04 2.42967557e+00] [ 8.65261246e-03 -1.09698153e-04 9.99962559e-01 1.60105752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059254154 meters 0.013703625250556108 Centerline is valid? [True, True] Translation: X:242.98, Y:2.43, Z:1.60 [[ 9.99759344e-01 -2.02489352e-02 -8.44007016e-03 2.42979475e+02] [ 2.02487075e-02 9.99794968e-01 -1.12436002e-04 2.43228574e+00] [ 8.44061638e-03 -5.84915690e-05 9.99964376e-01 1.60129263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119254154 meters 0.0135396980922787 Centerline is valid? [True, True] Translation: X:243.04, Y:2.43, Z:1.60 [[ 9.99789947e-01 -1.85792791e-02 -8.65283461e-03 2.43041228e+02] [ 1.85789827e-02 9.99827389e-01 -1.14635944e-04 2.43237955e+00] [ 8.65347089e-03 -4.61489997e-05 9.99962557e-01 1.60098771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179254154 meters 0.013471326189557173 Centerline is valid? [True, True] Translation: X:243.10, Y:2.43, Z:1.60 [[ 9.99776452e-01 -1.88185800e-02 -9.63881867e-03 2.43103486e+02] [ 1.88182308e-02 9.99822913e-01 -1.26929786e-04 2.42799036e+00] [ 9.63950040e-03 -5.44841031e-05 9.99953537e-01 1.60012769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239254154 meters 0.013615553125847592 Centerline is valid? [True, True] Translation: X:243.16, Y:2.42, Z:1.60 [[ 9.99726503e-01 -2.05165497e-02 -1.12245743e-02 2.43164986e+02] [ 2.05161950e-02 9.99789510e-01 -1.46751071e-04 2.42172804e+00] [ 1.12252225e-02 -8.35746203e-05 9.99936992e-01 1.59936611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299254154 meters 0.014126718619636552 Centerline is valid? [True, True] Translation: X:243.23, Y:2.42, Z:1.60 [[ 9.99677752e-01 -2.25452085e-02 -1.16664474e-02 2.43226260e+02] [ 2.25449744e-02 9.99745818e-01 -1.51602942e-04 2.41776181e+00] [ 1.16668999e-02 -1.11465669e-04 9.99931933e-01 1.59924540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359254154 meters 0.014552580133610559 Centerline is valid? [True, True] Translation: X:243.29, Y:2.41, Z:1.60 [[ 9.99621416e-01 -2.48606075e-02 -1.17887857e-02 2.43287323e+02] [ 2.48605343e-02 9.99690917e-01 -1.52775394e-04 2.41274386e+00] [ 1.17889400e-02 -1.40357954e-04 9.99930498e-01 1.59918290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419254154 meters 0.015200810005139618 Centerline is valid? [True, True] Translation: X:243.35, Y:2.41, Z:1.60 [[ 9.99487765e-01 -2.94290301e-02 -1.25753642e-02 2.43349756e+02] [ 2.94293169e-02 9.99566851e-01 -1.62285479e-04 2.40586697e+00] [ 1.25746931e-02 -2.07882027e-04 9.99920914e-01 1.59955579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479254154 meters 0.01614330325113171 Centerline is valid? [True, True] Translation: X:243.41, Y:2.40, Z:1.60 [[ 9.99250150e-01 -3.58815392e-02 -1.45483247e-02 2.43410522e+02] [ 3.58826205e-02 9.99355994e-01 -1.86784077e-04 2.39862598e+00] [ 1.45456576e-02 -3.35387997e-04 9.99894150e-01 1.60004158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539254154 meters 0.018759503056765443 Centerline is valid? [True, True] Translation: X:243.47, Y:2.39, Z:1.60 [[ 9.99010201e-01 -4.13201399e-02 -1.64701315e-02 2.43470240e+02] [ 4.13222704e-02 9.99145848e-01 -2.11080282e-04 2.39070073e+00] [ 1.64647853e-02 -4.69711872e-04 9.99864336e-01 1.59959832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599254154 meters 0.020229350817220503 Centerline is valid? [True, True] Translation: X:243.53, Y:2.38, Z:1.60 [[ 9.98552735e-01 -5.02761605e-02 -1.90982374e-02 2.43531161e+02] [ 5.02806617e-02 9.98735098e-01 -2.44721179e-04 2.38433297e+00] [ 1.90863837e-02 -7.15905013e-04 9.99817582e-01 1.60046329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659254154 meters 0.023418545982399543 Centerline is valid? [True, True] Translation: X:243.59, Y:2.38, Z:1.60 [[ 9.98216013e-01 -5.59861773e-02 -2.07446041e-02 2.43590998e+02] [ 5.59927153e-02 9.98431142e-01 -2.65988271e-04 2.37780874e+00] [ 2.07269504e-02 -8.96032959e-04 9.99784772e-01 1.60061479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719254154 meters 0.024899511327289302 Centerline is valid? [True, True] Translation: X:243.65, Y:2.37, Z:1.60 [[ 9.97919378e-01 -6.07421666e-02 -2.16172056e-02 2.43652188e+02] [ 6.07503887e-02 9.98152951e-01 -2.76756857e-04 2.37457099e+00] [ 2.15940883e-02 -1.03707261e-03 9.99766283e-01 1.60177841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779254154 meters 0.03627638796932709 Centerline is valid? [True, True] Translation: X:243.71, Y:2.36, Z:1.60 [[ 9.97720133e-01 -6.40039957e-02 -2.14014961e-02 2.43712604e+02] [ 6.40128134e-02 9.97949039e-01 -2.73499227e-04 2.35816351e+00] [ 2.13751075e-02 -1.09709429e-03 9.99770924e-01 1.59989300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839254154 meters 0.02790539879891962 Centerline is valid? [True, True] Translation: X:243.77, Y:2.37, Z:1.61 [[ 9.97634119e-01 -6.56369740e-02 -2.04438794e-02 2.43774374e+02] [ 6.56453845e-02 9.97842982e-01 -2.60151120e-04 2.37005751e+00] [ 2.04168571e-02 -1.08251069e-03 9.99790968e-01 1.60684199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899254154 meters 0.02768333611755101 Centerline is valid? [True, True] Translation: X:243.84, Y:2.37, Z:1.61 [[ 9.97660678e-01 -6.52738044e-02 -2.03101623e-02 2.43836348e+02] [ 6.52820600e-02 9.97866818e-01 -2.56980423e-04 2.37239344e+00] [ 2.02836111e-02 -1.06950997e-03 9.99793694e-01 1.60920882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959254154 meters 0.02694530288894744 Centerline is valid? [True, True] Translation: X:243.90, Y:2.38, Z:1.61 [[ 9.97798833e-01 -6.25250728e-02 -2.20930624e-02 2.43897891e+02] [ 6.25341940e-02 9.98042783e-01 -2.78452492e-04 2.37686513e+00] [ 2.20672318e-02 -1.10373228e-03 9.99755880e-01 1.60927442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019254154 meters 0.023970861276200156 Centerline is valid? [True, True] Translation: X:243.96, Y:2.38, Z:1.61 [[ 9.97941725e-01 -5.95333487e-02 -2.38347398e-02 2.43959618e+02] [ 5.95431432e-02 9.98225688e-01 -2.99185152e-04 2.38411618e+00] [ 2.38102611e-02 -1.12062598e-03 9.99715867e-01 1.61000160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079254154 meters 0.02185199924827665 Centerline is valid? [True, True] Translation: X:244.02, Y:2.39, Z:1.61 [[ 9.98226515e-01 -5.35088557e-02 -2.60888204e-02 2.44020234e+02] [ 5.35185578e-02 9.98566802e-01 -3.26710215e-04 2.39198646e+00] [ 2.60689118e-02 -1.07010524e-03 9.99659575e-01 1.61026387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.139254154 meters 0.020007446286095604 Centerline is valid? [True, True] Translation: X:244.08, Y:2.40, Z:1.61 [[ 9.98551742e-01 -4.57737778e-02 -2.82697660e-02 2.44081229e+02] [ 4.57820898e-02 9.98951388e-01 -3.53498638e-04 2.40147794e+00] [ 2.82563030e-02 -9.41262286e-04 9.99600268e-01 1.61028735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199254154 meters 0.016842908666104467 Centerline is valid? [True, True] Translation: X:244.14, Y:2.41, Z:1.61 [[ 9.98947760e-01 -3.54419315e-02 -2.91074391e-02 2.44141957e+02] [ 3.54463620e-02 9.99371514e-01 -3.63924432e-04 2.41276390e+00] [ 2.91020437e-02 -6.68211326e-04 9.99576222e-01 1.61246662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259254154 meters 0.016002227225596185 Centerline is valid? [True, True] Translation: X:244.20, Y:2.42, Z:1.61 [[ 9.99226290e-01 -2.72443301e-02 -2.83649085e-02 2.44200817e+02] [ 2.72452124e-02 9.99628717e-01 -3.55446968e-04 2.42018105e+00] [ 2.83640610e-02 -4.17636001e-04 9.99597572e-01 1.61324996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319254154 meters 0.014189063036736092 Centerline is valid? [True, True] Translation: X:244.26, Y:2.43, Z:1.62 [[ 9.99552164e-01 -1.53709714e-02 -2.56749641e-02 2.44260964e+02] [ 1.53677486e-02 9.99881857e-01 -3.22845707e-04 2.43204372e+00] [ 2.56768932e-02 -7.18652683e-05 9.99670292e-01 1.61926649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379254154 meters 0.014267063116697624 Centerline is valid? [True, True] Translation: X:244.32, Y:2.44, Z:1.62 [[ 9.99610404e-01 -9.65515569e-03 -2.61881317e-02 2.44318337e+02] [ 9.64978720e-03 9.99953385e-01 -3.31369042e-04 2.43794774e+00] [ 2.61901104e-02 7.85300440e-05 9.99656977e-01 1.61981470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439254154 meters 0.014333334830115396 Centerline is valid? [True, True] Translation: X:244.38, Y:2.44, Z:1.62 [[ 9.99558453e-01 -1.11082250e-02 -2.75591342e-02 2.44377262e+02] [ 1.11026723e-02 9.99938301e-01 -3.54498889e-04 2.43746348e+00] [ 2.75613717e-02 4.83623265e-05 9.99620112e-01 1.61873283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499254154 meters 0.014014727072176067 Centerline is valid? [True, True] Translation: X:244.44, Y:2.43, Z:1.62 [[ 9.99399543e-01 -1.96701289e-02 -2.85243808e-02 2.44436209e+02] [ 1.96675711e-02 9.99806506e-01 -3.70254251e-04 2.43214609e+00] [ 2.85261445e-02 -1.90973357e-04 9.99593028e-01 1.62073033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559254154 meters 0.014582843147238794 Centerline is valid? [True, True] Translation: X:244.49, Y:2.43, Z:1.62 [[ 9.99269442e-01 -2.69852412e-02 -2.70624957e-02 2.44494867e+02] [ 2.69855668e-02 9.99635761e-01 -3.53251570e-04 2.42670643e+00] [ 2.70621711e-02 -3.77303287e-04 9.99633681e-01 1.62143674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619254154 meters 0.01606634066299466 Centerline is valid? [True, True] Translation: X:244.55, Y:2.42, Z:1.62 [[ 9.99001398e-01 -3.62843920e-02 -2.60701009e-02 2.44553968e+02] [ 3.62878066e-02 9.99341322e-01 -3.42258571e-04 2.41937448e+00] [ 2.60653477e-02 -6.04109989e-04 9.99660059e-01 1.62234784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679254154 meters 0.01866543070970964 Centerline is valid? [True, True] Translation: X:244.61, Y:2.41, Z:1.62 [[ 9.98752770e-01 -4.16262565e-02 -2.75710002e-02 2.44613154e+02] [ 4.16320626e-02 9.99132944e-01 -3.63655544e-04 2.41355281e+00] [ 2.75622322e-02 -7.84635623e-04 9.99619782e-01 1.62213418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739254154 meters 0.018273362963175895 Centerline is valid? [True, True] Translation: X:244.67, Y:2.41, Z:1.62 [[ 9.98691754e-01 -4.43996604e-02 -2.53663324e-02 2.44672702e+02] [ 4.44054419e-02 9.99013535e-01 -3.35604104e-04 2.41087047e+00] [ 2.53562101e-02 -7.91238148e-04 9.99678166e-01 1.62254683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799254154 meters 0.018860313039543858 Centerline is valid? [True, True] Translation: X:244.73, Y:2.41, Z:1.62 [[ 9.98544772e-01 -4.82474864e-02 -2.40939474e-02 2.44734338e+02] [ 4.82538307e-02 9.98835055e-01 -3.18352046e-04 2.40593987e+00] [ 2.40812390e-02 -8.44736490e-04 9.99709648e-01 1.62316269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859254154 meters 0.02051045011981652 Centerline is valid? [True, True] Translation: X:244.80, Y:2.40, Z:1.62 [[ 9.98397347e-01 -5.13643925e-02 -2.37578804e-02 2.44796049e+02] [ 5.13714628e-02 9.98679566e-01 -3.13032646e-04 2.40205285e+00] [ 2.37425884e-02 -9.07946104e-04 9.99717693e-01 1.62243375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919254154 meters 0.021486809324427772 Centerline is valid? [True, True] Translation: X:244.86, Y:2.40, Z:1.62 [[ 9.98188372e-01 -5.52488367e-02 -2.38231089e-02 2.44856904e+02] [ 5.52570635e-02 9.98472112e-01 -3.13324691e-04 2.39945948e+00] [ 2.38040207e-02 -1.00363798e-03 9.99716140e-01 1.62216260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979254154 meters 0.02386583789570581 Centerline is valid? [True, True] Translation: X:244.92, Y:2.39, Z:1.62 [[ 9.97791383e-01 -6.19410173e-02 -2.39930636e-02 2.44917485e+02] [ 6.19512961e-02 9.98079124e-01 -3.15379579e-04 2.39349863e+00] [ 2.39665108e-02 -1.17171836e-03 9.99712075e-01 1.62089550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039254154 meters 0.026092276561267558 Centerline is valid? [True, True] Translation: X:244.98, Y:2.39, Z:1.62 [[ 9.97571142e-01 -6.51135847e-02 -2.47394072e-02 2.44978895e+02] [ 6.51255029e-02 9.97877028e-01 -3.24506650e-04 2.39030731e+00] [ 2.47080159e-02 -1.28744787e-03 9.99693881e-01 1.62038152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099254154 meters 0.02740305619083544 Centerline is valid? [True, True] Translation: X:245.04, Y:2.39, Z:1.62 [[ 9.97425635e-01 -6.72995906e-02 -2.47561657e-02 2.45039865e+02] [ 6.73122104e-02 9.97731909e-01 -3.24151152e-04 2.38885235e+00] [ 2.47218317e-02 -1.34307557e-03 9.99693467e-01 1.62048249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159254154 meters 0.029221776448773787 Centerline is valid? [True, True] Translation: X:245.10, Y:2.39, Z:1.62 [[ 9.97412306e-01 -6.75026170e-02 -2.47404422e-02 2.45101506e+02] [ 6.75153382e-02 9.97718184e-01 -3.21711329e-04 2.38649543e+00] [ 2.47057054e-02 -1.34948048e-03 9.99693857e-01 1.61948396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219254154 meters 0.026584360767446386 Centerline is valid? [True, True] Translation: X:245.16, Y:2.39, Z:1.62 [[ 9.97496698e-01 -6.58205526e-02 -2.58455414e-02 2.45163833e+02] [ 6.58339310e-02 9.97830538e-01 -3.33852270e-04 2.39118322e+00] [ 2.58114448e-02 -1.36849705e-03 9.99665892e-01 1.62015332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279254154 meters 0.029320822401842948 Centerline is valid? [True, True] Translation: X:245.22, Y:2.39, Z:1.62 [[ 9.97636708e-01 -6.39331141e-02 -2.51705405e-02 2.45224532e+02] [ 6.39452323e-02 9.97953357e-01 -3.23982966e-04 2.38910642e+00] [ 2.51397386e-02 -1.28631876e-03 9.99683119e-01 1.61975529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339254154 meters 0.025873922591431908 Centerline is valid? [True, True] Translation: X:245.29, Y:2.39, Z:1.62 [[ 9.97716285e-01 -6.32316772e-02 -2.37480388e-02 2.45286758e+02] [ 6.32423005e-02 9.97998156e-01 -3.04195794e-04 2.39464737e+00] [ 2.37197338e-02 -1.19837951e-03 9.99717929e-01 1.62291337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399254154 meters 0.026670526746332014 Centerline is valid? [True, True] Translation: X:245.35, Y:2.39, Z:1.63 [[ 9.97794139e-01 -6.29164289e-02 -2.11749535e-02 2.45349025e+02] [ 6.29248346e-02 9.98018233e-01 -2.69750791e-04 2.39432189e+00] [ 2.11499615e-02 -1.06327469e-03 9.99775749e-01 1.62559132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459254154 meters 0.027065374474791935 Centerline is valid? [True, True] Translation: X:245.41, Y:2.40, Z:1.63 [[ 9.97862618e-01 -6.24880236e-02 -1.91165351e-02 2.45411082e+02] [ 6.24948209e-02 9.98045259e-01 -2.42201640e-04 2.39551175e+00] [ 1.90943019e-02 -9.53000476e-04 9.99817233e-01 1.62669433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519254154 meters 0.02313822131653303 Centerline is valid? [True, True] Translation: X:245.47, Y:2.40, Z:1.63 [[ 9.97928672e-01 -6.16093657e-02 -1.85108518e-02 2.45472954e+02] [ 6.16156133e-02 9.98099926e-01 -2.33168674e-04 2.40339952e+00] [ 1.84900452e-02 -9.07871780e-04 9.99828632e-01 1.62823532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579254154 meters 0.026607028926222163 Centerline is valid? [True, True] Translation: X:245.53, Y:2.40, Z:1.63 [[ 9.97923703e-01 -6.16431524e-02 -1.86655813e-02 2.45534405e+02] [ 6.16495328e-02 9.98097831e-01 -2.33937009e-04 2.39989818e+00] [ 1.86444968e-02 -9.17273079e-04 9.99825755e-01 1.62712895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.639254154 meters 0.0246362028274254 Centerline is valid? [True, True] Translation: X:245.60, Y:2.41, Z:1.63 [[ 9.97790143e-01 -6.28440225e-02 -2.15745273e-02 2.45596057e+02] [ 6.28528548e-02 9.98022768e-01 -2.69129915e-04 2.40557554e+00] [ 2.15487826e-02 -1.08748545e-03 9.99767207e-01 1.62614234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699254154 meters 0.026725450275236574 Centerline is valid? [True, True] Translation: X:245.66, Y:2.40, Z:1.62 [[ 9.97750103e-01 -6.32815469e-02 -2.21399628e-02 2.45657510e+02] [ 6.32909831e-02 9.97995078e-01 -2.74950373e-04 2.40404148e+00] [ 2.21129732e-02 -1.12692825e-03 9.99754843e-01 1.62471978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759254154 meters 0.02565573345857238 Centerline is valid? [True, True] Translation: X:245.72, Y:2.41, Z:1.63 [[ 9.97648716e-01 -6.53048657e-02 -2.07921514e-02 2.45719819e+02] [ 6.53136546e-02 9.97864751e-01 -2.56818547e-04 2.40748996e+00] [ 2.07645265e-02 -1.10179670e-03 9.99783787e-01 1.62588512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819254154 meters 0.025405378487392303 Centerline is valid? [True, True] Translation: X:245.78, Y:2.41, Z:1.63 [[ 9.97681447e-01 -6.53111919e-02 -1.91357766e-02 2.45781693e+02] [ 6.53186636e-02 9.97864428e-01 -2.34969121e-04 2.40923983e+00] [ 1.91102569e-02 -1.01549902e-03 9.99816867e-01 1.62828087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879254154 meters 0.028008460062860556 Centerline is valid? [True, True] Translation: X:245.84, Y:2.41, Z:1.63 [[ 9.97747920e-01 -6.50112082e-02 -1.65115558e-02 2.45842914e+02] [ 6.50167600e-02 9.97884152e-01 -2.00912419e-04 2.40708071e+00] [ 1.64896814e-02 -8.73067911e-04 9.99863655e-01 1.63011793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939254154 meters 0.027972704551625333 Centerline is valid? [True, True] Translation: X:245.91, Y:2.41, Z:1.63 [[ 9.97723949e-01 -6.55638187e-02 -1.57577824e-02 2.45905384e+02] [ 6.55689685e-02 9.97848022e-01 -1.90171286e-04 2.40766187e+00] [ 1.57363404e-02 -8.43483092e-04 9.99875820e-01 1.63073155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999254154 meters 0.02542267440039597 Centerline is valid? [True, True] Translation: X:245.97, Y:2.41, Z:1.63 [[ 9.97673249e-01 -6.63651470e-02 -1.56126977e-02 2.45967608e+02] [ 6.63703181e-02 9.97795042e-01 -1.87268250e-04 2.41168075e+00] [ 1.55907005e-02 -8.49387190e-04 9.99878097e-01 1.63133403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059254154 meters 0.02874804327848919 Centerline is valid? [True, True] Translation: X:246.03, Y:2.41, Z:1.63 [[ 9.97582949e-01 -6.76686442e-02 -1.57864997e-02 2.46028362e+02] [ 6.76741204e-02 9.97707461e-01 -1.87666472e-04 2.40818646e+00] [ 1.57630077e-02 -8.81124606e-04 9.99875368e-01 1.62996825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119254154 meters 0.026147504699834834 Centerline is valid? [True, True] Translation: X:246.09, Y:2.41, Z:1.63 [[ 9.97594770e-01 -6.74836941e-02 -1.58311459e-02 2.46090915e+02] [ 6.74892027e-02 9.97719987e-01 -1.86639112e-04 2.41217198e+00] [ 1.58076458e-02 -8.82241215e-04 9.99874662e-01 1.62983756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179254154 meters 0.02740331229352137 Centerline is valid? [True, True] Translation: X:246.15, Y:2.41, Z:1.63 [[ 9.97736124e-01 -6.52623835e-02 -1.62310950e-02 2.46151119e+02] [ 6.52678923e-02 9.97867760e-01 -1.90657921e-04 2.41197109e+00] [ 1.62089292e-02 -8.69143065e-04 9.99868249e-01 1.62772429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239254154 meters 0.02452641704138244 Centerline is valid? [True, True] Translation: X:246.21, Y:2.42, Z:1.63 [[ 9.98043225e-01 -6.05643065e-02 -1.55462684e-02 2.46212124e+02] [ 6.05687959e-02 9.98164008e-01 -1.82333897e-04 2.41953635e+00] [ 1.55287685e-02 -7.59641645e-04 9.99879133e-01 1.62773804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299254154 meters 0.024101250995194782 Centerline is valid? [True, True] Translation: X:246.27, Y:2.42, Z:1.63 [[ 9.98306114e-01 -5.66747445e-02 -1.31482687e-02 2.46271714e+02] [ 5.66776202e-02 9.98392520e-01 -1.54106602e-04 2.42269101e+00] [ 1.31358670e-02 -5.91367014e-04 9.99913546e-01 1.62857703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359254154 meters 0.023337458960118893 Centerline is valid? [True, True] Translation: X:246.33, Y:2.43, Z:1.63 [[ 9.98321708e-01 -5.65613006e-02 -1.24333094e-02 2.46333502e+02] [ 5.65638685e-02 9.98398972e-01 -1.45305879e-04 2.42553753e+00] [ 1.24216221e-02 -5.58214067e-04 9.99922693e-01 1.62856625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419254154 meters 0.02731019329047537 Centerline is valid? [True, True] Translation: X:246.39, Y:2.42, Z:1.63 [[ 9.98005792e-01 -6.16982560e-02 -1.33328106e-02 2.46393697e+02] [ 6.17016736e-02 9.98094624e-01 -1.55261299e-04 2.42081669e+00] [ 1.33169859e-02 -6.67705049e-04 9.99911102e-01 1.62711684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479254154 meters 0.03193071308624247 Centerline is valid? [True, True] Translation: X:246.45, Y:2.42, Z:1.63 [[ 9.97353433e-01 -7.12484544e-02 -1.44840468e-02 2.46454357e+02] [ 7.12534922e-02 9.97458225e-01 -1.68584591e-04 2.41504288e+00] [ 1.44592430e-02 -8.63900495e-04 9.99895086e-01 1.62612950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539254154 meters 0.03193071308624247 Centerline is valid? [True, True] Translation: X:246.52, Y:2.42, Z:1.63 [[ 9.97361057e-01 -7.11416533e-02 -1.44840570e-02 2.46517004e+02] [ 7.11466926e-02 9.97465849e-01 -1.67706856e-04 2.41567318e+00] [ 1.44592831e-02 -8.63228461e-04 9.99895086e-01 1.62654998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599254154 meters 0.03086183291203365 Centerline is valid? [True, True] Translation: X:246.58, Y:2.42, Z:1.63 [[ 9.97133691e-01 -7.43874284e-02 -1.38170940e-02 2.46578510e+02] [ 7.43923376e-02 9.97229038e-01 -1.59038377e-04 2.41880084e+00] [ 1.37906379e-02 -8.69303401e-04 9.99904527e-01 1.62803444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659254154 meters 0.0292256211446951 Centerline is valid? [True, True] Translation: X:246.64, Y:2.42, Z:1.63 [[ 9.96988939e-01 -7.64262221e-02 -1.31182505e-02 2.46639465e+02] [ 7.64308307e-02 9.97074875e-01 -1.50403195e-04 2.42442414e+00] [ 1.30913727e-02 -8.52688461e-04 9.99913941e-01 1.62886651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719254154 meters 0.0341456101080354 Centerline is valid? [True, True] Translation: X:246.70, Y:2.42, Z:1.63 [[ 9.96976602e-01 -7.63861496e-02 -1.42411891e-02 2.46701028e+02] [ 7.63915888e-02 9.97077880e-01 -1.62448406e-04 2.42236774e+00] [ 1.42119835e-02 -9.25949803e-04 9.99898576e-01 1.62761753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.779254154 meters 0.032004975645474075 Centerline is valid? [True, True] Translation: X:246.76, Y:2.43, Z:1.63 [[ 9.96940221e-01 -7.67846680e-02 -1.46393691e-02 2.46762976e+02] [ 7.67904727e-02 9.97047238e-01 -1.66020212e-04 2.42885779e+00] [ 1.46088903e-02 -9.58651846e-04 9.99892825e-01 1.62767038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.839254154 meters 0.031196459683310633 Centerline is valid? [True, True] Translation: X:246.83, Y:2.43, Z:1.63 [[ 9.96894082e-01 -7.74534863e-02 -1.42529329e-02 2.46825280e+02] [ 7.74590714e-02 9.96995520e-01 -1.60594801e-04 2.43202156e+00] [ 1.42225489e-02 -9.43922941e-04 9.99898409e-01 1.62863284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.899254154 meters 0.033848725984694565 Centerline is valid? [True, True] Translation: X:246.89, Y:2.43, Z:1.63 [[ 9.96839421e-01 -7.81652036e-02 -1.41904732e-02 2.46886183e+02] [ 7.81708329e-02 9.96939966e-01 -1.58390586e-04 2.43057626e+00] [ 1.41594305e-02 -9.51391134e-04 9.99899298e-01 1.62886583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.959254154 meters 0.03573591325578545 Centerline is valid? [True, True] Translation: X:246.95, Y:2.43, Z:1.63 [[ 9.96641929e-01 -8.04240504e-02 -1.53895477e-02 2.46947442e+02] [ 8.04309591e-02 9.96760168e-01 -1.70487489e-04 2.43002472e+00] [ 1.53533994e-02 -1.06788110e-03 9.99881559e-01 1.62766872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.019254154 meters 0.03501676518839895 Centerline is valid? [True, True] Translation: X:247.01, Y:2.43, Z:1.63 [[ 9.96407283e-01 -8.27694947e-02 -1.79370281e-02 2.47008308e+02] [ 8.27792674e-02 9.96567887e-01 -1.98222332e-04 2.43181018e+00] [ 1.78918729e-02 -1.28730387e-03 9.99839099e-01 1.62633821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.079254154 meters 0.03575104811155094 Centerline is valid? [True, True] Translation: X:247.07, Y:2.43, Z:1.63 [[ 9.96289601e-01 -8.38480858e-02 -1.94043925e-02 2.47070123e+02] [ 8.38597592e-02 9.96477544e-01 -2.12765611e-04 2.43250140e+00] [ 1.93538814e-02 -1.41527152e-03 9.99811694e-01 1.62567328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.139254154 meters 0.0368657268504084 Centerline is valid? [True, True] Translation: X:247.13, Y:2.43, Z:1.63 [[ 9.96354595e-01 -8.29661326e-02 -1.98529973e-02 2.47132643e+02] [ 8.29782133e-02 9.96551338e-01 -2.15903274e-04 2.43343889e+00] [ 1.98024437e-02 -1.43225003e-03 9.99802887e-01 1.62520873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.199254154 meters 0.03455920587653114 Centerline is valid? [True, True] Translation: X:247.19, Y:2.44, Z:1.63 [[ 9.96725101e-01 -7.86692424e-02 -1.87142516e-02 2.47193113e+02] [ 7.86792313e-02 9.96899964e-01 -2.03057328e-04 2.43953243e+00] [ 1.86722111e-02 -1.27003059e-03 9.99824852e-01 1.62704199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.259254154 meters 0.029062217419105144 Centerline is valid? [True, True] Translation: X:247.25, Y:2.45, Z:1.63 [[ 9.97726357e-01 -6.54355638e-02 -1.61339260e-02 2.47253615e+02] [ 6.54412626e-02 9.97856408e-01 -1.75041663e-04 2.45260000e+00] [ 1.61107954e-02 -8.81180809e-04 9.99869824e-01 1.62952606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319254154 meters 0.020106870681720145 Centerline is valid? [True, True] Translation: X:247.31, Y:2.47, Z:1.63 [[ 9.98818994e-01 -4.68073386e-02 -1.30265507e-02 2.47314462e+02] [ 4.68094725e-02 9.98903826e-01 -1.41200035e-04 2.47254236e+00] [ 1.30188805e-02 -4.68732690e-04 9.99915141e-01 1.63289434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379254154 meters 0.01424356439501994 Centerline is valid? [True, True] Translation: X:247.38, Y:2.49, Z:1.63 [[ 9.99527445e-01 -2.89340790e-02 -1.03781403e-02 2.47375346e+02] [ 2.89344717e-02 9.99581304e-01 -1.12331690e-04 2.48836585e+00] [ 1.03770452e-02 -1.88007400e-04 9.99946139e-01 1.63488239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.439254154 meters 0.012710131625768213 Centerline is valid? [True, True] Translation: X:247.44, Y:2.50, Z:1.64 [[ 9.99755409e-01 -1.96219403e-02 -1.02029819e-02 2.47437296e+02] [ 1.96218380e-02 9.99807467e-01 -1.10140272e-04 2.49583739e+00] [ 1.02031787e-02 -9.00879256e-05 9.99947942e-01 1.63541221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.499254154 meters 0.012488486674550553 Centerline is valid? [True, True] Translation: X:247.50, Y:2.50, Z:1.64 [[ 9.99857014e-01 -1.33329404e-02 -1.04011455e-02 2.47498605e+02] [ 1.33324990e-02 9.99911112e-01 -1.11780288e-04 2.50138186e+00] [ 1.04017114e-02 -2.69089578e-05 9.99945900e-01 1.63529151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.559254154 meters 0.012533781947402461 Centerline is valid? [True, True] Translation: X:247.56, Y:2.50, Z:1.64 [[ 9.99893337e-01 -9.77224390e-03 -1.08543685e-02 2.47558821e+02] [ 9.77155605e-03 9.99952250e-01 -1.16403699e-04 2.50482933e+00] [ 1.08549877e-02 1.03272132e-05 9.99941083e-01 1.63524990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.619254154 meters 0.012491105974737739 Centerline is valid? [True, True] Translation: X:247.62, Y:2.51, Z:1.63 [[ 9.99897470e-01 -9.12103683e-03 -1.10388353e-02 2.47617943e+02] [ 9.12027389e-03 9.99958402e-01 -1.19453724e-04 2.50604832e+00] [ 1.10394656e-02 1.87642759e-05 9.99939063e-01 1.63498461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.679254154 meters 0.012662839421898341 Centerline is valid? [True, True] Translation: X:247.68, Y:2.50, Z:1.64 [[ 9.99864627e-01 -1.21905997e-02 -1.10506566e-02 2.47677102e+02] [ 1.21900008e-02 9.99925692e-01 -1.21554592e-04 2.50440179e+00] [ 1.10513173e-02 -1.31693760e-05 9.99938932e-01 1.63504618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.739254154 meters 0.013328309029893574 Centerline is valid? [True, True] Translation: X:247.74, Y:2.50, Z:1.64 [[ 9.99753547e-01 -1.96721363e-02 -1.02884853e-02 2.47735951e+02] [ 1.96720067e-02 9.99806481e-01 -1.13804303e-04 2.49808761e+00] [ 1.02887330e-02 -8.86188952e-05 9.99947066e-01 1.63524342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.799254154 meters 0.015113903298908339 Centerline is valid? [True, True] Translation: X:247.80, Y:2.49, Z:1.63 [[ 9.99595738e-01 -2.64545403e-02 -1.04172215e-02 2.47797572e+02] [ 2.64547806e-02 9.99650004e-01 -1.14758857e-04 2.49119637e+00] [ 1.04166114e-02 -1.60872845e-04 9.99945733e-01 1.63485422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.859254154 meters 0.016077181871211287 Centerline is valid? [True, True] Translation: X:247.86, Y:2.49, Z:1.64 [[ 9.99356430e-01 -3.44002155e-02 -1.01661494e-02 2.47858260e+02] [ 3.44008707e-02 9.99408109e-01 -1.10467918e-04 2.48659471e+00] [ 1.01639323e-02 -2.39327568e-04 9.99948317e-01 1.63562223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.919254154 meters 0.020766147245763807 Centerline is valid? [True, True] Translation: X:247.92, Y:2.47, Z:1.64 [[ 9.98917697e-01 -4.55949702e-02 -9.19424791e-03 2.47917846e+02] [ 4.55959803e-02 9.98959957e-01 -9.98334735e-05 2.47347790e+00] [ 9.18923741e-03 -3.19495323e-04 9.99957727e-01 1.63620037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.979254154 meters 0.021354496814252402 Centerline is valid? [True, True] Translation: X:247.98, Y:2.47, Z:1.64 [[ 9.98571398e-01 -5.27464909e-02 -8.54231742e-03 2.47978686e+02] [ 5.27476232e-02 9.98607871e-01 -9.28426257e-05 2.46686808e+00] [ 8.53532253e-03 -3.57876950e-04 9.99963509e-01 1.63694918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039254154 meters 0.02269751855627079 Centerline is valid? [True, True] Translation: X:248.04, Y:2.46, Z:1.64 [[ 9.98521941e-01 -5.36072157e-02 -8.95547199e-03 2.48039669e+02] [ 5.36084977e-02 9.98562026e-01 -9.69985093e-05 2.46283298e+00] [ 8.94779407e-03 -3.83234260e-04 9.99959894e-01 1.63699556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099254154 meters 0.020662030389506123 Centerline is valid? [True, True] Translation: X:248.10, Y:2.46, Z:1.64 [[ 9.98745597e-01 -4.90374385e-02 -1.01273412e-02 2.48100546e+02] [ 4.90388547e-02 9.98796866e-01 -1.08589933e-04 2.46213855e+00] [ 1.01204816e-02 -3.88179496e-04 9.99948711e-01 1.63512465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159254154 meters 0.019043909658307417 Centerline is valid? [True, True] Translation: X:248.16, Y:2.46, Z:1.63 [[ 9.98962862e-01 -4.40469233e-02 -1.15355686e-02 2.48161334e+02] [ 4.40484311e-02 9.99029389e-01 -1.23459420e-04 2.46363809e+00] [ 1.15298101e-02 -3.84792324e-04 9.99933455e-01 1.63429086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219254154 meters 0.016924487846129738 Centerline is valid? [True, True] Translation: X:248.22, Y:2.47, Z:1.63 [[ 9.99282026e-01 -3.55144466e-02 -1.31968716e-02 2.48221282e+02] [ 3.55156782e-02 9.99369109e-01 -1.41098695e-04 2.46655629e+00] [ 1.31935569e-02 -3.27698456e-04 9.99912908e-01 1.63325508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279254154 meters 0.015585049143843788 Centerline is valid? [True, True] Translation: X:248.28, Y:2.47, Z:1.63 [[ 9.99438753e-01 -3.05093473e-02 -1.38332665e-02 2.48282933e+02] [ 3.05102266e-02 9.99534444e-01 -1.47512663e-04 2.46951637e+00] [ 1.38313268e-02 -2.74626224e-04 9.99904305e-01 1.63344960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339254154 meters 0.01501632997644345 Centerline is valid? [True, True] Translation: X:248.34, Y:2.47, Z:1.63 [[ 9.99537736e-01 -2.66266127e-02 -1.46743916e-02 2.48343875e+02] [ 2.66271939e-02 9.99645421e-01 -1.55805363e-04 2.46906518e+00] [ 1.46733369e-02 -2.35004530e-04 9.99892313e-01 1.63290057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399254154 meters 0.01504343269581981 Centerline is valid? [True, True] Translation: X:248.41, Y:2.47, Z:1.63 [[ 9.99528023e-01 -2.72898285e-02 -1.41065985e-02 2.48405526e+02] [ 2.72904387e-02 9.99627535e-01 -1.49279129e-04 2.46708472e+00] [ 1.41054181e-02 -2.35766587e-04 9.99900486e-01 1.63444916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459254154 meters 0.015993933487915786 Centerline is valid? [True, True] Translation: X:248.47, Y:2.46, Z:1.64 [[ 9.99458775e-01 -3.03885394e-02 -1.25973430e-02 2.48465585e+02] [ 3.03892784e-02 9.99538130e-01 -1.32802003e-04 2.46298665e+00] [ 1.25955603e-02 -2.50094035e-04 9.99920642e-01 1.63621986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519254154 meters 0.02051737521719234 Centerline is valid? [True, True] Translation: X:248.53, Y:2.45, Z:1.64 [[ 9.99129642e-01 -4.00496922e-02 -1.16610373e-02 2.48526024e+02] [ 4.00509866e-02 9.99197630e-01 -1.22600074e-04 2.45140336e+00] [ 1.16565909e-02 -3.44542680e-04 9.99932000e-01 1.63662554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579254154 meters 0.02307020188236892 Centerline is valid? [True, True] Translation: X:248.59, Y:2.44, Z:1.64 [[ 9.98681522e-01 -4.98332506e-02 -1.23233382e-02 2.48586219e+02] [ 4.98354392e-02 9.98757434e-01 -1.29610031e-04 2.44320018e+00] [ 1.23144846e-02 -4.84699830e-04 9.99924056e-01 1.63740201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.639254154 meters 0.025237919359837237 Centerline is valid? [True, True] Translation: X:248.65, Y:2.44, Z:1.64 [[ 9.97848659e-01 -6.40610493e-02 -1.39368205e-02 2.48646625e+02] [ 6.40652304e-02 9.97945702e-01 -1.46703201e-04 2.43641502e+00] [ 1.39175881e-02 -7.46478023e-04 9.99902867e-01 1.63773285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699254154 meters 0.03754680496307581 Centerline is valid? [True, True] Translation: X:248.71, Y:2.42, Z:1.64 [[ 9.97334867e-01 -7.16194829e-02 -1.39216343e-02 2.48706881e+02] [ 7.16243960e-02 9.97431664e-01 -1.46001746e-04 2.41711979e+00] [ 1.38963354e-02 -8.51516014e-04 9.99903079e-01 1.63635312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759254154 meters 0.03230263555602684 Centerline is valid? [True, True] Translation: X:248.77, Y:2.42, Z:1.64 [[ 9.96915380e-01 -7.71753327e-02 -1.42721121e-02 2.48767278e+02] [ 7.71810709e-02 9.97017081e-01 -1.49123515e-04 2.42186875e+00] [ 1.42410482e-02 -9.52873372e-04 9.99898137e-01 1.63756150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819254154 meters 0.03474287215520416 Centerline is valid? [True, True] Translation: X:248.83, Y:2.42, Z:1.64 [[ 9.96962049e-01 -7.64650553e-02 -1.48245536e-02 2.48828362e+02] [ 7.64711751e-02 9.97071781e-01 -1.54426555e-04 2.42006948e+00] [ 1.47929523e-02 -9.79693622e-04 9.99890098e-01 1.63794738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879254154 meters 0.031782823426655116 Centerline is valid? [True, True] Translation: X:248.89, Y:2.43, Z:1.64 [[ 9.97142632e-01 -7.39729557e-02 -1.53158067e-02 2.48890218e+02] [ 7.39792083e-02 9.97259771e-01 -1.58690373e-04 2.42646865e+00] [ 1.52855766e-02 -9.74814314e-04 9.99882694e-01 1.63870258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939254154 meters 0.030545741328321763 Centerline is valid? [True, True] Translation: X:248.95, Y:2.43, Z:1.64 [[ 9.97486723e-01 -6.93061291e-02 -1.47274797e-02 2.48950503e+02] [ 6.93114090e-02 9.97595061e-01 -1.52224400e-04 2.43120133e+00] [ 1.47026111e-02 -8.68940555e-04 9.99891533e-01 1.63977597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999254154 meters 0.030248621076539615 Centerline is valid? [True, True] Translation: X:249.01, Y:2.43, Z:1.64 [[ 9.97713571e-01 -6.61324311e-02 -1.39331198e-02 2.49011294e+02] [ 6.61368502e-02 9.97810551e-01 -1.43873447e-04 2.43468789e+00] [ 1.39121286e-02 -7.77948165e-04 9.99902919e-01 1.64129940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059254154 meters 0.028548626423620473 Centerline is valid? [True, True] Translation: X:249.07, Y:2.44, Z:1.64 [[ 9.97994108e-01 -6.18039311e-02 -1.37125670e-02 2.49071938e+02] [ 6.18078071e-02 9.98088060e-01 -1.41355383e-04 2.44093547e+00] [ 1.36950857e-02 -7.06471857e-04 9.99905968e-01 1.64235887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119254154 meters 0.02500172118002467 Centerline is valid? [True, True] Translation: X:249.13, Y:2.45, Z:1.64 [[ 9.98180111e-01 -5.86598885e-02 -1.39815430e-02 2.49133863e+02] [ 5.86636200e-02 9.98277797e-01 -1.43438791e-04 2.44835975e+00] [ 1.39658780e-02 -6.77030177e-04 9.99902243e-01 1.64272814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179254154 meters 0.022092347856886692 Centerline is valid? [True, True] Translation: X:249.19, Y:2.46, Z:1.64 [[ 9.98475550e-01 -5.30532436e-02 -1.52292345e-02 2.49194544e+02] [ 5.30570311e-02 9.98591472e-01 -1.55509719e-04 2.45639225e+00] [ 1.52160340e-02 -6.52745315e-04 9.99884016e-01 1.64278263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239254154 meters 0.021259022118967776 Centerline is valid? [True, True] Translation: X:249.26, Y:2.46, Z:1.64 [[ 9.98683360e-01 -4.85785991e-02 -1.64822949e-02 2.49255737e+02] [ 4.85824323e-02 9.98819162e-01 -1.67992120e-04 2.46079937e+00] [ 1.64709928e-02 -6.32979043e-04 9.99864144e-01 1.64260809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.299254154 meters 0.018591650886017975 Centerline is valid? [True, True] Translation: X:249.32, Y:2.47, Z:1.64 [[ 9.99005094e-01 -4.17506322e-02 -1.56750648e-02 2.49316349e+02] [ 4.17532638e-02 9.99127940e-01 -1.59484713e-04 2.46961188e+00] [ 1.56680538e-02 -4.95159075e-04 9.99877126e-01 1.64411982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.359254154 meters 0.016968016797616867 Centerline is valid? [True, True] Translation: X:249.38, Y:2.48, Z:1.65 [[ 9.99194879e-01 -3.72788594e-02 -1.48283731e-02 2.49378326e+02] [ 3.72807308e-02 9.99304821e-01 -1.50295652e-04 2.47518159e+00] [ 1.48236676e-02 -4.02637942e-04 9.99890042e-01 1.64544061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.419254154 meters 0.015797597365399686 Centerline is valid? [True, True] Translation: X:249.44, Y:2.48, Z:1.65 [[ 9.99398735e-01 -3.16253731e-02 -1.42128387e-02 2.49440090e+02] [ 3.16265320e-02 9.99499746e-01 -1.43271814e-04 2.48155176e+00] [ 1.42102597e-02 -3.06317129e-04 9.99898982e-01 1.64582128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.479254154 meters 0.01606413499294179 Centerline is valid? [True, True] Translation: X:249.50, Y:2.48, Z:1.65 [[ 9.99428693e-01 -3.06363681e-02 -1.42723640e-02 2.49501522e+02] [ 3.06374473e-02 9.99530553e-01 -1.43076336e-04 2.48273561e+00] [ 1.42700472e-02 -2.94274205e-04 9.99898134e-01 1.64588115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.539254154 meters 0.01593514824198875 Centerline is valid? [True, True] Translation: X:249.56, Y:2.48, Z:1.65 [[ 9.99378651e-01 -3.19533467e-02 -1.48760066e-02 2.49563390e+02] [ 3.19546797e-02 9.99489308e-01 -1.48131821e-04 2.48441051e+00] [ 1.48731429e-02 -3.27318248e-04 9.99889335e-01 1.64555548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.599254154 meters 0.017624097455434553 Centerline is valid? [True, True] Translation: X:249.62, Y:2.48, Z:1.64 [[ 9.99212247e-01 -3.65559343e-02 -1.54450111e-02 2.49623585e+02] [ 3.65579359e-02 9.99331524e-01 -1.52820785e-04 2.48068967e+00] [ 1.54402730e-02 -4.11937326e-04 9.99880707e-01 1.64496768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.659254154 meters 0.02049035558367119 Centerline is valid? [True, True] Translation: X:249.68, Y:2.48, Z:1.65 [[ 9.98853578e-01 -4.53947678e-02 -1.51935542e-02 2.49684110e+02] [ 4.53977315e-02 9.98968980e-01 -1.49957523e-04 2.47506259e+00] [ 1.51846966e-02 -5.39967285e-04 9.99884560e-01 1.64515491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.719254154 meters 0.022892772394902297 Centerline is valid? [True, True] Translation: X:249.74, Y:2.47, Z:1.65 [[ 9.98630792e-01 -5.01156434e-02 -1.49988159e-02 2.49744446e+02] [ 5.01190657e-02 9.98743239e-01 -1.47863343e-04 2.47150953e+00] [ 1.49873763e-02 -6.04065755e-04 9.99887501e-01 1.64577228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.779254154 meters 0.02405430565822553 Centerline is valid? [True, True] Translation: X:249.81, Y:2.47, Z:1.65 [[ 9.98443944e-01 -5.33941914e-02 -1.60857338e-02 2.49805699e+02] [ 5.33985599e-02 9.98573267e-01 -1.58113122e-04 2.47069452e+00] [ 1.60712261e-02 -7.01087931e-04 9.99870604e-01 1.64661394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.839254154 meters 0.024305792711399196 Centerline is valid? [True, True] Translation: X:249.87, Y:2.47, Z:1.65 [[ 9.98513773e-01 -5.19216078e-02 -1.65647909e-02 2.49868404e+02] [ 5.19260590e-02 9.98650919e-01 -1.61562047e-04 2.47297788e+00] [ 1.65508323e-02 -6.98822383e-04 9.99862781e-01 1.64742013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.899254154 meters 0.022497179700641953 Centerline is valid? [True, True] Translation: X:249.93, Y:2.48, Z:1.65 [[ 9.98628290e-01 -5.00038261e-02 -1.55291643e-02 2.49929687e+02] [ 5.00075216e-02 9.98748830e-01 -1.50493401e-04 2.47599180e+00] [ 1.55172599e-02 -6.26288052e-04 9.99879404e-01 1.64915333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.959254154 meters 0.019766365707217265 Centerline is valid? [True, True] Translation: X:249.99, Y:2.48, Z:1.65 [[ 9.98834234e-01 -4.50603485e-02 -1.73129361e-02 2.49989948e+02] [ 4.50642050e-02 9.98984079e-01 -1.67506986e-04 2.48321675e+00] [ 1.73028954e-02 -6.12881989e-04 9.99850106e-01 1.64951066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.019254154 meters 0.020327261481265686 Centerline is valid? [True, True] Translation: X:250.05, Y:2.48, Z:1.65 [[ 9.98958196e-01 -4.14854587e-02 -1.90125939e-02 2.50050795e+02] [ 4.14894716e-02 9.99138924e-01 -1.83501891e-04 2.48428056e+00] [ 1.90038353e-02 -6.05511757e-04 9.99819227e-01 1.64795060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.079254154 meters 0.017842910036706038 Centerline is valid? [True, True] Translation: X:250.11, Y:2.49, Z:1.65 [[ 9.99088282e-01 -3.69802013e-02 -2.13323566e-02 2.50112603e+02] [ 3.69842502e-02 9.99315828e-01 -2.04830109e-04 2.49162655e+00] [ 2.13253362e-02 -5.84317851e-04 9.99772418e-01 1.64815892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.139254154 meters 0.016689947592601152 Centerline is valid? [True, True] Translation: X:250.17, Y:2.50, Z:1.65 [[ 9.99147641e-01 -3.39319389e-02 -2.35077795e-02 2.50173599e+02] [ 3.39360369e-02 9.99423982e-01 -2.24702482e-04 2.49749307e+00] [ 2.35018631e-02 -5.73249917e-04 9.99723629e-01 1.64893575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.199254154 meters 0.01777308809961861 Centerline is valid? [True, True] Translation: X:250.23, Y:2.50, Z:1.65 [[ 9.99162419e-01 -3.20980913e-02 -2.53805613e-02 2.50233931e+02] [ 3.21022842e-02 9.99484559e-01 -2.42337089e-04 2.50027414e+00] [ 2.53752576e-02 -5.72639879e-04 9.99677832e-01 1.64848096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.259254154 meters 0.01674299921803635 Centerline is valid? [True, True] Translation: X:250.29, Y:2.50, Z:1.65 [[ 9.99181767e-01 -3.21362615e-02 -2.45572306e-02 2.50292489e+02] [ 3.21400867e-02 9.99483345e-01 -2.39014141e-04 2.50322777e+00] [ 2.45522240e-02 -5.50452947e-04 9.99698397e-01 1.65023541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.319254154 meters 0.016949577816575214 Centerline is valid? [True, True] Translation: X:250.35, Y:2.51, Z:1.65 [[ 9.99193448e-01 -3.31157007e-02 -2.27112986e-02 2.50351685e+02] [ 3.31191035e-02 9.99451386e-01 -2.26397596e-04 2.50544146e+00] [ 2.27063362e-02 -5.25962855e-04 9.99742040e-01 1.65209444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.379254154 meters 0.01860403887706227 Centerline is valid? [True, True] Translation: X:250.41, Y:2.50, Z:1.65 [[ 9.99075670e-01 -3.81681335e-02 -1.97736926e-02 2.50411752e+02] [ 3.81716693e-02 9.99271176e-01 -1.98724945e-04 2.50430009e+00] [ 1.97668661e-02 -5.56253600e-04 9.99804462e-01 1.65440481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.439254154 meters 0.020579604496681992 Centerline is valid? [True, True] Translation: X:250.47, Y:2.50, Z:1.65 [[ 9.98886827e-01 -4.36043018e-02 -1.79936537e-02 2.50473276e+02] [ 4.36081156e-02 9.99048697e-01 -1.80543732e-04 2.50147297e+00] [ 1.79844087e-02 -6.04326574e-04 9.99838085e-01 1.65497972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.499254154 meters 0.02539619045962904 Centerline is valid? [True, True] Translation: X:250.53, Y:2.49, Z:1.66 [[ 9.98480673e-01 -5.24411141e-02 -1.69196684e-02 2.50532504e+02] [ 5.24457506e-02 9.98623760e-01 -1.69871855e-04 2.49480086e+00] [ 1.69052912e-02 -7.17750946e-04 9.99856838e-01 1.65557071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.559254154 meters 0.02518061622334838 Centerline is valid? [True, True] Translation: X:250.59, Y:2.50, Z:1.66 [[ 9.98128175e-01 -5.87896589e-02 -1.68499844e-02 2.50593197e+02] [ 5.87951566e-02 9.98270054e-01 -1.69352816e-04 2.49615439e+00] [ 1.68307910e-02 -8.21661653e-04 9.99858015e-01 1.65645077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.619254154 meters 0.024751688752185894 Centerline is valid? [True, True] Translation: X:250.65, Y:2.50, Z:1.66 [[ 9.97975412e-01 -6.14010062e-02 -1.65829574e-02 2.50654440e+02] [ 6.14066971e-02 9.98112814e-01 -1.66277701e-04 2.49761709e+00] [ 1.65618719e-02 -8.52363583e-04 9.99862479e-01 1.65694741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.679254154 meters 0.02534475054944221 Centerline is valid? [True, True] Translation: X:250.72, Y:2.50, Z:1.66 [[ 9.98018079e-01 -6.09456409e-02 -1.56697891e-02 2.50716700e+02] [ 6.09506802e-02 9.98140767e-01 -1.56219847e-04 2.49796764e+00] [ 1.56501762e-02 -7.99174070e-04 9.99877209e-01 1.65651603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.739254154 meters 0.02423473420264752 Centerline is valid? [True, True] Translation: X:250.78, Y:2.50, Z:1.66 [[ 9.98251705e-01 -5.71283617e-02 -1.51619428e-02 2.50776997e+02] [ 5.71326476e-02 9.98366585e-01 -1.50675198e-04 2.50195428e+00] [ 1.51457849e-02 -7.15830162e-04 9.99885040e-01 1.65737952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.799254154 meters 0.02108589112379874 Centerline is valid? [True, True] Translation: X:250.84, Y:2.51, Z:1.66 [[ 9.98783569e-01 -4.73176568e-02 -1.38716266e-02 2.50837373e+02] [ 4.73202991e-02 9.98879758e-01 -1.37863507e-04 2.51130007e+00] [ 1.38626104e-02 -5.18713715e-04 9.99903775e-01 1.65842906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.859254154 meters 0.01817248252904018 Centerline is valid? [True, True] Translation: X:250.90, Y:2.52, Z:1.66 [[ 9.99129282e-01 -3.97351457e-02 -1.27199360e-02 2.50897623e+02] [ 3.97367540e-02 9.99210175e-01 -1.26374851e-04 2.51900762e+00] [ 1.27149110e-02 -3.79184154e-04 9.99919090e-01 1.65953390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.919254154 meters 0.01628391177700547 Centerline is valid? [True, True] Translation: X:250.96, Y:2.52, Z:1.66 [[ 9.99404421e-01 -3.23086368e-02 -1.21224869e-02 2.50958856e+02] [ 3.23095536e-02 9.99477903e-01 -1.20258136e-04 2.52459991e+00] [ 1.21200431e-02 -2.71485627e-04 9.99926513e-01 1.65943745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.979254154 meters 0.014389806328057548 Centerline is valid? [True, True] Translation: X:251.02, Y:2.53, Z:1.66 [[ 9.99683744e-01 -2.19787331e-02 -1.22208000e-02 2.51018633e+02] [ 2.19788950e-02 9.99758428e-01 -1.21076531e-04 2.53320228e+00] [ 1.22205089e-02 -1.47561441e-04 9.99925316e-01 1.65873614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.039254154 meters 0.013474160337758487 Centerline is valid? [True, True] Translation: X:251.08, Y:2.54, Z:1.66 [[ 9.99825312e-01 -1.32326456e-02 -1.32000816e-02 2.51080265e+02] [ 1.32320753e-02 9.99912444e-01 -1.30543286e-04 2.54133240e+00] [ 1.32006533e-02 -4.41439919e-05 9.99912867e-01 1.65768441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.099254154 meters 0.013437124432587455 Centerline is valid? [True, True] Translation: X:251.14, Y:2.55, Z:1.66 [[ 9.99878396e-01 -7.67942993e-03 -1.35727381e-02 2.51139613e+02] [ 7.67831530e-03 9.99970512e-01 -1.34231349e-04 2.54563649e+00] [ 1.35733687e-02 2.99992633e-05 9.99907877e-01 1.65729168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.159254154 meters 0.013351459558128432 Centerline is valid? [True, True] Translation: X:251.20, Y:2.55, Z:1.66 [[ 9.99896567e-01 -6.90500842e-03 -1.26165251e-02 2.51197366e+02] [ 6.90395879e-03 9.99976159e-01 -1.26746853e-04 2.54700887e+00] [ 1.26170995e-02 3.96297737e-05 9.99920400e-01 1.65805119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219254154 meters 0.013394440897616357 Centerline is valid? [True, True] Translation: X:251.26, Y:2.55, Z:1.66 [[ 9.99891836e-01 -8.37319121e-03 -1.20915896e-02 2.51255377e+02] [ 8.37230563e-03 9.99964944e-01 -1.23857500e-04 2.54667810e+00] [ 1.20922028e-02 2.26096195e-05 9.99926886e-01 1.65893221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279254154 meters 0.013323643228818889 Centerline is valid? [True, True] Translation: X:251.31, Y:2.54, Z:1.66 [[ 9.99848845e-01 -1.40445005e-02 -1.02488294e-02 2.51313945e+02] [ 1.40441542e-02 9.99901370e-01 -1.05758781e-04 2.54222482e+00] [ 1.02493038e-02 -3.81933443e-05 9.99947474e-01 1.66118882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339254154 meters 0.013527983501487406 Centerline is valid? [True, True] Translation: X:251.37, Y:2.54, Z:1.66 [[ 9.99822027e-01 -1.63387295e-02 -9.43182770e-03 2.51374468e+02] [ 1.63385340e-02 9.99866512e-01 -9.77866947e-05 2.54075139e+00] [ 9.43216638e-03 -5.63329464e-05 9.99955515e-01 1.66208689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399254154 meters 0.01400263337120899 Centerline is valid? [True, True] Translation: X:251.44, Y:2.54, Z:1.66 [[ 9.99735600e-01 -2.15455309e-02 -8.03241510e-03 2.51436270e+02] [ 2.15455597e-02 9.99767864e-01 -8.29613755e-05 2.53633378e+00] [ 8.03233794e-03 -9.01234385e-05 9.99967736e-01 1.66399200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459254154 meters 0.015014614750084105 Centerline is valid? [True, True] Translation: X:251.50, Y:2.53, Z:1.67 [[ 9.99604930e-01 -2.71656067e-02 -7.21205006e-03 2.51498143e+02] [ 2.71657868e-02 9.99630939e-01 -7.30168910e-05 2.53140050e+00] [ 7.21137193e-03 -1.22932970e-04 9.99973990e-01 1.66523679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519254154 meters 0.01702297647795346 Centerline is valid? [True, True] Translation: X:251.56, Y:2.52, Z:1.66 [[ 9.99330259e-01 -3.56346875e-02 -8.31882167e-03 2.51559171e+02] [ 3.56352244e-02 9.99364860e-01 -8.37221317e-05 2.52354200e+00] [ 8.31652147e-03 -2.12777018e-04 9.99965395e-01 1.66470213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579254154 meters 0.018498748433055965 Centerline is valid? [True, True] Translation: X:251.62, Y:2.52, Z:1.66 [[ 9.99001239e-01 -4.32823593e-02 -1.10978253e-02 2.51620243e+02] [ 4.32837916e-02 9.99062811e-01 -1.11206788e-04 2.51725444e+00] [ 1.10922378e-02 -3.69260239e-04 9.99938411e-01 1.66267367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.639254154 meters 0.019788209255951032 Centerline is valid? [True, True] Translation: X:251.68, Y:2.51, Z:1.66 [[ 9.98778556e-01 -4.79094099e-02 -1.20865555e-02 2.51681844e+02] [ 4.79114511e-02 9.98851580e-01 -1.20777804e-04 2.51434086e+00] [ 1.20784615e-02 -4.58454134e-04 9.99926948e-01 1.66191395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699254154 meters 0.02239947224425985 Centerline is valid? [True, True] Translation: X:251.74, Y:2.51, Z:1.66 [[ 9.98433027e-01 -5.43723539e-02 -1.32339609e-02 2.51742624e+02] [ 5.43753717e-02 9.98520556e-01 -1.31943500e-04 2.50898143e+00] [ 1.32215561e-02 -5.87864796e-04 9.99912419e-01 1.66148646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759254154 meters 0.026462113046938355 Centerline is valid? [True, True] Translation: X:251.80, Y:2.50, Z:1.66 [[ 9.98198354e-01 -5.85305628e-02 -1.31992366e-02 2.51802318e+02] [ 5.85339340e-02 9.98285411e-01 -1.31099303e-04 2.50178975e+00] [ 1.31842786e-02 -6.41740134e-04 9.99912878e-01 1.66119316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819254154 meters 0.03236239639191174 Centerline is valid? [True, True] Translation: X:251.86, Y:2.49, Z:1.66 [[ 9.97860417e-01 -6.39625076e-02 -1.35419847e-02 2.51861638e+02] [ 6.39665629e-02 9.97952033e-01 -1.33906155e-04 2.49277688e+00] [ 1.35228161e-02 -7.32614563e-04 9.99908294e-01 1.66088686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879254154 meters 0.02583417432426663 Centerline is valid? [True, True] Translation: X:251.92, Y:2.50, Z:1.66 [[ 9.97734303e-01 -6.57367734e-02 -1.43155984e-02 2.51923762e+02] [ 6.57414971e-02 9.97836678e-01 -1.40880443e-04 2.50192417e+00] [ 1.42938902e-02 -8.00567623e-04 9.99897517e-01 1.66293322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939254154 meters 0.027282964078839476 Centerline is valid? [True, True] Translation: X:251.99, Y:2.50, Z:1.66 [[ 9.97675502e-01 -6.63071440e-02 -1.57148132e-02 2.51985886e+02] [ 6.63129262e-02 9.97798864e-01 -1.53420299e-04 2.50001852e+00] [ 1.56903956e-02 -8.89031576e-04 9.99876503e-01 1.66331041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999254154 meters 0.02704090294497432 Centerline is valid? [True, True] Translation: X:252.05, Y:2.50, Z:1.66 [[ 9.97707836e-01 -6.55152324e-02 -1.69359866e-02 2.52048558e+02] [ 6.55218599e-02 9.97851121e-01 -1.63851193e-04 2.50000560e+00] [ 1.69103280e-02 -9.46201723e-04 9.99856562e-01 1.66329063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059254154 meters 0.02622169411321019 Centerline is valid? [True, True] Translation: X:252.11, Y:2.50, Z:1.66 [[ 9.97830603e-01 -6.22769490e-02 -2.13464231e-02 2.52110085e+02] [ 6.22867688e-02 9.98058273e-01 -2.05190289e-04 2.50155421e+00] [ 2.13177528e-02 -1.12485457e-03 9.99772118e-01 1.66222142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119254154 meters 0.024326171582614596 Centerline is valid? [True, True] Translation: X:252.17, Y:2.51, Z:1.66 [[ 9.98051591e-01 -5.76459192e-02 -2.38740203e-02 2.52170818e+02] [ 5.76568959e-02 9.98336431e-01 -2.28891803e-04 2.50527209e+00] [ 2.38474989e-02 -1.14805607e-03 9.99714949e-01 1.66146862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179254154 meters 0.020664002274228304 Centerline is valid? [True, True] Translation: X:252.23, Y:2.51, Z:1.66 [[ 9.98585243e-01 -4.68046390e-02 -2.52356550e-02 2.52231322e+02] [ 4.68134498e-02 9.98903620e-01 -2.41848445e-04 2.51239047e+00] [ 2.52193068e-02 -9.39861783e-04 9.99681501e-01 1.66139168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239254154 meters 0.015910745601857918 Centerline is valid? [True, True] Translation: X:252.29, Y:2.52, Z:1.66 [[ 9.99168503e-01 -3.21316212e-02 -2.50970400e-02 2.52291398e+02] [ 3.21357081e-02 9.99483486e-01 -2.40562423e-04 2.52385324e+00] [ 2.50918067e-02 -5.66148756e-04 9.99684991e-01 1.66455453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299254154 meters 0.014423601693712975 Centerline is valid? [True, True] Translation: X:252.35, Y:2.53, Z:1.67 [[ 9.99446861e-01 -2.20829695e-02 -2.48659172e-02 2.52349855e+02] [ 2.20838470e-02 9.99756093e-01 -2.39351136e-04 2.53023179e+00] [ 2.48651379e-02 -3.09916371e-04 9.99690767e-01 1.66559330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359254154 meters 0.013503935408075268 Centerline is valid? [True, True] Translation: X:252.41, Y:2.54, Z:1.67 [[ 9.99610553e-01 -1.31979559e-02 -2.45877115e-02 2.52408924e+02] [ 1.31960156e-02 9.99912900e-01 -2.41171776e-04 2.53611891e+00] [ 2.45887529e-02 -8.33819735e-05 9.99697647e-01 1.66621935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419254154 meters 0.013308390940022277 Centerline is valid? [True, True] Translation: X:252.47, Y:2.54, Z:1.67 [[ 9.99695030e-01 -5.21525808e-03 -2.41380987e-02 2.52466928e+02] [ 5.21090111e-03 9.99986394e-01 -2.43398451e-04 2.53839280e+00] [ 2.41390397e-02 1.17542976e-04 9.99708604e-01 1.66774997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479254154 meters 0.013334692847859809 Centerline is valid? [True, True] Translation: X:252.53, Y:2.54, Z:1.67 [[ 9.99672862e-01 -5.13741696e-03 -2.50554562e-02 2.52525490e+02] [ 5.13252810e-03 9.99986795e-01 -2.59427301e-04 2.53572406e+00] [ 2.50564581e-02 1.30744599e-04 9.99686029e-01 1.66755210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539254154 meters 0.013118738600267596 Centerline is valid? [True, True] Translation: X:252.58, Y:2.53, Z:1.67 [[ 9.99589732e-01 -1.16730210e-02 -2.61554597e-02 2.52584580e+02] [ 1.16698458e-02 9.99931867e-01 -2.74038971e-04 2.52692200e+00] [ 2.61568765e-02 -3.13036396e-05 9.99657850e-01 1.66613368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599254154 meters 0.013388579974372386 Centerline is valid? [True, True] Translation: X:252.64, Y:2.52, Z:1.67 [[ 9.99467352e-01 -1.85980710e-02 -2.68164737e-02 2.52643077e+02] [ 1.85971720e-02 9.99827018e-01 -2.82947675e-04 2.51947851e+00] [ 2.68170972e-02 -2.15913609e-04 9.99640334e-01 1.66693329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659254154 meters 0.014793225033692506 Centerline is valid? [True, True] Translation: X:252.70, Y:2.51, Z:1.67 [[ 9.99255104e-01 -2.78433289e-02 -2.67205156e-02 2.52702977e+02] [ 2.78457071e-02 9.99612193e-01 -2.83155425e-04 2.50738587e+00] [ 2.67180372e-02 -4.61107148e-04 9.99642903e-01 1.66764730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719254154 meters 0.015306979125589136 Centerline is valid? [True, True] Translation: X:252.76, Y:2.50, Z:1.67 [[ 9.99122872e-01 -3.18947255e-02 -2.71332661e-02 2.52762125e+02] [ 3.18985215e-02 9.99491070e-01 -2.93033744e-04 2.50358989e+00] [ 2.71288034e-02 -5.72734356e-04 9.99631782e-01 1.66947144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779254154 meters 0.015383750842996367 Centerline is valid? [True, True] Translation: X:252.82, Y:2.50, Z:1.67 [[ 9.99092381e-01 -3.32605840e-02 -2.66110342e-02 2.52820541e+02] [ 3.32645368e-02 9.99446539e-01 -2.94246193e-04 2.50034752e+00] [ 2.66060928e-02 -5.91224598e-04 9.99645820e-01 1.67139569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839254154 meters 0.014993803260586788 Centerline is valid? [True, True] Translation: X:252.88, Y:2.50, Z:1.67 [[ 9.99159480e-01 -3.21788264e-02 -2.53940443e-02 2.52879060e+02] [ 3.21819116e-02 9.99481987e-01 -2.87282211e-04 2.49962311e+00] [ 2.53901342e-02 -5.30188145e-04 9.99677478e-01 1.67300741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899254154 meters 0.0143299757889903 Centerline is valid? [True, True] Translation: X:252.94, Y:2.50, Z:1.67 [[ 9.99327219e-01 -2.82627015e-02 -2.33736994e-02 2.52936618e+02] [ 2.82641553e-02 9.99600453e-01 -2.68229197e-04 2.49880507e+00] [ 2.33719414e-02 -3.92589132e-04 9.99726762e-01 1.67418372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959254154 meters 0.013760351643135726 Centerline is valid? [True, True] Translation: X:253.00, Y:2.50, Z:1.67 [[ 9.99431751e-01 -2.36126361e-02 -2.40545062e-02 2.52995357e+02] [ 2.36127025e-02 9.99721142e-01 -2.81319202e-04 2.50052830e+00] [ 2.40544411e-02 -2.86832555e-04 9.99710609e-01 1.67383193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019254154 meters 0.01308590102129338 Centerline is valid? [True, True] Translation: X:253.05, Y:2.50, Z:1.67 [[ 9.99494677e-01 -1.96347397e-02 -2.49973515e-02 2.53054387e+02] [ 1.96334079e-02 9.99807201e-01 -2.98730224e-04 2.50246861e+00] [ 2.49983975e-02 -1.92203930e-04 9.99687473e-01 1.67376629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079254154 meters 0.012862977254010909 Centerline is valid? [True, True] Translation: X:253.11, Y:2.50, Z:1.67 [[ 9.99570761e-01 -1.44791471e-02 -2.54685857e-02 2.53112712e+02] [ 1.44759273e-02 9.99895170e-01 -3.10797737e-04 2.50413970e+00] [ 2.54704159e-02 -5.80170643e-05 9.99675575e-01 1.67337835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.139254154 meters 0.012938075532871886 Centerline is valid? [True, True] Translation: X:253.17, Y:2.51, Z:1.67 [[ 9.99657162e-01 -6.97600202e-03 -2.52367416e-02 2.53170980e+02] [ 6.97028728e-03 9.99975658e-01 -3.14407229e-04 2.50700058e+00] [ 2.52383206e-02 1.38392099e-04 9.99681453e-01 1.67440203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199254154 meters 0.013035303057918475 Centerline is valid? [True, True] Translation: X:253.23, Y:2.51, Z:1.68 [[ 9.99679148e-01 -4.64228263e-03 -2.49007887e-02 2.53230083e+02] [ 4.63583674e-03 9.99989204e-01 -3.16584062e-04 2.50835784e+00] [ 2.49019896e-02 2.01046494e-04 9.99689877e-01 1.67529208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259254154 meters 0.01299710078362353 Centerline is valid? [True, True] Translation: X:253.29, Y:2.51, Z:1.67 [[ 9.99688771e-01 -5.30665343e-03 -2.43762259e-02 2.53288345e+02] [ 5.30059409e-03 9.99985903e-01 -3.13183517e-04 2.50684699e+00] [ 2.43775442e-02 1.83877566e-04 9.99702807e-01 1.67461573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319254154 meters 0.012615896640561477 Centerline is valid? [True, True] Translation: X:253.35, Y:2.50, Z:1.68 [[ 9.99667428e-01 -9.05817476e-03 -2.41450272e-02 2.53347517e+02] [ 9.05327896e-03 9.99958970e-01 -3.12072704e-04 2.50307205e+00] [ 2.41468633e-02 9.33772513e-05 9.99708418e-01 1.67545611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379254154 meters 0.012517648039208103 Centerline is valid? [True, True] Translation: X:253.41, Y:2.50, Z:1.68 [[ 9.99589379e-01 -1.80710026e-02 -2.22376306e-02 2.53405461e+02] [ 1.80690272e-02 9.99836700e-01 -2.89775411e-04 2.49563245e+00] [ 2.22392357e-02 -1.12155930e-04 9.99752671e-01 1.67614406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439254154 meters 0.012719211944746373 Centerline is valid? [True, True] Translation: X:253.46, Y:2.49, Z:1.68 [[ 9.99492411e-01 -2.37202843e-02 -2.12666130e-02 2.53464209e+02] [ 2.37197165e-02 9.99718609e-01 -2.78983875e-04 2.49121366e+00] [ 2.12672464e-02 -2.25595766e-04 9.99773801e-01 1.67855501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499254154 meters 0.013695012478721956 Centerline is valid? [True, True] Translation: X:253.52, Y:2.49, Z:1.68 [[ 9.99400916e-01 -2.79460273e-02 -2.04163588e-02 2.53522453e+02] [ 2.79463502e-02 9.99609388e-01 -2.69548473e-04 2.48524974e+00] [ 2.04159168e-02 -3.01175722e-04 9.99791528e-01 1.67858557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559254154 meters 0.013609677121284698 Centerline is valid? [True, True] Translation: X:253.58, Y:2.48, Z:1.68 [[ 9.99448872e-01 -2.71189838e-02 -1.91445240e-02 2.53581639e+02] [ 2.71190460e-02 9.99632178e-01 -2.56415819e-04 2.48460176e+00] [ 1.91444359e-02 -2.62906724e-04 9.99816694e-01 1.67943876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619254154 meters 0.012115953938433652 Centerline is valid? [True, True] Translation: X:253.64, Y:2.49, Z:1.68 [[ 9.99641840e-01 -2.06668555e-02 -1.70021681e-02 2.53641212e+02] [ 2.06659395e-02 9.99786410e-01 -2.29588699e-04 2.48652035e+00] [ 1.70032815e-02 -1.21859308e-04 9.99855426e-01 1.68297335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679254154 meters 0.011913229478825333 Centerline is valid? [True, True] Translation: X:253.70, Y:2.49, Z:1.68 [[ 9.99802392e-01 -1.25088890e-02 -1.54500418e-02 2.53699960e+02] [ 1.25071196e-02 9.99921761e-01 -2.11142101e-04 2.48853142e+00] [ 1.54514742e-02 1.78648561e-05 9.99880619e-01 1.68429950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739254154 meters 0.012230359329128871 Centerline is valid? [True, True] Translation: X:253.76, Y:2.49, Z:1.68 [[ 9.99857077e-01 -7.27864739e-03 -1.52593342e-02 2.53758666e+02] [ 7.27625222e-03 9.99973505e-01 -2.12477818e-04 2.49022285e+00] [ 1.52604765e-02 1.01416685e-04 9.99883547e-01 1.68451932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799254154 meters 0.01258298854350393 Centerline is valid? [True, True] Translation: X:253.82, Y:2.49, Z:1.68 [[ 9.99867207e-01 -3.42589065e-03 -1.59321187e-02 2.53817500e+02] [ 3.42272375e-03 9.99994117e-01 -2.26038015e-04 2.49028661e+00] [ 1.59327993e-02 1.71476757e-04 9.99873050e-01 1.68405740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859254154 meters 0.012951128704467213 Centerline is valid? [True, True] Translation: X:253.88, Y:2.49, Z:1.68 [[ 9.99851996e-01 -1.07542380e-03 -1.71706178e-02 2.53876116e+02] [ 1.07131982e-03 9.99999395e-01 -2.48208465e-04 2.48575228e+00] [ 1.71708743e-02 2.29776506e-04 9.99852543e-01 1.68312193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919254154 meters 0.012935971960095145 Centerline is valid? [True, True] Translation: X:253.94, Y:2.48, Z:1.68 [[ 9.99815445e-01 -3.26652211e-03 -1.89316127e-02 2.53935471e+02] [ 3.26187205e-03 9.99994642e-01 -2.76498317e-04 2.47895578e+00] [ 1.89324145e-02 2.14694790e-04 9.99820743e-01 1.68247397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979254154 meters 0.0126624558334926 Centerline is valid? [True, True] Translation: X:253.99, Y:2.47, Z:1.68 [[ 9.99786041e-01 -6.07007087e-03 -1.97744077e-02 2.53994208e+02] [ 6.06551641e-03 9.99981562e-01 -2.90290509e-04 2.47331254e+00] [ 1.97758052e-02 1.70286404e-04 9.99804425e-01 1.68268554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039254154 meters 0.012349014679128374 Centerline is valid? [True, True] Translation: X:254.05, Y:2.46, Z:1.68 [[ 9.99731680e-01 -1.18004425e-02 -1.99328242e-02 2.54052888e+02] [ 1.17969243e-02 9.99930371e-01 -2.94078792e-04 2.46293931e+00] [ 1.99349066e-02 5.88538657e-05 9.99801278e-01 1.68319409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099254154 meters 0.012396329012012654 Centerline is valid? [True, True] Translation: X:254.11, Y:2.45, Z:1.68 [[ 9.99663278e-01 -1.74493071e-02 -1.92055366e-02 2.54111504e+02] [ 1.74470567e-02 9.99847748e-01 -2.84736182e-04 2.45478904e+00] [ 1.92075810e-02 -5.04397810e-05 9.99815516e-01 1.68444753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159254154 meters 0.013116712491589542 Centerline is valid? [True, True] Translation: X:254.17, Y:2.44, Z:1.69 [[ 9.99470557e-01 -2.71286074e-02 -1.79622961e-02 2.54169112e+02] [ 2.71281713e-02 9.99631928e-01 -2.67984946e-04 2.44101070e+00] [ 1.79629547e-02 -2.19441180e-04 9.99838629e-01 1.68605904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219254154 meters 0.014054528327273746 Centerline is valid? [True, True] Translation: X:254.23, Y:2.43, Z:1.69 [[ 9.99301995e-01 -3.33553304e-02 -1.68209369e-02 2.54228111e+02] [ 3.33557743e-02 9.99443509e-01 -2.54246273e-04 2.43377079e+00] [ 1.68200566e-02 -3.07006565e-04 9.99858486e-01 1.68734493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279254154 meters 0.016192354595293137 Centerline is valid? [True, True] Translation: X:254.29, Y:2.42, Z:1.69 [[ 9.98994466e-01 -4.18652258e-02 -1.60424224e-02 2.54288266e+02] [ 4.18666966e-02 9.99123176e-01 -2.44301647e-04 2.42114854e+00] [ 1.60385838e-02 -4.27587239e-04 9.99871282e-01 1.68770004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339254154 meters 0.018680797074982176 Centerline is valid? [True, True] Translation: X:254.35, Y:2.41, Z:1.69 [[ 9.98735808e-01 -4.77013085e-02 -1.58546778e-02 2.54348058e+02] [ 4.77034850e-02 9.98861512e-01 -2.41088938e-04 2.41200845e+00] [ 1.58481276e-02 -5.15539228e-04 9.99874278e-01 1.68729642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399254154 meters 0.02037369479443062 Centerline is valid? [True, True] Translation: X:254.41, Y:2.40, Z:1.69 [[ 9.98248849e-01 -5.69365525e-02 -1.60456879e-02 2.54408794e+02] [ 5.69399787e-02 9.98377574e-01 -2.43611639e-04 2.40280206e+00] [ 1.60335254e-02 -6.70456090e-04 9.99871230e-01 1.68773668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459254154 meters 0.022789309039448622 Centerline is valid? [True, True] Translation: X:254.47, Y:2.40, Z:1.69 [[ 9.97887077e-01 -6.26231703e-02 -1.73124188e-02 2.54469887e+02] [ 6.26280139e-02 9.98036905e-01 -2.62778296e-04 2.39641066e+00] [ 1.72948889e-02 -8.22019341e-04 9.99850094e-01 1.68758867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519254154 meters 0.029097160266855753 Centerline is valid? [True, True] Translation: X:254.53, Y:2.39, Z:1.69 [[ 9.97562724e-01 -6.72825826e-02 -1.84841894e-02 2.54530180e+02] [ 6.72889033e-02 9.97733494e-01 -2.80488730e-04 2.38540186e+00] [ 1.84611669e-02 -9.63975733e-04 9.99829113e-01 1.68588363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579254154 meters 0.02703420301216731 Centerline is valid? [True, True] Translation: X:254.59, Y:2.39, Z:1.69 [[ 9.97259654e-01 -7.11683905e-02 -2.02050087e-02 2.54590638e+02] [ 7.11767398e-02 9.97463672e-01 -3.06517872e-04 2.38786888e+00] [ 2.01755766e-02 -1.13244874e-03 9.99795811e-01 1.68731755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.639254154 meters 0.026489837440433713 Centerline is valid? [True, True] Translation: X:254.65, Y:2.39, Z:1.69 [[ 9.97243939e-01 -7.11819264e-02 -2.09202897e-02 2.54651118e+02] [ 7.11908811e-02 9.97462660e-01 -3.17340828e-04 2.39016813e+00] [ 2.08897967e-02 -1.17286764e-03 9.99781096e-01 1.68793193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699254154 meters 0.025738211988005917 Centerline is valid? [True, True] Translation: X:254.71, Y:2.39, Z:1.69 [[ 9.97351970e-01 -6.94769239e-02 -2.14943233e-02 2.54712034e+02] [ 6.94859814e-02 9.97582875e-01 -3.26089718e-04 2.39398174e+00] [ 2.14650245e-02 -1.16832793e-03 9.99768917e-01 1.68783445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759254154 meters 0.02786657189780499 Centerline is valid? [True, True] Translation: X:254.77, Y:2.40, Z:1.69 [[ 9.97298588e-01 -6.99444143e-02 -2.24344622e-02 2.54771821e+02] [ 6.99543929e-02 9.97550133e-01 -3.40658048e-04 2.39544991e+00] [ 2.24033279e-02 -1.22965140e-03 9.99748258e-01 1.68720182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819254154 meters 0.03037683261582909 Centerline is valid? [True, True] Translation: X:254.83, Y:2.39, Z:1.69 [[ 9.97171870e-01 -7.16829145e-02 -2.25792311e-02 2.54830719e+02] [ 7.16934668e-02 9.97426654e-01 -3.42848545e-04 2.39450240e+00] [ 2.25457033e-02 -1.27690443e-03 9.99744998e-01 1.68681904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879254154 meters 0.02646046151627657 Centerline is valid? [True, True] Translation: X:254.89, Y:2.40, Z:1.69 [[ 9.96994825e-01 -7.44443628e-02 -2.14326047e-02 2.54891528e+02] [ 7.44545129e-02 9.97224358e-01 -3.25108210e-04 2.40460664e+00] [ 2.13973179e-02 -1.27162294e-03 9.99770242e-01 1.69108149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939254154 meters 0.026477454128990344 Centerline is valid? [True, True] Translation: X:254.95, Y:2.41, Z:1.69 [[ 9.96954683e-01 -7.51290967e-02 -2.09040364e-02 2.54953133e+02] [ 7.51389158e-02 9.97173026e-01 -3.16431424e-04 2.40885993e+00] [ 2.08687144e-02 -1.25523884e-03 9.99781437e-01 1.69233676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999254154 meters 0.027258941806135993 Centerline is valid? [True, True] Translation: X:255.01, Y:2.41, Z:1.69 [[ 9.97098557e-01 -7.33456367e-02 -2.03687467e-02 2.55014362e+02] [ 7.33546038e-02 9.97305875e-01 -3.07571501e-04 2.41417741e+00] [ 2.03364297e-02 -1.18746224e-03 9.99792488e-01 1.69307840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059254154 meters 0.024174338805510474 Centerline is valid? [True, True] Translation: X:255.08, Y:2.42, Z:1.69 [[ 9.97390028e-01 -6.92466941e-02 -2.04457058e-02 2.55075107e+02] [ 6.92548806e-02 9.97598951e-01 -3.08231293e-04 2.42304145e+00] [ 2.04179586e-02 -1.10853810e-03 9.99790917e-01 1.69377048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119254154 meters 0.02256079732146658 Centerline is valid? [True, True] Translation: X:255.14, Y:2.43, Z:1.69 [[ 9.97799169e-01 -6.29210499e-02 -2.09227029e-02 2.55135975e+02] [ 6.29282378e-02 9.98018005e-01 -3.15318601e-04 2.43075851e+00] [ 2.09010744e-02 -1.00200418e-03 9.99781047e-01 1.69347838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179254154 meters 0.020047550606112248 Centerline is valid? [True, True] Translation: X:255.20, Y:2.44, Z:1.69 [[ 9.98256039e-01 -5.51277893e-02 -2.11141448e-02 2.55196293e+02] [ 5.51333687e-02 9.98478948e-01 -3.18214730e-04 2.44112260e+00] [ 2.10995716e-02 -8.46434155e-04 9.99777021e-01 1.69491191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239254154 meters 0.017158832539809148 Centerline is valid? [True, True] Translation: X:255.26, Y:2.45, Z:1.70 [[ 9.98679291e-01 -4.69475467e-02 -2.08710476e-02 2.55256798e+02] [ 4.69512143e-02 9.98897134e-01 -3.14522447e-04 2.45174491e+00] [ 2.08627956e-02 -6.65813972e-04 9.99782126e-01 1.69629416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299254154 meters 0.015194313869214543 Centerline is valid? [True, True] Translation: X:255.32, Y:2.46, Z:1.70 [[ 9.99094759e-01 -3.74102599e-02 -2.02518093e-02 2.55316092e+02] [ 3.74117491e-02 9.99299889e-01 -3.05462356e-04 2.46250402e+00] [ 2.02490582e-02 -4.52469770e-04 9.99794864e-01 1.69676383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359254154 meters 0.014408534896601998 Centerline is valid? [True, True] Translation: X:255.38, Y:2.47, Z:1.70 [[ 9.99227666e-01 -3.38316127e-02 -1.99873362e-02 2.55375773e+02] [ 3.38323352e-02 9.99427477e-01 -3.02089250e-04 2.46819389e+00] [ 1.99861131e-02 -3.74362320e-04 9.99800188e-01 1.69683336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419254154 meters 0.014514291243097758 Centerline is valid? [True, True] Translation: X:255.43, Y:2.47, Z:1.70 [[ 9.99242117e-01 -3.34250085e-02 -1.99489675e-02 2.55434613e+02] [ 3.34255767e-02 9.99441163e-01 -3.05043605e-04 2.47190720e+00] [ 1.99480154e-02 -3.61993327e-04 9.99800953e-01 1.69700911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479254154 meters 0.01556533636550515 Centerline is valid? [True, True] Translation: X:255.49, Y:2.47, Z:1.70 [[ 9.99186240e-01 -3.55248501e-02 -1.91008398e-02 2.55493313e+02] [ 3.55257116e-02 9.99368719e-01 -2.94322982e-04 2.47101675e+00] [ 1.90992376e-02 -3.84487453e-04 9.99817519e-01 1.69737464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539254154 meters 0.015779445922791874 Centerline is valid? [True, True] Translation: X:255.55, Y:2.47, Z:1.70 [[ 9.98995972e-01 -4.09577984e-02 -1.81522938e-02 2.55553246e+02] [ 4.09594626e-02 9.99160770e-01 -2.80250543e-04 2.47179356e+00] [ 1.81485383e-02 -4.63539036e-04 9.99835194e-01 1.70010812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599254154 meters 0.01674323391065086 Centerline is valid? [True, True] Translation: X:255.61, Y:2.47, Z:1.70 [[ 9.98844123e-01 -4.45588234e-02 -1.80258132e-02 2.55614122e+02] [ 4.45610519e-02 9.99006624e-01 -2.78211260e-04 2.47100514e+00] [ 1.80203036e-02 -5.25359517e-04 9.99837483e-01 1.70012162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659254154 meters 0.01827073914311653 Centerline is valid? [True, True] Translation: X:255.68, Y:2.47, Z:1.70 [[ 9.98666544e-01 -4.87262066e-02 -1.70555104e-02 2.55675038e+02] [ 4.87288138e-02 9.98812011e-01 -2.62928268e-04 2.46949957e+00] [ 1.70480602e-02 -5.68517127e-04 9.99854510e-01 1.69974297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719254154 meters 0.01921354213639261 Centerline is valid? [True, True] Translation: X:255.74, Y:2.47, Z:1.70 [[ 9.98648936e-01 -4.94799352e-02 -1.58757093e-02 2.55737299e+02] [ 4.94823015e-02 9.98774971e-01 -2.43958173e-04 2.46825619e+00] [ 1.58683321e-02 -5.41938064e-04 9.99873943e-01 1.69968666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779254154 meters 0.01754960725387054 Centerline is valid? [True, True] Translation: X:255.80, Y:2.47, Z:1.70 [[ 9.98773419e-01 -4.73908381e-02 -1.43445291e-02 2.55799113e+02] [ 4.73925671e-02 9.98876317e-01 -2.19559578e-04 2.47183084e+00] [ 1.43388155e-02 -4.60533790e-04 9.99897088e-01 1.70089331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839254154 meters 0.016840124617544295 Centerline is valid? [True, True] Translation: X:255.86, Y:2.48, Z:1.70 [[ 9.99062869e-01 -4.10067518e-02 -1.38502504e-02 2.55858894e+02] [ 4.10077557e-02 9.99158806e-01 -2.11630924e-04 2.47554675e+00] [ 1.38472780e-02 -3.56535088e-04 9.99904058e-01 1.70021032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899254154 meters 0.014296109051670884 Centerline is valid? [True, True] Translation: X:255.92, Y:2.48, Z:1.70 [[ 9.99283989e-01 -3.51619485e-02 -1.39694745e-02 2.55920705e+02] [ 3.51624044e-02 9.99381589e-01 -2.13047154e-04 2.48167695e+00] [ 1.39683267e-02 -2.78305701e-04 9.99902399e-01 1.70052411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959254154 meters 0.013024523747089832 Centerline is valid? [True, True] Translation: X:255.98, Y:2.49, Z:1.70 [[ 9.99560319e-01 -2.65491794e-02 -1.32026151e-02 2.55980996e+02] [ 2.65488413e-02 9.99647497e-01 -2.00902221e-04 2.48662523e+00] [ 1.32032950e-02 -1.49700245e-04 9.99912821e-01 1.70060913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019254154 meters 0.012297204669397946 Centerline is valid? [True, True] Translation: X:256.04, Y:2.49, Z:1.70 [[ 9.99652809e-01 -2.28908066e-02 -1.30488621e-02 2.56041816e+02] [ 2.28901660e-02 9.99737966e-01 -1.98465184e-04 2.49015916e+00] [ 1.30499859e-02 -1.00294340e-04 9.99914840e-01 1.70105794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079254154 meters 0.012258528303398943 Centerline is valid? [True, True] Translation: X:256.10, Y:2.49, Z:1.70 [[ 9.99668943e-01 -2.16101001e-02 -1.39645030e-02 2.56101574e+02] [ 2.16092377e-02 9.99766471e-01 -2.12660382e-04 2.49113188e+00] [ 1.39658375e-02 -8.91722861e-05 9.99902469e-01 1.69977186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.139254154 meters 0.01261235751762617 Centerline is valid? [True, True] Translation: X:256.16, Y:2.49, Z:1.70 [[ 9.99565616e-01 -2.45135122e-02 -1.63605629e-02 2.56161205e+02] [ 2.45127066e-02 9.99699487e-01 -2.49800775e-04 2.48895042e+00] [ 1.63617698e-02 -1.51349411e-04 9.99866126e-01 1.69733224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199254154 meters 0.014053296302125812 Centerline is valid? [True, True] Translation: X:256.22, Y:2.48, Z:1.70 [[ 9.99315832e-01 -3.33567114e-02 -1.59748854e-02 2.56221191e+02] [ 3.33570634e-02 9.99443468e-01 -2.44497797e-04 2.48214145e+00] [ 1.59741506e-02 -2.88544747e-04 9.99872363e-01 1.69732349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259254154 meters 0.015511015116602214 Centerline is valid? [True, True] Translation: X:256.28, Y:2.48, Z:1.70 [[ 9.99068862e-01 -4.06487223e-02 -1.44599419e-02 2.56281289e+02] [ 4.06497684e-02 9.99173432e-01 -2.21679740e-04 2.47777355e+00] [ 1.44570007e-02 -3.66319961e-04 9.99895425e-01 1.69932160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319254154 meters 0.01872730588930651 Centerline is valid? [True, True] Translation: X:256.34, Y:2.47, Z:1.70 [[ 9.98625249e-01 -5.06864451e-02 -1.33602492e-02 2.56341650e+02] [ 5.06882339e-02 9.98714504e-01 -2.04915591e-04 2.47095116e+00] [ 1.33534611e-02 -4.72573552e-04 9.99910727e-01 1.70080158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379254154 meters 0.020720314749581213 Centerline is valid? [True, True] Translation: X:256.40, Y:2.47, Z:1.70 [[ 9.98302534e-01 -5.67072543e-02 -1.32792255e-02 2.56402498e+02] [ 5.67095550e-02 9.98390698e-01 -2.03530770e-04 2.46744288e+00] [ 1.32693969e-02 -5.49873688e-04 9.99911806e-01 1.70123769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439254154 meters 0.024775251206049384 Centerline is valid? [True, True] Translation: X:256.46, Y:2.46, Z:1.70 [[ 9.97838649e-01 -6.45128908e-02 -1.24946857e-02 2.56462097e+02] [ 6.45155453e-02 9.97916684e-01 -1.90918773e-04 2.46202081e+00] [ 1.24809721e-02 -6.15595332e-04 9.99921920e-01 1.70162362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499254154 meters 0.027774756776926035 Centerline is valid? [True, True] Translation: X:256.52, Y:2.46, Z:1.70 [[ 9.97412640e-01 -7.09874913e-02 -1.13490671e-02 2.56522803e+02] [ 7.09901049e-02 9.97477005e-01 -1.72902320e-04 2.45897356e+00] [ 1.13327073e-02 -6.33216501e-04 9.99935582e-01 1.70317414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559254154 meters 0.027253788877474153 Centerline is valid? [True, True] Translation: X:256.58, Y:2.46, Z:1.70 [[ 9.97173168e-01 -7.43153053e-02 -1.10863717e-02 2.56584163e+02] [ 7.43180062e-02 9.97234579e-01 -1.68714248e-04 2.46235480e+00] [ 1.10682513e-02 -6.55679722e-04 9.99938530e-01 1.70422546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619254154 meters 0.03179263790245996 Centerline is valid? [True, True] Translation: X:256.65, Y:2.46, Z:1.70 [[ 9.97062669e-01 -7.54213428e-02 -1.33287347e-02 2.56645045e+02] [ 7.54253609e-02 9.97151430e-01 -2.01677343e-04 2.46052042e+00] [ 1.33059776e-02 -8.04239673e-04 9.99911148e-01 1.70269926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679254154 meters 0.02699075745161044 Centerline is valid? [True, True] Translation: X:256.71, Y:2.47, Z:1.70 [[ 9.97185024e-01 -7.36514495e-02 -1.40531773e-02 2.56706096e+02] [ 7.36557581e-02 9.97283703e-01 -2.11441831e-04 2.47085621e+00] [ 1.40305777e-02 -8.24250800e-04 9.99901227e-01 1.70327752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739254154 meters 0.026126170601667244 Centerline is valid? [True, True] Translation: X:256.77, Y:2.48, Z:1.70 [[ 9.97577368e-01 -6.81821591e-02 -1.38053543e-02 2.56765941e+02] [ 6.81857965e-02 9.97672619e-01 -2.07589409e-04 2.47806726e+00] [ 1.37873778e-02 -7.34242581e-04 9.99904680e-01 1.70362074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799254154 meters 0.024552569404975886 Centerline is valid? [True, True] Translation: X:256.83, Y:2.49, Z:1.70 [[ 9.98134775e-01 -5.93646050e-02 -1.42412763e-02 2.56826240e+02] [ 5.93675780e-02 9.98236167e-01 -2.14280463e-04 2.48937861e+00] [ 1.42288778e-02 -6.31589303e-04 9.99898565e-01 1.70328726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859254154 meters 0.0225667569078973 Centerline is valid? [True, True] Translation: X:256.89, Y:2.50, Z:1.70 [[ 9.98473794e-01 -5.32861304e-02 -1.45144767e-02 2.56886676e+02] [ 5.32885787e-02 9.98579130e-01 -2.18292504e-04 2.49723573e+00] [ 1.45054855e-02 -5.55496487e-04 9.99894636e-01 1.70377663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919254154 meters 0.01858937827534137 Centerline is valid? [True, True] Translation: X:256.95, Y:2.51, Z:1.71 [[ 9.98892248e-01 -4.49726967e-02 -1.38467575e-02 2.56947529e+02] [ 4.49741300e-02 9.98988130e-01 -2.08014126e-04 2.51004314e+00] [ 1.38421014e-02 -4.14962176e-04 9.99904107e-01 1.70652610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979254154 meters 0.017386174198416853 Centerline is valid? [True, True] Translation: X:257.01, Y:2.52, Z:1.71 [[ 9.99150735e-01 -3.94257400e-02 -1.19758246e-02 2.57009212e+02] [ 3.94264188e-02 9.99222460e-01 -1.79499485e-04 2.51945440e+00] [ 1.19735898e-02 -2.92816832e-04 9.99928271e-01 1.70825923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters 0.01674907363146936 Centerline is valid? [True, True] Translation: X:257.07, Y:2.53, Z:1.71 [[ 9.99209524e-01 -3.80352918e-02 -1.15604336e-02 2.57071491e+02] [ 3.80358395e-02 9.99276361e-01 -1.72554569e-04 2.52532169e+00] [ 1.15586312e-02 -2.67292628e-04 9.99933161e-01 1.70833676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters 0.016852922156606193 Centerline is valid? [True, True] Translation: X:257.13, Y:2.53, Z:1.71 [[ 9.99215843e-01 -3.77846105e-02 -1.18330842e-02 2.57133779e+02] [ 3.77851774e-02 9.99285870e-01 -1.75730618e-04 2.52719353e+00] [ 1.18312737e-02 -2.71522367e-04 9.99929971e-01 1.70797846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters 0.01700690530178125 Centerline is valid? [True, True] Translation: X:257.20, Y:2.53, Z:1.71 [[ 9.99236140e-01 -3.70631020e-02 -1.23880140e-02 2.57195348e+02] [ 3.70636783e-02 9.99312889e-01 -1.83140300e-04 2.53207289e+00] [ 1.23862898e-02 -2.76144958e-04 9.99923249e-01 1.70721735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters 0.01745322358857197 Centerline is valid? [True, True] Translation: X:257.26, Y:2.54, Z:1.71 [[ 9.99297101e-01 -3.56655020e-02 -1.15445068e-02 2.57256945e+02] [ 3.56659172e-02 9.99363754e-01 -1.69982305e-04 2.53574465e+00] [ 1.15432242e-02 -2.41882600e-04 9.99933346e-01 1.70710566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279254154 meters 0.01700912795281083 Centerline is valid? [True, True] Translation: X:257.32, Y:2.54, Z:1.71 [[ 9.99362008e-01 -3.40079515e-02 -1.09103501e-02 2.57319130e+02] [ 3.40082317e-02 9.99421540e-01 -1.59893669e-04 2.53997031e+00] [ 1.09094765e-02 -2.11250055e-04 9.99940468e-01 1.70807302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339254154 meters 0.01606763996342234 Centerline is valid? [True, True] Translation: X:257.38, Y:2.55, Z:1.71 [[ 9.99501290e-01 -3.00369140e-02 -9.74453556e-03 2.57380780e+02] [ 3.00369546e-02 9.99548779e-01 -1.42217164e-04 2.54716551e+00] [ 9.74441039e-03 -1.50549933e-04 9.99952511e-01 1.70883161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399254154 meters 0.015985283923549545 Centerline is valid? [True, True] Translation: X:257.44, Y:2.55, Z:1.71 [[ 9.99571454e-01 -2.78343074e-02 -9.06423141e-03 2.57441708e+02] [ 2.78342563e-02 9.99612543e-01 -1.31819903e-04 2.54945870e+00] [ 9.06438852e-03 -1.20532728e-04 9.99958910e-01 1.70873762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459254154 meters 0.015450909384213219 Centerline is valid? [True, True] Translation: X:257.50, Y:2.55, Z:1.71 [[ 9.99561020e-01 -2.81828582e-02 -9.13753746e-03 2.57503999e+02] [ 2.81828258e-02 9.99602777e-01 -1.32339363e-04 2.55093944e+00] [ 9.13763752e-03 -1.25240358e-04 9.99958243e-01 1.70880733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519254154 meters 0.016217330888951883 Centerline is valid? [True, True] Translation: X:257.57, Y:2.55, Z:1.71 [[ 9.99413803e-01 -3.27054447e-02 -1.01194561e-02 2.57566630e+02] [ 3.27056449e-02 9.99465017e-01 -1.45747920e-04 2.54768337e+00] [ 1.01188091e-02 -1.85300855e-04 9.99948786e-01 1.70857708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579254154 meters 0.0173642571260393 Centerline is valid? [True, True] Translation: X:257.63, Y:2.55, Z:1.71 [[ 9.99300046e-01 -3.56409953e-02 -1.13638575e-02 2.57628738e+02] [ 3.56414478e-02 9.99364629e-01 -1.62762076e-04 2.54603690e+00] [ 1.13624383e-02 -2.42376184e-04 9.99935416e-01 1.70846373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639254154 meters 0.017614953418427098 Centerline is valid? [True, True] Translation: X:257.69, Y:2.55, Z:1.71 [[ 9.99218061e-01 -3.75808706e-02 -1.22859601e-02 2.57690900e+02] [ 3.75815578e-02 9.99293548e-01 -1.75014223e-04 2.54506367e+00] [ 1.22838578e-02 -2.86848146e-04 9.99924509e-01 1.70813187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699254154 meters 0.017665668214310815 Centerline is valid? [True, True] Translation: X:257.75, Y:2.54, Z:1.71 [[ 9.99252736e-01 -3.63672855e-02 -1.30916426e-02 2.57751866e+02] [ 3.63679794e-02 9.99338449e-01 -1.85138945e-04 2.54383252e+00] [ 1.30897148e-02 -2.91115991e-04 9.99914284e-01 1.70778744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759254154 meters 0.016127054870904513 Centerline is valid? [True, True] Translation: X:257.81, Y:2.55, Z:1.71 [[ 9.99481046e-01 -2.98878546e-02 -1.20147681e-02 2.57813612e+02] [ 2.98879840e-02 9.99553240e-01 -1.68826975e-04 2.54722647e+00] [ 1.20144463e-02 -1.90357835e-04 9.99927806e-01 1.70893623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819254154 meters 0.015452414203623612 Centerline is valid? [True, True] Translation: X:257.87, Y:2.55, Z:1.71 [[ 9.99652411e-01 -2.39531768e-02 -1.10137084e-02 2.57874895e+02] [ 2.39529309e-02 9.99713075e-01 -1.54260688e-04 2.55008398e+00] [ 1.10142433e-02 -1.09603527e-04 9.99939335e-01 1.71053203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879254154 meters 0.014991061189068844 Centerline is valid? [True, True] Translation: X:257.94, Y:2.55, Z:1.71 [[ 9.99833786e-01 -1.50350043e-02 -1.03125762e-02 2.57935977e+02] [ 1.50343180e-02 9.99886968e-01 -1.44075060e-04 2.55324432e+00] [ 1.03135767e-02 -1.09914378e-05 9.99946814e-01 1.71209249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939254154 meters 0.014872810191210539 Centerline is valid? [True, True] Translation: X:258.00, Y:2.55, Z:1.71 [[ 9.99876447e-01 -1.13783816e-02 -1.08454646e-02 2.57995451e+02] [ 1.13774087e-02 9.99935264e-01 -1.51409343e-04 2.55330309e+00] [ 1.08464853e-02 2.79973529e-05 9.99941175e-01 1.71278525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999254154 meters 0.014815011380657358 Centerline is valid? [True, True] Translation: X:258.05, Y:2.55, Z:1.71 [[ 9.99837730e-01 -1.19663797e-02 -1.34654831e-02 2.58053016e+02] [ 1.19649208e-02 9.99928400e-01 -1.88898509e-04 2.54732101e+00] [ 1.34667794e-02 2.77544166e-05 9.99909318e-01 1.71061607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters 0.015017677231527554 Centerline is valid? [True, True] Translation: X:258.11, Y:2.54, Z:1.71 [[ 9.99690479e-01 -1.88140157e-02 -1.62782033e-02 2.58111952e+02] [ 1.88127685e-02 9.99822998e-01 -2.29759722e-04 2.53567579e+00] [ 1.62796448e-02 -7.65494650e-05 9.99867475e-01 1.70891681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters 0.015700654743254067 Centerline is valid? [True, True] Translation: X:258.17, Y:2.53, Z:1.71 [[ 9.99550559e-01 -2.52611310e-02 -1.61417058e-02 2.58170467e+02] [ 2.52607242e-02 9.99680871e-01 -2.29123947e-04 2.52759802e+00] [ 1.61423424e-02 -1.78730208e-04 9.99869688e-01 1.71007239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters 0.01770926030088464 Centerline is valid? [True, True] Translation: X:258.23, Y:2.52, Z:1.71 [[ 9.99311320e-01 -3.37456467e-02 -1.54310500e-02 2.58228845e+02] [ 3.37462680e-02 9.99430408e-01 -2.20194942e-04 2.51578659e+00] [ 1.54296912e-02 -3.00697050e-04 9.99880910e-01 1.71235726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters 0.017550580167384554 Centerline is valid? [True, True] Translation: X:258.29, Y:2.51, Z:1.72 [[ 9.99094134e-01 -3.95521228e-02 -1.57016310e-02 2.58289335e+02] [ 3.95534752e-02 9.99217430e-01 -2.24525253e-04 2.50998911e+00] [ 1.56982239e-02 -3.96732211e-04 9.99876697e-01 1.71551594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters 0.018003448070522326 Centerline is valid? [True, True] Translation: X:258.35, Y:2.50, Z:1.72 [[ 9.98969497e-01 -4.28661965e-02 -1.49141851e-02 2.58350635e+02] [ 4.28677903e-02 9.99080731e-01 -2.12957459e-04 2.50463484e+00] [ 1.49096036e-02 -4.26600153e-04 9.99888755e-01 1.71715049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters 0.019482414182604647 Centerline is valid? [True, True] Translation: X:258.41, Y:2.50, Z:1.72 [[ 9.98721146e-01 -4.83116178e-02 -1.49016642e-02 2.58412082e+02] [ 4.83138226e-02 9.98832183e-01 -2.12220655e-04 2.49556967e+00] [ 1.48945145e-02 -5.08007104e-04 9.99888942e-01 1.71780821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters 0.021837191342919816 Centerline is valid? [True, True] Translation: X:258.47, Y:2.49, Z:1.72 [[ 9.98471761e-01 -5.30034171e-02 -1.56454817e-02 2.58472322e+02] [ 5.30064349e-02 9.98594146e-01 -2.22023187e-04 2.48677551e+00] [ 1.56352544e-02 -6.07627325e-04 9.99877577e-01 1.71765260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters 0.021410481038807654 Centerline is valid? [True, True] Translation: X:258.53, Y:2.48, Z:1.72 [[ 9.98375626e-01 -5.43511690e-02 -1.70897567e-02 2.58533648e+02] [ 5.43549810e-02 9.98521646e-01 -2.41698470e-04 2.48497842e+00] [ 1.70776286e-02 -6.87607541e-04 9.99853930e-01 1.71769761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters 0.02207182981426789 Centerline is valid? [True, True] Translation: X:258.59, Y:2.48, Z:1.72 [[ 9.98398159e-01 -5.31603575e-02 -1.93672969e-02 2.58594238e+02] [ 5.31650518e-02 9.98585701e-01 -2.72780686e-04 2.48208979e+00] [ 1.93544068e-02 -7.57319606e-04 9.99812399e-01 1.71646247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters 0.020814189127680034 Centerline is valid? [True, True] Translation: X:258.65, Y:2.49, Z:1.72 [[ 9.98561203e-01 -4.98449615e-02 -1.97737961e-02 2.58654423e+02] [ 4.98492149e-02 9.98756716e-01 -2.78048968e-04 2.48502844e+00] [ 1.97630710e-02 -7.08059299e-04 9.99804441e-01 1.71741470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters 0.018157091822106723 Centerline is valid? [True, True] Translation: X:258.71, Y:2.49, Z:1.72 [[ 9.98916011e-01 -4.21034233e-02 -1.98520566e-02 2.58714330e+02] [ 4.21061811e-02 9.99113102e-01 -2.79234297e-04 2.49304950e+00] [ 1.98462066e-02 -5.56962683e-04 9.99802890e-01 1.71989858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters 0.01732205632007879 Centerline is valid? [True, True] Translation: X:258.77, Y:2.50, Z:1.72 [[ 9.99168599e-01 -3.50103169e-02 -2.08899077e-02 2.58774413e+02] [ 3.50118147e-02 9.99386855e-01 -2.94143156e-04 2.49959540e+00] [ 2.08873972e-02 -4.37494973e-04 9.99781739e-01 1.72036770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779254154 meters 0.017640591811783308 Centerline is valid? [True, True] Translation: X:258.83, Y:2.50, Z:1.72 [[ 9.99279530e-01 -3.18969143e-02 -2.05671521e-02 2.58832172e+02] [ 3.18976782e-02 9.99491097e-01 -2.90995908e-04 2.50196211e+00] [ 2.05659673e-02 -3.65258144e-04 9.99788431e-01 1.72052002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839254154 meters 0.016869301538579035 Centerline is valid? [True, True] Translation: X:258.89, Y:2.50, Z:1.72 [[ 9.99366571e-01 -2.95799282e-02 -1.97859851e-02 2.58891123e+02] [ 2.95801018e-02 9.99562373e-01 -2.83952368e-04 2.50441525e+00] [ 1.97857255e-02 -3.01498951e-04 9.99804198e-01 1.72368900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899254154 meters 0.017028848745125245 Centerline is valid? [True, True] Translation: X:258.95, Y:2.50, Z:1.72 [[ 9.99363344e-01 -2.99270123e-02 -1.94237376e-02 2.58948736e+02] [ 2.99271787e-02 9.99552042e-01 -2.82172291e-04 2.50356497e+00] [ 1.94234812e-02 -2.99305022e-04 9.99811302e-01 1.72433548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959254154 meters 0.016786263345310182 Centerline is valid? [True, True] Translation: X:259.01, Y:2.50, Z:1.72 [[ 9.99337902e-01 -3.07638621e-02 -1.94253295e-02 2.59007594e+02] [ 3.07641050e-02 9.99526632e-01 -2.86395670e-04 2.50371769e+00] [ 1.94249448e-02 -3.11396829e-04 9.99811269e-01 1.72474031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019254154 meters 0.01730080850445675 Centerline is valid? [True, True] Translation: X:259.07, Y:2.50, Z:1.72 [[ 9.99170365e-01 -3.51440012e-02 -2.05786601e-02 2.59067425e+02] [ 3.51451538e-02 9.99382171e-01 -3.05758008e-04 2.49978451e+00] [ 2.05766915e-02 -4.17735833e-04 9.99788190e-01 1.72455740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079254154 meters 0.018819762501196612 Centerline is valid? [True, True] Translation: X:259.13, Y:2.49, Z:1.72 [[ 9.98874506e-01 -4.24289754e-02 -2.12014839e-02 2.59127481e+02] [ 4.24318272e-02 9.99099315e-01 -3.15535418e-04 2.49487736e+00] [ 2.11957759e-02 -5.84437416e-04 9.99775173e-01 1.72385598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139254154 meters 0.020644494444865494 Centerline is valid? [True, True] Translation: X:259.19, Y:2.49, Z:1.72 [[ 9.98592490e-01 -4.88623261e-02 -2.06279557e-02 2.59187838e+02] [ 4.88663886e-02 9.98805277e-01 -3.07377091e-04 2.49073462e+00] [ 2.06183302e-02 -7.01069244e-04 9.99787174e-01 1.72412983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199254154 meters 0.02463858667509067 Centerline is valid? [True, True] Translation: X:259.25, Y:2.48, Z:1.73 [[ 9.98086035e-01 -5.87029038e-02 -1.94482858e-02 2.59247500e+02] [ 5.87083740e-02 9.98275134e-01 -2.90044038e-04 2.48409286e+00] [ 1.94317665e-02 -8.52288331e-04 9.99810822e-01 1.72544319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259254154 meters 0.02704209031375181 Centerline is valid? [True, True] Translation: X:259.31, Y:2.48, Z:1.73 [[ 9.97673713e-01 -6.54990063e-02 -1.88955953e-02 2.59308371e+02] [ 6.55053851e-02 9.97852176e-01 -2.81826449e-04 2.48132118e+00] [ 1.88734702e-02 -9.56592405e-04 9.99821423e-01 1.72665544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319254154 meters 0.033816747482930856 Centerline is valid? [True, True] Translation: X:259.37, Y:2.47, Z:1.73 [[ 9.97029111e-01 -7.47803182e-02 -1.84622659e-02 2.59367681e+02] [ 7.47879984e-02 9.97199418e-01 -2.75057463e-04 2.47289633e+00] [ 1.84311297e-02 -1.10651561e-03 9.99829520e-01 1.72692485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379254154 meters 0.03547318464558767 Centerline is valid? [True, True] Translation: X:259.43, Y:2.47, Z:1.73 [[ 9.96705647e-01 -7.90551697e-02 -1.81144398e-02 2.59427938e+02] [ 7.90632704e-02 9.96869563e-01 -2.69643282e-04 2.47228538e+00] [ 1.80790504e-02 -1.16343187e-03 9.99835884e-01 1.72771672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439254154 meters 0.03348543757600308 Centerline is valid? [True, True] Translation: X:259.49, Y:2.48, Z:1.73 [[ 9.96512321e-01 -8.11418965e-02 -1.94727012e-02 2.59489164e+02] [ 8.11516646e-02 9.96701722e-01 -2.89347910e-04 2.47870834e+00] [ 1.94319531e-02 -1.29190336e-03 9.99810347e-01 1.72817094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499254154 meters 0.03378543843220293 Centerline is valid? [True, True] Translation: X:259.55, Y:2.48, Z:1.73 [[ 9.96715700e-01 -7.85593223e-02 -1.96531701e-02 2.59548823e+02] [ 7.85687772e-02 9.96908653e-01 -2.91781389e-04 2.48312412e+00] [ 1.96153375e-02 -1.25330245e-03 9.99806815e-01 1.72702958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters 0.03244066500225138 Centerline is valid? [True, True] Translation: X:259.61, Y:2.49, Z:1.73 [[ 9.97008732e-01 -7.46483456e-02 -2.00303105e-02 2.59609735e+02] [ 7.46573853e-02 9.97209199e-01 -2.97144525e-04 2.48925983e+00] [ 1.99965913e-02 -1.19915493e-03 9.99799329e-01 1.72615565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters 0.029716013196623748 Centerline is valid? [True, True] Translation: X:259.67, Y:2.50, Z:1.73 [[ 9.97590544e-01 -6.61186926e-02 -2.10101022e-02 2.59668943e+02] [ 6.61267487e-02 9.97811182e-01 -3.11834624e-04 2.50086883e+00] [ 2.09847330e-02 -1.07824648e-03 9.99779215e-01 1.72525789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters 0.027614961497003328 Centerline is valid? [True, True] Translation: X:259.73, Y:2.51, Z:1.73 [[ 9.97991659e-01 -5.96489356e-02 -2.13225966e-02 2.59729548e+02] [ 5.96557567e-02 9.98218959e-01 -3.16602885e-04 2.51040922e+00] [ 2.13035052e-02 -9.56048598e-04 9.99772597e-01 1.72526193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters 0.021394471433572593 Centerline is valid? [True, True] Translation: X:259.79, Y:2.53, Z:1.73 [[ 9.98558822e-01 -5.00052099e-02 -1.94873552e-02 2.59789643e+02] [ 5.00090723e-02 9.98748722e-01 -2.89373428e-04 2.52802316e+00] [ 1.94774412e-02 -6.85588163e-04 9.99810062e-01 1.72890855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters 0.018821619632332084 Centerline is valid? [True, True] Translation: X:259.85, Y:2.54, Z:1.73 [[ 9.98900695e-01 -4.37359299e-02 -1.68691753e-02 2.59850537e+02] [ 4.37379336e-02 9.99043007e-01 -2.50321277e-04 2.53746789e+00] [ 1.68639796e-02 -4.87776769e-04 9.99857674e-01 1.73146287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters 0.017065805780041337 Centerline is valid? [True, True] Translation: X:259.91, Y:2.55, Z:1.73 [[ 9.99268191e-01 -3.52374892e-02 -1.48795715e-02 2.59910419e+02] [ 3.52381077e-02 9.99378921e-01 -2.20690383e-04 2.54887042e+00] [ 1.48781067e-02 -3.03799063e-04 9.99889269e-01 1.73341125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters 0.015676383098936528 Centerline is valid? [True, True] Translation: X:259.97, Y:2.56, Z:1.73 [[ 9.99457828e-01 -2.96744052e-02 -1.42646407e-02 2.59970879e+02] [ 2.96744071e-02 9.99559595e-01 -2.11569872e-04 2.55557267e+00] [ 1.42646367e-02 -2.11839592e-04 9.99898232e-01 1.73392481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters 0.014584382659972119 Centerline is valid? [True, True] Translation: X:260.03, Y:2.56, Z:1.73 [[ 9.99609475e-01 -2.39864567e-02 -1.43369248e-02 2.60030947e+02] [ 2.39858756e-02 9.99712275e-01 -2.12510795e-04 2.56276724e+00] [ 1.43378971e-02 -1.31455889e-04 9.99897198e-01 1.73341272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters 0.014468733470158642 Centerline is valid? [True, True] Translation: X:260.09, Y:2.57, Z:1.73 [[ 9.99637987e-01 -2.25349507e-02 -1.46993416e-02 2.60091198e+02] [ 2.25341846e-02 9.99746049e-01 -2.17764418e-04 2.56610073e+00] [ 1.47005160e-02 -1.13552091e-04 9.99891935e-01 1.73305208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters 0.014878867541153598 Centerline is valid? [True, True] Translation: X:260.15, Y:2.57, Z:1.73 [[ 9.99590715e-01 -2.43846806e-02 -1.49596365e-02 2.60149813e+02] [ 2.43840880e-02 9.99702639e-01 -2.22035044e-04 2.56563788e+00] [ 1.49606024e-02 -1.42832926e-04 9.99888074e-01 1.73241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters 0.015360872453664803 Centerline is valid? [True, True] Translation: X:260.21, Y:2.56, Z:1.73 [[ 9.99505931e-01 -2.79084069e-02 -1.44573459e-02 2.60209820e+02] [ 2.79082136e-02 9.99610467e-01 -2.15160656e-04 2.56365378e+00] [ 1.44577191e-02 -1.88424345e-04 9.99895464e-01 1.73303463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters 0.017943733336297937 Centerline is valid? [True, True] Translation: X:260.27, Y:2.56, Z:1.73 [[ 9.99299076e-01 -3.50107222e-02 -1.32516223e-02 2.60269554e+02] [ 3.50111798e-02 9.99386901e-01 -1.97525046e-04 2.55815857e+00] [ 1.32504132e-02 -2.66568334e-04 9.99912174e-01 1.73384538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279254154 meters 0.021886052403746966 Centerline is valid? [True, True] Translation: X:260.33, Y:2.55, Z:1.74 [[ 9.98919560e-01 -4.50691959e-02 -1.13348863e-02 2.60330502e+02] [ 4.50701768e-02 9.98983809e-01 -1.69014479e-04 2.55086401e+00] [ 1.13309853e-02 -3.42033462e-04 9.99935744e-01 1.73574340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339254154 meters 0.02598022142143082 Centerline is valid? [True, True] Translation: X:260.39, Y:2.54, Z:1.74 [[ 9.98580345e-01 -5.21003056e-02 -1.10838901e-02 2.60391394e+02] [ 5.21016770e-02 9.98641772e-01 -1.65190595e-04 2.54482641e+00] [ 1.10774422e-02 -4.12533183e-04 9.99938558e-01 1.73626313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399254154 meters 0.03181613147025285 Centerline is valid? [True, True] Translation: X:260.45, Y:2.54, Z:1.74 [[ 9.98083524e-01 -6.07629757e-02 -1.17106596e-02 2.60451446e+02] [ 6.07651018e-02 9.98152079e-01 -1.74503897e-04 2.53659520e+00] [ 1.16996226e-02 -5.37429957e-04 9.99931413e-01 1.73520154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459254154 meters 0.03724696566244069 Centerline is valid? [True, True] Translation: X:260.51, Y:2.53, Z:1.73 [[ 9.97615380e-01 -6.78029332e-02 -1.28963194e-02 2.60511392e+02] [ 6.78061033e-02 9.97698499e-01 -1.91777757e-04 2.52952625e+00] [ 1.28796416e-02 -6.83128726e-04 9.99916821e-01 1.73356826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519254154 meters 0.04105946492585389 Centerline is valid? [True, True] Translation: X:260.57, Y:2.53, Z:1.73 [[ 9.97329355e-01 -7.18644071e-02 -1.30255299e-02 2.60571756e+02] [ 7.18679927e-02 9.97414134e-01 -1.93203007e-04 2.52528914e+00] [ 1.30057320e-02 -7.43431656e-04 9.99915146e-01 1.73316217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579254154 meters 0.039336824200002035 Centerline is valid? [True, True] Translation: X:260.63, Y:2.53, Z:1.73 [[ 9.96878618e-01 -7.77543533e-02 -1.36850769e-02 2.60632271e+02] [ 7.77588677e-02 9.96972175e-01 -2.02713126e-04 2.52986462e+00] [ 1.36594027e-02 -8.62055706e-04 9.99906334e-01 1.73404061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639254154 meters 0.04226124673385121 Centerline is valid? [True, True] Translation: X:260.69, Y:2.53, Z:1.73 [[ 9.96641096e-01 -8.06828782e-02 -1.40285213e-02 2.60693342e+02] [ 8.06879160e-02 9.96739393e-01 -2.07432900e-04 2.52823951e+00] [ 1.39995161e-02 -9.25195996e-04 9.99901574e-01 1.73387480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699254154 meters 0.04570733235060616 Centerline is valid? [True, True] Translation: X:260.75, Y:2.53, Z:1.73 [[ 9.96396578e-01 -8.34479956e-02 -1.51753613e-02 2.60753066e+02] [ 8.34542120e-02 9.96511588e-01 -2.24270536e-04 2.52856305e+00] [ 1.51411383e-02 -1.04298542e-03 9.99884822e-01 1.73329413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759254154 meters 0.04691063345158844 Centerline is valid? [True, True] Translation: X:260.82, Y:2.53, Z:1.73 [[ 9.96352946e-01 -8.36981224e-02 -1.65961528e-02 2.60815262e+02] [ 8.37056026e-02 9.96490498e-01 -2.44630432e-04 2.53085603e+00] [ 1.65583836e-02 -1.14545272e-03 9.99862244e-01 1.73279213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819254154 meters 0.047842798122691085 Centerline is valid? [True, True] Translation: X:260.88, Y:2.54, Z:1.73 [[ 9.96480463e-01 -8.22361992e-02 -1.62448431e-02 2.60875492e+02] [ 8.22431820e-02 9.96612263e-01 -2.38875566e-04 2.53590601e+00] [ 1.62094540e-02 -1.09799275e-03 9.99868015e-01 1.73409968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879254154 meters 0.047263885602190206 Centerline is valid? [True, True] Translation: X:260.94, Y:2.54, Z:1.74 [[ 9.96695090e-01 -7.96363345e-02 -1.60297189e-02 2.60936710e+02] [ 7.96428034e-02 9.96823439e-01 -2.35420650e-04 2.54171913e+00] [ 1.59975475e-02 -1.04200914e-03 9.99871488e-01 1.73541896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939254154 meters 0.046233658187089 Centerline is valid? [True, True] Translation: X:261.00, Y:2.55, Z:1.74 [[ 9.96963415e-01 -7.62189413e-02 -1.59568566e-02 2.60996914e+02] [ 7.62249189e-02 9.97090621e-01 -2.34138717e-04 2.54875470e+00] [ 1.59282778e-02 -9.82882362e-04 9.99872654e-01 1.73703695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999254154 meters 0.029909475537433446 Centerline is valid? [True, True] Translation: X:261.06, Y:2.57, Z:1.74 [[ 9.97269490e-01 -7.22038796e-02 -1.54972055e-02 2.61057031e+02] [ 7.22090377e-02 9.97389494e-01 -2.27186603e-04 2.57484807e+00] [ 1.54731537e-02 -8.92472026e-04 9.99879885e-01 1.74074405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters 0.026253465926723493 Centerline is valid? [True, True] Translation: X:261.12, Y:2.59, Z:1.74 [[ 9.97858538e-01 -6.36947302e-02 -1.48768329e-02 2.61118088e+02] [ 6.36985436e-02 9.97969162e-01 -2.17848867e-04 2.58599388e+00] [ 1.48604962e-02 -7.30250235e-04 9.99889310e-01 1.74201029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters 0.022709531372525727 Centerline is valid? [True, True] Translation: X:261.18, Y:2.60, Z:1.74 [[ 9.98501371e-01 -5.27313009e-02 -1.46431344e-02 2.61177932e+02] [ 5.27338195e-02 9.98608581e-01 -2.14333862e-04 2.59780624e+00] [ 1.46340617e-02 -5.58175749e-04 9.99892761e-01 1.74239471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters 0.017485014454661094 Centerline is valid? [True, True] Translation: X:261.24, Y:2.61, Z:1.74 [[ 9.98932512e-01 -4.38375342e-02 -1.45639226e-02 2.61238522e+02] [ 4.38390811e-02 9.99038583e-01 -2.13177363e-04 2.61047954e+00] [ 1.45592658e-02 -4.25519185e-04 9.99893918e-01 1.74269821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters 0.01338932230547704 Centerline is valid? [True, True] Translation: X:261.30, Y:2.62, Z:1.74 [[ 9.99424270e-01 -3.00191570e-02 -1.58106874e-02 2.61298975e+02] [ 3.00192515e-02 9.99549294e-01 -2.31404088e-04 2.62367389e+00] [ 1.58105080e-02 -2.43354139e-04 9.99874976e-01 1.74148408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters 0.012560759441249129 Centerline is valid? [True, True] Translation: X:261.36, Y:2.63, Z:1.74 [[ 9.99643068e-01 -2.14210898e-02 -1.59647492e-02 2.61358964e+02] [ 2.14200925e-02 9.99770536e-01 -2.33482376e-04 2.63095852e+00] [ 1.59660873e-02 -1.08567364e-04 9.99872528e-01 1.73999712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters 0.01238469817502611 Centerline is valid? [True, True] Translation: X:261.42, Y:2.64, Z:1.74 [[ 9.99810642e-01 -1.16748254e-02 -1.55684964e-02 2.61418436e+02] [ 1.16726923e-02 9.99931846e-01 -2.27881905e-04 2.64099908e+00] [ 1.55700959e-02 4.61124854e-05 9.99878778e-01 1.74038621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters 0.012799947744626974 Centerline is valid? [True, True] Translation: X:261.48, Y:2.65, Z:1.74 [[ 9.99856644e-01 -8.11411796e-03 -1.48610909e-02 2.61477427e+02] [ 8.11174806e-03 9.99967075e-01 -2.19742425e-04 2.64541268e+00] [ 1.48623847e-02 9.91614984e-05 9.99889544e-01 1.74064863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters 0.012778144775821709 Centerline is valid? [True, True] Translation: X:261.53, Y:2.65, Z:1.74 [[ 9.99877904e-01 -8.08531467e-03 -1.33718126e-02 2.61534959e+02] [ 8.08334857e-03 9.99967309e-01 -2.01075012e-04 2.64528455e+00] [ 1.33730012e-02 9.29614389e-05 9.99910573e-01 1.74076332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters 0.012576212196562513 Centerline is valid? [True, True] Translation: X:261.59, Y:2.64, Z:1.74 [[ 9.99853814e-01 -1.13970396e-02 -1.27459136e-02 2.61593752e+02] [ 1.13954939e-02 9.99935050e-01 -1.93886523e-04 2.64279758e+00] [ 1.27472955e-02 4.86121986e-05 9.99918749e-01 1.74097041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters 0.012494717363664233 Centerline is valid? [True, True] Translation: X:261.65, Y:2.64, Z:1.74 [[ 9.99738033e-01 -1.99479042e-02 -1.12225485e-02 2.61652681e+02] [ 1.99472364e-02 9.99801019e-01 -1.71448896e-04 2.63513044e+00] [ 1.12237354e-02 -5.24548441e-05 9.99937011e-01 1.74226990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters 0.01452927939249561 Centerline is valid? [True, True] Translation: X:261.71, Y:2.62, Z:1.74 [[ 9.99532940e-01 -2.90030200e-02 -9.62943012e-03 2.61712961e+02] [ 2.90029449e-02 9.99579315e-01 -1.47474484e-04 2.62319504e+00] [ 9.62965637e-03 -1.31876226e-04 9.99953625e-01 1.74200651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.719254154 meters 0.014654375762870979 Centerline is valid? [True, True] Translation: X:261.78, Y:2.62, Z:1.74 [[ 9.99408559e-01 -3.32518491e-02 -8.76619850e-03 2.61775188e+02] [ 3.32519524e-02 9.99446992e-01 -1.33995454e-04 2.62055079e+00] [ 8.76580632e-03 -1.57577012e-04 9.99961567e-01 1.74273066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779254154 meters 0.01592117543200145 Centerline is valid? [True, True] Translation: X:261.84, Y:2.62, Z:1.74 [[ 9.99323732e-01 -3.54977718e-02 -9.59099071e-03 2.61836530e+02] [ 3.54980056e-02 9.99369737e-01 -1.45911674e-04 2.61556992e+00] [ 9.59012540e-03 -1.94648043e-04 9.99953995e-01 1.74212761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839254154 meters 0.017125133929866542 Centerline is valid? [True, True] Translation: X:261.90, Y:2.61, Z:1.74 [[ 9.99382989e-01 -3.35690508e-02 -1.03324751e-02 2.61897511e+02] [ 3.35692250e-02 9.99436382e-01 -1.56613712e-04 2.61172429e+00] [ 1.03319089e-02 -1.90336103e-04 9.99946606e-01 1.74078786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899254154 meters 0.015093715024749044 Centerline is valid? [True, True] Translation: X:261.96, Y:2.62, Z:1.74 [[ 9.99432982e-01 -3.18575937e-02 -1.08999309e-02 2.61959630e+02] [ 3.18576931e-02 9.99492401e-01 -1.64554755e-04 2.61530111e+00] [ 1.08996404e-02 -1.82785203e-04 9.99940580e-01 1.74103267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959254154 meters 0.014678740642132353 Centerline is valid? [True, True] Translation: X:262.02, Y:2.62, Z:1.74 [[ 9.99468913e-01 -3.01088463e-02 -1.24639549e-02 2.62022250e+02] [ 3.01088519e-02 9.99546608e-01 -1.87234147e-04 2.61644595e+00] [ 1.24639412e-02 -1.88140662e-04 9.99922304e-01 1.74041366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019254154 meters 0.014437685679409215 Centerline is valid? [True, True] Translation: X:262.08, Y:2.62, Z:1.74 [[ 9.99412328e-01 -3.18409504e-02 -1.26946203e-02 2.62084579e+02] [ 3.18411077e-02 9.99492925e-01 -1.89780147e-04 2.61591462e+00] [ 1.26942260e-02 -2.14542153e-04 9.99919402e-01 1.74058562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079254154 meters 0.015137588530573851 Centerline is valid? [True, True] Translation: X:262.15, Y:2.61, Z:1.74 [[ 9.99306169e-01 -3.51028894e-02 -1.24486354e-02 2.62146941e+02] [ 3.51033050e-02 9.99383672e-01 -1.85186738e-04 2.61315602e+00] [ 1.24474635e-02 -2.51929994e-04 9.99922496e-01 1.74061042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139254154 meters 0.016592394848924115 Centerline is valid? [True, True] Translation: X:262.21, Y:2.61, Z:1.74 [[ 9.99044003e-01 -4.18565003e-02 -1.26140262e-02 2.62208328e+02] [ 4.18574740e-02 9.99123574e-01 -1.86921710e-04 2.60861774e+00] [ 1.26107948e-02 -3.41248260e-04 9.99920423e-01 1.74138731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199254154 meters 0.017858178269822982 Centerline is valid? [True, True] Translation: X:262.27, Y:2.61, Z:1.74 [[ 9.98799737e-01 -4.75681959e-02 -1.16770220e-02 2.62269826e+02] [ 4.75694251e-02 9.98867919e-01 -1.72617252e-04 2.60509025e+00] [ 1.16720138e-02 -3.83059159e-04 9.99931806e-01 1.74192764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259254154 meters 0.021270385680926297 Centerline is valid? [True, True] Translation: X:262.33, Y:2.60, Z:1.74 [[ 9.98318138e-01 -5.70202349e-02 -1.04684408e-02 2.62330353e+02] [ 5.70217439e-02 9.98372925e-01 -1.54512575e-04 2.59628026e+00] [ 1.04602182e-02 -4.42676045e-04 9.99945192e-01 1.74296427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319254154 meters 0.024748428396773835 Centerline is valid? [True, True] Translation: X:262.39, Y:2.59, Z:1.74 [[ 9.98008308e-01 -6.22608574e-02 -1.01490109e-02 2.62391520e+02] [ 6.22625468e-02 9.98059794e-01 -1.49717392e-04 2.59064398e+00] [ 1.01386412e-02 -4.82484064e-04 9.99948486e-01 1.74375340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379254154 meters 0.025581842473564424 Centerline is valid? [True, True] Translation: X:262.45, Y:2.59, Z:1.74 [[ 9.97612110e-01 -6.83121856e-02 -1.01746582e-02 2.62452337e+02] [ 6.83141988e-02 9.97663845e-01 -1.49963331e-04 2.58711715e+00] [ 1.01611329e-02 -5.45468387e-04 9.99948226e-01 1.74357476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439254154 meters 0.027125379306200414 Centerline is valid? [True, True] Translation: X:262.51, Y:2.58, Z:1.74 [[ 9.97498868e-01 -6.98740257e-02 -1.06597074e-02 2.62514384e+02] [ 6.98763277e-02 9.97555650e-01 -1.56791652e-04 2.58487528e+00] [ 1.06446070e-02 -5.88461711e-04 9.99943171e-01 1.74386471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499254154 meters 0.02714467424387313 Centerline is valid? [True, True] Translation: X:262.58, Y:2.59, Z:1.74 [[ 9.97458958e-01 -7.02120558e-02 -1.20786723e-02 2.62576259e+02] [ 7.02150480e-02 9.97531862e-01 -1.76688756e-04 2.58535103e+00] [ 1.20612662e-02 -6.71864776e-04 9.99927035e-01 1.74335644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters 0.026516868375996372 Centerline is valid? [True, True] Translation: X:262.64, Y:2.59, Z:1.74 [[ 9.97496825e-01 -6.94957364e-02 -1.30547449e-02 2.62638648e+02] [ 6.94991840e-02 9.97581990e-01 -1.89944900e-04 2.58628384e+00] [ 1.30363787e-02 -7.17824682e-04 9.99914765e-01 1.74243540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters 0.0257147581882986 Centerline is valid? [True, True] Translation: X:262.70, Y:2.59, Z:1.74 [[ 9.97741667e-01 -6.57862476e-02 -1.35548734e-02 2.62699630e+02] [ 6.57896317e-02 9.97833496e-01 -1.96573293e-04 2.58957920e+00] [ 1.35384386e-02 -6.95640767e-04 9.99908109e-01 1.74226377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters 0.02278178949373606 Centerline is valid? [True, True] Translation: X:262.76, Y:2.60, Z:1.74 [[ 9.98134508e-01 -5.95418423e-02 -1.35008743e-02 2.62760237e+02] [ 5.95446313e-02 9.98225625e-01 -1.95653861e-04 2.59745210e+00] [ 1.34885683e-02 -6.08615715e-04 9.99908840e-01 1.74369848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters 0.02118555668937196 Centerline is valid? [True, True] Translation: X:262.82, Y:2.60, Z:1.74 [[ 9.98450819e-01 -5.39161785e-02 -1.37480404e-02 2.62820804e+02] [ 5.39185401e-02 9.98545318e-01 -1.99092571e-04 2.60316448e+00] [ 1.37387757e-02 -5.42490127e-04 9.99905471e-01 1.74397651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters 0.021282975808422783 Centerline is valid? [True, True] Translation: X:262.88, Y:2.61, Z:1.74 [[ 9.98782907e-01 -4.70539174e-02 -1.47862406e-02 2.62881907e+02] [ 4.70559021e-02 9.98892235e-01 -2.13845533e-04 2.60937123e+00] [ 1.47799232e-02 -4.82194627e-04 9.99890655e-01 1.74376108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters 0.017551590046618992 Centerline is valid? [True, True] Translation: X:262.94, Y:2.62, Z:1.75 [[ 9.99050687e-01 -4.16416650e-02 -1.27944238e-02 2.62942854e+02] [ 4.16427102e-02 9.99132549e-01 -1.84821362e-04 2.61559527e+00] [ 1.27910216e-02 -3.48148576e-04 9.99918131e-01 1.74501477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters 0.015595611748148705 Centerline is valid? [True, True] Translation: X:263.00, Y:2.62, Z:1.75 [[ 9.99325689e-01 -3.48645163e-02 -1.15166148e-02 2.63004732e+02] [ 3.48649176e-02 9.99392020e-01 -1.65984882e-04 2.62264785e+00] [ 1.15153999e-02 -2.35652869e-04 9.99933668e-01 1.74539248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters 0.015832563539639678 Centerline is valid? [True, True] Translation: X:263.07, Y:2.62, Z:1.74 [[ 9.99406771e-01 -3.22722594e-02 -1.20252829e-02 2.63066489e+02] [ 3.22725187e-02 9.99479092e-01 -1.72535943e-04 2.62398675e+00] [ 1.20245869e-02 -2.15652577e-04 9.99927679e-01 1.74422632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters 0.01500812628768198 Centerline is valid? [True, True] Translation: X:263.13, Y:2.63, Z:1.74 [[ 9.99417671e-01 -3.16292083e-02 -1.28028536e-02 2.63128675e+02] [ 3.16294619e-02 9.99499647e-01 -1.82720495e-04 2.62696711e+00] [ 1.28022270e-02 -2.22333279e-04 9.99918023e-01 1.74340159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters 0.01704285100181004 Centerline is valid? [True, True] Translation: X:263.19, Y:2.62, Z:1.74 [[ 9.99361770e-01 -3.32298491e-02 -1.31084139e-02 2.63189728e+02] [ 3.32302638e-02 9.99447705e-01 -1.86229869e-04 2.62465479e+00] [ 1.31073626e-02 -2.49485040e-04 9.99914064e-01 1.74272067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters 0.016601217753302665 Centerline is valid? [True, True] Translation: X:263.25, Y:2.62, Z:1.74 [[ 9.99189378e-01 -3.85399787e-02 -1.16300134e-02 2.63251662e+02] [ 3.85406725e-02 9.99257019e-01 -1.64541964e-04 2.62387628e+00] [ 1.16277139e-02 -2.83819954e-04 9.99932356e-01 1.74461433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.219254154 meters 0.017952544693110608 Centerline is valid? [True, True] Translation: X:263.31, Y:2.62, Z:1.75 [[ 9.99059320e-01 -4.20480490e-02 -1.06036502e-02 2.63313891e+02] [ 4.20488311e-02 9.99115546e-01 -1.49277033e-04 2.62351585e+00] [ 1.06005486e-02 -2.96734485e-04 9.99943769e-01 1.74579063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279254154 meters 0.019474789055784016 Centerline is valid? [True, True] Translation: X:263.37, Y:2.62, Z:1.75 [[ 9.98792921e-01 -4.82211117e-02 -9.35013139e-03 2.63373965e+02] [ 4.82219940e-02 9.98836634e-01 -1.31183145e-04 2.61815855e+00] [ 9.34557957e-03 -3.19857184e-04 9.99956278e-01 1.74632053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339254154 meters 0.02273166644874503 Centerline is valid? [True, True] Translation: X:263.43, Y:2.61, Z:1.74 [[ 9.98574347e-01 -5.24189664e-02 -1.00760286e-02 2.63433899e+02] [ 5.24202074e-02 9.98625106e-01 -1.41079970e-04 2.61300296e+00] [ 1.00695704e-02 -3.87308669e-04 9.99949226e-01 1.74475640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399254154 meters 0.023225422418771787 Centerline is valid? [True, True] Translation: X:263.50, Y:2.61, Z:1.74 [[ 9.98478470e-01 -5.42144512e-02 -1.00766172e-02 2.63495614e+02] [ 5.42157912e-02 9.98529233e-01 -1.40334069e-04 2.61139584e+00] [ 1.00694050e-02 -4.06191228e-04 9.99949220e-01 1.74487732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459254154 meters 0.02256215695173457 Centerline is valid? [True, True] Translation: X:263.56, Y:2.61, Z:1.75 [[ 9.98578751e-01 -5.25341171e-02 -8.98021318e-03 2.63558279e+02] [ 5.25351185e-02 9.98619069e-01 -1.24515682e-04 2.61369210e+00] [ 8.97435345e-03 -3.47437849e-04 9.99959669e-01 1.74581179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519254154 meters 0.021576633606415402 Centerline is valid? [True, True] Translation: X:263.62, Y:2.62, Z:1.75 [[ 9.98760442e-01 -4.90830346e-02 -8.27261025e-03 2.63619788e+02] [ 4.90837717e-02 9.98794659e-01 -1.14027217e-04 2.61696753e+00] [ 8.26823573e-03 -2.92165039e-04 9.99965775e-01 1.74656806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579254154 meters 0.019384798742348584 Centerline is valid? [True, True] Translation: X:263.68, Y:2.62, Z:1.75 [[ 9.99021183e-01 -4.34891554e-02 -8.08513205e-03 2.63680229e+02] [ 4.34896783e-02 9.99053870e-01 -1.11209163e-04 2.62364458e+00] [ 8.08231885e-03 -2.40519482e-04 9.99967309e-01 1.74671138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639254154 meters 0.01748079480543408 Centerline is valid? [True, True] Translation: X:263.74, Y:2.63, Z:1.75 [[ 9.99138686e-01 -4.05519415e-02 -8.79926662e-03 2.63742396e+02] [ 4.05524484e-02 9.99177404e-01 -1.20879240e-04 2.62896127e+00] [ 8.79693026e-03 -2.36056680e-04 9.99961278e-01 1.74668209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699254154 meters 0.017549750279843835 Centerline is valid? [True, True] Translation: X:263.80, Y:2.63, Z:1.74 [[ 9.99186886e-01 -3.88186482e-02 -1.08939716e-02 2.63803159e+02] [ 3.88193313e-02 9.99246235e-01 -1.48821830e-04 2.63090679e+00] [ 1.08915372e-02 -2.74195872e-04 9.99940648e-01 1.74489565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759254154 meters 0.01669209435206686 Centerline is valid? [True, True] Translation: X:263.86, Y:2.63, Z:1.74 [[ 9.99146034e-01 -3.89070453e-02 -1.39084494e-02 2.63864823e+02] [ 3.89081794e-02 9.99242772e-01 -1.89136743e-04 2.63456702e+00] [ 1.39052763e-02 -3.52177219e-04 9.99903255e-01 1.74342225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819254154 meters 0.01684372996400242 Centerline is valid? [True, True] Translation: X:263.93, Y:2.64, Z:1.74 [[ 9.99168174e-01 -3.82861881e-02 -1.40402373e-02 2.63926535e+02] [ 3.82872955e-02 9.99266755e-01 -1.90008076e-04 2.63644871e+00] [ 1.40372170e-02 -3.47712691e-04 9.99901413e-01 1.74374421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879254154 meters 0.01598859541222905 Centerline is valid? [True, True] Translation: X:263.99, Y:2.64, Z:1.75 [[ 9.99332267e-01 -3.39675932e-02 -1.34619086e-02 2.63987800e+02] [ 3.39682294e-02 9.99422897e-01 -1.81457784e-04 2.64161624e+00] [ 1.34603034e-02 -2.75940581e-04 9.99909368e-01 1.74603386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939254154 meters 0.014840562219806766 Centerline is valid? [True, True] Translation: X:264.05, Y:2.65, Z:1.75 [[ 9.99528352e-01 -2.81940253e-02 -1.21725187e-02 2.64049468e+02] [ 2.81941237e-02 9.99602453e-01 -1.63549380e-04 2.64807869e+00] [ 1.21722907e-02 -1.79721257e-04 9.99925899e-01 1.74768595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999254154 meters 0.013814366513254503 Centerline is valid? [True, True] Translation: X:264.11, Y:2.66, Z:1.75 [[ 9.99749939e-01 -1.88719594e-02 -1.19961617e-02 2.64110545e+02] [ 1.88713907e-02 9.99821907e-01 -1.60612283e-04 2.65649215e+00] [ 1.19970563e-02 -6.58121345e-05 9.99928031e-01 1.74866530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters 0.0137781612654932 Centerline is valid? [True, True] Translation: X:264.17, Y:2.66, Z:1.75 [[ 9.99817699e-01 -1.46590535e-02 -1.22343986e-02 2.64169659e+02] [ 1.46581485e-02 9.99892550e-01 -1.63646110e-04 2.65986508e+00] [ 1.22354829e-02 -1.57173533e-05 9.99925144e-01 1.74808979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters 0.013815516545603194 Centerline is valid? [True, True] Translation: X:264.23, Y:2.66, Z:1.75 [[ 9.99840173e-01 -1.22378285e-02 -1.30331797e-02 2.64229676e+02] [ 1.22365909e-02 9.99925115e-01 -1.74694932e-04 2.66200729e+00] [ 1.30343416e-02 1.51853223e-05 9.99915049e-01 1.74862923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters 0.01387568311547876 Centerline is valid? [True, True] Translation: X:264.29, Y:2.66, Z:1.75 [[ 9.99821847e-01 -1.25949331e-02 -1.40585118e-02 2.64287349e+02] [ 1.25935153e-02 9.99920681e-01 -1.89373079e-04 2.66051663e+00] [ 1.40597818e-02 1.22932577e-05 9.99901156e-01 1.74740242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters 0.013845039750788749 Centerline is valid? [True, True] Translation: X:264.35, Y:2.66, Z:1.75 [[ 9.99810938e-01 -1.21116814e-02 -1.52116645e-02 2.64345017e+02] [ 1.21099440e-02 9.99926651e-01 -2.06323735e-04 2.65806189e+00] [ 1.52130477e-02 2.20723216e-05 9.99884275e-01 1.74664044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters 0.01397529720472374 Centerline is valid? [True, True] Translation: X:264.40, Y:2.66, Z:1.75 [[ 9.99833251e-01 -1.07451748e-02 -1.47652192e-02 2.64403245e+02] [ 1.07433454e-02 9.99942268e-01 -2.03213884e-04 2.65717354e+00] [ 1.47665504e-02 4.45521475e-05 9.99890968e-01 1.74810311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters 0.014128048403680883 Centerline is valid? [True, True] Translation: X:264.46, Y:2.66, Z:1.75 [[ 9.99865644e-01 -7.88130970e-03 -1.43728488e-02 2.64461948e+02] [ 7.87922481e-03 9.99968938e-01 -2.01679197e-04 2.65517485e+00] [ 1.43739919e-02 8.84051926e-05 9.99896685e-01 1.74871053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters 0.017318500327806772 Centerline is valid? [True, True] Translation: X:264.52, Y:2.65, Z:1.75 [[ 9.99864801e-01 -5.69943382e-03 -1.54238734e-02 2.64520284e+02] [ 5.69673277e-03 9.99983750e-01 -2.19051346e-04 2.65266746e+00] [ 1.54248713e-02 1.31156045e-04 9.99881021e-01 1.74795015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters 0.014127954128006192 Centerline is valid? [True, True] Translation: X:264.58, Y:2.65, Z:1.75 [[ 9.99887046e-01 -7.54401580e-03 -1.29993336e-02 2.64578864e+02] [ 7.54224040e-03 9.99971540e-01 -1.85595879e-04 2.64668257e+00] [ 1.30003638e-02 8.75308159e-05 9.99915488e-01 1.75072040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters 0.013931746412653788 Centerline is valid? [True, True] Translation: X:264.64, Y:2.64, Z:1.75 [[ 9.99795856e-01 -1.53048022e-02 -1.31912689e-02 2.64638066e+02] [ 1.53036365e-02 9.99882875e-01 -1.89311468e-04 2.63565434e+00] [ 1.31926213e-02 -1.26015626e-05 9.99912974e-01 1.75024907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters 0.014286179664179775 Centerline is valid? [True, True] Translation: X:264.70, Y:2.63, Z:1.75 [[ 9.99622968e-01 -2.38702822e-02 -1.35695014e-02 2.64697108e+02] [ 2.38698239e-02 9.99715056e-01 -1.95753881e-04 2.62627855e+00] [ 1.35703075e-02 -1.28221532e-04 9.99907911e-01 1.75027999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters 0.016926632949705065 Centerline is valid? [True, True] Translation: X:264.76, Y:2.61, Z:1.75 [[ 9.99179830e-01 -3.80901326e-02 -1.37408178e-02 2.64757771e+02] [ 3.80909977e-02 9.99274255e-01 -1.98846878e-04 2.61176243e+00] [ 1.37384195e-02 -3.24717668e-04 9.99905571e-01 1.74981847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.719254154 meters 0.019061491983875956 Centerline is valid? [True, True] Translation: X:264.82, Y:2.61, Z:1.75 [[ 9.99003030e-01 -4.21903738e-02 -1.45917187e-02 2.64817639e+02] [ 4.21917944e-02 9.99109508e-01 -2.10613262e-04 2.60634820e+00] [ 1.45876107e-02 -4.05247507e-04 9.99893513e-01 1.74935533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779254154 meters 0.022394837093713087 Centerline is valid? [True, True] Translation: X:264.88, Y:2.60, Z:1.75 [[ 9.98485843e-01 -5.29395531e-02 -1.49473804e-02 2.64878787e+02] [ 5.29422587e-02 9.98597552e-01 -2.14908631e-04 2.59634166e+00] [ 1.49377946e-02 -5.76764852e-04 9.99888259e-01 1.74952564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839254154 meters 0.02374536335685633 Centerline is valid? [True, True] Translation: X:264.94, Y:2.59, Z:1.75 [[ 9.98227512e-01 -5.78212577e-02 -1.40902677e-02 2.64939458e+02] [ 5.78241518e-02 9.98326763e-01 -2.02253031e-04 2.59189726e+00] [ 1.40783859e-02 -6.12863238e-04 9.99900707e-01 1.75112357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899254154 meters 0.02339629603185033 Centerline is valid? [True, True] Translation: X:265.00, Y:2.59, Z:1.75 [[ 9.98023815e-01 -6.14834077e-02 -1.29713265e-02 2.65001027e+02] [ 6.14861735e-02 9.98107918e-01 -1.85843179e-04 2.59148768e+00] [ 1.29582100e-02 -6.12081313e-04 9.99915852e-01 1.75332080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959254154 meters 0.02530691295941279 Centerline is valid? [True, True] Translation: X:265.06, Y:2.59, Z:1.75 [[ 9.98015928e-01 -6.14424190e-02 -1.37490791e-02 2.65062979e+02] [ 6.14455334e-02 9.98110419e-01 -1.96192656e-04 2.59099452e+00] [ 1.37351537e-02 -6.49016106e-04 9.99905458e-01 1.75313641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019254154 meters 0.024920817355860186 Centerline is valid? [True, True] Translation: X:265.13, Y:2.59, Z:1.75 [[ 9.98001019e-01 -6.16114158e-02 -1.40712629e-02 2.65125588e+02] [ 6.16147096e-02 9.98099989e-01 -1.99734977e-04 2.59084398e+00] [ 1.40568333e-02 -6.67661069e-04 9.99900975e-01 1.75304026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079254154 meters 0.024734962958087373 Centerline is valid? [True, True] Translation: X:265.19, Y:2.59, Z:1.75 [[ 9.97998365e-01 -6.11858774e-02 -1.59859612e-02 2.65187820e+02] [ 6.11900942e-02 9.98126105e-01 -2.25667375e-04 2.59302046e+00] [ 1.59698128e-02 -7.52966799e-04 9.99872191e-01 1.75170662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139254154 meters 0.024426938623543986 Centerline is valid? [True, True] Translation: X:265.25, Y:2.60, Z:1.75 [[ 9.98039246e-01 -6.03395355e-02 -1.66374041e-02 2.65250409e+02] [ 6.03440064e-02 9.98177613e-01 -2.33615320e-04 2.59540665e+00] [ 1.66211806e-02 -7.70810365e-04 9.99861562e-01 1.75145012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199254154 meters 0.026053379137725218 Centerline is valid? [True, True] Translation: X:265.31, Y:2.60, Z:1.75 [[ 9.98192384e-01 -5.78749224e-02 -1.62005734e-02 2.65310961e+02] [ 5.78788482e-02 9.98323589e-01 -2.26824606e-04 2.59714624e+00] [ 1.61865420e-02 -7.11255936e-04 9.99868736e-01 1.75168723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259254154 meters 0.022671570617502464 Centerline is valid? [True, True] Translation: X:265.37, Y:2.61, Z:1.75 [[ 9.98364639e-01 -5.49109225e-02 -1.59009092e-02 2.65372651e+02] [ 5.49143392e-02 9.98491045e-01 -2.22000832e-04 2.60576276e+00] [ 1.58891057e-02 -6.51550139e-04 9.99873548e-01 1.75369790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319254154 meters 0.022254070153825547 Centerline is valid? [True, True] Translation: X:265.43, Y:2.61, Z:1.76 [[ 9.98684815e-01 -4.90878441e-02 -1.47994623e-02 2.65431935e+02] [ 4.90901680e-02 9.98794330e-01 -2.06424173e-04 2.61241270e+00] [ 1.47917519e-02 -5.20355402e-04 9.99890461e-01 1.75512325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379254154 meters 0.019458574597966467 Centerline is valid? [True, True] Translation: X:265.49, Y:2.62, Z:1.76 [[ 9.98871375e-01 -4.53306613e-02 -1.41812505e-02 2.65493599e+02] [ 4.53324210e-02 9.98971938e-01 -1.97506007e-04 2.62103964e+00] [ 1.41756244e-02 -4.45587321e-04 9.99899422e-01 1.75639906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439254154 meters 0.01870713917121041 Centerline is valid? [True, True] Translation: X:265.55, Y:2.63, Z:1.76 [[ 9.99110514e-01 -4.00415488e-02 -1.32232473e-02 2.65553815e+02] [ 4.00426220e-02 9.99197956e-01 -1.83701760e-04 2.62619463e+00] [ 1.32199973e-02 -3.45955131e-04 9.99912552e-01 1.75611934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499254154 meters 0.01711606960282054 Centerline is valid? [True, True] Translation: X:265.61, Y:2.63, Z:1.76 [[ 9.99356492e-01 -3.36063296e-02 -1.25385946e-02 2.65614530e+02] [ 3.36067908e-02 9.99435117e-01 -1.73974289e-04 2.63363060e+00] [ 1.25373584e-02 -2.47519592e-04 9.99921374e-01 1.75672791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters 0.01498131387373656 Centerline is valid? [True, True] Translation: X:265.68, Y:2.64, Z:1.76 [[ 9.99611368e-01 -2.50731638e-02 -1.21839557e-02 2.65675447e+02] [ 2.50729693e-02 9.99685609e-01 -1.68739814e-04 2.64395944e+00] [ 1.21843560e-02 -1.36813710e-04 9.99925759e-01 1.75862113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters 0.014357868312519824 Centerline is valid? [True, True] Translation: X:265.74, Y:2.65, Z:1.76 [[ 9.99742879e-01 -1.94753130e-02 -1.16141478e-02 2.65735977e+02] [ 1.94747612e-02 9.99810336e-01 -1.60614050e-04 2.64852128e+00] [ 1.16150731e-02 -6.56100025e-05 9.99932541e-01 1.75907624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters 0.0140009701623092 Centerline is valid? [True, True] Translation: X:265.80, Y:2.65, Z:1.76 [[ 9.99816939e-01 -1.51213358e-02 -1.17231769e-02 2.65796598e+02] [ 1.51204743e-02 9.99885666e-01 -1.62121832e-04 2.65150787e+00] [ 1.17242881e-02 -1.51678410e-05 9.99931268e-01 1.76006299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters 0.013981428271259663 Centerline is valid? [True, True] Translation: X:265.86, Y:2.65, Z:1.76 [[ 9.99837279e-01 -1.35659243e-02 -1.18903824e-02 2.65855069e+02] [ 1.35649247e-02 9.99907979e-01 -1.64717467e-04 2.65173547e+00] [ 1.18915228e-02 3.39852125e-06 9.99929293e-01 1.75945036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters 0.014011146676985824 Centerline is valid? [True, True] Translation: X:265.91, Y:2.65, Z:1.76 [[ 9.99758278e-01 -1.80640378e-02 -1.25329931e-02 2.65914212e+02] [ 1.80632705e-02 9.99836831e-01 -1.74426003e-04 2.64688691e+00] [ 1.25340989e-02 -5.20030038e-05 9.99921444e-01 1.75906329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters 0.014762963711597018 Centerline is valid? [True, True] Translation: X:265.97, Y:2.64, Z:1.76 [[ 9.99643113e-01 -2.36098717e-02 -1.24988304e-02 2.65972971e+02] [ 2.36095321e-02 9.99721241e-01 -1.74741076e-04 2.64013687e+00] [ 1.24994718e-02 -1.20412824e-04 9.99921871e-01 1.75832874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters 0.016175410281462535 Centerline is valid? [True, True] Translation: X:266.03, Y:2.63, Z:1.76 [[ 9.99367720e-01 -3.30383461e-02 -1.31387961e-02 2.66033816e+02] [ 3.30387803e-02 9.99454054e-01 -1.84063906e-04 2.63034240e+00] [ 1.31377042e-02 -2.50142270e-04 9.99913665e-01 1.75908550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters 0.017235807802032453 Centerline is valid? [True, True] Translation: X:266.09, Y:2.62, Z:1.76 [[ 9.99134658e-01 -3.94615902e-02 -1.31422557e-02 2.66094591e+02] [ 3.94625814e-02 9.99221032e-01 -1.83994533e-04 2.62411263e+00] [ 1.31392790e-02 -3.34792021e-04 9.99913620e-01 1.75948757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters 0.02275869826423643 Centerline is valid? [True, True] Translation: X:266.16, Y:2.61, Z:1.76 [[ 9.98809708e-01 -4.70904645e-02 -1.27143681e-02 2.66155209e+02] [ 4.70920133e-02 9.98890540e-01 -1.77708386e-04 2.60916682e+00] [ 1.27086304e-02 -4.21248334e-04 9.99919153e-01 1.75848396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters 0.021095768585389023 Centerline is valid? [True, True] Translation: X:266.22, Y:2.61, Z:1.76 [[ 9.98585105e-01 -5.15916259e-02 -1.28876971e-02 2.66216741e+02] [ 5.15935970e-02 9.98668147e-01 -1.79704513e-04 2.60920651e+00] [ 1.28798038e-02 -4.85472401e-04 9.99916934e-01 1.76024423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters 0.024293448411708624 Centerline is valid? [True, True] Translation: X:266.28, Y:2.60, Z:1.76 [[ 9.98454499e-01 -5.40771245e-02 -1.28170936e-02 2.66277651e+02] [ 5.40792845e-02 9.98536629e-01 -1.78253537e-04 2.60327846e+00] [ 1.28079769e-02 -5.15161207e-04 9.99917842e-01 1.75984672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.219254154 meters 0.024851517447337376 Centerline is valid? [True, True] Translation: X:266.34, Y:2.60, Z:1.76 [[ 9.98247628e-01 -5.76182656e-02 -1.34836111e-02 2.66339016e+02] [ 5.76209852e-02 9.98338513e-01 -1.87025435e-04 2.60102251e+00] [ 1.34719844e-02 -5.90241260e-04 9.99909074e-01 1.76001477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279254154 meters 0.026749269751944776 Centerline is valid? [True, True] Translation: X:266.40, Y:2.60, Z:1.76 [[ 9.98122984e-01 -5.96840449e-02 -1.37231270e-02 2.66399857e+02] [ 5.96870635e-02 9.98217120e-01 -1.89856549e-04 2.59900177e+00] [ 1.37099917e-02 -6.29592966e-04 9.99905815e-01 1.75980445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339254154 meters 0.028474811970331717 Centerline is valid? [True, True] Translation: X:266.46, Y:2.60, Z:1.76 [[ 9.97924075e-01 -6.27689107e-02 -1.44085111e-02 2.66460583e+02] [ 6.27725648e-02 9.98027838e-01 -1.98955342e-04 2.59664786e+00] [ 1.43925834e-02 -7.05916873e-04 9.99896172e-01 1.75955528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399254154 meters 0.029835677353270213 Centerline is valid? [True, True] Translation: X:266.52, Y:2.60, Z:1.76 [[ 9.97837567e-01 -6.40552623e-02 -1.47347931e-02 2.66522196e+02] [ 6.40592315e-02 9.97946078e-01 -2.02924530e-04 2.59566345e+00] [ 1.47175273e-02 -7.41413801e-04 9.99891416e-01 1.75934963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459254154 meters 0.027087547817867538 Centerline is valid? [True, True] Translation: X:266.58, Y:2.60, Z:1.76 [[ 9.97803589e-01 -6.42819705e-02 -1.59945715e-02 2.66584712e+02] [ 6.42866934e-02 9.97931447e-01 -2.19224794e-04 2.60185908e+00] [ 1.59755781e-02 -8.09494830e-04 9.99872055e-01 1.75962090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519254154 meters 0.03216777993313223 Centerline is valid? [True, True] Translation: X:266.65, Y:2.60, Z:1.76 [[ 9.97924990e-01 -6.22094775e-02 -1.66040735e-02 2.66645671e+02] [ 6.22142954e-02 9.98062789e-01 -2.26722296e-04 2.59795462e+00] [ 1.65860122e-02 -8.06758888e-04 9.99862117e-01 1.75801463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579254154 meters 0.025805449272318738 Centerline is valid? [True, True] Translation: X:266.71, Y:2.61, Z:1.76 [[ 9.98329337e-01 -5.55328654e-02 -1.59573317e-02 2.66706189e+02] [ 5.55364674e-02 9.98456636e-01 -2.17657279e-04 2.61083665e+00] [ 1.59447909e-02 -6.68920186e-04 9.99872650e-01 1.76019305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639254154 meters 0.020109567695139382 Centerline is valid? [True, True] Translation: X:266.77, Y:2.62, Z:1.76 [[ 9.98680124e-01 -4.92436998e-02 -1.45968403e-02 2.66767059e+02] [ 4.92460443e-02 9.98786658e-01 -1.98993383e-04 2.62290967e+00] [ 1.45889285e-02 -5.20105908e-04 9.99893441e-01 1.76302104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699254154 meters 0.017812918028318678 Centerline is valid? [True, True] Translation: X:266.83, Y:2.63, Z:1.76 [[ 9.99067107e-01 -4.12158693e-02 -1.28906493e-02 2.66827301e+02] [ 4.12170314e-02 9.99150202e-01 -1.75613356e-04 2.63135547e+00] [ 1.28869329e-02 -3.55864770e-04 9.99916897e-01 1.76423104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759254154 meters 0.016316263791402715 Centerline is valid? [True, True] Translation: X:266.89, Y:2.64, Z:1.77 [[ 9.99366990e-01 -3.36442923e-02 -1.15620818e-02 2.66887365e+02] [ 3.36447212e-02 9.99433844e-01 -1.57473151e-04 2.63833265e+00] [ 1.15608339e-02 -2.31629549e-04 9.99933144e-01 1.76500855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819254154 meters 0.014153367010356925 Centerline is valid? [True, True] Translation: X:266.95, Y:2.65, Z:1.76 [[ 9.99654613e-01 -2.34348478e-02 -1.18938236e-02 2.66948727e+02] [ 2.34345813e-02 9.99725359e-01 -1.61798056e-04 2.64859812e+00] [ 1.18943488e-02 -1.16984603e-04 9.99929253e-01 1.76474583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879254154 meters 0.013889729439868914 Centerline is valid? [True, True] Translation: X:267.01, Y:2.66, Z:1.77 [[ 9.99798778e-01 -1.60984778e-02 -1.19684028e-02 2.67008805e+02] [ 1.60976852e-02 9.99870411e-01 -1.62560681e-04 2.65610626e+00] [ 1.19694688e-02 -3.01356097e-05 9.99928363e-01 1.76517770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939254154 meters 0.013710652355542013 Centerline is valid? [True, True] Translation: X:267.07, Y:2.66, Z:1.77 [[ 9.99860325e-01 -1.25766298e-02 -1.10072321e-02 2.67067724e+02] [ 1.25757340e-02 9.99920911e-01 -1.50598222e-04 2.65989915e+00] [ 1.10082556e-02 1.21531632e-05 9.99939407e-01 1.76579836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999254154 meters 0.014003490763237182 Centerline is valid? [True, True] Translation: X:267.13, Y:2.66, Z:1.77 [[ 9.99902340e-01 -1.03841919e-02 -9.35297004e-03 2.67126006e+02] [ 1.03834292e-02 9.99946082e-01 -1.30103025e-04 2.66141241e+00] [ 9.35381676e-03 3.29744172e-05 9.99956252e-01 1.76587147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters 0.013938044874724711 Centerline is valid? [True, True] Translation: X:267.18, Y:2.66, Z:1.77 [[ 9.99889986e-01 -1.21127769e-02 -8.56130381e-03 2.67184454e+02] [ 1.21121834e-02 9.99926637e-01 -1.21165766e-04 2.65868732e+00] [ 8.56214339e-03 1.74563542e-05 9.99963344e-01 1.76534339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters 0.013996426028377184 Centerline is valid? [True, True] Translation: X:267.24, Y:2.66, Z:1.77 [[ 9.99845438e-01 -1.54036767e-02 -8.47504410e-03 2.67244450e+02] [ 1.54031983e-02 9.99881356e-01 -1.21719173e-04 2.65573553e+00] [ 8.47591352e-03 -8.84242530e-06 9.99964079e-01 1.76544204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters 0.014609787275922492 Centerline is valid? [True, True] Translation: X:267.30, Y:2.65, Z:1.77 [[ 9.99687554e-01 -2.38207913e-02 -7.57393797e-03 2.67304973e+02] [ 2.38206491e-02 9.99716242e-01 -1.09000970e-04 2.64697981e+00] [ 7.57438530e-03 -7.14492058e-05 9.99971311e-01 1.76642595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters 0.01580585137911623 Centerline is valid? [True, True] Translation: X:267.37, Y:2.64, Z:1.77 [[ 9.99495579e-01 -3.10259800e-02 -6.78060864e-03 2.67365807e+02] [ 3.10260318e-02 9.99518572e-01 -9.75748215e-05 2.63800554e+00] [ 6.78037162e-03 -1.12849776e-04 9.99977007e-01 1.76684527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters 0.018612980253863223 Centerline is valid? [True, True] Translation: X:267.43, Y:2.62, Z:1.77 [[ 9.99128136e-01 -4.10830763e-02 -7.42624176e-03 2.67426731e+02] [ 4.10834230e-02 9.99155714e-01 -1.05917384e-04 2.62449020e+00] [ 7.42432330e-03 -1.99270394e-04 9.99972419e-01 1.76564777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters 0.018793858217308914 Centerline is valid? [True, True] Translation: X:267.49, Y:2.62, Z:1.76 [[ 9.98901907e-01 -4.60799289e-02 -8.46288437e-03 2.67487711e+02] [ 4.60805602e-02 9.98937720e-01 -1.20481549e-04 2.62026739e+00] [ 8.45944619e-03 -2.69625203e-04 9.99964182e-01 1.76487574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters 0.019903325359885513 Centerline is valid? [True, True] Translation: X:267.55, Y:2.61, Z:1.76 [[ 9.98762883e-01 -4.90196398e-02 -8.35330249e-03 2.67549947e+02] [ 4.90203613e-02 9.98797772e-01 -1.18472424e-04 2.61301619e+00] [ 8.34906740e-03 -2.91156046e-04 9.99965104e-01 1.76435288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters 0.020264576790926997 Centerline is valid? [True, True] Translation: X:267.61, Y:2.61, Z:1.77 [[ 9.98882303e-01 -4.67597299e-02 -6.90456032e-03 2.67610875e+02] [ 4.67601720e-02 9.98906140e-01 -9.74838918e-05 2.60883548e+00] [ 6.90156602e-03 -2.25483494e-04 9.99976158e-01 1.76602333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters 0.01833377369720247 Centerline is valid? [True, True] Translation: X:267.67, Y:2.61, Z:1.77 [[ 9.98989786e-01 -4.44463995e-02 -6.62761415e-03 2.67672863e+02] [ 4.44467619e-02 9.99011750e-01 -9.26684368e-05 2.61182890e+00] [ 6.62518319e-03 -2.02001167e-04 9.99978033e-01 1.76649617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters 0.018403540253134912 Centerline is valid? [True, True] Translation: X:267.73, Y:2.61, Z:1.77 [[ 9.99039207e-01 -4.32024147e-02 -7.36298140e-03 2.67734506e+02] [ 4.32028327e-02 9.99066317e-01 -1.02351189e-04 2.60885884e+00] [ 7.36052852e-03 -2.15848803e-04 9.99972888e-01 1.76537605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters 0.019063940665178625 Centerline is valid? [True, True] Translation: X:267.80, Y:2.60, Z:1.76 [[ 9.98874902e-01 -4.65465742e-02 -9.07452479e-03 2.67796809e+02] [ 4.65473527e-02 9.98916077e-01 -1.25505023e-04 2.60451978e+00] [ 9.07053053e-03 -2.97031289e-04 9.99958818e-01 1.76384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.719254154 meters 0.020582458094193012 Centerline is valid? [True, True] Translation: X:267.86, Y:2.60, Z:1.76 [[ 9.98642164e-01 -5.11050492e-02 -1.01045426e-02 2.67858440e+02] [ 5.11062544e-02 9.98693212e-01 -1.39065775e-04 2.60076759e+00] [ 1.00984451e-02 -3.77528380e-04 9.99948938e-01 1.76340515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779254154 meters 0.02467397758999603 Centerline is valid? [True, True] Translation: X:267.92, Y:2.59, Z:1.76 [[ 9.98214659e-01 -5.87201034e-02 -1.09290101e-02 2.67918100e+02] [ 5.87219722e-02 9.98274365e-01 -1.50101588e-04 2.59273268e+00] [ 1.09189646e-02 -4.91939421e-04 9.99940265e-01 1.76310236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839254154 meters 0.0290427494403096 Centerline is valid? [True, True] Translation: X:267.98, Y:2.59, Z:1.76 [[ 9.97946992e-01 -6.31214424e-02 -1.08390536e-02 2.67977898e+02] [ 6.31235430e-02 9.98005710e-01 -1.48546970e-04 2.58527405e+00] [ 1.08268139e-02 -5.35957466e-04 9.99941245e-01 1.76364889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899254154 meters 0.026466372162556945 Centerline is valid? [True, True] Translation: X:268.04, Y:2.59, Z:1.76 [[ 9.97766665e-01 -6.58482930e-02 -1.12109422e-02 2.68039045e+02] [ 6.58507185e-02 9.97829474e-01 -1.53049459e-04 2.58862930e+00] [ 1.11966866e-02 -5.85540948e-04 9.99937144e-01 1.76465517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959254154 meters 0.02391187580363872 Centerline is valid? [True, True] Translation: X:268.10, Y:2.59, Z:1.77 [[ 9.97896963e-01 -6.39910009e-02 -1.03345676e-02 2.68100625e+02] [ 6.39929674e-02 9.97950340e-01 -1.40618336e-04 2.59431945e+00] [ 1.03223835e-02 -5.21017035e-04 9.99946587e-01 1.76766404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019254154 meters 0.022459972879091093 Centerline is valid? [True, True] Translation: X:268.16, Y:2.60, Z:1.77 [[ 9.98286252e-01 -5.76924220e-02 -9.80526019e-03 2.68161060e+02] [ 5.76938932e-02 9.98334311e-01 -1.32989756e-04 2.59960850e+00] [ 9.79660018e-03 -4.32941789e-04 9.99951918e-01 1.76909407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079254154 meters 0.021195778683902662 Centerline is valid? [True, True] Translation: X:268.22, Y:2.60, Z:1.77 [[ 9.98549733e-01 -5.27718974e-02 -1.06563331e-02 2.68221758e+02] [ 5.27733563e-02 9.98606505e-01 -1.44442793e-04 2.60477740e+00] [ 1.06491061e-02 -4.18137151e-04 9.99943209e-01 1.76957546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139254154 meters 0.022638823528936716 Centerline is valid? [True, True] Translation: X:268.28, Y:2.61, Z:1.77 [[ 9.98842210e-01 -4.64028228e-02 -1.26892406e-02 2.68282192e+02] [ 4.64043799e-02 9.98922722e-01 -1.71849254e-04 2.61018274e+00] [ 1.26835451e-02 -4.17186053e-04 9.99919474e-01 1.76753425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199254154 meters 0.019261285274262206 Centerline is valid? [True, True] Translation: X:268.34, Y:2.62, Z:1.77 [[ 9.98986836e-01 -4.28986997e-02 -1.36016154e-02 2.68343687e+02] [ 4.29001678e-02 9.99079347e-01 -1.83948181e-04 2.61506747e+00] [ 1.35969841e-02 -3.99749771e-04 9.99907477e-01 1.76843902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259254154 meters 0.018018055018810868 Centerline is valid? [True, True] Translation: X:268.40, Y:2.62, Z:1.77 [[ 9.99059411e-01 -4.09238172e-02 -1.43364518e-02 2.68404773e+02] [ 4.09252529e-02 9.99162192e-01 -1.93341198e-04 2.61815534e+00] [ 1.43323529e-02 -3.93563574e-04 9.99897209e-01 1.76919479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319254154 meters 0.017558657294984303 Centerline is valid? [True, True] Translation: X:268.47, Y:2.62, Z:1.77 [[ 9.99077592e-01 -4.01090222e-02 -1.53372703e-02 2.68465575e+02] [ 4.01105735e-02 9.99195226e-01 -2.06573854e-04 2.62229801e+00] [ 1.53332127e-02 -4.08803399e-04 9.99882356e-01 1.76982031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379254154 meters 0.017685151145435722 Centerline is valid? [True, True] Translation: X:268.53, Y:2.62, Z:1.77 [[ 9.99032571e-01 -4.10761776e-02 -1.57057129e-02 2.68526256e+02] [ 4.10779238e-02 9.99155923e-01 -2.11536316e-04 2.62331570e+00] [ 1.57011452e-02 -4.33826410e-04 9.99876635e-01 1.76968105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439254154 meters 0.019367243103557745 Centerline is valid? [True, True] Translation: X:268.59, Y:2.62, Z:1.77 [[ 9.98810713e-01 -4.61191521e-02 -1.58172062e-02 2.68586670e+02] [ 4.61215548e-02 9.98935812e-01 -2.13037991e-04 2.62183201e+00] [ 1.58101989e-02 -5.16729515e-04 9.99874877e-01 1.77048267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499254154 meters 0.021913332728782056 Centerline is valid? [True, True] Translation: X:268.65, Y:2.62, Z:1.77 [[ 9.98509597e-01 -5.25151255e-02 -1.48575300e-02 2.68647701e+02] [ 5.25179548e-02 9.98619960e-01 -1.99941095e-04 2.61886741e+00] [ 1.48475259e-02 -5.80643984e-04 9.99889601e-01 1.77157425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters 0.024598400553116222 Centerline is valid? [True, True] Translation: X:268.71, Y:2.62, Z:1.77 [[ 9.98055203e-01 -6.06875916e-02 -1.42417872e-02 2.68708259e+02] [ 6.06910235e-02 9.98156582e-01 -1.91496978e-04 2.61551775e+00] [ 1.42271552e-02 -6.73224090e-04 9.99898562e-01 1.77250976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters 0.03024468320997355 Centerline is valid? [True, True] Translation: X:268.77, Y:2.61, Z:1.77 [[ 9.97477113e-01 -6.95523725e-02 -1.42083424e-02 2.68768075e+02] [ 6.95566840e-02 9.97577983e-01 -1.91095382e-04 2.60799345e+00] [ 1.41872207e-02 -7.97671915e-04 9.99899038e-01 1.77267939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters 0.030517088867520182 Centerline is valid? [True, True] Translation: X:268.83, Y:2.61, Z:1.77 [[ 9.96606933e-01 -8.10850715e-02 -1.41362328e-02 2.68828883e+02] [ 8.10904936e-02 9.96706725e-01 -1.90147949e-04 2.60939526e+00] [ 1.41050965e-02 -9.56811333e-04 9.99900060e-01 1.77430131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters 0.034217203034815784 Centerline is valid? [True, True] Translation: X:268.89, Y:2.61, Z:1.77 [[ 9.96255447e-01 -8.50077601e-02 -1.57722742e-02 2.68889075e+02] [ 8.50150003e-02 9.96379649e-01 -2.12082660e-04 2.60740267e+00] [ 1.57332017e-02 -1.12959139e-03 9.99875587e-01 1.77357879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters 0.034726178274106276 Centerline is valid? [True, True] Translation: X:268.95, Y:2.61, Z:1.77 [[ 9.96242922e-01 -8.51419357e-02 -1.58395171e-02 2.68951409e+02] [ 8.51492658e-02 9.96368184e-01 -2.12277220e-04 2.61151348e+00] [ 1.58000646e-02 -1.13724358e-03 9.99874524e-01 1.77406447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters 0.033648238118173274 Centerline is valid? [True, True] Translation: X:269.01, Y:2.62, Z:1.77 [[ 9.96718982e-01 -7.89905907e-02 -1.76566595e-02 2.69012175e+02] [ 7.89987519e-02 9.96874687e-01 -2.35879269e-04 2.62125572e+00] [ 1.76201092e-02 -1.15974872e-03 9.99844081e-01 1.77367338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters 0.028879838035478653 Centerline is valid? [True, True] Translation: X:269.07, Y:2.64, Z:1.77 [[ 9.97444087e-01 -6.89934728e-02 -1.85793933e-02 2.69072463e+02] [ 6.90007830e-02 9.97616575e-01 -2.48072410e-04 2.63619804e+00] [ 1.85522260e-02 -1.03455432e-03 9.99827357e-01 1.77380566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters 0.02571523277258751 Centerline is valid? [True, True] Translation: X:269.13, Y:2.65, Z:1.77 [[ 9.97879869e-01 -6.24973819e-02 -1.81616424e-02 2.69133280e+02] [ 6.25032943e-02 9.98044728e-01 -2.42457788e-04 2.64680535e+00] [ 1.81412844e-02 -8.93218733e-04 9.99835034e-01 1.77490527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters 0.023284003558950363 Centerline is valid? [True, True] Translation: X:269.19, Y:2.66, Z:1.78 [[ 9.98255393e-01 -5.58880841e-02 -1.90444770e-02 2.69193562e+02] [ 5.58933858e-02 9.98436710e-01 -2.54199243e-04 2.65683315e+00] [ 1.90289117e-02 -8.10704535e-04 9.99818605e-01 1.77537573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters 0.020941241868909992 Centerline is valid? [True, True] Translation: X:269.25, Y:2.67, Z:1.78 [[ 9.98666565e-01 -4.77885317e-02 -1.95281133e-02 2.69253617e+02] [ 4.77925600e-02 9.98857249e-01 -2.60627079e-04 2.66970425e+00] [ 1.95182525e-02 -6.73018977e-04 9.99809274e-01 1.77566190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters 0.01953060278654032 Centerline is valid? [True, True] Translation: X:269.31, Y:2.68, Z:1.78 [[ 9.98978604e-01 -4.06082482e-02 -1.98171125e-02 2.69313421e+02] [ 4.06109850e-02 9.99174999e-01 -2.64477102e-04 2.68019557e+00] [ 1.98115033e-02 -5.40585493e-04 9.99803587e-01 1.77633337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.219254154 meters 0.016723453108172543 Centerline is valid? [True, True] Translation: X:269.37, Y:2.69, Z:1.78 [[ 9.99206068e-01 -3.43773948e-02 -2.01352717e-02 2.69374128e+02] [ 3.43789608e-02 9.99408833e-01 -2.68476279e-04 2.69136668e+00] [ 2.01325979e-02 -4.23966591e-04 9.99797229e-01 1.77829446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279254154 meters 0.015901697982371323 Centerline is valid? [True, True] Translation: X:269.43, Y:2.70, Z:1.78 [[ 9.99315186e-01 -3.14150371e-02 -1.95513141e-02 2.69433589e+02] [ 3.14159396e-02 9.99506363e-01 -2.61050142e-04 2.69712194e+00] [ 1.95498638e-02 -3.53351534e-04 9.99808821e-01 1.77955609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339254154 meters 0.015573700836509566 Centerline is valid? [True, True] Translation: X:269.49, Y:2.70, Z:1.78 [[ 9.99423146e-01 -2.84559131e-02 -1.85374557e-02 2.69492011e+02] [ 2.84561990e-02 9.99595010e-01 -2.48403251e-04 2.70225924e+00] [ 1.85370167e-02 -2.79245568e-04 9.99828136e-01 1.78052788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399254154 meters 0.015642643609887423 Centerline is valid? [True, True] Translation: X:269.55, Y:2.70, Z:1.78 [[ 9.99428611e-01 -2.87772425e-02 -1.77291291e-02 2.69551632e+02] [ 2.87775412e-02 9.99585812e-01 -2.38327352e-04 2.70272815e+00] [ 1.77286443e-02 -2.72009569e-04 9.99842798e-01 1.78063028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459254154 meters 0.017682888245587964 Centerline is valid? [True, True] Translation: X:269.61, Y:2.70, Z:1.78 [[ 9.99367221e-01 -3.09512479e-02 -1.75265112e-02 2.69610457e+02] [ 3.09518596e-02 9.99520848e-01 -2.36426831e-04 2.70057751e+00] [ 1.75254310e-02 -3.06200888e-04 9.99846371e-01 1.77983754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519254154 meters 0.016988052350929525 Centerline is valid? [True, True] Translation: X:269.67, Y:2.70, Z:1.78 [[ 9.99304744e-01 -3.33567956e-02 -1.66539294e-02 2.69669493e+02] [ 3.33576702e-02 9.99443453e-01 -2.25347669e-04 2.69937724e+00] [ 1.66521776e-02 -3.30345291e-04 9.99861288e-01 1.78034257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579254154 meters 0.017217171546426796 Centerline is valid? [True, True] Translation: X:269.73, Y:2.70, Z:1.78 [[ 9.99288915e-01 -3.35441373e-02 -1.72178929e-02 2.69730296e+02] [ 3.35450957e-02 9.99437178e-01 -2.33222247e-04 2.69892597e+00] [ 1.72160255e-02 -3.44519458e-04 9.99851734e-01 1.77965197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639254154 meters 0.01745842811332046 Centerline is valid? [True, True] Translation: X:269.79, Y:2.70, Z:1.78 [[ 9.99309862e-01 -3.32382847e-02 -1.65836149e-02 2.69789929e+02] [ 3.32391289e-02 9.99447402e-01 -2.24799251e-04 2.69792260e+00] [ 1.65819228e-02 -3.26580806e-04 9.99862457e-01 1.77927587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699254154 meters 0.01672560281343252 Centerline is valid? [True, True] Translation: X:269.85, Y:2.70, Z:1.78 [[ 9.99323163e-01 -3.29923416e-02 -1.62702845e-02 2.69850118e+02] [ 3.29931198e-02 9.99455554e-01 -2.20664273e-04 2.70017244e+00] [ 1.62687064e-02 -3.16292524e-04 9.99867606e-01 1.78058772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759254154 meters 0.016165732066420708 Centerline is valid? [True, True] Translation: X:269.91, Y:2.70, Z:1.78 [[ 9.99386431e-01 -3.11942376e-02 -1.59273631e-02 2.69910912e+02] [ 3.11947551e-02 9.99513302e-01 -2.16013433e-04 2.70143424e+00] [ 1.59263497e-02 -2.80969298e-04 9.99873128e-01 1.78098044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819254154 meters 0.015202855584437304 Centerline is valid? [True, True] Translation: X:269.97, Y:2.70, Z:1.78 [[ 9.99498949e-01 -2.74223495e-02 -1.58071204e-02 2.69971901e+02] [ 2.74223902e-02 9.99623913e-01 -2.14214546e-04 2.70453204e+00] [ 1.58070499e-02 -2.19361811e-04 9.99875037e-01 1.78200447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879254154 meters 0.014850825043204183 Centerline is valid? [True, True] Translation: X:270.03, Y:2.71, Z:1.78 [[ 9.99577043e-01 -2.46927982e-02 -1.53623490e-02 2.70032110e+02] [ 2.46925161e-02 9.99695072e-01 -2.08066577e-04 2.70614163e+00] [ 1.53628023e-02 -1.71356475e-04 9.99881971e-01 1.78268859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939254154 meters 0.014411154551359849 Centerline is valid? [True, True] Translation: X:270.09, Y:2.71, Z:1.78 [[ 9.99634941e-01 -2.23445388e-02 -1.51890147e-02 2.70091676e+02] [ 2.23439872e-02 9.99750321e-01 -2.06035419e-04 2.70716472e+00] [ 1.51898261e-02 -1.33422948e-04 9.99884619e-01 1.78348600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999254154 meters 0.014373262753180458 Centerline is valid? [True, True] Translation: X:270.15, Y:2.71, Z:1.78 [[ 9.99652281e-01 -2.16923793e-02 -1.49919470e-02 2.70151317e+02] [ 2.16917603e-02 9.99764685e-01 -2.03915137e-04 2.70501327e+00] [ 1.49928425e-02 -1.21357489e-04 9.99887594e-01 1.78328769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters 0.014546842544414908 Centerline is valid? [True, True] Translation: X:270.21, Y:2.70, Z:1.78 [[ 9.99568821e-01 -2.50589902e-02 -1.53041939e-02 2.70209813e+02] [ 2.50587015e-02 9.99685959e-01 -2.10660217e-04 2.70009725e+00] [ 1.53046667e-02 -1.72933841e-04 9.99882862e-01 1.78276438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters 0.015072285480259809 Centerline is valid? [True, True] Translation: X:270.27, Y:2.69, Z:1.78 [[ 9.99463622e-01 -2.85618770e-02 -1.60214654e-02 2.70269768e+02] [ 2.85619755e-02 9.99591999e-01 -2.22711586e-04 2.69494212e+00] [ 1.60212896e-02 -2.35012574e-04 9.99871623e-01 1.78192487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters 0.016429503210399304 Centerline is valid? [True, True] Translation: X:270.33, Y:2.69, Z:1.78 [[ 9.99239154e-01 -3.51722038e-02 -1.68531600e-02 2.70330117e+02] [ 3.51732449e-02 9.99381202e-01 -2.34722499e-04 2.68593343e+00] [ 1.68509870e-02 -3.58236414e-04 9.99857948e-01 1.78067963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters 0.017670706034365914 Centerline is valid? [True, True] Translation: X:270.39, Y:2.68, Z:1.78 [[ 9.99011894e-01 -4.15686632e-02 -1.57251953e-02 2.70390360e+02] [ 4.15703568e-02 9.99135555e-01 -2.19296821e-04 2.67769975e+00] [ 1.57207176e-02 -4.34621846e-04 9.99876327e-01 1.78203081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters 0.018096861076467026 Centerline is valid? [True, True] Translation: X:270.45, Y:2.67, Z:1.78 [[ 9.98940311e-01 -4.36872727e-02 -1.44802557e-02 2.70451309e+02] [ 4.36889315e-02 9.99045162e-01 -2.01905604e-04 2.67449240e+00] [ 1.44752501e-02 -4.30935252e-04 9.99895135e-01 1.78365182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters 0.018882867878147983 Centerline is valid? [True, True] Translation: X:270.51, Y:2.67, Z:1.78 [[ 9.99015093e-01 -4.25624317e-02 -1.25413059e-02 2.70511431e+02] [ 4.25635937e-02 9.99093744e-01 -1.74369636e-04 2.67055140e+00] [ 1.25373618e-02 -3.59605149e-04 9.99921340e-01 1.78452580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters 0.017677080230418172 Centerline is valid? [True, True] Translation: X:270.57, Y:2.67, Z:1.79 [[ 9.99075984e-01 -4.11613509e-02 -1.23661508e-02 2.70572573e+02] [ 4.11623815e-02 9.99152455e-01 -1.71279780e-04 2.67265075e+00] [ 1.23627201e-02 -3.37898703e-04 9.99923522e-01 1.78526064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters 0.016811886748383128 Centerline is valid? [True, True] Translation: X:270.63, Y:2.67, Z:1.79 [[ 9.99258558e-01 -3.66749215e-02 -1.17168356e-02 2.70632906e+02] [ 3.66755423e-02 9.99327213e-01 -1.61958496e-04 2.67309379e+00] [ 1.17148925e-02 -2.67882887e-04 9.99931342e-01 1.78607831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters 0.016272582661051947 Centerline is valid? [True, True] Translation: X:270.69, Y:2.67, Z:1.79 [[ 9.99335193e-01 -3.43420342e-02 -1.22391362e-02 2.70694718e+02] [ 3.43425419e-02 9.99410107e-01 -1.68747601e-04 2.67419491e+00] [ 1.22377115e-02 -2.51687632e-04 9.99925085e-01 1.78651103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters 0.01643389416247183 Centerline is valid? [True, True] Translation: X:270.76, Y:2.67, Z:1.79 [[ 9.99303770e-01 -3.43690189e-02 -1.45170577e-02 2.70755650e+02] [ 3.43697464e-02 9.99409166e-01 -1.99441334e-04 2.67250307e+00] [ 1.45153351e-02 -2.99645114e-04 9.99894602e-01 1.78569885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters 0.017679365677411622 Centerline is valid? [True, True] Translation: X:270.82, Y:2.67, Z:1.78 [[ 9.99156865e-01 -3.73774251e-02 -1.69849176e-02 2.70815279e+02] [ 3.73788581e-02 9.99301139e-01 -2.33193230e-04 2.66820096e+00] [ 1.69817637e-02 -4.01880211e-04 9.99855719e-01 1.78379941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.719254154 meters 0.01905650128505245 Centerline is valid? [True, True] Translation: X:270.87, Y:2.67, Z:1.78 [[ 9.99027917e-01 -4.00856395e-02 -1.83401881e-02 2.70874431e+02] [ 4.00877574e-02 9.99196131e-01 -2.52293879e-04 2.66521011e+00] [ 1.83355583e-02 -4.83168382e-04 9.99831773e-01 1.78308014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779254154 meters 0.020045554348923137 Centerline is valid? [True, True] Translation: X:270.93, Y:2.66, Z:1.78 [[ 9.98908371e-01 -4.28394667e-02 -1.86237908e-02 2.70934249e+02] [ 4.28421167e-02 9.99081822e-01 -2.56843547e-04 2.66291489e+00] [ 1.86176938e-02 -5.41319448e-04 9.99826529e-01 1.78417823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839254154 meters 0.017391787851353355 Centerline is valid? [True, True] Translation: X:270.99, Y:2.67, Z:1.79 [[ 9.98924837e-01 -4.22324608e-02 -1.91204049e-02 2.70994335e+02] [ 4.22351385e-02 9.99107664e-01 -2.63930890e-04 2.66846112e+00] [ 1.91144896e-02 -5.43905829e-04 9.99817154e-01 1.78777769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899254154 meters 0.01788743584237331 Centerline is valid? [True, True] Translation: X:271.06, Y:2.67, Z:1.79 [[ 9.98945350e-01 -4.22482126e-02 -1.79798937e-02 2.71055082e+02] [ 4.22505828e-02 9.99107015e-01 -2.48187701e-04 2.66954162e+00] [ 1.79743234e-02 -5.11735037e-04 9.99838318e-01 1.78940639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959254154 meters 0.018306755741080653 Centerline is valid? [True, True] Translation: X:271.11, Y:2.67, Z:1.79 [[ 9.98966980e-01 -4.21364161e-02 -1.70145867e-02 2.71114638e+02] [ 4.21385191e-02 9.99111750e-01 -2.35050823e-04 2.67021288e+00] [ 1.70093777e-02 -4.82161477e-04 9.99855214e-01 1.79052069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019254154 meters 0.018533884843588505 Centerline is valid? [True, True] Translation: X:271.17, Y:2.67, Z:1.79 [[ 9.98991873e-01 -4.16530884e-02 -1.67408831e-02 2.71174929e+02] [ 4.16550544e-02 9.99132025e-01 -2.31390073e-04 2.67084959e+00] [ 1.67359905e-02 -4.66185594e-04 9.99859835e-01 1.79109006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079254154 meters 0.017137719875972846 Centerline is valid? [True, True] Translation: X:271.23, Y:2.68, Z:1.79 [[ 9.99007841e-01 -4.08063397e-02 -1.78375117e-02 2.71234942e+02] [ 4.08084370e-02 9.99166958e-01 -2.46547515e-04 2.67574798e+00] [ 1.78327130e-02 -4.81618070e-04 9.99840869e-01 1.79142893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139254154 meters 0.016784063541329202 Centerline is valid? [True, True] Translation: X:271.30, Y:2.68, Z:1.79 [[ 9.99029743e-01 -3.95837515e-02 -1.93054364e-02 2.71295369e+02] [ 3.95859803e-02 9.99216132e-01 -2.66836959e-04 2.67762581e+00] [ 1.93008659e-02 -4.97646566e-04 9.99813597e-01 1.79084596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199254154 meters 0.016302119486237634 Centerline is valid? [True, True] Translation: X:271.35, Y:2.68, Z:1.79 [[ 9.99118527e-01 -3.67537931e-02 -2.02812186e-02 2.71354952e+02] [ 3.67556601e-02 9.99324243e-01 -2.80826618e-04 2.68054327e+00] [ 2.02778349e-02 -4.64870500e-04 9.99794275e-01 1.79055180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259254154 meters 0.016294552648280152 Centerline is valid? [True, True] Translation: X:271.41, Y:2.68, Z:1.79 [[ 9.99179490e-01 -3.48317808e-02 -2.06662275e-02 2.71413261e+02] [ 3.48332848e-02 9.99393096e-01 -2.87303405e-04 2.68209155e+00] [ 2.06636923e-02 -4.32804917e-04 9.99786389e-01 1.79054633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319254154 meters 0.017148285248767898 Centerline is valid? [True, True] Translation: X:271.47, Y:2.69, Z:1.79 [[ 9.99255901e-01 -3.19854686e-02 -2.15539592e-02 2.71472198e+02] [ 3.19863513e-02 9.99488260e-01 -3.03886619e-04 2.68535228e+00] [ 2.15526491e-02 -3.85772014e-04 9.99767640e-01 1.79104881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379254154 meters 0.015296465933119995 Centerline is valid? [True, True] Translation: X:271.53, Y:2.69, Z:1.79 [[ 9.99286473e-01 -3.16355200e-02 -2.06334464e-02 2.71530497e+02] [ 3.16361464e-02 9.99499408e-01 -2.96140317e-04 2.68651530e+00] [ 2.06324860e-02 -3.56833718e-04 9.99787064e-01 1.79213908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439254154 meters 0.015589298542364594 Centerline is valid? [True, True] Translation: X:271.59, Y:2.69, Z:1.79 [[ 9.99248526e-01 -3.25864791e-02 -2.09881875e-02 2.71589583e+02] [ 3.25872234e-02 9.99468848e-01 -3.06638810e-04 2.68601685e+00] [ 2.09870319e-02 -3.77538378e-04 9.99779677e-01 1.79310548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499254154 meters 0.01635326847239875 Centerline is valid? [True, True] Translation: X:271.65, Y:2.68, Z:1.79 [[ 9.99201374e-01 -3.48192174e-02 -1.96019462e-02 2.71646956e+02] [ 3.48202306e-02 9.99393550e-01 -2.89717535e-04 2.68360122e+00] [ 1.96001463e-02 -3.93058127e-04 9.99807821e-01 1.79471785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters 0.016977845857309853 Centerline is valid? [True, True] Translation: X:271.71, Y:2.68, Z:1.80 [[ 9.99144831e-01 -3.70899588e-02 -1.82740869e-02 2.71705397e+02] [ 3.70911509e-02 9.99311849e-01 -2.73810017e-04 2.68119913e+00] [ 1.82716672e-02 -4.04231050e-04 9.99832977e-01 1.79573840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters 0.018698679124897918 Centerline is valid? [True, True] Translation: X:271.76, Y:2.68, Z:1.80 [[ 9.98982034e-01 -4.11003354e-02 -1.85918800e-02 2.71764393e+02] [ 4.11022240e-02 9.99154907e-01 -2.80686322e-04 2.67594911e+00] [ 1.85877045e-02 -4.83767024e-04 9.99827117e-01 1.79534898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters 0.019052136553457402 Centerline is valid? [True, True] Translation: X:271.82, Y:2.67, Z:1.80 [[ 9.98773819e-01 -4.56976128e-02 -1.90417127e-02 2.71824261e+02] [ 4.57004197e-02 9.98955149e-01 -2.87940970e-04 2.67324833e+00] [ 1.90349751e-02 -5.82626358e-04 9.99818649e-01 1.79612567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters 0.020713356447303512 Centerline is valid? [True, True] Translation: X:271.88, Y:2.67, Z:1.80 [[ 9.98647109e-01 -4.85667687e-02 -1.85801146e-02 2.71884006e+02] [ 4.85699310e-02 9.98819745e-01 -2.81291267e-04 2.66896161e+00] [ 1.85718467e-02 -6.21524174e-04 9.99827335e-01 1.79623662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters 0.019658775287059012 Centerline is valid? [True, True] Translation: X:271.94, Y:2.67, Z:1.80 [[ 9.98551082e-01 -5.05116121e-02 -1.85556865e-02 2.71944037e+02] [ 5.05150950e-02 9.98723258e-01 -2.81260207e-04 2.66901193e+00] [ 1.85462026e-02 -6.56489585e-04 9.99827789e-01 1.79788302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters 0.019360556184777913 Centerline is valid? [True, True] Translation: X:272.00, Y:2.67, Z:1.80 [[ 9.98586247e-01 -5.01128648e-02 -1.77259238e-02 2.72004169e+02] [ 5.01159783e-02 9.98743369e-01 -2.68801557e-04 2.66923991e+00] [ 1.77171192e-02 -6.19930473e-04 9.99842847e-01 1.79860409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters 0.018737151907361204 Centerline is valid? [True, True] Translation: X:272.06, Y:2.67, Z:1.80 [[ 9.98616897e-01 -4.92849999e-02 -1.83107048e-02 2.72064836e+02] [ 4.92881832e-02 9.98784560e-01 -2.77669363e-04 2.67032439e+00] [ 1.83021342e-02 -6.25216056e-04 9.99832306e-01 1.79927293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters 0.018663986016049846 Centerline is valid? [True, True] Translation: X:272.13, Y:2.67, Z:1.80 [[ 9.98595843e-01 -4.92834645e-02 -1.94289131e-02 2.72125385e+02] [ 4.92870485e-02 9.98784611e-01 -2.94626230e-04 2.67017273e+00] [ 1.94198197e-02 -6.63381255e-04 9.99811197e-01 1.79894644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters 0.02082996451380577 Centerline is valid? [True, True] Translation: X:272.19, Y:2.67, Z:1.80 [[ 9.98517310e-01 -5.03927181e-02 -2.05853390e-02 2.72185701e+02] [ 5.03969770e-02 9.98729216e-01 -3.12162641e-04 2.67011429e+00] [ 2.05749102e-02 -7.25739057e-04 9.99788051e-01 1.79973524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters 0.020343015491051494 Centerline is valid? [True, True] Translation: X:272.25, Y:2.67, Z:1.80 [[ 9.98433184e-01 -5.23850173e-02 -1.96719977e-02 2.72245496e+02] [ 5.23892879e-02 9.98626694e-01 -2.98552439e-04 2.66838052e+00] [ 1.96606217e-02 -7.32517289e-04 9.99806443e-01 1.79942344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters 0.021795749592763383 Centerline is valid? [True, True] Translation: X:272.31, Y:2.67, Z:1.80 [[ 9.98350077e-01 -5.38130555e-02 -2.00319382e-02 2.72305216e+02] [ 5.38177635e-02 9.98550728e-01 -3.04381706e-04 2.66675121e+00] [ 2.00192862e-02 -7.74194615e-04 9.99799294e-01 1.79910142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.219254154 meters 0.02080497783746677 Centerline is valid? [True, True] Translation: X:272.37, Y:2.67, Z:1.80 [[ 9.98277812e-01 -5.50685837e-02 -2.02203199e-02 2.72365908e+02] [ 5.50736354e-02 9.98482248e-01 -3.07366210e-04 2.67075953e+00] [ 2.02065567e-02 -8.06769660e-04 9.99795501e-01 1.80078869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279254154 meters 0.020896343428256522 Centerline is valid? [True, True] Translation: X:272.43, Y:2.67, Z:1.80 [[ 9.98236587e-01 -5.64601241e-02 -1.83295117e-02 2.72426652e+02] [ 5.64645090e-02 9.98404568e-01 -2.78624303e-04 2.67319756e+00] [ 1.83159994e-02 -7.56833906e-04 9.99831962e-01 1.80313490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339254154 meters 0.021169387832874424 Centerline is valid? [True, True] Translation: X:272.49, Y:2.67, Z:1.80 [[ 9.98242146e-01 -5.66308808e-02 -1.74802866e-02 2.72488000e+02] [ 5.66349018e-02 9.98394921e-01 -2.65313832e-04 2.67386543e+00] [ 1.74672543e-02 -7.25146866e-04 9.99847173e-01 1.80353235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399254154 meters 0.02231336138120588 Centerline is valid? [True, True] Translation: X:272.55, Y:2.67, Z:1.80 [[ 9.98177923e-01 -5.79392815e-02 -1.68485264e-02 2.72549743e+02] [ 5.79432134e-02 9.98319848e-01 -2.55111254e-04 2.67496508e+00] [ 1.68349993e-02 -7.21611339e-04 9.99858021e-01 1.80400202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459254154 meters 0.021379276949895366 Centerline is valid? [True, True] Translation: X:272.61, Y:2.68, Z:1.80 [[ 9.98179850e-01 -5.80004471e-02 -1.65207542e-02 2.72612180e+02] [ 5.80042520e-02 9.98316305e-01 -2.49170687e-04 2.67921586e+00] [ 1.65073903e-02 -7.09556831e-04 9.99863492e-01 1.80421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519254154 meters 0.02086484517830359 Centerline is valid? [True, True] Translation: X:272.67, Y:2.68, Z:1.80 [[ 9.98288230e-01 -5.62798076e-02 -1.59120645e-02 2.72673157e+02] [ 5.62831322e-02 9.98414820e-01 -2.39161198e-04 2.68445567e+00] [ 1.59003009e-02 -6.56829019e-04 9.99873366e-01 1.80381004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579254154 meters 0.020261011720105433 Centerline is valid? [True, True] Translation: X:272.73, Y:2.69, Z:1.80 [[ 9.98563539e-01 -5.16506554e-02 -1.42501785e-02 2.72733171e+02] [ 5.16528541e-02 9.98665077e-01 -2.13957866e-04 2.69020007e+00] [ 1.42422067e-02 -5.22411867e-04 9.99898438e-01 1.80365426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639254154 meters 0.018806806757560128 Centerline is valid? [True, True] Translation: X:272.79, Y:2.70, Z:1.80 [[ 9.98808180e-01 -4.67317070e-02 -1.40843207e-02 2.72793929e+02] [ 4.67333681e-02 9.98907377e-01 -2.11330816e-04 2.69736842e+00] [ 1.40788077e-02 -4.47128798e-04 9.99900789e-01 1.80350143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699254154 meters 0.016194123946528097 Centerline is valid? [True, True] Translation: X:272.85, Y:2.71, Z:1.80 [[ 9.99114391e-01 -3.96624584e-02 -1.40471903e-02 2.72854321e+02] [ 3.96634142e-02 9.99213075e-01 -2.10649522e-04 2.70666621e+00] [ 1.40444911e-02 -3.46696559e-04 9.99901311e-01 1.80261889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759254154 meters 0.01480620962580877 Centerline is valid? [True, True] Translation: X:272.92, Y:2.71, Z:1.80 [[ 9.99339955e-01 -3.36049553e-02 -1.37971697e-02 2.72915495e+02] [ 3.36053039e-02 9.99435161e-01 -2.06633366e-04 2.71466433e+00] [ 1.37963204e-02 -2.57161103e-04 9.99904793e-01 1.80244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819254154 meters 0.014667131202093025 Centerline is valid? [True, True] Translation: X:272.98, Y:2.72, Z:1.80 [[ 9.99436847e-01 -3.09518038e-02 -1.29604703e-02 2.72975539e+02] [ 3.09518930e-02 9.99520857e-01 -1.93750397e-04 2.71816762e+00] [ 1.29602573e-02 -2.07509803e-04 9.99915991e-01 1.80249552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879254154 meters 0.014382806456654034 Centerline is valid? [True, True] Translation: X:273.04, Y:2.72, Z:1.80 [[ 9.99459767e-01 -3.07234122e-02 -1.16724560e-02 2.73036631e+02] [ 3.07234724e-02 9.99527908e-01 -1.74202966e-04 2.72202488e+00] [ 1.16722976e-02 -1.84509524e-04 9.99931859e-01 1.80367782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939254154 meters 0.015497861439466265 Centerline is valid? [True, True] Translation: X:273.10, Y:2.72, Z:1.80 [[ 9.99387040e-01 -3.32726188e-02 -1.08847241e-02 2.73097351e+02] [ 3.32728255e-02 9.99446293e-01 -1.62142650e-04 2.72101612e+00] [ 1.08840920e-02 -2.00122262e-04 9.99940746e-01 1.80382316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999254154 meters 0.01640024834923609 Centerline is valid? [True, True] Translation: X:273.16, Y:2.72, Z:1.80 [[ 9.99144323e-01 -4.00795193e-02 -1.02104713e-02 2.73158583e+02] [ 4.00800589e-02 9.99196460e-01 -1.51855824e-04 2.71969896e+00] [ 1.02083531e-02 -2.57510407e-04 9.99947860e-01 1.80329938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters 0.020205618783631675 Centerline is valid? [True, True] Translation: X:273.22, Y:2.71, Z:1.80 [[ 9.98737158e-01 -4.93558696e-02 -9.38545919e-03 2.73218605e+02] [ 4.93567363e-02 9.98781204e-01 -1.39396738e-04 2.71380418e+00] [ 9.38090028e-03 -3.24014932e-04 9.99955946e-01 1.80262204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters 0.022673490489876245 Centerline is valid? [True, True] Translation: X:273.28, Y:2.71, Z:1.80 [[ 9.98403412e-01 -5.56682511e-02 -9.57455063e-03 2.73279536e+02] [ 5.56694420e-02 9.98449244e-01 -1.42285871e-04 2.71070375e+00] [ 9.56762364e-03 -3.90951193e-04 9.99954153e-01 1.80251077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters 0.02722997262160496 Centerline is valid? [True, True] Translation: X:273.34, Y:2.71, Z:1.80 [[ 9.97880568e-01 -6.43077321e-02 -9.94421048e-03 2.73340716e+02] [ 6.43094461e-02 9.97929994e-01 -1.47634211e-04 2.70604562e+00] [ 9.93311993e-03 -4.92185358e-04 9.99950544e-01 1.80247475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters 0.026636816404819064 Centerline is valid? [True, True] Translation: X:273.40, Y:2.71, Z:1.80 [[ 9.97533651e-01 -6.96312163e-02 -8.83797444e-03 2.73401080e+02] [ 6.96327801e-02 9.97572683e-01 -1.31028415e-04 2.70728188e+00] [ 8.82564554e-03 -4.84707477e-04 9.99960936e-01 1.80497819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters 0.027155070629605673 Centerline is valid? [True, True] Translation: X:273.46, Y:2.71, Z:1.81 [[ 9.97278860e-01 -7.33104869e-02 -7.77487973e-03 2.73462076e+02] [ 7.33118088e-02 9.97309062e-01 -1.15225582e-04 2.70945774e+00] [ 7.76240525e-03 -4.55078459e-04 9.99969769e-01 1.80680716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters 0.028067532713855536 Centerline is valid? [True, True] Translation: X:273.52, Y:2.71, Z:1.81 [[ 9.97231684e-01 -7.37599501e-02 -9.40410612e-03 2.73524489e+02] [ 7.37619073e-02 9.97275870e-01 -1.39015109e-04 2.71224684e+00] [ 9.38874186e-03 -5.55034533e-04 9.99955771e-01 1.80629475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters 0.028154350972688723 Centerline is valid? [True, True] Translation: X:273.59, Y:2.72, Z:1.81 [[ 9.97278989e-01 -7.28076941e-02 -1.15610813e-02 2.73586926e+02] [ 7.28105999e-02 9.97345771e-01 -1.69916985e-04 2.71554757e+00] [ 1.15427668e-02 -6.72314623e-04 9.99933154e-01 1.80556854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters 0.02750731538574149 Centerline is valid? [True, True] Translation: X:273.65, Y:2.72, Z:1.80 [[ 9.97483046e-01 -6.94515945e-02 -1.42845734e-02 2.73648788e+02] [ 6.94557026e-02 9.97585015e-01 -2.08903785e-04 2.72322482e+00] [ 1.42645851e-02 -7.83767098e-04 9.99897948e-01 1.80498947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters 0.025598401162690895 Centerline is valid? [True, True] Translation: X:273.71, Y:2.73, Z:1.81 [[ 9.97801300e-01 -6.46776678e-02 -1.44694232e-02 2.73709656e+02] [ 6.46813897e-02 9.97905944e-01 -2.11092635e-04 2.73228245e+00] [ 1.44527764e-02 -7.25273897e-04 9.99895290e-01 1.80660389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters 0.022596830803832055 Centerline is valid? [True, True] Translation: X:273.77, Y:2.74, Z:1.81 [[ 9.98105713e-01 -5.99513826e-02 -1.38136700e-02 2.73770651e+02] [ 5.99543271e-02 9.98201101e-01 -2.01234174e-04 2.74203070e+00] [ 1.38008849e-02 -6.27336311e-04 9.99904566e-01 1.80817850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters 0.019774202418548378 Centerline is valid? [True, True] Translation: X:273.83, Y:2.75, Z:1.81 [[ 9.98674931e-01 -4.97255027e-02 -1.32572944e-02 2.73831541e+02] [ 4.97273178e-02 9.98762813e-01 -1.92892523e-04 2.75457828e+00] [ 1.32504844e-02 -4.66612767e-04 9.99912100e-01 1.80918456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.719254154 meters 0.016540135552959637 Centerline is valid? [True, True] Translation: X:273.89, Y:2.77, Z:1.81 [[ 9.99187705e-01 -3.80266042e-02 -1.33381987e-02 2.73891447e+02] [ 3.80274006e-02 9.99276678e-01 -1.93995904e-04 2.76765770e+00] [ 1.33359279e-02 -3.13378704e-04 9.99911023e-01 1.81082971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779254154 meters 0.015425899338259462 Centerline is valid? [True, True] Translation: X:273.95, Y:2.77, Z:1.81 [[ 9.99401637e-01 -3.19592786e-02 -1.32277446e-02 2.73953188e+02] [ 3.19595353e-02 9.99489145e-01 -1.92032147e-04 2.77489344e+00] [ 1.32271243e-02 -2.30835329e-04 9.99912491e-01 1.81210018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839254154 meters 0.014674867727347319 Centerline is valid? [True, True] Translation: X:274.01, Y:2.78, Z:1.81 [[ 9.99517159e-01 -2.75881807e-02 -1.42947747e-02 2.74014744e+02] [ 2.75880434e-02 9.99619356e-01 -2.06838417e-04 2.78031759e+00] [ 1.42950398e-02 -1.87626318e-04 9.99897803e-01 1.81211025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899254154 meters 0.01480115302900675 Centerline is valid? [True, True] Translation: X:274.08, Y:2.78, Z:1.81 [[ 9.99488228e-01 -2.82262709e-02 -1.50518913e-02 2.74076375e+02] [ 2.82261996e-02 9.99601538e-01 -2.17223655e-04 2.78001697e+00] [ 1.50520251e-02 -2.07745203e-04 9.99886690e-01 1.81158224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959254154 meters 0.015044162457086015 Centerline is valid? [True, True] Translation: X:274.14, Y:2.78, Z:1.81 [[ 9.99412847e-01 -3.06837061e-02 -1.52470438e-02 2.74137318e+02] [ 3.06839250e-02 9.99529113e-01 -2.19631963e-04 2.77868882e+00] [ 1.52466033e-02 -2.48336142e-04 9.99883733e-01 1.81187936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019254154 meters 0.015906718662563987 Centerline is valid? [True, True] Translation: X:274.20, Y:2.78, Z:1.81 [[ 9.99262993e-01 -3.49400041e-02 -1.58954931e-02 2.74198517e+02] [ 3.49407878e-02 9.99389358e-01 -2.28501105e-04 2.77523902e+00] [ 1.58937705e-02 -3.27068352e-04 9.99873633e-01 1.81187368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079254154 meters 0.016727043397070172 Centerline is valid? [True, True] Translation: X:274.26, Y:2.77, Z:1.81 [[ 9.99149120e-01 -3.80925630e-02 -1.58111616e-02 2.74259736e+02] [ 3.80937421e-02 9.99274144e-01 -2.26702163e-04 2.77247627e+00] [ 1.58083207e-02 -3.75797046e-04 9.99874970e-01 1.81200656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139254154 meters 0.01806508699738807 Centerline is valid? [True, True] Translation: X:274.32, Y:2.77, Z:1.81 [[ 9.98943012e-01 -4.30973493e-02 -1.59836408e-02 2.74320962e+02] [ 4.30992038e-02 9.99070771e-01 -2.28580518e-04 2.76662824e+00] [ 1.59786395e-02 -4.60543280e-04 9.99872227e-01 1.81165606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199254154 meters 0.019695564341928977 Centerline is valid? [True, True] Translation: X:274.38, Y:2.76, Z:1.81 [[ 9.98690760e-01 -4.83340505e-02 -1.67506740e-02 2.74382225e+02] [ 4.83368342e-02 9.98831063e-01 -2.38876534e-04 2.76062019e+00] [ 1.67426394e-02 -5.71110765e-04 9.99859669e-01 1.81183272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259254154 meters 0.019526081115134764 Centerline is valid? [True, True] Translation: X:274.44, Y:2.76, Z:1.81 [[ 9.98612972e-01 -4.98547613e-02 -1.69302778e-02 2.74444079e+02] [ 4.98578411e-02 9.98756296e-01 -2.40387324e-04 2.76062357e+00] [ 1.69212060e-02 -6.04053199e-04 9.99856644e-01 1.81238412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319254154 meters 0.023526819684790968 Centerline is valid? [True, True] Translation: X:274.50, Y:2.75, Z:1.81 [[ 9.98460679e-01 -5.26215616e-02 -1.75283941e-02 2.74504868e+02] [ 5.26253048e-02 9.98614298e-01 -2.47951440e-04 2.75264914e+00] [ 1.75171526e-02 -6.74867320e-04 9.99846335e-01 1.81066041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379254154 meters 0.02355867379158467 Centerline is valid? [True, True] Translation: X:274.57, Y:2.75, Z:1.81 [[ 9.98238064e-01 -5.65004927e-02 -1.81235454e-02 2.74565811e+02] [ 5.65051452e-02 9.98402275e-01 -2.55675418e-04 2.75071469e+00] [ 1.81090347e-02 -7.68848630e-04 9.99835722e-01 1.81134649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439254154 meters 0.023658372526687555 Centerline is valid? [True, True] Translation: X:274.63, Y:2.75, Z:1.81 [[ 9.98030264e-01 -6.02392354e-02 -1.75164451e-02 2.74626674e+02] [ 6.02441637e-02 9.98183640e-01 -2.46662903e-04 2.74884833e+00] [ 1.74994877e-02 -8.09086544e-04 9.99846545e-01 1.81144858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499254154 meters 0.02597493379012199 Centerline is valid? [True, True] Translation: X:274.69, Y:2.75, Z:1.81 [[ 9.97875079e-01 -6.28440181e-02 -1.72033537e-02 2.74686417e+02] [ 6.28491764e-02 9.98023007e-01 -2.41175649e-04 2.74541550e+00] [ 1.71844992e-02 -8.40553440e-04 9.99851982e-01 1.81183770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters 0.026881013922546285 Centerline is valid? [True, True] Translation: X:274.75, Y:2.75, Z:1.81 [[ 9.97823039e-01 -6.38030056e-02 -1.66841333e-02 2.74748505e+02] [ 6.38080128e-02 9.97962165e-01 -2.32582392e-04 2.74536570e+00] [ 1.66649732e-02 -8.32505322e-04 9.99860783e-01 1.81258551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters 0.025414300586740168 Centerline is valid? [True, True] Translation: X:274.81, Y:2.75, Z:1.81 [[ 9.97810994e-01 -6.40749367e-02 -1.63591630e-02 2.74810391e+02] [ 6.40798066e-02 9.97944751e-01 -2.26860608e-04 2.74886766e+00] [ 1.63400770e-02 -8.21927994e-04 9.99866154e-01 1.81305527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters 0.02537205731316131 Centerline is valid? [True, True] Translation: X:274.87, Y:2.75, Z:1.81 [[ 9.97803470e-01 -6.41819552e-02 -1.63985164e-02 2.74872244e+02] [ 6.41868830e-02 9.97937870e-01 -2.26186556e-04 2.75064936e+00] [ 1.63792177e-02 -8.26879925e-04 9.99865510e-01 1.81342947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters 0.02969969578864452 Centerline is valid? [True, True] Translation: X:274.93, Y:2.75, Z:1.81 [[ 9.97841141e-01 -6.36021714e-02 -1.63652642e-02 2.74933858e+02] [ 6.36070182e-02 9.97974998e-01 -2.24698528e-04 2.74689981e+00] [ 1.63464158e-02 -8.16732221e-04 9.99866055e-01 1.81284375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters 0.02473436736224759 Centerline is valid? [True, True] Translation: X:274.99, Y:2.76, Z:1.82 [[ 9.98098410e-01 -5.98093223e-02 -1.49133696e-02 2.74994894e+02] [ 5.98129319e-02 9.98209583e-01 -2.04277470e-04 2.75682512e+00] [ 1.48988862e-02 -6.88123343e-04 9.99888769e-01 1.81509505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters 0.023278804566082965 Centerline is valid? [True, True] Translation: X:275.06, Y:2.76, Z:1.82 [[ 9.98411689e-01 -5.45530610e-02 -1.40734841e-02 2.75055583e+02] [ 5.45557582e-02 9.98510707e-01 -1.92472952e-04 2.76169198e+00] [ 1.40630246e-02 -5.75622353e-04 9.99900945e-01 1.81603293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters 0.018937253961552766 Centerline is valid? [True, True] Translation: X:275.12, Y:2.77, Z:1.82 [[ 9.98997048e-01 -4.29764079e-02 -1.25669125e-02 2.75115613e+02] [ 4.29776459e-02 9.99076019e-01 -1.71658997e-04 2.77337649e+00] [ 1.25626782e-02 -3.68609486e-04 9.99921019e-01 1.81714817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters 0.01599524490465247 Centerline is valid? [True, True] Translation: X:275.18, Y:2.78, Z:1.82 [[ 9.99414048e-01 -3.21889883e-02 -1.16374514e-02 2.75175852e+02] [ 3.21893200e-02 9.99481777e-01 -1.58850815e-04 2.78356792e+00] [ 1.16365338e-02 -2.15843910e-04 9.99932270e-01 1.81829028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters 0.01491331908869949 Centerline is valid? [True, True] Translation: X:275.24, Y:2.79, Z:1.82 [[ 9.99574464e-01 -2.70334288e-02 -1.09583476e-02 2.75237090e+02] [ 2.70334156e-02 9.99634519e-01 -1.49358437e-04 2.78755100e+00] [ 1.09583802e-02 -1.46946685e-04 9.99939944e-01 1.81857729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters 0.015164459250409757 Centerline is valid? [True, True] Translation: X:275.30, Y:2.79, Z:1.82 [[ 9.99686354e-01 -2.24098639e-02 -1.11799640e-02 2.75297689e+02] [ 2.24095648e-02 9.99748863e-01 -1.52039348e-04 2.79022682e+00] [ 1.11805635e-02 -9.85464656e-05 9.99937491e-01 1.81825738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters 0.014445525310127359 Centerline is valid? [True, True] Translation: X:275.36, Y:2.79, Z:1.82 [[ 9.99698652e-01 -2.18553030e-02 -1.11781297e-02 2.75358072e+02] [ 2.18549716e-02 9.99761140e-01 -1.51811609e-04 2.79015489e+00] [ 1.11787776e-02 -9.25318464e-05 9.99937511e-01 1.81833311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.219254154 meters 0.014346077086678805 Centerline is valid? [True, True] Translation: X:275.42, Y:2.79, Z:1.82 [[ 9.99632904e-01 -2.39341129e-02 -1.26970631e-02 2.75418639e+02] [ 2.39338548e-02 9.99713529e-01 -1.72304262e-04 2.78740838e+00] [ 1.26975497e-02 -1.31648654e-04 9.99919374e-01 1.81785271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279254154 meters 0.015046042144052675 Centerline is valid? [True, True] Translation: X:275.48, Y:2.78, Z:1.82 [[ 9.99487886e-01 -2.89926707e-02 -1.35421686e-02 2.75479029e+02] [ 2.89928412e-02 9.99579602e-01 -1.83772684e-04 2.78154981e+00] [ 1.35418035e-02 -2.08947372e-04 9.99908284e-01 1.81720657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339254154 meters 0.015911879837284516 Centerline is valid? [True, True] Translation: X:275.54, Y:2.78, Z:1.82 [[ 9.99352764e-01 -3.33456975e-02 -1.34950607e-02 2.75540685e+02] [ 3.33462669e-02 9.99443842e-01 -1.82885221e-04 2.77670677e+00] [ 1.34936537e-02 -2.67243043e-04 9.99908921e-01 1.81727650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399254154 meters 0.018241600284177775 Centerline is valid? [True, True] Translation: X:275.60, Y:2.77, Z:1.82 [[ 9.99066606e-01 -4.11245140e-02 -1.32171002e-02 2.75600632e+02] [ 4.11257481e-02 9.99153963e-01 -1.78519000e-04 2.76809562e+00] [ 1.32132595e-02 -3.65210763e-04 9.99912634e-01 1.81800125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459254154 meters 0.02026403642002175 Centerline is valid? [True, True] Translation: X:275.66, Y:2.76, Z:1.82 [[ 9.98877999e-01 -4.55118234e-02 -1.30926337e-02 2.75661067e+02] [ 4.55134195e-02 9.98963712e-01 -1.76179905e-04 2.76194225e+00] [ 1.30870843e-02 -4.19908301e-04 9.99914272e-01 1.81809800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519254154 meters 0.022890654311691704 Centerline is valid? [True, True] Translation: X:275.72, Y:2.75, Z:1.82 [[ 9.98602834e-01 -5.12025607e-02 -1.30644062e-02 2.75722216e+02] [ 5.12046416e-02 9.98688167e-01 -1.75383012e-04 2.75384584e+00] [ 1.30562480e-02 -4.93820267e-04 9.99914642e-01 1.81793594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579254154 meters 0.024728655421500503 Centerline is valid? [True, True] Translation: X:275.78, Y:2.75, Z:1.82 [[ 9.98436152e-01 -5.40305243e-02 -1.43510552e-02 2.75783061e+02] [ 5.40333307e-02 9.98539114e-01 -1.92394238e-04 2.74818768e+00] [ 1.43404851e-02 -5.83341950e-04 9.99897000e-01 1.81714653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639254154 meters 0.025569961150796138 Centerline is valid? [True, True] Translation: X:275.84, Y:2.75, Z:1.82 [[ 9.98478225e-01 -5.30578188e-02 -1.50367241e-02 2.75844800e+02] [ 5.30608001e-02 9.98591263e-01 -2.00896398e-04 2.74611066e+00] [ 1.50262004e-02 -5.97269933e-04 9.99886922e-01 1.81671254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699254154 meters 0.02368635014980248 Centerline is valid? [True, True] Translation: X:275.91, Y:2.75, Z:1.82 [[ 9.98726332e-01 -4.81947767e-02 -1.49324362e-02 2.75905199e+02] [ 4.81971806e-02 9.98837821e-01 -1.99048060e-04 2.74874098e+00] [ 1.49246751e-02 -5.20906785e-04 9.99888485e-01 1.81762694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759254154 meters 0.02066790654426991 Centerline is valid? [True, True] Translation: X:275.97, Y:2.75, Z:1.82 [[ 9.99076369e-01 -4.06477545e-02 -1.39344526e-02 2.75966107e+02] [ 4.06491150e-02 9.99173466e-01 -1.85692451e-04 2.75396431e+00] [ 1.39304833e-02 -3.80902226e-04 9.99902894e-01 1.81889905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819254154 meters 0.015404851839271701 Centerline is valid? [True, True] Translation: X:276.03, Y:2.76, Z:1.82 [[ 9.99270358e-01 -3.58201369e-02 -1.32540718e-02 2.76027602e+02] [ 3.58209488e-02 9.99358208e-01 -1.76208734e-04 2.76357592e+00] [ 1.32518773e-02 -2.98693263e-04 9.99912145e-01 1.82184744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879254154 meters 0.015172379374162487 Centerline is valid? [True, True] Translation: X:276.09, Y:2.76, Z:1.82 [[ 9.99402395e-01 -3.18347976e-02 -1.34684174e-02 2.76087656e+02] [ 3.18352811e-02 9.99493113e-01 -1.78547547e-04 2.76457259e+00] [ 1.34672744e-02 -2.50330007e-04 9.99909281e-01 1.82108076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939254154 meters 0.015613781255481211 Centerline is valid? [True, True] Translation: X:276.15, Y:2.76, Z:1.82 [[ 9.99339430e-01 -3.29973060e-02 -1.52276650e-02 2.76149459e+02] [ 3.29980658e-02 9.99455395e-01 -2.01423710e-04 2.76274559e+00] [ 1.52260184e-02 -3.01192836e-04 9.99884032e-01 1.81966727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999254154 meters 0.01626938255283494 Centerline is valid? [True, True] Translation: X:276.21, Y:2.76, Z:1.82 [[ 9.99195330e-01 -3.64692484e-02 -1.66938851e-02 2.76209758e+02] [ 3.64706504e-02 9.99334700e-01 -2.20554118e-04 2.76053251e+00] [ 1.66908221e-02 -3.88460201e-04 9.99860623e-01 1.81901773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters 0.017102747417458347 Centerline is valid? [True, True] Translation: X:276.27, Y:2.76, Z:1.82 [[ 9.98935756e-01 -4.31722198e-02 -1.62331565e-02 2.76269839e+02] [ 4.31744254e-02 9.99067527e-01 -2.14723669e-04 2.75691015e+00] [ 1.62272896e-02 -4.86362052e-04 9.99868211e-01 1.82002590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters 0.017856514317120282 Centerline is valid? [True, True] Translation: X:276.33, Y:2.76, Z:1.82 [[ 9.98833680e-01 -4.56350615e-02 -1.57708872e-02 2.76331218e+02] [ 4.56374524e-02 9.98958047e-01 -2.08444960e-04 2.75557714e+00] [ 1.57639671e-02 -5.11541268e-04 9.99875610e-01 1.82076297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters 0.020392763564571967 Centerline is valid? [True, True] Translation: X:276.39, Y:2.75, Z:1.82 [[ 9.98541958e-01 -5.23169489e-02 -1.33001889e-02 2.76391862e+02] [ 5.23192463e-02 9.98630395e-01 -1.75393968e-04 2.75011611e+00] [ 1.32911490e-02 -5.20717623e-04 9.99911533e-01 1.82215477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters 0.0224465163506269 Centerline is valid? [True, True] Translation: X:276.45, Y:2.75, Z:1.82 [[ 9.98400293e-01 -5.51911137e-02 -1.22798986e-02 2.76453217e+02] [ 5.51932948e-02 9.98475675e-01 -1.61469255e-04 2.74661268e+00] [ 1.22700918e-02 -5.16557115e-04 9.99924586e-01 1.82307663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters 0.024109793611923155 Centerline is valid? [True, True] Translation: X:276.51, Y:2.74, Z:1.82 [[ 9.98188694e-01 -5.91046028e-02 -1.12239264e-02 2.76514614e+02] [ 5.91066773e-02 9.98251661e-01 -1.47092446e-04 2.74368245e+00] [ 1.12129970e-02 -5.16582979e-04 9.99936999e-01 1.82444933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters 0.024460908821436186 Centerline is valid? [True, True] Translation: X:276.58, Y:2.74, Z:1.83 [[ 9.97879751e-01 -6.43203771e-02 -9.94439353e-03 2.76575219e+02] [ 6.43222661e-02 9.97929170e-01 -1.30086358e-04 2.74284064e+00] [ 9.93216759e-03 -5.09835384e-04 9.99950545e-01 1.82607230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters 0.02716228049579028 Centerline is valid? [True, True] Translation: X:276.64, Y:2.74, Z:1.83 [[ 9.97635285e-01 -6.78916335e-02 -1.07035032e-02 2.76635148e+02] [ 6.78940274e-02 9.97692529e-01 -1.39969461e-04 2.73822320e+00] [ 1.06883079e-02 -5.87065467e-04 9.99942706e-01 1.82590814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters 0.029699769191552552 Centerline is valid? [True, True] Translation: X:276.70, Y:2.74, Z:1.82 [[ 9.97305078e-01 -7.23439285e-02 -1.22040122e-02 2.76696043e+02] [ 7.23473732e-02 9.97379483e-01 -1.59570043e-04 2.73564134e+00] [ 1.21835753e-02 -7.23788212e-04 9.99925516e-01 1.82393832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters 0.029368254546456165 Centerline is valid? [True, True] Translation: X:276.76, Y:2.74, Z:1.82 [[ 9.97155102e-01 -7.41925535e-02 -1.33104126e-02 2.76758512e+02] [ 7.41968220e-02 9.97243602e-01 -1.73523636e-04 2.73608123e+00] [ 1.32865980e-02 -8.14560337e-04 9.99911397e-01 1.82431568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters 0.02934098774754716 Centerline is valid? [True, True] Translation: X:276.82, Y:2.74, Z:1.82 [[ 9.97239083e-01 -7.28479846e-02 -1.44008143e-02 2.76820975e+02] [ 7.28528574e-02 9.97342683e-01 -1.86638421e-04 2.73787794e+00] [ 1.43761430e-02 -8.63017341e-04 9.99896285e-01 1.82348264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.659254154 meters 0.027866477972260374 Centerline is valid? [True, True] Translation: X:276.88, Y:2.74, Z:1.82 [[ 9.97505458e-01 -6.90628221e-02 -1.46009335e-02 2.76881918e+02] [ 6.90674364e-02 9.97611976e-01 -1.88583667e-04 2.74315396e+00] [ 1.45790903e-02 -8.20335811e-04 9.99893383e-01 1.82410292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.719254154 meters 0.027817056310072384 Centerline is valid? [True, True] Translation: X:276.94, Y:2.75, Z:1.83 [[ 9.98062644e-01 -6.09775150e-02 -1.23572179e-02 2.76941115e+02] [ 6.09802016e-02 9.98138963e-01 -1.59610631e-04 2.74767790e+00] [ 1.23439533e-02 -5.94244231e-04 9.99923634e-01 1.82628264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779254154 meters 0.019453718665397426 Centerline is valid? [True, True] Translation: X:277.00, Y:2.77, Z:1.83 [[ 9.98619054e-01 -5.12773741e-02 -1.14287431e-02 2.77001258e+02] [ 5.12790362e-02 9.98684354e-01 -1.47748592e-04 2.76501875e+00] [ 1.14212831e-02 -4.38510372e-04 9.99934679e-01 1.82851027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839254154 meters 0.017195222507758665 Centerline is valid? [True, True] Translation: X:277.06, Y:2.77, Z:1.83 [[ 9.99084061e-01 -4.14695821e-02 -1.05505361e-02 2.77060339e+02] [ 4.14704512e-02 9.99139721e-01 -1.36477370e-04 2.77384917e+00] [ 1.05471194e-02 -3.01183128e-04 9.99944332e-01 1.82984997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899254154 meters 0.01630907377832842 Centerline is valid? [True, True] Translation: X:277.12, Y:2.78, Z:1.83 [[ 9.99269496e-01 -3.68003109e-02 -1.03058764e-02 2.77122028e+02] [ 3.68008928e-02 9.99322609e-01 -1.33236525e-04 2.77840608e+00] [ 1.03037985e-02 -2.46126257e-04 9.99946884e-01 1.82965000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959254154 meters 0.015774887228709532 Centerline is valid? [True, True] Translation: X:277.18, Y:2.78, Z:1.83 [[ 9.99405588e-01 -3.26668880e-02 -1.10156887e-02 2.77183230e+02] [ 3.26673079e-02 9.99466271e-01 -1.41859606e-04 2.78212550e+00] [ 1.10144434e-02 -2.18077613e-04 9.99939315e-01 1.82895332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019254154 meters 0.015359798465845731 Centerline is valid? [True, True] Translation: X:277.24, Y:2.78, Z:1.83 [[ 9.99454198e-01 -3.11329829e-02 -1.10473636e-02 2.77244957e+02] [ 3.11333178e-02 9.99515231e-01 -1.41702854e-04 2.78403789e+00] [ 1.10464198e-02 -2.02315570e-04 9.99938966e-01 1.82860754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079254154 meters 0.01510760986493898 Centerline is valid? [True, True] Translation: X:277.31, Y:2.79, Z:1.83 [[ 9.99466236e-01 -3.07838045e-02 -1.09361594e-02 2.77306741e+02] [ 3.07841188e-02 9.99526047e-01 -1.39630863e-04 2.78515810e+00] [ 1.09352745e-02 -1.97103697e-04 9.99940189e-01 1.82899426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139254154 meters 0.01520854066022184 Centerline is valid? [True, True] Translation: X:277.37, Y:2.79, Z:1.83 [[ 9.99462403e-01 -3.11353434e-02 -1.02711356e-02 2.77368164e+02] [ 3.11356430e-02 9.99515160e-01 -1.30771839e-04 2.78539739e+00] [ 1.02702274e-02 -1.89096876e-04 9.99947242e-01 1.83020111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199254154 meters 0.01747391088205676 Centerline is valid? [True, True] Translation: X:277.43, Y:2.78, Z:1.83 [[ 9.99377915e-01 -3.38151569e-02 -1.00158831e-02 2.77429382e+02] [ 3.38155806e-02 9.99428082e-01 -1.27095409e-04 2.78081051e+00] [ 1.00144526e-02 -2.11676558e-04 9.99949832e-01 1.82967824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259254154 meters 0.017536589067538216 Centerline is valid? [True, True] Translation: X:277.49, Y:2.78, Z:1.83 [[ 9.99204664e-01 -3.87921875e-02 -9.23069987e-03 2.77490911e+02] [ 3.87927636e-02 9.99247271e-01 -1.16698011e-04 2.77861492e+00] [ 9.22827862e-03 -2.41479161e-04 9.99957389e-01 1.83068262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319254154 meters 0.02233173081655405 Centerline is valid? [True, True] Translation: X:277.55, Y:2.77, Z:1.83 [[ 9.98774454e-01 -4.84546726e-02 -1.00863334e-02 2.77551997e+02] [ 4.84558553e-02 9.98825317e-01 -1.27234937e-04 2.77040104e+00] [ 1.00806503e-02 -3.61662906e-04 9.99949124e-01 1.82927016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379254154 meters 0.022855195318034552 Centerline is valid? [True, True] Translation: X:277.61, Y:2.77, Z:1.83 [[ 9.98352442e-01 -5.62922867e-02 -1.11166863e-02 2.77612171e+02] [ 5.62942091e-02 9.98414214e-01 -1.40159221e-04 2.76707079e+00] [ 1.11069475e-02 -4.85876764e-04 9.99938198e-01 1.82935485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439254154 meters 0.026359296780760808 Centerline is valid? [True, True] Translation: X:277.67, Y:2.76, Z:1.83 [[ 9.97721100e-01 -6.62781837e-02 -1.26415794e-02 2.77673166e+02] [ 6.62814711e-02 9.97800953e-01 -1.59207629e-04 2.76095351e+00] [ 1.26243319e-02 -6.79057666e-04 9.99920079e-01 1.82810752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499254154 meters 0.031078449283601987 Centerline is valid? [True, True] Translation: X:277.73, Y:2.76, Z:1.83 [[ 9.97208811e-01 -7.35867414e-02 -1.26324770e-02 2.77733423e+02] [ 7.35906124e-02 9.97288522e-01 -1.58759236e-04 2.75609722e+00] [ 1.26099069e-02 -7.71315612e-04 9.99920194e-01 1.82869856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters 0.032998247879013475 Centerline is valid? [True, True] Translation: X:277.79, Y:2.76, Z:1.83 [[ 9.96981626e-01 -7.67027937e-02 -1.20132459e-02 2.77794731e+02] [ 7.67065249e-02 9.97053703e-01 -1.50542870e-04 2.75531936e+00] [ 1.19893983e-02 -7.71405868e-04 9.99927827e-01 1.83007194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters 0.03260521816471707 Centerline is valid? [True, True] Translation: X:277.86, Y:2.76, Z:1.83 [[ 9.96775371e-01 -7.94971150e-02 -1.09118350e-02 2.77855742e+02] [ 7.95003644e-02 9.96834828e-01 -1.36331369e-04 2.75886050e+00] [ 1.08881351e-02 -7.31603107e-04 9.99940455e-01 1.83138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters 0.030681669356344678 Centerline is valid? [True, True] Translation: X:277.92, Y:2.77, Z:1.83 [[ 9.96672545e-01 -8.06264424e-02 -1.19672328e-02 2.77917376e+02] [ 8.06304395e-02 9.96744054e-01 -1.48885313e-04 2.76647669e+00] [ 1.19402723e-02 -8.16533339e-04 9.99928379e-01 1.83176275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters 0.03155904394173712 Centerline is valid? [True, True] Translation: X:277.98, Y:2.77, Z:1.83 [[ 9.96687294e-01 -8.01942689e-02 -1.35394374e-02 2.77979443e+02] [ 8.01993585e-02 9.96778829e-01 -1.67494719e-04 2.76982840e+00] [ 1.35092567e-02 -9.18914338e-04 9.99908324e-01 1.83096136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters 0.03603955314713985 Centerline is valid? [True, True] Translation: X:278.04, Y:2.77, Z:1.83 [[ 9.96756866e-01 -7.92109760e-02 -1.41905223e-02 2.78040736e+02] [ 7.92164812e-02 9.96857421e-01 -1.74601512e-04 2.76844700e+00] [ 1.41597579e-02 -9.50087990e-04 9.99899294e-01 1.83122085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters 0.030014071780947678 Centerline is valid? [True, True] Translation: X:278.10, Y:2.78, Z:1.83 [[ 9.97068875e-01 -7.49915638e-02 -1.51632730e-02 2.78100853e+02] [ 7.49973709e-02 9.97183714e-01 -1.86102904e-04 2.78312434e+00] [ 1.51345250e-02 -9.51648196e-04 9.99885014e-01 1.83264773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters 0.029444026013605146 Centerline is valid? [True, True] Translation: X:278.16, Y:2.79, Z:1.83 [[ 9.97501719e-01 -6.89748848e-02 -1.52573394e-02 2.78160641e+02] [ 6.89800634e-02 9.97618021e-01 -1.87208510e-04 2.78830192e+00] [ 1.52339095e-02 -8.65711432e-04 9.99883582e-01 1.83265839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters 0.021814871883569148 Centerline is valid? [True, True] Translation: X:278.22, Y:2.81, Z:1.83 [[ 9.98393863e-01 -5.46798080e-02 -1.48260794e-02 2.78221402e+02] [ 5.46831263e-02 9.98503742e-01 -1.81786128e-04 2.80760580e+00] [ 1.48138358e-02 -6.29242217e-04 9.99890071e-01 1.83447815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters 0.02234437041061397 Centerline is valid? [True, True] Translation: X:278.28, Y:2.81, Z:1.83 [[ 9.98684545e-01 -4.91082153e-02 -1.47499787e-02 2.78281240e+02] [ 4.91108944e-02 9.98793316e-01 -1.80742275e-04 2.81027914e+00] [ 1.47410561e-02 -5.43880130e-04 9.99891197e-01 1.83443597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters 0.016209606739350648 Centerline is valid? [True, True] Translation: X:278.34, Y:2.83, Z:1.84 [[ 9.99312389e-01 -3.46985835e-02 -1.30674077e-02 2.78341824e+02] [ 3.46994558e-02 9.99397780e-01 -1.60037933e-04 2.82767029e+00] [ 1.30650914e-02 -2.93504048e-04 9.99914605e-01 1.83782551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.159254154 meters 0.015182241250146238 Centerline is valid? [True, True] Translation: X:278.40, Y:2.83, Z:1.84 [[ 9.99551756e-01 -2.73356685e-02 -1.22085162e-02 2.78403362e+02] [ 2.73358858e-02 9.99626294e-01 -1.49104074e-04 2.83442948e+00] [ 1.22080297e-02 -1.84693366e-04 9.99925462e-01 1.83812968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.219254154 meters 0.015032682315640575 Centerline is valid? [True, True] Translation: X:278.46, Y:2.84, Z:1.84 [[ 9.99587785e-01 -2.60319072e-02 -1.21078147e-02 2.78463303e+02] [ 2.60320313e-02 9.99661098e-01 -1.47377558e-04 2.83591177e+00] [ 1.21075478e-02 -1.67874204e-04 9.99926687e-01 1.83834485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279254154 meters 0.015315280620065864 Centerline is valid? [True, True] Translation: X:278.53, Y:2.83, Z:1.84 [[ 9.99537428e-01 -2.73382609e-02 -1.33247586e-02 2.78525026e+02] [ 2.73385340e-02 9.99626219e-01 -1.61688154e-04 2.83493696e+00] [ 1.33241984e-02 -2.02666005e-04 9.99911208e-01 1.83716653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339254154 meters 0.015724001484660705 Centerline is valid? [True, True] Translation: X:278.59, Y:2.83, Z:1.84 [[ 9.99477192e-01 -2.91776986e-02 -1.39285566e-02 2.78586318e+02] [ 2.91781847e-02 9.99574212e-01 -1.68357647e-04 2.83295524e+00] [ 1.39275383e-02 -2.38140370e-04 9.99902979e-01 1.83678179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399254154 meters 0.016176668798096566 Centerline is valid? [True, True] Translation: X:278.65, Y:2.83, Z:1.84 [[ 9.99421712e-01 -3.09517220e-02 -1.40795191e-02 2.78647553e+02] [ 3.09524020e-02 9.99520845e-01 -1.69660406e-04 2.83117369e+00] [ 1.40780241e-02 -2.66232641e-04 9.99900864e-01 1.83755303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459254154 meters 0.01627393328097121 Centerline is valid? [True, True] Translation: X:278.71, Y:2.83, Z:1.84 [[ 9.99377477e-01 -3.22371082e-02 -1.43327468e-02 2.78708929e+02] [ 3.22379527e-02 9.99480207e-01 -1.72177969e-04 2.82820785e+00] [ 1.43308473e-02 -2.89987630e-04 9.99897266e-01 1.83759504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519254154 meters 0.017895123492323403 Centerline is valid? [True, True] Translation: X:278.77, Y:2.82, Z:1.84 [[ 9.99306986e-01 -3.43330975e-02 -1.43800436e-02 2.78769708e+02] [ 3.43341700e-02 9.99410394e-01 -1.72357338e-04 2.82318130e+00] [ 1.43774826e-02 -3.21488971e-04 9.99896587e-01 1.83718327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579254154 meters 0.018103632466455008 Centerline is valid? [True, True] Translation: X:278.83, Y:2.82, Z:1.84 [[ 9.99117888e-01 -3.96433673e-02 -1.38509388e-02 2.78830883e+02] [ 3.96448774e-02 9.99213819e-01 -1.65634858e-04 2.81994699e+00] [ 1.38466158e-02 -3.83630022e-04 9.99904057e-01 1.83861587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639254154 meters 0.02144735705748156 Centerline is valid? [True, True] Translation: X:278.89, Y:2.81, Z:1.84 [[ 9.98788638e-01 -4.69245208e-02 -1.48103131e-02 2.78890731e+02] [ 4.69270560e-02 9.98898303e-01 -1.76482538e-04 2.81263056e+00] [ 1.48022780e-02 -5.18735641e-04 9.99890306e-01 1.83808931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699254154 meters 0.02493299595062411 Centerline is valid? [True, True] Translation: X:278.95, Y:2.81, Z:1.84 [[ 9.98345418e-01 -5.53076324e-02 -1.57318923e-02 2.78950983e+02] [ 5.53115347e-02 9.98469128e-01 -1.87281313e-04 2.80527154e+00] [ 1.57181669e-02 -6.83183665e-04 9.99876229e-01 1.83794859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759254154 meters 0.025494412509344682 Centerline is valid? [True, True] Translation: X:279.01, Y:2.80, Z:1.84 [[ 9.98045796e-01 -6.04163782e-02 -1.59515189e-02 2.79011454e+02] [ 6.04210409e-02 9.98172962e-01 -1.89904040e-04 2.80401716e+00] [ 1.59338481e-02 -7.74274446e-04 9.99872748e-01 1.83872723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819254154 meters 0.027849378669653143 Centerline is valid? [True, True] Translation: X:279.07, Y:2.80, Z:1.84 [[ 9.97760010e-01 -6.49662517e-02 -1.59483112e-02 2.79072945e+02] [ 6.49714984e-02 9.97887102e-01 -1.89470811e-04 2.80085907e+00] [ 1.59269233e-02 -8.47139280e-04 9.99872800e-01 1.83954719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879254154 meters 0.026435636599163682 Centerline is valid? [True, True] Translation: X:279.14, Y:2.81, Z:1.84 [[ 9.97788174e-01 -6.44910276e-02 -1.61141757e-02 2.79135523e+02] [ 6.44963374e-02 9.97917926e-01 -1.90503763e-04 2.80530473e+00] [ 1.60929106e-02 -8.49222912e-04 9.99870140e-01 1.84082633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939254154 meters 0.025049815870414084 Centerline is valid? [True, True] Translation: X:279.20, Y:2.81, Z:1.84 [[ 9.98064399e-01 -5.99467075e-02 -1.65483726e-02 2.79196651e+02] [ 5.99516955e-02 9.98201260e-01 -1.94945437e-04 2.81210760e+00] [ 1.65302928e-02 -7.97534899e-04 9.99863047e-01 1.84179227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters 0.023658481146326495 Centerline is valid? [True, True] Translation: X:279.26, Y:2.82, Z:1.84 [[ 9.98336768e-01 -5.51054699e-02 -1.69435894e-02 2.79257373e+02] [ 5.51100085e-02 9.98480269e-01 -1.99289067e-04 2.81893234e+00] [ 1.69288216e-02 -7.34803750e-04 9.99856427e-01 1.84214947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters 0.0217480204650325 Centerline is valid? [True, True] Translation: X:279.32, Y:2.83, Z:1.84 [[ 9.98455717e-01 -5.27908265e-02 -1.73005531e-02 2.79318813e+02] [ 5.27952206e-02 9.98605339e-01 -2.02965888e-04 2.82542806e+00] [ 1.72871395e-02 -7.10734067e-04 9.99850314e-01 1.84291068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters 0.02160959239120705 Centerline is valid? [True, True] Translation: X:279.38, Y:2.83, Z:1.84 [[ 9.98580422e-01 -5.02441036e-02 -1.76824879e-02 2.79380252e+02] [ 5.02483068e-02 9.98736735e-01 -2.06784032e-04 2.83050093e+00] [ 1.76705399e-02 -6.82024589e-04 9.99843631e-01 1.84267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters 0.02179816516726655 Centerline is valid? [True, True] Translation: X:279.44, Y:2.83, Z:1.84 [[ 9.98731421e-01 -4.69060509e-02 -1.83131584e-02 2.79440665e+02] [ 4.69100076e-02 9.98899097e-01 -2.13690302e-04 2.83478402e+00] [ 1.83030207e-02 -6.45651179e-04 9.99832277e-01 1.84199425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters 0.019336291585597624 Centerline is valid? [True, True] Translation: X:279.50, Y:2.84, Z:1.84 [[ 9.98844613e-01 -4.42724778e-02 -1.86918692e-02 2.79501954e+02] [ 4.42761500e-02 9.99019307e-01 -2.17537614e-04 2.84307861e+00] [ 1.86831691e-02 -6.10317729e-04 9.99825268e-01 1.84355823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters 0.018074300240483347 Centerline is valid? [True, True] Translation: X:279.56, Y:2.85, Z:1.84 [[ 9.99062099e-01 -3.95826231e-02 -1.75538710e-02 2.79563500e+02] [ 3.95851530e-02 9.99216180e-01 -2.03456509e-04 2.85165956e+00] [ 1.75481653e-02 -4.91606984e-04 9.99845898e-01 1.84494000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters 0.017309214042885688 Centerline is valid? [True, True] Translation: X:279.62, Y:2.86, Z:1.85 [[ 9.99224688e-01 -3.59632232e-02 -1.60208974e-02 2.79624904e+02] [ 3.59648764e-02 9.99353037e-01 -1.85004413e-04 2.85641390e+00] [ 1.60171859e-02 -3.91328619e-04 9.99871640e-01 1.84621413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters 0.015811695436069133 Centerline is valid? [True, True] Translation: X:279.69, Y:2.87, Z:1.85 [[ 9.99443006e-01 -3.03265702e-02 -1.39275903e-02 2.79686505e+02] [ 3.03272815e-02 9.99540009e-01 -1.60175848e-04 2.86503609e+00] [ 1.39260413e-02 -2.62299320e-04 9.99902994e-01 1.84851189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters 0.015507666037256363 Centerline is valid? [True, True] Translation: X:279.75, Y:2.87, Z:1.85 [[ 9.99528725e-01 -2.76955669e-02 -1.32395047e-02 2.79746541e+02] [ 2.76959857e-02 9.99616381e-01 -1.51752964e-04 2.86869022e+00] [ 1.32386287e-02 -2.14999687e-04 9.99912342e-01 1.84898070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters 0.016222755594036218 Centerline is valid? [True, True] Translation: X:279.81, Y:2.87, Z:1.85 [[ 9.99496722e-01 -2.84754335e-02 -1.39804047e-02 2.79807278e+02] [ 2.84759823e-02 9.99594464e-01 -1.59848992e-04 2.86706685e+00] [ 1.39792869e-02 -2.38337213e-04 9.99902257e-01 1.84757353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters 0.017172830757538216 Centerline is valid? [True, True] Translation: X:279.87, Y:2.86, Z:1.85 [[ 9.99337305e-01 -3.30295185e-02 -1.52971224e-02 2.79868623e+02] [ 3.30307176e-02 9.99454322e-01 -1.74327734e-04 2.86414744e+00] [ 1.52945330e-02 -3.31062721e-04 9.99882977e-01 1.84638603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.659254154 meters 0.018773754783808876 Centerline is valid? [True, True] Translation: X:279.93, Y:2.86, Z:1.85 [[ 9.99092470e-01 -3.95113645e-02 -1.59087702e-02 2.79929684e+02] [ 3.95134891e-02 9.99219021e-01 -1.80881351e-04 2.85933045e+00] [ 1.59034926e-02 -4.47893821e-04 9.99873431e-01 1.84566524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.719254154 meters 0.020130557245165295 Centerline is valid? [True, True] Translation: X:279.99, Y:2.86, Z:1.85 [[ 9.98920957e-01 -4.36587733e-02 -1.58377088e-02 2.79991326e+02] [ 4.36614067e-02 9.99046370e-01 -1.79623312e-04 2.85570606e+00] [ 1.58304476e-02 -5.12067155e-04 9.99874559e-01 1.84580765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779254154 meters 0.02132839394820832 Centerline is valid? [True, True] Translation: X:280.05, Y:2.85, Z:1.85 [[ 9.98726199e-01 -4.81647160e-02 -1.50379492e-02 2.80052060e+02] [ 4.81676058e-02 9.98839253e-01 -1.70170738e-04 2.85320662e+00] [ 1.50286901e-02 -5.54388034e-04 9.99886909e-01 1.84634895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839254154 meters 0.023522487123985806 Centerline is valid? [True, True] Translation: X:280.11, Y:2.85, Z:1.85 [[ 9.98618505e-01 -5.05686743e-02 -1.42790584e-02 2.80113468e+02] [ 5.05715327e-02 9.98720428e-01 -1.61056364e-04 2.85001397e+00] [ 1.42689317e-02 -5.61280002e-04 9.99898036e-01 1.84723874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899254154 meters 0.02466485128275004 Centerline is valid? [True, True] Translation: X:280.18, Y:2.85, Z:1.85 [[ 9.98584734e-01 -5.14422386e-02 -1.34990498e-02 2.80175649e+02] [ 5.14448839e-02 9.98675824e-01 -1.51437854e-04 2.84862753e+00] [ 1.34889650e-02 -5.43233520e-04 9.99908872e-01 1.84773345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959254154 meters 0.022528051128561283 Centerline is valid? [True, True] Translation: X:280.24, Y:2.85, Z:1.85 [[ 9.98569245e-01 -5.17210795e-02 -1.35791143e-02 2.80237856e+02] [ 5.17237954e-02 9.98661417e-01 -1.51356791e-04 2.85223271e+00] [ 1.35687659e-02 -5.51223094e-04 9.99907788e-01 1.84860123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019254154 meters 0.023528749837065172 Centerline is valid? [True, True] Translation: X:280.30, Y:2.85, Z:1.85 [[ 9.98608121e-01 -5.09535781e-02 -1.36217988e-02 2.80299583e+02] [ 5.09562533e-02 9.98700875e-01 -1.50837529e-04 2.85149768e+00] [ 1.36117881e-02 -5.43488247e-04 9.99907208e-01 1.84810697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079254154 meters 0.022918169397197267 Centerline is valid? [True, True] Translation: X:280.36, Y:2.85, Z:1.85 [[ 9.98790111e-01 -4.71326146e-02 -1.40296350e-02 2.80360214e+02] [ 4.71350866e-02 9.98888512e-01 -1.54595091e-04 2.85356744e+00] [ 1.40213277e-02 -5.06880015e-04 9.99901568e-01 1.84807828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139254154 meters 0.020909096471943823 Centerline is valid? [True, True] Translation: X:280.42, Y:2.86, Z:1.85 [[ 9.99069619e-01 -4.06698719e-02 -1.43477407e-02 2.80419635e+02] [ 4.06717929e-02 9.99172548e-01 -1.57989621e-04 2.85789337e+00] [ 1.43422940e-02 -4.25705708e-04 9.99897053e-01 1.84834619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199254154 meters 0.0178361340506094 Centerline is valid? [True, True] Translation: X:280.48, Y:2.87, Z:1.85 [[ 9.99267730e-01 -3.54980317e-02 -1.42791192e-02 2.80481028e+02] [ 3.54994090e-02 9.99369685e-01 -1.57072773e-04 2.86504110e+00] [ 1.42756946e-02 -3.49942538e-04 9.99898036e-01 1.84977052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259254154 meters 0.01791463913102553 Centerline is valid? [True, True] Translation: X:280.54, Y:2.87, Z:1.85 [[ 9.99455959e-01 -2.94278899e-02 -1.48924747e-02 2.80541250e+02] [ 2.94287205e-02 9.99566868e-01 -1.63416233e-04 2.86703392e+00] [ 1.48908333e-02 -2.74939148e-04 9.99889088e-01 1.84812241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319254154 meters 0.016569341391762898 Centerline is valid? [True, True] Translation: X:280.60, Y:2.87, Z:1.85 [[ 9.99478638e-01 -2.76125070e-02 -1.67332653e-02 2.80602624e+02] [ 2.76133096e-02 9.99618663e-01 -1.83128087e-04 2.87071630e+00] [ 1.67319409e-02 -2.79028225e-04 9.99859972e-01 1.84803255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379254154 meters 0.016901022577479264 Centerline is valid? [True, True] Translation: X:280.66, Y:2.87, Z:1.85 [[ 9.99428683e-01 -2.90319407e-02 -1.73047248e-02 2.80663099e+02] [ 2.90330159e-02 9.99578435e-01 -1.89139109e-04 2.86921918e+00] [ 1.73029208e-02 -3.13377298e-04 9.99850244e-01 1.84780613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439254154 meters 0.017235406080429665 Centerline is valid? [True, True] Translation: X:280.72, Y:2.87, Z:1.85 [[ 9.99283791e-01 -3.39270439e-02 -1.67588821e-02 2.80723169e+02] [ 3.39287381e-02 9.99424238e-01 -1.83304458e-04 2.86771315e+00] [ 1.67554520e-02 -3.85434549e-04 9.99859543e-01 1.85022294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters 0.019016271791851128 Centerline is valid? [True, True] Translation: X:280.78, Y:2.86, Z:1.85 [[ 9.99092666e-01 -3.99931233e-02 -1.46422240e-02 2.80784334e+02] [ 3.99950683e-02 9.99199864e-01 -1.60086329e-04 2.86289288e+00] [ 1.46369106e-02 -4.25675670e-04 9.99892784e-01 1.85180734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters 0.022592959551189104 Centerline is valid? [True, True] Translation: X:280.84, Y:2.86, Z:1.85 [[ 9.98947544e-01 -4.37732400e-02 -1.37006772e-02 2.80844874e+02] [ 4.37753012e-02 9.99041391e-01 -1.49554471e-04 2.85757500e+00] [ 1.36940900e-02 -4.50354197e-04 9.99906130e-01 1.85101259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters 0.02300332724990664 Centerline is valid? [True, True] Translation: X:280.91, Y:2.85, Z:1.85 [[ 9.98623031e-01 -5.08746107e-02 -1.27990238e-02 2.80905755e+02] [ 5.08769934e-02 9.98704917e-01 -1.39577494e-04 2.85426674e+00] [ 1.27895490e-02 -5.11790551e-04 9.99918079e-01 1.85323369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters 0.02721839550049706 Centerline is valid? [True, True] Translation: X:280.97, Y:2.85, Z:1.85 [[ 9.98173696e-01 -5.91229025e-02 -1.23998225e-02 2.80966399e+02] [ 5.91257747e-02 9.98250532e-01 -1.35147693e-04 2.84683907e+00] [ 1.23861197e-02 -5.98248239e-04 9.99923110e-01 1.85365263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters 0.031165297810572246 Centerline is valid? [True, True] Translation: X:281.03, Y:2.84, Z:1.85 [[ 9.97743359e-01 -6.57437101e-02 -1.36365133e-02 2.81027528e+02] [ 6.57478037e-02 9.97836261e-01 -1.48377964e-04 2.84022049e+00] [ 1.36167624e-02 -7.48527673e-04 9.99907007e-01 1.85288785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters 0.033602130423468685 Centerline is valid? [True, True] Translation: X:281.09, Y:2.84, Z:1.85 [[ 9.97550461e-01 -6.86106041e-02 -1.36258162e-02 2.81089044e+02] [ 6.86149635e-02 9.97643205e-01 -1.47846109e-04 2.83620199e+00] [ 1.36038467e-02 -7.87450925e-04 9.99907153e-01 1.85273104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters 0.03154349622494038 Centerline is valid? [True, True] Translation: X:281.15, Y:2.84, Z:1.85 [[ 9.97385224e-01 -7.07026210e-02 -1.49617357e-02 2.81150231e+02] [ 7.07081201e-02 9.97497035e-01 -1.61788726e-04 2.83972313e+00] [ 1.49357259e-02 -8.96550523e-04 9.99888054e-01 1.85265432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters 0.02860791770134147 Centerline is valid? [True, True] Translation: X:281.21, Y:2.84, Z:1.85 [[ 9.97424539e-01 -6.99845480e-02 -1.56987885e-02 2.81212027e+02] [ 6.99905282e-02 9.97547642e-01 -1.68828121e-04 2.84459543e+00] [ 1.56721048e-02 -9.30373187e-04 9.99876752e-01 1.85298786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters 0.027156700309221463 Centerline is valid? [True, True] Translation: X:281.27, Y:2.85, Z:1.85 [[ 9.97622289e-01 -6.69396152e-02 -1.63968576e-02 2.81273392e+02] [ 6.69457439e-02 9.97756602e-01 -1.75444851e-04 2.84897098e+00] [ 1.63718171e-02 -9.22672136e-04 9.99865547e-01 1.85367494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters 0.03505317566635177 Centerline is valid? [True, True] Translation: X:281.33, Y:2.84, Z:1.85 [[ 9.97876720e-01 -6.29955557e-02 -1.65412387e-02 2.81333438e+02] [ 6.30012567e-02 9.98013432e-01 -1.76736306e-04 2.84109104e+00] [ 1.65195120e-02 -8.65757780e-04 9.99863169e-01 1.85222018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters 0.022512167685603827 Centerline is valid? [True, True] Translation: X:281.39, Y:2.86, Z:1.86 [[ 9.98430608e-01 -5.38742282e-02 -1.52934327e-02 2.81393771e+02] [ 5.38780347e-02 9.98547510e-01 -1.63305924e-04 2.86286993e+00] [ 1.52800172e-02 -6.60930466e-04 9.99883035e-01 1.85632952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.159254154 meters 0.01952046857585238 Centerline is valid? [True, True] Translation: X:281.45, Y:2.87, Z:1.86 [[ 9.98988860e-01 -4.26733759e-02 -1.41506631e-02 2.81453939e+02] [ 4.26755128e-02 9.99088974e-01 -1.51045696e-04 2.87279404e+00] [ 1.41442171e-02 -4.52993837e-04 9.99899863e-01 1.85781208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.219254154 meters 0.01647820893150287 Centerline is valid? [True, True] Translation: X:281.51, Y:2.88, Z:1.86 [[ 9.99401044e-01 -3.15604447e-02 -1.41947943e-02 2.81514104e+02] [ 3.15614745e-02 9.99501801e-01 -1.51514858e-04 2.88298755e+00] [ 1.41925044e-02 -2.96584532e-04 9.99899237e-01 1.85864583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279254154 meters 0.015462033412949884 Centerline is valid? [True, True] Translation: X:281.58, Y:2.89, Z:1.86 [[ 9.99549556e-01 -2.59860446e-02 -1.50137122e-02 2.81575540e+02] [ 2.59865729e-02 9.99662279e-01 -1.59931151e-04 2.88801093e+00] [ 1.50127977e-02 -2.30295814e-04 9.99887275e-01 1.85849736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339254154 meters 0.015147444895270673 Centerline is valid? [True, True] Translation: X:281.64, Y:2.89, Z:1.86 [[ 9.99639331e-01 -2.21086568e-02 -1.52451891e-02 2.81635271e+02] [ 2.21087523e-02 9.99755558e-01 -1.62297524e-04 2.89047027e+00] [ 1.52450508e-02 -1.74813121e-04 9.99883772e-01 1.85776690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399254154 meters 0.015138743435367287 Centerline is valid? [True, True] Translation: X:281.69, Y:2.89, Z:1.86 [[ 9.99630560e-01 -2.25640441e-02 -1.51528045e-02 2.81694539e+02] [ 2.25641842e-02 9.99745383e-01 -1.61738742e-04 2.89046788e+00] [ 1.51525958e-02 -1.80231682e-04 9.99885177e-01 1.85793125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459254154 meters 0.015395752525542112 Centerline is valid? [True, True] Translation: X:281.75, Y:2.89, Z:1.86 [[ 9.99584864e-01 -2.50424009e-02 -1.42470608e-02 2.81753859e+02] [ 2.50427693e-02 9.99686369e-01 -1.52572038e-04 2.88874508e+00] [ 1.42464133e-02 -2.04277158e-04 9.99898494e-01 1.85820554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519254154 meters 0.015818171050194813 Centerline is valid? [True, True] Translation: X:281.81, Y:2.89, Z:1.86 [[ 9.99520556e-01 -2.79785229e-02 -1.32612584e-02 2.81814070e+02] [ 2.79790973e-02 9.99608498e-01 -1.42242913e-04 2.88679214e+00] [ 1.32600463e-02 -2.28863324e-04 9.99912056e-01 1.85900118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579254154 meters 0.01758155484287421 Centerline is valid? [True, True] Translation: X:281.88, Y:2.88, Z:1.86 [[ 9.99319947e-01 -3.51044834e-02 -1.12836019e-02 2.81875710e+02] [ 3.51053551e-02 9.99383610e-01 -1.20864228e-04 2.88021598e+00] [ 1.12808896e-02 -2.75332817e-04 9.99936331e-01 1.85953381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639254154 meters 0.019213433305826144 Centerline is valid? [True, True] Translation: X:281.94, Y:2.87, Z:1.86 [[ 9.99051402e-01 -4.23758077e-02 -1.00293392e-02 2.81936793e+02] [ 4.23768651e-02 9.99101691e-01 -1.07151291e-04 2.87491270e+00] [ 1.00248704e-02 -3.17962308e-04 9.99949699e-01 1.85997799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699254154 meters 0.02502260424490549 Centerline is valid? [True, True] Translation: X:282.00, Y:2.86, Z:1.86 [[ 9.98471976e-01 -5.44523608e-02 -9.41555632e-03 2.81998000e+02] [ 5.44538301e-02 9.98516284e-01 -1.00438519e-04 2.86382168e+00] [ 9.40705543e-03 -4.12428057e-04 9.99955668e-01 1.85721460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759254154 meters 0.027336811194890995 Centerline is valid? [True, True] Translation: X:282.06, Y:2.85, Z:1.86 [[ 9.97764401e-01 -6.61323796e-02 -9.62847801e-03 2.82058975e+02] [ 6.61344591e-02 9.97810715e-01 -1.02600887e-04 2.85465303e+00] [ 9.61418377e-03 -5.34402673e-04 9.99953640e-01 1.85827606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819254154 meters 0.031297274657729406 Centerline is valid? [True, True] Translation: X:282.12, Y:2.85, Z:1.86 [[ 9.97422651e-01 -7.10212299e-02 -1.01999938e-02 2.82118944e+02] [ 7.10238193e-02 9.97474614e-01 -1.08605783e-04 2.84720791e+00] [ 1.01819482e-02 -6.16116649e-04 9.99947973e-01 1.85785395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879254154 meters 0.031172134766500634 Centerline is valid? [True, True] Translation: X:282.18, Y:2.85, Z:1.86 [[ 9.97266505e-01 -7.32110926e-02 -9.98264180e-03 2.82180440e+02] [ 7.32136844e-02 9.97316271e-01 -1.06060795e-04 2.84626732e+00] [ 9.96361593e-03 -6.25095108e-04 9.99950167e-01 1.85812236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939254154 meters 0.029533955555371267 Centerline is valid? [True, True] Translation: X:282.24, Y:2.85, Z:1.86 [[ 9.97290648e-01 -7.27862807e-02 -1.06546164e-02 2.82242401e+02] [ 7.27892149e-02 9.97347340e-01 -1.12639656e-04 2.84834322e+00] [ 1.06345520e-02 -6.63206691e-04 9.99943232e-01 1.85851204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters 0.032604942856522996 Centerline is valid? [True, True] Translation: X:282.30, Y:2.84, Z:1.86 [[ 9.97385244e-01 -7.13597971e-02 -1.14216272e-02 2.82303768e+02] [ 7.13630850e-02 9.97450398e-01 -1.19946065e-04 2.84477731e+00] [ 1.14010659e-02 -6.95450116e-04 9.99934764e-01 1.85736799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters 0.03279759938459021 Centerline is valid? [True, True] Translation: X:282.36, Y:2.85, Z:1.86 [[ 9.97528666e-01 -6.88351706e-02 -1.40811868e-02 2.82363992e+02] [ 6.88399259e-02 9.97627708e-01 -1.47285060e-04 2.84557689e+00] [ 1.40579205e-02 -8.22426788e-04 9.99900844e-01 1.85556274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters 0.028666185635199484 Centerline is valid? [True, True] Translation: X:282.43, Y:2.85, Z:1.86 [[ 9.97708948e-01 -6.58125472e-02 -1.56704779e-02 2.82425779e+02] [ 6.58180750e-02 9.97831626e-01 -1.63281850e-04 2.85354585e+00] [ 1.56472444e-02 -8.68492926e-04 9.99877197e-01 1.85566566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters 0.028373507063984994 Centerline is valid? [True, True] Translation: X:282.49, Y:2.86, Z:1.86 [[ 9.97927482e-01 -6.23936515e-02 -1.57407887e-02 2.82486263e+02] [ 6.23988106e-02 9.98051282e-01 -1.63643423e-04 2.85708720e+00] [ 1.57203247e-02 -8.18902228e-04 9.99876093e-01 1.85566114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters 0.02314673187623823 Centerline is valid? [True, True] Translation: X:282.55, Y:2.87, Z:1.86 [[ 9.98445004e-01 -5.38716156e-02 -1.43326178e-02 2.82547214e+02] [ 5.38750182e-02 9.98547676e-01 -1.48873598e-04 2.86841007e+00] [ 1.43198222e-02 -6.23527944e-04 9.99897272e-01 1.85928237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters 0.0186499032080271 Centerline is valid? [True, True] Translation: X:282.61, Y:2.88, Z:1.86 [[ 9.99038894e-01 -4.18283647e-02 -1.31025233e-02 2.82607725e+02] [ 4.18301762e-02 9.99124726e-01 -1.35883890e-04 2.88100319e+00] [ 1.30967388e-02 -4.12327566e-04 9.99914149e-01 1.86159517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters 0.017342232083810766 Centerline is valid? [True, True] Translation: X:282.67, Y:2.89, Z:1.86 [[ 9.99360980e-01 -3.34189895e-02 -1.26807864e-02 2.82667474e+02] [ 3.34200110e-02 9.99441387e-01 -1.31400603e-04 2.88739842e+00] [ 1.26780940e-02 -2.92475386e-04 9.99919587e-01 1.86260752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters 0.015354129117271766 Centerline is valid? [True, True] Translation: X:282.73, Y:2.90, Z:1.86 [[ 9.99599429e-01 -2.47281876e-02 -1.37658246e-02 2.82728480e+02] [ 2.47285710e-02 9.99694192e-01 -1.42383518e-04 2.89632498e+00] [ 1.37651357e-02 -1.98082687e-04 9.99905236e-01 1.86310797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters 0.015040794440907402 Centerline is valid? [True, True] Translation: X:282.79, Y:2.90, Z:1.86 [[ 9.99623159e-01 -2.29276045e-02 -1.50951867e-02 2.82790026e+02] [ 2.29278692e-02 9.99737110e-01 -1.55549716e-04 2.89972820e+00] [ 1.50947847e-02 -1.90609368e-04 9.99886049e-01 1.86291228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters 0.01580669838274823 Centerline is valid? [True, True] Translation: X:282.85, Y:2.90, Z:1.86 [[ 9.99559884e-01 -2.51338814e-02 -1.57583466e-02 2.82849611e+02] [ 2.51344455e-02 9.99684067e-01 -1.62288176e-04 2.89840271e+00] [ 1.57574469e-02 -2.33860552e-04 9.99875816e-01 1.86176516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters 0.016375245291482342 Centerline is valid? [True, True] Translation: X:282.91, Y:2.90, Z:1.86 [[ 9.99411150e-01 -3.03419696e-02 -1.60224031e-02 2.82910461e+02] [ 3.03432197e-02 9.99539525e-01 -1.65132487e-04 2.89638209e+00] [ 1.60200356e-02 -3.21136048e-04 9.99871619e-01 1.86357887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.659254154 meters 0.017540108947623208 Centerline is valid? [True, True] Translation: X:282.97, Y:2.89, Z:1.86 [[ 9.99280642e-01 -3.44676434e-02 -1.58170844e-02 2.82971187e+02] [ 3.44693807e-02 9.99405741e-01 -1.62850800e-04 2.89487946e+00] [ 1.58132981e-02 -3.82471452e-04 9.99874889e-01 1.86423436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.719254154 meters 0.01949556830150238 Centerline is valid? [True, True] Translation: X:283.03, Y:2.89, Z:1.87 [[ 9.99036179e-01 -4.11051451e-02 -1.53974362e-02 2.83031874e+02] [ 4.11075832e-02 9.99154714e-01 -1.58254036e-04 2.89057290e+00] [ 1.53909260e-02 -4.74849883e-04 9.99881440e-01 1.86545748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779254154 meters 0.02078770655749761 Centerline is valid? [True, True] Translation: X:283.09, Y:2.89, Z:1.87 [[ 9.98673946e-01 -4.91142884e-02 -1.54316965e-02 2.83092611e+02] [ 4.91176943e-02 9.98792985e-01 -1.58449561e-04 2.88737110e+00] [ 1.54208524e-02 -5.99729905e-04 9.99880912e-01 1.86652621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839254154 meters 0.02362113314920446 Centerline is valid? [True, True] Translation: X:283.15, Y:2.88, Z:1.87 [[ 9.98331874e-01 -5.54176919e-02 -1.61971674e-02 2.83151963e+02] [ 5.54222701e-02 9.98462991e-01 -1.66423075e-04 2.88215730e+00] [ 1.61814950e-02 -7.31538328e-04 9.99868803e-01 1.86629784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899254154 meters 0.031086852585274057 Centerline is valid? [True, True] Translation: X:283.21, Y:2.87, Z:1.87 [[ 9.97826900e-01 -6.38302696e-02 -1.63454589e-02 2.83212200e+02] [ 6.38360577e-02 9.97960385e-01 -1.67926993e-04 2.86994304e+00] [ 1.63228392e-02 -8.75867584e-04 9.99866390e-01 1.86531030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959254154 meters 0.027352352343923275 Centerline is valid? [True, True] Translation: X:283.27, Y:2.88, Z:1.87 [[ 9.97566220e-01 -6.75268332e-02 -1.73713531e-02 2.83273337e+02] [ 6.75339382e-02 9.97716962e-01 -1.77964325e-04 2.87609310e+00] [ 1.73437110e-02 -9.95624690e-04 9.99849091e-01 1.86716982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019254154 meters 0.027631280771387035 Centerline is valid? [True, True] Translation: X:283.34, Y:2.88, Z:1.87 [[ 9.97586997e-01 -6.71147116e-02 -1.77707571e-02 2.83335952e+02] [ 6.71221014e-02 9.97744752e-01 -1.80960868e-04 2.87757408e+00] [ 1.77428247e-02 -1.01228635e-03 9.99842071e-01 1.86787440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079254154 meters 0.02716413608822355 Centerline is valid? [True, True] Translation: X:283.40, Y:2.88, Z:1.87 [[ 9.97874596e-01 -6.28013309e-02 -1.73863113e-02 2.83396108e+02] [ 6.28077599e-02 9.98025628e-01 -1.76554291e-04 2.88133898e+00] [ 1.73630721e-02 -9.15816222e-04 9.99848831e-01 1.86893292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139254154 meters 0.026056937428603513 Centerline is valid? [True, True] Translation: X:283.46, Y:2.89, Z:1.87 [[ 9.98131374e-01 -5.82769518e-02 -1.83727290e-02 2.83456520e+02] [ 5.82833666e-02 9.98300062e-01 -1.86571594e-04 2.88585945e+00] [ 1.83523694e-02 -8.84601541e-04 9.99831190e-01 1.86887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199254154 meters 0.02349310463847026 Centerline is valid? [True, True] Translation: X:283.52, Y:2.90, Z:1.87 [[ 9.98514594e-01 -5.03165939e-02 -2.09008661e-02 2.83516691e+02] [ 5.03231568e-02 9.98732965e-01 -2.12170158e-04 2.89505413e+00] [ 2.08850596e-02 -8.39942561e-04 9.99781531e-01 1.86806396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259254154 meters 0.021213167523165655 Centerline is valid? [True, True] Translation: X:283.58, Y:2.90, Z:1.87 [[ 9.98871414e-01 -4.18900663e-02 -2.23857200e-02 2.83576495e+02] [ 4.18954766e-02 9.99121973e-01 -2.27456554e-04 2.90374295e+00] [ 2.23755929e-02 -7.10660559e-04 9.99749382e-01 1.86738721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319254154 meters 0.019626408006111363 Centerline is valid? [True, True] Translation: X:283.64, Y:2.91, Z:1.87 [[ 9.99087784e-01 -3.60828285e-02 -2.28392055e-02 2.83637164e+02] [ 3.60869479e-02 9.99348627e-01 -2.31895848e-04 2.90963669e+00] [ 2.28326961e-02 -5.92512910e-04 9.99739124e-01 1.86803735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379254154 meters 0.01619806893623605 Centerline is valid? [True, True] Translation: X:283.70, Y:2.92, Z:1.87 [[ 9.99393686e-01 -2.69920872e-02 -2.19929211e-02 2.83697431e+02] [ 2.69936931e-02 9.99635579e-01 -2.23902696e-04 2.92194196e+00] [ 2.19909501e-02 -3.69903223e-04 9.99758101e-01 1.87227029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439254154 meters 0.014975422430916697 Centerline is valid? [True, True] Translation: X:283.76, Y:2.93, Z:1.88 [[ 9.99618918e-01 -1.89573542e-02 -2.00658447e-02 2.83756855e+02] [ 1.89570566e-02 9.99820278e-01 -2.05065615e-04 2.92982756e+00] [ 2.00661259e-02 -1.75401884e-04 9.99798640e-01 1.87540371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters 0.014748756511361519 Centerline is valid? [True, True] Translation: X:283.82, Y:2.93, Z:1.88 [[ 9.99697962e-01 -1.54583537e-02 -1.91055860e-02 2.83815509e+02] [ 1.54573789e-02 9.99880508e-01 -1.98703554e-04 2.93170298e+00] [ 1.91063746e-02 -9.66787429e-05 9.99817452e-01 1.87582436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters 0.015328241379368564 Centerline is valid? [True, True] Translation: X:283.87, Y:2.93, Z:1.88 [[ 9.99672464e-01 -1.57350434e-02 -2.01835110e-02 2.83873899e+02] [ 1.57339035e-02 9.99876191e-01 -2.15281250e-04 2.93098909e+00] [ 2.01843996e-02 -1.02354678e-04 9.99796269e-01 1.87640326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters 0.015418514532494971 Centerline is valid? [True, True] Translation: X:283.93, Y:2.93, Z:1.87 [[ 9.99522105e-01 -2.23357910e-02 -2.13699207e-02 2.83932069e+02] [ 2.23359461e-02 9.99750495e-01 -2.31458418e-04 2.92530061e+00] [ 2.13697587e-02 -2.45969593e-04 9.99771610e-01 1.87469901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters 0.017830193007156398 Centerline is valid? [True, True] Translation: X:283.99, Y:2.92, Z:1.87 [[ 9.99329484e-01 -2.86541200e-02 -2.27930682e-02 2.83992000e+02] [ 2.86559072e-02 9.99589304e-01 -2.48271595e-04 2.91923962e+00] [ 2.27908212e-02 -4.05050922e-04 9.99740173e-01 1.87420497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters 0.01722517078575069 Centerline is valid? [True, True] Translation: X:284.05, Y:2.91, Z:1.88 [[ 9.99121697e-01 -3.57222668e-02 -2.19033144e-02 2.84050999e+02] [ 3.57255905e-02 9.99361609e-01 -2.39665130e-04 2.91416833e+00] [ 2.18978929e-02 -5.43054208e-04 9.99760065e-01 1.87570286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters 0.019301608945230316 Centerline is valid? [True, True] Translation: X:284.11, Y:2.91, Z:1.88 [[ 9.98842907e-01 -4.32894516e-02 -2.09492197e-02 2.84111501e+02] [ 4.32941466e-02 9.99062342e-01 -2.29584311e-04 2.90869535e+00] [ 2.09395151e-02 -6.77659928e-04 9.99780515e-01 1.87701445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters 0.019731865469538867 Centerline is valid? [True, True] Translation: X:284.17, Y:2.91, Z:1.88 [[ 9.98771040e-01 -4.47855278e-02 -2.12288967e-02 2.84172589e+02] [ 4.47906980e-02 9.98996366e-01 -2.32113210e-04 2.90791733e+00] [ 2.12179860e-02 -7.19029150e-04 9.99774615e-01 1.87724593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters 0.01963179341995035 Centerline is valid? [True, True] Translation: X:284.24, Y:2.91, Z:1.88 [[ 9.98793143e-01 -4.41189024e-02 -2.15819241e-02 2.84235073e+02] [ 4.41241199e-02 9.99026029e-01 -2.34616620e-04 2.90891724e+00] [ 2.15712550e-02 -7.17949936e-04 9.99767056e-01 1.87755708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters 0.01845757804759524 Centerline is valid? [True, True] Translation: X:284.30, Y:2.91, Z:1.88 [[ 9.98954977e-01 -4.03534496e-02 -2.14604783e-02 2.84295997e+02] [ 4.03577569e-02 9.99185267e-01 -2.32527803e-04 2.91174530e+00] [ 2.14523770e-02 -6.33811958e-04 9.99769670e-01 1.87882288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters 0.016989410624266673 Centerline is valid? [True, True] Translation: X:284.36, Y:2.92, Z:1.88 [[ 9.99177056e-01 -3.45899135e-02 -2.11836728e-02 2.84356391e+02] [ 3.45928184e-02 9.99401463e-01 -2.29405994e-04 2.91750851e+00] [ 2.11789288e-02 -5.03585742e-04 9.99775575e-01 1.87991778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters 0.01805550022608325 Centerline is valid? [True, True] Translation: X:284.42, Y:2.92, Z:1.88 [[ 9.99277203e-01 -3.01876562e-02 -2.31036140e-02 2.84416907e+02] [ 3.01899359e-02 9.99544149e-01 -2.50197762e-04 2.92109797e+00] [ 2.31006350e-02 -4.47479704e-04 9.99733045e-01 1.87926873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.159254154 meters 0.015159997062125454 Centerline is valid? [True, True] Translation: X:284.48, Y:2.93, Z:1.88 [[ 9.99446649e-01 -2.41002107e-02 -2.29254310e-02 2.84475582e+02] [ 2.41008271e-02 9.99709502e-01 -2.49450630e-04 2.92641608e+00] [ 2.29247831e-02 -3.03209253e-04 9.99737147e-01 1.87909823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.219254154 meters 0.014834207732616558 Centerline is valid? [True, True] Translation: X:284.53, Y:2.93, Z:1.88 [[ 9.99517485e-01 -2.05037678e-02 -2.33322375e-02 2.84534792e+02] [ 2.05033239e-02 9.99789751e-01 -2.58276285e-04 2.93061780e+00] [ 2.33326275e-02 -2.20236759e-04 9.99727733e-01 1.87908530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279254154 meters 0.014565184395615128 Centerline is valid? [True, True] Translation: X:284.59, Y:2.94, Z:1.88 [[ 9.99584125e-01 -1.66335572e-02 -2.35563601e-02 2.84593699e+02] [ 1.66318906e-02 9.99861645e-01 -2.66679269e-04 2.93533896e+00] [ 2.35575367e-02 -1.25218440e-04 9.99722475e-01 1.88043631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339254154 meters 0.016683483875806593 Centerline is valid? [True, True] Translation: X:284.65, Y:2.94, Z:1.88 [[ 9.99569186e-01 -1.57327438e-02 -2.47774784e-02 2.84652469e+02] [ 1.57304649e-02 9.99876227e-01 -2.86893926e-04 2.93639810e+00] [ 2.47789252e-02 -1.02990926e-04 9.99692950e-01 1.87950925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399254154 meters 0.015429900861532633 Centerline is valid? [True, True] Translation: X:284.71, Y:2.94, Z:1.88 [[ 9.99561794e-01 -1.72623158e-02 -2.40464523e-02 2.84710275e+02] [ 1.72604493e-02 9.99850987e-01 -2.85190886e-04 2.93716625e+00] [ 2.40477921e-02 -1.29986657e-04 9.99710802e-01 1.88088963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459254154 meters 0.014624330709091771 Centerline is valid? [True, True] Translation: X:284.77, Y:2.94, Z:1.88 [[ 9.99525414e-01 -2.08649301e-02 -2.26627940e-02 2.84768201e+02] [ 2.08640502e-02 9.99782284e-01 -2.75300921e-04 2.93522164e+00] [ 2.26636041e-02 -1.97667404e-04 9.99743128e-01 1.88190894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519254154 meters 0.015516251617368021 Centerline is valid? [True, True] Translation: X:284.83, Y:2.93, Z:1.88 [[ 9.99444126e-01 -2.52031854e-02 -2.18228996e-02 2.84825659e+02] [ 2.52033326e-02 9.99682310e-01 -2.68337587e-04 2.93110712e+00] [ 2.18227296e-02 -2.81821371e-04 9.99761816e-01 1.88240872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579254154 meters 0.015699192541402007 Centerline is valid? [True, True] Translation: X:284.88, Y:2.93, Z:1.89 [[ 9.99394131e-01 -2.80528295e-02 -2.06011976e-02 2.84884322e+02] [ 2.80534793e-02 9.99606391e-01 -2.57514449e-04 2.93046300e+00] [ 2.06003128e-02 -3.20576842e-04 9.99787740e-01 1.88521933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639254154 meters 0.018179112034810707 Centerline is valid? [True, True] Translation: X:284.94, Y:2.93, Z:1.89 [[ 9.99327123e-01 -3.08883158e-02 -1.97791122e-02 2.84943319e+02] [ 3.08893691e-02 9.99522778e-01 -2.52332957e-04 2.92691938e+00] [ 1.97774673e-02 -3.58801129e-04 9.99804342e-01 1.88571083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699254154 meters 0.01928060465999261 Centerline is valid? [True, True] Translation: X:285.00, Y:2.92, Z:1.89 [[ 9.99359123e-01 -3.11041963e-02 -1.77164442e-02 2.85003307e+02] [ 3.11050437e-02 9.99516095e-01 -2.27788582e-04 2.92273839e+00] [ 1.77149563e-02 -3.23428175e-04 9.99843026e-01 1.88501311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759254154 meters 0.019982681198447694 Centerline is valid? [True, True] Translation: X:285.06, Y:2.92, Z:1.89 [[ 9.99418611e-01 -2.99443993e-02 -1.63025407e-02 2.85064571e+02] [ 2.99449664e-02 9.99551527e-01 -2.09368867e-04 2.92161064e+00] [ 1.63014989e-02 -2.78931891e-04 9.99867083e-01 1.88524636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819254154 meters 0.020387648473255717 Centerline is valid? [True, True] Translation: X:285.13, Y:2.92, Z:1.88 [[ 9.99540514e-01 -2.61328201e-02 -1.53569851e-02 2.85125287e+02] [ 2.61328771e-02 9.99658459e-01 -1.96992261e-04 2.92208124e+00] [ 1.53568880e-02 -2.04420459e-04 9.99882055e-01 1.88488109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879254154 meters 0.02045926391476854 Centerline is valid? [True, True] Translation: X:285.19, Y:2.92, Z:1.88 [[ 9.99612961e-01 -2.32163949e-02 -1.53273258e-02 2.85185354e+02] [ 2.32161090e-02 9.99730450e-01 -1.96611805e-04 2.92187941e+00] [ 1.53277589e-02 -1.59305156e-04 9.99882510e-01 1.88465571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939254154 meters 0.020174167565834063 Centerline is valid? [True, True] Translation: X:285.24, Y:2.92, Z:1.88 [[ 9.99714266e-01 -1.92743082e-02 -1.41381401e-02 2.85244754e+02] [ 1.92736667e-02 9.99814229e-01 -1.81635510e-04 2.92006094e+00] [ 1.41390145e-02 -9.09101893e-05 9.99900035e-01 1.88493730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters 0.020049450335167477 Centerline is valid? [True, True] Translation: X:285.30, Y:2.92, Z:1.89 [[ 9.99756269e-01 -1.76079802e-02 -1.33176853e-02 2.85303421e+02] [ 1.76072552e-02 9.99844966e-01 -1.71696175e-04 2.91698322e+00] [ 1.33186438e-02 -6.28335565e-05 9.99911301e-01 1.88500325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters 0.020112333270319797 Centerline is valid? [True, True] Translation: X:285.36, Y:2.91, Z:1.88 [[ 9.99724236e-01 -1.86148537e-02 -1.43157131e-02 2.85362762e+02] [ 1.86141095e-02 9.99826725e-01 -1.85238848e-04 2.91316911e+00] [ 1.43166807e-02 -8.12864856e-05 9.99897508e-01 1.88438677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters 0.020277234598729488 Centerline is valid? [True, True] Translation: X:285.42, Y:2.90, Z:1.88 [[ 9.99618101e-01 -2.32325522e-02 -1.49632865e-02 2.85421668e+02] [ 2.32322459e-02 9.99730076e-01 -1.94319236e-04 2.90282108e+00] [ 1.49637621e-02 -1.53385725e-04 9.99888025e-01 1.88266907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters 0.02230712043180484 Centerline is valid? [True, True] Translation: X:285.48, Y:2.89, Z:1.88 [[ 9.99504942e-01 -2.79202634e-02 -1.45027292e-02 2.85481169e+02] [ 2.79204599e-02 9.99610130e-01 -1.88962884e-04 2.89414955e+00] [ 1.45023510e-02 -2.16053534e-04 9.99894812e-01 1.88398708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters 0.020563816367117915 Centerline is valid? [True, True] Translation: X:285.54, Y:2.89, Z:1.89 [[ 9.99453951e-01 -2.98321260e-02 -1.42071896e-02 2.85541657e+02] [ 2.98325044e-02 9.99554895e-01 -1.85343272e-04 2.89089939e+00] [ 1.42063951e-02 -2.38593981e-04 9.99899056e-01 1.88587272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters 0.020642547785155393 Centerline is valid? [True, True] Translation: X:285.60, Y:2.88, Z:1.89 [[ 9.99429279e-01 -3.10560950e-02 -1.32904374e-02 2.85602684e+02] [ 3.10565376e-02 9.99517614e-01 -1.73136764e-04 2.88498767e+00] [ 1.32894032e-02 -2.39717017e-04 9.99911663e-01 1.88607394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters 0.020721957287707798 Centerline is valid? [True, True] Translation: X:285.66, Y:2.88, Z:1.89 [[ 9.99439259e-01 -3.10262841e-02 -1.25911954e-02 2.85664067e+02] [ 3.10266846e-02 9.99518543e-01 -1.63571808e-04 2.88061283e+00] [ 1.25902083e-02 -2.27182961e-04 9.99920714e-01 1.88638307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters 0.020411044249889744 Centerline is valid? [True, True] Translation: X:285.73, Y:2.88, Z:1.89 [[ 9.99484142e-01 -2.98845855e-02 -1.17627567e-02 2.85725223e+02] [ 2.98848610e-02 9.99553336e-01 -1.52390366e-04 2.87607641e+00] [ 1.17620568e-02 -1.99216594e-04 9.99930805e-01 1.88727507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters 0.02045858443740595 Centerline is valid? [True, True] Translation: X:285.79, Y:2.87, Z:1.89 [[ 9.99542205e-01 -2.78448039e-02 -1.18341426e-02 2.85785402e+02] [ 2.78449439e-02 9.99612243e-01 -1.52971210e-04 2.87066947e+00] [ 1.18338132e-02 -1.76619855e-04 9.99929962e-01 1.88641635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters 0.019908451471768077 Centerline is valid? [True, True] Translation: X:285.85, Y:2.87, Z:1.89 [[ 9.99565005e-01 -2.70980456e-02 -1.16403017e-02 2.85846898e+02] [ 2.70981340e-02 9.99632767e-01 -1.50159721e-04 2.87050081e+00] [ 1.16400961e-02 -1.65336053e-04 9.99932238e-01 1.88753140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters 0.019795310336902277 Centerline is valid? [True, True] Translation: X:285.91, Y:2.87, Z:1.89 [[ 9.99571503e-01 -2.68341900e-02 -1.16934084e-02 2.85908644e+02] [ 2.68342662e-02 9.99639885e-01 -1.50405070e-04 2.86580061e+00] [ 1.16932334e-02 -1.63443412e-04 9.99931618e-01 1.88735978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.659254154 meters 0.019766163444677718 Centerline is valid? [True, True] Translation: X:285.97, Y:2.86, Z:1.89 [[ 9.99555955e-01 -2.73311440e-02 -1.18701485e-02 2.85969368e+02] [ 2.73312606e-02 9.99626420e-01 -1.52424075e-04 2.86466771e+00] [ 1.18698800e-02 -1.72069731e-04 9.99929536e-01 1.88736520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.719254154 meters 0.020058429480730774 Centerline is valid? [True, True] Translation: X:286.03, Y:2.86, Z:1.89 [[ 9.99486363e-01 -2.95249300e-02 -1.24614741e-02 2.86029527e+02] [ 2.95252303e-02 9.99564023e-01 -1.59911992e-04 2.85930054e+00] [ 1.24607625e-02 -2.08098037e-04 9.99922340e-01 1.88623348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779254154 meters 0.020337110961847836 Centerline is valid? [True, True] Translation: X:286.09, Y:2.86, Z:1.89 [[ 9.99412979e-01 -3.17274341e-02 -1.29254860e-02 2.86089825e+02] [ 3.17279430e-02 9.99496528e-01 -1.65739006e-04 2.85596500e+00] [ 1.29242368e-02 -2.44457369e-04 9.99916449e-01 1.88625868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839254154 meters 0.02125443982744934 Centerline is valid? [True, True] Translation: X:286.15, Y:2.85, Z:1.89 [[ 9.99281394e-01 -3.55198378e-02 -1.32301819e-02 2.86150267e+02] [ 3.55207046e-02 9.99368926e-01 -1.69529456e-04 2.84976445e+00] [ 1.32278543e-02 -3.00537752e-04 9.99912463e-01 1.88655605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899254154 meters 0.021959092571548138 Centerline is valid? [True, True] Translation: X:286.21, Y:2.85, Z:1.89 [[ 9.99218122e-01 -3.75501694e-02 -1.23745404e-02 2.86210808e+02] [ 3.75510847e-02 9.99294697e-01 -1.58453179e-04 2.84517344e+00] [ 1.23717626e-02 -3.06348129e-04 9.99923420e-01 1.88771276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959254154 meters 0.02210293939001307 Centerline is valid? [True, True] Translation: X:286.27, Y:2.84, Z:1.89 [[ 9.99245965e-01 -3.72767159e-02 -1.08604212e-02 2.86271141e+02] [ 3.72774056e-02 9.99304946e-01 -1.38993640e-04 2.84308107e+00] [ 1.08580539e-02 -2.65959494e-04 9.99941014e-01 1.88901055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019254154 meters 0.020032933004982705 Centerline is valid? [True, True] Translation: X:286.33, Y:2.85, Z:1.89 [[ 9.99365135e-01 -3.40941006e-02 -1.03402214e-02 2.86332083e+02] [ 3.40945580e-02 9.99418603e-01 -1.32091267e-04 2.84687251e+00] [ 1.03387132e-02 -2.20537872e-04 9.99946530e-01 1.89013527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079254154 meters 0.018725963272185023 Centerline is valid? [True, True] Translation: X:286.39, Y:2.85, Z:1.89 [[ 9.99564623e-01 -2.73647750e-02 -1.10332601e-02 2.86392430e+02] [ 2.73648888e-02 9.99625501e-01 -1.40679062e-04 2.84955167e+00] [ 1.10329778e-02 -1.61306122e-04 9.99939122e-01 1.89023015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139254154 meters 0.01819206149107714 Centerline is valid? [True, True] Translation: X:286.45, Y:2.85, Z:1.89 [[ 9.99708257e-01 -2.12788520e-02 -1.14284899e-02 2.86451959e+02] [ 2.12785754e-02 9.99773575e-01 -1.45804908e-04 2.85136087e+00] [ 1.14290048e-02 -9.74196137e-05 9.99934682e-01 1.88975870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199254154 meters 0.017492104176413423 Centerline is valid? [True, True] Translation: X:286.51, Y:2.85, Z:1.89 [[ 9.99860961e-01 -1.25319969e-02 -1.10003829e-02 2.86511402e+02] [ 1.25312083e-02 9.99921471e-01 -1.40619989e-04 2.85490175e+00] [ 1.10012813e-02 2.75234887e-06 9.99939484e-01 1.89088145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259254154 meters 0.01759382189443834 Centerline is valid? [True, True] Translation: X:286.57, Y:2.86, Z:1.89 [[ 9.99903737e-01 -8.79831496e-03 -1.07287946e-02 2.86568715e+02] [ 8.79734125e-03 9.99961293e-01 -1.37948019e-04 2.85601440e+00] [ 1.07295931e-02 4.35498717e-05 9.99942435e-01 1.89091624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319254154 meters 0.01749781927215609 Centerline is valid? [True, True] Translation: X:286.63, Y:2.85, Z:1.89 [[ 9.99915089e-01 -7.83843442e-03 -1.04102461e-02 2.86626719e+02] [ 7.83744511e-03 9.99969278e-01 -1.35824902e-04 2.85306570e+00] [ 1.04109909e-02 5.42236363e-05 9.99945803e-01 1.89111204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379254154 meters 0.01710513399373162 Centerline is valid? [True, True] Translation: X:286.69, Y:2.85, Z:1.89 [[ 9.99885063e-01 -1.05853630e-02 -1.08541074e-02 2.86685210e+02] [ 1.05844241e-02 9.99943973e-01 -1.43946709e-04 2.84831443e+00] [ 1.08550230e-02 2.90456882e-05 9.99941082e-01 1.89116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439254154 meters 0.017776385564791868 Centerline is valid? [True, True] Translation: X:286.74, Y:2.84, Z:1.89 [[ 9.99719927e-01 -2.10031968e-02 -1.09056838e-02 2.86743125e+02] [ 2.10028589e-02 9.99779405e-01 -1.45521628e-04 2.83787089e+00] [ 1.09063345e-02 -8.35696659e-05 9.99940521e-01 1.89098264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters 0.01993764117750782 Centerline is valid? [True, True] Translation: X:286.80, Y:2.82, Z:1.89 [[ 9.99307292e-01 -3.60264996e-02 -9.32880096e-03 2.86802912e+02] [ 3.60269011e-02 9.99350813e-01 -1.25056058e-04 2.82221894e+00] [ 9.32725015e-03 -2.11118359e-04 9.99956478e-01 1.89364381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters 0.022182571762984674 Centerline is valid? [True, True] Translation: X:286.86, Y:2.82, Z:1.89 [[ 9.98917425e-01 -4.57061288e-02 -8.65610518e-03 2.86863964e+02] [ 4.57068366e-02 9.98954890e-01 -1.16142222e-04 2.81582079e+00] [ 8.65236700e-03 -2.79626695e-04 9.99962528e-01 1.89372879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters 0.02529458259892231 Centerline is valid? [True, True] Translation: X:286.92, Y:2.80, Z:1.89 [[ 9.98191542e-01 -5.94722025e-02 -8.75796798e-03 2.86924504e+02] [ 5.94734561e-02 9.98229880e-01 -1.17467170e-04 2.80307490e+00] [ 8.74945136e-03 -4.03611889e-04 9.99961641e-01 1.89468129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters 0.028113347986857558 Centerline is valid? [True, True] Translation: X:286.99, Y:2.80, Z:1.90 [[ 9.97719464e-01 -6.68746451e-02 -9.14624787e-03 2.86985131e+02] [ 6.68763237e-02 9.97761265e-01 -1.22521910e-04 2.79731231e+00] [ 9.13396546e-03 -4.89424940e-04 9.99958165e-01 1.89507018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters 0.0327197688809694 Centerline is valid? [True, True] Translation: X:287.04, Y:2.79, Z:1.89 [[ 9.97155168e-01 -7.47403186e-02 -9.77013559e-03 2.87044524e+02] [ 7.47426140e-02 9.97202850e-01 -1.30499440e-04 2.79072199e+00] [ 9.75256063e-03 -6.00117282e-04 9.99952263e-01 1.89443877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters 0.032325103285374794 Centerline is valid? [True, True] Translation: X:287.10, Y:2.79, Z:1.90 [[ 9.96787174e-01 -7.95669719e-02 -9.18837494e-03 2.87104630e+02] [ 7.95692078e-02 9.96829337e-01 -1.22543441e-04 2.79187811e+00] [ 9.16899210e-03 -6.08961985e-04 9.99957778e-01 1.89599199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters 0.032411036972855564 Centerline is valid? [True, True] Translation: X:287.17, Y:2.80, Z:1.90 [[ 9.96724780e-01 -8.02875271e-02 -9.67602021e-03 2.87167139e+02] [ 8.02900428e-02 9.96771535e-01 -1.28802043e-04 2.79597133e+00] [ 9.65512271e-03 -6.48507888e-04 9.99953178e-01 1.89572388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters 0.032065127603545004 Centerline is valid? [True, True] Translation: X:287.23, Y:2.80, Z:1.89 [[ 9.96849320e-01 -7.85634100e-02 -1.09189340e-02 2.87228690e+02] [ 7.85665186e-02 9.96908863e-01 -1.44617725e-04 2.80124352e+00] [ 1.08965438e-02 -7.13700552e-04 9.99940376e-01 1.89489702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters 0.03035889117967518 Centerline is valid? [True, True] Translation: X:287.29, Y:2.81, Z:1.89 [[ 9.97196707e-01 -7.38272267e-02 -1.21765355e-02 2.87288812e+02] [ 7.38307445e-02 9.97270773e-01 -1.60979959e-04 2.81254073e+00] [ 1.21551877e-02 -7.38473996e-04 9.99925850e-01 1.89389763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters 0.02930028964479968 Centerline is valid? [True, True] Translation: X:287.35, Y:2.82, Z:1.89 [[ 9.97436033e-01 -7.04230281e-02 -1.27262387e-02 2.87349411e+02] [ 7.04265961e-02 9.97516950e-01 -1.68119892e-04 2.82054460e+00] [ 1.27064783e-02 -7.28576833e-04 9.99919004e-01 1.89428104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters 0.02809044579122638 Centerline is valid? [True, True] Translation: X:287.41, Y:2.83, Z:1.89 [[ 9.97806332e-01 -6.48477853e-02 -1.33149986e-02 2.87410107e+02] [ 6.48511980e-02 9.97894930e-01 -1.75754477e-04 2.83327741e+00] [ 1.32983669e-02 -6.88124683e-04 9.99911336e-01 1.89401252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.159254154 meters 0.025496448638134463 Centerline is valid? [True, True] Translation: X:287.47, Y:2.84, Z:1.90 [[ 9.97976976e-01 -6.25151892e-02 -1.15675160e-02 2.87472011e+02] [ 6.25176118e-02 9.98043849e-01 -1.52401485e-04 2.84163081e+00] [ 1.15544156e-02 -5.71080301e-04 9.99933082e-01 1.89719188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.219254154 meters 0.02422156349207698 Centerline is valid? [True, True] Translation: X:287.53, Y:2.85, Z:1.90 [[ 9.98243874e-01 -5.83919143e-02 -9.97760331e-03 2.87532954e+02] [ 5.83935150e-02 9.98293634e-01 -1.31064776e-04 2.85331422e+00] [ 9.96823100e-03 -4.51792719e-04 9.99950214e-01 1.89943664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279254154 meters 0.024693242877842175 Centerline is valid? [True, True] Translation: X:287.59, Y:2.86, Z:1.90 [[ 9.98416031e-01 -5.50902262e-02 -1.14234782e-02 2.87594782e+02] [ 5.50921134e-02 9.98481265e-01 -1.49650940e-04 2.85987118e+00] [ 1.14143733e-02 -4.79929660e-04 9.99934739e-01 1.89859891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339254154 meters 0.024139362167150732 Centerline is valid? [True, True] Translation: X:287.66, Y:2.87, Z:1.90 [[ 9.98515595e-01 -5.31450679e-02 -1.19251481e-02 2.87655521e+02] [ 5.31469991e-02 9.98586687e-01 -1.55124883e-04 2.86737060e+00] [ 1.19165382e-02 -4.78891218e-04 9.99928881e-01 1.89982188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399254154 meters 0.025198330515495387 Centerline is valid? [True, True] Translation: X:287.72, Y:2.87, Z:1.90 [[ 9.98595535e-01 -5.12334513e-02 -1.34941071e-02 2.87718147e+02] [ 5.12357721e-02 9.98686570e-01 -1.73885424e-04 2.87412687e+00] [ 1.34852923e-02 -5.17739788e-04 9.99908935e-01 1.89852693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459254154 meters 0.024820185046714245 Centerline is valid? [True, True] Translation: X:287.78, Y:2.88, Z:1.90 [[ 9.98593598e-01 -5.16875190e-02 -1.17994336e-02 2.87779045e+02] [ 5.16893346e-02 9.98663201e-01 -1.51238230e-04 2.87781489e+00] [ 1.17914772e-02 -4.58879341e-04 9.99930373e-01 1.90131603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519254154 meters 0.02280734232915238 Centerline is valid? [True, True] Translation: X:287.84, Y:2.89, Z:1.90 [[ 9.98766975e-01 -4.83519634e-02 -1.12524053e-02 2.87840440e+02] [ 4.83534089e-02 9.98830279e-01 -1.43718819e-04 2.88685732e+00] [ 1.12461922e-02 -4.00550543e-04 9.99936679e-01 1.90193598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579254154 meters 0.023146106245810445 Centerline is valid? [True, True] Translation: X:287.90, Y:2.89, Z:1.90 [[ 9.98858924e-01 -4.62625344e-02 -1.18586628e-02 2.87901849e+02] [ 4.62639990e-02 9.98929237e-01 -1.50937444e-04 2.88891051e+00] [ 1.18529478e-02 -3.97863953e-04 9.99929672e-01 1.90177120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639254154 meters 0.0200303344050682 Centerline is valid? [True, True] Translation: X:287.96, Y:2.90, Z:1.90 [[ 9.99129116e-01 -3.98374085e-02 -1.24092990e-02 2.87962281e+02] [ 3.98385216e-02 9.99206119e-01 -1.57575711e-04 2.90076646e+00] [ 1.24057249e-02 -3.36929647e-04 9.99922989e-01 1.90203618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699254154 meters 0.019108789449792028 Centerline is valid? [True, True] Translation: X:288.02, Y:2.91, Z:1.90 [[ 9.99269172e-01 -3.61124203e-02 -1.25305748e-02 2.88023499e+02] [ 3.61132652e-02 9.99347691e-01 -1.58911761e-04 2.90544805e+00] [ 1.25281397e-02 -2.93724347e-04 9.99921477e-01 1.90312997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759254154 meters 0.01816298662756565 Centerline is valid? [True, True] Translation: X:288.08, Y:2.91, Z:1.90 [[ 9.99406428e-01 -3.23289631e-02 -1.19008184e-02 2.88083649e+02] [ 3.23294608e-02 9.99477255e-01 -1.50612983e-04 2.90984992e+00] [ 1.18994665e-02 -2.34223459e-04 9.99929171e-01 1.90472351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819254154 meters 0.018362598411902253 Centerline is valid? [True, True] Translation: X:288.14, Y:2.91, Z:1.90 [[ 9.99372833e-01 -3.29793520e-02 -1.28958167e-02 2.88144610e+02] [ 3.29799947e-02 9.99455999e-01 -1.62872542e-04 2.91043308e+00] [ 1.28941728e-02 -2.62533575e-04 9.99916832e-01 1.90442171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879254154 meters 0.019662121997191355 Centerline is valid? [True, True] Translation: X:288.20, Y:2.91, Z:1.90 [[ 9.99285120e-01 -3.51130527e-02 -1.40114953e-02 2.88204675e+02] [ 3.51140263e-02 9.99383297e-01 -1.76596813e-04 2.90795188e+00] [ 1.40090552e-02 -3.15529445e-04 9.99901819e-01 1.90305717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939254154 meters 0.021880582749639846 Centerline is valid? [True, True] Translation: X:288.27, Y:2.90, Z:1.90 [[ 9.99083233e-01 -3.98424662e-02 -1.56611230e-02 2.88265488e+02] [ 3.98442674e-02 9.99205882e-01 -1.97117369e-04 2.90304566e+00] [ 1.56565399e-02 -4.27069316e-04 9.99877338e-01 1.90168267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters 0.023429025682738944 Centerline is valid? [True, True] Translation: X:288.33, Y:2.90, Z:1.90 [[ 9.98978186e-01 -4.23577491e-02 -1.57608556e-02 2.88326476e+02] [ 4.23598901e-02 9.99102397e-01 -1.98115670e-04 2.90078962e+00] [ 1.57551003e-02 -4.69714877e-04 9.99875770e-01 1.90245088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters 0.025138556565733605 Centerline is valid? [True, True] Translation: X:288.39, Y:2.90, Z:1.90 [[ 9.98924914e-01 -4.40773945e-02 -1.43596367e-02 2.88386430e+02] [ 4.40793593e-02 9.99028017e-01 -1.79792996e-04 2.89860928e+00] [ 1.43536042e-02 -4.53363882e-04 9.99896879e-01 1.90418919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters 0.02544944561814181 Centerline is valid? [True, True] Translation: X:288.45, Y:2.90, Z:1.91 [[ 9.98975441e-01 -4.34231432e-02 -1.27475220e-02 2.88446810e+02] [ 4.34246456e-02 9.99056693e-01 -1.59038133e-04 2.89798711e+00] [ 1.27424031e-02 -3.94681438e-04 9.99918734e-01 1.90572717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters 0.02496608732961821 Centerline is valid? [True, True] Translation: X:288.51, Y:2.90, Z:1.91 [[ 9.99046598e-01 -4.19132565e-02 -1.22136897e-02 2.88508143e+02] [ 4.19145263e-02 9.99121189e-01 -1.52106575e-04 2.89932874e+00] [ 1.22093315e-02 -3.59969461e-04 9.99925399e-01 1.90623375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters 0.02472635589412395 Centerline is valid? [True, True] Translation: X:288.57, Y:2.90, Z:1.91 [[ 9.99095982e-01 -4.05602316e-02 -1.27313086e-02 2.88569583e+02] [ 4.05615079e-02 9.99177031e-01 -1.58059166e-04 2.89997897e+00] [ 1.27272421e-02 -3.58484796e-04 9.99918941e-01 1.90652386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters 0.0254704066754893 Centerline is valid? [True, True] Translation: X:288.63, Y:2.90, Z:1.91 [[ 9.99063409e-01 -4.11862055e-02 -1.32665665e-02 2.88630494e+02] [ 4.11876520e-02 9.99151415e-01 -1.64283412e-04 2.89896692e+00] [ 1.32620749e-02 -3.82289181e-04 9.99911982e-01 1.90628222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters 0.028208347891807074 Centerline is valid? [True, True] Translation: X:288.69, Y:2.89, Z:1.91 [[ 9.98904312e-01 -4.47121495e-02 -1.38202531e-02 2.88692141e+02] [ 4.47140608e-02 9.98999812e-01 -1.70821019e-04 2.89480290e+00] [ 1.38140680e-02 -4.47325785e-04 9.99904481e-01 1.90624811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters 0.03210510974078975 Centerline is valid? [True, True] Translation: X:288.75, Y:2.89, Z:1.90 [[ 9.98681956e-01 -4.91292552e-02 -1.48548860e-02 2.88751959e+02] [ 4.91319546e-02 9.98792279e-01 -1.83393280e-04 2.88964750e+00] [ 1.48459554e-02 -5.46698025e-04 9.99889643e-01 1.90453087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters 0.03434675893660428 Centerline is valid? [True, True] Translation: X:288.81, Y:2.89, Z:1.90 [[ 9.98548626e-01 -5.15823960e-02 -1.54886352e-02 2.88812866e+02] [ 5.15856273e-02 9.98668557e-01 -1.91088866e-04 2.88689525e+00] [ 1.54778698e-02 -6.08179440e-04 9.99880026e-01 1.90399277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters 0.036784593852634426 Centerline is valid? [True, True] Translation: X:288.87, Y:2.89, Z:1.90 [[ 9.98433260e-01 -5.35028127e-02 -1.63851792e-02 2.88872834e+02] [ 5.35066888e-02 9.98567471e-01 -2.02045956e-04 2.88546477e+00] [ 1.63725170e-02 -6.74987283e-04 9.99865734e-01 1.90351329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters 0.022391589754521 Centerline is valid? [True, True] Translation: X:288.93, Y:2.91, Z:1.91 [[ 9.98463376e-01 -5.32885345e-02 -1.52058677e-02 2.88934736e+02] [ 5.32918574e-02 9.98578962e-01 -1.86873030e-04 2.90923288e+00] [ 1.51942178e-02 -6.23763057e-04 9.99884367e-01 1.91008628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.659254154 meters 0.025271839694519065 Centerline is valid? [True, True] Translation: X:289.00, Y:2.91, Z:1.91 [[ 9.98546802e-01 -5.19024257e-02 -1.45059213e-02 2.88995833e+02] [ 5.19053167e-02 9.98651995e-01 -1.77368011e-04 2.90974324e+00] [ 1.44955730e-02 -5.75824177e-04 9.99894768e-01 1.90938401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.719254154 meters 0.022950642113972484 Centerline is valid? [True, True] Translation: X:289.06, Y:2.91, Z:1.91 [[ 9.98578964e-01 -5.20982498e-02 -1.12172111e-02 2.89057620e+02] [ 5.20999976e-02 9.98641864e-01 -1.36543414e-04 2.91359247e+00] [ 1.12090903e-02 -4.48067290e-04 9.99937076e-01 1.91404523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779254154 meters 0.0247361518452842 Centerline is valid? [True, True] Translation: X:289.12, Y:2.91, Z:1.91 [[ 9.98605071e-01 -5.16701576e-02 -1.08677097e-02 2.89118641e+02] [ 5.16717805e-02 9.98664113e-01 -1.31592523e-04 2.91358322e+00] [ 1.08599910e-02 -4.30144947e-04 9.99940936e-01 1.91458585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839254154 meters 0.02132009421934554 Centerline is valid? [True, True] Translation: X:289.18, Y:2.92, Z:1.91 [[ 9.98674256e-01 -5.00352294e-02 -1.20916000e-02 2.89180789e+02] [ 5.00371285e-02 9.98747348e-01 -1.45610605e-04 2.92288686e+00] [ 1.20837391e-02 -4.59611378e-04 9.99926883e-01 1.91458961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899254154 meters 0.019952896332356824 Centerline is valid? [True, True] Translation: X:289.24, Y:2.93, Z:1.91 [[ 9.98848094e-01 -4.64524486e-02 -1.20272700e-02 2.89242193e+02] [ 4.64540764e-02 9.98920416e-01 -1.44139072e-04 2.92945371e+00] [ 1.20209811e-02 -4.14742680e-04 9.99927659e-01 1.91474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959254154 meters 0.020182516433936103 Centerline is valid? [True, True] Translation: X:289.30, Y:2.93, Z:1.92 [[ 9.98986552e-01 -4.32732839e-02 -1.23811195e-02 2.89302458e+02] [ 4.32747695e-02 9.99063197e-01 -1.48013587e-04 2.93258270e+00] [ 1.23759259e-02 -3.87926512e-04 9.99923340e-01 1.91514939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019254154 meters 0.018864179586237328 Centerline is valid? [True, True] Translation: X:289.36, Y:2.94, Z:1.92 [[ 9.99170653e-01 -3.84838691e-02 -1.33040828e-02 2.89363858e+02] [ 3.84851652e-02 9.99259159e-01 -1.58675767e-04 2.93917835e+00] [ 1.33003331e-02 -3.53465655e-04 9.99911484e-01 1.91500032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079254154 meters 0.01702942788498064 Centerline is valid? [True, True] Translation: X:289.43, Y:2.95, Z:1.92 [[ 9.99250316e-01 -3.61810645e-02 -1.37744916e-02 2.89425678e+02] [ 3.61822436e-02 9.99345195e-01 -1.63673937e-04 2.94612067e+00] [ 1.37713939e-02 -3.34840778e-04 9.99905114e-01 1.91558906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139254154 meters 0.017424950556166687 Centerline is valid? [True, True] Translation: X:289.49, Y:2.95, Z:1.92 [[ 9.99257738e-01 -3.61696802e-02 -1.32562497e-02 2.89487980e+02] [ 3.61707821e-02 9.99345611e-01 -1.56697376e-04 2.94725963e+00] [ 1.32532427e-02 -3.22907856e-04 9.99912120e-01 1.91596589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199254154 meters 0.018093458359204187 Centerline is valid? [True, True] Translation: X:289.55, Y:2.95, Z:1.92 [[ 9.99175796e-01 -3.85378288e-02 -1.27500592e-02 2.89549578e+02] [ 3.85390512e-02 9.99257084e-01 -1.49896696e-04 2.94790191e+00] [ 1.27463637e-02 -3.41602036e-04 9.99918703e-01 1.91712603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259254154 meters 0.018747034315781647 Centerline is valid? [True, True] Translation: X:289.61, Y:2.95, Z:1.92 [[ 9.99063355e-01 -4.14539175e-02 -1.24091010e-02 2.89611400e+02] [ 4.14553086e-02 9.99140349e-01 -1.45203307e-04 2.94763250e+00] [ 1.24044528e-02 -3.69355810e-04 9.99922994e-01 1.91805390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319254154 meters 0.02239491366239987 Centerline is valid? [True, True] Translation: X:289.67, Y:2.94, Z:1.92 [[ 9.98823594e-01 -4.68861833e-02 -1.23739107e-02 2.89671226e+02] [ 4.68879876e-02 9.98900143e-01 -1.44414964e-04 2.94215017e+00] [ 1.23670723e-02 -4.35942700e-04 9.99923430e-01 1.91758721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379254154 meters 0.021797122373118098 Centerline is valid? [True, True] Translation: X:289.73, Y:2.94, Z:1.92 [[ 9.98587013e-01 -5.15500035e-02 -1.29063466e-02 2.89732180e+02] [ 5.15523567e-02 9.98670282e-01 -1.50513535e-04 2.94360500e+00] [ 1.28969437e-02 -5.15051720e-04 9.99916698e-01 1.91922311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439254154 meters 0.023668912359224432 Centerline is valid? [True, True] Translation: X:289.79, Y:2.94, Z:1.92 [[ 9.98576972e-01 -5.15875793e-02 -1.35185903e-02 2.89793595e+02] [ 5.15901714e-02 9.98668328e-01 -1.57146609e-04 2.94232088e+00] [ 1.35086948e-02 -5.40503405e-04 9.99908607e-01 1.91910841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters 0.023175725172559516 Centerline is valid? [True, True] Translation: X:289.86, Y:2.95, Z:1.92 [[ 9.98710458e-01 -4.85296464e-02 -1.49095709e-02 2.89855381e+02] [ 4.85324721e-02 9.98821590e-01 -1.72450923e-04 2.94748366e+00] [ 1.49003703e-02 -5.51369791e-04 9.99888831e-01 1.91799889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters 0.019687009571316662 Centerline is valid? [True, True] Translation: X:289.92, Y:2.95, Z:1.92 [[ 9.98882307e-01 -4.50217754e-02 -1.43936285e-02 2.89916561e+02] [ 4.50240545e-02 9.98985889e-01 -1.65832076e-04 2.95359600e+00] [ 1.43864978e-02 -4.82412787e-04 9.99896393e-01 1.92201826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters 0.018056061346215437 Centerline is valid? [True, True] Translation: X:289.98, Y:2.96, Z:1.92 [[ 9.99171654e-01 -3.81442630e-02 -1.41781643e-02 2.89977224e+02] [ 3.81457880e-02 9.99272171e-01 -1.62961019e-04 2.95914794e+00] [ 1.41740610e-02 -3.78011217e-04 9.99899471e-01 1.92313496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters 0.017148795502505657 Centerline is valid? [True, True] Translation: X:290.04, Y:2.96, Z:1.92 [[ 9.99309097e-01 -3.40023382e-02 -1.50056819e-02 2.90038618e+02] [ 3.40035863e-02 9.99421696e-01 -1.72030615e-04 2.96271295e+00] [ 1.50028535e-02 -3.38335241e-04 9.99887394e-01 1.92339772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters 0.016963354447650323 Centerline is valid? [True, True] Translation: X:290.10, Y:2.96, Z:1.92 [[ 9.99293795e-01 -3.37932611e-02 -1.64294536e-02 2.90099813e+02] [ 3.37947395e-02 9.99428777e-01 -1.87716006e-04 2.96303001e+00] [ 1.64264122e-02 -3.67645664e-04 9.99865010e-01 1.92274018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters 0.017254164669175717 Centerline is valid? [True, True] Translation: X:290.16, Y:2.96, Z:1.92 [[ 9.99236695e-01 -3.49538842e-02 -1.74428821e-02 2.90160852e+02] [ 3.49557391e-02 9.99388842e-01 -1.98630912e-04 2.96216624e+00] [ 1.74391647e-02 -4.11249540e-04 9.99847842e-01 1.92213930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters 0.017704962883502033 Centerline is valid? [True, True] Translation: X:290.22, Y:2.96, Z:1.92 [[ 9.99160112e-01 -3.62541021e-02 -1.90974055e-02 2.90221946e+02] [ 3.62565769e-02 9.99342491e-01 -2.16746302e-04 2.96048064e+00] [ 1.90927067e-02 -4.75842291e-04 9.99817604e-01 1.92181005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters 0.018182062246744336 Centerline is valid? [True, True] Translation: X:290.28, Y:2.96, Z:1.92 [[ 9.99180011e-01 -3.58929451e-02 -1.87350291e-02 2.90282606e+02] [ 3.58952720e-02 9.99355535e-01 -2.12176127e-04 2.95993596e+00] [ 1.87305706e-02 -4.60496819e-04 9.99824461e-01 1.92197613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters 0.016897003364385075 Centerline is valid? [True, True] Translation: X:290.34, Y:2.96, Z:1.92 [[ 9.99299404e-01 -3.34766678e-02 -1.67335883e-02 2.90342741e+02] [ 3.34781871e-02 9.99439430e-01 -1.89401607e-04 2.96297055e+00] [ 1.67305485e-02 -3.70941287e-04 9.99859966e-01 1.92451821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters 0.015899053171664495 Centerline is valid? [True, True] Translation: X:290.40, Y:2.97, Z:1.93 [[ 9.99484609e-01 -2.86578187e-02 -1.44653196e-02 2.90403595e+02] [ 2.86584515e-02 9.99589249e-01 -1.63583286e-04 2.96641809e+00] [ 1.44640659e-02 -2.51054683e-04 9.99895358e-01 1.92654165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters 0.01510469778872782 Centerline is valid? [True, True] Translation: X:290.46, Y:2.97, Z:1.93 [[ 9.99623314e-01 -2.39284469e-02 -1.34409424e-02 2.90464253e+02] [ 2.39285673e-02 9.99713659e-01 -1.51882693e-04 2.96924459e+00] [ 1.34407280e-02 -1.69797013e-04 9.99909655e-01 1.92768302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.159254154 meters 0.014443014139354126 Centerline is valid? [True, True] Translation: X:290.53, Y:2.97, Z:1.93 [[ 9.99723716e-01 -1.86889864e-02 -1.42552642e-02 2.90525034e+02] [ 1.86885892e-02 9.99825340e-01 -1.61084533e-04 2.97164136e+00] [ 1.42557849e-02 -1.05370750e-04 9.99898376e-01 1.92722616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.219254154 meters 0.014635788593996698 Centerline is valid? [True, True] Translation: X:290.58, Y:2.97, Z:1.93 [[ 9.99717445e-01 -1.84796654e-02 -1.49509973e-02 2.90584135e+02] [ 1.84791734e-02 9.99829231e-01 -1.71068769e-04 2.97120953e+00] [ 1.49516054e-02 -1.05261639e-04 9.99888213e-01 1.92643530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279254154 meters 0.014928636561281515 Centerline is valid? [True, True] Translation: X:290.64, Y:2.97, Z:1.93 [[ 9.99635307e-01 -2.20590995e-02 -1.55772278e-02 2.90643245e+02] [ 2.20589364e-02 9.99756655e-01 -1.82309748e-04 2.96664858e+00] [ 1.55774588e-02 -1.61373817e-04 9.99878651e-01 1.92575943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339254154 meters 0.015762320510914637 Centerline is valid? [True, True] Translation: X:290.70, Y:2.96, Z:1.92 [[ 9.99458528e-01 -2.76344527e-02 -1.78602296e-02 2.90703327e+02] [ 2.76350856e-02 9.99618056e-01 -2.11410964e-04 2.96176139e+00] [ 1.78592502e-02 -2.82272483e-04 9.99840471e-01 1.92351168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399254154 meters 0.01643525432705349 Centerline is valid? [True, True] Translation: X:290.76, Y:2.96, Z:1.92 [[ 9.99302089e-01 -3.21272729e-02 -1.90571302e-02 2.90762473e+02] [ 3.21287921e-02 9.99483711e-01 -2.26525413e-04 2.95915821e+00] [ 1.90545689e-02 -3.85915256e-04 9.99818371e-01 1.92271391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459254154 meters 0.019253936897474035 Centerline is valid? [True, True] Translation: X:290.82, Y:2.96, Z:1.92 [[ 9.99043089e-01 -3.88656808e-02 -2.00590545e-02 2.90822823e+02] [ 3.88687070e-02 9.99244298e-01 -2.39131645e-04 2.95531123e+00] [ 2.00531899e-02 -5.40766697e-04 9.99798768e-01 1.92200955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519254154 meters 0.01949347063768622 Centerline is valid? [True, True] Translation: X:290.88, Y:2.95, Z:1.92 [[ 9.98837266e-01 -4.44898857e-02 -1.85678950e-02 2.90882658e+02] [ 4.44934425e-02 9.99009652e-01 -2.21716688e-04 2.95315743e+00] [ 1.85593705e-02 -6.04690678e-04 9.99827577e-01 1.92400912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579254154 meters 0.022692589213716446 Centerline is valid? [True, True] Translation: X:290.94, Y:2.95, Z:1.92 [[ 9.98475171e-01 -5.25102905e-02 -1.70294454e-02 2.90942127e+02] [ 5.25144420e-02 9.98620144e-01 -2.03616270e-04 2.94820139e+00] [ 1.70166392e-02 -6.90986032e-04 9.99854968e-01 1.92471462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639254154 meters 0.027869057316735026 Centerline is valid? [True, True] Translation: X:291.00, Y:2.94, Z:1.92 [[ 9.98038793e-01 -6.04680524e-02 -1.61920379e-02 2.91001928e+02] [ 6.04728609e-02 9.98169823e-01 -1.92942389e-04 2.94378215e+00] [ 1.61740705e-02 -7.86614865e-04 9.99868882e-01 1.92441191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699254154 meters 0.026408380548359534 Centerline is valid? [True, True] Translation: X:291.06, Y:2.95, Z:1.93 [[ 9.97733208e-01 -6.56037013e-02 -1.49866543e-02 2.91063012e+02] [ 6.56084084e-02 9.97845431e-01 -1.77882848e-04 2.94721293e+00] [ 1.49660343e-02 -8.05770908e-04 9.99887678e-01 1.92686563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759254154 meters 0.029767315322814715 Centerline is valid? [True, True] Translation: X:291.12, Y:2.95, Z:1.93 [[ 9.97391853e-01 -7.06955963e-02 -1.45472923e-02 2.91124019e+02] [ 7.07005737e-02 9.97497568e-01 -1.72484799e-04 2.94513393e+00] [ 1.45230826e-02 -8.56466976e-04 9.99894168e-01 1.92668608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819254154 meters 0.0292515511422223 Centerline is valid? [True, True] Translation: X:291.19, Y:2.95, Z:1.93 [[ 9.97273619e-01 -7.24449795e-02 -1.40376108e-02 2.91185908e+02] [ 7.24497949e-02 9.97372047e-01 -1.65869136e-04 2.94961332e+00] [ 1.40127370e-02 -8.51605112e-04 9.99901454e-01 1.92732064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879254154 meters 0.029308836922978563 Centerline is valid? [True, True] Translation: X:291.25, Y:2.95, Z:1.93 [[ 9.97393370e-01 -7.07049751e-02 -1.43969165e-02 2.91247270e+02] [ 7.07098711e-02 9.97496910e-01 -1.69310681e-04 2.95439464e+00] [ 1.43728508e-02 -8.49134756e-04 9.99896345e-01 1.92714925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939254154 meters 0.02618430498491628 Centerline is valid? [True, True] Translation: X:291.31, Y:2.96, Z:1.93 [[ 9.97609161e-01 -6.72071825e-02 -1.60983158e-02 2.91307997e+02] [ 6.72128577e-02 9.97738641e-01 -1.88862184e-04 2.96253189e+00] [ 1.60746046e-02 -8.93603161e-04 9.99870396e-01 1.92667980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters 0.027490459770535443 Centerline is valid? [True, True] Translation: X:291.37, Y:2.97, Z:1.92 [[ 9.98229371e-01 -5.66850147e-02 -1.80258474e-02 2.91367889e+02] [ 5.66904207e-02 9.98391783e-01 -2.11354404e-04 2.97076447e+00] [ 1.80088386e-02 -8.10912702e-04 9.99837499e-01 1.92385229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters 0.021762847601963294 Centerline is valid? [True, True] Translation: X:291.43, Y:2.98, Z:1.93 [[ 9.98694091e-01 -4.81137490e-02 -1.71808085e-02 2.91428120e+02] [ 4.81173928e-02 9.98841667e-01 -2.01468293e-04 2.98383055e+00] [ 1.71706008e-02 -6.25490520e-04 9.99852379e-01 1.92698269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters 0.01694866150514327 Centerline is valid? [True, True] Translation: X:291.49, Y:3.00, Z:1.93 [[ 9.99326711e-01 -3.34255917e-02 -1.51279609e-02 2.91488685e+02] [ 3.34267359e-02 9.99441155e-01 -1.77284804e-04 3.00167023e+00] [ 1.51254326e-02 -3.28512914e-04 9.99885550e-01 1.93003487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters 0.015304010322795695 Centerline is valid? [True, True] Translation: X:291.55, Y:3.01, Z:1.93 [[ 9.99624317e-01 -2.40774047e-02 -1.30959034e-02 2.91548875e+02] [ 2.40774610e-02 9.99710084e-01 -1.53390525e-04 3.01063435e+00] [ 1.30958000e-02 -1.61983205e-04 9.99914233e-01 1.93159228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters 0.014525349191817676 Centerline is valid? [True, True] Translation: X:291.61, Y:3.02, Z:1.93 [[ 9.99846991e-01 -1.39881905e-02 -1.05035451e-02 2.91610038e+02] [ 1.39876714e-02 9.99902160e-01 -1.22887178e-04 3.02084852e+00] [ 1.05042364e-02 -2.40517624e-05 9.99944829e-01 1.93289702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters 0.014348526402726857 Centerline is valid? [True, True] Translation: X:291.67, Y:3.02, Z:1.93 [[ 9.99888976e-01 -1.04322738e-02 -1.06396677e-02 2.91669458e+02] [ 1.04315409e-02 9.99945582e-01 -1.24375122e-04 3.02400168e+00] [ 1.06403863e-02 1.33731840e-05 9.99943389e-01 1.93202619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters 0.014349708781746162 Centerline is valid? [True, True] Translation: X:291.73, Y:3.02, Z:1.93 [[ 9.99872988e-01 -1.13545061e-02 -1.11840408e-02 2.91728126e+02] [ 1.13537483e-02 9.99935536e-01 -1.31243145e-04 3.02400718e+00] [ 1.11848101e-02 4.24568988e-06 9.99937448e-01 1.93134707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters 0.01472974044619727 Centerline is valid? [True, True] Translation: X:291.79, Y:3.02, Z:1.93 [[ 9.99732836e-01 -1.89411372e-02 -1.32472380e-02 2.91786934e+02] [ 1.89407280e-02 9.99820596e-01 -1.56363864e-04 3.01826661e+00] [ 1.32478231e-02 -9.45902418e-05 9.99912239e-01 1.92986273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters 0.015424532911696357 Centerline is valid? [True, True] Translation: X:291.85, Y:3.01, Z:1.93 [[ 9.99569071e-01 -2.63121192e-02 -1.30132558e-02 2.91846950e+02] [ 2.63123394e-02 9.99653759e-01 -1.54315411e-04 3.01261886e+00] [ 1.30128105e-02 -1.88160292e-04 9.99915312e-01 1.93029658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters 0.017262439890788538 Centerline is valid? [True, True] Translation: X:291.91, Y:3.00, Z:1.93 [[ 9.99283332e-01 -3.61694467e-02 -1.11621629e-02 2.91908214e+02] [ 3.61702218e-02 9.99345635e-01 -1.32494670e-04 3.00328145e+00] [ 1.11596510e-02 -2.71338192e-04 9.99937692e-01 1.93155712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.599254154 meters 0.018290714631175754 Centerline is valid? [True, True] Translation: X:291.97, Y:3.00, Z:1.93 [[ 9.99121792e-01 -4.09704234e-02 -8.77887615e-03 2.91970473e+02] [ 4.09710901e-02 9.99160327e-01 -1.03953419e-04 2.99793473e+00] [ 8.77576378e-03 -2.55818000e-04 9.99961460e-01 1.93321668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.659254154 meters 0.018636216606337023 Centerline is valid? [True, True] Translation: X:292.03, Y:3.00, Z:1.93 [[ 9.99107975e-01 -4.14575275e-02 -8.03293222e-03 2.92032467e+02] [ 4.14581059e-02 9.99140239e-01 -9.45648298e-05 2.99547726e+00] [ 8.02994624e-03 -2.38549679e-04 9.99967731e-01 1.93358605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.719254154 meters 0.01830901355224441 Centerline is valid? [True, True] Translation: X:292.10, Y:2.99, Z:1.93 [[ 9.99164931e-01 -3.99255215e-02 -8.68288371e-03 2.92095194e+02] [ 3.99261458e-02 9.99202628e-01 -1.01489992e-04 2.99415773e+00] [ 8.68001226e-03 -2.45268840e-04 9.99962298e-01 1.93352850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779254154 meters 0.018153683651923602 Centerline is valid? [True, True] Translation: X:292.16, Y:2.99, Z:1.93 [[ 9.99230654e-01 -3.79908545e-02 -9.73625964e-03 2.92156720e+02] [ 3.79915586e-02 9.99278054e-01 -1.12689299e-04 2.99247063e+00] [ 9.73351174e-03 -2.57293077e-04 9.99952595e-01 1.93266936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839254154 meters 0.017041467289301393 Centerline is valid? [True, True] Translation: X:292.22, Y:2.99, Z:1.93 [[ 9.99335107e-01 -3.44352659e-02 -1.19814959e-02 2.92218630e+02] [ 3.44360950e-02 9.99406892e-01 -1.37162690e-04 2.99240849e+00] [ 1.19791129e-02 -2.75524440e-04 9.99928210e-01 1.93043778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899254154 meters 0.016066427311042023 Centerline is valid? [True, True] Translation: X:292.28, Y:3.00, Z:1.93 [[ 9.99485167e-01 -2.87941523e-02 -1.41526497e-02 2.92280284e+02] [ 2.87947581e-02 9.99585332e-01 -1.61009795e-04 2.99503511e+00] [ 1.41514172e-02 -2.46595222e-04 9.99899833e-01 1.92965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959254154 meters 0.015082867934212079 Centerline is valid? [True, True] Translation: X:292.34, Y:3.00, Z:1.93 [[ 9.99618005e-01 -2.40104023e-02 -1.36874045e-02 2.92341136e+02] [ 2.40105272e-02 9.99711694e-01 -1.55221098e-04 2.99708010e+00] [ 1.36871852e-02 -1.73479994e-04 9.99906311e-01 1.93036943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019254154 meters 0.014612627919750673 Centerline is valid? [True, True] Translation: X:292.40, Y:3.00, Z:1.93 [[ 9.99729268e-01 -1.87897987e-02 -1.37235203e-02 2.92400965e+02] [ 1.87894325e-02 9.99823451e-01 -1.55633598e-04 2.99903061e+00] [ 1.37240217e-02 -1.02265694e-04 9.99905816e-01 1.93069396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079254154 meters 0.014119093209802895 Centerline is valid? [True, True] Translation: X:292.46, Y:3.00, Z:1.93 [[ 9.99849080e-01 -1.19812375e-02 -1.25804530e-02 2.92459924e+02] [ 1.19803854e-02 9.99928222e-01 -1.43097305e-04 3.00305993e+00] [ 1.25812645e-02 -7.64296699e-06 9.99920853e-01 1.93235291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139254154 meters 0.014116366347161732 Centerline is valid? [True, True] Translation: X:292.52, Y:3.00, Z:1.93 [[ 9.99870786e-01 -1.05607268e-02 -1.21194875e-02 2.92517928e+02] [ 1.05598078e-02 9.99944234e-01 -1.39819134e-04 3.00203524e+00] [ 1.21202882e-02 1.18216091e-05 9.99926547e-01 1.93289927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199254154 meters 0.014194912838998007 Centerline is valid? [True, True] Translation: X:292.58, Y:3.00, Z:1.93 [[ 9.99786673e-01 -1.56144014e-02 -1.35203240e-02 2.92577067e+02] [ 1.56136825e-02 9.99878086e-01 -1.58728348e-04 2.99577356e+00] [ 1.35211542e-02 -5.24075597e-05 9.99908584e-01 1.93167372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259254154 meters 0.014570546554235047 Centerline is valid? [True, True] Translation: X:292.64, Y:2.99, Z:1.93 [[ 9.99673693e-01 -2.12657301e-02 -1.41518910e-02 2.92636248e+02] [ 2.12654935e-02 9.99773850e-01 -1.67212510e-04 2.99086280e+00] [ 1.41522465e-02 -1.33789000e-04 9.99899843e-01 1.93125387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319254154 meters 0.015439578403573993 Centerline is valid? [True, True] Translation: X:292.70, Y:2.98, Z:1.93 [[ 9.99457630e-01 -2.91871218e-02 -1.52498481e-02 2.92696194e+02] [ 2.91877558e-02 9.99573930e-01 -1.81036584e-04 2.98299432e+00] [ 1.52486346e-02 -2.64170449e-04 9.99883698e-01 1.93189433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379254154 meters 0.016320394795240823 Centerline is valid? [True, True] Translation: X:292.76, Y:2.98, Z:1.93 [[ 9.99365796e-01 -3.22161476e-02 -1.51698678e-02 2.92755442e+02] [ 3.22171177e-02 9.99480878e-01 -1.80493448e-04 2.97747634e+00] [ 1.51678076e-02 -3.08350439e-04 9.99884915e-01 1.93205953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439254154 meters 0.016468975805227937 Centerline is valid? [True, True] Translation: X:292.82, Y:2.97, Z:1.93 [[ 9.99369626e-01 -3.30020281e-02 -1.30849466e-02 2.92816860e+02] [ 3.30028188e-02 9.99455247e-01 -1.55559374e-04 2.97394439e+00] [ 1.30829523e-02 -2.76378808e-04 9.99914376e-01 1.93442920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters 0.015757624613036997 Centerline is valid? [True, True] Translation: X:292.88, Y:2.97, Z:1.94 [[ 9.99445447e-01 -3.10603817e-02 -1.20021618e-02 2.92878643e+02] [ 3.10609131e-02 9.99517483e-01 -1.42166665e-04 2.97441199e+00] [ 1.20007863e-02 -2.30710279e-04 9.99927961e-01 1.93640008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters 0.015060572583360712 Centerline is valid? [True, True] Translation: X:292.94, Y:2.97, Z:1.94 [[ 9.99591774e-01 -2.53062114e-02 -1.32620471e-02 2.92940557e+02] [ 2.53063643e-02 9.99679730e-01 -1.56314959e-04 2.97487772e+00] [ 1.32617554e-02 -1.79363048e-04 9.99912043e-01 1.93619780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters 0.014379450263399124 Centerline is valid? [True, True] Translation: X:293.00, Y:2.98, Z:1.94 [[ 9.99724449e-01 -1.81735684e-02 -1.48575802e-02 2.93000610e+02] [ 1.81729788e-02 9.99834843e-01 -1.74704120e-04 2.97648157e+00] [ 1.48583013e-02 -9.53505093e-05 9.99889605e-01 1.93585519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters 0.014142441265798533 Centerline is valid? [True, True] Translation: X:293.06, Y:2.98, Z:1.94 [[ 9.99771909e-01 -1.41662269e-02 -1.59827182e-02 2.93058339e+02] [ 1.41649895e-02 9.99899653e-01 -1.90629668e-04 2.97766705e+00] [ 1.59838149e-02 -3.58088478e-05 9.99872250e-01 1.93682702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters 0.014145895976693905 Centerline is valid? [True, True] Translation: X:293.12, Y:2.98, Z:1.94 [[ 9.99808614e-01 -9.48380638e-03 -1.71112108e-02 2.93116325e+02] [ 9.48165070e-03 9.99955027e-01 -2.07105169e-04 2.97637573e+00] [ 1.71124054e-02 4.48230086e-05 9.99853571e-01 1.93693644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters 0.01437251161268143 Centerline is valid? [True, True] Translation: X:293.18, Y:2.97, Z:1.94 [[ 9.99764504e-01 -7.94363311e-03 -2.01949352e-02 2.93175200e+02] [ 7.94023335e-03 9.99968445e-01 -2.48527178e-04 2.97346250e+00] [ 2.01962721e-02 8.81161532e-05 9.99796031e-01 1.93629031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters 0.01420812018410507 Centerline is valid? [True, True] Translation: X:293.23, Y:2.97, Z:1.94 [[ 9.99715060e-01 -7.78524383e-03 -2.25651949e-02 2.93233770e+02] [ 7.78082344e-03 9.99969689e-01 -2.83687974e-04 2.97009037e+00] [ 2.25667195e-02 1.08031342e-04 9.99745333e-01 1.93760796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters 0.01423667732526889 Centerline is valid? [True, True] Translation: X:293.29, Y:2.97, Z:1.94 [[ 9.99692028e-01 -8.52234888e-03 -2.33070325e-02 2.93291658e+02] [ 8.51775630e-03 9.99963679e-01 -2.96316871e-04 2.96684892e+00] [ 2.33087113e-02 9.77019914e-05 9.99728310e-01 1.93746945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters 0.014063819383398077 Centerline is valid? [True, True] Translation: X:293.35, Y:2.96, Z:1.94 [[ 9.99686809e-01 -1.05829782e-02 -2.26778474e-02 2.93351032e+02] [ 1.05790964e-02 9.99943997e-01 -2.91138200e-04 2.96156174e+00] [ 2.26796585e-02 5.11358844e-05 9.99742782e-01 1.93955917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters 0.013668075927437268 Centerline is valid? [True, True] Translation: X:293.41, Y:2.95, Z:1.94 [[ 9.99621578e-01 -1.65826824e-02 -2.19479993e-02 2.93409702e+02] [ 1.65804482e-02 9.99862495e-01 -2.83780317e-04 2.95190072e+00] [ 2.19496871e-02 -8.02347368e-05 9.99759073e-01 1.94147830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.099254154 meters 0.01418235622361275 Centerline is valid? [True, True] Translation: X:293.47, Y:2.94, Z:1.94 [[ 9.99462107e-01 -2.41626554e-02 -2.21734505e-02 2.93468442e+02] [ 2.41622038e-02 9.99708010e-01 -2.88317644e-04 2.94113491e+00] [ 2.21739426e-02 -2.47596871e-04 9.99754097e-01 1.94239716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.159254154 meters 0.014585271720107089 Centerline is valid? [True, True] Translation: X:293.53, Y:2.93, Z:1.94 [[ 9.99353331e-01 -2.79092285e-02 -2.26714370e-02 2.93526911e+02] [ 2.79096754e-02 9.99610405e-01 -2.96765901e-04 2.93486907e+00] [ 2.26708868e-02 -3.36178457e-04 9.99742926e-01 1.94302476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.219254154 meters 0.014814497978751616 Centerline is valid? [True, True] Translation: X:293.58, Y:2.93, Z:1.94 [[ 9.99338360e-01 -2.84479907e-02 -2.26617180e-02 2.93584924e+02] [ 2.84485136e-02 9.99595214e-01 -2.99378337e-04 2.92899819e+00] [ 2.26610616e-02 -3.45511937e-04 9.99743145e-01 1.94350117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279254154 meters 0.014687418279635192 Centerline is valid? [True, True] Translation: X:293.64, Y:2.93, Z:1.94 [[ 9.99379972e-01 -2.73070199e-02 -2.22260853e-02 2.93644011e+02] [ 2.73071353e-02 9.99627046e-01 -2.98367425e-04 2.92873112e+00] [ 2.22259435e-02 -3.08748289e-04 9.99752926e-01 1.94403902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339254154 meters 0.013623207075777728 Centerline is valid? [True, True] Translation: X:293.70, Y:2.93, Z:1.94 [[ 9.99545182e-01 -2.04292653e-02 -2.21827563e-02 2.93703328e+02] [ 2.04275711e-02 9.99791289e-01 -3.02991346e-04 2.92916931e+00] [ 2.21843165e-02 -1.50286292e-04 9.99753886e-01 1.94471015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399254154 meters 0.013058844109061673 Centerline is valid? [True, True] Translation: X:293.76, Y:2.93, Z:1.95 [[ 9.99623292e-01 -1.57250096e-02 -2.24943813e-02 2.93762235e+02] [ 1.57219516e-02 9.99876354e-01 -3.12801118e-04 2.92998465e+00] [ 2.24965187e-02 -4.09722905e-05 9.99746920e-01 1.94631134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459254154 meters 0.01324964746180207 Centerline is valid? [True, True] Translation: X:293.82, Y:2.93, Z:1.94 [[ 9.99655219e-01 -1.12595017e-02 -2.37205868e-02 2.93820160e+02] [ 1.12547657e-02 9.99936608e-01 -3.33155733e-04 2.92816771e+00] [ 2.37228342e-02 6.60712196e-05 9.99718572e-01 1.94399826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519254154 meters 0.012892531914145928 Centerline is valid? [True, True] Translation: X:293.88, Y:2.92, Z:1.95 [[ 9.99609853e-01 -1.15555407e-02 -2.54285378e-02 2.93879016e+02] [ 1.15500569e-02 9.99933230e-01 -3.62524669e-04 2.92282246e+00] [ 2.54310291e-02 6.86821728e-05 9.99676577e-01 1.94555001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579254154 meters 0.012639903566146549 Centerline is valid? [True, True] Translation: X:293.94, Y:2.92, Z:1.95 [[ 9.99573434e-01 -1.40855560e-02 -2.55841070e-02 2.93936611e+02] [ 1.40806481e-02 9.99900794e-01 -3.71982769e-04 2.91827301e+00] [ 2.55868085e-02 1.15832864e-05 9.99672604e-01 1.94687560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639254154 meters 0.012537708735083888 Centerline is valid? [True, True] Translation: X:293.99, Y:2.91, Z:1.95 [[ 9.99489713e-01 -2.05103604e-02 -2.44875359e-02 2.93994588e+02] [ 2.05076979e-02 9.99789630e-01 -3.59879242e-04 2.90822211e+00] [ 2.44897657e-02 -1.42487387e-04 9.99700071e-01 1.94963291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699254154 meters 0.013348790504754581 Centerline is valid? [True, True] Translation: X:294.05, Y:2.90, Z:1.95 [[ 9.99339157e-01 -2.87276684e-02 -2.22704040e-02 2.94053682e+02] [ 2.87274656e-02 9.99587227e-01 -3.29097727e-04 2.89635962e+00] [ 2.22706656e-02 -3.10892020e-04 9.99751930e-01 1.95184857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759254154 meters 0.013676057228984266 Centerline is valid? [True, True] Translation: X:294.11, Y:2.89, Z:1.95 [[ 9.99229551e-01 -3.29757248e-02 -2.12816062e-02 2.94112486e+02] [ 3.29764123e-02 9.99456079e-01 -3.18724665e-04 2.88816997e+00] [ 2.12805409e-02 -3.83311917e-04 9.99773470e-01 1.95350939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819254154 meters 0.013500309684906451 Centerline is valid? [True, True] Translation: X:294.17, Y:2.89, Z:1.95 [[ 9.99280168e-01 -3.16251019e-02 -2.09522877e-02 2.94171557e+02] [ 3.16253589e-02 9.99499742e-01 -3.19165998e-04 2.88512168e+00] [ 2.09518998e-02 -3.43687366e-04 9.99780426e-01 1.95403625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879254154 meters 0.013002812776497627 Centerline is valid? [True, True] Translation: X:294.23, Y:2.88, Z:1.95 [[ 9.99390967e-01 -2.79384438e-02 -2.09078578e-02 2.94229032e+02] [ 2.79378302e-02 9.99609611e-01 -3.21491971e-04 2.88371263e+00] [ 2.09086776e-02 -2.62824011e-04 9.99781355e-01 1.95480570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939254154 meters 0.011872062625302179 Centerline is valid? [True, True] Translation: X:294.29, Y:2.88, Z:1.96 [[ 9.99558863e-01 -2.21707245e-02 -1.97620620e-02 2.94287955e+02] [ 2.21689718e-02 9.99754191e-01 -3.07786738e-04 2.88301838e+00] [ 1.97640282e-02 -1.30453633e-04 9.99804664e-01 1.95656606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters 0.011460750089958728 Centerline is valid? [True, True] Translation: X:294.35, Y:2.88, Z:1.96 [[ 9.99625617e-01 -1.94931304e-02 -1.92001156e-02 2.94346777e+02] [ 1.94908880e-02 9.99809988e-01 -3.03936889e-04 2.87873927e+00] [ 1.92023920e-02 -7.04042023e-05 9.99815615e-01 1.95740621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters 0.0114653081791484 Centerline is valid? [True, True] Translation: X:294.40, Y:2.87, Z:1.96 [[ 9.99613845e-01 -2.08192310e-02 -1.84043859e-02 2.94404930e+02] [ 2.08173012e-02 9.99783253e-01 -2.96448770e-04 2.87447040e+00] [ 1.84065686e-02 -8.67953490e-05 9.99830581e-01 1.95714423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters 0.012143907341873086 Centerline is valid? [True, True] Translation: X:294.46, Y:2.86, Z:1.96 [[ 9.99471130e-01 -2.68260066e-02 -1.83800158e-02 2.94463887e+02] [ 2.68250064e-02 9.99640099e-01 -3.01002139e-04 2.86482758e+00] [ 1.83814755e-02 -1.92201093e-04 9.99831028e-01 1.95563170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters 0.014412080732788579 Centerline is valid? [True, True] Translation: X:294.52, Y:2.85, Z:1.96 [[ 9.99103406e-01 -3.83664882e-02 -1.78996173e-02 2.94523945e+02] [ 3.83673568e-02 9.99263658e-01 -2.95004916e-04 2.85376614e+00] [ 1.78977554e-02 -3.92020586e-04 9.99839745e-01 1.95654011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters 0.01695729077942406 Centerline is valid? [True, True] Translation: X:294.58, Y:2.85, Z:1.96 [[ 9.98746703e-01 -4.73108135e-02 -1.63312744e-02 2.94584316e+02] [ 4.73127262e-02 9.98880090e-01 -2.69446445e-04 2.84611548e+00] [ 1.63257325e-02 -5.03568364e-04 9.99866600e-01 1.95814049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters 0.02208608343127089 Centerline is valid? [True, True] Translation: X:294.64, Y:2.84, Z:1.96 [[ 9.98099256e-01 -6.00630399e-02 -1.37951332e-02 2.94644917e+02] [ 6.00656187e-02 9.98194405e-01 -2.27695705e-04 2.83530377e+00] [ 1.37839009e-02 -6.01350296e-04 9.99904817e-01 1.95983016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters 0.023123653448041 Centerline is valid? [True, True] Translation: X:294.71, Y:2.83, Z:1.96 [[ 9.97731916e-01 -6.60527975e-02 -1.29634432e-02 2.94705297e+02] [ 6.60555786e-02 9.97815922e-01 -2.13995187e-04 2.83294284e+00] [ 1.29492650e-02 -6.42797910e-04 9.99915948e-01 1.96081007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters 0.0250182619944495 Centerline is valid? [True, True] Translation: X:294.77, Y:2.83, Z:1.96 [[ 9.97328433e-01 -7.20159990e-02 -1.22348770e-02 2.94765967e+02] [ 7.20189226e-02 9.97403245e-01 -2.02035314e-04 2.83109769e+00] [ 1.22176558e-02 -6.79647100e-04 9.99925131e-01 1.96099174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters 0.028776916302314545 Centerline is valid? [True, True] Translation: X:294.83, Y:2.83, Z:1.96 [[ 9.97083562e-01 -7.52432643e-02 -1.27601238e-02 2.94825321e+02] [ 7.52467059e-02 9.97164926e-01 -2.10854046e-04 2.83039912e+00] [ 1.27398132e-02 -7.49918177e-04 9.99918564e-01 1.96036101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters 0.034461219832247224 Centerline is valid? [True, True] Translation: X:294.88, Y:2.83, Z:1.96 [[ 9.96971733e-01 -7.67815076e-02 -1.23273906e-02 2.94882808e+02] [ 7.67848243e-02 9.97047666e-01 -2.04715343e-04 2.82697846e+00] [ 1.23067143e-02 -7.42461108e-04 9.99923994e-01 1.95994873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.599254154 meters 0.02776004487075348 Centerline is valid? [True, True] Translation: X:294.94, Y:2.84, Z:1.96 [[ 9.96972314e-01 -7.68686561e-02 -1.17224054e-02 2.94942011e+02] [ 7.68716472e-02 9.97040978e-01 -1.95872511e-04 2.84289893e+00] [ 1.17027750e-02 -7.05841140e-04 9.99931271e-01 1.96124634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.659254154 meters 0.02743243387919795 Centerline is valid? [True, True] Translation: X:295.00, Y:2.85, Z:1.96 [[ 9.97204236e-01 -7.38226597e-02 -1.15726502e-02 2.95002222e+02] [ 7.38253676e-02 9.97271166e-01 -1.93616467e-04 2.85262716e+00] [ 1.15553636e-02 -6.61279994e-04 9.99933016e-01 1.96043130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.719254154 meters 0.0260328861916011 Centerline is valid? [True, True] Translation: X:295.06, Y:2.86, Z:1.96 [[ 9.97452915e-01 -7.01864149e-02 -1.27102119e-02 2.95063263e+02] [ 7.01893883e-02 9.97533661e-01 -2.12538616e-04 2.86192198e+00] [ 1.26937815e-02 -6.80124736e-04 9.99919199e-01 1.96022850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779254154 meters 0.022825138772479218 Centerline is valid? [True, True] Translation: X:295.12, Y:2.88, Z:1.96 [[ 9.97982410e-01 -6.24529212e-02 -1.14342373e-02 2.95123116e+02] [ 6.24548221e-02 9.98047774e-01 -1.91104253e-04 2.87844172e+00] [ 1.14238501e-02 -5.23404574e-04 9.99934609e-01 1.96053259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839254154 meters 0.019852800554870206 Centerline is valid? [True, True] Translation: X:295.18, Y:2.89, Z:1.96 [[ 9.98386840e-01 -5.57115790e-02 -1.09515823e-02 2.95183781e+02] [ 5.57129177e-02 9.98446812e-01 -1.83046095e-04 2.89085501e+00] [ 1.09447703e-02 -4.27393793e-04 9.99940013e-01 1.96139008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899254154 meters 0.016847778595970486 Centerline is valid? [True, True] Translation: X:295.24, Y:2.91, Z:1.96 [[ 9.98861093e-01 -4.64774909e-02 -1.07870121e-02 2.95243874e+02] [ 4.64782518e-02 9.98919286e-01 -1.80280046e-04 2.90753826e+00] [ 1.07837333e-02 -3.21286738e-04 9.99941802e-01 1.96206672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959254154 meters 0.014608072148196786 Centerline is valid? [True, True] Translation: X:295.30, Y:2.92, Z:1.96 [[ 9.99110110e-01 -4.05650288e-02 -1.15527544e-02 2.95304722e+02] [ 4.05655076e-02 9.99176862e-01 -1.92985585e-04 2.92120127e+00] [ 1.15510734e-02 -2.75829498e-04 9.99933246e-01 1.96212820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019254154 meters 0.015988382923817518 Centerline is valid? [True, True] Translation: X:295.37, Y:2.93, Z:1.96 [[ 9.99165163e-01 -3.86478938e-02 -1.32407103e-02 2.95365396e+02] [ 3.86483563e-02 9.99252849e-01 -2.21040555e-04 2.92781843e+00] [ 1.32393603e-02 -2.90875668e-04 9.99912314e-01 1.96189314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079254154 meters 0.014323219033400765 Centerline is valid? [True, True] Translation: X:295.43, Y:2.94, Z:1.96 [[ 9.99108459e-01 -3.99565188e-02 -1.36295438e-02 2.95425554e+02] [ 3.99571306e-02 9.99201369e-01 -2.27531745e-04 2.93512870e+00] [ 1.36277502e-02 -3.17268570e-04 9.99907088e-01 1.96206776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139254154 meters 0.014953092542055275 Centerline is valid? [True, True] Translation: X:295.49, Y:2.94, Z:1.96 [[ 9.99041128e-01 -4.17145270e-02 -1.32937500e-02 2.95486015e+02] [ 4.17152645e-02 9.99129515e-01 -2.21925999e-04 2.94051159e+00] [ 1.32914355e-02 -3.32839095e-04 9.99911610e-01 1.96305063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199254154 meters 0.014935313915452572 Centerline is valid? [True, True] Translation: X:295.55, Y:2.94, Z:1.96 [[ 9.99049846e-01 -4.16301878e-02 -1.28970324e-02 2.95547492e+02] [ 4.16308779e-02 9.99133036e-01 -2.15076092e-04 2.94335279e+00] [ 1.28948048e-02 -3.22043044e-04 9.99916807e-01 1.96409152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259254154 meters 0.013891199388424804 Centerline is valid? [True, True] Translation: X:295.61, Y:2.95, Z:1.97 [[ 9.99176988e-01 -3.89128434e-02 -1.14515415e-02 2.95608484e+02] [ 3.89132136e-02 9.99242576e-01 -1.90575773e-04 2.95276273e+00] [ 1.14502837e-02 -2.55197353e-04 9.99934411e-01 1.96617098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319254154 meters 0.014028452933007033 Centerline is valid? [True, True] Translation: X:295.67, Y:2.96, Z:1.97 [[ 9.99300974e-01 -3.56849121e-02 -1.11422882e-02 2.95668891e+02] [ 3.56850656e-02 9.99363068e-01 -1.85105935e-04 2.95758665e+00] [ 1.11417969e-02 -2.12636745e-04 9.99937906e-01 1.96668787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379254154 meters 0.015575237762371831 Centerline is valid? [True, True] Translation: X:295.73, Y:2.97, Z:1.97 [[ 9.99449740e-01 -3.13542886e-02 -1.08224817e-02 2.95729702e+02] [ 3.13541824e-02 9.99508321e-01 -1.79519828e-04 2.96649098e+00] [ 1.08227892e-02 -1.59909020e-04 9.99941419e-01 1.96787116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439254154 meters 0.01254294100922811 Centerline is valid? [True, True] Translation: X:295.79, Y:2.97, Z:1.97 [[ 9.99458057e-01 -3.12376642e-02 -1.03827513e-02 2.95790439e+02] [ 3.12375651e-02 9.99511973e-01 -1.71757224e-04 2.96920190e+00] [ 1.03830496e-02 -1.52667730e-04 9.99946083e-01 1.96749208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters 0.013328353830304878 Centerline is valid? [True, True] Translation: X:295.85, Y:2.97, Z:1.97 [[ 9.99357409e-01 -3.40436152e-02 -1.12161336e-02 2.95851446e+02] [ 3.40436831e-02 9.99420329e-01 -1.84932532e-04 2.97101085e+00] [ 1.12159277e-02 -1.97024803e-04 9.99937080e-01 1.96673628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters 0.014932162852139325 Centerline is valid? [True, True] Translation: X:295.91, Y:2.97, Z:1.97 [[ 9.99058232e-01 -4.16312156e-02 -1.22266799e-02 2.95912251e+02] [ 4.16318685e-02 9.99132998e-01 -2.01228092e-04 2.96997498e+00] [ 1.22244567e-02 -3.07980947e-04 9.99925231e-01 1.96558663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters 0.017251164967455608 Centerline is valid? [True, True] Translation: X:295.97, Y:2.97, Z:1.97 [[ 9.98742271e-01 -4.86377257e-02 -1.21756664e-02 2.95973785e+02] [ 4.86388971e-02 9.98816408e-01 -2.00062747e-04 2.96872509e+00] [ 1.21709860e-02 -3.92399865e-04 9.99925854e-01 1.96553228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters 0.021264111188047205 Centerline is valid? [True, True] Translation: X:296.03, Y:2.97, Z:1.97 [[ 9.98161210e-01 -5.94649637e-02 -1.17523575e-02 2.96034481e+02] [ 5.94668075e-02 9.98230265e-01 -1.92809835e-04 2.96597759e+00] [ 1.17430244e-02 -5.06419883e-04 9.99930920e-01 1.96532874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters 0.024518681255497027 Centerline is valid? [True, True] Translation: X:296.10, Y:2.96, Z:1.97 [[ 9.97697057e-01 -6.68855308e-02 -1.12653754e-02 2.96095461e+02] [ 6.68876977e-02 9.97760493e-01 -1.84732726e-04 2.96394222e+00] [ 1.12525024e-02 -5.69207725e-04 9.99936527e-01 1.96524344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters 0.030535638754602214 Centerline is valid? [True, True] Translation: X:296.16, Y:2.96, Z:1.97 [[ 9.96957913e-01 -7.73052102e-02 -9.94106884e-03 2.96155068e+02] [ 7.73074132e-02 9.97007290e-01 -1.63045429e-04 2.95990148e+00] [ 9.92392237e-03 -6.05968886e-04 9.99950573e-01 1.96567402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters 0.0332119592573385 Centerline is valid? [True, True] Translation: X:296.22, Y:2.96, Z:1.97 [[ 9.96366696e-01 -8.47614592e-02 -8.30070016e-03 2.96215711e+02] [ 8.47632520e-02 9.96401110e-01 -1.36225567e-04 2.96305157e+00] [ 8.28237353e-03 -5.67863721e-04 9.99965539e-01 1.96690380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters 0.03572871579350705 Centerline is valid? [True, True] Translation: X:296.28, Y:2.96, Z:1.97 [[ 9.96132450e-01 -8.74860083e-02 -8.14496271e-03 2.96276929e+02] [ 8.74878252e-02 9.96165580e-01 -1.33652638e-04 2.96483046e+00] [ 8.12542424e-03 -5.79449345e-04 9.99966820e-01 1.96742151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters 0.037831742727965245 Centerline is valid? [True, True] Translation: X:296.34, Y:2.97, Z:1.97 [[ 9.96174099e-01 -8.70320041e-02 -7.91169585e-03 2.96338368e+02] [ 8.70337056e-02 9.96205359e-01 -1.29642119e-04 2.97076403e+00] [ 7.89295682e-03 -5.59438086e-04 9.99968694e-01 1.96744384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters 0.030992346130256327 Centerline is valid? [True, True] Translation: X:296.40, Y:2.99, Z:1.97 [[ 9.96527270e-01 -8.28946953e-02 -7.86577788e-03 2.96398334e+02] [ 8.28962516e-02 9.96558174e-01 -1.28526828e-04 2.98957564e+00] [ 7.84935943e-03 -5.23963013e-04 9.99969056e-01 1.96813145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.099254154 meters 0.02811365475707874 Centerline is valid? [True, True] Translation: X:296.46, Y:3.00, Z:1.97 [[ 9.96919415e-01 -7.79413681e-02 -8.76484277e-03 2.96458884e+02] [ 7.79431100e-02 9.96957798e-01 -1.43189694e-04 3.00158191e+00] [ 8.74933874e-03 -5.40410518e-04 9.99961578e-01 1.96827150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.159254154 meters 0.026379493289955033 Centerline is valid? [True, True] Translation: X:296.52, Y:3.02, Z:1.97 [[ 9.97648475e-01 -6.78344579e-02 -9.79830779e-03 2.96518498e+02] [ 6.78361482e-02 9.97696463e-01 -1.60115747e-04 3.01736950e+00] [ 9.78659838e-03 -5.04940228e-04 9.99951983e-01 1.96884282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.219254154 meters 0.022812499626336205 Centerline is valid? [True, True] Translation: X:296.58, Y:3.03, Z:1.97 [[ 9.98103580e-01 -6.07430522e-02 -9.97620616e-03 2.96579102e+02] [ 6.07444498e-02 9.98153338e-01 -1.63133552e-04 3.03159245e+00] [ 9.96769270e-03 -4.43174972e-04 9.99950223e-01 1.96984632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279254154 meters 0.02188067155901814 Centerline is valid? [True, True] Translation: X:296.64, Y:3.05, Z:1.97 [[ 9.98649693e-01 -5.09611772e-02 -1.00870424e-02 2.96638377e+02] [ 5.09621069e-02 9.98700574e-01 -1.65013670e-04 3.04599111e+00] [ 1.00823443e-02 -3.49266080e-04 9.99949111e-01 1.96984682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339254154 meters 0.017957456595985397 Centerline is valid? [True, True] Translation: X:296.70, Y:3.06, Z:1.97 [[ 9.98946420e-01 -4.49540502e-02 -9.22950127e-03 2.96699237e+02] [ 4.49545716e-02 9.98989021e-01 -1.51058626e-04 3.06159590e+00] [ 9.22696114e-03 -2.64008802e-04 9.99957396e-01 1.97162353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399254154 meters 0.016703704990974 Centerline is valid? [True, True] Translation: X:296.76, Y:3.07, Z:1.97 [[ 9.99095809e-01 -4.16130556e-02 -8.71307728e-03 2.96760603e+02] [ 4.16133950e-02 9.99133777e-01 -1.42418510e-04 3.06922577e+00] [ 8.71145628e-03 -2.20290991e-04 9.99962030e-01 1.97175413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459254154 meters 0.01601517696215623 Centerline is valid? [True, True] Translation: X:296.82, Y:3.08, Z:1.97 [[ 9.99276136e-01 -3.72808949e-02 -7.57219637e-03 2.96820906e+02] [ 3.72810286e-02 9.99304813e-01 -1.23541264e-04 3.07782498e+00] [ 7.57153801e-03 -1.58847433e-04 9.99971323e-01 1.97211484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519254154 meters 0.015566152394793267 Centerline is valid? [True, True] Translation: X:296.88, Y:3.08, Z:1.97 [[ 9.99363028e-01 -3.49867604e-02 -7.03311990e-03 2.96882880e+02] [ 3.49868199e-02 9.99387767e-01 -1.14611985e-04 3.08204789e+00] [ 7.03282389e-03 -1.31527519e-04 9.99975261e-01 1.97230532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579254154 meters 0.015706527735393033 Centerline is valid? [True, True] Translation: X:296.94, Y:3.09, Z:1.97 [[ 9.99421391e-01 -3.33916639e-02 -6.47147115e-03 2.96944256e+02] [ 3.33916836e-02 9.99442337e-01 -1.05033680e-04 3.08502245e+00] [ 6.47136950e-03 -1.11120410e-04 9.99979054e-01 1.97149252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639254154 meters 0.016123670373990907 Centerline is valid? [True, True] Translation: X:297.01, Y:3.09, Z:1.97 [[ 9.99421907e-01 -3.34214725e-02 -6.23348814e-03 2.97005859e+02] [ 3.34214932e-02 9.99441341e-01 -1.00873083e-04 3.08588749e+00] [ 6.23337708e-03 -1.07517713e-04 9.99980567e-01 1.96951147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699254154 meters 0.016624808833063713 Centerline is valid? [True, True] Translation: X:297.07, Y:3.09, Z:1.97 [[ 9.99394834e-01 -3.43297177e-02 -5.60687620e-03 2.97068462e+02] [ 3.43297513e-02 9.99410556e-01 -9.02889655e-05 3.08575688e+00] [ 5.60667086e-03 -1.02248340e-04 9.99984277e-01 1.96903201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759254154 meters 0.0174029563564977 Centerline is valid? [True, True] Translation: X:297.13, Y:3.09, Z:1.97 [[ 9.99371885e-01 -3.51507502e-02 -4.50120359e-03 2.97130322e+02] [ 3.51507811e-02 9.99382018e-01 -7.22827573e-05 3.08697353e+00] [ 4.50096272e-03 -8.59834665e-05 9.99989867e-01 1.96751748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819254154 meters 0.016538013018146117 Centerline is valid? [True, True] Translation: X:297.19, Y:3.09, Z:1.97 [[ 9.99334500e-01 -3.63093517e-02 -3.49103044e-03 2.97191672e+02] [ 3.63093771e-02 9.99340596e-01 -5.61102481e-05 3.08559974e+00] [ 3.49076577e-03 -7.06842342e-05 9.99993905e-01 1.96796421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879254154 meters 0.016633094795738032 Centerline is valid? [True, True] Translation: X:297.25, Y:3.09, Z:1.97 [[ 9.99304084e-01 -3.71016221e-02 -3.84938486e-03 2.97253822e+02] [ 3.71016619e-02 9.99311494e-01 -6.10905021e-05 3.08580145e+00] [ 3.84900109e-03 -8.17705871e-05 9.99992589e-01 1.96726582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939254154 meters 0.01657046509728161 Centerline is valid? [True, True] Translation: X:297.32, Y:3.08, Z:1.97 [[ 9.99249993e-01 -3.85616986e-02 -3.52796059e-03 2.97316494e+02] [ 3.85617419e-02 9.99256218e-01 -5.57770979e-05 3.08340082e+00] [ 3.52748742e-03 -8.03090410e-05 9.99993775e-01 1.96575652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters 0.018822508828217205 Centerline is valid? [True, True] Translation: X:297.38, Y:3.08, Z:1.97 [[ 9.99199898e-01 -3.98259597e-02 -3.66845547e-03 2.97378071e+02] [ 3.98260163e-02 9.99206628e-01 -5.76470858e-05 3.07821630e+00] [ 3.66784087e-03 -8.84990053e-05 9.99993270e-01 1.96537118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters 0.01748832032320223 Centerline is valid? [True, True] Translation: X:297.44, Y:3.08, Z:1.96 [[ 9.99199343e-01 -3.98248985e-02 -3.82751141e-03 2.97441381e+02] [ 3.98249604e-02 9.99206670e-01 -6.00777780e-05 3.08076249e+00] [ 3.82686752e-03 -9.24008142e-05 9.99992673e-01 1.96495112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters 0.01990072964091218 Centerline is valid? [True, True] Translation: X:297.50, Y:3.08, Z:1.97 [[ 9.99161005e-01 -4.07597579e-02 -3.99100687e-03 2.97502349e+02] [ 4.07598352e-02 9.99168971e-01 -6.20247310e-05 3.07626796e+00] [ 3.99021834e-03 -1.00700090e-04 9.99992034e-01 1.96519200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters 0.01849976639044945 Centerline is valid? [True, True] Translation: X:297.56, Y:3.08, Z:1.97 [[ 9.99033705e-01 -4.38263598e-02 -3.30240618e-03 2.97564557e+02] [ 4.38264295e-02 9.99039159e-01 -5.12744818e-05 3.07753106e+00] [ 3.30148027e-03 -9.35077363e-05 9.99994546e-01 1.96565766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters 0.019946110482573165 Centerline is valid? [True, True] Translation: X:297.63, Y:3.07, Z:1.97 [[ 9.98730513e-01 -5.02244155e-02 -3.85632295e-03 2.97625599e+02] [ 5.02245603e-02 9.98737949e-01 -5.93535194e-05 3.07302765e+00] [ 3.85443707e-03 -1.34403954e-04 9.99992563e-01 1.96536584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters 0.021803643648934574 Centerline is valid? [True, True] Translation: X:297.69, Y:3.07, Z:1.96 [[ 9.98437425e-01 -5.56149008e-02 -5.44898957e-03 2.97687123e+02] [ 5.56152706e-02 9.98452270e-01 -8.37380450e-05 3.06860258e+00] [ 5.44521308e-03 -2.19439832e-04 9.99985151e-01 1.96413016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters 0.026218687728430473 Centerline is valid? [True, True] Translation: X:297.75, Y:3.06, Z:1.96 [[ 9.97938484e-01 -6.37524357e-02 -7.37626703e-03 2.97747162e+02] [ 6.37533377e-02 9.97965680e-01 -1.13015262e-04 3.06102077e+00] [ 7.36846634e-03 -3.57479364e-04 9.99972789e-01 1.96262083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters 0.02964879557248464 Centerline is valid? [True, True] Translation: X:297.81, Y:3.06, Z:1.96 [[ 9.97538050e-01 -6.95727996e-02 -8.80135804e-03 2.97807417e+02] [ 6.95743104e-02 9.97576763e-01 -1.34774114e-04 3.05611612e+00] [ 8.78940687e-03 -4.77906110e-04 9.99961258e-01 1.96189325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters 0.0301911791606189 Centerline is valid? [True, True] Translation: X:297.87, Y:3.06, Z:1.96 [[ 9.97430902e-01 -7.11042433e-02 -8.70531441e-03 2.97869192e+02] [ 7.11057806e-02 9.97468772e-01 -1.33176484e-04 3.05715416e+00] [ 8.69274869e-03 -4.86163836e-04 9.99962099e-01 1.96339678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters 0.03161419139580387 Centerline is valid? [True, True] Translation: X:297.93, Y:3.06, Z:1.97 [[ 9.97502974e-01 -7.03497823e-02 -6.22299279e-03 2.97930638e+02] [ 7.03505547e-02 9.97522326e-01 -9.49682388e-05 3.05844453e+00] [ 6.21425524e-03 -3.43059894e-04 9.99980632e-01 1.96646450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.599254154 meters 0.02520234452236033 Centerline is valid? [True, True] Translation: X:297.99, Y:3.07, Z:1.97 [[ 9.97947412e-01 -6.39611541e-02 -3.15187763e-03 2.97990567e+02] [ 6.39613210e-02 9.97952377e-01 -4.79215385e-05 3.07105257e+00] [ 3.14848889e-03 -1.53775081e-04 9.99995032e-01 1.96915426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.659254154 meters 0.02179225284430315 Centerline is valid? [True, True] Translation: X:298.05, Y:3.08, Z:1.97 [[ 9.98556354e-01 -5.35970041e-02 -3.54525096e-03 2.98051588e+02] [ 5.35971499e-02 9.98562638e-01 -5.39523725e-05 3.08180585e+00] [ 3.54304684e-03 -1.36140863e-04 9.99993714e-01 1.96961584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.719254154 meters 0.02041929037626644 Centerline is valid? [True, True] Translation: X:298.11, Y:3.09, Z:1.97 [[ 9.98713925e-01 -5.04741309e-02 -4.78094479e-03 2.98113540e+02] [ 5.04743604e-02 9.98725354e-01 -7.27126404e-05 3.08678202e+00] [ 4.77852088e-03 -1.68696004e-04 9.99988569e-01 1.96949489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779254154 meters 0.019409405749509043 Centerline is valid? [True, True] Translation: X:298.17, Y:3.09, Z:1.97 [[ 9.98977054e-01 -4.46254872e-02 -7.30835341e-03 2.98172863e+02] [ 4.46258713e-02 9.99003763e-01 -1.10589686e-04 3.09210589e+00] [ 7.30600768e-03 -2.15665080e-04 9.99973288e-01 1.96783187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839254154 meters 0.01948158294077856 Centerline is valid? [True, True] Translation: X:298.23, Y:3.09, Z:1.97 [[ 9.98974492e-01 -4.40355299e-02 -1.05278436e-02 2.98234663e+02] [ 4.40362953e-02 9.99029919e-01 -1.59209128e-04 3.09462350e+00] [ 1.05246416e-02 -3.04561373e-04 9.99944568e-01 1.96585175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899254154 meters 0.019444858104293593 Centerline is valid? [True, True] Translation: X:298.30, Y:3.10, Z:1.97 [[ 9.98951731e-01 -4.40740062e-02 -1.23661156e-02 2.98296810e+02] [ 4.40750772e-02 9.99028204e-01 -1.86035504e-04 3.09723615e+00] [ 1.23622976e-02 -3.59197012e-04 9.99923519e-01 1.96515655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959254154 meters 0.020034887344914543 Centerline is valid? [True, True] Translation: X:298.36, Y:3.10, Z:1.97 [[ 9.99001462e-01 -4.29974697e-02 -1.21365661e-02 2.98358000e+02] [ 4.29984312e-02 9.99075123e-01 -1.81818887e-04 3.09853822e+00] [ 1.21331591e-02 -3.40215970e-04 9.99926333e-01 1.96595042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019254154 meters 0.01808917017014593 Centerline is valid? [True, True] Translation: X:298.42, Y:3.11, Z:1.97 [[ 9.99128591e-01 -4.03276571e-02 -1.07582373e-02 2.98420359e+02] [ 4.03282646e-02 9.99186472e-01 -1.60558147e-04 3.10555585e+00] [ 1.07559601e-02 -2.73442804e-04 9.99942116e-01 1.96904065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079254154 meters 0.017720354891165337 Centerline is valid? [True, True] Translation: X:298.48, Y:3.11, Z:1.97 [[ 9.99147973e-01 -4.01290525e-02 -9.64294960e-03 2.98482460e+02] [ 4.01295376e-02 9.99194475e-01 -1.43257397e-04 3.10815027e+00] [ 9.64093076e-03 -2.43831770e-04 9.99953495e-01 1.97105743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139254154 meters 0.020706400746413122 Centerline is valid? [True, True] Translation: X:298.54, Y:3.10, Z:1.97 [[ 9.98840074e-01 -4.73503509e-02 -8.74360694e-03 2.98542344e+02] [ 4.73510312e-02 9.98878302e-01 -1.29307837e-04 3.10185199e+00] [ 8.73992203e-03 -2.84860956e-04 9.99961766e-01 1.97227333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199254154 meters 0.02509722624336418 Centerline is valid? [True, True] Translation: X:298.60, Y:3.09, Z:1.97 [[ 9.98338992e-01 -5.66443339e-02 -1.05203072e-02 2.98602901e+02] [ 5.66458413e-02 9.98394323e-01 -1.54879502e-04 3.09324191e+00] [ 1.05121881e-02 -4.41309409e-04 9.99944648e-01 1.97105353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259254154 meters 0.024734676736553468 Centerline is valid? [True, True] Translation: X:298.66, Y:3.09, Z:1.97 [[ 9.98002739e-01 -6.18616717e-02 -1.27932181e-02 2.98663742e+02] [ 6.18643333e-02 9.98084550e-01 -1.87965910e-04 3.09316342e+00] [ 1.27803412e-02 -6.03853417e-04 9.99918146e-01 1.97012554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319254154 meters 0.027247328747249753 Centerline is valid? [True, True] Translation: X:298.72, Y:3.09, Z:1.97 [[ 9.97744164e-01 -6.56526549e-02 -1.40111225e-02 2.98724178e+02] [ 6.56562228e-02 9.97842281e-01 -2.05676998e-04 3.08986295e+00] [ 1.39943937e-02 -7.14704358e-04 9.99901818e-01 1.96939327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379254154 meters 0.02814944981157938 Centerline is valid? [True, True] Translation: X:298.79, Y:3.09, Z:1.97 [[ 9.97515211e-01 -6.85948730e-02 -1.60669469e-02 2.98785495e+02] [ 6.85999532e-02 9.97644221e-01 -2.35375022e-04 3.08876797e+00] [ 1.60452423e-02 -8.67401642e-04 9.99870891e-01 1.96929665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439254154 meters 0.028929241047602056 Centerline is valid? [True, True] Translation: X:298.85, Y:3.09, Z:1.97 [[ 9.97534053e-01 -6.83198696e-02 -1.60688781e-02 2.98847991e+02] [ 6.83249302e-02 9.97663094e-01 -2.34483736e-04 3.08829308e+00] [ 1.60473466e-02 -8.63999466e-04 9.99870860e-01 1.97002208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters 0.026894203734548205 Centerline is valid? [True, True] Translation: X:298.91, Y:3.09, Z:1.97 [[ 9.97673169e-01 -6.63151511e-02 -1.58287039e-02 2.98909015e+02] [ 6.63198228e-02 9.97798391e-01 -2.30165669e-04 3.09197658e+00] [ 1.58091187e-02 -8.20126725e-04 9.99874692e-01 1.97102588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters 0.027777731399251864 Centerline is valid? [True, True] Translation: X:298.97, Y:3.09, Z:1.97 [[ 9.97849957e-01 -6.34825812e-02 -1.62918725e-02 2.98969449e+02] [ 6.34871608e-02 9.97982627e-01 -2.36470498e-04 3.09178933e+00] [ 1.62740175e-02 -7.98362652e-04 9.99867251e-01 1.97053685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters 0.025173143202225984 Centerline is valid? [True, True] Translation: X:299.03, Y:3.10, Z:1.97 [[ 9.97892007e-01 -6.25769749e-02 -1.71949002e-02 2.99031292e+02] [ 6.25819577e-02 9.98039797e-01 -2.48674657e-04 3.09732897e+00] [ 1.71767561e-02 -8.27940067e-04 9.99852126e-01 1.97115745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters 0.026277096438670353 Centerline is valid? [True, True] Translation: X:299.09, Y:3.10, Z:1.97 [[ 9.97776666e-01 -6.38737483e-02 -1.90228388e-02 2.99093798e+02] [ 6.38801098e-02 9.97957543e-01 -2.73662676e-04 3.09759458e+00] [ 1.90014654e-02 -9.42126801e-04 9.99819012e-01 1.97023414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters 0.025955568180477666 Centerline is valid? [True, True] Translation: X:299.16, Y:3.10, Z:1.97 [[ 9.97598690e-01 -6.63431064e-02 -1.98858453e-02 2.99155138e+02] [ 6.63505676e-02 9.97796332e-01 -2.85075497e-04 3.09910313e+00] [ 1.98609363e-02 -1.03504618e-03 9.99802216e-01 1.97098907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters 0.028139265236274337 Centerline is valid? [True, True] Translation: X:299.22, Y:3.10, Z:1.97 [[ 9.97383371e-01 -6.98555764e-02 -1.86174426e-02 2.99216499e+02] [ 6.98627383e-02 9.97556578e-01 -2.66220907e-04 3.09825066e+00] [ 1.85905494e-02 -1.03514122e-03 9.99826645e-01 1.97197558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters 0.030212591451092046 Centerline is valid? [True, True] Translation: X:299.28, Y:3.10, Z:1.97 [[ 9.97284422e-01 -7.15820965e-02 -1.73142786e-02 2.99278972e+02] [ 7.15885672e-02 9.97434217e-01 -2.46583581e-04 3.09868747e+00] [ 1.72875049e-02 -9.93590432e-04 9.99850066e-01 1.97233814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters 0.028073530743019968 Centerline is valid? [True, True] Translation: X:299.34, Y:3.10, Z:1.97 [[ 9.97262821e-01 -7.18853263e-02 -1.73022093e-02 2.99340993e+02] [ 7.18918556e-02 9.97412403e-01 -2.45132143e-04 3.10268394e+00] [ 1.72750596e-02 -9.99426762e-04 9.99850276e-01 1.97409050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters 0.028777891383013753 Centerline is valid? [True, True] Translation: X:299.40, Y:3.10, Z:1.97 [[ 9.97294622e-01 -7.17015102e-02 -1.61966389e-02 2.99403520e+02] [ 7.17072263e-02 9.97425697e-01 -2.28298524e-04 3.10419563e+00] [ 1.61713132e-02 -9.33735160e-04 9.99868800e-01 1.97456412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters 0.029497658654957844 Centerline is valid? [True, True] Translation: X:299.47, Y:3.11, Z:1.98 [[ 9.97285752e-01 -7.18489082e-02 -1.60892072e-02 2.99465299e+02] [ 7.18545868e-02 9.97415093e-01 -2.25603464e-04 3.10581015e+00] [ 1.60638275e-02 -9.31092215e-04 9.99870535e-01 1.97519140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.099254154 meters 0.03243566068341958 Centerline is valid? [True, True] Translation: X:299.53, Y:3.10, Z:1.97 [[ 9.97190683e-01 -7.30373699e-02 -1.66218116e-02 2.99526497e+02] [ 7.30436126e-02 9.97328721e-01 -2.32025894e-04 3.10352467e+00] [ 1.65943567e-02 -9.82743110e-04 9.99861821e-01 1.97448911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.159254154 meters 0.03307243221631415 Centerline is valid? [True, True] Translation: X:299.59, Y:3.10, Z:1.97 [[ 9.97017042e-01 -7.48347336e-02 -1.88886591e-02 2.99587254e+02] [ 7.48431364e-02 9.97195285e-01 -2.62647291e-04 3.10393633e+00] [ 1.88553370e-02 -1.15182267e-03 9.99821559e-01 1.97322949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.219254154 meters 0.03359211359263142 Centerline is valid? [True, True] Translation: X:299.65, Y:3.11, Z:1.97 [[ 9.97067022e-01 -7.39478997e-02 -1.97246273e-02 2.99649494e+02] [ 7.39569150e-02 9.97261400e-01 -2.73004441e-04 3.10551803e+00] [ 1.96907975e-02 -1.18656886e-03 9.99805413e-01 1.97300635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279254154 meters 0.0319191415257805 Centerline is valid? [True, True] Translation: X:299.71, Y:3.11, Z:1.97 [[ 9.97497247e-01 -6.78900739e-02 -1.97529614e-02 2.99710041e+02] [ 6.78979400e-02 9.97692235e-01 -2.72935163e-04 3.11149555e+00] [ 1.97259058e-02 -1.06893331e-03 9.99804854e-01 1.97395887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339254154 meters 0.029456813644272595 Centerline is valid? [True, True] Translation: X:299.77, Y:3.12, Z:1.98 [[ 9.97942408e-01 -6.13467394e-02 -1.86420854e-02 2.99771047e+02] [ 6.13526097e-02 9.98116121e-01 -2.57400120e-04 3.11836539e+00] [ 1.86227567e-02 -8.86870096e-04 9.99826188e-01 1.97522115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399254154 meters 0.02511086206715176 Centerline is valid? [True, True] Translation: X:299.83, Y:3.13, Z:1.98 [[ 9.98614316e-01 -4.97775694e-02 -1.70775407e-02 2.99830078e+02] [ 4.97808052e-02 9.98760139e-01 -2.35830704e-04 3.12902555e+00] [ 1.70681060e-02 -6.14629812e-04 9.99854140e-01 1.97735998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459254154 meters 0.017383758726862753 Centerline is valid? [True, True] Translation: X:299.89, Y:3.15, Z:1.98 [[ 9.99160668e-01 -3.72778981e-02 -1.69799090e-02 2.99890672e+02] [ 3.72792927e-02 9.99304858e-01 -2.34493820e-04 3.14621731e+00] [ 1.69768470e-02 -3.98701995e-04 9.99855803e-01 1.97973629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519254154 meters 0.015301160732801538 Centerline is valid? [True, True] Translation: X:299.95, Y:3.15, Z:1.98 [[ 9.99447982e-01 -2.84062646e-02 -1.72283486e-02 2.99951402e+02] [ 2.84063865e-02 9.99596429e-01 -2.37685809e-04 3.15424848e+00] [ 1.72281475e-02 -2.51840528e-04 9.99851553e-01 1.98018834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579254154 meters 0.014449882873451093 Centerline is valid? [True, True] Translation: X:300.01, Y:3.16, Z:1.98 [[ 9.99642120e-01 -2.03143990e-02 -1.74056376e-02 3.00012211e+02] [ 2.03133024e-02 9.99793635e-01 -2.39817071e-04 3.16114106e+00] [ 1.74069174e-02 -1.13834734e-04 9.99848482e-01 1.98048071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639254154 meters 0.01423455224960282 Centerline is valid? [True, True] Translation: X:300.07, Y:3.17, Z:1.98 [[ 9.99797699e-01 -1.00482125e-02 -1.74239801e-02 3.00071590e+02] [ 1.00455496e-02 9.99949513e-01 -2.40348166e-04 3.16978544e+00] [ 1.74255155e-02 6.52660873e-05 9.99848162e-01 1.98249486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699254154 meters 0.014702813612125411 Centerline is valid? [True, True] Translation: X:300.13, Y:3.17, Z:1.98 [[ 9.99820963e-01 -6.50224535e-03 -1.77697304e-02 3.00129024e+02] [ 6.49889321e-03 9.99978852e-01 -2.46383398e-04 3.17365843e+00] [ 1.77709567e-02 1.30855705e-04 9.99842076e-01 1.98135671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759254154 meters 0.014340562974529172 Centerline is valid? [True, True] Translation: X:300.19, Y:3.17, Z:1.98 [[ 9.99798843e-01 -8.23749307e-03 -1.82870848e-02 3.00186785e+02] [ 8.23415960e-03 9.99966066e-01 -2.57575166e-04 3.17275577e+00] [ 1.82885860e-02 1.06944578e-04 9.99832744e-01 1.98271282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819254154 meters 0.014037102162542992 Centerline is valid? [True, True] Translation: X:300.25, Y:3.17, Z:1.98 [[ 9.99737644e-01 -1.43496332e-02 -1.78530601e-02 3.00246046e+02] [ 1.43473815e-02 9.99897039e-01 -2.54203916e-04 3.16757286e+00] [ 1.78548696e-02 -2.00744031e-06 9.99840589e-01 1.98430799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879254154 meters 0.014097866659721682 Centerline is valid? [True, True] Translation: X:300.30, Y:3.16, Z:1.98 [[ 9.99633146e-01 -2.04353523e-02 -1.77755512e-02 3.00303463e+02] [ 2.04340555e-02 9.99791170e-01 -2.54601580e-04 3.16306315e+00] [ 1.77770420e-02 -1.08718420e-04 9.99841970e-01 1.98491323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939254154 meters 0.015466363577610304 Centerline is valid? [True, True] Translation: X:300.36, Y:3.15, Z:1.98 [[ 9.99346390e-01 -3.13061172e-02 -1.80753655e-02 3.00362730e+02] [ 3.13065310e-02 9.99509797e-01 -2.60141055e-04 3.15452127e+00] [ 1.80746489e-02 -3.05905966e-04 9.99836593e-01 1.98491181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters 0.01686537051773553 Centerline is valid? [True, True] Translation: X:300.42, Y:3.15, Z:1.98 [[ 9.99112769e-01 -3.80961293e-02 -1.79544055e-02 3.00423932e+02] [ 3.80976302e-02 9.99273988e-01 -2.58560272e-04 3.14801780e+00] [ 1.79512206e-02 -4.25689434e-04 9.99838773e-01 1.98474313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters 0.018733325059397895 Centerline is valid? [True, True] Translation: X:300.49, Y:3.14, Z:1.99 [[ 9.98777332e-01 -4.60383935e-02 -1.80085238e-02 3.00485267e+02] [ 4.60411989e-02 9.98939508e-01 -2.59007034e-04 3.14096251e+00] [ 1.80013501e-02 -5.70443670e-04 9.99837800e-01 1.98518535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters 0.019756133373811175 Centerline is valid? [True, True] Translation: X:300.55, Y:3.14, Z:1.99 [[ 9.98654838e-01 -4.87267639e-02 -1.77261721e-02 3.00547362e+02] [ 4.87299216e-02 9.98811959e-01 -2.54007064e-04 3.13811012e+00] [ 1.77174897e-02 -6.10129596e-04 9.99842847e-01 1.98546892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters 0.01944125753051823 Centerline is valid? [True, True] Translation: X:300.61, Y:3.14, Z:1.99 [[ 9.98666920e-01 -4.88005152e-02 -1.68194069e-02 3.00609698e+02] [ 4.88033891e-02 9.98808376e-01 -2.39785178e-04 3.13743979e+00] [ 1.68110661e-02 -5.81378533e-04 9.99858515e-01 1.98607039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters 0.01990390708490848 Centerline is valid? [True, True] Translation: X:300.67, Y:3.14, Z:1.99 [[ 9.98814591e-01 -4.57191997e-02 -1.67083197e-02 3.00669907e+02] [ 4.57216164e-02 9.98954192e-01 -2.37519635e-04 3.13725413e+00] [ 1.67017052e-02 -5.26693306e-04 9.99860378e-01 1.98527073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters 0.01820020596192611 Centerline is valid? [True, True] Translation: X:300.73, Y:3.14, Z:1.99 [[ 9.98896434e-01 -4.36194344e-02 -1.74143272e-02 3.00732537e+02] [ 4.36217605e-02 9.99048088e-01 -2.46435315e-04 3.14145664e+00] [ 1.74084996e-02 -5.13480252e-04 9.99848329e-01 1.98580631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters 0.018026380774019517 Centerline is valid? [True, True] Translation: X:300.80, Y:3.14, Z:1.99 [[ 9.98919422e-01 -4.28408573e-02 -1.80180442e-02 3.00795021e+02] [ 4.28432477e-02 9.99081774e-01 -2.53495245e-04 3.14304743e+00] [ 1.80123596e-02 -5.18730209e-04 9.99837630e-01 1.98552770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters 0.01939748066940297 Centerline is valid? [True, True] Translation: X:300.86, Y:3.14, Z:1.98 [[ 9.98792323e-01 -4.51584621e-02 -1.93548249e-02 3.00856509e+02] [ 4.51616790e-02 9.98979654e-01 -2.71074048e-04 3.14186290e+00] [ 1.93473175e-02 -6.03349709e-04 9.99812641e-01 1.98423611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters 0.020163386905608285 Centerline is valid? [True, True] Translation: X:300.92, Y:3.14, Z:1.99 [[ 9.98548402e-01 -5.00192530e-02 -1.99790454e-02 3.00917152e+02] [ 5.00236648e-02 9.98747994e-01 -2.79191264e-04 3.14193928e+00] [ 1.99679965e-02 -7.20639083e-04 9.99800360e-01 1.98558817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters 0.021479125428557976 Centerline is valid? [True, True] Translation: X:300.98, Y:3.14, Z:1.99 [[ 9.98409167e-01 -5.29594905e-02 -1.93501516e-02 3.00979536e+02] [ 5.29642005e-02 9.98596375e-01 -2.69350751e-04 3.14194902e+00] [ 1.93372559e-02 -7.55943050e-04 9.99812732e-01 1.98693092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.599254154 meters 0.023387164030106676 Centerline is valid? [True, True] Translation: X:301.04, Y:3.14, Z:1.99 [[ 9.98338266e-01 -5.50077286e-02 -1.71713780e-02 3.01040557e+02] [ 5.50117571e-02 9.98485678e-01 -2.38013108e-04 3.14166439e+00] [ 1.71584675e-02 -7.07010079e-04 9.99852533e-01 1.98904655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.659254154 meters 0.02317897193705133 Centerline is valid? [True, True] Translation: X:301.10, Y:3.14, Z:1.99 [[ 9.98353140e-01 -5.52297697e-02 -1.55138606e-02 3.01102715e+02] [ 5.52330996e-02 9.98473464e-01 -2.14067818e-04 3.14440164e+00] [ 1.55020010e-02 -6.43163328e-04 9.99879630e-01 1.99097143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.719254154 meters 0.02365847902276118 Centerline is valid? [True, True] Translation: X:301.16, Y:3.15, Z:1.99 [[ 9.98430833e-01 -5.40766358e-02 -1.45460772e-02 3.01163903e+02] [ 5.40794537e-02 9.98536616e-01 -1.99835579e-04 3.14664078e+00] [ 1.45355972e-02 -5.87121906e-04 9.99894180e-01 1.99237249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779254154 meters 0.023905330231913376 Centerline is valid? [True, True] Translation: X:301.22, Y:3.15, Z:1.99 [[ 9.98511573e-01 -5.24219905e-02 -1.50523577e-02 3.01224789e+02] [ 5.24248325e-02 9.98624852e-01 -2.05978546e-04 3.14868673e+00] [ 1.50424563e-02 -5.83445368e-04 9.99886686e-01 1.99266577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839254154 meters 0.023150670668836554 Centerline is valid? [True, True] Translation: X:301.29, Y:3.15, Z:1.99 [[ 9.98692704e-01 -4.84997488e-02 -1.61449063e-02 3.01285470e+02] [ 4.85025180e-02 9.98823036e-01 -2.20224467e-04 3.15321691e+00] [ 1.61365852e-02 -5.63132041e-04 9.99869638e-01 1.99184358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899254154 meters 0.021736585030947893 Centerline is valid? [True, True] Translation: X:301.35, Y:3.16, Z:1.99 [[ 9.98793636e-01 -4.62818926e-02 -1.64091242e-02 3.01348107e+02] [ 4.62844718e-02 9.98928275e-01 -2.22755445e-04 3.15723343e+00] [ 1.64018477e-02 -5.37000927e-04 9.99865336e-01 1.99203721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959254154 meters 0.01700651115290274 Centerline is valid? [True, True] Translation: X:301.41, Y:3.17, Z:1.99 [[ 9.99126498e-01 -3.81865208e-02 -1.69714676e-02 3.01409189e+02] [ 3.81881261e-02 9.99270541e-01 -2.29600614e-04 3.17047936e+00] [ 1.69678553e-02 -4.18708487e-04 9.99855948e-01 1.99362736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019254154 meters 0.016632277866751335 Centerline is valid? [True, True] Translation: X:301.47, Y:3.17, Z:1.99 [[ 9.99401816e-01 -3.06051795e-02 -1.61038112e-02 3.01469081e+02] [ 3.06056426e-02 9.99531514e-01 -2.17744972e-04 3.17456186e+00] [ 1.61029309e-02 -2.75252770e-04 9.99870302e-01 1.99307795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079254154 meters 0.014117710841464537 Centerline is valid? [True, True] Translation: X:301.53, Y:3.19, Z:1.99 [[ 9.99715924e-01 -1.78484802e-02 -1.57956395e-02 3.01528973e+02] [ 1.78473333e-02 9.99840701e-01 -2.13578081e-04 3.18777097e+00] [ 1.57969353e-02 -6.83926355e-05 9.99875218e-01 1.99461931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139254154 meters 0.014308902995249678 Centerline is valid? [True, True] Translation: X:301.59, Y:3.20, Z:2.00 [[ 9.99856105e-01 -7.25417914e-03 -1.53345041e-02 3.01588073e+02] [ 7.25184752e-03 9.99973683e-01 -2.07651353e-04 3.19740268e+00] [ 1.53356069e-02 9.64179872e-05 9.99882398e-01 1.99698567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199254154 meters 0.014930193908659265 Centerline is valid? [True, True] Translation: X:301.65, Y:3.20, Z:2.00 [[ 9.99887199e-01 -2.53358026e-03 -1.48044222e-02 3.01646387e+02] [ 2.53085575e-03 9.99996777e-01 -2.02765250e-04 3.19995017e+00] [ 1.48048882e-02 1.65274521e-04 9.99890388e-01 1.99758347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259254154 meters 0.01523243475520875 Centerline is valid? [True, True] Translation: X:301.71, Y:3.20, Z:2.00 [[ 9.99893885e-01 -5.42784787e-04 -1.45576062e-02 3.01705191e+02] [ 5.39886289e-04 9.99999834e-01 -2.03034607e-04 3.20025566e+00] [ 1.45577140e-02 1.95153610e-04 9.99894012e-01 1.99812064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319254154 meters 0.014677980469483062 Centerline is valid? [True, True] Translation: X:301.76, Y:3.19, Z:2.00 [[ 9.99882767e-01 -2.74421473e-03 -1.50639211e-02 3.01763705e+02] [ 2.74132528e-03 9.99996220e-01 -2.12457931e-04 3.19480256e+00] [ 1.50644472e-02 1.71137916e-04 9.99886510e-01 1.99841261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379254154 meters 0.014357523939326978 Centerline is valid? [True, True] Translation: X:301.82, Y:3.19, Z:2.00 [[ 9.99850694e-01 -6.45622586e-03 -1.60283266e-02 3.01822999e+02] [ 6.45341183e-03 9.99979151e-01 -2.27281895e-04 3.18986734e+00] [ 1.60294598e-02 1.23810568e-04 9.99871512e-01 1.99812433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439254154 meters 0.014009876029888653 Centerline is valid? [True, True] Translation: X:301.88, Y:3.18, Z:2.00 [[ 9.99765405e-01 -1.40642460e-02 -1.64721512e-02 3.01881765e+02] [ 1.40622861e-02 9.99901094e-01 -2.34806969e-04 3.17972834e+00] [ 1.64738244e-02 3.11578094e-06 9.99864297e-01 1.99718269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters 0.01432869489262212 Centerline is valid? [True, True] Translation: X:301.94, Y:3.17, Z:2.00 [[ 9.99666162e-01 -2.00048227e-02 -1.63514921e-02 3.01940605e+02] [ 2.00036666e-02 9.99799879e-01 -2.34277245e-04 3.17233852e+00] [ 1.63529065e-02 -9.28907617e-05 9.99866278e-01 1.99701869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters 0.015181722905004545 Centerline is valid? [True, True] Translation: X:302.00, Y:3.16, Z:2.00 [[ 9.99475783e-01 -2.83651307e-02 -1.56070194e-02 3.02000290e+02] [ 2.83650841e-02 9.99597605e-01 -2.24395826e-04 3.16076999e+00] [ 1.56071042e-02 -2.18416223e-04 9.99878178e-01 1.99768604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters 0.01629659280869361 Centerline is valid? [True, True] Translation: X:302.06, Y:3.15, Z:2.00 [[ 9.99337390e-01 -3.31068965e-02 -1.51233074e-02 3.02061170e+02] [ 3.31073941e-02 9.99451776e-01 -2.17525716e-04 3.15363351e+00] [ 1.51222181e-02 -2.83311719e-04 9.99885613e-01 1.99801645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters 0.017044519317200295 Centerline is valid? [True, True] Translation: X:302.12, Y:3.15, Z:2.00 [[ 9.99150325e-01 -3.81858098e-02 -1.55071337e-02 3.02122860e+02] [ 3.81869512e-02 9.99270588e-01 -2.22603068e-04 3.14528208e+00] [ 1.55043229e-02 -3.69756230e-04 9.99879732e-01 1.99780534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters 0.017566940929191817 Centerline is valid? [True, True] Translation: X:302.18, Y:3.14, Z:2.00 [[ 9.99012122e-01 -4.14935930e-02 -1.59079071e-02 3.02184670e+02] [ 4.14952253e-02 9.99138676e-01 -2.27590722e-04 3.13871600e+00] [ 1.59036488e-02 -4.32736298e-04 9.99873435e-01 1.99773978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters 0.021685599755229715 Centerline is valid? [True, True] Translation: X:302.25, Y:3.13, Z:2.00 [[ 9.98948146e-01 -4.26236196e-02 -1.69064752e-02 3.02246359e+02] [ 4.26256412e-02 9.99091085e-01 -2.40918302e-04 3.13132773e+00] [ 1.69013775e-02 -4.79984454e-04 9.99857046e-01 1.99506742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters 0.019384488891100057 Centerline is valid? [True, True] Translation: X:302.31, Y:3.13, Z:2.00 [[ 9.98857765e-01 -4.47784707e-02 -1.66749638e-02 3.02307378e+02] [ 4.47807493e-02 9.98996811e-01 -2.36897227e-04 3.12824544e+00] [ 1.66688436e-02 -5.10090742e-04 9.99860935e-01 1.99714895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters 0.01981612512443036 Centerline is valid? [True, True] Translation: X:302.37, Y:3.13, Z:2.00 [[ 9.98825740e-01 -4.49162308e-02 -1.81568947e-02 3.02370063e+02] [ 4.49189750e-02 9.98990600e-01 -2.56870405e-04 3.12594000e+00] [ 1.81501048e-02 -5.59020324e-04 9.99835117e-01 1.99630882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters 0.018359424300863163 Centerline is valid? [True, True] Translation: X:302.43, Y:3.13, Z:2.00 [[ 9.98809928e-01 -4.43292312e-02 -2.03383333e-02 3.02432586e+02] [ 4.43325846e-02 9.99016787e-01 -2.86182967e-04 3.12659656e+00] [ 2.03310226e-02 -6.15808491e-04 9.99793114e-01 1.99614061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters 0.018341377341786248 Centerline is valid? [True, True] Translation: X:302.49, Y:3.13, Z:2.00 [[ 9.98874283e-01 -4.27899547e-02 -2.04740243e-02 3.02493964e+02] [ 4.27930506e-02 9.99083917e-01 -2.87086436e-04 3.12630335e+00] [ 2.04675528e-02 -5.89382701e-04 9.99790344e-01 1.99661620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.099254154 meters 0.01767216937507566 Centerline is valid? [True, True] Translation: X:302.55, Y:3.13, Z:2.00 [[ 9.99092431e-01 -3.76670001e-02 -1.98874915e-02 3.02554679e+02] [ 3.76689162e-02 9.99290236e-01 -2.78384266e-04 3.12837315e+00] [ 1.98838620e-02 -4.71008637e-04 9.99802186e-01 1.99817143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.159254154 meters 0.01587921590492971 Centerline is valid? [True, True] Translation: X:302.61, Y:3.13, Z:2.00 [[ 9.99317316e-01 -3.18684029e-02 -1.86897775e-02 3.02614537e+02] [ 3.18690834e-02 9.99492018e-01 -2.61504323e-04 3.13156995e+00] [ 1.86886171e-02 -3.34300278e-04 9.99825297e-01 1.99996935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.219254154 meters 0.015206806718765186 Centerline is valid? [True, True] Translation: X:302.67, Y:3.13, Z:2.00 [[ 9.99421406e-01 -2.87052092e-02 -1.82445709e-02 3.02674437e+02] [ 2.87053232e-02 9.99587885e-01 -2.55680734e-04 3.13322909e+00] [ 1.82443914e-02 -2.68183505e-04 9.99833521e-01 2.00105118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279254154 meters 0.014886815180058485 Centerline is valid? [True, True] Translation: X:302.73, Y:3.13, Z:2.00 [[ 9.99494396e-01 -2.67326209e-02 -1.72139469e-02 3.02733754e+02] [ 2.67324198e-02 9.99642596e-01 -2.41825183e-04 3.13245367e+00] [ 1.72142592e-02 -2.18467540e-04 9.99851800e-01 2.00205297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339254154 meters 0.014730568182806571 Centerline is valid? [True, True] Translation: X:302.79, Y:3.13, Z:2.00 [[ 9.99464450e-01 -2.73895484e-02 -1.79060150e-02 3.02793696e+02] [ 2.73894247e-02 9.99624808e-01 -2.52191594e-04 3.13215835e+00] [ 1.79062042e-02 -2.38378918e-04 9.99839643e-01 2.00319086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399254154 meters 0.015374574530742475 Centerline is valid? [True, True] Translation: X:302.85, Y:3.13, Z:2.00 [[ 9.99306688e-01 -3.22068865e-02 -1.86777942e-02 3.02852327e+02] [ 3.22075311e-02 9.99481167e-01 -2.66373727e-04 3.12785830e+00] [ 1.86766826e-02 -3.35376589e-04 9.99825519e-01 2.00371504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459254154 meters 0.017175811315403612 Centerline is valid? [True, True] Translation: X:302.91, Y:3.12, Z:2.00 [[ 9.98968233e-01 -4.10997991e-02 -1.93203340e-02 3.02912342e+02] [ 4.11021117e-02 9.99154913e-01 -2.77545802e-04 3.12060211e+00] [ 1.93154137e-02 -5.16847085e-04 9.99813306e-01 2.00387595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519254154 meters 0.024118745678866495 Centerline is valid? [True, True] Translation: X:302.97, Y:3.11, Z:2.00 [[ 9.98672462e-01 -4.79058558e-02 -1.89299177e-02 3.02972460e+02] [ 4.79092934e-02 9.98851653e-01 -2.72124193e-04 3.10706052e+00] [ 1.89212159e-02 -6.35156041e-04 9.99820776e-01 2.00163563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579254154 meters 0.023357123730389416 Centerline is valid? [True, True] Translation: X:303.03, Y:3.11, Z:2.00 [[ 9.98347295e-01 -5.43989488e-02 -1.85319443e-02 3.03033149e+02] [ 5.44033607e-02 9.98519005e-01 -2.66363232e-04 3.10704262e+00] [ 1.85189885e-02 -7.42277041e-04 9.99828233e-01 2.00433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639254154 meters 0.023574044051053965 Centerline is valid? [True, True] Translation: X:303.09, Y:3.11, Z:2.01 [[ 9.97876046e-01 -6.24963805e-02 -1.83738679e-02 3.03093179e+02] [ 6.25020841e-02 9.98044798e-01 -2.64232820e-04 3.10575697e+00] [ 1.83544569e-02 -8.84733437e-04 9.99831151e-01 2.00664913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699254154 meters 0.02635423509949211 Centerline is valid? [True, True] Translation: X:303.15, Y:3.10, Z:2.01 [[ 9.97499386e-01 -6.83160314e-02 -1.81078781e-02 3.03153946e+02] [ 6.83225258e-02 9.97663252e-01 -2.60470057e-04 3.10104909e+00] [ 1.80833589e-02 -9.77357249e-04 9.99836005e-01 2.00773947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759254154 meters 0.027117683781831377 Centerline is valid? [True, True] Translation: X:303.22, Y:3.10, Z:2.01 [[ 9.97362906e-01 -7.01686302e-02 -1.85363621e-02 3.03216468e+02] [ 7.01757715e-02 9.97534606e-01 -2.65721371e-04 3.10078783e+00] [ 1.85093079e-02 -1.03578287e-03 9.99828152e-01 2.00879888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819254154 meters 0.03062550097066417 Centerline is valid? [True, True] Translation: X:303.28, Y:3.10, Z:2.01 [[ 9.97291478e-01 -7.13137314e-02 -1.80016767e-02 3.03277450e+02] [ 7.13206725e-02 9.97453405e-01 -2.56943159e-04 3.09660139e+00] [ 1.79741573e-02 -1.02764447e-03 9.99837924e-01 2.00864517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879254154 meters 0.02917911945089141 Centerline is valid? [True, True] Translation: X:303.34, Y:3.10, Z:2.01 [[ 9.97203967e-01 -7.18894899e-02 -2.03997547e-02 3.03339449e+02] [ 7.18985536e-02 9.97411908e-01 -2.89730547e-04 3.10147166e+00] [ 2.03677868e-02 -1.17779240e-03 9.99791861e-01 2.00875119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939254154 meters 0.030791202296230547 Centerline is valid? [True, True] Translation: X:303.40, Y:3.10, Z:2.01 [[ 9.97137793e-01 -7.27062693e-02 -2.07369443e-02 3.03400816e+02] [ 7.27158509e-02 9.97352655e-01 -2.92601860e-04 3.09953823e+00] [ 2.07033204e-02 -1.21614018e-03 9.99784924e-01 2.00759791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters 0.029966804923359718 Centerline is valid? [True, True] Translation: X:303.46, Y:3.11, Z:2.01 [[ 9.97087241e-01 -7.27689585e-02 -2.28410075e-02 3.03462949e+02] [ 7.27806443e-02 9.97347921e-01 -3.20369773e-04 3.10526363e+00] [ 2.28037444e-02 -1.34294663e-03 9.99739059e-01 2.00703939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters 0.02761998752471012 Centerline is valid? [True, True] Translation: X:303.53, Y:3.11, Z:2.01 [[ 9.97166932e-01 -7.13201475e-02 -2.39070378e-02 3.03525457e+02] [ 7.13325858e-02 9.97452531e-01 -3.33202941e-04 3.11473187e+00] [ 2.38698995e-02 -1.37309187e-03 9.99714130e-01 2.00890156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters 0.029295763714520466 Centerline is valid? [True, True] Translation: X:303.59, Y:3.12, Z:2.01 [[ 9.97325132e-01 -6.93288528e-02 -2.31536456e-02 3.03586384e+02] [ 6.93400122e-02 9.97593033e-01 -3.21488639e-04 3.11772119e+00] [ 2.31202039e-02 -1.28484537e-03 9.99731867e-01 2.00949611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters 0.02642610741080082 Centerline is valid? [True, True] Translation: X:303.65, Y:3.13, Z:2.01 [[ 9.97645534e-01 -6.49477896e-02 -2.20266643e-02 3.03646812e+02] [ 6.49568333e-02 9.97888028e-01 -3.05407211e-04 3.13068914e+00] [ 2.19999801e-02 -1.12609422e-03 9.99757337e-01 2.01314270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters 0.02347997560487509 Centerline is valid? [True, True] Translation: X:303.71, Y:3.14, Z:2.02 [[ 9.97901131e-01 -6.10947747e-02 -2.14653711e-02 3.03707069e+02] [ 6.11024756e-02 9.98131454e-01 -2.97540315e-04 3.14125690e+00] [ 2.14434402e-02 -1.01467150e-03 9.99769548e-01 2.01531862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters 0.021814140853944362 Centerline is valid? [True, True] Translation: X:303.77, Y:3.15, Z:2.02 [[ 9.98196804e-01 -5.57095494e-02 -2.23514260e-02 3.03768197e+02] [ 5.57165584e-02 9.98446578e-01 -3.09532406e-04 3.15174065e+00] [ 2.23339488e-02 -9.36370275e-04 9.99750128e-01 2.01570494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters 0.02046330500258868 Centerline is valid? [True, True] Translation: X:303.83, Y:3.16, Z:2.02 [[ 9.98368633e-01 -5.16694793e-02 -2.42968730e-02 3.03829434e+02] [ 5.16765868e-02 9.98663816e-01 -3.35683848e-04 3.16097320e+00] [ 2.42817525e-02 -9.20443241e-04 9.99704731e-01 2.01541577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters 0.020153605110514443 Centerline is valid? [True, True] Translation: X:303.89, Y:3.17, Z:2.02 [[ 9.98465079e-01 -4.92744232e-02 -2.52886939e-02 3.03890868e+02] [ 4.92813798e-02 9.98784874e-01 -3.48448909e-04 3.16578534e+00] [ 2.52751346e-02 -8.98347662e-04 9.99680129e-01 2.01522408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters 0.0191662806713911 Centerline is valid? [True, True] Translation: X:303.95, Y:3.17, Z:2.02 [[ 9.98661797e-01 -4.54284493e-02 -2.47158125e-02 3.03951789e+02] [ 4.54339315e-02 9.98967288e-01 -3.39990459e-04 3.17366364e+00] [ 2.47057334e-02 -7.83401047e-04 9.99694460e-01 2.01668299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters 0.018041587320209166 Centerline is valid? [True, True] Translation: X:304.01, Y:3.18, Z:2.02 [[ 9.98815822e-01 -4.21066499e-02 -2.43717827e-02 3.04013073e+02] [ 4.21110116e-02 9.99112882e-01 -3.34471308e-04 3.18148118e+00] [ 2.43642455e-02 -6.92245190e-04 9.99702908e-01 2.01956926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.599254154 meters 0.016343796569114843 Centerline is valid? [True, True] Translation: X:304.07, Y:3.19, Z:2.02 [[ 9.98955751e-01 -3.88435068e-02 -2.40538906e-02 3.04073341e+02] [ 3.88468161e-02 9.99245123e-01 -3.29858536e-04 3.18834302e+00] [ 2.40485457e-02 -6.04902983e-04 9.99710609e-01 2.02074010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.659254154 meters 0.016693330655872765 Centerline is valid? [True, True] Translation: X:304.13, Y:3.19, Z:2.02 [[ 9.98962114e-01 -3.86759957e-02 -2.40595521e-02 3.04133170e+02] [ 3.86792656e-02 9.99251623e-01 -3.29620061e-04 3.19064010e+00] [ 2.40542949e-02 -6.01327854e-04 9.99710473e-01 2.02047314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.719254154 meters 0.01721394250133701 Centerline is valid? [True, True] Translation: X:304.19, Y:3.19, Z:2.02 [[ 9.98802384e-01 -4.26555629e-02 -2.39645745e-02 3.04193655e+02] [ 4.26599543e-02 9.99089596e-01 -3.28197079e-04 3.19255096e+00] [ 2.39567565e-02 -6.94523629e-04 9.99712754e-01 2.02238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779254154 meters 0.02009408433884284 Centerline is valid? [True, True] Translation: X:304.25, Y:3.19, Z:2.02 [[ 9.98434494e-01 -5.06808172e-02 -2.36646482e-02 3.04254396e+02] [ 5.06873514e-02 9.98714517e-01 -3.24017470e-04 3.18973324e+00] [ 2.36506491e-02 -8.75988120e-04 9.99719900e-01 2.02283561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839254154 meters 0.024722698692639683 Centerline is valid? [True, True] Translation: X:304.31, Y:3.18, Z:2.02 [[ 9.97969234e-01 -5.97765780e-02 -2.20038295e-02 3.04313619e+02] [ 5.97844219e-02 9.98211266e-01 -3.01758749e-04 3.18434698e+00] [ 2.19825086e-02 -1.01434028e-03 9.99757841e-01 2.02349104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899254154 meters 0.02773439860256925 Centerline is valid? [True, True] Translation: X:304.37, Y:3.18, Z:2.02 [[ 9.97611039e-01 -6.53272249e-02 -2.24626144e-02 3.04374701e+02] [ 6.53367986e-02 9.97863221e-01 -3.08225166e-04 3.18210937e+00] [ 2.24347523e-02 -1.16014649e-03 9.99747636e-01 2.02423881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959254154 meters 0.032639582440500414 Centerline is valid? [True, True] Translation: X:304.44, Y:3.18, Z:2.02 [[ 9.97169041e-01 -7.15416490e-02 -2.31451263e-02 3.04435097e+02] [ 7.15534854e-02 9.97436714e-01 -3.17425501e-04 3.17755608e+00] [ 2.31085078e-02 -1.33958757e-03 9.99732065e-01 2.02377663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019254154 meters 0.03022938685102407 Centerline is valid? [True, True] Translation: X:304.50, Y:3.18, Z:2.03 [[ 9.96962527e-01 -7.43446771e-02 -2.32074970e-02 3.04495631e+02] [ 7.43573422e-02 9.97231610e-01 -3.17924615e-04 3.18185627e+00] [ 2.31668856e-02 -1.40868887e-03 9.99730619e-01 2.02533800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079254154 meters 0.03179915181765604 Centerline is valid? [True, True] Translation: X:304.56, Y:3.18, Z:2.02 [[ 9.96697404e-01 -7.70515516e-02 -2.56387228e-02 3.04556415e+02] [ 7.70679149e-02 9.97025784e-01 -3.50754935e-04 3.18399288e+00] [ 2.55894939e-02 -1.62632637e-03 9.99671212e-01 2.02456122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139254154 meters 0.03199059441358934 Centerline is valid? [True, True] Translation: X:304.62, Y:3.19, Z:2.02 [[ 9.96662628e-01 -7.72688829e-02 -2.63272973e-02 3.04618077e+02] [ 7.72862444e-02 9.97008880e-01 -3.58982008e-04 3.18581050e+00] [ 2.62762874e-02 -1.67695398e-03 9.99653312e-01 2.02453944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199254154 meters 0.032616908708974955 Centerline is valid? [True, True] Translation: X:304.68, Y:3.19, Z:2.02 [[ 9.96794920e-01 -7.53370482e-02 -2.69112816e-02 3.04678712e+02] [ 7.53545171e-02 9.97156739e-01 -3.65847779e-04 3.18946015e+00] [ 2.68623277e-02 -1.66321142e-03 9.99637759e-01 2.02471414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259254154 meters 0.024862543417764997 Centerline is valid? [True, True] Translation: X:304.74, Y:3.21, Z:2.03 [[ 9.97278344e-01 -6.92715318e-02 -2.52459768e-02 3.04738989e+02] [ 6.92849722e-02 9.97596850e-01 -3.43006920e-04 3.20596083e+00] [ 2.52090675e-02 -1.40709343e-03 9.99681211e-01 2.03000015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319254154 meters 0.02232308920048377 Centerline is valid? [True, True] Translation: X:304.80, Y:3.21, Z:2.03 [[ 9.97759799e-01 -6.26965678e-02 -2.33350401e-02 3.04799371e+02] [ 6.27062552e-02 9.98031976e-01 -3.17068099e-04 3.21460116e+00] [ 2.33089953e-02 -1.14689518e-03 9.99727651e-01 2.03258079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379254154 meters 0.019130829953663792 Centerline is valid? [True, True] Translation: X:304.86, Y:3.23, Z:2.03 [[ 9.98449229e-01 -5.15481393e-02 -2.10220447e-02 3.04859081e+02] [ 5.15535310e-02 9.98670192e-01 -2.85743281e-04 3.22614406e+00] [ 2.10088189e-02 -7.98460472e-04 9.99778972e-01 2.03433773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439254154 meters 0.01742669372231619 Centerline is valid? [True, True] Translation: X:304.92, Y:3.23, Z:2.03 [[ 9.98736462e-01 -4.53689925e-02 -2.16132981e-02 3.04920274e+02] [ 4.53732513e-02 9.98970061e-01 -2.93555398e-04 3.23249178e+00] [ 2.16043561e-02 -6.87481129e-04 9.99766362e-01 2.03397394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters 0.015190793963226383 Centerline is valid? [True, True] Translation: X:304.98, Y:3.24, Z:2.03 [[ 9.98937759e-01 -3.97079052e-02 -2.33802390e-02 3.04981496e+02] [ 3.97113573e-02 9.99211143e-01 -3.16806855e-04 3.23957188e+00] [ 2.33743751e-02 -6.11990697e-04 9.99726595e-01 2.03304370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters 0.015658952744566364 Centerline is valid? [True, True] Translation: X:305.04, Y:3.24, Z:2.03 [[ 9.98939109e-01 -3.87235995e-02 -2.49226523e-02 3.05042761e+02] [ 3.87272773e-02 9.99249761e-01 -3.35262494e-04 3.24130371e+00] [ 2.49169369e-02 -6.30279650e-04 9.99689326e-01 2.03147353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters 0.015449970918391776 Centerline is valid? [True, True] Translation: X:305.10, Y:3.24, Z:2.03 [[ 9.98908814e-01 -3.92264895e-02 -2.53468865e-02 3.05104062e+02] [ 3.92304933e-02 9.99230130e-01 -3.39479631e-04 3.24343440e+00] [ 2.53406893e-02 -6.55261664e-04 9.99678658e-01 2.03151233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters 0.01579395770637923 Centerline is valid? [True, True] Translation: X:305.17, Y:3.24, Z:2.03 [[ 9.98899110e-01 -3.97047156e-02 -2.49820850e-02 3.05165137e+02] [ 3.97087767e-02 9.99211240e-01 -3.33697292e-04 3.24427604e+00] [ 2.49756295e-02 -6.58678108e-04 9.99687843e-01 2.03182327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters 0.01590264052060701 Centerline is valid? [True, True] Translation: X:305.23, Y:3.25, Z:2.03 [[ 9.98887945e-01 -4.08706606e-02 -2.35045290e-02 3.05226686e+02] [ 4.08745973e-02 9.99164235e-01 -3.13125738e-04 3.24626033e+00] [ 2.34976824e-02 -6.47960632e-04 9.99723681e-01 2.03295495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters 0.016386591614311864 Centerline is valid? [True, True] Translation: X:305.29, Y:3.25, Z:2.03 [[ 9.98861521e-01 -4.23889519e-02 -2.18823718e-02 3.05288466e+02] [ 4.23927567e-02 9.99100981e-01 -2.90187805e-04 3.24759883e+00] [ 2.18749999e-02 -6.37796632e-04 9.99760510e-01 2.03459331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters 0.01796822932984691 Centerline is valid? [True, True] Translation: X:305.35, Y:3.25, Z:2.04 [[ 9.98713200e-01 -4.70260622e-02 -1.89866680e-02 3.05350603e+02] [ 4.70297881e-02 9.98893456e-01 -2.50471515e-04 3.24609894e+00] [ 1.89774371e-02 -6.42789767e-04 9.99819706e-01 2.03599898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters 0.022058068678752294 Centerline is valid? [True, True] Translation: X:305.41, Y:3.24, Z:2.04 [[ 9.98353431e-01 -5.48933163e-02 -1.66478700e-02 3.05410110e+02] [ 5.48972769e-02 9.98491983e-01 -2.19339456e-04 3.24008766e+00] [ 1.66348050e-02 -6.94944428e-04 9.99861391e-01 2.03514620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters 0.023290495746111195 Centerline is valid? [True, True] Translation: X:305.47, Y:3.24, Z:2.04 [[ 9.98086805e-01 -5.97780893e-02 -1.57895241e-02 3.05471024e+02] [ 5.97822629e-02 9.98211419e-01 -2.07961645e-04 3.23870901e+00] [ 1.57737148e-02 -7.36369707e-04 9.99875316e-01 2.03529678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters 0.02497648710943762 Centerline is valid? [True, True] Translation: X:305.53, Y:3.24, Z:2.04 [[ 9.97834067e-01 -6.40964380e-02 -1.47926433e-02 3.05532039e+02] [ 6.41005806e-02 9.97943424e-01 -1.94407533e-04 3.23578155e+00] [ 1.47746820e-02 -7.54230567e-04 9.99890564e-01 2.03506212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.099254154 meters 0.025202253953384168 Centerline is valid? [True, True] Translation: X:305.59, Y:3.24, Z:2.04 [[ 9.97798929e-01 -6.46661331e-02 -1.46829177e-02 3.05594102e+02] [ 6.46702882e-02 9.97906667e-01 -1.92125688e-04 3.23564493e+00] [ 1.46646055e-02 -7.57845713e-04 9.99892182e-01 2.03503629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.159254154 meters 0.024891187037326207 Centerline is valid? [True, True] Translation: X:305.66, Y:3.24, Z:2.03 [[ 9.97917588e-01 -6.31494766e-02 -1.31388883e-02 3.05656042e+02] [ 6.31526845e-02 9.98003862e-01 -1.71017534e-04 3.23726880e+00] [ 1.31234609e-02 -6.59094662e-04 9.99913666e-01 2.03445332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.219254154 meters 0.021500728825551343 Centerline is valid? [True, True] Translation: X:305.72, Y:3.24, Z:2.03 [[ 9.98175608e-01 -5.91898674e-02 -1.19170393e-02 3.05717268e+02] [ 5.91922312e-02 9.98246591e-01 -1.54575765e-04 3.24311073e+00] [ 1.19052932e-02 -5.51102389e-04 9.99928978e-01 2.03422986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279254154 meters 0.020680855360348107 Centerline is valid? [True, True] Translation: X:305.78, Y:3.25, Z:2.03 [[ 9.98388028e-01 -5.54244758e-02 -1.22259038e-02 3.05778704e+02] [ 5.54266859e-02 9.98462747e-01 -1.58245696e-04 3.24580479e+00] [ 1.22158802e-02 -5.19650724e-04 9.99925248e-01 2.03320594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339254154 meters 0.01838794497929431 Centerline is valid? [True, True] Translation: X:305.84, Y:3.25, Z:2.03 [[ 9.98766976e-01 -4.80674422e-02 -1.24116668e-02 3.05838771e+02] [ 4.80691560e-02 9.98843997e-01 -1.60378897e-04 3.25163738e+00] [ 1.24050279e-02 -4.36437201e-04 9.99922959e-01 2.03189904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399254154 meters 0.01685578264171285 Centerline is valid? [True, True] Translation: X:305.90, Y:3.26, Z:2.03 [[ 9.99033018e-01 -4.23943869e-02 -1.16509924e-02 3.05899522e+02] [ 4.23955130e-02 9.99100895e-01 -1.50428932e-04 3.25656732e+00] [ 1.16468943e-02 -3.43666332e-04 9.99932114e-01 2.03151099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459254154 meters 0.014869095789106333 Centerline is valid? [True, True] Translation: X:305.96, Y:3.26, Z:2.03 [[ 9.99353980e-01 -3.42385764e-02 -1.09243589e-02 3.05959669e+02] [ 3.42390807e-02 9.99413661e-01 -1.40915578e-04 3.26344468e+00] [ 1.09227783e-02 -2.33215463e-04 9.99940317e-01 2.03128439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519254154 meters 0.012887970276610395 Centerline is valid? [True, True] Translation: X:306.02, Y:3.27, Z:2.03 [[ 9.99609931e-01 -2.61203761e-02 -9.88489942e-03 3.06021009e+02] [ 2.61203932e-02 9.99658796e-01 -1.27393731e-04 3.27152160e+00] [ 9.88485423e-03 -1.30853421e-04 9.99951135e-01 2.03101161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579254154 meters 0.01213862024495725 Centerline is valid? [True, True] Translation: X:306.08, Y:3.28, Z:2.03 [[ 9.99745483e-01 -2.11810128e-02 -7.76751341e-03 3.06082950e+02] [ 2.11808764e-02 9.99775655e-01 -9.98401293e-05 3.27700677e+00] [ 7.76788552e-03 -6.47080229e-05 9.99969827e-01 2.03168415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639254154 meters 0.011748137702798553 Centerline is valid? [True, True] Translation: X:306.15, Y:3.28, Z:2.03 [[ 9.99873177e-01 -1.49232906e-02 -5.56111373e-03 3.06145506e+02] [ 1.49231254e-02 9.99888641e-01 -7.12170603e-05 3.28220212e+00] [ 5.56155724e-03 -1.17811689e-05 9.99984534e-01 2.03296340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699254154 meters 0.011602879004057305 Centerline is valid? [True, True] Translation: X:306.21, Y:3.28, Z:2.03 [[ 9.99921044e-01 -1.18684761e-02 -4.12852828e-03 3.06207781e+02] [ 1.18683597e-02 9.99929567e-01 -5.26918108e-05 3.28470657e+00] [ 4.12886287e-03 3.68879160e-06 9.99991476e-01 2.03372223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759254154 meters 0.011975958964180364 Centerline is valid? [True, True] Translation: X:306.27, Y:3.29, Z:2.03 [[ 9.99946785e-01 -9.74496962e-03 -3.38554218e-03 3.06270041e+02] [ 9.74487972e-03 9.99952517e-01 -4.30499744e-05 3.28567327e+00] [ 3.38580095e-03 1.00559821e-05 9.99994268e-01 2.03323883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819254154 meters 0.011979828453580164 Centerline is valid? [True, True] Translation: X:306.33, Y:3.28, Z:2.03 [[ 9.99945053e-01 -1.02673713e-02 -2.11449759e-03 3.06332709e+02] [ 1.02673374e-02 9.99947289e-01 -2.69122133e-05 3.28311894e+00] [ 2.11466246e-03 5.20047439e-06 9.99997764e-01 2.03273685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879254154 meters 0.01202367211902324 Centerline is valid? [True, True] Translation: X:306.39, Y:3.28, Z:2.03 [[ 9.99937315e-01 -1.11589092e-02 -9.18788933e-04 3.06394716e+02] [ 1.11589030e-02 9.99937737e-01 -1.19033662e-05 3.28093695e+00] [ 9.18864555e-04 1.64994352e-06 9.99999578e-01 2.03320705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939254154 meters 0.012242397155477695 Centerline is valid? [True, True] Translation: X:306.46, Y:3.28, Z:2.03 [[ 9.99901021e-01 -1.40553610e-02 -6.28998776e-04 3.06456418e+02] [ 1.40553585e-02 9.99901219e-01 -8.36112158e-06 3.27660002e+00] [ 6.29054161e-04 -4.80509292e-07 9.99999802e-01 2.03455444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters 0.012645340043004681 Centerline is valid? [True, True] Translation: X:306.52, Y:3.27, Z:2.03 [[ 9.99839691e-01 -1.78823378e-02 -9.02412924e-04 3.06518477e+02] [ 1.78823347e-02 9.99840098e-01 -1.15345041e-05 3.27168661e+00] [ 9.02474890e-04 -4.60459490e-06 9.99999593e-01 2.03467274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters 0.013977509982439873 Centerline is valid? [True, True] Translation: X:306.58, Y:3.26, Z:2.03 [[ 9.99630837e-01 -2.70803054e-02 -2.20152058e-03 3.06580742e+02] [ 2.70803109e-02 9.99633261e-01 -2.73332775e-05 3.26059026e+00] [ 2.20145339e-03 -3.22946745e-05 9.99997576e-01 2.03274503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters 0.017152665207355634 Centerline is valid? [True, True] Translation: X:306.64, Y:3.25, Z:2.03 [[ 9.99314639e-01 -3.68627255e-02 -3.37521428e-03 3.06640905e+02] [ 3.68627958e-02 9.99320335e-01 -4.14048295e-05 3.24743068e+00] [ 3.37444656e-03 -8.30433824e-05 9.99994303e-01 2.03170128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters 0.02025403492127271 Centerline is valid? [True, True] Translation: X:306.70, Y:3.24, Z:2.03 [[ 9.98875967e-01 -4.72110767e-02 -4.23273831e-03 3.06701310e+02] [ 4.72112826e-02 9.98884924e-01 -5.13078335e-05 3.23774325e+00] [ 4.23044078e-03 -1.48582843e-04 9.99991041e-01 2.03176790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters 0.02451769604152956 Centerline is valid? [True, True] Translation: X:306.76, Y:3.23, Z:2.03 [[ 9.98329898e-01 -5.76892691e-02 -3.05995806e-03 3.06762722e+02] [ 5.76894255e-02 9.98334578e-01 -3.71901903e-05 3.22614226e+00] [ 3.05700741e-03 -1.39399143e-04 9.99995318e-01 2.03272924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters 0.025824534725753384 Centerline is valid? [True, True] Translation: X:306.82, Y:3.22, Z:2.03 [[ 9.98011071e-01 -6.29840712e-02 -2.62865147e-03 3.06822938e+02] [ 6.29842054e-02 9.98014523e-01 -3.17872571e-05 3.22138635e+00] [ 2.62543443e-03 -1.33839490e-04 9.99996545e-01 2.03338577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters 0.029697931299956615 Centerline is valid? [True, True] Translation: X:306.88, Y:3.21, Z:2.03 [[ 9.97681962e-01 -6.79773465e-02 -3.12785447e-03 3.06882694e+02] [ 6.79775613e-02 9.97686850e-01 -3.77362740e-05 3.21213518e+00] [ 3.12318449e-03 -1.74975119e-04 9.99995108e-01 2.03412076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters 0.02978824238251529 Centerline is valid? [True, True] Translation: X:306.94, Y:3.21, Z:2.03 [[ 9.97636999e-01 -6.86003622e-02 -3.79597395e-03 3.06944699e+02] [ 6.86006817e-02 9.97644197e-01 -4.61259685e-05 3.21104734e+00] [ 3.79019564e-03 -2.14389427e-04 9.99992794e-01 2.03399127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters 0.0317105780854027 Centerline is valid? [True, True] Translation: X:307.01, Y:3.20, Z:2.03 [[ 9.97603140e-01 -6.89712340e-02 -5.56275778e-03 3.07005863e+02] [ 6.89719283e-02 9.97618599e-01 -6.71482648e-05 3.20403365e+00] [ 5.55414192e-03 -3.16686811e-04 9.99984525e-01 2.03217097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.539254154 meters 0.028937549432382276 Centerline is valid? [True, True] Translation: X:307.07, Y:3.21, Z:2.03 [[ 9.97838730e-01 -6.51836581e-02 -8.30424457e-03 3.07067067e+02] [ 6.51850941e-02 9.97873185e-01 -9.79002663e-05 3.20569002e+00] [ 8.29296448e-03 -4.43624287e-04 9.99965514e-01 2.03071596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.599254154 meters 0.02704407159217087 Centerline is valid? [True, True] Translation: X:307.13, Y:3.21, Z:2.03 [[ 9.97989522e-01 -6.27505640e-02 -8.90399206e-03 3.07128699e+02] [ 6.27521206e-02 9.98029138e-01 -1.04723538e-04 3.20902149e+00] [ 8.89301498e-03 -4.54231390e-04 9.99960353e-01 2.03098264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.659254154 meters 0.022326782567819017 Centerline is valid? [True, True] Translation: X:307.19, Y:3.22, Z:2.03 [[ 9.98821276e-01 -4.76348860e-02 -9.32612526e-03 3.07187785e+02] [ 4.76359386e-02 9.98864758e-01 -1.09359411e-04 3.21789988e+00] [ 9.32074718e-03 -3.35028224e-04 9.99956505e-01 2.03186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.719254154 meters 0.01935299409129186 Centerline is valid? [True, True] Translation: X:307.25, Y:3.22, Z:2.03 [[ 9.99223585e-01 -3.85727140e-02 -8.02329755e-03 3.07248529e+02] [ 3.85732002e-02 9.99255773e-01 -9.41963772e-05 3.22488623e+00] [ 8.02095981e-03 -2.15361021e-04 9.99967808e-01 2.03331532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779254154 meters 0.015277087290860886 Centerline is valid? [True, True] Translation: X:307.31, Y:3.23, Z:2.03 [[ 9.99545998e-01 -2.94366404e-02 -6.42505988e-03 3.07309058e+02] [ 2.94367635e-02 9.99566642e-01 -7.54327427e-05 3.23485210e+00] [ 6.42449601e-03 -1.13734472e-04 9.99979356e-01 2.03481529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839254154 meters 0.013933693509150134 Centerline is valid? [True, True] Translation: X:307.37, Y:3.24, Z:2.03 [[ 9.99824707e-01 -1.70598362e-02 -7.71480083e-03 3.07370382e+02] [ 1.70596466e-02 9.99854470e-01 -9.03879070e-05 3.24213651e+00] [ 7.71522010e-03 -4.12397131e-05 9.99970236e-01 2.03358355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899254154 meters 0.013934387742322425 Centerline is valid? [True, True] Translation: X:307.43, Y:3.25, Z:2.03 [[ 9.99906651e-01 -1.02095427e-02 -9.08044885e-03 3.07432036e+02] [ 1.02090010e-02 9.99947881e-01 -1.06003939e-04 3.24591537e+00] [ 9.08105784e-03 1.32917319e-05 9.99958766e-01 2.03302451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959254154 meters 0.01476334159992079 Centerline is valid? [True, True] Translation: X:307.49, Y:3.25, Z:2.03 [[ 9.99950364e-01 -1.56498240e-03 -9.83972125e-03 3.07490425e+02] [ 1.56392881e-03 9.99998770e-01 -1.14768770e-04 3.25046304e+00] [ 9.83988877e-03 9.93744495e-05 9.99951582e-01 2.03399357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019254154 meters 0.015389515745837207 Centerline is valid? [True, True] Translation: X:307.55, Y:3.25, Z:2.04 [[ 9.99951675e-01 2.96484657e-03 -9.37321292e-03 3.07549252e+02] [-2.96601120e-03 9.99995595e-01 -1.10352288e-04 3.25177931e+00] [ 9.37284445e-03 1.38148010e-04 9.99956064e-01 2.03520279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079254154 meters 0.015897678879080182 Centerline is valid? [True, True] Translation: X:307.61, Y:3.25, Z:2.04 [[ 9.99945037e-01 5.74259294e-03 -8.77181144e-03 3.07608074e+02] [-5.74373839e-03 9.99983499e-01 -1.05396289e-04 3.24885474e+00] [ 8.77106145e-03 1.55773486e-04 9.99961521e-01 2.03598058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139254154 meters 0.01569786507024116 Centerline is valid? [True, True] Translation: X:307.67, Y:3.24, Z:2.04 [[ 9.99947912e-01 4.19230205e-03 -9.30576854e-03 3.07667246e+02] [-4.19354296e-03 9.99991201e-01 -1.13839104e-04 3.24260865e+00] [ 9.30520941e-03 1.52857315e-04 9.99956694e-01 2.03560728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199254154 meters 0.014902053189076623 Centerline is valid? [True, True] Translation: X:307.73, Y:3.23, Z:2.04 [[ 9.99943013e-01 -2.81783167e-03 -1.02971120e-02 3.07726356e+02] [ 2.81667562e-03 9.99996025e-01 -1.26770543e-04 3.23248388e+00] [ 1.02974283e-02 9.77596942e-05 9.99946975e-01 2.03574967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259254154 meters 0.014452653951621272 Centerline is valid? [True, True] Translation: X:307.79, Y:3.22, Z:2.04 [[ 9.99888003e-01 -1.13785622e-02 -9.72163211e-03 3.07785207e+02] [ 1.13779298e-02 9.99935262e-01 -1.20363829e-04 3.22238364e+00] [ 9.72237232e-03 9.73830108e-06 9.99952737e-01 2.03607759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319254154 meters 0.016067788400663082 Centerline is valid? [True, True] Translation: X:307.84, Y:3.20, Z:2.04 [[ 9.99578399e-01 -2.76259077e-02 -8.93492716e-03 3.07844613e+02] [ 2.76260175e-02 9.99618323e-01 -1.11153280e-04 3.20326285e+00] [ 8.93458761e-03 -1.35730037e-04 9.99960077e-01 2.03700735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379254154 meters 0.018136783811347125 Centerline is valid? [True, True] Translation: X:307.91, Y:3.19, Z:2.04 [[ 9.99199993e-01 -3.87420278e-02 -9.92111972e-03 3.07905726e+02] [ 3.87427086e-02 9.99249212e-01 -1.23632809e-04 3.19209415e+00] [ 9.91846084e-03 -2.60837148e-04 9.99950777e-01 2.03659810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439254154 meters 0.02370619281194361 Centerline is valid? [True, True] Translation: X:307.97, Y:3.17, Z:2.04 [[ 9.98559343e-01 -5.25392787e-02 -1.09024305e-02 3.07965523e+02] [ 5.25409221e-02 9.98618763e-01 -1.35830364e-04 3.17336366e+00] [ 1.08945081e-02 -4.37189073e-04 9.99940558e-01 2.03526711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters 0.028426461296301286 Centerline is valid? [True, True] Translation: X:308.03, Y:3.16, Z:2.04 [[ 9.98014393e-01 -6.19370026e-02 -1.14490025e-02 3.08025885e+02] [ 6.19394317e-02 9.98079900e-01 -1.42639783e-04 3.15963473e+00] [ 1.14358540e-02 -5.66788153e-04 9.99934448e-01 2.03628682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters 0.029732213973150297 Centerline is valid? [True, True] Translation: X:308.09, Y:3.16, Z:2.04 [[ 9.97768982e-01 -6.56860861e-02 -1.19329991e-02 3.08086548e+02] [ 6.56889963e-02 9.97840134e-01 -1.48331086e-04 3.15500921e+00] [ 1.19169687e-02 -6.35866578e-04 9.99928788e-01 2.03702150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters 0.034286808473209744 Centerline is valid? [True, True] Translation: X:308.15, Y:3.15, Z:2.04 [[ 9.97513127e-01 -6.92643718e-02 -1.30387191e-02 3.08146455e+02] [ 6.92681579e-02 9.97598063e-01 -1.61548010e-04 3.14512314e+00] [ 1.30185905e-02 -7.42021795e-04 9.99914979e-01 2.03561147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters 0.03690622262366414 Centerline is valid? [True, True] Translation: X:308.21, Y:3.14, Z:2.03 [[ 9.97489068e-01 -6.90039704e-02 -1.59377416e-02 3.08207814e+02] [ 6.90096190e-02 9.97615975e-01 -1.95932570e-04 3.14172317e+00] [ 1.59132658e-02 -9.04416879e-04 9.99872967e-01 2.03240942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters 0.03528246598664829 Centerline is valid? [True, True] Translation: X:308.27, Y:3.14, Z:2.03 [[ 9.97591537e-01 -6.76472593e-02 -1.53288319e-02 3.08269689e+02] [ 6.76523423e-02 9.97708938e-01 -1.87299000e-04 3.14303865e+00] [ 1.53063829e-02 -8.50183488e-04 9.99882489e-01 2.03430172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters 0.028499490689093222 Centerline is valid? [True, True] Translation: X:308.33, Y:3.16, Z:2.03 [[ 9.97885636e-01 -6.27861003e-02 -1.67977284e-02 3.08330796e+02] [ 6.27915268e-02 9.98026644e-01 -2.04695107e-04 3.15688026e+00] [ 1.67774325e-02 -8.50492703e-04 9.99858887e-01 2.03453067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters 0.024877781289118772 Centerline is valid? [True, True] Translation: X:308.39, Y:3.16, Z:2.04 [[ 9.98265669e-01 -5.65485613e-02 -1.63680862e-02 3.08391337e+02] [ 5.65528789e-02 9.98399585e-01 -1.99335027e-04 3.16333722e+00] [ 1.63531626e-02 -7.26673083e-04 9.99866014e-01 2.03661767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters 0.023184189601152386 Centerline is valid? [True, True] Translation: X:308.45, Y:3.17, Z:2.04 [[ 9.98534778e-01 -5.11449609e-02 -1.76774098e-02 3.08452273e+02] [ 5.11491561e-02 9.98691002e-01 -2.15023445e-04 3.17006576e+00] [ 1.76652674e-02 -6.89476203e-04 9.99843719e-01 2.03623525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters 0.019781792560692932 Centerline is valid? [True, True] Translation: X:308.51, Y:3.18, Z:2.04 [[ 9.98908768e-01 -4.37663195e-02 -1.63028119e-02 3.08512797e+02] [ 4.37689086e-02 9.99041662e-01 -1.98123755e-04 3.17749298e+00] [ 1.62958595e-02 -5.15648729e-04 9.99867081e-01 2.03851575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.039254154 meters 0.01720145668197225 Centerline is valid? [True, True] Translation: X:308.57, Y:3.19, Z:2.04 [[ 9.99253925e-01 -3.54007777e-02 -1.54395098e-02 3.08573897e+02] [ 3.54021046e-02 9.99373131e-01 -1.87445932e-04 3.18601995e+00] [ 1.54364670e-02 -3.59285058e-04 9.99880786e-01 2.04004509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.099254154 meters 0.015573429734571619 Centerline is valid? [True, True] Translation: X:308.63, Y:3.19, Z:2.04 [[ 9.99548852e-01 -2.62110649e-02 -1.46653798e-02 3.08634643e+02] [ 2.62112770e-02 9.99656410e-01 -1.77784566e-04 3.19351865e+00] [ 1.46650008e-02 -2.06693972e-04 9.99892442e-01 2.04128684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.159254154 meters 0.014849080726656833 Centerline is valid? [True, True] Translation: X:308.70, Y:3.20, Z:2.04 [[ 9.99688357e-01 -2.02485911e-02 -1.46008112e-02 3.08695338e+02] [ 2.02481672e-02 9.99794969e-01 -1.76880016e-04 3.19862504e+00] [ 1.46013991e-02 -1.18814772e-04 9.99893387e-01 2.04204112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.219254154 meters 0.01521093978531481 Centerline is valid? [True, True] Translation: X:308.75, Y:3.20, Z:2.04 [[ 9.99774990e-01 -1.54894441e-02 -1.44930131e-02 3.08754162e+02] [ 1.54884978e-02 9.99880030e-01 -1.77544044e-04 3.20226898e+00] [ 1.44940244e-02 -4.69709056e-05 9.99894955e-01 2.04192984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279254154 meters 0.014385116791362604 Centerline is valid? [True, True] Translation: X:308.81, Y:3.20, Z:2.04 [[ 9.99836738e-01 -1.21959301e-02 -1.33325130e-02 3.08813142e+02] [ 1.21947935e-02 9.99925627e-01 -1.66546983e-04 3.20454847e+00] [ 1.33335526e-02 3.93254882e-06 9.99911104e-01 2.04329604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339254154 meters 0.014410530963769378 Centerline is valid? [True, True] Translation: X:308.87, Y:3.20, Z:2.04 [[ 9.99813922e-01 -1.41475557e-02 -1.31136614e-02 3.08871360e+02] [ 1.41465786e-02 9.99899918e-01 -1.67277581e-04 3.20309676e+00] [ 1.31147155e-02 -1.82669868e-05 9.99913998e-01 2.04374003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399254154 meters 0.01490311158119991 Centerline is valid? [True, True] Translation: X:308.93, Y:3.20, Z:2.04 [[ 9.99768064e-01 -1.69836438e-02 -1.32428982e-02 3.08929803e+02] [ 1.69828462e-02 9.99855766e-01 -1.72693708e-04 3.20028700e+00] [ 1.32439211e-02 -5.22484490e-05 9.99912294e-01 2.04316387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459254154 meters 0.015066527390256441 Centerline is valid? [True, True] Translation: X:308.99, Y:3.19, Z:2.04 [[ 9.99678768e-01 -2.18069834e-02 -1.29157559e-02 3.08988014e+02] [ 2.18065987e-02 9.99762193e-01 -1.70629763e-04 3.19426236e+00] [ 1.29164053e-02 -1.11073754e-04 9.99916574e-01 2.04328478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519254154 meters 0.01495810154264892 Centerline is valid? [True, True] Translation: X:309.05, Y:3.19, Z:2.04 [[ 9.99652883e-01 -2.31326336e-02 -1.26093291e-02 3.09047857e+02] [ 2.31323650e-02 9.99732397e-01 -1.67166804e-04 3.19384432e+00] [ 1.26098218e-02 -1.24574826e-04 9.99920485e-01 2.04441838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579254154 meters 0.01539338336521086 Centerline is valid? [True, True] Translation: X:309.11, Y:3.19, Z:2.04 [[ 9.99595762e-01 -2.56097114e-02 -1.23473044e-02 3.09107490e+02] [ 2.56096373e-02 9.99672006e-01 -1.64140892e-04 3.18913834e+00] [ 1.23474581e-02 -1.52135446e-04 9.99923756e-01 2.04472600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639254154 meters 0.016178529879819263 Centerline is valid? [True, True] Translation: X:309.17, Y:3.18, Z:2.04 [[ 9.99564217e-01 -2.69543217e-02 -1.20349935e-02 3.09167189e+02] [ 2.69543446e-02 9.99636653e-01 -1.60326068e-04 3.18385956e+00] [ 1.20349421e-02 -1.64139162e-04 9.99927564e-01 2.04397628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699254154 meters 0.016638510756505517 Centerline is valid? [True, True] Translation: X:309.23, Y:3.18, Z:2.04 [[ 9.99464076e-01 -3.02288199e-02 -1.25610562e-02 3.09227544e+02] [ 3.02291018e-02 9.99542982e-01 -1.67460798e-04 3.18007575e+00] [ 1.25603777e-02 -2.12338395e-04 9.99921093e-01 2.04382270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759254154 meters 0.016281079893733893 Centerline is valid? [True, True] Translation: X:309.29, Y:3.18, Z:2.04 [[ 9.99398980e-01 -3.21554605e-02 -1.29500673e-02 3.09288612e+02] [ 3.21559249e-02 9.99482850e-01 -1.72414191e-04 3.17768467e+00] [ 1.29489142e-02 -2.44110823e-04 9.99916129e-01 2.04467986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819254154 meters 0.016514326295143007 Centerline is valid? [True, True] Translation: X:309.35, Y:3.18, Z:2.04 [[ 9.99470472e-01 -2.93165509e-02 -1.41179083e-02 3.09348268e+02] [ 2.93168216e-02 9.99570152e-01 -1.87825581e-04 3.17586144e+00] [ 1.41173462e-02 -2.26166079e-04 9.99900320e-01 2.04346339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879254154 meters 0.015606876619933933 Centerline is valid? [True, True] Translation: X:309.41, Y:3.18, Z:2.04 [[ 9.99568737e-01 -2.54650230e-02 -1.46243827e-02 3.09408474e+02] [ 2.54648994e-02 9.99675698e-01 -1.94691384e-04 3.17840028e+00] [ 1.46245978e-02 -1.77801013e-04 9.99893039e-01 2.04368110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939254154 meters 0.015061140629619543 Centerline is valid? [True, True] Translation: X:309.47, Y:3.18, Z:2.04 [[ 9.99715200e-01 -1.90900921e-02 -1.43208570e-02 3.09468440e+02] [ 1.90893156e-02 9.99817764e-01 -1.90925912e-04 3.18118411e+00] [ 1.43218920e-02 -8.25038218e-05 9.99897433e-01 2.04461922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters 0.014542448133410392 Centerline is valid? [True, True] Translation: X:309.53, Y:3.18, Z:2.05 [[ 9.99772162e-01 -1.62849236e-02 -1.37994934e-02 3.09527121e+02] [ 1.62839074e-02 9.99867391e-01 -1.86006365e-04 3.18223256e+00] [ 1.38006925e-02 -3.87456864e-05 9.99904765e-01 2.04577628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters 0.014599566647626606 Centerline is valid? [True, True] Translation: X:309.59, Y:3.18, Z:2.05 [[ 9.99787651e-01 -1.58919354e-02 -1.31186397e-02 3.09585522e+02] [ 1.58909379e-02 9.99873715e-01 -1.80281969e-04 3.17990921e+00] [ 1.31198480e-02 -2.82238017e-05 9.99913931e-01 2.04618760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters 0.01598235665698435 Centerline is valid? [True, True] Translation: X:309.64, Y:3.17, Z:2.05 [[ 9.99697958e-01 -2.06018434e-02 -1.33998550e-02 3.09643995e+02] [ 2.06011929e-02 9.99787756e-01 -1.86592847e-04 3.17444032e+00] [ 1.34008552e-02 -8.95165092e-05 9.99910201e-01 2.04580019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters 0.017842013618372482 Centerline is valid? [True, True] Translation: X:309.70, Y:3.17, Z:2.04 [[ 9.99464059e-01 -2.94562424e-02 -1.42802472e-02 3.09704031e+02] [ 2.94563957e-02 9.99566046e-01 -1.99643093e-04 3.16543739e+00] [ 1.42799310e-02 -2.21108518e-04 9.99898012e-01 2.04499208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters 0.017596907831999038 Centerline is valid? [True, True] Translation: X:309.76, Y:3.16, Z:2.05 [[ 9.99217303e-01 -3.68343392e-02 -1.44226298e-02 3.09763844e+02] [ 3.68352561e-02 9.99321331e-01 -2.02157641e-04 3.15835979e+00] [ 1.44202879e-02 -3.29261848e-04 9.99895968e-01 2.04606864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters 0.021519642115829907 Centerline is valid? [True, True] Translation: X:309.82, Y:3.15, Z:2.05 [[ 9.98857167e-01 -4.55755659e-02 -1.43954030e-02 3.09823070e+02] [ 4.55773804e-02 9.98960791e-01 -2.02168901e-04 3.14745552e+00] [ 1.43896571e-02 -4.54166903e-04 9.99896360e-01 2.04534465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters 0.022351858935018582 Centerline is valid? [True, True] Translation: X:309.88, Y:3.15, Z:2.05 [[ 9.98713826e-01 -4.85528332e-02 -1.46053593e-02 3.09884288e+02] [ 4.85550212e-02 9.98820488e-01 -2.04965479e-04 3.14746276e+00] [ 1.45980837e-02 -5.04461672e-04 9.99893315e-01 2.04555249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters 0.02204639721886716 Centerline is valid? [True, True] Translation: X:309.95, Y:3.15, Z:2.05 [[ 9.98682663e-01 -4.97301689e-02 -1.26431193e-02 3.09945451e+02] [ 4.97319079e-02 9.98762587e-01 -1.77005736e-04 3.14621116e+00] [ 1.26362771e-02 -4.51993886e-04 9.99920057e-01 2.04799165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters 0.0221402496972556 Centerline is valid? [True, True] Translation: X:310.01, Y:3.15, Z:2.05 [[ 9.98816130e-01 -4.70681935e-02 -1.22850577e-02 3.10006043e+02] [ 4.70696383e-02 9.98891596e-01 -1.71661718e-04 3.14693723e+00] [ 1.22795207e-02 -4.06794730e-04 9.99924521e-01 2.04824841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.539254154 meters 0.021465121149471102 Centerline is valid? [True, True] Translation: X:310.07, Y:3.15, Z:2.05 [[ 9.98922283e-01 -4.47210487e-02 -1.24217410e-02 3.10067430e+02] [ 4.47223486e-02 9.98999440e-01 -1.73254065e-04 3.15003895e+00] [ 1.24170604e-02 -3.82462084e-04 9.99922832e-01 2.04834302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.599254154 meters 0.02110148539687778 Centerline is valid? [True, True] Translation: X:310.13, Y:3.15, Z:2.05 [[ 9.99068297e-01 -4.12029412e-02 -1.28395796e-02 3.10128444e+02] [ 4.12040441e-02 9.99150737e-01 -1.78734052e-04 3.15489056e+00] [ 1.28360398e-02 -3.50475080e-04 9.99917553e-01 2.04788736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.659254154 meters 0.017999439227743753 Centerline is valid? [True, True] Translation: X:310.19, Y:3.16, Z:2.05 [[ 9.99052702e-01 -4.14239463e-02 -1.33325084e-02 3.10189717e+02] [ 4.14251600e-02 9.99141592e-01 -1.85228943e-04 3.15995487e+00] [ 1.33287366e-02 -3.67247821e-04 9.99911101e-01 2.04930402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.719254154 meters 0.021769109055933992 Centerline is valid? [True, True] Translation: X:310.25, Y:3.16, Z:2.05 [[ 9.99010265e-01 -4.19840502e-02 -1.46911394e-02 3.10249867e+02] [ 4.19855907e-02 9.99118196e-01 -2.03685252e-04 3.15558063e+00] [ 1.46867362e-02 -4.13332509e-04 9.99892059e-01 2.04683625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779254154 meters 0.018403273187082493 Centerline is valid? [True, True] Translation: X:310.31, Y:3.16, Z:2.05 [[ 9.98926973e-01 -4.31707137e-02 -1.67687820e-02 3.10310775e+02] [ 4.31728965e-02 9.99067589e-01 -2.31976658e-04 3.16489975e+00] [ 1.67631612e-02 -4.92229149e-04 9.99859367e-01 2.04751090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839254154 meters 0.01985884175283159 Centerline is valid? [True, True] Translation: X:310.37, Y:3.17, Z:2.05 [[ 9.98904773e-01 -4.41322362e-02 -1.55434793e-02 3.10370983e+02] [ 4.41342341e-02 9.99025587e-01 -2.14632391e-04 3.16558290e+00] [ 1.55378058e-02 -4.71602234e-04 9.99879170e-01 2.04893130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899254154 meters 0.018958166813289247 Centerline is valid? [True, True] Translation: X:310.43, Y:3.17, Z:2.05 [[ 9.98927575e-01 -4.40815980e-02 -1.41602618e-02 3.10431708e+02] [ 4.40832525e-02 9.99027842e-01 -1.95420041e-04 3.16955556e+00] [ 1.41551102e-02 -4.29019930e-04 9.99899719e-01 2.05148372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959254154 meters 0.02074086335389512 Centerline is valid? [True, True] Translation: X:310.49, Y:3.17, Z:2.05 [[ 9.98965842e-01 -4.35999375e-02 -1.28954426e-02 3.10491967e+02] [ 4.36012709e-02 9.99048997e-01 -1.77852875e-04 3.16999931e+00] [ 1.28909333e-02 -3.84588738e-04 9.99916835e-01 2.05228542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019254154 meters 0.019477126593544055 Centerline is valid? [True, True] Translation: X:310.55, Y:3.17, Z:2.05 [[ 9.98985522e-01 -4.29696599e-02 -1.34735319e-02 3.10552865e+02] [ 4.29710633e-02 9.99076300e-01 -1.85457073e-04 3.17456207e+00] [ 1.34690554e-02 -3.93703062e-04 9.99909211e-01 2.05233837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079254154 meters 0.01884169402140672 Centerline is valid? [True, True] Translation: X:310.61, Y:3.18, Z:2.05 [[ 9.99085429e-01 -4.03637833e-02 -1.41092350e-02 3.10613784e+02] [ 4.03650701e-02 9.99184980e-01 -1.93676485e-04 3.18019616e+00] [ 1.41055532e-02 -3.76020906e-04 9.99900441e-01 2.05180768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139254154 meters 0.017581416466788177 Centerline is valid? [True, True] Translation: X:310.67, Y:3.19, Z:2.05 [[ 9.99320878e-01 -3.43659401e-02 -1.32952926e-02 3.10672985e+02] [ 3.43665536e-02 9.99409279e-01 -1.82386849e-04 3.18508067e+00] [ 1.32937067e-02 -2.74650400e-04 9.99911597e-01 2.05316851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199254154 meters 0.01579345416983911 Centerline is valid? [True, True] Translation: X:310.73, Y:3.19, Z:2.05 [[ 9.99409685e-01 -3.17720964e-02 -1.30696628e-02 3.10733456e+02] [ 3.17724659e-02 9.99495112e-01 -1.79413951e-04 3.18817432e+00] [ 1.30687644e-02 -2.35947376e-04 9.99914572e-01 2.05459865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259254154 meters 0.014557365393526076 Centerline is valid? [True, True] Translation: X:310.79, Y:3.19, Z:2.05 [[ 9.99675269e-01 -2.17731386e-02 -1.32395863e-02 3.10794253e+02] [ 2.17726425e-02 9.99762931e-01 -1.81624543e-04 3.19482061e+00] [ 1.32404021e-02 -1.06695215e-04 9.99912336e-01 2.05450712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319254154 meters 0.016728905307403584 Centerline is valid? [True, True] Translation: X:310.85, Y:3.20, Z:2.05 [[ 9.99824080e-01 -1.27617146e-02 -1.37457986e-02 3.10852587e+02] [ 1.27603246e-02 9.99918566e-01 -1.88825988e-04 3.19977040e+00] [ 1.37470890e-02 1.33919180e-05 9.99905504e-01 2.05317190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379254154 meters 0.014009290934783165 Centerline is valid? [True, True] Translation: X:310.91, Y:3.20, Z:2.06 [[ 9.99853487e-01 -1.17776587e-02 -1.24213717e-02 3.10910817e+02] [ 1.17764229e-02 9.99930641e-01 -1.72625834e-04 3.20114940e+00] [ 1.24225433e-02 2.63212158e-05 9.99922837e-01 2.05572463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439254154 meters 0.015262972071474517 Centerline is valid? [True, True] Translation: X:310.97, Y:3.20, Z:2.06 [[ 9.99824403e-01 -1.38910141e-02 -1.25778375e-02 3.10968439e+02] [ 1.38898681e-02 9.99903515e-01 -1.78464985e-04 3.19937179e+00] [ 1.25791030e-02 3.72914222e-06 9.99920880e-01 2.05507730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters 0.014493363587037598 Centerline is valid? [True, True] Translation: X:311.03, Y:3.19, Z:2.06 [[ 9.99641361e-01 -2.40239576e-02 -1.18320846e-02 3.11026850e+02] [ 2.40236262e-02 9.99711377e-01 -1.70155614e-04 3.19000869e+00] [ 1.18327574e-02 -1.14154988e-04 9.99929984e-01 2.05587161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters 0.017797277488299814 Centerline is valid? [True, True] Translation: X:311.09, Y:3.18, Z:2.06 [[ 9.99231523e-01 -3.73832633e-02 -1.17836369e-02 3.11086099e+02] [ 3.73838555e-02 9.99300965e-01 -1.70083102e-04 3.17750011e+00] [ 1.17817580e-02 -2.70565381e-04 9.99930556e-01 2.05581567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters 0.020278215677029112 Centerline is valid? [True, True] Translation: X:311.15, Y:3.17, Z:2.06 [[ 9.98802150e-01 -4.76271424e-02 -1.12214096e-02 3.11146972e+02] [ 4.76283248e-02 9.98865114e-01 -1.61992491e-04 3.17025553e+00] [ 1.12163899e-02 -3.72658494e-04 9.99937025e-01 2.05580368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters 0.021616784566652975 Centerline is valid? [True, True] Translation: X:311.21, Y:3.17, Z:2.06 [[ 9.98690473e-01 -5.00363250e-02 -1.06632951e-02 3.11208082e+02] [ 5.00375324e-02 9.98747326e-01 -1.53697094e-04 3.16656220e+00] [ 1.06576279e-02 -3.80069152e-04 9.99943134e-01 2.05652554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters 0.022172962827230008 Centerline is valid? [True, True] Translation: X:311.27, Y:3.16, Z:2.06 [[ 9.98442660e-01 -5.49093159e-02 -9.86009274e-03 3.11268687e+02] [ 5.49105900e-02 9.98491265e-01 -1.41661031e-04 3.16460950e+00] [ 9.85299499e-03 -3.99983093e-04 9.99951378e-01 2.05692045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters 0.022207868159799214 Centerline is valid? [True, True] Translation: X:311.33, Y:3.17, Z:2.06 [[ 9.98260990e-01 -5.81471754e-02 -9.69030496e-03 3.11330026e+02] [ 5.81485618e-02 9.98307931e-01 -1.38858610e-04 3.16519615e+00] [ 9.68198254e-03 -4.24860163e-04 9.99953038e-01 2.05759122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters 0.023436277958428103 Centerline is valid? [True, True] Translation: X:311.39, Y:3.16, Z:2.06 [[ 9.98152781e-01 -6.00968725e-02 -8.91020595e-03 3.11391942e+02] [ 6.00981257e-02 9.98192466e-01 -1.27282101e-04 3.16343379e+00] [ 8.90174971e-03 -4.08439694e-04 9.99960295e-01 2.05795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters 0.025803472196935663 Centerline is valid? [True, True] Translation: X:311.45, Y:3.16, Z:2.06 [[ 9.98037104e-01 -6.18961696e-02 -9.52905650e-03 3.11452852e+02] [ 6.18976933e-02 9.98082490e-01 -1.35220747e-04 3.16167431e+00] [ 9.51915409e-03 -4.54871294e-04 9.99954588e-01 2.05768030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters 0.023987261201623995 Centerline is valid? [True, True] Translation: X:311.51, Y:3.17, Z:2.06 [[ 9.98051678e-01 -6.14177496e-02 -1.09867346e-02 3.11514892e+02] [ 6.14197607e-02 9.98112012e-01 -1.54586965e-04 3.16737658e+00] [ 1.09754861e-02 -5.20516828e-04 9.99939632e-01 2.05659226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.039254154 meters 0.024139575437725415 Centerline is valid? [True, True] Translation: X:311.58, Y:3.17, Z:2.06 [[ 9.98141929e-01 -5.95922155e-02 -1.27066059e-02 3.11577463e+02] [ 5.95947725e-02 9.98222636e-01 -1.77648534e-04 3.17003669e+00] [ 1.26946082e-02 -5.79928840e-04 9.99919252e-01 2.05569890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.099254154 meters 0.022144158179572042 Centerline is valid? [True, True] Translation: X:311.64, Y:3.18, Z:2.06 [[ 9.98379144e-01 -5.53182355e-02 -1.33782389e-02 3.11638037e+02] [ 5.53206975e-02 9.98468620e-01 -1.86243438e-04 3.17860378e+00] [ 1.33680544e-02 -5.54151941e-04 9.99910490e-01 2.05520923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.159254154 meters 0.02039557875582052 Centerline is valid? [True, True] Translation: X:311.70, Y:3.19, Z:2.06 [[ 9.98587655e-01 -5.13675498e-02 -1.35672481e-02 3.11699391e+02] [ 5.13697233e-02 9.98679686e-01 -1.88469287e-04 3.18593863e+00] [ 1.35590163e-02 -5.08742679e-04 9.99907943e-01 2.05635366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.219254154 meters 0.01918884441768852 Centerline is valid? [True, True] Translation: X:311.76, Y:3.19, Z:2.06 [[ 9.98877466e-01 -4.57513100e-02 -1.22729705e-02 3.11760386e+02] [ 4.57526691e-02 9.98952784e-01 -1.70155365e-04 3.19433215e+00] [ 1.22679029e-02 -3.91556800e-04 9.99924670e-01 2.05781865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279254154 meters 0.018016996736766207 Centerline is valid? [True, True] Translation: X:311.82, Y:3.20, Z:2.06 [[ 9.99074131e-01 -4.14316201e-02 -1.15888583e-02 3.11822046e+02] [ 4.14325460e-02 9.99141291e-01 -1.60277944e-04 3.20178592e+00] [ 1.15855474e-02 -3.20026358e-04 9.99932834e-01 2.05816411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339254154 meters 0.019005853806257134 Centerline is valid? [True, True] Translation: X:311.88, Y:3.21, Z:2.06 [[ 9.99160961e-01 -3.90161900e-02 -1.24543721e-02 3.11883554e+02] [ 3.90170810e-02 9.99238529e-01 -1.71523983e-04 3.20606082e+00] [ 1.24515806e-02 -3.14553175e-04 9.99922427e-01 2.05812355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399254154 meters 0.017352473231785917 Centerline is valid? [True, True] Translation: X:311.95, Y:3.21, Z:2.06 [[ 9.99237271e-01 -3.69361806e-02 -1.26725909e-02 3.11945056e+02] [ 3.69369434e-02 9.99317583e-01 -1.73931679e-04 3.21242341e+00] [ 1.26703672e-02 -2.94287755e-04 9.99919684e-01 2.05897430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459254154 meters 0.017169953273399714 Centerline is valid? [True, True] Translation: X:312.01, Y:3.22, Z:2.06 [[ 9.99291751e-01 -3.55085653e-02 -1.24554362e-02 3.12006249e+02] [ 3.55091970e-02 9.99369335e-01 -1.70498867e-04 3.21509136e+00] [ 1.24536352e-02 -2.71904427e-04 9.99922414e-01 2.05917922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519254154 meters 0.01684096883991049 Centerline is valid? [True, True] Translation: X:312.07, Y:3.22, Z:2.06 [[ 9.99364161e-01 -3.35583789e-02 -1.20461338e-02 3.12068066e+02] [ 3.35588345e-02 9.99436730e-01 -1.64370882e-04 3.21950181e+00] [ 1.20448646e-02 -2.39987842e-04 9.99927429e-01 2.05982571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579254154 meters 0.015846839911023213 Centerline is valid? [True, True] Translation: X:312.13, Y:3.23, Z:2.06 [[ 9.99440376e-01 -3.08493431e-02 -1.29326295e-02 3.12129558e+02] [ 3.08496495e-02 9.99524021e-01 -1.75846232e-04 3.22546450e+00] [ 1.29318985e-02 -2.23219262e-04 9.99916355e-01 2.05985718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639254154 meters 0.015457642911279774 Centerline is valid? [True, True] Translation: X:312.19, Y:3.23, Z:2.06 [[ 9.99519902e-01 -2.79284138e-02 -1.34152888e-02 3.12189952e+02] [ 2.79284840e-02 9.99609907e-01 -1.82149740e-04 3.22806171e+00] [ 1.34151428e-02 -1.92606389e-04 9.99909994e-01 2.05939381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699254154 meters 0.01540257548431324 Centerline is valid? [True, True] Translation: X:312.25, Y:3.23, Z:2.06 [[ 9.99547230e-01 -2.69694275e-02 -1.33410709e-02 3.12250645e+02] [ 2.69694115e-02 9.99636243e-01 -1.81142025e-04 3.23024445e+00] [ 1.33411032e-02 -1.78740821e-04 9.99910988e-01 2.06002452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759254154 meters 0.015726492182674353 Centerline is valid? [True, True] Translation: X:312.31, Y:3.23, Z:2.06 [[ 9.99505895e-01 -2.88000025e-02 -1.25906760e-02 3.12311445e+02] [ 2.88001335e-02 9.99585176e-01 -1.70953334e-04 3.22957120e+00] [ 1.25903765e-02 -1.91744283e-04 9.99920720e-01 2.06132670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819254154 meters 0.01667881187759664 Centerline is valid? [True, True] Translation: X:312.37, Y:3.23, Z:2.06 [[ 9.99403663e-01 -3.19797490e-02 -1.30236330e-02 3.12372214e+02] [ 3.19801605e-02 9.99488488e-01 -1.76717065e-04 3.22540822e+00] [ 1.30226227e-02 -2.39886192e-04 9.99915173e-01 2.06098379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879254154 meters 0.017683749261340434 Centerline is valid? [True, True] Translation: X:312.43, Y:3.22, Z:2.06 [[ 9.99145311e-01 -3.86670925e-02 -1.46117789e-02 3.12433553e+02] [ 3.86683313e-02 9.99252081e-01 -1.97837621e-04 3.22128460e+00] [ 1.46085002e-02 -3.67344574e-04 9.99893223e-01 2.06093080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939254154 meters 0.01944495957593607 Centerline is valid? [True, True] Translation: X:312.50, Y:3.22, Z:2.06 [[ 9.98934330e-01 -4.33891218e-02 -1.57349248e-02 3.12495001e+02] [ 4.33911531e-02 9.99058138e-01 -2.12443515e-04 3.21797795e+00] [ 1.57293224e-02 -4.70539411e-04 9.99876176e-01 2.06033885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters 0.021685029737990486 Centerline is valid? [True, True] Translation: X:312.56, Y:3.21, Z:2.06 [[ 9.98619556e-01 -4.99376346e-02 -1.62854035e-02 3.12555161e+02] [ 4.99406842e-02 9.98752161e-01 -2.19618944e-04 3.21263516e+00] [ 1.62760492e-02 -5.93988419e-04 9.99867360e-01 2.06094325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters 0.02310157180860805 Centerline is valid? [True, True] Translation: X:312.62, Y:3.21, Z:2.06 [[ 9.98448025e-01 -5.30602720e-02 -1.69159229e-02 3.12616490e+02] [ 5.30640160e-02 9.98591087e-01 -2.27752542e-04 3.21161466e+00] [ 1.69041745e-02 -6.70227730e-04 9.99856890e-01 2.06166025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters 0.02566101392429695 Centerline is valid? [True, True] Translation: X:312.68, Y:3.21, Z:2.06 [[ 9.98301602e-01 -5.60416865e-02 -1.59135171e-02 3.12676809e+02] [ 5.60453842e-02 9.98428199e-01 -2.13863788e-04 3.20975172e+00] [ 1.59004895e-02 -6.78378615e-04 9.99873349e-01 2.06317188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters 0.02689067190259037 Centerline is valid? [True, True] Translation: X:312.74, Y:3.21, Z:2.07 [[ 9.98296923e-01 -5.65200882e-02 -1.44476317e-02 3.12738282e+02] [ 5.65231994e-02 9.98401267e-01 -1.93231896e-04 3.20987444e+00] [ 1.44354553e-02 -6.23723560e-04 9.99895609e-01 2.06509333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters 0.0264433650220169 Centerline is valid? [True, True] Translation: X:312.80, Y:3.21, Z:2.06 [[ 9.98346960e-01 -5.54100022e-02 -1.52669337e-02 3.12800874e+02] [ 5.54133698e-02 9.98463478e-01 -2.02673620e-04 3.21362158e+00] [ 1.52547058e-02 -6.43653649e-04 9.99883433e-01 2.06473535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters 0.022274727983118806 Centerline is valid? [True, True] Translation: X:312.86, Y:3.22, Z:2.07 [[ 9.98351329e-01 -5.56651176e-02 -1.40006586e-02 3.12862692e+02] [ 5.56679901e-02 9.98449318e-01 -1.84762998e-04 3.22079952e+00] [ 1.39892329e-02 -5.94930139e-04 9.99901969e-01 2.06735447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters 0.02829782805174423 Centerline is valid? [True, True] Translation: X:312.92, Y:3.21, Z:2.07 [[ 9.98372536e-01 -5.52591304e-02 -1.40963989e-02 3.12924143e+02] [ 5.52620150e-02 9.98471870e-01 -1.85101032e-04 3.21362029e+00] [ 1.40850862e-02 -5.94195617e-04 9.99900624e-01 2.06601139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters 0.023124985519094313 Centerline is valid? [True, True] Translation: X:312.99, Y:3.22, Z:2.07 [[ 9.98390206e-01 -5.47441463e-02 -1.48348974e-02 3.12986098e+02] [ 5.47472991e-02 9.98500223e-01 -1.93803818e-04 3.22438817e+00] [ 1.48232579e-02 -6.18678729e-04 9.99889938e-01 2.06702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters 0.023380977425570156 Centerline is valid? [True, True] Translation: X:313.05, Y:3.23, Z:2.07 [[ 9.98381234e-01 -5.48432134e-02 -1.50709428e-02 3.13048536e+02] [ 5.48464954e-02 9.98494779e-01 -1.95771107e-04 3.22564716e+00] [ 1.50589944e-02 -6.31134193e-04 9.99886408e-01 2.06700755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.539254154 meters 0.02258374823553282 Centerline is valid? [True, True] Translation: X:313.11, Y:3.23, Z:2.07 [[ 9.98434837e-01 -5.36477749e-02 -1.58048455e-02 3.13110714e+02] [ 5.36512537e-02 9.98559713e-01 -2.04114420e-04 3.23003172e+00] [ 1.57930323e-02 -6.44154828e-04 9.99875075e-01 2.06678939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.599254154 meters 0.022144673297802665 Centerline is valid? [True, True] Translation: X:313.17, Y:3.24, Z:2.07 [[ 9.98611330e-01 -5.02082312e-02 -1.59544850e-02 3.13170759e+02] [ 5.02113486e-02 9.98738594e-01 -2.05375060e-04 3.23508209e+00] [ 1.59446715e-02 -5.96006348e-04 9.99872698e-01 2.06687020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.659254154 meters 0.020023432323902586 Centerline is valid? [True, True] Translation: X:313.23, Y:3.24, Z:2.07 [[ 9.98789859e-01 -4.68417189e-02 -1.49890390e-02 3.13232548e+02] [ 4.68441003e-02 9.98902194e-01 -1.92369499e-04 3.24240852e+00] [ 1.49815949e-02 -5.10011344e-04 9.99887640e-01 2.06828385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.719254154 meters 0.019643758032963258 Centerline is valid? [True, True] Translation: X:313.29, Y:3.25, Z:2.07 [[ 9.98860799e-01 -4.58264940e-02 -1.33055213e-02 3.13294300e+02] [ 4.58282890e-02 9.98949318e-01 -1.70119472e-04 3.24610307e+00] [ 1.32993374e-02 -4.39843603e-04 9.99911463e-01 2.06989858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779254154 meters 0.01884562367345243 Centerline is valid? [True, True] Translation: X:313.36, Y:3.25, Z:2.07 [[ 9.98931110e-01 -4.50322069e-02 -1.04277264e-02 3.13356654e+02] [ 4.50332717e-02 9.98985479e-01 -1.32794945e-04 3.25106021e+00] [ 1.04231273e-02 -3.36941633e-04 9.99945621e-01 2.07278876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839254154 meters 0.01919544581740632 Centerline is valid? [True, True] Translation: X:313.42, Y:3.25, Z:2.07 [[ 9.98894604e-01 -4.59619526e-02 -9.85233589e-03 3.13418493e+02] [ 4.59629553e-02 9.98943137e-01 -1.24749362e-04 3.25243729e+00] [ 9.84765705e-03 -3.28231010e-04 9.99951457e-01 2.07338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899254154 meters 0.02064010823293469 Centerline is valid? [True, True] Translation: X:313.48, Y:3.25, Z:2.07 [[ 9.98832357e-01 -4.70074595e-02 -1.11454428e-02 3.13479945e+02] [ 4.70088169e-02 9.98894465e-01 -1.40301107e-04 3.25220300e+00] [ 1.11397163e-02 -3.83796795e-04 9.99937878e-01 2.07228938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959254154 meters 0.019801936886625356 Centerline is valid? [True, True] Translation: X:313.54, Y:3.26, Z:2.07 [[ 9.98792084e-01 -4.76085056e-02 -1.21574058e-02 3.13541611e+02] [ 4.76101739e-02 9.98865981e-01 -1.52323617e-04 3.25541521e+00] [ 1.21508710e-02 -4.26676583e-04 9.99926084e-01 2.07244352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019254154 meters 0.021007674601240207 Centerline is valid? [True, True] Translation: X:313.60, Y:3.26, Z:2.07 [[ 9.98709381e-01 -4.88204568e-02 -1.40048397e-02 3.13602654e+02] [ 4.88228015e-02 9.98807441e-01 -1.74629029e-04 3.25607931e+00] [ 1.39966636e-02 -5.09351860e-04 9.99901912e-01 2.07112374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079254154 meters 0.020617285683761494 Centerline is valid? [True, True] Translation: X:313.66, Y:3.26, Z:2.07 [[ 9.98682947e-01 -4.92117232e-02 -1.45112972e-02 3.13664955e+02] [ 4.92142958e-02 9.98788226e-01 -1.79978084e-04 3.25999286e+00] [ 1.45025698e-02 -5.34422228e-04 9.99894689e-01 2.07144058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139254154 meters 0.021469694474165132 Centerline is valid? [True, True] Translation: X:313.73, Y:3.26, Z:2.07 [[ 9.98740598e-01 -4.80156502e-02 -1.45504446e-02 3.13726190e+02] [ 4.80181235e-02 9.98846448e-01 -1.79532592e-04 3.26219014e+00] [ 1.45422803e-02 -5.19378556e-04 9.99894121e-01 2.07201326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199254154 meters 0.019715199198925396 Centerline is valid? [True, True] Translation: X:313.79, Y:3.27, Z:2.07 [[ 9.98905713e-01 -4.43699020e-02 -1.47881069e-02 3.13787337e+02] [ 4.43720676e-02 9.99015058e-01 -1.81794508e-04 3.27024409e+00] [ 1.47816077e-02 -4.74583306e-04 9.99890633e-01 2.07302563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259254154 meters 0.01884345982591511 Centerline is valid? [True, True] Translation: X:313.85, Y:3.28, Z:2.07 [[ 9.99021124e-01 -4.20045609e-02 -1.38712302e-02 3.13848574e+02] [ 4.20062453e-02 9.99117334e-01 -1.70027823e-04 3.27642099e+00] [ 1.38661285e-02 -4.12816912e-04 9.99903775e-01 2.07413137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319254154 meters 0.018695534037715407 Centerline is valid? [True, True] Translation: X:313.91, Y:3.28, Z:2.08 [[ 9.99013437e-01 -4.25502019e-02 -1.27134820e-02 3.13910639e+02] [ 4.25516695e-02 9.99094255e-01 -1.55162403e-04 3.27918330e+00] [ 1.27085691e-02 -3.85970561e-04 9.99919168e-01 2.07556494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379254154 meters 0.02064525683385557 Centerline is valid? [True, True] Translation: X:313.97, Y:3.28, Z:2.08 [[ 9.98878594e-01 -4.56443042e-02 -1.25758460e-02 3.13971660e+02] [ 4.56459984e-02 9.98957667e-01 -1.52428558e-04 3.27859373e+00] [ 1.25696953e-02 -4.21779423e-04 9.99920909e-01 2.07557983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439254154 meters 0.020323462414714395 Centerline is valid? [True, True] Translation: X:314.03, Y:3.28, Z:2.08 [[ 9.98782904e-01 -4.72263370e-02 -1.42261977e-02 3.14033862e+02] [ 4.72286836e-02 9.98884088e-01 -1.71149220e-04 3.28204918e+00] [ 1.42184053e-02 -5.00943675e-04 9.99898788e-01 2.07580881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters 0.02124687819931819 Centerline is valid? [True, True] Translation: X:314.10, Y:3.28, Z:2.08 [[ 9.98820876e-01 -4.65297776e-02 -1.38505059e-02 3.14095481e+02] [ 4.65319544e-02 9.98916788e-01 -1.65225940e-04 3.28369131e+00] [ 1.38431907e-02 -4.79459989e-04 9.99904063e-01 2.07639532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters 0.01965431534903945 Centerline is valid? [True, True] Translation: X:314.16, Y:3.29, Z:2.08 [[ 9.98881260e-01 -4.52266432e-02 -1.38122905e-02 3.14157701e+02] [ 4.52287028e-02 9.98976645e-01 -1.63377854e-04 3.28875288e+00] [ 1.38055446e-02 -4.61516904e-04 9.99904592e-01 2.07734834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters 0.020238004063501437 Centerline is valid? [True, True] Translation: X:314.22, Y:3.29, Z:2.08 [[ 9.98944708e-01 -4.35631400e-02 -1.45506793e-02 3.14219234e+02] [ 4.35652635e-02 9.99050569e-01 -1.71148963e-04 3.29149745e+00] [ 1.45443202e-02 -4.62935825e-04 9.99894119e-01 2.07709811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters 0.019977865405843367 Centerline is valid? [True, True] Translation: X:314.28, Y:3.29, Z:2.08 [[ 9.98951618e-01 -4.33369573e-02 -1.47503610e-02 3.14281517e+02] [ 4.33391290e-02 9.99060404e-01 -1.72535971e-04 3.29438161e+00] [ 1.47439788e-02 -4.66912713e-04 9.99891193e-01 2.07733770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters 0.020456193642903905 Centerline is valid? [True, True] Translation: X:314.34, Y:3.30, Z:2.08 [[ 9.98925163e-01 -4.39230713e-02 -1.48081832e-02 3.14343965e+02] [ 4.39253403e-02 9.99034802e-01 -1.72137105e-04 3.29543991e+00] [ 1.48014511e-02 -4.78502401e-04 9.99890338e-01 2.07786766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters 0.019598323347866837 Centerline is valid? [True, True] Translation: X:314.41, Y:3.30, Z:2.08 [[ 9.98862597e-01 -4.54146791e-02 -1.45265201e-02 3.14406048e+02] [ 4.54170357e-02 9.98968100e-01 -1.67800042e-04 3.29903104e+00] [ 1.45191508e-02 -4.92142295e-04 9.99894470e-01 2.07900081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters 0.020205635214058645 Centerline is valid? [True, True] Translation: X:314.47, Y:3.30, Z:2.08 [[ 9.98791918e-01 -4.68383667e-02 -1.48617771e-02 3.14468314e+02] [ 4.68410074e-02 9.98902343e-01 -1.70549077e-04 3.29949626e+00] [ 1.48534522e-02 -5.25797573e-04 9.99889543e-01 2.07935712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters 0.02156478850531496 Centerline is valid? [True, True] Translation: X:314.53, Y:3.30, Z:2.08 [[ 9.98710951e-01 -4.87070626e-02 -1.42849130e-02 3.14530537e+02] [ 4.87097079e-02 9.98812964e-01 -1.62892854e-04 3.29831148e+00] [ 1.42758903e-02 -5.33131060e-04 9.99897952e-01 2.07886138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters 0.021938920934434874 Centerline is valid? [True, True] Translation: X:314.59, Y:3.30, Z:2.08 [[ 9.98723387e-01 -4.84108422e-02 -1.44217716e-02 3.14592538e+02] [ 4.84135228e-02 9.98827365e-01 -1.63396705e-04 3.29887011e+00] [ 1.44127703e-02 -5.35020657e-04 9.99895987e-01 2.07915237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.039254154 meters 0.019917148647831635 Centerline is valid? [True, True] Translation: X:314.65, Y:3.31, Z:2.08 [[ 9.98918447e-01 -4.41924668e-02 -1.44555317e-02 3.14653875e+02] [ 4.41947300e-02 9.99022922e-01 -1.63001711e-04 3.30509694e+00] [ 1.44486109e-02 -4.76032904e-04 9.99895500e-01 2.07985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.099254154 meters 0.018110618167936302 Centerline is valid? [True, True] Translation: X:314.71, Y:3.31, Z:2.08 [[ 9.99285171e-01 -3.54387335e-02 -1.31621946e-02 3.14713194e+02] [ 3.54398529e-02 9.99371800e-01 -1.48257840e-04 3.31257222e+00] [ 1.31591802e-02 -3.18314379e-04 9.99913364e-01 2.08159081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.159254154 meters 0.016774370543417436 Centerline is valid? [True, True] Translation: X:314.77, Y:3.32, Z:2.08 [[ 9.99495698e-01 -2.90829732e-02 -1.27487116e-02 3.14774805e+02] [ 2.90835098e-02 9.99576975e-01 -1.43343280e-04 3.31795013e+00] [ 1.27474875e-02 -2.27506288e-04 9.99918722e-01 2.08207214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.219254154 meters 0.015899392854182508 Centerline is valid? [True, True] Translation: X:314.84, Y:3.32, Z:2.08 [[ 9.99612813e-01 -2.44152229e-02 -1.33461870e-02 3.14835821e+02] [ 2.44154033e-02 9.99701888e-01 -1.49444677e-04 3.32237664e+00] [ 1.33458571e-02 -1.76465724e-04 9.99910925e-01 2.08202194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279254154 meters 0.015460179767542739 Centerline is valid? [True, True] Translation: X:314.90, Y:3.32, Z:2.08 [[ 9.99642256e-01 -2.21640139e-02 -1.49704963e-02 3.14897229e+02] [ 2.21639970e-02 9.99754334e-01 -1.67062177e-04 3.32471366e+00] [ 1.49705214e-02 -1.64803624e-04 9.99887922e-01 2.08095383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339254154 meters 0.01578872865476177 Centerline is valid? [True, True] Translation: X:314.96, Y:3.32, Z:2.08 [[ 9.99590609e-01 -2.37013967e-02 -1.60268004e-02 3.14956994e+02] [ 2.37015737e-02 9.99719062e-01 -1.78925752e-04 3.32426281e+00] [ 1.60265386e-02 -2.01007888e-04 9.99871547e-01 2.08054491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399254154 meters 0.016324447847657818 Centerline is valid? [True, True] Translation: X:315.02, Y:3.32, Z:2.08 [[ 9.99462984e-01 -2.81526091e-02 -1.67682273e-02 3.15017106e+02] [ 2.81534217e-02 9.99603596e-01 -1.87642068e-04 3.32178243e+00] [ 1.67668629e-02 -2.84541672e-04 9.99859386e-01 2.08198768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459254154 meters 0.01738773207794361 Centerline is valid? [True, True] Translation: X:315.08, Y:3.32, Z:2.08 [[ 9.99336746e-01 -3.21549521e-02 -1.70917048e-02 3.15077397e+02] [ 3.21563792e-02 9.99482832e-01 -1.91387178e-04 3.31864158e+00] [ 1.70890196e-02 -3.58347102e-04 9.99853908e-01 2.08242117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519254154 meters 0.020574254847150062 Centerline is valid? [True, True] Translation: X:315.14, Y:3.31, Z:2.08 [[ 9.99120776e-01 -3.79309466e-02 -1.78582881e-02 3.15137879e+02] [ 3.79334301e-02 9.99280248e-01 -1.99772343e-04 3.31205651e+00] [ 1.78530121e-02 -4.77829426e-04 9.99840508e-01 2.08139587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579254154 meters 0.02079973198524781 Centerline is valid? [True, True] Translation: X:315.20, Y:3.31, Z:2.08 [[ 9.98976123e-01 -4.18888184e-02 -1.70889498e-02 3.15198671e+02] [ 4.18916761e-02 9.99122140e-01 -1.90869281e-04 3.30806905e+00] [ 1.70819434e-02 -5.25210894e-04 9.99853955e-01 2.08267032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639254154 meters 0.023928567119106042 Centerline is valid? [True, True] Translation: X:315.26, Y:3.30, Z:2.08 [[ 9.98753516e-01 -4.67657773e-02 -1.74463658e-02 3.15258961e+02] [ 4.67695042e-02 9.98905689e-01 -1.94555020e-04 3.30270039e+00] [ 1.74363726e-02 -6.21645368e-04 9.99847782e-01 2.08202158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699254154 meters 0.025094320922069466 Centerline is valid? [True, True] Translation: X:315.32, Y:3.30, Z:2.08 [[ 9.98576028e-01 -5.08116898e-02 -1.62507955e-02 3.15320116e+02] [ 5.08154625e-02 9.98708043e-01 -1.80949433e-04 3.29941875e+00] [ 1.62389945e-02 -6.45099922e-04 9.99867931e-01 2.08320620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759254154 meters 0.022122855440890463 Centerline is valid? [True, True] Translation: X:315.38, Y:3.30, Z:2.08 [[ 9.98519391e-01 -5.19818428e-02 -1.60285588e-02 3.15382460e+02] [ 5.19856765e-02 9.98647815e-01 -1.77666763e-04 3.30418430e+00] [ 1.60161207e-02 -6.55851764e-04 9.99871519e-01 2.08492535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819254154 meters 0.024735501521263914 Centerline is valid? [True, True] Translation: X:315.44, Y:3.30, Z:2.08 [[ 9.98530728e-01 -5.16500158e-02 -1.63908728e-02 3.15443820e+02] [ 5.16540079e-02 9.98665024e-01 -1.79984318e-04 3.30096963e+00] [ 1.63782875e-02 -6.66934400e-04 9.99865644e-01 2.08363321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879254154 meters 0.022990591159977033 Centerline is valid? [True, True] Translation: X:315.50, Y:3.31, Z:2.08 [[ 9.98733314e-01 -4.74657021e-02 -1.66965587e-02 3.15504997e+02] [ 4.74692805e-02 9.98872682e-01 -1.82154456e-04 3.30541259e+00] [ 1.66863824e-02 -6.10649904e-04 9.99860586e-01 2.08299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939254154 meters 0.01880515316555705 Centerline is valid? [True, True] Translation: X:315.57, Y:3.32, Z:2.08 [[ 9.99090291e-01 -3.93158256e-02 -1.65183782e-02 3.15565910e+02] [ 3.93182201e-02 9.99226724e-01 -1.79895659e-04 3.31619859e+00] [ 1.65126777e-02 -4.69741225e-04 9.99863546e-01 2.08355693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters 0.016503156279459058 Centerline is valid? [True, True] Translation: X:315.63, Y:3.32, Z:2.08 [[ 9.99349037e-01 -3.19210652e-02 -1.68091496e-02 3.15627090e+02] [ 3.19225035e-02 9.99490330e-01 -1.82807932e-04 3.32425477e+00] [ 1.68064179e-02 -3.53901207e-04 9.99858700e-01 2.08436508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters 0.014782411203037226 Centerline is valid? [True, True] Translation: X:315.69, Y:3.33, Z:2.08 [[ 9.99654508e-01 -2.03174193e-02 -1.66753529e-02 3.15688071e+02] [ 2.03172245e-02 9.99793567e-01 -1.81109469e-04 3.33410536e+00] [ 1.66755903e-02 -1.57749992e-04 9.99860940e-01 2.08452993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters 0.016708923448314723 Centerline is valid? [True, True] Translation: X:315.75, Y:3.34, Z:2.08 [[ 9.99794910e-01 -1.07148649e-02 -1.71851284e-02 3.15746887e+02] [ 1.07131947e-02 9.99942594e-01 -1.89248556e-04 3.34045393e+00] [ 1.71861697e-02 5.10211594e-06 9.99852307e-01 2.08311735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters 0.014627771229813733 Centerline is valid? [True, True] Translation: X:315.81, Y:3.34, Z:2.08 [[ 9.99842683e-01 -6.98145738e-03 -1.63054737e-02 3.15805071e+02] [ 6.97938561e-03 9.99975627e-01 -1.83961678e-04 3.34346290e+00] [ 1.63063606e-02 7.01305488e-05 9.99867040e-01 2.08474271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters 0.014877123826565327 Centerline is valid? [True, True] Translation: X:315.86, Y:3.34, Z:2.09 [[ 9.99866296e-01 -3.30286820e-03 -1.60150559e-02 3.15863411e+02] [ 3.30032852e-03 9.99994537e-01 -1.85007313e-04 3.34422267e+00] [ 1.60155795e-02 1.32127631e-04 9.99871734e-01 2.08565422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters 0.015637290590468304 Centerline is valid? [True, True] Translation: X:315.92, Y:3.34, Z:2.09 [[ 9.99876407e-01 -2.32320873e-03 -1.55490958e-02 3.15921535e+02] [ 2.32062920e-03 9.99997290e-01 -1.83936635e-04 3.34396179e+00] [ 1.55494810e-02 1.47830216e-04 9.99879089e-01 2.08538538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters 0.016569242009014117 Centerline is valid? [True, True] Translation: X:315.98, Y:3.34, Z:2.09 [[ 9.99888325e-01 -2.87730867e-03 -1.46648726e-02 3.15978907e+02] [ 2.87503570e-03 9.99995852e-01 -1.76073687e-04 3.34125324e+00] [ 1.46653183e-02 1.33891991e-04 9.99892449e-01 2.08549066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters 0.014987179653208286 Centerline is valid? [True, True] Translation: X:316.04, Y:3.34, Z:2.09 [[ 9.99897010e-01 -5.14908863e-03 -1.33961398e-02 3.16037426e+02] [ 5.14738179e-03 9.99986739e-01 -1.61888617e-04 3.33800405e+00] [ 1.33967957e-02 9.29168979e-05 9.99910255e-01 2.08786411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters 0.017332729352445113 Centerline is valid? [True, True] Translation: X:316.09, Y:3.33, Z:2.09 [[ 9.99900066e-01 -5.94710911e-03 -1.28253318e-02 3.16094574e+02] [ 5.94558847e-03 9.99982313e-01 -1.56691581e-04 3.33318863e+00] [ 1.28260368e-02 8.04217778e-05 9.99917740e-01 2.08708438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.539254154 meters 0.01458199133396051 Centerline is valid? [True, True] Translation: X:316.15, Y:3.33, Z:2.09 [[ 9.99901414e-01 -8.01800618e-03 -1.15270638e-02 3.16153744e+02] [ 8.01689736e-03 9.99967854e-01 -1.42397294e-04 3.32992609e+00] [ 1.15278350e-02 4.99719677e-05 9.99933551e-01 2.08956101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.599254154 meters 0.015461495687515524 Centerline is valid? [True, True] Translation: X:316.21, Y:3.32, Z:2.09 [[ 9.99875931e-01 -1.06118911e-02 -1.16409077e-02 3.16212306e+02] [ 1.06109260e-02 9.99943692e-01 -1.44664230e-04 3.32277840e+00] [ 1.16417873e-02 2.11254717e-05 9.99932232e-01 2.08800690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.659254154 meters 0.014568354618592754 Centerline is valid? [True, True] Translation: X:316.27, Y:3.31, Z:2.09 [[ 9.99798078e-01 -1.58813341e-02 -1.23120304e-02 3.16271279e+02] [ 1.58806425e-02 9.99873883e-01 -1.53937422e-04 3.31481199e+00] [ 1.23129224e-02 -4.16166155e-05 9.99924192e-01 2.08840911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.719254154 meters 0.016406965313690926 Centerline is valid? [True, True] Translation: X:316.33, Y:3.31, Z:2.09 [[ 9.99741524e-01 -1.90795131e-02 -1.23635105e-02 3.16329932e+02] [ 1.90790362e-02 9.99817966e-01 -1.56536011e-04 3.30904206e+00] [ 1.23642466e-02 -7.93883142e-05 9.99923557e-01 2.08715036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779254154 meters 0.015792400935973422 Centerline is valid? [True, True] Translation: X:316.39, Y:3.30, Z:2.09 [[ 9.99567819e-01 -2.67604689e-02 -1.21676565e-02 3.16389542e+02] [ 2.67605527e-02 9.99641860e-01 -1.55958379e-04 3.30003563e+00] [ 1.21674723e-02 -1.69722235e-04 9.99925959e-01 2.08813077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839254154 meters 0.019373261793275247 Centerline is valid? [True, True] Translation: X:316.45, Y:3.29, Z:2.09 [[ 9.99363875e-01 -3.34102518e-02 -1.24739648e-02 3.16450070e+02] [ 3.34108557e-02 9.99441689e-01 -1.60031743e-04 3.28871912e+00] [ 1.24723471e-02 -2.56835894e-04 9.99922184e-01 2.08638198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899254154 meters 0.018449913193866643 Centerline is valid? [True, True] Translation: X:316.51, Y:3.28, Z:2.09 [[ 9.99150857e-01 -3.94129170e-02 -1.20077605e-02 3.16511173e+02] [ 3.94139123e-02 9.99222958e-01 -1.53837872e-04 3.28370097e+00] [ 1.20044932e-02 -3.19565578e-04 9.99927892e-01 2.08792275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959254154 meters 0.020806101098015076 Centerline is valid? [True, True] Translation: X:316.57, Y:3.28, Z:2.09 [[ 9.98892162e-01 -4.54497616e-02 -1.21970481e-02 3.16571646e+02] [ 4.54512408e-02 9.98966546e-01 -1.56039512e-04 3.27603330e+00] [ 1.21915350e-02 -3.98504323e-04 9.99925601e-01 2.08725664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019254154 meters 0.02387658951429141 Centerline is valid? [True, True] Translation: X:316.63, Y:3.27, Z:2.09 [[ 9.98294426e-01 -5.69584681e-02 -1.28051865e-02 3.16631770e+02] [ 5.69610441e-02 9.98376388e-01 -1.63754300e-04 3.26638257e+00] [ 1.27937230e-02 -5.65921787e-04 9.99917997e-01 2.08692911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079254154 meters 0.029213240841284346 Centerline is valid? [True, True] Translation: X:316.69, Y:3.25, Z:2.09 [[ 9.97573448e-01 -6.86072522e-02 -1.18431845e-02 3.16692731e+02] [ 6.86102734e-02 9.97643527e-01 -1.51490635e-04 3.25456638e+00] [ 1.18256697e-02 -6.61441093e-04 9.99929856e-01 2.08713101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139254154 meters 0.028192252158023002 Centerline is valid? [True, True] Translation: X:316.75, Y:3.26, Z:2.09 [[ 9.97309183e-01 -7.23641859e-02 -1.17396226e-02 3.16753328e+02] [ 7.23674153e-02 9.97378030e-01 -1.50039592e-04 3.25595884e+00] [ 1.17196992e-02 -6.99930282e-04 9.99931077e-01 2.08799781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199254154 meters 0.03319652036807638 Centerline is valid? [True, True] Translation: X:316.81, Y:3.25, Z:2.09 [[ 9.96776049e-01 -7.92298606e-02 -1.26545395e-02 3.16812922e+02] [ 7.92341651e-02 9.96856018e-01 -1.61627993e-04 3.24955338e+00] [ 1.26275596e-02 -8.41564959e-04 9.99919915e-01 2.08770070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259254154 meters 0.03234596765120555 Centerline is valid? [True, True] Translation: X:316.88, Y:3.25, Z:2.09 [[ 9.96789841e-01 -7.90733112e-02 -1.25468777e-02 3.16875279e+02] [ 7.90775354e-02 9.96868456e-01 -1.59853227e-04 3.25247780e+00] [ 1.25202267e-02 -8.32836093e-04 9.99921272e-01 2.08808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319254154 meters 0.03276017511028941 Centerline is valid? [True, True] Translation: X:316.94, Y:3.25, Z:2.09 [[ 9.97006911e-01 -7.63701280e-02 -1.20342632e-02 3.16935214e+02] [ 7.63738237e-02 9.97079242e-01 -1.52842262e-04 3.25362645e+00] [ 1.20107866e-02 -7.66717905e-04 9.99927574e-01 2.08846510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379254154 meters 0.028965174617012642 Centerline is valid? [True, True] Translation: X:317.00, Y:3.26, Z:2.09 [[ 9.97320014e-01 -7.21000816e-02 -1.24244758e-02 3.16995717e+02] [ 7.21036920e-02 9.97397129e-01 -1.57695372e-04 3.26226009e+00] [ 1.24035063e-02 -7.38577823e-04 9.99922801e-01 2.08866739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439254154 meters 0.02517968111997234 Centerline is valid? [True, True] Translation: X:317.06, Y:3.27, Z:2.09 [[ 9.97818913e-01 -6.48240530e-02 -1.24603127e-02 3.17055769e+02] [ 6.48271199e-02 9.97896497e-01 -1.58036637e-04 3.27339910e+00] [ 1.24443470e-02 -6.50074242e-04 9.99922355e-01 2.09070181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters 0.023337955694118156 Centerline is valid? [True, True] Translation: X:317.12, Y:3.28, Z:2.09 [[ 9.98164105e-01 -5.92070971e-02 -1.27647335e-02 3.17116739e+02] [ 5.92098578e-02 9.98245544e-01 -1.61866788e-04 3.28088257e+00] [ 1.27519220e-02 -5.94228439e-04 9.99918514e-01 2.09159835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters 0.022720513076556592 Centerline is valid? [True, True] Translation: X:317.18, Y:3.29, Z:2.09 [[ 9.98601044e-01 -5.07172035e-02 -1.49572590e-02 3.17176217e+02] [ 5.07200416e-02 9.98712892e-01 -1.89776100e-04 3.28912856e+00] [ 1.49476323e-02 -5.69122186e-04 9.99888116e-01 2.09036286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters 0.01879579442536558 Centerline is valid? [True, True] Translation: X:317.24, Y:3.30, Z:2.09 [[ 9.98999708e-01 -4.20529618e-02 -1.52030054e-02 3.17236910e+02] [ 4.20548898e-02 9.99115283e-01 -1.93001690e-04 3.30115681e+00] [ 1.51976713e-02 -4.46552084e-04 9.99884409e-01 2.09201446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters 0.017044492877428607 Centerline is valid? [True, True] Translation: X:317.30, Y:3.31, Z:2.09 [[ 9.99257759e-01 -3.53613046e-02 -1.52809793e-02 3.17297279e+02] [ 3.53624706e-02 9.99374533e-01 -1.93973101e-04 3.30953744e+00] [ 1.52782807e-02 -3.46544056e-04 9.99883220e-01 2.09309595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters 0.016387724645407203 Centerline is valid? [True, True] Translation: X:317.36, Y:3.32, Z:2.09 [[ 9.99480904e-01 -2.84320124e-02 -1.51506678e-02 3.17357292e+02] [ 2.84323627e-02 9.99595700e-01 -1.92318958e-04 3.31607549e+00] [ 1.51500104e-02 -2.38550157e-04 9.99885204e-01 2.09304109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters 0.01618787425359672 Centerline is valid? [True, True] Translation: X:317.42, Y:3.33, Z:2.09 [[ 9.99670270e-01 -2.07006741e-02 -1.51932280e-02 3.17417409e+02] [ 2.07001335e-02 9.99785711e-01 -1.92859207e-04 3.32531770e+00] [ 1.51939646e-02 -1.21706233e-04 9.99884558e-01 2.09421936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters 0.014642271309497933 Centerline is valid? [True, True] Translation: X:317.48, Y:3.33, Z:2.10 [[ 9.99728838e-01 -1.87022894e-02 -1.38735656e-02 3.17475988e+02] [ 1.87016204e-02 9.99825094e-01 -1.77964489e-04 3.32875577e+00] [ 1.38744674e-02 -8.15419260e-05 9.99903742e-01 2.09666766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters 0.014795098669603214 Centerline is valid? [True, True] Translation: X:317.53, Y:3.33, Z:2.10 [[ 9.99734979e-01 -1.88907707e-02 -1.31571253e-02 3.17534762e+02] [ 1.88901420e-02 9.99821551e-01 -1.72068730e-04 3.32893612e+00] [ 1.31580279e-02 -7.65168365e-05 9.99913426e-01 2.09721060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters 0.01494404792326351 Centerline is valid? [True, True] Translation: X:317.59, Y:3.32, Z:2.10 [[ 9.99656468e-01 -2.24595401e-02 -1.35098364e-02 3.17594515e+02] [ 2.24591760e-02 9.99747745e-01 -1.78688121e-04 3.32446343e+00] [ 1.35104417e-02 -1.24793058e-04 9.99908722e-01 2.09724231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.039254154 meters 0.015314401410099803 Centerline is valid? [True, True] Translation: X:317.65, Y:3.32, Z:2.10 [[ 9.99552161e-01 -2.62503921e-02 -1.43664388e-02 3.17654591e+02] [ 2.62503640e-02 9.99655382e-01 -1.90562510e-04 3.32122917e+00] [ 1.43664902e-02 -1.86647080e-04 9.99896779e-01 2.09750558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.099254154 meters 0.017549141837608518 Centerline is valid? [True, True] Translation: X:317.72, Y:3.31, Z:2.09 [[ 9.99354995e-01 -3.17837093e-02 -1.67149465e-02 3.17715541e+02] [ 3.17844400e-02 9.99494722e-01 -2.22003352e-04 3.31439703e+00] [ 1.67135569e-02 -3.09415054e-04 9.99860271e-01 2.09452968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.159254154 meters 0.01685112686519631 Centerline is valid? [True, True] Translation: X:317.78, Y:3.31, Z:2.10 [[ 9.99214156e-01 -3.57770393e-02 -1.70609121e-02 3.17775638e+02] [ 3.57783791e-02 9.99359723e-01 -2.26792201e-04 3.31121711e+00] [ 1.70581024e-02 -3.83797804e-04 9.99854426e-01 2.09563430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.219254154 meters 0.017820481199486427 Centerline is valid? [True, True] Translation: X:317.84, Y:3.31, Z:2.10 [[ 9.99104147e-01 -3.89378865e-02 -1.65754382e-02 3.17835910e+02] [ 3.89395837e-02 9.99241542e-01 -2.20460844e-04 3.30626767e+00] [ 1.65714508e-02 -4.25177321e-04 9.99862594e-01 2.09603278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279254154 meters 0.017864614987831994 Centerline is valid? [True, True] Translation: X:317.90, Y:3.31, Z:2.10 [[ 9.99106628e-01 -3.91193266e-02 -1.59882574e-02 3.17897163e+02] [ 3.91209344e-02 9.99234461e-01 -2.12306224e-04 3.30564316e+00] [ 1.59843231e-02 -4.13359015e-04 9.99872157e-01 2.09727525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339254154 meters 0.018909309691396353 Centerline is valid? [True, True] Translation: X:317.96, Y:3.30, Z:2.10 [[ 9.99167270e-01 -3.76824771e-02 -1.56459885e-02 3.17957838e+02] [ 3.76838538e-02 9.99289690e-01 -2.06920225e-04 3.30458513e+00] [ 1.56426722e-02 -3.82853226e-04 9.99877573e-01 2.09708217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399254154 meters 0.017430635762831676 Centerline is valid? [True, True] Translation: X:318.02, Y:3.31, Z:2.10 [[ 9.99249921e-01 -3.56986931e-02 -1.50066274e-02 3.18018801e+02] [ 3.56997470e-02 9.99362541e-01 -1.97733620e-04 3.30521140e+00] [ 1.50041201e-02 -3.38147496e-04 9.99887375e-01 2.09895826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459254154 meters 0.016354397771938794 Centerline is valid? [True, True] Translation: X:318.08, Y:3.31, Z:2.10 [[ 9.99404476e-01 -3.11602685e-02 -1.48232986e-02 3.18079436e+02] [ 3.11608013e-02 9.99514365e-01 -1.95077525e-04 3.30692393e+00] [ 1.48221786e-02 -2.66944511e-04 9.99890110e-01 2.09964059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519254154 meters 0.015505907417073075 Centerline is valid? [True, True] Translation: X:318.14, Y:3.31, Z:2.10 [[ 9.99556773e-01 -2.62255673e-02 -1.40881651e-02 3.18140392e+02] [ 2.62255604e-02 9.99656034e-01 -1.85265658e-04 3.30922335e+00] [ 1.40881780e-02 -1.84286483e-04 9.99900740e-01 2.10098943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579254154 meters 0.015096531127186341 Centerline is valid? [True, True] Translation: X:318.20, Y:3.31, Z:2.10 [[ 9.99627859e-01 -2.31345599e-02 -1.44545754e-02 3.18201085e+02] [ 2.31342314e-02 9.99732350e-01 -1.89955915e-04 3.30979166e+00] [ 1.44551012e-02 -1.44510268e-04 9.99895509e-01 2.10118077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639254154 meters 0.014826548875823973 Centerline is valid? [True, True] Translation: X:318.26, Y:3.31, Z:2.10 [[ 9.99674888e-01 -1.99003296e-02 -1.59403792e-02 3.18260748e+02] [ 1.98995135e-02 9.99801963e-01 -2.09822014e-04 3.30953897e+00] [ 1.59413979e-02 -1.07451993e-04 9.99872922e-01 2.09991361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699254154 meters 0.014918451166023592 Centerline is valid? [True, True] Translation: X:318.32, Y:3.31, Z:2.10 [[ 9.99667676e-01 -1.92504414e-02 -1.71452146e-02 3.18318594e+02] [ 1.92493448e-02 9.99814688e-01 -2.28998653e-04 3.30891704e+00] [ 1.71464457e-02 -1.01111598e-04 9.99852984e-01 2.09936232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759254154 meters 0.014733253130095715 Centerline is valid? [True, True] Translation: X:318.38, Y:3.31, Z:2.10 [[ 9.99666126e-01 -1.96463796e-02 -1.67826303e-02 3.18376473e+02] [ 1.96453029e-02 9.99806986e-01 -2.29031029e-04 3.30789838e+00] [ 1.67838906e-02 -1.00745294e-04 9.99859136e-01 2.10104254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819254154 meters 0.01509359116274771 Centerline is valid? [True, True] Translation: X:318.43, Y:3.30, Z:2.10 [[ 9.99596823e-01 -2.33659605e-02 -1.61314221e-02 3.18434251e+02] [ 2.33654058e-02 9.99726967e-01 -2.22883035e-04 3.30477102e+00] [ 1.61322256e-02 -1.54124050e-04 9.99869855e-01 2.10276235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879254154 meters 0.015601957467025036 Centerline is valid? [True, True] Translation: X:318.49, Y:3.30, Z:2.10 [[ 9.99475895e-01 -2.84234140e-02 -1.54933927e-02 3.18493282e+02] [ 2.84234657e-02 9.99595948e-01 -2.16906763e-04 3.30148492e+00] [ 1.54932978e-02 -2.23582835e-04 9.99879947e-01 2.10390982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939254154 meters 0.019013770759408584 Centerline is valid? [True, True] Translation: X:318.55, Y:3.29, Z:2.10 [[ 9.99112441e-01 -3.95248308e-02 -1.45642939e-02 3.18552873e+02] [ 3.95260272e-02 9.99218520e-01 -2.05806454e-04 3.28931806e+00] [ 1.45610467e-02 -3.70044891e-04 9.99893914e-01 2.10384426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters 0.020068328973899787 Centerline is valid? [True, True] Translation: X:318.61, Y:3.29, Z:2.11 [[ 9.98699240e-01 -4.88253918e-02 -1.46938394e-02 3.18613284e+02] [ 4.88276116e-02 9.98807199e-01 -2.07855422e-04 3.28525025e+00] [ 1.46864612e-02 -5.09880031e-04 9.99892018e-01 2.10521340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters 0.023858292254692694 Centerline is valid? [True, True] Translation: X:318.67, Y:3.28, Z:2.10 [[ 9.98448254e-01 -5.31424378e-02 -1.66422687e-02 3.18673959e+02] [ 5.31458899e-02 9.98586731e-01 -2.35081418e-04 3.28211374e+00] [ 1.66312415e-02 -6.49751550e-04 9.99861480e-01 2.10315089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters 0.024190416865378574 Centerline is valid? [True, True] Translation: X:318.73, Y:3.28, Z:2.11 [[ 9.97911166e-01 -6.29283945e-02 -1.46055772e-02 3.18734841e+02] [ 6.29321058e-02 9.98017789e-01 -2.05820838e-04 3.27653148e+00] [ 1.45895778e-02 -7.13768817e-04 9.99893312e-01 2.10647085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters 0.028915063575099643 Centerline is valid? [True, True] Translation: X:318.80, Y:3.27, Z:2.11 [[ 9.97091109e-01 -7.45620295e-02 -1.58058373e-02 3.18795633e+02] [ 7.45678371e-02 9.97215919e-01 -2.22410039e-04 3.26924722e+00] [ 1.57784159e-02 -9.56844030e-04 9.99875055e-01 2.10662225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters 0.03184413239988089 Centerline is valid? [True, True] Translation: X:318.86, Y:3.27, Z:2.11 [[ 9.96807958e-01 -7.81903759e-02 -1.61294839e-02 3.18855926e+02] [ 7.81968973e-02 9.96937909e-01 -2.26934933e-04 3.26632044e+00] [ 1.60978381e-02 -1.03506505e-03 9.99869886e-01 2.10680450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters 0.03220868072938999 Centerline is valid? [True, True] Translation: X:318.92, Y:3.27, Z:2.11 [[ 9.96858015e-01 -7.75565304e-02 -1.60960434e-02 3.18918174e+02] [ 7.75629535e-02 9.96987431e-01 -2.25777255e-04 3.27000966e+00] [ 1.60650635e-02 -1.02338880e-03 9.99870425e-01 2.10773941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters 0.029636310181445174 Centerline is valid? [True, True] Translation: X:318.98, Y:3.28, Z:2.11 [[ 9.97208302e-01 -7.27089553e-02 -1.70003179e-02 3.18978401e+02] [ 7.27154279e-02 9.97352701e-01 -2.37914956e-04 3.27900102e+00] [ 1.69726115e-02 -9.98934620e-04 9.99855456e-01 2.10769090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters 0.027387629287805408 Centerline is valid? [True, True] Translation: X:319.04, Y:3.29, Z:2.11 [[ 9.97431400e-01 -6.94863563e-02 -1.73853006e-02 3.19038604e+02] [ 6.94926377e-02 9.97582435e-01 -2.43285325e-04 3.28598571e+00] [ 1.73601755e-02 -9.65489973e-04 9.99848835e-01 2.10777143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters 0.026503342301626837 Centerline is valid? [True, True] Translation: X:319.10, Y:3.29, Z:2.11 [[ 9.97681877e-01 -6.58852238e-02 -1.70296725e-02 3.19099508e+02] [ 6.58907308e-02 9.97826816e-01 -2.38118323e-04 3.29243496e+00] [ 1.70083524e-02 -8.84531230e-04 9.99854956e-01 2.10826610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.539254154 meters 0.024426757920450144 Centerline is valid? [True, True] Translation: X:319.16, Y:3.30, Z:2.11 [[ 9.97815562e-01 -6.38521462e-02 -1.69412888e-02 3.19160417e+02] [ 6.38573126e-02 9.97959011e-01 -2.36370657e-04 3.29922074e+00] [ 1.69218046e-02 -8.45970859e-04 9.99856458e-01 2.10962282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.599254154 meters 0.023485698358069493 Centerline is valid? [True, True] Translation: X:319.22, Y:3.31, Z:2.11 [[ 9.98041153e-01 -6.04202283e-02 -1.62250977e-02 3.19220586e+02] [ 6.04245184e-02 9.98172744e-01 -2.26133974e-04 3.30622798e+00] [ 1.62091133e-02 -7.54702701e-04 9.99868339e-01 2.11080151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.659254154 meters 0.022343118866693393 Centerline is valid? [True, True] Translation: X:319.28, Y:3.31, Z:2.11 [[ 9.98253711e-01 -5.68366224e-02 -1.60974348e-02 3.19281870e+02] [ 5.68403859e-02 9.98383253e-01 -2.23998589e-04 3.31201009e+00] [ 1.60841407e-02 -6.91376985e-04 9.99870403e-01 2.11134907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.719254154 meters 0.01964867657152901 Centerline is valid? [True, True] Translation: X:319.34, Y:3.32, Z:2.11 [[ 9.98688953e-01 -4.86357840e-02 -1.59666972e-02 3.19342095e+02] [ 4.86384439e-02 9.98816426e-01 -2.21918045e-04 3.32296373e+00] [ 1.59585926e-02 -5.54968204e-04 9.99872500e-01 2.11194373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779254154 meters 0.01710418378385258 Centerline is valid? [True, True] Translation: X:319.40, Y:3.34, Z:2.11 [[ 9.99162478e-01 -3.76258003e-02 -1.60823150e-02 3.19401995e+02] [ 3.76270735e-02 9.99291826e-01 -2.23515353e-04 3.33572040e+00] [ 1.60793359e-02 -3.81802294e-04 9.99870646e-01 2.11309580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839254154 meters 0.016167348179661332 Centerline is valid? [True, True] Translation: X:319.46, Y:3.34, Z:2.11 [[ 9.99399707e-01 -3.10077134e-02 -1.54514373e-02 3.19462617e+02] [ 3.10081005e-02 9.99519110e-01 -2.14583164e-04 3.34359176e+00] [ 1.54506606e-02 -2.64665369e-04 9.99880596e-01 2.11377195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899254154 meters 0.015320339100643343 Centerline is valid? [True, True] Translation: X:319.52, Y:3.35, Z:2.11 [[ 9.99599206e-01 -2.45940631e-02 -1.40199371e-02 3.19522683e+02] [ 2.45937544e-02 9.99697509e-01 -1.94457421e-04 3.35174174e+00] [ 1.40204787e-02 -1.50423406e-04 9.99901697e-01 2.11443370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959254154 meters 0.01511967110304261 Centerline is valid? [True, True] Translation: X:319.58, Y:3.36, Z:2.12 [[ 9.99630030e-01 -2.37662895e-02 -1.32275218e-02 3.19583450e+02] [ 2.37659438e-02 9.99717533e-01 -1.83351470e-04 3.35563677e+00] [ 1.32281431e-02 -1.31080904e-04 9.99912496e-01 2.11544521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019254154 meters 0.01635118179093832 Centerline is valid? [True, True] Translation: X:319.64, Y:3.36, Z:2.12 [[ 9.99577009e-01 -2.57184996e-02 -1.35779913e-02 3.19644374e+02] [ 2.57183154e-02 9.99669212e-01 -1.88209455e-04 3.35676719e+00] [ 1.35783403e-02 -1.61073219e-04 9.99907797e-01 2.11500714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079254154 meters 0.017540485485599566 Centerline is valid? [True, True] Translation: X:319.71, Y:3.35, Z:2.12 [[ 9.99309802e-01 -3.47630386e-02 -1.30938971e-02 3.19705358e+02] [ 3.47636447e-02 9.99395545e-01 -1.81384641e-04 3.35295391e+00] [ 1.30922880e-02 -2.73932138e-04 9.99914255e-01 2.11511133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139254154 meters 0.020902065032147806 Centerline is valid? [True, True] Translation: X:319.77, Y:3.35, Z:2.11 [[ 9.98965081e-01 -4.30992229e-02 -1.45335280e-02 3.19766899e+02] [ 4.31008570e-02 9.99070706e-01 -2.00909862e-04 3.34911979e+00] [ 1.45286811e-02 -4.25705575e-04 9.99894363e-01 2.11385867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199254154 meters 0.025856571776434377 Centerline is valid? [True, True] Translation: X:319.83, Y:3.34, Z:2.11 [[ 9.98339120e-01 -5.53241955e-02 -1.60696837e-02 3.19826389e+02] [ 5.53277744e-02 9.98468221e-01 -2.22124607e-04 3.34097982e+00] [ 1.60573574e-02 -6.67344150e-04 9.99870850e-01 2.11232179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259254154 meters 0.029733061347968215 Centerline is valid? [True, True] Translation: X:319.89, Y:3.33, Z:2.11 [[ 9.97824073e-01 -6.37383037e-02 -1.68685593e-02 3.19887414e+02] [ 6.37434453e-02 9.97966291e-01 -2.33240277e-04 3.33448324e+00] [ 1.68491199e-02 -8.42527323e-04 9.99857689e-01 2.11139213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319254154 meters 0.027509352054966397 Centerline is valid? [True, True] Translation: X:319.95, Y:3.34, Z:2.11 [[ 9.97610499e-01 -6.68773717e-02 -1.73409898e-02 3.19948141e+02] [ 6.68832830e-02 9.97760778e-01 -2.39496603e-04 3.33906359e+00] [ 1.73181763e-02 -9.20898000e-04 9.99849605e-01 2.11237117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379254154 meters 0.03301452888996633 Centerline is valid? [True, True] Translation: X:320.01, Y:3.33, Z:2.11 [[ 9.97526955e-01 -6.82362214e-02 -1.68461125e-02 3.20008903e+02] [ 6.82420015e-02 9.97668770e-01 -2.32164765e-04 3.33413265e+00] [ 1.68226824e-02 -9.18021824e-04 9.99858067e-01 2.11211617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439254154 meters 0.028834527987390092 Centerline is valid? [True, True] Translation: X:320.07, Y:3.34, Z:2.11 [[ 9.97568974e-01 -6.75672060e-02 -1.70532661e-02 3.20071123e+02] [ 6.75730490e-02 9.97714302e-01 -2.34007452e-04 3.34336806e+00] [ 1.70300987e-02 -9.18902612e-04 9.99854555e-01 2.11382415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters 0.02683605377779163 Centerline is valid? [True, True] Translation: X:320.13, Y:3.35, Z:2.12 [[ 9.97781878e-01 -6.45238288e-02 -1.63707175e-02 3.20133078e+02] [ 6.45288213e-02 9.97915819e-01 -2.23629384e-04 3.35114989e+00] [ 1.63510274e-02 -8.33249757e-04 9.99865966e-01 2.11500059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters 0.02640075701135071 Centerline is valid? [True, True] Translation: X:320.19, Y:3.36, Z:2.12 [[ 9.97940589e-01 -6.19851401e-02 -1.65052491e-02 3.20194374e+02] [ 6.19898807e-02 9.98076753e-01 -2.24729220e-04 3.35609263e+00] [ 1.64874353e-02 -7.98892016e-04 9.99863754e-01 2.11561884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters 0.025458027058060925 Centerline is valid? [True, True] Translation: X:320.26, Y:3.36, Z:2.12 [[ 9.98088445e-01 -5.92315774e-02 -1.76373512e-02 3.20255485e+02] [ 5.92365737e-02 9.98243944e-01 -2.39478801e-04 3.36161268e+00] [ 1.76205638e-02 -8.05755232e-04 9.99844421e-01 2.11516275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters 0.023249226130631333 Centerline is valid? [True, True] Translation: X:320.32, Y:3.37, Z:2.11 [[ 9.98317567e-01 -5.47076673e-02 -1.92121684e-02 3.20315710e+02] [ 5.47127647e-02 9.98502101e-01 -2.60593694e-04 3.37100676e+00] [ 1.91976470e-02 -7.90995589e-04 9.99815395e-01 2.11499021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters 0.02279375700408502 Centerline is valid? [True, True] Translation: X:320.38, Y:3.38, Z:2.12 [[ 9.98538145e-01 -5.04640810e-02 -1.93636115e-02 3.20376626e+02] [ 5.04684712e-02 9.98725620e-01 -2.62193123e-04 3.37630487e+00] [ 1.93521662e-02 -7.15442033e-04 9.99812473e-01 2.11533917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters 0.018847299937924417 Centerline is valid? [True, True] Translation: X:320.44, Y:3.39, Z:2.12 [[ 9.98943463e-01 -4.18272816e-02 -1.90377680e-02 3.20436497e+02] [ 4.18299631e-02 9.99124711e-01 -2.57510927e-04 3.39097305e+00] [ 1.90318755e-02 -5.39110277e-04 9.99818732e-01 2.11799642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters 0.016580959372726092 Centerline is valid? [True, True] Translation: X:320.50, Y:3.40, Z:2.12 [[ 9.99338408e-01 -3.20150890e-02 -1.72563140e-02 3.20497497e+02] [ 3.20158336e-02 9.99487335e-01 -2.33178092e-04 3.40213578e+00] [ 1.72549325e-02 -3.19451455e-04 9.99851072e-01 2.11988749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters 0.015732324307031687 Centerline is valid? [True, True] Translation: X:320.56, Y:3.41, Z:2.12 [[ 9.99449619e-01 -2.87081832e-02 -1.66222465e-02 3.20558578e+02] [ 2.87084252e-02 9.99587803e-01 -2.24108093e-04 3.40683460e+00] [ 1.66218286e-02 -2.53213773e-04 9.99861816e-01 2.12126828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters 0.014597928569530558 Centerline is valid? [True, True] Translation: X:320.62, Y:3.42, Z:2.12 [[ 9.99628496e-01 -2.12929368e-02 -1.70141125e-02 3.20619048e+02] [ 2.12921206e-02 9.99773271e-01 -2.29136915e-04 3.41597836e+00] [ 1.70151339e-02 -1.33214744e-04 9.99855223e-01 2.12215785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.039254154 meters 0.01457515067624393 Centerline is valid? [True, True] Translation: X:320.68, Y:3.42, Z:2.12 [[ 9.99666994e-01 -1.93929199e-02 -1.70239575e-02 3.20677360e+02] [ 1.93918178e-02 9.99811935e-01 -2.29830991e-04 3.41944028e+00] [ 1.70252130e-02 -1.00371026e-04 9.99855056e-01 2.12164676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.099254154 meters 0.014387350955240031 Centerline is valid? [True, True] Translation: X:320.74, Y:3.42, Z:2.12 [[ 9.99657478e-01 -1.97237117e-02 -1.72018241e-02 3.20735953e+02] [ 1.97225827e-02 9.99805463e-01 -2.35293148e-04 3.42183731e+00] [ 1.72031185e-02 -1.04051843e-04 9.99852010e-01 2.12259547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.159254154 meters 0.014543306590984035 Centerline is valid? [True, True] Translation: X:320.79, Y:3.42, Z:2.12 [[ 9.99633400e-01 -2.07596471e-02 -1.73810974e-02 3.20794474e+02] [ 2.07585733e-02 9.99784488e-01 -2.42213175e-04 3.42292848e+00] [ 1.73823798e-02 -1.18682405e-04 9.99848908e-01 2.12283540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.219254154 meters 0.01666709519749362 Centerline is valid? [True, True] Translation: X:320.85, Y:3.42, Z:2.12 [[ 9.99641011e-01 -1.97122391e-02 -1.81459871e-02 3.20853675e+02] [ 1.97108098e-02 9.99805690e-01 -2.57629333e-04 3.42478090e+00] [ 1.81475396e-02 -1.00135254e-04 9.99835315e-01 2.12296845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279254154 meters 0.014292486678287204 Centerline is valid? [True, True] Translation: X:320.91, Y:3.43, Z:2.12 [[ 9.99673724e-01 -1.86147856e-02 -1.74909949e-02 3.20912404e+02] [ 1.86132117e-02 9.99826727e-01 -2.52787858e-04 3.42673686e+00] [ 1.74926698e-02 -7.28582129e-05 9.99846989e-01 2.12474995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339254154 meters 0.014428869461191242 Centerline is valid? [True, True] Translation: X:320.97, Y:3.43, Z:2.13 [[ 9.99746819e-01 -1.52846260e-02 -1.65129875e-02 3.20971167e+02] [ 1.52827006e-02 9.99883183e-01 -2.42794560e-04 3.42735573e+00] [ 1.65147696e-02 -9.62995536e-06 9.99863622e-01 2.12566077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399254154 meters 0.014357305894528051 Centerline is valid? [True, True] Translation: X:321.03, Y:3.43, Z:2.13 [[ 9.99779168e-01 -1.40607089e-02 -1.56176458e-02 3.21028630e+02] [ 1.40587715e-02 9.99901143e-01 -2.33836097e-04 3.42742555e+00] [ 1.56193898e-02 1.42195447e-05 9.99878010e-01 2.12628825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459254154 meters 0.014492946181748626 Centerline is valid? [True, True] Translation: X:321.09, Y:3.42, Z:2.13 [[ 9.99717016e-01 -1.73028624e-02 -1.63247870e-02 3.21086708e+02] [ 1.73010994e-02 9.99850294e-01 -2.49224180e-04 3.42230677e+00] [ 1.63266554e-02 -3.32831092e-05 9.99866711e-01 2.12605190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519254154 meters 0.014825858476670598 Centerline is valid? [True, True] Translation: X:321.15, Y:3.42, Z:2.13 [[ 9.99591016e-01 -2.31335959e-02 -1.68118496e-02 3.21145387e+02] [ 2.31325048e-02 9.99732374e-01 -2.59384233e-04 3.41578630e+00] [ 1.68133508e-02 -1.29622042e-04 9.99858637e-01 2.12571632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579254154 meters 0.01645188990156758 Centerline is valid? [True, True] Translation: X:321.21, Y:3.40, Z:2.13 [[ 9.99215096e-01 -3.55136675e-02 -1.75490929e-02 3.21205531e+02] [ 3.55143743e-02 9.99369129e-01 -2.71468854e-04 3.40271102e+00] [ 1.75476626e-02 -3.51989278e-04 9.99845966e-01 2.12549855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639254154 meters 0.019897702277501705 Centerline is valid? [True, True] Translation: X:321.26, Y:3.39, Z:2.12 [[ 9.98826025e-01 -4.48354580e-02 -1.83399159e-02 3.21264944e+02] [ 4.48377948e-02 9.98994240e-01 -2.83968631e-04 3.39180545e+00] [ 1.83342022e-02 -5.38686127e-04 9.99831769e-01 2.12447734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699254154 meters 0.0227276290669387 Centerline is valid? [True, True] Translation: X:321.33, Y:3.38, Z:2.13 [[ 9.98046681e-01 -5.94258413e-02 -1.92715271e-02 3.21325250e+02] [ 5.94311357e-02 9.98232363e-01 -2.98383265e-04 3.38208132e+00] [ 1.92551938e-02 -8.47528316e-04 9.99814242e-01 2.12602635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759254154 meters 0.02762863512808976 Centerline is valid? [True, True] Translation: X:321.39, Y:3.37, Z:2.13 [[ 9.97296364e-01 -7.07091706e-02 -2.00043810e-02 3.21385813e+02] [ 7.07171398e-02 9.97496361e-01 -3.09628700e-04 3.37085056e+00] [ 1.99761908e-02 -1.10586103e-03 9.99799844e-01 2.12699082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819254154 meters 0.029863433344851874 Centerline is valid? [True, True] Translation: X:321.45, Y:3.37, Z:2.13 [[ 9.96948772e-01 -7.52190930e-02 -2.08622599e-02 3.21446114e+02] [ 7.52287461e-02 9.97166251e-01 -3.22829677e-04 3.36666947e+00] [ 2.08274244e-02 -1.24759700e-03 9.99782307e-01 2.12757554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879254154 meters 0.029514180295596104 Centerline is valid? [True, True] Translation: X:321.51, Y:3.37, Z:2.13 [[ 9.96759328e-01 -7.77084838e-02 -2.07902249e-02 3.21507582e+02] [ 7.77186210e-02 9.96975282e-01 -3.21164903e-04 3.36633293e+00] [ 2.07522976e-02 -1.29566350e-03 9.99783808e-01 2.12876673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939254154 meters 0.030146842005721253 Centerline is valid? [True, True] Translation: X:321.57, Y:3.37, Z:2.13 [[ 9.96728167e-01 -7.77998795e-02 -2.19120969e-02 3.21569485e+02] [ 7.78111933e-02 9.96968056e-01 -3.37099750e-04 3.36588491e+00] [ 2.18718870e-02 -1.36900959e-03 9.99759844e-01 2.12837367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters 0.032841503534012155 Centerline is valid? [True, True] Translation: X:321.63, Y:3.36, Z:2.13 [[ 9.96778364e-01 -7.63966776e-02 -2.44221218e-02 3.21631151e+02] [ 7.64103852e-02 9.97076383e-01 -3.72784192e-04 3.36408449e+00] [ 2.43792003e-02 -1.49452051e-03 9.99701666e-01 2.12658630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters 0.029777457147608967 Centerline is valid? [True, True] Translation: X:321.69, Y:3.37, Z:2.13 [[ 9.96830857e-01 -7.56272169e-02 -2.46732134e-02 3.21693333e+02] [ 7.56410283e-02 9.97135043e-01 -3.74379581e-04 3.37030194e+00] [ 2.46308390e-02 -1.49311412e-03 9.99695500e-01 2.12826351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters 0.028421830480214252 Centerline is valid? [True, True] Translation: X:321.76, Y:3.38, Z:2.13 [[ 9.97003418e-01 -7.33926959e-02 -2.44478541e-02 3.21755176e+02] [ 7.34056228e-02 9.97302100e-01 -3.69476904e-04 3.37528550e+00] [ 2.44090132e-02 -1.42624022e-03 9.99701038e-01 2.12899802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters 0.028950802658350993 Centerline is valid? [True, True] Translation: X:321.81, Y:3.38, Z:2.13 [[ 9.97252048e-01 -6.95995028e-02 -2.53823146e-02 3.21814894e+02] [ 6.96122224e-02 9.97574053e-01 -3.83209950e-04 3.37898846e+00] [ 2.53474097e-02 -1.38476242e-03 9.99677744e-01 2.12842361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters 0.027079757285904688 Centerline is valid? [True, True] Translation: X:321.88, Y:3.39, Z:2.13 [[ 9.97516015e-01 -6.61684394e-02 -2.41565347e-02 3.21875134e+02] [ 6.61789562e-02 9.97807703e-01 -3.64703717e-04 3.38531607e+00] [ 2.41277083e-02 -1.23485645e-03 9.99708122e-01 2.12923315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters 0.023156049546617017 Centerline is valid? [True, True] Translation: X:321.94, Y:3.40, Z:2.13 [[ 9.97890795e-01 -6.06622208e-02 -2.31096558e-02 3.21935118e+02] [ 6.06703731e-02 9.98157795e-01 -3.48844713e-04 3.39662941e+00] [ 2.30882448e-02 -1.05396251e-03 9.99732875e-01 2.13174542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters 0.02146422126137442 Centerline is valid? [True, True] Translation: X:322.00, Y:3.40, Z:2.13 [[ 9.98070381e-01 -5.77240722e-02 -2.28789399e-02 3.21996883e+02] [ 5.77313134e-02 9.98332097e-01 -3.44424883e-04 3.40327576e+00] [ 2.28606617e-02 -9.77070979e-04 9.99738183e-01 2.13303791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters 0.022063959253699368 Centerline is valid? [True, True] Translation: X:322.06, Y:3.41, Z:2.13 [[ 9.98233323e-01 -5.48677825e-02 -2.27982319e-02 3.22057105e+02] [ 5.48742446e-02 9.98493215e-01 -3.42529991e-04 3.40714816e+00] [ 2.27826737e-02 -9.09110901e-04 9.99740028e-01 2.13173715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.479254154 meters 0.02201162387800323 Centerline is valid? [True, True] Translation: X:322.12, Y:3.41, Z:2.13 [[ 9.98281589e-01 -5.45152525e-02 -2.14931650e-02 3.22119470e+02] [ 5.45209395e-02 9.98512576e-01 -3.21731772e-04 3.41169112e+00] [ 2.14787349e-02 -8.50648646e-04 9.99768943e-01 2.13218435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.539254154 meters 0.02101452399121707 Centerline is valid? [True, True] Translation: X:322.18, Y:3.42, Z:2.13 [[ 9.98293995e-01 -5.48797800e-02 -1.99326408e-02 3.22181851e+02] [ 5.48847720e-02 9.98492651e-01 -2.96936449e-04 3.41615884e+00] [ 1.99188912e-02 -7.97568572e-04 9.99801281e-01 2.13374247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.599254154 meters 0.023266413527706472 Centerline is valid? [True, True] Translation: X:322.24, Y:3.42, Z:2.13 [[ 9.98293578e-01 -5.54156811e-02 -1.84128658e-02 3.22243349e+02] [ 5.54200519e-02 9.98463091e-01 -2.73190974e-04 3.41519543e+00] [ 1.83997060e-02 -7.47717185e-04 9.99830431e-01 2.13361602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.659254154 meters 0.02361300440958764 Centerline is valid? [True, True] Translation: X:322.31, Y:3.42, Z:2.13 [[ 9.98206920e-01 -5.73600394e-02 -1.71105345e-02 3.22305574e+02] [ 5.73641174e-02 9.98353291e-01 -2.52775680e-04 3.41796567e+00] [ 1.70968576e-02 -7.29208276e-04 9.99853572e-01 2.13427132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.719254154 meters 0.024891264394560967 Centerline is valid? [True, True] Translation: X:322.37, Y:3.42, Z:2.13 [[ 9.98100662e-01 -5.92111496e-02 -1.70031786e-02 3.22367992e+02] [ 5.92154653e-02 9.98245193e-01 -2.49974998e-04 3.41829209e+00] [ 1.69881426e-02 -7.57350922e-04 9.99855404e-01 2.13409753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779254154 meters 0.02751662061917302 Centerline is valid? [True, True] Translation: X:322.43, Y:3.42, Z:2.13 [[ 9.97897942e-01 -6.28507186e-02 -1.57950836e-02 3.22429061e+02] [ 6.28549070e-02 9.98022649e-01 -2.31610661e-04 3.41696083e+00] [ 1.57784080e-02 -7.61674705e-04 9.99875223e-01 2.13308764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839254154 meters 0.026210636816690107 Centerline is valid? [True, True] Translation: X:322.49, Y:3.42, Z:2.13 [[ 9.97764230e-01 -6.50705279e-02 -1.52436446e-02 3.22491383e+02] [ 6.50746985e-02 9.97880371e-01 -2.22789351e-04 3.42015349e+00] [ 1.52258307e-02 -7.69684331e-04 9.99883784e-01 2.13339289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899254154 meters 0.025639807908144935 Centerline is valid? [True, True] Translation: X:322.55, Y:3.42, Z:2.13 [[ 9.97671866e-01 -6.64874440e-02 -1.51745650e-02 3.22552952e+02] [ 6.64917548e-02 9.97786950e-01 -2.20820174e-04 3.42330026e+00] [ 1.51556647e-02 -7.88677383e-04 9.99884835e-01 2.13324416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959254154 meters 0.02853210388268921 Centerline is valid? [True, True] Translation: X:322.61, Y:3.42, Z:2.13 [[ 9.97774247e-01 -6.48027854e-02 -1.57210084e-02 3.22614413e+02] [ 6.48072177e-02 9.97897777e-01 -2.27890251e-04 3.42215230e+00] [ 1.57027272e-02 -7.91451788e-04 9.99876391e-01 2.13125724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019254154 meters 0.02446777869220518 Centerline is valid? [True, True] Translation: X:322.68, Y:3.43, Z:2.13 [[ 9.97974232e-01 -6.17544669e-02 -1.52910832e-02 3.22675604e+02] [ 6.17583133e-02 9.98091109e-01 -2.20984639e-04 3.43119046e+00] [ 1.52755410e-02 -7.23814530e-04 9.99883060e-01 2.13213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079254154 meters 0.021634511467374194 Centerline is valid? [True, True] Translation: X:322.74, Y:3.44, Z:2.13 [[ 9.98451211e-01 -5.39315640e-02 -1.36589266e-02 3.22736260e+02] [ 5.39339050e-02 9.98544488e-01 -1.97179919e-04 3.44042451e+00] [ 1.36496801e-02 -5.39804721e-04 9.99906693e-01 2.13422489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139254154 meters 0.02059432869358775 Centerline is valid? [True, True] Translation: X:322.80, Y:3.45, Z:2.14 [[ 9.98805778e-01 -4.74555939e-02 -1.16183197e-02 3.22796313e+02] [ 4.74568495e-02 9.98873275e-01 -1.67756773e-04 3.44608184e+00] [ 1.16131900e-02 -3.83812414e-04 9.99932491e-01 2.13532756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199254154 meters 0.01650453292269385 Centerline is valid? [True, True] Translation: X:322.86, Y:3.46, Z:2.14 [[ 9.99166858e-01 -3.90290338e-02 -1.19299539e-02 3.22856979e+02] [ 3.90297579e-02 9.99238034e-01 -1.72206466e-04 3.45755943e+00] [ 1.19275847e-02 -2.93560219e-04 9.99928821e-01 2.13528270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259254154 meters 0.015850751450991855 Centerline is valid? [True, True] Translation: X:322.92, Y:3.46, Z:2.13 [[ 9.99295153e-01 -3.52749504e-02 -1.28403780e-02 3.22919651e+02] [ 3.52754883e-02 9.99377609e-01 -1.84662364e-04 3.46158068e+00] [ 1.28389002e-02 -2.68418398e-04 9.99917542e-01 2.13397857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319254154 meters 0.015786568233681356 Centerline is valid? [True, True] Translation: X:322.98, Y:3.46, Z:2.13 [[ 9.99337852e-01 -3.33007000e-02 -1.46602096e-02 3.22981577e+02] [ 3.33012073e-02 9.99445339e-01 -2.09573141e-04 3.46455665e+00] [ 1.46590570e-02 -2.78768305e-04 9.99892511e-01 2.13140055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379254154 meters 0.015789493694604362 Centerline is valid? [True, True] Translation: X:323.04, Y:3.47, Z:2.13 [[ 9.99335698e-01 -3.29775822e-02 -1.55126591e-02 3.23043963e+02] [ 3.29781289e-02 9.99456049e-01 -2.20631830e-04 3.46566109e+00] [ 1.55114969e-02 -2.91093207e-04 9.99879647e-01 2.13086010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439254154 meters 0.014924631047120931 Centerline is valid? [True, True] Translation: X:323.11, Y:3.47, Z:2.13 [[ 9.99346524e-01 -3.28161090e-02 -1.51535097e-02 3.23106482e+02] [ 3.28166287e-02 9.99461366e-01 -2.14427765e-04 3.47072469e+00] [ 1.51523842e-02 -2.82999458e-04 9.99885156e-01 2.13229020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters 0.015033286186897182 Centerline is valid? [True, True] Translation: X:323.17, Y:3.47, Z:2.13 [[ 9.99340730e-01 -3.34146861e-02 -1.41973016e-02 3.23168191e+02] [ 3.34152172e-02 9.99441536e-01 -1.99868199e-04 3.47214553e+00] [ 1.41960515e-02 -2.74669487e-04 9.99899193e-01 2.13260782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters 0.01686505807903166 Centerline is valid? [True, True] Translation: X:323.23, Y:3.47, Z:2.13 [[ 9.99274884e-01 -3.56590076e-02 -1.33469523e-02 3.23230170e+02] [ 3.56596899e-02 9.99363974e-01 -1.86939376e-04 3.47172240e+00] [ 1.33451294e-02 -2.89144357e-04 9.99910908e-01 2.13268652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters 0.017585629909072142 Centerline is valid? [True, True] Translation: X:323.29, Y:3.47, Z:2.13 [[ 9.98945241e-01 -4.43688560e-02 -1.18241192e-02 3.23291677e+02] [ 4.43700083e-02 9.99015153e-01 -1.64982042e-04 3.46896409e+00] [ 1.18197944e-02 -3.59828244e-04 9.99930079e-01 2.13421992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters 0.02435526999100484 Centerline is valid? [True, True] Translation: X:323.35, Y:3.46, Z:2.13 [[ 9.98320657e-01 -5.66921341e-02 -1.19108126e-02 3.23351522e+02] [ 5.66941844e-02 9.98391577e-01 -1.65713691e-04 3.45825280e+00] [ 1.19010497e-02 -5.09838405e-04 9.99929050e-01 2.13401436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters 0.02783894011917521 Centerline is valid? [True, True] Translation: X:323.41, Y:3.45, Z:2.13 [[ 9.97821388e-01 -6.47121713e-02 -1.28379096e-02 3.23412411e+02] [ 6.47152200e-02 9.97903757e-01 -1.78233510e-04 3.45255706e+00] [ 1.28225321e-02 -6.52962934e-04 9.99917575e-01 2.13381520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters 0.02864247244727056 Centerline is valid? [True, True] Translation: X:323.47, Y:3.45, Z:2.13 [[ 9.97368867e-01 -7.09968150e-02 -1.46558671e-02 3.23473184e+02] [ 7.10014664e-02 9.97476190e-01 -2.03358387e-04 3.45006489e+00] [ 1.46333163e-02 -8.37764730e-04 9.99892576e-01 2.13291388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters 0.027546324103845613 Centerline is valid? [True, True] Translation: X:323.53, Y:3.45, Z:2.13 [[ 9.97504806e-01 -6.89947318e-02 -1.49629257e-02 3.23534687e+02] [ 6.89993607e-02 9.97616683e-01 -2.07282025e-04 3.45305641e+00] [ 1.49415657e-02 -8.25667493e-04 9.99888028e-01 2.13332465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters 0.026491977622274274 Centerline is valid? [True, True] Translation: X:323.60, Y:3.46, Z:2.13 [[ 9.97677027e-01 -6.65067078e-02 -1.47447766e-02 3.23596461e+02] [ 6.65109419e-02 9.97785675e-01 -2.03569890e-04 3.45567962e+00] [ 1.47256656e-02 -7.77591974e-04 9.99891269e-01 2.13496882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.979254154 meters 0.02461771651331458 Centerline is valid? [True, True] Translation: X:323.66, Y:3.46, Z:2.14 [[ 9.98133970e-01 -5.94237802e-02 -1.40496192e-02 3.23657165e+02] [ 5.94269298e-02 9.98232639e-01 -1.93567281e-04 3.46185578e+00] [ 1.40362909e-02 -6.41719653e-04 9.99901280e-01 2.13670604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.039254154 meters 0.022637088613004307 Centerline is valid? [True, True] Translation: X:323.72, Y:3.47, Z:2.14 [[ 9.98501793e-01 -5.29754559e-02 -1.37029068e-02 3.23717163e+02] [ 5.29778466e-02 9.98595670e-01 -1.88725740e-04 3.46764529e+00] [ 1.36936612e-02 -5.37507503e-04 9.99906093e-01 2.13750965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.099254154 meters 0.019044537182506073 Centerline is valid? [True, True] Translation: X:323.78, Y:3.48, Z:2.14 [[ 9.99023294e-01 -4.18832723e-02 -1.40800867e-02 3.23778126e+02] [ 4.18846975e-02 9.99122432e-01 -1.93780253e-04 3.47857416e+00] [ 1.40758466e-02 -3.96149183e-04 9.99900852e-01 2.13816668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.159254154 meters 0.01542164415123176 Centerline is valid? [True, True] Translation: X:323.84, Y:3.49, Z:2.14 [[ 9.99286819e-01 -3.48454393e-02 -1.45481643e-02 3.23839658e+02] [ 3.48462233e-02 9.99392666e-01 -1.99670579e-04 3.48866796e+00] [ 1.45462863e-02 -3.07420403e-04 9.99894150e-01 2.13973956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.219254154 meters 0.013854797514234548 Centerline is valid? [True, True] Translation: X:323.90, Y:3.50, Z:2.14 [[ 9.99566171e-01 -2.46842367e-02 -1.60673085e-02 3.23901413e+02] [ 2.46838955e-02 9.99695282e-01 -2.19584894e-04 3.49690697e+00] [ 1.60678327e-02 -1.77114131e-04 9.99870888e-01 2.13889971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279254154 meters 0.013392608591741904 Centerline is valid? [True, True] Translation: X:323.96, Y:3.50, Z:2.14 [[ 9.99692972e-01 -1.75494272e-02 -1.74922895e-02 3.23961731e+02] [ 1.75479377e-02 9.99845995e-01 -2.38651385e-04 3.50327691e+00] [ 1.74937838e-02 -6.83754943e-05 9.99846970e-01 2.13934256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339254154 meters 0.013692545759125754 Centerline is valid? [True, True] Translation: X:324.02, Y:3.51, Z:2.14 [[ 9.99819009e-01 -6.56700805e-03 -1.78556480e-02 3.24020225e+02] [ 6.56369361e-03 9.99978429e-01 -2.44222348e-04 3.51238211e+00] [ 1.78568666e-02 1.26979143e-04 9.99840545e-01 2.14047402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399254154 meters 0.014786401821393862 Centerline is valid? [True, True] Translation: X:324.08, Y:3.52, Z:2.14 [[ 9.99858886e-01 1.18473579e-03 -1.67572236e-02 3.24079066e+02] [-1.18879246e-03 9.99999266e-01 -2.32125926e-04 3.51701348e+00] [ 1.67569363e-02 2.52014030e-04 9.99859561e-01 2.14217590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459254154 meters 0.0149507629505503 Centerline is valid? [True, True] Translation: X:324.14, Y:3.52, Z:2.14 [[ 9.99871470e-01 2.94651896e-03 -1.57594819e-02 3.24138214e+02] [-2.95038802e-03 9.99995623e-01 -2.22262421e-04 3.51721547e+00] [ 1.57587580e-02 2.68730440e-04 9.99875787e-01 2.14298696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519254154 meters 0.015058221564679735 Centerline is valid? [True, True] Translation: X:324.20, Y:3.51, Z:2.14 [[ 9.99895262e-01 9.12459822e-04 -1.44441295e-02 3.24196065e+02] [-9.15530782e-04 9.99999560e-01 -2.05998660e-04 3.51419511e+00] [ 1.44439352e-02 2.19201130e-04 9.99895657e-01 2.14342137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579254154 meters 0.01437117068744178 Centerline is valid? [True, True] Translation: X:324.25, Y:3.51, Z:2.14 [[ 9.99899259e-01 -1.88211119e-03 -1.40687273e-02 3.24254862e+02] [ 1.87945864e-03 9.99998213e-01 -2.01761323e-04 3.50937439e+00] [ 1.40690819e-02 1.75299407e-04 9.99901010e-01 2.14422877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639254154 meters 0.013697478893103403 Centerline is valid? [True, True] Translation: X:324.31, Y:3.50, Z:2.14 [[ 9.99872867e-01 -7.90756343e-03 -1.38462968e-02 3.24314022e+02] [ 7.90555823e-03 9.99968731e-01 -1.99546763e-04 3.50020812e+00] [ 1.38474417e-02 9.00586884e-05 9.99904116e-01 2.14485533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699254154 meters 0.013417732266977794 Centerline is valid? [True, True] Translation: X:324.37, Y:3.49, Z:2.15 [[ 9.99804007e-01 -1.47372106e-02 -1.32197432e-02 3.24373066e+02] [ 1.47359675e-02 9.99891401e-01 -1.91440685e-04 3.48748274e+00] [ 1.32211288e-02 -3.40254300e-06 9.99912597e-01 2.14569543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759254154 meters 0.013787042183229358 Centerline is valid? [True, True] Translation: X:324.43, Y:3.48, Z:2.15 [[ 9.99775040e-01 -1.67336658e-02 -1.30327994e-02 3.24433174e+02] [ 1.67326180e-02 9.99859982e-01 -1.89440185e-04 3.48337579e+00] [ 1.30341446e-02 -2.86752846e-05 9.99915052e-01 2.14580107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819254154 meters 0.014535971657163525 Centerline is valid? [True, True] Translation: X:324.49, Y:3.47, Z:2.15 [[ 9.99662504e-01 -2.26678000e-02 -1.26905333e-02 3.24492983e+02] [ 2.26672789e-02 9.99743047e-01 -1.84919879e-04 3.46983933e+00] [ 1.26914641e-02 -1.02802388e-04 9.99919455e-01 2.14517777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879254154 meters 0.016692998162944252 Centerline is valid? [True, True] Translation: X:324.55, Y:3.46, Z:2.14 [[ 9.99508395e-01 -2.82934000e-02 -1.35074454e-02 3.24554680e+02] [ 2.82933230e-02 9.99599644e-01 -1.96835210e-04 3.45736916e+00] [ 1.35076068e-02 -1.85432072e-04 9.99908751e-01 2.14390107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939254154 meters 0.015644376850043277 Centerline is valid? [True, True] Translation: X:324.62, Y:3.45, Z:2.14 [[ 9.99359674e-01 -3.29805118e-02 -1.38754732e-02 3.24616297e+02] [ 3.29808893e-02 9.99455962e-01 -2.01682722e-04 3.44876118e+00] [ 1.38745760e-02 -2.56071865e-04 9.99903711e-01 2.14280698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters 0.01702746512933788 Centerline is valid? [True, True] Translation: X:324.68, Y:3.44, Z:2.14 [[ 9.99056444e-01 -4.06516886e-02 -1.52859999e-02 3.24678010e+02] [ 4.06530529e-02 9.99173298e-01 -2.21596932e-04 3.43643862e+00] [ 1.52823712e-02 -4.00034720e-04 9.99883138e-01 2.14211308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters 0.018768775628919872 Centerline is valid? [True, True] Translation: X:324.74, Y:3.43, Z:2.14 [[ 9.98779495e-01 -4.68226533e-02 -1.57213257e-02 3.24739296e+02] [ 4.68248666e-02 9.98903088e-01 -2.27484463e-04 3.42798457e+00] [ 1.57147322e-02 -5.08942161e-04 9.99876386e-01 2.14184655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters 0.02258672166560017 Centerline is valid? [True, True] Translation: X:324.80, Y:3.42, Z:2.14 [[ 9.98254396e-01 -5.66702180e-02 -1.66327278e-02 3.24800453e+02] [ 5.66740665e-02 9.98392705e-01 -2.40263689e-04 3.41691159e+00] [ 1.66196099e-02 -7.02800040e-04 9.99861638e-01 2.14136740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters 0.026217182909473825 Centerline is valid? [True, True] Translation: X:324.86, Y:3.41, Z:2.14 [[ 9.97792799e-01 -6.42239610e-02 -1.68763842e-02 3.24859894e+02] [ 6.42290045e-02 9.97935156e-01 -2.43552694e-04 3.40688824e+00] [ 1.68571791e-02 -8.40938235e-04 9.99857554e-01 2.14136270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters 0.027435544895815185 Centerline is valid? [True, True] Translation: X:324.92, Y:3.40, Z:2.14 [[ 9.97511852e-01 -6.84272318e-02 -1.69652427e-02 3.24921358e+02] [ 6.84329416e-02 9.97655688e-01 -2.44429245e-04 3.40269138e+00] [ 1.69421965e-02 -9.17160396e-04 9.99856050e-01 2.14211502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters 0.029531175873672738 Centerline is valid? [True, True] Translation: X:324.98, Y:3.40, Z:2.14 [[ 9.97523820e-01 -6.81527656e-02 -1.73617312e-02 3.24982551e+02] [ 6.81587185e-02 9.97674459e-01 -2.49304154e-04 3.40040206e+00] [ 1.73383465e-02 -9.34666516e-04 9.99849243e-01 2.14183290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters 0.025173080673259615 Centerline is valid? [True, True] Translation: X:325.04, Y:3.41, Z:2.14 [[ 9.97707127e-01 -6.56323968e-02 -1.65190098e-02 3.25044074e+02] [ 6.56374586e-02 9.97843509e-01 -2.36149058e-04 3.40624822e+00] [ 1.64988858e-02 -8.48658227e-04 9.99863524e-01 2.14402991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters 0.024088872038670196 Centerline is valid? [True, True] Translation: X:325.11, Y:3.41, Z:2.14 [[ 9.97919396e-01 -6.23421064e-02 -1.64420577e-02 3.25105998e+02] [ 6.23466923e-02 9.98054525e-01 -2.34022994e-04 3.40853783e+00] [ 1.64246596e-02 -7.91571830e-04 9.99864793e-01 2.14457421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.479254154 meters 0.021939119590671248 Centerline is valid? [True, True] Translation: X:325.17, Y:3.42, Z:2.15 [[ 9.98405325e-01 -5.38867258e-02 -1.68234434e-02 3.25166408e+02] [ 5.38903348e-02 9.98546831e-01 -2.39072842e-04 3.41626510e+00] [ 1.68118789e-02 -6.67929397e-04 9.99858447e-01 2.14509750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.539254154 meters 0.018797489658943248 Centerline is valid? [True, True] Translation: X:325.23, Y:3.43, Z:2.15 [[ 9.98946081e-01 -4.26307333e-02 -1.70102170e-02 3.25226859e+02] [ 4.26327920e-02 9.99090780e-01 -2.41743389e-04 3.42760096e+00] [ 1.70050567e-02 -4.83704434e-04 9.99855287e-01 2.14660935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.599254154 meters 0.016105268720981218 Centerline is valid? [True, True] Translation: X:325.29, Y:3.44, Z:2.15 [[ 9.99246797e-01 -3.48963694e-02 -1.69729523e-02 3.25287286e+02] [ 3.48973036e-02 9.99390874e-01 -2.41221339e-04 3.43566743e+00] [ 1.69710313e-02 -3.51270618e-04 9.99855920e-01 2.14781237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.659254154 meters 0.0147085633976095 Centerline is valid? [True, True] Translation: X:325.35, Y:3.44, Z:2.15 [[ 9.99516990e-01 -2.59861220e-02 -1.70443162e-02 3.25348129e+02] [ 2.59857720e-02 9.99662284e-01 -2.42043781e-04 3.44427267e+00] [ 1.70448498e-02 -2.00982844e-04 9.99854706e-01 2.14780061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.719254154 meters 0.014124470025607476 Centerline is valid? [True, True] Translation: X:325.41, Y:3.45, Z:2.15 [[ 9.99656113e-01 -1.96647750e-02 -1.73479538e-02 3.25408045e+02] [ 1.96634559e-02 9.99806625e-01 -2.46622464e-04 3.45081114e+00] [ 1.73494489e-02 -9.45830716e-05 9.99849483e-01 2.14812438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779254154 meters 0.014748297293420575 Centerline is valid? [True, True] Translation: X:325.47, Y:3.45, Z:2.15 [[ 9.99712936e-01 -1.60825888e-02 -1.77593740e-02 3.25465651e+02] [ 1.60805790e-02 9.99870666e-01 -2.55976356e-04 3.45433922e+00] [ 1.77611939e-02 -2.96781419e-05 9.99842257e-01 2.14834018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839254154 meters 0.014163583296045603 Centerline is valid? [True, True] Translation: X:325.52, Y:3.46, Z:2.15 [[ 9.99804598e-01 -1.06036894e-02 -1.66831827e-02 3.25523035e+02] [ 1.06011010e-02 9.99943777e-01 -2.43578256e-04 3.45796585e+00] [ 1.66848275e-02 6.66705550e-05 9.99860796e-01 2.14992755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899254154 meters 0.014409644103001175 Centerline is valid? [True, True] Translation: X:325.58, Y:3.46, Z:2.15 [[ 9.99858118e-01 -6.77197390e-03 -1.54234806e-02 3.25580269e+02] [ 6.76927390e-03 9.99977062e-01 -2.27258192e-04 3.46006689e+00] [ 1.54246658e-02 1.22820183e-04 9.99881025e-01 2.15152064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959254154 meters 0.014174353691850957 Centerline is valid? [True, True] Translation: X:325.64, Y:3.46, Z:2.15 [[ 9.99867658e-01 -8.20744687e-03 -1.40464739e-02 3.25638841e+02] [ 8.20530969e-03 9.99966314e-01 -2.09775623e-04 3.45582351e+00] [ 1.40477225e-02 9.44921922e-05 9.99901321e-01 2.15314728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019254154 meters 0.014960929423218274 Centerline is valid? [True, True] Translation: X:325.70, Y:3.44, Z:2.15 [[ 9.99742072e-01 -1.79955384e-02 -1.38545809e-02 3.25698122e+02] [ 1.79943679e-02 9.99838066e-01 -2.09146988e-04 3.44422162e+00] [ 1.38561011e-02 -4.02113840e-05 9.99903999e-01 2.15162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079254154 meters 0.0147694610181954 Centerline is valid? [True, True] Translation: X:325.76, Y:3.43, Z:2.15 [[ 9.99442440e-01 -3.01812294e-02 -1.42794518e-02 3.25758229e+02] [ 3.01812180e-02 9.99544420e-01 -2.16343642e-04 3.43164396e+00] [ 1.42794759e-02 -2.14748232e-04 9.99898020e-01 2.15068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139254154 meters 0.0147694610181954 Centerline is valid? [True, True] Translation: X:325.82, Y:3.43, Z:2.15 [[ 9.99443555e-01 -3.01442760e-02 -1.42794523e-02 3.25819075e+02] [ 3.01442613e-02 9.99545535e-01 -2.16311405e-04 3.43253706e+00] [ 1.42794834e-02 -2.14252503e-04 9.99898020e-01 2.15109806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199254154 meters 0.01520843789989255 Centerline is valid? [True, True] Translation: X:325.88, Y:3.43, Z:2.15 [[ 9.99334479e-01 -3.35862598e-02 -1.42324205e-02 3.25880528e+02] [ 3.35866016e-02 9.99435788e-01 -2.15070519e-04 3.42841664e+00] [ 1.42316138e-02 -2.63091251e-04 9.99898691e-01 2.15113951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259254154 meters 0.016135083688585027 Centerline is valid? [True, True] Translation: X:325.94, Y:3.42, Z:2.15 [[ 9.99289495e-01 -3.51026890e-02 -1.37225042e-02 3.25940559e+02] [ 3.51031548e-02 9.99383673e-01 -2.06994334e-04 3.42226123e+00] [ 1.37213127e-02 -2.74855924e-04 9.99905821e-01 2.15013899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319254154 meters 0.016645067058337987 Centerline is valid? [True, True] Translation: X:326.00, Y:3.42, Z:2.15 [[ 9.99394640e-01 -3.24279212e-02 -1.26009325e-02 3.26001984e+02] [ 3.24281055e-02 9.99474053e-01 -1.89746201e-04 3.42169010e+00] [ 1.26004582e-02 -2.18993033e-04 9.99920587e-01 2.14994358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379254154 meters 0.014704897747910105 Centerline is valid? [True, True] Translation: X:326.06, Y:3.42, Z:2.15 [[ 9.99464241e-01 -3.02067301e-02 -1.26009834e-02 3.26063859e+02] [ 3.02067447e-02 9.99543654e-01 -1.89209691e-04 3.42148521e+00] [ 1.26009484e-02 -1.91526367e-04 9.99920587e-01 2.15017823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439254154 meters 0.016140393084743604 Centerline is valid? [True, True] Translation: X:326.12, Y:3.42, Z:2.15 [[ 9.99559726e-01 -2.69332894e-02 -1.24479866e-02 3.26124553e+02] [ 2.69330539e-02 9.99637222e-01 -1.86585590e-04 3.41974750e+00] [ 1.24484962e-02 -1.48758854e-04 9.99922503e-01 2.14932060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters 0.014253413022567461 Centerline is valid? [True, True] Translation: X:326.18, Y:3.42, Z:2.15 [[ 9.99532431e-01 -2.77089666e-02 -1.29279497e-02 3.26184969e+02] [ 2.77087775e-02 9.99616019e-01 -1.93779862e-04 3.41853341e+00] [ 1.29283551e-02 -1.64528426e-04 9.99916412e-01 2.15040444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters 0.015254855321383468 Centerline is valid? [True, True] Translation: X:326.24, Y:3.41, Z:2.15 [[ 9.99387950e-01 -3.21236022e-02 -1.38491796e-02 3.26244315e+02] [ 3.21238070e-02 9.99483876e-01 -2.07719145e-04 3.41094714e+00] [ 1.38487044e-02 -2.37296364e-04 9.99904074e-01 2.14950620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters 0.016940892028407952 Centerline is valid? [True, True] Translation: X:326.31, Y:3.40, Z:2.15 [[ 9.99078270e-01 -4.03264482e-02 -1.47101390e-02 3.26305345e+02] [ 4.03275680e-02 9.99186488e-01 -2.20616170e-04 3.40324242e+00] [ 1.47070688e-02 -3.72811310e-04 9.99891776e-01 2.14882615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters 0.017495530105151768 Centerline is valid? [True, True] Translation: X:326.37, Y:3.40, Z:2.15 [[ 9.98971060e-01 -4.29411318e-02 -1.45904494e-02 3.26366988e+02] [ 4.29425182e-02 9.99077521e-01 -2.18407451e-04 3.40153980e+00] [ 1.45863687e-02 -4.08367915e-04 9.99893530e-01 2.14901752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters 0.020468627888496103 Centerline is valid? [True, True] Translation: X:326.43, Y:3.40, Z:2.15 [[ 9.98648681e-01 -4.97983669e-02 -1.48638665e-02 3.26427526e+02] [ 4.98005712e-02 9.98759157e-01 -2.22031007e-04 3.39504600e+00] [ 1.48564795e-02 -5.18498068e-04 9.99889502e-01 2.14943092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters 0.02208551285842427 Centerline is valid? [True, True] Translation: X:326.49, Y:3.39, Z:2.15 [[ 9.98501960e-01 -5.27074379e-02 -1.46888192e-02 3.26488679e+02] [ 5.27099117e-02 9.98609842e-01 -2.18954598e-04 3.39128148e+00] [ 1.46799399e-02 -5.55619766e-04 9.99892090e-01 2.15023180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters 0.023014474639415246 Centerline is valid? [True, True] Translation: X:326.55, Y:3.39, Z:2.15 [[ 9.98428193e-01 -5.44566095e-02 -1.32522319e-02 3.26550455e+02] [ 5.44587843e-02 9.98516000e-01 -1.96971766e-04 3.38957269e+00] [ 1.32432920e-02 -5.25038275e-04 9.99912166e-01 2.15242679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters 0.022867928058841115 Centerline is valid? [True, True] Translation: X:326.61, Y:3.39, Z:2.16 [[ 9.98424299e-01 -5.50480523e-02 -1.08918028e-02 3.26612164e+02] [ 5.50495629e-02 9.98483610e-01 -1.61289313e-04 3.39065053e+00] [ 1.08841652e-02 -4.38553813e-04 9.99940670e-01 2.15560820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.979254154 meters 0.02171492763753089 Centerline is valid? [True, True] Translation: X:326.67, Y:3.39, Z:2.16 [[ 9.98379469e-01 -5.58909205e-02 -1.07070561e-02 3.26674550e+02] [ 5.58924370e-02 9.98436783e-01 -1.57779853e-04 3.39351279e+00] [ 1.06991371e-02 -4.40919292e-04 9.99942665e-01 2.15717814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.039254154 meters 0.022552224382599247 Centerline is valid? [True, True] Translation: X:326.74, Y:3.39, Z:2.16 [[ 9.98259007e-01 -5.76766171e-02 -1.23435037e-02 3.26736977e+02] [ 5.76787811e-02 9.98335177e-01 -1.80901883e-04 3.39391684e+00] [ 1.23333877e-02 -5.31371313e-04 9.99923800e-01 2.15694333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.099254154 meters 0.02412722216268637 Centerline is valid? [True, True] Translation: X:326.80, Y:3.39, Z:2.16 [[ 9.98148328e-01 -5.92538580e-02 -1.37439194e-02 3.26798922e+02] [ 5.92567049e-02 9.98242757e-01 -2.00359313e-04 3.39427345e+00] [ 1.37316401e-02 -6.14431063e-04 9.99905528e-01 2.15660870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.159254154 meters 0.0240663699119755 Centerline is valid? [True, True] Translation: X:326.86, Y:3.40, Z:2.16 [[ 9.98069184e-01 -6.02293523e-02 -1.51766049e-02 3.26860898e+02] [ 6.02329539e-02 9.98184323e-01 -2.20080905e-04 3.39789182e+00] [ 1.51623044e-02 -6.94475774e-04 9.99884804e-01 2.15703714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.219254154 meters 0.024249022026725145 Centerline is valid? [True, True] Translation: X:326.92, Y:3.40, Z:2.16 [[ 9.98176329e-01 -5.84281011e-02 -1.51714540e-02 3.26922641e+02] [ 5.84315071e-02 9.98291396e-01 -2.19051055e-04 3.40253970e+00] [ 1.51583308e-02 -6.67839346e-04 9.99884883e-01 2.15761742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279254154 meters 0.024044550677773828 Centerline is valid? [True, True] Translation: X:326.98, Y:3.41, Z:2.16 [[ 9.98344317e-01 -5.54966271e-02 -1.51244868e-02 3.26982620e+02] [ 5.54996840e-02 9.98458681e-01 -2.17856665e-04 3.40727622e+00] [ 1.51132655e-02 -6.21908277e-04 9.99885595e-01 2.15837619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339254154 meters 0.02199412157094134 Centerline is valid? [True, True] Translation: X:327.04, Y:3.42, Z:2.16 [[ 9.98671244e-01 -4.93824161e-02 -1.47351059e-02 3.27043324e+02] [ 4.93846567e-02 9.98779811e-01 -2.11992061e-04 3.41702850e+00] [ 1.47275950e-02 -5.15977771e-04 9.99891410e-01 2.15969150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399254154 meters 0.021255731746302704 Centerline is valid? [True, True] Translation: X:327.11, Y:3.42, Z:2.16 [[ 9.98842275e-01 -4.60080489e-02 -1.40487916e-02 3.27105062e+02] [ 4.60097591e-02 9.98940970e-01 -2.01617705e-04 3.42383789e+00] [ 1.40431895e-02 -4.44997230e-04 9.99901291e-01 2.16113306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459254154 meters 0.020803480483635034 Centerline is valid? [True, True] Translation: X:327.17, Y:3.43, Z:2.16 [[ 9.98877644e-01 -4.52784388e-02 -1.39037963e-02 3.27167472e+02] [ 4.52800552e-02 9.98974313e-01 -1.98680482e-04 3.42766561e+00] [ 1.38985313e-02 -4.31107174e-04 9.99903318e-01 2.16194789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519254154 meters 0.02219182614032201 Centerline is valid? [True, True] Translation: X:327.23, Y:3.43, Z:2.16 [[ 9.98954652e-01 -4.33737014e-02 -1.44334753e-02 3.27227715e+02] [ 4.33752536e-02 9.99058830e-01 -2.05629789e-04 3.43081573e+00] [ 1.44288099e-02 -4.20640817e-04 9.99895811e-01 2.16115437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579254154 meters 0.019737523876375045 Centerline is valid? [True, True] Translation: X:327.29, Y:3.44, Z:2.16 [[ 9.99161912e-01 -3.81955548e-02 -1.47164558e-02 3.27288083e+02] [ 3.81966205e-02 9.99270221e-01 -2.08756458e-04 3.43838646e+00] [ 1.47136896e-02 -3.53537375e-04 9.99891685e-01 2.16163641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639254154 meters 0.016553640596945512 Centerline is valid? [True, True] Translation: X:327.35, Y:3.45, Z:2.16 [[ 9.99349793e-01 -3.25566815e-02 -1.54936581e-02 3.27349402e+02] [ 3.25572009e-02 9.99469850e-01 -2.18775478e-04 3.44843403e+00] [ 1.54925667e-02 -2.85796909e-04 9.99879942e-01 2.16264656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699254154 meters 0.014696201896160445 Centerline is valid? [True, True] Translation: X:327.41, Y:3.46, Z:2.16 [[ 9.99585019e-01 -2.39770130e-02 -1.59653344e-02 3.27410261e+02] [ 2.39764767e-02 9.99712498e-01 -2.25023732e-04 3.45889702e+00] [ 1.59661397e-02 -1.57862117e-04 9.99872521e-01 2.16343752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759254154 meters 0.014308000340082602 Centerline is valid? [True, True] Translation: X:327.47, Y:3.46, Z:2.16 [[ 9.99656074e-01 -2.07223936e-02 -1.60722149e-02 3.27469513e+02] [ 2.07214261e-02 9.99785262e-01 -2.26741817e-04 3.46268601e+00] [ 1.60734622e-02 -1.06375379e-04 9.99870808e-01 2.16350638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819254154 meters 0.014249408617332404 Centerline is valid? [True, True] Translation: X:327.53, Y:3.46, Z:2.16 [[ 9.99659812e-01 -2.03030560e-02 -1.63720981e-02 3.27527901e+02] [ 2.03019487e-02 9.99793867e-01 -2.33855042e-04 3.46424156e+00] [ 1.63734713e-02 -9.86100084e-05 9.99865941e-01 2.16399131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879254154 meters 0.015330979934466478 Centerline is valid? [True, True] Translation: X:327.59, Y:3.46, Z:2.16 [[ 9.99480103e-01 -2.77361789e-02 -1.64386306e-02 3.27585857e+02] [ 2.77360230e-02 9.99615254e-01 -2.37515176e-04 3.45776200e+00] [ 1.64388936e-02 -2.18550543e-04 9.99864848e-01 2.16365635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939254154 meters 0.015614676857281672 Centerline is valid? [True, True] Translation: X:327.65, Y:3.46, Z:2.16 [[ 9.99386366e-01 -3.08908092e-02 -1.65121094e-02 3.27645581e+02] [ 3.08910664e-02 9.99522728e-01 -2.39536370e-04 3.45633600e+00] [ 1.65116281e-02 -2.70687287e-04 9.99863637e-01 2.16443213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters 0.020119228982961448 Centerline is valid? [True, True] Translation: X:327.71, Y:3.45, Z:2.16 [[ 9.99034749e-01 -4.05993409e-02 -1.67709407e-02 3.27706022e+02] [ 4.06009657e-02 9.99175411e-01 -2.43725820e-04 3.44754250e+00] [ 1.67670067e-02 -4.37425825e-04 9.99859328e-01 2.16327871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters 0.019369949019969405 Centerline is valid? [True, True] Translation: X:327.77, Y:3.44, Z:2.17 [[ 9.98682731e-01 -4.90407560e-02 -1.50932863e-02 3.27767340e+02] [ 4.90430353e-02 9.98796642e-01 -2.19300761e-04 3.44172593e+00] [ 1.50858783e-02 -5.21208688e-04 9.99886066e-01 2.16611794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters 0.0203883283432623 Centerline is valid? [True, True] Translation: X:327.83, Y:3.44, Z:2.17 [[ 9.98549193e-01 -5.19142926e-02 -1.42973761e-02 3.27829891e+02] [ 5.19166418e-02 9.98651400e-01 -2.07048115e-04 3.43944162e+00] [ 1.42888434e-02 -5.35524026e-04 9.99897766e-01 2.16642492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters 0.021112123717155557 Centerline is valid? [True, True] Translation: X:327.89, Y:3.44, Z:2.17 [[ 9.98491992e-01 -5.32996982e-02 -1.31485728e-02 3.27892497e+02] [ 5.33018173e-02 9.98578430e-01 -1.89467097e-04 3.43739915e+00] [ 1.31399798e-02 -5.11661448e-04 9.99913536e-01 2.16686211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters 0.023104982715243052 Centerline is valid? [True, True] Translation: X:327.95, Y:3.44, Z:2.17 [[ 9.98548259e-01 -5.20901844e-02 -1.37108676e-02 3.27954657e+02] [ 5.20923891e-02 9.98642250e-01 -1.96526241e-04 3.43735595e+00] [ 1.37024887e-02 -5.17990913e-04 9.99905982e-01 2.16502298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters 0.021141598247768522 Centerline is valid? [True, True] Translation: X:328.02, Y:3.44, Z:2.17 [[ 9.98526518e-01 -5.24455176e-02 -1.39377243e-02 3.28016388e+02] [ 5.24478449e-02 9.98623645e-01 -1.98735336e-04 3.43775814e+00] [ 1.39289638e-02 -5.32561098e-04 9.99902845e-01 2.16625212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters 0.02191563952513926 Centerline is valid? [True, True] Translation: X:328.08, Y:3.44, Z:2.17 [[ 9.98526493e-01 -5.21925539e-02 -1.48586634e-02 3.28077460e+02] [ 5.21951856e-02 9.98636880e-01 -2.10890705e-04 3.43683128e+00] [ 1.48494162e-02 -5.64970737e-04 9.99889582e-01 2.16575447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters 0.022040521884783847 Centerline is valid? [True, True] Translation: X:328.14, Y:3.44, Z:2.17 [[ 9.98619584e-01 -5.00900702e-02 -1.58085722e-02 3.28138379e+02] [ 5.00928000e-02 9.98744543e-01 -2.23492550e-04 3.43810802e+00] [ 1.57999200e-02 -5.68711610e-04 9.99875012e-01 2.16541331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.479254154 meters 0.019410126432728547 Centerline is valid? [True, True] Translation: X:328.20, Y:3.45, Z:2.17 [[ 9.98861887e-01 -4.45200179e-02 -1.71142922e-02 3.28198846e+02] [ 4.45224074e-02 9.99008357e-01 -2.41561326e-04 3.44543995e+00] [ 1.71080752e-02 -5.20683087e-04 9.99853511e-01 2.16673603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.539254154 meters 0.019509957652580304 Centerline is valid? [True, True] Translation: X:328.26, Y:3.45, Z:2.17 [[ 9.98950195e-01 -4.24740005e-02 -1.71600526e-02 3.28260734e+02] [ 4.24761108e-02 9.99097454e-01 -2.41639393e-04 3.44776899e+00] [ 1.71548283e-02 -4.87506578e-04 9.99852726e-01 2.16673554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.599254154 meters 0.018145072247996285 Centerline is valid? [True, True] Translation: X:328.32, Y:3.45, Z:2.17 [[ 9.99051790e-01 -4.01210484e-02 -1.69063106e-02 3.28321660e+02] [ 4.01227657e-02 9.99194729e-01 -2.37736561e-04 3.45073778e+00] [ 1.69022347e-02 -4.40816801e-04 9.99857050e-01 2.16817957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.659254154 meters 0.01820825734030771 Centerline is valid? [True, True] Translation: X:328.38, Y:3.45, Z:2.17 [[ 9.99054206e-01 -3.98817035e-02 -1.73246152e-02 3.28381791e+02] [ 3.98834706e-02 9.99204308e-01 -2.43638650e-04 3.45351361e+00] [ 1.73205469e-02 -4.47557562e-04 9.99849888e-01 2.16915532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.719254154 meters 0.019238574625621504 Centerline is valid? [True, True] Translation: X:328.44, Y:3.45, Z:2.17 [[ 9.98994388e-01 -4.11307255e-02 -1.78459222e-02 3.28441805e+02] [ 4.11328032e-02 9.99153657e-01 -2.50773187e-04 3.45413279e+00] [ 1.78411329e-02 -4.83531799e-04 9.99840717e-01 2.16950767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779254154 meters 0.020779748373010304 Centerline is valid? [True, True] Translation: X:328.50, Y:3.45, Z:2.17 [[ 9.98852648e-01 -4.40484355e-02 -1.87915728e-02 3.28501650e+02] [ 4.40512575e-02 9.99029237e-01 -2.63936787e-04 3.45396914e+00] [ 1.87849567e-02 -5.64158455e-04 9.99823388e-01 2.17016490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839254154 meters 0.02175940310367887 Centerline is valid? [True, True] Translation: X:328.56, Y:3.45, Z:2.17 [[ 9.98713063e-01 -4.68868317e-02 -1.93349935e-02 3.28562186e+02] [ 4.68903505e-02 9.98900006e-01 -2.71569396e-04 3.45363033e+00] [ 1.93264582e-02 -6.35404722e-04 9.99813025e-01 2.17108876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899254154 meters 0.024057124230781272 Centerline is valid? [True, True] Translation: X:328.62, Y:3.45, Z:2.17 [[ 9.98623549e-01 -4.76620068e-02 -2.18938372e-02 3.28623763e+02] [ 4.76667167e-02 9.98863249e-01 -3.06987621e-04 3.45404262e+00] [ 2.18835810e-02 -7.37042269e-04 9.99760254e-01 2.17030582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959254154 meters 0.020545827710400453 Centerline is valid? [True, True] Translation: X:328.68, Y:3.46, Z:2.17 [[ 9.98538120e-01 -4.96537978e-02 -2.13570339e-02 3.28684058e+02] [ 4.96587393e-02 9.98766199e-01 -2.99235735e-04 3.45904692e+00] [ 2.13455417e-02 -7.61765088e-04 9.99771868e-01 2.17366741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019254154 meters 0.021530461045819207 Centerline is valid? [True, True] Translation: X:328.74, Y:3.46, Z:2.17 [[ 9.98494849e-01 -5.03141309e-02 -2.18294526e-02 3.28744814e+02] [ 5.03194673e-02 9.98733127e-01 -3.05108988e-04 3.45884737e+00] [ 2.18171487e-02 -7.93796672e-04 9.99761663e-01 2.17445487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079254154 meters 0.021749649528151366 Centerline is valid? [True, True] Translation: X:328.81, Y:3.46, Z:2.18 [[ 9.98494251e-01 -4.94657137e-02 -2.37144161e-02 3.28806256e+02] [ 4.94717965e-02 9.98775466e-01 -3.30466847e-04 3.46205917e+00] [ 2.37017237e-02 -8.43225520e-04 9.99718719e-01 2.17588703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139254154 meters 0.021458004817059645 Centerline is valid? [True, True] Translation: X:328.87, Y:3.46, Z:2.18 [[ 9.98515171e-01 -4.91700111e-02 -2.34470499e-02 3.28867052e+02] [ 4.91758818e-02 9.98790081e-01 -3.26495795e-04 3.46496600e+00] [ 2.34347347e-02 -8.27018349e-04 9.99725027e-01 2.17775616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199254154 meters 0.021075248151998623 Centerline is valid? [True, True] Translation: X:328.93, Y:3.47, Z:2.18 [[ 9.98496860e-01 -4.93030353e-02 -2.39422582e-02 3.28927674e+02] [ 4.93091949e-02 9.98783506e-01 -3.33391479e-04 3.46658819e+00] [ 2.39295698e-02 -8.47683133e-04 9.99713287e-01 2.17805524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259254154 meters 0.021924009176813378 Centerline is valid? [True, True] Translation: X:328.99, Y:3.47, Z:2.18 [[ 9.98461735e-01 -4.90961642e-02 -2.57629833e-02 3.28986655e+02] [ 4.91032108e-02 9.98793645e-01 -3.59421915e-04 3.46647743e+00] [ 2.57495503e-02 -9.06176173e-04 9.99668015e-01 2.17718615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319254154 meters 0.020306284855367385 Centerline is valid? [True, True] Translation: X:329.05, Y:3.47, Z:2.18 [[ 9.98595514e-01 -4.45884491e-02 -2.86158908e-02 3.29045915e+02] [ 4.45952644e-02 9.99005056e-01 -4.00304976e-04 3.47488472e+00] [ 2.86052686e-02 -8.76390463e-04 9.99590401e-01 2.18000571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379254154 meters 0.019629066059356107 Centerline is valid? [True, True] Translation: X:329.10, Y:3.48, Z:2.18 [[ 9.98817912e-01 -4.02784290e-02 -2.72107981e-02 3.29104665e+02] [ 4.02829556e-02 9.99188239e-01 -3.82014900e-04 3.47711513e+00] [ 2.72040964e-02 -7.14568047e-04 9.99629645e-01 2.17849677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439254154 meters 0.015403910514003687 Centerline is valid? [True, True] Translation: X:329.16, Y:3.49, Z:2.18 [[ 9.99180780e-01 -3.00895455e-02 -2.70626624e-02 3.29164911e+02] [ 3.00902667e-02 9.99547113e-01 -3.80679373e-04 3.48885594e+00] [ 2.70618606e-02 -4.33955218e-04 9.99633667e-01 2.18267998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters 0.01419386451230505 Centerline is valid? [True, True] Translation: X:329.22, Y:3.50, Z:2.18 [[ 9.99473674e-01 -2.00655426e-02 -2.54901583e-02 3.29224648e+02] [ 2.00629019e-02 9.99798655e-01 -3.59363999e-04 3.49629176e+00] [ 2.54922368e-02 -1.52231688e-04 9.99675009e-01 2.18412080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters 0.01400469731345141 Centerline is valid? [True, True] Translation: X:329.28, Y:3.50, Z:2.18 [[ 9.99567260e-01 -1.57625029e-02 -2.48361985e-02 3.29283864e+02] [ 1.57585557e-02 9.99875763e-01 -3.54652760e-04 3.49997876e+00] [ 2.48387031e-02 -3.68833304e-05 9.99691471e-01 2.18488710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters 0.01383718288739044 Centerline is valid? [True, True] Translation: X:329.34, Y:3.50, Z:2.19 [[ 9.99580308e-01 -1.36628048e-02 -2.55447877e-02 3.29342870e+02] [ 1.36577768e-02 9.99906659e-01 -3.71296593e-04 3.50067153e+00] [ 2.55474763e-02 2.22557536e-05 9.99673610e-01 2.18535584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters 0.013887431667521174 Centerline is valid? [True, True] Translation: X:329.40, Y:3.50, Z:2.18 [[ 9.99537464e-01 -1.44809253e-02 -2.67425095e-02 3.29401938e+02] [ 1.44755211e-02 9.99895146e-01 -3.95670614e-04 3.49990065e+00] [ 2.67454351e-02 8.37584111e-06 9.99642277e-01 2.18432394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters 0.013860625268775488 Centerline is valid? [True, True] Translation: X:329.46, Y:3.50, Z:2.18 [[ 9.99447328e-01 -1.88213335e-02 -2.74006561e-02 3.29459944e+02] [ 1.88171661e-02 9.99822857e-01 -4.09957137e-04 3.49701965e+00] [ 2.74035182e-02 -1.05872132e-04 9.99624447e-01 2.18453064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters 0.01442560639385886 Centerline is valid? [True, True] Translation: X:329.52, Y:3.49, Z:2.19 [[ 9.99287337e-01 -2.69523724e-02 -2.64270361e-02 3.29519110e+02] [ 2.69512772e-02 9.99636669e-01 -3.97690186e-04 3.48923307e+00] [ 2.64281530e-02 -3.14835609e-04 9.99650666e-01 2.18525841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters 0.015012322082655976 Centerline is valid? [True, True] Translation: X:329.58, Y:3.48, Z:2.19 [[ 9.99123531e-01 -3.38644914e-02 -2.46041937e-02 3.29578023e+02] [ 3.38655110e-02 9.99426329e-01 -3.75360408e-04 3.48408379e+00] [ 2.46027903e-02 -4.58202175e-04 9.99697201e-01 2.18633467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters 0.016303925260102593 Centerline is valid? [True, True] Translation: X:329.64, Y:3.48, Z:2.19 [[ 9.98905180e-01 -4.09258050e-02 -2.26609920e-02 3.29637246e+02] [ 4.09284282e-02 9.99162020e-01 -3.48218817e-04 3.47871275e+00] [ 2.26562537e-02 -5.79641208e-04 9.99743146e-01 2.18746706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.979254154 meters 0.020853683470480167 Centerline is valid? [True, True] Translation: X:329.70, Y:3.47, Z:2.19 [[ 9.98751940e-01 -4.46419468e-02 -2.23977359e-02 3.29696194e+02] [ 4.46454151e-02 9.99002837e-01 -3.45414837e-04 3.47285379e+00] [ 2.23908217e-02 -6.54972480e-04 9.99749080e-01 2.18729379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.039254154 meters 0.019703506136395852 Centerline is valid? [True, True] Translation: X:329.76, Y:3.47, Z:2.19 [[ 9.98604367e-01 -4.88040006e-02 -2.01863060e-02 3.29756125e+02] [ 4.88076562e-02 9.98808147e-01 -3.11835758e-04 3.47063721e+00] [ 2.01774657e-02 -6.73845734e-04 9.99796187e-01 2.18826930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.099254154 meters 0.02008477316576551 Centerline is valid? [True, True] Translation: X:329.82, Y:3.47, Z:2.19 [[ 9.98452856e-01 -5.20248395e-02 -1.96293228e-02 3.29817789e+02] [ 5.20289251e-02 9.98645532e-01 -3.02848143e-04 3.46921752e+00] [ 1.96184912e-02 -7.18912974e-04 9.99807280e-01 2.18813760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.159254154 meters 0.022216463118616154 Centerline is valid? [True, True] Translation: X:329.88, Y:3.47, Z:2.19 [[ 9.98204345e-01 -5.64096816e-02 -2.01502924e-02 3.29879350e+02] [ 5.64148937e-02 9.98407364e-01 -3.10142733e-04 3.46607235e+00] [ 2.01356954e-02 -8.27190781e-04 9.99796914e-01 2.18709976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.219254154 meters 0.022700132541245924 Centerline is valid? [True, True] Translation: X:329.94, Y:3.47, Z:2.19 [[ 9.98036788e-01 -5.89072394e-02 -2.12722085e-02 3.29940898e+02] [ 5.89136313e-02 9.98263030e-01 -3.26617716e-04 3.46612048e+00] [ 2.12544995e-02 -9.27246554e-04 9.99773668e-01 2.18582269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279254154 meters 0.02239230628587382 Centerline is valid? [True, True] Translation: X:330.00, Y:3.47, Z:2.19 [[ 9.98024420e-01 -5.90392838e-02 -2.14853442e-02 3.30001946e+02] [ 5.90458522e-02 9.98255217e-01 -3.29093283e-04 3.46932854e+00] [ 2.14672864e-02 -9.40177326e-04 9.99769109e-01 2.18602058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339254154 meters 0.021771822778554994 Centerline is valid? [True, True] Translation: X:330.06, Y:3.47, Z:2.19 [[ 9.98104586e-01 -5.75451893e-02 -2.18125234e-02 3.30063280e+02] [ 5.75516211e-02 9.98342476e-01 -3.33290627e-04 3.47372012e+00] [ 2.17955479e-02 -9.22687179e-04 9.99762023e-01 2.18710349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399254154 meters 0.020826024185738576 Centerline is valid? [True, True] Translation: X:330.12, Y:3.48, Z:2.19 [[ 9.98339484e-01 -5.35850688e-02 -2.11403680e-02 3.30124128e+02] [ 5.35902343e-02 9.98562959e-01 -3.22512650e-04 3.47972774e+00] [ 2.11272702e-02 -8.10940159e-04 9.99776465e-01 2.18843535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459254154 meters 0.01994340607487175 Centerline is valid? [True, True] Translation: X:330.19, Y:3.48, Z:2.19 [[ 9.98433517e-01 -5.17960979e-02 -2.11583600e-02 3.30185649e+02] [ 5.18008849e-02 9.98657381e-01 -3.22129556e-04 3.48295657e+00] [ 2.11466375e-02 -7.74396827e-04 9.99776085e-01 2.18940235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519254154 meters 0.01909766719373115 Centerline is valid? [True, True] Translation: X:330.25, Y:3.49, Z:2.19 [[ 9.98810846e-01 -4.50164834e-02 -1.87192195e-02 3.30245325e+02] [ 4.50190422e-02 9.98986088e-01 -2.84896429e-04 3.48936913e+00] [ 1.87130649e-02 -5.58163690e-04 9.99824739e-01 2.19066039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579254154 meters 0.016414693274305527 Centerline is valid? [True, True] Translation: X:330.31, Y:3.50, Z:2.19 [[ 9.99149553e-01 -3.75290395e-02 -1.70804542e-02 3.30306267e+02] [ 3.75300769e-02 9.99295465e-01 -2.59912573e-04 3.49840279e+00] [ 1.70781747e-02 -3.81339231e-04 9.99854085e-01 2.19285463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639254154 meters 0.015957112794615234 Centerline is valid? [True, True] Translation: X:330.37, Y:3.50, Z:2.19 [[ 9.99254389e-01 -3.44670702e-02 -1.73978954e-02 3.30367454e+02] [ 3.44676905e-02 9.99405778e-01 -2.64288287e-04 3.50305700e+00] [ 1.73966665e-02 -3.35574044e-04 9.99848610e-01 2.19310841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699254154 meters 0.01608542434336098 Centerline is valid? [True, True] Translation: X:330.43, Y:3.50, Z:2.19 [[ 9.99204136e-01 -3.55035193e-02 -1.81822619e-02 3.30427594e+02] [ 3.55043767e-02 9.99369483e-01 -2.75746545e-04 3.50274139e+00] [ 1.81805877e-02 -3.70022789e-04 9.99834651e-01 2.19234446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759254154 meters 0.017868992324732106 Centerline is valid? [True, True] Translation: X:330.49, Y:3.50, Z:2.19 [[ 9.99029663e-01 -3.98938555e-02 -1.86604745e-02 3.30487326e+02] [ 3.98955262e-02 9.99203817e-01 -2.82876653e-04 3.50035215e+00] [ 1.86569023e-02 -4.61867280e-04 9.99825838e-01 2.19211795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819254154 meters 0.020000716244618702 Centerline is valid? [True, True] Translation: X:330.55, Y:3.50, Z:2.19 [[ 9.98951901e-01 -4.21963126e-02 -1.77361354e-02 3.30548068e+02] [ 4.21981878e-02 9.99109224e-01 -2.68675584e-04 3.49750741e+00] [ 1.77316736e-02 -4.80038787e-04 9.99842666e-01 2.19250607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879254154 meters 0.0169707289063597 Centerline is valid? [True, True] Translation: X:330.61, Y:3.50, Z:2.20 [[ 9.98966590e-01 -4.23749161e-02 -1.64352986e-02 3.30609902e+02] [ 4.23765639e-02 9.99101679e-01 -2.48142972e-04 3.50380851e+00] [ 1.64310494e-02 -4.48584942e-04 9.99864901e-01 2.19583628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939254154 meters 0.016621867040710517 Centerline is valid? [True, True] Translation: X:330.67, Y:3.51, Z:2.20 [[ 9.99042917e-01 -4.09638961e-02 -1.53365076e-02 3.30671295e+02] [ 4.09651767e-02 9.99160548e-01 -2.30770522e-04 3.50585775e+00] [ 1.53330866e-02 -3.97713087e-04 9.99882362e-01 2.19666202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters 0.016616286856891326 Centerline is valid? [True, True] Translation: X:330.73, Y:3.51, Z:2.20 [[ 9.99124904e-01 -3.95513132e-02 -1.36058564e-02 3.30732994e+02] [ 3.95521966e-02 9.99217485e-01 -2.04257663e-04 3.50697128e+00] [ 1.36032883e-02 -3.34062589e-04 9.99907415e-01 2.19739739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters 0.017838960360696696 Centerline is valid? [True, True] Translation: X:330.79, Y:3.51, Z:2.20 [[ 9.99137284e-01 -3.94803655e-02 -1.28836789e-02 3.30794882e+02] [ 3.94811606e-02 9.99220296e-01 -1.92725190e-04 3.50711704e+00] [ 1.28812423e-02 -3.16103671e-04 9.99916983e-01 2.19801777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters 0.016440912499026107 Centerline is valid? [True, True] Translation: X:330.86, Y:3.51, Z:2.20 [[ 9.99070321e-01 -4.10946211e-02 -1.30278558e-02 3.30857408e+02] [ 4.10955840e-02 9.99155201e-01 -1.93901403e-04 3.50638044e+00] [ 1.30248181e-02 -3.41666203e-04 9.99915115e-01 2.19702131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters 0.018258545462682876 Centerline is valid? [True, True] Translation: X:330.92, Y:3.50, Z:2.20 [[ 9.99056320e-01 -4.13296639e-02 -1.33539884e-02 3.30918841e+02] [ 4.13307084e-02 9.99145502e-01 -1.97867594e-04 3.50338656e+00] [ 1.33507552e-02 -3.54248931e-04 9.99910812e-01 2.19569585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters 0.016252551536887146 Centerline is valid? [True, True] Translation: X:330.98, Y:3.51, Z:2.20 [[ 9.99183014e-01 -3.80312910e-02 -1.36720503e-02 3.30980512e+02] [ 3.80320877e-02 9.99276498e-01 -2.01815317e-04 3.50662017e+00] [ 1.36698339e-02 -3.18326181e-04 9.99906513e-01 2.19508605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters 0.014518655706053199 Centerline is valid? [True, True] Translation: X:331.04, Y:3.51, Z:2.20 [[ 9.99466671e-01 -3.03206940e-02 -1.21255820e-02 3.31041282e+02] [ 3.03207585e-02 9.99540204e-01 -1.78562397e-04 3.51219686e+00] [ 1.21254208e-02 -1.89189678e-04 9.99926466e-01 2.19588324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters 0.013786429160128507 Centerline is valid? [True, True] Translation: X:331.10, Y:3.52, Z:2.20 [[ 9.99645451e-01 -2.42950890e-02 -1.08958715e-02 3.31103096e+02] [ 2.42947869e-02 9.99704825e-01 -1.60109256e-04 3.51669775e+00] [ 1.08965452e-02 -1.04660387e-04 9.99940625e-01 2.19665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters 0.013486844474356816 Centerline is valid? [True, True] Translation: X:331.16, Y:3.52, Z:2.20 [[ 9.99804805e-01 -1.72439706e-02 -9.64349814e-03 3.31163060e+02] [ 1.72434111e-02 9.99851311e-01 -1.41173443e-04 3.52033023e+00] [ 9.64449866e-03 -2.51409162e-05 9.99953490e-01 2.19659538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.479254154 meters 0.014970808914903778 Centerline is valid? [True, True] Translation: X:331.22, Y:3.52, Z:2.20 [[ 9.99842247e-01 -1.49067185e-02 -9.65764633e-03 3.31223792e+02] [ 1.49060527e-02 9.99888889e-01 -1.40924214e-04 3.52020735e+00] [ 9.65867398e-03 -3.05540298e-06 9.99953354e-01 2.19669030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.539254154 meters 0.013773521702181287 Centerline is valid? [True, True] Translation: X:331.28, Y:3.52, Z:2.20 [[ 9.99810122e-01 -1.68155220e-02 -9.84668472e-03 3.31283484e+02] [ 1.68149213e-02 9.99858609e-01 -1.43797970e-04 3.51846590e+00] [ 9.84771052e-03 -2.18005621e-05 9.99951510e-01 2.19591273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.599254154 meters 0.01425175444561044 Centerline is valid? [True, True] Translation: X:331.34, Y:3.51, Z:2.19 [[ 9.99660578e-01 -2.33413398e-02 -1.15719791e-02 3.31343995e+02] [ 2.33409439e-02 9.99727549e-01 -1.69283641e-04 3.51216895e+00] [ 1.15727776e-02 -1.00874733e-04 9.99933028e-01 2.19456390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.659254154 meters 0.015133917945628104 Centerline is valid? [True, True] Translation: X:331.40, Y:3.51, Z:2.19 [[ 9.99519009e-01 -2.87412081e-02 -1.16487461e-02 3.31404837e+02] [ 2.87411764e-02 9.99586873e-01 -1.70160762e-04 3.50647923e+00] [ 1.16488243e-02 -1.64719750e-04 9.99932137e-01 2.19394402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.719254154 meters 0.016388222434613346 Centerline is valid? [True, True] Translation: X:331.47, Y:3.50, Z:2.19 [[ 9.99271948e-01 -3.65704380e-02 -1.08708849e-02 3.31465652e+02] [ 3.65708776e-02 9.99331049e-01 -1.58409936e-04 3.49960735e+00] [ 1.08694060e-02 -2.39263197e-04 9.99940898e-01 2.19436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779254154 meters 0.018724733443400334 Centerline is valid? [True, True] Translation: X:331.53, Y:3.49, Z:2.19 [[ 9.99048864e-01 -4.23822650e-02 -1.02523761e-02 3.31526172e+02] [ 4.23829646e-02 9.99101427e-01 -1.49117666e-04 3.49244755e+00] [ 1.02494835e-02 -2.85550258e-04 9.99947432e-01 2.19442310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839254154 meters 0.020799820888313763 Centerline is valid? [True, True] Translation: X:331.59, Y:3.49, Z:2.20 [[ 9.98919811e-01 -4.54420923e-02 -9.70703291e-03 3.31587844e+02] [ 4.54428682e-02 9.98966929e-01 -1.40729105e-04 3.48953351e+00] [ 9.70339989e-03 -3.00538327e-04 9.99952876e-01 2.19516994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899254154 meters 0.02190560974349003 Centerline is valid? [True, True] Translation: X:331.65, Y:3.48, Z:2.20 [[ 9.98635917e-01 -5.13902668e-02 -9.23832193e-03 3.31649355e+02] [ 5.13912277e-02 9.98678589e-01 -1.33494423e-04 3.48410739e+00] [ 9.23297463e-03 -3.41456381e-04 9.99957317e-01 2.19534210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959254154 meters 0.02420473985929297 Centerline is valid? [True, True] Translation: X:331.71, Y:3.48, Z:2.19 [[ 9.98403517e-01 -5.57163585e-02 -9.27925589e-03 3.31710986e+02] [ 5.57175177e-02 9.98446564e-01 -1.33752701e-04 3.48027688e+00] [ 9.27229337e-03 -3.83477937e-04 9.99956938e-01 2.19462649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019254154 meters 0.024690929838674647 Centerline is valid? [True, True] Translation: X:331.77, Y:3.48, Z:2.19 [[ 9.98045319e-01 -6.16245346e-02 -1.03902914e-02 3.31771564e+02] [ 6.16263103e-02 9.98099281e-01 -1.49484912e-04 3.47947898e+00] [ 1.03797544e-02 -4.91122607e-04 9.99946008e-01 2.19369367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079254154 meters 0.025506167697959096 Centerline is valid? [True, True] Translation: X:331.83, Y:3.48, Z:2.19 [[ 9.97803748e-01 -6.53235492e-02 -1.09778650e-02 3.31832366e+02] [ 6.53257559e-02 9.97863979e-01 -1.57829598e-04 3.47963059e+00] [ 1.09647260e-02 -5.59654365e-04 9.99939729e-01 2.19346970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139254154 meters 0.026806066343816933 Centerline is valid? [True, True] Translation: X:331.89, Y:3.48, Z:2.19 [[ 9.97738485e-01 -6.62824846e-02 -1.11600650e-02 3.31894823e+02] [ 6.62848300e-02 9.97800729e-01 -1.59994621e-04 3.48011134e+00] [ 1.11461259e-02 -5.80110222e-04 9.99937712e-01 2.19394707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199254154 meters 0.02660708324837443 Centerline is valid? [True, True] Translation: X:331.96, Y:3.48, Z:2.19 [[ 9.97708072e-01 -6.65642860e-02 -1.21572674e-02 3.31956838e+02] [ 6.65671017e-02 9.97781936e-01 -1.73350455e-04 3.48388597e+00] [ 1.21418408e-02 -6.36320909e-04 9.99926083e-01 2.19376027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259254154 meters 0.026840620533005656 Centerline is valid? [True, True] Translation: X:332.02, Y:3.49, Z:2.19 [[ 9.97799913e-01 -6.51193752e-02 -1.24418790e-02 3.32019423e+02] [ 6.51222250e-02 9.97877279e-01 -1.76379084e-04 3.48770380e+00] [ 1.24269540e-02 -6.34251808e-04 9.99922581e-01 2.19415905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319254154 meters 0.02589921712158755 Centerline is valid? [True, True] Translation: X:332.08, Y:3.49, Z:2.20 [[ 9.97877815e-01 -6.40080730e-02 -1.19512484e-02 3.32081770e+02] [ 6.40106346e-02 9.97949202e-01 -1.68449544e-04 3.49336187e+00] [ 1.19375209e-02 -5.96914930e-04 9.99928567e-01 2.19552620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379254154 meters 0.02667358344418214 Centerline is valid? [True, True] Translation: X:332.14, Y:3.50, Z:2.20 [[ 9.97945540e-01 -6.25438366e-02 -1.38912524e-02 3.32143477e+02] [ 6.25471712e-02 9.98041990e-01 -1.94697850e-04 3.49648939e+00] [ 1.38762303e-02 -6.74560690e-04 9.99903493e-01 2.19521485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439254154 meters 0.02431631113670944 Centerline is valid? [True, True] Translation: X:332.20, Y:3.50, Z:2.20 [[ 9.98076266e-01 -6.03128034e-02 -1.43573375e-02 3.32204665e+02] [ 6.03161464e-02 9.98179304e-01 -2.00444467e-04 3.50375310e+00] [ 1.43432865e-02 -6.65920408e-04 9.99896908e-01 2.19583582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters 0.022675093940208113 Centerline is valid? [True, True] Translation: X:332.27, Y:3.51, Z:2.20 [[ 9.98344372e-01 -5.55403714e-02 -1.49593282e-02 3.32265725e+02] [ 5.55434721e-02 9.98456248e-01 -2.08438031e-04 3.51215107e+00] [ 1.49478114e-02 -6.22800091e-04 9.99888081e-01 2.19790479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters 0.02230101789688581 Centerline is valid? [True, True] Translation: X:332.33, Y:3.52, Z:2.20 [[ 9.98569702e-01 -5.08398589e-02 -1.65486718e-02 3.32325728e+02] [ 5.08430113e-02 9.98706631e-01 -2.30446906e-04 3.51740505e+00] [ 1.65389842e-02 -6.11267009e-04 9.99863035e-01 2.19863075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters 0.01767965975509625 Centerline is valid? [True, True] Translation: X:332.39, Y:3.53, Z:2.20 [[ 9.98927628e-01 -4.20550088e-02 -1.93641391e-02 3.32386151e+02] [ 4.20576826e-02 9.99115148e-01 -2.69324378e-04 3.53170651e+00] [ 1.93583311e-02 -5.45375252e-04 9.99812461e-01 2.20003604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters 0.01742072920264095 Centerline is valid? [True, True] Translation: X:332.45, Y:3.54, Z:2.20 [[ 9.99296517e-01 -3.16044635e-02 -2.01898373e-02 3.32445585e+02] [ 3.16052416e-02 9.99500390e-01 -2.80626597e-04 3.54179025e+00] [ 2.01886193e-02 -3.57675505e-04 9.99796125e-01 2.20213548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters 0.014958057778301134 Centerline is valid? [True, True] Translation: X:332.51, Y:3.55, Z:2.20 [[ 9.99466623e-01 -2.60376593e-02 -1.97106718e-02 3.32505570e+02] [ 2.60373138e-02 9.99660934e-01 -2.74201050e-04 3.54856807e+00] [ 1.97111281e-02 -2.39158149e-04 9.99805688e-01 2.20428174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters 0.014188158193859794 Centerline is valid? [True, True] Translation: X:332.56, Y:3.56, Z:2.21 [[ 9.99563268e-01 -2.25265068e-02 -1.91266912e-02 3.32563813e+02] [ 2.25254753e-02 9.99746233e-01 -2.69395971e-04 3.55546826e+00] [ 1.91279060e-02 -1.61559492e-04 9.99817032e-01 2.20750358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters 0.014252231333347205 Centerline is valid? [True, True] Translation: X:332.62, Y:3.55, Z:2.21 [[ 9.99464592e-01 -2.62897483e-02 -1.94776230e-02 3.32622189e+02] [ 2.62893358e-02 9.99654337e-01 -2.77271709e-04 3.55462367e+00] [ 1.94781797e-02 -2.34930517e-04 9.99810255e-01 2.20789486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters 0.0150274486777087 Centerline is valid? [True, True] Translation: X:332.68, Y:3.55, Z:2.21 [[ 9.99273693e-01 -3.21951536e-02 -2.03852784e-02 3.32681587e+02] [ 3.21959066e-02 9.99481535e-01 -2.91340467e-04 3.55252564e+00] [ 2.03840891e-02 -3.65193655e-04 9.99792156e-01 2.20837827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.979254154 meters 0.01727122261064477 Centerline is valid? [True, True] Translation: X:332.74, Y:3.55, Z:2.21 [[ 9.98852837e-01 -4.24032571e-02 -2.22479942e-02 3.32742389e+02] [ 4.24066749e-02 9.99100382e-01 -3.18358826e-04 3.54779401e+00] [ 2.22414790e-02 -6.25469842e-04 9.99752432e-01 2.20821612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.039254154 meters 0.023539409373774446 Centerline is valid? [True, True] Translation: X:332.80, Y:3.54, Z:2.21 [[ 9.98218981e-01 -5.48026963e-02 -2.35697129e-02 3.32801735e+02] [ 5.48099850e-02 9.98496746e-01 -3.37150784e-04 3.53689818e+00] [ 2.35527584e-02 -9.55305300e-04 9.99722139e-01 2.20646824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.099254154 meters 0.023212005564339513 Centerline is valid? [True, True] Translation: X:332.86, Y:3.54, Z:2.21 [[ 9.97784466e-01 -6.18566193e-02 -2.44932057e-02 3.32862672e+02] [ 6.18666139e-02 9.98084365e-01 -3.50228679e-04 3.53807999e+00] [ 2.44679496e-02 -1.16585896e-03 9.99699935e-01 2.20829573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.159254154 meters 0.027356069958624336 Centerline is valid? [True, True] Translation: X:332.92, Y:3.53, Z:2.21 [[ 9.97679670e-01 -6.32227093e-02 -2.52619450e-02 3.32923062e+02] [ 6.32337875e-02 9.97998676e-01 -3.60857774e-04 3.53387152e+00] [ 2.52342021e-02 -1.23738800e-03 9.99680801e-01 2.20685056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.219254154 meters 0.024531775770801418 Centerline is valid? [True, True] Translation: X:332.99, Y:3.54, Z:2.21 [[ 9.97694792e-01 -6.31209840e-02 -2.49167123e-02 3.32985617e+02] [ 6.31317661e-02 9.98005138e-01 -3.54462372e-04 3.53929912e+00] [ 2.48893809e-02 -1.21939079e-03 9.99689468e-01 2.20904495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279254154 meters 0.025281764384754355 Centerline is valid? [True, True] Translation: X:333.05, Y:3.54, Z:2.21 [[ 9.97721972e-01 -6.24505668e-02 -2.55106644e-02 3.33048054e+02] [ 6.24616988e-02 9.98047296e-01 -3.61026960e-04 3.54063019e+00] [ 2.54833959e-02 -1.23323490e-03 9.99674485e-01 2.20941992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339254154 meters 0.02504596696645686 Centerline is valid? [True, True] Translation: X:333.11, Y:3.54, Z:2.21 [[ 9.97753780e-01 -6.17027671e-02 -2.60799498e-02 3.33109844e+02] [ 6.17141966e-02 9.98093795e-01 -3.67181816e-04 3.54237759e+00] [ 2.60528922e-02 -1.24314610e-03 9.99659793e-01 2.20923184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399254154 meters 0.02594924520589161 Centerline is valid? [True, True] Translation: X:333.17, Y:3.55, Z:2.21 [[ 9.97874931e-01 -5.85498031e-02 -2.85926978e-02 3.33170280e+02] [ 5.85622776e-02 9.98283676e-01 -4.01640575e-04 3.54574095e+00] [ 2.85671394e-02 -1.27366644e-03 9.99591065e-01 2.20809218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459254154 meters 0.02376062706903171 Centerline is valid? [True, True] Translation: X:333.23, Y:3.55, Z:2.21 [[ 9.98129050e-01 -5.39755373e-02 -2.87235105e-02 3.33231028e+02] [ 5.39862499e-02 9.98541598e-01 -4.02976955e-04 3.55206208e+00] [ 2.87033709e-02 -1.14845161e-03 9.99587314e-01 2.20862685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519254154 meters 0.02237765581646756 Centerline is valid? [True, True] Translation: X:333.29, Y:3.56, Z:2.21 [[ 9.98354448e-01 -4.97088634e-02 -2.85906617e-02 3.33290981e+02] [ 4.97177059e-02 9.98763229e-01 -4.01954653e-04 3.55808766e+00] [ 2.85752823e-02 -1.02016889e-03 9.99591123e-01 2.20978884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579254154 meters 0.018587519082433904 Centerline is valid? [True, True] Translation: X:333.35, Y:3.57, Z:2.21 [[ 9.98689619e-01 -4.34286614e-02 -2.70738954e-02 3.33351294e+02] [ 4.34342699e-02 9.99056214e-01 -3.81165226e-04 3.56893917e+00] [ 2.70648969e-02 -7.95269125e-04 9.99633362e-01 2.21392333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639254154 meters 0.0156859621623962 Centerline is valid? [True, True] Translation: X:333.41, Y:3.58, Z:2.22 [[ 9.98928010e-01 -3.84809374e-02 -2.57302917e-02 3.33411475e+02] [ 3.84843514e-02 9.99259137e-01 -3.62675443e-04 3.57805936e+00] [ 2.57251852e-02 -6.27926927e-04 9.99668855e-01 2.21708508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699254154 meters 0.014981005902016495 Centerline is valid? [True, True] Translation: X:333.47, Y:3.58, Z:2.22 [[ 9.98982319e-01 -3.74027190e-02 -2.52064199e-02 3.33471538e+02] [ 3.74056407e-02 9.99300101e-01 -3.55751983e-04 3.58202087e+00] [ 2.52020840e-02 -5.87472344e-04 9.99682204e-01 2.21832363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759254154 meters 0.0182550171788417 Centerline is valid? [True, True] Translation: X:333.53, Y:3.58, Z:2.22 [[ 9.98905508e-01 -3.96834286e-02 -2.47590807e-02 3.33529903e+02] [ 3.96869200e-02 9.99212102e-01 -3.50541800e-04 3.57861712e+00] [ 2.47534838e-02 -6.32453519e-04 9.99693386e-01 2.21523558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819254154 meters 0.01701486482292045 Centerline is valid? [True, True] Translation: X:333.59, Y:3.58, Z:2.22 [[ 9.98752899e-01 -4.37807663e-02 -2.39977206e-02 3.33590207e+02] [ 4.37852192e-02 9.99040910e-01 -3.40116147e-04 3.58124077e+00] [ 2.39895952e-02 -7.11053469e-04 9.99711955e-01 2.21859868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879254154 meters 0.017114638890195374 Centerline is valid? [True, True] Translation: X:333.65, Y:3.58, Z:2.22 [[ 9.98623457e-01 -4.64145994e-02 -2.44310516e-02 3.33651365e+02] [ 4.64200179e-02 9.98921950e-01 -3.45601121e-04 3.58304894e+00] [ 2.44207547e-02 -7.88964467e-04 9.99701458e-01 2.22018882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939254154 meters 0.018066717605505038 Centerline is valid? [True, True] Translation: X:333.71, Y:3.58, Z:2.22 [[ 9.98527847e-01 -4.86938222e-02 -2.38966657e-02 3.33712833e+02] [ 4.86996788e-02 9.98813410e-01 -3.37164209e-04 3.58340812e+00] [ 2.38847280e-02 -8.27092095e-04 9.99714377e-01 2.22063343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters 0.018458131428762688 Centerline is valid? [True, True] Translation: X:333.77, Y:3.58, Z:2.22 [[ 9.98590121e-01 -4.78593649e-02 -2.29619668e-02 3.33773655e+02] [ 4.78645708e-02 9.98853782e-01 -3.23148412e-04 3.58399323e+00] [ 2.29511131e-02 -7.76371876e-04 9.99736287e-01 2.22104337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters 0.017705184885451353 Centerline is valid? [True, True] Translation: X:333.83, Y:3.59, Z:2.22 [[ 9.98836240e-01 -4.34693976e-02 -2.08944226e-02 3.33833121e+02] [ 4.34727728e-02 9.99054569e-01 -2.92866759e-04 3.58796903e+00] [ 2.08873991e-02 -6.15812555e-04 9.99781645e-01 2.22335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters 0.014013294629005428 Centerline is valid? [True, True] Translation: X:333.89, Y:3.60, Z:2.23 [[ 9.99140863e-01 -3.64826620e-02 -1.96608944e-02 3.33894235e+02] [ 3.64843116e-02 9.99334188e-01 -2.74906930e-04 3.59798694e+00] [ 1.96578333e-02 -4.42643450e-04 9.99806668e-01 2.22703524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters 0.014017934579770961 Centerline is valid? [True, True] Translation: X:333.95, Y:3.60, Z:2.23 [[ 9.99303881e-01 -3.17489442e-02 -1.95897323e-02 3.33954998e+02] [ 3.17496842e-02 9.99495814e-01 -2.73312241e-04 3.59985466e+00] [ 1.95885328e-02 -3.48845831e-04 9.99808065e-01 2.22601665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters 0.012443064579006301 Centerline is valid? [True, True] Translation: X:334.02, Y:3.60, Z:2.23 [[ 9.99442509e-01 -2.66159298e-02 -2.01559753e-02 3.34015338e+02] [ 2.66156748e-02 9.99645701e-01 -2.80957696e-04 3.60486163e+00] [ 2.01563120e-02 -2.55663820e-04 9.99796808e-01 2.22657549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters 0.01209180704528599 Centerline is valid? [True, True] Translation: X:334.08, Y:3.61, Z:2.23 [[ 9.99464622e-01 -2.56911561e-02 -2.02591854e-02 3.34075187e+02] [ 2.56906984e-02 9.99669900e-01 -2.82899235e-04 3.60700447e+00] [ 2.02597659e-02 -2.37724846e-04 9.99794722e-01 2.22780511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters 0.012272622146081897 Centerline is valid? [True, True] Translation: X:334.13, Y:3.61, Z:2.23 [[ 9.99483440e-01 -2.49458696e-02 -2.02622094e-02 3.34134786e+02] [ 2.49452435e-02 9.99688779e-01 -2.83684703e-04 3.60726865e+00] [ 2.02629802e-02 -2.21907586e-04 9.99794660e-01 2.22763881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters 0.012256527157069447 Centerline is valid? [True, True] Translation: X:334.19, Y:3.61, Z:2.23 [[ 9.99429077e-01 -2.67330549e-02 -2.06607023e-02 3.34193593e+02] [ 2.67327056e-02 9.99642574e-01 -2.93146065e-04 3.60645787e+00] [ 2.06611543e-02 -2.59337770e-04 9.99786502e-01 2.22759988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.479254154 meters 0.013504985987626112 Centerline is valid? [True, True] Translation: X:334.25, Y:3.60, Z:2.23 [[ 9.99282680e-01 -3.14431053e-02 -2.11058333e-02 3.34251893e+02] [ 3.14437309e-02 9.99505478e-01 -3.02299619e-04 3.60147857e+00] [ 2.11049013e-02 -3.61563370e-04 9.99777201e-01 2.22651635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.539254154 meters 0.014954573149636422 Centerline is valid? [True, True] Translation: X:334.31, Y:3.60, Z:2.23 [[ 9.99057332e-01 -3.78776366e-02 -2.12068814e-02 3.34311927e+02] [ 3.78797007e-02 9.99282260e-01 -3.04505194e-04 3.59572758e+00] [ 2.12031943e-02 -4.99092173e-04 9.99775062e-01 2.22666911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.599254154 meters 0.016758622176186816 Centerline is valid? [True, True] Translation: X:334.37, Y:3.59, Z:2.23 [[ 9.98887270e-01 -4.24203839e-02 -2.06090601e-02 3.34372442e+02] [ 4.24233019e-02 9.99099683e-01 -2.95790481e-04 3.59025516e+00] [ 2.06030530e-02 -5.78843033e-04 9.99787567e-01 2.22676455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.659254154 meters 0.018145167847422383 Centerline is valid? [True, True] Translation: X:334.43, Y:3.58, Z:2.23 [[ 9.98677535e-01 -4.79250482e-02 -1.86110160e-02 3.34433625e+02] [ 4.79283882e-02 9.98850739e-01 -2.66787823e-04 3.58377374e+00] [ 1.86024129e-02 -6.25560996e-04 9.99826764e-01 2.22840089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.719254154 meters 0.0179903467695156 Centerline is valid? [True, True] Translation: X:334.50, Y:3.58, Z:2.23 [[ 9.98608417e-01 -4.98112952e-02 -1.73223794e-02 3.34495937e+02] [ 4.98144876e-02 9.98758457e-01 -2.47407820e-04 3.58225829e+00] [ 1.73131966e-02 -6.15841922e-04 9.99849926e-01 2.23020029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779254154 meters 0.018304570261245028 Centerline is valid? [True, True] Translation: X:334.56, Y:3.58, Z:2.23 [[ 9.98603270e-01 -5.07238325e-02 -1.47852218e-02 3.34557730e+02] [ 5.07262732e-02 9.98712572e-01 -2.10137930e-04 3.57887227e+00] [ 1.47768459e-02 -5.40154779e-04 9.99890671e-01 2.23199478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839254154 meters 0.020670333795495707 Centerline is valid? [True, True] Translation: X:334.62, Y:3.58, Z:2.23 [[ 9.98629832e-01 -5.04004273e-02 -1.40803608e-02 3.34620369e+02] [ 5.04026230e-02 9.98728960e-01 -1.99097444e-04 3.57639728e+00] [ 1.40724987e-02 -5.10862473e-04 9.99900847e-01 2.23195834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899254154 meters 0.01890623956072038 Centerline is valid? [True, True] Translation: X:334.68, Y:3.58, Z:2.23 [[ 9.98572609e-01 -5.15391130e-02 -1.40165615e-02 3.34682916e+02] [ 5.15414155e-02 9.98670838e-01 -1.97154728e-04 3.57530678e+00] [ 1.40080924e-02 -5.25560109e-04 9.99901744e-01 2.23128300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959254154 meters 0.019744662072296807 Centerline is valid? [True, True] Translation: X:334.74, Y:3.57, Z:2.23 [[ 9.98510545e-01 -5.22235182e-02 -1.57922917e-02 3.34744806e+02] [ 5.22265462e-02 9.98635238e-01 -2.20894874e-04 3.57242931e+00] [ 1.57822749e-02 -6.04210992e-04 9.99875270e-01 2.22847534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019254154 meters 0.020184656655404542 Centerline is valid? [True, True] Translation: X:334.81, Y:3.57, Z:2.23 [[ 9.98543300e-01 -5.12693852e-02 -1.68145044e-02 3.34807194e+02] [ 5.12727041e-02 9.98684662e-01 -2.33931889e-04 3.57178242e+00] [ 1.68043812e-02 -6.28533991e-04 9.99858599e-01 2.22705582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079254154 meters 0.018591376795324775 Centerline is valid? [True, True] Translation: X:334.87, Y:3.58, Z:2.23 [[ 9.98763557e-01 -4.69122018e-02 -1.64499719e-02 3.34868928e+02] [ 4.69148061e-02 9.98898868e-01 -2.27756550e-04 3.57672661e+00] [ 1.64425428e-02 -5.44272298e-04 9.99864664e-01 2.22815995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139254154 meters 0.016343452958661218 Centerline is valid? [True, True] Translation: X:334.93, Y:3.58, Z:2.23 [[ 9.99092239e-01 -4.05263545e-02 -1.31268011e-02 3.34929308e+02] [ 4.05274664e-02 9.99178408e-01 -1.81401122e-04 3.58388147e+00] [ 1.31233677e-02 -3.50759538e-04 9.99913823e-01 2.23184775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199254154 meters 0.014859373548510395 Centerline is valid? [True, True] Translation: X:334.99, Y:3.59, Z:2.23 [[ 9.99270972e-01 -3.62947066e-02 -1.18413723e-02 3.34990813e+02] [ 3.62953167e-02 9.99341095e-01 -1.63444999e-04 3.58891386e+00] [ 1.18395021e-02 -2.66460515e-04 9.99929875e-01 2.23345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259254154 meters 0.014495791193393684 Centerline is valid? [True, True] Translation: X:335.05, Y:3.59, Z:2.23 [[ 9.99417608e-01 -3.25737506e-02 -1.01683751e-02 3.35051381e+02] [ 3.25740139e-02 9.99469316e-01 -1.39768807e-04 3.59084064e+00] [ 1.01675317e-02 -1.91537385e-04 9.99948291e-01 2.23383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319254154 meters 0.013979384922757259 Centerline is valid? [True, True] Translation: X:335.11, Y:3.59, Z:2.23 [[ 9.99451450e-01 -3.17521805e-02 -9.41266221e-03 3.35113519e+02] [ 3.17523778e-02 9.99495758e-01 -1.28519376e-04 3.59297229e+00] [ 9.41199672e-03 -1.70425530e-04 9.99955692e-01 2.23485716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379254154 meters 0.01495573869468862 Centerline is valid? [True, True] Translation: X:335.17, Y:3.59, Z:2.23 [[ 9.99377627e-01 -3.39265585e-02 -9.66160231e-03 3.35174553e+02] [ 3.39268744e-02 9.99424309e-01 -1.31243138e-04 3.59023974e+00] [ 9.66049284e-03 -1.96626512e-04 9.99953317e-01 2.23392938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439254154 meters 0.01554887976215671 Centerline is valid? [True, True] Translation: X:335.24, Y:3.59, Z:2.23 [[ 9.99222848e-01 -3.78834038e-02 -1.08879640e-02 3.35236748e+02] [ 3.78840477e-02 9.99282131e-01 -1.47175085e-04 3.58702672e+00] [ 1.08857234e-02 -2.65419441e-04 9.99940714e-01 2.23225926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters 0.018701071524286343 Centerline is valid? [True, True] Translation: X:335.30, Y:3.58, Z:2.23 [[ 9.99167191e-01 -3.88141484e-02 -1.25851351e-02 3.35297460e+02] [ 3.88150925e-02 9.99246396e-01 -1.69322246e-04 3.58318699e+00] [ 1.25822230e-02 -3.19311950e-04 9.99920790e-01 2.23151740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters 0.017838776208729392 Centerline is valid? [True, True] Translation: X:335.36, Y:3.58, Z:2.23 [[ 9.99220490e-01 -3.78959558e-02 -1.10593370e-02 3.35359643e+02] [ 3.78966344e-02 9.99281654e-01 -1.48263622e-04 3.58291323e+00] [ 1.10570112e-02 -2.70963603e-04 9.99938833e-01 2.23179860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters 0.015182771486104018 Centerline is valid? [True, True] Translation: X:335.42, Y:3.59, Z:2.23 [[ 9.99393579e-01 -3.36349655e-02 -9.00904654e-03 3.35421048e+02] [ 3.36352471e-02 9.99434168e-01 -1.20299111e-04 3.58576665e+00] [ 9.00799519e-03 -1.82795347e-04 9.99959410e-01 2.23258793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters 0.014329476014522323 Centerline is valid? [True, True] Translation: X:335.48, Y:3.59, Z:2.23 [[ 9.99531390e-01 -2.93375508e-02 -8.73549606e-03 3.35482399e+02] [ 2.93376541e-02 9.99569552e-01 -1.16335253e-04 3.58827980e+00] [ 8.73514887e-03 -1.39998224e-04 9.99961838e-01 2.23357913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters 0.013257765170803064 Centerline is valid? [True, True] Translation: X:335.54, Y:3.59, Z:2.23 [[ 9.99669908e-01 -2.42234052e-02 -8.56162224e-03 3.35544146e+02] [ 2.42233199e-02 9.99706566e-01 -1.13677893e-04 3.59164115e+00] [ 8.56186363e-03 -9.37505455e-05 9.99963342e-01 2.23421848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters 0.013174777665288418 Centerline is valid? [True, True] Translation: X:335.61, Y:3.59, Z:2.23 [[ 9.99737247e-01 -2.13406084e-02 -8.36746239e-03 3.35605537e+02] [ 2.13404298e-02 9.99772261e-01 -1.10635633e-04 3.59014611e+00] [ 8.36791782e-03 -6.79586798e-05 9.99964986e-01 2.23354240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters 0.01303116389995788 Centerline is valid? [True, True] Translation: X:335.67, Y:3.59, Z:2.23 [[ 9.99829969e-01 -1.63914347e-02 -8.44714191e-03 3.35666633e+02] [ 1.63910798e-02 9.99865651e-01 -1.11248277e-04 3.59083130e+00] [ 8.44783056e-03 -2.72284155e-05 9.99964316e-01 2.23357534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters 0.013056858899300704 Centerline is valid? [True, True] Translation: X:335.73, Y:3.59, Z:2.23 [[ 9.99890474e-01 -1.23548201e-02 -8.14847276e-03 3.35728348e+02] [ 1.23543582e-02 9.99923676e-01 -1.07024618e-04 3.59207283e+00] [ 8.14917311e-03 6.34374537e-06 9.99966795e-01 2.23415508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.979254154 meters 0.013185516169311119 Centerline is valid? [True, True] Translation: X:335.79, Y:3.59, Z:2.23 [[ 9.99943966e-01 -7.30220517e-03 -7.66434618e-03 3.35789107e+02] [ 7.30164988e-03 9.99973338e-01 -1.00430088e-04 3.59051557e+00] [ 7.66487519e-03 4.44620879e-05 9.99970623e-01 2.23398826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.039254154 meters 0.01354759059089569 Centerline is valid? [True, True] Translation: X:335.85, Y:3.58, Z:2.23 [[ 9.99937653e-01 -7.60117126e-03 -8.18002263e-03 3.35847748e+02] [ 7.60054566e-03 9.99971110e-01 -1.07563845e-04 3.58354120e+00] [ 8.18060392e-03 4.53845033e-05 9.99966537e-01 2.23341233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.099254154 meters 0.013102216411911824 Centerline is valid? [True, True] Translation: X:335.91, Y:3.57, Z:2.23 [[ 9.99858901e-01 -1.50594145e-02 -7.44254437e-03 3.35906678e+02] [ 1.50590911e-02 9.99886601e-01 -9.94846300e-05 3.57171324e+00] [ 7.44319857e-03 -1.26073611e-05 9.99972299e-01 2.23349231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.159254154 meters 0.013408533757683225 Centerline is valid? [True, True] Translation: X:335.97, Y:3.57, Z:2.23 [[ 9.99791051e-01 -1.90935935e-02 -7.29997867e-03 3.35967083e+02] [ 1.90933865e-02 9.99817700e-01 -9.80576605e-05 3.56695603e+00] [ 7.30052016e-03 -4.13441425e-05 9.99973350e-01 2.23354376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.219254154 meters 0.015061042721426636 Centerline is valid? [True, True] Translation: X:336.03, Y:3.55, Z:2.23 [[ 9.99457950e-01 -3.18286880e-02 -8.41078911e-03 3.36028577e+02] [ 3.18288644e-02 9.99493327e-01 -1.12914838e-04 3.55040645e+00] [ 8.41012152e-03 -1.54852233e-04 9.99964622e-01 2.23226582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279254154 meters 0.017384087158699886 Centerline is valid? [True, True] Translation: X:336.09, Y:3.54, Z:2.23 [[ 9.99193009e-01 -3.92894332e-02 -8.34695266e-03 3.36088743e+02] [ 3.92898703e-02 9.99227849e-01 -1.11669202e-04 3.53902000e+00] [ 8.34489497e-03 -2.16371602e-04 9.99965157e-01 2.23252132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339254154 meters 0.019036608353979526 Centerline is valid? [True, True] Translation: X:336.15, Y:3.53, Z:2.23 [[ 9.98926189e-01 -4.56479932e-02 -7.92014417e-03 3.36150159e+02] [ 4.56485909e-02 9.98957554e-01 -1.05376130e-04 3.52836265e+00] [ 7.91669806e-03 -2.56280446e-04 9.99968630e-01 2.23339743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399254154 meters 0.018693170352867865 Centerline is valid? [True, True] Translation: X:336.21, Y:3.52, Z:2.23 [[ 9.98911397e-01 -4.59553344e-02 -8.00805713e-03 3.36211906e+02] [ 4.59559580e-02 9.98943461e-01 -1.06221943e-04 3.52420365e+00] [ 8.00447777e-03 -2.61911627e-04 9.99967929e-01 2.23363131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459254154 meters 0.017677730348200506 Centerline is valid? [True, True] Translation: X:336.27, Y:3.52, Z:2.23 [[ 9.99159712e-01 -4.02241866e-02 -7.86664676e-03 3.36271289e+02] [ 4.02246136e-02 9.99190657e-01 -1.03995575e-04 3.52097944e+00] [ 7.86446308e-03 -2.12524638e-04 9.99969052e-01 2.23436519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519254154 meters 0.014921732137078607 Centerline is valid? [True, True] Translation: X:336.33, Y:3.52, Z:2.24 [[ 9.99573187e-01 -2.82372180e-02 -7.49025922e-03 3.36331888e+02] [ 2.82372678e-02 9.99601244e-01 -9.91260080e-05 3.52493715e+00] [ 7.49007148e-03 -1.12420756e-04 9.99971943e-01 2.23527552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579254154 meters 0.01412854108164345 Centerline is valid? [True, True] Translation: X:336.39, Y:3.53, Z:2.24 [[ 9.99767970e-01 -1.99987550e-02 -8.00345699e-03 3.36392317e+02] [ 1.99985489e-02 9.99800003e-01 -1.05791157e-04 3.52693352e+00] [ 8.00397202e-03 -5.42909162e-05 9.99967966e-01 2.23522579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639254154 meters 0.013980667546509616 Centerline is valid? [True, True] Translation: X:336.45, Y:3.53, Z:2.23 [[ 9.99905663e-01 -1.08067168e-02 -8.47826208e-03 3.36452176e+02] [ 1.08061558e-02 9.99941606e-01 -1.11970270e-04 3.52723095e+00] [ 8.47897703e-03 2.03422853e-05 9.99964053e-01 2.23408102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699254154 meters 0.014120929708737691 Centerline is valid? [True, True] Translation: X:336.51, Y:3.52, Z:2.23 [[ 9.99922013e-01 -8.26069297e-03 -9.36641774e-03 3.36511448e+02] [ 8.25988928e-03 9.99965879e-01 -1.24486286e-04 3.52309557e+00] [ 9.36712648e-03 4.71110044e-05 9.99956126e-01 2.23295148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759254154 meters 0.013841737835099404 Centerline is valid? [True, True] Translation: X:336.57, Y:3.52, Z:2.23 [[ 9.99891229e-01 -1.04517217e-02 -1.04063705e-02 3.36569349e+02] [ 1.04508178e-02 9.99945379e-01 -1.41235126e-04 3.51713066e+00] [ 1.04072782e-02 3.24646819e-05 9.99945842e-01 2.23236380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819254154 meters 0.013841642943018973 Centerline is valid? [True, True] Translation: X:336.63, Y:3.51, Z:2.23 [[ 9.99798636e-01 -1.65119724e-02 -1.14036460e-02 3.36627941e+02] [ 1.65112525e-02 9.99863668e-01 -1.57276649e-04 3.50550244e+00] [ 1.14046882e-02 -3.10434988e-05 9.99934964e-01 2.23168911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879254154 meters 0.014114867067052915 Centerline is valid? [True, True] Translation: X:336.69, Y:3.50, Z:2.23 [[ 9.99717296e-01 -2.09375777e-02 -1.12670055e-02 3.36685943e+02] [ 2.09371459e-02 9.99780782e-01 -1.56295746e-04 3.49898118e+00] [ 1.12678080e-02 -7.96473764e-05 9.99936513e-01 2.23235350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939254154 meters 0.01476086830496265 Centerline is valid? [True, True] Translation: X:336.75, Y:3.49, Z:2.23 [[ 9.99563517e-01 -2.76791588e-02 -1.03266322e-02 3.36745154e+02] [ 2.76791471e-02 9.99616849e-01 -1.44078574e-04 3.49003274e+00] [ 1.03266635e-02 -1.41816686e-04 9.99946669e-01 2.23373157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters 0.01589367985421611 Centerline is valid? [True, True] Translation: X:336.81, Y:3.48, Z:2.23 [[ 9.99376048e-01 -3.39674972e-02 -9.68110750e-03 3.36805127e+02] [ 3.39677763e-02 9.99422919e-01 -1.35648935e-04 3.48018183e+00] [ 9.68012837e-03 -1.93281397e-04 9.99953128e-01 2.23463198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters 0.018076509084744185 Centerline is valid? [True, True] Translation: X:336.86, Y:3.47, Z:2.23 [[ 9.99177204e-01 -3.94519293e-02 -9.40537397e-03 3.36864951e+02] [ 3.94524332e-02 9.99221441e-01 -1.32025947e-04 3.47109846e+00] [ 9.40326001e-03 -2.39147572e-04 9.99955760e-01 2.23498647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters 0.017642874937953888 Centerline is valid? [True, True] Translation: X:336.93, Y:3.47, Z:2.24 [[ 9.99104570e-01 -4.10502028e-02 -1.02439540e-02 3.36926152e+02] [ 4.10508859e-02 9.99157047e-01 -1.43667832e-04 3.46999083e+00] [ 1.02412164e-02 -2.76984198e-04 9.99947519e-01 2.23520711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters 0.017962701146030498 Centerline is valid? [True, True] Translation: X:336.99, Y:3.47, Z:2.24 [[ 9.99140627e-01 -4.00782548e-02 -1.05707901e-02 3.36986207e+02] [ 4.00789305e-02 9.99196506e-01 -1.47997766e-04 3.46781318e+00] [ 1.05682280e-02 -2.75795381e-04 9.99944117e-01 2.23571779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters 0.01718178406382858 Centerline is valid? [True, True] Translation: X:337.05, Y:3.47, Z:2.24 [[ 9.99251689e-01 -3.73438614e-02 -1.00746334e-02 3.37047093e+02] [ 3.73443368e-02 9.99302447e-01 -1.40990856e-04 3.46945316e+00] [ 1.00728710e-02 -2.35345152e-04 9.99949240e-01 2.23655266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters 0.016056376525565883 Centerline is valid? [True, True] Translation: X:337.11, Y:3.47, Z:2.24 [[ 9.99428971e-01 -3.20056125e-02 -1.08339023e-02 3.37107440e+02] [ 3.20058502e-02 9.99487670e-01 -1.51486968e-04 3.47266465e+00] [ 1.08332002e-02 -1.95347788e-04 9.99941300e-01 2.23644365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters 0.014967645096483944 Centerline is valid? [True, True] Translation: X:337.17, Y:3.48, Z:2.24 [[ 9.99554462e-01 -2.74481666e-02 -1.17250210e-02 3.37166947e+02] [ 2.74481294e-02 9.99623216e-01 -1.64125878e-04 3.47649683e+00] [ 1.17251082e-02 -1.57777140e-04 9.99931246e-01 2.23587727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.419254154 meters 0.016498894695956952 Centerline is valid? [True, True] Translation: X:337.23, Y:3.48, Z:2.23 [[ 9.99523463e-01 -2.76631011e-02 -1.36967016e-02 3.37225450e+02] [ 2.76630431e-02 9.99617286e-01 -1.93729072e-04 3.47552350e+00] [ 1.36968189e-02 -1.85255694e-04 9.99906177e-01 2.23451087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.479254154 meters 0.01885743286500832 Centerline is valid? [True, True] Translation: X:337.28, Y:3.47, Z:2.23 [[ 9.99459681e-01 -2.96243939e-02 -1.42387617e-02 3.37283614e+02] [ 2.96244964e-02 9.99561078e-01 -2.03770739e-04 3.47306561e+00] [ 1.42385486e-02 -2.18155506e-04 9.99898603e-01 2.23446594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.539254154 meters 0.018300790066984235 Centerline is valid? [True, True] Translation: X:337.34, Y:3.47, Z:2.24 [[ 9.99229020e-01 -3.68295674e-02 -1.35995444e-02 3.37342498e+02] [ 3.68303125e-02 9.99321515e-01 -1.95739287e-04 3.46694617e+00] [ 1.35975263e-02 -3.05287095e-04 9.99907503e-01 2.23632148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.599254154 meters 0.019072150527788885 Centerline is valid? [True, True] Translation: X:337.40, Y:3.46, Z:2.24 [[ 9.98889545e-01 -4.54843404e-02 -1.22821888e-02 3.37402985e+02] [ 4.54855943e-02 9.98964979e-01 -1.77372765e-04 3.46278485e+00] [ 1.22775441e-02 -3.81486855e-04 9.99924555e-01 2.23879159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.659254154 meters 0.02270203548779916 Centerline is valid? [True, True] Translation: X:337.46, Y:3.46, Z:2.24 [[ 9.98601982e-01 -5.14232696e-02 -1.22364026e-02 3.37463331e+02] [ 5.14249567e-02 9.98676846e-01 -1.76931891e-04 3.45739906e+00] [ 1.22293104e-02 -4.52571937e-04 9.99925117e-01 2.23854617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.719254154 meters 0.028848597517788125 Centerline is valid? [True, True] Translation: X:337.52, Y:3.45, Z:2.24 [[ 9.98265965e-01 -5.73449197e-02 -1.32899623e-02 3.37522239e+02] [ 5.73474290e-02 9.98354263e-01 -1.92511869e-04 3.44698308e+00] [ 1.32791301e-02 -5.69967124e-04 9.99911666e-01 2.23746744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779254154 meters 0.023094689356434196 Centerline is valid? [True, True] Translation: X:337.58, Y:3.46, Z:2.24 [[ 9.98199692e-01 -5.86462076e-02 -1.25696877e-02 3.37582914e+02] [ 5.86485526e-02 9.98278676e-01 -1.82285967e-04 3.45761590e+00] [ 1.25587416e-02 -5.55236197e-04 9.99920982e-01 2.24012620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839254154 meters 0.022471398247298918 Centerline is valid? [True, True] Translation: X:337.64, Y:3.46, Z:2.24 [[ 9.98263023e-01 -5.76673492e-02 -1.20587851e-02 3.37642957e+02] [ 5.76694349e-02 9.98335718e-01 -1.74975924e-04 3.46118620e+00] [ 1.20488063e-02 -5.20751327e-04 9.99927275e-01 2.24147721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899254154 meters 0.021877220261695175 Centerline is valid? [True, True] Translation: X:337.70, Y:3.47, Z:2.24 [[ 9.98467910e-01 -5.37978922e-02 -1.29468302e-02 3.37703411e+02] [ 5.37999700e-02 9.98551715e-01 -1.87995157e-04 3.46615036e+00] [ 1.29381932e-02 -5.08831943e-04 9.99916169e-01 2.24117296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959254154 meters 0.02035186171140791 Centerline is valid? [True, True] Translation: X:337.76, Y:3.47, Z:2.24 [[ 9.98770398e-01 -4.73306943e-02 -1.47477776e-02 3.37763017e+02] [ 4.73326840e-02 9.98879157e-01 -2.14295812e-04 3.47388949e+00] [ 1.47413905e-02 -4.84019585e-04 9.99891223e-01 2.23997643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019254154 meters 0.019200492101832056 Centerline is valid? [True, True] Translation: X:337.82, Y:3.48, Z:2.24 [[ 9.98963806e-01 -4.27605402e-02 -1.55836815e-02 3.37822616e+02] [ 4.27621994e-02 9.99085253e-01 -2.26886172e-04 3.47902911e+00] [ 1.55791282e-02 -4.39741423e-04 9.99878541e-01 2.23985478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079254154 meters 0.016449070081702915 Centerline is valid? [True, True] Translation: X:337.88, Y:3.49, Z:2.24 [[ 9.99151268e-01 -3.79664726e-02 -1.59777939e-02 3.37881570e+02] [ 3.79675647e-02 9.99278944e-01 -2.35093076e-04 3.48803782e+00] [ 1.59751987e-02 -3.71744377e-04 9.99872319e-01 2.24098965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139254154 meters 0.01640621597396466 Centerline is valid? [True, True] Translation: X:337.94, Y:3.49, Z:2.24 [[ 9.99161458e-01 -3.76245748e-02 -1.61484575e-02 3.37940485e+02] [ 3.76255799e-02 9.99291878e-01 -2.41680794e-04 3.49044886e+00] [ 1.61461155e-02 -3.66116941e-04 9.99869576e-01 2.24149455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199254154 meters 0.017043136535394358 Centerline is valid? [True, True] Translation: X:338.00, Y:3.49, Z:2.24 [[ 9.99132603e-01 -3.84489096e-02 -1.59913155e-02 3.37998179e+02] [ 3.84499596e-02 9.99260498e-01 -2.41894667e-04 3.49247260e+00] [ 1.59887905e-02 -3.73180586e-04 9.99872101e-01 2.24202940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259254154 meters 0.016894754608607055 Centerline is valid? [True, True] Translation: X:338.06, Y:3.50, Z:2.24 [[ 9.99018145e-01 -4.16737323e-02 -1.50348161e-02 3.38056808e+02] [ 4.16749838e-02 9.99131194e-01 -2.30192808e-04 3.49501700e+00] [ 1.50313467e-02 -3.96608924e-04 9.99886944e-01 2.24349968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319254154 meters 0.017719108358590804 Centerline is valid? [True, True] Translation: X:338.12, Y:3.50, Z:2.24 [[ 9.98917468e-01 -4.39002265e-02 -1.53838044e-02 3.38116481e+02] [ 4.39017678e-02 9.99035824e-01 -2.37666688e-04 3.49538259e+00] [ 1.53794054e-02 -4.37966804e-04 9.99881634e-01 2.24356647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379254154 meters 0.019873380641813616 Centerline is valid? [True, True] Translation: X:338.18, Y:3.49, Z:2.24 [[ 9.98714298e-01 -4.84095077e-02 -1.50422619e-02 3.38176104e+02] [ 4.84114839e-02 9.98827450e-01 -2.32937374e-04 3.49448201e+00] [ 1.50359004e-02 -4.95580333e-04 9.99886832e-01 2.24397874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439254154 meters 0.02241523501866614 Centerline is valid? [True, True] Translation: X:338.24, Y:3.49, Z:2.25 [[ 9.98435742e-01 -5.43699542e-02 -1.30375524e-02 3.38235284e+02] [ 5.43719403e-02 9.98520731e-01 -2.02333310e-04 3.49179472e+00] [ 1.30292672e-02 -5.06860211e-04 9.99914987e-01 2.24523658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters 0.023294985640666767 Centerline is valid? [True, True] Translation: X:338.30, Y:3.49, Z:2.25 [[ 9.98311776e-01 -5.66163016e-02 -1.29688670e-02 3.38295851e+02] [ 5.66184529e-02 9.98395868e-01 -2.01507426e-04 3.49355315e+00] [ 1.29594718e-02 -5.33109947e-04 9.99915880e-01 2.24575138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters 0.0235376507766499 Centerline is valid? [True, True] Translation: X:338.36, Y:3.50, Z:2.25 [[ 9.98339783e-01 -5.66309492e-02 -1.05172761e-02 3.38356367e+02] [ 5.66323655e-02 9.98395086e-01 -1.63346421e-04 3.49619892e+00] [ 1.05096472e-02 -4.32542993e-04 9.99944679e-01 2.24709780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters 0.024433855912141176 Centerline is valid? [True, True] Translation: X:338.42, Y:3.50, Z:2.25 [[ 9.98578259e-01 -5.22680033e-02 -1.04650201e-02 3.38416578e+02] [ 5.22691675e-02 9.98633020e-01 -1.62414275e-04 3.50071483e+00] [ 1.04592037e-02 -3.84814525e-04 9.99945227e-01 2.24583084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters 0.019333975370885666 Centerline is valid? [True, True] Translation: X:338.48, Y:3.51, Z:2.25 [[ 9.98812154e-01 -4.74036148e-02 -1.12773442e-02 3.38476693e+02] [ 4.74046571e-02 9.98875752e-01 -1.75021324e-04 3.51290857e+00] [ 1.12729623e-02 -3.59785207e-04 9.99936393e-01 2.24584146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters 0.018317746638425062 Centerline is valid? [True, True] Translation: X:338.54, Y:3.52, Z:2.25 [[ 9.98948398e-01 -4.43204187e-02 -1.17387497e-02 3.38538023e+02] [ 4.43213375e-02 9.99017310e-01 -1.81996845e-04 3.51874488e+00] [ 1.17352803e-02 -3.38471629e-04 9.99931082e-01 2.24539083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters 0.01801999054471195 Centerline is valid? [True, True] Translation: X:338.60, Y:3.52, Z:2.24 [[ 9.99094404e-01 -4.08752384e-02 -1.18146652e-02 3.38598858e+02] [ 4.08759324e-02 9.99164213e-01 -1.82830817e-04 3.52396213e+00] [ 1.18122639e-02 -3.00270209e-04 9.99930188e-01 2.24486286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters 0.017180853865789145 Centerline is valid? [True, True] Translation: X:338.66, Y:3.53, Z:2.24 [[ 9.99165460e-01 -3.89412378e-02 -1.23273501e-02 3.38660187e+02] [ 3.89418505e-02 9.99241460e-01 -1.90424188e-04 3.52966750e+00] [ 1.23254146e-02 -2.89784552e-04 9.99923997e-01 2.24469027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.919254154 meters 0.016393765607188922 Centerline is valid? [True, True] Translation: X:338.72, Y:3.53, Z:2.25 [[ 9.99221010e-01 -3.76908233e-02 -1.16950542e-02 3.38720320e+02] [ 3.76912930e-02 9.99289415e-01 -1.80325085e-04 3.53322178e+00] [ 1.16935404e-02 -2.60617099e-04 9.99931594e-01 2.24606246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.979254154 meters 0.01612484036372254 Centerline is valid? [True, True] Translation: X:338.78, Y:3.54, Z:2.25 [[ 9.99294874e-01 -3.61549469e-02 -1.01278805e-02 3.38780911e+02] [ 3.61552213e-02 9.99346174e-01 -1.56053426e-04 3.53645778e+00] [ 1.01269007e-02 -2.10232371e-04 9.99948700e-01 2.24666008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.039254154 meters 0.01632023343749423 Centerline is valid? [True, True] Translation: X:338.84, Y:3.54, Z:2.25 [[ 9.99280698e-01 -3.66578555e-02 -9.71024777e-03 3.38841844e+02] [ 3.66581325e-02 9.99327854e-01 -1.49508156e-04 3.53825257e+00] [ 9.70920171e-03 -2.06558935e-04 9.99952843e-01 2.24740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.099254154 meters 0.020262955923871517 Centerline is valid? [True, True] Translation: X:338.90, Y:3.54, Z:2.25 [[ 9.99229561e-01 -3.84038387e-02 -8.08891763e-03 3.38901816e+02] [ 3.84040900e-02 9.99262283e-01 -1.24314209e-04 3.53768195e+00] [ 8.08772445e-03 -1.86429089e-04 9.99967276e-01 2.24729381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.159254154 meters 0.017615791197527524 Centerline is valid? [True, True] Translation: X:338.96, Y:3.54, Z:2.25 [[ 9.99149798e-01 -4.03662108e-02 -8.38155972e-03 3.38963854e+02] [ 4.03665517e-02 9.99184930e-01 -1.28563786e-04 3.53919954e+00] [ 8.37991780e-03 -2.09880183e-04 9.99964866e-01 2.24950362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.219254154 meters 0.016900117146202428 Centerline is valid? [True, True] Translation: X:339.03, Y:3.54, Z:2.25 [[ 9.99171381e-01 -3.96569931e-02 -9.15827283e-03 3.39026203e+02] [ 3.96573769e-02 9.99213327e-01 -1.39758415e-04 3.54156174e+00] [ 9.15661066e-03 -2.23550470e-04 9.99958052e-01 2.24939527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279254154 meters 0.017031866732576458 Centerline is valid? [True, True] Translation: X:339.09, Y:3.54, Z:2.25 [[ 9.99260803e-01 -3.67718887e-02 -1.12104848e-02 3.39086482e+02] [ 3.67722902e-02 9.99323656e-01 -1.70377785e-04 3.54329420e+00] [ 1.12091677e-02 -2.41983357e-04 9.99937146e-01 2.24885763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339254154 meters 0.018616010008431667 Centerline is valid? [True, True] Translation: X:339.15, Y:3.55, Z:2.25 [[ 9.99346939e-01 -3.40000618e-02 -1.22348650e-02 3.39147019e+02] [ 3.40003340e-02 9.99421804e-01 -1.85812009e-04 3.54553173e+00] [ 1.22341085e-02 -2.30298833e-04 9.99925134e-01 2.24776529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399254154 meters 0.016607484919838676 Centerline is valid? [True, True] Translation: X:339.21, Y:3.55, Z:2.25 [[ 9.99338788e-01 -3.41278742e-02 -1.25409257e-02 3.39207199e+02] [ 3.41281746e-02 9.99417446e-01 -1.90115812e-04 3.54515846e+00] [ 1.25401082e-02 -2.38008798e-04 9.99921341e-01 2.24876945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459254154 meters 0.016459475087353632 Centerline is valid? [True, True] Translation: X:339.27, Y:3.54, Z:2.25 [[ 9.99266897e-01 -3.56306348e-02 -1.40045423e-02 3.39268102e+02] [ 3.56311632e-02 9.99364986e-01 -2.11861076e-04 3.54483188e+00] [ 1.40031980e-02 -2.87292372e-04 9.99901909e-01 2.24951393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519254154 meters 0.01757724831132768 Centerline is valid? [True, True] Translation: X:339.33, Y:3.54, Z:2.25 [[ 9.99150726e-01 -3.86049090e-02 -1.44044474e-02 3.39327528e+02] [ 3.86057758e-02 9.99254495e-01 -2.17987429e-04 3.54106081e+00] [ 1.44021242e-02 -3.38292567e-04 9.99896227e-01 2.24943758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579254154 meters 0.01993300385539913 Centerline is valid? [True, True] Translation: X:339.39, Y:3.53, Z:2.25 [[ 9.98857214e-01 -4.54960298e-02 -1.46416446e-02 3.39387994e+02] [ 4.54976609e-02 9.98964421e-01 -2.21850447e-04 3.53481701e+00] [ 1.46365753e-02 -4.44563660e-04 9.99892781e-01 2.24974540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639254154 meters 0.024483360675588813 Centerline is valid? [True, True] Translation: X:339.45, Y:3.53, Z:2.25 [[ 9.98461611e-01 -5.33442207e-02 -1.51263288e-02 3.39448615e+02] [ 5.33468577e-02 9.98576016e-01 -2.29394316e-04 3.52817628e+00] [ 1.51170260e-02 -5.77900690e-04 9.99885564e-01 2.25031732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699254154 meters 0.0274799434055377 Centerline is valid? [True, True] Translation: X:339.51, Y:3.52, Z:2.25 [[ 9.98104738e-01 -5.96032235e-02 -1.53097131e-02 3.39508697e+02] [ 5.96066588e-02 9.98221915e-01 -2.32232257e-04 3.52104820e+00] [ 1.52963329e-02 -6.80768728e-04 9.99882773e-01 2.25045470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759254154 meters 0.024927749004259852 Centerline is valid? [True, True] Translation: X:339.57, Y:3.52, Z:2.25 [[ 9.97848898e-01 -6.36220637e-02 -1.58053703e-02 3.39570033e+02] [ 6.36262327e-02 9.97973770e-01 -2.39448283e-04 3.52492071e+00] [ 1.57885791e-02 -7.66702961e-04 9.99875059e-01 2.25197355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819254154 meters 0.027839868605721744 Centerline is valid? [True, True] Translation: X:339.63, Y:3.53, Z:2.25 [[ 9.97688586e-01 -6.55385113e-02 -1.79496118e-02 3.39631301e+02] [ 6.55442104e-02 9.97849629e-01 -2.71234223e-04 3.52565945e+00] [ 1.79287897e-02 -9.05885841e-04 9.99838856e-01 2.25164436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879254154 meters 0.027139977199921225 Centerline is valid? [True, True] Translation: X:339.69, Y:3.53, Z:2.25 [[ 9.97564673e-01 -6.75487483e-02 -1.73749915e-02 3.39691378e+02] [ 6.75544048e-02 9.97715558e-01 -2.61833817e-04 3.52728216e+00] [ 1.73529859e-02 -9.12561044e-04 9.99849009e-01 2.25307105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters 0.02795951277097534 Centerline is valid? [True, True] Translation: X:339.75, Y:3.53, Z:2.25 [[ 9.97558437e-01 -6.74439060e-02 -1.81241229e-02 3.39752604e+02] [ 6.74500568e-02 9.97722615e-01 -2.72399149e-04 3.52886192e+00] [ 1.81012189e-02 -9.50739046e-04 9.99835707e-01 2.25306427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters 0.028386859213951343 Centerline is valid? [True, True] Translation: X:339.81, Y:3.53, Z:2.25 [[ 9.97601523e-01 -6.66898781e-02 -1.85381185e-02 3.39813561e+02] [ 6.66961918e-02 9.97773291e-01 -2.78163182e-04 3.53173901e+00] [ 1.85153901e-02 -9.58925891e-04 9.99828116e-01 2.25364245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters 0.025827927306156982 Centerline is valid? [True, True] Translation: X:339.87, Y:3.54, Z:2.26 [[ 9.97650136e-01 -6.57505546e-02 -1.92631948e-02 3.39874387e+02] [ 6.57572042e-02 9.97835611e-01 -2.88687450e-04 3.54108323e+00] [ 1.92404831e-02 -9.78684760e-04 9.99814406e-01 2.25560331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters 0.02510884644221262 Centerline is valid? [True, True] Translation: X:339.94, Y:3.55, Z:2.26 [[ 9.97665288e-01 -6.54585084e-02 -1.94719469e-02 3.39935769e+02] [ 6.54652592e-02 9.97854807e-01 -2.91215923e-04 3.54555540e+00] [ 1.94492384e-02 -9.84200035e-04 9.99810361e-01 2.25626102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters 0.026167831832492477 Centerline is valid? [True, True] Translation: X:340.00, Y:3.55, Z:2.26 [[ 9.97680038e-01 -6.45350532e-02 -2.16741269e-02 3.39997087e+02] [ 6.45432187e-02 9.97914860e-01 -3.23319557e-04 3.55035829e+00] [ 2.16497988e-02 -1.07634844e-03 9.99765036e-01 2.25591024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters 0.024880247385454295 Centerline is valid? [True, True] Translation: X:340.06, Y:3.56, Z:2.26 [[ 9.97829321e-01 -6.24856291e-02 -2.07892123e-02 3.40057331e+02] [ 6.24927024e-02 9.98045373e-01 -3.09881000e-04 3.55602745e+00] [ 2.07679402e-02 -9.89965709e-04 9.99783833e-01 2.25709459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters 0.0225772676201121 Centerline is valid? [True, True] Translation: X:340.12, Y:3.57, Z:2.26 [[ 9.98165405e-01 -5.73765268e-02 -1.93328263e-02 3.40118126e+02] [ 5.73816874e-02 9.98352272e-01 -2.88145872e-04 3.56578514e+00] [ 1.93175038e-02 -8.21732952e-04 9.99813062e-01 2.25908389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters 0.020140570502384724 Centerline is valid? [True, True] Translation: X:340.18, Y:3.57, Z:2.26 [[ 9.98557817e-01 -5.02993121e-02 -1.87687305e-02 3.40179013e+02] [ 5.03029283e-02 9.98733967e-01 -2.79682417e-04 3.57499423e+00] [ 1.87590365e-02 -6.64843043e-04 9.99823813e-01 2.25877462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.419254154 meters 0.018227284705643613 Centerline is valid? [True, True] Translation: X:340.24, Y:3.59, Z:2.26 [[ 9.98929355e-01 -4.24089740e-02 -1.84830399e-02 3.40239830e+02] [ 4.24111317e-02 9.99100205e-01 -2.75398144e-04 3.58550633e+00] [ 1.84780883e-02 -5.08783349e-04 9.99829136e-01 2.25857882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.479254154 meters 0.01706244458696466 Centerline is valid? [True, True] Translation: X:340.30, Y:3.59, Z:2.26 [[ 9.99144710e-01 -3.72070544e-02 -1.80411449e-02 3.40299957e+02] [ 3.72082589e-02 9.99307497e-01 -2.69015973e-04 3.59205248e+00] [ 1.80386606e-02 -4.02493703e-04 9.99837209e-01 2.25889835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.539254154 meters 0.01618240611510121 Centerline is valid? [True, True] Translation: X:340.36, Y:3.60, Z:2.26 [[ 9.99329465e-01 -3.22892881e-02 -1.72633213e-02 3.40358703e+02] [ 3.22896456e-02 9.99478520e-01 -2.58094491e-04 3.59714647e+00] [ 1.72626525e-02 -2.99505097e-04 9.99850944e-01 2.25884474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.599254154 meters 0.01632273899294671 Centerline is valid? [True, True] Translation: X:340.42, Y:3.60, Z:2.26 [[ 9.99338501e-01 -3.19748259e-02 -1.73254388e-02 3.40417149e+02] [ 3.19751230e-02 9.99488631e-01 -2.59935369e-04 3.59898663e+00] [ 1.73248905e-02 -2.94219615e-04 9.99849870e-01 2.25904731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.659254154 meters 0.01944777550087546 Centerline is valid? [True, True] Translation: X:340.48, Y:3.60, Z:2.26 [[ 9.99181336e-01 -3.60749022e-02 -1.83101106e-02 3.40476238e+02] [ 3.60758645e-02 9.99349016e-01 -2.77851766e-04 3.59757887e+00] [ 1.83082144e-02 -3.82928770e-04 9.99832317e-01 2.25882437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.719254154 meters 0.019470458533389672 Centerline is valid? [True, True] Translation: X:340.54, Y:3.59, Z:2.26 [[ 9.98827942e-01 -4.50139222e-02 -1.77901269e-02 3.40536474e+02] [ 4.50162143e-02 9.98986219e-01 -2.71795688e-04 3.59445588e+00] [ 1.77843262e-02 -5.29367035e-04 9.99841706e-01 2.25913173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779254154 meters 0.02377345903826091 Centerline is valid? [True, True] Translation: X:340.60, Y:3.59, Z:2.26 [[ 9.98333908e-01 -5.47980382e-02 -1.80715868e-02 3.40596235e+02] [ 5.48019974e-02 9.98497203e-01 -2.76434900e-04 3.58754280e+00] [ 1.80595770e-02 -7.14384720e-04 9.99836657e-01 2.25896665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839254154 meters 0.026921868803868883 Centerline is valid? [True, True] Translation: X:340.66, Y:3.58, Z:2.26 [[ 9.97992189e-01 -6.07752899e-02 -1.78312618e-02 3.40656475e+02] [ 6.07800953e-02 9.98151144e-01 -2.72819969e-04 3.58460006e+00] [ 1.78148751e-02 -8.11513594e-04 9.99840973e-01 2.26051609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899254154 meters 0.029376701161452575 Centerline is valid? [True, True] Translation: X:340.72, Y:3.58, Z:2.26 [[ 9.97552406e-01 -6.78447180e-02 -1.69201391e-02 3.40716919e+02] [ 6.78500595e-02 9.97695496e-01 -2.58828566e-04 3.58136729e+00] [ 1.68987067e-02 -8.89837386e-04 9.99856811e-01 2.26196815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959254154 meters 0.028993359891574855 Centerline is valid? [True, True] Translation: X:340.78, Y:3.58, Z:2.26 [[ 9.97216043e-01 -7.27839816e-02 -1.62066628e-02 3.40777362e+02] [ 7.27895330e-02 9.97347293e-01 -2.47862564e-04 3.58299915e+00] [ 1.61817117e-02 -9.32502889e-04 9.99868633e-01 2.26346103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019254154 meters 0.03147575813998508 Centerline is valid? [True, True] Translation: X:340.84, Y:3.58, Z:2.26 [[ 9.97095335e-01 -7.44232250e-02 -1.61887921e-02 3.40838661e+02] [ 7.44289881e-02 9.97226286e-01 -2.47052202e-04 3.58188157e+00] [ 1.61622754e-02 -9.58580815e-04 9.99868922e-01 2.26345305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079254154 meters 0.03316238948525696 Centerline is valid? [True, True] Translation: X:340.90, Y:3.58, Z:2.26 [[ 9.96987743e-01 -7.58273239e-02 -1.62989838e-02 3.40900640e+02] [ 7.58333697e-02 9.97120474e-01 -2.47686905e-04 3.58324383e+00] [ 1.62708319e-02 -9.89066055e-04 9.99867132e-01 2.26333797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139254154 meters 0.028871518842796606 Centerline is valid? [True, True] Translation: X:340.96, Y:3.59, Z:2.26 [[ 9.97033442e-01 -7.51647711e-02 -1.65702317e-02 3.40962644e+02] [ 7.51709489e-02 9.97170630e-01 -2.50588554e-04 3.59385927e+00] [ 1.65421838e-02 -9.95754873e-04 9.99862673e-01 2.26449685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199254154 meters 0.0290004378542046 Centerline is valid? [True, True] Translation: X:341.02, Y:3.60, Z:2.26 [[ 9.97250282e-01 -7.18189112e-02 -1.82734298e-02 3.41022804e+02] [ 7.18258747e-02 9.97417148e-01 -2.75793323e-04 3.60096744e+00] [ 1.82460394e-02 -1.03747011e-03 9.99832989e-01 2.26387176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259254154 meters 0.0256081164739171 Centerline is valid? [True, True] Translation: X:341.08, Y:3.61, Z:2.26 [[ 9.97627199e-01 -6.63089521e-02 -1.85227949e-02 3.41083046e+02] [ 6.63151603e-02 9.97798688e-01 -2.79529921e-04 3.61237884e+00] [ 1.85005558e-02 -9.49475460e-04 9.99828399e-01 2.26463107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319254154 meters 0.024241140357540655 Centerline is valid? [True, True] Translation: X:341.14, Y:3.62, Z:2.27 [[ 9.97918956e-01 -6.18921458e-02 -1.80864417e-02 3.41144010e+02] [ 6.18973451e-02 9.98082484e-01 -2.72720928e-04 3.61982081e+00] [ 1.80686399e-02 -8.47349341e-04 9.99836390e-01 2.26544346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379254154 meters 0.021522492579973112 Centerline is valid? [True, True] Translation: X:341.20, Y:3.63, Z:2.27 [[ 9.98328181e-01 -5.47471226e-02 -1.85363466e-02 3.41204024e+02] [ 5.47513578e-02 9.98499980e-01 -2.79315556e-04 3.63280856e+00] [ 1.85238334e-02 -7.36041551e-04 9.99828148e-01 2.26648565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters 0.02088903713289068 Centerline is valid? [True, True] Translation: X:341.26, Y:3.64, Z:2.27 [[ 9.98644065e-01 -4.88264478e-02 -1.80557051e-02 3.41263982e+02] [ 4.88295000e-02 9.98807091e-01 -2.72038150e-04 3.64231496e+00] [ 1.80474489e-02 -6.09981767e-04 9.99836945e-01 2.26774259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters 0.019235564820085378 Centerline is valid? [True, True] Translation: X:341.33, Y:3.65, Z:2.27 [[ 9.98785660e-01 -4.61421030e-02 -1.72658973e-02 3.41325706e+02] [ 4.61445033e-02 9.98934741e-01 -2.59558414e-04 3.64838505e+00] [ 1.72594812e-02 -5.37483033e-04 9.99850900e-01 2.26883565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters 0.01982896399797656 Centerline is valid? [True, True] Translation: X:341.39, Y:3.65, Z:2.27 [[ 9.98868050e-01 -4.46628043e-02 -1.63661740e-02 3.41386583e+02] [ 4.46647885e-02 9.99002000e-01 -2.44448301e-04 3.65182274e+00] [ 1.63607583e-02 -4.86820103e-04 9.99866035e-01 2.26835342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters 0.01873681265819219 Centerline is valid? [True, True] Translation: X:341.45, Y:3.66, Z:2.27 [[ 9.98881676e-01 -4.44423327e-02 -1.61331131e-02 3.41448936e+02] [ 4.44442568e-02 9.99011837e-01 -2.39429645e-04 3.65712158e+00] [ 1.61278118e-02 -4.77862336e-04 9.99869824e-01 2.26938464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters 0.01884110966459218 Centerline is valid? [True, True] Translation: X:341.51, Y:3.66, Z:2.27 [[ 9.98926256e-01 -4.33988340e-02 -1.62134903e-02 3.41510941e+02] [ 4.34006591e-02 9.99057719e-01 -2.39438863e-04 3.66069958e+00] [ 1.62086040e-02 -4.64494401e-04 9.99868524e-01 2.26953954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters 0.017348675355696976 Centerline is valid? [True, True] Translation: X:341.57, Y:3.67, Z:2.27 [[ 9.99019307e-01 -4.12243931e-02 -1.61546941e-02 3.41572997e+02] [ 4.12259403e-02 9.99149821e-01 -2.37377313e-04 3.66685051e+00] [ 1.61507455e-02 -4.28847936e-04 9.99869476e-01 2.27069803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters 0.01843969292939238 Centerline is valid? [True, True] Translation: X:341.63, Y:3.67, Z:2.27 [[ 9.99119353e-01 -3.88921960e-02 -1.57453544e-02 3.41633305e+02] [ 3.88933867e-02 9.99243339e-01 -2.30705821e-04 3.66666442e+00] [ 1.57424132e-02 -3.81887507e-04 9.99876008e-01 2.27025070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters 0.0173053452844671 Centerline is valid? [True, True] Translation: X:341.70, Y:3.67, Z:2.27 [[ 9.99164701e-01 -3.76831600e-02 -1.58075867e-02 3.41695653e+02] [ 3.76842215e-02 9.99289671e-01 -2.30817472e-04 3.67075400e+00] [ 1.58050560e-02 -3.65071928e-04 9.99875026e-01 2.27125266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.919254154 meters 0.01700340477677715 Centerline is valid? [True, True] Translation: X:341.76, Y:3.67, Z:2.27 [[ 9.99126098e-01 -3.84602241e-02 -1.63661408e-02 3.41757563e+02] [ 3.84614863e-02 9.99260055e-01 -2.37738663e-04 3.67077332e+00] [ 1.63631742e-02 -3.91935198e-04 9.99866037e-01 2.27109340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.979254154 meters 0.018182129678309077 Centerline is valid? [True, True] Translation: X:341.82, Y:3.67, Z:2.27 [[ 9.99023259e-01 -4.08094768e-02 -1.69444452e-02 3.41819199e+02] [ 4.08111825e-02 9.99166847e-01 -2.45249256e-04 3.66913012e+00] [ 1.69403364e-02 -4.46513136e-04 9.99856403e-01 2.27065230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.039254154 meters 0.019014524162985796 Centerline is valid? [True, True] Translation: X:341.88, Y:3.67, Z:2.27 [[ 9.98787638e-01 -4.60635768e-02 -1.73609023e-02 3.41880284e+02] [ 4.60661718e-02 9.98938359e-01 -2.50614195e-04 3.66502320e+00] [ 1.73540155e-02 -5.49439948e-04 9.99849257e-01 2.27036451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.099254154 meters 0.020461356499776505 Centerline is valid? [True, True] Translation: X:341.94, Y:3.66, Z:2.27 [[ 9.98542871e-01 -5.10464253e-02 -1.75042219e-02 3.41941058e+02] [ 5.10498358e-02 9.98696075e-01 -2.52220767e-04 3.66202058e+00] [ 1.74942726e-02 -6.41734404e-04 9.99846758e-01 2.27124682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.159254154 meters 0.022798545654460496 Centerline is valid? [True, True] Translation: X:342.00, Y:3.66, Z:2.27 [[ 9.98440079e-01 -5.29684739e-02 -1.76564005e-02 3.42002270e+02] [ 5.29722650e-02 9.98595952e-01 -2.53228221e-04 3.65952156e+00] [ 1.76450231e-02 -6.82466319e-04 9.99844082e-01 2.27146818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.219254154 meters 0.022334570420240042 Centerline is valid? [True, True] Translation: X:342.06, Y:3.66, Z:2.27 [[ 9.98399176e-01 -5.37248782e-02 -1.76839927e-02 3.42063977e+02] [ 5.37288218e-02 9.98555532e-01 -2.52372502e-04 3.65900311e+00] [ 1.76720074e-02 -6.98171594e-04 9.99843594e-01 2.27225246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279254154 meters 0.02383137556702823 Centerline is valid? [True, True] Translation: X:342.13, Y:3.66, Z:2.27 [[ 9.98470057e-01 -5.21669674e-02 -1.83344618e-02 3.42125692e+02] [ 5.21709665e-02 9.98638134e-01 -2.60441654e-04 3.65916158e+00] [ 1.83230791e-02 -6.96483398e-04 9.99831876e-01 2.27308790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339254154 meters 0.02122215402091949 Centerline is valid? [True, True] Translation: X:342.19, Y:3.66, Z:2.28 [[ 9.98618378e-01 -4.95897566e-02 -1.73836267e-02 3.42187224e+02] [ 4.95929762e-02 9.98769481e-01 -2.46091149e-04 3.66292836e+00] [ 1.73744394e-02 -6.16354640e-04 9.99848863e-01 2.27577513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399254154 meters 0.021751396281732085 Centerline is valid? [True, True] Translation: X:342.25, Y:3.66, Z:2.28 [[ 9.98791393e-01 -4.60971100e-02 -1.70531599e-02 3.42247451e+02] [ 4.60997070e-02 9.98936814e-01 -2.40987494e-04 3.66255864e+00] [ 1.70461381e-02 -5.45449441e-04 9.99854555e-01 2.27662072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459254154 meters 0.018983633094920113 Centerline is valid? [True, True] Translation: X:342.31, Y:3.67, Z:2.28 [[ 9.98882446e-01 -4.40623735e-02 -1.70987304e-02 3.42308312e+02] [ 4.40646952e-02 9.99028650e-01 -2.41131228e-04 3.66792751e+00] [ 1.70927463e-02 -5.12588592e-04 9.99853777e-01 2.27842199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519254154 meters 0.018661640884318514 Centerline is valid? [True, True] Translation: X:342.37, Y:3.67, Z:2.28 [[ 9.98930250e-01 -4.21616510e-02 -1.89934541e-02 3.42369400e+02] [ 4.21641865e-02 9.99110660e-01 -2.67122515e-04 3.67085319e+00] [ 1.89878248e-02 -5.34006780e-04 9.99819572e-01 2.27797430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579254154 meters 0.018354514980969325 Centerline is valid? [True, True] Translation: X:342.43, Y:3.67, Z:2.28 [[ 9.98865387e-01 -4.31940450e-02 -2.00552337e-02 3.42430810e+02] [ 4.31970952e-02 9.99066530e-01 -2.81295889e-04 3.67055561e+00] [ 2.00486630e-02 -5.85351110e-04 9.99798834e-01 2.27733526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639254154 meters 0.019937930939289805 Centerline is valid? [True, True] Translation: X:342.49, Y:3.67, Z:2.28 [[ 9.98781513e-01 -4.52034605e-02 -1.98024369e-02 3.42491155e+02] [ 4.52068384e-02 9.98977610e-01 -2.77264531e-04 3.66884484e+00] [ 1.97947244e-02 -6.18278879e-04 9.99803874e-01 2.27744744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699254154 meters 0.020102549183304463 Centerline is valid? [True, True] Translation: X:342.55, Y:3.67, Z:2.28 [[ 9.98574606e-01 -5.00692255e-02 -1.84885952e-02 3.42551819e+02] [ 5.00730088e-02 9.98745527e-01 -2.58533961e-04 3.66989847e+00] [ 1.84783464e-02 -6.67614144e-04 9.99829038e-01 2.28023257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759254154 meters 0.02451436696464429 Centerline is valid? [True, True] Translation: X:342.61, Y:3.67, Z:2.28 [[ 9.98251170e-01 -5.63296849e-02 -1.79323148e-02 3.42612054e+02] [ 5.63342560e-02 9.98411933e-01 -2.50531693e-04 3.66518773e+00] [ 1.79179494e-02 -7.60110057e-04 9.99839172e-01 2.28065187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819254154 meters 0.024189531342949797 Centerline is valid? [True, True] Translation: X:342.67, Y:3.66, Z:2.28 [[ 9.97900895e-01 -6.25797978e-02 -1.66605263e-02 3.42672773e+02] [ 6.25846147e-02 9.98039634e-01 -2.32618000e-04 3.66405186e+00] [ 1.66424227e-02 -8.10562906e-04 9.99861177e-01 2.28135544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879254154 meters 0.028643698011838074 Centerline is valid? [True, True] Translation: X:342.73, Y:3.66, Z:2.28 [[ 9.97255979e-01 -7.23209077e-02 -1.58176727e-02 3.42733698e+02] [ 7.23264724e-02 9.97380987e-01 -2.20718493e-04 3.65795064e+00] [ 1.57922086e-02 -9.23923632e-04 9.99874868e-01 2.28223747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters 0.033150178511446006 Centerline is valid? [True, True] Translation: X:342.79, Y:3.65, Z:2.28 [[ 9.96614332e-01 -8.09374124e-02 -1.44571354e-02 3.42794202e+02] [ 8.09429648e-02 9.96718714e-01 -2.01619385e-04 3.65145725e+00] [ 1.44260160e-02 -9.69266635e-04 9.99895470e-01 2.28270891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters 0.036411959368621474 Centerline is valid? [True, True] Translation: X:342.85, Y:3.65, Z:2.28 [[ 9.96371305e-01 -8.40702935e-02 -1.32819138e-02 3.42854588e+02] [ 8.40752590e-02 9.96459390e-01 -1.85059429e-04 3.64941332e+00] [ 1.32504457e-02 -9.32292434e-04 9.99911774e-01 2.28355278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters 0.03533107437583073 Centerline is valid? [True, True] Translation: X:342.92, Y:3.65, Z:2.28 [[ 9.96430742e-01 -8.32812439e-02 -1.37844511e-02 3.42916771e+02] [ 8.32865260e-02 9.96525623e-01 -1.91418282e-04 3.65366226e+00] [ 1.37525003e-02 -9.57323983e-04 9.99904972e-01 2.28377641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters 0.03477948534876228 Centerline is valid? [True, True] Translation: X:342.98, Y:3.66, Z:2.28 [[ 9.96762293e-01 -7.90984970e-02 -1.44346810e-02 3.42976346e+02] [ 7.91038582e-02 9.96866360e-01 -2.00053096e-04 3.65905099e+00] [ 1.44052718e-02 -9.42433573e-04 9.99895795e-01 2.28359059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters 0.033221265833800175 Centerline is valid? [True, True] Translation: X:343.04, Y:3.67, Z:2.28 [[ 9.97189298e-01 -7.32183508e-02 -1.58926701e-02 3.43037081e+02] [ 7.32241049e-02 9.97315488e-01 -2.20322783e-04 3.66614918e+00] [ 1.58661377e-02 -9.44023022e-04 9.99873679e-01 2.28373645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters 0.031537684623117436 Centerline is valid? [True, True] Translation: X:343.10, Y:3.67, Z:2.28 [[ 9.97473491e-01 -6.90725667e-02 -1.66016752e-02 3.43097733e+02] [ 6.90782768e-02 9.97611216e-01 -2.29941094e-04 3.67280391e+00] [ 1.65779000e-02 -9.17454970e-04 9.99862156e-01 2.28430621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters 0.02509098338041229 Centerline is valid? [True, True] Translation: X:343.16, Y:3.69, Z:2.29 [[ 9.97901808e-01 -6.24340112e-02 -1.71457289e-02 3.43157929e+02] [ 6.24391261e-02 9.98048746e-01 -2.37359001e-04 3.68740285e+00] [ 1.71270925e-02 -8.33703353e-04 9.99852973e-01 2.28650726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters 0.022090938878398074 Centerline is valid? [True, True] Translation: X:343.22, Y:3.70, Z:2.29 [[ 9.98364259e-01 -5.41818015e-02 -1.82520886e-02 3.43218740e+02] [ 5.41862221e-02 9.98530816e-01 -2.52628227e-04 3.69733223e+00] [ 1.82389608e-02 -7.36796733e-04 9.99833385e-01 2.28762071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.419254154 meters 0.019343442172694573 Centerline is valid? [True, True] Translation: X:343.28, Y:3.71, Z:2.29 [[ 9.98838287e-01 -4.45305553e-02 -1.84148164e-02 3.43278519e+02] [ 4.45334168e-02 9.99007863e-01 -2.54857060e-04 3.70682629e+00] [ 1.84078953e-02 -5.65513706e-04 9.99830400e-01 2.28844514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.479254154 meters 0.016941802234087668 Centerline is valid? [True, True] Translation: X:343.34, Y:3.71, Z:2.29 [[ 9.99084148e-01 -3.84064438e-02 -1.88629408e-02 3.43339813e+02] [ 3.84083639e-02 9.99262093e-01 -2.60609751e-04 3.71450143e+00] [ 1.88590308e-02 -4.64123624e-04 9.99822045e-01 2.28974094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.539254154 meters 0.015575227202129211 Centerline is valid? [True, True] Translation: X:343.40, Y:3.72, Z:2.29 [[ 9.99331270e-01 -3.13296384e-02 -1.88538096e-02 3.43400371e+02] [ 3.13303106e-02 9.99509052e-01 -2.59788743e-04 3.71931094e+00] [ 1.88526924e-02 -3.31080696e-04 9.99822217e-01 2.29002469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.599254154 meters 0.014378266342798575 Centerline is valid? [True, True] Translation: X:343.46, Y:3.72, Z:2.29 [[ 9.99446585e-01 -2.62531380e-02 -2.04278380e-02 3.43460416e+02] [ 2.62528726e-02 9.99655294e-01 -2.81210901e-04 3.72444100e+00] [ 2.04281790e-02 -2.55234153e-04 9.99791290e-01 2.29089143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.659254154 meters 0.014382647261163723 Centerline is valid? [True, True] Translation: X:343.52, Y:3.73, Z:2.29 [[ 9.99458997e-01 -2.46721449e-02 -2.17485219e-02 3.43519383e+02] [ 2.46714518e-02 9.99695568e-01 -3.00225280e-04 3.72513635e+00] [ 2.17493082e-02 -2.36504754e-04 9.99763428e-01 2.28986299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.719254154 meters 0.01449081473603869 Centerline is valid? [True, True] Translation: X:343.58, Y:3.72, Z:2.29 [[ 9.99419487e-01 -2.49344014e-02 -2.32156056e-02 3.43578607e+02] [ 2.49335760e-02 9.99689057e-01 -3.25059675e-04 3.72426589e+00] [ 2.32164920e-02 -2.53977094e-04 9.99730429e-01 2.28933287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779254154 meters 0.014644105043011635 Centerline is valid? [True, True] Translation: X:343.64, Y:3.72, Z:2.29 [[ 9.99380349e-01 -2.60136236e-02 -2.37109436e-02 3.43637286e+02] [ 2.60129233e-02 9.99661550e-01 -3.38025817e-04 3.72396851e+00] [ 2.37117119e-02 -2.78974600e-04 9.99718799e-01 2.28939378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839254154 meters 0.014978551971901085 Centerline is valid? [True, True] Translation: X:343.70, Y:3.72, Z:2.29 [[ 9.99250036e-01 -2.94058857e-02 -2.51924323e-02 3.43695642e+02] [ 2.94060844e-02 9.99567482e-01 -3.62655117e-04 3.72174125e+00] [ 2.51922003e-02 -3.78427652e-04 9.99682555e-01 2.29086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899254154 meters 0.015586910786078625 Centerline is valid? [True, True] Translation: X:343.76, Y:3.72, Z:2.29 [[ 9.99090747e-01 -3.31968184e-02 -2.67516479e-02 3.43755583e+02] [ 3.31983636e-02 9.99448708e-01 -3.86492578e-04 3.71750303e+00] [ 2.67497303e-02 -5.01969777e-04 9.99642036e-01 2.29022968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959254154 meters 0.016917742354259253 Centerline is valid? [True, True] Translation: X:343.81, Y:3.71, Z:2.29 [[ 9.98951706e-01 -3.71698454e-02 -2.67187409e-02 3.43812997e+02] [ 3.71727159e-02 9.99308780e-01 -3.89423202e-04 3.71134049e+00] [ 2.67147472e-02 -6.04193193e-04 9.99642915e-01 2.28928597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019254154 meters 0.019869311951416866 Centerline is valid? [True, True] Translation: X:343.87, Y:3.71, Z:2.29 [[ 9.98856406e-01 -3.91002776e-02 -2.75144991e-02 3.43870685e+02] [ 3.91039733e-02 9.99235065e-01 -4.03939168e-04 3.70704020e+00] [ 2.75092465e-02 -6.72449013e-04 9.99621323e-01 2.28888653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079254154 meters 0.017759890197218454 Centerline is valid? [True, True] Translation: X:343.93, Y:3.70, Z:2.29 [[ 9.98693573e-01 -4.26437937e-02 -2.81541248e-02 3.43930090e+02] [ 4.26490201e-02 9.99090030e-01 -4.15105720e-04 3.70480832e+00] [ 2.81462071e-02 -7.86182420e-04 9.99603508e-01 2.28933932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139254154 meters 0.01819901000898003 Centerline is valid? [True, True] Translation: X:343.99, Y:3.70, Z:2.29 [[ 9.98612651e-01 -4.40971973e-02 -2.87786300e-02 3.43989109e+02] [ 4.41030885e-02 9.99026893e-01 -4.30314547e-04 3.70069654e+00] [ 2.87696009e-02 -8.39508912e-04 9.99585717e-01 2.28855305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199254154 meters 0.018238331976051594 Centerline is valid? [True, True] Translation: X:344.05, Y:3.70, Z:2.29 [[ 9.98614778e-01 -4.45589099e-02 -2.79826328e-02 3.44048079e+02] [ 4.45644629e-02 9.99006420e-01 -4.25473128e-04 3.69792365e+00] [ 2.79737884e-02 -8.22147248e-04 9.99608319e-01 2.28940441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259254154 meters 0.017123696671898673 Centerline is valid? [True, True] Translation: X:344.11, Y:3.70, Z:2.29 [[ 9.98670797e-01 -4.33414305e-02 -2.78954982e-02 3.44106991e+02] [ 4.33462733e-02 9.99060015e-01 -4.31355898e-04 3.69961516e+00] [ 2.78879724e-02 -7.78383350e-04 9.99610752e-01 2.29150875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319254154 meters 0.016906907253619555 Centerline is valid? [True, True] Translation: X:344.17, Y:3.70, Z:2.29 [[ 9.98908066e-01 -3.83392165e-02 -2.66979377e-02 3.44165475e+02] [ 3.83417927e-02 9.99264597e-01 -4.15602674e-04 3.69933748e+00] [ 2.66942379e-02 -6.08497930e-04 9.99643460e-01 2.29079834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379254154 meters 0.01604195345741242 Centerline is valid? [True, True] Translation: X:344.22, Y:3.70, Z:2.29 [[ 9.99043475e-01 -3.47665950e-02 -2.65220534e-02 3.44223909e+02] [ 3.47678327e-02 9.99395330e-01 -4.14608755e-04 3.70142243e+00] [ 2.65204309e-02 -5.07902146e-04 9.99648142e-01 2.29124924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters 0.014679978440685202 Centerline is valid? [True, True] Translation: X:344.28, Y:3.70, Z:2.29 [[ 9.99207285e-01 -3.05521443e-02 -2.55219185e-02 3.44283013e+02] [ 3.05517949e-02 9.99533103e-01 -4.03717626e-04 3.70384039e+00] [ 2.55223369e-02 -3.76342827e-04 9.99674181e-01 2.29282443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters 0.01392617960524644 Centerline is valid? [True, True] Translation: X:344.34, Y:3.70, Z:2.29 [[ 9.99307097e-01 -2.86684331e-02 -2.37370405e-02 3.44341460e+02] [ 2.86674647e-02 9.99588931e-01 -3.81154178e-04 3.70364125e+00] [ 2.37382100e-02 -2.99590697e-04 9.99718164e-01 2.29467473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters 0.014012035326643172 Centerline is valid? [True, True] Translation: X:344.40, Y:3.70, Z:2.30 [[ 9.99315358e-01 -2.96949738e-02 -2.20686265e-02 3.44399814e+02] [ 2.96942693e-02 9.99558963e-01 -3.59689695e-04 3.70050540e+00] [ 2.20695744e-02 -2.95868302e-04 9.99756394e-01 2.29504877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters 0.013909420168843622 Centerline is valid? [True, True] Translation: X:344.46, Y:3.70, Z:2.30 [[ 9.99239031e-01 -3.30522646e-02 -2.07100517e-02 3.44458209e+02] [ 3.30522569e-02 9.99453566e-01 -3.42755640e-04 3.69887495e+00] [ 2.07100638e-02 -3.42019135e-04 9.99785465e-01 2.29712485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters 0.015445350876830535 Centerline is valid? [True, True] Translation: X:344.52, Y:3.69, Z:2.30 [[ 9.99182743e-01 -3.54649374e-02 -1.93928698e-02 3.44517367e+02] [ 3.54653394e-02 9.99370855e-01 -3.23298642e-04 3.69460790e+00] [ 1.93921347e-02 -3.64740286e-04 9.99811888e-01 2.29599308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters 0.016363482614256627 Centerline is valid? [True, True] Translation: X:344.58, Y:3.69, Z:2.30 [[ 9.99066069e-01 -3.94570463e-02 -1.76105440e-02 3.44577356e+02] [ 3.94579898e-02 9.99221187e-01 -2.94022844e-04 3.69087652e+00] [ 1.76084300e-02 -4.01128419e-04 9.99844879e-01 2.29740262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters 0.016750138952629168 Centerline is valid? [True, True] Translation: X:344.64, Y:3.69, Z:2.30 [[ 9.98967311e-01 -4.22646583e-02 -1.66736325e-02 3.44638656e+02] [ 4.22658998e-02 9.99106359e-01 -2.78081402e-04 3.69019519e+00] [ 1.66704853e-02 -4.26931850e-04 9.99860947e-01 2.29855624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters 0.01809893899304509 Centerline is valid? [True, True] Translation: X:344.70, Y:3.69, Z:2.30 [[ 9.98737731e-01 -4.78771826e-02 -1.51894803e-02 3.44699950e+02] [ 4.78788692e-02 9.98853117e-01 -2.52798409e-04 3.68732113e+00] [ 1.51841630e-02 -4.74775831e-04 9.99884601e-01 2.29932580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.919254154 meters 0.02074911734891835 Centerline is valid? [True, True] Translation: X:344.76, Y:3.68, Z:2.30 [[ 9.98393662e-01 -5.47881044e-02 -1.44346462e-02 3.44760537e+02] [ 5.47903557e-02 9.98497852e-01 -2.39746975e-04 3.68164727e+00] [ 1.44260985e-02 -5.51517538e-04 9.99895786e-01 2.29871257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.979254154 meters 0.024642076971634723 Centerline is valid? [True, True] Translation: X:344.82, Y:3.68, Z:2.30 [[ 9.97953574e-01 -6.23379804e-02 -1.42352006e-02 3.44820566e+02] [ 6.23409403e-02 9.98054884e-01 -2.36145376e-04 3.67503689e+00] [ 1.42222323e-02 -6.51773672e-04 9.99898647e-01 2.29807226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.039254154 meters 0.026932756673653014 Centerline is valid? [True, True] Translation: X:344.88, Y:3.67, Z:2.30 [[ 9.97442764e-01 -7.02361212e-02 -1.32219106e-02 3.44881683e+02] [ 7.02393697e-02 9.97530141e-01 -2.19090298e-04 3.67154245e+00] [ 1.32046424e-02 -7.10168634e-04 9.99912563e-01 2.29824722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.099254154 meters 0.028233941683588865 Centerline is valid? [True, True] Translation: X:344.94, Y:3.67, Z:2.30 [[ 9.97166165e-01 -7.41205042e-02 -1.28759407e-02 3.44942285e+02] [ 7.41239116e-02 9.97249016e-01 -2.13056033e-04 3.67048329e+00] [ 1.28563110e-02 -7.41962821e-04 9.99917079e-01 2.29841339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.159254154 meters 0.02891820224749937 Centerline is valid? [True, True] Translation: X:345.00, Y:3.67, Z:2.30 [[ 9.96932683e-01 -7.73230249e-02 -1.20985692e-02 3.45002897e+02] [ 7.73262707e-02 9.97005821e-01 -1.99976812e-04 3.67217762e+00] [ 1.20778067e-02 -7.36173814e-04 9.99926790e-01 2.29944583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.219254154 meters 0.029354608542699414 Centerline is valid? [True, True] Translation: X:345.06, Y:3.68, Z:2.30 [[ 9.96957757e-01 -7.70298322e-02 -1.19010825e-02 3.45064928e+02] [ 7.70329582e-02 9.97028528e-01 -1.96200417e-04 3.67621109e+00] [ 1.18808320e-02 -7.21172062e-04 9.99929160e-01 2.29983896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279254154 meters 0.03296600016819873 Centerline is valid? [True, True] Translation: X:345.13, Y:3.67, Z:2.30 [[ 9.96968897e-01 -7.68103925e-02 -1.23766397e-02 3.45126791e+02] [ 7.68137753e-02 9.97045437e-01 -2.02511111e-04 3.67352562e+00] [ 1.23556271e-02 -7.48799144e-04 9.99923386e-01 2.29926415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339254154 meters 0.029402637343304304 Centerline is valid? [True, True] Translation: X:345.19, Y:3.68, Z:2.30 [[ 9.96939624e-01 -7.72515206e-02 -1.19828345e-02 3.45188655e+02] [ 7.72547419e-02 9.97011368e-01 -1.94520395e-04 3.68373232e+00] [ 1.19620492e-02 -7.31805699e-04 9.99928184e-01 2.30081778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399254154 meters 0.03339112717617674 Centerline is valid? [True, True] Translation: X:345.25, Y:3.68, Z:2.30 [[ 9.96849689e-01 -7.84176590e-02 -1.18898425e-02 3.45249915e+02] [ 7.84209224e-02 9.96920319e-01 -1.92228349e-04 3.68255179e+00] [ 1.18682997e-02 -7.40789647e-04 9.99929295e-01 2.30025908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459254154 meters 0.03157975855630272 Centerline is valid? [True, True] Translation: X:345.31, Y:3.69, Z:2.30 [[ 9.96827078e-01 -7.88306465e-02 -1.10229221e-02 3.45311760e+02] [ 7.88334836e-02 9.96887782e-01 -1.77555393e-04 3.68886316e+00] [ 1.10026132e-02 -6.91983325e-04 9.99939230e-01 2.30132205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519254154 meters 0.03403342580466136 Centerline is valid? [True, True] Translation: X:345.37, Y:3.69, Z:2.30 [[ 9.96923480e-01 -7.78320637e-02 -9.25982319e-03 3.45373073e+02] [ 7.78340280e-02 9.96966319e-01 -1.48607069e-04 3.69217213e+00] [ 9.24329824e-03 -5.72579461e-04 9.99957116e-01 2.30268041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579254154 meters 0.029183434046870238 Centerline is valid? [True, True] Translation: X:345.44, Y:3.70, Z:2.30 [[ 9.96955648e-01 -7.74798942e-02 -8.73507800e-03 3.45435374e+02] [ 7.74816329e-02 9.96993770e-01 -1.39692602e-04 3.70414533e+00] [ 8.71964171e-03 -5.37540778e-04 9.99961839e-01 2.30327006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639254154 meters 0.03665246721977158 Centerline is valid? [True, True] Translation: X:345.50, Y:3.70, Z:2.30 [[ 9.96933457e-01 -7.76235072e-02 -9.91333641e-03 3.45496593e+02] [ 7.76257612e-02 9.96982556e-01 -1.57788952e-04 3.69931232e+00] [ 9.89567160e-03 -6.12225199e-04 9.99950849e-01 2.30213828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699254154 meters 0.03125795046814648 Centerline is valid? [True, True] Translation: X:345.56, Y:3.71, Z:2.30 [[ 9.96873789e-01 -7.82348670e-02 -1.10433152e-02 3.45558690e+02] [ 7.82377095e-02 9.96934717e-01 -1.75045366e-04 3.71027796e+00] [ 1.10231590e-02 -6.89505550e-04 9.99939005e-01 2.30201466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759254154 meters 0.030160528543303044 Centerline is valid? [True, True] Translation: X:345.62, Y:3.72, Z:2.30 [[ 9.96930789e-01 -7.75174348e-02 -1.09566799e-02 3.45620420e+02] [ 7.75201984e-02 9.96990767e-01 -1.72871816e-04 3.71552997e+00] [ 1.09371092e-02 -6.77022762e-04 9.99939959e-01 2.30227955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819254154 meters 0.028271915683336264 Centerline is valid? [True, True] Translation: X:345.68, Y:3.72, Z:2.30 [[ 9.97086474e-01 -7.54778197e-02 -1.10300111e-02 3.45682217e+02] [ 7.54805043e-02 9.97147263e-01 -1.73287576e-04 3.72206370e+00] [ 1.10116248e-02 -6.59768104e-04 9.99939153e-01 2.30303827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879254154 meters 0.02557048008690896 Centerline is valid? [True, True] Translation: X:345.74, Y:3.73, Z:2.30 [[ 9.97509266e-01 -6.96473474e-02 -1.11585007e-02 3.45742549e+02] [ 6.96497357e-02 9.97571493e-01 -1.74901167e-04 3.73163276e+00] [ 1.11435836e-02 -6.02721087e-04 9.99937727e-01 2.30409808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters 0.02594867243241142 Centerline is valid? [True, True] Translation: X:345.80, Y:3.74, Z:2.30 [[ 9.98071022e-01 -6.09890549e-02 -1.16004028e-02 3.45801696e+02] [ 6.09910518e-02 9.98138296e-01 -1.81887641e-04 3.73831273e+00] [ 1.15898994e-02 -5.25983982e-04 9.99932697e-01 2.30443286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters 0.020601249906527803 Centerline is valid? [True, True] Translation: X:345.86, Y:3.75, Z:2.31 [[ 9.98408105e-01 -5.51412591e-02 -1.18616225e-02 3.45862264e+02] [ 5.51429344e-02 9.98478454e-01 -1.86026485e-04 3.75017593e+00] [ 1.18538322e-02 -4.68354318e-04 9.99929631e-01 2.30551442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters 0.019104640658490643 Centerline is valid? [True, True] Translation: X:345.92, Y:3.76, Z:2.31 [[ 9.98768178e-01 -4.83885042e-02 -1.09854395e-02 3.45921502e+02] [ 4.83895332e-02 9.98828526e-01 -1.72271709e-04 3.75652933e+00] [ 1.09809063e-02 -3.59520788e-04 9.99939643e-01 2.30616909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters 0.017141681401006057 Centerline is valid? [True, True] Translation: X:345.98, Y:3.76, Z:2.31 [[ 9.99046832e-01 -4.24697259e-02 -1.00871118e-02 3.45982342e+02] [ 4.24702911e-02 9.99097718e-01 -1.58267082e-04 3.76394897e+00] [ 1.00847319e-02 -2.70286346e-04 9.99949111e-01 2.30667617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters 0.015475746033708866 Centerline is valid? [True, True] Translation: X:346.04, Y:3.77, Z:2.31 [[ 9.99216949e-01 -3.81992649e-02 -1.03104457e-02 3.46043346e+02] [ 3.81996308e-02 9.99270115e-01 -1.61513442e-04 3.77018144e+00] [ 1.03090899e-02 -2.32468249e-04 9.99946833e-01 2.30667846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters 0.014049278204515743 Centerline is valid? [True, True] Translation: X:346.10, Y:3.78, Z:2.31 [[ 9.99460004e-01 -3.10846942e-02 -1.06509118e-02 3.46104275e+02] [ 3.10846850e-02 9.99516741e-01 -1.66445723e-04 3.77623992e+00] [ 1.06509386e-02 -1.64724395e-04 9.99943264e-01 2.30630381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters 0.013379097287779109 Centerline is valid? [True, True] Translation: X:346.17, Y:3.78, Z:2.31 [[ 9.99588653e-01 -2.69389530e-02 -9.83957791e-03 3.46166118e+02] [ 2.69387488e-02 9.99637074e-01 -1.53318236e-04 3.77978282e+00] [ 9.84013710e-03 -1.11810748e-04 9.99951578e-01 2.30642698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters 0.012962521469009548 Centerline is valid? [True, True] Translation: X:346.23, Y:3.78, Z:2.31 [[ 9.99679532e-01 -2.36544610e-02 -9.01664320e-03 3.46228038e+02] [ 2.36541612e-02 9.99720191e-01 -1.39897049e-04 3.78250492e+00] [ 9.01742946e-03 -7.34289158e-05 9.99959339e-01 2.30614261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.419254154 meters 0.013167244620351265 Centerline is valid? [True, True] Translation: X:346.29, Y:3.78, Z:2.30 [[ 9.99681915e-01 -2.35333291e-02 -9.06929901e-03 3.46290715e+02] [ 2.35330267e-02 9.99723050e-01 -1.40073648e-04 3.78265799e+00] [ 9.07008367e-03 -7.33989631e-05 9.99958863e-01 2.30495809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.479254154 meters 0.013399464328487216 Centerline is valid? [True, True] Translation: X:346.35, Y:3.78, Z:2.30 [[ 9.99618604e-01 -2.58842115e-02 -9.62571714e-03 3.46353063e+02] [ 2.58839868e-02 9.99664943e-01 -1.47950815e-04 3.78012128e+00] [ 9.62632156e-03 -1.01257548e-04 9.99953661e-01 2.30396416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.539254154 meters 0.01482763119784215 Centerline is valid? [True, True] Translation: X:346.41, Y:3.77, Z:2.30 [[ 9.99491649e-01 -3.06645289e-02 -8.72528480e-03 3.46414506e+02] [ 3.06645319e-02 9.99529724e-01 -1.33468817e-04 3.77372251e+00] [ 8.72527426e-03 -1.34155806e-04 9.99961925e-01 2.30454737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.599254154 meters 0.016515701250815286 Centerline is valid? [True, True] Translation: X:346.48, Y:3.77, Z:2.30 [[ 9.99381296e-01 -3.42494298e-02 -8.00010893e-03 3.46476838e+02] [ 3.42495528e-02 9.99413305e-01 -1.21656080e-04 3.77085317e+00] [ 7.99958195e-03 -1.52419343e-04 9.99967991e-01 2.30445784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.659254154 meters 0.016790801853353205 Centerline is valid? [True, True] Translation: X:346.54, Y:3.76, Z:2.30 [[ 9.99138721e-01 -4.07071298e-02 -8.04647143e-03 3.46537708e+02] [ 4.07074677e-02 9.99171100e-01 -1.21842215e-04 3.76496326e+00] [ 8.04476156e-03 -2.05814201e-04 9.99967619e-01 2.30441764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.719254154 meters 0.017963071341428848 Centerline is valid? [True, True] Translation: X:346.60, Y:3.76, Z:2.30 [[ 9.99043455e-01 -4.29436222e-02 -8.24749305e-03 3.46599500e+02] [ 4.29440559e-02 9.99077471e-01 -1.24582551e-04 3.76154687e+00] [ 8.24523453e-03 -2.29717421e-04 9.99965981e-01 2.30389898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779254154 meters 0.02009289054514354 Centerline is valid? [True, True] Translation: X:346.66, Y:3.76, Z:2.30 [[ 9.98964265e-01 -4.48846683e-02 -7.46751146e-03 3.46661976e+02] [ 4.48850837e-02 9.98992150e-01 -1.12046897e-04 3.75820058e+00] [ 7.46501452e-03 -2.23249030e-04 9.99972111e-01 2.30379457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839254154 meters 0.019453800533383088 Centerline is valid? [True, True] Translation: X:346.72, Y:3.76, Z:2.31 [[ 9.98861618e-01 -4.72001356e-02 -6.90039028e-03 3.46723963e+02] [ 4.72005487e-02 9.98885428e-01 -1.03070447e-04 3.75598629e+00] [ 6.89756424e-03 -2.22749094e-04 9.99976187e-01 2.30561915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899254154 meters 0.019957991558544403 Centerline is valid? [True, True] Translation: X:346.79, Y:3.75, Z:2.31 [[ 9.98808015e-01 -4.82607559e-02 -7.31090183e-03 3.46786111e+02] [ 4.82612521e-02 9.98834741e-01 -1.08639438e-04 3.75478127e+00] [ 7.30762575e-03 -2.44323335e-04 9.99973269e-01 2.30575551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959254154 meters 0.02252651482871716 Centerline is valid? [True, True] Translation: X:346.85, Y:3.75, Z:2.31 [[ 9.98713392e-01 -5.01164739e-02 -7.73951821e-03 3.46847208e+02] [ 5.01170900e-02 9.98743343e-01 -1.14437107e-04 3.75072631e+00] [ 7.73552747e-03 -2.73592260e-04 9.99970043e-01 2.30587954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019254154 meters 0.023061312924580295 Centerline is valid? [True, True] Translation: X:346.91, Y:3.75, Z:2.30 [[ 9.98645584e-01 -5.12531738e-02 -8.95043122e-03 3.46909306e+02] [ 5.12540486e-02 9.98685639e-01 -1.31759857e-04 3.75482575e+00] [ 8.94542023e-03 -3.27164438e-04 9.99959935e-01 2.30433758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079254154 meters 0.02050693324937453 Centerline is valid? [True, True] Translation: X:346.97, Y:3.76, Z:2.31 [[ 9.98531315e-01 -5.32666999e-02 -9.89305493e-03 3.46970880e+02] [ 5.32678745e-02 9.98580248e-01 -1.44909306e-04 3.75685710e+00] [ 9.88672809e-03 -3.82285529e-04 9.99951052e-01 2.30641457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139254154 meters 0.021197770407626895 Centerline is valid? [True, True] Translation: X:347.03, Y:3.76, Z:2.31 [[ 9.98489154e-01 -5.39981243e-02 -1.01790017e-02 3.47032525e+02] [ 5.39994118e-02 9.98540956e-01 -1.48513756e-04 3.75802705e+00] [ 1.01721696e-02 -4.01370732e-04 9.99948182e-01 2.30733849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199254154 meters 0.021305412429140823 Centerline is valid? [True, True] Translation: X:347.10, Y:3.76, Z:2.31 [[ 9.98565381e-01 -5.27490491e-02 -9.20418213e-03 3.47095045e+02] [ 5.27500536e-02 9.98607738e-01 -1.33767849e-04 3.76146680e+00] [ 9.19842362e-03 -3.51945157e-04 9.99957632e-01 2.30940261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259254154 meters 0.02063273772558667 Centerline is valid? [True, True] Translation: X:347.16, Y:3.77, Z:2.31 [[ 9.98695125e-01 -5.04490966e-02 -7.93318111e-03 3.47157197e+02] [ 5.04497744e-02 9.98726593e-01 -1.14780297e-04 3.76508917e+00] [ 7.92886951e-03 -2.85596674e-04 9.99968525e-01 2.31072083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319254154 meters 0.020200566162148773 Centerline is valid? [True, True] Translation: X:347.22, Y:3.77, Z:2.31 [[ 9.98859448e-01 -4.72149173e-02 -7.11015950e-03 3.47218751e+02] [ 4.72153832e-02 9.98884727e-01 -1.02412070e-04 3.77022084e+00] [ 7.10706510e-03 -2.33413641e-04 9.99974717e-01 2.31202082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379254154 meters 0.02040028716408373 Centerline is valid? [True, True] Translation: X:347.28, Y:3.77, Z:2.31 [[ 9.98962210e-01 -4.49547542e-02 -7.31934209e-03 3.47279713e+02] [ 4.49551906e-02 9.98988999e-01 -1.04961930e-04 3.77439171e+00] [ 7.31666076e-03 -2.24189417e-04 9.99973208e-01 2.31211646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters 0.020520461256852522 Centerline is valid? [True, True] Translation: X:347.34, Y:3.78, Z:2.31 [[ 9.98997449e-01 -4.39643146e-02 -8.44014904e-03 3.47342088e+02] [ 4.39648700e-02 9.99033070e-01 -1.19809770e-04 3.77795352e+00] [ 8.43725536e-03 -2.51380401e-04 9.99964374e-01 2.31181628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters 0.019194382369530024 Centerline is valid? [True, True] Translation: X:347.40, Y:3.78, Z:2.31 [[ 9.99032924e-01 -4.31112713e-02 -8.63911461e-03 3.47404221e+02] [ 4.31118266e-02 9.99070246e-01 -1.22016410e-04 3.78219505e+00] [ 8.63634264e-03 -2.50549600e-04 9.99962675e-01 2.31187127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters 0.017711157538694955 Centerline is valid? [True, True] Translation: X:347.47, Y:3.79, Z:2.31 [[ 9.99107866e-01 -4.10997134e-02 -9.71007541e-03 3.47466865e+02] [ 4.11003291e-02 9.99155015e-01 -1.36218181e-04 3.78808653e+00] [ 9.70746907e-03 -2.62990639e-04 9.99952847e-01 2.31226907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters 0.01788004603752267 Centerline is valid? [True, True] Translation: X:347.53, Y:3.79, Z:2.31 [[ 9.99133937e-01 -4.03447354e-02 -1.01822525e-02 3.47529155e+02] [ 4.03453849e-02 9.99185783e-01 -1.41696894e-04 3.78949404e+00] [ 1.01796787e-02 -2.69232721e-04 9.99948149e-01 2.31221089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters 0.017565578430942336 Centerline is valid? [True, True] Translation: X:347.59, Y:3.79, Z:2.31 [[ 9.99197339e-01 -3.80524893e-02 -1.25173931e-02 3.47591508e+02] [ 3.80533040e-02 9.99275696e-01 -1.73163780e-04 3.79179971e+00] [ 1.25149160e-02 -3.03303378e-04 9.99921639e-01 2.31072189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters 0.018076613744444747 Centerline is valid? [True, True] Translation: X:347.65, Y:3.79, Z:2.31 [[ 9.99220230e-01 -3.74847665e-02 -1.24025964e-02 3.47652580e+02] [ 3.74855374e-02 9.99297156e-01 -1.70392535e-04 3.79103715e+00] [ 1.24002664e-02 -2.94658322e-04 9.99923070e-01 2.31099114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters 0.018060052689907246 Centerline is valid? [True, True] Translation: X:347.71, Y:3.79, Z:2.31 [[ 9.99201487e-01 -3.80090544e-02 -1.23166984e-02 3.47714840e+02] [ 3.80098695e-02 9.99277350e-01 -1.67986197e-04 3.79204135e+00] [ 1.23141827e-02 -3.00304039e-04 9.99924132e-01 2.31287909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters 0.017640528545496737 Centerline is valid? [True, True] Translation: X:347.78, Y:3.79, Z:2.31 [[ 9.99175257e-01 -3.85924555e-02 -1.26264531e-02 3.47777055e+02] [ 3.85933704e-02 9.99254984e-01 -1.71277676e-04 3.79103295e+00] [ 1.26236562e-02 -3.16160964e-04 9.99920268e-01 2.31372179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.919254154 meters 0.01803021377704206 Centerline is valid? [True, True] Translation: X:347.84, Y:3.79, Z:2.31 [[ 9.99070612e-01 -4.04557832e-02 -1.48742118e-02 3.47839270e+02] [ 4.04572770e-02 9.99181249e-01 -2.00583297e-04 3.78822338e+00] [ 1.48701483e-02 -4.01373228e-04 9.99889353e-01 2.31184598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.979254154 meters 0.018336447316894603 Centerline is valid? [True, True] Translation: X:347.90, Y:3.79, Z:2.31 [[ 9.99005528e-01 -4.15788413e-02 -1.60982996e-02 3.47901891e+02] [ 4.15807567e-02 9.99135123e-01 -2.15854637e-04 3.78733778e+00] [ 1.60933515e-02 -4.53739503e-04 9.99870391e-01 2.31198346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.039254154 meters 0.018283171329934022 Centerline is valid? [True, True] Translation: X:347.96, Y:3.79, Z:2.31 [[ 9.99058220e-01 -3.99664600e-02 -1.68924392e-02 3.47964357e+02] [ 3.99683603e-02 9.99200920e-01 -2.25232057e-04 3.78669211e+00] [ 1.68879425e-02 -4.50143159e-04 9.99857287e-01 2.31250002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.099254154 meters 0.018719920355979698 Centerline is valid? [True, True] Translation: X:348.03, Y:3.79, Z:2.31 [[ 9.99312279e-01 -3.27130604e-02 -1.74592234e-02 3.48025541e+02] [ 3.27139995e-02 9.99464727e-01 -2.31887749e-04 3.79020942e+00] [ 1.74574637e-02 -3.39432751e-04 9.99847549e-01 2.31282088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.159254154 meters 0.015848738159015458 Centerline is valid? [True, True] Translation: X:348.09, Y:3.79, Z:2.32 [[ 9.99477190e-01 -2.79761773e-02 -1.62074172e-02 3.48086622e+02] [ 2.79763670e-02 9.99608562e-01 -2.15069869e-04 3.79253877e+00] [ 1.62070899e-02 -2.38467224e-04 9.99868628e-01 2.31554692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.219254154 meters 0.014888481845729884 Centerline is valid? [True, True] Translation: X:348.15, Y:3.79, Z:2.32 [[ 9.99639851e-01 -2.13298984e-02 -1.62850672e-02 3.48147690e+02] [ 2.13292072e-02 9.99772483e-01 -2.16142599e-04 3.79443475e+00] [ 1.62859724e-02 -1.31282818e-04 9.99867366e-01 2.31647131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279254154 meters 0.016510093433934236 Centerline is valid? [True, True] Translation: X:348.21, Y:3.79, Z:2.31 [[ 9.99655202e-01 -1.92084524e-02 -1.79028903e-02 3.48207052e+02] [ 1.92072695e-02 9.99815495e-01 -2.38033445e-04 3.79195633e+00] [ 1.79041594e-02 -1.05914267e-04 9.99839702e-01 2.31464876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339254154 meters 0.016002873931511584 Centerline is valid? [True, True] Translation: X:348.27, Y:3.79, Z:2.31 [[ 9.99596960e-01 -2.15910916e-02 -1.84321131e-02 3.48265200e+02] [ 2.15902189e-02 9.99766874e-01 -2.46363336e-04 3.78736544e+00] [ 1.84331353e-02 -1.51689315e-04 9.99830084e-01 2.31432914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399254154 meters 0.015911566369547145 Centerline is valid? [True, True] Translation: X:348.32, Y:3.78, Z:2.32 [[ 9.99364163e-01 -3.00445421e-02 -1.91988516e-02 3.48324620e+02] [ 3.00451293e-02 9.99548510e-01 -2.57922504e-04 3.77794747e+00] [ 1.91979327e-02 -3.19073470e-04 9.99815652e-01 2.31552336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459254154 meters 0.019064264390295755 Centerline is valid? [True, True] Translation: X:348.39, Y:3.77, Z:2.31 [[ 9.98970373e-01 -4.10916890e-02 -1.92267359e-02 3.48385319e+02] [ 4.10943149e-02 9.99155238e-01 -2.58661497e-04 3.76592625e+00] [ 1.92211227e-02 -5.31714368e-04 9.99815116e-01 2.31470436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519254154 meters 0.019697964675225096 Centerline is valid? [True, True] Translation: X:348.45, Y:3.76, Z:2.32 [[ 9.98692954e-01 -4.77769334e-02 -1.81589784e-02 3.48446788e+02] [ 4.77803871e-02 9.98857835e-01 -2.43865347e-04 3.76010864e+00] [ 1.81498890e-02 -6.24096413e-04 9.99835082e-01 2.31667506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579254154 meters 0.02410896622313249 Centerline is valid? [True, True] Translation: X:348.51, Y:3.75, Z:2.32 [[ 9.98412729e-01 -5.35879174e-02 -1.73308322e-02 3.48507203e+02] [ 5.35919525e-02 9.98562892e-01 -2.31850527e-04 3.75136751e+00] [ 1.73183504e-02 -6.97310622e-04 9.99849783e-01 2.31572916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639254154 meters 0.025336904818399973 Centerline is valid? [True, True] Translation: X:348.57, Y:3.74, Z:2.32 [[ 9.98127551e-01 -5.94508160e-02 -1.43872167e-02 3.48568460e+02] [ 5.94542130e-02 9.98231015e-01 -1.91865652e-04 3.74310779e+00] [ 1.43731726e-02 -6.63874256e-04 9.99896480e-01 2.31903735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699254154 meters 0.025090273901766283 Centerline is valid? [True, True] Translation: X:348.63, Y:3.74, Z:2.32 [[ 9.97908989e-01 -6.30459574e-02 -1.42428062e-02 3.48629420e+02] [ 6.30496570e-02 9.98010373e-01 -1.89572410e-04 3.74127770e+00] [ 1.42264201e-02 -7.08828035e-04 9.99898548e-01 2.32002813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759254154 meters 0.031174472798683704 Centerline is valid? [True, True] Translation: X:348.69, Y:3.73, Z:2.32 [[ 9.97634925e-01 -6.73357553e-02 -1.38004522e-02 3.48689716e+02] [ 6.73396395e-02 9.97730093e-01 -1.83563607e-04 3.73057905e+00] [ 1.37814869e-02 -7.46188011e-04 9.99904752e-01 2.31870068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819254154 meters 0.026818423295871387 Centerline is valid? [True, True] Translation: X:348.75, Y:3.74, Z:2.32 [[ 9.97460482e-01 -6.96449000e-02 -1.49055070e-02 3.48750853e+02] [ 6.96496928e-02 9.97571492e-01 -1.97952950e-04 3.73545628e+00] [ 1.48830953e-02 -8.40713742e-04 9.99888887e-01 2.31924698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879254154 meters 0.029671086887549214 Centerline is valid? [True, True] Translation: X:348.81, Y:3.73, Z:2.32 [[ 9.97509764e-01 -6.82810341e-02 -1.76627059e-02 3.48812576e+02] [ 6.82875711e-02 9.97665652e-01 -2.33455068e-04 3.73343245e+00] [ 1.76374156e-02 -9.73269577e-04 9.99843975e-01 2.31570267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters 0.02820881489915229 Centerline is valid? [True, True] Translation: X:348.88, Y:3.74, Z:2.32 [[ 9.97527865e-01 -6.79492311e-02 -1.79181861e-02 3.48875020e+02] [ 6.79559291e-02 9.97688296e-01 -2.35500962e-04 3.73592219e+00] [ 1.78927666e-02 -9.82728212e-04 9.99839429e-01 2.31715736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters 0.025702020471033683 Centerline is valid? [True, True] Translation: X:348.94, Y:3.74, Z:2.32 [[ 9.97729287e-01 -6.49978742e-02 -1.76506538e-02 3.48936060e+02] [ 6.50039289e-02 9.97884981e-01 -2.31086638e-04 3.74225082e+00] [ 1.76283425e-02 -9.16799937e-04 9.99844188e-01 2.31891412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters 0.027519469032039175 Centerline is valid? [True, True] Translation: X:349.00, Y:3.74, Z:2.32 [[ 9.97945071e-01 -6.17867330e-02 -1.69716116e-02 3.48995752e+02] [ 6.17918715e-02 9.98089032e-01 -2.21953542e-04 3.74287364e+00] [ 1.69528931e-02 -8.27210199e-04 9.99855947e-01 2.31995124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters 0.022395770941507607 Centerline is valid? [True, True] Translation: X:349.06, Y:3.75, Z:2.32 [[ 9.98400642e-01 -5.47617016e-02 -1.40468605e-02 3.49056013e+02] [ 5.47645272e-02 9.98499280e-01 -1.83707228e-04 3.75483521e+00] [ 1.40358402e-02 -5.85856261e-04 9.99901321e-01 2.32339620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters 0.022631926331900712 Centerline is valid? [True, True] Translation: X:349.12, Y:3.76, Z:2.32 [[ 9.98675542e-01 -4.96673067e-02 -1.34283659e-02 3.49115487e+02] [ 4.96694274e-02 9.98765697e-01 -1.75744107e-04 3.75682978e+00] [ 1.34205200e-02 -4.91467905e-04 9.99909820e-01 2.32360263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters 0.020206793541803585 Centerline is valid? [True, True] Translation: X:349.18, Y:3.77, Z:2.32 [[ 9.98995465e-01 -4.25146800e-02 -1.41620536e-02 3.49176155e+02] [ 4.25163207e-02 9.99095755e-01 -1.85338688e-04 3.76663059e+00] [ 1.41571273e-02 -4.16965907e-04 9.99899696e-01 2.32303190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters 0.017970103277854026 Centerline is valid? [True, True] Translation: X:349.24, Y:3.77, Z:2.32 [[ 9.99129557e-01 -3.90127592e-02 -1.47693133e-02 3.49237385e+02] [ 3.90141675e-02 9.99238639e-01 -1.92861372e-04 3.77212863e+00] [ 1.47655926e-02 -3.83518968e-04 9.99890909e-01 2.32400564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters 0.017203660053737933 Centerline is valid? [True, True] Translation: X:349.30, Y:3.78, Z:2.32 [[ 9.99208835e-01 -3.63065149e-02 -1.62339721e-02 3.49298460e+02] [ 3.63078696e-02 9.99340630e-01 -2.11366481e-04 3.77657634e+00] [ 1.62309418e-02 -3.78221687e-04 9.99868198e-01 2.32294415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.419254154 meters 0.016562177148924065 Centerline is valid? [True, True] Translation: X:349.36, Y:3.78, Z:2.32 [[ 9.99264284e-01 -3.44302378e-02 -1.68952660e-02 3.49359980e+02] [ 3.44314479e-02 9.99407038e-01 -2.19340662e-04 3.78011181e+00] [ 1.68927997e-02 -3.62549180e-04 9.99857241e-01 2.32327773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.479254154 meters 0.016377777443500382 Centerline is valid? [True, True] Translation: X:349.42, Y:3.78, Z:2.32 [[ 9.99377994e-01 -3.18072434e-02 -1.52290569e-02 3.49419897e+02] [ 3.18079353e-02 9.99493980e-01 -1.96842753e-04 3.78332668e+00] [ 1.52276117e-02 -2.87684541e-04 9.99884012e-01 2.32475062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.539254154 meters 0.016218025944875793 Centerline is valid? [True, True] Translation: X:349.48, Y:3.79, Z:2.33 [[ 9.99427413e-01 -3.07902555e-02 -1.40287332e-02 3.49481663e+02] [ 3.07907527e-02 9.99525836e-01 -1.80594395e-04 3.78503766e+00] [ 1.40276418e-02 -2.51464266e-04 9.99901576e-01 2.32587702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.599254154 meters 0.015871886641833914 Centerline is valid? [True, True] Translation: X:349.54, Y:3.79, Z:2.33 [[ 9.99450732e-01 -3.01953847e-02 -1.36555223e-02 3.49542786e+02] [ 3.01958071e-02 9.99543987e-01 -1.75293994e-04 3.78622991e+00] [ 1.36545882e-02 -2.37141806e-04 9.99906744e-01 2.32679247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.659254154 meters 0.01624452234629452 Centerline is valid? [True, True] Translation: X:349.60, Y:3.79, Z:2.33 [[ 9.99430910e-01 -3.06836930e-02 -1.40131403e-02 3.49603960e+02] [ 3.06841932e-02 9.99529113e-01 -1.79357298e-04 3.78537462e+00] [ 1.40120450e-02 -2.50726677e-04 9.99901795e-01 2.32637658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.719254154 meters 0.016551004759915628 Centerline is valid? [True, True] Translation: X:349.67, Y:3.78, Z:2.33 [[ 9.99335748e-01 -3.34395939e-02 -1.44864164e-02 3.49665163e+02] [ 3.34404257e-02 9.99440695e-01 -1.84869328e-04 3.78171770e+00] [ 1.44844960e-02 -2.99685402e-04 9.99895049e-01 2.32636697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779254154 meters 0.018519497471936295 Centerline is valid? [True, True] Translation: X:349.73, Y:3.78, Z:2.32 [[ 9.99270156e-01 -3.46843355e-02 -1.60047523e-02 3.49726556e+02] [ 3.46855204e-02 9.99398256e-01 -2.03629867e-04 3.77951105e+00] [ 1.60021843e-02 -3.51651913e-04 9.99871895e-01 2.32474383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839254154 meters 0.01863716797170022 Centerline is valid? [True, True] Translation: X:349.79, Y:3.78, Z:2.32 [[ 9.99282090e-01 -3.38660665e-02 -1.69821826e-02 3.49787324e+02] [ 3.38672976e-02 9.99426315e-01 -2.15170217e-04 3.77872415e+00] [ 1.69797271e-02 -3.60124888e-04 9.99855769e-01 2.32405270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899254154 meters 0.017114279015766252 Centerline is valid? [True, True] Translation: X:349.85, Y:3.78, Z:2.33 [[ 9.99352434e-01 -3.14573624e-02 -1.74684502e-02 3.49847945e+02] [ 3.14583047e-02 9.99505041e-01 -2.20906094e-04 3.78101033e+00] [ 1.74667531e-02 -3.28764786e-04 9.99847391e-01 2.32551462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959254154 meters 0.01536629027147549 Centerline is valid? [True, True] Translation: X:349.91, Y:3.78, Z:2.33 [[ 9.99540020e-01 -2.55341060e-02 -1.63633134e-02 3.49908799e+02] [ 2.55341421e-02 9.99673929e-01 -2.06754725e-04 3.78394963e+00] [ 1.63632571e-02 -2.11163546e-04 9.99866091e-01 2.32784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019254154 meters 0.01472889372033808 Centerline is valid? [True, True] Translation: X:349.97, Y:3.79, Z:2.33 [[ 9.99671485e-01 -2.04734520e-02 -1.54194756e-02 3.49968077e+02] [ 2.04728789e-02 9.99790390e-01 -1.95036363e-04 3.78709150e+00] [ 1.54202366e-02 -1.20708765e-04 9.99881094e-01 2.33008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079254154 meters 0.014522260539009225 Centerline is valid? [True, True] Translation: X:350.03, Y:3.79, Z:2.33 [[ 9.99809235e-01 -1.28007040e-02 -1.47524531e-02 3.50027126e+02] [ 1.27993099e-02 9.99918068e-01 -1.88919746e-04 3.79058078e+00] [ 1.47536627e-02 6.24881636e-08 9.99891159e-01 2.33123666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139254154 meters 0.014593479354266223 Centerline is valid? [True, True] Translation: X:350.09, Y:3.79, Z:2.33 [[ 9.99851622e-01 -7.75344442e-03 -1.53823720e-02 3.50085631e+02] [ 7.75126885e-03 9.99969938e-01 -2.01048137e-04 3.79064051e+00] [ 1.53834684e-02 8.17854047e-05 9.99881664e-01 2.33051381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199254154 meters 0.014584786401863475 Centerline is valid? [True, True] Translation: X:350.14, Y:3.79, Z:2.33 [[ 9.99848776e-01 -7.57059373e-03 -1.56560084e-02 3.50143877e+02] [ 7.56824787e-03 9.99971339e-01 -2.09081039e-04 3.78710800e+00] [ 1.56571425e-02 9.05608694e-05 9.99877415e-01 2.33043732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259254154 meters 0.014738594686071527 Centerline is valid? [True, True] Translation: X:350.20, Y:3.78, Z:2.33 [[ 9.99835927e-01 -9.55164746e-03 -1.53910671e-02 3.50201689e+02] [ 9.54957224e-03 9.99954380e-01 -2.08322276e-04 3.78446915e+00] [ 1.53923547e-02 6.13099889e-05 9.99881529e-01 2.32873638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319254154 meters 0.01436546158523569 Centerline is valid? [True, True] Translation: X:350.26, Y:3.78, Z:2.33 [[ 9.99771347e-01 -1.49648151e-02 -1.52744279e-02 3.50261091e+02] [ 1.49633839e-02 9.99888021e-01 -2.07985801e-04 3.77616015e+00] [ 1.52758299e-02 -2.06188838e-05 9.99883317e-01 2.33029899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379254154 meters 0.014570558888618369 Centerline is valid? [True, True] Translation: X:350.32, Y:3.77, Z:2.33 [[ 9.99719895e-01 -1.91261193e-02 -1.39399836e-02 3.50319588e+02] [ 1.91253181e-02 9.99817076e-01 -1.90800128e-04 3.77132789e+00] [ 1.39410829e-02 -7.58599362e-05 9.99902816e-01 2.33115289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters 0.015532217267624458 Centerline is valid? [True, True] Translation: X:350.38, Y:3.76, Z:2.33 [[ 9.99578768e-01 -2.61419223e-02 -1.26049954e-02 3.50378700e+02] [ 2.61418151e-02 9.99658229e-01 -1.73299130e-04 3.76292340e+00] [ 1.26052178e-02 -1.56291329e-04 9.99920539e-01 2.33200062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters 0.01676511745950894 Centerline is valid? [True, True] Translation: X:350.44, Y:3.76, Z:2.33 [[ 9.99399327e-01 -3.27806625e-02 -1.12434040e-02 3.50439106e+02] [ 3.27809935e-02 9.99462547e-01 -1.54906469e-04 3.75553066e+00] [ 1.12424392e-02 -2.13756534e-04 9.99936779e-01 2.33242727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters 0.0175040567667832 Centerline is valid? [True, True] Translation: X:350.50, Y:3.75, Z:2.33 [[ 9.99180125e-01 -3.92202392e-02 -1.00424321e-02 3.50500036e+02] [ 3.92208288e-02 9.99230558e-01 -1.38297642e-04 3.75126276e+00] [ 1.00401291e-02 -2.55688255e-04 9.99949564e-01 2.33336191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters 0.018899234391249294 Centerline is valid? [True, True] Translation: X:350.56, Y:3.75, Z:2.33 [[ 9.99013096e-01 -4.33094984e-02 -9.85506822e-03 3.50561859e+02] [ 4.33102680e-02 9.99061661e-01 -1.35419232e-04 3.74677416e+00] [ 9.85168576e-03 -2.91540059e-04 9.99951428e-01 2.33297618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters 0.020666820295168017 Centerline is valid? [True, True] Translation: X:350.62, Y:3.74, Z:2.33 [[ 9.98745148e-01 -4.89835228e-02 -1.04280777e-02 3.50621720e+02] [ 4.89846974e-02 9.98799519e-01 -1.42898127e-04 3.74037836e+00] [ 1.04225586e-02 -3.68097418e-04 9.99945616e-01 2.33276735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters 0.02160863426123367 Centerline is valid? [True, True] Translation: X:350.68, Y:3.74, Z:2.33 [[ 9.98625960e-01 -5.13071651e-02 -1.06661699e-02 3.50684196e+02] [ 5.13085294e-02 9.98682839e-01 -1.45869010e-04 3.73819539e+00] [ 1.06596050e-02 -4.01596915e-04 9.99943104e-01 2.33246289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters 0.02238066303888562 Centerline is valid? [True, True] Translation: X:350.75, Y:3.74, Z:2.33 [[ 9.98501735e-01 -5.34109921e-02 -1.18975023e-02 3.50745864e+02] [ 5.34128487e-02 9.98572502e-01 -1.61869423e-04 3.73667288e+00] [ 1.18891643e-02 -4.73852592e-04 9.99929209e-01 2.33186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters 0.023272688314190527 Centerline is valid? [True, True] Translation: X:350.81, Y:3.74, Z:2.33 [[ 9.98439884e-01 -5.44055224e-02 -1.25633511e-02 3.50808302e+02] [ 5.44076816e-02 9.98518791e-01 -1.70109552e-04 3.73548404e+00] [ 1.25539970e-02 -5.13698644e-04 9.99921064e-01 2.33129159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.919254154 meters 0.023460451794422157 Centerline is valid? [True, True] Translation: X:350.87, Y:3.74, Z:2.33 [[ 9.98460006e-01 -5.40531296e-02 -1.24850082e-02 3.50870254e+02] [ 5.40552457e-02 9.98537932e-01 -1.68145271e-04 3.73732989e+00] [ 1.24758430e-02 -5.06993855e-04 9.99922045e-01 2.33242217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.979254154 meters 0.024850789058338256 Centerline is valid? [True, True] Translation: X:350.93, Y:3.74, Z:2.33 [[ 9.98493721e-01 -5.36499971e-02 -1.14876809e-02 3.50931896e+02] [ 5.36517709e-02 9.98559695e-01 -1.53928150e-04 3.73773272e+00] [ 1.14793934e-02 -4.62638134e-04 9.99934003e-01 2.33372005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.039254154 meters 0.0220433224759331 Centerline is valid? [True, True] Translation: X:350.99, Y:3.75, Z:2.33 [[ 9.98639985e-01 -5.10431728e-02 -1.06195597e-02 3.50993011e+02] [ 5.10445478e-02 9.98696367e-01 -1.41706679e-04 3.74662461e+00] [ 1.06129488e-02 -4.00556666e-04 9.99943601e-01 2.33449242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.099254154 meters 0.02143378594231241 Centerline is valid? [True, True] Translation: X:351.05, Y:3.75, Z:2.34 [[ 9.98755289e-01 -4.90482472e-02 -9.06328192e-03 3.51054712e+02] [ 4.90491702e-02 9.98796358e-01 -1.20547490e-04 3.74764505e+00] [ 9.05828562e-03 -3.24149015e-04 9.99958920e-01 2.33649238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.159254154 meters 0.020192917784582775 Centerline is valid? [True, True] Translation: X:351.12, Y:3.75, Z:2.34 [[ 9.98903043e-01 -4.59541600e-02 -8.99585804e-03 3.51115988e+02] [ 4.59549491e-02 9.98943506e-01 -1.19071857e-04 3.75237700e+00] [ 8.99182582e-03 -2.94462958e-04 9.99959529e-01 2.33637487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.219254154 meters 0.01879286868892202 Centerline is valid? [True, True] Translation: X:351.18, Y:3.76, Z:2.33 [[ 9.99028442e-01 -4.28342800e-02 -1.03632515e-02 3.51177786e+02] [ 4.28351646e-02 9.99082144e-01 -1.36682547e-04 3.75697287e+00] [ 1.03595942e-02 -3.07361833e-04 9.99946291e-01 2.33481601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279254154 meters 0.018229947685355997 Centerline is valid? [True, True] Translation: X:351.24, Y:3.76, Z:2.33 [[ 9.99129919e-01 -4.01674379e-02 -1.12242105e-02 3.51239822e+02] [ 4.01683158e-02 9.99192917e-01 -1.47297873e-04 3.75956202e+00] [ 1.12210682e-02 -3.03687920e-04 9.99936996e-01 2.33382926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339254154 meters 0.018821685356925136 Centerline is valid? [True, True] Translation: X:351.30, Y:3.77, Z:2.33 [[ 9.99280429e-01 -3.60216479e-02 -1.18771058e-02 3.51301727e+02] [ 3.60223480e-02 9.99350973e-01 -1.55046385e-04 3.76558856e+00] [ 1.18749822e-02 -2.72906419e-04 9.99929453e-01 2.33229706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399254154 meters 0.01845856628523903 Centerline is valid? [True, True] Translation: X:351.36, Y:3.77, Z:2.33 [[ 9.99348757e-01 -3.39743687e-02 -1.21574490e-02 3.51362534e+02] [ 3.39749580e-02 9.99422672e-01 -1.58111346e-04 3.76642259e+00] [ 1.21558019e-02 -2.55040443e-04 9.99926083e-01 2.33245575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459254154 meters 0.016140191394474764 Centerline is valid? [True, True] Translation: X:351.42, Y:3.77, Z:2.33 [[ 9.99391590e-01 -3.26746391e-02 -1.21991152e-02 3.51423357e+02] [ 3.26751413e-02 9.99466012e-01 -1.58197862e-04 3.77225677e+00] [ 1.21977701e-02 -2.40506200e-04 9.99925576e-01 2.33467166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519254154 meters 0.016151387162184547 Centerline is valid? [True, True] Translation: X:351.48, Y:3.78, Z:2.34 [[ 9.99439365e-01 -3.15647159e-02 -1.11635615e-02 3.51484473e+02] [ 3.15650716e-02 9.99501689e-01 -1.44375693e-04 3.77631574e+00] [ 1.11625557e-02 -2.08083867e-04 9.99937675e-01 2.33580596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579254154 meters 0.016638549125635938 Centerline is valid? [True, True] Translation: X:351.55, Y:3.78, Z:2.34 [[ 9.99402889e-01 -3.28202407e-02 -1.08026290e-02 3.51545422e+02] [ 3.28206513e-02 9.99461248e-01 -1.39320772e-04 3.77732726e+00] [ 1.08013816e-02 -2.15311738e-04 9.99941640e-01 2.33646445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639254154 meters 0.017998467390266268 Centerline is valid? [True, True] Translation: X:351.61, Y:3.78, Z:2.34 [[ 9.99264631e-01 -3.69548214e-02 -1.02243558e-02 3.51606343e+02] [ 3.69554123e-02 9.99316907e-01 -1.31192562e-04 3.77640872e+00] [ 1.02222198e-02 -2.46749196e-04 9.99947721e-01 2.33647712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699254154 meters 0.01982044945958958 Centerline is valid? [True, True] Translation: X:351.67, Y:3.78, Z:2.34 [[ 9.99097082e-01 -4.11839247e-02 -1.04357176e-02 3.51667036e+02] [ 4.11847811e-02 9.99151538e-01 -1.32917275e-04 3.77549805e+00] [ 1.04323373e-02 -2.96995483e-04 9.99945538e-01 2.33656183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759254154 meters 0.021720394184199875 Centerline is valid? [True, True] Translation: X:351.73, Y:3.78, Z:2.34 [[ 9.99056775e-01 -4.21979895e-02 -1.02416158e-02 3.51728690e+02] [ 4.21988718e-02 9.99109222e-01 -1.30032283e-04 3.77559189e+00] [ 1.02379799e-02 -3.02274998e-04 9.99947545e-01 2.33596536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819254154 meters 0.02077610339225525 Centerline is valid? [True, True] Translation: X:351.79, Y:3.78, Z:2.34 [[ 9.99112605e-01 -4.12605328e-02 -8.45992909e-03 3.51790238e+02] [ 4.12611044e-02 9.99148392e-01 -1.07033554e-04 3.77921522e+00] [ 8.45714081e-03 -2.42127444e-04 9.99964208e-01 2.33940907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879254154 meters 0.01930887888169652 Centerline is valid? [True, True] Translation: X:351.85, Y:3.79, Z:2.34 [[ 9.99321479e-01 -3.60305703e-02 -7.64068831e-03 3.51850911e+02] [ 3.60308864e-02 9.99350672e-01 -9.63269920e-05 3.78803703e+00] [ 7.63919772e-03 -1.79039140e-04 9.99970805e-01 2.34104041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters 0.01604270082018998 Centerline is valid? [True, True] Translation: X:351.91, Y:3.80, Z:2.34 [[ 9.99469139e-01 -3.16939498e-02 -7.54544017e-03 3.51912605e+02] [ 3.16941366e-02 9.99497610e-01 -9.48457390e-05 3.80008453e+00] [ 7.54465546e-03 -1.44350822e-04 9.99971528e-01 2.34172344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters 0.015484306114087902 Centerline is valid? [True, True] Translation: X:351.97, Y:3.80, Z:2.34 [[ 9.99497406e-01 -3.07327635e-02 -7.77388182e-03 3.51974921e+02] [ 3.07329370e-02 9.99527627e-01 -9.71604421e-05 3.80387157e+00] [ 7.77319566e-03 -1.41802611e-04 9.99969778e-01 2.34223937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters 0.01590100602156291 Centerline is valid? [True, True] Translation: X:352.04, Y:3.81, Z:2.34 [[ 9.99448959e-01 -3.20479721e-02 -8.64321526e-03 3.52037397e+02] [ 3.20482420e-02 9.99486317e-01 -1.07316978e-04 3.80657596e+00] [ 8.64221468e-03 -1.69742012e-04 9.99962641e-01 2.34213625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters 0.016818541169536738 Centerline is valid? [True, True] Translation: X:352.10, Y:3.81, Z:2.34 [[ 9.99335720e-01 -3.50635748e-02 -9.93304464e-03 3.52099563e+02] [ 3.50640881e-02 9.99385058e-01 -1.22520791e-04 3.80790196e+00] [ 9.93123241e-03 -2.25853750e-04 9.99950659e-01 2.34215318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters 0.017036143066879634 Centerline is valid? [True, True] Translation: X:352.16, Y:3.81, Z:2.34 [[ 9.99275676e-01 -3.67245630e-02 -9.97148905e-03 3.52161859e+02] [ 3.67251703e-02 9.99325396e-01 -1.22257833e-04 3.80991740e+00] [ 9.96925211e-03 -2.44035355e-04 9.99950276e-01 2.34262662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters 0.01725378884058444 Centerline is valid? [True, True] Translation: X:352.22, Y:3.81, Z:2.34 [[ 9.99251439e-01 -3.75884561e-02 -9.14711058e-03 3.52223658e+02] [ 3.75890091e-02 9.99293277e-01 -1.11509753e-04 3.81269386e+00] [ 9.14483759e-03 -2.32404542e-04 9.99958158e-01 2.34355689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters 0.01829444936802494 Centerline is valid? [True, True] Translation: X:352.29, Y:3.82, Z:2.34 [[ 9.99262582e-01 -3.72999894e-02 -9.11058671e-03 3.52286127e+02] [ 3.73005323e-02 9.99304087e-01 -1.10384946e-04 3.81585610e+00] [ 9.10836389e-03 -2.29526187e-04 9.99958492e-01 2.34261774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.359254154 meters 0.01848307638357927 Centerline is valid? [True, True] Translation: X:352.35, Y:3.82, Z:2.34 [[ 9.99218204e-01 -3.84335184e-02 -9.26523321e-03 3.52348137e+02] [ 3.84341349e-02 9.99261129e-01 -1.11562599e-04 3.81708718e+00] [ 9.26267515e-03 -2.44625843e-04 9.99957071e-01 2.34263139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.419254154 meters 0.020483384651260414 Centerline is valid? [True, True] Translation: X:352.41, Y:3.81, Z:2.34 [[ 9.99006991e-01 -4.33857668e-02 -1.01344464e-02 3.52408200e+02] [ 4.33867646e-02 9.99058344e-01 -1.21487545e-04 3.81463615e+00] [ 1.01301740e-02 -3.18333932e-04 9.99948638e-01 2.34211008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.479254154 meters 0.022384952354828666 Centerline is valid? [True, True] Translation: X:352.47, Y:3.81, Z:2.34 [[ 9.98631354e-01 -5.09992873e-02 -1.15970170e-02 3.52469308e+02] [ 5.10011066e-02 9.98698587e-01 -1.39002648e-04 3.81351295e+00] [ 1.15890135e-02 -4.52648297e-04 9.99932743e-01 2.34120766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.539254154 meters 0.024010017114261335 Centerline is valid? [True, True] Translation: X:352.53, Y:3.81, Z:2.34 [[ 9.98333507e-01 -5.62358690e-02 -1.29512750e-02 3.52530741e+02] [ 5.62385811e-02 9.98417347e-01 -1.54982120e-04 3.81262625e+00] [ 1.29394932e-02 -5.73637487e-04 9.99916117e-01 2.34042460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.599254154 meters 0.02690694418308117 Centerline is valid? [True, True] Translation: X:352.59, Y:3.81, Z:2.34 [[ 9.97900727e-01 -6.29181442e-02 -1.53442603e-02 3.52591159e+02] [ 6.29227440e-02 9.98018384e-01 -1.83302738e-04 3.81040143e+00] [ 1.53253869e-02 -7.82585024e-04 9.99882253e-01 2.33873133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.659254154 meters 0.026957218553995955 Centerline is valid? [True, True] Translation: X:352.65, Y:3.81, Z:2.34 [[ 9.97585809e-01 -6.74178629e-02 -1.66548938e-02 3.52652315e+02] [ 6.74239117e-02 9.97724399e-01 -1.98697661e-04 3.81211374e+00] [ 1.66303897e-02 -9.24720122e-04 9.99861278e-01 2.33776082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.719254154 meters 0.03212868077676014 Centerline is valid? [True, True] Translation: X:352.71, Y:3.81, Z:2.34 [[ 9.97412036e-01 -6.97064848e-02 -1.76135316e-02 3.52712114e+02] [ 6.97136259e-02 9.97567024e-01 -2.08990364e-04 3.80720831e+00] [ 1.75852462e-02 -1.01945365e-03 9.99844848e-01 2.33652539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779254154 meters 0.030479743047646345 Centerline is valid? [True, True] Translation: X:352.77, Y:3.81, Z:2.34 [[ 9.97276724e-01 -7.17001828e-02 -1.72690111e-02 3.52773897e+02] [ 7.17073650e-02 9.97425693e-01 -2.03740062e-04 3.81333691e+00] [ 1.72391636e-02 -1.03513006e-03 9.99850859e-01 2.33782308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839254154 meters 0.02888580246567995 Centerline is valid? [True, True] Translation: X:352.84, Y:3.82, Z:2.34 [[ 9.97215990e-01 -7.25501261e-02 -1.72263676e-02 3.52835649e+02] [ 7.25574191e-02 9.97364216e-01 -2.02083913e-04 3.81902823e+00] [ 1.71956238e-02 -1.04837946e-03 9.99851595e-01 2.33897827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899254154 meters 0.02961761711254705 Centerline is valid? [True, True] Translation: X:352.90, Y:3.82, Z:2.34 [[ 9.97166904e-01 -7.32099534e-02 -1.72762538e-02 3.52897582e+02] [ 7.32174095e-02 9.97315983e-01 -2.01378771e-04 3.82082697e+00] [ 1.72446270e-02 -1.06411430e-03 9.99850734e-01 2.33922839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959254154 meters 0.030169383157090456 Centerline is valid? [True, True] Translation: X:352.96, Y:3.82, Z:2.34 [[ 9.97085444e-01 -7.40409999e-02 -1.83996550e-02 3.52959612e+02] [ 7.40496243e-02 9.97254535e-01 -2.13072914e-04 3.82391457e+00] [ 1.83649155e-02 -1.15003564e-03 9.99830689e-01 2.33852248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019254154 meters 0.03339271683132634 Centerline is valid? [True, True] Translation: X:353.02, Y:3.82, Z:2.34 [[ 9.97071362e-01 -7.37974804e-02 -2.00656499e-02 3.53020865e+02] [ 7.38077143e-02 9.97272464e-01 -2.31085683e-04 3.82261280e+00] [ 2.00279736e-02 -1.25059083e-03 9.99798638e-01 2.33632712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079254154 meters 0.0314790332445988 Centerline is valid? [True, True] Translation: X:353.08, Y:3.83, Z:2.34 [[ 9.97148556e-01 -7.23914037e-02 -2.13129727e-02 3.53083493e+02] [ 7.24026665e-02 9.97375453e-01 -2.43736889e-04 3.82815009e+00] [ 2.12746803e-02 -1.30007417e-03 9.99772823e-01 2.33668351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139254154 meters 0.027102144210685734 Centerline is valid? [True, True] Translation: X:353.14, Y:3.84, Z:2.34 [[ 9.97407852e-01 -6.84805554e-02 -2.20905203e-02 3.53144250e+02] [ 6.84917212e-02 9.97651653e-01 -2.51635920e-04 3.83943584e+00] [ 2.20558763e-02 -1.26203412e-03 9.99755943e-01 2.33817630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199254154 meters 0.029561675791715078 Centerline is valid? [True, True] Translation: X:353.20, Y:3.84, Z:2.34 [[ 9.97897320e-01 -6.11735771e-02 -2.14180484e-02 3.53204362e+02] [ 6.11823972e-02 9.98126573e-01 -2.43843160e-04 3.84256823e+00] [ 2.13928400e-02 -1.06707711e-03 9.99770578e-01 2.33661401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259254154 meters 0.02433158392474671 Centerline is valid? [True, True] Translation: X:353.26, Y:3.85, Z:2.34 [[ 9.98262447e-01 -5.54830179e-02 -1.98424056e-02 3.53264735e+02] [ 5.54894668e-02 9.98459247e-01 -2.25847287e-04 3.85348811e+00] [ 1.98243641e-02 -8.75589641e-04 9.99803095e-01 2.34119065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319254154 meters 0.02143322887662933 Centerline is valid? [True, True] Translation: X:353.33, Y:3.87, Z:2.34 [[ 9.98806325e-01 -4.51978448e-02 -1.85223926e-02 3.53325546e+02] [ 4.52017005e-02 9.98977859e-01 -2.10653159e-04 3.86725731e+00] [ 1.85129812e-02 -6.26841936e-04 9.99828424e-01 2.34275352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379254154 meters 0.018010257797445445 Centerline is valid? [True, True] Translation: X:353.39, Y:3.88, Z:2.35 [[ 9.99015089e-01 -4.05151485e-02 -1.80934769e-02 3.53386839e+02] [ 4.05180694e-02 9.99178785e-01 -2.05274956e-04 3.87542976e+00] [ 1.80869350e-02 -5.28039976e-04 9.99836279e-01 2.34519133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters 0.018590563778600515 Centerline is valid? [True, True] Translation: X:353.45, Y:3.88, Z:2.34 [[ 9.99188019e-01 -3.61256075e-02 -1.78393890e-02 3.53448402e+02] [ 3.61277594e-02 9.99347159e-01 -2.01736978e-04 3.87945499e+00] [ 1.78350306e-02 -4.42923984e-04 9.99840845e-01 2.34396751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters 0.01632958209013288 Centerline is valid? [True, True] Translation: X:353.51, Y:3.89, Z:2.35 [[ 9.99363505e-01 -3.11285075e-02 -1.74241629e-02 3.53509672e+02] [ 3.11298121e-02 9.99515331e-01 -1.96413496e-04 3.88669016e+00] [ 1.74218320e-02 -3.46122438e-04 9.99848168e-01 2.34625719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters 0.016785137180855652 Centerline is valid? [True, True] Translation: X:353.57, Y:3.89, Z:2.35 [[ 9.99488923e-01 -2.64196835e-02 -1.79970085e-02 3.53571250e+02] [ 2.64203241e-02 9.99650902e-01 -2.02203592e-04 3.89264003e+00] [ 1.79960679e-02 -2.73386548e-04 9.99838020e-01 2.34593295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters 0.015466053519677548 Centerline is valid? [True, True] Translation: X:353.63, Y:3.90, Z:2.35 [[ 9.99667880e-01 -1.91817776e-02 -1.72101319e-02 3.53631705e+02] [ 1.91812950e-02 9.99816003e-01 -1.93125651e-04 3.89901951e+00] [ 1.72106697e-02 -1.37051105e-04 9.99851876e-01 2.34731331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters 0.013985383956385768 Centerline is valid? [True, True] Translation: X:353.69, Y:3.90, Z:2.35 [[ 9.99805358e-01 -1.27291531e-02 -1.50736232e-02 3.53691262e+02] [ 1.27280449e-02 9.99918981e-01 -1.69454619e-04 3.90457034e+00] [ 1.50745590e-02 -2.24361171e-05 9.99886372e-01 2.35052043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters 0.013922198036762829 Centerline is valid? [True, True] Translation: X:353.75, Y:3.91, Z:2.35 [[ 9.99870729e-01 -1.01853698e-02 -1.24412220e-02 3.53749615e+02] [ 1.01843970e-02 9.99948128e-01 -1.41547054e-04 3.90581030e+00] [ 1.24420183e-02 1.48224128e-05 9.99922595e-01 2.35310567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters 0.014490723654036846 Centerline is valid? [True, True] Translation: X:353.81, Y:3.90, Z:2.35 [[ 9.99854725e-01 -1.21522642e-02 -1.19520156e-02 3.53808659e+02] [ 1.21514707e-02 9.99926159e-01 -1.39003656e-04 3.90348182e+00] [ 1.19528222e-02 -6.25110585e-06 9.99928562e-01 2.35285376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.859254154 meters 0.01427249170786646 Centerline is valid? [True, True] Translation: X:353.87, Y:3.89, Z:2.35 [[ 9.99694233e-01 -2.12551411e-02 -1.26356632e-02 3.53867910e+02] [ 2.12549539e-02 9.99774077e-01 -1.49118300e-04 3.89469460e+00] [ 1.26359781e-02 -1.19497735e-04 9.99920156e-01 2.35328779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.919254154 meters 0.015637382591899694 Centerline is valid? [True, True] Translation: X:353.93, Y:3.89, Z:2.35 [[ 9.99499466e-01 -2.86194049e-02 -1.34813458e-02 3.53928268e+02] [ 2.86198577e-02 9.99590355e-01 -1.59375363e-04 3.88618231e+00] [ 1.34803845e-02 -2.26538609e-04 9.99909110e-01 2.35279095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.979254154 meters 0.01741538281371421 Centerline is valid? [True, True] Translation: X:353.99, Y:3.88, Z:2.35 [[ 9.99158865e-01 -3.80416678e-02 -1.53099627e-02 3.53989145e+02] [ 3.80433616e-02 9.99276073e-01 -1.80694204e-04 3.87710580e+00] [ 1.53057533e-02 -4.01900232e-04 9.99882779e-01 2.35281882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.039254154 meters 0.018819146067735524 Centerline is valid? [True, True] Translation: X:354.05, Y:3.87, Z:2.35 [[ 9.98965733e-01 -4.25484582e-02 -1.60341007e-02 3.54050807e+02] [ 4.25509036e-02 9.99094282e-01 -1.88769463e-04 3.86976312e+00] [ 1.60276102e-02 -4.93691247e-04 9.99871428e-01 2.35267697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.099254154 meters 0.020238192651119428 Centerline is valid? [True, True] Translation: X:354.11, Y:3.87, Z:2.35 [[ 9.98971157e-01 -4.22774433e-02 -1.64087207e-02 3.54111621e+02] [ 4.22799806e-02 9.99105783e-01 -1.92399221e-04 3.86523534e+00] [ 1.64021819e-02 -5.01559123e-04 9.99865349e-01 2.35321720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.159254154 meters 0.01781553351463671 Centerline is valid? [True, True] Translation: X:354.17, Y:3.87, Z:2.36 [[ 9.99123614e-01 -3.83336144e-02 -1.68088736e-02 3.54173281e+02] [ 3.83357349e-02 9.99264896e-01 -1.96158914e-04 3.86946388e+00] [ 1.68040369e-02 -4.48393520e-04 9.99858702e-01 2.35558970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.219254154 meters 0.01933512052815321 Centerline is valid? [True, True] Translation: X:354.23, Y:3.87, Z:2.35 [[ 9.99231794e-01 -3.50182316e-02 -1.75939074e-02 3.54234332e+02] [ 3.50200550e-02 9.99386589e-01 -2.04540739e-04 3.86900259e+00] [ 1.75902778e-02 -4.11755995e-04 9.99845194e-01 2.35412004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279254154 meters 0.018803522396894333 Centerline is valid? [True, True] Translation: X:354.30, Y:3.87, Z:2.35 [[ 9.99268914e-01 -3.36912596e-02 -1.80703202e-02 3.54295142e+02] [ 3.36929817e-02 9.99432208e-01 -2.09224701e-04 3.86809679e+00] [ 1.80671091e-02 -3.99771228e-04 9.99836697e-01 2.35458761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339254154 meters 0.016960005993690217 Centerline is valid? [True, True] Translation: X:354.36, Y:3.87, Z:2.36 [[ 9.99197164e-01 -3.50282500e-02 -1.94434947e-02 3.54356018e+02] [ 3.50305089e-02 9.99386218e-01 -2.24504890e-04 3.86828142e+00] [ 1.94394247e-02 -4.56790865e-04 9.99810932e-01 2.35605040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399254154 meters 0.0185559852614464 Centerline is valid? [True, True] Translation: X:354.42, Y:3.87, Z:2.35 [[ 9.99152274e-01 -3.52526193e-02 -2.12599504e-02 3.54416952e+02] [ 3.52553913e-02 9.99378306e-01 -2.44519583e-04 3.86782227e+00] [ 2.12553532e-02 -5.05215573e-04 9.99773952e-01 2.35434606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459254154 meters 0.01759143441043891 Centerline is valid? [True, True] Translation: X:354.48, Y:3.87, Z:2.36 [[ 9.99144409e-01 -3.56437494e-02 -2.09755377e-02 3.54477170e+02] [ 3.56465418e-02 9.99364431e-01 -2.40873222e-04 3.86786437e+00] [ 2.09707919e-02 -5.07038248e-04 9.99779960e-01 2.35662411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519254154 meters 0.017504116606863986 Centerline is valid? [True, True] Translation: X:354.54, Y:3.87, Z:2.36 [[ 9.99199948e-01 -3.46740823e-02 -1.99291918e-02 3.54538077e+02] [ 3.46764199e-02 9.99398566e-01 -2.28369360e-04 3.86897097e+00] [ 1.99251243e-02 -4.62886371e-04 9.99801368e-01 2.35861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579254154 meters 0.0168471566162045 Centerline is valid? [True, True] Translation: X:354.60, Y:3.87, Z:2.36 [[ 9.99226592e-01 -3.41391533e-02 -1.95124370e-02 3.54599320e+02] [ 3.41413060e-02 9.99416991e-01 -2.22881318e-04 3.86990866e+00] [ 1.95086700e-02 -4.43471141e-04 9.99809589e-01 2.35945616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639254154 meters 0.016567108425361438 Centerline is valid? [True, True] Translation: X:354.66, Y:3.87, Z:2.36 [[ 9.99247322e-01 -3.39826205e-02 -1.87075335e-02 3.54661042e+02] [ 3.39845846e-02 9.99422334e-01 -2.13006679e-04 3.87032785e+00] [ 1.87039653e-02 -4.22921400e-04 9.99824976e-01 2.36068683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699254154 meters 0.017029642275283377 Centerline is valid? [True, True] Translation: X:354.72, Y:3.87, Z:2.36 [[ 9.99214480e-01 -3.58041155e-02 -1.69849667e-02 3.54722200e+02] [ 3.58060076e-02 9.99358741e-01 -1.92788324e-04 3.86857334e+00] [ 1.69809776e-02 -4.15526962e-04 9.99855726e-01 2.36133512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759254154 meters 0.01700512230078546 Centerline is valid? [True, True] Translation: X:354.78, Y:3.87, Z:2.36 [[ 9.99167536e-01 -3.72170315e-02 -1.67071327e-02 3.54784666e+02] [ 3.72190762e-02 9.99307112e-01 -1.88641071e-04 3.86834659e+00] [ 1.67025772e-02 -4.33340010e-04 9.99860408e-01 2.36202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819254154 meters 0.0182661808491176 Centerline is valid? [True, True] Translation: X:354.85, Y:3.86, Z:2.36 [[ 9.99079646e-01 -3.95187807e-02 -1.66771513e-02 3.54846264e+02] [ 3.95211560e-02 9.99218716e-01 -1.87248049e-04 3.86472174e+00] [ 1.66715215e-02 -4.72024584e-04 9.99860909e-01 2.36086487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879254154 meters 0.019121903864868527 Centerline is valid? [True, True] Translation: X:354.91, Y:3.86, Z:2.36 [[ 9.98932156e-01 -4.29840021e-02 -1.69387974e-02 3.54907379e+02] [ 4.29869629e-02 9.99075615e-01 -1.89433494e-04 3.86333139e+00] [ 1.69312821e-02 -5.38916248e-04 9.99856510e-01 2.36114776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters 0.019402682465818177 Centerline is valid? [True, True] Translation: X:354.97, Y:3.86, Z:2.36 [[ 9.98809688e-01 -4.62072242e-02 -1.56236790e-02 3.54969856e+02] [ 4.62101508e-02 9.98931725e-01 -1.73829442e-04 3.86289615e+00] [ 1.56150208e-02 -5.48350030e-04 9.99877928e-01 2.36226549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters 0.02173561345468814 Centerline is valid? [True, True] Translation: X:355.03, Y:3.86, Z:2.36 [[ 9.98720178e-01 -4.81301186e-02 -1.55402227e-02 3.55031494e+02] [ 4.81332619e-02 9.98840908e-01 -1.71904853e-04 3.86147039e+00] [ 1.55304840e-02 -5.76316765e-04 9.99879229e-01 2.36115170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters 0.021703339551067978 Centerline is valid? [True, True] Translation: X:355.09, Y:3.86, Z:2.36 [[ 9.98469176e-01 -5.30902689e-02 -1.55154267e-02 3.55092450e+02] [ 5.30940083e-02 9.98589504e-01 -1.71090854e-04 3.86179151e+00] [ 1.55026255e-02 -6.52947248e-04 9.99879614e-01 2.36241134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters 0.02507508816535916 Centerline is valid? [True, True] Translation: X:355.15, Y:3.86, Z:2.36 [[ 9.98225475e-01 -5.73383588e-02 -1.60690436e-02 3.55153043e+02] [ 5.73429276e-02 9.98354525e-01 -1.76666056e-04 3.85799143e+00] [ 1.60527321e-02 -7.45093443e-04 9.99870869e-01 2.36167532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters 0.026581921512416548 Centerline is valid? [True, True] Translation: X:355.21, Y:3.86, Z:2.36 [[ 9.97871016e-01 -6.32641240e-02 -1.58456757e-02 3.55213651e+02] [ 6.32693165e-02 9.97996475e-01 -1.73898136e-04 3.85744240e+00] [ 1.58249300e-02 -8.29017161e-04 9.99874434e-01 2.36265009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters 0.032110285847727 Centerline is valid? [True, True] Translation: X:355.27, Y:3.85, Z:2.36 [[ 9.97703648e-01 -6.58315457e-02 -1.59260276e-02 3.55274225e+02] [ 6.58371201e-02 9.97830368e-01 -1.74592313e-04 3.85241939e+00] [ 1.59029676e-02 -8.74332402e-04 9.99873158e-01 2.36048619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters 0.02824466719758889 Centerline is valid? [True, True] Translation: X:355.34, Y:3.86, Z:2.36 [[ 9.97534400e-01 -6.82824776e-02 -1.62057060e-02 3.55335536e+02] [ 6.82885796e-02 9.97665595e-01 -1.77184966e-04 3.85852189e+00] [ 1.61799739e-02 -9.29916544e-04 9.99868663e-01 2.36333156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.359254154 meters 0.027849408836101902 Centerline is valid? [True, True] Translation: X:355.40, Y:3.86, Z:2.36 [[ 9.97452323e-01 -6.90342259e-02 -1.79760488e-02 3.55397418e+02] [ 6.90418760e-02 9.97613743e-01 -1.95423405e-04 3.86303167e+00] [ 1.79466442e-02 -1.04617460e-03 9.99838399e-01 2.36280403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.419254154 meters 0.026628658353345835 Centerline is valid? [True, True] Translation: X:355.46, Y:3.87, Z:2.36 [[ 9.97599977e-01 -6.69870775e-02 -1.75219157e-02 3.55459220e+02] [ 6.69940546e-02 9.97753357e-01 -1.89142068e-04 3.86965739e+00] [ 1.74952203e-02 -9.85176055e-04 9.99846462e-01 2.36394783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.479254154 meters 0.026785064367685713 Centerline is valid? [True, True] Translation: X:355.52, Y:3.87, Z:2.37 [[ 9.97767772e-01 -6.46255606e-02 -1.68228833e-02 3.55519345e+02] [ 6.46316691e-02 9.97909172e-01 -1.80896139e-04 3.87251462e+00] [ 1.67994000e-02 -9.06798688e-04 9.99858469e-01 2.36513329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.539254154 meters 0.025452485149234913 Centerline is valid? [True, True] Translation: X:355.58, Y:3.88, Z:2.37 [[ 9.98060963e-01 -6.02013665e-02 -1.58148277e-02 3.55580324e+02] [ 6.02062151e-02 9.98185946e-01 -1.69770930e-04 3.88152081e+00] [ 1.57963592e-02 -7.82709179e-04 9.99874923e-01 2.36696387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.599254154 meters 0.02418924312318622 Centerline is valid? [True, True] Translation: X:355.64, Y:3.89, Z:2.37 [[ 9.98361827e-01 -5.49717304e-02 -1.58672906e-02 3.55640961e+02] [ 5.49759576e-02 9.98487664e-01 -1.69979682e-04 3.88883000e+00] [ 1.58526380e-02 -7.02618268e-04 9.99874092e-01 2.36689090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.659254154 meters 0.023091985814251197 Centerline is valid? [True, True] Translation: X:355.70, Y:3.90, Z:2.37 [[ 9.98601165e-01 -5.01669159e-02 -1.67031230e-02 3.55700617e+02] [ 5.01709322e-02 9.98740630e-01 -1.78755251e-04 3.89577121e+00] [ 1.66910551e-02 -6.59506048e-04 9.99860477e-01 2.36667761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.719254154 meters 0.02483098981920651 Centerline is valid? [True, True] Translation: X:355.76, Y:3.90, Z:2.37 [[ 9.98689793e-01 -4.76851314e-02 -1.85694866e-02 3.55762515e+02] [ 4.76896829e-02 9.98862180e-01 -1.97897152e-04 3.89923848e+00] [ 1.85577946e-02 -6.87935062e-04 9.99827553e-01 2.36528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779254154 meters 0.01985716653688394 Centerline is valid? [True, True] Translation: X:355.82, Y:3.91, Z:2.37 [[ 9.98853170e-01 -4.43056199e-02 -1.81481647e-02 3.55824239e+02] [ 4.43094297e-02 9.99017836e-01 -1.92316305e-04 3.90932047e+00] [ 1.81388610e-02 -6.12039079e-04 9.99835290e-01 2.36748027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839254154 meters 0.01897754389142951 Centerline is valid? [True, True] Translation: X:355.88, Y:3.92, Z:2.37 [[ 9.99073400e-01 -3.90178085e-02 -1.81645553e-02 3.55884481e+02] [ 3.90207623e-02 9.99238382e-01 -1.91919921e-04 3.91501461e+00] [ 1.81582092e-02 -5.17052707e-04 9.99834992e-01 2.36773310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899254154 meters 0.01745909030212999 Centerline is valid? [True, True] Translation: X:355.95, Y:3.92, Z:2.37 [[ 9.99298340e-01 -3.29283519e-02 -1.78480165e-02 3.55946207e+02] [ 3.29302454e-02 9.99457635e-01 -1.87875039e-04 3.92227763e+00] [ 1.78445228e-02 -3.99996348e-04 9.99840694e-01 2.36926826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959254154 meters 0.0178274376091952 Centerline is valid? [True, True] Translation: X:356.01, Y:3.92, Z:2.37 [[ 9.99435282e-01 -2.87732367e-02 -1.73556327e-02 3.56006479e+02] [ 2.87744100e-02 9.99585914e-01 -1.82165074e-04 3.92377968e+00] [ 1.73536875e-02 -3.17335890e-04 9.99849363e-01 2.36854685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019254154 meters 0.015440737710993805 Centerline is valid? [True, True] Translation: X:356.07, Y:3.93, Z:2.37 [[ 9.99478139e-01 -2.74632958e-02 -1.70063843e-02 3.56068230e+02] [ 2.74642444e-02 9.99622771e-01 -1.77811059e-04 3.92971570e+00] [ 1.70048522e-02 -2.89349228e-04 9.99855365e-01 2.37200134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079254154 meters 0.01538135870476204 Centerline is valid? [True, True] Translation: X:356.13, Y:3.93, Z:2.37 [[ 9.99504551e-01 -2.59127565e-02 -1.78656375e-02 3.56128732e+02] [ 2.59135666e-02 9.99664170e-01 -1.86196755e-04 3.93096164e+00] [ 1.78644626e-02 -2.76857884e-04 9.99840379e-01 2.37185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139254154 meters 0.015074333841361906 Centerline is valid? [True, True] Translation: X:356.19, Y:3.93, Z:2.37 [[ 9.99525076e-01 -2.43679292e-02 -1.88633708e-02 3.56190026e+02] [ 2.43685681e-02 9.99703023e-01 -1.96019155e-04 3.93308724e+00] [ 1.88625454e-02 -2.63747275e-04 9.99822052e-01 2.37125063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199254154 meters 0.015064886226728467 Centerline is valid? [True, True] Translation: X:356.25, Y:3.93, Z:2.37 [[ 9.99582544e-01 -2.03030009e-02 -2.05554469e-02 3.56249632e+02] [ 2.03029007e-02 9.99793852e-01 -2.13583784e-04 3.93498518e+00] [ 2.05555459e-02 -2.03840576e-04 9.99788692e-01 2.37066987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259254154 meters 0.01527755714756761 Centerline is valid? [True, True] Translation: X:356.31, Y:3.94, Z:2.37 [[ 9.99667456e-01 -1.55894764e-02 -2.05413349e-02 3.56307449e+02] [ 1.55883538e-02 9.99878471e-01 -2.14779189e-04 3.93747920e+00] [ 2.05421868e-02 -1.05497829e-04 9.99788981e-01 2.37206098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319254154 meters 0.01629073389868176 Centerline is valid? [True, True] Translation: X:356.37, Y:3.94, Z:2.37 [[ 9.99680940e-01 -1.35192002e-02 -2.13365894e-02 3.56365188e+02] [ 1.35174141e-02 9.99908610e-01 -2.27940342e-04 3.93900658e+00] [ 2.13377210e-02 -6.05478993e-05 9.99772323e-01 2.37384397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379254154 meters 0.015516398944714932 Centerline is valid? [True, True] Translation: X:356.42, Y:3.94, Z:2.37 [[ 9.99683617e-01 -1.26751986e-02 -2.17256950e-02 3.56423301e+02] [ 1.26730073e-02 9.99919666e-01 -2.38544184e-04 3.93812417e+00] [ 2.17269733e-02 -3.68611800e-05 9.99763941e-01 2.37468862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters 0.015384730197121981 Centerline is valid? [True, True] Translation: X:356.48, Y:3.93, Z:2.37 [[ 9.99616646e-01 -1.45068708e-02 -2.35820219e-02 3.56481976e+02] [ 1.45046444e-02 9.99894767e-01 -2.65465263e-04 3.93496720e+00] [ 2.35833913e-02 -7.66853466e-05 9.99721870e-01 2.37438407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters 0.014349129975841774 Centerline is valid? [True, True] Translation: X:356.54, Y:3.93, Z:2.37 [[ 9.99539603e-01 -1.86804957e-02 -2.39085964e-02 3.56540793e+02] [ 1.86793283e-02 9.99825489e-01 -2.72177321e-04 3.93092080e+00] [ 2.39095085e-02 -1.74544511e-04 9.99714112e-01 2.37461176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters 0.014473421894743169 Centerline is valid? [True, True] Translation: X:356.60, Y:3.93, Z:2.38 [[ 9.99465706e-01 -2.19482293e-02 -2.42193555e-02 3.56599305e+02] [ 2.19478687e-02 9.99759077e-01 -2.80742120e-04 3.92767675e+00] [ 2.42196823e-02 -2.50971114e-04 9.99706629e-01 2.37503493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters 0.015186424922420413 Centerline is valid? [True, True] Translation: X:356.66, Y:3.92, Z:2.38 [[ 9.99298827e-01 -2.78819828e-02 -2.49889764e-02 3.56657886e+02] [ 2.78832905e-02 9.99611142e-01 -2.96174735e-04 3.92282513e+00] [ 2.49875172e-02 -4.00807825e-04 9.99687683e-01 2.37545511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters 0.016074936277664847 Centerline is valid? [True, True] Translation: X:356.72, Y:3.92, Z:2.38 [[ 9.99112725e-01 -3.38767164e-02 -2.50226213e-02 3.56717708e+02] [ 3.38798460e-02 9.99425869e-01 -2.98989119e-04 3.91797588e+00] [ 2.50183838e-02 -5.49038723e-04 9.99686840e-01 2.37606849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters 0.017774725209793785 Centerline is valid? [True, True] Translation: X:356.78, Y:3.91, Z:2.38 [[ 9.99029741e-01 -3.71221710e-02 -2.36964362e-02 3.56776133e+02] [ 3.71258619e-02 9.99310557e-01 -2.84310292e-04 3.91328537e+00] [ 2.36906531e-02 -5.95716181e-04 9.99719160e-01 2.37553558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters 0.01820554969757466 Centerline is valid? [True, True] Translation: X:356.84, Y:3.91, Z:2.38 [[ 9.98869206e-01 -4.22910974e-02 -2.17203146e-02 3.56836991e+02] [ 4.22954175e-02 9.99105114e-01 -2.60661392e-04 3.91079215e+00] [ 2.17119011e-02 -6.58303137e-04 9.99764052e-01 2.37808421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.859254154 meters 0.023034660354495244 Centerline is valid? [True, True] Translation: X:356.90, Y:3.90, Z:2.38 [[ 9.98574547e-01 -4.89721903e-02 -2.12272970e-02 3.56897159e+02] [ 4.89778262e-02 9.98799834e-01 -2.54623901e-04 3.90106816e+00] [ 2.12142902e-02 -7.85405915e-04 9.99774643e-01 2.37642716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.919254154 meters 0.02185775793067034 Centerline is valid? [True, True] Translation: X:356.96, Y:3.90, Z:2.38 [[ 9.98307702e-01 -5.39237718e-02 -2.17705982e-02 3.56958333e+02] [ 5.39308878e-02 9.98544637e-01 -2.60554536e-04 3.90200178e+00] [ 2.17529642e-02 -9.13994090e-04 9.99762958e-01 2.37758291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.979254154 meters 0.02544358713507131 Centerline is valid? [True, True] Translation: X:357.02, Y:3.90, Z:2.38 [[ 9.97967581e-01 -5.94485240e-02 -2.29473171e-02 3.57017901e+02] [ 5.94578883e-02 9.98230777e-01 -2.74603337e-04 3.89513540e+00] [ 2.29230429e-02 -1.09035379e-03 9.99736638e-01 2.37507174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.039254154 meters 0.0262903335130091 Centerline is valid? [True, True] Translation: X:357.08, Y:3.90, Z:2.38 [[ 9.98005638e-01 -5.91747063e-02 -2.19795674e-02 3.57079992e+02] [ 5.91832526e-02 9.98247101e-01 -2.62027431e-04 3.89569715e+00] [ 2.19565448e-02 -1.03931744e-03 9.99758386e-01 2.37550100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.099254154 meters 0.024668983362984807 Centerline is valid? [True, True] Translation: X:357.14, Y:3.90, Z:2.38 [[ 9.98412251e-01 -5.29607083e-02 -1.91869827e-02 3.57139477e+02] [ 5.29660786e-02 9.98596286e-01 -2.28535348e-04 3.90201492e+00] [ 1.91721531e-02 -7.88086744e-04 9.99815887e-01 2.37783509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.159254154 meters 0.020401350050024847 Centerline is valid? [True, True] Translation: X:357.20, Y:3.91, Z:2.38 [[ 9.98577450e-01 -5.01290272e-02 -1.81702330e-02 3.57200493e+02] [ 5.01333809e-02 9.98742508e-01 -2.16103179e-04 3.91031717e+00] [ 1.81582172e-02 -6.95139453e-04 9.99834884e-01 2.38005072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.219254154 meters 0.01914198564431186 Centerline is valid? [True, True] Translation: X:357.26, Y:3.92, Z:2.38 [[ 9.98897445e-01 -4.37459912e-02 -1.70347475e-02 3.57260015e+02] [ 4.37488945e-02 9.99042538e-01 -2.02361042e-04 3.91508487e+00] [ 1.70272899e-02 -5.43113446e-04 9.99854878e-01 2.38006281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279254154 meters 0.016499285545707273 Centerline is valid? [True, True] Translation: X:357.32, Y:3.92, Z:2.38 [[ 9.99313716e-01 -3.35253785e-02 -1.57526236e-02 3.57320172e+02] [ 3.35265925e-02 9.99437808e-01 -1.87079399e-04 3.92463510e+00] [ 1.57500395e-02 -3.41180782e-04 9.99875902e-01 2.37995895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339254154 meters 0.014826281483230471 Centerline is valid? [True, True] Translation: X:357.38, Y:3.93, Z:2.38 [[ 9.99598997e-01 -2.40589920e-02 -1.49335024e-02 3.57380497e+02] [ 2.40590273e-02 9.99710524e-01 -1.77315642e-04 3.93446656e+00] [ 1.49334455e-02 -1.82041004e-04 9.99888473e-01 2.38022186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399254154 meters 0.014268641043013106 Centerline is valid? [True, True] Translation: X:357.44, Y:3.94, Z:2.38 [[ 9.99714435e-01 -1.85630431e-02 -1.50486649e-02 3.57441071e+02] [ 1.85624562e-02 9.99827687e-01 -1.78683045e-04 3.93999702e+00] [ 1.50493887e-02 -1.00708165e-04 9.99886746e-01 2.37963927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459254154 meters 0.013953344263294889 Centerline is valid? [True, True] Translation: X:357.50, Y:3.95, Z:2.38 [[ 9.99828220e-01 -1.11430558e-02 -1.48108707e-02 3.57500220e+02] [ 1.11416691e-02 9.99937914e-01 -1.76144454e-04 3.94783740e+00] [ 1.48119139e-02 1.10963757e-05 9.99890298e-01 2.37927646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519254154 meters 0.014075880664292351 Centerline is valid? [True, True] Translation: X:357.56, Y:3.95, Z:2.38 [[ 9.99898980e-01 -4.50551363e-03 -1.34807183e-02 3.57559067e+02] [ 4.50373496e-03 9.99989845e-01 -1.62297261e-04 3.95430633e+00] [ 1.34813126e-02 1.01567283e-04 9.99909118e-01 2.38014178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579254154 meters 0.015107067125268724 Centerline is valid? [True, True] Translation: X:357.62, Y:3.96, Z:2.38 [[ 9.99920293e-01 1.16280389e-03 -1.25719817e-02 3.57616538e+02] [-1.16483000e-03 9.99999310e-01 -1.53839227e-04 3.96000498e+00] [ 1.25717942e-02 1.68471187e-04 9.99920958e-01 2.37985790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639254154 meters 0.015399605888314136 Centerline is valid? [True, True] Translation: X:357.67, Y:3.96, Z:2.38 [[ 9.99923353e-01 4.21453725e-03 -1.16415743e-02 3.57674824e+02] [-4.21650656e-03 9.99991100e-01 -1.44622780e-04 3.96305255e+00] [ 1.16408612e-02 1.93698470e-04 9.99932224e-01 2.38040137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699254154 meters 0.014966406200671092 Centerline is valid? [True, True] Translation: X:357.73, Y:3.96, Z:2.38 [[ 9.99926234e-01 4.87457323e-03 -1.11250057e-02 3.57733972e+02] [-4.87643438e-03 9.99988100e-01 -1.40173984e-04 3.96227265e+00] [ 1.11241901e-02 1.94414005e-04 9.99938105e-01 2.38078083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759254154 meters 0.014605782050288252 Centerline is valid? [True, True] Translation: X:357.79, Y:3.96, Z:2.38 [[ 9.99937711e-01 1.74636947e-03 -1.10238237e-02 3.57793347e+02] [-1.74801500e-03 9.99998462e-01 -1.39636887e-04 3.95994523e+00] [ 1.10235629e-02 1.58897999e-04 9.99939226e-01 2.38063885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819254154 meters 0.014872672960253647 Centerline is valid? [True, True] Translation: X:357.85, Y:3.95, Z:2.38 [[ 9.99919113e-01 -6.91885849e-03 -1.06722207e-02 3.57852777e+02] [ 6.91780356e-03 9.99976063e-01 -1.35760989e-04 3.95208882e+00] [ 1.06729046e-02 6.19216811e-05 9.99943041e-01 2.37984766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879254154 meters 0.013634070780844028 Centerline is valid? [True, True] Translation: X:357.91, Y:3.94, Z:2.38 [[ 9.99796003e-01 -1.77341639e-02 -9.66703099e-03 3.57911354e+02] [ 1.77337985e-02 9.99842736e-01 -1.23520692e-04 3.94215685e+00] [ 9.66770125e-03 -4.79376864e-05 9.99953266e-01 2.37991447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters 0.014732456575220484 Centerline is valid? [True, True] Translation: X:357.97, Y:3.93, Z:2.38 [[ 9.99575842e-01 -2.73750133e-02 -9.93703041e-03 3.57973203e+02] [ 2.73751060e-02 9.99625224e-01 -1.26712821e-04 3.93266544e+00] [ 9.93677501e-03 -1.45368186e-04 9.99950618e-01 2.38037801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters 0.015831319082571883 Centerline is valid? [True, True] Translation: X:358.04, Y:3.93, Z:2.38 [[ 9.99392138e-01 -3.32481110e-02 -1.04841697e-02 3.58035091e+02] [ 3.32485568e-02 9.99447105e-01 -1.31823160e-04 3.92706173e+00] [ 1.04827559e-02 -2.16840482e-04 9.99945031e-01 2.38008069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters 0.017433549026733587 Centerline is valid? [True, True] Translation: X:358.10, Y:3.92, Z:2.38 [[ 9.99131047e-01 -4.02529415e-02 -1.08097720e-02 3.58096043e+02] [ 4.02538299e-02 9.99189477e-01 -1.35461529e-04 3.91956901e+00] [ 1.08064632e-02 -2.99790906e-04 9.99941564e-01 2.37969236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters 0.018865922544445895 Centerline is valid? [True, True] Translation: X:358.16, Y:3.91, Z:2.38 [[ 9.98912861e-01 -4.53983817e-02 -1.05869613e-02 3.58157328e+02] [ 4.53995254e-02 9.98968901e-01 -1.32404539e-04 3.91386404e+00] [ 1.05820561e-02 -3.48382422e-04 9.99943948e-01 2.38015493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters 0.02158177306558781 Centerline is valid? [True, True] Translation: X:358.22, Y:3.91, Z:2.38 [[ 9.98670405e-01 -5.04199398e-02 -1.07354976e-02 3.58217526e+02] [ 5.04214116e-02 9.98728023e-01 -1.33682463e-04 3.90710711e+00] [ 1.07285826e-02 -4.07794224e-04 9.99942364e-01 2.37995991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters 0.023124663939026107 Centerline is valid? [True, True] Translation: X:358.28, Y:3.90, Z:2.38 [[ 9.98489404e-01 -5.38028762e-02 -1.11427132e-02 3.58278804e+02] [ 5.38046802e-02 9.98551470e-01 -1.38027422e-04 3.90299632e+00] [ 1.11339989e-02 -4.61711201e-04 9.99937909e-01 2.38031444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters 0.025882875153993446 Centerline is valid? [True, True] Translation: X:358.34, Y:3.90, Z:2.38 [[ 9.98155787e-01 -5.94448204e-02 -1.23019874e-02 3.58339037e+02] [ 5.94474507e-02 9.98231425e-01 -1.52071838e-04 3.89797898e+00] [ 1.22892703e-02 -5.79530403e-04 9.99924316e-01 2.38067084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.359254154 meters 0.027417573475917917 Centerline is valid? [True, True] Translation: X:358.40, Y:3.90, Z:2.38 [[ 9.97956807e-01 -6.25646644e-02 -1.29565938e-02 3.58399823e+02] [ 6.25678467e-02 9.98040700e-01 -1.59990506e-04 3.89575656e+00] [ 1.29412177e-02 -6.51002559e-04 9.99916047e-01 2.38090572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.419254154 meters 0.028181388333087032 Centerline is valid? [True, True] Translation: X:358.46, Y:3.89, Z:2.38 [[ 9.97727183e-01 -6.59065589e-02 -1.40283100e-02 3.58461285e+02] [ 6.59106243e-02 9.97825516e-01 -1.72830440e-04 3.89422543e+00] [ 1.40091963e-02 -7.52177040e-04 9.99901583e-01 2.38111774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.479254154 meters 0.030703129300287357 Centerline is valid? [True, True] Translation: X:358.52, Y:3.89, Z:2.38 [[ 9.97626755e-01 -6.72890382e-02 -1.45959627e-02 3.58522830e+02] [ 6.72935967e-02 9.97733201e-01 -1.79149523e-04 3.89120181e+00] [ 1.45749314e-02 -8.03490473e-04 9.99893457e-01 2.38135218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.539254154 meters 0.02582630936792157 Centerline is valid? [True, True] Translation: X:358.59, Y:3.90, Z:2.38 [[ 9.97636423e-01 -6.68943145e-02 -1.57072696e-02 3.58585190e+02] [ 6.68995617e-02 9.97759696e-01 -1.91723086e-04 3.89938481e+00] [ 1.56849058e-02 -8.59539520e-04 9.99876615e-01 2.38274236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.599254154 meters 0.02456346946457057 Centerline is valid? [True, True] Translation: X:358.65, Y:3.90, Z:2.38 [[ 9.97920455e-01 -6.26124296e-02 -1.53117261e-02 3.58645927e+02] [ 6.26169240e-02 9.98037618e-01 -1.86184410e-04 3.90449087e+00] [ 1.52933361e-02 -7.72975958e-04 9.99882751e-01 2.38418303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.659254154 meters 0.021047082811855886 Centerline is valid? [True, True] Translation: X:358.71, Y:3.91, Z:2.39 [[ 9.98464339e-01 -5.37891590e-02 -1.32548361e-02 3.58706516e+02] [ 5.37917535e-02 9.98552163e-01 -1.60954872e-04 3.91420075e+00] [ 1.32443029e-02 -5.52293178e-04 9.99912138e-01 2.38703434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.719254154 meters 0.018375073959240765 Centerline is valid? [True, True] Translation: X:358.77, Y:3.92, Z:2.39 [[ 9.99013564e-01 -4.28850821e-02 -1.15225012e-02 3.58766971e+02] [ 4.28863187e-02 9.99079949e-01 -1.39861005e-04 3.92251816e+00] [ 1.15178979e-02 -3.54434618e-04 9.99933604e-01 2.38762543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779254154 meters 0.01592523958381544 Centerline is valid? [True, True] Translation: X:358.83, Y:3.93, Z:2.39 [[ 9.99433636e-01 -3.16394425e-02 -1.14609545e-02 3.58827630e+02] [ 3.16399268e-02 9.99499323e-01 -1.39107576e-04 3.93099249e+00] [ 1.14596176e-02 -2.23594971e-04 9.99934311e-01 2.38699160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839254154 meters 0.014903911291203971 Centerline is valid? [True, True] Translation: X:358.89, Y:3.94, Z:2.39 [[ 9.99629929e-01 -2.41596491e-02 -1.25026260e-02 3.58887669e+02] [ 2.41596475e-02 9.99708102e-01 -1.51189744e-04 3.93703924e+00] [ 1.25026292e-02 -1.50925244e-04 9.99921828e-01 2.38599062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899254154 meters 0.013853543903531301 Centerline is valid? [True, True] Translation: X:358.95, Y:3.95, Z:2.39 [[ 9.99822021e-01 -1.28927114e-02 -1.37733255e-02 3.58948704e+02] [ 1.28916531e-02 9.99916885e-01 -1.65618472e-04 3.94512369e+00] [ 1.37743160e-02 -1.19719399e-05 9.99905130e-01 2.38551291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959254154 meters 0.014029499793052154 Centerline is valid? [True, True] Translation: X:359.01, Y:3.95, Z:2.39 [[ 9.99893620e-01 -6.21726264e-03 -1.31944777e-02 3.59007059e+02] [ 6.21569116e-03 9.99980670e-01 -1.60105888e-04 3.94929315e+00] [ 1.31952180e-02 7.80760582e-05 9.99912936e-01 2.38665102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019254154 meters 0.014305715084372563 Centerline is valid? [True, True] Translation: X:359.07, Y:3.95, Z:2.39 [[ 9.99911266e-01 -3.67287725e-03 -1.28051034e-02 3.59065470e+02] [ 3.67114674e-03 9.99993249e-01 -1.58645507e-04 3.95113795e+00] [ 1.28055996e-02 1.11622016e-04 9.99917999e-01 2.38748203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079254154 meters 0.014971664601084539 Centerline is valid? [True, True] Translation: X:359.12, Y:3.95, Z:2.39 [[ 9.99918587e-01 -8.70994679e-04 -1.27303472e-02 3.59124154e+02] [ 8.69015589e-04 9.99999609e-01 -1.60993193e-04 3.94963936e+00] [ 1.27304825e-02 1.49917216e-04 9.99918953e-01 2.38738387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139254154 meters 0.014415969810461542 Centerline is valid? [True, True] Translation: X:359.18, Y:3.95, Z:2.39 [[ 9.99906147e-01 -5.17996025e-03 -1.26832881e-02 3.59182183e+02] [ 5.17831353e-03 9.99986579e-01 -1.62671174e-04 3.94504904e+00] [ 1.26839605e-02 9.69778650e-05 9.99919551e-01 2.38741967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199254154 meters 0.014186480109388866 Centerline is valid? [True, True] Translation: X:359.24, Y:3.93, Z:2.39 [[ 9.99788033e-01 -1.68203888e-02 -1.18728052e-02 3.59240696e+02] [ 1.68197551e-02 9.99858526e-01 -1.53231835e-04 3.93324431e+00] [ 1.18737029e-02 -4.64983212e-05 9.99929504e-01 2.38854455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259254154 meters 0.015021835348041265 Centerline is valid? [True, True] Translation: X:359.30, Y:3.92, Z:2.39 [[ 9.99583405e-01 -2.60773348e-02 -1.23688473e-02 3.59300235e+02] [ 2.60773468e-02 9.99659915e-01 -1.60338684e-04 3.92480347e+00] [ 1.23688221e-02 -1.62274833e-04 9.99923490e-01 2.38907876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319254154 meters 0.020047494454256947 Centerline is valid? [True, True] Translation: X:359.36, Y:3.91, Z:2.39 [[ 9.99142402e-01 -3.86164798e-02 -1.49408349e-02 3.59360522e+02] [ 3.86178962e-02 9.99254032e-01 -1.93799866e-04 3.90940806e+00] [ 1.49371734e-02 -3.83349949e-04 9.99888361e-01 2.38668259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379254154 meters 0.021739468844151722 Centerline is valid? [True, True] Translation: X:359.42, Y:3.90, Z:2.39 [[ 9.98723822e-01 -4.79510770e-02 -1.58562904e-02 3.59421472e+02] [ 4.79538501e-02 9.98849531e-01 -2.05495759e-04 3.89921638e+00] [ 1.58479019e-02 -5.55136661e-04 9.99874260e-01 2.38666089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters 0.02182070521988767 Centerline is valid? [True, True] Translation: X:359.48, Y:3.90, Z:2.39 [[ 9.98534153e-01 -5.17445318e-02 -1.58760194e-02 3.59482958e+02] [ 5.17477962e-02 9.98660164e-01 -2.05394300e-04 3.89598802e+00] [ 1.58653762e-02 -6.16455791e-04 9.99873947e-01 2.38793264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters 0.024125947585734667 Centerline is valid? [True, True] Translation: X:359.54, Y:3.89, Z:2.39 [[ 9.98549218e-01 -5.14883671e-02 -1.57609489e-02 3.59543913e+02] [ 5.14915640e-02 9.98673409e-01 -2.03167434e-04 3.89135229e+00] [ 1.57505014e-02 -6.08683229e-04 9.99875768e-01 2.38760119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters 0.020561268488939285 Centerline is valid? [True, True] Translation: X:359.61, Y:3.90, Z:2.39 [[ 9.98670599e-01 -4.86397339e-02 -1.70649017e-02 3.59605689e+02] [ 4.86430831e-02 9.98816201e-01 -2.19000856e-04 3.89597481e+00] [ 1.70553524e-02 -6.11379715e-04 9.99854360e-01 2.38811697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters 0.019461577888623842 Centerline is valid? [True, True] Translation: X:359.67, Y:3.90, Z:2.39 [[ 9.98811265e-01 -4.51584202e-02 -1.83514258e-02 3.59666787e+02] [ 4.51617221e-02 9.98979661e-01 -2.34673222e-04 3.89781627e+00] [ 1.83432986e-02 -5.94387733e-04 9.99831571e-01 2.38736033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters 0.01888992824369251 Centerline is valid? [True, True] Translation: X:359.73, Y:3.90, Z:2.39 [[ 9.98906871e-01 -4.19557815e-02 -2.06100713e-02 3.59728116e+02] [ 4.19592818e-02 9.99119287e-01 -2.62765242e-04 3.90088372e+00] [ 2.06029443e-02 -6.02305783e-04 9.99787555e-01 2.38664281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters 0.018774143997733 Centerline is valid? [True, True] Translation: X:359.79, Y:3.90, Z:2.39 [[ 9.98945644e-01 -4.01873632e-02 -2.21940719e-02 3.59788613e+02] [ 4.01909923e-02 9.99191976e-01 -2.82695268e-04 3.90331401e+00] [ 2.21874993e-02 -6.09604565e-04 9.99753641e-01 2.38587969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters 0.01867625651907252 Centerline is valid? [True, True] Translation: X:359.85, Y:3.91, Z:2.39 [[ 9.99013360e-01 -3.78811690e-02 -2.31802260e-02 3.59848432e+02] [ 3.78845008e-02 9.99282081e-01 -2.95551131e-04 3.90668843e+00] [ 2.31747803e-02 -5.82911760e-04 9.99731259e-01 2.38625986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.859254154 meters 0.017901813241691857 Centerline is valid? [True, True] Translation: X:359.91, Y:3.91, Z:2.39 [[ 9.99093054e-01 -3.67973174e-02 -2.14249268e-02 3.59908428e+02] [ 3.67999064e-02 9.99322617e-01 -2.73547658e-04 3.91147712e+00] [ 2.14204797e-02 -5.15135734e-04 9.99770422e-01 2.38978449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.919254154 meters 0.018188530049501404 Centerline is valid? [True, True] Translation: X:359.97, Y:3.91, Z:2.39 [[ 9.99140268e-01 -3.66000543e-02 -1.94720312e-02 3.59969029e+02] [ 3.66021529e-02 9.99329886e-01 -2.48723791e-04 3.91249058e+00] [ 1.94680860e-02 -4.64208310e-04 9.99810371e-01 2.39159229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.979254154 meters 0.017995657625259946 Centerline is valid? [True, True] Translation: X:360.03, Y:3.91, Z:2.39 [[ 9.99142841e-01 -3.69672283e-02 -1.86281230e-02 3.60030733e+02] [ 3.69692206e-02 9.99316376e-01 -2.37514259e-04 3.91472500e+00] [ 1.86241686e-02 -4.51356516e-04 9.99826453e-01 2.39289046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.039254154 meters 0.017404819776539317 Centerline is valid? [True, True] Translation: X:360.09, Y:3.92, Z:2.39 [[ 9.99151646e-01 -3.68886373e-02 -1.83089492e-02 3.60092064e+02] [ 3.68905610e-02 9.99319284e-01 -2.32778444e-04 3.91815445e+00] [ 1.83050729e-02 -4.42846443e-04 9.99832350e-01 2.39411209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.099254154 meters 0.01738430906231088 Centerline is valid? [True, True] Translation: X:360.15, Y:3.92, Z:2.39 [[ 9.99153381e-01 -3.64480175e-02 -1.90804524e-02 3.60153046e+02] [ 3.64500401e-02 9.99335447e-01 -2.41874996e-04 3.92072897e+00] [ 1.90765883e-02 -4.53813036e-04 9.99817922e-01 2.39360432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.159254154 meters 0.019066101206743992 Centerline is valid? [True, True] Translation: X:360.21, Y:3.92, Z:2.39 [[ 9.99194622e-01 -3.48446312e-02 -1.98987181e-02 3.60213652e+02] [ 3.48465231e-02 9.99392644e-01 -2.51752751e-04 3.92047188e+00] [ 1.98954047e-02 -4.41851145e-04 9.99801969e-01 2.39250368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.219254154 meters 0.01671968774919146 Centerline is valid? [True, True] Translation: X:360.27, Y:3.93, Z:2.39 [[ 9.99350115e-01 -3.10738751e-02 -1.82691373e-02 3.60273834e+02] [ 3.10748419e-02 9.99517034e-01 -2.31024501e-04 3.92640505e+00] [ 1.82674928e-02 -3.36836192e-04 9.99833079e-01 2.39480924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279254154 meters 0.015516583501025213 Centerline is valid? [True, True] Translation: X:360.33, Y:3.93, Z:2.40 [[ 9.99444188e-01 -2.78671628e-02 -1.82958234e-02 3.60334847e+02] [ 2.78675992e-02 9.99611596e-01 -2.31147565e-04 3.93135061e+00] [ 1.82951587e-02 -2.78841584e-04 9.99832591e-01 2.39588215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339254154 meters 0.01463658082960955 Centerline is valid? [True, True] Translation: X:360.40, Y:3.93, Z:2.40 [[ 9.99566114e-01 -2.31949888e-02 -1.81542129e-02 3.60395196e+02] [ 2.31946502e-02 9.99730942e-01 -2.29235248e-04 3.93448421e+00] [ 1.81546454e-02 -1.91944831e-04 9.99835172e-01 2.39661601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399254154 meters 0.014802264836871547 Centerline is valid? [True, True] Translation: X:360.45, Y:3.93, Z:2.40 [[ 9.99634931e-01 -2.07778142e-02 -1.72709923e-02 3.60454030e+02] [ 2.07771369e-02 9.99784108e-01 -2.18666042e-04 3.93410985e+00] [ 1.72718070e-02 -1.40255557e-04 9.99850821e-01 2.39574417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459254154 meters 0.014545341996860589 Centerline is valid? [True, True] Translation: X:360.51, Y:3.93, Z:2.40 [[ 9.99607792e-01 -2.28970319e-02 -1.61241390e-02 3.60512593e+02] [ 2.28966720e-02 9.99737815e-01 -2.06950080e-04 3.93270066e+00] [ 1.61246500e-02 -1.62320210e-04 9.99869976e-01 2.39787801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519254154 meters 0.015121322536211849 Centerline is valid? [True, True] Translation: X:360.57, Y:3.93, Z:2.40 [[ 9.99521948e-01 -2.64674230e-02 -1.59797183e-02 3.60571456e+02] [ 2.64674898e-02 9.99649653e-01 -2.07342931e-04 3.92869038e+00] [ 1.59796077e-02 -2.15699220e-04 9.99872295e-01 2.39736772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579254154 meters 0.01584340371298655 Centerline is valid? [True, True] Translation: X:360.63, Y:3.92, Z:2.40 [[ 9.99317871e-01 -3.33775484e-02 -1.58029110e-02 3.60632195e+02] [ 3.33784715e-02 9.99442762e-01 -2.05413784e-04 3.92325846e+00] [ 1.58009613e-02 -3.22203349e-04 9.99875105e-01 2.39793111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639254154 meters 0.017092950769986095 Centerline is valid? [True, True] Translation: X:360.69, Y:3.92, Z:2.40 [[ 9.99160015e-01 -3.79124658e-02 -1.55534621e-02 3.60693892e+02] [ 3.79139140e-02 9.99280989e-01 -2.01846618e-04 3.91875311e+00] [ 1.55499315e-02 -3.88015557e-04 9.99879017e-01 2.39778287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699254154 meters 0.018320136485877686 Centerline is valid? [True, True] Translation: X:360.76, Y:3.91, Z:2.40 [[ 9.98932806e-01 -4.35187200e-02 -1.54716023e-02 3.60755443e+02] [ 4.35208336e-02 9.99052500e-01 -2.00213512e-04 3.91362149e+00] [ 1.54656560e-02 -4.73337186e-04 9.99880288e-01 2.39757312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759254154 meters 0.01961373615222131 Centerline is valid? [True, True] Translation: X:360.82, Y:3.91, Z:2.40 [[ 9.98789918e-01 -4.66776241e-02 -1.54886883e-02 3.60817284e+02] [ 4.66801331e-02 9.98909868e-01 -1.99697225e-04 3.90953387e+00] [ 1.54811250e-02 -5.23558457e-04 9.99880023e-01 2.39754811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819254154 meters 0.02166662916363881 Centerline is valid? [True, True] Translation: X:360.88, Y:3.91, Z:2.40 [[ 9.98740302e-01 -4.79547067e-02 -1.47700920e-02 3.60878383e+02] [ 4.79571394e-02 9.98849376e-01 -1.89636476e-04 3.90517916e+00] [ 1.47621912e-02 -5.18933772e-04 9.99890898e-01 2.39733750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879254154 meters 0.0211186936864017 Centerline is valid? [True, True] Translation: X:360.94, Y:3.90, Z:2.40 [[ 9.98785841e-01 -4.70462100e-02 -1.46115514e-02 3.60940958e+02] [ 4.70485072e-02 9.98892588e-01 -1.86676104e-04 3.90447213e+00] [ 1.46041528e-02 -5.01002229e-04 9.99893228e-01 2.39742087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters 0.020962986409764284 Centerline is valid? [True, True] Translation: X:361.00, Y:3.90, Z:2.40 [[ 9.98841506e-01 -4.58965227e-02 -1.44621849e-02 3.61002793e+02] [ 4.58986675e-02 9.98946084e-01 -1.83748586e-04 3.90457836e+00] [ 1.44553764e-02 -4.80259303e-04 9.99895400e-01 2.39746299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters 0.018837289233601687 Centerline is valid? [True, True] Translation: X:361.06, Y:3.91, Z:2.40 [[ 9.99057035e-01 -4.07233659e-02 -1.50548159e-02 3.61064546e+02] [ 4.07251174e-02 9.99170370e-01 -1.90339615e-04 3.90892233e+00] [ 1.50500772e-02 -4.22949012e-04 9.99886652e-01 2.39747921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters 0.016580727755320435 Centerline is valid? [True, True] Translation: X:361.12, Y:3.91, Z:2.40 [[ 9.99354810e-01 -3.22542672e-02 -1.57995325e-02 3.61124099e+02] [ 3.22551442e-02 9.99479648e-01 -1.99378715e-04 3.91478711e+00] [ 1.57977419e-02 -3.10366120e-04 9.99875160e-01 2.39697830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters 0.015093125087523576 Centerline is valid? [True, True] Translation: X:361.18, Y:3.92, Z:2.40 [[ 9.99540849e-01 -2.62377543e-02 -1.51549042e-02 3.61183265e+02] [ 2.62378731e-02 9.99655710e-01 -1.91020973e-04 3.91952341e+00] [ 1.51546984e-02 -2.06699188e-04 9.99885140e-01 2.39742695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters 0.013561335790788168 Centerline is valid? [True, True] Translation: X:361.24, Y:3.93, Z:2.40 [[ 9.99717963e-01 -1.88005961e-02 -1.45097290e-02 3.61243875e+02] [ 1.87999242e-02 9.99823249e-01 -1.82719145e-04 3.92705219e+00] [ 1.45105996e-02 -9.01141936e-05 9.99894712e-01 2.40008906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters 0.013384284341692292 Centerline is valid? [True, True] Translation: X:361.30, Y:3.93, Z:2.40 [[ 9.99770733e-01 -1.61907737e-02 -1.40121709e-02 3.61302385e+02] [ 1.61898642e-02 9.99868920e-01 -1.78345248e-04 3.92917288e+00] [ 1.40132217e-02 -4.85507849e-05 9.99901809e-01 2.40095999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters 0.01335412888646368 Centerline is valid? [True, True] Translation: X:361.36, Y:3.93, Z:2.40 [[ 9.99725160e-01 -1.76727375e-02 -1.54038880e-02 3.61361612e+02] [ 1.76717496e-02 9.99843822e-01 -2.00254498e-04 3.92792978e+00] [ 1.54050213e-02 -7.20141918e-05 9.99881333e-01 2.40130337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.359254154 meters 0.013550774264426494 Centerline is valid? [True, True] Translation: X:361.42, Y:3.93, Z:2.40 [[ 9.99664507e-01 -2.07587382e-02 -1.54902367e-02 3.61420714e+02] [ 2.07580466e-02 9.99784507e-01 -2.05443939e-04 3.92591826e+00] [ 1.54911634e-02 -1.16172042e-04 9.99879998e-01 2.40167954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.419254154 meters 0.014223297947759225 Centerline is valid? [True, True] Translation: X:361.48, Y:3.92, Z:2.40 [[ 9.99510408e-01 -2.71526722e-02 -1.55459780e-02 3.61479950e+02] [ 2.71527137e-02 9.99631275e-01 -2.08436075e-04 3.92146797e+00] [ 1.55459054e-02 -2.13781463e-04 9.99879132e-01 2.40257303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.479254154 meters 0.014988334525579492 Centerline is valid? [True, True] Translation: X:361.54, Y:3.92, Z:2.40 [[ 9.99316285e-01 -3.36241809e-02 -1.53745786e-02 3.61539977e+02] [ 3.36249788e-02 9.99434499e-01 -2.06671507e-04 3.91651588e+00] [ 1.53728334e-02 -3.10439677e-04 9.99881783e-01 2.40310351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.539254154 meters 0.016230172002233166 Centerline is valid? [True, True] Translation: X:361.60, Y:3.91, Z:2.40 [[ 9.99145699e-01 -3.80147378e-02 -1.62096475e-02 3.61601036e+02] [ 3.80162029e-02 9.99277099e-01 -2.17852571e-04 3.91355945e+00] [ 1.62062111e-02 -3.98562788e-04 9.99868591e-01 2.40294347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.599254154 meters 0.01651820402397051 Centerline is valid? [True, True] Translation: X:361.66, Y:3.91, Z:2.40 [[ 9.99088376e-01 -3.91513521e-02 -1.70173189e-02 3.61662338e+02] [ 3.91531404e-02 9.99233196e-01 -2.28192582e-04 3.91412832e+00] [ 1.70132040e-02 -4.38296921e-04 9.99855169e-01 2.40321946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.659254154 meters 0.018057843848195313 Centerline is valid? [True, True] Translation: X:361.72, Y:3.92, Z:2.40 [[ 9.99146799e-01 -3.74403766e-02 -1.74324863e-02 3.61723312e+02] [ 3.74420045e-02 9.99298775e-01 -2.33101108e-04 3.91584075e+00] [ 1.74289896e-02 -4.19805004e-04 9.99848015e-01 2.40384520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.719254154 meters 0.01551351014175435 Centerline is valid? [True, True] Translation: X:361.78, Y:3.92, Z:2.41 [[ 9.99249071e-01 -3.52972705e-02 -1.59811138e-02 3.61784269e+02] [ 3.52983710e-02 9.99376796e-01 -2.13289942e-04 3.91879377e+00] [ 1.59786828e-02 -3.50977508e-04 9.99872271e-01 2.40545185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779254154 meters 0.015261028382279988 Centerline is valid? [True, True] Translation: X:361.85, Y:3.92, Z:2.41 [[ 9.99305580e-01 -3.36794609e-02 -1.59390120e-02 3.61845950e+02] [ 3.36803574e-02 9.99432633e-01 -2.12261597e-04 3.92080822e+00] [ 1.59371176e-02 -3.24717423e-04 9.99872943e-01 2.40579532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839254154 meters 0.014856444358760913 Centerline is valid? [True, True] Translation: X:361.91, Y:3.92, Z:2.41 [[ 9.99357235e-01 -3.17799644e-02 -1.65876527e-02 3.61907269e+02] [ 3.17806842e-02 9.99494842e-01 -2.20269647e-04 3.92373813e+00] [ 1.65862735e-02 -3.07038888e-04 9.99862391e-01 2.40537968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899254154 meters 0.014901391679318213 Centerline is valid? [True, True] Translation: X:361.97, Y:3.92, Z:2.40 [[ 9.99372990e-01 -3.10083933e-02 -1.70910939e-02 3.61968095e+02] [ 3.10090524e-02 9.99519078e-01 -2.26503152e-04 3.92420986e+00] [ 1.70898979e-02 -3.03617493e-04 9.99853911e-01 2.40474086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959254154 meters 0.01680071797245271 Centerline is valid? [True, True] Translation: X:362.03, Y:3.93, Z:2.40 [[ 9.99365283e-01 -3.04071221e-02 -1.85590664e-02 3.62028164e+02] [ 3.04078023e-02 9.99537546e-01 -2.45610396e-04 3.92669389e+00] [ 1.85579520e-02 -3.18885919e-04 9.99827736e-01 2.40447507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019254154 meters 0.01495841015944998 Centerline is valid? [True, True] Translation: X:362.09, Y:3.93, Z:2.41 [[ 9.99357933e-01 -3.15722634e-02 -1.69385080e-02 3.62088199e+02] [ 3.15729927e-02 9.99501424e-01 -2.24433275e-04 3.92988674e+00] [ 1.69371487e-02 -3.10510214e-04 9.99856508e-01 2.40718146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079254154 meters 0.015275418257456052 Centerline is valid? [True, True] Translation: X:362.15, Y:3.93, Z:2.41 [[ 9.99331418e-01 -3.29878139e-02 -1.57645331e-02 3.62149012e+02] [ 3.29886179e-02 9.99455706e-01 -2.09109839e-04 3.93079215e+00] [ 1.57628506e-02 -3.11080125e-04 9.99875710e-01 2.40819437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139254154 meters 0.016696495052707625 Centerline is valid? [True, True] Translation: X:362.21, Y:3.93, Z:2.41 [[ 9.99178415e-01 -3.76046249e-02 -1.51125053e-02 3.62210209e+02] [ 3.76058960e-02 9.99292628e-01 -2.00153903e-04 3.92989030e+00] [ 1.51093419e-02 -3.68329843e-04 9.99885780e-01 2.40844746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199254154 meters 0.02164015483258591 Centerline is valid? [True, True] Translation: X:362.27, Y:3.93, Z:2.41 [[ 9.98818435e-01 -4.56153746e-02 -1.67622326e-02 3.62270221e+02] [ 4.56180675e-02 9.98958929e-01 -2.21866580e-04 3.92513393e+00] [ 1.67549024e-02 -5.43056226e-04 9.99859479e-01 2.40715314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259254154 meters 0.02287705383339559 Centerline is valid? [True, True] Translation: X:362.33, Y:3.92, Z:2.41 [[ 9.98468086e-01 -5.31747510e-02 -1.52946491e-02 3.62330835e+02] [ 5.31778775e-02 9.98585035e-01 -2.02492413e-04 3.92161983e+00] [ 1.52837752e-02 -6.11154766e-04 9.99883010e-01 2.40772423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319254154 meters 0.025956863282268518 Centerline is valid? [True, True] Translation: X:362.39, Y:3.92, Z:2.41 [[ 9.97839271e-01 -6.40298697e-02 -1.47297146e-02 3.62391282e+02] [ 6.40339497e-02 9.97947702e-01 -1.94950192e-04 3.91867747e+00] [ 1.47119675e-02 -7.48672850e-04 9.99891493e-01 2.40850305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379254154 meters 0.029514172438276684 Centerline is valid? [True, True] Translation: X:362.45, Y:3.92, Z:2.41 [[ 9.97367282e-01 -7.08860023e-02 -1.52865712e-02 3.62452291e+02] [ 7.08912035e-02 9.97484033e-01 -2.02043393e-04 3.91675241e+00] [ 1.52624328e-02 -8.82171961e-04 9.99883133e-01 2.40824661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters 0.031114812442558634 Centerline is valid? [True, True] Translation: X:362.51, Y:3.92, Z:2.41 [[ 9.97259641e-01 -7.24648054e-02 -1.49016900e-02 3.62514030e+02] [ 7.24699329e-02 9.97370578e-01 -1.96326084e-04 3.91739241e+00] [ 1.48767339e-02 -8.84136397e-04 9.99888944e-01 2.40867159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters 0.03158015543134724 Centerline is valid? [True, True] Translation: X:362.58, Y:3.92, Z:2.41 [[ 9.97331498e-01 -7.14635628e-02 -1.49279268e-02 3.62576647e+02] [ 7.14686130e-02 9.97442830e-01 -1.95573007e-04 3.92115563e+00] [ 1.49037299e-02 -8.71827100e-04 9.99888553e-01 2.40899416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters 0.02703216806893699 Centerline is valid? [True, True] Translation: X:362.64, Y:3.93, Z:2.41 [[ 9.97492197e-01 -6.89858228e-02 -1.58200338e-02 3.62638032e+02] [ 6.89911996e-02 9.97617247e-01 -2.06282754e-04 3.93289356e+00] [ 1.57965691e-02 -8.85677669e-04 9.99874834e-01 2.40942266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters 0.026572174969612828 Centerline is valid? [True, True] Translation: X:362.70, Y:3.94, Z:2.41 [[ 9.97725935e-01 -6.54914259e-02 -1.59321164e-02 3.62699250e+02] [ 6.54964416e-02 9.97852781e-01 -2.07320276e-04 3.93793356e+00] [ 1.59114844e-02 -8.36648117e-04 9.99873054e-01 2.40959647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters 0.023488018040716725 Centerline is valid? [True, True] Translation: X:362.76, Y:3.95, Z:2.41 [[ 9.98286420e-01 -5.61022193e-02 -1.66362260e-02 3.62759695e+02] [ 5.61063886e-02 9.98424773e-01 -2.16372348e-04 3.95054800e+00] [ 1.66221591e-02 -7.17396984e-04 9.99861585e-01 2.41044516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters 0.020462304936892158 Centerline is valid? [True, True] Translation: X:362.82, Y:3.96, Z:2.41 [[ 9.98748581e-01 -4.73147825e-02 -1.62043950e-02 3.62820020e+02] [ 4.73175826e-02 9.98879874e-01 -2.10771941e-04 3.96136635e+00] [ 1.61962167e-02 -5.56244622e-04 9.99868678e-01 2.41167287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters 0.016900029592629914 Centerline is valid? [True, True] Translation: X:362.88, Y:3.98, Z:2.41 [[ 9.99316271e-01 -3.33866581e-02 -1.58846384e-02 3.62880771e+02] [ 3.33875909e-02 9.99442458e-01 -2.06542562e-04 3.97710936e+00] [ 1.58826778e-02 -3.23948466e-04 9.99873810e-01 2.41328188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.859254154 meters 0.015305500247931885 Centerline is valid? [True, True] Translation: X:362.94, Y:3.98, Z:2.41 [[ 9.99444377e-01 -2.92683729e-02 -1.59467457e-02 3.62942511e+02] [ 2.92687976e-02 9.99571556e-01 -2.06804004e-04 3.98243204e+00] [ 1.59459662e-02 -2.60052973e-04 9.99872821e-01 2.41327005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.919254154 meters 0.014054572282752368 Centerline is valid? [True, True] Translation: X:363.00, Y:3.99, Z:2.41 [[ 9.99666140e-01 -1.86764388e-02 -1.78549700e-02 3.63002470e+02] [ 1.86753049e-02 9.99825575e-01 -2.30257040e-04 3.99424645e+00] [ 1.78561560e-02 -1.03266843e-04 9.99840561e-01 2.41197066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.979254154 meters 0.013382555998275189 Centerline is valid? [True, True] Translation: X:363.06, Y:4.00, Z:2.41 [[ 9.99717438e-01 -1.53141134e-02 -1.81802682e-02 3.63061563e+02] [ 1.53123377e-02 9.99882731e-01 -2.36876449e-04 3.99947351e+00] [ 1.81817638e-02 -4.15728896e-05 9.99834697e-01 2.41352568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.039254154 meters 0.013999574449468035 Centerline is valid? [True, True] Translation: X:363.12, Y:4.00, Z:2.41 [[ 9.99743153e-01 -1.36562362e-02 -1.80868959e-02 3.63118006e+02] [ 1.36541500e-02 9.99906749e-01 -2.38836300e-04 4.00177098e+00] [ 1.80884709e-02 -8.18623432e-06 9.99836390e-01 2.41377876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.099254154 meters 0.014714049532338099 Centerline is valid? [True, True] Translation: X:363.18, Y:4.00, Z:2.42 [[ 9.99746709e-01 -1.52721784e-02 -1.65311603e-02 3.63176401e+02] [ 1.52706028e-02 9.99883373e-01 -2.21541782e-04 4.00187523e+00] [ 1.65326157e-02 -3.09551159e-05 9.99863326e-01 2.41601899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.159254154 meters 0.014074740871203273 Centerline is valid? [True, True] Translation: X:363.23, Y:4.00, Z:2.42 [[ 9.99720528e-01 -1.79344570e-02 -1.54020028e-02 3.63233911e+02] [ 1.79333427e-02 9.99839163e-01 -2.10470731e-04 4.00073820e+00] [ 1.54033003e-02 -6.57974852e-05 9.99881360e-01 2.41751903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.219254154 meters 0.015105070562447647 Centerline is valid? [True, True] Translation: X:363.29, Y:4.00, Z:2.42 [[ 9.99657072e-01 -2.12593299e-02 -1.52898614e-02 3.63293820e+02] [ 2.12585865e-02 9.99773988e-01 -2.11166987e-04 3.99858993e+00] [ 1.52908950e-02 -1.13946269e-04 9.99883081e-01 2.41908547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279254154 meters 0.014452030855764072 Centerline is valid? [True, True] Translation: X:363.35, Y:3.99, Z:2.42 [[ 9.99474888e-01 -2.87407168e-02 -1.49639159e-02 3.63353827e+02] [ 2.87408370e-02 9.99586875e-01 -2.07062293e-04 3.99271383e+00] [ 1.49636850e-02 -2.23121904e-04 9.99888013e-01 2.41890784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339254154 meters 0.016907100891835683 Centerline is valid? [True, True] Translation: X:363.41, Y:3.99, Z:2.42 [[ 9.99244582e-01 -3.53296931e-02 -1.61888249e-02 3.63414985e+02] [ 3.53306986e-02 9.99375651e-01 -2.23972877e-04 3.98590568e+00] [ 1.61866303e-02 -3.48158809e-04 9.99868927e-01 2.41803252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399254154 meters 0.017438117973364555 Centerline is valid? [True, True] Translation: X:363.48, Y:3.98, Z:2.42 [[ 9.99095918e-01 -3.89163973e-02 -1.71131981e-02 3.63477535e+02] [ 3.89180618e-02 9.99242377e-01 -2.35881222e-04 3.98227209e+00] [ 1.71094124e-02 -4.30344535e-04 9.99853531e-01 2.41743253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459254154 meters 0.018082301138102067 Centerline is valid? [True, True] Translation: X:363.54, Y:3.98, Z:2.42 [[ 9.98987720e-01 -4.14123727e-02 -1.75656247e-02 3.63539377e+02] [ 4.14145310e-02 9.99142021e-01 -2.41036138e-04 3.97918937e+00] [ 1.75605357e-02 -4.86679967e-04 9.99845683e-01 2.41703357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519254154 meters 0.017385625676962422 Centerline is valid? [True, True] Translation: X:363.60, Y:3.98, Z:2.42 [[ 9.98997253e-01 -4.17330443e-02 -1.62124159e-02 3.63602041e+02] [ 4.17349416e-02 9.99128693e-01 -2.21434732e-04 3.97928566e+00] [ 1.62075310e-02 -4.55411541e-04 9.99868546e-01 2.41928130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579254154 meters 0.018926499274210837 Centerline is valid? [True, True] Translation: X:363.66, Y:3.98, Z:2.42 [[ 9.99036920e-01 -4.07823072e-02 -1.61875013e-02 3.63664285e+02] [ 4.07840933e-02 9.99167959e-01 -2.19901993e-04 3.97941014e+00] [ 1.61830008e-02 -4.40502355e-04 9.99868950e-01 2.41994759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639254154 meters 0.017598103489223665 Centerline is valid? [True, True] Translation: X:363.73, Y:3.98, Z:2.42 [[ 9.99039503e-01 -4.09723248e-02 -1.55351208e-02 3.63726824e+02] [ 4.09740104e-02 9.99160191e-01 -2.09898937e-04 3.97971802e+00] [ 1.55306743e-02 -4.26838872e-04 9.99879301e-01 2.42037454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699254154 meters 0.01778715122478616 Centerline is valid? [True, True] Translation: X:363.79, Y:3.98, Z:2.42 [[ 9.98896295e-01 -4.38183858e-02 -1.69156944e-02 3.63788987e+02] [ 4.38208143e-02 9.99039381e-01 -2.27243341e-04 3.97670940e+00] [ 1.69094023e-02 -5.14266971e-04 9.99856894e-01 2.41868463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759254154 meters 0.018781439426386274 Centerline is valid? [True, True] Translation: X:363.85, Y:3.97, Z:2.42 [[ 9.98663383e-01 -4.80207634e-02 -1.91168605e-02 3.63850479e+02] [ 4.80246538e-02 9.98846118e-01 -2.55787065e-04 3.97470387e+00] [ 1.91070850e-02 -6.62635434e-04 9.99817223e-01 2.41748992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819254154 meters 0.02107669682556653 Centerline is valid? [True, True] Translation: X:363.91, Y:3.97, Z:2.42 [[ 9.98514654e-01 -5.09634537e-02 -1.92668647e-02 3.63911428e+02] [ 5.09679881e-02 9.98700255e-01 -2.55944255e-04 3.97115622e+00] [ 1.92548665e-02 -7.26429243e-04 9.99814344e-01 2.41695842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879254154 meters 0.022978443650647263 Centerline is valid? [True, True] Translation: X:363.97, Y:3.97, Z:2.42 [[ 9.98434920e-01 -5.26334471e-02 -1.89058581e-02 3.63972609e+02] [ 5.26381402e-02 9.98613621e-01 -2.49653853e-04 3.96927225e+00] [ 1.88927875e-02 -7.45906084e-04 9.99821237e-01 2.41777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters 0.020785555904390195 Centerline is valid? [True, True] Translation: X:364.03, Y:3.97, Z:2.42 [[ 9.98567872e-01 -5.05549806e-02 -1.75042435e-02 3.64033821e+02] [ 5.05586974e-02 9.98721065e-01 -2.30414743e-04 3.97471157e+00] [ 1.74935053e-02 -6.54906992e-04 9.99846762e-01 2.42031521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters 0.018417712663771926 Centerline is valid? [True, True] Translation: X:364.09, Y:3.98, Z:2.42 [[ 9.98892934e-01 -4.44577037e-02 -1.53759278e-02 3.64094465e+02] [ 4.44598554e-02 9.99011151e-01 -2.02023804e-04 3.98255157e+00] [ 1.53697048e-02 -4.81811375e-04 9.99881763e-01 2.42280977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters 0.0171299234544226 Centerline is valid? [True, True] Translation: X:364.16, Y:3.99, Z:2.42 [[ 9.99072608e-01 -4.07083800e-02 -1.40268142e-02 3.64156233e+02] [ 4.07098087e-02 9.99170995e-01 -1.83781477e-04 3.98679681e+00] [ 1.40226673e-02 -3.87417882e-04 9.99901603e-01 2.42370538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters 0.015671371618423115 Centerline is valid? [True, True] Translation: X:364.22, Y:3.99, Z:2.42 [[ 9.99243691e-01 -3.66291662e-02 -1.30518595e-02 3.64218119e+02] [ 3.66300652e-02 9.99328879e-01 -1.70250256e-04 3.99170058e+00] [ 1.30493362e-02 -3.07968969e-04 9.99914806e-01 2.42366176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters 0.015027202081721458 Centerline is valid? [True, True] Translation: X:364.28, Y:4.00, Z:2.42 [[ 9.99378438e-01 -3.20796018e-02 -1.46163090e-02 3.64278185e+02] [ 3.20802521e-02 9.99485278e-01 -1.90024432e-04 3.99596778e+00] [ 1.46148816e-02 -2.78988558e-04 9.99893158e-01 2.42232466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters 0.01403552900890249 Centerline is valid? [True, True] Translation: X:364.34, Y:4.00, Z:2.42 [[ 9.99543562e-01 -2.60345021e-02 -1.53255416e-02 3.64338843e+02] [ 2.60345134e-02 9.99661025e-01 -1.98808076e-04 4.00215341e+00] [ 1.53255225e-02 -2.00275687e-04 9.99882537e-01 2.42189318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters 0.013830684852349694 Centerline is valid? [True, True] Translation: X:364.40, Y:4.00, Z:2.42 [[ 9.99570192e-01 -2.48087851e-02 -1.56191049e-02 3.64400591e+02] [ 2.48086559e-02 9.99692198e-01 -2.02057354e-04 4.00397277e+00] [ 1.56193101e-02 -1.85518490e-04 9.99877994e-01 2.42179616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.359254154 meters 0.013662159164735779 Centerline is valid? [True, True] Translation: X:364.46, Y:4.01, Z:2.42 [[ 9.99583170e-01 -2.31337033e-02 -1.72719111e-02 3.64461368e+02] [ 2.31332999e-02 9.99732365e-01 -2.23177583e-04 4.00669400e+00] [ 1.72724514e-02 -1.76471742e-04 9.99850805e-01 2.42111903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.419254154 meters 0.013812990491714087 Centerline is valid? [True, True] Translation: X:364.52, Y:4.01, Z:2.42 [[ 9.99570456e-01 -2.28352096e-02 -1.83700067e-02 3.64520805e+02] [ 2.28346954e-02 9.99739226e-01 -2.37771910e-04 4.00951969e+00] [ 1.83706458e-02 -1.81803731e-04 9.99831229e-01 2.42094158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.479254154 meters 0.013884731483952735 Centerline is valid? [True, True] Translation: X:364.58, Y:4.01, Z:2.42 [[ 9.99511095e-01 -2.59611586e-02 -1.74237877e-02 3.64579956e+02] [ 2.59611200e-02 9.99662927e-01 -2.28444715e-04 4.00885290e+00] [ 1.74238453e-02 -2.24008015e-04 9.99848168e-01 2.42297580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.539254154 meters 0.014280669137414787 Centerline is valid? [True, True] Translation: X:364.64, Y:4.01, Z:2.42 [[ 9.99436380e-01 -2.93884002e-02 -1.62248076e-02 3.64640141e+02] [ 2.93887925e-02 9.99568033e-01 -2.14298984e-04 4.00725801e+00] [ 1.62240969e-02 -2.62649303e-04 9.99868346e-01 2.42465392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.599254154 meters 0.01599994593809497 Centerline is valid? [True, True] Translation: X:364.70, Y:4.00, Z:2.43 [[ 9.99227750e-01 -3.63025152e-02 -1.50343121e-02 3.64701358e+02] [ 3.63036386e-02 9.99340786e-01 -1.98273659e-04 4.00331412e+00] [ 1.50315991e-02 -3.47679690e-04 9.99886959e-01 2.42608349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.659254154 meters 0.01702081497412615 Centerline is valid? [True, True] Translation: X:364.76, Y:4.00, Z:2.43 [[ 9.99050039e-01 -4.10257606e-02 -1.46937922e-02 3.64762073e+02] [ 4.10273498e-02 9.99158005e-01 -1.93399247e-04 4.00069199e+00] [ 1.46893544e-02 -4.09631826e-04 9.99892022e-01 2.42635878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.719254154 meters 0.019513847678469302 Centerline is valid? [True, True] Translation: X:364.82, Y:4.00, Z:2.42 [[ 9.98823551e-01 -4.59012273e-02 -1.56394445e-02 3.64822044e+02] [ 4.59036267e-02 9.98945852e-01 -2.05714972e-04 3.99554942e+00] [ 1.56324008e-02 -5.12434263e-04 9.99877675e-01 2.42490938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779254154 meters 0.019234212298282073 Centerline is valid? [True, True] Translation: X:364.88, Y:4.00, Z:2.42 [[ 9.98775971e-01 -4.68152245e-02 -1.59653923e-02 3.64884098e+02] [ 4.68178523e-02 9.98903421e-01 -2.09329434e-04 3.99603542e+00] [ 1.59576848e-02 -5.38392172e-04 9.99872523e-01 2.42473561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839254154 meters 0.02047389309149848 Centerline is valid? [True, True] Translation: X:364.95, Y:4.00, Z:2.42 [[ 9.98764448e-01 -4.68944156e-02 -1.64466290e-02 3.64945054e+02] [ 4.68972318e-02 9.98899696e-01 -2.14612574e-04 3.99639777e+00] [ 1.64385969e-02 -5.56953965e-04 9.99864722e-01 2.42459337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899254154 meters 0.020386839586130134 Centerline is valid? [True, True] Translation: X:365.01, Y:4.00, Z:2.43 [[ 9.98868508e-01 -4.48123071e-02 -1.59236068e-02 3.65007473e+02] [ 4.48146985e-02 9.98995295e-01 -2.06795242e-04 3.99961480e+00] [ 1.59168753e-02 -5.07050384e-04 9.99873190e-01 2.42550464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959254154 meters 0.01899464390241598 Centerline is valid? [True, True] Translation: X:365.07, Y:4.00, Z:2.43 [[ 9.98994851e-01 -4.22893908e-02 -1.48625442e-02 3.65068570e+02] [ 4.22912059e-02 9.99105308e-01 -1.92291735e-04 4.00419071e+00] [ 1.48573787e-02 -4.36456464e-04 9.99889528e-01 2.42657040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019254154 meters 0.017168386789429137 Centerline is valid? [True, True] Translation: X:365.13, Y:4.01, Z:2.43 [[ 9.99046760e-01 -4.12849665e-02 -1.41817623e-02 3.65130812e+02] [ 4.12865290e-02 9.99147331e-01 -1.82705032e-04 4.00996886e+00] [ 1.41772129e-02 -4.02984870e-04 9.99899417e-01 2.42819696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079254154 meters 0.016867512822729445 Centerline is valid? [True, True] Translation: X:365.19, Y:4.01, Z:2.43 [[ 9.99059158e-01 -4.05844201e-02 -1.52873518e-02 3.65193103e+02] [ 4.05861717e-02 9.99176023e-01 -1.95775133e-04 4.01259939e+00] [ 1.52827008e-02 -4.24864148e-04 9.99883122e-01 2.42783145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139254154 meters 0.01778793353447587 Centerline is valid? [True, True] Translation: X:365.25, Y:4.01, Z:2.43 [[ 9.99004839e-01 -4.11957876e-02 -1.70949795e-02 3.65254336e+02] [ 4.11980868e-02 9.99150975e-01 -2.17797082e-04 4.01254190e+00] [ 1.70894378e-02 -4.86700110e-04 9.99853846e-01 2.42661428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199254154 meters 0.017636833463414478 Centerline is valid? [True, True] Translation: X:365.32, Y:4.01, Z:2.43 [[ 9.98958463e-01 -4.21671863e-02 -1.74332316e-02 3.65316000e+02] [ 4.21697535e-02 9.99110436e-01 -2.20486957e-04 4.01498662e+00] [ 1.74270209e-02 -5.14897765e-04 9.99848005e-01 2.42762790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259254154 meters 0.01731481367489297 Centerline is valid? [True, True] Translation: X:365.38, Y:4.02, Z:2.43 [[ 9.99021954e-01 -4.06239169e-02 -1.74594813e-02 3.65378261e+02] [ 4.06262837e-02 9.99174388e-01 -2.19252016e-04 4.01732434e+00] [ 1.74539734e-02 -4.90276262e-04 9.99847548e-01 2.42854440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319254154 meters 0.016532783887790985 Centerline is valid? [True, True] Translation: X:365.44, Y:4.02, Z:2.43 [[ 9.99200564e-01 -3.64623304e-02 -1.63930205e-02 3.65439895e+02] [ 3.64638732e-02 9.99334951e-01 -2.04873891e-04 4.02133297e+00] [ 1.63895885e-02 -3.93042912e-04 9.99865604e-01 2.42993850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379254154 meters 0.014121198001680617 Centerline is valid? [True, True] Translation: X:365.50, Y:4.03, Z:2.43 [[ 9.99548674e-01 -2.63255122e-02 -1.44712378e-02 3.65500649e+02] [ 2.63256592e-02 9.99653404e-01 -1.80367680e-04 4.03069312e+00] [ 1.44709704e-02 -2.00678599e-04 9.99895270e-01 2.43333605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters 0.013450681116587652 Centerline is valid? [True, True] Translation: X:365.56, Y:4.04, Z:2.44 [[ 9.99764949e-01 -1.72997104e-02 -1.30677987e-02 3.65561828e+02] [ 1.72990640e-02 9.99850347e-01 -1.62504422e-04 4.03812819e+00] [ 1.30686544e-02 -6.35944618e-05 9.99914599e-01 2.43600672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters 0.014041097952479493 Centerline is valid? [True, True] Translation: X:365.62, Y:4.04, Z:2.44 [[ 9.99825190e-01 -1.36772678e-02 -1.27483965e-02 3.65622462e+02] [ 1.36763613e-02 9.99906462e-01 -1.58285248e-04 4.03920759e+00] [ 1.27493689e-02 -1.60940978e-05 9.99918723e-01 2.43637027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters 0.01343252001963502 Centerline is valid? [True, True] Translation: X:365.68, Y:4.04, Z:2.44 [[ 9.99826343e-01 -1.40991723e-02 -1.21859149e-02 3.65681794e+02] [ 1.40983729e-02 9.99900602e-01 -1.51504537e-04 4.03678073e+00] [ 1.21868397e-02 -2.03233449e-05 9.99925738e-01 2.43611264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters 0.013549447866518443 Centerline is valid? [True, True] Translation: X:365.74, Y:4.03, Z:2.44 [[ 9.99771103e-01 -1.72547573e-02 -1.26497241e-02 3.65741121e+02] [ 1.72541424e-02 9.99851124e-01 -1.57752441e-04 4.03269500e+00] [ 1.26505628e-02 -6.05438098e-05 9.99919977e-01 2.43569102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters 0.014430015910033697 Centerline is valid? [True, True] Translation: X:365.80, Y:4.02, Z:2.43 [[ 9.99586484e-01 -2.56639412e-02 -1.29700561e-02 3.65801247e+02] [ 2.56639976e-02 9.99670612e-01 -1.62121545e-04 4.02287641e+00] [ 1.29699446e-02 -1.70808982e-04 9.99915872e-01 2.43369015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters 0.01639696009418111 Centerline is valid? [True, True] Translation: X:365.86, Y:4.01, Z:2.43 [[ 9.99269706e-01 -3.56405671e-02 -1.37769575e-02 3.65862396e+02] [ 3.56415782e-02 9.99364622e-01 -1.72209831e-04 4.01234641e+00] [ 1.37743416e-02 -3.18948442e-04 9.99905078e-01 2.43336199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters 0.019269185034802856 Centerline is valid? [True, True] Translation: X:365.92, Y:4.00, Z:2.43 [[ 9.98953976e-01 -4.37797343e-02 -1.32018343e-02 3.65923646e+02] [ 4.37813758e-02 9.99041122e-01 -1.64783028e-04 4.00280780e+00] [ 1.31963895e-02 -4.13383806e-04 9.99912838e-01 2.43313433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.859254154 meters 0.02066183185493061 Centerline is valid? [True, True] Translation: X:365.98, Y:3.99, Z:2.43 [[ 9.98696666e-01 -4.98169968e-02 -1.11011478e-02 3.65984920e+02] [ 4.98185319e-02 9.98758276e-01 -1.38377262e-04 3.99469085e+00] [ 1.10942568e-02 -4.14845977e-04 9.99938371e-01 2.43311965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.919254154 meters 0.02158858617383455 Centerline is valid? [True, True] Translation: X:366.05, Y:3.99, Z:2.43 [[ 9.98531022e-01 -5.32866853e-02 -9.81459675e-03 3.66045885e+02] [ 5.32880541e-02 9.98579175e-01 -1.22172610e-04 3.99115273e+00] [ 9.80716210e-03 -4.01007622e-04 9.99951828e-01 2.43381304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.979254154 meters 0.023447586034034653 Centerline is valid? [True, True] Translation: X:366.11, Y:3.99, Z:2.43 [[ 9.98296237e-01 -5.77143909e-02 -8.58321534e-03 3.66106887e+02] [ 5.77156027e-02 9.98333060e-01 -1.06651447e-04 3.98623120e+00] [ 8.57506296e-03 -3.88915709e-04 9.99963158e-01 2.43377416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.039254154 meters 0.02615864744168316 Centerline is valid? [True, True] Translation: X:366.17, Y:3.98, Z:2.43 [[ 9.98164120e-01 -6.00523888e-02 -7.88041500e-03 3.66169022e+02] [ 6.00534859e-02 9.98195156e-01 -9.75583703e-05 3.98283386e+00] [ 7.87205069e-03 -3.75867126e-04 9.99968944e-01 2.43348865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.099254154 meters 0.028384262465412594 Centerline is valid? [True, True] Translation: X:366.23, Y:3.98, Z:2.43 [[ 9.97970834e-01 -6.31377392e-02 -8.23650660e-03 3.66228890e+02] [ 6.31390467e-02 9.98004735e-01 -1.01451280e-04 3.97843335e+00] [ 8.22647799e-03 -4.18799757e-04 9.99966074e-01 2.43318905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.159254154 meters 0.02964526677057578 Centerline is valid? [True, True] Translation: X:366.29, Y:3.98, Z:2.43 [[ 9.97876092e-01 -6.44481285e-02 -9.47331830e-03 3.66291339e+02] [ 6.44499189e-02 9.97920936e-01 -1.16490285e-04 3.97743343e+00] [ 9.46113024e-03 -4.94311725e-04 9.99955120e-01 2.43171376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.219254154 meters 0.02604895299843091 Centerline is valid? [True, True] Translation: X:366.35, Y:3.98, Z:2.43 [[ 9.97916856e-01 -6.35115857e-02 -1.13237737e-02 3.66353778e+02] [ 6.35140940e-02 9.97980932e-01 -1.38336337e-04 3.98483004e+00] [ 1.13096962e-02 -5.81171065e-04 9.99935874e-01 2.43080116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279254154 meters 0.027857611462549562 Centerline is valid? [True, True] Translation: X:366.41, Y:3.99, Z:2.43 [[ 9.98157484e-01 -5.95314272e-02 -1.17322493e-02 3.66413951e+02] [ 5.95338515e-02 9.98226277e-01 -1.42811394e-04 3.98695756e+00] [ 1.17199413e-02 -5.55917728e-04 9.99931165e-01 2.43014160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339254154 meters 0.022620416095732832 Centerline is valid? [True, True] Translation: X:366.47, Y:4.00, Z:2.43 [[ 9.98383908e-01 -5.56100093e-02 -1.17089171e-02 3.66474785e+02] [ 5.56121559e-02 9.98452436e-01 -1.42434231e-04 3.99811284e+00] [ 1.16987176e-02 -5.08954081e-04 9.99931438e-01 2.43280965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399254154 meters 0.020568876528515873 Centerline is valid? [True, True] Translation: X:366.54, Y:4.01, Z:2.44 [[ 9.98798993e-01 -4.79578431e-02 -1.00307785e-02 3.66535667e+02] [ 4.79590347e-02 9.98849296e-01 -1.21848347e-04 4.00822923e+00] [ 1.00250796e-02 -3.59364446e-04 9.99949683e-01 2.43548909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459254154 meters 0.01839473523256738 Centerline is valid? [True, True] Translation: X:366.60, Y:4.02, Z:2.44 [[ 9.99062481e-01 -4.24218922e-02 -8.63376743e-03 3.66596239e+02] [ 4.24225697e-02 9.99099752e-01 -1.04729392e-04 4.01595169e+00] [ 8.63043772e-03 -2.61635395e-04 9.99962723e-01 2.43689462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519254154 meters 0.01865790922035034 Centerline is valid? [True, True] Translation: X:366.66, Y:4.02, Z:2.44 [[ 9.99383630e-01 -3.42596539e-02 -7.65739587e-03 3.66655835e+02] [ 3.42599482e-02 9.99412951e-01 -9.27743942e-05 4.02336796e+00] [ 7.65607902e-03 -1.69624775e-04 9.99970677e-01 2.43647440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579254154 meters 0.01599240345735933 Centerline is valid? [True, True] Translation: X:366.72, Y:4.03, Z:2.44 [[ 9.99490253e-01 -3.05605172e-02 -9.23523222e-03 3.66718154e+02] [ 3.05607891e-02 9.99532904e-01 -1.11706101e-04 4.02995731e+00] [ 9.23433227e-03 -1.70586825e-04 9.99957348e-01 2.43697314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639254154 meters 0.01495135542241431 Centerline is valid? [True, True] Translation: X:366.78, Y:4.04, Z:2.44 [[ 9.99619941e-01 -2.47674724e-02 -1.21055801e-02 3.66779399e+02] [ 2.47675263e-02 9.99693227e-01 -1.45488871e-04 4.03587065e+00] [ 1.21054698e-02 -1.54391696e-04 9.99926714e-01 2.43591206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699254154 meters 0.014556030418537551 Centerline is valid? [True, True] Translation: X:366.84, Y:4.04, Z:2.44 [[ 9.99687288e-01 -2.12646809e-02 -1.31582574e-02 3.66841193e+02] [ 2.12644509e-02 9.99773874e-01 -1.57396836e-04 4.04024850e+00] [ 1.31586290e-02 -1.22455503e-04 9.99913414e-01 2.43640890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759254154 meters 0.014254829528517109 Centerline is valid? [True, True] Translation: X:366.90, Y:4.04, Z:2.44 [[ 9.99740631e-01 -1.82208687e-02 -1.36627371e-02 3.66902547e+02] [ 1.82203453e-02 9.99833982e-01 -1.62795080e-04 4.04413379e+00] [ 1.36634352e-02 -8.61869323e-05 9.99906647e-01 2.43755816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819254154 meters 0.014176856182840055 Centerline is valid? [True, True] Translation: X:366.96, Y:4.05, Z:2.44 [[ 9.99763530e-01 -1.71256142e-02 -1.34014243e-02 3.66962381e+02] [ 1.71250122e-02 9.99853343e-01 -1.59683584e-04 4.04528908e+00] [ 1.34021936e-02 -6.98537306e-05 9.99910184e-01 2.43834011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879254154 meters 0.014221173232621401 Centerline is valid? [True, True] Translation: X:367.02, Y:4.04, Z:2.44 [[ 9.99743490e-01 -1.86264543e-02 -1.28844605e-02 3.67021687e+02] [ 1.86260165e-02 9.99826509e-01 -1.53990899e-04 4.04423463e+00] [ 1.28850935e-02 -8.60347752e-05 9.99916980e-01 2.43945168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters 0.014947772272182837 Centerline is valid? [True, True] Translation: X:367.08, Y:4.04, Z:2.44 [[ 9.99605381e-01 -2.46630205e-02 -1.34468786e-02 3.67081776e+02] [ 2.46630844e-02 9.99695807e-01 -1.61095849e-04 4.03713233e+00] [ 1.34467613e-02 -1.70609225e-04 9.99909574e-01 2.44034810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters 0.015445726292087188 Centerline is valid? [True, True] Translation: X:367.14, Y:4.03, Z:2.44 [[ 9.99491773e-01 -2.82571525e-02 -1.47556226e-02 3.67143476e+02] [ 2.82576235e-02 9.99600658e-01 -1.76613337e-04 4.03266609e+00] [ 1.47547206e-02 -2.40435250e-04 9.99891114e-01 2.44044437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters 0.016492607549328048 Centerline is valid? [True, True] Translation: X:367.20, Y:4.02, Z:2.44 [[ 9.99393972e-01 -3.14202029e-02 -1.49820023e-02 3.67203991e+02] [ 3.14210497e-02 9.99506221e-01 -1.78920960e-04 4.02460793e+00] [ 1.49802263e-02 -2.91937712e-04 9.99887747e-01 2.44018232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters 0.016176009451565283 Centerline is valid? [True, True] Translation: X:367.27, Y:4.02, Z:2.44 [[ 9.99449429e-01 -2.96689768e-02 -1.48523267e-02 3.67265330e+02] [ 2.96696220e-02 9.99559744e-01 -1.76953430e-04 4.02213748e+00] [ 1.48510379e-02 -2.63806914e-04 9.99889682e-01 2.44042289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters 0.014793261717877114 Centerline is valid? [True, True] Translation: X:367.33, Y:4.02, Z:2.44 [[ 9.99620305e-01 -2.29669436e-02 -1.52238491e-02 3.67326244e+02] [ 2.29668504e-02 9.99736211e-01 -1.80973957e-04 4.02239995e+00] [ 1.52239896e-02 -1.68738623e-04 9.99884094e-01 2.44035312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters 0.014425919370107653 Centerline is valid? [True, True] Translation: X:367.39, Y:4.02, Z:2.44 [[ 9.99722498e-01 -1.66965486e-02 -1.66178358e-02 3.67385646e+02] [ 1.66955707e-02 9.99860600e-01 -1.97588924e-04 4.02434965e+00] [ 1.66188183e-02 -7.99101595e-05 9.99861895e-01 2.43999463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.299254154 meters 0.01452092078302088 Centerline is valid? [True, True] Translation: X:367.44, Y:4.03, Z:2.44 [[ 9.99811253e-01 -8.22284508e-03 -1.76023405e-02 3.67443605e+02] [ 8.22037771e-03 9.99966190e-01 -2.12524130e-04 4.02711961e+00] [ 1.76034929e-02 6.77861297e-05 9.99845044e-01 2.44032295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.359254154 meters 0.014741700357801238 Centerline is valid? [True, True] Translation: X:367.50, Y:4.03, Z:2.44 [[ 9.99844829e-01 -3.07347602e-03 -1.73456520e-02 3.67502372e+02] [ 3.07022520e-03 9.99995264e-01 -2.14041016e-04 4.02515900e+00] [ 1.73462277e-02 1.60752745e-04 9.99849530e-01 2.44145856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.419254154 meters 0.01492158843510674 Centerline is valid? [True, True] Translation: X:367.56, Y:4.02, Z:2.44 [[ 9.99837636e-01 -2.41001256e-03 -1.78575884e-02 3.67561075e+02] [ 2.40637830e-03 9.99997079e-01 -2.24998392e-04 4.02264944e+00] [ 1.78580785e-02 1.81989747e-04 9.99840515e-01 2.44158796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.479254154 meters 0.014949870190190128 Centerline is valid? [True, True] Translation: X:367.62, Y:4.02, Z:2.44 [[ 9.99830456e-01 -3.10598297e-03 -1.81497054e-02 3.67619448e+02] [ 3.10228897e-03 9.99995161e-01 -2.31681050e-04 4.01902379e+00] [ 1.81503372e-02 1.75336139e-04 9.99835254e-01 2.44145720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.539254154 meters 0.014715131872968162 Centerline is valid? [True, True] Translation: X:367.68, Y:4.01, Z:2.44 [[ 9.99787512e-01 -6.71063148e-03 -1.94909780e-02 3.67677935e+02] [ 6.70702264e-03 9.99977476e-01 -2.50518609e-04 4.01021257e+00] [ 1.94922201e-02 1.19738946e-04 9.99810001e-01 2.44139483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.599254154 meters 0.014472151716639755 Centerline is valid? [True, True] Translation: X:367.74, Y:4.00, Z:2.44 [[ 9.99733325e-01 -1.30502816e-02 -1.90517692e-02 3.67736540e+02] [ 1.30479584e-02 9.99914841e-01 -2.46243349e-04 3.99919386e+00] [ 1.90533603e-02 -2.40900983e-06 9.99818468e-01 2.44268704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.659254154 meters 0.014769288347238115 Centerline is valid? [True, True] Translation: X:367.80, Y:3.99, Z:2.44 [[ 9.99606413e-01 -2.06405458e-02 -1.89996437e-02 3.67795535e+02] [ 2.06395800e-02 9.99786951e-01 -2.46942538e-04 3.98723746e+00] [ 1.90006929e-02 -1.45299322e-04 9.99819460e-01 2.44354849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.719254154 meters 0.015491342252668978 Centerline is valid? [True, True] Translation: X:367.85, Y:3.98, Z:2.44 [[ 9.99484347e-01 -2.62318878e-02 -1.85183117e-02 3.67853828e+02] [ 2.62319014e-02 9.99655855e-01 -2.42211127e-04 3.97829832e+00] [ 1.85182923e-02 -2.43684296e-04 9.99828492e-01 2.44329126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779254154 meters 0.016746693484594715 Centerline is valid? [True, True] Translation: X:367.91, Y:3.97, Z:2.44 [[ 9.99219523e-01 -3.51523949e-02 -1.80181317e-02 3.67913588e+02] [ 3.51538392e-02 9.99381885e-01 -2.36667612e-04 3.96752744e+00] [ 1.80153139e-02 -3.96923605e-04 9.99837632e-01 2.44450132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839254154 meters 0.019333859339671505 Centerline is valid? [True, True] Translation: X:367.97, Y:3.95, Z:2.45 [[ 9.98829796e-01 -4.49969542e-02 -1.77288683e-02 3.67974351e+02] [ 4.49998955e-02 9.98986964e-01 -2.33191819e-04 3.95476236e+00] [ 1.77214013e-02 -5.64878287e-04 9.99842804e-01 2.44544149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899254154 meters 0.022753205456724882 Centerline is valid? [True, True] Translation: X:368.03, Y:3.94, Z:2.45 [[ 9.98402441e-01 -5.36567214e-02 -1.77065637e-02 3.68034524e+02] [ 5.36610109e-02 9.98559183e-01 -2.33111436e-04 3.94337147e+00] [ 1.76935597e-02 -7.17413080e-04 9.99843199e-01 2.44556808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959254154 meters 0.02438119952964741 Centerline is valid? [True, True] Translation: X:368.10, Y:3.94, Z:2.45 [[ 9.98205142e-01 -5.73432723e-02 -1.72697305e-02 3.68095332e+02] [ 5.73479048e-02 9.98354229e-01 -2.27267743e-04 3.93881284e+00] [ 1.72543407e-02 -7.63523032e-04 9.99850841e-01 2.44611953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019254154 meters 0.02491503793471075 Centerline is valid? [True, True] Translation: X:368.16, Y:3.94, Z:2.45 [[ 9.98061706e-01 -5.95217276e-02 -1.81657876e-02 3.68156564e+02] [ 5.95272235e-02 9.98226654e-01 -2.38517216e-04 3.93619969e+00] [ 1.81477703e-02 -8.43303999e-04 9.99834960e-01 2.44607351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079254154 meters 0.02614022595219284 Centerline is valid? [True, True] Translation: X:368.22, Y:3.94, Z:2.45 [[ 9.98072867e-01 -5.84049819e-02 -2.09621281e-02 3.68218409e+02] [ 5.84120772e-02 9.98292519e-01 -2.74170632e-04 3.93706597e+00] [ 2.09423486e-02 -9.50799174e-04 9.99780233e-01 2.44526448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139254154 meters 0.024846789374207638 Centerline is valid? [True, True] Translation: X:368.28, Y:3.94, Z:2.45 [[ 9.98124309e-01 -5.78533087e-02 -2.00214348e-02 3.68278814e+02] [ 5.78596775e-02 9.98324691e-01 -2.61515361e-04 3.93816192e+00] [ 2.00030222e-02 -8.97408922e-04 9.99799517e-01 2.44561227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199254154 meters 0.024467296633870782 Centerline is valid? [True, True] Translation: X:368.34, Y:3.94, Z:2.45 [[ 9.98237266e-01 -5.59643315e-02 -1.97573818e-02 3.68339810e+02] [ 5.59701687e-02 9.98432408e-01 -2.57832955e-04 3.94025044e+00] [ 1.97408397e-02 -8.48445528e-04 9.99804771e-01 2.44596293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259254154 meters 0.023496520766812957 Centerline is valid? [True, True] Translation: X:368.40, Y:3.94, Z:2.45 [[ 9.98503467e-01 -5.11105818e-02 -1.94559889e-02 3.68399442e+02] [ 5.11153244e-02 9.98692725e-01 -2.53781577e-04 3.94383462e+00] [ 1.94435255e-02 -7.41097402e-04 9.99810682e-01 2.44617267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319254154 meters 0.021834690252900673 Centerline is valid? [True, True] Translation: X:368.46, Y:3.95, Z:2.45 [[ 9.98743859e-01 -4.62461773e-02 -1.92871530e-02 3.68460321e+02] [ 4.62499362e-02 9.98929868e-01 -2.51360584e-04 3.94968559e+00] [ 1.92781377e-02 -6.40984756e-04 9.99813954e-01 2.44710419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379254154 meters 0.019541861242831207 Centerline is valid? [True, True] Translation: X:368.52, Y:3.96, Z:2.45 [[ 9.99049230e-01 -3.92372801e-02 -1.90019025e-02 3.68519886e+02] [ 3.92396583e-02 9.99229797e-01 -2.47819489e-04 3.95823675e+00] [ 1.89969910e-02 -4.98044293e-04 9.99819417e-01 2.44802660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters 0.02002530195829311 Centerline is valid? [True, True] Translation: X:368.58, Y:3.96, Z:2.45 [[ 9.99219655e-01 -3.41922388e-02 -1.97729883e-02 3.68579024e+02] [ 3.41938147e-02 9.99415187e-01 -2.58479804e-04 3.96452405e+00] [ 1.97702628e-02 -4.17835800e-04 9.99804462e-01 2.44738741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters 0.016971610830670444 Centerline is valid? [True, True] Translation: X:368.64, Y:3.97, Z:2.45 [[ 9.99369297e-01 -3.01021758e-02 -1.88379455e-02 3.68638345e+02] [ 3.01028267e-02 9.99546776e-01 -2.49071803e-04 3.97149062e+00] [ 1.88369053e-02 -3.18160697e-04 9.99822519e-01 2.44974277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters 0.016302434561974367 Centerline is valid? [True, True] Translation: X:368.70, Y:3.97, Z:2.45 [[ 9.99416554e-01 -2.84216845e-02 -1.89409523e-02 3.68697204e+02] [ 2.84219603e-02 9.99595982e-01 -2.54686654e-04 3.97481410e+00] [ 1.89405385e-02 -2.83800937e-04 9.99820572e-01 2.45093156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters 0.014246666266402704 Centerline is valid? [True, True] Translation: X:368.76, Y:3.98, Z:2.45 [[ 9.99505417e-01 -2.49605529e-02 -1.91283197e-02 3.68755983e+02] [ 2.49601110e-02 9.99688414e-01 -2.61881368e-04 3.98219431e+00] [ 1.91288963e-02 -2.15693138e-04 9.99817003e-01 2.45409623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters 0.014463475517034844 Centerline is valid? [True, True] Translation: X:368.81, Y:3.98, Z:2.45 [[ 9.99517055e-01 -2.47454799e-02 -1.87967559e-02 3.68813617e+02] [ 2.47449191e-02 9.99693763e-01 -2.62450660e-04 3.98327337e+00] [ 1.87974941e-02 -2.02800295e-04 9.99823291e-01 2.45397898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters 0.014762458446680237 Centerline is valid? [True, True] Translation: X:368.87, Y:3.98, Z:2.45 [[ 9.99455476e-01 -2.74267487e-02 -1.83445944e-02 3.68871978e+02] [ 2.74265788e-02 9.99623787e-01 -2.60892971e-04 3.98237385e+00] [ 1.83448483e-02 -2.42378555e-04 9.99831690e-01 2.45410038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.799254154 meters 0.015757576635448762 Centerline is valid? [True, True] Translation: X:368.93, Y:3.98, Z:2.45 [[ 9.99297331e-01 -3.29212451e-02 -1.79174530e-02 3.68930508e+02] [ 3.29218863e-02 9.99457894e-01 -2.59252334e-04 3.97881777e+00] [ 1.79162747e-02 -3.30806184e-04 9.99839436e-01 2.45451168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.859254154 meters 0.01704736906813078 Centerline is valid? [True, True] Translation: X:368.99, Y:3.98, Z:2.45 [[ 9.99138159e-01 -3.79029399e-02 -1.69206153e-02 3.68990314e+02] [ 3.79041926e-02 9.99281347e-01 -2.46782598e-04 3.97511047e+00] [ 1.69178090e-02 -3.94792350e-04 9.99856806e-01 2.45471528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.919254154 meters 0.018862068933760013 Centerline is valid? [True, True] Translation: X:369.05, Y:3.97, Z:2.46 [[ 9.98806253e-01 -4.58362911e-02 -1.68850335e-02 3.69050066e+02] [ 4.58386636e-02 9.98948826e-01 -2.46688976e-04 3.97025527e+00] [ 1.68785917e-02 -5.27592880e-04 9.99857407e-01 2.45525063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.979254154 meters 0.02185682253560341 Centerline is valid? [True, True] Translation: X:369.11, Y:3.96, Z:2.45 [[ 9.98457686e-01 -5.27524082e-02 -1.73041005e-02 3.69110853e+02] [ 5.27559357e-02 9.98607404e-01 -2.52883858e-04 3.96417971e+00] [ 1.72933431e-02 -6.60400179e-04 9.99850241e-01 2.45403046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.039254154 meters 0.02248265829398434 Centerline is valid? [True, True] Translation: X:369.17, Y:3.96, Z:2.45 [[ 9.98277155e-01 -5.59227244e-02 -1.77586967e-02 3.69172283e+02] [ 5.59269482e-02 9.98434830e-01 -2.59089998e-04 3.96253576e+00] [ 1.77453904e-02 -7.34546086e-04 9.99842268e-01 2.45348685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.099254154 meters 0.021493014807681402 Centerline is valid? [True, True] Translation: X:369.23, Y:3.97, Z:2.45 [[ 9.98351115e-01 -5.47170440e-02 -1.73521516e-02 3.69233641e+02] [ 5.47209057e-02 9.98501657e-01 -2.52525860e-04 3.96582345e+00] [ 1.73399696e-02 -6.97415979e-04 9.99849408e-01 2.45406474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.159254154 meters 0.01896868482869178 Centerline is valid? [True, True] Translation: X:369.29, Y:3.97, Z:2.45 [[ 9.98731936e-01 -4.76067591e-02 -1.63742652e-02 3.69294244e+02] [ 4.76092486e-02 9.98866008e-01 -2.37964653e-04 3.97247782e+00] [ 1.63670257e-02 -5.41903563e-04 9.99865904e-01 2.45477430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.219254154 meters 0.01583641389948042 Centerline is valid? [True, True] Translation: X:369.35, Y:3.98, Z:2.46 [[ 9.99299196e-01 -3.42062153e-02 -1.52003592e-02 3.69354386e+02] [ 3.42068114e-02 9.99414751e-01 -2.20851567e-04 3.98178453e+00] [ 1.51990177e-02 -2.99259026e-04 9.99884443e-01 2.45598383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279254154 meters 0.014158438517653847 Centerline is valid? [True, True] Translation: X:369.41, Y:3.99, Z:2.46 [[ 9.99597051e-01 -2.43688774e-02 -1.45565275e-02 3.69414179e+02] [ 2.43683809e-02 9.99703025e-01 -2.11503772e-04 3.98901077e+00] [ 1.45573587e-02 -1.43300459e-04 9.99894026e-01 2.45660607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339254154 meters 0.01368404384310796 Centerline is valid? [True, True] Translation: X:369.47, Y:4.00, Z:2.46 [[ 9.99768129e-01 -1.64335656e-02 -1.39149724e-02 3.69474214e+02] [ 1.64323360e-02 9.99864960e-01 -2.02701914e-04 3.99515386e+00] [ 1.39164244e-02 -2.60005872e-05 9.99903162e-01 2.45709706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399254154 meters 0.013845788339004768 Centerline is valid? [True, True] Translation: X:369.53, Y:4.00, Z:2.46 [[ 9.99831091e-01 -1.05613479e-02 -1.50415033e-02 3.69532028e+02] [ 1.05592273e-02 9.99944226e-01 -2.20396216e-04 3.99786877e+00] [ 1.50429921e-02 6.15323372e-05 9.99886846e-01 2.45595083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459254154 meters 0.013977499858201816 Centerline is valid? [True, True] Translation: X:369.59, Y:4.00, Z:2.46 [[ 9.99784166e-01 -1.24778176e-02 -1.66110176e-02 3.69590696e+02] [ 1.24754424e-02 9.99922148e-01 -2.46605630e-04 3.99637232e+00] [ 1.66128015e-02 3.93226102e-05 9.99861997e-01 2.45543859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519254154 meters 0.013999476675263486 Centerline is valid? [True, True] Translation: X:369.65, Y:3.99, Z:2.46 [[ 9.99728806e-01 -1.66331839e-02 -1.62988311e-02 3.69649795e+02] [ 1.66314104e-02 9.99861659e-01 -2.44362978e-04 3.99300349e+00] [ 1.63006408e-02 -2.67758398e-05 9.99867135e-01 2.45596703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579254154 meters 0.014971958530789423 Centerline is valid? [True, True] Translation: X:369.71, Y:3.99, Z:2.46 [[ 9.99587880e-01 -2.45210138e-02 -1.49261304e-02 3.69709047e+02] [ 2.45203900e-02 9.99699305e-01 -2.24832087e-04 3.98530803e+00] [ 1.49271553e-02 -1.41255108e-04 9.99888574e-01 2.45702245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639254154 meters 0.015467800190275938 Centerline is valid? [True, True] Translation: X:369.77, Y:3.98, Z:2.46 [[ 9.99410168e-01 -3.20872849e-02 -1.22361185e-02 3.69767698e+02] [ 3.20874227e-02 9.99485049e-01 -1.85111244e-04 3.97832020e+00] [ 1.22357572e-02 -2.07623447e-04 9.99925119e-01 2.45817901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699254154 meters 0.016505017437503124 Centerline is valid? [True, True] Translation: X:369.83, Y:3.97, Z:2.46 [[ 9.99240735e-01 -3.72628961e-02 -1.13767261e-02 3.69829200e+02] [ 3.72633472e-02 9.99305465e-01 -1.72386908e-04 3.97307674e+00] [ 1.13752482e-02 -2.51678874e-04 9.99935268e-01 2.45926661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759254154 meters 0.01822781216576333 Centerline is valid? [True, True] Translation: X:369.89, Y:3.97, Z:2.46 [[ 9.99158090e-01 -3.95775829e-02 -1.08040278e-02 3.69890830e+02] [ 3.95781300e-02 9.99216466e-01 -1.63245744e-04 3.96733937e+00] [ 1.08020234e-02 -2.64494911e-04 9.99941621e-01 2.45886434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819254154 meters 0.017332919235183937 Centerline is valid? [True, True] Translation: X:369.95, Y:3.97, Z:2.46 [[ 9.99086675e-01 -4.15370744e-02 -1.00243812e-02 3.69952705e+02] [ 4.15376498e-02 9.99136928e-01 -1.50875002e-04 3.96685534e+00] [ 1.00219964e-02 -2.65652033e-04 9.99949743e-01 2.45924696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879254154 meters 0.01813239286310692 Centerline is valid? [True, True] Translation: X:370.01, Y:3.96, Z:2.46 [[ 9.99054592e-01 -4.22286838e-02 -1.03276533e-02 3.70014286e+02] [ 4.22293389e-02 9.99107932e-01 -1.54726435e-04 3.96422446e+00] [ 1.03249742e-02 -2.81549814e-04 9.99946656e-01 2.45833960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters 0.017337773572831294 Centerline is valid? [True, True] Translation: X:370.08, Y:3.96, Z:2.46 [[ 9.99114529e-01 -4.07942503e-02 -1.02950177e-02 3.70075937e+02] [ 4.07948304e-02 9.99167533e-01 -1.53737818e-04 3.96473802e+00] [ 1.02927190e-02 -2.66381812e-04 9.99946993e-01 2.45811077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters 0.01648635780287277 Centerline is valid? [True, True] Translation: X:370.14, Y:3.97, Z:2.46 [[ 9.99243854e-01 -3.75035451e-02 -1.02569161e-02 3.70136960e+02] [ 3.75039515e-02 9.99296468e-01 -1.52790337e-04 3.96715178e+00] [ 1.02554302e-02 -2.32000076e-04 9.99947385e-01 2.45838225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters 0.015194773256841333 Centerline is valid? [True, True] Translation: X:370.20, Y:3.97, Z:2.46 [[ 9.99495492e-01 -3.02927270e-02 -9.54531760e-03 3.70198695e+02] [ 3.02927537e-02 9.99541059e-01 -1.41810481e-04 3.97146465e+00] [ 9.54523269e-03 -1.47415019e-04 9.99954432e-01 2.45841981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters 0.016210783970124654 Centerline is valid? [True, True] Translation: X:370.26, Y:3.97, Z:2.46 [[ 9.99641969e-01 -2.42566359e-02 -1.12938094e-02 3.70259584e+02] [ 2.42562937e-02 9.99705759e-01 -1.67290392e-04 3.97467403e+00] [ 1.12945442e-02 -1.06715462e-04 9.99936209e-01 2.45775433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters 0.01436420297997216 Centerline is valid? [True, True] Translation: X:370.32, Y:3.97, Z:2.46 [[ 9.99661288e-01 -2.37735975e-02 -1.05888801e-02 3.70319087e+02] [ 2.37732702e-02 9.99717364e-01 -1.56802810e-04 3.97381468e+00] [ 1.05896151e-02 -9.49826081e-05 9.99943924e-01 2.45728539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters 0.014571754423001957 Centerline is valid? [True, True] Translation: X:370.38, Y:3.97, Z:2.46 [[ 9.99570103e-01 -2.71428455e-02 -1.10849131e-02 3.70379927e+02] [ 2.71426924e-02 9.99631556e-01 -1.64275630e-04 3.97123754e+00] [ 1.10852878e-02 -1.36669378e-04 9.99938547e-01 2.45802907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.299254154 meters 0.018185192227656816 Centerline is valid? [True, True] Translation: X:370.44, Y:3.96, Z:2.46 [[ 9.99391386e-01 -3.24862107e-02 -1.27084501e-02 3.70439981e+02] [ 3.24864414e-02 9.99472159e-01 -1.88336042e-04 3.96449709e+00] [ 1.27078604e-02 -2.24630903e-04 9.99919227e-01 2.45837819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.359254154 meters 0.01657077858562372 Centerline is valid? [True, True] Translation: X:370.50, Y:3.96, Z:2.46 [[ 9.99261712e-01 -3.65931580e-02 -1.17034784e-02 3.70500764e+02] [ 3.65936352e-02 9.99330214e-01 -1.73442613e-04 3.96221300e+00] [ 1.17019864e-02 -2.54958257e-04 9.99931497e-01 2.45948927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.419254154 meters 0.018272011504511906 Centerline is valid? [True, True] Translation: X:370.56, Y:3.96, Z:2.46 [[ 9.99037391e-01 -4.19171315e-02 -1.29323213e-02 3.70562402e+02] [ 4.19181627e-02 9.99121029e-01 -1.91427623e-04 3.95709312e+00] [ 1.29289783e-02 -3.50855796e-04 9.99916356e-01 2.45996542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.479254154 meters 0.020762108891198835 Centerline is valid? [True, True] Translation: X:370.62, Y:3.96, Z:2.46 [[ 9.98976791e-01 -4.30526756e-02 -1.38505302e-02 3.70623998e+02] [ 4.30539748e-02 9.99072727e-01 -2.04501666e-04 3.95544967e+00] [ 1.38464913e-02 -3.92027962e-04 9.99904056e-01 2.45991766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.539254154 meters 0.02191569943682789 Centerline is valid? [True, True] Translation: X:370.68, Y:3.95, Z:2.46 [[ 9.98698919e-01 -4.90718854e-02 -1.38715063e-02 3.70684217e+02] [ 4.90737717e-02 9.98795136e-01 -2.04570117e-04 3.94968706e+00] [ 1.38648316e-02 -4.76423177e-04 9.99903765e-01 2.46096099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.599254154 meters 0.021767565827309838 Centerline is valid? [True, True] Translation: X:370.75, Y:3.95, Z:2.46 [[ 9.98535751e-01 -5.21744467e-02 -1.42891908e-02 3.70745034e+02] [ 5.21767699e-02 9.98637842e-01 -2.10424102e-04 3.95000405e+00] [ 1.42807054e-02 -5.35447830e-04 9.99897882e-01 2.46277986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.659254154 meters 0.023271649079523518 Centerline is valid? [True, True] Translation: X:370.81, Y:3.95, Z:2.46 [[ 9.98366360e-01 -5.50898094e-02 -1.51566660e-02 3.70806382e+02] [ 5.50927676e-02 9.98481215e-01 -2.22606795e-04 3.94750282e+00] [ 1.51459096e-02 -6.12779540e-04 9.99885106e-01 2.46353319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.719254154 meters 0.024548393974075707 Centerline is valid? [True, True] Translation: X:370.87, Y:3.95, Z:2.46 [[ 9.98272173e-01 -5.64408760e-02 -1.63430747e-02 3.70867345e+02] [ 5.64445034e-02 9.98405709e-01 -2.39599610e-04 3.94586660e+00] [ 1.63305423e-02 -6.83291114e-04 9.99866414e-01 2.46383580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779254154 meters 0.026008583134472282 Centerline is valid? [True, True] Translation: X:370.93, Y:3.95, Z:2.47 [[ 9.97951112e-01 -6.09555677e-02 -1.94421367e-02 3.70927967e+02] [ 6.09615605e-02 9.98140074e-01 -2.84831307e-04 3.94545481e+00] [ 1.94233379e-02 -9.00975275e-04 9.99810943e-01 2.46518836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839254154 meters 0.025305402085784984 Centerline is valid? [True, True] Translation: X:370.99, Y:3.95, Z:2.47 [[ 9.97852676e-01 -6.23980263e-02 -1.99128897e-02 3.70988412e+02] [ 6.24046001e-02 9.98050891e-01 -2.91695172e-04 3.94782092e+00] [ 1.98922785e-02 -9.51587109e-04 9.99801676e-01 2.46627385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899254154 meters 0.027156289365079283 Centerline is valid? [True, True] Translation: X:371.05, Y:3.95, Z:2.47 [[ 9.97541207e-01 -6.65210899e-02 -2.20563843e-02 3.71048136e+02] [ 6.65301550e-02 9.97784362e-01 -3.23357333e-04 3.94789105e+00] [ 2.20290254e-02 -1.14485240e-03 9.99756676e-01 2.46717165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959254154 meters 0.02923870479986406 Centerline is valid? [True, True] Translation: X:371.11, Y:3.95, Z:2.47 [[ 9.97317650e-01 -6.93428365e-02 -2.34323732e-02 3.71108780e+02] [ 6.93538420e-02 9.97592064e-01 -3.43652191e-04 3.94905091e+00] [ 2.33997794e-02 -1.28239472e-03 9.99725365e-01 2.46824011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019254154 meters 0.031065366929869265 Centerline is valid? [True, True] Translation: X:371.17, Y:3.95, Z:2.47 [[ 9.97208697e-01 -7.05488776e-02 -2.44473097e-02 3.71167644e+02] [ 7.05612037e-02 9.97507387e-01 -3.59165668e-04 3.95160133e+00] [ 2.44117107e-02 -1.36686847e-03 9.99701055e-01 2.46902586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079254154 meters 0.02912722303611422 Centerline is valid? [True, True] Translation: X:371.23, Y:3.96, Z:2.47 [[ 9.97420700e-01 -6.77112663e-02 -2.38145196e-02 3.71227523e+02] [ 6.77221430e-02 9.97704159e-01 -3.50406696e-04 3.96065668e+00] [ 2.37835717e-02 -1.26326741e-03 9.99716333e-01 2.47088330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139254154 meters 0.025666541546083825 Centerline is valid? [True, True] Translation: X:371.29, Y:3.97, Z:2.47 [[ 9.97855791e-01 -6.08559461e-02 -2.40909587e-02 3.71287834e+02] [ 6.08650792e-02 9.98145939e-01 -3.54648674e-04 3.97472112e+00] [ 2.40678751e-02 -1.11240988e-03 9.99709708e-01 2.47345787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199254154 meters 0.02368986027572349 Centerline is valid? [True, True] Translation: X:371.35, Y:3.98, Z:2.47 [[ 9.98003300e-01 -5.86406341e-02 -2.34667798e-02 3.71348017e+02] [ 5.86486633e-02 9.98278626e-01 -3.46535522e-04 3.97993890e+00] [ 2.34467058e-02 -1.03045168e-03 9.99724557e-01 2.47467170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259254154 meters 0.0217657108293087 Centerline is valid? [True, True] Translation: X:371.41, Y:3.99, Z:2.48 [[ 9.98413934e-01 -5.11616722e-02 -2.34967840e-02 3.71408680e+02] [ 5.11676421e-02 9.98690018e-01 -3.47469834e-04 3.99083217e+00] [ 2.34837807e-02 -8.55356310e-04 9.99723852e-01 2.47534057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319254154 meters 0.019528314196673675 Centerline is valid? [True, True] Translation: X:371.47, Y:4.00, Z:2.48 [[ 9.98669366e-01 -4.61532083e-02 -2.30082506e-02 3.71468553e+02] [ 4.61575970e-02 9.98934112e-01 -3.40572163e-04 3.99888541e+00] [ 2.29994448e-02 -7.21886571e-04 9.99735217e-01 2.47677159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379254154 meters 0.01739907697192277 Centerline is valid? [True, True] Translation: X:371.53, Y:4.01, Z:2.48 [[ 9.98961667e-01 -3.93982111e-02 -2.28772647e-02 3.71528313e+02] [ 3.94007701e-02 9.99223431e-01 -3.39060004e-04 4.01104897e+00] [ 2.28728573e-02 -5.62673900e-04 9.99738224e-01 2.47927066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters 0.017342585953397348 Centerline is valid? [True, True] Translation: X:371.59, Y:4.02, Z:2.48 [[ 9.99087371e-01 -3.52724878e-02 -2.40889298e-02 3.71586560e+02] [ 3.52740158e-02 9.99377613e-01 -3.61619071e-04 4.01720763e+00] [ 2.40866923e-02 -4.88424240e-04 9.99709754e-01 2.47829036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters 0.016937324268330143 Centerline is valid? [True, True] Translation: X:371.65, Y:4.02, Z:2.48 [[ 9.99110428e-01 -3.39435831e-02 -2.50237177e-02 3.71645444e+02] [ 3.39446508e-02 9.99423641e-01 -3.82229038e-04 4.02347028e+00] [ 2.50222693e-02 -4.67532343e-04 9.99686785e-01 2.48003871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters 0.01668595948529681 Centerline is valid? [True, True] Translation: X:371.70, Y:4.03, Z:2.48 [[ 9.99076984e-01 -3.45299427e-02 -2.55511861e-02 3.71704339e+02] [ 3.45310779e-02 9.99403546e-01 -3.96928476e-04 4.02844212e+00] [ 2.55496519e-02 -4.85747893e-04 9.99673436e-01 2.48111903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters 0.018750979803270642 Centerline is valid? [True, True] Translation: X:371.76, Y:4.03, Z:2.48 [[ 9.99047341e-01 -3.57396178e-02 -2.50417791e-02 3.71762733e+02] [ 3.57409290e-02 9.99361011e-01 -3.95359140e-04 4.03056101e+00] [ 2.50399077e-02 -5.00033954e-04 9.99686327e-01 2.48082924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters 0.017668993997394637 Centerline is valid? [True, True] Translation: X:371.82, Y:4.03, Z:2.48 [[ 9.98892498e-01 -4.06526593e-02 -2.36883841e-02 3.71820937e+02] [ 4.06551179e-02 9.99173167e-01 -3.77995426e-04 4.03140413e+00] [ 2.36841643e-02 -5.85477254e-04 9.99719319e-01 2.48287354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters 0.02001610461938036 Centerline is valid? [True, True] Translation: X:371.88, Y:4.03, Z:2.48 [[ 9.98604032e-01 -4.75829913e-02 -2.29313198e-02 3.71881175e+02] [ 4.75870923e-02 9.98867025e-01 -3.67123548e-04 4.03004996e+00] [ 2.29228080e-02 -7.24623775e-04 9.99736975e-01 2.48371901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.799254154 meters 0.020555168899870684 Centerline is valid? [True, True] Translation: X:371.94, Y:4.03, Z:2.49 [[ 9.98321553e-01 -5.31809868e-02 -2.29316136e-02 3.71941477e+02] [ 5.31865638e-02 9.98584526e-01 -3.67068205e-04 4.03150786e+00] [ 2.29186755e-02 -8.53201629e-04 9.99736969e-01 2.48514565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.859254154 meters 0.02338004043083389 Centerline is valid? [True, True] Translation: X:372.00, Y:4.03, Z:2.49 [[ 9.97784377e-01 -6.23977424e-02 -2.30837522e-02 3.72002191e+02] [ 6.24058572e-02 9.98050787e-01 -3.69377960e-04 4.02796022e+00] [ 2.30618053e-02 -1.07200178e-03 9.99733466e-01 2.48506518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.919254154 meters 0.025631761772981262 Centerline is valid? [True, True] Translation: X:372.06, Y:4.03, Z:2.49 [[ 9.97445214e-01 -6.78404379e-02 -2.23767807e-02 3.72062692e+02] [ 6.78494329e-02 9.97695508e-01 -3.57874149e-04 4.02612707e+00] [ 2.23494919e-02 -1.16129202e-03 9.99749544e-01 2.48531828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.979254154 meters 0.02832409870313392 Centerline is valid? [True, True] Translation: X:372.12, Y:4.03, Z:2.49 [[ 9.97071287e-01 -7.34297754e-02 -2.13756315e-02 3.72123285e+02] [ 7.34392656e-02 9.97299633e-01 -3.41744847e-04 4.02565933e+00] [ 2.13430037e-02 -1.22906670e-03 9.99771457e-01 2.48604224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.039254154 meters 0.029008658613355442 Centerline is valid? [True, True] Translation: X:372.19, Y:4.03, Z:2.49 [[ 9.97022478e-01 -7.42559106e-02 -2.07903155e-02 3.72185080e+02] [ 7.42650890e-02 9.97238480e-01 -3.31325131e-04 4.02750917e+00] [ 2.07575055e-02 -1.21365603e-03 9.99783803e-01 2.48653928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.099254154 meters 0.028357994146199862 Centerline is valid? [True, True] Translation: X:372.25, Y:4.03, Z:2.49 [[ 9.97327365e-01 -7.03266558e-02 -1.98062497e-02 3.72246215e+02] [ 7.03342271e-02 9.97523432e-01 -3.14932423e-04 4.03309677e+00] [ 1.97793464e-02 -1.07896654e-03 9.99803787e-01 2.48685196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.159254154 meters 0.027019375035962568 Centerline is valid? [True, True] Translation: X:372.31, Y:4.04, Z:2.49 [[ 9.97804547e-01 -6.35353845e-02 -1.86906676e-02 3.72305848e+02] [ 6.35409358e-02 9.97979189e-01 -2.97306538e-04 4.04205937e+00] [ 1.86717867e-02 -8.90968691e-04 9.99825270e-01 2.48711654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.219254154 meters 0.024745620779443814 Centerline is valid? [True, True] Translation: X:372.37, Y:4.05, Z:2.49 [[ 9.98123908e-01 -5.83558721e-02 -1.85271925e-02 3.72366759e+02] [ 5.83604374e-02 9.98295534e-01 -2.94627464e-04 4.04982446e+00] [ 1.85128067e-02 -7.87180340e-04 9.99828313e-01 2.48714055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279254154 meters 0.02062941092455067 Centerline is valid? [True, True] Translation: X:372.43, Y:4.07, Z:2.49 [[ 9.98516508e-01 -5.07439913e-02 -1.97441489e-02 3.72427209e+02] [ 5.07476938e-02 9.98711456e-01 -3.13788182e-04 4.06533181e+00] [ 1.97346306e-02 -6.88647344e-04 9.99805016e-01 2.48702353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339254154 meters 0.018378678580978972 Centerline is valid? [True, True] Translation: X:372.49, Y:4.07, Z:2.49 [[ 9.98680807e-01 -4.75421678e-02 -1.94007172e-02 3.72488900e+02] [ 4.75451535e-02 9.98869042e-01 -3.07585565e-04 4.07110044e+00] [ 1.93933991e-02 -6.15230276e-04 9.99811741e-01 2.48738148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399254154 meters 0.01774320085302476 Centerline is valid? [True, True] Translation: X:372.55, Y:4.07, Z:2.49 [[ 9.98768904e-01 -4.57856962e-02 -1.90878792e-02 3.72551057e+02] [ 4.57882905e-02 9.98951121e-01 -3.01334904e-04 4.07475485e+00] [ 1.90816551e-02 -5.73037424e-04 9.99817764e-01 2.48784977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459254154 meters 0.016433826171525567 Centerline is valid? [True, True] Translation: X:372.61, Y:4.08, Z:2.49 [[ 9.99013374e-01 -4.09496477e-02 -1.71873389e-02 3.72612674e+02] [ 4.09510534e-02 9.99161117e-01 -2.70296917e-04 4.08391546e+00] [ 1.71839893e-02 -4.33809396e-04 9.99852250e-01 2.48940157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519254154 meters 0.015403150188149726 Centerline is valid? [True, True] Translation: X:372.67, Y:4.09, Z:2.49 [[ 9.99247656e-01 -3.60858055e-02 -1.42104195e-02 3.72674107e+02] [ 3.60862830e-02 9.99348653e-01 -2.22892889e-04 4.09165458e+00] [ 1.42092069e-02 -2.90076025e-04 9.99899002e-01 2.49065431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579254154 meters 0.015170753935250492 Centerline is valid? [True, True] Translation: X:372.74, Y:4.10, Z:2.49 [[ 9.99326047e-01 -3.41450987e-02 -1.34745396e-02 3.72735626e+02] [ 3.41453598e-02 9.99416855e-01 -2.10746672e-04 4.09545017e+00] [ 1.34738779e-02 -2.49488363e-04 9.99909192e-01 2.49093253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639254154 meters 0.015494279862673186 Centerline is valid? [True, True] Translation: X:372.80, Y:4.10, Z:2.49 [[ 9.99331735e-01 -3.44665361e-02 -1.21713472e-02 3.72797368e+02] [ 3.44667817e-02 9.99405826e-01 -1.89645197e-04 4.09808352e+00] [ 1.21706517e-02 -2.29988702e-04 9.99925908e-01 2.49141893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699254154 meters 0.015818118578872727 Centerline is valid? [True, True] Translation: X:372.86, Y:4.10, Z:2.49 [[ 9.99292273e-01 -3.58568990e-02 -1.13681797e-02 3.72859698e+02] [ 3.58572120e-02 9.99356908e-01 -1.76351711e-04 4.09836078e+00] [ 1.13671924e-02 -2.31404329e-04 9.99935365e-01 2.49112015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759254154 meters 0.015669493363426497 Centerline is valid? [True, True] Translation: X:372.92, Y:4.10, Z:2.49 [[ 9.99258638e-01 -3.64893477e-02 -1.22760312e-02 3.72921879e+02] [ 3.64897718e-02 9.99334009e-01 -1.89511879e-04 4.10117239e+00] [ 1.22747706e-02 -2.58578194e-04 9.99924629e-01 2.49012105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819254154 meters 0.014911976912648733 Centerline is valid? [True, True] Translation: X:372.98, Y:4.11, Z:2.49 [[ 9.99332522e-01 -3.43552716e-02 -1.24187633e-02 3.72984558e+02] [ 3.43555543e-02 9.99409656e-01 -1.90633917e-04 4.10513380e+00] [ 1.24179812e-02 -2.36146824e-04 9.99922866e-01 2.49040003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879254154 meters 0.014055703200479393 Centerline is valid? [True, True] Translation: X:373.05, Y:4.11, Z:2.49 [[ 9.99489175e-01 -2.94303937e-02 -1.24596129e-02 3.73046769e+02] [ 2.94303095e-02 9.99566817e-01 -1.90146348e-04 4.11038096e+00] [ 1.24598117e-02 -1.76641048e-04 9.99922358e-01 2.49082828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters 0.013598115587242828 Centerline is valid? [True, True] Translation: X:373.11, Y:4.11, Z:2.49 [[ 9.99606551e-01 -2.57067067e-02 -1.12208709e-02 3.73108472e+02] [ 2.57064116e-02 9.99669521e-01 -1.70549020e-04 4.11392991e+00] [ 1.12215469e-02 -1.17966408e-04 9.99937030e-01 2.49141554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters 0.013575620597445206 Centerline is valid? [True, True] Translation: X:373.17, Y:4.12, Z:2.49 [[ 9.99624717e-01 -2.51106690e-02 -1.09489528e-02 3.73170300e+02] [ 2.51103596e-02 9.99684671e-01 -1.65746581e-04 4.11512094e+00] [ 1.09496623e-02 -1.09247764e-04 9.99940045e-01 2.49148307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters 0.014071409784551 Centerline is valid? [True, True] Translation: X:373.23, Y:4.11, Z:2.49 [[ 9.99541833e-01 -2.80177895e-02 -1.14510673e-02 3.73232668e+02] [ 2.80176517e-02 9.99607414e-01 -1.72494394e-04 4.11277886e+00] [ 1.14514046e-02 -1.48416651e-04 9.99934420e-01 2.49024696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters 0.014792404620016143 Centerline is valid? [True, True] Translation: X:373.29, Y:4.11, Z:2.49 [[ 9.99389694e-01 -3.26345348e-02 -1.24589644e-02 3.73294955e+02] [ 3.26347420e-02 9.99467328e-01 -1.86729717e-04 4.11016388e+00] [ 1.24584217e-02 -2.19979333e-04 9.99922367e-01 2.48989489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters 0.017099685981950115 Centerline is valid? [True, True] Translation: X:373.36, Y:4.10, Z:2.49 [[ 9.98986470e-01 -4.29951905e-02 -1.33208691e-02 3.73355996e+02] [ 4.29963553e-02 9.99075209e-01 -1.99067583e-04 4.10337891e+00] [ 1.33171090e-02 -3.73882997e-04 9.99911253e-01 2.48925454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters 0.01962174829726395 Centerline is valid? [True, True] Translation: X:373.42, Y:4.10, Z:2.49 [[ 9.98636672e-01 -5.04244382e-02 -1.34971632e-02 3.73417141e+02] [ 5.04263151e-02 9.98727764e-01 -2.01444730e-04 4.09759900e+00] [ 1.34901494e-02 -4.79442112e-04 9.99908889e-01 2.48950341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.299254154 meters 0.023299572176903673 Centerline is valid? [True, True] Translation: X:373.48, Y:4.09, Z:2.49 [[ 9.98157780e-01 -5.93116458e-02 -1.27739750e-02 3.73477267e+02] [ 5.93140544e-02 9.98239353e-01 -1.90554975e-04 4.08989818e+00] [ 1.27627866e-02 -5.67472315e-04 9.99918391e-01 2.48989015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.359254154 meters 0.024920295264908965 Centerline is valid? [True, True] Translation: X:373.54, Y:4.09, Z:2.49 [[ 9.97940883e-01 -6.29389309e-02 -1.23565601e-02 3.73538583e+02] [ 6.29414633e-02 9.98017203e-01 -1.84222140e-04 4.08780564e+00] [ 1.23436543e-02 -5.93897169e-04 9.99923638e-01 2.49083619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.419254154 meters 0.025272916161213643 Centerline is valid? [True, True] Translation: X:373.60, Y:4.09, Z:2.49 [[ 9.97795018e-01 -6.51414040e-02 -1.27161456e-02 3.73601052e+02] [ 6.51442731e-02 9.97875838e-01 -1.88890251e-04 4.08773612e+00] [ 1.27014390e-02 -6.39910312e-04 9.99919129e-01 2.49123491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.479254154 meters 0.028008402397402803 Centerline is valid? [True, True] Translation: X:373.66, Y:4.09, Z:2.49 [[ 9.97808775e-01 -6.48029525e-02 -1.33501217e-02 3.73662681e+02] [ 6.48061076e-02 9.97897855e-01 -1.96586284e-04 4.08503939e+00] [ 1.33347972e-02 -6.69013905e-04 9.99910864e-01 2.49181203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.539254154 meters 0.02805405189121772 Centerline is valid? [True, True] Translation: X:373.72, Y:4.09, Z:2.49 [[ 9.97881211e-01 -6.36830429e-02 -1.33251494e-02 3.73724598e+02] [ 6.36861089e-02 9.97969960e-01 -1.94543665e-04 4.08639727e+00] [ 1.33104880e-02 -6.54495449e-04 9.99911197e-01 2.49270158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.599254154 meters 0.023310532581850552 Centerline is valid? [True, True] Translation: X:373.79, Y:4.10, Z:2.49 [[ 9.98023366e-01 -6.09872715e-02 -1.51628902e-02 3.73785721e+02] [ 6.09909441e-02 9.98138295e-01 -2.20528637e-04 4.09556551e+00] [ 1.51481108e-02 -7.04706257e-04 9.99885012e-01 2.49307898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.659254154 meters 0.02222673569433561 Centerline is valid? [True, True] Translation: X:373.85, Y:4.10, Z:2.49 [[ 9.98166192e-01 -5.81445108e-02 -1.68365338e-02 3.73847109e+02] [ 5.81486464e-02 9.98307906e-01 -2.44220616e-04 4.09904583e+00] [ 1.68222449e-02 -7.35248886e-04 9.99858226e-01 2.49223774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.719254154 meters 0.01907211283397714 Centerline is valid? [True, True] Translation: X:373.91, Y:4.11, Z:2.49 [[ 9.98453795e-01 -5.23976053e-02 -1.85609618e-02 3.73908084e+02] [ 5.24016494e-02 9.98626054e-01 -2.68740016e-04 4.10675854e+00] [ 1.85495414e-02 -7.04300523e-04 9.99827694e-01 2.49224937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779254154 meters 0.018054911424195602 Centerline is valid? [True, True] Translation: X:373.97, Y:4.11, Z:2.49 [[ 9.98728485e-01 -4.68478835e-02 -1.86195841e-02 3.73967891e+02] [ 4.68509921e-02 9.98901853e-01 -2.69463204e-04 4.11137959e+00] [ 1.86117608e-02 -6.03225408e-04 9.99826604e-01 2.49258705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839254154 meters 0.014758835124797896 Centerline is valid? [True, True] Translation: X:374.03, Y:4.12, Z:2.50 [[ 9.99127079e-01 -3.78782163e-02 -1.76158994e-02 3.74028932e+02] [ 3.78796079e-02 9.99282278e-01 -2.54782495e-04 4.12131682e+00] [ 1.76129068e-02 -4.12723273e-04 9.99844796e-01 2.49509016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899254154 meters 0.01356020363902758 Centerline is valid? [True, True] Translation: X:374.09, Y:4.13, Z:2.50 [[ 9.99361161e-01 -3.21665614e-02 -1.55750494e-02 3.74090692e+02] [ 3.21669646e-02 9.99482484e-01 -2.24691112e-04 4.12563408e+00] [ 1.55742166e-02 -2.76454491e-04 9.99878676e-01 2.49635227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959254154 meters 0.01327193974059923 Centerline is valid? [True, True] Translation: X:374.15, Y:4.13, Z:2.50 [[ 9.99417732e-01 -3.07711685e-02 -1.47422139e-02 3.74152769e+02] [ 3.07713919e-02 9.99526426e-01 -2.11729731e-04 4.12751595e+00] [ 1.47417475e-02 -2.42031994e-04 9.99891305e-01 2.49698823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019254154 meters 0.013247794198942599 Centerline is valid? [True, True] Translation: X:374.21, Y:4.13, Z:2.50 [[ 9.99391447e-01 -3.09257746e-02 -1.61348112e-02 3.74213728e+02] [ 3.09260768e-02 9.99521648e-01 -2.30837722e-04 4.12789530e+00] [ 1.61342319e-02 -2.68289164e-04 9.99869799e-01 2.49552724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079254154 meters 0.014256751771032732 Centerline is valid? [True, True] Translation: X:374.27, Y:4.13, Z:2.49 [[ 9.99330537e-01 -3.24602993e-02 -1.68761931e-02 3.74273723e+02] [ 3.24608562e-02 9.99472978e-01 -2.41000739e-04 4.12604162e+00] [ 1.68751219e-02 -3.06976279e-04 9.99857558e-01 2.49433303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139254154 meters 0.014114071128649751 Centerline is valid? [True, True] Translation: X:374.34, Y:4.13, Z:2.49 [[ 9.99245651e-01 -3.46735953e-02 -1.74891588e-02 3.74335122e+02] [ 3.46745414e-02 9.99398626e-01 -2.49231093e-04 4.12596557e+00] [ 1.74872830e-02 -3.57385474e-04 9.99847022e-01 2.49441904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199254154 meters 0.014803418994332584 Centerline is valid? [True, True] Translation: X:374.40, Y:4.12, Z:2.49 [[ 9.99137568e-01 -3.75291416e-02 -1.77674932e-02 3.74396250e+02] [ 3.75305810e-02 9.99295448e-01 -2.52537334e-04 4.12428463e+00] [ 1.77644526e-02 -4.14504807e-04 9.99842114e-01 2.49438236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259254154 meters 0.015557708005884702 Centerline is valid? [True, True] Translation: X:374.46, Y:4.12, Z:2.49 [[ 9.99157097e-01 -3.77815045e-02 -1.60515884e-02 3.74457461e+02] [ 3.77827236e-02 9.99285952e-01 -2.27411565e-04 4.12284761e+00] [ 1.60487188e-02 -3.79252850e-04 9.99871139e-01 2.49442923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319254154 meters 0.015990015818525476 Centerline is valid? [True, True] Translation: X:374.52, Y:4.12, Z:2.50 [[ 9.99201083e-01 -3.68077896e-02 -1.55686324e-02 3.74519879e+02] [ 3.68088338e-02 9.99322301e-01 -2.19566375e-04 4.12419614e+00] [ 1.55661633e-02 -3.53672244e-04 9.99878777e-01 2.49566717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379254154 meters 0.015124067421022293 Centerline is valid? [True, True] Translation: X:374.58, Y:4.12, Z:2.50 [[ 9.99251395e-01 -3.61052598e-02 -1.38945780e-02 3.74581400e+02] [ 3.61060332e-02 9.99347946e-01 -1.95263484e-04 4.12468383e+00] [ 1.38925680e-02 -3.06560786e-04 9.99903447e-01 2.49592628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters 0.015029521584091998 Centerline is valid? [True, True] Translation: X:374.64, Y:4.13, Z:2.50 [[ 9.99258466e-01 -3.62271333e-02 -1.30427139e-02 3.74643229e+02] [ 3.62278340e-02 9.99343540e-01 -1.82608816e-04 4.12509414e+00] [ 1.30407673e-02 -2.90035869e-04 9.99914924e-01 2.49553406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters 0.016792711449649254 Centerline is valid? [True, True] Translation: X:374.70, Y:4.12, Z:2.49 [[ 9.99114295e-01 -3.97927127e-02 -1.36808724e-02 3.74704617e+02] [ 3.97938298e-02 9.99207894e-01 -1.90662054e-04 4.12120919e+00] [ 1.36776226e-02 -3.53921122e-04 9.99906394e-01 2.49338171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters 0.018154965858887852 Centerline is valid? [True, True] Translation: X:374.77, Y:4.12, Z:2.49 [[ 9.99000896e-01 -4.23916261e-02 -1.41477576e-02 3.74766964e+02] [ 4.23930938e-02 9.99100989e-01 -1.96277286e-04 4.11829407e+00] [ 1.41433592e-02 -4.03686032e-04 9.99899896e-01 2.49214262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters 0.017901924221656564 Centerline is valid? [True, True] Translation: X:374.83, Y:4.12, Z:2.49 [[ 9.98994905e-01 -4.24969183e-02 -1.42545349e-02 3.74829025e+02] [ 4.24984333e-02 9.99096514e-01 -1.96750783e-04 4.11967553e+00] [ 1.42500174e-02 -4.09242369e-04 9.99898380e-01 2.49187675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters 0.016624800080302603 Centerline is valid? [True, True] Translation: X:374.89, Y:4.12, Z:2.49 [[ 9.99127773e-01 -3.95972573e-02 -1.32571047e-02 3.74890629e+02] [ 3.95983216e-02 9.99215662e-01 -1.82306043e-04 4.12303602e+00] [ 1.32539255e-02 -3.42812066e-04 9.99912104e-01 2.49237171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters 0.014616874476119186 Centerline is valid? [True, True] Translation: X:374.95, Y:4.13, Z:2.49 [[ 9.99440112e-01 -3.13408815e-02 -1.17137094e-02 3.74950187e+02] [ 3.13411479e-02 9.99508733e-01 -1.60868722e-04 4.12976182e+00] [ 1.17129966e-02 -2.06342444e-04 9.99931379e-01 2.49344639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.799254154 meters 0.012615076257358662 Centerline is valid? [True, True] Translation: X:375.01, Y:4.14, Z:2.49 [[ 9.99698042e-01 -2.24471769e-02 -9.99743030e-03 3.75011254e+02] [ 2.24469274e-02 9.99748027e-01 -1.37181372e-04 4.13777962e+00] [ 9.99799055e-03 -8.72716430e-05 9.99950015e-01 2.49485909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.859254154 meters 0.012968245753367339 Centerline is valid? [True, True] Translation: X:375.07, Y:4.14, Z:2.50 [[ 9.99791728e-01 -1.78974705e-02 -9.80723764e-03 3.75072902e+02] [ 1.78970149e-02 9.99839827e-01 -1.34222859e-04 4.14152092e+00] [ 9.80806903e-03 -4.13253737e-05 9.99951899e-01 2.49567415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.919254154 meters 0.012145465694995809 Centerline is valid? [True, True] Translation: X:375.13, Y:4.14, Z:2.49 [[ 9.99823487e-01 -1.56297577e-02 -1.04262050e-02 3.75134499e+02] [ 1.56291237e-02 9.99877848e-01 -1.42293829e-04 4.14173723e+00] [ 1.04271554e-02 -2.06837352e-05 9.99945636e-01 2.49421701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.979254154 meters 0.012226672404714894 Centerline is valid? [True, True] Translation: X:375.20, Y:4.14, Z:2.49 [[ 9.99772373e-01 -1.79563182e-02 -1.15227285e-02 3.75195387e+02] [ 1.79557014e-02 9.99838771e-01 -1.56985516e-04 4.13890174e+00] [ 1.15236896e-02 -4.99488913e-05 9.99933599e-01 2.49332965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.039254154 meters 0.014780772292088858 Centerline is valid? [True, True] Translation: X:375.26, Y:4.14, Z:2.49 [[ 9.99698765e-01 -2.12597618e-02 -1.22638694e-02 3.75255673e+02] [ 2.12593116e-02 9.99773981e-01 -1.67082811e-04 4.13553975e+00] [ 1.22646497e-02 -9.36889428e-05 9.99924782e-01 2.49430099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.099254154 meters 0.014930675556954503 Centerline is valid? [True, True] Translation: X:375.32, Y:4.13, Z:2.50 [[ 9.99520637e-01 -2.88777752e-02 -1.11611318e-02 3.75316395e+02] [ 2.88778771e-02 9.99582936e-01 -1.52059127e-04 4.12894939e+00] [ 1.11608680e-02 -1.70323558e-04 9.99937701e-01 2.49514037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.159254154 meters 0.016795811732897476 Centerline is valid? [True, True] Translation: X:375.38, Y:4.13, Z:2.50 [[ 9.99383283e-01 -3.36712990e-02 -9.96480024e-03 3.75378928e+02] [ 3.36716209e-02 9.99432941e-01 -1.35517652e-04 4.12541875e+00] [ 9.96371266e-03 -2.00096900e-04 9.99950341e-01 2.49715620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.219254154 meters 0.017316428051525227 Centerline is valid? [True, True] Translation: X:375.44, Y:4.12, Z:2.50 [[ 9.99121506e-01 -4.12906741e-02 -7.16219700e-03 3.75439642e+02] [ 4.12910385e-02 9.99147157e-01 -9.70352275e-05 4.11833195e+00] [ 7.16009542e-03 -1.98784570e-04 9.99974346e-01 2.49801423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279254154 meters 0.019110363224110166 Centerline is valid? [True, True] Translation: X:375.50, Y:4.11, Z:2.50 [[ 9.98743507e-01 -4.96359113e-02 -6.90532682e-03 3.75500736e+02] [ 4.96364501e-02 9.98767347e-01 -9.34348864e-05 4.11280206e+00] [ 6.90145268e-03 -2.49438424e-04 9.99976154e-01 2.49764583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339254154 meters 0.02514105111745356 Centerline is valid? [True, True] Translation: X:375.56, Y:4.10, Z:2.50 [[ 9.98419713e-01 -5.55442363e-02 -8.53903922e-03 3.75560772e+02] [ 5.55452762e-02 9.98456163e-01 -1.15508395e-04 4.10447450e+00] [ 8.53227215e-03 -3.58977433e-04 9.99963535e-01 2.49696045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399254154 meters 0.024918331717457408 Centerline is valid? [True, True] Translation: X:375.62, Y:4.10, Z:2.49 [[ 9.97810100e-01 -6.54020906e-02 -9.87777923e-03 3.75621472e+02] [ 6.54039638e-02 9.97858860e-01 -1.33622681e-04 4.09985735e+00] [ 9.86536872e-03 -5.12715854e-04 9.99951205e-01 2.49430627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459254154 meters 0.027531501885514544 Centerline is valid? [True, True] Translation: X:375.68, Y:4.10, Z:2.49 [[ 9.97440692e-01 -7.08410998e-02 -9.67491659e-03 3.75682461e+02] [ 7.08431518e-02 9.97487459e-01 -1.30873377e-04 4.09607064e+00] [ 9.65987918e-03 -5.54863153e-04 9.99953188e-01 2.49381441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519254154 meters 0.027901943943394073 Centerline is valid? [True, True] Translation: X:375.74, Y:4.10, Z:2.49 [[ 9.97500562e-01 -7.00655045e-02 -9.13525803e-03 3.75744625e+02] [ 7.00673034e-02 9.97542259e-01 -1.23371746e-04 4.09804970e+00] [ 9.12145003e-03 -5.17019511e-04 9.99958265e-01 2.49498505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579254154 meters 0.026474987010597025 Centerline is valid? [True, True] Translation: X:375.80, Y:4.10, Z:2.49 [[ 9.97715825e-01 -6.69893967e-02 -8.69218765e-03 3.75804979e+02] [ 6.69909131e-02 9.97753579e-01 -1.16910576e-04 4.10165999e+00] [ 8.68049310e-03 -4.65654056e-04 9.99962215e-01 2.49452702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639254154 meters 0.02428453248377504 Centerline is valid? [True, True] Translation: X:375.87, Y:4.11, Z:2.49 [[ 9.98124399e-01 -6.04220102e-02 -9.84203830e-03 3.75865697e+02] [ 6.04236359e-02 9.98172814e-01 -1.32358633e-04 4.10961396e+00] [ 9.83205244e-03 -4.62581358e-04 9.99951557e-01 2.49377693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699254154 meters 0.022256482818936017 Centerline is valid? [True, True] Translation: X:375.93, Y:4.12, Z:2.49 [[ 9.98502676e-01 -5.38537904e-02 -9.60084281e-03 3.75925706e+02] [ 5.38550347e-02 9.98548756e-01 -1.29070895e-04 4.11651345e+00] [ 9.59386061e-03 -3.88176088e-04 9.99953903e-01 2.49388176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759254154 meters 0.019613379854819066 Centerline is valid? [True, True] Translation: X:375.99, Y:4.12, Z:2.49 [[ 9.98763516e-01 -4.88637245e-02 -9.15287915e-03 3.75986480e+02] [ 4.88646467e-02 9.98805402e-01 -1.22986512e-04 4.12385704e+00] [ 9.14795472e-03 -3.24417764e-04 9.99958104e-01 2.49475180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819254154 meters 0.020065048312402647 Centerline is valid? [True, True] Translation: X:376.05, Y:4.13, Z:2.49 [[ 9.99001144e-01 -4.37414610e-02 -9.13231273e-03 3.76047125e+02] [ 4.37421672e-02 9.99042846e-01 -1.22497613e-04 4.12689592e+00] [ 9.12892992e-03 -2.77091894e-04 9.99958292e-01 2.49478270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879254154 meters 0.017169847696205637 Centerline is valid? [True, True] Translation: X:376.11, Y:4.14, Z:2.50 [[ 9.99350888e-01 -3.47846385e-02 -9.37188872e-03 3.76107510e+02] [ 3.47849914e-02 9.99394811e-01 -1.25396232e-04 4.13826195e+00] [ 9.37057882e-03 -2.00686232e-04 9.99956075e-01 2.49518309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters 0.01486354484919046 Centerline is valid? [True, True] Translation: X:376.17, Y:4.15, Z:2.49 [[ 9.99614870e-01 -2.61817492e-02 -9.19930804e-03 3.76168502e+02] [ 2.61817273e-02 9.99657192e-01 -1.22833845e-04 4.14616659e+00] [ 9.19937045e-03 -1.18067236e-04 9.99957678e-01 2.49473233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters 0.01395942342517845 Centerline is valid? [True, True] Translation: X:376.23, Y:4.15, Z:2.50 [[ 9.99787503e-01 -1.83652471e-02 -9.36308163e-03 3.76229767e+02] [ 1.83648848e-02 9.99831344e-01 -1.24678576e-04 4.15441925e+00] [ 9.36379224e-03 -4.72998329e-05 9.99956158e-01 2.49535808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters 0.01386760304329266 Centerline is valid? [True, True] Translation: X:376.29, Y:4.16, Z:2.50 [[ 9.99868885e-01 -1.31083130e-02 -9.50709791e-03 3.76290432e+02] [ 1.31077047e-02 9.99914082e-01 -1.26297473e-04 4.15856058e+00] [ 9.50793663e-03 1.66468133e-06 9.99954799e-01 2.49529603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters 0.013966771415573644 Centerline is valid? [True, True] Translation: X:376.35, Y:4.16, Z:2.50 [[ 9.99886243e-01 -1.21057832e-02 -8.99731789e-03 3.76350429e+02] [ 1.21051981e-02 9.99926722e-01 -1.19492559e-04 4.15859780e+00] [ 8.99810514e-03 1.05646502e-05 9.99959516e-01 2.49599934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters 0.01511868858401319 Centerline is valid? [True, True] Translation: X:376.41, Y:4.16, Z:2.50 [[ 9.99883437e-01 -1.23650502e-02 -8.95640586e-03 3.76410302e+02] [ 1.23644779e-02 9.99923550e-01 -1.19269834e-04 4.15834547e+00] [ 8.95719592e-03 8.51464944e-06 9.99959883e-01 2.49656745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters 0.015507170796679516 Centerline is valid? [True, True] Translation: X:376.47, Y:4.15, Z:2.50 [[ 9.99818203e-01 -1.67577349e-02 -9.09616074e-03 3.76470159e+02] [ 1.67573237e-02 9.99859579e-01 -1.21428108e-04 4.15292776e+00] [ 9.09691830e-03 -3.10212774e-05 9.99958622e-01 2.49626225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.299254154 meters 0.014915052978423948 Centerline is valid? [True, True] Translation: X:376.53, Y:4.14, Z:2.50 [[ 9.99641192e-01 -2.48914642e-02 -9.89457257e-03 3.76531044e+02] [ 2.48913746e-02 9.99690153e-01 -1.32219940e-04 4.14431214e+00] [ 9.89479791e-03 -1.14117014e-04 9.99951039e-01 2.49670554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.359254154 meters 0.017525660661333323 Centerline is valid? [True, True] Translation: X:376.59, Y:4.14, Z:2.50 [[ 9.99422995e-01 -3.26430461e-02 -9.38660798e-03 3.76593080e+02] [ 3.26433132e-02 9.99467057e-01 -1.24791120e-04 4.13500490e+00] [ 9.38567902e-03 -1.81690869e-04 9.99955937e-01 2.49743927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.419254154 meters 0.0179917578487242 Centerline is valid? [True, True] Translation: X:376.65, Y:4.13, Z:2.50 [[ 9.99199624e-01 -3.87486847e-02 -9.93231090e-03 3.76654547e+02] [ 3.87493033e-02 9.99248955e-01 -1.30227609e-04 4.12838315e+00] [ 9.92989744e-03 -2.54746750e-04 9.99950665e-01 2.49791410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.479254154 meters 0.02149576760145031 Centerline is valid? [True, True] Translation: X:376.71, Y:4.12, Z:2.50 [[ 9.98854676e-01 -4.68553878e-02 -9.69063052e-03 3.76714426e+02] [ 4.68563609e-02 9.98901629e-01 -1.26725350e-04 4.11651997e+00] [ 9.68592438e-03 -3.27487472e-04 9.99953037e-01 2.49730516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.539254154 meters 0.02244888967335757 Centerline is valid? [True, True] Translation: X:376.78, Y:4.11, Z:2.50 [[ 9.98526244e-01 -5.32185151e-02 -1.06362203e-02 3.76775213e+02] [ 5.32200511e-02 9.98582799e-01 -1.38775028e-04 4.11011236e+00] [ 1.06285320e-02 -4.27489678e-04 9.99943424e-01 2.49738175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.599254154 meters 0.02333644323950616 Centerline is valid? [True, True] Translation: X:376.84, Y:4.11, Z:2.50 [[ 9.98371852e-01 -5.59026330e-02 -1.13376110e-02 3.76837048e+02] [ 5.59045556e-02 9.98436107e-01 -1.47522251e-04 4.10685845e+00] [ 1.13281271e-02 -4.86542041e-04 9.99935716e-01 2.49689651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.659254154 meters 0.023946018653253843 Centerline is valid? [True, True] Translation: X:376.90, Y:4.10, Z:2.50 [[ 9.98152477e-01 -5.95979230e-02 -1.18203651e-02 3.76897743e+02] [ 5.96002771e-02 9.98222312e-01 -1.53322024e-04 4.10340995e+00] [ 1.18084898e-02 -5.51458276e-04 9.99930125e-01 2.49639855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.719254154 meters 0.02592957802489732 Centerline is valid? [True, True] Translation: X:376.96, Y:4.10, Z:2.50 [[ 9.97825229e-01 -6.49298192e-02 -1.13547524e-02 3.76958682e+02] [ 6.49323376e-02 9.97889658e-01 -1.47114974e-04 4.09857273e+00] [ 1.13403422e-02 -5.90495586e-04 9.99935522e-01 2.49628970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779254154 meters 0.027076960992605856 Centerline is valid? [True, True] Translation: X:377.02, Y:4.10, Z:2.50 [[ 9.97555277e-01 -6.88936722e-02 -1.17102821e-02 3.77019276e+02] [ 6.88966249e-02 9.97623793e-01 -1.51556830e-04 4.09701165e+00] [ 1.16928974e-02 -6.55612599e-04 9.99931421e-01 2.49660567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839254154 meters 0.029341071958415434 Centerline is valid? [True, True] Translation: X:377.08, Y:4.09, Z:2.50 [[ 9.97212621e-01 -7.34494327e-02 -1.31213454e-02 3.77080214e+02] [ 7.34535350e-02 9.97298626e-01 -1.69656106e-04 4.09370293e+00] [ 1.30983609e-02 -7.94625997e-04 9.99913897e-01 2.49589347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899254154 meters 0.03039174543945446 Centerline is valid? [True, True] Translation: X:377.14, Y:4.09, Z:2.50 [[ 9.96996223e-01 -7.62021418e-02 -1.38478917e-02 3.77141252e+02] [ 7.62069804e-02 9.97092004e-01 -1.78694198e-04 4.09320371e+00] [ 1.38212390e-02 -8.77148573e-04 9.99904097e-01 2.49570703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959254154 meters 0.030350682037338997 Centerline is valid? [True, True] Translation: X:377.20, Y:4.10, Z:2.50 [[ 9.96884900e-01 -7.75393355e-02 -1.44273491e-02 3.77203569e+02] [ 7.75447402e-02 9.96988856e-01 -1.85262627e-04 4.09524734e+00] [ 1.43982714e-02 -9.34079524e-04 9.99895903e-01 2.49622511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019254154 meters 0.03090342476090253 Centerline is valid? [True, True] Translation: X:377.27, Y:4.10, Z:2.50 [[ 9.96896564e-01 -7.73830400e-02 -1.44605170e-02 3.77265350e+02] [ 7.73884689e-02 9.97000998e-01 -1.84598248e-04 4.09630494e+00] [ 1.44314347e-02 -9.35051911e-04 9.99895424e-01 2.49668645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079254154 meters 0.0323238859709099 Centerline is valid? [True, True] Translation: X:377.33, Y:4.10, Z:2.50 [[ 9.97007447e-01 -7.62220245e-02 -1.28978360e-02 3.77326715e+02] [ 7.62262640e-02 9.97090533e-01 -1.63294593e-04 4.09816047e+00] [ 1.28727568e-02 -8.20347925e-04 9.99916806e-01 2.49863046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139254154 meters 0.03181972512029545 Centerline is valid? [True, True] Translation: X:377.39, Y:4.10, Z:2.50 [[ 9.97305727e-01 -7.24083521e-02 -1.17608157e-02 3.77387381e+02] [ 7.24116243e-02 9.97374822e-01 -1.47914333e-04 4.10476602e+00] [ 1.17406517e-02 -7.04103959e-04 9.99930828e-01 2.50092650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199254154 meters 0.03078105776085172 Centerline is valid? [True, True] Translation: X:377.45, Y:4.11, Z:2.50 [[ 9.97584986e-01 -6.84821350e-02 -1.15927941e-02 3.77448246e+02] [ 6.84850529e-02 9.97652132e-01 -1.45565238e-04 4.11003472e+00] [ 1.15755443e-02 -6.48719420e-04 9.99932791e-01 2.50223739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259254154 meters 0.024852737877470533 Centerline is valid? [True, True] Translation: X:377.51, Y:4.12, Z:2.50 [[ 9.98018292e-01 -6.17808035e-02 -1.19423987e-02 3.77508469e+02] [ 6.17834233e-02 9.98089568e-01 -1.49789193e-04 4.12435001e+00] [ 1.19288376e-02 -5.88349919e-04 9.99928676e-01 2.50301057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319254154 meters 0.02250532756434822 Centerline is valid? [True, True] Translation: X:377.57, Y:4.13, Z:2.50 [[ 9.98451924e-01 -5.39888864e-02 -1.33774260e-02 3.77569407e+02] [ 5.39914772e-02 9.98541382e-01 -1.67672195e-04 4.13425586e+00] [ 1.33669659e-02 -5.54854364e-04 9.99910504e-01 2.50286540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379254154 meters 0.020587823887568208 Centerline is valid? [True, True] Translation: X:377.63, Y:4.14, Z:2.50 [[ 9.98683089e-01 -4.89309391e-02 -1.54224095e-02 3.77629613e+02] [ 4.89337825e-02 9.98802006e-01 -1.93163951e-04 4.14059136e+00] [ 1.54133853e-02 -5.61767263e-04 9.99881049e-01 2.50206285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters 0.018164068649096667 Centerline is valid? [True, True] Translation: X:377.69, Y:4.15, Z:2.50 [[ 9.99000988e-01 -4.17985425e-02 -1.58084953e-02 3.77690577e+02] [ 4.18006405e-02 9.99125952e-01 -1.97828929e-04 4.15030293e+00] [ 1.58029469e-02 -4.63173933e-04 9.99875018e-01 2.50314636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters 0.017581475179162514 Centerline is valid? [True, True] Translation: X:377.75, Y:4.16, Z:2.50 [[ 9.99225856e-01 -3.67856847e-02 -1.39464062e-02 3.77750716e+02] [ 3.67868329e-02 9.99323120e-01 -1.74280101e-04 4.15585590e+00] [ 1.39433772e-02 -3.38898930e-04 9.99902729e-01 2.50472065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters 0.017288122749354904 Centerline is valid? [True, True] Translation: X:377.81, Y:4.16, Z:2.51 [[ 9.99302589e-01 -3.50541660e-02 -1.28662876e-02 3.77812607e+02] [ 3.50550071e-02 9.99385372e-01 -1.60219128e-04 4.16002426e+00] [ 1.28639960e-02 -2.90920415e-04 9.99917213e-01 2.50625790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters 0.017607181911091375 Centerline is valid? [True, True] Translation: X:377.87, Y:4.16, Z:2.51 [[ 9.99245097e-01 -3.68161797e-02 -1.24018087e-02 3.77874481e+02] [ 3.68171077e-02 9.99322009e-01 -1.53551521e-04 4.16120812e+00] [ 1.23990536e-02 -3.03163123e-04 9.99923083e-01 2.50708559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters 0.018875968554696997 Centerline is valid? [True, True] Translation: X:377.94, Y:4.16, Z:2.51 [[ 9.99104816e-01 -4.04046583e-02 -1.25311445e-02 3.77936489e+02] [ 4.04058992e-02 9.99183336e-01 -1.54238352e-04 4.16008871e+00] [ 1.25271428e-02 -3.52231883e-04 9.99921470e-01 2.50705347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters 0.021002398798266143 Centerline is valid? [True, True] Translation: X:378.00, Y:4.16, Z:2.51 [[ 9.98885010e-01 -4.52060894e-02 -1.36068612e-02 3.77996897e+02] [ 4.52080064e-02 9.98977582e-01 -1.66827382e-04 4.15668570e+00] [ 1.36004909e-02 -4.48497695e-04 9.99907408e-01 2.50678493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.799254154 meters 0.02602486297940031 Centerline is valid? [True, True] Translation: X:378.06, Y:4.15, Z:2.50 [[ 9.98519664e-01 -5.20582040e-02 -1.57614874e-02 3.78056902e+02] [ 5.20616332e-02 9.98643855e-01 -1.92946349e-04 4.15036479e+00] [ 1.57501570e-02 -6.27908051e-04 9.99875761e-01 2.50401039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.859254154 meters 0.022782016901331793 Centerline is valid? [True, True] Translation: X:378.12, Y:4.15, Z:2.51 [[ 9.98206175e-01 -5.77353334e-02 -1.58450050e-02 3.78117968e+02] [ 5.77395164e-02 9.98331664e-01 -1.93730683e-04 4.15462899e+00] [ 1.58297553e-02 -7.21499760e-04 9.99874441e-01 2.50715268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.919254154 meters 0.02352579943150131 Centerline is valid? [True, True] Translation: X:378.18, Y:4.15, Z:2.51 [[ 9.98151502e-01 -5.87696501e-02 -1.54825096e-02 3.78179638e+02] [ 5.87737865e-02 9.98271309e-01 -1.88096827e-04 4.15484775e+00] [ 1.54667995e-02 -7.22216587e-04 9.99880121e-01 2.50830701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.979254154 meters 0.02354769443410285 Centerline is valid? [True, True] Translation: X:378.24, Y:4.16, Z:2.51 [[ 9.98166902e-01 -5.86852834e-02 -1.47943613e-02 3.78241512e+02] [ 5.86890721e-02 9.98276295e-01 -1.78312395e-04 4.15657933e+00] [ 1.47793245e-02 -6.90281809e-04 9.99890542e-01 2.50931532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.039254154 meters 0.0239965127604578 Centerline is valid? [True, True] Translation: X:378.30, Y:4.16, Z:2.51 [[ 9.98165162e-01 -5.84572571e-02 -1.57815596e-02 3.78304219e+02] [ 5.84615645e-02 9.98289642e-01 -1.88655472e-04 4.15777496e+00] [ 1.57655958e-02 -7.34305345e-04 9.99875446e-01 2.50987862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.099254154 meters 0.024693762552555662 Centerline is valid? [True, True] Translation: X:378.37, Y:4.16, Z:2.51 [[ 9.98116385e-01 -5.89407954e-02 -1.70195454e-02 3.78366098e+02] [ 5.89459021e-02 9.98261158e-01 -2.01884329e-04 4.15770577e+00] [ 1.70018503e-02 -8.01728400e-04 9.99855137e-01 2.50943058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.159254154 meters 0.026301609010886705 Centerline is valid? [True, True] Translation: X:378.43, Y:4.16, Z:2.51 [[ 9.98015682e-01 -6.01434899e-02 -1.86402311e-02 3.78427670e+02] [ 6.01498571e-02 9.98189334e-01 -2.19391243e-04 4.15677098e+00] [ 1.86196749e-02 -9.02251338e-04 9.99826232e-01 2.50873651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.219254154 meters 0.0275055033640695 Centerline is valid? [True, True] Translation: X:378.49, Y:4.16, Z:2.51 [[ 9.98021205e-01 -5.93737958e-02 -2.06984873e-02 3.78489183e+02] [ 5.93815128e-02 9.98235332e-01 -2.42133444e-04 4.15782085e+00] [ 2.06763378e-02 -9.87453179e-04 9.99785734e-01 2.50809912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279254154 meters 0.025279509502592508 Centerline is valid? [True, True] Translation: X:378.55, Y:4.16, Z:2.51 [[ 9.98198428e-01 -5.62450832e-02 -2.08899454e-02 3.78550567e+02] [ 5.62522782e-02 9.98416557e-01 -2.43497314e-04 4.16382803e+00] [ 2.08705629e-02 -9.32048383e-04 9.99781752e-01 2.50963405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339254154 meters 0.02187069860081875 Centerline is valid? [True, True] Translation: X:378.61, Y:4.18, Z:2.51 [[ 9.98644274e-01 -4.77866255e-02 -2.06410149e-02 3.78610552e+02] [ 4.77918504e-02 9.98857288e-01 -2.40364203e-04 4.17594701e+00] [ 2.06289144e-02 -7.46433962e-04 9.99786923e-01 2.51106207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399254154 meters 0.01874396568997784 Centerline is valid? [True, True] Translation: X:378.67, Y:4.19, Z:2.51 [[ 9.99113362e-01 -3.77394305e-02 -1.86607962e-02 3.78670008e+02] [ 3.77419451e-02 9.99287495e-01 -2.17531398e-04 4.18611707e+00] [ 1.86557098e-02 -4.86956220e-04 9.99825849e-01 2.51339999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459254154 meters 0.01533951672574546 Centerline is valid? [True, True] Translation: X:378.73, Y:4.20, Z:2.52 [[ 9.99487673e-01 -2.71588349e-02 -1.69348648e-02 3.78730259e+02] [ 2.71593853e-02 9.99631096e-01 -1.97525652e-04 4.19836409e+00] [ 1.69339821e-02 -2.62516065e-04 9.99856575e-01 2.51688245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519254154 meters 0.014264753394301005 Centerline is valid? [True, True] Translation: X:378.79, Y:4.21, Z:2.52 [[ 9.99710403e-01 -1.79582946e-02 -1.60190187e-02 3.78791324e+02] [ 1.79576086e-02 9.99838732e-01 -1.86671686e-04 4.20615167e+00] [ 1.60197876e-02 -1.01045641e-04 9.99871670e-01 2.51766144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579254154 meters 0.014208884440747312 Centerline is valid? [True, True] Translation: X:378.85, Y:4.21, Z:2.52 [[ 9.99744387e-01 -1.56327432e-02 -1.63333203e-02 3.78850051e+02] [ 1.56317111e-02 9.99877799e-01 -1.90860300e-04 4.20814453e+00] [ 1.63343080e-02 -6.45062313e-05 9.99866584e-01 2.51685685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639254154 meters 0.014270301281534142 Centerline is valid? [True, True] Translation: X:378.91, Y:4.21, Z:2.52 [[ 9.99672551e-01 -1.86271672e-02 -1.75447622e-02 3.78908924e+02] [ 1.86263799e-02 9.99826492e-01 -2.08296265e-04 4.20596728e+00] [ 1.75455980e-02 -1.18567349e-04 9.99846057e-01 2.51580166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699254154 meters 0.015031428164834616 Centerline is valid? [True, True] Translation: X:378.97, Y:4.20, Z:2.52 [[ 9.99481247e-01 -2.66311767e-02 -1.81112253e-02 3.78968957e+02] [ 2.66316113e-02 9.99645292e-01 -2.17227162e-04 4.20045919e+00] [ 1.81105861e-02 -2.65216637e-04 9.99835955e-01 2.51523002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759254154 meters 0.016733998742772843 Centerline is valid? [True, True] Translation: X:379.03, Y:4.19, Z:2.51 [[ 9.99299303e-01 -3.28156864e-02 -1.80009184e-02 3.79028083e+02] [ 3.28171067e-02 9.99461350e-01 -2.16561139e-04 4.19498290e+00] [ 1.79983288e-02 -3.74328666e-04 9.99837947e-01 2.51460455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819254154 meters 0.017841724603351154 Centerline is valid? [True, True] Translation: X:379.09, Y:4.19, Z:2.52 [[ 9.99007937e-01 -4.11293844e-02 -1.70738383e-02 3.79089051e+02] [ 4.11318745e-02 9.99153705e-01 -2.05445542e-04 4.19041558e+00] [ 1.70678386e-02 -4.97037246e-04 9.99854210e-01 2.51629946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879254154 meters 0.019132693488566613 Centerline is valid? [True, True] Translation: X:379.15, Y:4.19, Z:2.52 [[ 9.98813339e-01 -4.59314152e-02 -1.61931526e-02 3.79150054e+02] [ 4.59342900e-02 9.98944444e-01 -1.94552198e-04 4.18687742e+00] [ 1.61849959e-02 -5.49499639e-04 9.99868863e-01 2.51688223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters 0.022840149504088823 Centerline is valid? [True, True] Translation: X:379.21, Y:4.18, Z:2.52 [[ 9.98537937e-01 -5.19121936e-02 -1.50702849e-02 3.79210198e+02] [ 5.19153652e-02 9.98651472e-01 -1.80944823e-04 4.17953206e+00] [ 1.50593554e-02 -6.01699073e-04 9.99886420e-01 2.51685389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters 0.022492780933952843 Centerline is valid? [True, True] Translation: X:379.27, Y:4.18, Z:2.52 [[ 9.98256310e-01 -5.73346093e-02 -1.40386300e-02 3.79271187e+02] [ 5.73378984e-02 9.98354815e-01 -1.68420040e-04 4.18012673e+00] [ 1.40251902e-02 -6.36819176e-04 9.99901439e-01 2.51800964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters 0.02505143534795275 Centerline is valid? [True, True] Translation: X:379.33, Y:4.18, Z:2.52 [[ 9.97844095e-01 -6.41641807e-02 -1.37884360e-02 3.79331719e+02] [ 6.41680058e-02 9.97939096e-01 -1.65272216e-04 4.17656362e+00] [ 1.37706239e-02 -7.19860536e-04 9.99904921e-01 2.51755848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters 0.026938289589996847 Centerline is valid? [True, True] Translation: X:379.39, Y:4.17, Z:2.52 [[ 9.97522486e-01 -6.89764625e-02 -1.38252605e-02 3.79391920e+02] [ 6.89807694e-02 9.97617976e-01 -1.65660916e-04 4.17410671e+00] [ 1.38037551e-02 -7.88426619e-04 9.99904413e-01 2.51725451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters 0.029230818772548326 Centerline is valid? [True, True] Translation: X:379.45, Y:4.17, Z:2.52 [[ 9.97119549e-01 -7.43400976e-02 -1.50384283e-02 3.79452215e+02] [ 7.43458022e-02 9.97232505e-01 -1.80136521e-04 4.17252954e+00] [ 1.50102009e-02 -9.38426368e-04 9.99886900e-01 2.51626664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters 0.03446983941181095 Centerline is valid? [True, True] Translation: X:379.51, Y:4.17, Z:2.51 [[ 9.97007005e-01 -7.52467843e-02 -1.77469111e-02 3.79513532e+02] [ 7.52548838e-02 9.97164308e-01 -2.11939416e-04 4.16898675e+00] [ 1.77125341e-02 -1.12423665e-03 9.99842489e-01 2.51338126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.299254154 meters 0.030430395064683438 Centerline is valid? [True, True] Translation: X:379.57, Y:4.18, Z:2.51 [[ 9.97126170e-01 -7.32628916e-02 -1.92859802e-02 3.79574914e+02] [ 7.32721045e-02 9.97311960e-01 -2.29443892e-04 4.17880203e+00] [ 1.92509485e-02 -1.18433985e-03 9.99813982e-01 2.51313647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.359254154 meters 0.02799310738120359 Centerline is valid? [True, True] Translation: X:379.64, Y:4.19, Z:2.52 [[ 9.97534698e-01 -6.76015761e-02 -1.88295675e-02 3.79635396e+02] [ 6.76093571e-02 9.97711845e-01 -2.23772630e-04 4.18797993e+00] [ 1.88016099e-02 -1.04983399e-03 9.99822683e-01 2.51547873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.419254154 meters 0.025024391847109934 Centerline is valid? [True, True] Translation: X:379.70, Y:4.20, Z:2.52 [[ 9.98085771e-01 -5.93542374e-02 -1.73743540e-02 3.79696184e+02] [ 5.93596177e-02 9.98236642e-01 -2.06326432e-04 4.20001531e+00] [ 1.73559631e-02 -8.25403535e-04 9.99849033e-01 2.51870533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.479254154 meters 0.023669433766234423 Centerline is valid? [True, True] Translation: X:379.76, Y:4.21, Z:2.52 [[ 9.98452439e-01 -5.30643902e-02 -1.66402309e-02 3.79755283e+02] [ 5.30684521e-02 9.98590857e-01 -1.97680259e-04 4.20751464e+00] [ 1.66272723e-02 -6.85696961e-04 9.99861522e-01 2.52057799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.539254154 meters 0.019970473588310923 Centerline is valid? [True, True] Translation: X:379.82, Y:4.22, Z:2.52 [[ 9.98929996e-01 -4.33631113e-02 -1.60780652e-02 3.79816056e+02] [ 4.33656489e-02 9.99059250e-01 -1.90943056e-04 4.22088149e+00] [ 1.60712196e-02 -5.06496984e-04 9.99870721e-01 2.52201040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.599254154 meters 0.017120545784181335 Centerline is valid? [True, True] Translation: X:379.88, Y:4.23, Z:2.52 [[ 9.99205935e-01 -3.62918039e-02 -1.64440038e-02 3.79876615e+02] [ 3.62935062e-02 9.99341155e-01 -1.94990127e-04 4.22987517e+00] [ 1.64402463e-02 -4.01975263e-04 9.99864769e-01 2.52346727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.659254154 meters 0.015895892601565757 Centerline is valid? [True, True] Translation: X:379.94, Y:4.24, Z:2.52 [[ 9.99418164e-01 -2.94431960e-02 -1.72171875e-02 3.79937879e+02] [ 2.94440550e-02 9.99566409e-01 -2.03651598e-04 4.23643001e+00] [ 1.72157184e-02 -3.03410709e-04 9.99851753e-01 2.52278417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.719254154 meters 0.01565162576431537 Centerline is valid? [True, True] Translation: X:380.00, Y:4.24, Z:2.52 [[ 9.99534599e-01 -2.44872404e-02 -1.81923458e-02 3.79998821e+02] [ 2.44873872e-02 9.99700116e-01 -2.14725894e-04 4.24050724e+00] [ 1.81921483e-02 -2.30857056e-04 9.99834483e-01 2.52216822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779254154 meters 0.014250916120190589 Centerline is valid? [True, True] Translation: X:380.06, Y:4.25, Z:2.52 [[ 9.99667758e-01 -1.79526599e-02 -1.84953022e-02 3.80059550e+02] [ 1.79516955e-02 9.99838832e-01 -2.18180271e-04 4.24661761e+00] [ 1.84962383e-02 -1.13914251e-04 9.99828923e-01 2.52260543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839254154 meters 0.014035704165905823 Centerline is valid? [True, True] Translation: X:380.12, Y:4.25, Z:2.52 [[ 9.99729967e-01 -1.47809439e-02 -1.79308650e-02 3.80118640e+02] [ 1.47794781e-02 9.99890755e-01 -2.14267287e-04 4.24911009e+00] [ 1.79320732e-02 -5.07993973e-05 9.99839206e-01 2.52316953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899254154 meters 0.013995189371417078 Centerline is valid? [True, True] Translation: X:380.18, Y:4.25, Z:2.52 [[ 9.99793405e-01 -1.28280449e-02 -1.57666731e-02 3.80177256e+02] [ 1.28266091e-02 9.99917717e-01 -1.92189526e-04 4.24929211e+00] [ 1.57678412e-02 -1.00831323e-05 9.99875680e-01 2.52478034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959254154 meters 0.013768323611431085 Centerline is valid? [True, True] Translation: X:380.24, Y:4.25, Z:2.53 [[ 9.99814120e-01 -1.39272377e-02 -1.33325497e-02 3.80235575e+02] [ 1.39262665e-02 9.99903011e-01 -1.65687905e-04 4.24607220e+00] [ 1.33335642e-02 -2.00155335e-05 9.99911104e-01 2.52561340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019254154 meters 0.013848162484377044 Centerline is valid? [True, True] Translation: X:380.29, Y:4.24, Z:2.53 [[ 9.99800405e-01 -1.54045490e-02 -1.27220448e-02 3.80294149e+02] [ 1.54037437e-02 9.99881342e-01 -1.61288890e-04 4.24498378e+00] [ 1.27230198e-02 -3.47104204e-05 9.99919059e-01 2.52589408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079254154 meters 0.015051521579373407 Centerline is valid? [True, True] Translation: X:380.35, Y:4.24, Z:2.53 [[ 9.99650679e-01 -2.30294831e-02 -1.29677516e-02 3.80353765e+02] [ 2.30292621e-02 9.99734778e-01 -1.66391620e-04 4.23605678e+00] [ 1.29681442e-02 -1.32304254e-04 9.99915901e-01 2.52516266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139254154 meters 0.015345184252018057 Centerline is valid? [True, True] Translation: X:380.42, Y:4.23, Z:2.52 [[ 9.99456746e-01 -3.04064052e-02 -1.27146959e-02 3.80415508e+02] [ 3.04067891e-02 9.99537593e-01 -1.63166147e-04 4.22815086e+00] [ 1.27137779e-02 -2.23535572e-04 9.99919152e-01 2.52437965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199254154 meters 0.018263912286006625 Centerline is valid? [True, True] Translation: X:380.48, Y:4.21, Z:2.52 [[ 9.99114365e-01 -4.02026760e-02 -1.24189939e-02 3.80475918e+02] [ 4.02038013e-02 9.99191488e-01 -1.59125926e-04 4.21453846e+00] [ 1.24153503e-02 -3.40305766e-04 9.99922869e-01 2.52308320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259254154 meters 0.019584184356434022 Centerline is valid? [True, True] Translation: X:380.54, Y:4.21, Z:2.52 [[ 9.98873606e-01 -4.55086903e-02 -1.34341953e-02 3.80537609e+02] [ 4.55104898e-02 9.98963846e-01 -1.71888199e-04 4.20768095e+00] [ 1.34280978e-02 -4.39702225e-04 9.99909742e-01 2.52246084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319254154 meters 0.020819793578043904 Centerline is valid? [True, True] Translation: X:380.60, Y:4.20, Z:2.52 [[ 9.98803478e-01 -4.68778972e-02 -1.39310598e-02 3.80598884e+02] [ 4.68799744e-02 9.98900514e-01 -1.77600051e-04 4.20233040e+00] [ 1.39240683e-02 -4.75700177e-04 9.99902942e-01 2.52184656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379254154 meters 0.02042431983461637 Centerline is valid? [True, True] Translation: X:380.66, Y:4.20, Z:2.52 [[ 9.98809406e-01 -4.66358476e-02 -1.43132368e-02 3.80661200e+02] [ 4.66380287e-02 9.98911839e-01 -1.81545155e-04 4.20159298e+00] [ 1.43061282e-02 -4.86212140e-04 9.99897544e-01 2.52223620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters 0.021460448716199912 Centerline is valid? [True, True] Translation: X:380.72, Y:4.20, Z:2.52 [[ 9.98853441e-01 -4.54299121e-02 -1.50972520e-02 3.80722771e+02] [ 4.54322158e-02 9.98967406e-01 -1.90523429e-04 4.19762582e+00] [ 1.50903181e-02 -4.95596629e-04 9.99886012e-01 2.52156751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters 0.0179970231853436 Centerline is valid? [True, True] Translation: X:380.78, Y:4.20, Z:2.52 [[ 9.98955700e-01 -4.28664036e-02 -1.58107562e-02 3.80784523e+02] [ 4.28686263e-02 9.99080698e-01 -1.98462295e-04 4.20180182e+00] [ 1.58047287e-02 -4.79530355e-04 9.99874982e-01 2.52229373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters 0.01729572850843553 Centerline is valid? [True, True] Translation: X:380.85, Y:4.20, Z:2.52 [[ 9.99100273e-01 -3.87697763e-02 -1.71915253e-02 3.80846108e+02] [ 3.87718145e-02 9.99248067e-01 -2.14850439e-04 4.20192028e+00] [ 1.71869281e-02 -4.51889496e-04 9.99852192e-01 2.52186154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters 0.017856079918962375 Centerline is valid? [True, True] Translation: X:380.91, Y:4.20, Z:2.52 [[ 9.99193866e-01 -3.55013788e-02 -1.87421861e-02 3.80907358e+02] [ 3.55032403e-02 9.99369534e-01 -2.33506161e-04 4.20372055e+00] [ 1.87386596e-02 -4.32090413e-04 9.99824323e-01 2.52231579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters 0.015769679871865193 Centerline is valid? [True, True] Translation: X:380.97, Y:4.21, Z:2.52 [[ 9.99331781e-01 -3.10150242e-02 -1.93406267e-02 3.80968363e+02] [ 3.10161808e-02 9.99518854e-01 -2.40235169e-04 4.20644915e+00] [ 1.93387719e-02 -3.59797734e-04 9.99812924e-01 2.52326363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters 0.01515868389958446 Centerline is valid? [True, True] Translation: X:381.03, Y:4.21, Z:2.52 [[ 9.99475047e-01 -2.52190943e-02 -2.03378476e-02 3.81028997e+02] [ 2.52191789e-02 9.99681914e-01 -2.52360439e-04 4.20999893e+00] [ 2.03377427e-02 -2.60675854e-04 9.99793133e-01 2.52260567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.799254154 meters 0.014439907149564831 Centerline is valid? [True, True] Translation: X:381.09, Y:4.21, Z:2.52 [[ 9.99565851e-01 -2.12593822e-02 -2.03997176e-02 3.81088009e+02] [ 2.12585696e-02 9.99773978e-01 -2.56713921e-04 4.21395989e+00] [ 2.04005644e-02 -1.77066347e-04 9.99791871e-01 2.52457050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.859254154 meters 0.014049548276611739 Centerline is valid? [True, True] Translation: X:381.15, Y:4.22, Z:2.53 [[ 9.99675424e-01 -1.57474994e-02 -2.00265709e-02 3.81145722e+02] [ 1.57455512e-02 9.99875999e-01 -2.54966220e-04 4.21794703e+00] [ 2.00281026e-02 -6.04459332e-05 9.99799416e-01 2.52576319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.919254154 meters 0.014010652811617508 Centerline is valid? [True, True] Translation: X:381.20, Y:4.22, Z:2.53 [[ 9.99732527e-01 -1.20667037e-02 -1.97298967e-02 3.81203401e+02] [ 1.20640084e-02 9.99927195e-01 -2.55631020e-04 4.22079880e+00] [ 1.97315449e-02 1.75410068e-05 9.99805314e-01 2.52691497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.979254154 meters 0.01418442961431468 Centerline is valid? [True, True] Translation: X:381.26, Y:4.22, Z:2.53 [[ 9.99747927e-01 -1.08330144e-02 -1.96654033e-02 3.81260750e+02] [ 1.08300083e-02 9.99941320e-01 -2.59359156e-04 4.22251566e+00] [ 1.96670590e-02 4.63172980e-05 9.99806584e-01 2.52700350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.039254154 meters 0.014071341132856586 Centerline is valid? [True, True] Translation: X:381.32, Y:4.22, Z:2.53 [[ 9.99765971e-01 -9.86961761e-03 -1.92508012e-02 3.81318376e+02] [ 9.86646278e-03 9.99951292e-01 -2.58853033e-04 4.22293719e+00] [ 1.92524183e-02 6.88551405e-05 9.99814653e-01 2.52888728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.099254154 meters 0.014090088934805378 Centerline is valid? [True, True] Translation: X:381.38, Y:4.22, Z:2.53 [[ 9.99773644e-01 -1.04646303e-02 -1.85243865e-02 3.81375740e+02] [ 1.04617569e-02 9.99945243e-01 -2.52015314e-04 4.22055340e+00] [ 1.85260094e-02 5.81606412e-05 9.99828377e-01 2.52814422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.159254154 meters 0.013777587141663132 Centerline is valid? [True, True] Translation: X:381.43, Y:4.22, Z:2.53 [[ 9.99777844e-01 -1.19161713e-02 -1.73858388e-02 3.81434466e+02] [ 1.19138025e-02 9.99928999e-01 -2.39820049e-04 4.21663222e+00] [ 1.73874621e-02 3.26353214e-05 9.99848826e-01 2.52889548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.219254154 meters 0.0139556821971902 Centerline is valid? [True, True] Translation: X:381.49, Y:4.21, Z:2.53 [[ 9.99769881e-01 -1.36763232e-02 -1.65270353e-02 3.81491945e+02] [ 1.36743476e-02 9.99906475e-01 -2.32543198e-04 4.21408574e+00] [ 1.65286700e-02 6.49325993e-06 9.99863392e-01 2.52934434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279254154 meters 0.015148588367958784 Centerline is valid? [True, True] Translation: X:381.55, Y:4.21, Z:2.53 [[ 9.99724591e-01 -1.70364028e-02 -1.61401121e-02 3.81549893e+02] [ 1.70348793e-02 9.99854869e-01 -2.31881969e-04 4.20808722e+00] [ 1.61417201e-02 -4.31267545e-05 9.99869713e-01 2.52805989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339254154 meters 0.013937810781513457 Centerline is valid? [True, True] Translation: X:381.61, Y:4.20, Z:2.53 [[ 9.99693888e-01 -1.99035486e-02 -1.46962419e-02 3.81608234e+02] [ 1.99025576e-02 9.99801902e-01 -2.13700337e-04 4.20414036e+00] [ 1.46975840e-02 -7.88578805e-05 9.99891982e-01 2.52766061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399254154 meters 0.015697002282532575 Centerline is valid? [True, True] Translation: X:381.67, Y:4.20, Z:2.53 [[ 9.99579474e-01 -2.51637697e-02 -1.44103865e-02 3.81666973e+02] [ 2.51633257e-02 9.99683331e-01 -2.12154197e-04 4.19927075e+00] [ 1.44111618e-02 -1.50548269e-04 9.99896142e-01 2.52832620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459254154 meters 0.01527516564025942 Centerline is valid? [True, True] Translation: X:381.73, Y:4.19, Z:2.53 [[ 9.99377703e-01 -3.24160757e-02 -1.39070084e-02 3.81727177e+02] [ 3.24163387e-02 9.99474431e-01 -2.06564161e-04 4.19178891e+00] [ 1.39063953e-02 -2.44378678e-04 9.99903272e-01 2.52737877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519254154 meters 0.01732831126477875 Centerline is valid? [True, True] Translation: X:381.79, Y:4.18, Z:2.53 [[ 9.99100353e-01 -4.01128669e-02 -1.37638439e-02 3.81787408e+02] [ 4.01138527e-02 9.99195095e-01 -2.04560675e-04 4.18356261e+00] [ 1.37609708e-02 -3.47744165e-04 9.99905253e-01 2.52640134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579254154 meters 0.018328785714646627 Centerline is valid? [True, True] Translation: X:381.85, Y:4.18, Z:2.53 [[ 9.98915496e-01 -4.47766717e-02 -1.27625249e-02 3.81848799e+02] [ 4.47779023e-02 9.98996949e-01 -1.89454988e-04 4.18122642e+00] [ 1.27582066e-02 -3.82229570e-04 9.99918538e-01 2.52725049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639254154 meters 0.01956915849896992 Centerline is valid? [True, True] Translation: X:381.91, Y:4.18, Z:2.53 [[ 9.98681825e-01 -4.99626013e-02 -1.17622861e-02 3.81909549e+02] [ 4.99640112e-02 9.98751004e-01 -1.74142857e-04 4.17824754e+00] [ 1.17562956e-02 -4.13777686e-04 9.99930807e-01 2.52760592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699254154 meters 0.021475464074844446 Centerline is valid? [True, True] Translation: X:381.97, Y:4.18, Z:2.53 [[ 9.98598497e-01 -5.16192190e-02 -1.16832171e-02 3.81970573e+02] [ 5.16207331e-02 9.98666746e-01 -1.72125402e-04 4.17599791e+00] [ 1.16765254e-02 -4.31212065e-04 9.99931734e-01 2.52742056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759254154 meters 0.019597745544826482 Centerline is valid? [True, True] Translation: X:382.03, Y:4.18, Z:2.53 [[ 9.98671902e-01 -5.02406852e-02 -1.14151788e-02 3.82032539e+02] [ 5.02420528e-02 9.98737057e-01 -1.67115084e-04 4.18116734e+00] [ 1.14091580e-02 -4.06628875e-04 9.99934831e-01 2.52834018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819254154 meters 0.020521681138710474 Centerline is valid? [True, True] Translation: X:382.09, Y:4.18, Z:2.53 [[ 9.98850574e-01 -4.62892522e-02 -1.24432823e-02 3.82093397e+02] [ 4.62905805e-02 9.98928000e-01 -1.81403225e-04 4.18312882e+00] [ 1.24383401e-02 -3.94812043e-04 9.99922563e-01 2.52757309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879254154 meters 0.018371004199879547 Centerline is valid? [True, True] Translation: X:382.15, Y:4.19, Z:2.53 [[ 9.98987591e-01 -4.30208235e-02 -1.31529986e-02 3.82154793e+02] [ 4.30220311e-02 9.99074105e-01 -1.91250522e-04 4.18944590e+00] [ 1.31490481e-02 -3.74811818e-04 9.99913477e-01 2.52803715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters 0.017618920108206926 Centerline is valid? [True, True] Translation: X:382.22, Y:4.19, Z:2.53 [[ 9.99125521e-01 -3.96270714e-02 -1.33374794e-02 3.82216178e+02] [ 3.96280175e-02 9.99214483e-01 -1.93444111e-04 4.19370828e+00] [ 1.33346682e-02 -3.35262918e-04 9.99911033e-01 2.52798418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters 0.016256867847361738 Centerline is valid? [True, True] Translation: X:382.28, Y:4.20, Z:2.53 [[ 9.99269239e-01 -3.54009865e-02 -1.44138120e-02 3.82277449e+02] [ 3.54016599e-02 9.99373143e-01 -2.08510420e-04 4.20132219e+00] [ 1.44121581e-02 -3.01914822e-04 9.99896094e-01 2.52824622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters 0.015509494518808297 Centerline is valid? [True, True] Translation: X:382.34, Y:4.21, Z:2.53 [[ 9.99354553e-01 -3.29063231e-02 -1.44101215e-02 3.82338832e+02] [ 3.29067446e-02 9.99458405e-01 -2.07924614e-04 4.20646983e+00] [ 1.44091590e-02 -2.66399777e-04 9.99896147e-01 2.52908793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters 0.015355947596797797 Centerline is valid? [True, True] Translation: X:382.40, Y:4.21, Z:2.53 [[ 9.99379391e-01 -3.21919653e-02 -1.43007092e-02 3.82400050e+02] [ 3.21923148e-02 9.99481672e-01 -2.05818057e-04 4.20999189e+00] [ 1.42999224e-02 -2.54682609e-04 9.99897718e-01 2.53031758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters 0.01647758754335537 Centerline is valid? [True, True] Translation: X:382.46, Y:4.21, Z:2.53 [[ 9.99267802e-01 -3.57281657e-02 -1.36879084e-02 3.82461749e+02] [ 3.57288241e-02 9.99361502e-01 -1.96507326e-04 4.20989651e+00] [ 1.36861896e-02 -2.92689430e-04 9.99906297e-01 2.53140232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.239254154 meters 0.017622728368078024 Centerline is valid? [True, True] Translation: X:382.52, Y:4.21, Z:2.53 [[ 9.99161746e-01 -3.85735610e-02 -1.37071508e-02 3.82523170e+02] [ 3.85744975e-02 9.99255708e-01 -1.96159979e-04 4.20833768e+00] [ 1.37045153e-02 -3.32750907e-04 9.99906033e-01 2.53216562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.299254154 meters 0.0172533486001295 Centerline is valid? [True, True] Translation: X:382.59, Y:4.21, Z:2.53 [[ 9.99055010e-01 -4.10687951e-02 -1.42281609e-02 3.82585316e+02] [ 4.10700703e-02 9.99156248e-01 -2.02678070e-04 4.21142234e+00] [ 1.42244796e-02 -3.81865026e-04 9.99898754e-01 2.53457603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.359254154 meters 0.018050860360661416 Centerline is valid? [True, True] Translation: X:382.65, Y:4.21, Z:2.54 [[ 9.99015912e-01 -4.17873957e-02 -1.48667552e-02 3.82646266e+02] [ 4.17888820e-02 9.99126441e-01 -2.10802021e-04 4.21225550e+00] [ 1.48625771e-02 -4.10670505e-04 9.99889461e-01 2.53610452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.419254154 meters 0.018834770488072906 Centerline is valid? [True, True] Translation: X:382.71, Y:4.21, Z:2.54 [[ 9.98997361e-01 -4.21890591e-02 -1.49785041e-02 3.82707529e+02] [ 4.21906329e-02 9.99109557e-01 -2.11047580e-04 4.21246229e+00] [ 1.49740705e-02 -4.21116592e-04 9.99887794e-01 2.53687877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.479254154 meters 0.01830897589928131 Centerline is valid? [True, True] Translation: X:382.77, Y:4.21, Z:2.54 [[ 9.98980084e-01 -4.23027968e-02 -1.57881258e-02 3.82769251e+02] [ 4.23045831e-02 9.99104736e-01 -2.20965395e-04 4.21499972e+00] [ 1.57833388e-02 -4.47170053e-04 9.99875335e-01 2.53797729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.539254154 meters 0.017165116845883552 Centerline is valid? [True, True] Translation: X:382.83, Y:4.22, Z:2.54 [[ 9.99031486e-01 -4.02333846e-02 -1.78147225e-02 3.82831023e+02] [ 4.02353549e-02 9.99190199e-01 -2.47946552e-04 4.21946748e+00] [ 1.78102719e-02 -4.69075270e-04 9.99841274e-01 2.53840009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.599254154 meters 0.01718090910309503 Centerline is valid? [True, True] Translation: X:382.89, Y:4.22, Z:2.54 [[ 9.99136526e-01 -3.63564653e-02 -2.01099680e-02 3.82892423e+02] [ 3.63582128e-02 9.99338783e-01 -2.78833256e-04 4.22315081e+00] [ 2.01068083e-02 -4.52570004e-04 9.99797735e-01 2.53836504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.659254154 meters 0.016222951056935928 Centerline is valid? [True, True] Translation: X:382.95, Y:4.23, Z:2.54 [[ 9.99224986e-01 -3.27175669e-02 -2.18858145e-02 3.82952132e+02] [ 3.27187644e-02 9.99464552e-01 -3.03461989e-04 4.22783752e+00] [ 2.18840243e-02 -4.12850006e-04 9.99760431e-01 2.53798524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.719254154 meters 0.016083526499416845 Centerline is valid? [True, True] Translation: X:383.01, Y:4.23, Z:2.54 [[ 9.99181140e-01 -3.29940258e-02 -2.34188882e-02 3.83011490e+02] [ 3.29954556e-02 9.99455449e-01 -3.25459707e-04 4.23022885e+00] [ 2.34168736e-02 -4.47523684e-04 9.99725687e-01 2.53911936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779254154 meters 0.017689351730429455 Centerline is valid? [True, True] Translation: X:383.07, Y:4.23, Z:2.54 [[ 9.99113423e-01 -3.34712482e-02 -2.55351540e-02 3.83069950e+02] [ 3.34730715e-02 9.99439556e-01 -3.56153132e-04 4.22947322e+00] [ 2.55327639e-02 -4.98902661e-04 9.99673861e-01 2.53819290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839254154 meters 0.016267834146853847 Centerline is valid? [True, True] Translation: X:383.13, Y:4.23, Z:2.54 [[ 9.99112414e-01 -3.35732984e-02 -2.54404857e-02 3.83127460e+02] [ 3.35749927e-02 9.99436136e-01 -3.60669469e-04 4.23278728e+00] [ 2.54382496e-02 -4.93814779e-04 9.99676273e-01 2.54126889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899254154 meters 0.01711387144039804 Centerline is valid? [True, True] Translation: X:383.19, Y:4.23, Z:2.54 [[ 9.99164100e-01 -3.25218245e-02 -2.47675621e-02 3.83185281e+02] [ 3.25230200e-02 9.99470924e-01 -3.54656912e-04 4.23225087e+00] [ 2.47659923e-02 -4.51155463e-04 9.99693174e-01 2.54220789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959254154 meters 0.015765354324536473 Centerline is valid? [True, True] Translation: X:383.24, Y:4.24, Z:2.55 [[ 9.99146417e-01 -3.28788341e-02 -2.50083746e-02 3.83243655e+02] [ 3.28800317e-02 9.99459240e-01 -3.63424713e-04 4.23507548e+00] [ 2.50068001e-02 -4.59161651e-04 9.99687176e-01 2.54625210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019254154 meters 0.01581546099172889 Centerline is valid? [True, True] Translation: X:383.30, Y:4.23, Z:2.55 [[ 9.99053066e-01 -3.49329036e-02 -2.59357499e-02 3.83302767e+02] [ 3.49347073e-02 9.99389523e-01 -3.83696502e-04 4.23325332e+00] [ 2.59333203e-02 -5.22724664e-04 9.99663538e-01 2.54733930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079254154 meters 0.017011660387378485 Centerline is valid? [True, True] Translation: X:383.36, Y:4.23, Z:2.55 [[ 9.98916600e-01 -3.75876892e-02 -2.74370708e-02 3.83360474e+02] [ 3.75906066e-02 9.99293139e-01 -4.09630584e-04 4.22918996e+00] [ 2.74330736e-02 -6.22189344e-04 9.99623449e-01 2.54690002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139254154 meters 0.017466315330210994 Centerline is valid? [True, True] Translation: X:383.42, Y:4.23, Z:2.55 [[ 9.98819060e-01 -3.84733215e-02 -2.96696799e-02 3.83417849e+02] [ 3.84769982e-02 9.99259386e-01 -4.47205600e-04 4.22796294e+00] [ 2.96649116e-02 -6.94922744e-04 9.99559658e-01 2.54723221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199254154 meters 0.01718431664203495 Centerline is valid? [True, True] Translation: X:383.48, Y:4.23, Z:2.55 [[ 9.98793824e-01 -3.82845331e-02 -3.07439776e-02 3.83476222e+02] [ 3.82881718e-02 9.99266628e-01 -4.70557380e-04 4.22895362e+00] [ 3.07394459e-02 -7.07140891e-04 9.99527181e-01 2.54802506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259254154 meters 0.017349083034485343 Centerline is valid? [True, True] Translation: X:383.53, Y:4.23, Z:2.55 [[ 9.98771033e-01 -3.80194577e-02 -3.17953662e-02 3.83534899e+02] [ 3.80229605e-02 9.99276743e-01 -4.94675714e-04 4.22792547e+00] [ 3.17911773e-02 -7.14886178e-04 9.99494277e-01 2.54791809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319254154 meters 0.016041860483234135 Centerline is valid? [True, True] Translation: X:383.59, Y:4.23, Z:2.55 [[ 9.98864272e-01 -3.60695139e-02 -3.11312883e-02 3.83593326e+02] [ 3.60716779e-02 9.99349084e-01 -4.92283666e-04 4.23070547e+00] [ 3.11287808e-02 -6.31233238e-04 9.99515183e-01 2.55175986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379254154 meters 0.015453280666862305 Centerline is valid? [True, True] Translation: X:383.65, Y:4.23, Z:2.55 [[ 9.99044334e-01 -3.17094334e-02 -3.00820717e-02 3.83651940e+02] [ 3.17093763e-02 9.99497016e-01 -4.79067735e-04 4.23350214e+00] [ 3.00821319e-02 -4.75273825e-04 9.99547317e-01 2.55321508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters 0.014322059069489855 Centerline is valid? [True, True] Translation: X:383.71, Y:4.24, Z:2.55 [[ 9.99334032e-01 -2.28455008e-02 -2.84530539e-02 3.83710643e+02] [ 2.28418105e-02 9.99738988e-01 -4.54756946e-04 4.23829348e+00] [ 2.84560165e-02 -1.95465174e-04 9.99595026e-01 2.55474063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters 0.013740067456045125 Centerline is valid? [True, True] Translation: X:383.77, Y:4.24, Z:2.56 [[ 9.99457753e-01 -1.73872873e-02 -2.79621616e-02 3.83769044e+02] [ 1.73814240e-02 9.99848829e-01 -4.52748383e-04 4.24061284e+00] [ 2.79658066e-02 -3.35193058e-05 9.99608880e-01 2.55659988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters 0.01380765336856139 Centerline is valid? [True, True] Translation: X:383.83, Y:4.24, Z:2.55 [[ 9.99451451e-01 -1.75588306e-02 -2.80799837e-02 3.83826229e+02] [ 1.75528162e-02 9.99845831e-01 -4.60683808e-04 4.23779799e+00] [ 2.80837437e-02 -3.24516928e-05 9.99605573e-01 2.55447846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters 0.013845767920376418 Centerline is valid? [True, True] Translation: X:383.88, Y:4.23, Z:2.55 [[ 9.99381049e-01 -2.20640022e-02 -2.73988751e-02 3.83883985e+02] [ 2.20597693e-02 9.99756549e-01 -4.56784257e-04 4.23195519e+00] [ 2.74022833e-02 -1.47911335e-04 9.99624476e-01 2.55365309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters 0.014310636795254685 Centerline is valid? [True, True] Translation: X:383.94, Y:4.23, Z:2.55 [[ 9.99299783e-01 -2.61919926e-02 -2.67193313e-02 3.83942562e+02] [ 2.61892573e-02 9.99656900e-01 -4.52366708e-04 4.22861821e+00] [ 2.67220123e-02 -2.47709490e-04 9.99642873e-01 2.55360116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.739254154 meters 0.015426658495376116 Centerline is valid? [True, True] Translation: X:384.00, Y:4.22, Z:2.55 [[ 9.99127786e-01 -3.29862438e-02 -2.56041984e-02 3.84000171e+02] [ 3.29858778e-02 9.99455722e-01 -4.36769946e-04 4.22227008e+00] [ 2.56046700e-02 -4.08187970e-04 9.99672063e-01 2.55282715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.799254154 meters 0.018008381167319527 Centerline is valid? [True, True] Translation: X:384.06, Y:4.22, Z:2.55 [[ 9.99051924e-01 -3.54707104e-02 -2.52404875e-02 3.84059390e+02] [ 3.54710177e-02 9.99370610e-01 -4.35690387e-04 4.22031259e+00] [ 2.52400557e-02 -4.60028460e-04 9.99681313e-01 2.55265882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.859254154 meters 0.019468694350966594 Centerline is valid? [True, True] Translation: X:384.12, Y:4.21, Z:2.55 [[ 9.98793203e-01 -4.36104416e-02 -2.25891086e-02 3.84118540e+02] [ 4.36127152e-02 9.99048436e-01 -3.92221302e-04 4.21308601e+00] [ 2.25847185e-02 -5.93424389e-04 9.99744757e-01 2.55290639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.919254154 meters 0.01917934140288443 Centerline is valid? [True, True] Translation: X:384.18, Y:4.21, Z:2.56 [[ 9.98507668e-01 -5.13488023e-02 -1.85940239e-02 3.84178974e+02] [ 5.13516769e-02 9.98680580e-01 -3.23140926e-04 4.21156042e+00] [ 1.85860835e-02 -6.32175616e-04 9.99827064e-01 2.55612852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.979254154 meters 0.022407677102756277 Centerline is valid? [True, True] Translation: X:384.24, Y:4.21, Z:2.56 [[ 9.98276176e-01 -5.62927797e-02 -1.66072366e-02 3.84239449e+02] [ 5.62957586e-02 9.98414095e-01 -2.88432773e-04 4.20643215e+00] [ 1.65971357e-02 -6.46981416e-04 9.99862049e-01 2.55576463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.039254154 meters 0.023972193070657438 Centerline is valid? [True, True] Translation: X:384.30, Y:4.20, Z:2.56 [[ 9.97801596e-01 -6.45340974e-02 -1.50773112e-02 3.84299985e+02] [ 6.45374932e-02 9.97915249e-01 -2.61725291e-04 4.20344793e+00] [ 1.50627690e-02 -7.11901956e-04 9.99886297e-01 2.55505474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.099254154 meters 0.026458828190350295 Centerline is valid? [True, True] Translation: X:384.36, Y:4.20, Z:2.55 [[ 9.97260413e-01 -7.24722198e-02 -1.48137032e-02 3.84361391e+02] [ 7.24763747e-02 9.97370096e-01 -2.56886656e-04 4.20126890e+00] [ 1.47933617e-02 -8.17460610e-04 9.99890238e-01 2.55385233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.159254154 meters 0.026937637402795447 Centerline is valid? [True, True] Translation: X:384.42, Y:4.20, Z:2.55 [[ 9.97011511e-01 -7.60126829e-02 -1.37883747e-02 3.84422683e+02] [ 7.60166261e-02 9.97106522e-01 -2.38652010e-04 4.20228896e+00] [ 1.37666190e-02 -8.10206927e-04 9.99904907e-01 2.55401313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.219254154 meters 0.028582679068704275 Centerline is valid? [True, True] Translation: X:384.48, Y:4.20, Z:2.55 [[ 9.96884045e-01 -7.79022260e-02 -1.23872863e-02 3.84484943e+02] [ 7.79055618e-02 9.96960720e-01 -2.13750316e-04 4.20288211e+00] [ 1.23662895e-02 -7.51954219e-04 9.99923252e-01 2.55329643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279254154 meters 0.03012172463995904 Centerline is valid? [True, True] Translation: X:384.55, Y:4.21, Z:2.55 [[ 9.96992468e-01 -7.64102782e-02 -1.29417188e-02 3.84546900e+02] [ 7.64138068e-02 9.97076166e-01 -2.22334282e-04 4.20729321e+00] [ 1.29208680e-02 -7.67260396e-04 9.99916228e-01 2.55266517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339254154 meters 0.029702854608797128 Centerline is valid? [True, True] Translation: X:384.61, Y:4.21, Z:2.55 [[ 9.97185149e-01 -7.39584540e-02 -1.23257887e-02 3.84607600e+02] [ 7.39614763e-02 9.97261077e-01 -2.11077020e-04 4.21352484e+00] [ 1.23076402e-02 -7.01150656e-04 9.99924012e-01 2.55237503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399254154 meters 0.02682876777858241 Centerline is valid? [True, True] Translation: X:384.67, Y:4.22, Z:2.55 [[ 9.97350237e-01 -7.18315596e-02 -1.15209307e-02 3.84668758e+02] [ 7.18340632e-02 9.97416577e-01 -1.96885940e-04 4.22267052e+00] [ 1.15053099e-02 -6.31231028e-04 9.99933612e-01 2.55368568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459254154 meters 0.025498654603194046 Centerline is valid? [True, True] Translation: X:384.73, Y:4.23, Z:2.56 [[ 9.97554108e-01 -6.93122884e-02 -9.03378225e-03 3.84729717e+02] [ 6.93137272e-02 9.97594899e-01 -1.54098376e-04 4.23184676e+00] [ 9.02273601e-03 -4.72443651e-04 9.99959183e-01 2.55586452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519254154 meters 0.02714640507157086 Centerline is valid? [True, True] Translation: X:384.79, Y:4.24, Z:2.56 [[ 9.97714692e-01 -6.72136333e-02 -6.90810200e-03 3.84790404e+02] [ 6.72144258e-02 9.97738546e-01 -1.17638475e-04 4.23705772e+00] [ 6.90038656e-03 -3.46954475e-04 9.99976132e-01 2.55720506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579254154 meters 0.02707123599007389 Centerline is valid? [True, True] Translation: X:384.85, Y:4.24, Z:2.56 [[ 9.97779431e-01 -6.62850021e-02 -6.51956340e-03 3.84852907e+02] [ 6.62856896e-02 9.97800679e-01 -1.10802341e-04 4.24242789e+00] [ 6.51256932e-03 -3.21597459e-04 9.99978741e-01 2.55739268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639254154 meters 0.0244798841943961 Centerline is valid? [True, True] Translation: X:384.91, Y:4.25, Z:2.56 [[ 9.97691950e-01 -6.75633018e-02 -6.78042299e-03 3.84914771e+02] [ 6.75640783e-02 9.97714930e-01 -1.14729787e-04 4.25248538e+00] [ 6.77268078e-03 -3.43648045e-04 9.99977006e-01 2.55680045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699254154 meters 0.026780049247726943 Centerline is valid? [True, True] Translation: X:384.98, Y:4.26, Z:2.56 [[ 9.97340609e-01 -7.23638387e-02 -8.67092711e-03 3.84975677e+02] [ 7.23652953e-02 9.97378184e-01 -1.46053826e-04 4.25563943e+00] [ 8.65876255e-03 -4.81808789e-04 9.99962396e-01 2.55559041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759254154 meters 0.03168259749686613 Centerline is valid? [True, True] Translation: X:385.04, Y:4.25, Z:2.56 [[ 9.97106860e-01 -7.54616425e-02 -9.13508841e-03 3.85035295e+02] [ 7.54633895e-02 9.97148561e-01 -1.53795234e-04 4.25473855e+00] [ 9.12064591e-03 -5.36014452e-04 9.99958262e-01 2.55554359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819254154 meters 0.03242482049120451 Centerline is valid? [True, True] Translation: X:385.10, Y:4.26, Z:2.56 [[ 9.97114724e-01 -7.53753123e-02 -8.98831036e-03 3.85098366e+02] [ 7.53770022e-02 9.97155096e-01 -1.51082140e-04 4.25848716e+00] [ 8.97412734e-03 -5.26865664e-04 9.99959593e-01 2.55640462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879254154 meters 0.02940848027541174 Centerline is valid? [True, True] Translation: X:385.16, Y:4.27, Z:2.56 [[ 9.97324925e-01 -7.27050030e-02 -7.54825876e-03 3.85159307e+02] [ 7.27061233e-02 9.97353400e-01 -1.26247582e-04 4.26918032e+00] [ 7.53746036e-03 -4.22894772e-04 9.99971504e-01 2.55796241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters 0.02721028663771984 Centerline is valid? [True, True] Translation: X:385.22, Y:4.28, Z:2.56 [[ 9.97678947e-01 -6.77815732e-02 -6.50978722e-03 3.85219928e+02] [ 6.77823032e-02 9.97700129e-01 -1.08669750e-04 4.27754176e+00] [ 6.50218135e-03 -3.32830850e-04 9.99978805e-01 2.55912524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters 0.025680535169524392 Centerline is valid? [True, True] Translation: X:385.28, Y:4.28, Z:2.56 [[ 9.97914380e-01 -6.42965595e-02 -5.73083886e-03 3.85280742e+02] [ 6.42970681e-02 9.97930798e-01 -9.56512167e-05 4.28367225e+00] [ 5.72513064e-03 -2.73024411e-04 9.99983574e-01 2.55953678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters 0.023516235103994042 Centerline is valid? [True, True] Translation: X:385.34, Y:4.29, Z:2.56 [[ 9.98137299e-01 -6.07547183e-02 -5.54947682e-03 3.85342570e+02] [ 6.07551408e-02 9.98152696e-01 -9.25707899e-05 4.29168825e+00] [ 5.54484936e-03 -2.44760888e-04 9.99984597e-01 2.56039361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters 0.021910986491938032 Centerline is valid? [True, True] Translation: X:385.40, Y:4.30, Z:2.56 [[ 9.98186482e-01 -5.97661848e-02 -7.19382813e-03 3.85404790e+02] [ 5.97668728e-02 9.98212355e-01 -1.19486551e-04 4.29654468e+00] [ 7.18810938e-03 -3.10682751e-04 9.99974117e-01 2.55948969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters 0.021957001861361035 Centerline is valid? [True, True] Translation: X:385.47, Y:4.30, Z:2.56 [[ 9.98171024e-01 -5.96798904e-02 -9.63932631e-03 3.85467403e+02] [ 5.96811362e-02 9.98217480e-01 -1.58612075e-04 4.29871489e+00] [ 9.63160996e-03 -4.16963969e-04 9.99953528e-01 2.55761082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.239254154 meters 0.022247452492444253 Centerline is valid? [True, True] Translation: X:385.53, Y:4.30, Z:2.56 [[ 9.98179294e-01 -5.92814877e-02 -1.11266125e-02 3.85530008e+02] [ 5.92831507e-02 9.98241191e-01 -1.80583824e-04 4.30063562e+00] [ 1.11177482e-02 -4.79365612e-04 9.99938081e-01 2.55705483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.299254154 meters 0.02204463277347434 Centerline is valid? [True, True] Translation: X:385.59, Y:4.30, Z:2.56 [[ 9.98317988e-01 -5.66111253e-02 -1.25050256e-02 3.85591563e+02] [ 5.66130266e-02 9.98396176e-01 -2.02182656e-04 4.30460388e+00] [ 1.24964155e-02 -5.06104762e-04 9.99921789e-01 2.55639425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.359254154 meters 0.02143248709237717 Centerline is valid? [True, True] Translation: X:385.65, Y:4.31, Z:2.56 [[ 9.98580174e-01 -5.20343676e-02 -1.14043761e-02 3.85650910e+02] [ 5.20356523e-02 9.98645211e-01 -1.84246996e-04 4.30904581e+00] [ 1.13985128e-02 -4.09448755e-04 9.99934951e-01 2.55756968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.419254154 meters 0.01996609154205475 Centerline is valid? [True, True] Translation: X:385.71, Y:4.31, Z:2.56 [[ 9.98761412e-01 -4.87003707e-02 -1.01939163e-02 3.85712202e+02] [ 4.87012238e-02 9.98813378e-01 -1.64670743e-04 4.31497362e+00] [ 1.01898395e-02 -3.31989415e-04 9.99948027e-01 2.55974869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.479254154 meters 0.018009538718656327 Centerline is valid? [True, True] Translation: X:385.77, Y:4.32, Z:2.56 [[ 9.98917328e-01 -4.59023311e-02 -7.55962418e-03 3.85773723e+02] [ 4.59027218e-02 9.98945907e-01 -1.21902792e-04 4.32037679e+00] [ 7.55725126e-03 -2.25236515e-04 9.99971418e-01 2.56215282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.539254154 meters 0.01790839142050561 Centerline is valid? [True, True] Translation: X:385.84, Y:4.32, Z:2.56 [[ 9.99000805e-01 -4.40581323e-02 -7.50152222e-03 3.85836376e+02] [ 4.40584678e-02 9.99028947e-01 -1.20613227e-04 4.32201863e+00] [ 7.49955184e-03 -2.10012864e-04 9.99971856e-01 2.56203031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.599254154 meters 0.018851815621003923 Centerline is valid? [True, True] Translation: X:385.90, Y:4.32, Z:2.56 [[ 9.99000385e-01 -4.39634307e-02 -8.08999736e-03 3.85898117e+02] [ 4.39638264e-02 9.99033115e-01 -1.28996565e-04 4.32104647e+00] [ 8.08784640e-03 -2.26799622e-04 9.99967267e-01 2.56174493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.659254154 meters 0.018273619076330183 Centerline is valid? [True, True] Translation: X:385.96, Y:4.32, Z:2.56 [[ 9.98921990e-01 -4.56022780e-02 -8.67703543e-03 3.85960458e+02] [ 4.56028020e-02 9.98959642e-01 -1.37560457e-04 4.32049378e+00] [ 8.67428128e-03 -2.58284963e-04 9.99962344e-01 2.56065245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.719254154 meters 0.02062713104587384 Centerline is valid? [True, True] Translation: X:386.02, Y:4.32, Z:2.56 [[ 9.98922050e-01 -4.56212233e-02 -8.56985712e-03 3.86022310e+02] [ 4.56217407e-02 9.98958777e-01 -1.35204123e-04 4.31864936e+00] [ 8.56710217e-03 -2.55913420e-04 9.99963269e-01 2.56026734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779254154 meters 0.019570799883985416 Centerline is valid? [True, True] Translation: X:386.08, Y:4.32, Z:2.56 [[ 9.98785826e-01 -4.83394743e-02 -9.49578382e-03 3.86084313e+02] [ 4.83402406e-02 9.98830916e-01 -1.48932522e-04 4.31685710e+00] [ 9.49188177e-03 -3.10276783e-04 9.99954903e-01 2.56034829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839254154 meters 0.020090633461172996 Centerline is valid? [True, True] Translation: X:386.15, Y:4.31, Z:2.56 [[ 9.98746374e-01 -4.92425414e-02 -8.99184829e-03 3.86146948e+02] [ 4.92432708e-02 9.98786804e-01 -1.40400473e-04 4.31454116e+00] [ 8.98785310e-03 -3.02563557e-04 9.99959563e-01 2.56030900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899254154 meters 0.020734304184662267 Centerline is valid? [True, True] Translation: X:386.21, Y:4.31, Z:2.56 [[ 9.98770833e-01 -4.87809992e-02 -8.78848292e-03 3.86208167e+02] [ 4.87816832e-02 9.98809456e-01 -1.36639118e-04 4.31284544e+00] [ 8.78468524e-03 -2.92245824e-04 9.99961371e-01 2.56036663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959254154 meters 0.02097202444205735 Centerline is valid? [True, True] Translation: X:386.27, Y:4.31, Z:2.56 [[ 9.98816537e-01 -4.77403698e-02 -9.29418010e-03 3.86269156e+02] [ 4.77410946e-02 9.98859733e-01 -1.43986255e-04 4.31213601e+00] [ 9.29045621e-03 -2.99898479e-04 9.99956798e-01 2.55974303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019254154 meters 0.019253619460613502 Centerline is valid? [True, True] Translation: X:386.33, Y:4.31, Z:2.56 [[ 9.98933833e-01 -4.47735196e-02 -1.12485202e-02 3.86330952e+02] [ 4.47744018e-02 9.98997109e-01 -1.73516409e-04 4.31493056e+00] [ 1.12450081e-02 -3.30314353e-04 9.99936718e-01 2.55900447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079254154 meters 0.0178055959346884 Centerline is valid? [True, True] Translation: X:386.39, Y:4.32, Z:2.56 [[ 9.99078950e-01 -4.11925775e-02 -1.20176326e-02 3.86392272e+02] [ 4.11933339e-02 9.99151177e-01 -1.84684368e-04 4.31919297e+00] [ 1.20150394e-02 -3.10532089e-04 9.99927769e-01 2.55928414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139254154 meters 0.015269770746846984 Centerline is valid? [True, True] Translation: X:386.45, Y:4.33, Z:2.56 [[ 9.99384260e-01 -3.30168279e-02 -1.18739553e-02 3.86452917e+02] [ 3.30169934e-02 9.99454774e-01 -1.82142477e-04 4.32660587e+00] [ 1.18734951e-02 -2.10011979e-04 9.99929486e-01 2.56066757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199254154 meters 0.015270739438075923 Centerline is valid? [True, True] Translation: X:386.51, Y:4.33, Z:2.56 [[ 9.99576473e-01 -2.70018098e-02 -1.08525257e-02 3.86514162e+02] [ 2.70015964e-02 9.99635377e-01 -1.66206849e-04 4.33025468e+00] [ 1.08530565e-02 -1.26899063e-04 9.99941096e-01 2.56159303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259254154 meters 0.01385438271149616 Centerline is valid? [True, True] Translation: X:386.58, Y:4.33, Z:2.57 [[ 9.99694933e-01 -2.30938215e-02 -8.75878343e-03 3.86576488e+02] [ 2.30935356e-02 9.99733300e-01 -1.33787745e-04 4.33286471e+00] [ 8.75953713e-03 -6.85243462e-05 9.99961632e-01 2.56511472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319254154 meters 0.014099186833928563 Centerline is valid? [True, True] Translation: X:386.64, Y:4.33, Z:2.57 [[ 9.99666312e-01 -2.42050696e-02 -9.02107050e-03 3.86637919e+02] [ 2.42048173e-02 9.99707011e-01 -1.37157889e-04 4.33098019e+00] [ 9.02174734e-03 -8.12412421e-05 9.99959300e-01 2.56558716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379254154 meters 0.015314244922849397 Centerline is valid? [True, True] Translation: X:386.70, Y:4.32, Z:2.56 [[ 9.99436966e-01 -3.18575647e-02 -1.05283982e-02 3.86700360e+02] [ 3.18576529e-02 9.99492403e-01 -1.59372995e-04 4.32392919e+00] [ 1.05281312e-02 -1.76126792e-04 9.99944562e-01 2.56440147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters 0.01839867332630014 Centerline is valid? [True, True] Translation: X:386.76, Y:4.31, Z:2.56 [[ 9.99024222e-01 -4.24312515e-02 -1.22553399e-02 3.86760849e+02] [ 4.24321732e-02 9.99099333e-01 -1.84922124e-04 4.31347770e+00] [ 1.22521484e-02 -3.35279026e-04 9.99924883e-01 2.56270054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters 0.019591126958408495 Centerline is valid? [True, True] Translation: X:386.82, Y:4.31, Z:2.56 [[ 9.98675306e-01 -4.95674940e-02 -1.38092787e-02 3.86822327e+02] [ 4.95693497e-02 9.98770663e-01 -2.08072445e-04 4.31002540e+00] [ 1.38026161e-02 -4.76720151e-04 9.99904626e-01 2.56241957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters 0.022535954183221872 Centerline is valid? [True, True] Translation: X:386.88, Y:4.30, Z:2.56 [[ 9.98193724e-01 -5.83078676e-02 -1.44734876e-02 3.86883075e+02] [ 5.83108271e-02 9.98298452e-01 -2.17800413e-04 4.30334300e+00] [ 1.44615597e-02 -6.26554026e-04 9.99895230e-01 2.56184072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters 0.02465030788153849 Centerline is valid? [True, True] Translation: X:386.94, Y:4.30, Z:2.56 [[ 9.97917461e-01 -6.29822960e-02 -1.39273867e-02 3.86943911e+02] [ 6.29854946e-02 9.98014421e-01 -2.09286348e-04 4.29918662e+00] [ 1.39129141e-02 -6.68372841e-04 9.99902987e-01 2.56175452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters 0.027779975463180003 Centerline is valid? [True, True] Translation: X:387.00, Y:4.29, Z:2.56 [[ 9.97554334e-01 -6.87746451e-02 -1.24658976e-02 3.87004377e+02] [ 6.87776616e-02 9.97631995e-01 -1.87066626e-04 4.29335266e+00] [ 1.24492437e-02 -6.70766161e-04 9.99922280e-01 2.56255960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.739254154 meters 0.031321034872548593 Centerline is valid? [True, True] Translation: X:387.06, Y:4.29, Z:2.56 [[ 9.97340105e-01 -7.19873147e-02 -1.14255190e-02 3.87064972e+02] [ 7.19900601e-02 9.97405335e-01 -1.71340398e-04 4.28845113e+00] [ 1.14082079e-02 -6.51639148e-04 9.99934712e-01 2.56265313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.799254154 meters 0.03318498004579659 Centerline is valid? [True, True] Translation: X:387.13, Y:4.29, Z:2.56 [[ 9.97128694e-01 -7.49089526e-02 -1.10912470e-02 3.87126168e+02] [ 7.49117231e-02 9.97190155e-01 -1.66021769e-04 4.28556157e+00] [ 1.10725188e-02 -6.65319354e-04 9.99938476e-01 2.56294625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.859254154 meters 0.03454666001386828 Centerline is valid? [True, True] Translation: X:387.19, Y:4.28, Z:2.56 [[ 9.97099209e-01 -7.53388038e-02 -1.08273346e-02 3.87187937e+02] [ 7.53414747e-02 9.97157779e-01 -1.61572662e-04 4.28365149e+00] [ 1.08087336e-02 -6.54643383e-04 9.99941370e-01 2.56305500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.919254154 meters 0.03476683943284224 Centerline is valid? [True, True] Translation: X:387.25, Y:4.28, Z:2.56 [[ 9.97224361e-01 -7.35262271e-02 -1.17246561e-02 3.87249968e+02] [ 7.35292430e-02 9.97293046e-01 -1.74214269e-04 4.28278649e+00] [ 1.17057273e-02 -6.88374372e-04 9.99931249e-01 2.56181000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.979254154 meters 0.03385629607634514 Centerline is valid? [True, True] Translation: X:387.31, Y:4.29, Z:2.56 [[ 9.97475953e-01 -6.95511067e-02 -1.42957081e-02 3.87310589e+02] [ 6.95551940e-02 9.97578082e-01 -2.11688777e-04 4.28562856e+00] [ 1.42758082e-02 -7.83186283e-04 9.99897789e-01 2.55976748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.039254154 meters 0.032455284388212685 Centerline is valid? [True, True] Translation: X:387.37, Y:4.29, Z:2.56 [[ 9.97781112e-01 -6.48789916e-02 -1.49521974e-02 3.87371389e+02] [ 6.48829426e-02 9.97892857e-01 -2.21216543e-04 4.28944185e+00] [ 1.49350433e-02 -7.49416877e-04 9.99888185e-01 2.55966575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.099254154 meters 0.023491021882758995 Centerline is valid? [True, True] Translation: X:387.43, Y:4.31, Z:2.56 [[ 9.98439704e-01 -5.39255754e-02 -1.44979477e-02 3.87432210e+02] [ 5.39281392e-02 9.98544796e-01 -2.14328787e-04 4.30555229e+00] [ 1.44884080e-02 -5.67852970e-04 9.99894876e-01 2.56191404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.159254154 meters 0.018404497521090357 Centerline is valid? [True, True] Translation: X:387.49, Y:4.32, Z:2.56 [[ 9.99117177e-01 -3.99244372e-02 -1.30731159e-02 3.87492615e+02] [ 3.99253263e-02 9.99202648e-01 -1.93070735e-04 4.31849942e+00] [ 1.30704003e-02 -3.29048131e-04 9.99914525e-01 2.56452992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.219254154 meters 0.015595576354328377 Centerline is valid? [True, True] Translation: X:387.55, Y:4.33, Z:2.57 [[ 9.99458417e-01 -3.07874944e-02 -1.16190985e-02 3.87553359e+02] [ 3.07875816e-02 9.99525935e-01 -1.71404554e-04 4.32735033e+00] [ 1.16188675e-02 -1.86412220e-04 9.99932481e-01 2.56582173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279254154 meters 0.01414269642169588 Centerline is valid? [True, True] Translation: X:387.62, Y:4.34, Z:2.57 [[ 9.99766096e-01 -1.86071227e-02 -1.10239914e-02 3.87615135e+02] [ 1.86064645e-02 9.99826872e-01 -1.62277007e-04 4.33528415e+00] [ 1.10251023e-02 -4.28784543e-05 9.99939221e-01 2.56644875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339254154 meters 0.014582751333898983 Centerline is valid? [True, True] Translation: X:387.68, Y:4.34, Z:2.57 [[ 9.99892455e-01 -8.98576468e-03 -1.15902799e-02 3.87675827e+02] [ 8.98439507e-03 9.99959625e-01 -1.70232010e-04 4.34154453e+00] [ 1.15913416e-02 6.60820489e-05 9.99932816e-01 2.56637041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399254154 meters 0.015333885954953668 Centerline is valid? [True, True] Translation: X:387.73, Y:4.34, Z:2.57 [[ 9.99921735e-01 -3.91609572e-03 -1.18822397e-02 3.87734549e+02] [ 3.91428327e-03 9.99992324e-01 -1.75786500e-04 4.34477695e+00] [ 1.18828369e-02 1.29262290e-04 9.99929388e-01 2.56641992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459254154 meters 0.01642294883874279 Centerline is valid? [True, True] Translation: X:387.79, Y:4.35, Z:2.57 [[ 9.99924654e-01 1.04440328e-03 -1.22309245e-02 3.87792235e+02] [-1.04672116e-03 9.99999435e-01 -1.83110003e-04 4.34607175e+00] [ 1.22307264e-02 1.95898574e-04 9.99925183e-01 2.56672796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519254154 meters 0.0169973242624331 Centerline is valid? [True, True] Translation: X:387.85, Y:4.34, Z:2.57 [[ 9.99922847e-01 1.81946579e-03 -1.22878080e-02 3.87850658e+02] [-1.82188713e-03 9.99998323e-01 -1.85860709e-04 4.34450031e+00] [ 1.22874492e-02 2.08233369e-04 9.99924485e-01 2.56615622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579254154 meters 0.016546723143666738 Centerline is valid? [True, True] Translation: X:387.91, Y:4.34, Z:2.57 [[ 9.99916435e-01 -8.07120030e-04 -1.29023874e-02 3.87908565e+02] [ 8.04639568e-04 9.99999657e-01 -1.97438245e-04 4.33785939e+00] [ 1.29025423e-02 1.87039975e-04 9.99916741e-01 2.56573913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639254154 meters 0.01615874084300705 Centerline is valid? [True, True] Translation: X:387.97, Y:4.34, Z:2.57 [[ 9.99913202e-01 -2.76548567e-03 -1.28818149e-02 3.87967751e+02] [ 2.76316183e-03 9.99996163e-01 -1.98191945e-04 4.33546203e+00] [ 1.28823135e-02 1.62580203e-04 9.99917006e-01 2.56604799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699254154 meters 0.014504348341945599 Centerline is valid? [True, True] Translation: X:388.03, Y:4.32, Z:2.57 [[ 9.99839972e-01 -1.23445285e-02 -1.29477365e-02 3.88026032e+02] [ 1.23429716e-02 9.99923803e-01 -2.00153420e-04 4.32114201e+00] [ 1.29492207e-02 4.03078453e-05 9.99916155e-01 2.56606682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759254154 meters 0.01461448385595403 Centerline is valid? [True, True] Translation: X:388.08, Y:4.31, Z:2.57 [[ 9.99694297e-01 -2.13341520e-02 -1.24966346e-02 3.88084824e+02] [ 2.13333922e-02 9.99772398e-01 -1.94117014e-04 4.30914702e+00] [ 1.24979317e-02 -7.25379353e-05 9.99921895e-01 2.56759873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819254154 meters 0.016484297494167462 Centerline is valid? [True, True] Translation: X:388.15, Y:4.29, Z:2.57 [[ 9.99360073e-01 -3.39852260e-02 -1.11556770e-02 3.88145253e+02] [ 3.39854026e-02 9.99422314e-01 -1.73794972e-04 4.29223203e+00] [ 1.11551390e-02 -2.05446417e-04 9.99937758e-01 2.56829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879254154 meters 0.01801856634387408 Centerline is valid? [True, True] Translation: X:388.21, Y:4.28, Z:2.57 [[ 9.99114417e-01 -4.04121024e-02 -1.17150784e-02 3.88206948e+02] [ 4.04127392e-02 9.99183055e-01 -1.82456651e-04 4.28270027e+00] [ 1.17128813e-02 -2.91143339e-04 9.99931359e-01 2.56852939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters 0.021392199580319387 Centerline is valid? [True, True] Translation: X:388.27, Y:4.27, Z:2.57 [[ 9.98809382e-01 -4.70958724e-02 -1.27199369e-02 3.88267545e+02] [ 4.70971693e-02 9.98890293e-01 -1.97738082e-04 4.26778588e+00] [ 1.27151342e-02 -4.01570371e-04 9.99919079e-01 2.56738860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters 0.023041012547015842 Centerline is valid? [True, True] Translation: X:388.33, Y:4.26, Z:2.57 [[ 9.98558477e-01 -5.18594594e-02 -1.38407112e-02 3.88328347e+02] [ 5.18614554e-02 9.98654266e-01 -2.14907553e-04 4.25985807e+00] [ 1.38332303e-02 -5.03201667e-04 9.99904190e-01 2.56716224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters 0.024798346739371504 Centerline is valid? [True, True] Translation: X:388.39, Y:4.26, Z:2.57 [[ 9.98417297e-01 -5.42758134e-02 -1.47321894e-02 3.88390924e+02] [ 5.42783475e-02 9.98525818e-01 -2.28072445e-04 4.25547852e+00] [ 1.47228503e-02 -5.71927424e-04 9.99891449e-01 2.56699237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters 0.02660001644684791 Centerline is valid? [True, True] Translation: X:388.45, Y:4.25, Z:2.57 [[ 9.98282368e-01 -5.62077693e-02 -1.65227129e-02 3.88452028e+02] [ 5.62112442e-02 9.98418866e-01 -2.54393176e-04 4.25154151e+00] [ 1.65108872e-02 -6.74806030e-04 9.99863458e-01 2.56557721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters 0.027252286117352895 Centerline is valid? [True, True] Translation: X:388.51, Y:4.25, Z:2.56 [[ 9.98255417e-01 -5.64118086e-02 -1.74307202e-02 3.88514578e+02] [ 5.64157306e-02 9.98407329e-01 -2.67021381e-04 4.25027834e+00] [ 1.74180220e-02 -7.16811277e-04 9.99848038e-01 2.56497926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.239254154 meters 0.0278424260019323 Centerline is valid? [True, True] Translation: X:388.58, Y:4.25, Z:2.56 [[ 9.98248901e-01 -5.62229844e-02 -1.83877045e-02 3.88576214e+02] [ 5.62273329e-02 9.98417953e-01 -2.80822545e-04 4.25072811e+00] [ 1.83744029e-02 -7.53560784e-04 9.99830892e-01 2.56473152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.299254154 meters 0.022486238168311384 Centerline is valid? [True, True] Translation: X:388.64, Y:4.26, Z:2.57 [[ 9.98343529e-01 -5.44079556e-02 -1.87075719e-02 3.88637266e+02] [ 5.44121510e-02 9.98518521e-01 -2.85049827e-04 4.26071098e+00] [ 1.86953660e-02 -7.33341578e-04 9.99824957e-01 2.56758813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.359254154 meters 0.02165947390164039 Centerline is valid? [True, True] Translation: X:388.70, Y:4.26, Z:2.57 [[ 9.98492305e-01 -5.17787234e-02 -1.82231023e-02 3.88698275e+02] [ 5.17822788e-02 9.98658359e-01 -2.77015232e-04 4.26490697e+00] [ 1.82129969e-02 -6.67036184e-04 9.99833907e-01 2.56896714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.419254154 meters 0.018468994676837224 Centerline is valid? [True, True] Translation: X:388.76, Y:4.28, Z:2.57 [[ 9.98794846e-01 -4.57403217e-02 -1.77954387e-02 3.88758471e+02] [ 4.57427588e-02 9.98953216e-01 -2.70276823e-04 4.27505589e+00] [ 1.77891733e-02 -5.44061365e-04 9.99841612e-01 2.57200837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.479254154 meters 0.01920148504460357 Centerline is valid? [True, True] Translation: X:388.82, Y:4.28, Z:2.57 [[ 9.98991848e-01 -4.13102856e-02 -1.75712421e-02 3.88819256e+02] [ 4.13119838e-02 9.99146260e-01 -2.66473527e-04 4.27739217e+00] [ 1.75672489e-02 -4.59697988e-04 9.99845578e-01 2.57190430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.539254154 meters 0.01661557553325263 Centerline is valid? [True, True] Translation: X:388.88, Y:4.29, Z:2.57 [[ 9.99205380e-01 -3.59931216e-02 -1.71202488e-02 3.88879631e+02] [ 3.59939577e-02 9.99351974e-01 -2.59394359e-04 4.28567248e+00] [ 1.71184908e-02 -3.57037271e-04 9.99853404e-01 2.57363827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.599254154 meters 0.0158972168171906 Centerline is valid? [True, True] Translation: X:388.94, Y:4.29, Z:2.57 [[ 9.99300704e-01 -3.31702600e-02 -1.72579358e-02 3.88940164e+02] [ 3.31706889e-02 9.99449667e-01 -2.61480499e-04 4.29068147e+00] [ 1.72571115e-02 -3.11159971e-04 9.99851037e-01 2.57417956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.659254154 meters 0.014827175787767871 Centerline is valid? [True, True] Translation: X:389.00, Y:4.30, Z:2.57 [[ 9.99423332e-01 -2.87520532e-02 -1.80643824e-02 3.89000382e+02] [ 2.87518015e-02 9.99586544e-01 -2.73699229e-04 4.29787566e+00] [ 1.80647830e-02 -2.45842142e-04 9.99836788e-01 2.57453305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.719254154 meters 0.014358529568112934 Centerline is valid? [True, True] Translation: X:389.06, Y:4.30, Z:2.57 [[ 9.99504157e-01 -2.52019127e-02 -1.88759873e-02 3.89060295e+02] [ 2.52009965e-02 9.99682363e-01 -2.86446195e-04 4.30282425e+00] [ 1.88772105e-02 -1.89389525e-04 9.99821792e-01 2.57470110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779254154 meters 0.014041336063195091 Centerline is valid? [True, True] Translation: X:389.12, Y:4.31, Z:2.58 [[ 9.99662162e-01 -1.83359291e-02 -1.84215934e-02 3.89119061e+02] [ 1.83338301e-02 9.99831881e-01 -2.82834772e-04 4.30952543e+00] [ 1.84236825e-02 -5.49991438e-05 9.99830268e-01 2.57598882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839254154 meters 0.014111569179742581 Centerline is valid? [True, True] Translation: X:389.18, Y:4.31, Z:2.58 [[ 9.99770027e-01 -1.31755083e-02 -1.69203466e-02 3.89177650e+02] [ 1.31729272e-02 9.99913198e-01 -2.63996279e-04 4.31397906e+00] [ 1.69223562e-02 4.10450735e-05 9.99856806e-01 2.57725082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899254154 meters 0.014198930918314246 Centerline is valid? [True, True] Translation: X:389.24, Y:4.32, Z:2.58 [[ 9.99841068e-01 -8.78943728e-03 -1.55107872e-02 3.89236149e+02] [ 8.78668162e-03 9.99961366e-01 -2.45801201e-04 4.31825004e+00] [ 1.55123484e-02 1.09473787e-04 9.99879670e-01 2.57859696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959254154 meters 0.014441374221313336 Centerline is valid? [True, True] Translation: X:389.30, Y:4.32, Z:2.58 [[ 9.99866042e-01 -6.07812046e-03 -1.51971918e-02 3.89295183e+02] [ 6.07510338e-03 9.99981516e-01 -2.44686723e-04 4.31894668e+00] [ 1.51983982e-02 1.52329434e-04 9.99884486e-01 2.57935637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019254154 meters 0.014231386622504012 Centerline is valid? [True, True] Translation: X:389.35, Y:4.32, Z:2.58 [[ 9.99862393e-01 -7.93546393e-03 -1.45678693e-02 3.89353805e+02] [ 7.93285596e-03 9.99968506e-01 -2.36799338e-04 4.31675535e+00] [ 1.45692896e-02 1.21201944e-04 9.99893855e-01 2.57973037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079254154 meters 0.013903394805224845 Centerline is valid? [True, True] Translation: X:389.41, Y:4.31, Z:2.58 [[ 9.99751676e-01 -1.70542188e-02 -1.43436201e-02 3.89412511e+02] [ 1.70526138e-02 9.99854566e-01 -2.34202706e-04 4.30964094e+00] [ 1.43455282e-02 -1.04516654e-05 9.99897098e-01 2.58041425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139254154 meters 0.01447888314303339 Centerline is valid? [True, True] Translation: X:389.47, Y:4.30, Z:2.58 [[ 9.99556418e-01 -2.57651245e-02 -1.49374043e-02 3.89471282e+02] [ 2.57643397e-02 9.99668014e-01 -2.45007190e-04 4.30247626e+00] [ 1.49387579e-02 -1.39953850e-04 9.99888401e-01 2.58017520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199254154 meters 0.017263754916756874 Centerline is valid? [True, True] Translation: X:389.53, Y:4.29, Z:2.58 [[ 9.99129982e-01 -3.84741251e-02 -1.60941033e-02 3.89531053e+02] [ 3.84748505e-02 9.99259534e-01 -2.64673437e-04 4.28980929e+00] [ 1.60923693e-02 -3.54775053e-04 9.99870447e-01 2.57815734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259254154 meters 0.01939255008460781 Centerline is valid? [True, True] Translation: X:389.59, Y:4.28, Z:2.58 [[ 9.98836281e-01 -4.52755995e-02 -1.66194084e-02 3.89592312e+02] [ 4.52773144e-02 9.98974419e-01 -2.73259877e-04 4.28401713e+00] [ 1.66147359e-02 -4.79540302e-04 9.99861851e-01 2.57760147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319254154 meters 0.02036338110463926 Centerline is valid? [True, True] Translation: X:389.65, Y:4.28, Z:2.58 [[ 9.98485905e-01 -5.24597231e-02 -1.65491835e-02 3.89653001e+02] [ 5.24624138e-02 9.98622862e-01 -2.71808331e-04 4.28163948e+00] [ 1.65406520e-02 -5.96813327e-04 9.99863016e-01 2.57897847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379254154 meters 0.022420620013670258 Centerline is valid? [True, True] Translation: X:389.71, Y:4.28, Z:2.58 [[ 9.98284354e-01 -5.62189892e-02 -1.63638261e-02 3.89713151e+02] [ 5.62221393e-02 9.98418249e-01 -2.67830356e-04 4.27855899e+00] [ 1.63529997e-02 -6.52638457e-04 9.99866068e-01 2.57907724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters 0.02504663804038835 Centerline is valid? [True, True] Translation: X:389.77, Y:4.27, Z:2.58 [[ 9.97946276e-01 -6.22857533e-02 -1.49570844e-02 3.89773956e+02] [ 6.22890732e-02 9.98058120e-01 -2.44249262e-04 4.27412774e+00] [ 1.49432528e-02 -6.87915281e-04 9.99888107e-01 2.58072040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters 0.02629365818397993 Centerline is valid? [True, True] Translation: X:389.84, Y:4.27, Z:2.58 [[ 9.97816672e-01 -6.44853677e-02 -1.42662773e-02 3.89836012e+02] [ 6.44886204e-02 9.97918415e-01 -2.32390948e-04 4.27293363e+00] [ 1.42515667e-02 -6.88128981e-04 9.99898204e-01 2.58146125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters 0.02888560290382564 Centerline is valid? [True, True] Translation: X:389.90, Y:4.27, Z:2.58 [[ 9.97547106e-01 -6.86535135e-02 -1.36552620e-02 3.89896647e+02] [ 6.86568909e-02 9.97640307e-01 -2.21849322e-04 4.26967455e+00] [ 1.36382705e-02 -7.16222684e-04 9.99906738e-01 2.58214561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters 0.033024659580943076 Centerline is valid? [True, True] Translation: X:389.96, Y:4.26, Z:2.58 [[ 9.97137906e-01 -7.42327479e-02 -1.43350931e-02 3.89956537e+02] [ 7.42370448e-02 9.97240596e-01 -2.32878385e-04 4.26429331e+00] [ 1.43128240e-02 -8.31983084e-04 9.99897220e-01 2.58052119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters 0.034303491074467604 Centerline is valid? [True, True] Translation: X:390.02, Y:4.26, Z:2.58 [[ 9.96946966e-01 -7.65024484e-02 -1.56243877e-02 3.90017633e+02] [ 7.65078355e-02 9.97068948e-01 -2.53530135e-04 4.26398225e+00] [ 1.55979874e-02 -9.42631981e-04 9.99877900e-01 2.57916617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.739254154 meters 0.03327160041336071 Centerline is valid? [True, True] Translation: X:390.08, Y:4.27, Z:2.58 [[ 9.96958973e-01 -7.59110663e-02 -1.76157794e-02 3.90079341e+02] [ 7.59178421e-02 9.97114036e-01 -2.84732402e-04 4.26889998e+00] [ 1.75865552e-02 -1.05348543e-03 9.99844790e-01 2.57866921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.799254154 meters 0.034876612500908344 Centerline is valid? [True, True] Translation: X:390.14, Y:4.27, Z:2.58 [[ 9.97149799e-01 -7.33869398e-02 -1.75110178e-02 3.90140241e+02] [ 7.33932622e-02 9.97303038e-01 -2.82188351e-04 4.27056050e+00] [ 1.74845002e-02 -1.00380667e-03 9.99846631e-01 2.57866887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.859254154 meters 0.027392300339396464 Centerline is valid? [True, True] Translation: X:390.20, Y:4.29, Z:2.58 [[ 9.97710070e-01 -6.59652301e-02 -1.49400287e-02 3.90201030e+02] [ 6.59690068e-02 9.97821644e-01 -2.40423005e-04 4.28597504e+00] [ 1.49233435e-02 -7.45706401e-04 9.99888363e-01 2.58246010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.919254154 meters 0.024042163593190405 Centerline is valid? [True, True] Translation: X:390.26, Y:4.30, Z:2.58 [[ 9.98147300e-01 -5.92785309e-02 -1.37121291e-02 3.90261224e+02] [ 5.92810837e-02 9.98241306e-01 -2.20561381e-04 4.29521141e+00] [ 1.37010882e-02 -5.92717127e-04 9.99905960e-01 2.58400192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.979254154 meters 0.019188783309255702 Centerline is valid? [True, True] Translation: X:390.32, Y:4.31, Z:2.58 [[ 9.98750115e-01 -4.82397603e-02 -1.30817943e-02 3.90321366e+02] [ 4.82411376e-02 9.98835696e-01 -2.10431874e-04 4.31039648e+00] [ 1.30767143e-02 -4.20911782e-04 9.99914408e-01 2.58490339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.039254154 meters 0.01879964311885834 Centerline is valid? [True, True] Translation: X:390.38, Y:4.32, Z:2.58 [[ 9.99067892e-01 -4.08753251e-02 -1.38764426e-02 3.90381513e+02] [ 4.08761647e-02 9.99164195e-01 -2.23226645e-04 4.31722207e+00] [ 1.38739691e-02 -3.44197181e-04 9.99903693e-01 2.58339981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.099254154 meters 0.01604758596855743 Centerline is valid? [True, True] Translation: X:390.44, Y:4.33, Z:2.58 [[ 9.99351030e-01 -3.31059593e-02 -1.41955453e-02 3.90442653e+02] [ 3.31060583e-02 9.99451818e-01 -2.28082809e-04 4.32766441e+00] [ 1.41953145e-02 -2.42023759e-04 9.99899212e-01 2.58458628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.159254154 meters 0.015617675813359745 Centerline is valid? [True, True] Translation: X:390.50, Y:4.33, Z:2.58 [[ 9.99471459e-01 -2.92480263e-02 -1.41899586e-02 3.90503045e+02] [ 2.92477419e-02 9.99572167e-01 -2.27609644e-04 4.33291319e+00] [ 1.41905448e-02 -1.87534903e-04 9.99899292e-01 2.58496022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.219254154 meters 0.014823393946926474 Centerline is valid? [True, True] Translation: X:390.56, Y:4.34, Z:2.59 [[ 9.99625470e-01 -2.36770882e-02 -1.37228157e-02 3.90564179e+02] [ 2.36763024e-02 9.99719653e-01 -2.19742490e-04 4.34146333e+00] [ 1.37241714e-02 -1.05245346e-04 9.99905814e-01 2.58574234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279254154 meters 0.014493473226843905 Centerline is valid? [True, True] Translation: X:390.62, Y:4.35, Z:2.59 [[ 9.99742383e-01 -1.78858209e-02 -1.39737500e-02 3.90623383e+02] [ 1.78844420e-02 9.99840036e-01 -2.23641295e-04 4.34844669e+00] [ 1.39755147e-02 -2.63290412e-05 9.99902337e-01 2.58563404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339254154 meters 0.01438946564916082 Centerline is valid? [True, True] Translation: X:390.68, Y:4.35, Z:2.59 [[ 9.99785342e-01 -1.58423590e-02 -1.33524831e-02 3.90682016e+02] [ 1.58408942e-02 9.99874502e-01 -2.15462786e-04 4.35266650e+00] [ 1.33542209e-02 3.90126277e-06 9.99910828e-01 2.58633736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399254154 meters 0.014507872721516614 Centerline is valid? [True, True] Translation: X:390.74, Y:4.35, Z:2.59 [[ 9.99806238e-01 -1.52807447e-02 -1.24091048e-02 3.90740600e+02] [ 1.52794125e-02 9.99883243e-01 -2.02160009e-04 4.35404751e+00] [ 1.24107451e-02 1.25170067e-05 9.99922984e-01 2.58691609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459254154 meters 0.014596713059104701 Centerline is valid? [True, True] Translation: X:390.80, Y:4.35, Z:2.59 [[ 9.99743274e-01 -1.94717767e-02 -1.15860393e-02 3.90799050e+02] [ 1.94708784e-02 9.99810406e-01 -1.90330851e-04 4.35110988e+00] [ 1.15875487e-02 -3.53083747e-05 9.99932861e-01 2.58721933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519254154 meters 0.014967503151675707 Centerline is valid? [True, True] Translation: X:390.86, Y:4.35, Z:2.59 [[ 9.99606041e-01 -2.54292560e-02 -1.18792366e-02 3.90858827e+02] [ 2.54287117e-02 9.99676619e-01 -1.96886682e-04 4.34582963e+00] [ 1.18804018e-02 -1.05264567e-04 9.99929420e-01 2.58690000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579254154 meters 0.01675960524252533 Centerline is valid? [True, True] Translation: X:390.92, Y:4.34, Z:2.59 [[ 9.99230274e-01 -3.72536649e-02 -1.22891654e-02 3.90920388e+02] [ 3.72539771e-02 9.99305809e-01 -2.03593497e-04 4.33691280e+00] [ 1.22882190e-02 -2.54383502e-04 9.99924465e-01 2.58659104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639254154 meters 0.018071612338901075 Centerline is valid? [True, True] Translation: X:390.98, Y:4.33, Z:2.59 [[ 9.98923445e-01 -4.45650518e-02 -1.28804624e-02 3.90981098e+02] [ 4.45660069e-02 9.99006419e-01 -2.13016565e-04 4.33142903e+00] [ 1.28771578e-02 -3.61243536e-04 9.99917021e-01 2.58628837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699254154 meters 0.020824372279035327 Centerline is valid? [True, True] Translation: X:391.04, Y:4.33, Z:2.59 [[ 9.98518123e-01 -5.27409206e-02 -1.34146770e-02 3.91042003e+02] [ 5.27426953e-02 9.98608111e-01 -2.21693473e-04 4.32503623e+00] [ 1.34076976e-02 -4.86161273e-04 9.99909995e-01 2.58665259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759254154 meters 0.0218384201290047 Centerline is valid? [True, True] Translation: X:391.10, Y:4.32, Z:2.59 [[ 9.98339949e-01 -5.60314898e-02 -1.33348714e-02 3.91103488e+02] [ 5.60335401e-02 9.98428863e-01 -2.20102992e-04 4.32326786e+00] [ 1.33262531e-02 -5.27462439e-04 9.99911062e-01 2.58736334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819254154 meters 0.022531648911832833 Centerline is valid? [True, True] Translation: X:391.17, Y:4.32, Z:2.59 [[ 9.98186589e-01 -5.89340549e-02 -1.22601471e-02 3.91165227e+02] [ 5.89360168e-02 9.98261742e-01 -2.01526189e-04 4.32222445e+00] [ 1.22507126e-02 -5.21403497e-04 9.99924821e-01 2.58767608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879254154 meters 0.023902499595406475 Centerline is valid? [True, True] Translation: X:391.23, Y:4.32, Z:2.59 [[ 9.98160584e-01 -5.95410077e-02 -1.14156862e-02 3.91226735e+02] [ 5.95427591e-02 9.98225739e-01 -1.86697694e-04 4.32145897e+00] [ 1.14065479e-02 -4.93367172e-04 9.99934822e-01 2.58849876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters 0.02325028425752197 Centerline is valid? [True, True] Translation: X:391.29, Y:4.32, Z:2.59 [[ 9.98184331e-01 -5.91726999e-02 -1.12531084e-02 3.91288789e+02] [ 5.91743863e-02 9.98247644e-01 -1.83335946e-04 4.32466635e+00] [ 1.12442374e-02 -4.82892713e-04 9.99936665e-01 2.58938603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters 0.022893084168407067 Centerline is valid? [True, True] Translation: X:391.35, Y:4.33, Z:2.59 [[ 9.98219362e-01 -5.84559584e-02 -1.18746378e-02 3.91351469e+02] [ 5.84577991e-02 9.98289862e-01 -1.92323298e-04 4.32740241e+00] [ 1.18655730e-02 -5.02184353e-04 9.99929476e-01 2.58916414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters 0.02481443964856595 Centerline is valid? [True, True] Translation: X:391.41, Y:4.33, Z:2.59 [[ 9.98242825e-01 -5.79239248e-02 -1.24932328e-02 3.91412519e+02] [ 5.79259411e-02 9.98320863e-01 -2.00707013e-04 4.32677481e+00] [ 1.24838806e-02 -5.23327929e-04 9.99921936e-01 2.58845950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters 0.023246989679512223 Centerline is valid? [True, True] Translation: X:391.47, Y:4.33, Z:2.59 [[ 9.98272842e-01 -5.73787986e-02 -1.26097864e-02 3.91474500e+02] [ 5.73808265e-02 9.98352343e-01 -2.01215836e-04 4.33138743e+00] [ 1.26005553e-02 -5.22691659e-04 9.99920473e-01 2.58850856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters 0.021941662738432937 Centerline is valid? [True, True] Translation: X:391.54, Y:4.34, Z:2.59 [[ 9.98378833e-01 -5.52160186e-02 -1.38165603e-02 3.91536591e+02] [ 5.52182612e-02 9.98474284e-01 -2.19406913e-04 4.33692729e+00] [ 1.38075950e-02 -5.43875219e-04 9.99904523e-01 2.58793147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.239254154 meters 0.02065331286054906 Centerline is valid? [True, True] Translation: X:391.60, Y:4.34, Z:2.59 [[ 9.98558200e-01 -5.17457451e-02 -1.42793106e-02 3.91597905e+02] [ 5.17477975e-02 9.98660160e-01 -2.25958059e-04 4.34283596e+00] [ 1.42718710e-02 -5.13290602e-04 9.99898020e-01 2.58811274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.299254154 meters 0.01905357452521712 Centerline is valid? [True, True] Translation: X:391.66, Y:4.35, Z:2.59 [[ 9.98915007e-01 -4.43673001e-02 -1.41545624e-02 3.91658514e+02] [ 4.43685820e-02 9.99015205e-01 -2.23599702e-04 4.35218767e+00] [ 1.41505436e-02 -4.04660766e-04 9.99899794e-01 2.58913378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.359254154 meters 0.018438624067708975 Centerline is valid? [True, True] Translation: X:391.72, Y:4.36, Z:2.59 [[ 9.99187462e-01 -3.80228173e-02 -1.33671799e-02 3.91717885e+02] [ 3.80233930e-02 9.99276827e-01 -2.11165096e-04 4.35836359e+00] [ 1.33655422e-02 -2.97272019e-04 9.99910633e-01 2.59004496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.419254154 meters 0.016362706566098593 Centerline is valid? [True, True] Translation: X:391.78, Y:4.37, Z:2.59 [[ 9.99317252e-01 -3.47561901e-02 -1.25314674e-02 3.91779104e+02] [ 3.47564405e-02 9.99395793e-01 -1.97859979e-04 4.36562961e+00] [ 1.25307726e-02 -2.37824310e-04 9.99921459e-01 2.59195405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.479254154 meters 0.015089368524810451 Centerline is valid? [True, True] Translation: X:391.84, Y:4.38, Z:2.59 [[ 9.99625028e-01 -2.53843573e-02 -1.02682498e-02 3.91840902e+02] [ 2.53840352e-02 9.99677760e-01 -1.61723513e-04 4.37599350e+00] [ 1.02690462e-02 -9.89867437e-05 9.99947267e-01 2.59429128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.539254154 meters 0.014808528956737501 Centerline is valid? [True, True] Translation: X:391.90, Y:4.38, Z:2.59 [[ 9.99729644e-01 -2.09913936e-02 -1.00000534e-02 3.91900843e+02] [ 2.09908725e-02 9.99779655e-01 -1.57074671e-04 4.38164487e+00] [ 1.00011472e-02 -5.28776416e-05 9.99949986e-01 2.59483574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.599254154 meters 0.015279708114605136 Centerline is valid? [True, True] Translation: X:391.96, Y:4.39, Z:2.59 [[ 9.99794038e-01 -1.73800455e-02 -1.04793357e-02 3.91962507e+02] [ 1.73792777e-02 9.99848955e-01 -1.64333889e-04 4.38623723e+00] [ 1.04806090e-02 -1.78232424e-05 9.99945077e-01 2.59433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.659254154 meters 0.014486133481842179 Centerline is valid? [True, True] Translation: X:392.02, Y:4.39, Z:2.60 [[ 9.99791310e-01 -1.74565564e-02 -1.06115088e-02 3.92022637e+02] [ 1.74557761e-02 9.99847623e-01 -1.66152187e-04 4.38772979e+00] [ 1.06127923e-02 -1.91146089e-05 9.99943683e-01 2.59507960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.719254154 meters 0.014637394939478573 Centerline is valid? [True, True] Translation: X:392.08, Y:4.39, Z:2.60 [[ 9.99773342e-01 -1.86900631e-02 -1.01954347e-02 3.92083029e+02] [ 1.86894076e-02 9.99825325e-01 -1.59573170e-04 4.38845632e+00] [ 1.01966363e-02 -3.10096348e-05 9.99948012e-01 2.59538637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779254154 meters 0.014641040465710213 Centerline is valid? [True, True] Translation: X:392.14, Y:4.39, Z:2.60 [[ 9.99744680e-01 -1.98821765e-02 -1.07365702e-02 3.92144433e+02] [ 1.98815213e-02 9.99802329e-01 -1.67764053e-04 4.38908748e+00] [ 1.07377834e-02 -4.57381301e-05 9.99942347e-01 2.59606875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839254154 meters 0.016016416706546927 Centerline is valid? [True, True] Translation: X:392.21, Y:4.39, Z:2.59 [[ 9.99692860e-01 -2.22849106e-02 -1.08428893e-02 3.92205934e+02] [ 2.22843880e-02 9.99751658e-01 -1.69023239e-04 4.38742151e+00] [ 1.08439633e-02 -7.26558281e-05 9.99941200e-01 2.59485891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899254154 meters 0.014936347504902553 Centerline is valid? [True, True] Translation: X:392.27, Y:4.39, Z:2.60 [[ 9.99649808e-01 -2.45045066e-02 -9.98948637e-03 3.92267088e+02] [ 2.45041774e-02 9.99699716e-01 -1.55370458e-04 4.38664905e+00] [ 9.99029396e-03 -8.94680968e-05 9.99950092e-01 2.59649128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959254154 meters 0.014987596084472535 Centerline is valid? [True, True] Translation: X:392.33, Y:4.39, Z:2.60 [[ 9.99637504e-01 -2.49922824e-02 -1.00122727e-02 3.92329307e+02] [ 2.49919811e-02 9.99687640e-01 -1.55229314e-04 4.38604946e+00] [ 1.00130248e-02 -9.50534859e-05 9.99949864e-01 2.59716451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019254154 meters 0.0147973294634487 Centerline is valid? [True, True] Translation: X:392.39, Y:4.39, Z:2.60 [[ 9.99663715e-01 -2.38360843e-02 -1.02126424e-02 3.92391196e+02] [ 2.38357183e-02 9.99715876e-01 -1.57567766e-04 4.38611455e+00] [ 1.02134966e-02 -8.59108899e-05 9.99947837e-01 2.59722532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079254154 meters 0.014768963838674019 Centerline is valid? [True, True] Translation: X:392.45, Y:4.39, Z:2.60 [[ 9.99704722e-01 -2.18830394e-02 -1.05641418e-02 3.92452186e+02] [ 2.18825457e-02 9.99760535e-01 -1.62338982e-04 4.38506266e+00] [ 1.05651645e-02 -6.88792687e-05 9.99944185e-01 2.59726791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139254154 meters 0.014585953401964988 Centerline is valid? [True, True] Translation: X:392.51, Y:4.38, Z:2.60 [[ 9.99738342e-01 -2.00772378e-02 -1.09613953e-02 3.92513694e+02] [ 2.00766022e-02 9.99798431e-01 -1.68033036e-04 4.38465905e+00] [ 1.09625594e-02 -5.20785026e-05 9.99939908e-01 2.59769054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199254154 meters 0.014364284012733847 Centerline is valid? [True, True] Translation: X:392.57, Y:4.38, Z:2.60 [[ 9.99809593e-01 -1.59249091e-02 -1.12771996e-02 3.92574589e+02] [ 1.59239769e-02 9.99873191e-01 -1.72450876e-04 4.38405178e+00] [ 1.12785158e-02 -7.15982638e-06 9.99936395e-01 2.59814415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259254154 meters 0.014333137668237121 Centerline is valid? [True, True] Translation: X:392.63, Y:4.38, Z:2.60 [[ 9.99846149e-01 -1.31301295e-02 -1.16308901e-02 3.92634431e+02] [ 1.31289497e-02 9.99913796e-01 -1.77786833e-04 4.38454605e+00] [ 1.16322218e-02 2.50581096e-05 9.99932343e-01 2.59885021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319254154 meters 0.014546273600740399 Centerline is valid? [True, True] Translation: X:392.69, Y:4.38, Z:2.60 [[ 9.99875729e-01 -9.42825258e-03 -1.26346494e-02 3.92693586e+02] [ 9.42654227e-03 9.99955550e-01 -1.94914175e-04 4.38380441e+00] [ 1.26359255e-02 7.57888955e-05 9.99920161e-01 2.59836529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379254154 meters 0.014661199630747739 Centerline is valid? [True, True] Translation: X:392.75, Y:4.38, Z:2.60 [[ 9.99887879e-01 -8.31740405e-03 -1.24519410e-02 3.92752709e+02] [ 8.31561746e-03 9.99965406e-01 -1.95247741e-04 4.38252213e+00] [ 1.24531342e-02 9.16802720e-05 9.99922453e-01 2.59893695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters 0.014569713845652192 Centerline is valid? [True, True] Translation: X:392.81, Y:4.38, Z:2.60 [[ 9.99899753e-01 -8.60604508e-03 -1.12436474e-02 3.92810215e+02] [ 8.60457450e-03 9.99962964e-01 -1.79161716e-04 4.37838096e+00] [ 1.12447728e-02 8.23969545e-05 9.99936772e-01 2.60036515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters 0.015848923106768675 Centerline is valid? [True, True] Translation: X:392.87, Y:4.37, Z:2.60 [[ 9.99887252e-01 -9.31619046e-03 -1.17767727e-02 3.92868419e+02] [ 9.31458511e-03 9.99956600e-01 -1.91158250e-04 4.37232897e+00] [ 1.17780425e-02 8.14409449e-05 9.99930633e-01 2.59937237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters 0.014390689898301565 Centerline is valid? [True, True] Translation: X:392.93, Y:4.37, Z:2.60 [[ 9.99884428e-01 -1.01460669e-02 -1.13219948e-02 3.92926325e+02] [ 1.01445998e-02 9.99948525e-01 -1.87005355e-04 4.36830184e+00] [ 1.13233094e-02 7.21266361e-05 9.99935887e-01 2.60064335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters 0.014346755817734546 Centerline is valid? [True, True] Translation: X:392.99, Y:4.36, Z:2.60 [[ 9.99877487e-01 -9.82595159e-03 -1.21844927e-02 3.92985578e+02] [ 9.82418501e-03 9.99951721e-01 -2.04832624e-04 4.36127179e+00] [ 1.21859171e-02 8.51048187e-05 9.99925745e-01 2.59989143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters 0.014301674187811766 Centerline is valid? [True, True] Translation: X:393.04, Y:4.36, Z:2.60 [[ 9.99875805e-01 -1.03097604e-02 -1.19198516e-02 3.93044014e+02] [ 1.03080655e-02 9.99946850e-01 -2.03623826e-04 4.35650294e+00] [ 1.19213174e-02 8.07279260e-05 9.99928935e-01 2.60033301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.739254154 meters 0.01432743978904118 Centerline is valid? [True, True] Translation: X:393.10, Y:4.35, Z:2.60 [[ 9.99873378e-01 -1.15412491e-02 -1.09557014e-02 3.93101846e+02] [ 1.15398577e-02 9.99933396e-01 -1.90215962e-04 4.34803052e+00] [ 1.09571670e-02 6.37646417e-05 9.99939966e-01 2.60099172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.799254154 meters 0.014107450491679384 Centerline is valid? [True, True] Translation: X:393.16, Y:4.34, Z:2.60 [[ 9.99839703e-01 -1.39615227e-02 -1.12091173e-02 3.93159918e+02] [ 1.39601807e-02 9.99902532e-01 -1.97961898e-04 4.33882557e+00] [ 1.12107887e-02 4.14488623e-05 9.99937156e-01 2.60086192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.859254154 meters 0.014224097462277973 Centerline is valid? [True, True] Translation: X:393.22, Y:4.33, Z:2.60 [[ 9.99820423e-01 -1.53509068e-02 -1.11118080e-02 3.93218790e+02] [ 1.53496395e-02 9.99882167e-01 -1.99329990e-04 4.33354049e+00] [ 1.11135585e-02 2.87319484e-05 9.99938242e-01 2.60056179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.919254154 meters 0.014605291527431598 Centerline is valid? [True, True] Translation: X:393.28, Y:4.33, Z:2.60 [[ 9.99803842e-01 -1.65136636e-02 -1.09350970e-02 3.93277492e+02] [ 1.65124753e-02 9.99863640e-01 -1.98946698e-04 4.32529636e+00] [ 1.09368912e-02 1.83421537e-05 9.99940190e-01 2.60108697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.979254154 meters 0.014278282166914562 Centerline is valid? [True, True] Translation: X:393.34, Y:4.32, Z:2.60 [[ 9.99795287e-01 -1.71807143e-02 -1.06867515e-02 3.93336547e+02] [ 1.71795882e-02 9.99852401e-01 -1.97169360e-04 4.32118870e+00] [ 1.06885616e-02 1.35350076e-05 9.99942876e-01 2.60224984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.039254154 meters 0.014267022090117579 Centerline is valid? [True, True] Translation: X:393.40, Y:4.32, Z:2.60 [[ 9.99810820e-01 -1.65624472e-02 -1.01985335e-02 3.93396509e+02] [ 1.65613712e-02 9.99862833e-01 -1.89957098e-04 4.31748461e+00] [ 1.02002808e-02 2.10194623e-05 9.99947976e-01 2.60309764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.099254154 meters 0.014436115620242494 Centerline is valid? [True, True] Translation: X:393.46, Y:4.31, Z:2.60 [[ 9.99852840e-01 -1.41314166e-02 -9.72633041e-03 3.93455557e+02] [ 1.41303185e-02 9.99900146e-01 -1.81608452e-04 4.31227579e+00] [ 9.72792557e-03 4.41455798e-05 9.99952682e-01 2.60396612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.159254154 meters 0.014556458329241594 Centerline is valid? [True, True] Translation: X:393.51, Y:4.31, Z:2.60 [[ 9.99865408e-01 -1.28526445e-02 -1.01968217e-02 3.93514507e+02] [ 1.28513571e-02 9.99917400e-01 -1.91774460e-04 4.30887289e+00] [ 1.01984443e-02 6.07056513e-05 9.99947993e-01 2.60404712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.219254154 meters 0.01642204436230085 Centerline is valid? [True, True] Translation: X:393.57, Y:4.30, Z:2.60 [[ 9.99843974e-01 -1.26482995e-02 -1.23308212e-02 3.93573142e+02] [ 1.26463579e-02 9.99920004e-01 -2.35418820e-04 4.30101404e+00] [ 1.23328124e-02 7.94421099e-05 9.99923945e-01 2.60195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279254154 meters 0.014286020289878243 Centerline is valid? [True, True] Translation: X:393.63, Y:4.30, Z:2.60 [[ 9.99798682e-01 -1.58045427e-02 -1.23617361e-02 3.93631779e+02] [ 1.58027934e-02 9.99875099e-01 -2.39181280e-04 4.29557172e+00] [ 1.23639722e-02 4.37831678e-05 9.99923562e-01 2.60364386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339254154 meters 0.014317933857353289 Centerline is valid? [True, True] Translation: X:393.69, Y:4.29, Z:2.60 [[ 9.99696861e-01 -2.05003243e-02 -1.36353835e-02 3.93688878e+02] [ 2.04985947e-02 9.99789846e-01 -2.66608995e-04 4.28873401e+00] [ 1.36379835e-02 -1.29780242e-05 9.99906998e-01 2.60309278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399254154 meters 0.014696169752566005 Centerline is valid? [True, True] Translation: X:393.75, Y:4.28, Z:2.60 [[ 9.99561292e-01 -2.61757934e-02 -1.38582417e-02 3.93747699e+02] [ 2.61745159e-02 9.99657351e-01 -2.73587192e-04 4.28078383e+00] [ 1.38606546e-02 -8.92656004e-05 9.99903933e-01 2.60314468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459254154 meters 0.01778776253468541 Centerline is valid? [True, True] Translation: X:393.81, Y:4.27, Z:2.60 [[ 9.99326573e-01 -3.35553839e-02 -1.48471383e-02 3.93806408e+02] [ 3.35546754e-02 9.99436839e-01 -2.96901154e-04 4.26904891e+00] [ 1.48487396e-02 -2.01489693e-04 9.99889731e-01 2.60239832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519254154 meters 0.016372159528360644 Centerline is valid? [True, True] Translation: X:393.86, Y:4.26, Z:2.60 [[ 9.99236775e-01 -3.66569807e-02 -1.34957075e-02 3.93864733e+02] [ 3.66566495e-02 9.99327882e-01 -2.71987383e-04 4.26379301e+00] [ 1.34966070e-02 -2.22927624e-04 9.99908892e-01 2.60490512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579254154 meters 0.018088953151617362 Centerline is valid? [True, True] Translation: X:393.92, Y:4.26, Z:2.60 [[ 9.99196597e-01 -3.76194940e-02 -1.38179201e-02 3.93924564e+02] [ 3.76192269e-02 9.99292107e-01 -2.79340202e-04 4.25941463e+00] [ 1.38186472e-02 -2.40703694e-04 9.99904489e-01 2.60476891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639254154 meters 0.015718541525820213 Centerline is valid? [True, True] Translation: X:393.98, Y:4.26, Z:2.61 [[ 9.99209798e-01 -3.76169041e-02 -1.28354592e-02 3.93984044e+02] [ 3.76166677e-02 9.99292209e-01 -2.59929860e-04 4.25802963e+00] [ 1.28361521e-02 -2.23102739e-04 9.99917588e-01 2.60663681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699254154 meters 0.01525223925339125 Centerline is valid? [True, True] Translation: X:394.04, Y:4.26, Z:2.61 [[ 9.99308915e-01 -3.49808481e-02 -1.25710979e-02 3.94043439e+02] [ 3.49804071e-02 9.99387966e-01 -2.55028705e-04 4.25617676e+00] [ 1.25723251e-02 -1.84889663e-04 9.99920948e-01 2.60683056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759254154 meters 0.014605188729846612 Centerline is valid? [True, True] Translation: X:394.10, Y:4.26, Z:2.61 [[ 9.99436612e-01 -3.12762637e-02 -1.21759366e-02 3.94103320e+02] [ 3.12755698e-02 9.99510769e-01 -2.47443591e-04 4.25752982e+00] [ 1.21777189e-02 -1.33505171e-04 9.99925840e-01 2.60758378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819254154 meters 0.01554318285480713 Centerline is valid? [True, True] Translation: X:394.16, Y:4.26, Z:2.61 [[ 9.99635507e-01 -2.38203261e-02 -1.27061054e-02 3.94162356e+02] [ 2.38189454e-02 9.99716255e-01 -2.60008377e-04 4.25917200e+00] [ 1.27086935e-02 -4.27324235e-05 9.99919240e-01 2.60690458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879254154 meters 0.014916909937158303 Centerline is valid? [True, True] Translation: X:394.22, Y:4.26, Z:2.61 [[ 9.99721184e-01 -2.00402330e-02 -1.24877536e-02 3.94220504e+02] [ 2.00385621e-02 9.99799174e-01 -2.58923077e-04 4.26075678e+00] [ 1.24904346e-02 8.61426018e-06 9.99921991e-01 2.60738404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters 0.01405132005193232 Centerline is valid? [True, True] Translation: X:394.28, Y:4.26, Z:2.61 [[ 9.99763625e-01 -1.79170977e-02 -1.23155225e-02 3.94278478e+02] [ 1.79152815e-02 9.99839475e-01 -2.57792769e-04 4.25971435e+00] [ 1.23181644e-02 3.70957819e-05 9.99924128e-01 2.60656278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters 0.013957550515309438 Centerline is valid? [True, True] Translation: X:394.34, Y:4.26, Z:2.61 [[ 9.99698362e-01 -2.09851764e-02 -1.27595675e-02 3.94336260e+02] [ 2.09834474e-02 9.99779787e-01 -2.69385673e-04 4.25584164e+00] [ 1.27624107e-02 1.56470406e-06 9.99918557e-01 2.60584875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters 0.014510794775098153 Centerline is valid? [True, True] Translation: X:394.39, Y:4.25, Z:2.61 [[ 9.99477772e-01 -2.99653437e-02 -1.20938671e-02 3.94394732e+02] [ 2.99644207e-02 9.99550933e-01 -2.57548024e-04 4.24559725e+00] [ 1.20961536e-02 -1.04972196e-04 9.99926833e-01 2.60641590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters 0.01834849335987839 Centerline is valid? [True, True] Translation: X:394.45, Y:4.24, Z:2.61 [[ 9.99199366e-01 -3.79203643e-02 -1.27543078e-02 3.94454305e+02] [ 3.79199751e-02 9.99280742e-01 -2.72432909e-04 4.23817119e+00] [ 1.27554649e-02 -2.11428244e-04 9.99918623e-01 2.60520861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters 0.019759921843322755 Centerline is valid? [True, True] Translation: X:394.51, Y:4.23, Z:2.61 [[ 9.98608060e-01 -5.12964164e-02 -1.22727816e-02 3.94514884e+02] [ 5.12970618e-02 9.98683405e-01 -2.62407209e-04 4.22588978e+00] [ 1.22700838e-02 -3.67515680e-04 9.99924652e-01 2.60624645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.239254154 meters 0.02209639650967104 Centerline is valid? [True, True] Translation: X:394.58, Y:4.22, Z:2.61 [[ 9.98181846e-01 -5.90555380e-02 -1.20600639e-02 3.94575510e+02] [ 5.90567252e-02 9.98254595e-01 -2.57973861e-04 4.22061571e+00] [ 1.20542490e-02 -4.54723053e-04 9.99927242e-01 2.60687950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.299254154 meters 0.022174984760730033 Centerline is valid? [True, True] Translation: X:394.64, Y:4.22, Z:2.61 [[ 9.97587013e-01 -6.88186262e-02 -9.17318196e-03 3.94636288e+02] [ 6.88197240e-02 9.97629093e-01 -1.96297764e-04 4.21612166e+00] [ 9.16494214e-03 -4.35471751e-04 9.99957906e-01 2.61030973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.359254154 meters 0.026144747398511328 Centerline is valid? [True, True] Translation: X:394.70, Y:4.21, Z:2.61 [[ 9.97165082e-01 -7.47165516e-02 -8.90144181e-03 3.94696143e+02] [ 7.47178193e-02 9.97204699e-01 -1.90516674e-04 4.21018300e+00] [ 8.89079435e-03 -4.75119747e-04 9.99960363e-01 2.61116834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.419254154 meters 0.0271002009744455 Centerline is valid? [True, True] Translation: X:394.76, Y:4.21, Z:2.61 [[ 9.97157735e-01 -7.47704384e-02 -9.26462731e-03 3.94757098e+02] [ 7.47718128e-02 9.97200650e-01 -1.98426765e-04 4.21180598e+00] [ 9.25352884e-03 -4.94870195e-04 9.99957063e-01 2.61093510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.479254154 meters 0.026196401087674036 Centerline is valid? [True, True] Translation: X:394.82, Y:4.22, Z:2.61 [[ 9.97314519e-01 -7.26849473e-02 -8.98044596e-03 3.94817178e+02] [ 7.26861542e-02 9.97354845e-01 -1.92340262e-04 4.21650406e+00] [ 8.97067153e-03 -4.60930344e-04 9.99959656e-01 2.61246402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.539254154 meters 0.022803710009283235 Centerline is valid? [True, True] Translation: X:394.88, Y:4.23, Z:2.61 [[ 9.97769913e-01 -6.61825410e-02 -8.66441499e-03 3.94877913e+02] [ 6.61834196e-02 9.97807457e-01 -1.85603500e-04 4.22735129e+00] [ 8.65770160e-03 -3.88251025e-04 9.99962446e-01 2.61289349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.599254154 meters 0.021370450928923437 Centerline is valid? [True, True] Translation: X:394.94, Y:4.23, Z:2.61 [[ 9.98011637e-01 -6.23323283e-02 -9.35160199e-03 3.94938678e+02] [ 6.23331823e-02 9.98055376e-01 -2.00392664e-04 4.23479812e+00] [ 9.34590759e-03 -3.82920901e-04 9.99956253e-01 2.61238751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.659254154 meters 0.02077981768470883 Centerline is valid? [True, True] Translation: X:395.00, Y:4.24, Z:2.61 [[ 9.98197101e-01 -5.90675586e-02 -1.06569930e-02 3.94998899e+02] [ 5.90684835e-02 9.98253907e-01 -2.28222326e-04 4.24329761e+00] [ 1.06518654e-02 -4.01681550e-04 9.99943187e-01 2.61127367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.719254154 meters 0.020534929450622654 Centerline is valid? [True, True] Translation: X:395.06, Y:4.25, Z:2.61 [[ 9.98249022e-01 -5.79171489e-02 -1.20205302e-02 3.95059423e+02] [ 5.79182424e-02 9.98321296e-01 -2.57422836e-04 4.24892070e+00] [ 1.20152605e-02 -4.39235886e-04 9.99927718e-01 2.61112769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779254154 meters 0.02097781717701017 Centerline is valid? [True, True] Translation: X:395.12, Y:4.26, Z:2.61 [[ 9.98280476e-01 -5.70156466e-02 -1.36127590e-02 3.95118645e+02] [ 5.70169660e-02 9.98373167e-01 -2.91465151e-04 4.25602005e+00] [ 1.36072313e-02 -4.85194245e-04 9.99907300e-01 2.61042095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839254154 meters 0.021454216319668658 Centerline is valid? [True, True] Translation: X:395.18, Y:4.26, Z:2.61 [[ 9.98247814e-01 -5.74384908e-02 -1.42169822e-02 3.95178869e+02] [ 5.74399736e-02 9.98348915e-01 -3.04345750e-04 4.26098330e+00] [ 1.42109899e-02 -5.12810603e-04 9.99898887e-01 2.61116478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899254154 meters 0.021279008666400784 Centerline is valid? [True, True] Translation: X:395.24, Y:4.27, Z:2.61 [[ 9.98132170e-01 -5.94595139e-02 -1.40262935e-02 3.95239350e+02] [ 5.94611565e-02 9.98230575e-01 -3.00263638e-04 4.26902859e+00] [ 1.40193285e-02 -5.34316833e-04 9.99901582e-01 2.61268065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959254154 meters 0.02084411748920918 Centerline is valid? [True, True] Translation: X:395.30, Y:4.27, Z:2.61 [[ 9.98072635e-01 -6.05915051e-02 -1.34046813e-02 3.95299281e+02] [ 6.05931055e-02 9.98162508e-01 -2.87082919e-04 4.27492357e+00] [ 1.33974451e-02 -5.25701663e-04 9.99910112e-01 2.61390130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019254154 meters 0.021451975362530233 Centerline is valid? [True, True] Translation: X:395.36, Y:4.28, Z:2.62 [[ 9.98131799e-01 -5.94980052e-02 -1.38888104e-02 3.95359752e+02] [ 5.94996176e-02 9.98228284e-01 -2.97449370e-04 4.28293479e+00] [ 1.38819010e-02 -5.29485231e-04 9.99903502e-01 2.61535848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079254154 meters 0.020579019871308883 Centerline is valid? [True, True] Translation: X:395.42, Y:4.29, Z:2.62 [[ 9.98289933e-01 -5.66432923e-02 -1.44480708e-02 3.95420293e+02] [ 5.66447405e-02 9.98394350e-01 -3.09297388e-04 4.29052316e+00] [ 1.44423919e-02 -5.09638754e-04 9.99895573e-01 2.61635898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139254154 meters 0.020060268003001935 Centerline is valid? [True, True] Translation: X:395.48, Y:4.30, Z:2.62 [[ 9.98400004e-01 -5.44651159e-02 -1.51981619e-02 3.95480338e+02] [ 5.44664664e-02 9.98515547e-01 -3.25354978e-04 4.29706843e+00] [ 1.51933214e-02 -5.02955761e-04 9.99884448e-01 2.61671604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199254154 meters 0.020639233827959687 Centerline is valid? [True, True] Translation: X:395.54, Y:4.30, Z:2.62 [[ 9.98461236e-01 -5.27934378e-02 -1.69709636e-02 3.95539607e+02] [ 5.27948775e-02 9.98605312e-01 -3.63490593e-04 4.30409171e+00] [ 1.69664843e-02 -5.33048676e-04 9.99855917e-01 2.61670223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259254154 meters 0.018807114826766214 Centerline is valid? [True, True] Translation: X:395.60, Y:4.31, Z:2.62 [[ 9.98475292e-01 -5.23397422e-02 -1.75397716e-02 3.95600200e+02] [ 5.23412080e-02 9.98629189e-01 -3.75798104e-04 4.31103125e+00] [ 1.75353970e-02 -5.42827711e-04 9.99846096e-01 2.61800160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319254154 meters 0.01842459664253027 Centerline is valid? [True, True] Translation: X:395.66, Y:4.32, Z:2.62 [[ 9.98489928e-01 -5.14881353e-02 -1.91529736e-02 3.95660517e+02] [ 5.14897267e-02 9.98673440e-01 -4.10361740e-04 4.31876822e+00] [ 1.91486948e-02 -5.76439315e-04 9.99816481e-01 2.61789670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379254154 meters 0.01891231409381069 Centerline is valid? [True, True] Translation: X:395.72, Y:4.32, Z:2.62 [[ 9.98532888e-01 -5.03376662e-02 -1.99547155e-02 3.95719965e+02] [ 5.03391594e-02 9.98732089e-01 -4.27782345e-04 4.32271839e+00] [ 1.99509482e-02 -5.77348862e-04 9.99800793e-01 2.61760138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters 0.018035060968661094 Centerline is valid? [True, True] Translation: X:395.78, Y:4.33, Z:2.62 [[ 9.98660213e-01 -4.71114584e-02 -2.14077022e-02 3.95779410e+02] [ 4.71124223e-02 9.98889488e-01 -4.59593391e-04 4.33141558e+00] [ 2.14055808e-02 -5.49591073e-04 9.99770723e-01 2.61817753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters 0.016672937214928556 Centerline is valid? [True, True] Translation: X:395.84, Y:4.34, Z:2.62 [[ 9.98847577e-01 -4.31925767e-02 -2.09265041e-02 3.95838025e+02] [ 4.31926111e-02 9.99066662e-01 -4.50547669e-04 4.34047257e+00] [ 2.09264329e-02 -4.53841905e-04 9.99780915e-01 2.62036090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters 0.0162688856742751 Centerline is valid? [True, True] Translation: X:395.90, Y:4.34, Z:2.62 [[ 9.98941542e-01 -4.13340735e-02 -2.01814224e-02 3.95897288e+02] [ 4.13336523e-02 9.99145303e-01 -4.38176967e-04 4.34462821e+00] [ 2.01822851e-02 -3.96458723e-04 9.99796238e-01 2.62162019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters 0.015741612889689217 Centerline is valid? [True, True] Translation: X:395.96, Y:4.35, Z:2.62 [[ 9.99016282e-01 -3.96993475e-02 -1.97593231e-02 3.95955738e+02] [ 3.96985259e-02 9.99211609e-01 -4.33979358e-04 4.35020516e+00] [ 1.97609737e-02 -3.50863556e-04 9.99804671e-01 2.62295894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters 0.015443132603172751 Centerline is valid? [True, True] Translation: X:396.01, Y:4.35, Z:2.62 [[ 9.99062396e-01 -3.83370922e-02 -2.01145948e-02 3.96014213e+02] [ 3.83358583e-02 9.99264811e-01 -4.47077678e-04 4.35312854e+00] [ 2.01169464e-02 -3.24451758e-04 9.99797581e-01 2.62277514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.739254154 meters 0.01516281887122791 Centerline is valid? [True, True] Translation: X:396.07, Y:4.36, Z:2.62 [[ 9.99146498e-01 -3.56799972e-02 -2.08137578e-02 3.96072619e+02] [ 3.56779857e-02 9.99363228e-01 -4.68088223e-04 4.35641841e+00] [ 2.08172056e-02 -2.74904244e-04 9.99783261e-01 2.62253091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.799254154 meters 0.014746273702590773 Centerline is valid? [True, True] Translation: X:396.13, Y:4.36, Z:2.62 [[ 9.99316330e-01 -3.09079435e-02 -2.02872314e-02 3.96131671e+02] [ 3.09049490e-02 9.99522222e-01 -4.61184119e-04 4.36145255e+00] [ 2.02917928e-02 -1.66107029e-04 9.99794087e-01 2.62305984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.859254154 meters 0.014488206208657374 Centerline is valid? [True, True] Translation: X:396.19, Y:4.36, Z:2.62 [[ 9.99405680e-01 -2.82171113e-02 -1.98010237e-02 3.96190608e+02] [ 2.82136324e-02 9.99601813e-01 -4.55084235e-04 4.36429751e+00] [ 1.98059804e-02 -1.03845036e-04 9.99803837e-01 2.62420423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.919254154 meters 0.014458949999408742 Centerline is valid? [True, True] Translation: X:396.25, Y:4.37, Z:2.63 [[ 9.99487902e-01 -2.65980527e-02 -1.77898150e-02 3.96249571e+02] [ 2.65949097e-02 9.99646207e-01 -4.13268927e-04 4.36525471e+00] [ 1.77945132e-02 -6.00612299e-05 9.99841663e-01 2.62514576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.979254154 meters 0.014476208070026865 Centerline is valid? [True, True] Translation: X:396.31, Y:4.37, Z:2.63 [[ 9.99471462e-01 -2.77076186e-02 -1.70024712e-02 3.96306667e+02] [ 2.77048581e-02 9.99616068e-01 -3.97925641e-04 4.36502112e+00] [ 1.70069690e-02 -7.33357294e-05 9.99855368e-01 2.62510323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.039254154 meters 0.014969516806028165 Centerline is valid? [True, True] Translation: X:396.37, Y:4.36, Z:2.62 [[ 9.99289386e-01 -3.34640318e-02 -1.73459679e-02 3.96365192e+02] [ 3.34619640e-02 9.99439908e-01 -4.09514934e-04 4.35988525e+00] [ 1.73499566e-02 -1.71206226e-04 9.99849464e-01 2.62437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.099254154 meters 0.015882257092852646 Centerline is valid? [True, True] Translation: X:396.42, Y:4.36, Z:2.62 [[ 9.99082985e-01 -3.91718157e-02 -1.72845913e-02 3.96423557e+02] [ 3.91705622e-02 9.99232454e-01 -4.11196332e-04 4.35565424e+00] [ 1.72874318e-02 -2.66227897e-04 9.99850526e-01 2.62440173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.159254154 meters 0.01870138190707649 Centerline is valid? [True, True] Translation: X:396.48, Y:4.35, Z:2.62 [[ 9.98656048e-01 -4.89815532e-02 -1.69382654e-02 3.96482839e+02] [ 4.89817379e-02 9.98799593e-01 -4.04212203e-04 4.34723266e+00] [ 1.69377316e-02 -4.25996717e-04 9.99856456e-01 2.62430067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.219254154 meters 0.02240515743370714 Centerline is valid? [True, True] Translation: X:396.54, Y:4.34, Z:2.62 [[ 9.98224162e-01 -5.72734946e-02 -1.63789154e-02 3.96542032e+02] [ 5.72747733e-02 9.98358376e-01 -3.91389307e-04 4.34022646e+00] [ 1.63744436e-02 -5.47404403e-04 9.99865780e-01 2.62433844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279254154 meters 0.0249495507568648 Centerline is valid? [True, True] Translation: X:396.60, Y:4.34, Z:2.62 [[ 9.97960181e-01 -6.20455557e-02 -1.50275099e-02 3.96602333e+02] [ 6.20471671e-02 9.98073154e-01 -3.59427204e-04 4.33685625e+00] [ 1.50208550e-02 -5.73720378e-04 9.99887016e-01 2.62469995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339254154 meters 0.0288216444569954 Centerline is valid? [True, True] Translation: X:396.66, Y:4.33, Z:2.62 [[ 9.97644992e-01 -6.68112163e-02 -1.55155490e-02 3.96662995e+02] [ 6.68135075e-02 9.97765412e-01 -3.71217708e-04 4.33402795e+00] [ 1.55056796e-02 -6.66304761e-04 9.99879558e-01 2.62445109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399254154 meters 0.032701093393975575 Centerline is valid? [True, True] Translation: X:396.72, Y:4.33, Z:2.62 [[ 9.97205425e-01 -7.31840670e-02 -1.50144241e-02 3.96722894e+02] [ 7.31869313e-02 9.97318176e-01 -3.59342842e-04 4.33248380e+00] [ 1.50004562e-02 -7.40520991e-04 9.99887213e-01 2.62441555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459254154 meters 0.0274849779471648 Centerline is valid? [True, True] Translation: X:396.78, Y:4.34, Z:2.63 [[ 9.96937942e-01 -7.67288599e-02 -1.50804899e-02 3.96783603e+02] [ 7.67321547e-02 9.97051677e-01 -3.60864305e-04 4.34471630e+00] [ 1.50637164e-02 -7.97399164e-04 9.99886218e-01 2.62680731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519254154 meters 0.028532603391130867 Centerline is valid? [True, True] Translation: X:396.84, Y:4.35, Z:2.63 [[ 9.96677045e-01 -8.01642177e-02 -1.44418275e-02 3.96844528e+02] [ 8.01676025e-02 9.96781338e-01 -3.45322756e-04 4.34899997e+00] [ 1.44230266e-02 -8.13591419e-04 9.99895652e-01 2.62806950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579254154 meters 0.028261302635846607 Centerline is valid? [True, True] Translation: X:396.91, Y:4.36, Z:2.63 [[ 9.96503442e-01 -8.23541599e-02 -1.40955039e-02 3.96905190e+02] [ 8.23576061e-02 9.96602785e-01 -3.36783901e-04 4.35501782e+00] [ 1.40753540e-02 -8.25265643e-04 9.99900597e-01 2.62908257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639254154 meters 0.030219731346268472 Centerline is valid? [True, True] Translation: X:396.97, Y:4.36, Z:2.63 [[ 9.96314926e-01 -8.44486515e-02 -1.49997805e-02 3.96966053e+02] [ 8.44527950e-02 9.96427417e-01 -3.58103753e-04 4.36008065e+00] [ 1.49764339e-02 -9.09989273e-04 9.99887433e-01 2.62822446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699254154 meters 0.030939169688721523 Centerline is valid? [True, True] Translation: X:397.03, Y:4.37, Z:2.63 [[ 9.96285517e-01 -8.45579950e-02 -1.62823228e-02 3.97028314e+02] [ 8.45629057e-02 9.96418067e-01 -3.87887521e-04 4.36520772e+00] [ 1.62567996e-02 -9.90433809e-04 9.99867359e-01 2.62737274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759254154 meters 0.030960908501758137 Centerline is valid? [True, True] Translation: X:397.09, Y:4.37, Z:2.63 [[ 9.96418486e-01 -8.27193941e-02 -1.75414349e-02 3.97089603e+02] [ 8.27248262e-02 9.96572340e-01 -4.16958560e-04 4.37209479e+00] [ 1.75157993e-02 -1.03564693e-03 9.99846050e-01 2.62710459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819254154 meters 0.029042062217256474 Centerline is valid? [True, True] Translation: X:397.15, Y:4.39, Z:2.63 [[ 9.96908021e-01 -7.65800388e-02 -1.76038469e-02 3.97149917e+02] [ 7.65845592e-02 9.97063002e-01 -4.18202803e-04 4.38613704e+00] [ 1.75841705e-02 -9.31273130e-04 9.99844953e-01 2.62876538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879254154 meters 0.027214647528264312 Centerline is valid? [True, True] Translation: X:397.21, Y:4.40, Z:2.63 [[ 9.97595775e-01 -6.72214916e-02 -1.68505582e-02 3.97208899e+02] [ 6.72242973e-02 9.97737808e-01 -4.00507041e-04 4.40111895e+00] [ 1.68393617e-02 -7.33222802e-04 9.99857939e-01 2.62979604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters 0.020059408554682245 Centerline is valid? [True, True] Translation: X:397.27, Y:4.42, Z:2.63 [[ 9.98093615e-01 -5.97265221e-02 -1.55524501e-02 3.97268939e+02] [ 5.97280014e-02 9.98214621e-01 -3.69764722e-04 4.42027470e+00] [ 1.55467678e-02 -5.59856955e-04 9.99878985e-01 2.63233862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters 0.018154813203960184 Centerline is valid? [True, True] Translation: X:397.33, Y:4.43, Z:2.63 [[ 9.98544923e-01 -5.18481365e-02 -1.48259392e-02 3.97329016e+02] [ 5.18486144e-02 9.98654894e-01 -3.52392270e-04 4.43195870e+00] [ 1.48242676e-02 -4.16824891e-04 9.99890028e-01 2.63301577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters 0.016093788584655478 Centerline is valid? [True, True] Translation: X:397.39, Y:4.45, Z:2.63 [[ 9.98968728e-01 -4.29749340e-02 -1.46504208e-02 3.97389453e+02] [ 4.29744500e-02 9.99076111e-01 -3.47995974e-04 4.44627173e+00] [ 1.46518406e-02 -2.81956682e-04 9.99892616e-01 2.63356856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters 0.0159418566433741 Centerline is valid? [True, True] Translation: X:397.45, Y:4.45, Z:2.63 [[ 9.99031047e-01 -4.13267119e-02 -1.51350817e-02 3.97451493e+02] [ 4.13260178e-02 9.99145651e-01 -3.58746156e-04 4.45086356e+00] [ 1.51369768e-02 -2.67074106e-04 9.99885394e-01 2.63387449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.179254154 meters 0.015817443886967007 Centerline is valid? [True, True] Translation: X:397.51, Y:4.46, Z:2.63 [[ 9.99068030e-01 -4.01763347e-02 -1.57776108e-02 3.97512316e+02] [ 4.01754532e-02 9.99192571e-01 -3.72948812e-04 4.45603675e+00] [ 1.57798552e-02 -2.61271428e-04 9.99875456e-01 2.63304754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.239254154 meters 0.01591180873088063 Centerline is valid? [True, True] Translation: X:397.57, Y:4.46, Z:2.63 [[ 9.98985753e-01 -4.21524237e-02 -1.58315797e-02 3.97574129e+02] [ 4.21518010e-02 9.99111148e-01 -3.73169088e-04 4.46128910e+00] [ 1.58332377e-02 -2.94538992e-04 9.99874603e-01 2.63329215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.299254154 meters 0.017116281816136728 Centerline is valid? [True, True] Translation: X:397.64, Y:4.46, Z:2.63 [[ 9.98884264e-01 -4.48488811e-02 -1.47920399e-02 3.97635147e+02] [ 4.48486465e-02 9.98993733e-01 -3.47749365e-04 4.46286700e+00] [ 1.47927514e-02 -3.16041602e-04 9.99890531e-01 2.63322031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.359254154 meters 0.016774544847082035 Centerline is valid? [True, True] Translation: X:397.70, Y:4.47, Z:2.63 [[ 9.98836641e-01 -4.61686446e-02 -1.39219447e-02 3.97696940e+02] [ 4.61685773e-02 9.98933609e-01 -3.26401125e-04 4.46699199e+00] [ 1.39221679e-02 -3.16734975e-04 9.99903032e-01 2.63435566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.419254154 meters 0.017253606630956486 Centerline is valid? [True, True] Translation: X:397.76, Y:4.47, Z:2.63 [[ 9.98779896e-01 -4.73153024e-02 -1.41415115e-02 3.97758695e+02] [ 4.73153629e-02 9.98879946e-01 -3.30482207e-04 4.47010775e+00] [ 1.41413091e-02 -3.39031764e-04 9.99899949e-01 2.63433382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.479254154 meters 0.017173798704011325 Centerline is valid? [True, True] Translation: X:397.82, Y:4.47, Z:2.64 [[ 9.98797939e-01 -4.69009008e-02 -1.42472287e-02 3.97820915e+02] [ 4.69009353e-02 9.98899491e-01 -3.31884212e-04 4.47406585e+00] [ 1.42471152e-02 -3.36723084e-04 9.99898448e-01 2.63500495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.539254154 meters 0.016994153816810267 Centerline is valid? [True, True] Translation: X:397.88, Y:4.48, Z:2.64 [[ 9.98812882e-01 -4.65513060e-02 -1.43458190e-02 3.97883244e+02] [ 4.65513205e-02 9.98915844e-01 -3.33099148e-04 4.47763725e+00] [ 1.43457721e-02 -3.35113097e-04 9.99897038e-01 2.63553098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.599254154 meters 0.01728517634062203 Centerline is valid? [True, True] Translation: X:397.95, Y:4.48, Z:2.64 [[ 9.98811606e-01 -4.66623468e-02 -1.40712697e-02 3.97945599e+02] [ 4.66623864e-02 9.98910664e-01 -3.25680305e-04 4.47905698e+00] [ 1.40711383e-02 -3.31305754e-04 9.99900942e-01 2.63576903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.659254154 meters 0.01691358175663324 Centerline is valid? [True, True] Translation: X:398.01, Y:4.48, Z:2.64 [[ 9.98866753e-01 -4.54704184e-02 -1.40588524e-02 3.98007626e+02] [ 4.54703547e-02 9.98965636e-01 -3.24342002e-04 4.48202940e+00] [ 1.40590584e-02 -3.15286563e-04 9.99901117e-01 2.63614098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.719254154 meters 0.01673339068199348 Centerline is valid? [True, True] Translation: X:398.07, Y:4.48, Z:2.64 [[ 9.98975163e-01 -4.31134061e-02 -1.37789290e-02 3.98070118e+02] [ 4.31131348e-02 9.99070146e-01 -3.16868571e-04 4.48483801e+00] [ 1.37797779e-02 -2.77508991e-04 9.99905016e-01 2.63621450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779254154 meters 0.015784318826424875 Centerline is valid? [True, True] Translation: X:398.13, Y:4.49, Z:2.64 [[ 9.99188923e-01 -3.74912927e-02 -1.46934847e-02 3.98131321e+02] [ 3.74903885e-02 9.99296931e-01 -3.37075368e-04 4.49008390e+00] [ 1.46957916e-02 -2.14062476e-04 9.99891988e-01 2.63564010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839254154 meters 0.015265691367397282 Centerline is valid? [True, True] Translation: X:398.19, Y:4.49, Z:2.64 [[ 9.99356446e-01 -3.26654444e-02 -1.48210451e-02 3.98192012e+02] [ 3.26640018e-02 9.99466331e-01 -3.39457647e-04 4.49322118e+00] [ 1.48242242e-02 -1.44875458e-04 9.99890105e-01 2.63526444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899254154 meters 0.014623820170976822 Centerline is valid? [True, True] Translation: X:398.25, Y:4.50, Z:2.64 [[ 9.99557871e-01 -2.57716264e-02 -1.48285430e-02 3.98253748e+02] [ 2.57694337e-02 9.99667856e-01 -3.38960541e-04 4.49859479e+00] [ 1.48323534e-02 -4.33124785e-05 9.99889994e-01 2.63629049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959254154 meters 0.014674192596129187 Centerline is valid? [True, True] Translation: X:398.31, Y:4.50, Z:2.64 [[ 9.99618470e-01 -2.30889300e-02 -1.51596925e-02 3.98314318e+02] [ 2.30863352e-02 9.99733415e-01 -3.46169817e-04 4.50111374e+00] [ 1.51636438e-02 -3.94399931e-06 9.99885025e-01 2.63708788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019254154 meters 0.014677921094698069 Centerline is valid? [True, True] Translation: X:398.37, Y:4.50, Z:2.64 [[ 9.99620239e-01 -2.24649970e-02 -1.59593546e-02 3.98374145e+02] [ 2.24620363e-02 9.99747630e-01 -3.64767837e-04 4.50063762e+00] [ 1.59635215e-02 6.14971012e-06 9.99872575e-01 2.63609311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079254154 meters 0.014668900645609583 Centerline is valid? [True, True] Translation: X:398.43, Y:4.50, Z:2.64 [[ 9.99574046e-01 -2.47441530e-02 -1.54742978e-02 3.98433382e+02] [ 2.47416339e-02 9.99693816e-01 -3.54242532e-04 4.49829581e+00] [ 1.54783252e-02 -2.87677696e-05 9.99880203e-01 2.63649980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139254154 meters 0.01493135804336858 Centerline is valid? [True, True] Translation: X:398.49, Y:4.49, Z:2.64 [[ 9.99371592e-01 -3.21923458e-02 -1.48348686e-02 3.98493521e+02] [ 3.21908429e-02 9.99481683e-01 -3.40144650e-04 4.49142061e+00] [ 1.48381295e-02 -1.37616024e-04 9.99889899e-01 2.63755125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199254154 meters 0.015668533988579272 Centerline is valid? [True, True] Translation: X:398.56, Y:4.49, Z:2.64 [[ 9.99157953e-01 -3.84115097e-02 -1.44201527e-02 3.98555457e+02] [ 3.84107452e-02 9.99261981e-01 -3.30070285e-04 4.48603341e+00] [ 1.44221889e-02 -2.24096462e-04 9.99895970e-01 2.63806025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259254154 meters 0.018815741538073808 Centerline is valid? [True, True] Translation: X:398.62, Y:4.47, Z:2.64 [[ 9.98690209e-01 -4.94540244e-02 -1.31212177e-02 3.98616001e+02] [ 4.94543571e-02 9.98776340e-01 -2.99306335e-04 4.47395233e+00] [ 1.31199637e-02 -3.49987078e-04 9.99913868e-01 2.63757946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319254154 meters 0.019807341955158292 Centerline is valid? [True, True] Translation: X:398.68, Y:4.47, Z:2.64 [[ 9.98247154e-01 -5.78362009e-02 -1.25536398e-02 3.98676873e+02] [ 5.78371731e-02 9.98325989e-01 -2.85896511e-04 4.46962618e+00] [ 1.25491600e-02 -4.40671657e-04 9.99921159e-01 2.63848660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379254154 meters 0.026615491949884405 Centerline is valid? [True, True] Translation: X:398.74, Y:4.46, Z:2.64 [[ 9.97470289e-01 -6.99752904e-02 -1.25092579e-02 3.98737042e+02] [ 6.99772108e-02 9.97548550e-01 -2.84651412e-04 4.45504356e+00] [ 1.24985106e-02 -5.91431649e-04 9.99921716e-01 2.63791951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters 0.030738151070862044 Centerline is valid? [True, True] Translation: X:398.80, Y:4.45, Z:2.64 [[ 9.96966535e-01 -7.68251274e-02 -1.24751090e-02 3.98798506e+02] [ 7.68275764e-02 9.97044354e-01 -2.83515106e-04 4.44861472e+00] [ 1.24600181e-02 -6.75777318e-04 9.99922143e-01 2.63817036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters 0.028225961515026175 Centerline is valid? [True, True] Translation: X:398.86, Y:4.45, Z:2.64 [[ 9.96560583e-01 -8.19007700e-02 -1.26201227e-02 3.98858732e+02] [ 8.19036847e-02 9.96640208e-01 -2.86574093e-04 4.45176799e+00] [ 1.26011924e-02 -7.48046106e-04 9.99920322e-01 2.63914674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters 0.029016180259331486 Centerline is valid? [True, True] Translation: X:398.92, Y:4.45, Z:2.64 [[ 9.96592358e-01 -8.15723004e-02 -1.22324009e-02 3.98921187e+02] [ 8.15750194e-02 9.96667166e-01 -2.77332569e-04 4.45236089e+00] [ 1.22142549e-02 -7.21470819e-04 9.99925143e-01 2.63950527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters 0.02697707612703002 Centerline is valid? [True, True] Translation: X:398.98, Y:4.46, Z:2.64 [[ 9.96986779e-01 -7.65541147e-02 -1.25231869e-02 3.98981903e+02] [ 7.65565765e-02 9.97065199e-01 -2.83390636e-04 4.45849049e+00] [ 1.25081286e-02 -6.76195600e-04 9.99921542e-01 2.63968113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.679254154 meters 0.02433165858152387 Centerline is valid? [True, True] Translation: X:399.04, Y:4.47, Z:2.64 [[ 9.97611981e-01 -6.78678110e-02 -1.28178110e-02 3.99042246e+02] [ 6.78696746e-02 9.97694153e-01 -2.90042566e-04 4.46746588e+00] [ 1.28079397e-02 -5.80590725e-04 9.99917806e-01 2.63903175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.739254154 meters 0.020817372984713787 Centerline is valid? [True, True] Translation: X:399.10, Y:4.48, Z:2.64 [[ 9.98056100e-01 -6.08762465e-02 -1.33455703e-02 3.99103032e+02] [ 6.08776427e-02 9.98145191e-01 -3.01973885e-04 4.47726173e+00] [ 1.33391999e-02 -5.11059985e-04 9.99910898e-01 2.63979008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.799254154 meters 0.01991066851998782 Centerline is valid? [True, True] Translation: X:399.16, Y:4.48, Z:2.64 [[ 9.98462789e-01 -5.38613126e-02 -1.30773765e-02 3.99162759e+02] [ 5.38620523e-02 9.98548342e-01 -2.95885255e-04 4.48376177e+00] [ 1.30743294e-02 -4.08943921e-04 9.99914444e-01 2.64056423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.859254154 meters 0.016682585620898797 Centerline is valid? [True, True] Translation: X:399.22, Y:4.50, Z:2.64 [[ 9.98980160e-01 -4.31804898e-02 -1.31941229e-02 3.99223107e+02] [ 4.31803121e-02 9.99067251e-01 -2.98475853e-04 4.49625007e+00] [ 1.31947044e-02 -2.71554889e-04 9.99912909e-01 2.64270804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.919254154 meters 0.01642448195299236 Centerline is valid? [True, True] Translation: X:399.28, Y:4.50, Z:2.64 [[ 9.99276487e-01 -3.58780092e-02 -1.26202384e-02 3.99284863e+02] [ 3.58772697e-02 9.99356163e-01 -2.85067033e-04 4.50307367e+00] [ 1.26223406e-02 -1.67918911e-04 9.99920321e-01 2.64328303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.979254154 meters 0.014803540923863288 Centerline is valid? [True, True] Translation: X:399.35, Y:4.51, Z:2.65 [[ 9.99578071e-01 -2.62773217e-02 -1.23766466e-02 3.99345688e+02] [ 2.62758822e-02 9.99654690e-01 -2.78936625e-04 4.51215645e+00] [ 1.23797025e-02 -4.63883735e-05 9.99923367e-01 2.64520724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.039254154 meters 0.014852950286154104 Centerline is valid? [True, True] Translation: X:399.41, Y:4.52, Z:2.65 [[ 9.99658129e-01 -2.32795442e-02 -1.19032966e-02 3.99406733e+02] [ 2.32780053e-02 9.99728995e-01 -2.67835709e-04 4.51506457e+00] [ 1.19063058e-02 -9.34085658e-06 9.99929117e-01 2.64512013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.099254154 meters 0.014956050208295464 Centerline is valid? [True, True] Translation: X:399.47, Y:4.52, Z:2.65 [[ 9.99734212e-01 -1.92935393e-02 -1.26200403e-02 3.99468503e+02] [ 1.92914979e-02 9.99813862e-01 -2.83484767e-04 4.51848058e+00] [ 1.26231606e-02 3.99499389e-05 9.99920324e-01 2.64512583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.159254154 meters 0.014911316824520092 Centerline is valid? [True, True] Translation: X:399.53, Y:4.52, Z:2.65 [[ 9.99764717e-01 -1.74319308e-02 -1.29088682e-02 3.99528278e+02] [ 1.74296415e-02 9.99848050e-01 -2.89833194e-04 4.51921513e+00] [ 1.29119590e-02 6.47680568e-05 9.99916635e-01 2.64533129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.219254154 meters 0.014701918988502366 Centerline is valid? [True, True] Translation: X:399.59, Y:4.51, Z:2.65 [[ 9.99687129e-01 -2.17677579e-02 -1.23210669e-02 3.99586947e+02] [ 2.17659828e-02 9.99763054e-01 -2.78163306e-04 4.51375250e+00] [ 1.23242025e-02 9.89614571e-06 9.99924054e-01 2.64607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279254154 meters 0.014793806143284424 Centerline is valid? [True, True] Translation: X:399.65, Y:4.51, Z:2.65 [[ 9.99551331e-01 -2.73495878e-02 -1.22121840e-02 3.99647202e+02] [ 2.73482400e-02 9.99625928e-01 -2.77379157e-04 4.50795872e+00] [ 1.22152020e-02 -5.67270351e-05 9.99925390e-01 2.64658506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339254154 meters 0.015328785188888484 Centerline is valid? [True, True] Translation: X:399.71, Y:4.50, Z:2.65 [[ 9.99358049e-01 -3.35419987e-02 -1.25866363e-02 3.99708524e+02] [ 3.35410607e-02 9.99437300e-01 -2.85669231e-04 4.50115531e+00] [ 1.25891357e-02 -1.36683285e-04 9.99920744e-01 2.64658305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399254154 meters 0.017685498351998518 Centerline is valid? [True, True] Translation: X:399.77, Y:4.49, Z:2.65 [[ 9.99017214e-01 -4.23060687e-02 -1.32212913e-02 3.99769762e+02] [ 4.23058057e-02 9.99104664e-01 -2.99695955e-04 4.49077661e+00] [ 1.32221328e-02 -2.59935964e-04 9.99912550e-01 2.64597822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459254154 meters 0.017776072658266348 Centerline is valid? [True, True] Translation: X:399.83, Y:4.48, Z:2.65 [[ 9.98788349e-01 -4.74836260e-02 -1.29282349e-02 3.99831570e+02] [ 4.74838139e-02 9.98871965e-01 -2.92595130e-04 4.48475159e+00] [ 1.29275448e-02 -3.21641292e-04 9.99916384e-01 2.64654467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519254154 meters 0.01992468820885193 Centerline is valid? [True, True] Translation: X:399.89, Y:4.47, Z:2.65 [[ 9.98620627e-01 -5.11030199e-02 -1.20550530e-02 3.99893010e+02] [ 5.11034543e-02 9.98693328e-01 -2.72198998e-04 4.47477140e+00] [ 1.20532112e-02 -3.44231315e-04 9.99927298e-01 2.64598236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579254154 meters 0.01910369197277471 Centerline is valid? [True, True] Translation: X:399.95, Y:4.47, Z:2.65 [[ 9.98638531e-01 -5.07734858e-02 -1.19639756e-02 3.99954735e+02] [ 5.07738991e-02 9.98710137e-01 -2.69389826e-04 4.47448213e+00] [ 1.19622216e-02 -3.38434628e-04 9.99928393e-01 2.64657543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639254154 meters 0.018484528125261263 Centerline is valid? [True, True] Translation: X:400.02, Y:4.47, Z:2.65 [[ 9.98880165e-01 -4.53936880e-02 -1.33352471e-02 4.00016672e+02] [ 4.53937351e-02 9.98969128e-01 -2.99300396e-04 4.47448671e+00] [ 1.33350865e-02 -3.06371445e-04 9.99911037e-01 2.64586862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699254154 meters 0.016041415547440357 Centerline is valid? [True, True] Translation: X:400.08, Y:4.48, Z:2.65 [[ 9.99241448e-01 -3.65566032e-02 -1.34217861e-02 4.00078036e+02] [ 3.65558629e-02 9.99331566e-01 -3.00565468e-04 4.47674306e+00] [ 1.34238022e-02 -1.90307499e-04 9.99909879e-01 2.64619791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759254154 meters 0.015305616342378531 Centerline is valid? [True, True] Translation: X:400.14, Y:4.48, Z:2.65 [[ 9.99439032e-01 -3.06322320e-02 -1.35383656e-02 4.00138232e+02] [ 3.06309404e-02 9.99530717e-01 -3.02797430e-04 4.47771950e+00] [ 1.35412876e-02 -1.12065298e-04 9.99908306e-01 2.64557342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819254154 meters 0.014958567133138029 Centerline is valid? [True, True] Translation: X:400.20, Y:4.48, Z:2.65 [[ 9.99554621e-01 -2.58672746e-02 -1.48809833e-02 4.00198866e+02] [ 2.58651881e-02 9.99665385e-01 -3.32691580e-04 4.47845844e+00] [ 1.48846098e-02 -5.23560270e-05 9.99889217e-01 2.64535701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879254154 meters 0.014898462639799612 Centerline is valid? [True, True] Translation: X:400.26, Y:4.48, Z:2.64 [[ 9.99504535e-01 -2.64679066e-02 -1.70333390e-02 4.00257529e+02] [ 2.64652143e-02 9.99649661e-01 -3.83493593e-04 4.47632736e+00] [ 1.70375218e-02 -6.74873812e-05 9.99854849e-01 2.64413022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters 0.01522616023472073 Centerline is valid? [True, True] Translation: X:400.32, Y:4.47, Z:2.64 [[ 9.99386301e-01 -2.95205862e-02 -1.88561816e-02 4.00316498e+02] [ 2.95177340e-02 9.99564164e-01 -4.29626583e-04 4.47248944e+00] [ 1.88606463e-02 -1.27228831e-04 9.99822114e-01 2.64359323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters 0.015448968070477407 Centerline is valid? [True, True] Translation: X:400.38, Y:4.46, Z:2.64 [[ 9.99212856e-01 -3.47083076e-02 -1.92093974e-02 4.00375598e+02] [ 3.47062098e-02 9.99397460e-01 -4.42671599e-04 4.46497325e+00] [ 1.92131873e-02 -2.24362222e-04 9.99815385e-01 2.64429885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters 0.015897371108659138 Centerline is valid? [True, True] Translation: X:400.43, Y:4.46, Z:2.65 [[ 9.99100072e-01 -3.78380022e-02 -1.91659170e-02 4.00434264e+02] [ 3.78363951e-02 9.99283847e-01 -4.46594103e-04 4.46163383e+00] [ 1.91690895e-02 -2.78977008e-04 9.99816217e-01 2.64555286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters 0.016050403504931667 Centerline is valid? [True, True] Translation: X:400.49, Y:4.46, Z:2.65 [[ 9.99019453e-01 -3.99424159e-02 -1.90980513e-02 4.00492985e+02] [ 3.99411112e-02 9.99201934e-01 -4.49896733e-04 4.45709968e+00] [ 1.91007798e-02 -3.13341804e-04 9.99817514e-01 2.64699401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.179254154 meters 0.016055396985316963 Centerline is valid? [True, True] Translation: X:400.55, Y:4.46, Z:2.65 [[ 9.99047734e-01 -3.97253631e-02 -1.80421869e-02 4.00552075e+02] [ 3.97240821e-02 9.99210595e-01 -4.29517704e-04 4.45575885e+00] [ 1.80450071e-02 -2.87600625e-04 9.99837134e-01 2.64816164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.239254154 meters 0.015210636678759456 Centerline is valid? [True, True] Translation: X:400.61, Y:4.46, Z:2.65 [[ 9.99216121e-01 -3.58689648e-02 -1.67499606e-02 4.00611187e+02] [ 3.58672521e-02 9.99356482e-01 -4.02743468e-04 4.45674914e+00] [ 1.67536277e-02 -1.98347295e-04 9.99859628e-01 2.65081549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.299254154 meters 0.01458331733035968 Centerline is valid? [True, True] Translation: X:400.67, Y:4.46, Z:2.65 [[ 9.99416879e-01 -2.97924058e-02 -1.66827515e-02 4.00669589e+02] [ 2.97898244e-02 9.99556103e-01 -4.03272693e-04 4.45798301e+00] [ 1.66873606e-02 -9.39387026e-05 9.99860752e-01 2.65145960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.359254154 meters 0.014353348623076283 Centerline is valid? [True, True] Translation: X:400.73, Y:4.46, Z:2.65 [[ 9.99502194e-01 -2.69148561e-02 -1.64606926e-02 4.00728249e+02] [ 2.69119047e-02 9.99637729e-01 -4.00824262e-04 4.45856141e+00] [ 1.64655175e-02 -4.23638596e-05 9.99864433e-01 2.65280473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.419254154 meters 0.014252117864609837 Centerline is valid? [True, True] Translation: X:400.79, Y:4.46, Z:2.65 [[ 9.99584566e-01 -2.34549084e-02 -1.67500087e-02 4.00786054e+02] [ 2.34513210e-02 9.99724896e-01 -4.10584680e-04 4.45608497e+00] [ 1.67550309e-02 1.76042778e-05 9.99859624e-01 2.65277967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.479254154 meters 0.014222210556736923 Centerline is valid? [True, True] Translation: X:400.84, Y:4.45, Z:2.65 [[ 9.99578718e-01 -2.30424284e-02 -1.76474374e-02 4.00844551e+02] [ 2.30383201e-02 9.99734488e-01 -4.36091280e-04 4.45436339e+00] [ 1.76528004e-02 2.93402509e-05 9.99844177e-01 2.65293135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.539254154 meters 0.014151439542815926 Centerline is valid? [True, True] Translation: X:400.90, Y:4.45, Z:2.65 [[ 9.99518012e-01 -2.42201005e-02 -1.94198603e-02 4.00903255e+02] [ 2.42152466e-02 9.99706650e-01 -4.85090432e-04 4.45133300e+00] [ 1.94259124e-02 1.45999183e-05 9.99811299e-01 2.65180901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.599254154 meters 0.014528896849576839 Centerline is valid? [True, True] Translation: X:400.96, Y:4.44, Z:2.65 [[ 9.99329611e-01 -3.01362284e-02 -2.07878782e-02 4.00961800e+02] [ 3.01318803e-02 9.99545795e-01 -5.22427522e-04 4.44328780e+00] [ 2.07941803e-02 -1.04300566e-04 9.99783772e-01 2.65183835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.659254154 meters 0.014713620418518692 Centerline is valid? [True, True] Translation: X:401.02, Y:4.44, Z:2.65 [[ 9.99095696e-01 -3.71410306e-02 -2.06962275e-02 4.01019377e+02] [ 3.71381780e-02 9.99310003e-01 -5.22296527e-04 4.43672116e+00] [ 2.07013458e-02 -2.46795968e-04 9.99785674e-01 2.65215620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.719254154 meters 0.016810880228624026 Centerline is valid? [True, True] Translation: X:401.08, Y:4.42, Z:2.65 [[ 9.98558503e-01 -5.01723369e-02 -1.90696748e-02 4.01079772e+02] [ 5.01722701e-02 9.98740462e-01 -4.82231083e-04 4.42438853e+00] [ 1.90698505e-02 -4.75232928e-04 9.99818041e-01 2.65469205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779254154 meters 0.02002943390721966 Centerline is valid? [True, True] Translation: X:401.14, Y:4.42, Z:2.66 [[ 9.98105890e-01 -5.87592276e-02 -1.82204822e-02 4.01140552e+02] [ 5.87605925e-02 9.98271997e-01 -4.60911826e-04 4.41756493e+00] [ 1.82160799e-02 -6.10607520e-04 9.99833887e-01 2.65576564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839254154 meters 0.024738731286289173 Centerline is valid? [True, True] Translation: X:401.20, Y:4.41, Z:2.66 [[ 9.97410070e-01 -6.98041866e-02 -1.73357167e-02 4.01200244e+02] [ 6.98070841e-02 9.97560414e-01 -4.38666256e-04 4.40566202e+00] [ 1.73240455e-02 -7.72625692e-04 9.99849629e-01 2.65580491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899254154 meters 0.025141102567513538 Centerline is valid? [True, True] Translation: X:401.26, Y:4.40, Z:2.66 [[ 9.96910443e-01 -7.66201176e-02 -1.72894861e-02 4.01260350e+02] [ 7.66240168e-02 9.97059962e-01 -4.37781375e-04 4.40419167e+00] [ 1.72721972e-02 -8.88361051e-04 9.99850430e-01 2.65696455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959254154 meters 0.026967240163956886 Centerline is valid? [True, True] Translation: X:401.32, Y:4.40, Z:2.66 [[ 9.96389538e-01 -8.29723253e-02 -1.79855947e-02 4.01320773e+02] [ 8.29775739e-02 9.96551311e-01 -4.55530887e-04 4.40141116e+00] [ 1.79613645e-02 -1.03851481e-03 9.99838142e-01 2.65656859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019254154 meters 0.02866698168525932 Centerline is valid? [True, True] Translation: X:401.38, Y:4.40, Z:2.66 [[ 9.95967423e-01 -8.78812436e-02 -1.80493654e-02 4.01380982e+02] [ 8.78873319e-02 9.96130317e-01 -4.57166009e-04 4.39956666e+00] [ 1.80196964e-02 -1.13098811e-03 9.99836992e-01 2.65679078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079254154 meters 0.03168069839020501 Centerline is valid? [True, True] Translation: X:401.44, Y:4.40, Z:2.66 [[ 9.95521703e-01 -9.26576971e-02 -1.87373998e-02 4.01441089e+02] [ 9.26651002e-02 9.95697220e-01 -4.74612304e-04 4.39909855e+00] [ 1.87007534e-02 -1.26381618e-03 9.99824327e-01 2.65637222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139254154 meters 0.03100482807350924 Centerline is valid? [True, True] Translation: X:401.50, Y:4.40, Z:2.66 [[ 9.95447158e-01 -9.35003059e-02 -1.85107759e-02 4.01501078e+02] [ 9.35076718e-02 9.95618449e-01 -4.69097416e-04 4.40412271e+00] [ 1.84735308e-02 -1.26393787e-03 9.99828551e-01 2.65743851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199254154 meters 0.031415710743317636 Centerline is valid? [True, True] Translation: X:401.56, Y:4.41, Z:2.66 [[ 9.95548707e-01 -9.23027559e-02 -1.90518457e-02 4.01561595e+02] [ 9.23103381e-02 9.95730168e-01 -4.82939687e-04 4.40885741e+00] [ 1.90150742e-02 -1.27789234e-03 9.99818380e-01 2.65708732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259254154 meters 0.030373894055812003 Centerline is valid? [True, True] Translation: X:401.62, Y:4.42, Z:2.66 [[ 9.95705450e-01 -9.04514118e-02 -1.97281306e-02 4.01621469e+02] [ 9.04591755e-02 9.95900039e-01 -5.00327191e-04 4.41849881e+00] [ 1.96925013e-02 -1.28641192e-03 9.99805256e-01 2.65727850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319254154 meters 0.03000772531555504 Centerline is valid? [True, True] Translation: X:401.68, Y:4.43, Z:2.66 [[ 9.95797739e-01 -8.92206509e-02 -2.06527862e-02 4.01681765e+02] [ 8.92288934e-02 9.96011009e-01 -5.23909403e-04 4.42895882e+00] [ 2.06171460e-02 -1.32111746e-03 9.99786571e-01 2.65784751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379254154 meters 0.029873901845701736 Centerline is valid? [True, True] Translation: X:401.74, Y:4.44, Z:2.66 [[ 9.95838520e-01 -8.86567082e-02 -2.11099364e-02 4.01742330e+02] [ 8.86651936e-02 9.96061342e-01 -5.35506156e-04 4.43606867e+00] [ 2.10742678e-02 -1.33843894e-03 9.99777017e-01 2.65831621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters 0.029491282557286395 Centerline is valid? [True, True] Translation: X:401.80, Y:4.45, Z:2.66 [[ 9.95967953e-01 -8.74560553e-02 -1.99818776e-02 4.01802624e+02] [ 8.74634170e-02 9.96167603e-01 -5.06890133e-04 4.44706616e+00] [ 1.99496297e-02 -1.24283696e-03 9.99800214e-01 2.66084118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters 0.029045159551884664 Centerline is valid? [True, True] Translation: X:401.86, Y:4.46, Z:2.66 [[ 9.96066318e-01 -8.63500287e-02 -1.98887557e-02 4.01863817e+02] [ 8.63571120e-02 9.96264119e-01 -5.04036555e-04 4.45537882e+00] [ 1.98579772e-02 -1.21548166e-03 9.99802072e-01 2.66215185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters 0.027616597010409406 Centerline is valid? [True, True] Translation: X:401.92, Y:4.47, Z:2.66 [[ 9.96298015e-01 -8.33638051e-02 -2.09938561e-02 4.01924873e+02] [ 8.33710534e-02 9.96518432e-01 -5.31267570e-04 4.46893821e+00] [ 2.09650530e-02 -1.22097907e-03 9.99779464e-01 2.66354093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters 0.03081052026240818 Centerline is valid? [True, True] Translation: X:401.98, Y:4.47, Z:2.66 [[ 9.96560426e-01 -8.03558061e-02 -2.02548958e-02 4.01984218e+02] [ 8.03619331e-02 9.96765618e-01 -5.12585967e-04 4.47172886e+00] [ 2.02305730e-02 -1.11689969e-03 9.99794717e-01 2.66322691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.679254154 meters 0.02539807801291356 Centerline is valid? [True, True] Translation: X:402.04, Y:4.49, Z:2.67 [[ 9.97096161e-01 -7.33560504e-02 -2.04483572e-02 4.02044353e+02] [ 7.33608236e-02 9.97305330e-01 -5.17617665e-04 4.48970364e+00] [ 2.04312260e-02 -9.83993735e-04 9.99790776e-01 2.66500733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.739254154 meters 0.022587150152674335 Centerline is valid? [True, True] Translation: X:402.10, Y:4.50, Z:2.67 [[ 9.97530308e-01 -6.75348088e-02 -1.92959496e-02 4.02104803e+02] [ 6.75379725e-02 9.97716585e-01 -4.88404364e-04 4.50126032e+00] [ 1.92848732e-02 -8.16011158e-04 9.99813697e-01 2.66617716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.799254154 meters 0.018530751518038648 Centerline is valid? [True, True] Translation: X:402.16, Y:4.52, Z:2.67 [[ 9.98162958e-01 -5.74320720e-02 -1.92942191e-02 4.02164618e+02] [ 5.74333497e-02 9.98349223e-01 -4.88347612e-04 4.51785199e+00] [ 1.92904154e-02 -6.20681132e-04 9.99813730e-01 2.66660905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.859254154 meters 0.016839521455615424 Centerline is valid? [True, True] Translation: X:402.23, Y:4.53, Z:2.67 [[ 9.98537802e-01 -5.07249485e-02 -1.86878748e-02 4.02225372e+02] [ 5.07249772e-02 9.98712548e-01 -4.72784179e-04 4.52746463e+00] [ 1.86877970e-02 -4.75849148e-04 9.99825255e-01 2.66672726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.919254154 meters 0.01620142119924921 Centerline is valid? [True, True] Translation: X:402.29, Y:4.54, Z:2.67 [[ 9.98901956e-01 -4.31935207e-02 -1.81439430e-02 4.02285279e+02] [ 4.31923077e-02 9.99066671e-01 -4.58902147e-04 4.53709816e+00] [ 1.81468303e-02 -3.25280518e-04 9.99835280e-01 2.66561626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.979254154 meters 0.016140454967754632 Centerline is valid? [True, True] Translation: X:402.35, Y:4.55, Z:2.67 [[ 9.99017193e-01 -4.03095303e-02 -1.84334139e-02 4.02345770e+02] [ 4.03077875e-02 9.99187202e-01 -4.66223532e-04 4.54506714e+00] [ 1.84372245e-02 -2.77244805e-04 9.99829981e-01 2.66690389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.039254154 meters 0.014907192060655902 Centerline is valid? [True, True] Translation: X:402.41, Y:4.55, Z:2.67 [[ 9.99034614e-01 -4.01922400e-02 -1.77319916e-02 4.02406959e+02] [ 4.01906161e-02 9.99191930e-01 -4.48071413e-04 4.54861249e+00] [ 1.77356719e-02 -2.65020815e-04 9.99842675e-01 2.66684211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.099254154 meters 0.015710662445956 Centerline is valid? [True, True] Translation: X:402.47, Y:4.55, Z:2.67 [[ 9.98877460e-01 -4.40792982e-02 -1.73445805e-02 4.02468537e+02] [ 4.40783414e-02 9.99027982e-01 -4.37639647e-04 4.54993948e+00] [ 1.73470121e-02 -3.27371959e-04 9.99849476e-01 2.66711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.159254154 meters 0.017402453151005307 Centerline is valid? [True, True] Translation: X:402.53, Y:4.55, Z:2.67 [[ 9.98500132e-01 -5.19720725e-02 -1.72159874e-02 4.02529225e+02] [ 5.19723095e-02 9.98648432e-01 -4.33949810e-04 4.54889446e+00] [ 1.72152721e-02 -4.61455682e-04 9.99851700e-01 2.66806481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.219254154 meters 0.019428166162581074 Centerline is valid? [True, True] Translation: X:402.59, Y:4.55, Z:2.67 [[ 9.98175121e-01 -5.80639033e-02 -1.65834362e-02 4.02590464e+02] [ 5.80649677e-02 9.98312719e-01 -4.17702408e-04 4.54625163e+00] [ 1.65797087e-02 -5.45976534e-04 9.99862398e-01 2.66782544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279254154 meters 0.021807933646807 Centerline is valid? [True, True] Translation: X:402.65, Y:4.54, Z:2.67 [[ 9.97711826e-01 -6.56751673e-02 -1.60587788e-02 4.02651012e+02] [ 6.56771520e-02 9.97840843e-01 -4.04332967e-04 4.54334090e+00] [ 1.60506600e-02 -6.51287071e-04 9.99870968e-01 2.66788649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339254154 meters 0.024249629131051678 Centerline is valid? [True, True] Translation: X:402.71, Y:4.54, Z:2.67 [[ 9.97468739e-01 -6.92292389e-02 -1.62304455e-02 4.02711635e+02] [ 6.92317390e-02 9.97600521e-01 -4.08456385e-04 4.54193356e+00] [ 1.62197781e-02 -7.16239495e-04 9.99868194e-01 2.66800984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399254154 meters 0.025422708356984958 Centerline is valid? [True, True] Translation: X:402.77, Y:4.54, Z:2.67 [[ 9.97279678e-01 -7.20026744e-02 -1.57752733e-02 4.02773053e+02] [ 7.20053894e-02 9.97404164e-01 -3.96554216e-04 4.54227954e+00] [ 1.57628762e-02 -7.40429236e-04 9.99875484e-01 2.66837543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459254154 meters 0.03109847774735568 Centerline is valid? [True, True] Translation: X:402.83, Y:4.54, Z:2.67 [[ 9.97045208e-01 -7.53679051e-02 -1.48502933e-02 4.02833201e+02] [ 7.53706866e-02 9.97155515e-01 -3.73073721e-04 4.53608729e+00] [ 1.48361696e-02 -7.47305437e-04 9.99889659e-01 2.66783775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519254154 meters 0.026260876759201243 Centerline is valid? [True, True] Translation: X:402.90, Y:4.55, Z:2.67 [[ 9.96953105e-01 -7.65993543e-02 -1.47324705e-02 4.02895120e+02] [ 7.66022347e-02 9.97061664e-01 -3.69518516e-04 4.54590573e+00] [ 1.47174864e-02 -7.60147531e-04 9.99891403e-01 2.66940016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579254154 meters 0.027202345682336957 Centerline is valid? [True, True] Translation: X:402.96, Y:4.55, Z:2.67 [[ 9.96979940e-01 -7.60374518e-02 -1.57894212e-02 4.02956583e+02] [ 7.60407064e-02 9.97104636e-01 -3.94997058e-04 4.54915639e+00] [ 1.57737397e-02 -8.06834602e-04 9.99875261e-01 2.66891222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639254154 meters 0.027034993855644465 Centerline is valid? [True, True] Translation: X:403.02, Y:4.55, Z:2.67 [[ 9.97149925e-01 -7.36117956e-02 -1.65327298e-02 4.03017898e+02] [ 7.36150437e-02 9.97286646e-01 -4.12849366e-04 4.55343565e+00] [ 1.65182613e-02 -8.05384913e-04 9.99863240e-01 2.66896981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699254154 meters 0.022904290689271245 Centerline is valid? [True, True] Translation: X:403.08, Y:4.56, Z:2.67 [[ 9.97466643e-01 -6.91056867e-02 -1.68730422e-02 4.03078791e+02] [ 6.91084339e-02 9.97609065e-01 -4.20908789e-04 4.56428709e+00] [ 1.68617870e-02 -7.46227042e-04 9.99857551e-01 2.66960200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759254154 meters 0.021184344002245014 Centerline is valid? [True, True] Translation: X:403.14, Y:4.57, Z:2.67 [[ 9.97796648e-01 -6.38810650e-02 -1.79180882e-02 4.03139645e+02] [ 6.38833280e-02 9.97957274e-01 -4.46635598e-04 4.57410083e+00] [ 1.79100180e-02 -6.99015601e-04 9.99839358e-01 2.67023348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819254154 meters 0.02161192980213359 Centerline is valid? [True, True] Translation: X:403.20, Y:4.58, Z:2.67 [[ 9.98043461e-01 -5.97484687e-02 -1.84219917e-02 4.03199672e+02] [ 5.97501642e-02 9.98213257e-01 -4.58848901e-04 4.57746662e+00] [ 1.84164918e-02 -6.42765881e-04 9.99830195e-01 2.66931377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters 0.018705195086084394 Centerline is valid? [True, True] Translation: X:403.26, Y:4.59, Z:2.67 [[ 9.98280443e-01 -5.54864250e-02 -1.89053721e-02 4.03261423e+02] [ 5.54874625e-02 9.98459273e-01 -4.70075620e-04 4.58710689e+00] [ 1.89023269e-02 -5.79743828e-04 9.99821167e-01 2.67116493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters 0.018808885886151948 Centerline is valid? [True, True] Translation: X:403.32, Y:4.59, Z:2.67 [[ 9.98496101e-01 -5.15992324e-02 -1.85217560e-02 4.03323101e+02] [ 5.15995788e-02 9.98667749e-01 -4.59515075e-04 4.59260373e+00] [ 1.85207910e-02 -4.96890799e-04 9.99828352e-01 2.67275820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters 0.017416874394697756 Centerline is valid? [True, True] Translation: X:403.38, Y:4.60, Z:2.67 [[ 9.98616947e-01 -5.00394819e-02 -1.61320553e-02 4.03384160e+02] [ 5.00395519e-02 9.98747157e-01 -3.99557200e-04 4.59791892e+00] [ 1.61318380e-02 -4.08236226e-04 9.99869790e-01 2.67482024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters 0.01784360182061601 Centerline is valid? [True, True] Translation: X:403.45, Y:4.60, Z:2.67 [[ 9.98600063e-01 -5.04383341e-02 -1.59338613e-02 4.03446505e+02] [ 5.04384678e-02 9.98727093e-01 -3.93728882e-04 4.59930437e+00] [ 1.59334380e-02 -4.10501865e-04 9.99872970e-01 2.67490014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters 0.018521405717885367 Centerline is valid? [True, True] Translation: X:403.51, Y:4.60, Z:2.67 [[ 9.98523904e-01 -5.17586358e-02 -1.64638085e-02 4.03508841e+02] [ 5.17589778e-02 9.98659523e-01 -4.05613678e-04 4.60004623e+00] [ 1.64627331e-02 -4.47134944e-04 9.99864380e-01 2.67427544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.179254154 meters 0.019024769616324128 Centerline is valid? [True, True] Translation: X:403.57, Y:4.60, Z:2.67 [[ 9.98503210e-01 -5.21899615e-02 -1.63568573e-02 4.03569638e+02] [ 5.21903732e-02 9.98637073e-01 -4.01983458e-04 4.60104762e+00] [ 1.63555436e-02 -4.52288713e-04 9.99866137e-01 2.67483591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.239254154 meters 0.019933283505070606 Centerline is valid? [True, True] Translation: X:403.63, Y:4.60, Z:2.68 [[ 9.98458569e-01 -5.31958753e-02 -1.58330024e-02 4.03631143e+02] [ 5.31964005e-02 9.98583994e-01 -3.88284208e-04 4.60089867e+00] [ 1.58312378e-02 -4.54573039e-04 9.99874575e-01 2.67590000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.299254154 meters 0.020693981711690707 Centerline is valid? [True, True] Translation: X:403.69, Y:4.60, Z:2.68 [[ 9.98403671e-01 -5.42803684e-02 -1.56125658e-02 4.03693674e+02] [ 5.42810265e-02 9.98525625e-01 -3.81917820e-04 4.60070123e+00] [ 1.56102776e-02 -4.66157942e-04 9.99878044e-01 2.67570198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.359254154 meters 0.0197190605049303 Centerline is valid? [True, True] Translation: X:403.76, Y:4.60, Z:2.67 [[ 9.98280635e-01 -5.60329041e-02 -1.72071649e-02 4.03755823e+02] [ 5.60339855e-02 9.98428774e-01 -4.19655625e-04 4.60300231e+00] [ 1.72036430e-02 -5.45251943e-04 9.99851858e-01 2.67459561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.419254154 meters 0.01974638098528565 Centerline is valid? [True, True] Translation: X:403.82, Y:4.60, Z:2.67 [[ 9.98242411e-01 -5.64777002e-02 -1.79543232e-02 4.03818001e+02] [ 5.64789733e-02 9.98403693e-01 -4.36554021e-04 4.60367223e+00] [ 1.79503181e-02 -5.78254999e-04 9.99838713e-01 2.67394333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.479254154 meters 0.019312589907203262 Centerline is valid? [True, True] Translation: X:403.88, Y:4.61, Z:2.67 [[ 9.98223399e-01 -5.68857152e-02 -1.77217520e-02 4.03880009e+02] [ 5.68870426e-02 9.98380529e-01 -4.29606571e-04 4.60575969e+00] [ 1.77174906e-02 -5.79294727e-04 9.99842865e-01 2.67457326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.539254154 meters 0.01888618316273653 Centerline is valid? [True, True] Translation: X:403.94, Y:4.61, Z:2.68 [[ 9.98193364e-01 -5.75987927e-02 -1.70993316e-02 4.03941643e+02] [ 5.76001511e-02 9.98339647e-01 -4.13454327e-04 4.60847436e+00] [ 1.70947551e-02 -5.72216715e-04 9.99853710e-01 2.67526556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.599254154 meters 0.019964282335233847 Centerline is valid? [True, True] Translation: X:404.00, Y:4.61, Z:2.67 [[ 9.98072898e-01 -5.95079804e-02 -1.75866378e-02 4.04003970e+02] [ 5.95097344e-02 9.98227635e-01 -4.24039960e-04 4.60870454e+00] [ 1.75807016e-02 -6.23353351e-04 9.99845253e-01 2.67499057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.659254154 meters 0.020044512208903752 Centerline is valid? [True, True] Translation: X:404.07, Y:4.61, Z:2.67 [[ 9.98075226e-01 -5.95585219e-02 -1.72807730e-02 4.04065747e+02] [ 5.95602449e-02 9.98224626e-01 -4.15395819e-04 4.60950826e+00] [ 1.72748335e-02 -6.14650797e-04 9.99850590e-01 2.67494976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.719254154 meters 0.019545906333746785 Centerline is valid? [True, True] Translation: X:404.13, Y:4.61, Z:2.68 [[ 9.98277898e-01 -5.59819910e-02 -1.75287143e-02 4.04126982e+02] [ 5.59832287e-02 9.98431621e-01 -4.20458894e-04 4.61313219e+00] [ 1.75247608e-02 -5.61579203e-04 9.99846272e-01 2.67522411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779254154 meters 0.01782420796676413 Centerline is valid? [True, True] Translation: X:404.19, Y:4.62, Z:2.68 [[ 9.98557577e-01 -5.08699613e-02 -1.71759037e-02 4.04188349e+02] [ 5.08704047e-02 9.98705178e-01 -4.11371891e-04 4.61939291e+00] [ 1.71745905e-02 -4.62966655e-04 9.99852399e-01 2.67660099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839254154 meters 0.015199037717767538 Centerline is valid? [True, True] Translation: X:404.25, Y:4.63, Z:2.68 [[ 9.99007514e-01 -4.13674046e-02 -1.65144121e-02 4.04248905e+02] [ 4.13665231e-02 9.99143961e-01 -3.95109903e-04 4.62891119e+00] [ 1.65166198e-02 -2.88426048e-04 9.99863550e-01 2.67913459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899254154 meters 0.013821991328427478 Centerline is valid? [True, True] Translation: X:404.31, Y:4.63, Z:2.68 [[ 9.99312359e-01 -3.31755776e-02 -1.65586966e-02 4.04310236e+02] [ 3.31735749e-02 9.99449527e-01 -3.95680520e-04 4.63417262e+00] [ 1.65627084e-02 -1.53902729e-04 9.99862817e-01 2.67920403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959254154 meters 0.014957532326427575 Centerline is valid? [True, True] Translation: X:404.37, Y:4.64, Z:2.68 [[ 9.99409695e-01 -2.94304451e-02 -1.77231407e-02 4.04370567e+02] [ 2.94275667e-02 9.99566826e-01 -4.23240305e-04 4.63685704e+00] [ 1.77279197e-02 -9.85584414e-05 9.99842843e-01 2.67906162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019254154 meters 0.013550406328860053 Centerline is valid? [True, True] Translation: X:404.43, Y:4.64, Z:2.68 [[ 9.99404972e-01 -2.91118703e-02 -1.84986496e-02 4.04429695e+02] [ 2.91086759e-02 9.99576155e-01 -4.41973229e-04 4.63685461e+00] [ 1.85036757e-02 -9.67609513e-05 9.99828788e-01 2.67786819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079254154 meters 0.013765103084795885 Centerline is valid? [True, True] Translation: X:404.49, Y:4.63, Z:2.68 [[ 9.99321982e-01 -3.15532909e-02 -1.89727633e-02 4.04488130e+02] [ 3.15503559e-02 9.99502060e-01 -4.54075832e-04 4.63472452e+00] [ 1.89776436e-02 -1.44829474e-04 9.99819898e-01 2.67728273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139254154 meters 0.01602170409860815 Centerline is valid? [True, True] Translation: X:404.55, Y:4.63, Z:2.68 [[ 9.99028312e-01 -3.99548940e-02 -1.86020790e-02 4.04547222e+02] [ 3.99535250e-02 9.99201440e-01 -4.45373752e-04 4.62730143e+00] [ 1.86050190e-02 -2.98277641e-04 9.99826867e-01 2.67787118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199254154 meters 0.018713770175576433 Centerline is valid? [True, True] Translation: X:404.61, Y:4.62, Z:2.68 [[ 9.98707210e-01 -4.77637125e-02 -1.73935660e-02 4.04608810e+02] [ 4.77637070e-02 9.98858576e-01 -4.15972889e-04 4.62111338e+00] [ 1.73935809e-02 -4.15346065e-04 9.99848634e-01 2.67880070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259254154 meters 0.020566807793055305 Centerline is valid? [True, True] Translation: X:404.67, Y:4.61, Z:2.68 [[ 9.98033644e-01 -6.10150286e-02 -1.43530975e-02 4.04669593e+02] [ 6.10163998e-02 9.98136705e-01 -3.42760931e-04 4.61270643e+00] [ 1.43472670e-02 -5.33687397e-04 9.99896930e-01 2.68147889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319254154 meters 0.02499357439410759 Centerline is valid? [True, True] Translation: X:404.73, Y:4.60, Z:2.68 [[ 9.97315307e-01 -7.20755529e-02 -1.29341632e-02 4.04729869e+02] [ 7.20775970e-02 9.97398980e-01 -3.08654324e-04 4.60483784e+00] [ 1.29227676e-02 -6.24437722e-04 9.99916303e-01 2.68275207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters 0.026845809081508982 Centerline is valid? [True, True] Translation: X:404.79, Y:4.60, Z:2.68 [[ 9.96863679e-01 -7.81350742e-02 -1.25584949e-02 4.04790192e+02] [ 7.81374806e-02 9.96942548e-01 -2.99690723e-04 4.60146226e+00] [ 1.25435143e-02 -6.82538358e-04 9.99921094e-01 2.68356346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters 0.02835230785156347 Centerline is valid? [True, True] Translation: X:404.85, Y:4.60, Z:2.68 [[ 9.96425773e-01 -8.36661188e-02 -1.16473215e-02 4.04850511e+02] [ 8.36685655e-02 9.96493600e-01 -2.77910190e-04 4.59960843e+00] [ 1.16297330e-02 -6.97597804e-04 9.99932129e-01 2.68491749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters 0.031246514252012563 Centerline is valid? [True, True] Translation: X:404.91, Y:4.60, Z:2.68 [[ 9.96229935e-01 -8.59632582e-02 -1.16719276e-02 4.04911233e+02] [ 8.59658735e-02 9.96298043e-01 -2.78384981e-04 4.59637832e+00] [ 1.16526495e-02 -7.26051998e-04 9.99931842e-01 2.68482493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters 0.030744552282352004 Centerline is valid? [True, True] Translation: X:404.97, Y:4.60, Z:2.68 [[ 9.96160299e-01 -8.65807405e-02 -1.29782028e-02 4.04973546e+02] [ 8.65840341e-02 9.96244503e-01 -3.08940507e-04 4.59805173e+00] [ 1.29562115e-02 -8.15950889e-04 9.99915732e-01 2.68301682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters 0.030559344067444098 Centerline is valid? [True, True] Translation: X:405.04, Y:4.60, Z:2.68 [[ 9.96302636e-01 -8.47488744e-02 -1.40955777e-02 4.05035292e+02] [ 8.47525903e-02 9.96401970e-01 -3.34593361e-04 4.60062261e+00] [ 1.40732178e-02 -8.61280473e-04 9.99900596e-01 2.68185657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.679254154 meters 0.026390415714980842 Centerline is valid? [True, True] Translation: X:405.10, Y:4.61, Z:2.68 [[ 9.96901404e-01 -7.70829955e-02 -1.56780877e-02 4.05095324e+02] [ 7.70866553e-02 9.97024327e-01 -3.71655536e-04 4.61236922e+00] [ 1.56600832e-02 -8.38067418e-04 9.99877022e-01 2.68204310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.739254154 meters 0.025540355071219375 Centerline is valid? [True, True] Translation: X:405.16, Y:4.62, Z:2.68 [[ 9.97148368e-01 -7.37697907e-02 -1.59107142e-02 4.05156674e+02] [ 7.37731456e-02 9.97274978e-01 -3.76766564e-04 4.61676704e+00] [ 1.58951511e-02 -7.98091272e-04 9.99873346e-01 2.68256838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.799254154 meters 0.023259951528925554 Centerline is valid? [True, True] Translation: X:405.22, Y:4.62, Z:2.68 [[ 9.97684138e-01 -6.62665089e-02 -1.53333289e-02 4.05217458e+02] [ 6.62687460e-02 9.97801745e-01 -3.62705552e-04 4.62399425e+00] [ 1.53236575e-02 -6.54254901e-04 9.99882372e-01 2.68330415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.859254154 meters 0.01977636601161334 Centerline is valid? [True, True] Translation: X:405.28, Y:4.63, Z:2.68 [[ 9.98406528e-01 -5.48707201e-02 -1.31760551e-02 4.05278098e+02] [ 5.48713829e-02 9.98493382e-01 -3.11474444e-04 4.63483287e+00] [ 1.31732946e-02 -4.12010246e-04 9.99913144e-01 2.68465800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.919254154 meters 0.01768203812587064 Centerline is valid? [True, True] Translation: X:405.34, Y:4.64, Z:2.69 [[ 9.98822869e-01 -4.69718635e-02 -1.21045326e-02 4.05339032e+02] [ 4.69718454e-02 9.98896173e-01 -2.85955133e-04 4.64299586e+00] [ 1.21046031e-02 -2.82953705e-04 9.99926697e-01 2.68626409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.979254154 meters 0.014721233985943846 Centerline is valid? [True, True] Translation: X:405.40, Y:4.66, Z:2.69 [[ 9.99290056e-01 -3.56763563e-02 -1.21071048e-02 4.05399448e+02] [ 3.56755116e-02 9.99363385e-01 -2.85799145e-04 4.65537911e+00] [ 1.21095935e-02 -1.46330914e-04 9.99926665e-01 2.68682065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.039254154 meters 0.014042757036090805 Centerline is valid? [True, True] Translation: X:405.46, Y:4.66, Z:2.69 [[ 9.99483547e-01 -2.95983593e-02 -1.25130175e-02 4.05461455e+02] [ 2.95969876e-02 9.99561870e-01 -2.94825001e-04 4.66056348e+00] [ 1.25162615e-02 -7.56748850e-05 9.99921666e-01 2.68708787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.099254154 meters 0.014207614136352029 Centerline is valid? [True, True] Translation: X:405.52, Y:4.66, Z:2.69 [[ 9.99610708e-01 -2.45387959e-02 -1.32770714e-02 4.05522837e+02] [ 2.45368171e-02 9.99698878e-01 -3.11942015e-04 4.66374239e+00] [ 1.32807280e-02 -1.39564931e-05 9.99911807e-01 2.68680387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.159254154 meters 0.013759351056919274 Centerline is valid? [True, True] Translation: X:405.58, Y:4.66, Z:2.69 [[ 9.99634840e-01 -2.39555752e-02 -1.25027165e-02 4.05583633e+02] [ 2.39537792e-02 9.99713024e-01 -2.93403895e-04 4.66320606e+00] [ 1.25061572e-02 -6.19055557e-06 9.99921795e-01 2.68816860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.219254154 meters 0.013813787987344887 Centerline is valid? [True, True] Translation: X:405.65, Y:4.66, Z:2.69 [[ 9.99618010e-01 -2.52101890e-02 -1.13261194e-02 4.05645241e+02] [ 2.52087976e-02 9.99682172e-01 -2.65621748e-04 4.66091056e+00] [ 1.13292160e-02 -1.99975671e-05 9.99935822e-01 2.68892675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279254154 meters 0.0145569613372932 Centerline is valid? [True, True] Translation: X:405.71, Y:4.66, Z:2.69 [[ 9.99566696e-01 -2.75175755e-02 -1.04500304e-02 4.05706600e+02] [ 2.75165209e-02 9.99621319e-01 -2.44708788e-04 4.65733268e+00] [ 1.04528070e-02 -4.29457253e-05 9.99945367e-01 2.68899439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339254154 meters 0.014426284282271057 Centerline is valid? [True, True] Translation: X:405.77, Y:4.65, Z:2.69 [[ 9.99372970e-01 -3.36002879e-02 -1.11663883e-02 4.05769042e+02] [ 3.35994700e-02 9.99435344e-01 -2.60892843e-04 4.65041834e+00] [ 1.11688492e-02 -1.14455472e-04 9.99937620e-01 2.68916477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399254154 meters 0.015595517479862741 Centerline is valid? [True, True] Translation: X:405.83, Y:4.64, Z:2.69 [[ 9.99100732e-01 -4.06093214e-02 -1.21905641e-02 4.05831552e+02] [ 4.06088795e-02 9.99175079e-01 -2.83883583e-04 4.64166931e+00] [ 1.21920361e-02 -2.11416851e-04 9.99925652e-01 2.68854870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459254154 meters 0.016951288324145886 Centerline is valid? [True, True] Translation: X:405.89, Y:4.63, Z:2.69 [[ 9.98870092e-01 -4.58617400e-02 -1.24595026e-02 4.05893608e+02] [ 4.58616969e-02 9.98947757e-01 -2.89330873e-04 4.63454698e+00] [ 1.24596614e-02 -2.82409975e-04 9.99922336e-01 2.68834579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519254154 meters 0.018601693925556502 Centerline is valid? [True, True] Translation: X:405.95, Y:4.62, Z:2.69 [[ 9.98531010e-01 -5.28401924e-02 -1.19890338e-02 4.05954731e+02] [ 5.28406603e-02 9.98602918e-01 -2.77957225e-04 4.62474027e+00] [ 1.19869714e-02 -3.55959552e-04 9.99928090e-01 2.68881351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579254154 meters 0.020618900048078505 Centerline is valid? [True, True] Translation: X:406.02, Y:4.62, Z:2.69 [[ 9.98371043e-01 -5.57814782e-02 -1.19869989e-02 4.06017249e+02] [ 5.57821638e-02 9.98442924e-01 -2.77399337e-04 4.61924330e+00] [ 1.19838079e-02 -3.91713268e-04 9.99928115e-01 2.68791023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639254154 meters 0.01993116690236694 Centerline is valid? [True, True] Translation: X:406.08, Y:4.61, Z:2.69 [[ 9.98259811e-01 -5.78174642e-02 -1.15970214e-02 4.06079525e+02] [ 5.78182528e-02 9.98327090e-01 -2.67534590e-04 4.61441820e+00] [ 1.15930888e-02 -4.03450487e-04 9.99932716e-01 2.68849247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699254154 meters 0.02060787129276366 Centerline is valid? [True, True] Translation: X:406.14, Y:4.61, Z:2.69 [[ 9.98288612e-01 -5.73480030e-02 -1.14478893e-02 4.06141052e+02] [ 5.73487493e-02 9.98354171e-01 -2.63341717e-04 4.61240420e+00] [ 1.14441502e-02 -3.93631098e-04 9.99934436e-01 2.68903292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759254154 meters 0.020277362600148927 Centerline is valid? [True, True] Translation: X:406.20, Y:4.61, Z:2.69 [[ 9.98426048e-01 -5.48916925e-02 -1.15033954e-02 4.06203016e+02] [ 5.48922905e-02 9.98492247e-01 -2.63988801e-04 4.61138500e+00] [ 1.15005419e-02 -3.67874424e-04 9.99933799e-01 2.68949166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819254154 meters 0.021323778305324198 Centerline is valid? [True, True] Translation: X:406.26, Y:4.61, Z:2.69 [[ 9.98592136e-01 -5.17619167e-02 -1.15952683e-02 4.06264960e+02] [ 5.17623209e-02 9.98659397e-01 -2.65446351e-04 4.61069720e+00] [ 1.15934637e-02 -3.35125362e-04 9.99932737e-01 2.68862706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters 0.018218953535351252 Centerline is valid? [True, True] Translation: X:406.33, Y:4.61, Z:2.69 [[ 9.98717480e-01 -4.92233567e-02 -1.18513847e-02 4.06327428e+02] [ 4.92236096e-02 9.98787747e-01 -2.70536196e-04 4.61140497e+00] [ 1.18503345e-02 -3.13178703e-04 9.99929733e-01 2.69027844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters 0.018607215421446954 Centerline is valid? [True, True] Translation: X:406.39, Y:4.61, Z:2.69 [[ 9.98814164e-01 -4.68992014e-02 -1.30663798e-02 4.06389750e+02] [ 4.68993229e-02 9.98899577e-01 -2.97279060e-04 4.61205718e+00] [ 1.30659434e-02 -3.15877828e-04 9.99914587e-01 2.68963857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters 0.01633548194677496 Centerline is valid? [True, True] Translation: X:406.45, Y:4.62, Z:2.69 [[ 9.98962620e-01 -4.33685923e-02 -1.38870181e-02 4.06451398e+02] [ 4.33684014e-02 9.99059099e-01 -3.15034676e-04 4.61534874e+00] [ 1.38876144e-02 -2.87549907e-04 9.99903521e-01 2.69066799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters 0.016369229703480304 Centerline is valid? [True, True] Translation: X:406.51, Y:4.62, Z:2.69 [[ 9.99060397e-01 -4.11726650e-02 -1.35327504e-02 4.06512231e+02] [ 4.11722906e-02 9.99152015e-01 -3.06378509e-04 4.61556841e+00] [ 1.35338893e-02 -2.51083698e-04 9.99908381e-01 2.69133455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters 0.015736707707407177 Centerline is valid? [True, True] Translation: X:406.57, Y:4.62, Z:2.69 [[ 9.99194655e-01 -3.84401223e-02 -1.15064272e-02 4.06573237e+02] [ 3.84396750e-02 9.99260889e-01 -2.60115302e-04 4.61730806e+00] [ 1.15079215e-02 -1.82397502e-04 9.99933765e-01 2.69409816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.179254154 meters 0.015528544764290131 Centerline is valid? [True, True] Translation: X:406.63, Y:4.62, Z:2.70 [[ 9.99207488e-01 -3.81058662e-02 -1.15038412e-02 4.06634226e+02] [ 3.81054019e-02 9.99273692e-01 -2.59629849e-04 4.61621604e+00] [ 1.15053793e-02 -1.78934403e-04 9.99933795e-01 2.69514170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.239254154 meters 0.016058198586233037 Centerline is valid? [True, True] Translation: X:406.70, Y:4.61, Z:2.69 [[ 9.99120571e-01 -4.01403122e-02 -1.21177404e-02 4.06696014e+02] [ 4.01399521e-02 9.99194030e-01 -2.73022831e-04 4.61408412e+00] [ 1.21189330e-02 -2.13622791e-04 9.99926540e-01 2.69490326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.299254154 meters 0.01660885085602669 Centerline is valid? [True, True] Translation: X:406.76, Y:4.61, Z:2.69 [[ 9.98977730e-01 -4.33472696e-02 -1.28261311e-02 4.06757170e+02] [ 4.33471367e-02 9.99060029e-01 -2.88495223e-04 4.61136706e+00] [ 1.28265804e-02 -2.67775756e-04 9.99917700e-01 2.69495382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.359254154 meters 0.018027862794036727 Centerline is valid? [True, True] Translation: X:406.82, Y:4.61, Z:2.69 [[ 9.98668132e-01 -4.96418490e-02 -1.40587526e-02 4.06818036e+02] [ 4.96423182e-02 9.98767010e-01 -3.15812089e-04 4.60551335e+00] [ 1.40570958e-02 -3.82517601e-04 9.99901121e-01 2.69450622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.419254154 meters 0.020490002338357443 Centerline is valid? [True, True] Translation: X:406.88, Y:4.60, Z:2.69 [[ 9.98363532e-01 -5.53722671e-02 -1.42888395e-02 4.06878458e+02] [ 5.53733418e-02 9.98465668e-01 -3.20715657e-04 4.59815298e+00] [ 1.42846745e-02 -4.71029980e-04 9.99897858e-01 2.69454014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.479254154 meters 0.02153203755691319 Centerline is valid? [True, True] Translation: X:406.94, Y:4.60, Z:2.70 [[ 9.98261068e-01 -5.71750957e-02 -1.43474533e-02 4.06939717e+02] [ 5.71763708e-02 9.98364041e-01 -3.21634639e-04 4.59629744e+00] [ 1.43423710e-02 -4.99259975e-04 9.99897018e-01 2.69541322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.539254154 meters 0.02305116056128216 Centerline is valid? [True, True] Translation: X:407.00, Y:4.60, Z:2.69 [[ 9.98351486e-01 -5.55695941e-02 -1.43641962e-02 4.07000962e+02] [ 5.55707136e-02 9.98454702e-01 -3.21498991e-04 4.59669534e+00] [ 1.43598648e-02 -4.77259637e-04 9.99896778e-01 2.69434165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.599254154 meters 0.02092793920433482 Centerline is valid? [True, True] Translation: X:407.06, Y:4.60, Z:2.70 [[ 9.98389262e-01 -5.51188992e-02 -1.34457525e-02 4.07062164e+02] [ 5.51198454e-02 9.98479701e-01 -3.00480513e-04 4.59905566e+00] [ 1.34418731e-02 -4.41131282e-04 9.99909557e-01 2.69759626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.659254154 meters 0.019981739393849837 Centerline is valid? [True, True] Translation: X:407.12, Y:4.60, Z:2.70 [[ 9.98412669e-01 -5.47319674e-02 -1.32873830e-02 4.07123762e+02] [ 5.47328635e-02 9.98500989e-01 -2.96465359e-04 4.60167347e+00] [ 1.32836912e-02 -4.31261749e-04 9.99911675e-01 2.69890150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.719254154 meters 0.023070710609054395 Centerline is valid? [True, True] Translation: X:407.19, Y:4.60, Z:2.70 [[ 9.98365123e-01 -5.52615388e-02 -1.46028815e-02 4.07185297e+02] [ 5.52626859e-02 9.98471797e-01 -3.25263024e-04 4.60166201e+00] [ 1.45985398e-02 -4.82263192e-04 9.99893319e-01 2.69651580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779254154 meters 0.021676996111170087 Centerline is valid? [True, True] Translation: X:407.25, Y:4.60, Z:2.70 [[ 9.98195011e-01 -5.82494142e-02 -1.46193808e-02 4.07246847e+02] [ 5.82508916e-02 9.98301922e-01 -3.25103258e-04 4.60164109e+00] [ 1.46134930e-02 -5.27075517e-04 9.99893078e-01 2.69896119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839254154 meters 0.025107771476949283 Centerline is valid? [True, True] Translation: X:407.31, Y:4.60, Z:2.70 [[ 9.97876442e-01 -6.33325183e-02 -1.52183838e-02 4.07307341e+02] [ 6.33347155e-02 9.97992284e-01 -3.38021145e-04 4.59604820e+00] [ 1.52092374e-02 -6.26548671e-04 9.99884137e-01 2.69865020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899254154 meters 0.025703328868092987 Centerline is valid? [True, True] Translation: X:407.37, Y:4.60, Z:2.70 [[ 9.97682182e-01 -6.60192179e-02 -1.64841162e-02 4.07367978e+02] [ 6.60221669e-02 9.97818089e-01 -3.65826735e-04 4.59854425e+00] [ 1.64723010e-02 -7.23338257e-04 9.99864061e-01 2.69685852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959254154 meters 0.02662431829702704 Centerline is valid? [True, True] Translation: X:407.43, Y:4.60, Z:2.70 [[ 9.97676227e-01 -6.60151206e-02 -1.68567696e-02 4.07428908e+02] [ 6.60182122e-02 9.97818348e-01 -3.73604146e-04 4.59985524e+00] [ 1.68446575e-02 -7.40117818e-04 9.99857845e-01 2.69634333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019254154 meters 0.02329341641322953 Centerline is valid? [True, True] Translation: X:407.49, Y:4.61, Z:2.70 [[ 9.97755209e-01 -6.49479250e-02 -1.63190053e-02 4.07490024e+02] [ 6.49506895e-02 9.97888409e-01 -3.61098289e-04 4.60502027e+00] [ 1.63079988e-02 -6.99642948e-04 9.99866771e-01 2.69974219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079254154 meters 0.023767214299156535 Centerline is valid? [True, True] Translation: X:407.55, Y:4.61, Z:2.70 [[ 9.98044934e-01 -6.05123475e-02 -1.56385609e-02 4.07549292e+02] [ 6.05143557e-02 9.98167267e-01 -3.45200014e-04 4.60907223e+00] [ 1.56307884e-02 -6.01832309e-04 9.99877651e-01 2.70069380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139254154 meters 0.021473223421924544 Centerline is valid? [True, True] Translation: X:407.61, Y:4.62, Z:2.70 [[ 9.98426440e-01 -5.45281036e-02 -1.30893130e-02 4.07610010e+02] [ 5.45290029e-02 9.98512145e-01 -2.88437354e-04 4.61834353e+00] [ 1.30855659e-02 -4.25763705e-04 9.99914290e-01 2.70392800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199254154 meters 0.018108471095421772 Centerline is valid? [True, True] Translation: X:407.67, Y:4.63, Z:2.71 [[ 9.98689149e-01 -4.97374584e-02 -1.20900679e-02 4.07671249e+02] [ 4.97378785e-02 9.98762270e-01 -2.66109551e-04 4.62879097e+00] [ 1.20883393e-02 -3.35573608e-04 9.99926877e-01 2.70561366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259254154 meters 0.017188080842135488 Centerline is valid? [True, True] Translation: X:407.73, Y:4.64, Z:2.71 [[ 9.98972036e-01 -4.37532738e-02 -1.18541925e-02 4.07731313e+02] [ 4.37532606e-02 9.99042334e-01 -2.60576660e-04 4.63650585e+00] [ 1.18542412e-02 -2.58350776e-04 9.99929703e-01 2.70563815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319254154 meters 0.016328306306834163 Centerline is valid? [True, True] Translation: X:407.79, Y:4.64, Z:2.71 [[ 9.99102767e-01 -4.03903887e-02 -1.27387924e-02 4.07792141e+02] [ 4.03901047e-02 9.99183948e-01 -2.79668294e-04 4.64219710e+00] [ 1.27396928e-02 -2.35103794e-04 9.99918819e-01 2.70551900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters 0.015363057546609665 Centerline is valid? [True, True] Translation: X:407.85, Y:4.65, Z:2.71 [[ 9.99250825e-01 -3.64202965e-02 -1.30901164e-02 4.07853663e+02] [ 3.64196624e-02 9.99336543e-01 -2.86892854e-04 4.64789195e+00] [ 1.30918804e-02 -1.90059700e-04 9.99914280e-01 2.70601086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters 0.01564830158234992 Centerline is valid? [True, True] Translation: X:407.91, Y:4.65, Z:2.71 [[ 9.99328714e-01 -3.37887592e-02 -1.41577409e-02 4.07914658e+02] [ 3.37877612e-02 9.99428983e-01 -3.09746968e-04 4.65221561e+00] [ 1.41601226e-02 -1.68819329e-04 9.99899726e-01 2.70573661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters 0.015068812225668101 Centerline is valid? [True, True] Translation: X:407.97, Y:4.66, Z:2.71 [[ 9.99385783e-01 -3.22104432e-02 -1.38037731e-02 4.07974650e+02] [ 3.22093473e-02 9.99481099e-01 -3.01760638e-04 4.65517059e+00] [ 1.38063301e-02 -1.43035230e-04 9.99904678e-01 2.70663132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters 0.014931779420234114 Centerline is valid? [True, True] Translation: X:408.03, Y:4.66, Z:2.71 [[ 9.99421638e-01 -3.12653441e-02 -1.33741169e-02 4.08034960e+02] [ 3.12642307e-02 9.99511112e-01 -2.92368037e-04 4.65713494e+00] [ 1.33767194e-02 -1.25932533e-04 9.99910520e-01 2.70726649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters 0.015303426870094743 Centerline is valid? [True, True] Translation: X:408.10, Y:4.66, Z:2.71 [[ 9.99373618e-01 -3.28450671e-02 -1.31747316e-02 4.08095733e+02] [ 3.28441239e-02 9.99460445e-01 -2.88009328e-04 4.65662274e+00] [ 1.31770828e-02 -1.44883592e-04 9.99913168e-01 2.70795176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.679254154 meters 0.01571933769817983 Centerline is valid? [True, True] Translation: X:408.16, Y:4.65, Z:2.71 [[ 9.99264425e-01 -3.60950010e-02 -1.29522421e-02 4.08156947e+02] [ 3.60943652e-02 9.99348346e-01 -2.82918256e-04 4.65465574e+00] [ 1.29540136e-02 -1.84792808e-04 9.99916076e-01 2.70884880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.739254154 meters 0.017822911588365 Centerline is valid? [True, True] Translation: X:408.22, Y:4.65, Z:2.71 [[ 9.98929027e-01 -4.44520445e-02 -1.28380447e-02 4.08217089e+02] [ 4.44521127e-02 9.99011477e-01 -2.80181676e-04 4.64732744e+00] [ 1.28378086e-02 -2.90796601e-04 9.99917550e-01 2.70947290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.799254154 meters 0.02025831881267371 Centerline is valid? [True, True] Translation: X:408.28, Y:4.64, Z:2.71 [[ 9.98532617e-01 -5.25815838e-02 -1.29533931e-02 4.08278243e+02] [ 5.25823379e-02 9.98616552e-01 -2.82588170e-04 4.64072832e+00] [ 1.29503317e-02 -3.98946188e-04 9.99916061e-01 2.70979198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.859254154 meters 0.020335815504438203 Centerline is valid? [True, True] Translation: X:408.34, Y:4.64, Z:2.71 [[ 9.98290696e-01 -5.70313859e-02 -1.27713692e-02 4.08339169e+02] [ 5.70324856e-02 9.98372284e-01 -2.78386998e-04 4.64073665e+00] [ 1.27664579e-02 -4.50471781e-04 9.99918404e-01 2.71093737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.919254154 meters 0.021624734244613295 Centerline is valid? [True, True] Translation: X:408.40, Y:4.64, Z:2.71 [[ 9.98048905e-01 -6.10395107e-02 -1.31362717e-02 4.08400230e+02] [ 6.10410239e-02 9.98135217e-01 -2.86093261e-04 4.64017361e+00] [ 1.31292384e-02 -5.16316410e-04 9.99913675e-01 2.71158531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.979254154 meters 0.024184592136020026 Centerline is valid? [True, True] Translation: X:408.46, Y:4.64, Z:2.71 [[ 9.97976640e-01 -6.21487006e-02 -1.34225565e-02 4.08461676e+02] [ 6.21503873e-02 9.98066753e-01 -2.91829768e-04 4.63908367e+00] [ 1.34147442e-02 -5.42977792e-04 9.99909871e-01 2.71189071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.039254154 meters 0.022491547145409393 Centerline is valid? [True, True] Translation: X:408.52, Y:4.65, Z:2.71 [[ 9.97904639e-01 -6.30871636e-02 -1.43645914e-02 4.08523589e+02] [ 6.30892064e-02 9.98007843e-01 -3.11344774e-04 4.64526944e+00] [ 1.43556168e-02 -5.95558281e-04 9.99896775e-01 2.71234569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.099254154 meters 0.023051609531379583 Centerline is valid? [True, True] Translation: X:408.59, Y:4.65, Z:2.71 [[ 9.97829523e-01 -6.40699394e-02 -1.52081188e-02 4.08586060e+02] [ 6.40723608e-02 9.97945201e-01 -3.28467666e-04 4.64788140e+00] [ 1.51979141e-02 -6.46665341e-04 9.99884296e-01 2.71231682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.159254154 meters 0.024857598465918663 Centerline is valid? [True, True] Translation: X:408.65, Y:4.65, Z:2.71 [[ 9.97655587e-01 -6.65685835e-02 -1.58730430e-02 4.08646275e+02] [ 6.65715478e-02 9.97781595e-01 -3.42141536e-04 4.64924579e+00] [ 1.58606061e-02 -7.15353628e-04 9.99873957e-01 2.71183252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.219254154 meters 0.026092189516014098 Centerline is valid? [True, True] Translation: X:408.71, Y:4.65, Z:2.71 [[ 9.97533832e-01 -6.82377913e-02 -1.64273320e-02 4.08708108e+02] [ 6.82412029e-02 9.97668789e-01 -3.53435965e-04 4.65072342e+00] [ 1.64131541e-02 -7.68456562e-04 9.99865000e-01 2.71166518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279254154 meters 0.025315587198846436 Centerline is valid? [True, True] Translation: X:408.77, Y:4.66, Z:2.71 [[ 9.97410416e-01 -6.98983615e-02 -1.69316661e-02 4.08770316e+02] [ 6.99022437e-02 9.97553780e-01 -3.63153489e-04 4.65792850e+00] [ 1.69156313e-02 -8.21348377e-04 9.99856583e-01 2.71260366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339254154 meters 0.024349482937012862 Centerline is valid? [True, True] Translation: X:408.83, Y:4.66, Z:2.71 [[ 9.97425893e-01 -6.97423649e-02 -1.66610258e-02 4.08832501e+02] [ 6.97461228e-02 9.97564710e-01 -3.56109800e-04 4.66407157e+00] [ 1.66452873e-02 -8.06848816e-04 9.99861132e-01 2.71386780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399254154 meters 0.024449244087412166 Centerline is valid? [True, True] Translation: X:408.89, Y:4.67, Z:2.72 [[ 9.97719956e-01 -6.57807673e-02 -1.50923861e-02 4.08892428e+02] [ 6.57834053e-02 9.97833874e-01 -3.22124476e-04 4.67054848e+00] [ 1.50808836e-02 -6.71438530e-04 9.99886052e-01 2.71562561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459254154 meters 0.022189332413594897 Centerline is valid? [True, True] Translation: X:408.95, Y:4.68, Z:2.72 [[ 9.98084794e-01 -6.02009007e-02 -1.42335807e-02 4.08952695e+02] [ 6.02026804e-02 9.98186127e-01 -3.03794557e-04 4.67879775e+00] [ 1.42260515e-02 -5.53686983e-04 9.99898651e-01 2.71650456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519254154 meters 0.018636360049976337 Centerline is valid? [True, True] Translation: X:409.01, Y:4.69, Z:2.72 [[ 9.98610078e-01 -5.06605023e-02 -1.45404895e-02 4.09012482e+02] [ 5.06613490e-02 9.98715841e-01 -3.10340497e-04 4.69247399e+00] [ 1.45375392e-02 -4.26731663e-04 9.99894233e-01 2.71826887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579254154 meters 0.018858210733322948 Centerline is valid? [True, True] Translation: X:409.07, Y:4.70, Z:2.72 [[ 9.98776100e-01 -4.71494608e-02 -1.49408822e-02 4.09074101e+02] [ 4.71499692e-02 9.98887771e-01 -3.18419174e-04 4.69686988e+00] [ 1.49392778e-02 -3.86432673e-04 9.99888328e-01 2.71749700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639254154 meters 0.016629030302933803 Centerline is valid? [True, True] Translation: X:409.14, Y:4.70, Z:2.72 [[ 9.99063268e-01 -4.04486568e-02 -1.53782938e-02 4.09135024e+02] [ 4.04484127e-02 9.99181575e-01 -3.27032559e-04 4.70485054e+00] [ 1.53789358e-02 -2.95301355e-04 9.99881694e-01 2.71833667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699254154 meters 0.016243401937625593 Centerline is valid? [True, True] Translation: X:409.20, Y:4.71, Z:2.72 [[ 9.99165232e-01 -3.76328343e-02 -1.58936512e-02 4.09196510e+02] [ 3.76322268e-02 9.99291600e-01 -3.37403484e-04 4.70923186e+00] [ 1.58950896e-02 -2.60991655e-04 9.99873631e-01 2.71841969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759254154 meters 0.016190589466708327 Centerline is valid? [True, True] Translation: X:409.26, Y:4.71, Z:2.72 [[ 9.99214104e-01 -3.61736189e-02 -1.62062793e-02 4.09256850e+02] [ 3.61728021e-02 9.99345491e-01 -3.43623525e-04 4.71307788e+00] [ 1.62081023e-02 -2.42873063e-04 9.99868611e-01 2.71890070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819254154 meters 0.015773938385584465 Centerline is valid? [True, True] Translation: X:409.32, Y:4.72, Z:2.72 [[ 9.99199354e-01 -3.68135645e-02 -1.56656556e-02 4.09318430e+02] [ 3.68128869e-02 9.99322121e-01 -3.31715264e-04 4.71572687e+00] [ 1.56672478e-02 -2.45248330e-04 9.99877231e-01 2.72073393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters 0.016461123929178055 Centerline is valid? [True, True] Translation: X:409.38, Y:4.71, Z:2.72 [[ 9.99156540e-01 -3.82431388e-02 -1.49556179e-02 4.09378694e+02] [ 3.82426871e-02 9.99268431e-01 -3.16295115e-04 4.71433814e+00] [ 1.49567730e-02 -2.55914683e-04 9.99888108e-01 2.72031163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters 0.016929179419595153 Centerline is valid? [True, True] Translation: X:409.44, Y:4.71, Z:2.72 [[ 9.98993083e-01 -4.27033555e-02 -1.37565721e-02 4.09440408e+02] [ 4.27034010e-02 9.99087751e-01 -2.90564972e-04 4.71217280e+00] [ 1.37564308e-02 -2.97180017e-04 9.99905332e-01 2.72153212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters 0.018933773775080286 Centerline is valid? [True, True] Translation: X:409.50, Y:4.71, Z:2.72 [[ 9.98870367e-01 -4.55487704e-02 -1.35388215e-02 4.09502688e+02] [ 4.55490859e-02 9.98962061e-01 -2.85208449e-04 4.70999192e+00] [ 1.35377599e-02 -3.31794675e-04 9.99908305e-01 2.72070443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters 0.018693911491783996 Centerline is valid? [True, True] Translation: X:409.56, Y:4.71, Z:2.72 [[ 9.98665386e-01 -5.01423932e-02 -1.23769011e-02 4.09564440e+02] [ 5.01430190e-02 9.98742014e-01 -2.59954290e-04 4.70547332e+00] [ 1.23743659e-02 -3.61007836e-04 9.99923369e-01 2.72229276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters 0.019590723349075946 Centerline is valid? [True, True] Translation: X:409.63, Y:4.70, Z:2.72 [[ 9.98647853e-01 -5.05259152e-02 -1.22309918e-02 4.09625309e+02] [ 5.05265632e-02 9.98722685e-01 -2.56216045e-04 4.70265732e+00] [ 1.22283145e-02 -3.62120378e-04 9.99925166e-01 2.72241381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.179254154 meters 0.01931699903652636 Centerline is valid? [True, True] Translation: X:409.69, Y:4.70, Z:2.72 [[ 9.98801837e-01 -4.74932595e-02 -1.18017612e-02 4.09685576e+02] [ 4.74936565e-02 9.98871509e-01 -2.46777335e-04 4.70154438e+00] [ 1.18001633e-02 -3.14027137e-04 9.99930326e-01 2.72295814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.239254154 meters 0.01672199274660531 Centerline is valid? [True, True] Translation: X:409.75, Y:4.71, Z:2.72 [[ 9.99106159e-01 -4.07893586e-02 -1.10955547e-02 4.09747585e+02] [ 4.07893002e-02 9.99167743e-01 -2.31653903e-04 4.70561822e+00] [ 1.10957693e-02 -2.21133068e-04 9.99938416e-01 2.72363013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.299254154 meters 0.015904461274277765 Centerline is valid? [True, True] Translation: X:409.81, Y:4.71, Z:2.72 [[ 9.99259897e-01 -3.68187566e-02 -1.11371822e-02 4.09809378e+02] [ 3.68184581e-02 9.99321944e-01 -2.31900150e-04 4.70680176e+00] [ 1.11381688e-02 -1.78325356e-04 9.99937953e-01 2.72359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.359254154 meters 0.015429166233194465 Centerline is valid? [True, True] Translation: X:409.87, Y:4.71, Z:2.72 [[ 9.99326441e-01 -3.46453063e-02 -1.20981996e-02 4.09872012e+02] [ 3.46448047e-02 9.99399657e-01 -2.51096637e-04 4.70537629e+00] [ 1.20996359e-02 -1.68212254e-04 9.99926783e-01 2.72268918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.419254154 meters 0.015677892038450377 Centerline is valid? [True, True] Translation: X:409.93, Y:4.70, Z:2.72 [[ 9.99276781e-01 -3.59434017e-02 -1.24091276e-02 4.09932698e+02] [ 3.59429818e-02 9.99353809e-01 -2.56924815e-04 4.70172152e+00] [ 1.24103436e-02 -1.89282044e-04 9.99922971e-01 2.72234474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.479254154 meters 0.017078013281239136 Centerline is valid? [True, True] Translation: X:409.99, Y:4.69, Z:2.72 [[ 9.99067169e-01 -4.14653096e-02 -1.20590456e-02 4.09993392e+02] [ 4.14653177e-02 9.99139913e-01 -2.49459034e-04 4.69445026e+00] [ 1.20590177e-02 -2.50805827e-04 9.99927256e-01 2.72244081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.539254154 meters 0.018034094424796875 Centerline is valid? [True, True] Translation: X:410.05, Y:4.69, Z:2.72 [[ 9.98833985e-01 -4.66521008e-02 -1.24198419e-02 4.10054357e+02] [ 4.66525129e-02 9.98911146e-01 -2.56692134e-04 4.69082267e+00] [ 1.24182937e-02 -3.23024007e-04 9.99922838e-01 2.72285820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.599254154 meters 0.020443471977032408 Centerline is valid? [True, True] Translation: X:410.12, Y:4.68, Z:2.72 [[ 9.98439821e-01 -5.45906775e-02 -1.17380133e-02 4.10115234e+02] [ 5.45915968e-02 9.98508737e-01 -2.42316686e-04 4.68321254e+00] [ 1.17337370e-02 -3.98858258e-04 9.99931078e-01 2.72321453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.659254154 meters 0.022564935916813224 Centerline is valid? [True, True] Translation: X:410.18, Y:4.68, Z:2.72 [[ 9.98199677e-01 -5.88316213e-02 -1.16724296e-02 4.10175592e+02] [ 5.88328235e-02 9.98267820e-01 -2.40652021e-04 4.67891553e+00] [ 1.16663688e-02 -4.46503218e-04 9.99931846e-01 2.72341245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.719254154 meters 0.023633439589167565 Centerline is valid? [True, True] Translation: X:410.24, Y:4.68, Z:2.72 [[ 9.97790893e-01 -6.54999661e-02 -1.10945412e-02 4.10236403e+02] [ 6.55014650e-02 9.97852447e-01 -2.28606964e-04 4.67685219e+00] [ 1.10856889e-02 -4.98606758e-04 9.99938428e-01 2.72399886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779254154 meters 0.0287903458553749 Centerline is valid? [True, True] Translation: X:410.30, Y:4.67, Z:2.72 [[ 9.97438469e-01 -7.07738862e-02 -1.03709987e-02 4.10296644e+02] [ 7.07754815e-02 9.97492248e-01 -2.13571891e-04 4.66970055e+00] [ 1.03601062e-02 -5.20987609e-04 9.99946197e-01 2.72422835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839254154 meters 0.027872849504902198 Centerline is valid? [True, True] Translation: X:410.36, Y:4.67, Z:2.72 [[ 9.96846973e-01 -7.87606393e-02 -9.63709996e-03 4.10357136e+02] [ 7.87623907e-02 9.96893398e-01 -1.98243217e-04 4.67235131e+00] [ 9.62277508e-03 -5.61422882e-04 9.99953542e-01 2.72487141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899254154 meters 0.030450968748153777 Centerline is valid? [True, True] Translation: X:410.42, Y:4.67, Z:2.73 [[ 9.96484154e-01 -8.31904029e-02 -9.93419945e-03 4.10418057e+02] [ 8.31924843e-02 9.96533476e-01 -2.04252145e-04 4.67104423e+00] [ 9.91675413e-03 -6.22916706e-04 9.99950634e-01 2.72521903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959254154 meters 0.031621280734935316 Centerline is valid? [True, True] Translation: X:410.48, Y:4.67, Z:2.72 [[ 9.96230851e-01 -8.60547891e-02 -1.08933535e-02 4.10479246e+02] [ 8.60574635e-02 9.96290150e-01 -2.23866122e-04 4.67350497e+00] [ 1.08722055e-02 -7.14432030e-04 9.99940641e-01 2.72429926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019254154 meters 0.03451701773309362 Centerline is valid? [True, True] Translation: X:410.54, Y:4.67, Z:2.72 [[ 9.96300094e-01 -8.50678484e-02 -1.22304158e-02 4.10540696e+02] [ 8.50711511e-02 9.96374847e-01 -2.50897995e-04 4.67446209e+00] [ 1.22074220e-02 -7.90485857e-04 9.99925174e-01 2.72197559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079254154 meters 0.02915205276263357 Centerline is valid? [True, True] Translation: X:410.60, Y:4.69, Z:2.72 [[ 9.96656007e-01 -8.07402486e-02 -1.25625018e-02 4.10600860e+02] [ 8.07433959e-02 9.96734888e-01 -2.57286511e-04 4.68870013e+00] [ 1.25422572e-02 -7.57912911e-04 9.99921056e-01 2.72383365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139254154 meters 0.026807063752305543 Centerline is valid? [True, True] Translation: X:410.66, Y:4.70, Z:2.73 [[ 9.97226570e-01 -7.34078102e-02 -1.22662938e-02 4.10660982e+02] [ 7.34102581e-02 9.97301795e-01 -2.51179952e-04 4.70034727e+00] [ 1.22516354e-02 -6.49988473e-04 9.99924735e-01 2.72506688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199254154 meters 0.026671797132992753 Centerline is valid? [True, True] Translation: X:410.72, Y:4.71, Z:2.73 [[ 9.97674658e-01 -6.71920074e-02 -1.14241680e-02 4.10720162e+02] [ 6.71937230e-02 9.97739920e-01 -2.34028672e-04 4.70679760e+00] [ 1.14140734e-02 -5.34147906e-04 9.99934715e-01 2.72605308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259254154 meters 0.0223800810745861 Centerline is valid? [True, True] Translation: X:410.78, Y:4.72, Z:2.73 [[ 9.98298543e-01 -5.72699056e-02 -1.09625037e-02 4.10780167e+02] [ 5.72708870e-02 9.98358651e-01 -2.24640864e-04 4.72139554e+00] [ 1.09573755e-02 -4.03573661e-04 9.99939885e-01 2.72704011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319254154 meters 0.020740555031652456 Centerline is valid? [True, True] Translation: X:410.84, Y:4.73, Z:2.73 [[ 9.98621589e-01 -5.13672657e-02 -1.07854959e-02 4.10841167e+02] [ 5.13678732e-02 9.98679775e-01 -2.20871499e-04 4.72971126e+00] [ 1.07826022e-02 -3.33460937e-04 9.99941810e-01 2.72792867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters 0.017438169405112516 Centerline is valid? [True, True] Translation: X:410.90, Y:4.74, Z:2.73 [[ 9.98908577e-01 -4.55571313e-02 -1.03055073e-02 4.10902080e+02] [ 4.55573794e-02 9.98961701e-01 -2.10793563e-04 4.74097942e+00] [ 1.03044103e-02 -2.58928409e-04 9.99946875e-01 2.72845484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters 0.016778152155767716 Centerline is valid? [True, True] Translation: X:410.96, Y:4.74, Z:2.73 [[ 9.99011824e-01 -4.32377187e-02 -1.02895490e-02 4.10964324e+02] [ 4.32378485e-02 9.99064785e-01 -2.09945407e-04 4.74480937e+00] [ 1.02890036e-02 -2.35160014e-04 9.99947039e-01 2.72874770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters 0.01679400711726614 Centerline is valid? [True, True] Translation: X:411.03, Y:4.75, Z:2.73 [[ 9.99066319e-01 -4.18415302e-02 -1.07599802e-02 4.11026527e+02] [ 4.18416002e-02 9.99124233e-01 -2.18709904e-04 4.74843679e+00] [ 1.07597081e-02 -2.31709092e-04 9.99942086e-01 2.72835358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters 0.01616500897896636 Centerline is valid? [True, True] Translation: X:411.09, Y:4.75, Z:2.73 [[ 9.99110878e-01 -4.07294649e-02 -1.08886878e-02 4.11088523e+02] [ 4.07294795e-02 9.99170186e-01 -2.20500409e-04 4.74999479e+00] [ 1.08886331e-02 -2.23186230e-04 9.99940692e-01 2.72873293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters 0.018907316815133073 Centerline is valid? [True, True] Translation: X:411.15, Y:4.75, Z:2.73 [[ 9.99201275e-01 -3.84411174e-02 -1.09129112e-02 4.11150995e+02] [ 3.84410046e-02 9.99260847e-01 -2.20172782e-04 4.75126829e+00] [ 1.09133086e-02 -1.99506346e-04 9.99940428e-01 2.72612235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.679254154 meters 0.01597556805850324 Centerline is valid? [True, True] Translation: X:411.21, Y:4.75, Z:2.73 [[ 9.99202045e-01 -3.86425306e-02 -1.01008641e-02 4.11213391e+02] [ 3.86424515e-02 9.99253081e-01 -2.03067527e-04 4.75233374e+00] [ 1.01011666e-02 -1.87416663e-04 9.99948964e-01 2.72947593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.739254154 meters 0.016439240778883635 Centerline is valid? [True, True] Translation: X:411.28, Y:4.75, Z:2.73 [[ 9.99162313e-01 -3.98703727e-02 -9.22098139e-03 4.11276035e+02] [ 3.98703650e-02 9.99204844e-01 -1.84733626e-04 4.75051070e+00] [ 9.22101467e-03 -1.83065017e-04 9.99957469e-01 2.72982981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.799254154 meters 0.016593131687620236 Centerline is valid? [True, True] Translation: X:411.34, Y:4.75, Z:2.73 [[ 9.99084501e-01 -4.17593029e-02 -9.29087035e-03 4.11338449e+02] [ 4.17593832e-02 9.99127679e-01 -1.85434854e-04 4.74756091e+00] [ 9.29050936e-03 -2.02715927e-04 9.99956822e-01 2.73026618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.859254154 meters 0.01672212011340959 Centerline is valid? [True, True] Translation: X:411.40, Y:4.75, Z:2.73 [[ 9.99064736e-01 -4.20863730e-02 -9.91923310e-03 4.11400317e+02] [ 4.20864884e-02 9.99113952e-01 -1.97194059e-04 4.74614943e+00] [ 9.91874337e-03 -2.20456058e-04 9.99950784e-01 2.73029645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.919254154 meters 0.016910594324038217 Centerline is valid? [True, True] Translation: X:411.46, Y:4.74, Z:2.73 [[ 9.99058615e-01 -4.16969663e-02 -1.19685694e-02 4.11462789e+02] [ 4.16971184e-02 9.99130269e-01 -2.36933982e-04 4.74434522e+00] [ 1.19680394e-02 -2.62343920e-04 9.99928346e-01 2.72911952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.979254154 meters 0.017080580917902745 Centerline is valid? [True, True] Translation: X:411.52, Y:4.74, Z:2.73 [[ 9.99070693e-01 -4.11067536e-02 -1.29609107e-02 4.11523775e+02] [ 4.11068995e-02 9.99154722e-01 -2.55261384e-04 4.74204451e+00] [ 1.29604481e-02 -2.77758685e-04 9.99915971e-01 2.72825372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.039254154 meters 0.01662661982175034 Centerline is valid? [True, True] Translation: X:411.59, Y:4.74, Z:2.73 [[ 9.99088679e-01 -4.03805662e-02 -1.38282629e-02 4.11586201e+02] [ 4.03806824e-02 9.99184331e-01 -2.70923982e-04 4.74164954e+00] [ 1.38279237e-02 -2.87717609e-04 9.99904348e-01 2.72863375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.099254154 meters 0.016606121408762615 Centerline is valid? [True, True] Translation: X:411.65, Y:4.74, Z:2.73 [[ 9.99161032e-01 -3.86777640e-02 -1.34633974e-02 4.11647558e+02] [ 3.86777295e-02 9.99251702e-01 -2.63038631e-04 4.74107938e+00] [ 1.34634965e-02 -2.57915694e-04 9.99909330e-01 2.72939538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.159254154 meters 0.01563936064541721 Centerline is valid? [True, True] Translation: X:411.71, Y:4.74, Z:2.73 [[ 9.99326100e-01 -3.40854257e-02 -1.36209604e-02 4.11708629e+02] [ 3.40849707e-02 9.99418903e-01 -2.65613376e-04 4.74254986e+00] [ 1.36220989e-02 -1.98835659e-04 9.99907195e-01 2.73054798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.219254154 meters 0.015164972573777911 Centerline is valid? [True, True] Translation: X:411.77, Y:4.74, Z:2.73 [[ 9.99414322e-01 -3.16190154e-02 -1.30863037e-02 4.11769204e+02] [ 3.16183872e-02 9.99499981e-01 -2.54950843e-04 4.74345229e+00] [ 1.30878216e-02 -1.58966294e-04 9.99914338e-01 2.73169800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279254154 meters 0.015218078018495623 Centerline is valid? [True, True] Translation: X:411.83, Y:4.74, Z:2.73 [[ 9.99369638e-01 -3.29842576e-02 -1.31288126e-02 4.11830513e+02] [ 3.29837462e-02 9.99455856e-01 -2.55542703e-04 4.74086494e+00] [ 1.31300975e-02 -1.77655804e-04 9.99913781e-01 2.73322092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339254154 meters 0.016022952381343436 Centerline is valid? [True, True] Translation: X:411.89, Y:4.74, Z:2.73 [[ 9.99173993e-01 -3.80322691e-02 -1.43135409e-02 4.11891766e+02] [ 3.80321868e-02 9.99276476e-01 -2.78053830e-04 4.73592312e+00] [ 1.43137597e-02 -2.66551104e-04 9.99897517e-01 2.73304497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399254154 meters 0.018910085886076015 Centerline is valid? [True, True] Translation: X:411.95, Y:4.72, Z:2.73 [[ 9.98725546e-01 -4.82186517e-02 -1.49078964e-02 4.11951213e+02] [ 4.82196982e-02 9.98836712e-01 -2.89454589e-04 4.72461199e+00] [ 1.49045114e-02 -4.29768574e-04 9.99888829e-01 2.73203798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459254154 meters 0.024069163430491067 Centerline is valid? [True, True] Translation: X:412.01, Y:4.71, Z:2.73 [[ 9.98255854e-01 -5.69515124e-02 -1.55491185e-02 4.12010580e+02] [ 5.69537050e-02 9.98376775e-01 -3.02131001e-04 4.71452441e+00] [ 1.55410856e-02 -5.83975869e-04 9.99879060e-01 2.73113825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519254154 meters 0.023429652095265947 Centerline is valid? [True, True] Translation: X:412.07, Y:4.71, Z:2.73 [[ 9.97944538e-01 -6.24470217e-02 -1.43898631e-02 4.12072094e+02] [ 6.24494723e-02 9.98048088e-01 -2.79417182e-04 4.71292285e+00] [ 1.43792241e-02 -6.19796507e-04 9.99896422e-01 2.73432105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579254154 meters 0.026383729531478183 Centerline is valid? [True, True] Translation: X:412.13, Y:4.71, Z:2.74 [[ 9.97595332e-01 -6.80682401e-02 -1.30487219e-02 4.12132591e+02] [ 6.80707386e-02 9.97680465e-01 -2.53082544e-04 4.70688618e+00] [ 1.30356818e-02 -6.35762171e-04 9.99914830e-01 2.73581841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639254154 meters 0.02850968845793116 Centerline is valid? [True, True] Translation: X:412.19, Y:4.70, Z:2.74 [[ 9.97445257e-01 -7.04847136e-02 -1.16130825e-02 4.12193846e+02] [ 7.04868587e-02 9.97512683e-01 -2.24997174e-04 4.70413019e+00] [ 1.16000560e-02 -5.94147342e-04 9.99932541e-01 2.73698571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699254154 meters 0.031496424276061724 Centerline is valid? [True, True] Translation: X:412.26, Y:4.70, Z:2.74 [[ 9.97398795e-01 -7.11845646e-02 -1.13314003e-02 4.12255325e+02] [ 7.11866602e-02 9.97462988e-01 -2.18802700e-04 4.70034963e+00] [ 1.13182278e-02 -5.88410995e-04 9.99935774e-01 2.73737970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759254154 meters 0.02749942936306976 Centerline is valid? [True, True] Translation: X:412.32, Y:4.71, Z:2.74 [[ 9.97460836e-01 -7.02201072e-02 -1.18750666e-02 4.12316992e+02] [ 7.02223542e-02 9.97531337e-01 -2.28150129e-04 4.70828510e+00] [ 1.18617718e-02 -6.06324312e-04 9.99929463e-01 2.73684116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819254154 meters 0.025944710781663268 Centerline is valid? [True, True] Translation: X:412.38, Y:4.71, Z:2.74 [[ 9.97496224e-01 -6.95563251e-02 -1.27750382e-02 4.12378752e+02] [ 6.95588839e-02 9.97577817e-01 -2.44455685e-04 4.71204779e+00] [ 1.27610982e-02 -6.44773777e-04 9.99918366e-01 2.73807575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters 0.025685414666307107 Centerline is valid? [True, True] Translation: X:412.44, Y:4.71, Z:2.74 [[ 9.97482432e-01 -6.94646739e-02 -1.42638603e-02 4.12441378e+02] [ 6.94678706e-02 9.97584152e-01 -2.71828882e-04 4.71467162e+00] [ 1.42482835e-02 -7.19735466e-04 9.99898229e-01 2.73768062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters 0.026578465501384537 Centerline is valid? [True, True] Translation: X:412.50, Y:4.72, Z:2.74 [[ 9.97503925e-01 -6.90211039e-02 -1.48998961e-02 4.12504043e+02] [ 6.90245617e-02 9.97614921e-01 -2.82681471e-04 4.71568643e+00] [ 1.48838696e-02 -7.46482919e-04 9.99888950e-01 2.73749992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters 0.025695646845127797 Centerline is valid? [True, True] Translation: X:412.57, Y:4.72, Z:2.74 [[ 9.97614277e-01 -6.74754211e-02 -1.45884152e-02 4.12565974e+02] [ 6.74785882e-02 9.97720684e-01 -2.75587510e-04 4.71951249e+00] [ 1.45737590e-02 -7.09475630e-04 9.99893545e-01 2.73777212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters 0.022825683834321004 Centerline is valid? [True, True] Translation: X:412.63, Y:4.73, Z:2.74 [[ 9.97939777e-01 -6.24966987e-02 -1.45039559e-02 4.12626258e+02] [ 6.24993115e-02 9.98044970e-01 -2.73497007e-04 4.72835391e+00] [ 1.44926929e-02 -6.33553718e-04 9.99894775e-01 2.73947507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.119254154 meters 0.02130575700625494 Centerline is valid? [True, True] Translation: X:412.69, Y:4.73, Z:2.74 [[ 9.98250226e-01 -5.72506585e-02 -1.47935179e-02 4.12687463e+02] [ 5.72528037e-02 9.98359674e-01 -2.78807214e-04 4.73480441e+00] [ 1.47852136e-02 -5.68651010e-04 9.99890531e-01 2.74004847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.179254154 meters 0.020078686781176178 Centerline is valid? [True, True] Translation: X:412.75, Y:4.74, Z:2.74 [[ 9.98585714e-01 -5.12571039e-02 -1.41167277e-02 4.12748021e+02] [ 5.12584625e-02 9.98685386e-01 -2.65797932e-04 4.74145487e+00] [ 1.41117937e-02 -4.58179742e-04 9.99900319e-01 2.74113066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.239254154 meters 0.019834110815646133 Centerline is valid? [True, True] Translation: X:412.81, Y:4.74, Z:2.74 [[ 9.98709523e-01 -4.90811317e-02 -1.30510820e-02 4.12809089e+02] [ 4.90821118e-02 9.98794717e-01 -2.45390886e-04 4.74449255e+00] [ 1.30473958e-02 -3.95500451e-04 9.99914801e-01 2.74234526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.299254154 meters 0.01866745521723194 Centerline is valid? [True, True] Translation: X:412.87, Y:4.75, Z:2.74 [[ 9.98891678e-01 -4.56965176e-02 -1.12802074e-02 4.12870722e+02] [ 4.56970392e-02 9.98955322e-01 -2.11634738e-04 4.74979086e+00] [ 1.12780942e-02 -3.04071900e-04 9.99936354e-01 2.74433300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.359254154 meters 0.017679290230884843 Centerline is valid? [True, True] Translation: X:412.93, Y:4.75, Z:2.74 [[ 9.98949424e-01 -4.44415038e-02 -1.11803623e-02 4.12933075e+02] [ 4.44419455e-02 9.99011947e-01 -2.09060889e-04 4.75381985e+00] [ 1.11786065e-02 -2.88035798e-04 9.99937476e-01 2.74479552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.419254154 meters 0.01832943020319033 Centerline is valid? [True, True] Translation: X:412.99, Y:4.75, Z:2.74 [[ 9.99086949e-01 -4.07806160e-02 -1.27361630e-02 4.12994600e+02] [ 4.07809035e-02 9.99168085e-01 -2.37242618e-04 4.75389567e+00] [ 1.27352425e-02 -2.82366231e-04 9.99918864e-01 2.74239013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.479254154 meters 0.016792753376467816 Centerline is valid? [True, True] Translation: X:413.06, Y:4.76, Z:2.74 [[ 9.99133340e-01 -3.92638843e-02 -1.38172554e-02 4.13057138e+02] [ 3.92640906e-02 9.99228835e-01 -2.56448084e-04 4.75800816e+00] [ 1.38166692e-02 -2.86296138e-04 9.99904504e-01 2.74218489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.539254154 meters 0.01813361469624447 Centerline is valid? [True, True] Translation: X:413.12, Y:4.76, Z:2.74 [[ 9.99122563e-01 -3.85669640e-02 -1.63307229e-02 4.13118182e+02] [ 3.85671747e-02 9.99255964e-01 -3.02149333e-04 4.75828397e+00] [ 1.63302252e-02 -3.27945626e-04 9.99866599e-01 2.74072469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.599254154 meters 0.018132524148285686 Centerline is valid? [True, True] Translation: X:413.18, Y:4.76, Z:2.74 [[ 9.99091006e-01 -3.94109808e-02 -1.62461397e-02 4.13178537e+02] [ 3.94113077e-02 9.99223028e-01 -3.00160852e-04 4.75753835e+00] [ 1.62453465e-02 -3.40393604e-04 9.99867978e-01 2.74108640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.659254154 meters 0.01923198923437198 Centerline is valid? [True, True] Translation: X:413.24, Y:4.76, Z:2.74 [[ 9.98944637e-01 -4.25798768e-02 -1.72211175e-02 4.13239490e+02] [ 4.25807203e-02 9.99092979e-01 -3.17852384e-04 4.75553877e+00] [ 1.72190317e-02 -4.15770652e-04 9.99851655e-01 2.74163570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.719254154 meters 0.0189381122768948 Centerline is valid? [True, True] Translation: X:413.30, Y:4.75, Z:2.74 [[ 9.98713496e-01 -4.81083609e-02 -1.60293010e-02 4.13299837e+02] [ 4.81098048e-02 9.98842009e-01 -2.95741001e-04 4.75308152e+00] [ 1.60249668e-02 -4.75806012e-04 9.99871479e-01 2.74312469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779254154 meters 0.020533869056683782 Centerline is valid? [True, True] Translation: X:413.36, Y:4.75, Z:2.74 [[ 9.98490062e-01 -5.24573590e-02 -1.63040318e-02 4.13360950e+02] [ 5.24594347e-02 9.98623011e-01 -3.00635035e-04 4.75042877e+00] [ 1.62973518e-02 -5.55119196e-04 9.99867035e-01 2.74299865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839254154 meters 0.023346985803517337 Centerline is valid? [True, True] Translation: X:413.42, Y:4.75, Z:2.74 [[ 9.98139404e-01 -5.85650610e-02 -1.69665665e-02 4.13421766e+02] [ 5.85681934e-02 9.98283361e-01 -3.12633154e-04 4.74519992e+00] [ 1.69557504e-02 -6.81649680e-04 9.99856009e-01 2.74294761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899254154 meters 0.026265998477616473 Centerline is valid? [True, True] Translation: X:413.48, Y:4.74, Z:2.74 [[ 9.97865939e-01 -6.31394589e-02 -1.66425820e-02 4.13482209e+02] [ 6.31431115e-02 9.98004436e-01 -3.06428945e-04 4.74088989e+00] [ 1.66287184e-02 -7.45089403e-04 9.99861456e-01 2.74291146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959254154 meters 0.02730839166109625 Centerline is valid? [True, True] Translation: X:413.54, Y:4.74, Z:2.74 [[ 9.97410538e-01 -6.99720294e-02 -1.66172955e-02 4.13542703e+02] [ 6.99766190e-02 9.97548585e-01 -3.05811673e-04 4.74001073e+00] [ 1.65979579e-02 -8.57802371e-04 9.99861876e-01 2.74363633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019254154 meters 0.033202374431267195 Centerline is valid? [True, True] Translation: X:413.60, Y:4.73, Z:2.74 [[ 9.97162591e-01 -7.35775252e-02 -1.59096163e-02 4.13603191e+02] [ 7.35821924e-02 9.97289113e-01 -2.92602079e-04 4.73292668e+00] [ 1.58880161e-02 -8.78892601e-04 9.99873391e-01 2.74324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079254154 meters 0.028339705978874252 Centerline is valid? [True, True] Translation: X:413.66, Y:4.74, Z:2.75 [[ 9.96906269e-01 -7.71233239e-02 -1.51619107e-02 4.13663593e+02] [ 7.71279754e-02 9.97021162e-01 -2.78578534e-04 4.74290282e+00] [ 1.51382307e-02 -8.91690787e-04 9.99885013e-01 2.74566820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139254154 meters 0.02957372774598635 Centerline is valid? [True, True] Translation: X:413.73, Y:4.74, Z:2.75 [[ 9.96837091e-01 -7.80809936e-02 -1.48045018e-02 4.13725821e+02] [ 7.80855443e-02 9.96946626e-01 -2.71289636e-04 4.74449394e+00] [ 1.47804806e-02 -8.85586006e-04 9.99890371e-01 2.74616315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199254154 meters 0.03188278242925443 Centerline is valid? [True, True] Translation: X:413.79, Y:4.75, Z:2.74 [[ 9.96737978e-01 -7.89151660e-02 -1.69056336e-02 4.13787433e+02] [ 7.89212391e-02 9.96880807e-01 -3.08657896e-04 4.74789521e+00] [ 1.68772595e-02 -1.02656251e-03 9.99857042e-01 2.74436565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259254154 meters 0.032561380731926846 Centerline is valid? [True, True] Translation: X:413.85, Y:4.75, Z:2.74 [[ 9.96700860e-01 -7.94809348e-02 -1.64370817e-02 4.13848948e+02] [ 7.94867767e-02 9.96835876e-01 -2.98632781e-04 4.74928341e+00] [ 1.64088083e-02 -1.00888309e-03 9.99864857e-01 2.74430057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319254154 meters 0.030637287050975483 Centerline is valid? [True, True] Translation: X:413.91, Y:4.76, Z:2.74 [[ 9.96610389e-01 -8.04861989e-02 -1.70206816e-02 4.13910826e+02] [ 8.04926355e-02 9.96755156e-01 -3.07679894e-04 4.75706405e+00] [ 1.69902161e-02 -1.06340254e-03 9.99855090e-01 2.74424839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters 0.03151636402667037 Centerline is valid? [True, True] Translation: X:413.97, Y:4.76, Z:2.74 [[ 9.96671412e-01 -7.95958402e-02 -1.76238131e-02 4.13972885e+02] [ 7.96026256e-02 9.96826626e-01 -3.17269355e-04 4.76291878e+00] [ 1.75931395e-02 -1.08668850e-03 9.99844638e-01 2.74410691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters 0.027927719237083766 Centerline is valid? [True, True] Translation: X:414.03, Y:4.77, Z:2.75 [[ 9.96880955e-01 -7.69444364e-02 -1.75475299e-02 4.14034135e+02] [ 7.69507697e-02 9.97034844e-01 -3.14995593e-04 4.77396009e+00] [ 1.75197359e-02 -1.03628282e-03 9.99845981e-01 2.74582435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters 0.025899597588427973 Centerline is valid? [True, True] Translation: X:414.09, Y:4.79, Z:2.75 [[ 9.97438109e-01 -6.98064256e-02 -1.56295435e-02 4.14094543e+02] [ 6.98105791e-02 9.97560226e-01 -2.80353331e-04 4.78649434e+00] [ 1.56109814e-02 -8.11472386e-04 9.99877812e-01 2.74875233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters 0.02420861893802158 Centerline is valid? [True, True] Translation: X:414.15, Y:4.80, Z:2.75 [[ 9.97890149e-01 -6.33838384e-02 -1.40619968e-02 4.14154763e+02] [ 6.33865643e-02 9.97989018e-01 -2.52203582e-04 4.79634115e+00] [ 1.40497040e-02 -6.39670198e-04 9.99901093e-01 2.75071079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.619254154 meters 0.02040498989587029 Centerline is valid? [True, True] Translation: X:414.21, Y:4.81, Z:2.75 [[ 9.98406882e-01 -5.48842372e-02 -1.30927262e-02 4.14214938e+02] [ 5.48858708e-02 9.98492607e-01 -2.34787666e-04 4.81156376e+00] [ 1.30858764e-02 -4.84192056e-04 9.99914259e-01 2.75295236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.679254154 meters 0.01991433520592826 Centerline is valid? [True, True] Translation: X:414.28, Y:4.82, Z:2.75 [[ 9.98587381e-01 -5.14239244e-02 -1.33724389e-02 4.14275919e+02] [ 5.14253219e-02 9.98676814e-01 -2.39557919e-04 4.82012523e+00] [ 1.33670637e-02 -4.48462459e-04 9.99910556e-01 2.75306528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.739254154 meters 0.021721175319268524 Centerline is valid? [True, True] Translation: X:414.34, Y:4.82, Z:2.75 [[ 9.98536632e-01 -5.19075453e-02 -1.51724028e-02 4.14336986e+02] [ 5.19094116e-02 9.98651761e-01 -2.71050218e-04 4.82100092e+00] [ 1.51660163e-02 -5.16936931e-04 9.99884856e-01 2.75147806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.799254154 meters 0.02079667758052986 Centerline is valid? [True, True] Translation: X:414.40, Y:4.83, Z:2.75 [[ 9.98366401e-01 -5.48035588e-02 -1.61585774e-02 4.14399331e+02] [ 5.48060722e-02 9.98496976e-01 -2.87568589e-04 4.82706741e+00] [ 1.61500505e-02 -5.98489344e-04 9.99869400e-01 2.75174982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.859254154 meters 0.022570244397660665 Centerline is valid? [True, True] Translation: X:414.46, Y:4.83, Z:2.75 [[ 9.98292607e-01 -5.62394966e-02 -1.57793865e-02 4.14460885e+02] [ 5.62420881e-02 9.98417122e-01 -2.79831610e-04 4.82706699e+00] [ 1.57701472e-02 -6.08111815e-04 9.99875459e-01 2.75214206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.919254154 meters 0.020903050646383474 Centerline is valid? [True, True] Translation: X:414.52, Y:4.83, Z:2.75 [[ 9.98300974e-01 -5.64573734e-02 -1.44128198e-02 4.14522774e+02] [ 5.64595712e-02 9.98404854e-01 -2.54677982e-04 4.83387438e+00] [ 1.44042076e-02 -5.59496345e-04 9.99896097e-01 2.75479342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.979254154 meters 0.020657735476700054 Centerline is valid? [True, True] Translation: X:414.58, Y:4.84, Z:2.76 [[ 9.98333709e-01 -5.59778626e-02 -1.40101224e-02 4.14584686e+02] [ 5.59799068e-02 9.98431865e-01 -2.46518947e-04 4.83698288e+00] [ 1.40019522e-02 -5.38177170e-04 9.99901823e-01 2.75577234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.039254154 meters 0.02136235201254094 Centerline is valid? [True, True] Translation: X:414.65, Y:4.84, Z:2.76 [[ 9.98357455e-01 -5.56945793e-02 -1.34352686e-02 4.14646228e+02] [ 5.56964451e-02 9.98447720e-01 -2.35542727e-04 4.83787664e+00] [ 1.34275317e-02 -5.13140862e-04 9.99909715e-01 2.75604066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.099254154 meters 0.021761725018272237 Centerline is valid? [True, True] Translation: X:414.71, Y:4.84, Z:2.76 [[ 9.98353409e-01 -5.60914580e-02 -1.20091561e-02 4.14708671e+02] [ 5.60929861e-02 9.98425527e-01 -2.09815091e-04 4.83837685e+00] [ 1.20020169e-02 -4.64159816e-04 9.99927865e-01 2.75706867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.159254154 meters 0.022342169711638687 Centerline is valid? [True, True] Translation: X:414.77, Y:4.84, Z:2.76 [[ 9.98395926e-01 -5.54557420e-02 -1.14120578e-02 4.14770736e+02] [ 5.54570897e-02 9.98461052e-01 -1.98563487e-04 4.83964605e+00] [ 1.14055067e-02 -4.34634535e-04 9.99934861e-01 2.75720896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.219254154 meters 0.0252094763545693 Centerline is valid? [True, True] Translation: X:414.83, Y:4.84, Z:2.76 [[ 9.98501224e-01 -5.36022176e-02 -1.10502580e-02 4.14832457e+02] [ 5.36033767e-02 9.98562287e-01 -1.91469076e-04 4.83641190e+00] [ 1.10446340e-02 -4.01149033e-04 9.99938926e-01 2.75546829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279254154 meters 0.0209756114317804 Centerline is valid? [True, True] Translation: X:414.90, Y:4.84, Z:2.76 [[ 9.98508351e-01 -5.35933649e-02 -1.04319304e-02 4.14895093e+02] [ 5.35944065e-02 9.98562771e-01 -1.79878710e-04 4.84128749e+00] [ 1.04265777e-02 -3.79482727e-04 9.99945570e-01 2.75727914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339254154 meters 0.02105013076091671 Centerline is valid? [True, True] Translation: X:414.96, Y:4.84, Z:2.76 [[ 9.98638686e-01 -5.12122071e-02 -9.90377156e-03 4.14956904e+02] [ 5.12130383e-02 9.98687737e-01 -1.69831460e-04 4.84072521e+00] [ 9.89947265e-03 -3.37601966e-04 9.99950942e-01 2.75741393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399254154 meters 0.019869511505900602 Centerline is valid? [True, True] Translation: X:415.02, Y:4.84, Z:2.76 [[ 9.98715719e-01 -4.94923459e-02 -1.08360547e-02 4.15019526e+02] [ 4.94932497e-02 9.98774441e-01 -1.84907473e-04 4.84324060e+00] [ 1.08319259e-02 -3.51641559e-04 9.99941271e-01 2.75720844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459254154 meters 0.01968221446342842 Centerline is valid? [True, True] Translation: X:415.08, Y:4.84, Z:2.76 [[ 9.98766234e-01 -4.81525544e-02 -1.21384437e-02 4.15082049e+02] [ 4.81536029e-02 9.98839921e-01 -2.06041870e-04 4.84266321e+00] [ 1.21342836e-02 -3.78722136e-04 9.99926305e-01 2.75582901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519254154 meters 0.019771241698911524 Centerline is valid? [True, True] Translation: X:415.14, Y:4.84, Z:2.75 [[ 9.98780774e-01 -4.76362991e-02 -1.29518130e-02 4.15144142e+02] [ 4.76374622e-02 9.98864668e-01 -2.18872676e-04 4.84217920e+00] [ 1.29475347e-02 -3.98385682e-04 9.99916098e-01 2.75467452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579254154 meters 0.01969755371701536 Centerline is valid? [True, True] Translation: X:415.21, Y:4.84, Z:2.75 [[ 9.98746193e-01 -4.81358409e-02 -1.37470658e-02 4.15206771e+02] [ 4.81372126e-02 9.98840706e-01 -2.31281141e-04 4.84145977e+00] [ 1.37422618e-02 -4.30754269e-04 9.99905478e-01 2.75482511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639254154 meters 0.020146361029245784 Centerline is valid? [True, True] Translation: X:415.27, Y:4.84, Z:2.76 [[ 9.98686462e-01 -4.95545605e-02 -1.30267383e-02 4.15269182e+02] [ 4.95559248e-02 9.98771327e-01 -2.18235757e-04 4.84009166e+00] [ 1.30215472e-02 -4.27602965e-04 9.99915125e-01 2.75573149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699254154 meters 0.02077804270269178 Centerline is valid? [True, True] Translation: X:415.33, Y:4.84, Z:2.76 [[ 9.98507161e-01 -5.32733160e-02 -1.20583311e-02 4.15330815e+02] [ 5.32747636e-02 9.98579871e-01 -2.01360335e-04 4.83743948e+00] [ 1.20519338e-02 -4.41345001e-04 9.99927275e-01 2.75627492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759254154 meters 0.02102951465457292 Centerline is valid? [True, True] Translation: X:415.39, Y:4.84, Z:2.76 [[ 9.98411065e-01 -5.51040713e-02 -1.17850441e-02 4.15393143e+02] [ 5.51055887e-02 9.98480513e-01 -1.96177782e-04 4.83647348e+00] [ 1.17779471e-02 -4.53555724e-04 9.99930535e-01 2.75688415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819254154 meters 0.022941067040917074 Centerline is valid? [True, True] Translation: X:415.45, Y:4.83, Z:2.76 [[ 9.98376258e-01 -5.59968032e-02 -1.04501654e-02 4.15454217e+02] [ 5.59980518e-02 9.98430863e-01 -1.73309838e-04 4.83390420e+00] [ 1.04434725e-02 -4.12160478e-04 9.99945381e-01 2.75807165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters 0.02345769821596983 Centerline is valid? [True, True] Translation: X:415.52, Y:4.83, Z:2.76 [[ 9.98387381e-01 -5.58752731e-02 -1.00295091e-02 4.15516083e+02] [ 5.58764230e-02 9.98437679e-01 -1.65743609e-04 4.83319626e+00] [ 1.00231008e-02 -3.94936766e-04 9.99949689e-01 2.75853883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters 0.02430240702116268 Centerline is valid? [True, True] Translation: X:415.58, Y:4.83, Z:2.76 [[ 9.98404338e-01 -5.55181995e-02 -1.03202466e-02 4.15576981e+02] [ 5.55194050e-02 9.98457594e-01 -1.69866104e-04 4.83175201e+00] [ 1.03137592e-02 -4.03378894e-04 9.99946730e-01 2.75828311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters 0.021341763945379816 Centerline is valid? [True, True] Translation: X:415.64, Y:4.84, Z:2.76 [[ 9.98417473e-01 -5.53762550e-02 -9.79902880e-03 4.15640303e+02] [ 5.53773416e-02 9.98465485e-01 -1.60605866e-04 4.83661257e+00] [ 9.79288579e-03 -3.82292462e-04 9.99951975e-01 2.75898872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters 0.023317979782804334 Centerline is valid? [True, True] Translation: X:415.70, Y:4.83, Z:2.76 [[ 9.98466065e-01 -5.43717807e-02 -1.04511769e-02 4.15701249e+02] [ 5.43729724e-02 9.98520681e-01 -1.70287940e-04 4.83400805e+00] [ 1.04449752e-02 -3.98234825e-04 9.99945370e-01 2.75817816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.119254154 meters 0.019951711537951132 Centerline is valid? [True, True] Translation: X:415.76, Y:4.84, Z:2.76 [[ 9.98594790e-01 -5.18368446e-02 -1.10175443e-02 4.15763054e+02] [ 5.18380219e-02 9.98655490e-01 -1.78884957e-04 4.83989428e+00] [ 1.10120039e-02 -3.92494115e-04 9.99939289e-01 2.75782681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.179254154 meters 0.021755068155198284 Centerline is valid? [True, True] Translation: X:415.82, Y:4.84, Z:2.76 [[ 9.98702225e-01 -4.96700205e-02 -1.12585494e-02 4.15824340e+02] [ 4.96711195e-02 9.98765612e-01 -1.82159637e-04 4.83938718e+00] [ 1.12536998e-02 -3.77301515e-04 9.99936604e-01 2.75741350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.239254154 meters 0.018599207760773867 Centerline is valid? [True, True] Translation: X:415.89, Y:4.85, Z:2.76 [[ 9.98775312e-01 -4.83197136e-02 -1.06339434e-02 4.15886885e+02] [ 4.83206253e-02 9.98831862e-01 -1.71329387e-04 4.84536060e+00] [ 1.06298000e-02 -3.42719231e-04 9.99943443e-01 2.75921840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.299254154 meters 0.018538555543119332 Centerline is valid? [True, True] Translation: X:415.95, Y:4.85, Z:2.76 [[ 9.98861270e-01 -4.65968908e-02 -1.02416866e-02 4.15949106e+02] [ 4.65976549e-02 9.98913726e-01 -1.64129724e-04 4.84641909e+00] [ 1.02382092e-02 -3.13295753e-04 9.99947539e-01 2.75956810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.359254154 meters 0.01812002471800144 Centerline is valid? [True, True] Translation: X:416.01, Y:4.85, Z:2.76 [[ 9.98963815e-01 -4.45041738e-02 -9.52234134e-03 4.16011840e+02] [ 4.45047466e-02 9.99009161e-01 -1.51839341e-04 4.84838162e+00] [ 9.51966372e-03 -2.72107381e-04 9.99954650e-01 2.75996123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.419254154 meters 0.01811081259188077 Centerline is valid? [True, True] Translation: X:416.07, Y:4.85, Z:2.76 [[ 9.99044622e-01 -4.27583829e-02 -9.03132854e-03 4.16072698e+02] [ 4.27588341e-02 9.99085413e-01 -1.43216155e-04 4.85047504e+00] [ 9.02919229e-03 -2.43089748e-04 9.99959206e-01 2.76070805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.479254154 meters 0.01766406797126349 Centerline is valid? [True, True] Translation: X:416.13, Y:4.85, Z:2.76 [[ 9.99164835e-01 -4.00056053e-02 -8.31774358e-03 4.16134478e+02] [ 4.00058964e-02 9.99199435e-01 -1.31439181e-04 4.85428743e+00] [ 8.31634298e-03 -2.01429380e-04 9.99965398e-01 2.76133289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.539254154 meters 0.017297459431907594 Centerline is valid? [True, True] Translation: X:416.20, Y:4.85, Z:2.76 [[ 9.99199759e-01 -3.92139892e-02 -7.88063315e-03 4.16196408e+02] [ 3.92142304e-02 9.99230819e-01 -1.23972305e-04 4.85475692e+00] [ 7.87943297e-03 -1.85159867e-04 9.99968940e-01 2.76182728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.599254154 meters 0.017777161192318376 Centerline is valid? [True, True] Translation: X:416.26, Y:4.85, Z:2.76 [[ 9.99182489e-01 -3.97170366e-02 -7.54388999e-03 4.16258001e+02] [ 3.97172759e-02 9.99210951e-01 -1.18157244e-04 4.85337950e+00] [ 7.54263034e-03 -1.81562111e-04 9.99971537e-01 2.76215631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.659254154 meters 0.018410089996855266 Centerline is valid? [True, True] Translation: X:416.32, Y:4.85, Z:2.76 [[ 9.99127833e-01 -4.10646814e-02 -7.56739542e-03 4.16319924e+02] [ 4.10649640e-02 9.99156472e-01 -1.18097967e-04 4.85205720e+00] [ 7.56586176e-03 -1.92759854e-04 9.99971360e-01 2.76166294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.719254154 meters 0.019403059573643827 Centerline is valid? [True, True] Translation: X:416.38, Y:4.85, Z:2.76 [[ 9.99043971e-01 -4.29728641e-02 -8.02977562e-03 4.16382564e+02] [ 4.29732488e-02 9.99076215e-01 -1.24709575e-04 4.84935834e+00] [ 8.02771696e-03 -2.20475196e-04 9.99967753e-01 2.76138632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779254154 meters 0.01988806612470849 Centerline is valid? [True, True] Translation: X:416.45, Y:4.85, Z:2.76 [[ 9.98963976e-01 -4.47176704e-02 -8.44421860e-03 4.16445128e+02] [ 4.47181633e-02 9.98999634e-01 -1.30524395e-04 4.84655764e+00] [ 8.44160803e-03 -2.47220777e-04 9.99964338e-01 2.76102208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839254154 meters 0.018690230955308113 Centerline is valid? [True, True] Translation: X:416.51, Y:4.85, Z:2.76 [[ 9.98945484e-01 -4.51006735e-02 -8.59360277e-03 4.16507545e+02] [ 4.51012035e-02 9.98982414e-01 -1.32209063e-04 4.84798745e+00] [ 8.59082076e-03 -2.55512181e-04 9.99963066e-01 2.76093042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899254154 meters 0.019355598035914343 Centerline is valid? [True, True] Translation: X:416.57, Y:4.85, Z:2.76 [[ 9.98953521e-01 -4.49280506e-02 -8.56345491e-03 4.16569480e+02] [ 4.49285760e-02 9.98990193e-01 -1.31113760e-04 4.84698365e+00] [ 8.56069816e-03 -2.53767282e-04 9.99963324e-01 2.76070947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959254154 meters 0.018433789630624153 Centerline is valid? [True, True] Translation: X:416.63, Y:4.85, Z:2.76 [[ 9.99096013e-01 -4.15946287e-02 -8.77741643e-03 4.16631347e+02] [ 4.15950575e-02 9.99134542e-01 -1.33772024e-04 4.84943755e+00] [ 8.77538414e-03 -2.31446045e-04 9.99961469e-01 2.76024224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019254154 meters 0.016601183018220774 Centerline is valid? [True, True] Translation: X:416.69, Y:4.85, Z:2.76 [[ 9.99277072e-01 -3.69694796e-02 -8.86513958e-03 4.16693183e+02] [ 3.69697396e-02 9.99316376e-01 -1.34608818e-04 4.85328373e+00] [ 8.86405558e-03 -1.93230396e-04 9.99960695e-01 2.76117823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079254154 meters 0.015579232193404948 Centerline is valid? [True, True] Translation: X:416.75, Y:4.86, Z:2.76 [[ 9.99460399e-01 -3.16015375e-02 -8.95842716e-03 4.16754920e+02] [ 3.16015920e-02 9.99500536e-01 -1.35502863e-04 4.85816861e+00] [ 8.95823484e-03 -1.47670815e-04 9.99959863e-01 2.76176364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139254154 meters 0.014833817431558727 Centerline is valid? [True, True] Translation: X:416.82, Y:4.86, Z:2.76 [[ 9.99613003e-01 -2.63773749e-02 -8.83618230e-03 4.16815624e+02] [ 2.63772283e-02 9.99652052e-01 -1.33151074e-04 4.86076316e+00] [ 8.83661993e-03 -9.99744523e-05 9.99960951e-01 2.76208671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199254154 meters 0.016741398507001737 Centerline is valid? [True, True] Translation: X:416.88, Y:4.86, Z:2.76 [[ 9.99635987e-01 -2.54106517e-02 -9.06596408e-03 4.16877480e+02] [ 2.54104614e-02 9.99677093e-01 -1.36193561e-04 4.86076534e+00] [ 9.06649738e-03 -9.42263456e-05 9.99958894e-01 2.76075095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259254154 meters 0.01526634769900052 Centerline is valid? [True, True] Translation: X:416.94, Y:4.86, Z:2.76 [[ 9.99566881e-01 -2.80052464e-02 -9.04188910e-03 4.16938796e+02] [ 2.80051688e-02 9.99607769e-01 -1.35223785e-04 4.85685642e+00] [ 9.04212957e-03 -1.18054413e-04 9.99959112e-01 2.76177050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319254154 meters 0.016535633941490487 Centerline is valid? [True, True] Translation: X:417.00, Y:4.85, Z:2.76 [[ 9.99451917e-01 -3.16467829e-02 -9.71321899e-03 4.17000973e+02] [ 3.16468712e-02 9.99499102e-01 -1.44653143e-04 4.85469430e+00] [ 9.71293147e-03 -1.62819129e-04 9.99952815e-01 2.76083379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters 0.017126350127858844 Centerline is valid? [True, True] Translation: X:417.06, Y:4.85, Z:2.76 [[ 9.99213010e-01 -3.80926829e-02 -1.10593457e-02 4.17061421e+02] [ 3.80931991e-02 9.99274177e-01 -1.64046934e-04 4.84766846e+00] [ 1.10575676e-02 -2.57368028e-04 9.99938830e-01 2.76049141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters 0.018875601482855803 Centerline is valid? [True, True] Translation: X:417.12, Y:4.84, Z:2.76 [[ 9.99085391e-01 -4.13134653e-02 -1.10263130e-02 4.17122932e+02] [ 4.13141783e-02 9.99146192e-01 -1.63201007e-04 4.84308916e+00] [ 1.10236410e-02 -2.92491318e-04 9.99939195e-01 2.76057085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters 0.019339655686376415 Centerline is valid? [True, True] Translation: X:417.18, Y:4.84, Z:2.76 [[ 9.98997107e-01 -4.37435862e-02 -9.55402818e-03 4.17184603e+02] [ 4.37442381e-02 9.99042753e-01 -1.40821773e-04 4.84091798e+00] [ 9.55104266e-03 -2.77253140e-04 9.99954349e-01 2.76271611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters 0.021869555923779174 Centerline is valid? [True, True] Translation: X:417.25, Y:4.84, Z:2.76 [[ 9.99020592e-01 -4.34270498e-02 -8.48216595e-03 4.17245397e+02] [ 4.34275579e-02 9.99056571e-01 -1.24354713e-04 4.83591189e+00] [ 8.47956398e-03 -2.44126834e-04 9.99964018e-01 2.76389880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.619254154 meters 0.021750407602464744 Centerline is valid? [True, True] Translation: X:417.31, Y:4.84, Z:2.76 [[ 9.99122152e-01 -4.11632187e-02 -7.77912248e-03 4.17307302e+02] [ 4.11635806e-02 9.99152414e-01 -1.13650815e-04 4.83633463e+00] [ 7.77720723e-03 -2.06665488e-04 9.99969736e-01 2.76392885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.679254154 meters 0.016691143262476497 Centerline is valid? [True, True] Translation: X:417.37, Y:4.84, Z:2.76 [[ 9.99318353e-01 -3.61991328e-02 -7.24239062e-03 4.17369117e+02] [ 3.61993194e-02 9.99344584e-01 -1.05369592e-04 4.84431675e+00] [ 7.24145814e-03 -1.56871844e-04 9.99973768e-01 2.76496642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.739254154 meters 0.015570522690998553 Centerline is valid? [True, True] Translation: X:417.43, Y:4.85, Z:2.76 [[ 9.99472242e-01 -3.15624216e-02 -7.68448013e-03 4.17430434e+02] [ 3.15624979e-02 9.99501774e-01 -1.11375179e-04 4.84552112e+00] [ 7.68416679e-03 -1.31224988e-04 9.99970468e-01 2.76429848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.799254154 meters 0.015101453015186195 Centerline is valid? [True, True] Translation: X:417.49, Y:4.85, Z:2.76 [[ 9.99520108e-01 -2.97228963e-02 -8.72373946e-03 4.17492675e+02] [ 2.97229284e-02 9.99558168e-01 -1.26006198e-04 4.84516317e+00] [ 8.72363031e-03 -1.33349354e-04 9.99961940e-01 2.76370052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.859254154 meters 0.01497189027236601 Centerline is valid? [True, True] Translation: X:417.56, Y:4.84, Z:2.76 [[ 9.99538816e-01 -2.89704678e-02 -9.10309587e-03 4.17555009e+02] [ 2.89704778e-02 9.99580259e-01 -1.30789722e-04 4.84437416e+00] [ 9.10306397e-03 -1.32991633e-04 9.99958557e-01 2.76348709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.919254154 meters 0.01792863805136962 Centerline is valid? [True, True] Translation: X:417.62, Y:4.84, Z:2.76 [[ 9.99556356e-01 -2.76329099e-02 -1.11136809e-02 4.17616464e+02] [ 2.76328516e-02 9.99618127e-01 -1.58834854e-04 4.84258481e+00] [ 1.11138260e-02 -1.48338307e-04 9.99938229e-01 2.76051819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.979254154 meters 0.015150961766124288 Centerline is valid? [True, True] Translation: X:417.68, Y:4.84, Z:2.76 [[ 9.99566208e-01 -2.78447412e-02 -9.59509484e-03 4.17677410e+02] [ 2.78447114e-02 9.99612252e-01 -1.36713938e-04 4.84234809e+00] [ 9.59518112e-03 -1.30518014e-04 9.99953957e-01 2.76279800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.039254154 meters 0.01550729176164225 Centerline is valid? [True, True] Translation: X:417.74, Y:4.84, Z:2.76 [[ 9.99496448e-01 -3.01882042e-02 -9.77356756e-03 4.17738460e+02] [ 3.01882888e-02 9.99544220e-01 -1.38905803e-04 4.83970968e+00] [ 9.77330628e-03 -1.56211423e-04 9.99952228e-01 2.76310915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.099254154 meters 0.016909697347156007 Centerline is valid? [True, True] Translation: X:417.80, Y:4.84, Z:2.76 [[ 9.99381319e-01 -3.38527656e-02 -9.53775067e-03 4.17799002e+02] [ 3.38530164e-02 9.99426813e-01 -1.35200953e-04 4.83714496e+00] [ 9.53686069e-03 -1.87764323e-04 9.99954505e-01 2.76365454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.159254154 meters 0.01958414570457932 Centerline is valid? [True, True] Translation: X:417.86, Y:4.83, Z:2.76 [[ 9.99148631e-01 -4.03413350e-02 -8.63657590e-03 4.17858756e+02] [ 4.03417862e-02 9.99185931e-01 -1.22024735e-04 4.83008051e+00] [ 8.63446778e-03 -2.26494052e-04 9.99962697e-01 2.76431405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.219254154 meters 0.02245633574658464 Centerline is valid? [True, True] Translation: X:417.92, Y:4.82, Z:2.76 [[ 9.98942019e-01 -4.52111656e-02 -8.41392016e-03 4.17918683e+02] [ 4.52117705e-02 9.98977418e-01 -1.18399470e-04 4.82474209e+00] [ 8.41066922e-03 -2.62134021e-04 9.99964595e-01 2.76453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279254154 meters 0.021635864915307352 Centerline is valid? [True, True] Translation: X:417.98, Y:4.83, Z:2.77 [[ 9.98690575e-01 -5.04089902e-02 -8.72172940e-03 4.17979773e+02] [ 5.04098384e-02 9.98728608e-01 -1.22694811e-04 4.82572973e+00] [ 8.71682558e-03 -3.17126818e-04 9.99961957e-01 2.76501940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339254154 meters 0.026953671634958563 Centerline is valid? [True, True] Translation: X:418.04, Y:4.82, Z:2.76 [[ 9.98631479e-01 -5.15684814e-02 -8.70986714e-03 4.18040701e+02] [ 5.15693733e-02 9.98669407e-01 -1.22301195e-04 4.81862360e+00] [ 8.70458474e-03 -3.27028566e-04 9.99962061e-01 2.76493144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399254154 meters 0.02199053380294567 Centerline is valid? [True, True] Translation: X:418.10, Y:4.83, Z:2.76 [[ 9.98589651e-01 -5.21814971e-02 -9.78772719e-03 4.18102418e+02] [ 5.21826590e-02 9.98637548e-01 -1.36811217e-04 4.82721868e+00] [ 9.78153089e-03 -3.74131365e-04 9.99952090e-01 2.76480686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459254154 meters 0.02212499981232981 Centerline is valid? [True, True] Translation: X:418.16, Y:4.83, Z:2.76 [[ 9.98563328e-01 -5.25598109e-02 -1.04281624e-02 4.18164999e+02] [ 5.25611586e-02 9.98617696e-01 -1.44974172e-04 4.82749986e+00] [ 1.04213674e-02 -4.03350408e-04 9.99945615e-01 2.76461230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519254154 meters 0.02325776197979564 Centerline is valid? [True, True] Translation: X:418.23, Y:4.83, Z:2.76 [[ 9.98538660e-01 -5.30546677e-02 -1.02833147e-02 4.18226279e+02] [ 5.30560113e-02 9.98591528e-01 -1.42289180e-04 4.82795513e+00] [ 1.02763800e-02 -4.03510414e-04 9.99947115e-01 2.76475774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579254154 meters 0.021298102175123367 Centerline is valid? [True, True] Translation: X:418.29, Y:4.83, Z:2.77 [[ 9.98529910e-01 -5.31640481e-02 -1.05641878e-02 4.18288778e+02] [ 5.31654792e-02 9.98585705e-01 -1.45519630e-04 4.83282905e+00] [ 1.05569834e-02 -4.16344407e-04 9.99944187e-01 2.76509790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639254154 meters 0.02242365968677628 Centerline is valid? [True, True] Translation: X:418.35, Y:4.83, Z:2.76 [[ 9.98468225e-01 -5.41828365e-02 -1.11992503e-02 4.18350409e+02] [ 5.41845199e-02 9.98530928e-01 -1.53278069e-04 4.83454394e+00] [ 1.11911028e-02 -4.53782719e-04 9.99937275e-01 2.76458020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699254154 meters 0.02258014295670224 Centerline is valid? [True, True] Translation: X:418.41, Y:4.84, Z:2.77 [[ 9.98454204e-01 -5.44943529e-02 -1.09347447e-02 4.18412198e+02] [ 5.44959871e-02 9.98513979e-01 -1.48675631e-04 4.83692827e+00] [ 1.09265974e-02 -4.47453899e-04 9.99940203e-01 2.76504672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759254154 meters 0.023369412306287127 Centerline is valid? [True, True] Translation: X:418.47, Y:4.84, Z:2.77 [[ 9.98465837e-01 -5.42470277e-02 -1.11009711e-02 4.18473707e+02] [ 5.42487049e-02 9.98527444e-01 -1.50197303e-04 4.84018964e+00] [ 1.10927720e-02 -4.52246427e-04 9.99938371e-01 2.76560930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819254154 meters 0.023934590356742006 Centerline is valid? [True, True] Translation: X:418.54, Y:4.84, Z:2.77 [[ 9.98534092e-01 -5.31670398e-02 -1.01456004e-02 4.18535402e+02] [ 5.31683909e-02 9.98585551e-01 -1.36694945e-04 4.84289046e+00] [ 1.01385177e-02 -4.02930687e-04 9.99948523e-01 2.76614978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters 0.023368303626344466 Centerline is valid? [True, True] Translation: X:418.60, Y:4.85, Z:2.77 [[ 9.98680905e-01 -5.03047334e-02 -1.02900250e-02 4.18597359e+02] [ 5.03059783e-02 9.98733843e-01 -1.37971785e-04 4.84772446e+00] [ 1.02839369e-02 -3.79859989e-04 9.99947047e-01 2.76611173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters 0.02325024506499641 Centerline is valid? [True, True] Translation: X:418.66, Y:4.85, Z:2.77 [[ 9.98763964e-01 -4.85484113e-02 -1.06581251e-02 4.18659301e+02] [ 4.85496538e-02 9.98820760e-01 -1.42273476e-04 4.85050394e+00] [ 1.06524638e-02 -3.75350664e-04 9.99943190e-01 2.76627018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters 0.023463387435608687 Centerline is valid? [True, True] Translation: X:418.72, Y:4.85, Z:2.77 [[ 9.98838827e-01 -4.69087190e-02 -1.09803979e-02 4.18720886e+02] [ 4.69099472e-02 9.98899112e-01 -1.45812634e-04 4.85285190e+00] [ 1.09751496e-02 -3.69446564e-04 9.99939703e-01 2.76644927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters 0.01948803724931943 Centerline is valid? [True, True] Translation: X:418.78, Y:4.86, Z:2.77 [[ 9.98856422e-01 -4.64482570e-02 -1.13317359e-02 4.18783317e+02] [ 4.64495447e-02 9.98920626e-01 -1.49668587e-04 4.86106466e+00] [ 1.13264565e-02 -3.76856541e-04 9.99935783e-01 2.76707623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.119254154 meters 0.02127198621009216 Centerline is valid? [True, True] Translation: X:418.85, Y:4.86, Z:2.77 [[ 9.98866550e-01 -4.59011808e-02 -1.25974903e-02 4.18845761e+02] [ 4.59027412e-02 9.98945900e-01 -1.65401832e-04 4.86163962e+00] [ 1.25918034e-02 -4.13044978e-04 9.99920635e-01 2.76578053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.179254154 meters 0.02050368389215952 Centerline is valid? [True, True] Translation: X:418.91, Y:4.86, Z:2.77 [[ 9.98885257e-01 -4.50089553e-02 -1.42280297e-02 4.18907189e+02] [ 4.50108764e-02 9.98986480e-01 -1.85331168e-04 4.86171768e+00] [ 1.42219509e-02 -4.55291515e-04 9.99898759e-01 2.76503701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.239254154 meters 0.01930685382418407 Centerline is valid? [True, True] Translation: X:418.97, Y:4.87, Z:2.77 [[ 9.98981653e-01 -4.28636468e-02 -1.40842025e-02 4.18968105e+02] [ 4.28653315e-02 9.99080843e-01 -1.82379132e-04 4.86600078e+00] [ 1.40790744e-02 -4.21530603e-04 9.99900796e-01 2.76639039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.299254154 meters 0.01876208513178744 Centerline is valid? [True, True] Translation: X:419.03, Y:4.87, Z:2.77 [[ 9.99035847e-01 -4.20816156e-02 -1.25105731e-02 4.19029471e+02] [ 4.20828888e-02 9.99114110e-01 -1.61578571e-04 4.86912032e+00] [ 1.25062895e-02 -3.65058270e-04 9.99921727e-01 2.76836405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.359254154 meters 0.018184144600984803 Centerline is valid? [True, True] Translation: X:419.09, Y:4.87, Z:2.77 [[ 9.99085433e-01 -4.14441410e-02 -1.05205268e-02 4.19091825e+02] [ 4.14450111e-02 9.99140777e-01 -1.35391394e-04 4.87044647e+00] [ 1.05170985e-02 -3.00755780e-04 9.99944649e-01 2.77001948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.419254154 meters 0.017671322939185614 Centerline is valid? [True, True] Translation: X:419.15, Y:4.87, Z:2.77 [[ 9.99129686e-01 -4.05492886e-02 -9.77880548e-03 4.19154292e+02] [ 4.05500042e-02 9.99177503e-01 -1.25157336e-04 4.87192713e+00] [ 9.77583747e-03 -2.71482194e-04 9.99952179e-01 2.77073884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.479254154 meters 0.01720062832057127 Centerline is valid? [True, True] Translation: X:419.22, Y:4.87, Z:2.77 [[ 9.99217887e-01 -3.86687562e-02 -8.26692661e-03 4.19216928e+02] [ 3.86692081e-02 9.99252061e-01 -1.05225215e-04 4.87145022e+00] [ 8.26481238e-03 -2.14532588e-04 9.99965823e-01 2.77145575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.539254154 meters 0.017284371808812305 Centerline is valid? [True, True] Translation: X:419.28, Y:4.87, Z:2.77 [[ 9.99240868e-01 -3.81740465e-02 -7.77366460e-03 4.19278683e+02] [ 3.81744367e-02 9.99271086e-01 -9.82290103e-05 4.87040948e+00] [ 7.77174806e-03 -1.98600826e-04 9.99969780e-01 2.77150308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.599254154 meters 0.017110163867761687 Centerline is valid? [True, True] Translation: X:419.34, Y:4.87, Z:2.77 [[ 9.99206339e-01 -3.86473242e-02 -9.64761290e-03 4.19340721e+02] [ 3.86479553e-02 9.99252881e-01 -1.21070557e-04 4.86838427e+00] [ 9.64508404e-03 -2.51886045e-04 9.99953453e-01 2.76942539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.659254154 meters 0.017767260289273078 Centerline is valid? [True, True] Translation: X:419.40, Y:4.87, Z:2.77 [[ 9.99159319e-01 -3.93932635e-02 -1.13501926e-02 4.19402063e+02] [ 3.93941949e-02 9.99223737e-01 -1.41582517e-04 4.86562484e+00] [ 1.13469593e-02 -3.05668209e-04 9.99935574e-01 2.76823230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.719254154 meters 0.017978736547205207 Centerline is valid? [True, True] Translation: X:419.46, Y:4.86, Z:2.77 [[ 9.99122525e-01 -4.00252179e-02 -1.23353824e-02 4.19464650e+02] [ 4.00263764e-02 9.99198612e-01 -1.53050909e-04 4.86256883e+00] [ 1.23316228e-02 -3.40824047e-04 9.99923905e-01 2.76730032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779254154 meters 0.018349244154106322 Centerline is valid? [True, True] Translation: X:419.53, Y:4.86, Z:2.77 [[ 9.99150454e-01 -3.94998243e-02 -1.17530075e-02 4.19526245e+02] [ 3.95008525e-02 9.99219526e-01 -1.44724640e-04 4.86083085e+00] [ 1.17495512e-02 -3.19652125e-04 9.99930921e-01 2.76796652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839254154 meters 0.01778281167048626 Centerline is valid? [True, True] Translation: X:419.59, Y:4.86, Z:2.77 [[ 9.99222420e-01 -3.81289264e-02 -1.00369498e-02 4.19587196e+02] [ 3.81296155e-02 9.99272794e-01 -1.22756392e-04 4.86174422e+00] [ 1.00343314e-02 -2.60044098e-04 9.99949621e-01 2.76991260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899254154 meters 0.01881460531028457 Centerline is valid? [True, True] Translation: X:419.65, Y:4.86, Z:2.77 [[ 9.99259588e-01 -3.72889536e-02 -9.47676962e-03 4.19649217e+02] [ 3.72895344e-02 9.99304497e-01 -1.15471352e-04 4.86176394e+00] [ 9.47448430e-03 -2.37998470e-04 9.99955088e-01 2.76995077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959254154 meters 0.01693616011877462 Centerline is valid? [True, True] Translation: X:419.71, Y:4.86, Z:2.77 [[ 9.99287657e-01 -3.70033749e-02 -7.41138341e-03 4.19711702e+02] [ 3.70037254e-02 9.99315124e-01 -8.98686613e-05 4.86021913e+00] [ 7.40963297e-03 -1.84444153e-04 9.99972531e-01 2.77127346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019254154 meters 0.017081956408801918 Centerline is valid? [True, True] Translation: X:419.77, Y:4.86, Z:2.77 [[ 9.99291219e-01 -3.70663407e-02 -6.56863513e-03 4.19774263e+02] [ 3.70666203e-02 9.99312794e-01 -7.92123224e-05 4.85925384e+00] [ 6.56705723e-03 -1.64320926e-04 9.99978423e-01 2.77144563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079254154 meters 0.016907235710985673 Centerline is valid? [True, True] Translation: X:419.84, Y:4.86, Z:2.77 [[ 9.99309196e-01 -3.66431010e-02 -6.19782559e-03 4.19836797e+02] [ 3.66433445e-02 9.99328404e-01 -7.42996207e-05 4.85735982e+00] [ 6.19638573e-03 -1.52860764e-04 9.99980791e-01 2.77190805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139254154 meters 0.016843041687271867 Centerline is valid? [True, True] Translation: X:419.90, Y:4.86, Z:2.77 [[ 9.99334859e-01 -3.57772670e-02 -7.05880852e-03 4.19899040e+02] [ 3.57775656e-02 9.99359774e-01 -8.40156483e-05 4.85586248e+00] [ 7.05729514e-03 -1.68587218e-04 9.99975083e-01 2.77125331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199254154 meters 0.01708485777603478 Centerline is valid? [True, True] Translation: X:419.96, Y:4.85, Z:2.77 [[ 9.99381042e-01 -3.39562866e-02 -9.19257088e-03 4.19960173e+02] [ 3.39567250e-02 9.99423298e-01 -1.08423562e-04 4.85287563e+00] [ 9.19095117e-03 -2.03793149e-04 9.99957742e-01 2.76929329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259254154 meters 0.016983845405077726 Centerline is valid? [True, True] Translation: X:420.02, Y:4.85, Z:2.77 [[ 9.99421361e-01 -3.24590343e-02 -1.01663181e-02 4.20021225e+02] [ 3.24595045e-02 9.99473044e-01 -1.18797759e-04 4.85227472e+00] [ 1.01648170e-02 -2.11264630e-04 9.99948315e-01 2.76844595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319254154 meters 0.016524756469571373 Centerline is valid? [True, True] Translation: X:420.08, Y:4.85, Z:2.77 [[ 9.99447697e-01 -3.14829294e-02 -1.06360864e-02 4.20082798e+02] [ 3.14833929e-02 9.99504267e-01 -1.23893428e-04 4.85181243e+00] [ 1.06347143e-02 -2.11035086e-04 9.99943428e-01 2.76829073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters 0.017310275256246316 Centerline is valid? [True, True] Translation: X:420.14, Y:4.85, Z:2.77 [[ 9.99393971e-01 -3.30192118e-02 -1.10191496e-02 4.20142878e+02] [ 3.30198063e-02 9.99454689e-01 -1.28025549e-04 4.84907120e+00] [ 1.10173680e-02 -2.35902224e-04 9.99939279e-01 2.76876466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters 0.01917865857671283 Centerline is valid? [True, True] Translation: X:420.20, Y:4.85, Z:2.77 [[ 9.99292234e-01 -3.54965283e-02 -1.24509847e-02 4.20204068e+02] [ 3.54974839e-02 9.99369755e-01 -1.44314111e-04 4.84806719e+00] [ 1.24482601e-02 -2.97766657e-04 9.99922473e-01 2.76798791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters 0.019343993323908716 Centerline is valid? [True, True] Translation: X:420.26, Y:4.84, Z:2.77 [[ 9.99099225e-01 -4.07209817e-02 -1.19390273e-02 4.20264190e+02] [ 4.07222401e-02 9.99170496e-01 -1.37777718e-04 4.84350292e+00] [ 1.19347343e-02 -3.48530326e-04 9.99928718e-01 2.76983863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters 0.022656253254586794 Centerline is valid? [True, True] Translation: X:420.32, Y:4.84, Z:2.77 [[ 9.98675018e-01 -5.03341469e-02 -1.07089603e-02 4.20324689e+02] [ 5.03357158e-02 9.98732347e-01 -1.23150564e-04 4.83594215e+00] [ 1.07015837e-02 -4.16055789e-04 9.99942650e-01 2.77091276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.619254154 meters 0.02665303671334392 Centerline is valid? [True, True] Translation: X:420.38, Y:4.83, Z:2.77 [[ 9.98273399e-01 -5.78160851e-02 -1.03692458e-02 4.20384373e+02] [ 5.78179583e-02 9.98327136e-01 -1.19279872e-04 4.83052388e+00] [ 1.03587957e-02 -4.80454698e-04 9.99946231e-01 2.77171348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.679254154 meters 0.03252343509542954 Centerline is valid? [True, True] Translation: X:420.44, Y:4.82, Z:2.77 [[ 9.97603859e-01 -6.83427471e-02 -1.07614384e-02 4.20444593e+02] [ 6.83453742e-02 9.97661713e-01 -1.23879890e-04 4.82407797e+00] [ 1.07447413e-02 -6.11911476e-04 9.99942086e-01 2.77213504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.739254154 meters 0.03660267642031373 Centerline is valid? [True, True] Translation: X:420.50, Y:4.82, Z:2.77 [[ 9.97227704e-01 -7.35474349e-02 -1.12996472e-02 4.20504628e+02] [ 7.35506648e-02 9.97291473e-01 -1.30018374e-04 4.82014477e+00] [ 1.12786043e-02 -7.01438639e-04 9.99936148e-01 2.77207332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.799254154 meters 0.03380054277732936 Centerline is valid? [True, True] Translation: X:420.57, Y:4.83, Z:2.77 [[ 9.96917114e-01 -7.74890095e-02 -1.23175577e-02 4.20565523e+02] [ 7.74931479e-02 9.96992875e-01 -1.41661832e-04 4.82739078e+00] [ 1.22914945e-02 -8.13301214e-04 9.99924126e-01 2.77313971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.859254154 meters 0.03205454790057475 Centerline is valid? [True, True] Translation: X:420.63, Y:4.83, Z:2.77 [[ 9.96924139e-01 -7.73167827e-02 -1.28209167e-02 4.20627190e+02] [ 7.73212583e-02 9.97006219e-01 -1.46970554e-04 4.83338421e+00] [ 1.27938970e-02 -8.44810920e-04 9.99917798e-01 2.77396096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.919254154 meters 0.03406628175998437 Centerline is valid? [True, True] Translation: X:420.69, Y:4.84, Z:2.77 [[ 9.97163392e-01 -7.39905726e-02 -1.38045349e-02 4.20686930e+02] [ 7.39954514e-02 9.97258566e-01 -1.57707859e-04 4.83647545e+00] [ 1.37783596e-02 -8.64212288e-04 9.99904700e-01 2.77311944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.979254154 meters 0.03415688690213076 Centerline is valid? [True, True] Translation: X:420.75, Y:4.84, Z:2.77 [[ 9.97261447e-01 -7.26060952e-02 -1.40698673e-02 4.20748014e+02] [ 7.26110297e-02 9.97360322e-01 -1.60478237e-04 4.83883458e+00] [ 1.40443791e-02 -8.61588797e-04 9.99901002e-01 2.77330544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.039254154 meters 0.028030968037693095 Centerline is valid? [True, True] Translation: X:420.81, Y:4.85, Z:2.77 [[ 9.97570945e-01 -6.82275812e-02 -1.40430648e-02 4.20808824e+02] [ 6.82320691e-02 9.97669464e-01 -1.59849870e-04 4.85308965e+00] [ 1.40212431e-02 -7.98725781e-04 9.99901379e-01 2.77442719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.099254154 meters 0.02781943988880266 Centerline is valid? [True, True] Translation: X:420.87, Y:4.86, Z:2.78 [[ 9.97769349e-01 -6.53214088e-02 -1.37637291e-02 4.20870029e+02] [ 6.53254488e-02 9.97863999e-01 -1.56334101e-04 4.85698389e+00] [ 1.37445417e-02 -7.43136403e-04 9.99905263e-01 2.77518047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.159254154 meters 0.024423592327755712 Centerline is valid? [True, True] Translation: X:420.93, Y:4.87, Z:2.78 [[ 9.98099441e-01 -6.01488016e-02 -1.34025199e-02 4.20930150e+02] [ 6.01521710e-02 9.98189207e-01 -1.51937890e-04 4.86793716e+00] [ 1.33873895e-02 -6.54541543e-04 9.99910171e-01 2.77592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.219254154 meters 0.023127667638314642 Centerline is valid? [True, True] Translation: X:420.99, Y:4.87, Z:2.78 [[ 9.98340303e-01 -5.60604699e-02 -1.31857090e-02 4.20990393e+02] [ 5.60633759e-02 9.98427201e-01 -1.49427880e-04 4.87348567e+00] [ 1.31733475e-02 -5.90055484e-04 9.99913054e-01 2.77626408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279254154 meters 0.02054320302353225 Centerline is valid? [True, True] Translation: X:421.05, Y:4.88, Z:2.78 [[ 9.98759926e-01 -4.83490623e-02 -1.18734499e-02 4.21050884e+02] [ 4.83508747e-02 9.98830403e-01 -1.34527402e-04 4.88269239e+00] [ 1.18660670e-02 -4.39731111e-04 9.99929499e-01 2.77687163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339254154 meters 0.019134291457572738 Centerline is valid? [True, True] Translation: X:421.11, Y:4.89, Z:2.78 [[ 9.98989446e-01 -4.34037850e-02 -1.16704325e-02 4.21111950e+02] [ 4.34052004e-02 9.99057541e-01 -1.32097562e-04 4.88814356e+00] [ 1.16651672e-02 -3.74593393e-04 9.99931889e-01 2.77716358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399254154 meters 0.017986052994164167 Centerline is valid? [True, True] Translation: X:421.17, Y:4.89, Z:2.78 [[ 9.99181631e-01 -3.85705780e-02 -1.21810766e-02 4.21173438e+02] [ 3.85717652e-02 9.99255823e-01 -1.37542952e-04 4.89389213e+00] [ 1.21773169e-02 -3.32415237e-04 9.99925798e-01 2.77699992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459254154 meters 0.018130056964117253 Centerline is valid? [True, True] Translation: X:421.23, Y:4.90, Z:2.78 [[ 9.99230781e-01 -3.72042536e-02 -1.23971933e-02 4.21234456e+02] [ 3.72053852e-02 9.99307630e-01 -1.39416578e-04 4.89508318e+00] [ 1.23937968e-02 -3.21933017e-04 9.99923142e-01 2.77643712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519254154 meters 0.017957613347568832 Centerline is valid? [True, True] Translation: X:421.30, Y:4.90, Z:2.78 [[ 9.99182259e-01 -3.81943711e-02 -1.32666596e-02 4.21297024e+02] [ 3.81957659e-02 9.99270264e-01 -1.48313810e-04 4.89557120e+00] [ 1.32626432e-02 -3.58537699e-04 9.99911983e-01 2.77596750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579254154 meters 0.02030105448166072 Centerline is valid? [True, True] Translation: X:421.36, Y:4.89, Z:2.78 [[ 9.99076358e-01 -4.09092305e-02 -1.31478806e-02 4.21357428e+02] [ 4.09108433e-02 9.99162790e-01 -1.46374534e-04 4.89075271e+00] [ 1.31428611e-02 -3.91651547e-04 9.99913552e-01 2.77500101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639254154 meters 0.02246494728308423 Centerline is valid? [True, True] Translation: X:421.42, Y:4.89, Z:2.78 [[ 9.98884764e-01 -4.54882515e-02 -1.26510128e-02 4.21418479e+02] [ 4.54901154e-02 9.98964779e-01 -1.40540967e-04 4.88632010e+00] [ 1.26443092e-02 -4.35111803e-04 9.99919963e-01 2.77531303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699254154 meters 0.02428998590047043 Centerline is valid? [True, True] Translation: X:421.48, Y:4.89, Z:2.77 [[ 9.98771044e-01 -4.76406057e-02 -1.36665572e-02 4.21480706e+02] [ 4.76429919e-02 9.98864416e-01 -1.51105603e-04 4.88569370e+00] [ 1.36582364e-02 -5.00195771e-04 9.99906597e-01 2.77445405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759254154 meters 0.0221907816173689 Centerline is valid? [True, True] Translation: X:421.54, Y:4.89, Z:2.78 [[ 9.98591622e-01 -5.16354437e-02 -1.21882226e-02 4.21541958e+02] [ 5.16376461e-02 9.98665878e-01 -1.34134566e-04 4.88770934e+00] [ 1.21788882e-02 -4.95425474e-04 9.99925712e-01 2.77685558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819254154 meters 0.023851158430134 Centerline is valid? [True, True] Translation: X:421.60, Y:4.89, Z:2.78 [[ 9.98469970e-01 -5.39835751e-02 -1.19788696e-02 4.21604148e+02] [ 5.39858787e-02 9.98541691e-01 -1.31202189e-04 4.88559085e+00] [ 1.19684835e-02 -5.15688356e-04 9.99928242e-01 2.77706910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters 0.023897889396250465 Centerline is valid? [True, True] Translation: X:421.66, Y:4.89, Z:2.78 [[ 9.98267595e-01 -5.76676907e-02 -1.16724249e-02 4.21664895e+02] [ 5.76701359e-02 9.98335685e-01 -1.27275326e-04 4.88591937e+00] [ 1.16603379e-02 -5.46095495e-04 9.99931867e-01 2.77719653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters 0.024334602961417026 Centerline is valid? [True, True] Translation: X:421.73, Y:4.89, Z:2.78 [[ 9.98114144e-01 -5.99470767e-02 -1.32100027e-02 4.21726561e+02] [ 5.99504145e-02 9.98201346e-01 -1.43534744e-04 4.88778798e+00] [ 1.31948469e-02 -6.48681077e-04 9.99912734e-01 2.77619928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters 0.024681254517875693 Centerline is valid? [True, True] Translation: X:421.79, Y:4.89, Z:2.78 [[ 9.98109354e-01 -6.00380418e-02 -1.31586982e-02 4.21788480e+02] [ 6.00413728e-02 9.98195879e-01 -1.42118587e-04 4.88945080e+00] [ 1.31434908e-02 -6.48216413e-04 9.99913410e-01 2.77625330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters 0.024211039618595886 Centerline is valid? [True, True] Translation: X:421.85, Y:4.89, Z:2.78 [[ 9.98181093e-01 -5.88079927e-02 -1.32712171e-02 4.21851145e+02] [ 5.88112874e-02 9.98269108e-01 -1.42210461e-04 4.89275183e+00] [ 1.32566092e-02 -6.38545570e-04 9.99911923e-01 2.77663798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.119254154 meters 0.026470414333660413 Centerline is valid? [True, True] Translation: X:421.91, Y:4.89, Z:2.78 [[ 9.98352200e-01 -5.59350918e-02 -1.28120849e-02 4.21911299e+02] [ 5.59379355e-02 9.98434239e-01 -1.36568813e-04 4.89417479e+00] [ 1.27996633e-02 -5.80337807e-04 9.99917913e-01 2.77700231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.179254154 meters 0.021302788077290476 Centerline is valid? [True, True] Translation: X:421.97, Y:4.91, Z:2.78 [[ 9.98606772e-01 -5.09658843e-02 -1.36745955e-02 4.21971872e+02] [ 5.09686629e-02 9.98700242e-01 -1.45462426e-04 4.90701646e+00] [ 1.36642355e-02 -5.51716084e-04 9.99906488e-01 2.77792135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.239254154 meters 0.020991183097167642 Centerline is valid? [True, True] Translation: X:422.03, Y:4.91, Z:2.78 [[ 9.98763993e-01 -4.76673379e-02 -1.40823086e-02 4.22033192e+02] [ 4.76699634e-02 9.98863130e-01 -1.49360068e-04 4.91085329e+00] [ 1.40734184e-02 -5.22127676e-04 9.99900828e-01 2.77766442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.299254154 meters 0.01944503227281545 Centerline is valid? [True, True] Translation: X:422.09, Y:4.92, Z:2.78 [[ 9.98988042e-01 -4.26953862e-02 -1.41419647e-02 4.22093425e+02] [ 4.26975398e-02 9.99088033e-01 -1.49742227e-04 4.91717080e+00] [ 1.41354610e-02 -4.54236408e-04 9.99899986e-01 2.77822282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.359254154 meters 0.01871061441303977 Centerline is valid? [True, True] Translation: X:422.15, Y:4.92, Z:2.78 [[ 9.99078060e-01 -4.05169756e-02 -1.41917374e-02 4.22154590e+02] [ 4.05189288e-02 9.99178760e-01 -1.49991566e-04 4.92076160e+00] [ 1.41861598e-02 -4.25180716e-04 9.99899281e-01 2.77895826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.419254154 meters 0.018100487300233125 Centerline is valid? [True, True] Translation: X:422.22, Y:4.92, Z:2.78 [[ 9.99217209e-01 -3.72512322e-02 -1.33159738e-02 4.22215641e+02] [ 3.72526683e-02 9.99305869e-01 -1.40256829e-04 4.92455018e+00] [ 1.33119555e-02 -3.55908518e-04 9.99911329e-01 2.77950880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.479254154 meters 0.01702006649217161 Centerline is valid? [True, True] Translation: X:422.28, Y:4.93, Z:2.78 [[ 9.99350168e-01 -3.37629743e-02 -1.26215448e-02 4.22277532e+02] [ 3.37639936e-02 9.99429825e-01 -1.32376248e-04 4.92939092e+00] [ 1.26188178e-02 -2.93863534e-04 9.99920336e-01 2.78066209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.539254154 meters 0.016156648699968683 Centerline is valid? [True, True] Translation: X:422.34, Y:4.93, Z:2.78 [[ 9.99510625e-01 -2.91109478e-02 -1.14482638e-02 4.22338804e+02] [ 2.91114873e-02 9.99576164e-01 -1.19553548e-04 4.93394566e+00] [ 1.14468919e-02 -2.13780944e-04 9.99934459e-01 2.78207498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.599254154 meters 0.01642413816965703 Centerline is valid? [True, True] Translation: X:422.40, Y:4.94, Z:2.78 [[ 9.99706871e-01 -2.20773837e-02 -9.93788468e-03 4.22400493e+02] [ 2.20774467e-02 9.99756258e-01 -1.03378309e-04 4.93974473e+00] [ 9.93774473e-03 -1.16055114e-04 9.99950613e-01 2.78256722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.659254154 meters 0.01484541598786024 Centerline is valid? [True, True] Translation: X:422.46, Y:4.94, Z:2.78 [[ 9.99759996e-01 -2.03723645e-02 -8.05708905e-03 4.22461250e+02] [ 2.03723532e-02 9.99792459e-01 -8.34776115e-05 4.94046966e+00] [ 8.05711750e-03 -8.06842873e-05 9.99967538e-01 2.78449131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.719254154 meters 0.015040181738331902 Centerline is valid? [True, True] Translation: X:422.52, Y:4.94, Z:2.78 [[ 9.99701834e-01 -2.28233174e-02 -8.67980879e-03 4.22522257e+02] [ 2.28233984e-02 9.99739508e-01 -8.97235877e-05 4.93847277e+00] [ 8.67959556e-03 -1.08405899e-04 9.99962326e-01 2.78384625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779254154 meters 0.016511470179539967 Centerline is valid? [True, True] Translation: X:422.58, Y:4.93, Z:2.78 [[ 9.99477691e-01 -3.06131227e-02 -1.03529033e-02 4.22583798e+02] [ 3.06136602e-02 9.99531286e-01 -1.06587551e-04 4.92958548e+00] [ 1.03513137e-02 -2.10408384e-04 9.99946402e-01 2.78186314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839254154 meters 0.017812638390729503 Centerline is valid? [True, True] Translation: X:422.64, Y:4.92, Z:2.78 [[ 9.99255459e-01 -3.70095318e-02 -1.09005282e-02 4.22644939e+02] [ 3.70105116e-02 9.99314870e-01 -1.11888758e-04 4.92373272e+00] [ 1.08972009e-02 -2.91628675e-04 9.99940581e-01 2.78127316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899254154 meters 0.019207674886650112 Centerline is valid? [True, True] Translation: X:422.71, Y:4.92, Z:2.78 [[ 9.99026952e-01 -4.26401303e-02 -1.12679921e-02 4.22706438e+02] [ 4.26415384e-02 9.99090429e-01 -1.15360679e-04 4.91863716e+00] [ 1.12626621e-02 -3.65236091e-04 9.99936508e-01 2.78099297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959254154 meters 0.02066287112062349 Centerline is valid? [True, True] Translation: X:422.77, Y:4.91, Z:2.78 [[ 9.98811483e-01 -4.71885385e-02 -1.22009649e-02 4.22767761e+02] [ 4.71905342e-02 9.98885898e-01 -1.24436080e-04 4.91346749e+00] [ 1.21932438e-02 -4.51481867e-04 9.99925558e-01 2.78069304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019254154 meters 0.026630382272454668 Centerline is valid? [True, True] Translation: X:422.83, Y:4.90, Z:2.78 [[ 9.98632457e-01 -5.10961540e-02 -1.10634128e-02 4.22827933e+02] [ 5.10980367e-02 9.98693636e-01 -1.12607935e-04 4.90351119e+00] [ 1.10547138e-02 -4.52864735e-04 9.99938792e-01 2.77908097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079254154 meters 0.02281591366905994 Centerline is valid? [True, True] Translation: X:422.89, Y:4.91, Z:2.78 [[ 9.98587229e-01 -5.22283865e-02 -9.78474699e-03 4.22890210e+02] [ 5.22299157e-02 9.98635082e-01 -9.93658913e-05 4.90708120e+00] [ 9.77658132e-03 -4.11831000e-04 9.99952123e-01 2.78277343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139254154 meters 0.02213467832809067 Centerline is valid? [True, True] Translation: X:422.95, Y:4.91, Z:2.78 [[ 9.98595255e-01 -5.22556709e-02 -8.76708569e-03 4.22952721e+02] [ 5.22569048e-02 9.98633671e-01 -8.84322086e-05 4.90880599e+00] [ 8.75972805e-03 -3.69832778e-04 9.99961564e-01 2.78389108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199254154 meters 0.022815490395969713 Centerline is valid? [True, True] Translation: X:423.01, Y:4.91, Z:2.78 [[ 9.98581647e-01 -5.24247009e-02 -9.29216515e-03 4.23014768e+02] [ 5.24261011e-02 9.98624802e-01 -9.30022806e-05 4.90813750e+00] [ 9.28426220e-03 -3.94281619e-04 9.99956823e-01 2.78405075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259254154 meters 0.022646426327960045 Centerline is valid? [True, True] Translation: X:423.08, Y:4.91, Z:2.78 [[ 9.98536118e-01 -5.28732030e-02 -1.14037497e-02 4.23076881e+02] [ 5.28753521e-02 9.98601114e-01 -1.13174071e-04 4.91014002e+00] [ 1.13937810e-02 -4.89968884e-04 9.99934969e-01 2.78302935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319254154 meters 0.023428702750926476 Centerline is valid? [True, True] Translation: X:423.14, Y:4.91, Z:2.78 [[ 9.98496061e-01 -5.32593864e-02 -1.30021126e-02 4.23138554e+02] [ 5.32622249e-02 9.98580552e-01 -1.28116967e-04 4.91069648e+00] [ 1.29904803e-02 -5.64597161e-04 9.99915461e-01 2.78253199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters 0.023952052878599573 Centerline is valid? [True, True] Translation: X:423.20, Y:4.91, Z:2.78 [[ 9.98552930e-01 -5.19397440e-02 -1.39394893e-02 4.23199825e+02] [ 5.19428965e-02 9.98650047e-01 -1.36036669e-04 4.91072526e+00] [ 1.39277374e-02 -5.88217637e-04 9.99902831e-01 2.78197029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters 0.021474472222804235 Centerline is valid? [True, True] Translation: X:423.26, Y:4.92, Z:2.78 [[ 9.98641469e-01 -4.99906774e-02 -1.47019814e-02 4.23262291e+02] [ 4.99939955e-02 9.98749508e-01 -1.41979365e-04 4.91648191e+00] [ 1.46906943e-02 -5.93224310e-04 9.99891910e-01 2.78262866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters 0.021059384186696277 Centerline is valid? [True, True] Translation: X:423.32, Y:4.92, Z:2.78 [[ 9.98816329e-01 -4.63066617e-02 -1.48873451e-02 4.23323303e+02] [ 4.63096674e-02 9.98927122e-01 -1.42958358e-04 4.92076083e+00] [ 1.48779927e-02 -5.46638856e-04 9.99889167e-01 2.78310670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters 0.020120634697330095 Centerline is valid? [True, True] Translation: X:423.39, Y:4.92, Z:2.78 [[ 9.98940133e-01 -4.35101601e-02 -1.50158842e-02 4.23385086e+02] [ 4.35129128e-02 9.99052854e-01 -1.43498753e-04 4.92430613e+00] [ 1.50079056e-02 -5.10038196e-04 9.99887245e-01 2.78378591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.619254154 meters 0.01770137942408005 Centerline is valid? [True, True] Translation: X:423.45, Y:4.93, Z:2.79 [[ 9.99214545e-01 -3.72194870e-02 -1.36015993e-02 4.23446044e+02] [ 3.72211693e-02 9.99307044e-01 -1.29529811e-04 4.93157260e+00] [ 1.35969950e-02 -3.76839358e-04 9.99907486e-01 2.78558395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.679254154 meters 0.01679683410404949 Centerline is valid? [True, True] Translation: X:423.51, Y:4.94, Z:2.79 [[ 9.99417967e-01 -3.16153239e-02 -1.28139679e-02 4.23507924e+02] [ 3.16163625e-02 9.99500070e-01 -1.21565646e-04 4.93726568e+00] [ 1.28114051e-02 -2.83636163e-04 9.99917890e-01 2.78668838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.739254154 meters 0.015070207567913146 Centerline is valid? [True, True] Translation: X:423.57, Y:4.94, Z:2.79 [[ 9.99641338e-01 -2.39909804e-02 -1.19007820e-02 4.23568741e+02] [ 2.39913404e-02 9.99712160e-01 -1.12532624e-04 4.94392781e+00] [ 1.19000562e-02 -1.73023450e-04 9.99929177e-01 2.78790236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.799254154 meters 0.014396095743307134 Centerline is valid? [True, True] Translation: X:423.63, Y:4.95, Z:2.79 [[ 9.99718008e-01 -2.06201483e-02 -1.17776967e-02 4.23629303e+02] [ 2.06202673e-02 9.99787373e-01 -1.11347167e-04 4.94680740e+00] [ 1.17774884e-02 -1.31543486e-04 9.99930634e-01 2.78818010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.859254154 meters 0.014451163569261977 Centerline is valid? [True, True] Translation: X:423.69, Y:4.95, Z:2.79 [[ 9.99731435e-01 -1.96890858e-02 -1.22228532e-02 4.23690186e+02] [ 1.96891444e-02 9.99806143e-01 -1.15555708e-04 4.94722502e+00] [ 1.22227590e-02 -1.25132848e-04 9.99925291e-01 2.78730514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.919254154 meters 0.014629574216574938 Centerline is valid? [True, True] Translation: X:423.75, Y:4.95, Z:2.79 [[ 9.99655743e-01 -2.26423133e-02 -1.32560073e-02 4.23749684e+02] [ 2.26426385e-02 9.99743615e-01 -1.25566564e-04 4.94509789e+00] [ 1.32554517e-02 -1.74627644e-04 9.99912127e-01 2.78684296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.979254154 meters 0.01574440137213459 Centerline is valid? [True, True] Translation: X:423.81, Y:4.94, Z:2.79 [[ 9.99565069e-01 -2.60987524e-02 -1.37305490e-02 4.23808918e+02] [ 2.60994220e-02 9.99659344e-01 -1.30448412e-04 4.94064065e+00] [ 1.37292762e-02 -2.27967718e-04 9.99905723e-01 2.78599756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.039254154 meters 0.016816503488153306 Centerline is valid? [True, True] Translation: X:423.87, Y:4.94, Z:2.79 [[ 9.99341367e-01 -3.31903768e-02 -1.46707580e-02 4.23869560e+02] [ 3.31919030e-02 9.99448987e-01 -1.39512052e-04 4.93596851e+00] [ 1.46673047e-02 -3.47530211e-04 9.99892369e-01 2.78610961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.099254154 meters 0.017793414423962848 Centerline is valid? [True, True] Translation: X:423.93, Y:4.93, Z:2.79 [[ 9.99189441e-01 -3.73325598e-02 -1.50579217e-02 4.23930802e+02] [ 3.73346422e-02 9.99302809e-01 -1.42887317e-04 4.93224755e+00] [ 1.50527578e-02 -4.19410621e-04 9.99886613e-01 2.78613493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.159254154 meters 0.018491675524026772 Centerline is valid? [True, True] Translation: X:423.99, Y:4.93, Z:2.79 [[ 9.99048677e-01 -4.08858663e-02 -1.51686412e-02 4.23992164e+02] [ 4.08883971e-02 9.99163710e-01 -1.43376108e-04 4.93007687e+00] [ 1.51618179e-02 -4.76981714e-04 9.99884939e-01 2.78702097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.219254154 meters 0.018173063341169284 Centerline is valid? [True, True] Translation: X:424.05, Y:4.93, Z:2.79 [[ 9.99075807e-01 -4.00451109e-02 -1.56179507e-02 4.24053930e+02] [ 4.00477004e-02 9.99197758e-01 -1.47035451e-04 4.93113413e+00] [ 1.56113094e-02 -4.78563450e-04 9.99878022e-01 2.78771556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279254154 meters 0.01856225394743234 Centerline is valid? [True, True] Translation: X:424.11, Y:4.93, Z:2.79 [[ 9.99142461e-01 -3.81295247e-02 -1.61394611e-02 4.24114870e+02] [ 3.81320502e-02 9.99272697e-01 -1.51340871e-04 4.93204130e+00] [ 1.61334933e-02 -4.64219649e-04 9.99869739e-01 2.78828876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339254154 meters 0.01656610934849236 Centerline is valid? [True, True] Translation: X:424.18, Y:4.94, Z:2.79 [[ 9.99295736e-01 -3.39807078e-02 -1.59167502e-02 4.24176038e+02] [ 3.39826475e-02 9.99422412e-01 -1.48665166e-04 4.93554525e+00] [ 1.59126086e-02 -3.92332846e-04 9.99873309e-01 2.79078282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399254154 meters 0.016690705445978043 Centerline is valid? [True, True] Translation: X:424.24, Y:4.94, Z:2.79 [[ 9.99398857e-01 -3.03900759e-02 -1.66843681e-02 4.24237013e+02] [ 3.03917146e-02 9.99538053e-01 -1.55386028e-04 4.93852183e+00] [ 1.66813830e-02 -3.51773935e-04 9.99860794e-01 2.79155871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459254154 meters 0.0157924926024989 Centerline is valid? [True, True] Translation: X:424.30, Y:4.94, Z:2.79 [[ 9.99473008e-01 -2.76976359e-02 -1.69277128e-02 4.24296701e+02] [ 2.76989356e-02 9.99616298e-01 -1.57712658e-04 4.93982985e+00] [ 1.69255859e-02 -3.11250082e-04 9.99856704e-01 2.79152212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519254154 meters 0.01632366998412426 Centerline is valid? [True, True] Translation: X:424.36, Y:4.94, Z:2.79 [[ 9.99465744e-01 -2.62890632e-02 -1.94193850e-02 4.24355066e+02] [ 2.62904445e-02 9.99654330e-01 -1.84211886e-04 4.94031185e+00] [ 1.94175151e-02 -3.26430795e-04 9.99811409e-01 2.79023457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579254154 meters 0.017277368324155048 Centerline is valid? [True, True] Translation: X:424.41, Y:4.94, Z:2.79 [[ 9.99336963e-01 -2.99413306e-02 -2.07159767e-02 4.24413486e+02] [ 2.99436350e-02 9.99551569e-01 -1.99011896e-04 4.93632447e+00] [ 2.07126457e-02 -4.21431701e-04 9.99785381e-01 2.78922700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639254154 meters 0.017417795268672494 Centerline is valid? [True, True] Translation: X:424.47, Y:4.94, Z:2.79 [[ 9.99152978e-01 -3.48074024e-02 -2.19492940e-02 4.24473074e+02] [ 3.48111423e-02 9.99393886e-01 -2.11791221e-04 4.93607151e+00] [ 2.19433621e-02 -5.52468166e-04 9.99759063e-01 2.79078216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699254154 meters 0.02013099390540361 Centerline is valid? [True, True] Translation: X:424.53, Y:4.93, Z:2.79 [[ 9.98895290e-01 -4.17566702e-02 -2.15541361e-02 4.24532014e+02] [ 4.17618828e-02 9.99127570e-01 -2.08422625e-04 4.93091942e+00] [ 2.15440347e-02 -6.91948929e-04 9.99767661e-01 2.79090084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759254154 meters 0.021236009128996793 Centerline is valid? [True, True] Translation: X:424.59, Y:4.93, Z:2.79 [[ 9.98751465e-01 -4.52733029e-02 -2.11149290e-02 4.24591340e+02] [ 4.52790716e-02 9.98974356e-01 -2.05046310e-04 4.92983824e+00] [ 2.11025557e-02 -7.51274077e-04 9.99777034e-01 2.79264183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819254154 meters 0.0207402116362094 Centerline is valid? [True, True] Translation: X:424.65, Y:4.93, Z:2.79 [[ 9.98751933e-01 -4.52979406e-02 -2.10398166e-02 4.24651448e+02] [ 4.53036661e-02 9.98973241e-01 -2.04679583e-04 4.93188606e+00] [ 2.10274853e-02 -7.48756695e-04 9.99778618e-01 2.79401323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters 0.019994804436823284 Centerline is valid? [True, True] Translation: X:424.71, Y:4.93, Z:2.80 [[ 9.98843556e-01 -4.38863386e-02 -1.96351752e-02 4.24711790e+02] [ 4.38910525e-02 9.99036305e-01 -1.91014949e-04 4.93421036e+00] [ 1.96246358e-02 -6.71014455e-04 9.99807193e-01 2.79623913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters 0.01960298627177823 Centerline is valid? [True, True] Translation: X:424.77, Y:4.94, Z:2.80 [[ 9.98973566e-01 -4.13394743e-02 -1.85165643e-02 4.24771925e+02] [ 4.13432292e-02 9.99144987e-01 -1.80132876e-04 4.93774686e+00] [ 1.85081790e-02 -5.85586581e-04 9.99828538e-01 2.79921020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters 0.019717833523353403 Centerline is valid? [True, True] Translation: X:424.83, Y:4.94, Z:2.80 [[ 9.98986344e-01 -4.05374031e-02 -1.95704630e-02 4.24832171e+02] [ 4.05414440e-02 9.99177840e-01 -1.90385415e-04 4.93881520e+00] [ 1.95620906e-02 -6.03222399e-04 9.99808462e-01 2.79982023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters 0.02015861132864067 Centerline is valid? [True, True] Translation: X:424.89, Y:4.94, Z:2.80 [[ 9.98869846e-01 -4.24058437e-02 -2.14656853e-02 4.24892966e+02] [ 4.24111364e-02 9.99100221e-01 -2.08822520e-04 4.93822268e+00] [ 2.14552262e-02 -7.01797588e-04 9.99769564e-01 2.79935870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.119254154 meters 0.021757735640606145 Centerline is valid? [True, True] Translation: X:424.95, Y:4.94, Z:2.80 [[ 9.98710411e-01 -4.56817867e-02 -2.21515071e-02 4.24952787e+02] [ 4.56882156e-02 9.98955725e-01 -2.16049524e-04 4.93504451e+00] [ 2.21382444e-02 -7.96291925e-04 9.99754602e-01 2.79830040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.179254154 meters 0.02217378718954579 Centerline is valid? [True, True] Translation: X:425.01, Y:4.94, Z:2.80 [[ 9.98615429e-01 -4.70392935e-02 -2.35484364e-02 4.25012891e+02] [ 4.70469229e-02 9.98892654e-01 -2.30233788e-04 4.93528823e+00] [ 2.35331901e-02 -8.77966458e-04 9.99722671e-01 2.79878493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.239254154 meters 0.020811918808643037 Centerline is valid? [True, True] Translation: X:425.07, Y:4.94, Z:2.80 [[ 9.98620856e-01 -4.65272297e-02 -2.43228705e-02 4.25073316e+02] [ 4.65352147e-02 9.98916622e-01 -2.37930237e-04 4.93969333e+00] [ 2.43075898e-02 -8.94267903e-04 9.99704127e-01 2.79935873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.299254154 meters 0.021201354474069973 Centerline is valid? [True, True] Translation: X:425.13, Y:4.94, Z:2.80 [[ 9.98712759e-01 -4.44415347e-02 -2.44494330e-02 4.25131788e+02] [ 4.44489553e-02 9.99011628e-01 -2.40135838e-04 4.94122792e+00] [ 2.44359399e-02 -8.46925029e-04 9.99701039e-01 2.79879663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.359254154 meters 0.019002280696445144 Centerline is valid? [True, True] Translation: X:425.19, Y:4.95, Z:2.80 [[ 9.98971038e-01 -3.93582143e-02 -2.25343178e-02 4.25191585e+02] [ 3.93632112e-02 9.99224944e-01 -2.21953659e-04 4.94889885e+00] [ 2.25255882e-02 -6.65297834e-04 9.99746045e-01 2.80119483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.419254154 meters 0.0174122915192364 Centerline is valid? [True, True] Translation: X:425.25, Y:4.95, Z:2.80 [[ 9.99159787e-01 -3.50257233e-02 -2.12818732e-02 4.25251777e+02] [ 3.50291896e-02 9.99386268e-01 -2.10002138e-04 4.95419850e+00] [ 2.12761673e-02 -5.35661080e-04 9.99773493e-01 2.80189284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.479254154 meters 0.0165465106675306 Centerline is valid? [True, True] Translation: X:425.31, Y:4.96, Z:2.80 [[ 9.99325891e-01 -3.07351336e-02 -2.00777137e-02 4.25311538e+02] [ 3.07373409e-02 9.99527477e-01 -1.98726779e-04 4.95882778e+00] [ 2.00743344e-02 -4.18542714e-04 9.99798403e-01 2.80260666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.539254154 meters 0.016215957197227317 Centerline is valid? [True, True] Translation: X:425.37, Y:4.96, Z:2.80 [[ 9.99368252e-01 -2.96327023e-02 -1.96214246e-02 4.25370605e+02] [ 2.96345283e-02 9.99560781e-01 -1.97760947e-04 4.95975603e+00] [ 1.96186667e-02 -3.83835649e-04 9.99807462e-01 2.80273088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.599254154 meters 0.016567531882904954 Centerline is valid? [True, True] Translation: X:425.43, Y:4.96, Z:2.80 [[ 9.99337917e-01 -3.08398249e-02 -1.93037089e-02 4.25429582e+02] [ 3.08417232e-02 9.99524261e-01 -1.99435200e-04 4.95868467e+00] [ 1.93006759e-02 -3.96056489e-04 9.99813646e-01 2.80223705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.659254154 meters 0.01737463773790235 Centerline is valid? [True, True] Translation: X:425.49, Y:4.96, Z:2.80 [[ 9.99282912e-01 -3.26207357e-02 -1.92236902e-02 4.25488748e+02] [ 3.26228551e-02 9.99467712e-01 -2.03419486e-04 4.95666840e+00] [ 1.92200934e-02 -4.23858044e-04 9.99815187e-01 2.80169988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.719254154 meters 0.01738962208765681 Centerline is valid? [True, True] Translation: X:425.55, Y:4.95, Z:2.80 [[ 9.99203098e-01 -3.50072210e-02 -1.91745590e-02 4.25547873e+02] [ 3.50097236e-02 9.99386951e-01 -2.05251569e-04 4.95415381e+00] [ 1.91699893e-02 -4.66208007e-04 9.99816130e-01 2.80162725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779254154 meters 0.019457360581625033 Centerline is valid? [True, True] Translation: X:425.61, Y:4.95, Z:2.80 [[ 9.99173035e-01 -3.55411573e-02 -1.97502407e-02 4.25607288e+02] [ 3.55438997e-02 9.99368093e-01 -2.12272116e-04 4.95153725e+00] [ 1.97453048e-02 -4.89904001e-04 9.99804922e-01 2.80088893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839254154 meters 0.017575263445498143 Centerline is valid? [True, True] Translation: X:425.67, Y:4.95, Z:2.80 [[ 9.99138713e-01 -3.70640462e-02 -1.86571389e-02 4.25667135e+02] [ 3.70667461e-02 9.99312772e-01 -2.01198654e-04 4.95016771e+00] [ 1.86517745e-02 -4.90534068e-04 9.99825920e-01 2.80175306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899254154 meters 0.01910018294674499 Centerline is valid? [True, True] Translation: X:425.73, Y:4.94, Z:2.80 [[ 9.99059100e-01 -3.99867692e-02 -1.67920807e-02 4.25727034e+02] [ 3.99893617e-02 9.99200089e-01 -1.81492709e-04 4.94390865e+00] [ 1.67859058e-02 -4.90182647e-04 9.99858987e-01 2.80174702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959254154 meters 0.019288717603763977 Centerline is valid? [True, True] Translation: X:425.79, Y:4.94, Z:2.80 [[ 9.98958037e-01 -4.30360443e-02 -1.51900894e-02 4.25788515e+02] [ 4.30385208e-02 9.99073400e-01 -1.63976033e-04 4.93980211e+00] [ 1.51830711e-02 -4.89953801e-04 9.99884610e-01 2.80217017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019254154 meters 0.020337559110811643 Centerline is valid? [True, True] Translation: X:425.85, Y:4.94, Z:2.80 [[ 9.98924759e-01 -4.43215643e-02 -1.35986882e-02 4.25849551e+02] [ 4.43236744e-02 9.99017212e-01 -1.46325209e-04 4.93749399e+00] [ 1.35918089e-02 -4.56575954e-04 9.99907523e-01 2.80321329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079254154 meters 0.021003825352251405 Centerline is valid? [True, True] Translation: X:425.91, Y:4.93, Z:2.80 [[ 9.98938190e-01 -4.45301091e-02 -1.18136171e-02 4.25910546e+02] [ 4.45317218e-02 9.99007963e-01 -1.26629952e-04 4.93379427e+00] [ 1.18075364e-02 -3.99585215e-04 9.99930209e-01 2.80393547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139254154 meters 0.021348361977762367 Centerline is valid? [True, True] Translation: X:425.97, Y:4.93, Z:2.80 [[ 9.98959780e-01 -4.41251814e-02 -1.15033458e-02 4.25973019e+02] [ 4.41266917e-02 9.99025936e-01 -1.22610755e-04 4.93129055e+00] [ 1.14975510e-02 -3.85121380e-04 9.99933827e-01 2.80376500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199254154 meters 0.0223039947026632 Centerline is valid? [True, True] Translation: X:426.03, Y:4.93, Z:2.80 [[ 9.99026749e-01 -4.26904952e-02 -1.10939506e-02 4.26034544e+02] [ 4.26918192e-02 9.99088282e-01 -1.17557127e-04 4.92764152e+00] [ 1.10888546e-02 -3.56178217e-04 9.99938453e-01 2.80362384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259254154 meters 0.019496264998675936 Centerline is valid? [True, True] Translation: X:426.10, Y:4.93, Z:2.80 [[ 9.99056458e-01 -4.20641576e-02 -1.08074199e-02 4.26096545e+02] [ 4.20653844e-02 9.99114854e-01 -1.13875750e-04 4.93168445e+00] [ 1.08026438e-02 -3.40849967e-04 9.99941592e-01 2.80452171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319254154 meters 0.019801542274185124 Centerline is valid? [True, True] Translation: X:426.16, Y:4.93, Z:2.80 [[ 9.98988811e-01 -4.33572993e-02 -1.18954205e-02 4.26158393e+02] [ 4.33588882e-02 9.99059553e-01 -1.24411613e-04 4.92930639e+00] [ 1.18896277e-02 -3.91486399e-04 9.99929239e-01 2.80329469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters 0.021788784858736573 Centerline is valid? [True, True] Translation: X:426.22, Y:4.93, Z:2.80 [[ 9.98923589e-01 -4.47044185e-02 -1.23765201e-02 4.26220239e+02] [ 4.47062534e-02 9.99000167e-01 -1.28506242e-04 4.92784949e+00] [ 1.23698905e-02 -4.24939928e-04 9.99923400e-01 2.80184793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters 0.02209735275237744 Centerline is valid? [True, True] Translation: X:426.28, Y:4.93, Z:2.80 [[ 9.98767243e-01 -4.78963493e-02 -1.30358979e-02 4.26280178e+02] [ 4.78986707e-02 9.98852191e-01 -1.34253060e-04 4.92674195e+00] [ 1.30273654e-02 -4.90314620e-04 9.99915020e-01 2.80306891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters 0.02174229142739326 Centerline is valid? [True, True] Translation: X:426.34, Y:4.93, Z:2.81 [[ 9.98645405e-01 -5.07157652e-02 -1.16304270e-02 4.26342262e+02] [ 5.07178145e-02 9.98713016e-01 -1.18865049e-04 4.92822622e+00] [ 1.16214872e-02 -4.71165804e-04 9.99932357e-01 2.80500889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters 0.022554920658052174 Centerline is valid? [True, True] Translation: X:426.40, Y:4.93, Z:2.81 [[ 9.98541788e-01 -5.30203836e-02 -1.01556599e-02 4.26404581e+02] [ 5.30220721e-02 9.98593335e-01 -1.03095456e-04 4.92799683e+00] [ 1.01468405e-02 -4.35529012e-04 9.99948425e-01 2.80663736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.619254154 meters 0.025148287612526254 Centerline is valid? [True, True] Translation: X:426.47, Y:4.93, Z:2.81 [[ 9.98289074e-01 -5.78008086e-02 -8.83129332e-03 4.26465863e+02] [ 5.78022763e-02 9.98328047e-01 -8.91751108e-05 4.92598055e+00] [ 8.82168221e-03 -4.21446318e-04 9.99960999e-01 2.80861568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.679254154 meters 0.02855763142881396 Centerline is valid? [True, True] Translation: X:426.53, Y:4.92, Z:2.81 [[ 9.98058383e-01 -6.16615828e-02 -8.79284926e-03 4.26525859e+02] [ 6.16631882e-02 9.98097011e-01 -8.86641573e-05 4.92281883e+00] [ 8.78158374e-03 -4.53703113e-04 9.99961338e-01 2.80917465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.739254154 meters 0.028767302854016606 Centerline is valid? [True, True] Translation: X:426.59, Y:4.92, Z:2.81 [[ 9.97790112e-01 -6.58274069e-02 -9.03574069e-03 4.26586533e+02] [ 6.58292732e-02 9.97830897e-01 -9.10297246e-05 4.92324080e+00] [ 9.02213349e-03 -5.03987684e-04 9.99959173e-01 2.80895731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.799254154 meters 0.031694581801638755 Centerline is valid? [True, True] Translation: X:426.65, Y:4.92, Z:2.81 [[ 9.97494718e-01 -7.00864821e-02 -9.60064383e-03 4.26646106e+02] [ 7.00887878e-02 9.97540752e-01 -9.65049042e-05 4.91996603e+00] [ 9.58379716e-03 -5.76634356e-04 9.99953908e-01 2.80880761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.859254154 meters 0.03375085256361428 Centerline is valid? [True, True] Translation: X:426.71, Y:4.92, Z:2.81 [[ 9.97126430e-01 -7.50454400e-02 -1.03472416e-02 4.26706893e+02] [ 7.50483832e-02 9.97179888e-01 -1.04100111e-04 4.92060651e+00] [ 1.03258734e-02 -6.72742780e-04 9.99946460e-01 2.80937468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.919254154 meters 0.03316645723080834 Centerline is valid? [True, True] Translation: X:426.77, Y:4.92, Z:2.81 [[ 9.96973055e-01 -7.68273607e-02 -1.19283221e-02 4.26767815e+02] [ 7.68314005e-02 9.97044092e-01 -1.19886163e-04 4.92294996e+00] [ 1.19022736e-02 -7.96946416e-04 9.99928848e-01 2.80874173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.979254154 meters 0.03471577581546382 Centerline is valid? [True, True] Translation: X:426.83, Y:4.92, Z:2.81 [[ 9.96972142e-01 -7.64441483e-02 -1.42422059e-02 4.26828833e+02] [ 7.64498768e-02 9.97073416e-01 -1.42583232e-04 4.92205141e+00] [ 1.42114246e-02 -9.46663379e-04 9.99898564e-01 2.80678014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.039254154 meters 0.03407181958210268 Centerline is valid? [True, True] Translation: X:426.89, Y:4.93, Z:2.81 [[ 9.97207187e-01 -7.32008273e-02 -1.48143370e-02 4.26889415e+02] [ 7.32066766e-02 9.97316781e-01 -1.47785159e-04 4.92621512e+00] [ 1.47854049e-02 -9.37135953e-04 9.99890251e-01 2.80731443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.099254154 meters 0.026112009561903772 Centerline is valid? [True, True] Translation: X:426.95, Y:4.94, Z:2.81 [[ 9.97904959e-01 -6.29492015e-02 -1.49361949e-02 4.26949936e+02] [ 6.29540043e-02 9.98016418e-01 -1.48866137e-04 4.94388771e+00] [ 1.49159387e-02 -7.91739019e-04 9.99888438e-01 2.80942354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.159254154 meters 0.02308424980076424 Centerline is valid? [True, True] Translation: X:427.01, Y:4.95, Z:2.81 [[ 9.98624286e-01 -5.01905987e-02 -1.51802105e-02 4.27009882e+02] [ 5.01940888e-02 9.98739471e-01 -1.51244185e-04 4.95372556e+00] [ 1.51686664e-02 -6.10920717e-04 9.99884763e-01 2.80881620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.219254154 meters 0.021489241518874876 Centerline is valid? [True, True] Translation: X:427.07, Y:4.96, Z:2.81 [[ 9.99026385e-01 -4.15182446e-02 -1.49170506e-02 4.27068930e+02] [ 4.15206472e-02 9.99137635e-01 -1.48735521e-04 4.96137622e+00] [ 1.49103619e-02 -4.70774887e-04 9.99888724e-01 2.80927751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279254154 meters 0.017113487096760246 Centerline is valid? [True, True] Translation: X:427.13, Y:4.98, Z:2.81 [[ 9.99450890e-01 -2.99850553e-02 -1.41001876e-02 4.27129765e+02] [ 2.99860527e-02 9.99550307e-01 -1.40714060e-04 4.97714492e+00] [ 1.40980662e-02 -2.82172177e-04 9.99900578e-01 2.81283893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339254154 meters 0.01616643694987118 Centerline is valid? [True, True] Translation: X:427.19, Y:4.98, Z:2.81 [[ 9.99586627e-01 -2.50701311e-02 -1.40735003e-02 4.27190059e+02] [ 2.50706377e-02 9.99685672e-01 -1.40456973e-04 4.98335449e+00] [ 1.40725979e-02 -2.12432715e-04 9.99900954e-01 2.81382031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399254154 meters 0.015662695491829085 Centerline is valid? [True, True] Translation: X:427.25, Y:4.99, Z:2.81 [[ 9.99617836e-01 -2.28837812e-02 -1.55085288e-02 4.27250804e+02] [ 2.28841333e-02 9.99738112e-01 -1.54778908e-04 4.98681521e+00] [ 1.55080092e-02 -2.00179482e-04 9.99879724e-01 2.81365339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459254154 meters 0.016132571476518715 Centerline is valid? [True, True] Translation: X:427.31, Y:4.99, Z:2.81 [[ 9.99550887e-01 -2.49722555e-02 -1.65653600e-02 4.27309978e+02] [ 2.49729033e-02 9.99688114e-01 -1.67781737e-04 4.98624648e+00] [ 1.65643834e-02 -2.45978751e-04 9.99862771e-01 2.81333322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519254154 meters 0.017469335174345266 Centerline is valid? [True, True] Translation: X:427.37, Y:4.98, Z:2.81 [[ 9.99389970e-01 -3.05450787e-02 -1.69318057e-02 4.27368174e+02] [ 3.05465138e-02 9.99533331e-01 -1.73919416e-04 4.98128753e+00] [ 1.69292165e-02 -3.43394317e-04 9.99856632e-01 2.81274914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579254154 meters 0.019839749576176055 Centerline is valid? [True, True] Translation: X:427.43, Y:4.97, Z:2.81 [[ 9.99131599e-01 -3.83132780e-02 -1.63749739e-02 4.27428616e+02] [ 3.83156523e-02 9.99265672e-01 -1.68823614e-04 4.97379500e+00] [ 1.63694175e-02 -4.58740799e-04 9.99865907e-01 2.81358911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639254154 meters 0.022413654685088366 Centerline is valid? [True, True] Translation: X:427.49, Y:4.97, Z:2.81 [[ 9.98900799e-01 -4.39007748e-02 -1.64291097e-02 4.27489744e+02] [ 4.39039204e-02 9.99035744e-01 -1.69332029e-04 4.96790032e+00] [ 1.64207016e-02 -5.52156426e-04 9.99865019e-01 2.81430042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699254154 meters 0.027475415836960042 Centerline is valid? [True, True] Translation: X:427.55, Y:4.96, Z:2.81 [[ 9.98519038e-01 -5.17069594e-02 -1.69151068e-02 4.27549573e+02] [ 5.17114115e-02 9.98662055e-01 -1.74367116e-04 4.95904036e+00] [ 1.69014913e-02 -7.00595163e-04 9.99856914e-01 2.81473169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759254154 meters 0.030526072101678264 Centerline is valid? [True, True] Translation: X:427.61, Y:4.95, Z:2.81 [[ 9.98290173e-01 -5.59481050e-02 -1.69274664e-02 4.27610703e+02] [ 5.59531732e-02 9.98433379e-01 -1.74421418e-04 4.95241227e+00] [ 1.69107060e-02 -7.73022271e-04 9.99856705e-01 2.81483722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819254154 meters 0.03405686744408941 Centerline is valid? [True, True] Translation: X:427.67, Y:4.95, Z:2.82 [[ 9.98057440e-01 -6.00363943e-02 -1.66426751e-02 4.27671153e+02] [ 6.00418648e-02 9.98195845e-01 -1.71216552e-04 4.94551311e+00] [ 1.66229283e-02 -8.28373292e-04 9.99861486e-01 2.81502519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters 0.03359861411165898 Centerline is valid? [True, True] Translation: X:427.73, Y:4.95, Z:2.82 [[ 9.98047827e-01 -6.01127765e-02 -1.69407693e-02 4.27733651e+02] [ 6.01184689e-02 9.98191234e-01 -1.73501359e-04 4.94590227e+00] [ 1.69205571e-02 -8.45290458e-04 9.99856480e-01 2.81507482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters 0.03321721392215335 Centerline is valid? [True, True] Translation: X:427.79, Y:4.95, Z:2.81 [[ 9.98198879e-01 -5.76208980e-02 -1.66982356e-02 4.27794728e+02] [ 5.76260934e-02 9.98338221e-01 -1.70259744e-04 4.94690282e+00] [ 1.66802974e-02 -7.92301000e-04 9.99860560e-01 2.81476073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters 0.03185266276410125 Centerline is valid? [True, True] Translation: X:427.86, Y:4.95, Z:2.81 [[ 9.98416448e-01 -5.37175457e-02 -1.67039522e-02 4.27855344e+02] [ 5.37222057e-02 9.98555905e-01 -1.69941551e-04 4.94941904e+00] [ 1.66889589e-02 -7.27700716e-04 9.99860465e-01 2.81455265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.059254154 meters 0.028797409616344756 Centerline is valid? [True, True] Translation: X:427.91, Y:4.96, Z:2.81 [[ 9.98751061e-01 -4.69418869e-02 -1.71107629e-02 4.27914475e+02] [ 4.69457828e-02 9.98897424e-01 -1.74131973e-04 4.95649919e+00] [ 1.71000711e-02 -6.29363667e-04 9.99853585e-01 2.81403578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.119254154 meters 0.025658481635280474 Centerline is valid? [True, True] Translation: X:427.97, Y:4.96, Z:2.81 [[ 9.98910098e-01 -4.33350982e-02 -1.73402701e-02 4.27974902e+02] [ 4.33385547e-02 9.99060428e-01 -1.76572784e-04 4.96284074e+00] [ 1.73316295e-02 -5.75121907e-04 9.99849631e-01 2.81455226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.179254154 meters 0.019883415609008952 Centerline is valid? [True, True] Translation: X:428.04, Y:4.97, Z:2.82 [[ 9.99036705e-01 -3.97758382e-02 -1.85349403e-02 4.28035936e+02] [ 3.97791834e-02 9.99208477e-01 -1.88311049e-04 4.97397909e+00] [ 1.85277597e-02 -5.49175141e-04 9.99828196e-01 2.81529239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.239254154 meters 0.017911956376912976 Centerline is valid? [True, True] Translation: X:428.10, Y:4.98, Z:2.82 [[ 9.99147377e-01 -3.59338022e-02 -2.03293020e-02 4.28096123e+02] [ 3.59370375e-02 9.99354035e-01 -2.06275684e-04 4.97869756e+00] [ 2.03235822e-02 -5.24475079e-04 9.99793317e-01 2.81513903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.299254154 meters 0.017529218477791562 Centerline is valid? [True, True] Translation: X:428.16, Y:4.98, Z:2.82 [[ 9.99216034e-01 -3.41676315e-02 -1.99972445e-02 4.28155680e+02] [ 3.41703988e-02 9.99416001e-01 -2.03390151e-04 4.98117252e+00] [ 1.99925155e-02 -4.80083121e-04 9.99800014e-01 2.81562717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.359254154 meters 0.017754928600317996 Centerline is valid? [True, True] Translation: X:428.22, Y:4.98, Z:2.82 [[ 9.99289599e-01 -3.29610280e-02 -1.82720554e-02 4.28215517e+02] [ 3.29631249e-02 9.99456551e-01 -1.86488954e-04 4.98242197e+00] [ 1.82682724e-02 -4.15947574e-04 9.99833035e-01 2.81758849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.419254154 meters 0.01654243474894451 Centerline is valid? [True, True] Translation: X:428.27, Y:4.98, Z:2.82 [[ 9.99366763e-01 -3.15229846e-02 -1.65037754e-02 4.28274964e+02] [ 3.15244894e-02 9.99502965e-01 -1.69027494e-04 4.98488305e+00] [ 1.65009008e-02 -3.51352635e-04 9.99863789e-01 2.81974454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.479254154 meters 0.016224745074037837 Centerline is valid? [True, True] Translation: X:428.34, Y:4.99, Z:2.82 [[ 9.99505903e-01 -2.71717152e-02 -1.58002409e-02 4.28335073e+02] [ 2.71725472e-02 9.99630745e-01 -1.62061290e-04 4.98707693e+00] [ 1.57988101e-02 -2.67351577e-04 9.99875155e-01 2.82067484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.539254154 meters 0.01537616156784783 Centerline is valid? [True, True] Translation: X:428.40, Y:4.99, Z:2.82 [[ 9.99622247e-01 -2.30653271e-02 -1.49450314e-02 4.28395137e+02] [ 2.30656103e-02 9.99733942e-01 -1.53440475e-04 4.99084367e+00] [ 1.49445943e-02 -1.91333758e-04 9.99888305e-01 2.82230628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.599254154 meters 0.016483259230617643 Centerline is valid? [True, True] Translation: X:428.45, Y:4.99, Z:2.82 [[ 9.99648054e-01 -2.17758519e-02 -1.51519165e-02 4.28454177e+02] [ 2.17759844e-02 9.99762863e-01 -1.56255559e-04 4.99011073e+00] [ 1.51517260e-02 -1.73747332e-04 9.99885191e-01 2.82138638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.659254154 meters 0.01522949867692926 Centerline is valid? [True, True] Translation: X:428.51, Y:4.99, Z:2.82 [[ 9.99633401e-01 -2.22706339e-02 -1.53974551e-02 4.28512868e+02] [ 2.22707877e-02 9.99751962e-01 -1.61494180e-04 4.99011373e+00] [ 1.53972326e-02 -1.81478479e-04 9.99881439e-01 2.82285084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.719254154 meters 0.015732904685132488 Centerline is valid? [True, True] Translation: X:428.57, Y:4.99, Z:2.82 [[ 9.99567846e-01 -2.45860267e-02 -1.61136099e-02 4.28571774e+02] [ 2.45864584e-02 9.99697693e-01 -1.71337058e-04 4.98585770e+00] [ 1.61129511e-02 -2.24913586e-04 9.99870153e-01 2.82251580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779254154 meters 0.015693147782958678 Centerline is valid? [True, True] Translation: X:428.63, Y:4.98, Z:2.82 [[ 9.99533414e-01 -2.60126202e-02 -1.60093069e-02 4.28630527e+02] [ 2.60131854e-02 9.99661585e-01 -1.72966423e-04 4.98395855e+00] [ 1.60083884e-02 -2.43567349e-04 9.99871828e-01 2.82316688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839254154 meters 0.01577755674576749 Centerline is valid? [True, True] Translation: X:428.69, Y:4.98, Z:2.82 [[ 9.99530561e-01 -2.59708262e-02 -1.62534152e-02 4.28690117e+02] [ 2.59713694e-02 9.99662671e-01 -1.77690069e-04 4.98171510e+00] [ 1.62525472e-02 -2.44516795e-04 9.99867889e-01 2.82337421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899254154 meters 0.017051233749383356 Centerline is valid? [True, True] Translation: X:428.75, Y:4.98, Z:2.82 [[ 9.99535906e-01 -2.60156167e-02 -1.58480531e-02 4.28748396e+02] [ 2.60161252e-02 9.99661508e-01 -1.74112030e-04 4.97804621e+00] [ 1.58472183e-02 -2.38273709e-04 9.99874397e-01 2.82315159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959254154 meters 0.016476585090824655 Centerline is valid? [True, True] Translation: X:428.81, Y:4.98, Z:2.82 [[ 9.99479420e-01 -2.82921886e-02 -1.55061511e-02 4.28807539e+02] [ 2.82929083e-02 9.99599661e-01 -1.73001938e-04 4.97595047e+00] [ 1.55048380e-02 -2.65802235e-04 9.99879757e-01 2.82444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019254154 meters 0.01713257276516423 Centerline is valid? [True, True] Translation: X:428.87, Y:4.97, Z:2.82 [[ 9.99309959e-01 -3.32765058e-02 -1.65009254e-02 4.28867223e+02] [ 3.32779644e-02 9.99446118e-01 -1.86246209e-04 4.97098278e+00] [ 1.64979834e-02 -3.62999517e-04 9.99863833e-01 2.82483271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079254154 meters 0.01803609673919375 Centerline is valid? [True, True] Translation: X:428.93, Y:4.97, Z:2.83 [[ 9.99165040e-01 -3.69631842e-02 -1.74053615e-02 4.28927120e+02] [ 3.69653549e-02 9.99316528e-01 -1.97103520e-04 4.96736029e+00] [ 1.74007510e-02 -4.46456417e-04 9.99848496e-01 2.82503663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139254154 meters 0.020046629305619994 Centerline is valid? [True, True] Translation: X:428.99, Y:4.96, Z:2.83 [[ 9.98996359e-01 -4.11249116e-02 -1.77487153e-02 4.28986064e+02] [ 4.11278134e-02 9.99153873e-01 -2.01639749e-04 4.96138804e+00] [ 1.77419901e-02 -5.28528477e-04 9.99842459e-01 2.82594085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199254154 meters 0.02093484029841478 Centerline is valid? [True, True] Translation: X:429.05, Y:4.96, Z:2.83 [[ 9.98930666e-01 -4.29246281e-02 -1.71755772e-02 4.29046216e+02] [ 4.29276072e-02 9.99078166e-01 -1.95362399e-04 4.95985317e+00] [ 1.71681301e-02 -5.42152940e-04 9.99852470e-01 2.82714084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259254154 meters 0.020723136299998904 Centerline is valid? [True, True] Translation: X:429.11, Y:4.96, Z:2.83 [[ 9.98795349e-01 -4.56588514e-02 -1.79755672e-02 4.29107619e+02] [ 4.56625642e-02 9.98956900e-01 -2.04052564e-04 4.95889925e+00] [ 1.79661337e-02 -6.17003741e-04 9.99838406e-01 2.82860665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319254154 meters 0.02181277360251061 Centerline is valid? [True, True] Translation: X:429.17, Y:4.96, Z:2.83 [[ 9.98622696e-01 -4.92492674e-02 -1.80892285e-02 4.29168424e+02] [ 4.92536199e-02 9.98786283e-01 -2.05097465e-04 4.95520986e+00] [ 1.80773742e-02 -6.86145000e-04 9.99836355e-01 2.82894524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters 0.021670920027312843 Centerline is valid? [True, True] Translation: X:429.23, Y:4.95, Z:2.83 [[ 9.98495991e-01 -5.18701245e-02 -1.77551514e-02 4.29230064e+02] [ 5.18747386e-02 9.98653579e-01 -2.00897406e-04 4.95438846e+00] [ 1.77416661e-02 -7.20448584e-04 9.99842345e-01 2.82943394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters 0.023958606490515944 Centerline is valid? [True, True] Translation: X:429.29, Y:4.95, Z:2.83 [[ 9.98180561e-01 -5.71713563e-02 -1.91573196e-02 4.29291230e+02] [ 5.71777135e-02 9.98363993e-01 -2.16179365e-04 4.94937366e+00] [ 1.91383374e-02 -8.79585694e-04 9.99816458e-01 2.82870129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters 0.02884370634704012 Centerline is valid? [True, True] Translation: X:429.35, Y:4.94, Z:2.83 [[ 9.97891903e-01 -6.15068048e-02 -2.07041962e-02 4.29350914e+02] [ 6.15151767e-02 9.98106121e-01 -2.32880686e-04 4.94264161e+00] [ 2.06793087e-02 -1.04123254e-03 9.99785618e-01 2.82731252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.559254154 meters 0.030534514830757305 Centerline is valid? [True, True] Translation: X:429.41, Y:4.94, Z:2.83 [[ 9.97440208e-01 -6.82086745e-02 -2.14617987e-02 4.29411026e+02] [ 6.82192180e-02 9.97670326e-01 -2.41336895e-04 4.94168959e+00] [ 2.14282609e-02 -1.22338800e-03 9.99769640e-01 2.82801685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.619254154 meters 0.03147920577212461 Centerline is valid? [True, True] Translation: X:429.47, Y:4.94, Z:2.83 [[ 9.97143467e-01 -7.30276639e-02 -1.92838441e-02 4.29471240e+02] [ 7.30370723e-02 9.97329203e-01 -2.16882076e-04 4.94212797e+00] [ 1.92481792e-02 -1.19217297e-03 9.99814026e-01 2.83053113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.679254154 meters 0.034654898118607565 Centerline is valid? [True, True] Translation: X:429.53, Y:4.94, Z:2.83 [[ 9.97064849e-01 -7.42028595e-02 -1.88579428e-02 4.29532359e+02] [ 7.42120790e-02 9.97242459e-01 -2.11406397e-04 4.94172052e+00] [ 1.88216283e-02 -1.18870126e-03 9.99822151e-01 2.83116916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.739254154 meters 0.034435755975487675 Centerline is valid? [True, True] Translation: X:429.59, Y:4.95, Z:2.83 [[ 9.97079142e-01 -7.42276850e-02 -1.79842911e-02 4.29594187e+02] [ 7.42360945e-02 9.97240674e-01 -2.00462160e-04 4.94814911e+00] [ 1.79495464e-02 -1.13520690e-03 9.99838249e-01 2.83205142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.799254154 meters 0.030819571223946355 Centerline is valid? [True, True] Translation: X:429.66, Y:4.96, Z:2.83 [[ 9.97119471e-01 -7.34389613e-02 -1.89599446e-02 4.29656123e+02] [ 7.34481930e-02 9.97299012e-01 -2.09923417e-04 4.95827676e+00] [ 1.89241505e-02 -1.18325494e-03 9.99820222e-01 2.83291489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.859254154 meters 0.03057692756140616 Centerline is valid? [True, True] Translation: X:429.72, Y:4.96, Z:2.83 [[ 9.97032153e-01 -7.43359608e-02 -2.00262632e-02 4.29718515e+02] [ 7.43464711e-02 9.97232447e-01 -2.20207626e-04 4.96384465e+00] [ 1.99872088e-02 -1.26932791e-03 9.99799430e-01 2.83208061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.919254154 meters 0.030974913708059014 Centerline is valid? [True, True] Translation: X:429.78, Y:4.97, Z:2.83 [[ 9.96819063e-01 -7.68303144e-02 -2.11863018e-02 4.29779436e+02] [ 7.68426636e-02 9.97043204e-01 -2.31798365e-04 4.96645254e+00] [ 2.11414673e-02 -1.39695083e-03 9.99775518e-01 2.83201259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.979254154 meters 0.033339580092128236 Centerline is valid? [True, True] Translation: X:429.84, Y:4.97, Z:2.83 [[ 9.96432457e-01 -8.15338552e-02 -2.17850671e-02 4.29839843e+02] [ 8.15480386e-02 9.96669384e-01 -2.37994910e-04 4.96921135e+00] [ 2.17319141e-02 -1.53938364e-03 9.99762649e-01 2.83146978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.039254154 meters 0.034846064601926525 Centerline is valid? [True, True] Translation: X:429.90, Y:4.97, Z:2.83 [[ 9.96322228e-01 -8.28780310e-02 -2.17543292e-02 4.29901973e+02] [ 8.28925179e-02 9.96558465e-01 -2.36519414e-04 4.97078801e+00] [ 2.16990632e-02 -1.56762157e-03 9.99763319e-01 2.83103584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.099254154 meters 0.033871147023598246 Centerline is valid? [True, True] Translation: X:429.96, Y:4.98, Z:2.83 [[ 9.96498420e-01 -8.09151926e-02 -2.10625438e-02 4.29963407e+02] [ 8.09283576e-02 9.96719895e-01 -2.27979367e-04 4.97837688e+00] [ 2.10119034e-02 -1.47737600e-03 9.99778134e-01 2.83250896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.159254154 meters 0.03285872233965206 Centerline is valid? [True, True] Translation: X:430.02, Y:4.98, Z:2.83 [[ 9.96801303e-01 -7.75792940e-02 -1.91993573e-02 4.30024092e+02] [ 7.75896240e-02 9.96985360e-01 -2.07407598e-04 4.98450775e+00] [ 1.91575687e-02 -1.28292675e-03 9.99815654e-01 2.83459448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.219254154 meters 0.033427354245687185 Centerline is valid? [True, True] Translation: X:430.08, Y:4.99, Z:2.84 [[ 9.97311549e-01 -7.09463073e-02 -1.83383607e-02 4.30083347e+02] [ 7.09546114e-02 9.97479526e-01 -1.98248325e-04 4.99026361e+00] [ 1.83062043e-02 -1.10347591e-03 9.99831818e-01 2.83575386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279254154 meters 0.03057308931142813 Centerline is valid? [True, True] Translation: X:430.14, Y:5.00, Z:2.84 [[ 9.97649710e-01 -6.57922513e-02 -1.91425184e-02 4.30144150e+02] [ 6.58003523e-02 9.97832787e-01 -2.07027828e-04 4.99818343e+00] [ 1.91146533e-02 -1.05304320e-03 9.99816744e-01 2.83575380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339254154 meters 0.026837244161822878 Centerline is valid? [True, True] Translation: X:430.20, Y:5.01, Z:2.83 [[ 9.98132710e-01 -5.69836299e-02 -2.19990524e-02 4.30204294e+02] [ 5.69921955e-02 9.98374596e-01 -2.37912748e-04 5.01017310e+00] [ 2.19768522e-02 -1.01630580e-03 9.99757963e-01 2.83372885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399254154 meters 0.024700511633945838 Centerline is valid? [True, True] Translation: X:430.26, Y:5.02, Z:2.83 [[ 9.98448377e-01 -5.03497244e-02 -2.37853518e-02 4.30264699e+02] [ 5.03578609e-02 9.98731205e-01 -2.57151136e-04 5.01683168e+00] [ 2.37681205e-02 -9.41027300e-04 9.99717055e-01 2.83233142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459254154 meters 0.018489509239861396 Centerline is valid? [True, True] Translation: X:430.33, Y:5.03, Z:2.84 [[ 9.98956991e-01 -3.92826431e-02 -2.32766906e-02 4.30325494e+02] [ 3.92874326e-02 9.99227919e-01 -2.51677522e-04 5.03267531e+00] [ 2.32686056e-02 -6.63066393e-04 9.99729029e-01 2.83559545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519254154 meters 0.01754079921279833 Centerline is valid? [True, True] Translation: X:430.38, Y:5.04, Z:2.84 [[ 9.99112071e-01 -3.54116319e-02 -2.28272965e-02 4.30384901e+02] [ 3.54152144e-02 9.99372654e-01 -2.47438871e-04 5.03689858e+00] [ 2.28217381e-02 -5.61214437e-04 9.99739393e-01 2.83702698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579254154 meters 0.015460140445781095 Centerline is valid? [True, True] Translation: X:430.45, Y:5.05, Z:2.84 [[ 9.99496884e-01 -2.38588095e-02 -2.08982505e-02 4.30445158e+02] [ 2.38592785e-02 9.99715301e-01 -2.26931595e-04 5.04729049e+00] [ 2.08977151e-02 -2.71799757e-04 9.99781582e-01 2.83994807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639254154 meters 0.01526890367685823 Centerline is valid? [True, True] Translation: X:430.50, Y:5.05, Z:2.84 [[ 9.99632732e-01 -1.78308269e-02 -2.04073957e-02 4.30502539e+02] [ 1.78299914e-02 9.99841008e-01 -2.22905524e-04 5.05085994e+00] [ 2.04081256e-02 -1.41040032e-04 9.99791723e-01 2.83825653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699254154 meters 0.014768087492538457 Centerline is valid? [True, True] Translation: X:430.56, Y:5.05, Z:2.84 [[ 9.99725696e-01 -1.24946912e-02 -1.98094649e-02 4.30560062e+02] [ 1.24928240e-02 9.99921938e-01 -2.18014972e-04 5.05478241e+00] [ 1.98106426e-02 -2.95209887e-05 9.99803750e-01 2.83829495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759254154 meters 0.014400455830096586 Centerline is valid? [True, True] Translation: X:430.62, Y:5.05, Z:2.84 [[ 9.99707995e-01 -1.29226644e-02 -2.04188348e-02 4.30619056e+02] [ 1.29206883e-02 9.99916498e-01 -2.28707982e-04 5.05446289e+00] [ 2.04200853e-02 -3.51842021e-05 9.99791488e-01 2.84149388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819254154 meters 0.01438633710485313 Centerline is valid? [True, True] Translation: X:430.68, Y:5.05, Z:2.84 [[ 9.99602196e-01 -1.82581524e-02 -2.14962705e-02 4.30677941e+02] [ 1.82571341e-02 9.99833295e-01 -2.43641537e-04 5.04927796e+00] [ 2.14971354e-02 -1.48915677e-04 9.99768899e-01 2.84293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters 0.014932295866483716 Centerline is valid? [True, True] Translation: X:430.74, Y:5.04, Z:2.84 [[ 9.99452829e-01 -2.42800268e-02 -2.24616058e-02 4.30737069e+02] [ 2.42803972e-02 9.99705155e-01 -2.56271033e-04 5.04327538e+00] [ 2.24612054e-02 -2.89245904e-04 9.99747673e-01 2.84281572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters 0.016721111337063554 Centerline is valid? [True, True] Translation: X:430.80, Y:5.03, Z:2.84 [[ 9.99178010e-01 -3.41259439e-02 -2.18797686e-02 4.30796970e+02] [ 3.41286317e-02 9.99417417e-01 -2.50660431e-04 5.03173389e+00] [ 2.18755758e-02 -4.96272172e-04 9.99760578e-01 2.84239292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters 0.017827386169064267 Centerline is valid? [True, True] Translation: X:430.86, Y:5.03, Z:2.84 [[ 9.98968918e-01 -4.01306594e-02 -2.12280615e-02 4.30856428e+02] [ 4.01345217e-02 9.99194256e-01 -2.44235458e-04 5.02601521e+00] [ 2.12207585e-02 -6.07994464e-04 9.99774629e-01 2.84380733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.059254154 meters 0.02226136439004956 Centerline is valid? [True, True] Translation: X:430.92, Y:5.01, Z:2.84 [[ 9.98624114e-01 -4.83297865e-02 -2.03497320e-02 4.30916292e+02] [ 4.83350217e-02 9.98831152e-01 -2.34798801e-04 5.01385400e+00] [ 2.03372940e-02 -7.49128992e-04 9.99792895e-01 2.84316664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.119254154 meters 0.022867631280949624 Centerline is valid? [True, True] Translation: X:430.98, Y:5.01, Z:2.84 [[ 9.98340955e-01 -5.40049839e-02 -1.99699394e-02 4.30977078e+02] [ 5.40111605e-02 9.98540305e-01 -2.30324372e-04 5.01033319e+00] [ 1.99532281e-02 -8.48657352e-04 9.99800554e-01 2.84386271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.179254154 meters 0.027013163103721732 Centerline is valid? [True, True] Translation: X:431.04, Y:5.00, Z:2.84 [[ 9.97739307e-01 -6.41787486e-02 -1.99339885e-02 4.31037398e+02] [ 6.41869286e-02 9.97937866e-01 -2.29852074e-04 5.00001296e+00] [ 1.99076336e-02 -1.05016905e-03 9.99801272e-01 2.84283379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.239254154 meters 0.03345235768719251 Centerline is valid? [True, True] Translation: X:431.10, Y:4.99, Z:2.84 [[ 9.97274758e-01 -7.13555561e-02 -1.87467566e-02 4.31097424e+02] [ 7.13640715e-02 9.97450311e-01 -2.15209121e-04 4.98864884e+00] [ 1.87143145e-02 -1.12322225e-03 9.99824241e-01 2.84218484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.299254154 meters 0.030449543677014277 Centerline is valid? [True, True] Translation: X:431.16, Y:4.99, Z:2.84 [[ 9.96844937e-01 -7.72789871e-02 -1.81143570e-02 4.31158795e+02] [ 7.72879263e-02 9.97008793e-01 -2.07108576e-04 4.99165212e+00] [ 1.80761783e-02 -1.19356595e-03 9.99835900e-01 2.84370849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.359254154 meters 0.03245580257911033 Centerline is valid? [True, True] Translation: X:431.22, Y:4.99, Z:2.84 [[ 9.96528495e-01 -8.10424111e-02 -1.90548027e-02 4.31219108e+02] [ 8.10529920e-02 9.96709770e-01 -2.17622807e-04 4.98891498e+00] [ 1.90097447e-02 -1.32758144e-03 9.99818417e-01 2.84280257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.419254154 meters 0.03075801917252371 Centerline is valid? [True, True] Translation: X:431.28, Y:4.99, Z:2.84 [[ 9.96720252e-01 -7.85472885e-02 -1.94695399e-02 4.31280840e+02] [ 7.85578759e-02 9.96909530e-01 -2.21608495e-04 4.99457421e+00] [ 1.94267767e-02 -1.30860403e-03 9.99810426e-01 2.84302916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.479254154 meters 0.0315131648017776 Centerline is valid? [True, True] Translation: X:431.34, Y:5.00, Z:2.84 [[ 9.97024572e-01 -7.45893796e-02 -1.94531991e-02 4.31340195e+02] [ 7.45992041e-02 9.97213573e-01 -2.21152466e-04 4.99716051e+00] [ 1.94154898e-02 -1.23069873e-03 9.99810744e-01 2.84308642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.539254154 meters 0.02696149483995894 Centerline is valid? [True, True] Translation: X:431.40, Y:5.01, Z:2.84 [[ 9.97548480e-01 -6.73441476e-02 -1.90209468e-02 4.31400414e+02] [ 6.73522258e-02 9.97729237e-01 -2.16317348e-04 5.00853913e+00] [ 1.89923224e-02 -1.06531606e-03 9.99819062e-01 2.84448994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.599254154 meters 0.024874800643048776 Centerline is valid? [True, True] Translation: X:431.46, Y:5.02, Z:2.84 [[ 9.97921160e-01 -6.16034625e-02 -1.89306900e-02 4.31460833e+02] [ 6.16104340e-02 9.98100250e-01 -2.15287018e-04 5.01545400e+00] [ 1.89079888e-02 -9.51488553e-04 9.99820775e-01 2.84489651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.659254154 meters 0.021488008590253047 Centerline is valid? [True, True] Translation: X:431.52, Y:5.03, Z:2.85 [[ 9.98495414e-01 -5.15737655e-02 -1.86294313e-02 4.31521797e+02] [ 5.15787777e-02 9.98668907e-01 -2.11650830e-04 5.02666720e+00] [ 1.86155494e-02 -7.49550911e-04 9.99826435e-01 2.84583061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.719254154 meters 0.01901000282175302 Centerline is valid? [True, True] Translation: X:431.58, Y:5.04, Z:2.85 [[ 9.98968368e-01 -4.19261964e-02 -1.74468621e-02 4.31581473e+02] [ 4.19291206e-02 9.99120568e-01 -1.98314485e-04 5.03625239e+00] [ 1.74398334e-02 -5.33421688e-04 9.99847772e-01 2.84656762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779254154 meters 0.017547046148851036 Centerline is valid? [True, True] Translation: X:431.64, Y:5.04, Z:2.85 [[ 9.99224498e-01 -3.56215996e-02 -1.67780725e-02 4.31642340e+02] [ 3.56234166e-02 9.99365266e-01 -1.90655320e-04 5.04266653e+00] [ 1.67742143e-02 -4.07184799e-04 9.99859220e-01 2.84770182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839254154 meters 0.015862726766822103 Centerline is valid? [True, True] Translation: X:431.70, Y:5.05, Z:2.85 [[ 9.99488628e-01 -2.83030041e-02 -1.48802809e-02 4.31703266e+02] [ 2.83036260e-02 9.99599358e-01 -1.68838568e-04 5.04997742e+00] [ 1.48790978e-02 -2.52413676e-04 9.99889268e-01 2.84899296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899254154 meters 0.015461134893453366 Centerline is valid? [True, True] Translation: X:431.76, Y:5.05, Z:2.85 [[ 9.99567449e-01 -2.59475643e-02 -1.38433402e-02 4.31763651e+02] [ 2.59478783e-02 9.99663285e-01 -1.56962379e-04 5.05272168e+00] [ 1.38427517e-02 -2.02310822e-04 9.99904164e-01 2.84941766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959254154 meters 0.01575682730288771 Centerline is valid? [True, True] Translation: X:431.82, Y:5.05, Z:2.85 [[ 9.99578540e-01 -2.62444255e-02 -1.24085281e-02 4.31824540e+02] [ 2.62447030e-02 9.99655539e-01 -1.40495619e-04 5.05274942e+00] [ 1.24079411e-02 -1.85221730e-04 9.99923001e-01 2.84999487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019254154 meters 0.01542040687623523 Centerline is valid? [True, True] Translation: X:431.89, Y:5.05, Z:2.85 [[ 9.99531966e-01 -2.80807122e-02 -1.21376157e-02 4.31885794e+02] [ 2.80811182e-02 9.99605638e-01 -1.37000429e-04 5.05315205e+00] [ 1.21366762e-02 -2.03901515e-04 9.99926327e-01 2.85090286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079254154 meters 0.017077848243096973 Centerline is valid? [True, True] Translation: X:431.95, Y:5.05, Z:2.85 [[ 9.99442164e-01 -3.17304077e-02 -1.04183548e-02 4.31946046e+02] [ 3.17309080e-02 9.99496441e-01 -1.17315943e-04 5.04857507e+00] [ 1.04168310e-02 -2.13333358e-04 9.99945721e-01 2.85218074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139254154 meters 0.01829915459630489 Centerline is valid? [True, True] Translation: X:432.01, Y:5.04, Z:2.85 [[ 9.99359491e-01 -3.45244631e-02 -9.41638374e-03 4.32008253e+02] [ 3.45249985e-02 9.99403829e-01 -1.05735354e-04 5.04490509e+00] [ 9.41442042e-03 -2.19433005e-04 9.99955659e-01 2.85338322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199254154 meters 0.018538954933893532 Centerline is valid? [True, True] Translation: X:432.07, Y:5.04, Z:2.85 [[ 9.99147798e-01 -4.04442221e-02 -8.24267658e-03 4.32069325e+02] [ 4.04448372e-02 9.99181769e-01 -9.21189337e-05 5.04022774e+00] [ 8.23965784e-03 -2.41333283e-04 9.99966024e-01 2.85423396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259254154 meters 0.01998486792149815 Centerline is valid? [True, True] Translation: X:432.13, Y:5.03, Z:2.85 [[ 9.98926878e-01 -4.55337752e-02 -8.47153831e-03 4.32130277e+02] [ 4.55346091e-02 9.98962757e-01 -9.45165554e-05 5.03497296e+00] [ 8.46705496e-03 -2.91333057e-04 9.99964111e-01 2.85365094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319254154 meters 0.022301493094471003 Centerline is valid? [True, True] Translation: X:432.19, Y:5.03, Z:2.85 [[ 9.98614988e-01 -5.14668775e-02 -1.09209057e-02 4.32190963e+02] [ 5.14686201e-02 9.98674605e-01 -1.21607246e-04 5.02682124e+00] [ 1.09126899e-02 -4.40645126e-04 9.99940358e-01 2.85204715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters 0.02272893966130723 Centerline is valid? [True, True] Translation: X:432.25, Y:5.02, Z:2.85 [[ 9.98474765e-01 -5.38801727e-02 -1.20445400e-02 4.32252877e+02] [ 5.38824729e-02 9.98547275e-01 -1.33687770e-04 5.02406109e+00] [ 1.20342457e-02 -5.15505736e-04 9.99927453e-01 2.85126090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters 0.023945697778195964 Centerline is valid? [True, True] Translation: X:432.31, Y:5.02, Z:2.85 [[ 9.98437834e-01 -5.44129115e-02 -1.26935631e-02 4.32314015e+02] [ 5.44155185e-02 9.98518368e-01 -1.40166382e-04 5.02175545e+00] [ 1.26823828e-02 -5.50779400e-04 9.99919424e-01 2.85137492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters 0.02265676006852751 Centerline is valid? [True, True] Translation: X:432.38, Y:5.02, Z:2.85 [[ 9.98553981e-01 -5.22561952e-02 -1.26189388e-02 4.32375431e+02] [ 5.22586070e-02 9.98633576e-01 -1.38756055e-04 5.02126338e+00] [ 1.26089468e-02 -5.20892750e-04 9.99920368e-01 2.85229061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.559254154 meters 0.020425229765929347 Centerline is valid? [True, True] Translation: X:432.44, Y:5.02, Z:2.85 [[ 9.98929492e-01 -4.46569908e-02 -1.20674301e-02 4.32435789e+02] [ 4.46586456e-02 9.99002296e-01 -1.32441369e-04 5.02432571e+00] [ 1.20613048e-02 -4.06615494e-04 9.99927177e-01 2.85375316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.619254154 meters 0.017976930848299686 Centerline is valid? [True, True] Translation: X:432.50, Y:5.03, Z:2.85 [[ 9.99210455e-01 -3.78087746e-02 -1.22050665e-02 4.32496625e+02] [ 3.78099583e-02 9.99284939e-01 -1.33834619e-04 5.02874344e+00] [ 1.22013992e-02 -3.27744104e-04 9.99925506e-01 2.85451267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.679254154 meters 0.01668225814042991 Centerline is valid? [True, True] Translation: X:432.56, Y:5.03, Z:2.85 [[ 9.99514350e-01 -2.87136374e-02 -1.21074956e-02 4.32556226e+02] [ 2.87141365e-02 9.99587655e-01 -1.32641804e-04 5.02951349e+00] [ 1.21063117e-02 -2.15078895e-04 9.99926693e-01 2.85405700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.739254154 meters 0.01587660624403403 Centerline is valid? [True, True] Translation: X:432.62, Y:5.03, Z:2.85 [[ 9.99588703e-01 -2.56235512e-02 -1.28786096e-02 4.32617114e+02] [ 2.56238596e-02 9.99671645e-01 -1.41089624e-04 5.02965821e+00] [ 1.28779960e-02 -1.88968088e-04 9.99917057e-01 2.85412124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.799254154 meters 0.015453063307332239 Centerline is valid? [True, True] Translation: X:432.68, Y:5.03, Z:2.85 [[ 9.99520331e-01 -2.65686808e-02 -1.59126862e-02 4.32677874e+02] [ 2.65692714e-02 9.99646959e-01 -1.74328984e-04 5.02758431e+00] [ 1.59117000e-02 -2.48543115e-04 9.99873370e-01 2.85312102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.859254154 meters 0.016623777609031408 Centerline is valid? [True, True] Translation: X:432.74, Y:5.02, Z:2.85 [[ 9.99399397e-01 -2.97559831e-02 -1.77602695e-02 4.32736406e+02] [ 2.97572112e-02 9.99557137e-01 -1.95172524e-04 5.02129945e+00] [ 1.77582117e-02 -3.33440789e-04 9.99842255e-01 2.85168171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.919254154 meters 0.01781015430975503 Centerline is valid? [True, True] Translation: X:432.80, Y:5.01, Z:2.85 [[ 9.99192335e-01 -3.56764326e-02 -1.84897314e-02 4.32796267e+02] [ 3.56787618e-02 9.99363289e-01 -2.03994363e-04 5.01326613e+00] [ 1.84852366e-02 -4.55861117e-04 9.99829029e-01 2.85223482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.979254154 meters 0.01919288355083128 Centerline is valid? [True, True] Translation: X:432.86, Y:5.01, Z:2.85 [[ 9.99012398e-01 -4.09171227e-02 -1.73210383e-02 4.32855937e+02] [ 4.09199429e-02 9.99162410e-01 -1.91711491e-04 5.00766545e+00] [ 1.73143747e-02 -5.17253743e-04 9.99849961e-01 2.85458757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.039254154 meters 0.019193043071892808 Centerline is valid? [True, True] Translation: X:432.92, Y:5.01, Z:2.86 [[ 9.98965563e-01 -4.25535124e-02 -1.60312995e-02 4.32916766e+02] [ 4.25561378e-02 9.99094061e-01 -1.77489711e-04 5.00614415e+00] [ 1.60243290e-02 -5.04924083e-04 9.99871475e-01 2.85686556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.099254154 meters 0.019812143635474868 Centerline is valid? [True, True] Translation: X:432.98, Y:5.00, Z:2.86 [[ 9.99009547e-01 -4.21515559e-02 -1.42538473e-02 4.32977087e+02] [ 4.21535939e-02 9.99111130e-01 -1.57563848e-04 5.00272367e+00] [ 1.42478190e-02 -4.43443101e-04 9.99898396e-01 2.85871821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.159254154 meters 0.019459694386066536 Centerline is valid? [True, True] Translation: X:433.04, Y:5.00, Z:2.86 [[ 9.99093812e-01 -4.04787109e-02 -1.31540463e-02 4.33038386e+02] [ 4.04803061e-02 9.99180326e-01 -1.45064234e-04 5.00239497e+00] [ 1.31491363e-02 -3.87547044e-04 9.99913471e-01 2.86026926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.219254154 meters 0.017781569214490325 Centerline is valid? [True, True] Translation: X:433.10, Y:5.00, Z:2.86 [[ 9.99192417e-01 -3.80814646e-02 -1.28185740e-02 4.33099725e+02] [ 3.80827882e-02 9.99274578e-01 -1.40905915e-04 5.00334468e+00] [ 1.28146410e-02 -3.47374915e-04 9.99917829e-01 2.86145553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279254154 meters 0.017636500222888964 Centerline is valid? [True, True] Translation: X:433.16, Y:5.00, Z:2.86 [[ 9.99223467e-01 -3.73747042e-02 -1.24737767e-02 4.33160638e+02] [ 3.73759082e-02 9.99301267e-01 -1.36661276e-04 5.00147467e+00] [ 1.24701686e-02 -3.29663581e-04 9.99922190e-01 2.86084940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339254154 meters 0.017987132384432086 Centerline is valid? [True, True] Translation: X:433.22, Y:5.00, Z:2.86 [[ 9.99218596e-01 -3.70312994e-02 -1.38159764e-02 4.33221332e+02] [ 3.70327493e-02 9.99314041e-01 -1.50961272e-04 4.99813289e+00] [ 1.38120895e-02 -3.60800281e-04 9.99904543e-01 2.85967402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399254154 meters 0.017329925147524686 Centerline is valid? [True, True] Translation: X:433.28, Y:5.00, Z:2.86 [[ 9.99198507e-01 -3.68203991e-02 -1.57035302e-02 4.33283029e+02] [ 3.68222538e-02 9.99321816e-01 -1.71112971e-04 4.99837811e+00] [ 1.56991808e-02 -4.07263551e-04 9.99876677e-01 2.85875067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459254154 meters 0.01862036227042977 Centerline is valid? [True, True] Translation: X:433.34, Y:4.99, Z:2.86 [[ 9.99096722e-01 -3.82584105e-02 -1.84941791e-02 4.33342988e+02] [ 3.82612546e-02 9.99267750e-01 -2.00152637e-04 4.99460565e+00] [ 1.84882943e-02 -5.07638653e-04 9.99828948e-01 2.85607964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519254154 meters 0.019600877295510563 Centerline is valid? [True, True] Translation: X:433.40, Y:4.99, Z:2.86 [[ 9.98997151e-01 -4.07633065e-02 -1.85214833e-02 4.33402420e+02] [ 4.07665927e-02 9.99168677e-01 -2.00258243e-04 4.99224877e+00] [ 1.85142491e-02 -5.55000351e-04 9.99828443e-01 2.85619392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579254154 meters 0.020131073785614226 Centerline is valid? [True, True] Translation: X:433.46, Y:4.99, Z:2.86 [[ 9.98797948e-01 -4.60490666e-02 -1.67970856e-02 4.33462605e+02] [ 4.60525089e-02 9.98939004e-01 -1.82018918e-04 4.99089953e+00] [ 1.67876458e-02 -5.91747813e-04 9.99858902e-01 2.85857715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639254154 meters 0.02225585920613369 Centerline is valid? [True, True] Translation: X:433.52, Y:4.99, Z:2.86 [[ 9.98459563e-01 -5.32669876e-02 -1.55283227e-02 4.33523371e+02] [ 5.32707993e-02 9.98580089e-01 -1.68351632e-04 4.98606995e+00] [ 1.55152415e-02 -6.59113866e-04 9.99879414e-01 2.85931833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699254154 meters 0.02616414133158759 Centerline is valid? [True, True] Translation: X:433.58, Y:4.98, Z:2.86 [[ 9.98191431e-01 -5.82316536e-02 -1.49312275e-02 4.33582964e+02] [ 5.82357376e-02 9.98302846e-01 -1.61490301e-04 4.98001003e+00] [ 1.49152908e-02 -7.08332814e-04 9.99888510e-01 2.85914627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759254154 meters 0.028334172641659296 Centerline is valid? [True, True] Translation: X:433.64, Y:4.98, Z:2.86 [[ 9.97814986e-01 -6.46389976e-02 -1.36767658e-02 4.33643345e+02] [ 6.46430282e-02 9.97908441e-01 -1.47627189e-04 4.97702442e+00] [ 1.36577026e-02 -7.36802938e-04 9.99906458e-01 2.86040948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819254154 meters 0.028750059340112714 Centerline is valid? [True, True] Translation: X:433.70, Y:4.98, Z:2.86 [[ 9.97628550e-01 -6.75482720e-02 -1.32100843e-02 4.33704347e+02] [ 6.75522882e-02 9.97715725e-01 -1.42447962e-04 4.97733088e+00] [ 1.31895309e-02 -7.50261266e-04 9.99912733e-01 2.86143155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters 0.028990098878924803 Centerline is valid? [True, True] Translation: X:433.77, Y:4.98, Z:2.86 [[ 9.97518411e-01 -6.91629473e-02 -1.31721491e-02 4.33766606e+02] [ 6.91670887e-02 9.97605079e-01 -1.41434411e-04 4.97821725e+00] [ 1.31503849e-02 -7.69995780e-04 9.99913233e-01 2.86193837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters 0.030070079714262715 Centerline is valid? [True, True] Translation: X:433.83, Y:4.98, Z:2.86 [[ 9.97574836e-01 -6.81653710e-02 -1.40687509e-02 4.33827920e+02] [ 6.81700099e-02 9.97673708e-01 -1.50122456e-04 4.97928781e+00] [ 1.40462560e-02 -8.09308503e-04 9.99901019e-01 2.86112999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters 0.029580640800490634 Centerline is valid? [True, True] Translation: X:433.89, Y:4.98, Z:2.86 [[ 9.97704478e-01 -6.58428291e-02 -1.58271077e-02 4.33889040e+02] [ 6.58484208e-02 9.97829623e-01 -1.68137565e-04 4.98254579e+00] [ 1.58038276e-02 -8.74438445e-04 9.99874729e-01 2.86018538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.059254154 meters 0.026323319352237497 Centerline is valid? [True, True] Translation: X:433.95, Y:4.99, Z:2.86 [[ 9.97996697e-01 -6.06952921e-02 -1.78514389e-02 4.33949616e+02] [ 6.07015946e-02 9.98155940e-01 -1.89088055e-04 4.99240355e+00] [ 1.78299965e-02 -8.94901552e-04 9.99840632e-01 2.85950172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.119254154 meters 0.02509535573373651 Centerline is valid? [True, True] Translation: X:434.01, Y:5.00, Z:2.86 [[ 9.98293070e-01 -5.54952034e-02 -1.81996652e-02 4.34010859e+02] [ 5.55008986e-02 9.98458619e-01 -1.92402143e-04 4.99964450e+00] [ 1.81822900e-02 -8.18024049e-04 9.99834354e-01 2.86018939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.179254154 meters 0.0221141839693615 Centerline is valid? [True, True] Translation: X:434.07, Y:5.01, Z:2.86 [[ 9.98803198e-01 -4.57546292e-02 -1.72825361e-02 4.34071238e+02] [ 4.57583100e-02 9.98952523e-01 -1.82609053e-04 5.01303333e+00] [ 1.72727882e-02 -6.08429136e-04 9.99850629e-01 2.86208008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.239254154 meters 0.0194229876154738 Centerline is valid? [True, True] Translation: X:434.13, Y:5.02, Z:2.86 [[ 9.99108094e-01 -3.87507740e-02 -1.67748251e-02 4.34131478e+02] [ 3.87532550e-02 9.99248795e-01 -1.77253829e-04 5.02319430e+00] [ 1.67690925e-02 -4.72983340e-04 9.99859277e-01 2.86381396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.299254154 meters 0.017056034489600493 Centerline is valid? [True, True] Translation: X:434.19, Y:5.04, Z:2.87 [[ 9.99485953e-01 -2.84609959e-02 -1.47581061e-02 4.34191382e+02] [ 2.84617946e-02 9.99594869e-01 -1.55957492e-04 5.03609700e+00] [ 1.47565658e-02 -2.64164861e-04 9.99891081e-01 2.86619925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.359254154 meters 0.015986864148315322 Centerline is valid? [True, True] Translation: X:434.25, Y:5.04, Z:2.87 [[ 9.99579160e-01 -2.51680186e-02 -1.44247409e-02 4.34251995e+02] [ 2.51684386e-02 9.99683213e-01 -1.52445747e-04 5.04178318e+00] [ 1.44240080e-02 -2.10666613e-04 9.99895946e-01 2.86753719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.419254154 meters 0.01677250326286404 Centerline is valid? [True, True] Translation: X:434.31, Y:5.05, Z:2.87 [[ 9.99661039e-01 -2.01932267e-02 -1.64328858e-02 4.34311180e+02] [ 2.01930939e-02 9.99796084e-01 -1.74025796e-04 5.04927916e+00] [ 1.64330490e-02 -1.57863998e-04 9.99864956e-01 2.86708705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.479254154 meters 0.015470428169334083 Centerline is valid? [True, True] Translation: X:434.37, Y:5.05, Z:2.87 [[ 9.99645409e-01 -2.08699295e-02 -1.65378889e-02 4.34369024e+02] [ 2.08698362e-02 9.99782185e-01 -1.78245725e-04 5.05063472e+00] [ 1.65380067e-02 -1.66960513e-04 9.99863224e-01 2.86696140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.539254154 meters 0.015767182541420365 Centerline is valid? [True, True] Translation: X:434.43, Y:5.05, Z:2.87 [[ 9.99558297e-01 -2.36025337e-02 -1.80591045e-02 4.34428106e+02] [ 2.36027784e-02 9.99721396e-01 -1.99619021e-04 5.04903524e+00] [ 1.80587846e-02 -2.26714193e-04 9.99836901e-01 2.86576004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.599254154 meters 0.016310120702439708 Centerline is valid? [True, True] Translation: X:434.49, Y:5.05, Z:2.86 [[ 9.99489507e-01 -2.52507124e-02 -1.95736074e-02 4.34486749e+02] [ 2.52512180e-02 9.99681113e-01 -2.21360309e-04 5.04830934e+00] [ 1.95729551e-02 -2.73010120e-04 9.99808394e-01 2.86489409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.659254154 meters 0.01617950170997717 Centerline is valid? [True, True] Translation: X:434.54, Y:5.05, Z:2.87 [[ 9.99481776e-01 -2.56666326e-02 -1.94268933e-02 4.34544749e+02] [ 2.56671059e-02 9.99670520e-01 -2.25020248e-04 5.04815938e+00] [ 1.94262681e-02 -2.73728490e-04 9.99811255e-01 2.86570984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.719254154 meters 0.01866839201996398 Centerline is valid? [True, True] Translation: X:434.60, Y:5.05, Z:2.87 [[ 9.99423761e-01 -2.59866189e-02 -2.18367258e-02 4.34603092e+02] [ 2.59872159e-02 9.99662242e-01 -2.56480094e-04 5.04609139e+00] [ 2.18360153e-02 -3.11143407e-04 9.99761517e-01 2.86519025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779254154 meters 0.01605325690977139 Centerline is valid? [True, True] Translation: X:434.66, Y:5.05, Z:2.87 [[ 9.99431513e-01 -2.73306907e-02 -1.97404387e-02 4.34662048e+02] [ 2.73313648e-02 9.99626401e-01 -2.35694582e-04 5.04508654e+00] [ 1.97395054e-02 -3.03972539e-04 9.99805111e-01 2.86721265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839254154 meters 0.017942012831254323 Centerline is valid? [True, True] Translation: X:434.72, Y:5.04, Z:2.87 [[ 9.99414180e-01 -2.74755831e-02 -2.04056017e-02 4.34720338e+02] [ 2.74762170e-02 9.99622426e-01 -2.49350133e-04 5.04279290e+00] [ 2.04047482e-02 -3.11464683e-04 9.99791753e-01 2.86738630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899254154 meters 0.01583392603375411 Centerline is valid? [True, True] Translation: X:434.78, Y:5.04, Z:2.87 [[ 9.99441527e-01 -2.73670187e-02 -1.91749827e-02 4.34778755e+02] [ 2.73674623e-02 9.99625412e-01 -2.39319571e-04 5.04146857e+00] [ 1.91743495e-02 -2.85584700e-04 9.99816114e-01 2.86853344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959254154 meters 0.01604729434219447 Centerline is valid? [True, True] Translation: X:434.84, Y:5.04, Z:2.87 [[ 9.99456936e-01 -2.64696233e-02 -1.96263118e-02 4.34836248e+02] [ 2.64698080e-02 9.99649582e-01 -2.50410714e-04 5.03756665e+00] [ 1.96260627e-02 -2.69229980e-04 9.99807354e-01 2.86754480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019254154 meters 0.015405682904166709 Centerline is valid? [True, True] Translation: X:434.90, Y:5.04, Z:2.87 [[ 9.99477461e-01 -2.54036106e-02 -1.99865555e-02 4.34895235e+02] [ 2.54034809e-02 9.99677246e-01 -2.60418372e-04 5.03810848e+00] [ 1.99867203e-02 -2.47445787e-04 9.99800215e-01 2.86885555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079254154 meters 0.015406610340618139 Centerline is valid? [True, True] Translation: X:434.95, Y:5.04, Z:2.87 [[ 9.99505035e-01 -2.32501246e-02 -2.11923980e-02 4.34953375e+02] [ 2.32494277e-02 9.99729657e-01 -2.79300080e-04 5.03578276e+00] [ 2.11931625e-02 -2.13549288e-04 9.99775377e-01 2.86710080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139254154 meters 0.014860472901945707 Centerline is valid? [True, True] Translation: X:435.01, Y:5.04, Z:2.87 [[ 9.99513622e-01 -2.26278180e-02 -2.14593167e-02 4.35011383e+02] [ 2.26268530e-02 9.99743939e-01 -2.87807513e-04 5.03529348e+00] [ 2.14603342e-02 -1.97889274e-04 9.99769681e-01 2.86796100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199254154 meters 0.014832823448690349 Centerline is valid? [True, True] Translation: X:435.07, Y:5.03, Z:2.87 [[ 9.99491574e-01 -2.38409106e-02 -2.11708207e-02 4.35069512e+02] [ 2.38401106e-02 9.99715742e-01 -2.90206637e-04 5.03299570e+00] [ 2.11717215e-02 -2.14655619e-04 9.99775831e-01 2.86901449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259254154 meters 0.015427821375168287 Centerline is valid? [True, True] Translation: X:435.13, Y:5.03, Z:2.87 [[ 9.99403621e-01 -2.77435153e-02 -2.05596825e-02 4.35128655e+02] [ 2.77434722e-02 9.99615034e-01 -2.87383273e-04 5.02861993e+00] [ 2.05597408e-02 -2.83185097e-04 9.99788586e-01 2.86988825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319254154 meters 0.016116275847863376 Centerline is valid? [True, True] Translation: X:435.19, Y:5.03, Z:2.87 [[ 9.99270209e-01 -3.22765160e-02 -2.04273523e-02 4.35187710e+02] [ 3.22773119e-02 9.99478910e-01 -2.90827181e-04 5.02551632e+00] [ 2.04260947e-02 -3.68725082e-04 9.99791298e-01 2.87000905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters 0.019220204562692703 Centerline is valid? [True, True] Translation: X:435.25, Y:5.02, Z:2.87 [[ 9.99018474e-01 -3.92305410e-02 -2.05682675e-02 4.35246967e+02] [ 3.92327688e-02 9.99230055e-01 -2.95350664e-04 5.01942301e+00] [ 2.05640178e-02 -5.11889313e-04 9.99788407e-01 2.87064227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters 0.019348422183821355 Centerline is valid? [True, True] Translation: X:435.31, Y:5.02, Z:2.87 [[ 9.98831416e-01 -4.46933636e-02 -1.83930921e-02 4.35306435e+02] [ 4.46960561e-02 9.99000597e-01 -2.64875054e-04 5.01523139e+00] [ 1.83865482e-02 -5.57533152e-04 9.99830798e-01 2.87247058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters 0.022019240803306805 Centerline is valid? [True, True] Translation: X:435.37, Y:5.01, Z:2.87 [[ 9.98478818e-01 -5.24565418e-02 -1.69811963e-02 4.35366358e+02] [ 5.24599512e-02 9.98622999e-01 -2.44916600e-04 5.00916682e+00] [ 1.69706606e-02 -6.46288691e-04 9.99855779e-01 2.87380384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.559254154 meters 0.02526764952563124 Centerline is valid? [True, True] Translation: X:435.43, Y:5.00, Z:2.87 [[ 9.98179188e-01 -5.80661494e-02 -1.63288305e-02 4.35426757e+02] [ 5.80700518e-02 9.98312483e-01 -2.35451030e-04 5.00448893e+00] [ 1.63149470e-02 -7.13193714e-04 9.99866648e-01 2.87480304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.619254154 meters 0.027115530658518943 Centerline is valid? [True, True] Translation: X:435.49, Y:5.00, Z:2.87 [[ 9.98063064e-01 -6.00778093e-02 -1.61485686e-02 4.35486985e+02] [ 6.00818971e-02 9.98193424e-01 -2.32334201e-04 5.00273647e+00] [ 1.61333531e-02 -7.38352453e-04 9.99869576e-01 2.87496035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.679254154 meters 0.028261929027091168 Centerline is valid? [True, True] Translation: X:435.55, Y:5.00, Z:2.87 [[ 9.98025105e-01 -6.03386671e-02 -1.74681035e-02 4.35548444e+02] [ 6.03435056e-02 9.98177639e-01 -2.50441413e-04 5.00453196e+00] [ 1.74513816e-02 -8.04139783e-04 9.99847390e-01 2.87467647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.739254154 meters 0.02829966128077811 Centerline is valid? [True, True] Translation: X:435.61, Y:5.01, Z:2.87 [[ 9.98088268e-01 -5.87725717e-02 -1.91205130e-02 4.35609440e+02] [ 5.87780938e-02 9.98271036e-01 -2.73539539e-04 5.00859324e+00] [ 1.91035310e-02 -8.50850705e-04 9.99817149e-01 2.87428397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.799254154 meters 0.021855723546406712 Centerline is valid? [True, True] Translation: X:435.67, Y:5.02, Z:2.88 [[ 9.98335815e-01 -5.40222529e-02 -2.01791071e-02 4.35670365e+02] [ 5.40274422e-02 9.98539410e-01 -2.88313697e-04 5.02302298e+00] [ 2.01652090e-02 -8.02391652e-04 9.99796340e-01 2.87689750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.859254154 meters 0.020609735620674394 Centerline is valid? [True, True] Translation: X:435.73, Y:5.03, Z:2.88 [[ 9.98645577e-01 -4.83648736e-02 -1.91794276e-02 4.35729787e+02] [ 4.83685214e-02 9.98829521e-01 -2.73912344e-04 5.03087149e+00] [ 1.91702262e-02 -6.54139203e-04 9.99816020e-01 2.87846846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.919254154 meters 0.020191195718929987 Centerline is valid? [True, True] Translation: X:435.79, Y:5.04, Z:2.88 [[ 9.98867060e-01 -4.35575958e-02 -1.91659214e-02 4.35790074e+02] [ 4.35603544e-02 9.99050760e-01 -2.73719455e-04 5.03781011e+00] [ 1.91596509e-02 -5.61464983e-04 9.99816279e-01 2.87956863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.979254154 meters 0.018184571792484564 Centerline is valid? [True, True] Translation: X:435.85, Y:5.05, Z:2.88 [[ 9.99191057e-01 -3.59150643e-02 -1.80925284e-02 4.35850119e+02] [ 3.59162701e-02 9.99354769e-01 -2.58389717e-04 5.04574934e+00] [ 1.80901347e-02 -3.91635443e-04 9.99836283e-01 2.88097125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.039254154 meters 0.016416422560846904 Centerline is valid? [True, True] Translation: X:435.91, Y:5.05, Z:2.88 [[ 9.99362806e-01 -3.10674256e-02 -1.75726043e-02 4.35910094e+02] [ 3.10678105e-02 9.99517248e-01 -2.51157186e-04 5.05101358e+00] [ 1.75719239e-02 -2.94945191e-04 9.99845558e-01 2.88170607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.099254154 meters 0.01540463228780444 Centerline is valid? [True, True] Translation: X:435.97, Y:5.06, Z:2.88 [[ 9.99491928e-01 -2.68307995e-02 -1.72045023e-02 4.35969752e+02] [ 2.68305323e-02 9.99639966e-01 -2.46394970e-04 5.05647597e+00] [ 1.72049191e-02 -2.15336172e-04 9.99851961e-01 2.88229361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.159254154 meters 0.01525746419995697 Centerline is valid? [True, True] Translation: X:436.03, Y:5.06, Z:2.88 [[ 9.99539218e-01 -2.56125839e-02 -1.62894735e-02 4.36028709e+02] [ 2.56121388e-02 9.99671928e-01 -2.35974943e-04 5.05825799e+00] [ 1.62901733e-02 -1.81342047e-04 9.99867290e-01 2.88280771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.219254154 meters 0.014946174065136413 Centerline is valid? [True, True] Translation: X:436.09, Y:5.06, Z:2.88 [[ 9.99569526e-01 -2.44068686e-02 -1.62808931e-02 4.36087255e+02] [ 2.44061959e-02 9.99702096e-01 -2.40032435e-04 5.05930545e+00] [ 1.62819014e-02 -1.57425559e-04 9.99867429e-01 2.88336596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279254154 meters 0.014946859753558805 Centerline is valid? [True, True] Translation: X:436.14, Y:5.06, Z:2.88 [[ 9.99591092e-01 -2.32874823e-02 -1.65934233e-02 4.36144836e+02] [ 2.32865854e-02 9.99728800e-01 -2.47293816e-04 5.06036942e+00] [ 1.65946820e-02 -1.39211472e-04 9.99862289e-01 2.88339960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339254154 meters 0.014704252141869793 Centerline is valid? [True, True] Translation: X:436.20, Y:5.06, Z:2.88 [[ 9.99624854e-01 -2.14056028e-02 -1.70865964e-02 4.36203148e+02] [ 2.14043200e-02 9.99770868e-01 -2.57969205e-04 5.06133251e+00] [ 1.70882033e-02 -1.07854548e-04 9.99853980e-01 2.88367814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399254154 meters 0.014535258497715002 Centerline is valid? [True, True] Translation: X:436.26, Y:5.06, Z:2.88 [[ 9.99651004e-01 -1.98978942e-02 -1.73765168e-02 4.36261412e+02] [ 1.98962542e-02 9.99802014e-01 -2.67264996e-04 5.06015431e+00] [ 1.73783945e-02 -7.85558758e-05 9.99848981e-01 2.88344562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459254154 meters 0.014640654132075092 Centerline is valid? [True, True] Translation: X:436.32, Y:5.06, Z:2.88 [[ 9.99634010e-01 -2.03230438e-02 -1.78555494e-02 4.36319585e+02] [ 2.03213258e-02 9.99793462e-01 -2.77670859e-04 5.05818802e+00] [ 1.78575047e-02 -8.52792032e-05 9.99840538e-01 2.88314414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519254154 meters 0.01467195252975628 Centerline is valid? [True, True] Translation: X:436.38, Y:5.05, Z:2.88 [[ 9.99570153e-01 -2.34183711e-02 -1.76377399e-02 4.36378627e+02] [ 2.34171160e-02 9.99725743e-01 -2.77712032e-04 5.05385738e+00] [ 1.76394062e-02 -1.35432343e-04 9.99844404e-01 2.88442678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579254154 meters 0.014836455418912743 Centerline is valid? [True, True] Translation: X:436.44, Y:5.05, Z:2.88 [[ 9.99504127e-01 -2.57877366e-02 -1.80691093e-02 4.36436450e+02] [ 2.57867557e-02 9.99667425e-01 -2.87315469e-04 5.05013817e+00] [ 1.80705092e-02 -1.78770711e-04 9.99836699e-01 2.88436544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639254154 meters 0.01540829034695382 Centerline is valid? [True, True] Translation: X:436.49, Y:5.05, Z:2.88 [[ 9.99409465e-01 -2.88991671e-02 -1.85892065e-02 4.36494916e+02] [ 2.88986355e-02 9.99582303e-01 -2.97279463e-04 5.04568819e+00] [ 1.85900330e-02 -2.40098793e-04 9.99827162e-01 2.88452770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699254154 meters 0.01604059417646578 Centerline is valid? [True, True] Translation: X:436.55, Y:5.04, Z:2.89 [[ 9.99273797e-01 -3.30513951e-02 -1.89600852e-02 4.36553607e+02] [ 3.30515190e-02 9.99453602e-01 -3.06906783e-04 5.04043447e+00] [ 1.89598691e-02 -3.19975709e-04 9.99820194e-01 2.88504344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759254154 meters 0.01696284198599474 Centerline is valid? [True, True] Translation: X:436.61, Y:5.04, Z:2.89 [[ 9.99158340e-01 -3.65541841e-02 -1.86119374e-02 4.36612293e+02] [ 3.65548249e-02 9.99331602e-01 -3.05890822e-04 5.03650142e+00] [ 1.86106788e-02 -3.74722747e-04 9.99826736e-01 2.88572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819254154 meters 0.01825009305738314 Centerline is valid? [True, True] Translation: X:436.67, Y:5.03, Z:2.89 [[ 9.98938814e-01 -4.21483068e-02 -1.85678524e-02 4.36671735e+02] [ 4.21498674e-02 9.99111252e-01 -3.07469414e-04 5.03052038e+00] [ 1.85643096e-02 -4.75489384e-04 9.99827555e-01 2.88688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters 0.018254608016590616 Centerline is valid? [True, True] Translation: X:436.73, Y:5.03, Z:2.89 [[ 9.98805037e-01 -4.53738108e-02 -1.81580720e-02 4.36731268e+02] [ 4.53758216e-02 9.98969941e-01 -3.01461511e-04 5.02915985e+00] [ 1.81530466e-02 -5.22836159e-04 9.99835083e-01 2.88833007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters 0.021144656708475297 Centerline is valid? [True, True] Translation: X:436.79, Y:5.02, Z:2.89 [[ 9.98733701e-01 -4.70385468e-02 -1.78429086e-02 4.36791246e+02] [ 4.70407494e-02 9.98892927e-01 -2.96474132e-04 5.02164613e+00] [ 1.78371009e-02 -5.43245083e-04 9.99840759e-01 2.88863801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters 0.019248784057547156 Centerline is valid? [True, True] Translation: X:436.85, Y:5.02, Z:2.89 [[ 9.98762859e-01 -4.63843383e-02 -1.79232901e-02 4.36852104e+02] [ 4.63864555e-02 9.98923525e-01 -2.97809736e-04 5.02408696e+00] [ 1.79178098e-02 -5.33956596e-04 9.99839321e-01 2.89061554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.059254154 meters 0.01806859873410279 Centerline is valid? [True, True] Translation: X:436.91, Y:5.02, Z:2.89 [[ 9.98887316e-01 -4.37503352e-02 -1.76078911e-02 4.36912330e+02] [ 4.37519696e-02 9.99042381e-01 -2.92569130e-04 5.02474577e+00] [ 1.76038294e-02 -4.78136323e-04 9.99844926e-01 2.89320890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.119254154 meters 0.019270195658982765 Centerline is valid? [True, True] Translation: X:436.97, Y:5.03, Z:2.89 [[ 9.99015820e-01 -3.99941102e-02 -1.91797600e-02 4.36972265e+02] [ 3.99953491e-02 9.99199815e-01 -3.19144059e-04 5.02611273e+00] [ 1.91771766e-02 -4.48271234e-04 9.99816001e-01 2.89246451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.179254154 meters 0.016866213894064716 Centerline is valid? [True, True] Translation: X:437.03, Y:5.03, Z:2.89 [[ 9.99089569e-01 -3.80684463e-02 -1.92568326e-02 4.37031120e+02] [ 3.80692708e-02 9.99275050e-01 -3.23895890e-04 5.02791067e+00] [ 1.92552026e-02 -4.09492572e-04 9.99814518e-01 2.89384075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.239254154 meters 0.016591898251755673 Centerline is valid? [True, True] Translation: X:437.09, Y:5.03, Z:2.89 [[ 9.99201925e-01 -3.43445745e-02 -2.03952014e-02 4.37089258e+02] [ 3.43446617e-02 9.99409988e-01 -3.46100459e-04 5.02938173e+00] [ 2.03950547e-02 -3.54642048e-04 9.99791936e-01 2.89333351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.299254154 meters 0.015753989020732533 Centerline is valid? [True, True] Translation: X:437.15, Y:5.03, Z:2.89 [[ 9.99260407e-01 -3.25844644e-02 -2.04179281e-02 4.37148450e+02] [ 3.25841053e-02 9.99468936e-01 -3.50359062e-04 5.03226931e+00] [ 2.04185011e-02 -3.15199981e-04 9.99791471e-01 2.89488932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.359254154 meters 0.01764104705920735 Centerline is valid? [True, True] Translation: X:437.21, Y:5.03, Z:2.89 [[ 9.99215908e-01 -3.37992784e-02 -2.06198249e-02 4.37205890e+02] [ 3.37991116e-02 9.99428583e-01 -3.56690925e-04 5.03037049e+00] [ 2.06200983e-02 -3.40520518e-04 9.99787325e-01 2.89480228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.419254154 meters 0.018383955764137334 Centerline is valid? [True, True] Translation: X:437.27, Y:5.02, Z:2.90 [[ 9.99013062e-01 -4.02247204e-02 -1.88381072e-02 4.37265411e+02] [ 4.02257041e-02 9.99190565e-01 -3.26853566e-04 5.02492711e+00] [ 1.88360066e-02 -4.31245145e-04 9.99822494e-01 2.89647160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.479254154 meters 0.019649747931141076 Centerline is valid? [True, True] Translation: X:437.32, Y:5.02, Z:2.90 [[ 9.98816601e-01 -4.52596488e-02 -1.78034130e-02 4.37323857e+02] [ 4.52613063e-02 9.98975134e-01 -3.10034656e-04 5.02124921e+00] [ 1.77991990e-02 -4.96137967e-04 9.99841459e-01 2.89749963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.539254154 meters 0.020426080546377755 Centerline is valid? [True, True] Translation: X:437.38, Y:5.02, Z:2.90 [[ 9.98620038e-01 -4.93480025e-02 -1.79665035e-02 4.37384035e+02] [ 4.93503377e-02 9.98781481e-01 -3.13631582e-04 5.02014559e+00] [ 1.79600881e-02 -5.73454235e-04 9.99838540e-01 2.89862751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.599254154 meters 0.024296099059546536 Centerline is valid? [True, True] Translation: X:437.44, Y:5.01, Z:2.90 [[ 9.98362488e-01 -5.46323445e-02 -1.69602041e-02 4.37443882e+02] [ 5.46351817e-02 9.98506339e-01 -2.96360755e-04 5.01200901e+00] [ 1.69510622e-02 -6.30748371e-04 9.99856121e-01 2.89854118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.659254154 meters 0.026347519625363153 Centerline is valid? [True, True] Translation: X:437.50, Y:5.01, Z:2.90 [[ 9.98211033e-01 -5.73012149e-02 -1.70676457e-02 4.37504187e+02] [ 5.73044756e-02 9.98356704e-01 -2.98357802e-04 5.00938781e+00] [ 1.70566947e-02 -6.80228436e-04 9.99854293e-01 2.89906763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.719254154 meters 0.022497920414478862 Centerline is valid? [True, True] Translation: X:437.56, Y:5.02, Z:2.90 [[ 9.98026999e-01 -6.00460812e-02 -1.83460203e-02 4.37564598e+02] [ 6.00503117e-02 9.98195300e-01 -3.20704940e-04 5.01595231e+00] [ 1.83321683e-02 -7.81612047e-04 9.99831646e-01 2.90030334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779254154 meters 0.023607682953648283 Centerline is valid? [True, True] Translation: X:437.62, Y:5.02, Z:2.90 [[ 9.97915675e-01 -6.14119385e-02 -1.98211783e-02 4.37624871e+02] [ 6.14171458e-02 9.98112125e-01 -3.46492029e-04 5.01643593e+00] [ 1.98050371e-02 -8.71590369e-04 9.99803481e-01 2.89914936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839254154 meters 0.024717319562730915 Centerline is valid? [True, True] Translation: X:437.69, Y:5.02, Z:2.90 [[ 9.97913609e-01 -6.07054133e-02 -2.19836708e-02 4.37685458e+02] [ 6.07116484e-02 9.98155273e-01 -3.84294344e-04 5.01991249e+00] [ 2.19664457e-02 -9.51172338e-04 9.99758256e-01 2.89810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899254154 meters 0.023950855316445113 Centerline is valid? [True, True] Translation: X:437.74, Y:5.02, Z:2.90 [[ 9.98013937e-01 -5.90772958e-02 -2.18644501e-02 4.37744162e+02] [ 5.90830554e-02 9.98252997e-01 -3.83032443e-04 5.02471294e+00] [ 2.18488814e-02 -9.09546800e-04 9.99760871e-01 2.89888417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959254154 meters 0.024896893096725697 Centerline is valid? [True, True] Translation: X:437.80, Y:5.03, Z:2.90 [[ 9.97997540e-01 -5.96019229e-02 -2.11783011e-02 4.37803608e+02] [ 5.96074261e-02 9.98221827e-01 -3.71875512e-04 5.02839944e+00] [ 2.11628069e-02 -8.91253172e-04 9.99775645e-01 2.89933440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019254154 meters 0.025675609377584334 Centerline is valid? [True, True] Translation: X:437.86, Y:5.03, Z:2.90 [[ 9.97894558e-01 -6.16101184e-02 -2.02643646e-02 4.37863469e+02] [ 6.16155605e-02 9.98099893e-01 -3.56296218e-04 5.03200708e+00] [ 2.02478116e-02 -8.93054127e-04 9.99794593e-01 2.90086939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079254154 meters 0.024865621632998262 Centerline is valid? [True, True] Translation: X:437.92, Y:5.04, Z:2.90 [[ 9.97695566e-01 -6.52308228e-02 -1.86680943e-02 4.37924312e+02] [ 6.52360753e-02 9.97869805e-01 -3.28120098e-04 5.03891694e+00] [ 1.86497312e-02 -8.90469238e-04 9.99825682e-01 2.90320999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139254154 meters 0.025704094974148658 Centerline is valid? [True, True] Translation: X:437.99, Y:5.04, Z:2.90 [[ 9.97595073e-01 -6.67757331e-02 -1.85761137e-02 4.37985492e+02] [ 6.67812115e-02 9.97767590e-01 -3.25944435e-04 5.04131250e+00] [ 1.85564094e-02 -9.15374817e-04 9.99827396e-01 2.90293726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199254154 meters 0.025347537849697125 Centerline is valid? [True, True] Translation: X:438.05, Y:5.05, Z:2.90 [[ 9.97495431e-01 -6.82119720e-02 -1.87080858e-02 4.38046784e+02] [ 6.82177934e-02 9.97670399e-01 -3.27564246e-04 5.04545233e+00] [ 1.86868472e-02 -9.49480491e-04 9.99824935e-01 2.90353504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259254154 meters 0.025445282936221163 Centerline is valid? [True, True] Translation: X:438.11, Y:5.05, Z:2.90 [[ 9.97438781e-01 -6.90487474e-02 -1.86587558e-02 4.38108501e+02] [ 6.90547055e-02 9.97612822e-01 -3.25555078e-04 5.05018277e+00] [ 1.86366932e-02 -9.63753628e-04 9.99825857e-01 2.90427376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319254154 meters 0.024237848103673524 Centerline is valid? [True, True] Translation: X:438.17, Y:5.06, Z:2.91 [[ 9.97577765e-01 -6.69299768e-02 -1.89467772e-02 4.38170210e+02] [ 6.69357620e-02 9.97757233e-01 -3.29375113e-04 5.05970696e+00] [ 1.89263290e-02 -9.39639679e-04 9.99820439e-01 2.90513762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters 0.023926287901941568 Centerline is valid? [True, True] Translation: X:438.23, Y:5.07, Z:2.90 [[ 9.97898823e-01 -6.21059051e-02 -1.84606541e-02 4.38230155e+02] [ 6.21105801e-02 9.98069223e-01 -3.20553186e-04 5.06703622e+00] [ 1.84449190e-02 -8.26722291e-04 9.99829536e-01 2.90497812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters 0.023943702364852746 Centerline is valid? [True, True] Translation: X:438.29, Y:5.07, Z:2.90 [[ 9.98117612e-01 -5.85017618e-02 -1.84058960e-02 4.38290920e+02] [ 5.85058052e-02 9.98287017e-01 -3.19177087e-04 5.07185067e+00] [ 1.83930394e-02 -7.58275495e-04 9.99830546e-01 2.90477717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters 0.021478894954997173 Centerline is valid? [True, True] Translation: X:438.35, Y:5.08, Z:2.91 [[ 9.98379685e-01 -5.39634885e-02 -1.80539842e-02 4.38351096e+02] [ 5.39666420e-02 9.98542690e-01 -3.12835260e-04 5.08325939e+00] [ 1.80445556e-02 -6.61984531e-04 9.99836965e-01 2.90571362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.559254154 meters 0.020785845657330593 Centerline is valid? [True, True] Translation: X:438.41, Y:5.09, Z:2.91 [[ 9.98512362e-01 -5.19885379e-02 -1.64394377e-02 4.38411994e+02] [ 5.19908909e-02 9.98647519e-01 -2.84503226e-04 5.08891844e+00] [ 1.64319946e-02 -5.70621023e-04 9.99864823e-01 2.90730024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.619254154 meters 0.02158861110756978 Centerline is valid? [True, True] Translation: X:438.47, Y:5.09, Z:2.91 [[ 9.98503539e-01 -5.29630371e-02 -1.36234529e-02 4.38474451e+02] [ 5.29647531e-02 9.98596355e-01 -2.35068142e-04 5.09241138e+00] [ 1.36167803e-02 -4.86846445e-04 9.99907169e-01 2.90924594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.679254154 meters 0.022616730364907675 Centerline is valid? [True, True] Translation: X:438.54, Y:5.10, Z:2.91 [[ 9.98227801e-01 -5.82503514e-02 -1.21718390e-02 4.38535333e+02] [ 5.82521199e-02 9.98301882e-01 -2.09489076e-04 5.09599897e+00] [ 1.21633726e-02 -4.99917605e-04 9.99925898e-01 2.91013056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.739254154 meters 0.024181691557197644 Centerline is valid? [True, True] Translation: X:438.60, Y:5.10, Z:2.91 [[ 9.97997797e-01 -6.19407724e-02 -1.27960054e-02 4.38596800e+02] [ 6.19430341e-02 9.98079662e-01 -2.19880001e-04 5.09658747e+00] [ 1.27850523e-02 -5.73183641e-04 9.99918104e-01 2.90942345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.799254154 meters 0.026684082516787076 Centerline is valid? [True, True] Translation: X:438.66, Y:5.10, Z:2.91 [[ 9.97707284e-01 -6.62876939e-02 -1.36425102e-02 4.38657454e+02] [ 6.62906755e-02 9.97800327e-01 -2.34037411e-04 5.09870485e+00] [ 1.36280149e-02 -6.70870387e-04 9.99906909e-01 2.90803755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.859254154 meters 0.0279061570850821 Centerline is valid? [True, True] Translation: X:438.72, Y:5.10, Z:2.91 [[ 9.97582189e-01 -6.82958349e-02 -1.28629426e-02 4.38719933e+02] [ 6.82986591e-02 9.97664896e-01 -2.20102425e-04 5.10208872e+00] [ 1.28479384e-02 -6.58951474e-04 9.99917245e-01 2.91012531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.919254154 meters 0.029263797652720084 Centerline is valid? [True, True] Translation: X:438.78, Y:5.10, Z:2.91 [[ 9.97648801e-01 -6.74819932e-02 -1.19603711e-02 4.38781968e+02] [ 6.74843865e-02 9.97720310e-01 -2.03829888e-04 5.10495820e+00] [ 1.19468600e-02 -6.03787664e-04 9.99928451e-01 2.90967438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.979254154 meters 0.02789664401072823 Centerline is valid? [True, True] Translation: X:438.84, Y:5.11, Z:2.91 [[ 9.97784833e-01 -6.54547899e-02 -1.18784344e-02 4.38842978e+02] [ 6.54570151e-02 9.97855370e-01 -2.01772314e-04 5.11121827e+00] [ 1.18661665e-02 -5.76201505e-04 9.99929429e-01 2.91145984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.039254154 meters 0.023801266746931022 Centerline is valid? [True, True] Translation: X:438.90, Y:5.12, Z:2.91 [[ 9.97924540e-01 -6.32236628e-02 -1.22221764e-02 4.38904265e+02] [ 6.32258572e-02 9.97999222e-01 -2.07160098e-04 5.12233451e+00] [ 1.22108200e-02 -5.66027435e-04 9.99925285e-01 2.91220874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.099254154 meters 0.023322749593683634 Centerline is valid? [True, True] Translation: X:438.97, Y:5.13, Z:2.91 [[ 9.98106047e-01 -6.02718190e-02 -1.23136639e-02 4.38965641e+02] [ 6.02738278e-02 9.98181858e-01 -2.08247822e-04 5.13038796e+00] [ 1.23038273e-02 -5.34338244e-04 9.99924162e-01 2.91201443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.159254154 meters 0.023625672105086943 Centerline is valid? [True, True] Translation: X:439.03, Y:5.14, Z:2.91 [[ 9.98130470e-01 -5.99437557e-02 -1.19294584e-02 4.39027189e+02] [ 5.99456241e-02 9.98201624e-01 -2.01219139e-04 5.13559416e+00] [ 1.19200666e-02 -5.14275875e-04 9.99928821e-01 2.91363855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.219254154 meters 0.022315915258588812 Centerline is valid? [True, True] Translation: X:439.09, Y:5.14, Z:2.92 [[ 9.98159055e-01 -5.96082878e-02 -1.11961394e-02 4.39089738e+02] [ 5.96099200e-02 9.98221730e-01 -1.88167289e-04 5.14193381e+00] [ 1.11874460e-02 -4.79580091e-04 9.99937304e-01 2.91502744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279254154 meters 0.0220631222074699 Centerline is valid? [True, True] Translation: X:439.15, Y:5.15, Z:2.92 [[ 9.98302562e-01 -5.73179182e-02 -1.03271795e-02 4.39150732e+02] [ 5.73191907e-02 9.98355889e-01 -1.72965258e-04 5.14821656e+00] [ 1.03201145e-02 -4.19273910e-04 9.99946658e-01 2.91546324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339254154 meters 0.02130818925771047 Centerline is valid? [True, True] Translation: X:439.21, Y:5.15, Z:2.92 [[ 9.98443784e-01 -5.50368552e-02 -8.99743280e-03 4.39211646e+02] [ 5.50377313e-02 9.98484264e-01 -1.50390924e-04 5.15294150e+00] [ 8.99207211e-03 -3.45041406e-04 9.99959511e-01 2.91674107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399254154 meters 0.020036248182062327 Centerline is valid? [True, True] Translation: X:439.27, Y:5.16, Z:2.92 [[ 9.98600020e-01 -5.23512153e-02 -7.57294173e-03 4.39272900e+02] [ 5.23517607e-02 9.98628698e-01 -1.26337821e-04 5.15995294e+00] [ 7.56917088e-03 -2.70295883e-04 9.99971317e-01 2.91849392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459254154 meters 0.019910122143575494 Centerline is valid? [True, True] Translation: X:439.34, Y:5.16, Z:2.92 [[ 9.98602882e-01 -5.22077734e-02 -8.16282812e-03 4.39335872e+02] [ 5.22084058e-02 9.98636202e-01 -1.35741765e-04 5.16359726e+00] [ 8.15878244e-03 -2.90616124e-04 9.99966674e-01 2.91842785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519254154 meters 0.022636152765419814 Centerline is valid? [True, True] Translation: X:439.40, Y:5.16, Z:2.92 [[ 9.98541260e-01 -5.33308704e-02 -8.43629070e-03 4.39396570e+02] [ 5.33315931e-02 9.98576848e-01 -1.39439886e-04 5.16057526e+00] [ 8.43172103e-03 -3.10684343e-04 9.99964404e-01 2.91771234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579254154 meters 0.02121409034142541 Centerline is valid? [True, True] Translation: X:439.46, Y:5.16, Z:2.92 [[ 9.98469517e-01 -5.46257499e-02 -8.64003743e-03 4.39459046e+02] [ 5.46265598e-02 9.98506845e-01 -1.42408831e-04 5.16318004e+00] [ 8.63491570e-03 -3.29784644e-04 9.99962664e-01 2.91786552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639254154 meters 0.021477756478449555 Centerline is valid? [True, True] Translation: X:439.52, Y:5.17, Z:2.92 [[ 9.98586649e-01 -5.22967531e-02 -9.47386609e-03 4.39521477e+02] [ 5.22976292e-02 9.98631531e-01 -1.55400682e-04 5.16639816e+00] [ 9.46902834e-03 -3.40279689e-04 9.99955110e-01 2.91626455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699254154 meters 0.020708848292608804 Centerline is valid? [True, True] Translation: X:439.58, Y:5.17, Z:2.92 [[ 9.98669605e-01 -5.04310526e-02 -1.07577554e-02 4.39583035e+02] [ 5.04320835e-02 9.98727477e-01 -1.75599034e-04 5.16833927e+00] [ 1.07529215e-02 -3.67170599e-04 9.99942118e-01 2.91665429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759254154 meters 0.018585788099311138 Centerline is valid? [True, True] Translation: X:439.64, Y:5.17, Z:2.92 [[ 9.98809024e-01 -4.74076032e-02 -1.15348323e-02 4.39644828e+02] [ 4.74085974e-02 9.98875563e-01 -1.87388325e-04 5.17477933e+00] [ 1.15307458e-02 -3.59685072e-04 9.99933454e-01 2.91621925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819254154 meters 0.018686644129458547 Centerline is valid? [True, True] Translation: X:439.71, Y:5.18, Z:2.92 [[ 9.98930047e-01 -4.48912237e-02 -1.11148293e-02 4.39705897e+02] [ 4.48919993e-02 9.98991830e-01 -1.79825660e-04 5.17734776e+00] [ 1.11116963e-02 -3.19333655e-04 9.99938212e-01 2.91714295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters 0.017830631912866133 Centerline is valid? [True, True] Translation: X:439.77, Y:5.18, Z:2.92 [[ 9.99162676e-01 -3.99396280e-02 -8.87544906e-03 4.39767427e+02] [ 3.99399310e-02 9.99202072e-01 -1.43176966e-04 5.18432736e+00] [ 8.87408552e-03 -2.11427743e-04 9.99960602e-01 2.91849742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters 0.016879852684944106 Centerline is valid? [True, True] Translation: X:439.83, Y:5.19, Z:2.92 [[ 9.99267439e-01 -3.74657973e-02 -7.80375351e-03 4.39828152e+02] [ 3.74659592e-02 9.99297897e-01 -1.25498962e-04 5.18752718e+00] [ 7.80297638e-03 -1.66968084e-04 9.99969542e-01 2.91996084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters 0.017786749962418354 Centerline is valid? [True, True] Translation: X:439.89, Y:5.19, Z:2.92 [[ 9.99278375e-01 -3.70743705e-02 -8.25953884e-03 4.39890190e+02] [ 3.70745426e-02 9.99312494e-01 -1.32326131e-04 5.18912620e+00] [ 8.25876627e-03 -1.73987983e-04 9.99965881e-01 2.91854527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.059254154 meters 0.016508824254068147 Centerline is valid? [True, True] Translation: X:439.95, Y:5.19, Z:2.92 [[ 9.99220050e-01 -3.84074776e-02 -9.17371046e-03 4.39952143e+02] [ 3.84077528e-02 9.99262139e-01 -1.46243885e-04 5.19113245e+00] [ 9.17255840e-03 -2.06211782e-04 9.99957910e-01 2.91948980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.119254154 meters 0.017424513083070806 Centerline is valid? [True, True] Translation: X:440.01, Y:5.19, Z:2.92 [[ 9.99114987e-01 -4.08525827e-02 -1.00154089e-02 4.40014233e+02] [ 4.08530414e-02 9.99165153e-01 -1.58865388e-04 5.18970497e+00] [ 1.00135377e-02 -2.50435125e-04 9.99949832e-01 2.91860267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.179254154 meters 0.020550335236760937 Centerline is valid? [True, True] Translation: X:440.07, Y:5.18, Z:2.91 [[ 9.98899730e-01 -4.53144605e-02 -1.20801128e-02 4.40074614e+02] [ 4.53154623e-02 9.98972709e-01 -1.90916992e-04 5.18494812e+00] [ 1.20763543e-02 -3.56708963e-04 9.99927015e-01 2.91491109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.239254154 meters 0.019960393867604342 Centerline is valid? [True, True] Translation: X:440.14, Y:5.18, Z:2.92 [[ 9.98758132e-01 -4.79074719e-02 -1.36772562e-02 4.40136692e+02] [ 4.79090078e-02 9.98851681e-01 -2.15514343e-04 5.18482809e+00] [ 1.36718751e-02 -4.40017071e-04 9.99906439e-01 2.91583401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.299254154 meters 0.022975567435886572 Centerline is valid? [True, True] Translation: X:440.20, Y:5.18, Z:2.92 [[ 9.98739022e-01 -4.82615571e-02 -1.38270600e-02 4.40198313e+02] [ 4.82631786e-02 9.98834630e-01 -2.16584086e-04 5.18085036e+00] [ 1.38213991e-02 -4.51026890e-04 9.99904378e-01 2.91556347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.359254154 meters 0.019456835097206172 Centerline is valid? [True, True] Translation: X:440.26, Y:5.19, Z:2.92 [[ 9.98863814e-01 -4.60521880e-02 -1.22587885e-02 4.40260467e+02] [ 4.60533094e-02 9.98938965e-01 -1.90948361e-04 5.18800777e+00] [ 1.22545750e-02 -3.73826370e-04 9.99924840e-01 2.91847832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.419254154 meters 0.017640348153482206 Centerline is valid? [True, True] Translation: X:440.32, Y:5.19, Z:2.92 [[ 9.99044862e-01 -4.22545665e-02 -1.11317175e-02 4.40322243e+02] [ 4.22552642e-02 9.99106833e-01 -1.72612115e-04 5.19352075e+00] [ 1.11290686e-02 -2.97926417e-04 9.99938026e-01 2.92043103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.479254154 meters 0.017297933267953612 Centerline is valid? [True, True] Translation: X:440.38, Y:5.20, Z:2.92 [[ 9.99279905e-01 -3.64237985e-02 -1.06291707e-02 4.40382662e+02] [ 3.64241109e-02 9.99336408e-01 -1.64257775e-04 5.19696891e+00] [ 1.06281002e-02 -2.23018599e-04 9.99943495e-01 2.92117842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.539254154 meters 0.0160587633696245 Centerline is valid? [True, True] Translation: X:440.44, Y:5.20, Z:2.92 [[ 9.99376582e-01 -3.39433880e-02 -9.71045659e-03 4.40444520e+02] [ 3.39435349e-02 9.99423741e-01 -1.49724676e-04 5.20012583e+00] [ 9.70994301e-03 -1.79975887e-04 9.99952841e-01 2.92226545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.599254154 meters 0.01606439931885264 Centerline is valid? [True, True] Translation: X:440.51, Y:5.20, Z:2.92 [[ 9.99357680e-01 -3.44740577e-02 -9.78604895e-03 4.40506443e+02] [ 3.44742395e-02 9.99405575e-01 -1.50161636e-04 5.19909777e+00] [ 9.78540857e-03 -1.87301411e-04 9.99952104e-01 2.92265701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.659254154 meters 0.016733411743637086 Centerline is valid? [True, True] Translation: X:440.57, Y:5.20, Z:2.92 [[ 9.99273637e-01 -3.63158519e-02 -1.15480494e-02 4.40567310e+02] [ 3.63162378e-02 9.99340332e-01 -1.76346999e-04 5.19618290e+00] [ 1.15468357e-02 -2.43162799e-04 9.99933304e-01 2.92162593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.719254154 meters 0.016874316309373586 Centerline is valid? [True, True] Translation: X:440.63, Y:5.20, Z:2.92 [[ 9.99270457e-01 -3.56647027e-02 -1.36595342e-02 4.40628122e+02] [ 3.56651929e-02 9.99363773e-01 -2.07785786e-04 5.19570154e+00] [ 1.36582543e-02 -2.79535725e-04 9.99906683e-01 2.92048773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779254154 meters 0.015755175034634986 Centerline is valid? [True, True] Translation: X:440.69, Y:5.20, Z:2.92 [[ 9.99335661e-01 -3.34382449e-02 -1.44955617e-02 4.40690201e+02] [ 3.34385767e-02 9.99440750e-01 -2.19548278e-04 5.19777975e+00] [ 1.44947964e-02 -2.65308527e-04 9.99894910e-01 2.92085309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839254154 meters 0.016143001574043622 Centerline is valid? [True, True] Translation: X:440.75, Y:5.20, Z:2.92 [[ 9.99398279e-01 -3.24396931e-02 -1.22778722e-02 4.40751168e+02] [ 3.24398646e-02 9.99473672e-01 -1.85235275e-04 5.19687991e+00] [ 1.22774190e-02 -2.13168695e-04 9.99924607e-01 2.92206411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899254154 meters 0.01563440963830028 Centerline is valid? [True, True] Translation: X:440.81, Y:5.20, Z:2.92 [[ 9.99471448e-01 -3.07346497e-02 -1.05926896e-02 4.40813663e+02] [ 3.07346879e-02 9.99527565e-01 -1.59214705e-04 5.19922795e+00] [ 1.05925786e-02 -1.66432456e-04 9.99943883e-01 2.92380216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959254154 meters 0.014988081965683754 Centerline is valid? [True, True] Translation: X:440.88, Y:5.20, Z:2.92 [[ 9.99589159e-01 -2.67105025e-02 -1.03953029e-02 4.40875944e+02] [ 2.67103294e-02 9.99643203e-01 -1.55509614e-04 5.20135462e+00] [ 1.03957477e-02 -1.22216241e-04 9.99945955e-01 2.92427042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019254154 meters 0.014528083677422783 Centerline is valid? [True, True] Translation: X:440.94, Y:5.20, Z:2.92 [[ 9.99627936e-01 -2.51335227e-02 -1.05969552e-02 4.40938198e+02] [ 2.51332624e-02 9.99684097e-01 -1.57755270e-04 5.20233365e+00] [ 1.05975725e-02 -1.08639481e-04 9.99943838e-01 2.92414649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079254154 meters 0.014892505636633788 Centerline is valid? [True, True] Translation: X:441.00, Y:5.20, Z:2.92 [[ 9.99578910e-01 -2.66834280e-02 -1.14016744e-02 4.41000262e+02] [ 2.66832374e-02 9.99643925e-01 -1.68862007e-04 5.19949409e+00] [ 1.14021203e-02 -1.35442683e-04 9.99934985e-01 2.92354261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139254154 meters 0.015478941165215716 Centerline is valid? [True, True] Translation: X:441.06, Y:5.20, Z:2.92 [[ 9.99465779e-01 -3.03423361e-02 -1.21448880e-02 4.41062313e+02] [ 3.03424013e-02 9.99539547e-01 -1.78937115e-04 5.19539809e+00] [ 1.21447253e-02 -1.89663543e-04 9.99926232e-01 2.92285530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199254154 meters 0.015885674749027266 Centerline is valid? [True, True] Translation: X:441.12, Y:5.19, Z:2.92 [[ 9.99379373e-01 -3.29047739e-02 -1.25755350e-02 4.41124222e+02] [ 3.29050584e-02 9.99458465e-01 -1.84335491e-04 5.19207906e+00] [ 1.25747904e-02 -2.29577627e-04 9.99920908e-01 2.92275204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259254154 meters 0.016677850834206157 Centerline is valid? [True, True] Translation: X:441.19, Y:5.19, Z:2.92 [[ 9.99260597e-01 -3.60764488e-02 -1.32947025e-02 4.41186843e+02] [ 3.60770608e-02 9.99348992e-01 -1.93873879e-04 5.18842555e+00] [ 1.32930418e-02 -2.85903262e-04 9.99911603e-01 2.92252328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319254154 meters 0.017057373278122335 Centerline is valid? [True, True] Translation: X:441.25, Y:5.19, Z:2.92 [[ 9.99183421e-01 -3.80701646e-02 -1.35334635e-02 4.41249277e+02] [ 3.80709950e-02 9.99275018e-01 -1.96351985e-04 5.18795410e+00] [ 1.35311271e-02 -3.19040774e-04 9.99908399e-01 2.92280682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters 0.017320683687518695 Centerline is valid? [True, True] Translation: X:441.31, Y:5.19, Z:2.92 [[ 9.99145742e-01 -3.92496979e-02 -1.29324414e-02 4.41311612e+02] [ 3.92505670e-02 9.99229382e-01 -1.86696713e-04 5.18789063e+00] [ 1.29298032e-02 -3.21068431e-04 9.99916355e-01 2.92379866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters 0.017908234248335226 Centerline is valid? [True, True] Translation: X:441.37, Y:5.19, Z:2.92 [[ 9.99120736e-01 -4.01462316e-02 -1.20844533e-02 4.41374072e+02] [ 4.01470664e-02 9.99193766e-01 -1.73597297e-04 5.18776385e+00] [ 1.20816797e-02 -3.11710688e-04 9.99926965e-01 2.92476162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters 0.01924963414736137 Centerline is valid? [True, True] Translation: X:441.44, Y:5.19, Z:2.92 [[ 9.99120091e-01 -4.01835023e-02 -1.20137517e-02 4.41436353e+02] [ 4.01843406e-02 9.99192268e-01 -1.71707207e-04 5.18825076e+00] [ 1.20109476e-02 -3.11208569e-04 9.99927818e-01 2.92389545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.559254154 meters 0.018111201983016925 Centerline is valid? [True, True] Translation: X:441.50, Y:5.19, Z:2.93 [[ 9.99069863e-01 -4.16075744e-02 -1.13234029e-02 4.41498643e+02] [ 4.16084195e-02 9.99133982e-01 -1.61040749e-04 5.18874463e+00] [ 1.13202971e-02 -3.10257938e-04 9.99935875e-01 2.92618848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.619254154 meters 0.01925046356408388 Centerline is valid? [True, True] Translation: X:441.56, Y:5.19, Z:2.93 [[ 9.99011948e-01 -4.31037160e-02 -1.08257912e-02 4.41559881e+02] [ 4.31045863e-02 9.99070554e-01 -1.53030557e-04 5.18688984e+00] [ 1.08223254e-02 -3.13761897e-04 9.99941388e-01 2.92700841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.679254154 meters 0.019689178818695263 Centerline is valid? [True, True] Translation: X:441.62, Y:5.19, Z:2.93 [[ 9.98967332e-01 -4.41984788e-02 -1.05244874e-02 4.41621655e+02] [ 4.41993742e-02 9.99022719e-01 -1.47619159e-04 5.18694062e+00] [ 1.05207266e-02 -3.17709039e-04 9.99944605e-01 2.92805040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.739254154 meters 0.01956748851401108 Centerline is valid? [True, True] Translation: X:441.68, Y:5.19, Z:2.93 [[ 9.98979341e-01 -4.37123493e-02 -1.13801243e-02 4.41684233e+02] [ 4.37133776e-02 9.99044101e-01 -1.58486772e-04 5.18739012e+00] [ 1.13761738e-02 -3.39138658e-04 9.99935232e-01 2.92730056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.799254154 meters 0.018073755000315467 Centerline is valid? [True, True] Translation: X:441.75, Y:5.19, Z:2.93 [[ 9.99028743e-01 -4.19618684e-02 -1.34451396e-02 4.41746160e+02] [ 4.19631598e-02 9.99119141e-01 -1.86174331e-04 5.19059339e+00] [ 1.34411085e-02 -3.78207033e-04 9.99909593e-01 2.92661946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.859254154 meters 0.018259363828913664 Centerline is valid? [True, True] Translation: X:441.81, Y:5.19, Z:2.93 [[ 9.99053016e-01 -4.12726467e-02 -1.37709934e-02 4.41808220e+02] [ 4.12739502e-02 9.99147849e-01 -1.89654745e-04 5.19082734e+00] [ 1.37670860e-02 -3.78908152e-04 9.99905157e-01 2.92671572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.919254154 meters 0.018278641239047717 Centerline is valid? [True, True] Translation: X:441.87, Y:5.19, Z:2.93 [[ 9.99122863e-01 -3.99353264e-02 -1.25965759e-02 4.41870121e+02] [ 3.99363219e-02 9.99202212e-01 -1.72602709e-04 5.19194143e+00] [ 1.25934195e-02 -3.30609598e-04 9.99920645e-01 2.92851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.979254154 meters 0.01792385116555244 Centerline is valid? [True, True] Translation: X:441.93, Y:5.19, Z:2.93 [[ 9.99184381e-01 -3.85725526e-02 -1.19469733e-02 4.41931911e+02] [ 3.85733607e-02 9.99255758e-01 -1.62861201e-04 5.19359586e+00] [ 1.19443639e-02 -2.98106544e-04 9.99928619e-01 2.92974064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.039254154 meters 0.016436617080918356 Centerline is valid? [True, True] Translation: X:441.99, Y:5.20, Z:2.93 [[ 9.99431701e-01 -3.23502102e-02 -9.47305039e-03 4.41993735e+02] [ 3.23504439e-02 9.99476579e-01 -1.28601029e-04 5.19875325e+00] [ 9.47225227e-03 -1.77929440e-04 9.99955121e-01 2.93253123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.099254154 meters 0.017798287787191197 Centerline is valid? [True, True] Translation: X:442.06, Y:5.20, Z:2.93 [[ 9.99609347e-01 -2.65649641e-02 -8.68660202e-03 4.42055289e+02] [ 2.65649458e-02 9.99647083e-01 -1.17517401e-04 5.20242321e+00] [ 8.68665821e-03 -1.13287619e-04 9.99962264e-01 2.93185009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.159254154 meters 0.015171363015472148 Centerline is valid? [True, True] Translation: X:442.12, Y:5.20, Z:2.93 [[ 9.99600076e-01 -2.70165217e-02 -8.35441328e-03 4.42117969e+02] [ 2.70165235e-02 9.99634981e-01 -1.12662049e-04 5.20126992e+00] [ 8.35440749e-03 -1.13090210e-04 9.99965095e-01 2.93370044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.219254154 meters 0.015840253618757832 Centerline is valid? [True, True] Translation: X:442.18, Y:5.20, Z:2.93 [[ 9.99474735e-01 -3.07690217e-02 -1.01745404e-02 4.42179918e+02] [ 3.07692274e-02 9.99526506e-01 -1.36353095e-04 5.19647949e+00] [ 1.01739183e-02 -1.76781274e-04 9.99948229e-01 2.93125134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279254154 meters 0.01681807116460417 Centerline is valid? [True, True] Translation: X:442.24, Y:5.19, Z:2.93 [[ 9.99261940e-01 -3.65308496e-02 -1.18774214e-02 4.42241272e+02] [ 3.65315459e-02 9.99332488e-01 -1.58404236e-04 5.19006521e+00] [ 1.18752798e-02 -2.75613242e-04 9.99929448e-01 2.92985500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339254154 meters 0.017894575983798247 Centerline is valid? [True, True] Translation: X:442.30, Y:5.19, Z:2.93 [[ 9.99113335e-01 -4.02150586e-02 -1.24616694e-02 4.42302999e+02] [ 4.02161186e-02 9.99190991e-01 -1.65613670e-04 5.18636524e+00] [ 1.24582480e-02 -3.35693151e-04 9.99922337e-01 2.92935205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399254154 meters 0.018543085176845664 Centerline is valid? [True, True] Translation: X:442.36, Y:5.18, Z:2.93 [[ 9.98925285e-01 -4.48607805e-02 -1.16527065e-02 4.42364122e+02] [ 4.48620283e-02 9.98993180e-01 -1.54419675e-04 5.18263301e+00] [ 1.16479017e-02 -3.68510332e-04 9.99932093e-01 2.93032889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459254154 meters 0.020446740638432537 Centerline is valid? [True, True] Translation: X:442.43, Y:5.18, Z:2.93 [[ 9.98842652e-01 -4.68278247e-02 -1.09777509e-02 4.42426574e+02] [ 4.68290555e-02 9.98902907e-01 -1.45040838e-04 5.18040903e+00] [ 1.09724993e-02 -3.69204732e-04 9.99939732e-01 2.93014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519254154 meters 0.020227221950163993 Centerline is valid? [True, True] Translation: X:442.49, Y:5.18, Z:2.93 [[ 9.98766841e-01 -4.87511731e-02 -9.38723821e-03 4.42488722e+02] [ 4.87521637e-02 9.98810899e-01 -1.23403251e-04 5.18022476e+00] [ 9.38209189e-03 -3.34397099e-04 9.99955931e-01 2.93248371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579254154 meters 0.020118768011572218 Centerline is valid? [True, True] Translation: X:442.55, Y:5.18, Z:2.93 [[ 9.98734073e-01 -4.95192032e-02 -8.83740207e-03 4.42550566e+02] [ 4.95201168e-02 9.98773120e-01 -1.15548283e-04 5.18170224e+00] [ 8.83228149e-03 -3.22227175e-04 9.99960943e-01 2.93291862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639254154 meters 0.021353354002411045 Centerline is valid? [True, True] Translation: X:442.61, Y:5.18, Z:2.93 [[ 9.98703222e-01 -4.99551949e-02 -9.81593129e-03 4.42611603e+02] [ 4.99563502e-02 9.98751394e-01 -1.27614091e-04 5.18196276e+00] [ 9.81005005e-03 -3.62919497e-04 9.99951814e-01 2.93203199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699254154 meters 0.02057113983594597 Centerline is valid? [True, True] Translation: X:442.67, Y:5.18, Z:2.93 [[ 9.98680596e-01 -5.04100562e-02 -9.79254033e-03 4.42673682e+02] [ 5.04112337e-02 9.98728537e-01 -1.26710731e-04 5.18446030e+00] [ 9.78647698e-03 -3.67110491e-04 9.99952044e-01 2.93233456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759254154 meters 0.020457951640204235 Centerline is valid? [True, True] Translation: X:442.74, Y:5.19, Z:2.93 [[ 9.98716362e-01 -4.98603032e-02 -8.92069267e-03 4.42735607e+02] [ 4.98612639e-02 9.98756147e-01 -1.14809643e-04 5.18660618e+00] [ 8.91532109e-03 -3.30134743e-04 9.99960203e-01 2.93323554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819254154 meters 0.022106984034110495 Centerline is valid? [True, True] Translation: X:442.80, Y:5.19, Z:2.93 [[ 9.98759026e-01 -4.89463306e-02 -9.20135272e-03 4.42796702e+02] [ 4.89473200e-02 9.98801355e-01 -1.17769953e-04 5.18628849e+00] [ 9.19608797e-03 -3.32757753e-04 9.99957660e-01 2.93358073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters 0.01971883216143594 Centerline is valid? [True, True] Translation: X:442.86, Y:5.19, Z:2.93 [[ 9.98830661e-01 -4.72564481e-02 -1.02048162e-02 4.42858526e+02] [ 4.72575838e-02 9.98882728e-01 -1.29944888e-04 5.19362784e+00] [ 1.01995554e-02 -3.52462019e-04 9.99947921e-01 2.93333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters 0.01988124804947188 Centerline is valid? [True, True] Translation: X:442.92, Y:5.20, Z:2.93 [[ 9.98833324e-01 -4.67095325e-02 -1.22560161e-02 4.42920945e+02] [ 4.67111420e-02 9.98908427e-01 -1.55056773e-04 5.19599579e+00] [ 1.22498804e-02 -4.17616636e-04 9.99924880e-01 2.93222411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99925415399997 meters 0.021431248107570865 Centerline is valid? [True, True] Translation: X:442.98, Y:5.20, Z:2.93 [[ 9.98795964e-01 -4.73891115e-02 -1.26844554e-02 4.42982226e+02] [ 4.73909009e-02 9.98876407e-01 -1.59639862e-04 5.19523893e+00] [ 1.26777685e-02 -4.41680120e-04 9.99919536e-01 2.93173462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.059254154 meters 0.022062402063023703 Centerline is valid? [True, True] Translation: X:443.04, Y:5.20, Z:2.93 [[ 9.98797418e-01 -4.74739281e-02 -1.22451565e-02 4.43044253e+02] [ 4.74756111e-02 9.98872386e-01 -1.53369307e-04 5.19763259e+00] [ 1.22386297e-02 -4.28161417e-04 9.99925014e-01 2.93274416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.119254154 meters 0.02057577345728296 Centerline is valid? [True, True] Translation: X:443.11, Y:5.21, Z:2.93 [[ 9.98984090e-01 -4.36753729e-02 -1.11018000e-02 4.43106197e+02] [ 4.36765301e-02 9.99045715e-01 -1.38309451e-04 5.20611951e+00] [ 1.10972465e-02 -3.46719162e-04 9.99938364e-01 2.93278828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.179254154 meters 0.01764049156730749 Centerline is valid? [True, True] Translation: X:443.17, Y:5.21, Z:2.94 [[ 9.99128040e-01 -4.03863183e-02 -1.05879689e-02 4.43167449e+02] [ 4.03871927e-02 9.99184096e-01 -1.31307417e-04 5.21282750e+00] [ 1.05846331e-02 -2.96425417e-04 9.99943937e-01 2.93634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.239254154 meters 0.01666991192729823 Centerline is valid? [True, True] Translation: X:443.23, Y:5.22, Z:2.94 [[ 9.99332986e-01 -3.51534139e-02 -9.89044700e-03 4.43228872e+02] [ 3.51539241e-02 9.99381902e-01 -1.22304329e-04 5.21859134e+00] [ 9.88863315e-03 -2.25465273e-04 9.99951081e-01 2.93767789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.299254154 meters 0.015991587465687 Centerline is valid? [True, True] Translation: X:443.29, Y:5.22, Z:2.94 [[ 9.99407580e-01 -3.28380487e-02 -1.03030323e-02 4.43291043e+02] [ 3.28384848e-02 9.99460663e-01 -1.26881543e-04 5.22160400e+00] [ 1.03016420e-02 -2.11529594e-04 9.99946914e-01 2.93756393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.359254154 meters 0.01667941494843098 Centerline is valid? [True, True] Translation: X:443.35, Y:5.22, Z:2.94 [[ 9.99343453e-01 -3.44154018e-02 -1.13244228e-02 4.43353011e+02] [ 3.44160400e-02 9.99407583e-01 -1.38576155e-04 5.22192992e+00] [ 1.13224832e-02 -2.51256615e-04 9.99935867e-01 2.93720687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.419254154 meters 0.017567162652950583 Centerline is valid? [True, True] Translation: X:443.41, Y:5.22, Z:2.94 [[ 9.99283115e-01 -3.59300248e-02 -1.19284917e-02 4.43413704e+02] [ 3.59308492e-02 9.99354268e-01 -1.45261767e-04 5.22057223e+00] [ 1.19260084e-02 -2.83443206e-04 9.99928842e-01 2.93684482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.479254154 meters 0.01783222795132449 Centerline is valid? [True, True] Translation: X:443.48, Y:5.22, Z:2.94 [[ 9.99211934e-01 -3.75866302e-02 -1.27575735e-02 4.43476069e+02] [ 3.75877170e-02 9.99293320e-01 -1.54659461e-04 5.22018540e+00] [ 1.27543711e-02 -3.24990482e-04 9.99918607e-01 2.93650596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.539254154 meters 0.018145405389932964 Centerline is valid? [True, True] Translation: X:443.54, Y:5.22, Z:2.94 [[ 9.99209514e-01 -3.76248368e-02 -1.28342493e-02 4.43538402e+02] [ 3.76259518e-02 9.99291881e-01 -1.54659569e-04 5.22026271e+00] [ 1.28309802e-02 -3.28363534e-04 9.99917626e-01 2.93778276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.599254154 meters 0.017150720652567574 Centerline is valid? [True, True] Translation: X:443.60, Y:5.22, Z:2.94 [[ 9.99297055e-01 -3.54147368e-02 -1.22960067e-02 4.43601007e+02] [ 3.54156049e-02 9.99372660e-01 -1.47201833e-04 5.22376654e+00] [ 1.22935060e-02 -2.88372155e-04 9.99924390e-01 2.93893697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.659254154 meters 0.01744542077131791 Centerline is valid? [True, True] Translation: X:443.66, Y:5.23, Z:2.94 [[ 9.99453240e-01 -3.08958562e-02 -1.17757149e-02 4.43662046e+02] [ 3.08963480e-02 9.99522584e-01 -1.40198715e-04 5.22669807e+00] [ 1.17744245e-02 -2.23704525e-04 9.99930654e-01 2.93803989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.719254154 meters 0.015510374127630643 Centerline is valid? [True, True] Translation: X:443.72, Y:5.23, Z:2.94 [[ 9.99604367e-01 -2.56061424e-02 -1.16376621e-02 4.43722491e+02] [ 2.56062682e-02 9.99672096e-01 -1.38221563e-04 5.23105413e+00] [ 1.16373854e-02 -1.59830219e-04 9.99932271e-01 2.94016853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779254154 meters 0.01463421485610309 Centerline is valid? [True, True] Translation: X:443.78, Y:5.24, Z:2.94 [[ 9.99724795e-01 -1.94298646e-02 -1.31459125e-02 4.43783591e+02] [ 1.94294960e-02 9.99811217e-01 -1.55763891e-04 5.23594706e+00] [ 1.31464572e-02 -9.96974299e-05 9.99913577e-01 2.94032310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839254154 meters 0.014454195279704797 Centerline is valid? [True, True] Translation: X:443.84, Y:5.24, Z:2.94 [[ 9.99753265e-01 -1.75003878e-02 -1.36801187e-02 4.43844419e+02] [ 1.74998115e-02 9.99846853e-01 -1.61838972e-04 5.23749896e+00] [ 1.36808559e-02 -7.76004580e-05 9.99906410e-01 2.94044149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899254154 meters 0.014377525394286769 Centerline is valid? [True, True] Translation: X:443.90, Y:5.24, Z:2.94 [[ 9.99781166e-01 -1.48064716e-02 -1.47779565e-02 4.43904536e+02] [ 1.48055005e-02 9.99890377e-01 -1.75122308e-04 5.23895243e+00] [ 1.47789295e-02 -4.37110570e-05 9.99890785e-01 2.94023398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959254154 meters 0.014274008865609443 Centerline is valid? [True, True] Translation: X:443.96, Y:5.24, Z:2.94 [[ 9.99792239e-01 -1.36764420e-02 -1.51140531e-02 4.43962079e+02] [ 1.36752560e-02 9.99906473e-01 -1.81824271e-04 5.23927978e+00] [ 1.51151263e-02 -2.49020513e-05 9.99885760e-01 2.94074755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019254154 meters 0.014176147177223871 Centerline is valid? [True, True] Translation: X:444.02, Y:5.24, Z:2.94 [[ 9.99770168e-01 -1.46686632e-02 -1.56346005e-02 4.44019636e+02] [ 1.46674427e-02 9.99892409e-01 -1.92735166e-04 5.23753170e+00] [ 1.56357455e-02 -3.66287364e-05 9.99877754e-01 2.94050187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079254154 meters 0.014294716153305983 Centerline is valid? [True, True] Translation: X:444.08, Y:5.23, Z:2.94 [[ 9.99675392e-01 -1.96713851e-02 -1.61909745e-02 4.44078863e+02] [ 1.96706882e-02 9.99806493e-01 -2.02313782e-04 5.23217186e+00] [ 1.61918212e-02 -1.16239500e-04 9.99868897e-01 2.94042721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139254154 meters 0.015505045169588496 Centerline is valid? [True, True] Translation: X:444.14, Y:5.22, Z:2.94 [[ 9.99449128e-01 -2.91930789e-02 -1.57862065e-02 4.44138232e+02] [ 2.91935881e-02 9.99573757e-01 -1.98229463e-04 5.22419280e+00] [ 1.57852646e-02 -2.62735746e-04 9.99875370e-01 2.94171234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199254154 meters 0.01854282144211325 Centerline is valid? [True, True] Translation: X:444.20, Y:5.21, Z:2.94 [[ 9.99111446e-01 -3.98839232e-02 -1.36231992e-02 4.44197926e+02] [ 3.98852910e-02 9.99204250e-01 -1.71386803e-04 5.21347600e+00] [ 1.36191941e-02 -3.72130749e-04 9.99907185e-01 2.94339009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259254154 meters 0.022773254517033693 Centerline is valid? [True, True] Translation: X:444.26, Y:5.20, Z:2.94 [[ 9.98847187e-01 -4.62718004e-02 -1.27756456e-02 4.44258398e+02] [ 4.62735265e-02 9.98928794e-01 -1.60616583e-04 5.20495511e+00] [ 1.27693922e-02 -4.30742752e-04 9.99918375e-01 2.94319913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319254154 meters 0.022668806829367526 Centerline is valid? [True, True] Translation: X:444.32, Y:5.20, Z:2.95 [[ 9.98388879e-01 -5.55703551e-02 -1.14708799e-02 4.44319399e+02] [ 5.55723604e-02 9.98454652e-01 -1.44092354e-04 5.20105270e+00] [ 1.14611606e-02 -4.93603667e-04 9.99934197e-01 2.94527692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters 0.024420896627879076 Centerline is valid? [True, True] Translation: X:444.38, Y:5.20, Z:2.94 [[ 9.98128740e-01 -6.00570325e-02 -1.14966172e-02 4.44380062e+02] [ 6.00593462e-02 9.98194798e-01 -1.44208683e-04 5.19700700e+00] [ 1.14845242e-02 -5.46540479e-04 9.99933901e-01 2.94490761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters 0.026675966996755007 Centerline is valid? [True, True] Translation: X:444.44, Y:5.19, Z:2.94 [[ 9.97857298e-01 -6.44112187e-02 -1.14894783e-02 4.44441290e+02] [ 6.44138224e-02 9.97923263e-01 -1.43678975e-04 5.19219893e+00] [ 1.14748722e-02 -5.96710104e-04 9.99933983e-01 2.94466017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49925415399997 meters 0.02708873649637361 Centerline is valid? [True, True] Translation: X:444.50, Y:5.19, Z:2.94 [[ 9.97767373e-01 -6.56712709e-02 -1.21471384e-02 4.44503685e+02] [ 6.56742824e-02 9.97841102e-01 -1.51237964e-04 5.19167616e+00] [ 1.21308460e-02 -6.46854295e-04 9.99926209e-01 2.94450230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.559254154 meters 0.026504655893958316 Centerline is valid? [True, True] Translation: X:444.57, Y:5.19, Z:2.94 [[ 9.97941585e-01 -6.24939617e-02 -1.43908961e-02 4.44565749e+02] [ 6.24978737e-02 9.98045081e-01 -1.78163605e-04 5.19371135e+00] [ 1.43738972e-02 -7.21603535e-04 9.99896430e-01 2.94243672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.619254154 meters 0.023873318522971726 Centerline is valid? [True, True] Translation: X:444.63, Y:5.20, Z:2.94 [[ 9.98157865e-01 -5.85783869e-02 -1.57939601e-02 4.44626399e+02] [ 5.85826190e-02 9.98282545e-01 -1.94960158e-04 5.19945710e+00] [ 1.57782551e-02 -7.30650532e-04 9.99875249e-01 2.94204253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.679254154 meters 0.02227505438729671 Centerline is valid? [True, True] Translation: X:444.69, Y:5.21, Z:2.94 [[ 9.98575131e-01 -5.08442777e-02 -1.62039299e-02 4.44685748e+02] [ 5.08477150e-02 9.98706398e-01 -2.00066307e-04 5.20627075e+00] [ 1.61931407e-02 -6.24151570e-04 9.99868688e-01 2.94224287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.739254154 meters 0.01814148795822367 Centerline is valid? [True, True] Translation: X:444.75, Y:5.22, Z:2.94 [[ 9.99064057e-01 -4.01978415e-02 -1.59732240e-02 4.44746272e+02] [ 4.01998197e-02 9.99191641e-01 -1.97346024e-04 5.21898720e+00] [ 1.59682448e-02 -4.44959405e-04 9.99872400e-01 2.94425185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.799254154 meters 0.016027391241136495 Centerline is valid? [True, True] Translation: X:444.81, Y:5.23, Z:2.95 [[ 9.99479010e-01 -2.89297527e-02 -1.43100681e-02 4.44805985e+02] [ 2.89301843e-02 9.99581419e-01 -1.76889092e-04 5.22903065e+00] [ 1.43091955e-02 -2.37195971e-04 9.99897590e-01 2.94635896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.859254154 meters 0.01671357725259838 Centerline is valid? [True, True] Translation: X:444.87, Y:5.24, Z:2.95 [[ 9.99660696e-01 -2.18056015e-02 -1.42481413e-02 4.44867349e+02] [ 2.18053087e-02 9.99762221e-01 -1.75920256e-04 5.23515271e+00] [ 1.42485894e-02 -1.34824553e-04 9.99898475e-01 2.94623969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.919254154 meters 0.014511488898962328 Centerline is valid? [True, True] Translation: X:444.93, Y:5.24, Z:2.95 [[ 9.99799596e-01 -1.53024346e-02 -1.29075259e-02 4.44927407e+02] [ 1.53016552e-02 9.99882910e-01 -1.59142648e-04 5.24050584e+00] [ 1.29084499e-02 -3.83957566e-05 9.99916682e-01 2.94724357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.979254154 meters 0.014360391516877971 Centerline is valid? [True, True] Translation: X:444.99, Y:5.24, Z:2.95 [[ 9.99794904e-01 -1.46972222e-02 -1.39334922e-02 4.44985791e+02] [ 1.46962289e-02 9.99891990e-01 -1.73676960e-04 5.24121800e+00] [ 1.39345398e-02 -3.11284520e-05 9.99902909e-01 2.94606981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.039254154 meters 0.0142350055752932 Centerline is valid? [True, True] Translation: X:445.04, Y:5.24, Z:2.95 [[ 9.99730873e-01 -1.81997999e-02 -1.43857188e-02 4.45044694e+02] [ 1.81990491e-02 9.99834367e-01 -1.83111800e-04 5.23900906e+00] [ 1.43866687e-02 -7.87438837e-05 9.99896503e-01 2.94556171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.099254154 meters 0.015308822549773046 Centerline is valid? [True, True] Translation: X:445.10, Y:5.23, Z:2.94 [[ 9.99503359e-01 -2.77991463e-02 -1.48405491e-02 4.45104315e+02] [ 2.77993738e-02 9.99613504e-01 -1.90995557e-04 5.23070993e+00] [ 1.48401228e-02 -2.21657270e-04 9.99889855e-01 2.94491737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.159254154 meters 0.018145450739096843 Centerline is valid? [True, True] Translation: X:445.16, Y:5.22, Z:2.94 [[ 9.99162502e-01 -3.81392475e-02 -1.48220238e-02 4.45164674e+02] [ 3.81406170e-02 9.99272364e-01 -1.90371855e-04 5.22009837e+00] [ 1.48184994e-02 -3.75108714e-04 9.99890130e-01 2.94477597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.219254154 meters 0.021569225187985902 Centerline is valid? [True, True] Translation: X:445.22, Y:5.21, Z:2.95 [[ 9.98864468e-01 -4.55856386e-02 -1.38464270e-02 4.45224555e+02] [ 4.55875551e-02 9.98960331e-01 -1.77352930e-04 5.21199617e+00] [ 1.38401161e-02 -4.54073215e-04 9.99904118e-01 2.94538008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279254154 meters 0.021481313619668495 Centerline is valid? [True, True] Translation: X:445.29, Y:5.21, Z:2.95 [[ 9.98668787e-01 -4.97974995e-02 -1.34485069e-02 4.45286075e+02] [ 4.97996919e-02 9.98759211e-01 -1.72011944e-04 5.21020269e+00] [ 1.34403859e-02 -4.97948542e-04 9.99909550e-01 2.94606207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339254154 meters 0.022048982766344396 Centerline is valid? [True, True] Translation: X:445.35, Y:5.21, Z:2.95 [[ 9.98508688e-01 -5.28377386e-02 -1.37321891e-02 4.45348300e+02] [ 5.28403221e-02 9.98602959e-01 -1.74877641e-04 5.20909862e+00] [ 1.37222448e-02 -5.50996453e-04 9.99905694e-01 2.94580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399254154 meters 0.023081914664532438 Centerline is valid? [True, True] Translation: X:445.41, Y:5.21, Z:2.95 [[ 9.98313589e-01 -5.65084925e-02 -1.32954597e-02 4.45409239e+02] [ 5.65112470e-02 9.98401948e-01 -1.68718261e-04 5.20722948e+00] [ 1.32837468e-02 -5.82909272e-04 9.99911597e-01 2.94600731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459254154 meters 0.026847756413531376 Centerline is valid? [True, True] Translation: X:445.47, Y:5.20, Z:2.95 [[ 9.98027866e-01 -6.12869161e-02 -1.35754305e-02 4.45468950e+02] [ 6.12902365e-02 9.98119971e-01 -1.71706040e-04 5.20290498e+00] [ 1.35604316e-02 -6.60673931e-04 9.99907835e-01 2.94518266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519254154 meters 0.026503730889884353 Centerline is valid? [True, True] Translation: X:445.53, Y:5.21, Z:2.94 [[ 9.97807167e-01 -6.45527383e-02 -1.46219777e-02 4.45530025e+02] [ 6.45569490e-02 9.97914008e-01 -1.84336071e-04 5.20568596e+00] [ 1.46033758e-02 -7.60018419e-04 9.99893076e-01 2.94477041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579254154 meters 0.02637302070562128 Centerline is valid? [True, True] Translation: X:445.59, Y:5.21, Z:2.94 [[ 9.97783638e-01 -6.47053175e-02 -1.55252301e-02 4.45592136e+02] [ 6.47100953e-02 9.97904086e-01 -1.94938009e-04 5.21026991e+00] [ 1.55053040e-02 -8.10133160e-04 9.99879457e-01 2.94474202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639254154 meters 0.02632785974164252 Centerline is valid? [True, True] Translation: X:445.65, Y:5.21, Z:2.94 [[ 9.97867024e-01 -6.31687908e-02 -1.64653050e-02 4.45654547e+02] [ 6.31739768e-02 9.98002508e-01 -2.05487179e-04 5.21497607e+00] [ 1.64453961e-02 -8.35129917e-04 9.99864417e-01 2.94431306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699254154 meters 0.02493896786850748 Centerline is valid? [True, True] Translation: X:445.72, Y:5.22, Z:2.95 [[ 9.97977098e-01 -6.14877046e-02 -1.61547041e-02 4.45716852e+02] [ 6.14924962e-02 9.98107526e-01 -2.00423625e-04 5.22173241e+00] [ 1.61364553e-02 -7.93374893e-04 9.99869484e-01 2.94545920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759254154 meters 0.02532735147608415 Centerline is valid? [True, True] Translation: X:445.78, Y:5.23, Z:2.94 [[ 9.98209431e-01 -5.70171615e-02 -1.80824675e-02 4.45776203e+02] [ 5.70224396e-02 9.98372872e-01 -2.23992584e-04 5.22773237e+00] [ 1.80658165e-02 -8.07514903e-04 9.99836474e-01 2.94368185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819254154 meters 0.023894270405399362 Centerline is valid? [True, True] Translation: X:445.84, Y:5.23, Z:2.94 [[ 9.98355948e-01 -5.39182193e-02 -1.94480278e-02 4.45837677e+02] [ 5.39237446e-02 9.98545027e-01 -2.40571563e-04 5.23421153e+00] [ 1.94327026e-02 -8.08534431e-04 9.99810840e-01 2.94355306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters 0.019678248851929668 Centerline is valid? [True, True] Translation: X:445.90, Y:5.25, Z:2.95 [[ 9.98912547e-01 -4.31973369e-02 -1.75417416e-02 4.45897356e+02] [ 4.32001859e-02 9.99066413e-01 -2.16664051e-04 5.24843869e+00] [ 1.75347241e-02 -5.41378058e-04 9.99846108e-01 2.94723798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters 0.015410019040120036 Centerline is valid? [True, True] Translation: X:445.96, Y:5.26, Z:2.95 [[ 9.99461156e-01 -2.88738214e-02 -1.56108744e-02 4.45958010e+02] [ 2.88743322e-02 9.99583031e-01 -1.92715250e-04 5.26462870e+00] [ 1.56099295e-02 -2.58142165e-04 9.99878124e-01 2.95035188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99925415399997 meters 0.013913854176229243 Centerline is valid? [True, True] Translation: X:446.02, Y:5.28, Z:2.95 [[ 9.99698897e-01 -1.98904504e-02 -1.43696019e-02 4.46018303e+02] [ 1.98899556e-02 9.99802160e-01 -1.77362443e-04 5.27525041e+00] [ 1.43702868e-02 -1.08501704e-04 9.99896736e-01 2.95253662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.059254154 meters 0.013597140434667044 Centerline is valid? [True, True] Translation: X:446.08, Y:5.28, Z:2.95 [[ 9.99857921e-01 -1.06761047e-02 -1.30444751e-02 4.46077439e+02] [ 1.06749096e-02 9.99943009e-01 -1.61241637e-04 5.28340937e+00] [ 1.30454531e-02 2.19701362e-05 9.99914904e-01 2.95382391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.119254154 meters 0.01390858631974662 Centerline is valid? [True, True] Translation: X:446.14, Y:5.29, Z:2.95 [[ 9.99864910e-01 -8.56391570e-03 -1.40292752e-02 4.46136109e+02] [ 8.56229546e-03 9.99963327e-01 -1.75551483e-04 5.28631703e+00] [ 1.40302641e-02 5.54049683e-05 9.99901569e-01 2.95310291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.179254154 meters 0.014201894076439922 Centerline is valid? [True, True] Translation: X:446.20, Y:5.28, Z:2.95 [[ 9.99809630e-01 -1.14450763e-02 -1.58023340e-02 4.46195269e+02] [ 1.14433397e-02 9.99934503e-01 -2.00320538e-04 5.28438260e+00] [ 1.58035916e-02 1.94509282e-05 9.99875115e-01 2.95147513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.239254154 meters 0.014119458631694618 Centerline is valid? [True, True] Translation: X:446.25, Y:5.28, Z:2.95 [[ 9.99736429e-01 -1.57017021e-02 -1.67489911e-02 4.46253015e+02] [ 1.57003250e-02 9.99876719e-01 -2.13717034e-04 5.27929319e+00] [ 1.67502820e-02 -4.93038990e-05 9.99859703e-01 2.95028165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.299254154 meters 0.014289237192670933 Centerline is valid? [True, True] Translation: X:446.31, Y:5.28, Z:2.95 [[ 9.99706733e-01 -1.81091743e-02 -1.60781033e-02 4.46311195e+02] [ 1.81081652e-02 9.99836012e-01 -2.08354826e-04 5.27617555e+00] [ 1.60792398e-02 -8.28512275e-05 9.99870717e-01 2.95032580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.359254154 meters 0.014292632586787589 Centerline is valid? [True, True] Translation: X:446.37, Y:5.27, Z:2.95 [[ 9.99709150e-01 -1.96787581e-02 -1.39413399e-02 4.46369862e+02] [ 1.96781042e-02 9.99806350e-01 -1.84091445e-04 5.27255694e+00] [ 1.39422629e-02 -9.03012370e-05 9.99902798e-01 2.95161968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.419254154 meters 0.014408398690966249 Centerline is valid? [True, True] Translation: X:446.43, Y:5.27, Z:2.95 [[ 9.99733862e-01 -1.91067350e-02 -1.29281705e-02 4.46429284e+02] [ 1.91061020e-02 9.99817447e-01 -1.72479320e-04 5.27074759e+00] [ 1.29291060e-02 -7.45735282e-05 9.99916413e-01 2.95231418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.479254154 meters 0.014150260241722327 Centerline is valid? [True, True] Translation: X:446.49, Y:5.27, Z:2.95 [[ 9.99790064e-01 -1.74304267e-02 -1.07707440e-02 4.46489414e+02] [ 1.74298864e-02 9.99848078e-01 -1.44040953e-04 5.26630758e+00] [ 1.07716184e-02 -4.37221308e-05 9.99941983e-01 2.95289839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.539254154 meters 0.013943880778496514 Centerline is valid? [True, True] Translation: X:446.55, Y:5.26, Z:2.95 [[ 9.99797393e-01 -1.76861591e-02 -9.61106771e-03 4.46549546e+02] [ 1.76857387e-02 9.99843587e-01 -1.28744515e-04 5.26057032e+00] [ 9.61184141e-03 -4.12604018e-05 9.99953804e-01 2.95369961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.599254154 meters 0.013920510584366292 Centerline is valid? [True, True] Translation: X:446.61, Y:5.25, Z:2.95 [[ 9.99730711e-01 -2.04185656e-02 -1.10266503e-02 4.46610553e+02] [ 2.04181792e-02 9.99791516e-01 -1.47629949e-04 5.25120426e+00] [ 1.10273658e-02 -7.75539275e-05 9.99939194e-01 2.95151594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.659254154 meters 0.014300755479881773 Centerline is valid? [True, True] Translation: X:446.67, Y:5.24, Z:2.95 [[ 9.99631092e-01 -2.35897156e-02 -1.34612837e-02 4.46671300e+02] [ 2.35894307e-02 9.99721714e-01 -1.79961561e-04 5.24233676e+00] [ 1.34617829e-02 -1.37648848e-04 9.99909377e-01 2.94880712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.719254154 meters 0.014623217718875177 Centerline is valid? [True, True] Translation: X:446.73, Y:5.24, Z:2.95 [[ 9.99598912e-01 -2.44994475e-02 -1.42053326e-02 4.46732076e+02] [ 2.44992240e-02 9.99699831e-01 -1.89784434e-04 5.23835355e+00] [ 1.42057182e-02 -1.58311311e-04 9.99899081e-01 2.94804618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779254154 meters 0.014331090025236057 Centerline is valid? [True, True] Translation: X:446.79, Y:5.23, Z:2.95 [[ 9.99618508e-01 -2.30521326e-02 -1.52130566e-02 4.46791504e+02] [ 2.30517064e-02 9.99734253e-01 -2.03392571e-04 5.23498291e+00] [ 1.52137024e-02 -1.47371935e-04 9.99884254e-01 2.94791250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839254154 meters 0.014356425677472254 Centerline is valid? [True, True] Translation: X:446.85, Y:5.23, Z:2.95 [[ 9.99632886e-01 -2.25415432e-02 -1.50323611e-02 4.46849929e+02] [ 2.25410382e-02 9.99745898e-01 -2.03051347e-04 5.23336018e+00] [ 1.50331185e-02 -1.35868223e-04 9.99886987e-01 2.94823411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899254154 meters 0.014685323191734451 Centerline is valid? [True, True] Translation: X:446.91, Y:5.23, Z:2.95 [[ 9.99624271e-01 -2.38442401e-02 -1.35191879e-02 4.46909194e+02] [ 2.38439101e-02 9.99715676e-01 -1.85616819e-04 5.22854350e+00] [ 1.35197700e-02 -1.36803223e-04 9.99908594e-01 2.94956463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959254154 meters 0.014865294857046782 Centerline is valid? [True, True] Translation: X:446.97, Y:5.22, Z:2.95 [[ 9.99605752e-01 -2.49353376e-02 -1.29061673e-02 4.46968849e+02] [ 2.49351059e-02 9.99689056e-01 -1.78895170e-04 5.22302230e+00] [ 1.29066150e-02 -1.42992008e-04 9.99916696e-01 2.95037183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019254154 meters 0.014446453666715622 Centerline is valid? [True, True] Translation: X:447.03, Y:5.22, Z:2.95 [[ 9.99649683e-01 -2.33373162e-02 -1.24851936e-02 4.47029780e+02] [ 2.33369720e-02 9.99727641e-01 -1.73276113e-04 5.22220777e+00] [ 1.24858370e-02 -1.18151203e-04 9.99922042e-01 2.95227678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079254154 meters 0.013744396946369326 Centerline is valid? [True, True] Translation: X:447.09, Y:5.22, Z:2.95 [[ 9.99745408e-01 -2.03091108e-02 -9.83156460e-03 4.47090625e+02] [ 2.03087509e-02 9.99793747e-01 -1.36447647e-04 5.21962735e+00] [ 9.83230793e-03 -6.32538877e-05 9.99951660e-01 2.95445812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139254154 meters 0.013771465108685977 Centerline is valid? [True, True] Translation: X:447.15, Y:5.22, Z:2.96 [[ 9.99787948e-01 -1.91832366e-02 -7.48749689e-03 4.47150885e+02] [ 1.91829963e-02 9.99815984e-01 -1.03915437e-04 5.21578469e+00] [ 7.48811251e-03 -3.97392235e-05 9.99971963e-01 2.95576465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199254154 meters 0.013657215096298261 Centerline is valid? [True, True] Translation: X:447.21, Y:5.21, Z:2.96 [[ 9.99766724e-01 -2.02173397e-02 -7.59977643e-03 4.47212750e+02] [ 2.02171223e-02 9.99795608e-01 -1.05440571e-04 5.21272776e+00] [ 7.60035482e-03 -4.82296351e-05 9.99971116e-01 2.95520122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259254154 meters 0.01417408459226244 Centerline is valid? [True, True] Translation: X:447.27, Y:5.20, Z:2.95 [[ 9.99663142e-01 -2.42873358e-02 -9.15026573e-03 4.47273602e+02] [ 2.42871967e-02 9.99705015e-01 -1.26337053e-04 5.20482800e+00] [ 9.15063492e-03 -9.59398085e-05 9.99958127e-01 2.95318751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319254154 meters 0.015490643984043593 Centerline is valid? [True, True] Translation: X:447.33, Y:5.20, Z:2.95 [[ 9.99520056e-01 -2.91273445e-02 -1.05477989e-02 4.47334114e+02] [ 2.91274403e-02 9.99575696e-01 -1.44569239e-04 5.19722350e+00] [ 1.05475344e-02 -1.62730529e-04 9.99944360e-01 2.95186206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters 0.016319274454384122 Centerline is valid? [True, True] Translation: X:447.40, Y:5.19, Z:2.95 [[ 9.99403610e-01 -3.30585261e-02 -9.97786431e-03 4.47395729e+02] [ 3.30588100e-02 9.99453399e-01 -1.36531418e-04 5.19094257e+00] [ 9.97692392e-03 -1.93406328e-04 9.99950211e-01 2.95241553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters 0.017564803614802043 Centerline is valid? [True, True] Translation: X:447.46, Y:5.19, Z:2.95 [[ 9.99346246e-01 -3.49897480e-02 -9.09938015e-03 4.47456450e+02] [ 3.49900667e-02 9.99387652e-01 -1.24213448e-04 5.18696553e+00] [ 9.09815437e-03 -1.94255675e-04 9.99958592e-01 2.95337698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49925415399997 meters 0.017451393502283346 Centerline is valid? [True, True] Translation: X:447.52, Y:5.19, Z:2.95 [[ 9.99285897e-01 -3.68499658e-02 -8.35322652e-03 4.47518851e+02] [ 3.68503022e-02 9.99320790e-01 -1.13693382e-04 5.18701408e+00] [ 8.35174253e-03 -1.94206728e-04 9.99965105e-01 2.95377077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.559254154 meters 0.017093102710700185 Centerline is valid? [True, True] Translation: X:447.58, Y:5.19, Z:2.95 [[ 9.99245105e-01 -3.80941155e-02 -7.61967186e-03 4.47580999e+02] [ 3.80944354e-02 9.99274138e-01 -1.03193559e-04 5.18534106e+00] [ 7.61807210e-03 -1.87151439e-04 9.99970965e-01 2.95432489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.619254154 meters 0.017483412256389216 Centerline is valid? [True, True] Translation: X:447.64, Y:5.18, Z:2.96 [[ 9.99154464e-01 -4.05842177e-02 -6.57863276e-03 4.47642889e+02] [ 4.05845128e-02 9.99176105e-01 -8.86797825e-05 5.18310906e+00] [ 6.57681166e-03 -1.78385805e-04 9.99978357e-01 2.95509704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.679254154 meters 0.018141231685811797 Centerline is valid? [True, True] Translation: X:447.71, Y:5.18, Z:2.96 [[ 9.99104395e-01 -4.17586027e-02 -6.82841224e-03 4.47705074e+02] [ 4.17589517e-02 9.99127710e-01 -9.15194102e-05 5.18242604e+00] [ 6.82627761e-03 -1.93709892e-04 9.99976682e-01 2.95554739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.739254154 meters 0.018182274577150794 Centerline is valid? [True, True] Translation: X:447.77, Y:5.18, Z:2.95 [[ 9.98970957e-01 -4.45335833e-02 -8.58998595e-03 4.47766903e+02] [ 4.45342443e-02 9.99007852e-01 -1.14400818e-04 5.18313589e+00] [ 8.58655809e-03 -2.68265439e-04 9.99963099e-01 2.95474716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.799254154 meters 0.02003067610167225 Centerline is valid? [True, True] Translation: X:447.83, Y:5.18, Z:2.95 [[ 9.98804083e-01 -4.78861248e-02 -9.86522018e-03 4.47828289e+02] [ 4.78871661e-02 9.98852743e-01 -1.30772825e-04 5.18105807e+00] [ 9.86016444e-03 -3.41801006e-04 9.99951329e-01 2.95311565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.859254154 meters 0.020160651520322204 Centerline is valid? [True, True] Translation: X:447.89, Y:5.18, Z:2.95 [[ 9.98729150e-01 -4.92893594e-02 -1.05187459e-02 4.47890335e+02] [ 4.92906281e-02 9.98784469e-01 -1.38753900e-04 5.18176969e+00] [ 1.05127991e-02 -3.79898027e-04 9.99944667e-01 2.95295415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.919254154 meters 0.02105630653984141 Centerline is valid? [True, True] Translation: X:447.95, Y:5.18, Z:2.95 [[ 9.98712062e-01 -4.93754787e-02 -1.16738738e-02 4.47952470e+02] [ 4.93770580e-02 9.98780197e-01 -1.53069526e-04 5.18415445e+00] [ 1.16671919e-02 -4.23549162e-04 9.99931846e-01 2.95275842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.979254154 meters 0.020480510925411644 Centerline is valid? [True, True] Translation: X:448.01, Y:5.19, Z:2.95 [[ 9.98732180e-01 -4.85062713e-02 -1.34600917e-02 4.48014558e+02] [ 4.85083065e-02 9.98822764e-01 -1.75426399e-04 5.18788872e+00] [ 1.34527553e-02 -4.77722264e-04 9.99909393e-01 2.95222574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.039254154 meters 0.019630436899732474 Centerline is valid? [True, True] Translation: X:448.08, Y:5.19, Z:2.95 [[ 9.98751422e-01 -4.81970001e-02 -1.31395102e-02 4.48076957e+02] [ 4.81989254e-02 9.98837742e-01 -1.70286001e-04 5.19205168e+00] [ 1.31324459e-02 -4.63236884e-04 9.99913658e-01 2.95308632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.099254154 meters 0.019081596192396185 Centerline is valid? [True, True] Translation: X:448.14, Y:5.20, Z:2.95 [[ 9.98915470e-01 -4.50086684e-02 -1.19206792e-02 4.48138323e+02] [ 4.50100340e-02 9.98986523e-01 -1.53839331e-04 5.19817883e+00] [ 1.19155220e-02 -3.82877690e-04 9.99928934e-01 2.95499422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.159254154 meters 0.01767472747423161 Centerline is valid? [True, True] Translation: X:448.20, Y:5.21, Z:2.96 [[ 9.99132696e-01 -4.02889500e-02 -1.05193641e-02 4.48199358e+02] [ 4.02897557e-02 9.99188029e-01 -1.35392017e-04 5.20603025e+00] [ 1.05162775e-02 -2.88548020e-04 9.99944661e-01 2.95620099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.219254154 meters 0.017498425022204424 Centerline is valid? [True, True] Translation: X:448.26, Y:5.21, Z:2.96 [[ 9.99202930e-01 -3.82663178e-02 -1.13663315e-02 4.48261892e+02] [ 3.82671348e-02 9.99267534e-01 -1.45681253e-04 5.20980791e+00] [ 1.13635807e-02 -2.89391805e-04 9.99935391e-01 2.95612178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279254154 meters 0.017696632828484108 Centerline is valid? [True, True] Translation: X:448.32, Y:5.21, Z:2.96 [[ 9.99160084e-01 -3.89330864e-02 -1.27805257e-02 4.48324123e+02] [ 3.89341866e-02 9.99241764e-01 -1.62808758e-04 5.21137552e+00] [ 1.27771737e-02 -3.34927360e-04 9.99918312e-01 2.95559676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339254154 meters 0.01815464941268775 Centerline is valid? [True, True] Translation: X:448.39, Y:5.21, Z:2.96 [[ 9.99067925e-01 -4.11210883e-02 -1.31277180e-02 4.48385898e+02] [ 4.11224492e-02 9.99154100e-01 -1.66369225e-04 5.21315832e+00] [ 1.31234545e-02 -3.73629758e-04 9.99913814e-01 2.95587505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399254154 meters 0.01848805659164633 Centerline is valid? [True, True] Translation: X:448.45, Y:5.22, Z:2.96 [[ 9.99001414e-01 -4.22797374e-02 -1.44429748e-02 4.48448320e+02] [ 4.22815198e-02 9.99105720e-01 -1.82054161e-04 5.21559621e+00] [ 1.44377560e-02 -4.28798563e-04 9.99895678e-01 2.95597168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459254154 meters 0.01893832676274617 Centerline is valid? [True, True] Translation: X:448.51, Y:5.22, Z:2.96 [[ 9.98989992e-01 -4.21360832e-02 -1.56059903e-02 4.48509621e+02] [ 4.21381602e-02 9.99111774e-01 -1.95852476e-04 5.21811519e+00] [ 1.56003811e-02 -4.61953056e-04 9.99878200e-01 2.95558231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519254154 meters 0.0187850271687503 Centerline is valid? [True, True] Translation: X:448.57, Y:5.22, Z:2.96 [[ 9.98972367e-01 -4.25055965e-02 -1.57316448e-02 4.48570958e+02] [ 4.25077620e-02 9.99096117e-01 -1.96850731e-04 5.22101064e+00] [ 1.57257925e-02 -4.72068575e-04 9.99876231e-01 2.95580043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579254154 meters 0.018848807549666453 Centerline is valid? [True, True] Translation: X:448.63, Y:5.22, Z:2.96 [[ 9.98882948e-01 -4.51396361e-02 -1.39738883e-02 4.48631838e+02] [ 4.51416071e-02 9.98980583e-01 -1.74499978e-04 5.22333428e+00] [ 1.39675199e-02 -4.56498721e-04 9.99902345e-01 2.95784245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639254154 meters 0.021019957345190243 Centerline is valid? [True, True] Translation: X:448.69, Y:5.22, Z:2.96 [[ 9.98762452e-01 -4.80608070e-02 -1.27954326e-02 4.48692742e+02] [ 4.80627104e-02 9.98844308e-01 -1.58880950e-04 5.22244883e+00] [ 1.27882810e-02 -4.56298846e-04 9.99918122e-01 2.95833771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699254154 meters 0.022354457684667425 Centerline is valid? [True, True] Translation: X:448.75, Y:5.22, Z:2.96 [[ 9.98556516e-01 -5.22479433e-02 -1.24513962e-02 4.48753437e+02] [ 5.22500825e-02 9.98634020e-01 -1.53659007e-04 5.22232060e+00] [ 1.24424162e-02 -4.97149275e-04 9.99922467e-01 2.95891745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759254154 meters 0.023913462625796172 Centerline is valid? [True, True] Translation: X:448.81, Y:5.22, Z:2.96 [[ 9.98394426e-01 -5.51229382e-02 -1.30396407e-02 4.48814447e+02] [ 5.51255323e-02 9.98479419e-01 -1.60676113e-04 5.22103975e+00] [ 1.30286698e-02 -5.58398998e-04 9.99914967e-01 2.95874706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819254154 meters 0.027645370411725646 Centerline is valid? [True, True] Translation: X:448.87, Y:5.22, Z:2.96 [[ 9.98191077e-01 -5.86334507e-02 -1.32925717e-02 4.48874489e+02] [ 5.86364586e-02 9.98279389e-01 -1.63669378e-04 5.21843159e+00] [ 1.32792969e-02 -6.16056020e-04 9.99911636e-01 2.95826799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters 0.027739745324690864 Centerline is valid? [True, True] Translation: X:448.94, Y:5.22, Z:2.96 [[ 9.98178941e-01 -5.89663095e-02 -1.27191326e-02 4.48936235e+02] [ 5.89690958e-02 9.98259797e-01 -1.56188025e-04 5.22111773e+00] [ 1.27062086e-02 -5.94132153e-04 9.99919096e-01 2.95906029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters 0.026879741321824326 Centerline is valid? [True, True] Translation: X:449.00, Y:5.23, Z:2.96 [[ 9.98371292e-01 -5.56094136e-02 -1.27419122e-02 4.48997659e+02] [ 5.56119457e-02 9.98452446e-01 -1.55787683e-04 5.22592858e+00] [ 1.27308567e-02 -5.53068579e-04 9.99918806e-01 2.95927738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99925415399997 meters 0.025183780440577 Centerline is valid? [True, True] Translation: X:449.06, Y:5.23, Z:2.96 [[ 9.98525002e-01 -5.28348928e-02 -1.25018152e-02 4.49059133e+02] [ 5.28371186e-02 9.98603132e-01 -1.52420866e-04 5.23203268e+00] [ 1.24924050e-02 -5.08363848e-04 9.99921838e-01 2.96003643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.059254154 meters 0.021461732813614288 Centerline is valid? [True, True] Translation: X:449.12, Y:5.24, Z:2.96 [[ 9.98666884e-01 -5.00937675e-02 -1.24526926e-02 4.49120990e+02] [ 5.00957710e-02 9.98744407e-01 -1.51182728e-04 5.24011500e+00] [ 1.24446304e-02 -4.72846052e-04 9.99922451e-01 2.96052879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.119254154 meters 0.025547472342845497 Centerline is valid? [True, True] Translation: X:449.18, Y:5.24, Z:2.96 [[ 9.98789612e-01 -4.76186746e-02 -1.23196183e-02 4.49181069e+02] [ 4.76204544e-02 9.98865492e-01 -1.48997145e-04 5.23630209e+00] [ 1.23127366e-02 -4.37849022e-04 9.99924100e-01 2.95966973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.179254154 meters 0.023009198426178566 Centerline is valid? [True, True] Translation: X:449.24, Y:5.24, Z:2.96 [[ 9.99051948e-01 -4.16635179e-02 -1.26236151e-02 4.49242081e+02] [ 4.16649148e-02 9.99131629e-01 -1.52427629e-04 5.24312180e+00] [ 1.26190038e-02 -3.73678727e-04 9.99920307e-01 2.95991299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.239254154 meters 0.017461542819764163 Centerline is valid? [True, True] Translation: X:449.30, Y:5.25, Z:2.96 [[ 9.99354415e-01 -3.38625173e-02 -1.20034982e-02 4.49302337e+02] [ 3.38632194e-02 9.99426466e-01 -1.44808417e-04 5.25490862e+00] [ 1.20015174e-02 -2.61762163e-04 9.99927945e-01 2.96159686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.299254154 meters 0.015767897595031933 Centerline is valid? [True, True] Translation: X:449.36, Y:5.26, Z:2.96 [[ 9.99504588e-01 -2.90585608e-02 -1.20904497e-02 4.49363478e+02] [ 2.90589242e-02 9.99577690e-01 -1.45657281e-04 5.26049582e+00] [ 1.20895763e-02 -2.05750340e-04 9.99926897e-01 2.96237665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.359254154 meters 0.01651761396582009 Centerline is valid? [True, True] Translation: X:449.42, Y:5.26, Z:2.96 [[ 9.99644076e-01 -2.33707568e-02 -1.28658246e-02 4.49424489e+02] [ 2.33707005e-02 9.99726856e-01 -1.54743075e-04 5.26432167e+00] [ 1.28659269e-02 -1.45995336e-04 9.99917220e-01 2.96146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.419254154 meters 0.01634271909995051 Centerline is valid? [True, True] Translation: X:449.49, Y:5.26, Z:2.96 [[ 9.99665121e-01 -2.18406209e-02 -1.38792139e-02 4.49485253e+02] [ 2.18404078e-02 9.99761456e-01 -1.66943623e-04 5.26431472e+00] [ 1.38795493e-02 -1.36239974e-04 9.99903665e-01 2.96067990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.479254154 meters 0.015411256487825868 Centerline is valid? [True, True] Translation: X:449.54, Y:5.26, Z:2.96 [[ 9.99606036e-01 -2.42628491e-02 -1.41098513e-02 4.49543511e+02] [ 2.42628646e-02 9.99705599e-01 -1.70111340e-04 5.26144317e+00] [ 1.41098248e-02 -1.72301090e-04 9.99900437e-01 2.96117023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.539254154 meters 0.016516775884051104 Centerline is valid? [True, True] Translation: X:449.60, Y:5.25, Z:2.96 [[ 9.99404374e-01 -3.15320159e-02 -1.40224345e-02 4.49603503e+02] [ 3.15327394e-02 9.99502705e-01 -1.69544881e-04 5.25468616e+00] [ 1.40208073e-02 -2.72721877e-04 9.99901666e-01 2.96248466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.599254154 meters 0.019781781722839828 Centerline is valid? [True, True] Translation: X:449.66, Y:5.25, Z:2.96 [[ 9.99210126e-01 -3.72677485e-02 -1.37927499e-02 4.49663746e+02] [ 3.72689947e-02 9.99305256e-01 -1.66761044e-04 5.24813446e+00] [ 1.37893823e-02 -3.47412598e-04 9.99904862e-01 2.96180493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.659254154 meters 0.02159854815015593 Centerline is valid? [True, True] Translation: X:449.72, Y:5.24, Z:2.96 [[ 9.98894511e-01 -4.47685589e-02 -1.43363786e-02 4.49724215e+02] [ 4.47706813e-02 9.98997275e-01 -1.73025751e-04 5.23951244e+00] [ 1.43297493e-02 -4.69014967e-04 9.99897214e-01 2.96272303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.719254154 meters 0.02300101467233548 Centerline is valid? [True, True] Translation: X:449.79, Y:5.24, Z:2.96 [[ 9.98717890e-01 -4.85126256e-02 -1.44603093e-02 4.49785604e+02] [ 4.85151830e-02 9.98822430e-01 -1.74086842e-04 5.23558807e+00] [ 1.44517267e-02 -5.27680911e-04 9.99895429e-01 2.96316842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779254154 meters 0.026559555243592516 Centerline is valid? [True, True] Translation: X:449.85, Y:5.23, Z:2.96 [[ 9.98513162e-01 -5.25798950e-02 -1.43812063e-02 4.49846152e+02] [ 5.25828529e-02 9.98616550e-01 -1.72624132e-04 5.22860856e+00] [ 1.43703872e-02 -5.83837390e-04 9.99896570e-01 2.96325950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839254154 meters 0.02360503200618819 Centerline is valid? [True, True] Translation: X:449.91, Y:5.23, Z:2.96 [[ 9.98345962e-01 -5.53753435e-02 -1.54567649e-02 4.49907750e+02] [ 5.53791039e-02 9.98465383e-01 -1.84953901e-04 5.23151293e+00] [ 1.54432866e-02 -6.71333809e-04 9.99880520e-01 2.96426852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899254154 meters 0.0301232121985096 Centerline is valid? [True, True] Translation: X:449.97, Y:5.22, Z:2.96 [[ 9.98292645e-01 -5.62008723e-02 -1.59140760e-02 4.49969145e+02] [ 5.62049828e-02 9.98419233e-01 -1.89194130e-04 5.22213113e+00] [ 1.58995524e-02 -7.05579259e-04 9.99873345e-01 2.96233822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959254154 meters 0.023594667822745094 Centerline is valid? [True, True] Translation: X:450.03, Y:5.23, Z:2.96 [[ 9.98290667e-01 -5.59640142e-02 -1.68455719e-02 4.50031467e+02] [ 5.59686119e-02 9.98432509e-01 -1.98762250e-04 5.23115359e+00] [ 1.68302901e-02 -7.44400773e-04 9.99858084e-01 2.96416306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019254154 meters 0.0254359493911343 Centerline is valid? [True, True] Translation: X:450.09, Y:5.23, Z:2.96 [[ 9.98258394e-01 -5.62265907e-02 -1.78535621e-02 4.50092815e+02] [ 5.62318173e-02 9.98417718e-01 -2.09519442e-04 5.22957369e+00] [ 1.78370933e-02 -7.94783703e-04 9.99840591e-01 2.96340439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079254154 meters 0.025203897579247327 Centerline is valid? [True, True] Translation: X:450.15, Y:5.23, Z:2.96 [[ 9.98157500e-01 -5.77736405e-02 -1.85421674e-02 4.50154130e+02] [ 5.77795596e-02 9.98329342e-01 -2.16790400e-04 5.23048631e+00] [ 1.85237146e-02 -8.54967305e-04 9.99828056e-01 2.96372564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139254154 meters 0.028681558655735944 Centerline is valid? [True, True] Translation: X:450.21, Y:5.23, Z:2.96 [[ 9.97901354e-01 -6.14881612e-02 -2.03001062e-02 4.50214524e+02] [ 6.14960332e-02 9.98107300e-01 -2.36835050e-04 5.22633486e+00] [ 2.02762467e-02 -1.01203798e-03 9.99793904e-01 2.96177059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199254154 meters 0.02798495162096059 Centerline is valid? [True, True] Translation: X:450.28, Y:5.23, Z:2.96 [[ 9.97761925e-01 -6.35232590e-02 -2.08790762e-02 4.50275858e+02] [ 6.35320441e-02 9.97979770e-01 -2.42956830e-04 5.22987966e+00] [ 2.08523290e-02 -1.08407731e-03 9.99781979e-01 2.96281952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259254154 meters 0.025362215596726623 Centerline is valid? [True, True] Translation: X:450.34, Y:5.24, Z:2.97 [[ 9.97955059e-01 -6.08957729e-02 -1.94269362e-02 4.50337145e+02] [ 6.09028951e-02 9.98143670e-01 -2.25360165e-04 5.23715795e+00] [ 1.94045969e-02 -9.58257342e-04 9.99811254e-01 2.96595386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319254154 meters 0.024916043853655277 Centerline is valid? [True, True] Translation: X:450.40, Y:5.24, Z:2.97 [[ 9.98291388e-01 -5.52770232e-02 -1.89408520e-02 4.50397552e+02] [ 5.52827900e-02 9.98470713e-01 -2.19403364e-04 5.24372094e+00] [ 1.89240140e-02 -8.28074655e-04 9.99820582e-01 2.96690189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters 0.021909508414853174 Centerline is valid? [True, True] Translation: X:450.46, Y:5.25, Z:2.97 [[ 9.98491571e-01 -5.18601933e-02 -1.80305909e-02 4.50458844e+02] [ 5.18648711e-02 9.98654090e-01 -2.08396776e-04 5.25059349e+00] [ 1.80171308e-02 -7.27071847e-04 9.99837414e-01 2.96895356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters 0.021592839547130944 Centerline is valid? [True, True] Translation: X:450.52, Y:5.26, Z:2.97 [[ 9.98681961e-01 -4.82119648e-02 -1.76053167e-02 4.50518946e+02] [ 4.82158819e-02 9.98836918e-01 -2.02143198e-04 5.25588943e+00] [ 1.75945860e-02 -6.46979107e-04 9.99844994e-01 2.96964988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49925415399997 meters 0.02037003978515585 Centerline is valid? [True, True] Translation: X:450.58, Y:5.26, Z:2.97 [[ 9.98733483e-01 -4.73645066e-02 -1.69715224e-02 4.50580390e+02] [ 4.73680419e-02 9.98877486e-01 -1.93837778e-04 5.26085188e+00] [ 1.69616527e-02 -6.10315505e-04 9.99855955e-01 2.97044337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.559254154 meters 0.02178071797655711 Centerline is valid? [True, True] Translation: X:450.64, Y:5.26, Z:2.97 [[ 9.98691966e-01 -4.80392782e-02 -1.75095912e-02 4.50641594e+02] [ 4.80431598e-02 9.98845241e-01 -1.99135203e-04 5.26105471e+00] [ 1.74989382e-02 -6.42341363e-04 9.99846676e-01 2.97037023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.619254154 meters 0.021041951861662432 Centerline is valid? [True, True] Translation: X:450.70, Y:5.27, Z:2.97 [[ 9.98567581e-01 -5.00694299e-02 -1.88636943e-02 4.50703340e+02] [ 5.00743172e-02 9.98745472e-01 -2.13456881e-04 5.26573724e+00] [ 1.88507169e-02 -7.31435489e-04 9.99822042e-01 2.97050520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.679254154 meters 0.021510782441802632 Centerline is valid? [True, True] Translation: X:450.76, Y:5.27, Z:2.97 [[ 9.98484031e-01 -5.13537391e-02 -1.98099457e-02 4.50764438e+02] [ 5.13593991e-02 9.98680210e-01 -2.23282239e-04 5.26770263e+00] [ 1.97952672e-02 -7.94483159e-04 9.99803739e-01 2.96968684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.739254154 meters 0.021656440443078878 Centerline is valid? [True, True] Translation: X:450.83, Y:5.27, Z:2.97 [[ 9.98615736e-01 -4.92553351e-02 -1.84532683e-02 4.50826228e+02] [ 4.92599043e-02 9.98785973e-01 -2.07129876e-04 5.27182687e+00] [ 1.84410678e-02 -7.02163079e-04 9.99829702e-01 2.97060767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.799254154 meters 0.020734820921185882 Centerline is valid? [True, True] Translation: X:450.89, Y:5.28, Z:2.97 [[ 9.98857980e-01 -4.46126231e-02 -1.71011853e-02 4.50887061e+02] [ 4.46158763e-02 9.99004198e-01 -1.91433640e-04 5.27662768e+00] [ 1.70926962e-02 -5.71769348e-04 9.99853746e-01 2.97206264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.859254154 meters 0.017667180908876597 Centerline is valid? [True, True] Translation: X:450.95, Y:5.29, Z:2.97 [[ 9.99230924e-01 -3.53360274e-02 -1.69978160e-02 4.50947727e+02] [ 3.53379029e-02 9.99375403e-01 -1.90099862e-04 5.28822225e+00] [ 1.69939166e-02 -4.10713511e-04 9.99855509e-01 2.97301200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.919254154 meters 0.016687456734408444 Centerline is valid? [True, True] Translation: X:451.01, Y:5.29, Z:2.97 [[ 9.99328742e-01 -3.28726726e-02 -1.61695259e-02 4.51008508e+02] [ 3.28740480e-02 9.99459486e-01 -1.80801217e-04 5.29318184e+00] [ 1.61667294e-02 -3.50877916e-04 9.99869248e-01 2.97349913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.979254154 meters 0.01679225883423954 Centerline is valid? [True, True] Translation: X:451.07, Y:5.30, Z:2.97 [[ 9.99321892e-01 -3.29353777e-02 -1.64625724e-02 4.51070243e+02] [ 3.29368178e-02 9.99457419e-01 -1.83719212e-04 5.29548342e+00] [ 1.64596910e-02 -3.58630117e-04 9.99864466e-01 2.97367362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.039254154 meters 0.01687832791564652 Centerline is valid? [True, True] Translation: X:451.13, Y:5.30, Z:2.97 [[ 9.99258673e-01 -3.42890217e-02 -1.75033569e-02 4.51131590e+02] [ 3.42908688e-02 9.99411876e-01 -1.94670734e-04 5.29727257e+00] [ 1.74997378e-02 -4.05678895e-04 9.99846786e-01 2.97308579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.099254154 meters 0.01787393045242987 Centerline is valid? [True, True] Translation: X:451.19, Y:5.30, Z:2.97 [[ 9.99141161e-01 -3.64847027e-02 -1.96419508e-02 4.51192382e+02] [ 3.64874632e-02 9.99334087e-01 -2.17939723e-04 5.29872277e+00] [ 1.96368225e-02 -4.98932410e-04 9.99807055e-01 2.97129668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.159254154 meters 0.018122740360572303 Centerline is valid? [True, True] Translation: X:451.25, Y:5.30, Z:2.97 [[ 9.99062297e-01 -3.82811841e-02 -2.02256705e-02 4.51253216e+02] [ 3.82844866e-02 9.99266855e-01 -2.24040384e-04 5.30046567e+00] [ 2.02194187e-02 -5.50499110e-04 9.99795415e-01 2.97115506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.219254154 meters 0.01932191878474155 Centerline is valid? [True, True] Translation: X:451.31, Y:5.30, Z:2.97 [[ 9.98949659e-01 -4.14811048e-02 -1.94652657e-02 4.51313476e+02] [ 4.14847727e-02 9.99139113e-01 -2.15498035e-04 5.30184883e+00] [ 1.94574474e-02 -5.92240434e-04 9.99810511e-01 2.97190985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279254154 meters 0.01970010109171297 Centerline is valid? [True, True] Translation: X:451.37, Y:5.30, Z:2.97 [[ 9.98898807e-01 -4.30864048e-02 -1.85670175e-02 4.51374911e+02] [ 4.30900269e-02 9.99071172e-01 -2.05119670e-04 5.30343004e+00] [ 1.85586098e-02 -5.95159491e-04 9.99827597e-01 2.97320473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339254154 meters 0.020271904492591645 Centerline is valid? [True, True] Translation: X:451.44, Y:5.31, Z:2.97 [[ 9.98909087e-01 -4.35686163e-02 -1.68050942e-02 4.51437179e+02] [ 4.35716676e-02 9.99050287e-01 -1.84698532e-04 5.30657053e+00] [ 1.67971813e-02 -5.47728938e-04 9.99858767e-01 2.97492937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399254154 meters 0.02041137939701678 Centerline is valid? [True, True] Translation: X:451.50, Y:5.31, Z:2.98 [[ 9.98964076e-01 -4.28461852e-02 -1.53290441e-02 4.51499432e+02] [ 4.28486553e-02 9.99081561e-01 -1.67411355e-04 5.31024324e+00] [ 1.53221383e-02 -4.89590998e-04 9.99882489e-01 2.97667537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459254154 meters 0.021576605442284326 Centerline is valid? [True, True] Translation: X:451.56, Y:5.31, Z:2.98 [[ 9.98999005e-01 -4.21051880e-02 -1.51043345e-02 4.51561820e+02] [ 4.21075178e-02 9.99113072e-01 -1.63884202e-04 5.31118392e+00] [ 1.50978384e-02 -4.72285877e-04 9.99885910e-01 2.97649453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519254154 meters 0.019492494524030658 Centerline is valid? [True, True] Translation: X:451.62, Y:5.32, Z:2.98 [[ 9.98948282e-01 -4.34503375e-02 -1.46423662e-02 4.51623782e+02] [ 4.34526867e-02 9.99055474e-01 -1.57818457e-04 5.31533594e+00] [ 1.46353934e-02 -4.78597674e-04 9.99892782e-01 2.97824872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579254154 meters 0.020391194091740977 Centerline is valid? [True, True] Translation: X:451.69, Y:5.32, Z:2.98 [[ 9.98891943e-01 -4.48359603e-02 -1.43046625e-02 4.51685437e+02] [ 4.48383572e-02 9.98994243e-01 -1.53273174e-04 5.31650799e+00] [ 1.42971476e-02 -4.88294225e-04 9.99897671e-01 2.97887376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639254154 meters 0.020613259372964644 Centerline is valid? [True, True] Translation: X:451.75, Y:5.32, Z:2.98 [[ 9.98824859e-01 -4.58826756e-02 -1.56102954e-02 4.51747919e+02] [ 4.58856743e-02 9.98946684e-01 -1.66203843e-04 5.31958129e+00] [ 1.56014787e-02 -5.50280398e-04 9.99878138e-01 2.97834895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699254154 meters 0.022331448861216 Centerline is valid? [True, True] Translation: X:451.81, Y:5.32, Z:2.98 [[ 9.98784187e-01 -4.63205331e-02 -1.68688060e-02 4.51809575e+02] [ 4.63241156e-02 9.98926446e-01 -1.78515239e-04 5.31877331e+00] [ 1.68589653e-02 -6.03134320e-04 9.99857696e-01 2.97710121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759254154 meters 0.022217747022478453 Centerline is valid? [True, True] Translation: X:451.87, Y:5.32, Z:2.98 [[ 9.98693658e-01 -4.80215724e-02 -1.74615778e-02 4.51871550e+02] [ 4.80256912e-02 9.98846084e-01 -1.83621727e-04 5.32268170e+00] [ 1.74502464e-02 -6.55222491e-04 9.99847518e-01 2.97668922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819254154 meters 0.022643679067442267 Centerline is valid? [True, True] Translation: X:451.93, Y:5.32, Z:2.98 [[ 9.98522075e-01 -5.17702769e-02 -1.65379631e-02 4.51932951e+02] [ 5.17744982e-02 9.98658786e-01 -1.73082096e-04 5.32351366e+00] [ 1.65247427e-02 -6.83418451e-04 9.99863224e-01 2.97821997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters 0.02478944431097098 Centerline is valid? [True, True] Translation: X:451.99, Y:5.32, Z:2.98 [[ 9.98362765e-01 -5.54198377e-02 -1.41573869e-02 4.51993237e+02] [ 5.54233055e-02 9.98462936e-01 -1.47583387e-04 5.32282731e+00] [ 1.41438051e-02 -6.37307419e-04 9.99899768e-01 2.98006334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters 0.0257620441236268 Centerline is valid? [True, True] Translation: X:452.05, Y:5.33, Z:2.98 [[ 9.98282229e-01 -5.70705288e-02 -1.32494151e-02 4.52054858e+02] [ 5.70737199e-02 9.98369957e-01 -1.37448557e-04 5.32512925e+00] [ 1.32356623e-02 -6.18980954e-04 9.99912213e-01 2.98178231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99925415399997 meters 0.024242359400879796 Centerline is valid? [True, True] Translation: X:452.12, Y:5.33, Z:2.98 [[ 9.98262927e-01 -5.75611712e-02 -1.25634079e-02 4.52117084e+02] [ 5.75640889e-02 9.98341805e-01 -1.29549236e-04 5.32996967e+00] [ 1.25500323e-02 -5.93876930e-04 9.99921069e-01 2.98328897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.059254154 meters 0.027101570107302967 Centerline is valid? [True, True] Translation: X:452.18, Y:5.33, Z:2.98 [[ 9.98162767e-01 -5.94377603e-02 -1.17576577e-02 4.52178515e+02] [ 5.94404543e-02 9.98231846e-01 -1.20493829e-04 5.32720003e+00] [ 1.17440302e-02 -5.78608063e-04 9.99930869e-01 2.98405095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.119254154 meters 0.028858460152133905 Centerline is valid? [True, True] Translation: X:452.24, Y:5.33, Z:2.98 [[ 9.98100029e-01 -6.04207663e-02 -1.20690868e-02 4.52239621e+02] [ 6.04236895e-02 9.98172812e-01 -1.22621121e-04 5.32539106e+00] [ 1.20544432e-02 -6.06870611e-04 9.99927158e-01 2.98420494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.179254154 meters 0.02809314614142671 Centerline is valid? [True, True] Translation: X:452.30, Y:5.33, Z:2.98 [[ 9.98098176e-01 -5.98410725e-02 -1.48012215e-02 4.52301941e+02] [ 5.98454297e-02 9.98207645e-01 -1.48753240e-04 5.32759859e+00] [ 1.47835940e-02 -7.37315125e-04 9.99890445e-01 2.98201433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.239254154 meters 0.02443207411338397 Centerline is valid? [True, True] Translation: X:452.36, Y:5.34, Z:2.98 [[ 9.98396736e-01 -5.40949688e-02 -1.66640652e-02 4.52362049e+02] [ 5.40997007e-02 9.98535525e-01 -1.67033892e-04 5.33590586e+00] [ 1.66486968e-02 -7.34754845e-04 9.99861131e-01 2.98098623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.299254154 meters 0.01944771813847778 Centerline is valid? [True, True] Translation: X:452.42, Y:5.35, Z:2.98 [[ 9.98980223e-01 -4.25239321e-02 -1.51733274e-02 4.52422315e+02] [ 4.25265206e-02 9.99095327e-01 -1.52163096e-04 5.34884167e+00] [ 1.51660710e-02 -4.93260895e-04 9.99884867e-01 2.98408126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.359254154 meters 0.017104567789098874 Centerline is valid? [True, True] Translation: X:452.48, Y:5.36, Z:2.99 [[ 9.99377098e-01 -3.25610798e-02 -1.36085258e-02 4.52482313e+02] [ 3.25622387e-02 9.99469700e-01 -1.36468145e-04 5.35742501e+00] [ 1.36057528e-02 -3.06740928e-04 9.99907390e-01 2.98605504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.419254154 meters 0.014360576362195147 Centerline is valid? [True, True] Translation: X:452.54, Y:5.37, Z:2.99 [[ 9.99748406e-01 -1.88356265e-02 -1.21796102e-02 4.52543394e+02] [ 1.88355375e-02 9.99822588e-01 -1.22027610e-04 5.36951092e+00] [ 1.21797479e-02 -1.07412596e-04 9.99925818e-01 2.98742419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.479254154 meters 0.013958833206868625 Centerline is valid? [True, True] Translation: X:452.60, Y:5.38, Z:2.99 [[ 9.99850298e-01 -1.12084159e-02 -1.31815035e-02 4.52603671e+02] [ 1.12076506e-02 9.99937184e-01 -1.31932198e-04 5.37516215e+00] [ 1.31821542e-02 -1.58212372e-05 9.99913112e-01 2.98653302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.539254154 meters 0.014080775603335987 Centerline is valid? [True, True] Translation: X:452.66, Y:5.37, Z:2.99 [[ 9.99807678e-01 -1.32770757e-02 -1.44334798e-02 4.52662433e+02] [ 1.32763449e-02 9.99911855e-01 -1.46457780e-04 5.37326761e+00] [ 1.44341521e-02 -4.51942425e-05 9.99895821e-01 2.98509474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.599254154 meters 0.014457041198588531 Centerline is valid? [True, True] Translation: X:452.72, Y:5.37, Z:2.98 [[ 9.99715533e-01 -1.88444951e-02 -1.46197754e-02 4.52721060e+02] [ 1.88443063e-02 9.99822419e-01 -1.50682192e-04 5.36912825e+00] [ 1.46200187e-02 -1.24860198e-04 9.99893114e-01 2.98464219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.659254154 meters 0.01630059253215279 Centerline is valid? [True, True] Translation: X:452.78, Y:5.36, Z:2.98 [[ 9.99416285e-01 -3.09692117e-02 -1.44221012e-02 4.52781164e+02] [ 3.09702807e-02 9.99520295e-01 -1.49270850e-04 5.35920660e+00] [ 1.44198056e-02 -2.97472802e-04 9.99895985e-01 2.98443343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.719254154 meters 0.02136608492319281 Centerline is valid? [True, True] Translation: X:452.84, Y:5.35, Z:2.98 [[ 9.98921837e-01 -4.38906924e-02 -1.51251884e-02 4.52841624e+02] [ 4.38933465e-02 9.99036210e-01 -1.56609012e-04 5.34593250e+00] [ 1.51174846e-02 -5.07454973e-04 9.99885596e-01 2.98391081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779254154 meters 0.024145110651563922 Centerline is valid? [True, True] Translation: X:452.90, Y:5.34, Z:2.98 [[ 9.98594732e-01 -5.10330039e-02 -1.42896072e-02 4.52902536e+02] [ 5.10361043e-02 9.98696798e-01 -1.47845401e-04 5.34072498e+00] [ 1.42785300e-02 -5.81648246e-04 9.99897887e-01 2.98492896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839254154 meters 0.025877931748002098 Centerline is valid? [True, True] Translation: X:452.96, Y:5.34, Z:2.99 [[ 9.98158000e-01 -5.92196829e-02 -1.31770830e-02 4.52963215e+02] [ 5.92230322e-02 9.98244767e-01 -1.36231892e-04 5.33649509e+00] [ 1.31620217e-02 -6.44405855e-04 9.99913169e-01 2.98619957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899254154 meters 0.02546122893199455 Centerline is valid? [True, True] Translation: X:453.02, Y:5.34, Z:2.99 [[ 9.97874198e-01 -6.39497910e-02 -1.25503058e-02 4.53023808e+02] [ 6.39532042e-02 9.97952890e-01 -1.29591534e-04 5.33743053e+00] [ 1.25329013e-02 -6.73316221e-04 9.99921233e-01 2.98712964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959254154 meters 0.026445635540856084 Centerline is valid? [True, True] Translation: X:453.09, Y:5.34, Z:2.99 [[ 9.97833979e-01 -6.45511263e-02 -1.26689820e-02 4.53086415e+02] [ 6.45546599e-02 9.97914164e-01 -1.30244826e-04 5.33833695e+00] [ 1.26509640e-02 -6.87879110e-04 9.99919737e-01 2.98752904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019254154 meters 0.029014804268279903 Centerline is valid? [True, True] Translation: X:453.15, Y:5.34, Z:2.99 [[ 9.97913628e-01 -6.30971414e-02 -1.36800113e-02 4.53147300e+02] [ 6.31011382e-02 9.98007128e-01 -1.39707339e-04 5.33676406e+00] [ 1.36615639e-02 -7.23808425e-04 9.99906415e-01 2.98591391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079254154 meters 0.026103860456379455 Centerline is valid? [True, True] Translation: X:453.21, Y:5.34, Z:2.99 [[ 9.97974226e-01 -6.19346995e-02 -1.45443193e-02 4.53209594e+02] [ 6.19391085e-02 9.98079919e-01 -1.47555418e-04 5.34256355e+00] [ 1.45255318e-02 -7.53605667e-04 9.99894215e-01 2.98576956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139254154 meters 0.027129339515745907 Centerline is valid? [True, True] Translation: X:453.27, Y:5.34, Z:2.98 [[ 9.98030458e-01 -6.05115070e-02 -1.65397255e-02 4.53270672e+02] [ 6.05170472e-02 9.98167150e-01 -1.65791807e-04 5.34463865e+00] [ 1.65194429e-02 -8.35470074e-04 9.99863196e-01 2.98480354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199254154 meters 0.0281445238819795 Centerline is valid? [True, True] Translation: X:453.33, Y:5.35, Z:2.98 [[ 9.98086755e-01 -5.93855981e-02 -1.72099050e-02 4.53333284e+02] [ 5.93914633e-02 9.98234754e-01 -1.70548165e-04 5.34768097e+00] [ 1.71896534e-02 -8.51899579e-04 9.99851884e-01 2.98310126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259254154 meters 0.027358509222001767 Centerline is valid? [True, True] Translation: X:453.40, Y:5.35, Z:2.98 [[ 9.98118586e-01 -5.86940168e-02 -1.77285538e-02 4.53395247e+02] [ 5.87001571e-02 9.98275644e-01 -1.74275583e-04 5.35213047e+00] [ 1.77082124e-02 -8.66721195e-04 9.99842822e-01 2.98395461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319254154 meters 0.026515389585088672 Centerline is valid? [True, True] Translation: X:453.46, Y:5.36, Z:2.99 [[ 9.98236186e-01 -5.68351744e-02 -1.71545825e-02 4.53456261e+02] [ 5.68406640e-02 9.98383248e-01 -1.67790840e-04 5.35822593e+00] [ 1.71363842e-02 -8.07582970e-04 9.99852835e-01 2.98500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters 0.02609074618307968 Centerline is valid? [True, True] Translation: X:453.52, Y:5.36, Z:2.99 [[ 9.98273550e-01 -5.62931439e-02 -1.67631167e-02 4.53518037e+02] [ 5.62983255e-02 9.98413978e-01 -1.63006781e-04 5.36097133e+00] [ 1.67457062e-02 -7.81010044e-04 9.99859476e-01 2.98599811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters 0.024722447250810388 Centerline is valid? [True, True] Translation: X:453.58, Y:5.37, Z:2.99 [[ 9.98472797e-01 -5.32136546e-02 -1.48452025e-02 4.53579729e+02] [ 5.32173912e-02 9.98582940e-01 -1.43492262e-04 5.36817453e+00] [ 1.48318017e-02 -6.46749829e-04 9.99889794e-01 2.98880873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49925415399997 meters 0.021952549653329205 Centerline is valid? [True, True] Translation: X:453.64, Y:5.38, Z:2.99 [[ 9.98767988e-01 -4.76254855e-02 -1.39398172e-02 4.53640104e+02] [ 4.76282414e-02 9.98865122e-01 -1.34401002e-04 5.37635710e+00] [ 1.39303981e-02 -5.29693559e-04 9.99902827e-01 2.99037153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.559254154 meters 0.019281133109531907 Centerline is valid? [True, True] Translation: X:453.70, Y:5.38, Z:2.99 [[ 9.99097415e-01 -4.02927935e-02 -1.34478975e-02 4.53700706e+02] [ 4.02946957e-02 9.99187831e-01 -1.29580182e-04 5.38485809e+00] [ 1.34421967e-02 -4.12415713e-04 9.99909565e-01 2.99213934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.619254154 meters 0.018220731889878973 Centerline is valid? [True, True] Translation: X:453.76, Y:5.39, Z:2.99 [[ 9.99269190e-01 -3.58895662e-02 -1.31539205e-02 4.53762651e+02] [ 3.58910106e-02 9.99355702e-01 -1.26319368e-04 5.38972316e+00] [ 1.31499790e-02 -3.45880448e-04 9.99913475e-01 2.99386116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.679254154 meters 0.01870835419290714 Centerline is valid? [True, True] Translation: X:453.82, Y:5.39, Z:2.99 [[ 9.99457882e-01 -3.06532671e-02 -1.20132677e-02 4.53822988e+02] [ 3.06540989e-02 9.99530046e-01 -1.14934552e-04 5.39102155e+00] [ 1.20111452e-02 -2.53383652e-04 9.99927831e-01 2.99487656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.739254154 meters 0.015880454699042867 Centerline is valid? [True, True] Translation: X:453.88, Y:5.40, Z:3.00 [[ 9.99604328e-01 -2.55840092e-02 -1.16895504e-02 4.53884732e+02] [ 2.55844548e-02 9.99672658e-01 -1.11447196e-04 5.39733528e+00] [ 1.16885752e-02 -1.87667676e-04 9.99931669e-01 2.99631104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.799254154 meters 0.015450389127149139 Centerline is valid? [True, True] Translation: X:453.95, Y:5.40, Z:3.00 [[ 9.99678164e-01 -2.26194909e-02 -1.14859407e-02 4.53945990e+02] [ 2.26197316e-02 9.99744135e-01 -1.08972521e-04 5.39922152e+00] [ 1.14854667e-02 -1.50871445e-04 9.99934028e-01 2.99713230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.859254154 meters 0.015163617493296106 Centerline is valid? [True, True] Translation: X:454.01, Y:5.40, Z:3.00 [[ 9.99715808e-01 -2.02522237e-02 -1.25757912e-02 4.54007178e+02] [ 2.02523310e-02 9.99794893e-01 -1.18830303e-04 5.39992183e+00] [ 1.25756184e-02 -1.35892553e-04 9.99920915e-01 2.99742403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.919254154 meters 0.015496949196666504 Centerline is valid? [True, True] Translation: X:454.07, Y:5.40, Z:3.00 [[ 9.99702595e-01 -2.02113262e-02 -1.36463756e-02 4.54068067e+02] [ 2.02114577e-02 9.99795719e-01 -1.28292885e-04 5.39561460e+00] [ 1.36461809e-02 -1.47558413e-04 9.99906876e-01 2.99622162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.979254154 meters 0.015381138369717055 Centerline is valid? [True, True] Translation: X:454.13, Y:5.39, Z:3.00 [[ 9.99706186e-01 -2.04582317e-02 -1.30001017e-02 4.54128343e+02] [ 2.04583765e-02 9.99790698e-01 -1.21861759e-04 5.39331698e+00] [ 1.29998738e-02 -1.44135020e-04 9.99915488e-01 2.99719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.039254154 meters 0.016861258024095938 Centerline is valid? [True, True] Translation: X:454.19, Y:5.39, Z:3.00 [[ 9.99703955e-01 -2.02487293e-02 -1.34903887e-02 4.54189850e+02] [ 2.02488695e-02 9.99794963e-01 -1.26207447e-04 5.38886944e+00] [ 1.34901782e-02 -1.46995036e-04 9.99908993e-01 2.99707506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.099254154 meters 0.015786970648857784 Centerline is valid? [True, True] Translation: X:454.25, Y:5.38, Z:3.00 [[ 9.99639976e-01 -2.35150158e-02 -1.29214205e-02 4.54250382e+02] [ 2.35154204e-02 9.99723467e-01 -1.20647298e-04 5.38096487e+00] [ 1.29206843e-02 -1.83248772e-04 9.99916508e-01 2.99806677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.159254154 meters 0.01669462906226761 Centerline is valid? [True, True] Translation: X:454.31, Y:5.37, Z:3.00 [[ 9.99551200e-01 -2.69087802e-02 -1.31649223e-02 4.54311339e+02] [ 2.69095030e-02 9.99637866e-01 -1.22262599e-04 5.37296013e+00] [ 1.31634448e-02 -2.32053789e-04 9.99913331e-01 2.99731018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.219254154 meters 0.017770524346972846 Centerline is valid? [True, True] Translation: X:454.37, Y:5.36, Z:3.00 [[ 9.99342167e-01 -3.36406720e-02 -1.35476244e-02 4.54372772e+02] [ 3.36420686e-02 9.99433938e-01 -1.24860050e-04 5.36332068e+00] [ 1.35441560e-02 -3.30992196e-04 9.99908219e-01 2.99743909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279254154 meters 0.02019948358795823 Centerline is valid? [True, True] Translation: X:454.43, Y:5.35, Z:3.00 [[ 9.99003632e-01 -4.23532854e-02 -1.40692107e-02 4.54433989e+02] [ 4.23556606e-02 9.99102588e-01 -1.29240088e-04 5.35210505e+00] [ 1.40620586e-02 -4.66799397e-04 9.99901015e-01 2.99710808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339254154 meters 0.02312325063467846 Centerline is valid? [True, True] Translation: X:454.49, Y:5.34, Z:3.00 [[ 9.98517180e-01 -5.24713441e-02 -1.44982395e-02 4.54494808e+02] [ 5.24749377e-02 9.98622233e-01 -1.32701239e-04 5.33902944e+00] [ 1.44852273e-02 -6.28289747e-04 9.99894886e-01 2.99644532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399254154 meters 0.02568576906778742 Centerline is valid? [True, True] Translation: X:454.56, Y:5.33, Z:3.00 [[ 9.98169288e-01 -5.84961134e-02 -1.53713033e-02 4.54555199e+02] [ 5.85008705e-02 9.98287348e-01 -1.40368570e-04 5.33094775e+00] [ 1.53531886e-02 -7.59123027e-04 9.99881845e-01 2.99547910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459254154 meters 0.02856556303872289 Centerline is valid? [True, True] Translation: X:454.62, Y:5.32, Z:3.00 [[ 9.97778504e-01 -6.46138346e-02 -1.62206204e-02 4.54616018e+02] [ 6.46199387e-02 9.97909937e-01 -1.48069939e-04 5.32361293e+00] [ 1.61962857e-02 -9.00434496e-04 9.99868426e-01 2.99511684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519254154 meters 0.029826985337904018 Centerline is valid? [True, True] Translation: X:454.68, Y:5.32, Z:2.99 [[ 9.97726397e-01 -6.50794364e-02 -1.75129420e-02 4.54678494e+02] [ 6.50866377e-02 9.97879604e-01 -1.59063110e-04 5.31961072e+00] [ 1.74861593e-02 -9.81157045e-04 9.99846624e-01 2.99411513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579254154 meters 0.030279507616502655 Centerline is valid? [True, True] Translation: X:454.74, Y:5.32, Z:2.99 [[ 9.97936473e-01 -6.18483357e-02 -1.72504782e-02 4.54738168e+02] [ 6.18548496e-02 9.98085143e-01 -1.56200912e-04 5.31917754e+00] [ 1.72271068e-02 -9.11147149e-04 9.99851187e-01 2.99435939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639254154 meters 0.02853933758485714 Centerline is valid? [True, True] Translation: X:454.80, Y:5.32, Z:3.00 [[ 9.98162257e-01 -5.82851863e-02 -1.65814653e-02 4.54798530e+02] [ 5.82907142e-02 9.98299639e-01 -1.50143084e-04 5.32298850e+00] [ 1.65620219e-02 -8.16678294e-04 9.99862507e-01 2.99562293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699254154 meters 0.02251697525458788 Centerline is valid? [True, True] Translation: X:454.86, Y:5.33, Z:3.00 [[ 9.98555137e-01 -5.10790292e-02 -1.66904749e-02 4.54858576e+02] [ 5.10836252e-02 9.98694368e-01 -1.51127026e-04 5.33354106e+00] [ 1.66764027e-02 -7.01701298e-04 9.99860693e-01 2.99723818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759254154 meters 0.021821313955723374 Centerline is valid? [True, True] Translation: X:454.92, Y:5.34, Z:3.00 [[ 9.98962722e-01 -4.19360254e-02 -1.77440112e-02 4.54917846e+02] [ 4.19397759e-02 9.99120128e-01 -1.60867007e-04 5.33821362e+00] [ 1.77351449e-02 -5.83479711e-04 9.99842550e-01 2.99596470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819254154 meters 0.018139616564625503 Centerline is valid? [True, True] Translation: X:454.98, Y:5.35, Z:3.00 [[ 9.99306223e-01 -3.23741218e-02 -1.84116538e-02 4.54978582e+02] [ 3.23765374e-02 9.99475729e-01 -1.66938899e-04 5.34949610e+00] [ 1.84074056e-02 -4.29282519e-04 9.99830477e-01 2.99758917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters 0.016585915011581177 Centerline is valid? [True, True] Translation: X:455.04, Y:5.36, Z:3.00 [[ 9.99480659e-01 -2.62116755e-02 -1.87446184e-02 4.55039056e+02] [ 2.62130971e-02 9.99656363e-01 -1.69894297e-04 5.35547502e+00] [ 1.87426303e-02 -3.21548439e-04 9.99824290e-01 2.99850898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters 0.01507035304868377 Centerline is valid? [True, True] Translation: X:455.10, Y:5.36, Z:3.00 [[ 9.99693710e-01 -1.72013573e-02 -1.77932581e-02 4.55097976e+02] [ 1.72011632e-02 9.99852036e-01 -1.63961373e-04 5.36350276e+00] [ 1.77934457e-02 -1.42153584e-04 9.99841674e-01 3.00115583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99925415399997 meters 0.014917504837671507 Centerline is valid? [True, True] Translation: X:455.16, Y:5.37, Z:3.00 [[ 9.99810248e-01 -8.81608686e-03 -1.73708243e-02 4.55156856e+02] [ 8.81456075e-03 9.99961137e-01 -1.64418073e-04 5.36998408e+00] [ 1.73715987e-02 1.12706887e-05 9.99849102e-01 3.00265262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.059254154 meters 0.015225086745569784 Centerline is valid? [True, True] Translation: X:455.22, Y:5.37, Z:3.00 [[ 9.99851438e-01 -2.92964387e-03 -1.69858671e-02 4.55215171e+02] [ 2.92726172e-03 9.99995702e-01 -1.65103999e-04 5.37300390e+00] [ 1.69862778e-02 1.15357393e-04 9.99855716e-01 3.00307321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.119254154 meters 0.015526549005995503 Centerline is valid? [True, True] Translation: X:455.27, Y:5.37, Z:3.00 [[ 9.99880310e-01 -1.05843973e-03 -1.54352008e-02 4.55271645e+02] [ 1.05620873e-03 9.99999431e-01 -1.52690540e-04 5.37450746e+00] [ 1.54353536e-02 1.36369471e-04 9.99880859e-01 3.00424349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.179254154 meters 0.015090889246960674 Centerline is valid? [True, True] Translation: X:455.33, Y:5.37, Z:3.01 [[ 9.99905835e-01 -3.39235908e-03 -1.32971058e-02 4.55330038e+02] [ 3.39089364e-03 9.99994242e-01 -1.32751619e-04 5.37004578e+00] [ 1.32974796e-02 8.76500468e-05 9.99911581e-01 3.00663395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.239254154 meters 0.014879020204671592 Centerline is valid? [True, True] Translation: X:455.39, Y:5.36, Z:3.01 [[ 9.99876976e-01 -9.39493084e-03 -1.25605933e-02 4.55389035e+02] [ 9.39408554e-03 9.99955867e-01 -1.26297427e-04 5.36407334e+00] [ 1.25612255e-02 8.28660234e-06 9.99921105e-01 3.00691459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.299254154 meters 0.01520387315236628 Centerline is valid? [True, True] Translation: X:455.45, Y:5.36, Z:3.01 [[ 9.99763409e-01 -1.80836785e-02 -1.20874760e-02 4.55446872e+02] [ 1.80835190e-02 9.99836472e-01 -1.22506994e-04 5.35544582e+00] [ 1.20877147e-02 -9.61060902e-05 9.99926936e-01 3.00669752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.359254154 meters 0.017837269087973923 Centerline is valid? [True, True] Translation: X:455.51, Y:5.34, Z:3.00 [[ 9.99376038e-01 -3.27151973e-02 -1.33135129e-02 4.55507542e+02] [ 3.27162922e-02 9.99464670e-01 -1.35605751e-04 5.33991173e+00] [ 1.33108222e-02 -3.00047640e-04 9.99911362e-01 3.00493731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.419254154 meters 0.021796733420434415 Centerline is valid? [True, True] Translation: X:455.57, Y:5.33, Z:3.00 [[ 9.99080362e-01 -4.01374280e-02 -1.50803670e-02 4.55569132e+02] [ 4.01396820e-02 9.99194066e-01 -1.53304618e-04 5.33083485e+00] [ 1.50743665e-02 -4.52157503e-04 9.99886273e-01 3.00354165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.479254154 meters 0.023003188815257685 Centerline is valid? [True, True] Translation: X:455.63, Y:5.32, Z:3.00 [[ 9.98748885e-01 -4.80278636e-02 -1.39280140e-02 4.55629958e+02] [ 4.80305558e-02 9.98845857e-01 -1.41341426e-04 5.32314090e+00] [ 1.39187274e-02 -5.27805659e-04 9.99902991e-01 3.00475219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.539254154 meters 0.024806586968548785 Centerline is valid? [True, True] Translation: X:455.69, Y:5.32, Z:3.00 [[ 9.98639935e-01 -5.03029334e-02 -1.37074542e-02 4.55690833e+02] [ 5.03057587e-02 9.98733854e-01 -1.38829718e-04 5.31796812e+00] [ 1.36970821e-02 -5.50922985e-04 9.99906039e-01 3.00457504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.599254154 meters 0.025526887009543635 Centerline is valid? [True, True] Translation: X:455.75, Y:5.32, Z:3.00 [[ 9.98641366e-01 -5.02194779e-02 -1.39077924e-02 4.55753209e+02] [ 5.02223886e-02 9.98738050e-01 -1.40118314e-04 5.31709304e+00] [ 1.38972781e-02 -5.58554609e-04 9.99903272e-01 3.00451959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.659254154 meters 0.021089083499519254 Centerline is valid? [True, True] Translation: X:455.81, Y:5.32, Z:3.01 [[ 9.98758271e-01 -4.77736919e-02 -1.41276757e-02 4.55814848e+02] [ 4.77764647e-02 9.98858043e-01 -1.41360032e-04 5.32492529e+00] [ 1.41182958e-02 -5.33785897e-04 9.99900189e-01 3.00596655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.719254154 meters 0.020116125414619934 Centerline is valid? [True, True] Translation: X:455.88, Y:5.33, Z:3.01 [[ 9.98929841e-01 -4.36747319e-02 -1.52213987e-02 4.55876543e+02] [ 4.36774901e-02 9.99045672e-01 -1.51338636e-04 5.32817123e+00] [ 1.52134822e-02 -5.13655812e-04 9.99884136e-01 3.00555439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.779254154 meters 0.01900271241284318 Centerline is valid? [True, True] Translation: X:455.94, Y:5.33, Z:3.01 [[ 9.99103668e-01 -3.91969327e-02 -1.59831677e-02 4.55937847e+02] [ 3.91994133e-02 9.99231395e-01 -1.58171921e-04 5.33297326e+00] [ 1.59770828e-02 -4.68500650e-04 9.99872249e-01 3.00551547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.839254154 meters 0.018360205012057214 Centerline is valid? [True, True] Translation: X:456.00, Y:5.34, Z:3.00 [[ 9.99195349e-01 -3.56129282e-02 -1.84492315e-02 4.55999311e+02] [ 3.56156364e-02 9.99365545e-01 -1.81859800e-04 5.33686151e+00] [ 1.84440029e-02 -4.75367655e-04 9.99829782e-01 3.00461951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.899254154 meters 0.017781360613574014 Centerline is valid? [True, True] Translation: X:456.06, Y:5.34, Z:3.00 [[ 9.99244412e-01 -3.35803386e-02 -1.95694954e-02 4.56060274e+02] [ 3.35830059e-02 9.99435913e-01 -1.92408861e-04 5.33962809e+00] [ 1.95649176e-02 -4.64939000e-04 9.99808481e-01 3.00387663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.959254154 meters 0.017048681565164595 Centerline is valid? [True, True] Translation: X:456.12, Y:5.34, Z:3.00 [[ 9.99295977e-01 -3.09954897e-02 -2.11383382e-02 4.56119789e+02] [ 3.09980156e-02 9.99519424e-01 -2.08235075e-04 5.34404244e+00] [ 2.11346339e-02 -4.47158064e-04 9.99776539e-01 3.00356729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.019254154 meters 0.016601138680914222 Centerline is valid? [True, True] Translation: X:456.18, Y:5.35, Z:3.00 [[ 9.99384321e-01 -2.80201994e-02 -2.11151181e-02 4.56178158e+02] [ 2.80219732e-02 9.99607285e-01 -2.11925557e-04 5.34882220e+00] [ 2.11127641e-02 -3.79892194e-04 9.99777029e-01 3.00418173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.079254154 meters 0.016133158129737354 Centerline is valid? [True, True] Translation: X:456.24, Y:5.35, Z:3.01 [[ 9.99477374e-01 -2.54647454e-02 -1.99129583e-02 4.56236557e+02] [ 2.54657172e-02 9.99675675e-01 -2.04810086e-04 5.35245549e+00] [ 1.99117155e-02 -3.02394719e-04 9.99801696e-01 3.00555630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.139254154 meters 0.015673670269254255 Centerline is valid? [True, True] Translation: X:456.29, Y:5.36, Z:3.01 [[ 9.99597527e-01 -2.19345611e-02 -1.79905202e-02 4.56294642e+02] [ 2.19347370e-02 9.99759387e-01 -1.87571460e-04 5.35672629e+00] [ 1.79903058e-02 -2.07121362e-04 9.99838140e-01 3.00759849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.199254154 meters 0.015317262023254275 Centerline is valid? [True, True] Translation: X:456.35, Y:5.36, Z:3.01 [[ 9.99654750e-01 -2.16803697e-02 -1.48439465e-02 4.56353698e+02] [ 2.16804229e-02 9.99764940e-01 -1.57358810e-04 5.35835219e+00] [ 1.48438688e-02 -1.64518555e-04 9.99889810e-01 3.01051750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.259254154 meters 0.016373628479583024 Centerline is valid? [True, True] Translation: X:456.41, Y:5.35, Z:3.01 [[ 9.99602132e-01 -2.47441262e-02 -1.35390594e-02 4.56412730e+02] [ 2.47444345e-02 9.99693799e-01 -1.44771004e-04 5.35362954e+00] [ 1.35384960e-02 -1.90302964e-04 9.99908332e-01 3.01002496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.319254154 meters 0.01628337399035973 Centerline is valid? [True, True] Translation: X:456.47, Y:5.35, Z:3.01 [[ 9.99520226e-01 -2.78829779e-02 -1.34854212e-02 4.56473507e+02] [ 2.78835738e-02 9.99611167e-01 -1.43867559e-04 5.35400421e+00] [ 1.34841891e-02 -2.32223201e-04 9.99909057e-01 3.01080678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters 0.018895191079942576 Centerline is valid? [True, True] Translation: X:456.53, Y:5.35, Z:3.01 [[ 9.99407924e-01 -3.15373918e-02 -1.37547657e-02 4.56533368e+02] [ 3.15383576e-02 9.99502532e-01 -1.46741028e-04 5.34695851e+00] [ 1.37525510e-02 -2.87148574e-04 9.99905388e-01 3.00918311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters 0.02054059633140067 Centerline is valid? [True, True] Translation: X:456.59, Y:5.34, Z:3.01 [[ 9.99289863e-01 -3.47191447e-02 -1.46407044e-02 4.56593178e+02] [ 3.47205803e-02 9.99397047e-01 -1.56192557e-04 5.34403628e+00] [ 1.46372996e-02 -3.52252115e-04 9.99892807e-01 3.00834973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.49925415399997 meters 0.017891405887213573 Centerline is valid? [True, True] Translation: X:456.65, Y:5.35, Z:3.01 [[ 9.99221937e-01 -3.66589258e-02 -1.45479902e-02 4.56654920e+02] [ 3.66605610e-02 9.99327764e-01 -1.54355169e-04 5.34837765e+00] [ 1.45438690e-02 -3.79102411e-04 9.99894160e-01 3.01001139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.559254154 meters 0.019768225491664942 Centerline is valid? [True, True] Translation: X:456.72, Y:5.34, Z:3.01 [[ 9.99180000e-01 -3.82087609e-02 -1.33946960e-02 4.56715671e+02] [ 3.82102985e-02 9.99269710e-01 -1.41202693e-04 5.34442900e+00] [ 1.33903092e-02 -3.70728426e-04 9.99910277e-01 3.00919508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.619254154 meters 0.01839242762754427 Centerline is valid? [True, True] Translation: X:456.78, Y:5.35, Z:3.01 [[ 9.99224331e-01 -3.73119713e-02 -1.25918011e-02 4.56777970e+02] [ 3.73132673e-02 9.99303609e-01 -1.32070153e-04 5.34819008e+00] [ 1.25879601e-02 -3.37873530e-04 9.99920711e-01 3.00952329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.679254154 meters 0.018147738689058494 Centerline is valid? [True, True] Translation: X:456.84, Y:5.35, Z:3.01 [[ 9.99297481e-01 -3.56020327e-02 -1.17063604e-02 4.56839765e+02] [ 3.56030441e-02 9.99366003e-01 -1.22049339e-04 5.34991218e+00] [ 1.17032838e-02 -2.94818470e-04 9.99931471e-01 3.01015529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.739254154 meters 0.018054686676358445 Centerline is valid? [True, True] Translation: X:456.90, Y:5.35, Z:3.01 [[ 9.99295703e-01 -3.56542723e-02 -1.16991561e-02 4.56902093e+02] [ 3.56552946e-02 9.99364140e-01 -1.21243350e-04 5.35133203e+00] [ 1.16960399e-02 -2.95978899e-04 9.99931555e-01 3.01013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.799254154 meters 0.019273503339195863 Centerline is valid? [True, True] Translation: X:456.96, Y:5.35, Z:3.01 [[ 9.99213478e-01 -3.78589488e-02 -1.17951644e-02 4.56963290e+02] [ 3.78601533e-02 9.99283040e-01 -1.21233510e-04 5.34880342e+00] [ 1.17912975e-02 -3.25428576e-04 9.99930427e-01 3.00922389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.859254154 meters 0.020513203582397263 Centerline is valid? [True, True] Translation: X:457.02, Y:5.35, Z:3.01 [[ 9.99024153e-01 -4.23146168e-02 -1.26576190e-02 4.57024492e+02] [ 4.23163730e-02 9.99104253e-01 -1.29164458e-04 5.34791601e+00] [ 1.26517465e-02 -4.06586115e-04 9.99919881e-01 3.00841774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.919254154 meters 0.022751904796245746 Centerline is valid? [True, True] Translation: X:457.09, Y:5.35, Z:3.01 [[ 9.98908528e-01 -4.46693533e-02 -1.36529122e-02 4.57085829e+02] [ 4.46716249e-02 9.99001715e-01 -1.38692146e-04 5.34555065e+00] [ 1.36454780e-02 -4.71357006e-04 9.99906785e-01 3.00680579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.979254154 meters 0.02074382696178351 Centerline is valid? [True, True] Translation: X:457.15, Y:5.35, Z:3.01 [[ 9.98904599e-01 -4.48358619e-02 -1.33921016e-02 4.57147761e+02] [ 4.48380736e-02 9.98994259e-01 -1.35202744e-04 5.35230851e+00] [ 1.33846946e-02 -4.65421396e-04 9.99910313e-01 3.00846168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.039254154 meters 0.020346248731903178 Centerline is valid? [True, True] Translation: X:457.21, Y:5.36, Z:3.01 [[ 9.99000722e-01 -4.29697641e-02 -1.22946019e-02 4.57210347e+02] [ 4.29715001e-02 9.99076291e-01 -1.23056736e-04 5.35572172e+00] [ 1.22885329e-02 -4.05383717e-04 9.99924411e-01 3.00973106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.099254154 meters 0.017644591971829045 Centerline is valid? [True, True] Translation: X:457.27, Y:5.37, Z:3.01 [[ 9.99319488e-01 -3.53313875e-02 -1.05949659e-02 4.57271223e+02] [ 3.53322554e-02 9.99375615e-01 -1.05311720e-04 5.36605889e+00] [ 1.05920714e-02 -2.69103989e-04 9.99943866e-01 3.01117548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.159254154 meters 0.01709163333905642 Centerline is valid? [True, True] Translation: X:457.33, Y:5.37, Z:3.01 [[ 9.99436954e-01 -3.20734345e-02 -9.85242401e-03 4.57332196e+02] [ 3.20740294e-02 9.99485491e-01 -9.76597355e-05 5.37049013e+00] [ 9.85048713e-03 -2.18402189e-04 9.99951459e-01 3.01219202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.219254154 meters 0.016581027640081642 Centerline is valid? [True, True] Translation: X:457.39, Y:5.37, Z:3.01 [[ 9.99473038e-01 -3.09863352e-02 -9.66922012e-03 4.57394504e+02] [ 3.09868618e-02 9.99519787e-01 -9.53839401e-05 5.37317439e+00] [ 9.66753243e-03 -2.04285111e-04 9.99953247e-01 3.01272212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.279254154 meters 0.016399595564913994 Centerline is valid? [True, True] Translation: X:457.46, Y:5.38, Z:3.01 [[ 9.99478067e-01 -3.06266316e-02 -1.02763017e-02 4.57456720e+02] [ 3.06272155e-02 9.99530872e-01 -1.00582369e-04 5.37571039e+00] [ 1.02745613e-02 -2.14204636e-04 9.99947192e-01 3.01220721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.339254154 meters 0.01774215122318729 Centerline is valid? [True, True] Translation: X:457.52, Y:5.37, Z:3.01 [[ 9.99320414e-01 -3.45777919e-02 -1.27705141e-02 4.57517559e+02] [ 3.45790269e-02 9.99401959e-01 -1.24154637e-04 5.37476892e+00] [ 1.27671698e-02 -3.17521686e-04 9.99918446e-01 3.01091132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.399254154 meters 0.018858867305196775 Centerline is valid? [True, True] Translation: X:457.58, Y:5.37, Z:3.01 [[ 9.99200467e-01 -3.76902004e-02 -1.33370186e-02 4.57579226e+02] [ 3.76918326e-02 9.99289402e-01 -1.29048230e-04 5.37324334e+00] [ 1.33324052e-02 -3.73751620e-04 9.99911050e-01 3.01036717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.459254154 meters 0.019792241033924653 Centerline is valid? [True, True] Translation: X:457.64, Y:5.37, Z:3.01 [[ 9.99116425e-01 -3.95966519e-02 -1.40881145e-02 4.57641673e+02] [ 3.95986752e-02 9.99215656e-01 -1.35410435e-04 5.37287534e+00] [ 1.40824264e-02 -4.22579881e-04 9.99900748e-01 3.00978728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.519254154 meters 0.0209191560316564 Centerline is valid? [True, True] Translation: X:457.70, Y:5.37, Z:3.01 [[ 9.99068838e-01 -4.07540422e-02 -1.41621115e-02 4.57702497e+02] [ 4.07562153e-02 9.99169111e-01 -1.35252632e-04 5.37350568e+00] [ 1.41558564e-02 -4.42067374e-04 9.99899703e-01 3.01001624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.579254154 meters 0.021904944180702407 Centerline is valid? [True, True] Translation: X:457.76, Y:5.37, Z:3.01 [[ 9.99063319e-01 -4.11300660e-02 -1.34462383e-02 4.57763868e+02] [ 4.11320681e-02 9.99153710e-01 -1.27734503e-04 5.37382820e+00] [ 1.34401126e-02 -4.25456735e-04 9.99909587e-01 3.00987765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.639254154 meters 0.018721717759631974 Centerline is valid? [True, True] Translation: X:457.83, Y:5.38, Z:3.01 [[ 9.99075700e-01 -4.06524244e-02 -1.39687395e-02 4.57826305e+02] [ 4.06545510e-02 9.99173253e-01 -1.31800237e-04 5.38177067e+00] [ 1.39625489e-02 -4.36214417e-04 9.99902424e-01 3.01176915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.699254154 meters 0.022429622943324793 Centerline is valid? [True, True] Translation: X:457.89, Y:5.38, Z:3.01 [[ 9.99070945e-01 -4.01226793e-02 -1.57295148e-02 4.57887798e+02] [ 4.01253270e-02 9.99194644e-01 -1.47359494e-04 5.37971499e+00] [ 1.57227594e-02 -4.83929337e-04 9.99876273e-01 3.01003049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.759254154 meters 0.018507183573446558 Centerline is valid? [True, True] Translation: X:457.95, Y:5.39, Z:3.01 [[ 9.99025867e-01 -4.09894701e-02 -1.63456844e-02 4.57949702e+02] [ 4.09924633e-02 9.99159444e-01 -1.52030653e-04 5.38802438e+00] [ 1.63381766e-02 -5.18167312e-04 9.99866389e-01 3.01184702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.819254154 meters 0.01923674753150875 Centerline is valid? [True, True] Translation: X:458.01, Y:5.39, Z:3.01 [[ 9.98965955e-01 -4.25061559e-02 -1.61322121e-02 4.58011985e+02] [ 4.25092881e-02 9.99096061e-01 -1.48855644e-04 5.38871887e+00] [ 1.61239569e-02 -5.37067132e-04 9.99869856e-01 3.01219802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters 0.019492522883857766 Centerline is valid? [True, True] Translation: X:458.07, Y:5.39, Z:3.01 [[ 9.98871756e-01 -4.45088601e-02 -1.65582999e-02 4.58073982e+02] [ 4.45124553e-02 9.99008818e-01 -1.51544636e-04 5.39234997e+00] [ 1.65486327e-02 -5.85676929e-04 9.99862890e-01 3.01310213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.93925415399997 meters 0.02013630058750388 Centerline is valid? [True, True] Translation: X:458.14, Y:5.39, Z:3.01 [[ 9.98810053e-01 -4.57337690e-02 -1.69381534e-02 4.58136316e+02] [ 4.57377285e-02 9.98953471e-01 -1.53752645e-04 5.39407514e+00] [ 1.69274588e-02 -6.21142973e-04 9.99856527e-01 3.01346466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.99925415399997 meters 0.021772101349068505 Centerline is valid? [True, True] Translation: X:458.20, Y:5.39, Z:3.01 [[ 9.98706841e-01 -4.80698275e-02 -1.65510630e-02 4.58197259e+02] [ 4.80739452e-02 9.98843768e-01 -1.49216622e-04 5.39413860e+00] [ 1.65390990e-02 -6.46651236e-04 9.99863011e-01 3.01360823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.059254154 meters 0.024068104827242115 Centerline is valid? [True, True] Translation: X:458.26, Y:5.39, Z:3.01 [[ 9.98515662e-01 -5.19918036e-02 -1.62273218e-02 4.58258555e+02] [ 5.19962900e-02 9.98647267e-01 -1.45598637e-04 5.39295384e+00] [ 1.62129406e-02 -6.98378013e-04 9.99868318e-01 3.01343481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.119254154 meters 0.025439477781484178 Centerline is valid? [True, True] Translation: X:458.32, Y:5.39, Z:3.01 [[ 9.98410437e-01 -5.40849839e-02 -1.58560114e-02 4.58320834e+02] [ 5.40895447e-02 9.98536079e-01 -1.41382411e-04 5.39267803e+00] [ 1.58404462e-02 -7.16486765e-04 9.99874276e-01 3.01398988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.179254154 meters 0.023825751584473132 Centerline is valid? [True, True] Translation: X:458.38, Y:5.40, Z:3.01 [[ 9.98414568e-01 -5.38062636e-02 -1.65298497e-02 4.58382555e+02] [ 5.38112026e-02 9.98551117e-01 -1.46160020e-04 5.39857212e+00] [ 1.65137642e-02 -7.43562796e-04 9.99863362e-01 3.01346538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.239254154 meters 0.022274073008273162 Centerline is valid? [True, True] Translation: X:458.44, Y:5.40, Z:3.01 [[ 9.98517058e-01 -5.18186191e-02 -1.66887674e-02 4.58444515e+02] [ 5.18233972e-02 9.98656254e-01 -1.46320553e-04 5.40358846e+00] [ 1.66739240e-02 -7.18765051e-04 9.99860722e-01 3.01464937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.299254154 meters 0.022483956893421305 Centerline is valid? [True, True] Translation: X:458.51, Y:5.41, Z:3.01 [[ 9.98714562e-01 -4.80302881e-02 -1.61961609e-02 4.58506395e+02] [ 4.80343072e-02 9.98845677e-01 -1.40991867e-04 5.40833455e+00] [ 1.61842372e-02 -6.37160739e-04 9.99868824e-01 3.01470148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.359254154 meters 0.019628973430711166 Centerline is valid? [True, True] Translation: X:458.57, Y:5.41, Z:3.02 [[ 9.98912418e-01 -4.39755381e-02 -1.54962605e-02 4.58567946e+02] [ 4.39787430e-02 9.99032458e-01 -1.34055865e-04 5.41443186e+00] [ 1.54871624e-02 -5.47595989e-04 9.99879917e-01 3.01692819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.419254154 meters 0.018684324703049416 Centerline is valid? [True, True] Translation: X:458.63, Y:5.42, Z:3.02 [[ 9.99053468e-01 -4.07497131e-02 -1.52193751e-02 4.58629770e+02] [ 4.07524454e-02 9.99169266e-01 -1.30686686e-04 5.41770982e+00] [ 1.52120573e-02 -4.89663768e-04 9.99884170e-01 3.01695181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.479254154 meters 0.019169290959213405 Centerline is valid? [True, True] Translation: X:458.69, Y:5.42, Z:3.02 [[ 9.99233698e-01 -3.59799137e-02 -1.54098299e-02 4.58691365e+02] [ 3.59821630e-02 9.99352424e-01 -1.31355628e-04 5.42171486e+00] [ 1.54045770e-02 -4.23224039e-04 9.99881253e-01 3.01580380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.539254154 meters 0.016822892041475485 Centerline is valid? [True, True] Translation: X:458.75, Y:5.43, Z:3.02 [[ 9.99351820e-01 -3.25379069e-02 -1.54020806e-02 4.58751378e+02] [ 3.25397535e-02 9.99470433e-01 -1.30763058e-04 5.42543908e+00] [ 1.53981789e-02 -3.70501606e-04 9.99881372e-01 3.01695335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.599254154 meters 0.015617621330917915 Centerline is valid? [True, True] Translation: X:458.81, Y:5.43, Z:3.02 [[ 9.99457149e-01 -2.90698677e-02 -1.55032092e-02 4.58813251e+02] [ 2.90713310e-02 9.99577331e-01 -1.31014956e-04 5.42713734e+00] [ 1.55004650e-02 -3.19755090e-04 9.99879809e-01 3.01692182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.659254154 meters 0.014687618821417777 Centerline is valid? [True, True] Translation: X:458.87, Y:5.43, Z:3.02 [[ 9.99584620e-01 -2.39966549e-02 -1.59608418e-02 4.58874642e+02] [ 2.39975708e-02 9.99712008e-01 -1.34162064e-04 5.42755744e+00] [ 1.59594646e-02 -2.48915095e-04 9.99872609e-01 3.01656902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.719254154 meters 0.013899256409838147 Centerline is valid? [True, True] Translation: X:458.93, Y:5.43, Z:3.02 [[ 9.99663849e-01 -1.96103099e-02 -1.69594906e-02 4.58934834e+02] [ 1.96107174e-02 9.99807681e-01 -1.42295007e-04 5.42941151e+00] [ 1.69590194e-02 -1.90340602e-04 9.99856167e-01 3.01748862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.779254154 meters 0.01393254710405122 Centerline is valid? [True, True] Translation: X:458.99, Y:5.43, Z:3.02 [[ 9.99663151e-01 -1.79214718e-02 -1.87724477e-02 4.58993696e+02] [ 1.79216158e-02 9.99839382e-01 -1.60576197e-04 5.42894973e+00] [ 1.87723103e-02 -1.75910489e-04 9.99823769e-01 3.01721465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.839254154 meters 0.014072014044861433 Centerline is valid? [True, True] Translation: X:459.05, Y:5.43, Z:3.02 [[ 9.99644615e-01 -1.86103846e-02 -1.90865932e-02 4.59051384e+02] [ 1.86105557e-02 9.99826794e-01 -1.68672707e-04 5.42778051e+00] [ 1.90864264e-02 -1.86599343e-04 9.99817820e-01 3.01910944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.899254154 meters 0.014740203763105982 Centerline is valid? [True, True] Translation: X:459.11, Y:5.42, Z:3.02 [[ 9.99579518e-01 -2.28932292e-02 -1.77957062e-02 4.59110423e+02] [ 2.28939725e-02 9.99737886e-01 -1.61978740e-04 5.42266096e+00] [ 1.77947499e-02 -2.45503776e-04 9.99841631e-01 3.02150152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.959254154 meters 0.016601560326821894 Centerline is valid? [True, True] Translation: X:459.17, Y:5.42, Z:3.02 [[ 9.99377016e-01 -3.03117436e-02 -1.80769978e-02 4.59169470e+02] [ 3.03136805e-02 9.99540421e-01 -1.66918896e-04 5.41656728e+00] [ 1.80737496e-02 -3.81165425e-04 9.99836584e-01 3.02223066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.019254154 meters 0.019359060761128113 Centerline is valid? [True, True] Translation: X:459.23, Y:5.41, Z:3.02 [[ 9.98964483e-01 -4.09725736e-02 -1.97790324e-02 4.59229852e+02] [ 4.09769742e-02 9.99160074e-01 -1.82914355e-04 5.40741118e+00] [ 1.97699140e-02 -6.27759956e-04 9.99804359e-01 3.02157896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.079254154 meters 0.024467689260887257 Centerline is valid? [True, True] Translation: X:459.29, Y:5.40, Z:3.02 [[ 9.98589812e-01 -4.92515204e-02 -1.98160270e-02 4.59289040e+02] [ 4.92575572e-02 9.98786093e-01 -1.83627897e-04 5.39670511e+00] [ 1.98010161e-02 -7.92720137e-04 9.99803626e-01 3.02021399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.139254154 meters 0.024271693795356535 Centerline is valid? [True, True] Translation: X:459.35, Y:5.39, Z:3.02 [[ 9.98187511e-01 -5.67884887e-02 -1.99188269e-02 4.59349483e+02] [ 5.67960817e-02 9.98385783e-01 -1.84765418e-04 5.39452469e+00] [ 1.98971661e-02 -9.46880787e-04 9.99801583e-01 3.02123772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.199254154 meters 0.02824603976538174 Centerline is valid? [True, True] Translation: X:459.41, Y:5.39, Z:3.02 [[ 9.97619785e-01 -6.61166263e-02 -1.95794703e-02 4.59410200e+02] [ 6.61257527e-02 9.97811281e-01 -1.81639247e-04 5.38619007e+00] [ 1.95486257e-02 -1.11350030e-03 9.99808287e-01 3.02063097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.259254154 meters 0.03149191534573578 Centerline is valid? [True, True] Translation: X:459.47, Y:5.38, Z:3.02 [[ 9.97322686e-01 -7.04474689e-02 -1.96115778e-02 4.59470132e+02] [ 7.04574649e-02 9.97514768e-01 -1.81646847e-04 5.38111724e+00] [ 1.95756350e-02 -1.20062153e-03 9.99807658e-01 3.02054655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.319254154 meters 0.03028927423695987 Centerline is valid? [True, True] Translation: X:459.53, Y:5.38, Z:3.02 [[ 9.97092942e-01 -7.37819107e-02 -1.90235306e-02 4.59531055e+02] [ 7.37919278e-02 9.97273644e-01 -1.75812199e-04 5.38107607e+00] [ 1.89846375e-02 -1.22848190e-03 9.99819021e-01 3.02202020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters 0.030653132006721366 Centerline is valid? [True, True] Translation: X:459.59, Y:5.38, Z:3.02 [[ 9.97136740e-01 -7.32698371e-02 -1.87043678e-02 4.59592849e+02] [ 7.32794501e-02 9.97311432e-01 -1.71842885e-04 5.37923074e+00] [ 1.86666708e-02 -1.19929493e-03 9.99825043e-01 3.02184759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.43925415399997 meters 0.029347294220037724 Centerline is valid? [True, True] Translation: X:459.65, Y:5.38, Z:3.02 [[ 9.97449060e-01 -6.85668192e-02 -1.98485186e-02 4.59653823e+02] [ 6.85767293e-02 9.97645829e-01 -1.81726687e-04 5.38215356e+00] [ 1.98142522e-02 -1.17988337e-03 9.99802982e-01 3.02087765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.49925415399997 meters 0.02830023189408208 Centerline is valid? [True, True] Translation: X:459.71, Y:5.39, Z:3.02 [[ 9.97945128e-01 -6.00398421e-02 -2.23771965e-02 4.59713886e+02] [ 6.00503018e-02 9.98195331e-01 -2.04851366e-04 5.38640564e+00] [ 2.23491123e-02 -1.13932698e-03 9.99749578e-01 3.01766984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.559254154 meters 0.023699476625583416 Centerline is valid? [True, True] Translation: X:459.77, Y:5.40, Z:3.02 [[ 9.98544239e-01 -4.77975073e-02 -2.49960083e-02 4.59774584e+02] [ 4.78067350e-02 9.98856578e-01 -2.28626375e-04 5.39703841e+00] [ 2.49783551e-02 -9.66683993e-04 9.99687525e-01 3.01681360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.619254154 meters 0.018504084163163795 Centerline is valid? [True, True] Translation: X:459.83, Y:5.41, Z:3.02 [[ 9.99163492e-01 -3.13461647e-02 -2.62627996e-02 4.59834118e+02] [ 3.13506674e-02 9.99508418e-01 -2.40387318e-04 5.41111933e+00] [ 2.62574245e-02 -5.83170061e-04 9.99655044e-01 3.01710890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.679254154 meters 0.015908095855956334 Centerline is valid? [True, True] Translation: X:459.89, Y:5.42, Z:3.02 [[ 9.99477660e-01 -1.89632572e-02 -2.61687277e-02 4.59893884e+02] [ 1.89634729e-02 9.99820148e-01 -2.39946805e-04 5.42199565e+00] [ 2.61685714e-02 -2.56428489e-04 9.99657511e-01 3.01760929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.739254154 meters 0.016064211757163178 Centerline is valid? [True, True] Translation: X:459.95, Y:5.44, Z:3.02 [[ 9.99712476e-01 -9.02045870e-04 -2.39614494e-02 4.59951381e+02] [ 8.96987356e-04 9.99999573e-01 -2.21857777e-04 5.43848853e+00] [ 2.39616393e-02 2.00300870e-04 9.99712859e-01 3.02131995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.799254154 meters 0.019889873704088703 Centerline is valid? [True, True] Translation: X:460.01, Y:5.45, Z:3.03 [[ 9.99706060e-01 1.39665057e-02 -1.98174178e-02 4.60011311e+02] [-1.39729034e-02 9.99902357e-01 -1.84395180e-04 5.45176446e+00] [ 1.98129074e-02 4.61247844e-04 9.99803599e-01 3.02563577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.859254154 meters 0.019324634183142928 Centerline is valid? [True, True] Translation: X:460.07, Y:5.45, Z:3.03 [[ 9.99643591e-01 1.93906841e-02 -1.83492053e-02 4.60070432e+02] [-1.93970953e-02 9.99811844e-01 -1.71470382e-04 5.45165627e+00] [ 1.83424278e-02 5.27330551e-04 9.99831624e-01 3.02942361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.919254154 meters 0.01919094256421512 Centerline is valid? [True, True] Translation: X:460.13, Y:5.45, Z:3.03 [[ 9.99654737e-01 1.91860253e-02 -1.79528168e-02 4.60129036e+02] [-1.91921501e-02 9.99815799e-01 -1.68915179e-04 5.44846460e+00] [ 1.79462691e-02 5.13410012e-04 9.99838821e-01 3.03029841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.979254154 meters 0.017480274895323226 Centerline is valid? [True, True] Translation: X:460.19, Y:5.44, Z:3.03 [[ 9.99741620e-01 1.34071121e-02 -1.83560088e-02 4.60189282e+02] [-1.34125545e-02 9.99910033e-01 -1.73408124e-04 5.43934709e+00] [ 1.83520325e-02 4.19564288e-04 9.99831499e-01 3.02977818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.039254154 meters 0.015953451496240466 Centerline is valid? [True, True] Translation: X:460.25, Y:5.43, Z:3.03 [[ 9.99802201e-01 5.68173881e-03 -1.90598095e-02 4.60248934e+02] [-5.68621446e-03 9.99983817e-01 -1.80635111e-04 5.42806950e+00] [ 1.90584747e-02 2.88977546e-04 9.99818329e-01 3.03001683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.099254154 meters 0.0152099580804992 Centerline is valid? [True, True] Translation: X:460.31, Y:5.42, Z:3.03 [[ 9.99829147e-01 -4.26430505e-04 -1.84796094e-02 4.60307458e+02] [ 4.23245816e-04 9.99999895e-01 -1.76245980e-04 5.41917676e+00] [ 1.84796826e-02 1.68394451e-04 9.99829222e-01 3.03104187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.159254154 meters 0.014656507480955455 Centerline is valid? [True, True] Translation: X:460.37, Y:5.41, Z:3.03 [[ 9.99800333e-01 -9.62240866e-03 -1.75129740e-02 4.60366458e+02] [ 9.62093686e-03 9.99953704e-01 -1.68292498e-04 5.40539428e+00] [ 1.75137826e-02 -2.32321699e-07 9.99846622e-01 3.03229129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.219254154 meters 0.015014436334018132 Centerline is valid? [True, True] Translation: X:460.43, Y:5.39, Z:3.03 [[ 9.99686604e-01 -1.78292619e-02 -1.75730354e-02 4.60425493e+02] [ 1.78290251e-02 9.99841036e-01 -1.70152437e-04 5.39082870e+00] [ 1.75732756e-02 -1.43210979e-04 9.99845568e-01 3.03240024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.279254154 meters 0.015596969737868893 Centerline is valid? [True, True] Translation: X:460.48, Y:5.38, Z:3.03 [[ 9.99579841e-01 -2.31823532e-02 -1.73988340e-02 4.60484573e+02] [ 2.31829098e-02 9.99731226e-01 -1.69731105e-04 5.38036810e+00] [ 1.73980924e-02 -2.33695807e-04 9.99848614e-01 3.03232899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.339254154 meters 0.01764497227462776 Centerline is valid? [True, True] Translation: X:460.54, Y:5.36, Z:3.03 [[ 9.99322993e-01 -3.18870829e-02 -1.83512925e-02 4.60544100e+02] [ 3.18891581e-02 9.99491395e-01 -1.79607894e-04 5.36313293e+00] [ 1.83476862e-02 -4.05720972e-04 9.99831585e-01 3.03032998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.399254154 meters 0.02004742740159036 Centerline is valid? [True, True] Translation: X:460.60, Y:5.35, Z:3.03 [[ 9.99034575e-01 -3.94298134e-02 -1.93702750e-02 4.60604869e+02] [ 3.94335411e-02 9.99222177e-01 -1.89621175e-04 5.34821915e+00] [ 1.93626851e-02 -5.74400425e-04 9.99812361e-01 3.02947557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.459254154 meters 0.021792517224685608 Centerline is valid? [True, True] Translation: X:460.66, Y:5.34, Z:3.03 [[ 9.98880974e-01 -4.26007799e-02 -2.05420006e-02 4.60663883e+02] [ 4.26056322e-02 9.99091947e-01 -2.01574303e-04 5.33846211e+00] [ 2.05319346e-02 -6.73856185e-04 9.99788971e-01 3.02852544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.519254154 meters 0.022101935609578433 Centerline is valid? [True, True] Translation: X:460.72, Y:5.33, Z:3.03 [[ 9.98868134e-01 -4.20990794e-02 -2.21386236e-02 4.60723643e+02] [ 4.21045754e-02 9.99113185e-01 -2.18023605e-04 5.33448073e+00] [ 2.21281694e-02 -7.14360515e-04 9.99754887e-01 3.02808537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.579254154 meters 0.01966032757017502 Centerline is valid? [True, True] Translation: X:460.78, Y:5.34, Z:3.03 [[ 9.98918052e-01 -4.09247472e-02 -2.20882638e-02 4.60782596e+02] [ 4.09298387e-02 9.99161998e-01 -2.21722953e-04 5.33900557e+00] [ 2.20788278e-02 -6.82586017e-04 9.99756000e-01 3.03039556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.639254154 meters 0.019612211330776296 Centerline is valid? [True, True] Translation: X:460.84, Y:5.34, Z:3.03 [[ 9.98879124e-01 -4.12723856e-02 -2.31751130e-02 4.60841596e+02] [ 4.12779447e-02 9.99147674e-01 -2.38654676e-04 5.33901040e+00] [ 2.31652100e-02 -7.18233856e-04 9.99731393e-01 3.03107301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.699254154 meters 0.02029854305708632 Centerline is valid? [True, True] Translation: X:460.90, Y:5.34, Z:3.03 [[ 9.98775932e-01 -4.30748312e-02 -2.43145253e-02 4.60900172e+02] [ 4.30813313e-02 9.99071535e-01 -2.56673878e-04 5.33883626e+00] [ 2.43030063e-02 -7.91142426e-04 9.99704325e-01 3.03090961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.759254154 meters 0.024587897836635925 Centerline is valid? [True, True] Translation: X:460.96, Y:5.34, Z:3.03 [[ 9.98574117e-01 -4.62732866e-02 -2.66179553e-02 4.60958592e+02] [ 4.62821186e-02 9.98928368e-01 -2.84507221e-04 5.33525642e+00] [ 2.66025957e-02 -9.47833815e-04 9.99645639e-01 3.02860489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.819254154 meters 0.0230354449820949 Centerline is valid? [True, True] Translation: X:461.02, Y:5.34, Z:3.03 [[ 9.98453397e-01 -4.93654741e-02 -2.55707839e-02 4.61017460e+02] [ 4.93745028e-02 9.98780297e-01 -2.78555306e-04 5.33702614e+00] [ 2.55533462e-02 -9.84420252e-04 9.99672975e-01 3.03239130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters 0.021864850820042137 Centerline is valid? [True, True] Translation: X:461.08, Y:5.34, Z:3.03 [[ 9.98574477e-01 -4.71435188e-02 -2.50300360e-02 4.61076584e+02] [ 4.71513246e-02 9.98887719e-01 -2.78570461e-04 5.34156891e+00] [ 2.50153283e-02 -9.02025997e-04 9.99686661e-01 3.03444202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.93925415399997 meters 0.02001521842633603 Centerline is valid? [True, True] Translation: X:461.14, Y:5.35, Z:3.04 [[ 9.98782298e-01 -4.30311319e-02 -2.41297154e-02 4.61136015e+02] [ 4.30371357e-02 9.99073437e-01 -2.70685415e-04 5.34821036e+00] [ 2.41190055e-02 -7.68118034e-04 9.99708799e-01 3.03668517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.99925415399997 meters 0.019065210423068888 Centerline is valid? [True, True] Translation: X:461.20, Y:5.35, Z:3.04 [[ 9.99010296e-01 -3.80453530e-02 -2.30429957e-02 4.61195950e+02] [ 3.80494907e-02 9.99275822e-01 -2.59015145e-04 5.35428525e+00] [ 2.30361628e-02 -6.18015453e-04 9.99734441e-01 3.03820906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.059254154 meters 0.017208535676238475 Centerline is valid? [True, True] Translation: X:461.26, Y:5.36, Z:3.04 [[ 9.99253241e-01 -3.15557582e-02 -2.22978399e-02 4.61255547e+02] [ 3.15580026e-02 9.99501891e-01 -2.51303917e-04 5.36274260e+00] [ 2.22946632e-02 -4.52559037e-04 9.99751341e-01 3.03991751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.119254154 meters 0.016399009306458014 Centerline is valid? [True, True] Translation: X:461.31, Y:5.37, Z:3.04 [[ 9.99328099e-01 -2.92171884e-02 -2.21293258e-02 4.61314442e+02] [ 2.92187359e-02 9.99573009e-01 -2.53471134e-04 5.36730220e+00] [ 2.21272825e-02 -3.93290100e-04 9.99755084e-01 3.04156764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.179254154 meters 0.01629683785056666 Centerline is valid? [True, True] Translation: X:461.37, Y:5.37, Z:3.04 [[ 9.99334463e-01 -2.87908184e-02 -2.23991099e-02 4.61372332e+02] [ 2.87921590e-02 9.99585385e-01 -2.62712096e-04 5.37152120e+00] [ 2.23973866e-02 -3.82381483e-04 9.99749074e-01 3.04237033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.239254154 meters 0.017614273855969743 Centerline is valid? [True, True] Translation: X:461.43, Y:5.37, Z:3.04 [[ 9.99224160e-01 -3.21741288e-02 -2.27134945e-02 4.61430352e+02] [ 3.21763052e-02 9.99482172e-01 -2.69730460e-04 5.37088862e+00] [ 2.27104112e-02 -4.61315141e-04 9.99741979e-01 3.04177602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.299254154 meters 0.020190076072799 Centerline is valid? [True, True] Translation: X:461.49, Y:5.37, Z:3.04 [[ 9.99011882e-01 -3.81978564e-02 -2.27196719e-02 4.61488736e+02] [ 3.82015464e-02 9.99270018e-01 -2.71740317e-04 5.36798043e+00] [ 2.27134669e-02 -5.96454798e-04 9.99741838e-01 3.04193172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.359254154 meters 0.02081592834852491 Centerline is valid? [True, True] Translation: X:461.55, Y:5.37, Z:3.04 [[ 9.98861413e-01 -4.25590411e-02 -2.15547022e-02 4.61548149e+02] [ 4.25633538e-02 9.99093736e-01 -2.58859808e-04 5.36798092e+00] [ 2.15461848e-02 -6.58875343e-04 9.99767637e-01 3.04422281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.419254154 meters 0.0253909123985352 Centerline is valid? [True, True] Translation: X:461.61, Y:5.36, Z:3.04 [[ 9.98678911e-01 -4.75787081e-02 -1.94087346e-02 4.61607667e+02] [ 4.75831428e-02 9.98867253e-01 -2.33515598e-04 5.36206649e+00] [ 1.93978598e-02 -6.90321488e-04 9.99811605e-01 3.04480774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.479254154 meters 0.02178317946584509 Centerline is valid? [True, True] Translation: X:461.67, Y:5.37, Z:3.05 [[ 9.98580510e-01 -4.98341382e-02 -1.88022035e-02 4.61668431e+02] [ 4.98387012e-02 9.98757254e-01 -2.26110182e-04 5.36981274e+00] [ 1.87901051e-02 -7.11288179e-04 9.99823197e-01 3.04797289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.539254154 meters 0.022472778881581962 Centerline is valid? [True, True] Translation: X:461.73, Y:5.37, Z:3.05 [[ 9.98564999e-01 -4.99949875e-02 -1.91949048e-02 4.61729841e+02] [ 4.99997838e-02 9.98749202e-01 -2.30262491e-04 5.37081765e+00] [ 1.91824079e-02 -7.29809029e-04 9.99815734e-01 3.04785068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.599254154 meters 0.023171365337808225 Centerline is valid? [True, True] Translation: X:461.79, Y:5.37, Z:3.05 [[ 9.98535252e-01 -4.99227669e-02 -2.08582653e-02 4.61790910e+02] [ 4.99284309e-02 9.98752767e-01 -2.49456958e-04 5.37232837e+00] [ 2.08447037e-02 -7.92328888e-04 9.99782412e-01 3.04674194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.659254154 meters 0.02325672617464871 Centerline is valid? [True, True] Translation: X:461.85, Y:5.37, Z:3.05 [[ 9.98593268e-01 -4.86921587e-02 -2.09894982e-02 4.61852551e+02] [ 4.86976382e-02 9.98813535e-01 -2.50291717e-04 5.37450145e+00] [ 2.09767822e-02 -7.72199367e-04 9.99779665e-01 3.04717919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.719254154 meters 0.021559130442116443 Centerline is valid? [True, True] Translation: X:461.91, Y:5.38, Z:3.05 [[ 9.98820199e-01 -4.30589119e-02 -2.24530514e-02 4.61912975e+02] [ 4.30637663e-02 9.99072290e-01 -2.67494347e-04 5.38151635e+00] [ 2.24437395e-02 -6.99734200e-04 9.99747863e-01 3.04699593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.779254154 meters 0.017546561258502343 Centerline is valid? [True, True] Translation: X:461.97, Y:5.39, Z:3.05 [[ 9.99153582e-01 -3.41165375e-02 -2.29821956e-02 4.61973048e+02] [ 3.41192528e-02 9.99417731e-01 -2.74077746e-04 5.39457991e+00] [ 2.29781644e-02 -5.10289579e-04 9.99735837e-01 3.04949909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.839254154 meters 0.017700907376332474 Centerline is valid? [True, True] Translation: X:462.03, Y:5.40, Z:3.05 [[ 9.99354175e-01 -2.86299325e-02 -2.17154446e-02 4.62031721e+02] [ 2.86310420e-02 9.99590014e-01 -2.59876796e-04 5.39806343e+00] [ 2.17139818e-02 -3.62026845e-04 9.99764158e-01 3.04829630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.899254154 meters 0.017515040847140693 Centerline is valid? [True, True] Translation: X:462.09, Y:5.40, Z:3.05 [[ 9.99408551e-01 -2.73098099e-02 -2.08979022e-02 4.62090207e+02] [ 2.73104741e-02 9.99626967e-01 -2.53667294e-04 5.40060516e+00] [ 2.08970342e-02 -3.17214355e-04 9.99781583e-01 3.04855455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.959254154 meters 0.016861827618574743 Centerline is valid? [True, True] Translation: X:462.15, Y:5.40, Z:3.05 [[ 9.99423885e-01 -2.69471243e-02 -2.06337179e-02 4.62148754e+02] [ 2.69475960e-02 9.99636815e-01 -2.55234003e-04 5.40404183e+00] [ 2.06331019e-02 -3.00942137e-04 9.99787070e-01 3.05060130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.019254154 meters 0.01605716195735776 Centerline is valid? [True, True] Translation: X:462.21, Y:5.41, Z:3.05 [[ 9.99416115e-01 -2.76851129e-02 -2.00240801e-02 4.62206108e+02] [ 2.76855963e-02 9.99616648e-01 -2.53131341e-04 5.40726450e+00] [ 2.00234118e-02 -3.01395057e-04 9.99799466e-01 3.05384759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.079254154 meters 0.01629419551414827 Centerline is valid? [True, True] Translation: X:462.26, Y:5.41, Z:3.06 [[ 9.99346717e-01 -3.10219317e-02 -1.85412533e-02 4.62264922e+02] [ 3.10228292e-02 9.99518648e-01 -2.39290354e-04 5.40583325e+00] [ 1.85397517e-02 -3.36068104e-04 9.99828068e-01 3.05588958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.139254154 meters 0.017391034599913237 Centerline is valid? [True, True] Translation: X:462.33, Y:5.40, Z:3.06 [[ 9.99113475e-01 -3.75491060e-02 -1.90349488e-02 4.62325090e+02] [ 3.75511970e-02 9.99294674e-01 -2.47685406e-04 5.40081544e+00] [ 1.90308234e-02 -4.67319288e-04 9.99818788e-01 3.05571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.199254154 meters 0.020574403203692228 Centerline is valid? [True, True] Translation: X:462.38, Y:5.39, Z:3.05 [[ 9.98820470e-01 -4.44408032e-02 -1.95623195e-02 4.62384729e+02] [ 4.44443249e-02 9.99011830e-01 -2.54913578e-04 5.39256792e+00] [ 1.95543172e-02 -6.14821184e-04 9.99808607e-01 3.05414838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.259254154 meters 0.019847439534609473 Centerline is valid? [True, True] Translation: X:462.45, Y:5.39, Z:3.06 [[ 9.98705284e-01 -4.69732908e-02 -1.95260283e-02 4.62446052e+02] [ 4.69772898e-02 9.98895925e-01 -2.54086548e-04 5.39261702e+00] [ 1.95164054e-02 -6.63522309e-04 9.99809317e-01 3.05542033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.319254154 meters 0.021107274486629912 Centerline is valid? [True, True] Translation: X:462.51, Y:5.39, Z:3.06 [[ 9.98693012e-01 -4.76757608e-02 -1.84198015e-02 4.62506804e+02] [ 4.76794509e-02 9.98862660e-01 -2.39023034e-04 5.38929253e+00] [ 1.84102475e-02 -6.39535389e-04 9.99830312e-01 3.05581534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters 0.02083786860470388 Centerline is valid? [True, True] Translation: X:462.57, Y:5.39, Z:3.06 [[ 9.98800006e-01 -4.53706519e-02 -1.84404803e-02 4.62567807e+02] [ 4.53739703e-02 9.98970043e-01 -2.38622356e-04 5.38985764e+00] [ 1.84323138e-02 -5.98381794e-04 9.99829931e-01 3.05583147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.43925415399997 meters 0.018406652629766897 Centerline is valid? [True, True] Translation: X:462.63, Y:5.40, Z:3.06 [[ 9.99073811e-01 -3.87165198e-02 -1.87763746e-02 4.62628242e+02] [ 3.87187904e-02 9.99250117e-01 -2.42723767e-04 5.39536761e+00] [ 1.87716920e-02 -4.84499555e-04 9.99823679e-01 3.05574470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.49925415399997 meters 0.01689185808211277 Centerline is valid? [True, True] Translation: X:462.69, Y:5.40, Z:3.06 [[ 9.99315301e-01 -3.17982648e-02 -1.89155765e-02 4.62689085e+02] [ 3.17993344e-02 9.99494243e-01 -2.44304874e-04 5.40077401e+00] [ 1.89137783e-02 -3.57365146e-04 9.99821055e-01 3.05622072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.559254154 meters 0.01524415655021843 Centerline is valid? [True, True] Translation: X:462.75, Y:5.41, Z:3.06 [[ 9.99591869e-01 -2.13910089e-02 -1.89346281e-02 4.62747894e+02] [ 2.13902077e-02 9.99771173e-01 -2.44861262e-04 5.40861346e+00] [ 1.89355332e-02 -1.60254301e-04 9.99820694e-01 3.05655999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.619254154 meters 0.014807314913291377 Centerline is valid? [True, True] Translation: X:462.81, Y:5.41, Z:3.06 [[ 9.99715508e-01 -1.43032396e-02 -1.90871710e-02 4.62806932e+02] [ 1.43010697e-02 9.99897703e-01 -2.50180879e-04 5.41453988e+00] [ 1.90887968e-02 -2.28572581e-05 9.99817792e-01 3.05814230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.679254154 meters 0.01476210353116904 Centerline is valid? [True, True] Translation: X:462.86, Y:5.42, Z:3.06 [[ 9.99748268e-01 -1.19863052e-02 -1.89665144e-02 4.62864973e+02] [ 1.19836480e-02 9.99928161e-01 -2.53750567e-04 5.41703742e+00] [ 1.89681934e-02 2.63986574e-05 9.99820087e-01 3.05821621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.739254154 meters 0.014784235545287197 Centerline is valid? [True, True] Translation: X:462.92, Y:5.42, Z:3.06 [[ 9.99743881e-01 -1.28183671e-02 -1.86510343e-02 4.62923136e+02] [ 1.28158445e-02 9.99917841e-01 -2.54777181e-04 5.41754409e+00] [ 1.86527677e-02 1.56831739e-05 9.99826022e-01 3.05913779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.799254154 meters 0.015483938667250783 Centerline is valid? [True, True] Translation: X:462.98, Y:5.41, Z:3.06 [[ 9.99638068e-01 -1.95504246e-02 -1.84800831e-02 4.62982033e+02] [ 1.95490473e-02 9.99808867e-01 -2.55190410e-04 5.41182247e+00] [ 1.84815400e-02 -1.06169971e-04 9.99829196e-01 3.05978934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.859254154 meters 0.016176847704768703 Centerline is valid? [True, True] Translation: X:463.04, Y:5.40, Z:3.06 [[ 9.99334238e-01 -3.12657653e-02 -1.88024877e-02 4.63041928e+02] [ 3.12663942e-02 9.99511053e-01 -2.60591079e-04 5.40464901e+00] [ 1.88014419e-02 -3.27468407e-04 9.99823184e-01 3.06064423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.919254154 meters 0.017034257003323307 Centerline is valid? [True, True] Translation: X:463.10, Y:5.40, Z:3.06 [[ 9.99198714e-01 -3.53093577e-02 -1.88462039e-02 4.63101569e+02] [ 3.53106954e-02 9.99376349e-01 -2.61886741e-04 5.40236638e+00] [ 1.88436975e-02 -4.03795671e-04 9.99822360e-01 3.06089574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.979254154 meters 0.020872666458733084 Centerline is valid? [True, True] Translation: X:463.16, Y:5.39, Z:3.06 [[ 9.98723037e-01 -4.71735634e-02 -1.80817799e-02 4.63160781e+02] [ 4.71767286e-02 9.98886527e-01 -2.51705886e-04 5.39333609e+00] [ 1.80735202e-02 -6.01654755e-04 9.99836480e-01 3.06128746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.039254154 meters 0.02399967859046944 Centerline is valid? [True, True] Translation: X:463.22, Y:5.39, Z:3.06 [[ 9.98324413e-01 -5.55494020e-02 -1.62058639e-02 4.63221108e+02] [ 5.55530444e-02 9.98455712e-01 -2.25672311e-04 5.38749796e+00] [ 1.61933734e-02 -6.74990902e-04 9.99868651e-01 3.06207052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.099254154 meters 0.023794486921891993 Centerline is valid? [True, True] Translation: X:463.28, Y:5.39, Z:3.06 [[ 9.98094989e-01 -5.97084417e-02 -1.55336887e-02 4.63282546e+02] [ 5.97122962e-02 9.98215605e-01 -2.15963161e-04 5.38663144e+00] [ 1.55188653e-02 -7.12000473e-04 9.99879322e-01 3.06422623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.159254154 meters 0.02502929210056599 Centerline is valid? [True, True] Translation: X:463.34, Y:5.39, Z:3.06 [[ 9.97897697e-01 -6.29201808e-02 -1.55318087e-02 4.63343583e+02] [ 6.29244288e-02 9.98018271e-01 -2.15522892e-04 5.38547295e+00] [ 1.55145896e-02 -7.62260395e-04 9.99879351e-01 3.06492578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.219254154 meters 0.025428540838275 Centerline is valid? [True, True] Translation: X:463.41, Y:5.39, Z:3.06 [[ 9.97827894e-01 -6.39170577e-02 -1.59406231e-02 4.63405590e+02] [ 6.39216723e-02 9.97954894e-01 -2.20378405e-04 5.38579585e+00] [ 1.59221088e-02 -7.99051567e-04 9.99872916e-01 3.06495555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.279254154 meters 0.026308492399750517 Centerline is valid? [True, True] Translation: X:463.47, Y:5.39, Z:3.07 [[ 9.97773730e-01 -6.47802166e-02 -1.58463812e-02 4.63467700e+02] [ 6.47849040e-02 9.97899228e-01 -2.17899325e-04 5.38687649e+00] [ 1.58272071e-02 -8.09192061e-04 9.99874414e-01 3.06583949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.339254154 meters 0.026869961525318113 Centerline is valid? [True, True] Translation: X:463.53, Y:5.39, Z:3.07 [[ 9.97748736e-01 -6.50455293e-02 -1.63260326e-02 4.63530234e+02] [ 6.50505603e-02 9.97881944e-01 -2.23263336e-04 5.39126801e+00] [ 1.63059754e-02 -8.39256856e-04 9.99866697e-01 3.06603408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.399254154 meters 0.02638490649406098 Centerline is valid? [True, True] Translation: X:463.59, Y:5.40, Z:3.07 [[ 9.97732145e-01 -6.47884736e-02 -1.82488475e-02 4.63591914e+02] [ 6.47947427e-02 9.97898582e-01 -2.48143564e-04 5.39602147e+00] [ 1.82265759e-02 -9.34848570e-04 9.99833445e-01 3.06558759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.459254154 meters 0.025203831742861577 Centerline is valid? [True, True] Translation: X:463.65, Y:5.40, Z:3.07 [[ 9.97830834e-01 -6.30862736e-02 -1.88082051e-02 4.63654540e+02] [ 6.30926662e-02 9.98007641e-01 -2.53898850e-04 5.40203937e+00] [ 1.87867499e-02 -9.33311702e-04 9.99823078e-01 3.06649036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.519254154 meters 0.024148711143637272 Centerline is valid? [True, True] Translation: X:463.72, Y:5.41, Z:3.07 [[ 9.98167110e-01 -5.80770304e-02 -1.70140576e-02 4.63715107e+02] [ 5.80815484e-02 9.98311816e-01 -2.28887165e-04 5.40988820e+00] [ 1.69986278e-02 -7.59735170e-04 9.99855224e-01 3.06931715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.579254154 meters 0.023397477847957763 Centerline is valid? [True, True] Translation: X:463.78, Y:5.42, Z:3.07 [[ 9.98474188e-01 -5.26370604e-02 -1.66923740e-02 4.63776036e+02] [ 5.26406545e-02 9.98613494e-01 -2.24299490e-04 5.41853120e+00] [ 1.66810364e-02 -6.54740242e-04 9.99860647e-01 3.07030887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.639254154 meters 0.0208312811121643 Centerline is valid? [True, True] Translation: X:463.84, Y:5.43, Z:3.07 [[ 9.98663303e-01 -4.87808613e-02 -1.70889987e-02 4.63837495e+02] [ 4.87840731e-02 9.98809322e-01 -2.29117003e-04 5.42545026e+00] [ 1.70798277e-02 -6.04860219e-04 9.99853946e-01 3.07148616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.699254154 meters 0.020143222006981275 Centerline is valid? [True, True] Translation: X:463.90, Y:5.43, Z:3.07 [[ 9.98787701e-01 -4.57852800e-02 -1.80786192e-02 4.63898462e+02] [ 4.57883969e-02 9.98951132e-01 -2.41701117e-04 5.43001635e+00] [ 1.80707235e-02 -5.86382889e-04 9.99836539e-01 3.07153878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.759254154 meters 0.019553050887786683 Centerline is valid? [True, True] Translation: X:463.96, Y:5.43, Z:3.07 [[ 9.98935850e-01 -4.20577496e-02 -1.89291618e-02 4.63959884e+02] [ 4.20605114e-02 9.99115033e-01 -2.52369397e-04 5.43379475e+00] [ 1.89230243e-02 -5.44069390e-04 9.99820796e-01 3.07116318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters 0.018946017362693305 Centerline is valid? [True, True] Translation: X:464.02, Y:5.44, Z:3.07 [[ 9.99076271e-01 -3.86581254e-02 -1.87657435e-02 4.64021648e+02] [ 3.86602571e-02 9.99252382e-01 -2.49303746e-04 5.43733158e+00] [ 1.87613515e-02 -4.76415011e-04 9.99823877e-01 3.07218339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters 0.016902606581231154 Centerline is valid? [True, True] Translation: X:464.08, Y:5.44, Z:3.07 [[ 9.99262106e-01 -3.34837776e-02 -1.88170253e-02 4.64081892e+02] [ 3.34850107e-02 9.99439189e-01 -2.49624732e-04 5.44329672e+00] [ 1.88148309e-02 -3.80647758e-04 9.99822913e-01 3.07362144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.93925415399997 meters 0.016443617608109373 Centerline is valid? [True, True] Translation: X:464.14, Y:5.45, Z:3.07 [[ 9.99393461e-01 -2.93667706e-02 -1.87163967e-02 4.64141978e+02] [ 2.93672688e-02 9.99568658e-01 -2.48289803e-04 5.44656336e+00] [ 1.87156150e-02 -3.01510247e-04 9.99824802e-01 3.07415698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.99925415399997 meters 0.015717828327766706 Centerline is valid? [True, True] Translation: X:464.20, Y:5.45, Z:3.08 [[ 9.99550292e-01 -2.36473146e-02 -1.84395751e-02 4.64202119e+02] [ 2.36468211e-02 9.99720345e-01 -2.44834526e-04 5.45123887e+00] [ 1.84402081e-02 -1.91312911e-04 9.99829947e-01 3.07555110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.059254154 meters 0.015511120585484551 Centerline is valid? [True, True] Translation: X:464.26, Y:5.45, Z:3.08 [[ 9.99609656e-01 -2.21650168e-02 -1.70072558e-02 4.64260672e+02] [ 2.21643357e-02 9.99754315e-01 -2.28560103e-04 5.45171102e+00] [ 1.70081434e-02 -1.48483640e-04 9.99855340e-01 3.07647343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.119254154 meters 0.015858022352229616 Centerline is valid? [True, True] Translation: X:464.32, Y:5.45, Z:3.08 [[ 9.99503094e-01 -2.63659078e-02 -1.72743733e-02 4.64319200e+02] [ 2.63657563e-02 9.99652335e-01 -2.36554461e-04 5.44782844e+00] [ 1.72746046e-02 -2.19015001e-04 9.99850759e-01 3.07618963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.179254154 meters 0.016899376401122126 Centerline is valid? [True, True] Translation: X:464.38, Y:5.44, Z:3.08 [[ 9.99327952e-01 -3.19380923e-02 -1.79889822e-02 4.64378605e+02] [ 3.19387834e-02 9.99489796e-01 -2.48951389e-04 5.44228709e+00] [ 1.79877551e-02 -3.25762124e-04 9.99838154e-01 3.07556403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.239254154 meters 0.01954119413951259 Centerline is valid? [True, True] Translation: X:464.44, Y:5.43, Z:3.08 [[ 9.98933013e-01 -4.21231905e-02 -1.89333856e-02 4.64439178e+02] [ 4.21257706e-02 9.99112281e-01 -2.62710950e-04 5.43316284e+00] [ 1.89276443e-02 -5.35152819e-04 9.99820713e-01 3.07539920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.299254154 meters 0.024287090738780187 Centerline is valid? [True, True] Translation: X:464.50, Y:5.42, Z:3.07 [[ 9.98511530e-01 -5.10453327e-02 -1.92119399e-02 4.64498539e+02] [ 5.10496393e-02 9.98696082e-01 -2.66516410e-04 5.42250883e+00] [ 1.92004936e-02 -7.14642896e-04 9.99815398e-01 3.07417624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.359254154 meters 0.026306732163832728 Centerline is valid? [True, True] Translation: X:464.56, Y:5.42, Z:3.07 [[ 9.98233070e-01 -5.57507384e-02 -2.05570538e-02 4.64559547e+02] [ 5.57566720e-02 9.98444346e-01 -2.84850775e-04 5.41821951e+00] [ 2.05409547e-02 -8.61845440e-04 9.99788641e-01 3.07344365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.419254154 meters 0.028766790246225284 Centerline is valid? [True, True] Translation: X:464.62, Y:5.41, Z:3.07 [[ 9.97936882e-01 -6.04885205e-02 -2.15201770e-02 4.64620061e+02] [ 6.04961277e-02 9.98168387e-01 -2.97950399e-04 5.41372294e+00] [ 2.14987830e-02 -1.00455168e-03 9.99768370e-01 3.07323493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.479254154 meters 0.030435336560225453 Centerline is valid? [True, True] Translation: X:464.68, Y:5.41, Z:3.07 [[ 9.97829580e-01 -6.26859332e-02 -2.01644118e-02 4.64681091e+02] [ 6.26930718e-02 9.98032816e-01 -2.78556606e-04 5.41238804e+00] [ 2.01422062e-02 -9.86216894e-04 9.99796639e-01 3.07492323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.539254154 meters 0.027198822342858583 Centerline is valid? [True, True] Translation: X:464.74, Y:5.42, Z:3.08 [[ 9.97819107e-01 -6.31475613e-02 -1.92201933e-02 4.64743296e+02] [ 6.31541547e-02 9.98003749e-01 -2.64338878e-04 5.41825500e+00] [ 1.91985173e-02 -9.50072678e-04 9.99815240e-01 3.07761623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.599254154 meters 0.02742506004147997 Centerline is valid? [True, True] Translation: X:464.81, Y:5.42, Z:3.08 [[ 9.97876984e-01 -6.23680519e-02 -1.87550238e-02 4.64805765e+02] [ 6.23742179e-02 9.98052800e-01 -2.56589373e-04 5.42249151e+00] [ 1.87345070e-02 -9.13785310e-04 9.99824076e-01 3.07838686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.659254154 meters 0.02643407921669041 Centerline is valid? [True, True] Translation: X:464.87, Y:5.43, Z:3.08 [[ 9.97854331e-01 -6.25821116e-02 -1.92409549e-02 4.64868254e+02] [ 6.25886683e-02 9.98039373e-01 -2.61822444e-04 5.42550830e+00] [ 1.92196160e-02 -9.43005084e-04 9.99814841e-01 3.07945594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.719254154 meters 0.027860245566374425 Centerline is valid? [True, True] Translation: X:464.93, Y:5.43, Z:3.08 [[ 9.97849720e-01 -6.23980006e-02 -2.00605417e-02 4.64929698e+02] [ 6.24051155e-02 9.98050864e-01 -2.71746576e-04 5.42628801e+00] [ 2.00383975e-02 -9.80718178e-04 9.99798730e-01 3.07901227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.779254154 meters 0.029123335073266806 Centerline is valid? [True, True] Translation: X:464.99, Y:5.43, Z:3.08 [[ 9.97868184e-01 -6.17075159e-02 -2.12431265e-02 4.64991695e+02] [ 6.17153686e-02 9.98093749e-01 -2.86356331e-04 5.42849976e+00] [ 2.12203021e-02 -1.02528151e-03 9.99774298e-01 3.07815610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.839254154 meters 0.02844437167763041 Centerline is valid? [True, True] Translation: X:465.05, Y:5.43, Z:3.08 [[ 9.97939800e-01 -6.05097724e-02 -2.13242569e-02 4.65053568e+02] [ 6.05174442e-02 9.98167099e-01 -2.85956045e-04 5.43073139e+00] [ 2.13024748e-02 -1.00512261e-03 9.99772571e-01 3.07857450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.899254154 meters 0.025041006065220774 Centerline is valid? [True, True] Translation: X:465.11, Y:5.44, Z:3.08 [[ 9.98346247e-01 -5.33549580e-02 -2.14013792e-02 4.65114151e+02] [ 5.33610542e-02 9.98575243e-01 -2.86519644e-04 5.44032898e+00] [ 2.13861747e-02 -8.55954347e-04 9.99770923e-01 3.07925974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.959254154 meters 0.023439150579246632 Centerline is valid? [True, True] Translation: X:465.17, Y:5.45, Z:3.08 [[ 9.98766112e-01 -4.50584517e-02 -2.08803621e-02 4.65173448e+02] [ 4.50624383e-02 9.98984133e-01 -2.79785279e-04 5.44796635e+00] [ 2.08717572e-02 -6.61479976e-04 9.99781942e-01 3.07978875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.019254154 meters 0.017904306085240813 Centerline is valid? [True, True] Translation: X:465.23, Y:5.47, Z:3.09 [[ 9.99349902e-01 -3.11713350e-02 -1.81141380e-02 4.65234232e+02] [ 3.11720533e-02 9.99514004e-01 -2.42765758e-04 5.46693432e+00] [ 1.81129019e-02 -3.22046938e-04 9.99835896e-01 3.08537044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.079254154 meters 0.016612343963353992 Centerline is valid? [True, True] Translation: X:465.29, Y:5.48, Z:3.09 [[ 9.99678377e-01 -2.03620009e-02 -1.51172511e-02 4.65294965e+02] [ 2.03612678e-02 9.99792667e-01 -2.02420639e-04 5.47622684e+00] [ 1.51182385e-02 -1.05450864e-04 9.99885707e-01 3.08745899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.139254154 meters 0.015932885234701526 Centerline is valid? [True, True] Translation: X:465.35, Y:5.48, Z:3.09 [[ 9.99757683e-01 -1.64246907e-02 -1.46562339e-02 4.65354631e+02] [ 1.64235760e-02 9.99865105e-01 -1.96421292e-04 5.48007708e+00] [ 1.46574830e-02 -4.43340749e-05 9.99892572e-01 3.08802486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.199254154 meters 0.01511390535418802 Centerline is valid? [True, True] Translation: X:465.41, Y:5.48, Z:3.09 [[ 9.99731380e-01 -1.70584052e-02 -1.56901055e-02 4.65413238e+02] [ 1.70571656e-02 9.99854493e-01 -2.12831428e-04 5.48022874e+00] [ 1.56914531e-02 -5.48544717e-05 9.99876880e-01 3.08675782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.259254154 meters 0.015481891856876097 Centerline is valid? [True, True] Translation: X:465.47, Y:5.48, Z:3.08 [[ 9.99647162e-01 -2.04471712e-02 -1.69548127e-02 4.65472186e+02] [ 2.04461361e-02 9.99790928e-01 -2.34413068e-04 5.47748132e+00] [ 1.69560610e-02 -1.12330049e-04 9.99856229e-01 3.08465572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters 0.015789152098951174 Centerline is valid? [True, True] Translation: X:465.53, Y:5.47, Z:3.08 [[ 9.99480983e-01 -2.64119215e-02 -1.84438508e-02 4.65530609e+02] [ 2.64116581e-02 9.99651118e-01 -2.57911270e-04 5.47322981e+00] [ 1.84442280e-02 -2.29355272e-04 9.99829864e-01 3.08450986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters 0.01638470644456094 Centerline is valid? [True, True] Translation: X:465.59, Y:5.47, Z:3.09 [[ 9.99368782e-01 -3.03569222e-02 -1.84524894e-02 4.65590085e+02] [ 3.03573114e-02 9.99539077e-01 -2.59078653e-04 5.46999141e+00] [ 1.84518491e-02 -3.01252850e-04 9.99829705e-01 3.08555864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.43925415399997 meters 0.016636191686025 Centerline is valid? [True, True] Translation: X:465.65, Y:5.47, Z:3.09 [[ 9.99330769e-01 -3.19751994e-02 -1.77651301e-02 4.65650403e+02] [ 3.19758115e-02 9.99488612e-01 -2.49665570e-04 5.46810597e+00] [ 1.77640283e-02 -3.18555964e-04 9.99842156e-01 3.08598099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.49925415399997 meters 0.017696268535663986 Centerline is valid? [True, True] Translation: X:465.71, Y:5.47, Z:3.09 [[ 9.99304646e-01 -3.33374021e-02 -1.66985491e-02 4.65711753e+02] [ 3.33381391e-02 9.99444102e-01 -2.34305962e-04 5.46560680e+00] [ 1.66970776e-02 -3.22555516e-04 9.99860542e-01 3.08661126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.559254154 meters 0.01694512429020412 Centerline is valid? [True, True] Translation: X:465.77, Y:5.46, Z:3.09 [[ 9.99286334e-01 -3.43401972e-02 -1.57344780e-02 4.65772610e+02] [ 3.43409879e-02 9.99410150e-01 -2.20007120e-04 5.46487430e+00] [ 1.57327521e-02 -3.20487411e-04 9.99876181e-01 3.08795563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.619254154 meters 0.017745709605455663 Centerline is valid? [True, True] Translation: X:465.83, Y:5.46, Z:3.09 [[ 9.99191933e-01 -3.66926973e-02 -1.64050822e-02 4.65834267e+02] [ 3.66938865e-02 9.99326526e-01 -2.28610563e-04 5.46239828e+00] [ 1.64024222e-02 -3.73540394e-04 9.99865401e-01 3.08809569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.679254154 meters 0.017936356123349217 Centerline is valid? [True, True] Translation: X:465.90, Y:5.46, Z:3.09 [[ 9.99081445e-01 -3.97520146e-02 -1.60013730e-02 4.65896087e+02] [ 3.97535503e-02 9.99209490e-01 -2.22220671e-04 5.46075485e+00] [ 1.59975575e-02 -4.14094836e-04 9.99871945e-01 3.08882209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.739254154 meters 0.019770579956774142 Centerline is valid? [True, True] Translation: X:465.96, Y:5.46, Z:3.09 [[ 9.98918259e-01 -4.35191822e-02 -1.63826902e-02 4.65957278e+02] [ 4.35213102e-02 9.99052473e-01 -2.26774036e-04 5.45694752e+00] [ 1.63770362e-02 -4.86467418e-04 9.99865769e-01 3.08866283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.799254154 meters 0.02000757959576622 Centerline is valid? [True, True] Translation: X:466.02, Y:5.46, Z:3.09 [[ 9.98864242e-01 -4.41303437e-02 -1.79649433e-02 4.66018170e+02] [ 4.41330174e-02 9.99025633e-01 -2.47792472e-04 5.45590974e+00] [ 1.79583740e-02 -5.45336116e-04 9.99838587e-01 3.08842361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.859254154 meters 0.020114258437443102 Centerline is valid? [True, True] Translation: X:466.08, Y:5.46, Z:3.09 [[ 9.98941458e-01 -4.18091542e-02 -1.91822397e-02 4.66079571e+02] [ 4.18117912e-02 9.99125470e-01 -2.63742215e-04 5.45845067e+00] [ 1.91764911e-02 -5.38580770e-04 9.99815969e-01 3.08802345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.919254154 meters 0.01877350448194446 Centerline is valid? [True, True] Translation: X:466.14, Y:5.46, Z:3.09 [[ 9.99085445e-01 -3.82871165e-02 -1.90360526e-02 4.66140313e+02] [ 3.82890875e-02 9.99266670e-01 -2.61051527e-04 5.46199061e+00] [ 1.90320878e-02 -4.68060304e-04 9.99818764e-01 3.08951330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.979254154 meters 0.018236682039826858 Centerline is valid? [True, True] Translation: X:466.20, Y:5.46, Z:3.09 [[ 9.99186065e-01 -3.56549121e-02 -1.88662533e-02 4.66200806e+02] [ 3.56563876e-02 9.99364075e-01 -2.58273795e-04 5.46470784e+00] [ 1.88634645e-02 -4.14638863e-04 9.99821983e-01 3.09038743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.039254154 meters 0.01661290009455488 Centerline is valid? [True, True] Translation: X:466.26, Y:5.47, Z:3.09 [[ 9.99274643e-01 -3.27611757e-02 -1.94137343e-02 4.66260952e+02] [ 3.27621946e-02 9.99463140e-01 -2.65648470e-04 5.47042183e+00] [ 1.94120148e-02 -3.70580759e-04 9.99811500e-01 3.09222170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.099254154 meters 0.018175425892628928 Centerline is valid? [True, True] Translation: X:466.32, Y:5.47, Z:3.09 [[ 9.99312566e-01 -3.03605247e-02 -2.12751935e-02 4.66321064e+02] [ 3.03612047e-02 9.99538950e-01 -2.91119809e-04 5.47146342e+00] [ 2.12742232e-02 -3.55020822e-04 9.99773615e-01 3.09109461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.159254154 meters 0.016433463616733906 Centerline is valid? [True, True] Translation: X:466.38, Y:5.47, Z:3.09 [[ 9.99307848e-01 -3.13899735e-02 -1.99623415e-02 4.66379693e+02] [ 3.13907092e-02 9.99507152e-01 -2.76566592e-04 5.47266532e+00] [ 1.99611846e-02 -3.50256893e-04 9.99800694e-01 3.09326468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.219254154 meters 0.01648513178893107 Centerline is valid? [True, True] Translation: X:466.44, Y:5.47, Z:3.10 [[ 9.99303279e-01 -3.21727529e-02 -1.89174673e-02 4.66439509e+02] [ 3.21735142e-02 9.99482264e-01 -2.64183854e-04 5.47411390e+00] [ 1.89161726e-02 -3.44641613e-04 9.99821014e-01 3.09578334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.279254154 meters 0.017633147784044123 Centerline is valid? [True, True] Translation: X:466.50, Y:5.47, Z:3.10 [[ 9.99229251e-01 -3.53641352e-02 -1.70376819e-02 4.66499990e+02] [ 3.53652124e-02 9.99374427e-01 -2.38158517e-04 5.47267346e+00] [ 1.70354458e-02 -3.64566283e-04 9.99854820e-01 3.09678551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.339254154 meters 0.01821985442160799 Centerline is valid? [True, True] Translation: X:466.56, Y:5.47, Z:3.10 [[ 9.99050318e-01 -4.08534365e-02 -1.51478688e-02 4.66561180e+02] [ 4.08549231e-02 9.99165067e-01 -2.11427382e-04 5.47014945e+00] [ 1.51438589e-02 -4.07638422e-04 9.99885242e-01 3.09808182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.399254154 meters 0.021643472297787656 Centerline is valid? [True, True] Translation: X:466.62, Y:5.46, Z:3.10 [[ 9.98579301e-01 -5.16228342e-02 -1.32084062e-02 4.66620592e+02] [ 5.16249065e-02 9.98666528e-01 -1.84237715e-04 5.46385705e+00] [ 1.32003040e-02 -4.97906765e-04 9.99912748e-01 3.09904851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.459254154 meters 0.024522765892470558 Centerline is valid? [True, True] Translation: X:466.68, Y:5.46, Z:3.10 [[ 9.98157857e-01 -5.93763297e-02 -1.24637286e-02 4.66681300e+02] [ 5.93787771e-02 9.98235509e-01 -1.73928171e-04 5.45912138e+00] [ 1.24520637e-02 -5.66473192e-04 9.99922310e-01 3.09917006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.519254154 meters 0.029521126557914903 Centerline is valid? [True, True] Translation: X:466.74, Y:5.45, Z:3.10 [[ 9.97530125e-01 -6.90085397e-02 -1.30946843e-02 4.66742008e+02] [ 6.90120688e-02 9.97615808e-01 -1.82713443e-04 5.45142851e+00] [ 1.30760729e-02 -7.21429093e-04 9.99914244e-01 3.09796027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.579254154 meters 0.03340606969185858 Centerline is valid? [True, True] Translation: X:466.80, Y:5.45, Z:3.10 [[ 9.97035293e-01 -7.54530889e-02 -1.50816197e-02 4.66801774e+02] [ 7.54585148e-02 9.97148920e-01 -2.09769031e-04 5.44660095e+00] [ 1.50544485e-02 -9.28889495e-04 9.99886244e-01 3.09672249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.639254154 meters 0.034805684154580706 Centerline is valid? [True, True] Translation: X:466.86, Y:5.45, Z:3.10 [[ 9.96963451e-01 -7.62663816e-02 -1.57263235e-02 4.66864240e+02] [ 7.62724010e-02 9.97086994e-01 -2.17536694e-04 5.44636819e+00] [ 1.56971033e-02 -9.82608317e-04 9.99876310e-01 3.09590669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.699254154 meters 0.034387945594745985 Centerline is valid? [True, True] Translation: X:466.92, Y:5.45, Z:3.10 [[ 9.97182196e-01 -7.34259713e-02 -1.53718538e-02 4.66924901e+02] [ 7.34313955e-02 9.97300248e-01 -2.12018990e-04 5.44977004e+00] [ 1.53459213e-02 -9.17355115e-04 9.99881824e-01 3.09614091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.759254154 meters 0.0333912206109144 Centerline is valid? [True, True] Translation: X:466.99, Y:5.45, Z:3.10 [[ 9.97311134e-01 -7.17487802e-02 -1.49202988e-02 4.66985972e+02] [ 7.17537093e-02 9.97422359e-01 -2.05389066e-04 5.45358082e+00] [ 1.48965760e-02 -8.65749979e-04 9.99888665e-01 3.09702335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters 0.026284169311203368 Centerline is valid? [True, True] Translation: X:467.05, Y:5.47, Z:3.10 [[ 9.97618928e-01 -6.74983575e-02 -1.41578859e-02 4.67046929e+02] [ 6.75023748e-02 9.97719095e-01 -1.94474656e-04 5.46830036e+00] [ 1.41387198e-02 -7.61679322e-04 9.99899753e-01 3.09874504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters 0.025318427317727137 Centerline is valid? [True, True] Translation: X:467.11, Y:5.48, Z:3.10 [[ 9.98132342e-01 -5.95708700e-02 -1.35329147e-02 4.67107285e+02] [ 5.95738163e-02 9.98223886e-01 -1.85659112e-04 5.47885476e+00] [ 1.35199385e-02 -6.20895009e-04 9.99908409e-01 3.09834383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.93925415399997 meters 0.022641141033733013 Centerline is valid? [True, True] Translation: X:467.17, Y:5.49, Z:3.10 [[ 9.98488101e-01 -5.37260864e-02 -1.16198144e-02 4.67166468e+02] [ 5.37278633e-02 9.98555603e-01 -1.59415999e-04 5.48689532e+00] [ 1.16115956e-02 -4.65132823e-04 9.99932475e-01 3.10012660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.99925415399997 meters 0.021341679786243132 Centerline is valid? [True, True] Translation: X:467.23, Y:5.50, Z:3.10 [[ 9.98755589e-01 -4.83793442e-02 -1.21125348e-02 4.67227583e+02] [ 4.83808825e-02 9.98828946e-01 -1.66157390e-04 5.49520626e+00] [ 1.21063890e-02 -4.20064501e-04 9.99926627e-01 3.10009872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.059254154 meters 0.020754547021138544 Centerline is valid? [True, True] Translation: X:467.29, Y:5.50, Z:3.10 [[ 9.98885317e-01 -4.54295985e-02 -1.28169841e-02 4.67288609e+02] [ 4.54310828e-02 9.98967460e-01 -1.75473151e-04 5.49999889e+00] [ 1.28117217e-02 -4.07011912e-04 9.99917844e-01 3.09973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.119254154 meters 0.019893458093022044 Centerline is valid? [True, True] Translation: X:467.35, Y:5.51, Z:3.10 [[ 9.99052021e-01 -4.09688021e-02 -1.47179131e-02 4.67349524e+02] [ 4.09702841e-02 9.99160345e-01 -2.00937812e-04 5.50512553e+00] [ 1.47137873e-02 -4.02249754e-04 9.99891665e-01 3.09725373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.179254154 meters 0.01765176046234773 Centerline is valid? [True, True] Translation: X:467.41, Y:5.51, Z:3.10 [[ 9.99234680e-01 -3.64423123e-02 -1.42131061e-02 4.67411257e+02] [ 3.64432458e-02 9.99335706e-01 -1.93407001e-04 5.51298213e+00] [ 1.42107126e-02 -3.24712737e-04 9.99898970e-01 3.09893165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.239254154 meters 0.016862543112362165 Centerline is valid? [True, True] Translation: X:467.47, Y:5.52, Z:3.10 [[ 9.99334013e-01 -3.41194885e-02 -1.29379744e-02 4.67473352e+02] [ 3.41200776e-02 9.99417725e-01 -1.75260725e-04 5.51690995e+00] [ 1.29364207e-02 -2.66300687e-04 9.99916286e-01 3.10069411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.299254154 meters 0.018345061732716984 Centerline is valid? [True, True] Translation: X:467.53, Y:5.51, Z:3.10 [[ 9.99414910e-01 -3.22673553e-02 -1.13426516e-02 4.67534305e+02] [ 3.22676966e-02 9.99479251e-01 -1.52960939e-04 5.51478682e+00] [ 1.13416805e-02 -2.13129796e-04 9.99935658e-01 3.10051791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.359254154 meters 0.016890348880258404 Centerline is valid? [True, True] Translation: X:467.60, Y:5.52, Z:3.10 [[ 9.99343004e-01 -3.42642224e-02 -1.18120090e-02 4.67596310e+02] [ 3.42647410e-02 9.99412779e-01 -1.58528654e-04 5.51786820e+00] [ 1.18105046e-02 -2.46310929e-04 9.99930223e-01 3.10136306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.419254154 meters 0.01822530042122457 Centerline is valid? [True, True] Translation: X:467.66, Y:5.51, Z:3.10 [[ 9.99139104e-01 -3.89557619e-02 -1.42653565e-02 4.67656844e+02] [ 3.89570104e-02 9.99240869e-01 -1.90458890e-04 5.51470651e+00] [ 1.42619467e-02 -3.65440716e-04 9.99898226e-01 3.10021846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.479254154 meters 0.019125040063284898 Centerline is valid? [True, True] Translation: X:467.72, Y:5.51, Z:3.10 [[ 9.98968921e-01 -4.28899797e-02 -1.48843401e-02 4.67718701e+02] [ 4.28917874e-02 9.99079704e-01 -1.97906403e-04 5.51292469e+00] [ 1.48791304e-02 -4.40713606e-04 9.99889202e-01 3.10019420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.539254154 meters 0.020992766231434506 Centerline is valid? [True, True] Translation: X:467.78, Y:5.51, Z:3.10 [[ 9.98849187e-01 -4.54036386e-02 -1.54535140e-02 4.67780863e+02] [ 4.54059037e-02 9.98968599e-01 -2.04441233e-04 5.51093551e+00] [ 1.54468576e-02 -4.97474808e-04 9.99880566e-01 3.09995323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.599254154 meters 0.01982487922352347 Centerline is valid? [True, True] Translation: X:467.84, Y:5.51, Z:3.10 [[ 9.98879128e-01 -4.51869036e-02 -1.40936347e-02 4.67842938e+02] [ 4.51887800e-02 9.98978448e-01 -1.85452621e-04 5.51195752e+00] [ 1.40876174e-02 -4.51629406e-04 9.99900663e-01 3.10165665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.659254154 meters 0.01761816965157532 Centerline is valid? [True, True] Translation: X:467.90, Y:5.52, Z:3.10 [[ 9.99147833e-01 -3.90937942e-02 -1.32394504e-02 4.67904125e+02] [ 3.90949231e-02 9.99235486e-01 -1.73624964e-04 5.51770343e+00] [ 1.32361163e-02 -3.44118289e-04 9.99912340e-01 3.10272807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.719254154 meters 0.017023848589683876 Centerline is valid? [True, True] Translation: X:467.96, Y:5.52, Z:3.10 [[ 9.99356019e-01 -3.36168209e-02 -1.25481615e-02 4.67964498e+02] [ 3.36174063e-02 9.99434762e-01 -1.64330472e-04 5.52016896e+00] [ 1.25465931e-02 -2.57611999e-04 9.99921255e-01 3.10324081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.779254154 meters 0.018288887125792606 Centerline is valid? [True, True] Translation: X:468.03, Y:5.52, Z:3.10 [[ 9.99517053e-01 -2.76964681e-02 -1.40913804e-02 4.68026374e+02] [ 2.76966259e-02 9.99616358e-01 -1.83994806e-04 5.52326899e+00] [ 1.40910704e-02 -2.06377746e-04 9.99900695e-01 3.10203371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.839254154 meters 0.01597092090595038 Centerline is valid? [True, True] Translation: X:468.09, Y:5.52, Z:3.10 [[ 9.99503288e-01 -2.76272040e-02 -1.51629633e-02 4.68088007e+02] [ 2.76273893e-02 9.99618271e-01 -1.97287234e-04 5.52370539e+00] [ 1.51626257e-02 -2.21723851e-04 9.99885016e-01 3.10210011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.899254154 meters 0.016310140774213368 Centerline is valid? [True, True] Translation: X:468.15, Y:5.52, Z:3.10 [[ 9.99363540e-01 -3.04168381e-02 -1.86368064e-02 4.68149550e+02] [ 3.04176168e-02 9.99537248e-01 -2.41753608e-04 5.52093130e+00] [ 1.86355356e-02 -3.25287494e-04 9.99826290e-01 3.09941846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.959254154 meters 0.017200405213405965 Centerline is valid? [True, True] Translation: X:468.21, Y:5.52, Z:3.10 [[ 9.99215081e-01 -3.39786068e-02 -2.03636177e-02 4.68210366e+02] [ 3.39802863e-02 9.99422469e-01 -2.63635836e-04 5.51867968e+00] [ 2.03608150e-02 -4.28532656e-04 9.99792605e-01 3.09899679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.019254154 meters 0.0180750424857523 Centerline is valid? [True, True] Translation: X:468.27, Y:5.52, Z:3.10 [[ 9.99142486e-01 -3.62371548e-02 -2.00289871e-02 4.68271134e+02] [ 3.62392402e-02 9.99343109e-01 -2.58943028e-04 5.51740990e+00] [ 2.00252136e-02 -4.67114294e-04 9.99799366e-01 3.09979587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.079254154 meters 0.017958316190767293 Centerline is valid? [True, True] Translation: X:468.33, Y:5.52, Z:3.10 [[ 9.99054674e-01 -3.92353904e-02 -1.87174503e-02 4.68332594e+02] [ 3.92377478e-02 9.99229874e-01 -2.41426863e-04 5.51842049e+00] [ 1.87125080e-02 -4.93231959e-04 9.99824784e-01 3.10300418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.139254154 meters 0.019375950338566362 Centerline is valid? [True, True] Translation: X:468.39, Y:5.52, Z:3.10 [[ 9.98963367e-01 -4.17820658e-02 -1.80679277e-02 4.68393681e+02] [ 4.17846941e-02 9.99126611e-01 -2.32180860e-04 5.51618260e+00] [ 1.80618484e-02 -5.23022659e-04 9.99836735e-01 3.10337342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.199254154 meters 0.02564596226707247 Centerline is valid? [True, True] Translation: X:468.45, Y:5.51, Z:3.10 [[ 9.98630187e-01 -4.94439878e-02 -1.71184401e-02 4.68453494e+02] [ 4.94474747e-02 9.98776701e-01 -2.19769474e-04 5.50635170e+00] [ 1.71083655e-02 -6.26995204e-04 9.99853445e-01 3.10196473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.259254154 meters 0.024850411318389623 Centerline is valid? [True, True] Translation: X:468.51, Y:5.51, Z:3.10 [[ 9.98262760e-01 -5.63197994e-02 -1.73073164e-02 4.68514520e+02] [ 5.63243940e-02 9.98412497e-01 -2.22252384e-04 5.50787374e+00] [ 1.72923582e-02 -7.52957830e-04 9.99850192e-01 3.10315416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters 0.02703651136746532 Centerline is valid? [True, True] Translation: X:468.58, Y:5.50, Z:3.11 [[ 9.97642050e-01 -6.68380163e-02 -1.55890640e-02 4.68575079e+02] [ 6.68430239e-02 9.97763484e-01 -2.00179190e-04 5.50287217e+00] [ 1.55675784e-02 -8.42312997e-04 9.99878463e-01 3.10581939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters 0.03250162738609473 Centerline is valid? [True, True] Translation: X:468.63, Y:5.49, Z:3.11 [[ 9.97108296e-01 -7.44900707e-02 -1.50424314e-02 4.68634596e+02] [ 7.44955979e-02 9.97221324e-01 -1.93332416e-04 5.49473536e+00] [ 1.50150347e-02 -9.27821566e-04 9.99886838e-01 3.10608028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.43925415399997 meters 0.03544498726363082 Centerline is valid? [True, True] Translation: X:468.70, Y:5.49, Z:3.10 [[ 9.96707547e-01 -7.91085870e-02 -1.77735151e-02 4.68695430e+02] [ 7.91170328e-02 9.96865308e-01 -2.28557878e-04 5.49060417e+00] [ 1.77358815e-02 -1.17838242e-03 9.99842012e-01 3.10317669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.49925415399997 meters 0.03417576671005136 Centerline is valid? [True, True] Translation: X:468.76, Y:5.49, Z:3.10 [[ 9.96589757e-01 -8.03129472e-02 -1.89390064e-02 4.68757408e+02] [ 8.03227712e-02 9.96768877e-01 -2.42630614e-04 5.49286046e+00] [ 1.88972986e-02 -1.27943029e-03 9.99820611e-01 3.10313991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.559254154 meters 0.03079792225355806 Centerline is valid? [True, True] Translation: X:468.82, Y:5.50, Z:3.10 [[ 9.96805503e-01 -7.77840931e-02 -1.81224637e-02 4.68818427e+02] [ 7.77926842e-02 9.96969530e-01 -2.31486712e-04 5.50000182e+00] [ 1.80855501e-02 -1.17904786e-03 9.99835748e-01 3.10493935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.619254154 meters 0.03597797659510504 Centerline is valid? [True, True] Translation: X:468.88, Y:5.50, Z:3.10 [[ 9.96989418e-01 -7.55131240e-02 -1.76030568e-02 4.68879501e+02] [ 7.55208862e-02 9.97144195e-01 -2.24326842e-04 5.49543137e+00] [ 1.75697255e-02 -1.10574696e-03 9.99845029e-01 3.10363277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.679254154 meters 0.028830938973958907 Centerline is valid? [True, True] Translation: X:468.94, Y:5.51, Z:3.11 [[ 9.97669477e-01 -6.61856724e-02 -1.65852860e-02 4.68939798e+02] [ 6.61912823e-02 9.97806930e-01 -2.11064603e-04 5.50973373e+00] [ 1.65628828e-02 -8.87228636e-04 9.99862432e-01 3.10699120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.739254154 meters 0.02680418477348075 Centerline is valid? [True, True] Translation: X:469.00, Y:5.52, Z:3.11 [[ 9.98461229e-01 -5.34395490e-02 -1.48117638e-02 4.68998885e+02] [ 5.34426210e-02 9.98570904e-01 -1.88614025e-04 5.51616184e+00] [ 1.48006758e-02 -6.03255689e-04 9.99890282e-01 3.10752076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.799254154 meters 0.02036106646164435 Centerline is valid? [True, True] Translation: X:469.06, Y:5.53, Z:3.11 [[ 9.98908517e-01 -4.45474809e-02 -1.40462029e-02 4.69059725e+02] [ 4.45493654e-02 9.99007168e-01 -1.78855309e-04 5.52989362e+00] [ 1.40402250e-02 -4.47089334e-04 9.99901331e-01 3.10949029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.859254154 meters 0.016656544825362704 Centerline is valid? [True, True] Translation: X:469.12, Y:5.54, Z:3.11 [[ 9.99391872e-01 -3.21997391e-02 -1.33814163e-02 4.69119955e+02] [ 3.22003448e-02 9.99481420e-01 -1.70242168e-04 5.54098075e+00] [ 1.33799587e-02 -2.60747580e-04 9.99910450e-01 3.11045025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.919254154 meters 0.01598214078685257 Centerline is valid? [True, True] Translation: X:469.18, Y:5.55, Z:3.11 [[ 9.99632813e-01 -2.28152589e-02 -1.46186223e-02 4.69181936e+02] [ 2.28149855e-02 9.99739687e-01 -1.85491310e-04 5.54769583e+00] [ 1.46190489e-02 -1.48100456e-04 9.99893125e-01 3.10848252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.979254154 meters 0.015346155422327505 Centerline is valid? [True, True] Translation: X:469.24, Y:5.55, Z:3.11 [[ 9.99690010e-01 -1.95231177e-02 -1.54509408e-02 4.69242197e+02] [ 1.95224255e-02 9.99809400e-01 -1.95645175e-04 5.55108773e+00] [ 1.54518154e-02 -1.06055312e-04 9.99880608e-01 3.10823491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.039254154 meters 0.014440526078538412 Centerline is valid? [True, True] Translation: X:469.30, Y:5.55, Z:3.11 [[ 9.99709450e-01 -1.85202661e-02 -1.54277218e-02 4.69302044e+02] [ 1.85194515e-02 9.99828481e-01 -1.95674237e-04 5.55182360e+00] [ 1.54286996e-02 -9.00955619e-05 9.99880966e-01 3.10928146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.099254154 meters 0.014798732192178485 Centerline is valid? [True, True] Translation: X:469.36, Y:5.55, Z:3.11 [[ 9.99676101e-01 -2.14840414e-02 -1.36428809e-02 4.69361225e+02] [ 2.14836722e-02 9.99769184e-01 -1.73635167e-04 5.54786335e+00] [ 1.36434623e-02 -1.19520254e-04 9.99906916e-01 3.10916562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.159254154 meters 0.015093740471567009 Centerline is valid? [True, True] Translation: X:469.42, Y:5.55, Z:3.11 [[ 9.99605281e-01 -2.48717028e-02 -1.30645098e-02 4.69421379e+02] [ 2.48716489e-02 9.99690639e-01 -1.66625158e-04 5.54555142e+00] [ 1.30646124e-02 -1.58376514e-04 9.99914642e-01 3.10982738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.219254154 meters 0.01796561304975579 Centerline is valid? [True, True] Translation: X:469.48, Y:5.54, Z:3.11 [[ 9.99399733e-01 -3.22034195e-02 -1.27715656e-02 4.69483048e+02] [ 3.22039851e-02 9.99481304e-01 -1.61420748e-04 5.54046556e+00] [ 1.27701394e-02 -2.49971456e-04 9.99918427e-01 3.10870952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.279254154 meters 0.019250704249455283 Centerline is valid? [True, True] Translation: X:469.54, Y:5.53, Z:3.11 [[ 9.98971548e-01 -4.35005765e-02 -1.27884801e-02 4.69542311e+02] [ 4.35020878e-02 9.99053323e-01 -1.60099581e-04 5.53052777e+00] [ 1.27833379e-02 -3.96390658e-04 9.99918211e-01 3.11006159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.339254154 meters 0.024239654171157688 Centerline is valid? [True, True] Translation: X:469.60, Y:5.52, Z:3.11 [[ 9.98468827e-01 -5.40422507e-02 -1.18083427e-02 4.69603196e+02] [ 5.40442764e-02 9.98538529e-01 -1.47714322e-04 5.52017208e+00] [ 1.17990679e-02 -4.90685188e-04 9.99930268e-01 3.10868789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.399254154 meters 0.02378397278627083 Centerline is valid? [True, True] Translation: X:469.66, Y:5.52, Z:3.11 [[ 9.98089125e-01 -6.06186432e-02 -1.19782782e-02 4.69663707e+02] [ 6.06212038e-02 9.98160832e-01 -1.49532602e-04 5.51679773e+00] [ 1.19653126e-02 -5.76890777e-04 9.99928247e-01 3.11130241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.459254154 meters 0.02834911653923312 Centerline is valid? [True, True] Translation: X:469.72, Y:5.51, Z:3.11 [[ 9.97692638e-01 -6.67358529e-02 -1.24790441e-02 4.69723723e+02] [ 6.67391085e-02 9.97770448e-01 -1.55834943e-04 5.50733266e+00] [ 1.24616212e-02 -6.77364904e-04 9.99922122e-01 3.11016129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.519254154 meters 0.02899235229219366 Centerline is valid? [True, True] Translation: X:469.79, Y:5.51, Z:3.11 [[ 9.97576136e-01 -6.84755725e-02 -1.23672663e-02 4.69785609e+02] [ 6.84789060e-02 9.97652553e-01 -1.54223702e-04 5.50666919e+00] [ 1.23487953e-02 -6.93046979e-04 9.99923511e-01 3.10824077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.579254154 meters 0.030411925676124895 Centerline is valid? [True, True] Translation: X:469.85, Y:5.50, Z:3.11 [[ 9.97528706e-01 -6.91719014e-02 -1.23178352e-02 4.69846559e+02] [ 6.91752696e-02 9.97604510e-01 -1.52925273e-04 5.50379443e+00] [ 1.22989061e-02 -6.99542223e-04 9.99924121e-01 3.11020410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.639254154 meters 0.02730716581261533 Centerline is valid? [True, True] Translation: X:469.91, Y:5.51, Z:3.11 [[ 9.97622356e-01 -6.75000877e-02 -1.39058652e-02 4.69908522e+02] [ 6.75042318e-02 9.97718973e-01 -1.71687655e-04 5.50940697e+00] [ 1.38857345e-02 -7.67425307e-04 9.99903294e-01 3.11155802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.699254154 meters 0.029439338874220077 Centerline is valid? [True, True] Translation: X:469.97, Y:5.51, Z:3.11 [[ 9.97790206e-01 -6.42132589e-02 -1.70693501e-02 4.69968698e+02] [ 6.42190376e-02 9.97935805e-01 -2.09938333e-04 5.50749464e+00] [ 1.70475965e-02 -8.86702823e-04 9.99854286e-01 3.10786613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.759254154 meters 0.025372818470609147 Centerline is valid? [True, True] Translation: X:470.03, Y:5.52, Z:3.11 [[ 9.97979525e-01 -6.07774052e-02 -1.85195898e-02 4.70030576e+02] [ 6.07836323e-02 9.98150940e-01 -2.26981934e-04 5.51516365e+00] [ 1.84991413e-02 -8.99164613e-04 9.99828472e-01 3.10698599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters 0.022011940884686113 Centerline is valid? [True, True] Translation: X:470.09, Y:5.52, Z:3.11 [[ 9.98413606e-01 -5.30680098e-02 -1.88164451e-02 4.70090790e+02] [ 5.30730785e-02 9.98590604e-01 -2.30244769e-04 5.52408304e+00] [ 1.88021439e-02 -7.68767155e-04 9.99822929e-01 3.10975129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters 0.019132819571919236 Centerline is valid? [True, True] Translation: X:470.15, Y:5.53, Z:3.11 [[ 9.98819288e-01 -4.52776270e-02 -1.76058893e-02 4.70151394e+02] [ 4.52808556e-02 9.98974273e-01 -2.15415357e-04 5.53313074e+00] [ 1.75975839e-02 -5.82048717e-04 9.99844981e-01 3.11289809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.93925415399997 meters 0.016352564989939117 Centerline is valid? [True, True] Translation: X:470.21, Y:5.54, Z:3.12 [[ 9.99304300e-01 -3.41952183e-02 -1.48863528e-02 4.70211416e+02] [ 3.41962979e-02 9.99415119e-01 -1.82083675e-04 5.54305125e+00] [ 1.48838724e-02 -3.27101155e-04 9.99889176e-01 3.11685724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.99925415399997 meters 0.015083536637646926 Centerline is valid? [True, True] Translation: X:470.27, Y:5.55, Z:3.12 [[ 9.99538195e-01 -2.70720583e-02 -1.38021573e-02 4.70273167e+02] [ 2.70723134e-02 9.99633464e-01 -1.68385858e-04 5.54934399e+00] [ 1.38016568e-02 -2.05348230e-04 9.99904732e-01 3.11820763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.059254154 meters 0.014727822266345815 Centerline is valid? [True, True] Translation: X:470.33, Y:5.55, Z:3.12 [[ 9.99641923e-01 -2.27708784e-02 -1.40539122e-02 4.70333063e+02] [ 2.27707252e-02 9.99740699e-01 -1.70936346e-04 5.55268986e+00] [ 1.40541604e-02 -1.49142637e-04 9.99901224e-01 3.11879113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.119254154 meters 0.01458228283322712 Centerline is valid? [True, True] Translation: X:470.39, Y:5.56, Z:3.12 [[ 9.99677740e-01 -2.03984369e-02 -1.51102773e-02 4.70393838e+02] [ 2.03979909e-02 9.99791922e-01 -1.83652117e-04 5.55535056e+00] [ 1.51108794e-02 -1.24626365e-04 9.99885816e-01 3.11891789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.179254154 meters 0.016062789696012502 Centerline is valid? [True, True] Translation: X:470.45, Y:5.56, Z:3.12 [[ 9.99714092e-01 -1.79360892e-02 -1.58123614e-02 4.70453693e+02] [ 1.79352902e-02 9.99839131e-01 -1.92347355e-04 5.55663549e+00] [ 1.58132676e-02 -9.13069286e-05 9.99874958e-01 3.11732889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.239254154 meters 0.014652566973889409 Centerline is valid? [True, True] Translation: X:470.51, Y:5.55, Z:3.12 [[ 9.99654630e-01 -2.07893510e-02 -1.60755636e-02 4.70512427e+02] [ 2.07888548e-02 9.99783869e-01 -1.97991378e-04 5.55349447e+00] [ 1.60762053e-02 -1.36269561e-04 9.99870760e-01 3.11889682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.299254154 meters 0.015196290629405211 Centerline is valid? [True, True] Translation: X:470.57, Y:5.55, Z:3.12 [[ 9.99564743e-01 -2.44388580e-02 -1.65247199e-02 4.70572519e+02] [ 2.44387982e-02 9.99701307e-01 -2.05581964e-04 5.54936692e+00] [ 1.65248083e-02 -1.98351812e-04 9.99863436e-01 3.11862221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.359254154 meters 0.0179338186479291 Centerline is valid? [True, True] Translation: X:470.63, Y:5.54, Z:3.12 [[ 9.99330092e-01 -3.22990023e-02 -1.72087910e-02 4.70632490e+02] [ 3.23000948e-02 9.99478193e-01 -2.14526609e-04 5.54136066e+00] [ 1.72067404e-02 -3.41462686e-04 9.99851895e-01 3.11678757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.419254154 meters 0.018742387526191756 Centerline is valid? [True, True] Translation: X:470.69, Y:5.53, Z:3.12 [[ 9.98954920e-01 -4.23380766e-02 -1.72207867e-02 4.70693372e+02] [ 4.23406596e-02 9.99103209e-01 -2.14739544e-04 5.53446277e+00] [ 1.72144349e-02 -5.14624345e-04 9.99851688e-01 3.11940345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.479254154 meters 0.02399445353170974 Centerline is valid? [True, True] Translation: X:470.75, Y:5.52, Z:3.12 [[ 9.98401683e-01 -5.38419188e-02 -1.71792446e-02 4.70753244e+02] [ 5.38461886e-02 9.98549219e-01 -2.14248781e-04 5.52159092e+00] [ 1.71658568e-02 -7.11130500e-04 9.99852403e-01 3.12028062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.539254154 meters 0.023265295418912618 Centerline is valid? [True, True] Translation: X:470.81, Y:5.52, Z:3.12 [[ 9.98199447e-01 -5.75058091e-02 -1.70571148e-02 4.70814283e+02] [ 5.75105548e-02 9.98344876e-01 -2.12573183e-04 5.52138112e+00] [ 1.70411074e-02 -7.68773704e-04 9.99854494e-01 3.12185497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.599254154 meters 0.026562247639487953 Centerline is valid? [True, True] Translation: X:470.87, Y:5.51, Z:3.12 [[ 9.97865318e-01 -6.29976017e-02 -1.72078219e-02 4.70874366e+02] [ 6.30032454e-02 9.98013299e-01 -2.14483102e-04 5.51364207e+00] [ 1.71871471e-02 -8.70123379e-04 9.99851911e-01 3.12189234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.659254154 meters 0.028283189456032524 Centerline is valid? [True, True] Translation: X:470.94, Y:5.51, Z:3.12 [[ 9.97875753e-01 -6.25494611e-02 -1.82084303e-02 4.70936036e+02] [ 6.25557155e-02 9.98041448e-01 -2.26438530e-04 5.50827127e+00] [ 1.81869317e-02 -9.13083863e-04 9.99834187e-01 3.12082007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.719254154 meters 0.022461849662501792 Centerline is valid? [True, True] Translation: X:471.00, Y:5.52, Z:3.12 [[ 9.98476589e-01 -5.21043547e-02 -1.81559256e-02 4.70996944e+02] [ 5.21088591e-02 9.98641385e-01 -2.25222783e-04 5.51803935e+00] [ 1.81429938e-02 -7.21204894e-04 9.99835142e-01 3.12372014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.779254154 meters 0.01839295340924328 Centerline is valid? [True, True] Translation: X:471.06, Y:5.53, Z:3.13 [[ 9.99109459e-01 -3.81108105e-02 -1.81067528e-02 4.71057871e+02] [ 3.81129993e-02 9.99273411e-01 -2.24309022e-04 5.52843626e+00] [ 1.81021452e-02 -4.65993391e-04 9.99836034e-01 3.12547415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.839254154 meters 0.01651878451805884 Centerline is valid? [True, True] Translation: X:471.12, Y:5.53, Z:3.13 [[ 9.99346039e-01 -3.10377320e-02 -1.85513890e-02 4.71118748e+02] [ 3.10388174e-02 9.99518153e-01 -2.29493364e-04 5.53401465e+00] [ 1.85495730e-02 -3.46469890e-04 9.99827882e-01 3.12552691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.899254154 meters 0.01514259163942639 Centerline is valid? [True, True] Translation: X:471.18, Y:5.54, Z:3.13 [[ 9.99475456e-01 -2.69058371e-02 -1.80246608e-02 4.71179046e+02] [ 2.69061920e-02 9.99637938e-01 -2.22861057e-04 5.53760808e+00] [ 1.80241310e-02 -2.62230827e-04 9.99837518e-01 3.12730306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.959254154 meters 0.016688499014999008 Centerline is valid? [True, True] Translation: X:471.24, Y:5.53, Z:3.13 [[ 9.99403672e-01 -2.97053538e-02 -1.76037834e-02 4.71237728e+02] [ 2.97061159e-02 9.99558652e-01 -2.18254411e-04 5.53236495e+00] [ 1.76024974e-02 -3.04815771e-04 9.99845018e-01 3.12572146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.019254154 meters 0.016819697778079203 Centerline is valid? [True, True] Translation: X:471.30, Y:5.53, Z:3.13 [[ 9.99247368e-01 -3.43210561e-02 -1.80765913e-02 4.71297814e+02] [ 3.43226039e-02 9.99410781e-01 -2.24703184e-04 5.53176160e+00] [ 1.80736523e-02 -3.95901618e-04 9.99836580e-01 3.12721976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.079254154 meters 0.019735062516607574 Centerline is valid? [True, True] Translation: X:471.36, Y:5.52, Z:3.13 [[ 9.98854122e-01 -4.40908188e-02 -1.86129762e-02 4.71358226e+02] [ 4.40941525e-02 9.99027353e-01 -2.31455610e-04 5.52457867e+00] [ 1.86050774e-02 -5.89533022e-04 9.99826737e-01 3.12707609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.139254154 meters 0.023721598918196675 Centerline is valid? [True, True] Translation: X:471.42, Y:5.52, Z:3.13 [[ 9.98357480e-01 -5.43491706e-02 -1.81248637e-02 4.71418998e+02] [ 5.43540214e-02 9.98521702e-01 -2.25248834e-04 5.51621299e+00] [ 1.81103118e-02 -7.60280368e-04 9.99835706e-01 3.12799434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.199254154 meters 0.027167413032607318 Centerline is valid? [True, True] Translation: X:471.48, Y:5.51, Z:3.13 [[ 9.98007649e-01 -6.07318792e-02 -1.70988636e-02 4.71478954e+02] [ 6.07371345e-02 9.98153773e-01 -2.12272156e-04 5.51064374e+00] [ 1.70801869e-02 -8.26686742e-04 9.99853781e-01 3.12917874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.259254154 meters 0.0306595187635318 Centerline is valid? [True, True] Translation: X:471.54, Y:5.51, Z:3.13 [[ 9.97555830e-01 -6.82132714e-02 -1.51431723e-02 4.71540293e+02] [ 6.82182572e-02 9.97670404e-01 -1.87666120e-04 5.50592028e+00] [ 1.51206962e-02 -8.45833393e-04 9.99885318e-01 3.12996690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters 0.03223518173479321 Centerline is valid? [True, True] Translation: X:471.60, Y:5.50, Z:3.13 [[ 9.97095203e-01 -7.46583990e-02 -1.50757764e-02 4.71601310e+02] [ 7.46640806e-02 9.97208725e-01 -1.86407388e-04 5.50424461e+00] [ 1.50476126e-02 -9.39753071e-04 9.99886337e-01 3.13228667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters 0.031371161929885816 Centerline is valid? [True, True] Translation: X:471.66, Y:5.51, Z:3.13 [[ 9.96858509e-01 -7.76492845e-02 -1.56109348e-02 4.71662492e+02] [ 7.76557475e-02 9.96980214e-01 -1.92660500e-04 5.50673432e+00] [ 1.55787531e-02 -1.02022355e-03 9.99878123e-01 3.13304907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.43925415399997 meters 0.03271548813113782 Centerline is valid? [True, True] Translation: X:471.72, Y:5.51, Z:3.13 [[ 9.96626411e-01 -8.05546288e-02 -1.57082316e-02 4.71723133e+02] [ 8.05615396e-02 9.96749618e-01 -1.93363958e-04 5.50535999e+00] [ 1.56727502e-02 -1.07276770e-03 9.99876599e-01 3.13352957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.49925415399997 meters 0.03123387087424191 Centerline is valid? [True, True] Translation: X:471.79, Y:5.51, Z:3.13 [[ 9.96681715e-01 -8.00160188e-02 -1.49330122e-02 4.71785361e+02] [ 8.00222172e-02 9.96793063e-01 -1.82932476e-04 5.50827373e+00] [ 1.48997605e-02 -1.01264729e-03 9.99888480e-01 3.13418157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.559254154 meters 0.04250775661455192 Centerline is valid? [True, True] Translation: X:471.85, Y:5.50, Z:3.13 [[ 9.96904921e-01 -7.71644086e-02 -1.50410341e-02 4.71845794e+02] [ 7.71703816e-02 9.97017903e-01 -1.83741511e-04 5.49578524e+00] [ 1.50103586e-02 -9.77549524e-04 9.99886860e-01 3.13203462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.619254154 meters 0.029010147707339857 Centerline is valid? [True, True] Translation: X:471.91, Y:5.52, Z:3.13 [[ 9.97494091e-01 -6.87549650e-02 -1.66821419e-02 4.71906149e+02] [ 6.87611432e-02 9.97633131e-01 -2.03627012e-04 5.51958924e+00] [ 1.66566578e-02 -9.43966407e-04 9.99860823e-01 3.13361234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.679254154 meters 0.024589774047573468 Centerline is valid? [True, True] Translation: X:471.97, Y:5.53, Z:3.13 [[ 9.98220119e-01 -5.70230328e-02 -1.74633085e-02 4.71966648e+02] [ 5.70280138e-02 9.98372556e-01 -2.13034083e-04 5.53217786e+00] [ 1.74470358e-02 -7.83242889e-04 9.99847482e-01 3.13368352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.739254154 meters 0.020698240044447005 Centerline is valid? [True, True] Translation: X:472.03, Y:5.55, Z:3.14 [[ 9.98885440e-01 -4.38148355e-02 -1.75538639e-02 4.72027392e+02] [ 4.38178331e-02 9.99039515e-01 -2.13993989e-04 5.54599500e+00] [ 1.75463798e-02 -5.55416799e-04 9.99845896e-01 3.13521655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.799254154 meters 0.017503770258113813 Centerline is valid? [True, True] Translation: X:472.09, Y:5.56, Z:3.14 [[ 9.99243611e-01 -3.51341246e-02 -1.66673129e-02 4.72087643e+02] [ 3.51356213e-02 9.99382533e-01 -2.03108826e-04 5.55681636e+00] [ 1.66641574e-02 -3.82661198e-04 9.99861070e-01 3.13688547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.859254154 meters 0.015553556217789359 Centerline is valid? [True, True] Translation: X:472.15, Y:5.57, Z:3.14 [[ 9.99582481e-01 -2.40977916e-02 -1.59423897e-02 4.72148357e+02] [ 2.40977600e-02 9.99709588e-01 -1.94106693e-04 5.56679398e+00] [ 1.59424374e-02 -1.90150231e-04 9.99872893e-01 3.13768591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.919254154 meters 0.015053461078999927 Centerline is valid? [True, True] Translation: X:472.21, Y:5.57, Z:3.14 [[ 9.99750460e-01 -1.59071658e-02 -1.56837267e-02 4.72207901e+02] [ 1.59061317e-02 9.99873471e-01 -1.90683885e-04 5.57465605e+00] [ 1.56847755e-02 -5.88311212e-05 9.99876985e-01 3.13797913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.979254154 meters 0.014976307135190877 Centerline is valid? [True, True] Translation: X:472.27, Y:5.58, Z:3.14 [[ 9.99775934e-01 -1.36785458e-02 -1.61548571e-02 4.72266326e+02] [ 1.36771212e-02 9.99906444e-01 -1.98666894e-04 5.57730569e+00] [ 1.61560632e-02 -2.23295596e-05 9.99869482e-01 3.13818146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.039254154 meters 0.014797303472057464 Centerline is valid? [True, True] Translation: X:472.33, Y:5.58, Z:3.14 [[ 9.99735730e-01 -1.47707121e-02 -1.76152168e-02 4.72325521e+02] [ 1.47691065e-02 9.99890906e-01 -2.21245888e-04 5.57696437e+00] [ 1.76165631e-02 -3.89735938e-05 9.99844816e-01 3.13784244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.099254154 meters 0.01502856689918871 Centerline is valid? [True, True] Translation: X:472.38, Y:5.57, Z:3.14 [[ 9.99624758e-01 -2.02466694e-02 -1.84503642e-02 4.72384296e+02] [ 2.02457914e-02 9.99795005e-01 -2.34391428e-04 5.57355450e+00] [ 1.84513277e-02 -1.39238751e-04 9.99829750e-01 3.13809931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.159254154 meters 0.015367057995419165 Centerline is valid? [True, True] Translation: X:472.44, Y:5.57, Z:3.14 [[ 9.99517205e-01 -2.50621341e-02 -1.83642771e-02 4.72443184e+02] [ 2.50620123e-02 9.99685870e-01 -2.36809676e-04 5.56992127e+00] [ 1.83644433e-02 -2.23550393e-04 9.99831334e-01 3.13862150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.219254154 meters 0.01659189249137509 Centerline is valid? [True, True] Translation: X:472.50, Y:5.56, Z:3.14 [[ 9.99370545e-01 -3.05938011e-02 -1.79592305e-02 4.72502633e+02] [ 3.05945394e-02 9.99531850e-01 -2.33703600e-04 5.56455943e+00] [ 1.79579728e-02 -3.15897893e-04 9.99838693e-01 3.13905104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.279254154 meters 0.01678741369339974 Centerline is valid? [True, True] Translation: X:472.56, Y:5.56, Z:3.14 [[ 9.99307115e-01 -3.30333169e-02 -1.71490777e-02 4.72563575e+02] [ 3.30343450e-02 9.99454192e-01 -2.23397991e-04 5.56230609e+00] [ 1.71470972e-02 -3.43265348e-04 9.99852919e-01 3.14088069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.339254154 meters 0.0173830668118639 Centerline is valid? [True, True] Translation: X:472.62, Y:5.56, Z:3.14 [[ 9.99263690e-01 -3.44548855e-02 -1.68801071e-02 4.72624109e+02] [ 3.44560937e-02 9.99406188e-01 -2.19336720e-04 5.55937028e+00] [ 1.68776407e-02 -3.62447331e-04 9.99857497e-01 3.14201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.399254154 meters 0.017203046363518878 Centerline is valid? [True, True] Translation: X:472.69, Y:5.56, Z:3.14 [[ 9.99279138e-01 -3.42325513e-02 -1.64114723e-02 4.72685131e+02] [ 3.42336751e-02 9.99413833e-01 -2.12532183e-04 5.55731335e+00] [ 1.64091280e-02 -3.49446034e-04 9.99865300e-01 3.14185159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.459254154 meters 0.016990460329064285 Centerline is valid? [True, True] Translation: X:472.75, Y:5.56, Z:3.14 [[ 9.99281426e-01 -3.41992590e-02 -1.63414301e-02 4.72746715e+02] [ 3.42003785e-02 9.99414974e-01 -2.11025332e-04 5.55693454e+00] [ 1.63390868e-02 -3.48009400e-04 9.99866448e-01 3.14248329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.519254154 meters 0.016993497025390353 Centerline is valid? [True, True] Translation: X:472.81, Y:5.56, Z:3.14 [[ 9.99299683e-01 -3.27734537e-02 -1.80566829e-02 4.72807991e+02] [ 3.27746004e-02 9.99462741e-01 -2.32491673e-04 5.55522976e+00] [ 1.80546014e-02 -3.59471712e-04 9.99836938e-01 3.14146752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.579254154 meters 0.016226632627417623 Centerline is valid? [True, True] Translation: X:472.87, Y:5.56, Z:3.14 [[ 9.99370501e-01 -2.93891913e-02 -1.98715094e-02 4.72868211e+02] [ 2.93899168e-02 9.99567990e-01 -2.55590963e-04 5.55603550e+00] [ 1.98704364e-02 -3.28591940e-04 9.99802509e-01 3.14095931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.639254154 meters 0.01533211862711395 Centerline is valid? [True, True] Translation: X:472.93, Y:5.56, Z:3.14 [[ 9.99521286e-01 -2.30594402e-02 -2.06266933e-02 4.72927648e+02] [ 2.30588640e-02 9.99734074e-01 -2.65807975e-04 5.55854541e+00] [ 2.06273375e-02 -2.09947385e-04 9.99787212e-01 3.14071509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.699254154 meters 0.014894741947336674 Centerline is valid? [True, True] Translation: X:472.99, Y:5.56, Z:3.14 [[ 9.99626269e-01 -1.79900152e-02 -2.05835115e-02 4.72985115e+02] [ 1.79883363e-02 9.99838161e-01 -2.66727725e-04 5.56066000e+00] [ 2.05849787e-02 -1.03635086e-04 9.99788102e-01 3.14090241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.759254154 meters 0.014942846592438472 Centerline is valid? [True, True] Translation: X:473.04, Y:5.56, Z:3.14 [[ 9.99722711e-01 -1.22608142e-02 -2.01040673e-02 4.73042987e+02] [ 1.22580190e-02 9.99924833e-01 -2.62267277e-04 5.56344762e+00] [ 2.01057718e-02 1.57585140e-05 9.99797858e-01 3.14216688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters 0.015023427968046463 Centerline is valid? [True, True] Translation: X:473.10, Y:5.56, Z:3.14 [[ 9.99791176e-01 -8.87913197e-03 -1.84056032e-02 4.73101316e+02] [ 8.87615328e-03 9.99960577e-01 -2.43523466e-04 5.56369491e+00] [ 1.84070399e-02 8.01016566e-05 9.99830573e-01 3.14388453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87925415399997 meters 0.014846257496050126 Centerline is valid? [True, True] Translation: X:473.16, Y:5.56, Z:3.15 [[ 9.99818075e-01 -8.36837450e-03 -1.71402168e-02 4.73159299e+02] [ 8.36563651e-03 9.99964981e-01 -2.31435314e-04 5.56091826e+00] [ 1.71415533e-02 8.80043861e-05 9.99853069e-01 3.14636483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.93925415399997 meters 0.014657960617992486 Centerline is valid? [True, True] Translation: X:473.22, Y:5.56, Z:3.15 [[ 9.99816186e-01 -1.11721015e-02 -1.55813656e-02 4.73218026e+02] [ 1.11701408e-02 9.99937589e-01 -2.12862325e-04 5.55681609e+00] [ 1.55827713e-02 3.87771496e-05 9.99878580e-01 3.14814015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.99925415399997 meters 0.014579617302055214 Centerline is valid? [True, True] Translation: X:473.28, Y:5.55, Z:3.15 [[ 9.99792146e-01 -1.43437973e-02 -1.44886235e-02 4.73276534e+02] [ 1.43424201e-02 9.99897122e-01 -1.98963087e-04 5.55278409e+00] [ 1.44899868e-02 -8.88019262e-06 9.99895015e-01 3.14866915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.059254154 meters 0.01583864107700307 Centerline is valid? [True, True] Translation: X:473.33, Y:5.54, Z:3.15 [[ 9.99706626e-01 -1.95875105e-02 -1.42475333e-02 4.73334151e+02] [ 1.95866935e-02 9.99808143e-01 -1.96891255e-04 5.54463075e+00] [ 1.42486565e-02 -8.22285768e-05 9.99898479e-01 3.14715090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.119254154 meters 0.016004957454812972 Centerline is valid? [True, True] Translation: X:473.39, Y:5.54, Z:3.15 [[ 9.99633369e-01 -2.32200913e-02 -1.39267397e-02 4.73393242e+02] [ 2.32196287e-02 9.99730369e-01 -1.94929537e-04 5.53979058e+00] [ 1.39275109e-02 -1.28515655e-04 9.99902999e-01 3.14797372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.179254154 meters 0.01517149942563185 Centerline is valid? [True, True] Translation: X:473.45, Y:5.54, Z:3.15 [[ 9.99601500e-01 -2.46862552e-02 -1.36904929e-02 4.73452797e+02] [ 2.46859195e-02 9.99695238e-01 -1.93537993e-04 5.53637671e+00] [ 1.36910983e-02 -1.44501537e-04 9.99906262e-01 3.14958742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.239254154 meters 0.015140690197225162 Centerline is valid? [True, True] Translation: X:473.51, Y:5.53, Z:3.15 [[ 9.99583266e-01 -2.59852601e-02 -1.25722555e-02 4.73513798e+02] [ 2.59850769e-02 9.99662315e-01 -1.77956438e-04 5.52926165e+00] [ 1.25726342e-02 -1.48808748e-04 9.99920950e-01 3.15041298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.299254154 meters 0.015150251931383002 Centerline is valid? [True, True] Translation: X:473.58, Y:5.53, Z:3.15 [[ 9.99601402e-01 -2.56037907e-02 -1.18946979e-02 4.73575617e+02] [ 2.56036018e-02 9.99672160e-01 -1.68180139e-04 5.52521263e+00] [ 1.18951044e-02 -1.36434006e-04 9.99929241e-01 3.15031671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.359254154 meters 0.014868952071692976 Centerline is valid? [True, True] Translation: X:473.64, Y:5.53, Z:3.15 [[ 9.99608296e-01 -2.52766037e-02 -1.20145036e-02 4.73636553e+02] [ 2.52763927e-02 9.99680487e-01 -1.69433096e-04 5.52503515e+00] [ 1.20149475e-02 -1.34316584e-04 9.99927809e-01 3.15068748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.419254154 meters 0.015729183795181432 Centerline is valid? [True, True] Translation: X:473.70, Y:5.52, Z:3.15 [[ 9.99665421e-01 -2.29625315e-02 -1.19066598e-02 4.73697166e+02] [ 2.29621631e-02 9.99736321e-01 -1.67663711e-04 5.51987782e+00] [ 1.19073702e-02 -1.05795050e-04 9.99929099e-01 3.14893991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.479254154 meters 0.01431485582128468 Centerline is valid? [True, True] Translation: X:473.76, Y:5.52, Z:3.15 [[ 9.99723797e-01 -2.05615324e-02 -1.13821724e-02 4.73757770e+02] [ 2.05610402e-02 9.99788587e-01 -1.60278138e-04 5.51662063e+00] [ 1.13830617e-02 -7.37954356e-05 9.99935208e-01 3.15076202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.539254154 meters 0.014201461790861021 Centerline is valid? [True, True] Translation: X:473.82, Y:5.51, Z:3.15 [[ 9.99769231e-01 -1.84212870e-02 -1.10517793e-02 4.73817083e+02] [ 1.84206912e-02 9.99830313e-01 -1.55704959e-04 5.50885691e+00] [ 1.10527722e-02 -4.79123865e-05 9.99938915e-01 3.15058339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.599254154 meters 0.014050742083654026 Centerline is valid? [True, True] Translation: X:473.88, Y:5.51, Z:3.15 [[ 9.99773658e-01 -1.81627879e-02 -1.10791132e-02 4.73876779e+02] [ 1.81621701e-02 9.99835042e-01 -1.56373577e-04 5.50727927e+00] [ 1.10801258e-02 -4.48825564e-05 9.99938613e-01 3.15106584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.659254154 meters 0.014386183111606603 Centerline is valid? [True, True] Translation: X:473.94, Y:5.50, Z:3.15 [[ 9.99772038e-01 -1.86064251e-02 -1.04724924e-02 4.73936545e+02] [ 1.86058937e-02 9.99826884e-01 -1.48182260e-04 5.50048519e+00] [ 1.04734366e-02 -4.67016001e-05 9.99945151e-01 3.15088911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.719254154 meters 0.014989396276140909 Centerline is valid? [True, True] Translation: X:474.00, Y:5.49, Z:3.15 [[ 9.99719778e-01 -2.14699164e-02 -9.97034838e-03 4.73995892e+02] [ 2.14695735e-02 9.99769492e-01 -1.41428002e-04 5.49106976e+00] [ 9.97108659e-03 -7.26707571e-05 9.99950285e-01 3.15058075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.779254154 meters 0.015351157059332377 Centerline is valid? [True, True] Translation: X:474.06, Y:5.48, Z:3.15 [[ 9.99547304e-01 -2.84778602e-02 -9.70560462e-03 4.74055341e+02] [ 2.84778628e-02 9.99594414e-01 -1.37961668e-04 5.47864217e+00] [ 9.70559701e-03 -1.38495663e-04 9.99952890e-01 3.15197098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.839254154 meters 0.01694299281460903 Centerline is valid? [True, True] Translation: X:474.12, Y:5.47, Z:3.15 [[ 9.99347406e-01 -3.48049429e-02 -9.66324345e-03 4.74116197e+02] [ 3.48052399e-02 9.99394105e-01 -1.37478304e-04 5.46903978e+00] [ 9.66217346e-03 -1.98942920e-04 9.99953300e-01 3.15252325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.899254154 meters 0.02056377107327777 Centerline is valid? [True, True] Translation: X:474.18, Y:5.45, Z:3.15 [[ 9.98958903e-01 -4.44751156e-02 -1.01525854e-02 4.74176615e+02] [ 4.44759425e-02 9.99010445e-01 -1.44428262e-04 5.45448064e+00] [ 1.01489623e-02 -3.07267905e-04 9.99948451e-01 3.15284458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.959254154 meters 0.02348573738193173 Centerline is valid? [True, True] Translation: X:474.24, Y:5.44, Z:3.15 [[ 9.98575197e-01 -5.24525877e-02 -9.81335612e-03 4.74236970e+02] [ 5.24537452e-02 9.98623345e-01 -1.39570026e-04 5.44451378e+00] [ 9.80716732e-03 -3.75376116e-04 9.99951838e-01 3.15332971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.019254154 meters 0.02691738663337351 Centerline is valid? [True, True] Translation: X:474.30, Y:5.44, Z:3.15 [[ 9.98333053e-01 -5.67975997e-02 -1.02541928e-02 4.74298586e+02] [ 5.67990938e-02 9.98385618e-01 -1.45694448e-04 5.43860061e+00] [ 1.02459137e-02 -4.36977278e-04 9.99947414e-01 3.15240982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.079254154 meters 0.03111100051524456 Centerline is valid? [True, True] Translation: X:474.36, Y:5.43, Z:3.15 [[ 9.97996194e-01 -6.20893249e-02 -1.21865666e-02 4.74358366e+02] [ 6.20918313e-02 9.98070426e-01 -1.72948813e-04 5.43224982e+00] [ 1.21737900e-02 -5.84083982e-04 9.99925726e-01 3.15080540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.139254154 meters 0.026602926891927673 Centerline is valid? [True, True] Translation: X:474.42, Y:5.44, Z:3.15 [[ 9.97687949e-01 -6.68891166e-02 -1.20250679e-02 4.74418618e+02] [ 6.68919041e-02 9.97760214e-01 -1.70706355e-04 5.43605557e+00] [ 1.20095527e-02 -6.34068015e-04 9.99927682e-01 3.15329992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.199254154 meters 0.025870229308487213 Centerline is valid? [True, True] Translation: X:474.48, Y:5.44, Z:3.15 [[ 9.97515895e-01 -6.93587161e-02 -1.23048236e-02 4.74479393e+02] [ 6.93618256e-02 9.97591553e-01 -1.74387084e-04 5.43807931e+00] [ 1.22872834e-02 -6.79531143e-04 9.99924278e-01 3.15371866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.259254154 meters 0.028368774024027946 Centerline is valid? [True, True] Translation: X:474.54, Y:5.44, Z:3.15 [[ 9.97318687e-01 -7.21905128e-02 -1.19986161e-02 4.74539852e+02] [ 7.21936782e-02 9.97390618e-01 -1.69670893e-04 5.43762249e+00] [ 1.19795558e-02 -6.97008279e-04 9.99928000e-01 3.15403586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters 0.02897577743883088 Centerline is valid? [True, True] Translation: X:474.60, Y:5.44, Z:3.15 [[ 9.97253680e-01 -7.29984495e-02 -1.25030010e-02 4.74602106e+02] [ 7.30019570e-02 9.97331782e-01 -1.76242618e-04 5.43927437e+00] [ 1.24825057e-02 -7.36984941e-04 9.99921819e-01 3.15418232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37925415399997 meters 0.02858467591036772 Centerline is valid? [True, True] Translation: X:474.66, Y:5.44, Z:3.16 [[ 9.97237185e-01 -7.32479146e-02 -1.23587902e-02 4.74664462e+02] [ 7.32513720e-02 9.97313495e-01 -1.73293164e-04 5.44286283e+00] [ 1.23382816e-02 -7.32483952e-04 9.99923612e-01 3.15520541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.43925415399997 meters 0.032341864130237506 Centerline is valid? [True, True] Translation: X:474.73, Y:5.45, Z:3.15 [[ 9.97239649e-01 -7.29495482e-02 -1.38364039e-02 4.74725442e+02] [ 7.29538664e-02 9.97335298e-01 -1.93055043e-04 5.44574275e+00] [ 1.38136172e-02 -8.16897016e-04 9.99904254e-01 3.15418135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.49925415399997 meters 0.03104698054742622 Centerline is valid? [True, True] Translation: X:474.79, Y:5.45, Z:3.15 [[ 9.97256638e-01 -7.25528464e-02 -1.46724879e-02 4.74787731e+02] [ 7.25576740e-02 9.97364197e-01 -2.03740882e-04 5.45224404e+00] [ 1.46485961e-02 -8.61419647e-04 9.99892332e-01 3.15471243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.559254154 meters 0.027996635247272396 Centerline is valid? [True, True] Translation: X:474.85, Y:5.46, Z:3.16 [[ 9.97340009e-01 -7.15475584e-02 -1.39231322e-02 4.74849188e+02] [ 7.15518181e-02 9.97436865e-01 -1.92597272e-04 5.46152590e+00] [ 1.39012252e-02 -8.04140456e-04 9.99903050e-01 3.15720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.619254154 meters 0.02883174062977109 Centerline is valid? [True, True] Translation: X:474.91, Y:5.47, Z:3.16 [[ 9.97529212e-01 -6.88951231e-02 -1.37453296e-02 4.74909884e+02] [ 6.88990305e-02 9.97623620e-01 -1.89630859e-04 5.46594467e+00] [ 1.37257301e-02 -7.57877561e-04 9.99905511e-01 3.15765277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.679254154 meters 0.02824867331853493 Centerline is valid? [True, True] Translation: X:474.97, Y:5.48, Z:3.16 [[ 9.97992995e-01 -6.15937073e-02 -1.47036342e-02 4.74969049e+02] [ 6.15973897e-02 9.98101057e-01 -2.02737526e-04 5.47694467e+00] [ 1.46882002e-02 -7.03374855e-04 9.99891875e-01 3.15662721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.739254154 meters 0.022674751751726965 Centerline is valid? [True, True] Translation: X:475.03, Y:5.49, Z:3.16 [[ 9.98622602e-01 -5.07815285e-02 -1.31960607e-02 4.75030051e+02] [ 5.07835515e-02 9.98709666e-01 -1.81951062e-04 5.49266301e+00] [ 1.31882732e-02 -4.88442388e-04 9.99912912e-01 3.15973625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.799254154 meters 0.01937886583160705 Centerline is valid? [True, True] Translation: X:475.09, Y:5.51, Z:3.16 [[ 9.99110133e-01 -4.02377961e-02 -1.26436318e-02 4.75089785e+02] [ 4.02388108e-02 9.99190076e-01 -1.74227080e-04 5.50598173e+00] [ 1.26404019e-02 -3.34692666e-04 9.99920051e-01 3.16085064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.859254154 meters 0.01764001582533425 Centerline is valid? [True, True] Translation: X:475.15, Y:5.51, Z:3.16 [[ 9.99305064e-01 -3.47928853e-02 -1.33732645e-02 4.75150420e+02] [ 3.47935346e-02 9.99394505e-01 -1.84174374e-04 5.51406463e+00] [ 1.33715750e-02 -2.81256756e-04 9.99910557e-01 3.16069543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.919254154 meters 0.017216388271307725 Centerline is valid? [True, True] Translation: X:475.21, Y:5.52, Z:3.16 [[ 9.99399422e-01 -3.13228053e-02 -1.48214910e-02 4.75210656e+02] [ 3.13232254e-02 9.99509287e-01 -2.03856980e-04 5.52051254e+00] [ 1.48206032e-02 -2.60522354e-04 9.99890135e-01 3.15952177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.979254154 meters 0.01572994701278465 Centerline is valid? [True, True] Translation: X:475.27, Y:5.53, Z:3.16 [[ 9.99375717e-01 -3.12883942e-02 -1.64077186e-02 4.75270652e+02] [ 3.12889064e-02 9.99510357e-01 -2.25549955e-04 5.52812703e+00] [ 1.64067417e-02 -2.87970423e-04 9.99865359e-01 3.16109330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.039254154 meters 0.016422626270763584 Centerline is valid? [True, True] Translation: X:475.33, Y:5.53, Z:3.16 [[ 9.99393879e-01 -3.08748974e-02 -1.60815021e-02 4.75330145e+02] [ 3.08753368e-02 9.99523219e-01 -2.21011974e-04 5.53016340e+00] [ 1.60806585e-02 -2.75643779e-04 9.99870660e-01 3.16101028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.099254154 meters 0.015722765942916436 Centerline is valid? [True, True] Translation: X:475.39, Y:5.53, Z:3.16 [[ 9.99422391e-01 -3.02298698e-02 -1.55254591e-02 4.75391019e+02] [ 3.02302021e-02 9.99542940e-01 -2.13333070e-04 5.53411739e+00] [ 1.55248121e-02 -2.56127919e-04 9.99879450e-01 3.16245573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.159254154 meters 0.01554482911578955 Centerline is valid? [True, True] Translation: X:475.45, Y:5.54, Z:3.16 [[ 9.99443367e-01 -3.00875001e-02 -1.44117530e-02 4.75451148e+02] [ 3.00877696e-02 9.99547241e-01 -1.98171010e-04 5.53727342e+00] [ 1.44111904e-02 -2.35556803e-04 9.99896126e-01 3.16319437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.219254154 meters 0.015610997301112855 Centerline is valid? [True, True] Translation: X:475.51, Y:5.54, Z:3.16 [[ 9.99402781e-01 -3.15071217e-02 -1.41909164e-02 4.75511912e+02] [ 3.15075243e-02 9.99503496e-01 -1.95255526e-04 5.53758565e+00] [ 1.41900225e-02 -2.51981728e-04 9.99899285e-01 3.16349535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.279254154 meters 0.016303491443918808 Centerline is valid? [True, True] Translation: X:475.57, Y:5.53, Z:3.16 [[ 9.99274685e-01 -3.53728242e-02 -1.41020505e-02 4.75572388e+02] [ 3.53736065e-02 9.99374139e-01 -1.94032803e-04 5.53462011e+00] [ 1.41000880e-02 -3.04948317e-04 9.99900542e-01 3.16241930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.339254154 meters 0.01683503932871465 Centerline is valid? [True, True] Translation: X:475.63, Y:5.53, Z:3.16 [[ 9.99172443e-01 -3.77462801e-02 -1.51541208e-02 4.75633540e+02] [ 3.77474611e-02 9.99287289e-01 -2.08192173e-04 5.53303370e+00] [ 1.51511788e-02 -3.64009705e-04 9.99885148e-01 3.16173804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.399254154 meters 0.018473961069763695 Centerline is valid? [True, True] Translation: X:475.70, Y:5.53, Z:3.16 [[ 9.99170379e-01 -3.70584604e-02 -1.68886132e-02 4.75695203e+02] [ 3.70598402e-02 9.99313021e-01 -2.31365363e-04 5.53230233e+00] [ 1.68855851e-02 -3.94715890e-04 9.99857350e-01 3.16029600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.459254154 meters 0.01590877708131952 Centerline is valid? [True, True] Translation: X:475.76, Y:5.53, Z:3.16 [[ 9.99360237e-01 -3.17847065e-02 -1.63966284e-02 4.75755459e+02] [ 3.17853014e-02 9.99494694e-01 -2.24384940e-04 5.53449312e+00] [ 1.63954751e-02 -2.96930389e-04 9.99865541e-01 3.16140605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.519254154 meters 0.015614322597477534 Centerline is valid? [True, True] Translation: X:475.81, Y:5.54, Z:3.16 [[ 9.99610180e-01 -2.31568243e-02 -1.55964543e-02 4.75814212e+02] [ 2.31563048e-02 9.99731834e-01 -2.13918268e-04 5.53852755e+00] [ 1.55972256e-02 -1.47321372e-04 9.99878345e-01 3.16187842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.579254154 meters 0.014197850820543234 Centerline is valid? [True, True] Translation: X:475.87, Y:5.54, Z:3.16 [[ 9.99787482e-01 -1.59725603e-02 -1.30333371e-02 4.75873045e+02] [ 1.59715618e-02 9.99872430e-01 -1.80704884e-04 5.54208243e+00] [ 1.30345607e-02 -2.74962672e-05 9.99915046e-01 3.16395339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.639254154 meters 0.013944428603481364 Centerline is valid? [True, True] Translation: X:475.93, Y:5.54, Z:3.16 [[ 9.99836668e-01 -1.27055432e-02 -1.28532609e-02 4.75931764e+02] [ 1.27042594e-02 9.99919281e-01 -1.81528455e-04 5.54036131e+00] [ 1.28545299e-02 1.82076453e-05 9.99917377e-01 3.16425377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.699254154 meters 0.013980226988334427 Centerline is valid? [True, True] Translation: X:475.99, Y:5.54, Z:3.16 [[ 9.99826174e-01 -1.36255478e-02 -1.27266031e-02 4.75990093e+02] [ 1.36243188e-02 9.99907168e-01 -1.83269435e-04 5.53724752e+00] [ 1.27279188e-02 9.84628079e-06 9.99918997e-01 3.16409255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.759254154 meters 0.014115331575398477 Centerline is valid? [True, True] Translation: X:476.05, Y:5.53, Z:3.16 [[ 9.99715797e-01 -2.01310331e-02 -1.27697402e-02 4.76048003e+02] [ 2.01302937e-02 9.99797348e-01 -1.86448768e-04 5.52729287e+00] [ 1.27709058e-02 -7.06628417e-05 9.99918446e-01 3.16273909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters 0.016731381068237534 Centerline is valid? [True, True] Translation: X:476.11, Y:5.51, Z:3.16 [[ 9.99455851e-01 -3.03689619e-02 -1.28735364e-02 4.76107353e+02] [ 3.03690471e-02 9.99538736e-01 -1.88912999e-04 5.51452835e+00] [ 1.28733354e-02 -2.02146833e-04 9.99917115e-01 3.16167750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87925415399997 meters 0.017027654195061453 Centerline is valid? [True, True] Translation: X:476.17, Y:5.51, Z:3.16 [[ 9.99221694e-01 -3.76104419e-02 -1.18937707e-02 4.76167525e+02] [ 3.76110277e-02 9.99292440e-01 -1.74504053e-04 5.50695805e+00] [ 1.18919184e-02 -2.72968706e-04 9.99929251e-01 3.16288943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.93925415399997 meters 0.019425858656290495 Centerline is valid? [True, True] Translation: X:476.23, Y:5.50, Z:3.16 [[ 9.98855763e-01 -4.64889078e-02 -1.12225312e-02 4.76228245e+02] [ 4.64899944e-02 9.98918742e-01 -1.64176485e-04 5.49842200e+00] [ 1.12180292e-02 -3.57746786e-04 9.99937012e-01 3.16401650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.99925415399997 meters 0.020173254830774416 Centerline is valid? [True, True] Translation: X:476.29, Y:5.49, Z:3.17 [[ 9.98648152e-01 -5.09833971e-02 -1.01273108e-02 4.76289547e+02] [ 5.09845145e-02 9.98699433e-01 -1.47981068e-04 5.49477176e+00] [ 1.01216842e-02 -3.68555007e-04 9.99948707e-01 3.16522364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.059254154 meters 0.022298334919894264 Centerline is valid? [True, True] Translation: X:476.35, Y:5.49, Z:3.17 [[ 9.98330067e-01 -5.72442411e-02 -7.75723259e-03 4.76350227e+02] [ 5.72450868e-02 9.98360149e-01 -1.13146696e-04 5.48857166e+00] [ 7.75098888e-03 -3.31105704e-04 9.99969906e-01 3.16681205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.119254154 meters 0.026086449230830477 Centerline is valid? [True, True] Translation: X:476.41, Y:5.48, Z:3.17 [[ 9.98044281e-01 -6.19842767e-02 -8.09702270e-03 4.76410596e+02] [ 6.19853544e-02 9.98077052e-01 -1.18031138e-04 5.48271222e+00] [ 8.08876862e-03 -3.84096519e-04 9.99967212e-01 3.16501121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.179254154 meters 0.0249112919965228 Centerline is valid? [True, True] Translation: X:476.47, Y:5.48, Z:3.16 [[ 9.97887812e-01 -6.43628525e-02 -8.79420038e-03 4.76472767e+02] [ 6.43642173e-02 9.97926466e-01 -1.28039204e-04 5.48302880e+00] [ 8.78420627e-03 -4.38263063e-04 9.99961322e-01 3.16485807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.239254154 meters 0.026521051143437998 Centerline is valid? [True, True] Translation: X:476.53, Y:5.48, Z:3.16 [[ 9.97903632e-01 -6.40341007e-02 -9.37953829e-03 4.76534273e+02] [ 6.40356466e-02 9.97947603e-01 -1.35716582e-04 5.48182714e+00] [ 9.36897824e-03 -4.65192729e-04 9.99956002e-01 3.16428835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.299254154 meters 0.02540962963455818 Centerline is valid? [True, True] Translation: X:476.60, Y:5.49, Z:3.16 [[ 9.98108073e-01 -6.04665457e-02 -1.11387794e-02 4.76596116e+02] [ 6.04685175e-02 9.98170092e-01 -1.59989921e-04 5.48811788e+00] [ 1.11280705e-02 -5.13858247e-04 9.99937949e-01 3.16327645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.359254154 meters 0.02246692087879907 Centerline is valid? [True, True] Translation: X:476.66, Y:5.49, Z:3.17 [[ 9.98334974e-01 -5.68561676e-02 -9.72915351e-03 4.76657707e+02] [ 5.68575055e-02 9.98382294e-01 -1.39247501e-04 5.49475254e+00] [ 9.72133168e-03 -4.14159750e-04 9.99952661e-01 3.16547816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.419254154 meters 0.02035821685571308 Centerline is valid? [True, True] Translation: X:476.72, Y:5.50, Z:3.17 [[ 9.98747331e-01 -4.89662741e-02 -1.02992075e-02 4.76717718e+02] [ 4.89673585e-02 9.98800369e-01 -1.47004566e-04 5.50279750e+00] [ 1.02940506e-02 -3.57504570e-04 9.99946951e-01 3.16531801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.479254154 meters 0.01781897294916519 Centerline is valid? [True, True] Translation: X:476.78, Y:5.51, Z:3.17 [[ 9.99009474e-01 -4.32635067e-02 -1.04086690e-02 4.76777985e+02] [ 4.32643051e-02 9.99063651e-01 -1.48559346e-04 5.51139136e+00] [ 1.04053501e-02 -3.01911639e-04 9.99945817e-01 3.16553682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.539254154 meters 0.016026269315684388 Centerline is valid? [True, True] Translation: X:476.84, Y:5.52, Z:3.17 [[ 9.99259962e-01 -3.67360794e-02 -1.14013041e-02 4.76839072e+02] [ 3.67366136e-02 9.99324970e-01 -1.62638753e-04 5.52055538e+00] [ 1.13995826e-02 -2.56326911e-04 9.99934990e-01 3.16583800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.599254154 meters 0.01602462727131444 Centerline is valid? [True, True] Translation: X:476.90, Y:5.52, Z:3.17 [[ 9.99319099e-01 -3.47884125e-02 -1.22924630e-02 4.76899599e+02] [ 3.47888892e-02 9.99394668e-01 -1.75112178e-04 5.52493122e+00] [ 1.22911139e-02 -2.52648189e-04 9.99924429e-01 3.16617434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.659254154 meters 0.01638163473088315 Centerline is valid? [True, True] Translation: X:476.96, Y:5.53, Z:3.17 [[ 9.99294135e-01 -3.55347033e-02 -1.21867119e-02 4.76960623e+02] [ 3.55352312e-02 9.99368409e-01 -1.73283864e-04 5.52757593e+00] [ 1.21851725e-02 -2.59896076e-04 9.99925724e-01 3.16704863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.719254154 meters 0.01622955482055462 Centerline is valid? [True, True] Translation: X:477.02, Y:5.53, Z:3.17 [[ 9.99261169e-01 -3.67505551e-02 -1.12478008e-02 4.77022304e+02] [ 3.67510862e-02 9.99324438e-01 -1.59540010e-04 5.53024262e+00] [ 1.12460654e-02 -2.53946762e-04 9.99936729e-01 3.16893980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.779254154 meters 0.01803365887827045 Centerline is valid? [True, True] Translation: X:477.08, Y:5.53, Z:3.17 [[ 9.99194626e-01 -3.88865456e-02 -9.89626013e-03 4.77082952e+02] [ 3.88870648e-02 9.99243602e-01 -1.40033833e-04 5.53041092e+00] [ 9.89422005e-03 -2.44915456e-04 9.99951021e-01 3.16933966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.839254154 meters 0.0172026870730298 Centerline is valid? [True, True] Translation: X:477.15, Y:5.54, Z:3.17 [[ 9.99236027e-01 -3.79876295e-02 -9.18158402e-03 4.77145189e+02] [ 3.79880421e-02 9.99278185e-01 -1.29513104e-04 5.53687296e+00] [ 9.17987652e-03 -2.19376241e-04 9.99957840e-01 3.17075618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.899254154 meters 0.01647382003077991 Centerline is valid? [True, True] Translation: X:477.21, Y:5.54, Z:3.17 [[ 9.99311615e-01 -3.59050856e-02 -9.33383190e-03 4.77207320e+02] [ 3.59054277e-02 9.99355184e-01 -1.30973569e-04 5.54181776e+00] [ 9.33251591e-03 -2.04251818e-04 9.99956430e-01 3.17113893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.959254154 meters 0.015843721629559014 Centerline is valid? [True, True] Translation: X:477.27, Y:5.55, Z:3.17 [[ 9.99419676e-01 -3.22201866e-02 -1.10530588e-02 4.77268856e+02] [ 3.22204492e-02 9.99480775e-01 -1.54360256e-04 5.54787202e+00] [ 1.10522933e-02 -2.01863842e-04 9.99938901e-01 3.17060368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.019254154 meters 0.015146298212973643 Centerline is valid? [True, True] Translation: X:477.33, Y:5.55, Z:3.17 [[ 9.99516939e-01 -2.92021940e-02 -1.06358264e-02 4.77330113e+02] [ 2.92022703e-02 9.99573512e-01 -1.48156672e-04 5.55348940e+00] [ 1.06356168e-02 -1.62505174e-04 9.99943427e-01 3.17091826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.079254154 meters 0.014887192841028778 Centerline is valid? [True, True] Translation: X:477.39, Y:5.56, Z:3.17 [[ 9.99526250e-01 -2.86215415e-02 -1.13173422e-02 4.77391839e+02] [ 2.86215956e-02 9.99590306e-01 -1.57216169e-04 5.55561141e+00] [ 1.13172054e-02 -1.66778706e-04 9.99935944e-01 3.17058565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.139254154 meters 0.015184630748651439 Centerline is valid? [True, True] Translation: X:477.45, Y:5.56, Z:3.17 [[ 9.99460149e-01 -2.98735726e-02 -1.36740763e-02 4.77453472e+02] [ 2.98737764e-02 9.99553661e-01 -1.89393558e-04 5.55753362e+00] [ 1.36736309e-02 -2.19204984e-04 9.99906488e-01 3.16918609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.199254154 meters 0.015743904355765087 Centerline is valid? [True, True] Translation: X:477.51, Y:5.56, Z:3.17 [[ 9.99320342e-01 -3.33852946e-02 -1.56293342e-02 4.77513781e+02] [ 3.33859948e-02 9.99442509e-01 -2.16190764e-04 5.55690481e+00] [ 1.56278386e-02 -3.05757041e-04 9.99877831e-01 3.16824309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.259254154 meters 0.016691050492435282 Centerline is valid? [True, True] Translation: X:477.57, Y:5.56, Z:3.17 [[ 9.99090025e-01 -3.93101888e-02 -1.65478355e-02 4.77573672e+02] [ 3.93117827e-02 9.99226967e-01 -2.29078375e-04 5.55510300e+00] [ 1.65440486e-02 -4.21654993e-04 9.99863049e-01 3.16885756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters 0.018858701609550416 Centerline is valid? [True, True] Translation: X:477.63, Y:5.55, Z:3.17 [[ 9.98922311e-01 -4.35996157e-02 -1.59150611e-02 4.77634067e+02] [ 4.36016346e-02 9.99048972e-01 -2.20268002e-04 5.55191348e+00] [ 1.59095290e-02 -4.73892056e-04 9.99873323e-01 3.16904825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37925415399997 meters 0.020764193813856816 Centerline is valid? [True, True] Translation: X:477.70, Y:5.55, Z:3.17 [[ 9.98610429e-01 -5.06961609e-02 -1.43913600e-02 4.77695406e+02] [ 5.06985528e-02 9.98713982e-01 -1.98806682e-04 5.54919005e+00] [ 1.43829312e-02 -5.31090701e-04 9.99896419e-01 3.17086255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.43925415399997 meters 0.02235304907256888 Centerline is valid? [True, True] Translation: X:477.76, Y:5.55, Z:3.17 [[ 9.98339461e-01 -5.60465445e-02 -1.33081191e-02 4.77756468e+02] [ 5.60490704e-02 9.98427998e-01 -1.83390850e-04 5.54808310e+00] [ 1.32974771e-02 -5.62821380e-04 9.99911426e-01 3.17205277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.49925415399997 meters 0.02532977536484642 Centerline is valid? [True, True] Translation: X:477.82, Y:5.55, Z:3.17 [[ 9.97842636e-01 -6.43437602e-02 -1.30366788e-02 4.77817664e+02] [ 6.43468958e-02 9.97927575e-01 -1.79226703e-04 5.54532015e+00] [ 1.30211934e-02 -6.60029769e-04 9.99915003e-01 3.17320424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.559254154 meters 0.028197007096533562 Centerline is valid? [True, True] Translation: X:477.88, Y:5.54, Z:3.17 [[ 9.97524949e-01 -6.90105879e-02 -1.34727315e-02 4.77878461e+02] [ 6.90143643e-02 9.97615649e-01 -1.84984137e-04 5.54449254e+00] [ 1.34533737e-02 -7.45285710e-04 9.99909222e-01 3.17330513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.619254154 meters 0.030929035832694747 Centerline is valid? [True, True] Translation: X:477.94, Y:5.54, Z:3.17 [[ 9.97171720e-01 -7.39845230e-02 -1.32230983e-02 4.77937720e+02] [ 7.39885982e-02 9.97259071e-01 -1.81413770e-04 5.54325876e+00] [ 1.32002765e-02 -7.97457827e-04 9.99912555e-01 3.17402902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.679254154 meters 0.03126550249561083 Centerline is valid? [True, True] Translation: X:478.00, Y:5.55, Z:3.17 [[ 9.97223247e-01 -7.32353721e-02 -1.35046577e-02 4.78000340e+02] [ 7.32395641e-02 9.97314360e-01 -1.84550574e-04 5.54736110e+00] [ 1.34819047e-02 -8.05037124e-04 9.99908791e-01 3.17398875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.739254154 meters 0.03126349166402426 Centerline is valid? [True, True] Translation: X:478.06, Y:5.55, Z:3.17 [[ 9.97419107e-01 -7.02925300e-02 -1.46316852e-02 4.78061601e+02] [ 7.02971491e-02 9.97526075e-01 -1.99018690e-04 5.55205108e+00] [ 1.46094770e-02 -8.30060710e-04 9.99892931e-01 3.17303895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.799254154 meters 0.02643887879914276 Centerline is valid? [True, True] Translation: X:478.12, Y:5.57, Z:3.17 [[ 9.97941627e-01 -6.19256952e-02 -1.66648727e-02 4.78122114e+02] [ 6.19305307e-02 9.98080437e-01 -2.26242504e-04 5.56680234e+00] [ 1.66468936e-02 -8.06287596e-04 9.99861106e-01 3.17310748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.859254154 meters 0.02325572131215214 Centerline is valid? [True, True] Translation: X:478.18, Y:5.58, Z:3.17 [[ 9.98565168e-01 -5.07219771e-02 -1.71722424e-02 4.78181980e+02] [ 5.07254617e-02 9.98712608e-01 -2.32865212e-04 5.58051366e+00] [ 1.71619464e-02 -6.38538836e-04 9.99852519e-01 3.17397486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.919254154 meters 0.017183522415525596 Centerline is valid? [True, True] Translation: X:478.24, Y:5.60, Z:3.18 [[ 9.99137837e-01 -3.84716646e-02 -1.56049281e-02 4.78242474e+02] [ 3.84730512e-02 9.99259616e-01 -2.11445053e-04 5.59917672e+00] [ 1.56015091e-02 -3.89106445e-04 9.99878213e-01 3.17826707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.979254154 meters 0.015348219854505655 Centerline is valid? [True, True] Translation: X:478.30, Y:5.61, Z:3.18 [[ 9.99399744e-01 -3.14113865e-02 -1.46108367e-02 4.78303202e+02] [ 3.14118507e-02 9.99506507e-01 -1.97773531e-04 5.60824579e+00] [ 1.46098387e-02 -2.61298604e-04 9.99893236e-01 3.18009913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.039254154 meters 0.014390000478707313 Centerline is valid? [True, True] Translation: X:478.36, Y:5.62, Z:3.18 [[ 9.99623441e-01 -2.36732562e-02 -1.38763822e-02 4.78363353e+02] [ 2.36729309e-02 9.99719739e-01 -1.87713663e-04 5.61686199e+00] [ 1.38769370e-02 -1.40851661e-04 9.99903701e-01 3.18030518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.099254154 meters 0.013983390001088981 Centerline is valid? [True, True] Translation: X:478.42, Y:5.62, Z:3.18 [[ 9.99698789e-01 -1.99563158e-02 -1.42855659e-02 4.78423564e+02] [ 1.99555917e-02 9.99800849e-01 -1.93248922e-04 5.62127983e+00] [ 1.42865775e-02 -9.18862077e-05 9.99897937e-01 3.18072292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.159254154 meters 0.014019003058546257 Centerline is valid? [True, True] Translation: X:478.48, Y:5.62, Z:3.18 [[ 9.99710749e-01 -1.95159906e-02 -1.40550543e-02 4.78481816e+02] [ 1.95152405e-02 9.99809541e-01 -1.90527967e-04 5.62176792e+00] [ 1.40560958e-02 -8.38149098e-05 9.99901205e-01 3.18069847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.219254154 meters 0.014065221394169438 Centerline is valid? [True, True] Translation: X:478.54, Y:5.62, Z:3.18 [[ 9.99702225e-01 -2.03023250e-02 -1.35380099e-02 4.78541450e+02] [ 2.03016931e-02 9.99793882e-01 -1.84121705e-04 5.62017458e+00] [ 1.35389576e-02 -9.07776436e-05 9.99908340e-01 3.18176445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.279254154 meters 0.014148457536080558 Centerline is valid? [True, True] Translation: X:478.60, Y:5.62, Z:3.18 [[ 9.99667045e-01 -2.20131880e-02 -1.34617538e-02 4.78600915e+02] [ 2.20127132e-02 9.99757674e-01 -1.83455107e-04 5.61753442e+00] [ 1.34625301e-02 -1.12935700e-04 9.99909370e-01 3.18172610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.339254154 meters 0.014698325684316617 Centerline is valid? [True, True] Translation: X:478.66, Y:5.61, Z:3.18 [[ 9.99592815e-01 -2.53636870e-02 -1.30723884e-02 4.78660737e+02] [ 2.53635211e-02 9.99678278e-01 -1.78501297e-04 5.61363245e+00] [ 1.30727102e-02 -1.53133186e-04 9.99914537e-01 3.18126230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.399254154 meters 0.015062456934711973 Centerline is valid? [True, True] Translation: X:478.72, Y:5.61, Z:3.18 [[ 9.99504078e-01 -2.86372568e-02 -1.30960119e-02 4.78721081e+02] [ 2.86373681e-02 9.99589850e-01 -1.79070617e-04 5.60911518e+00] [ 1.30957687e-02 -1.96053501e-04 9.99914228e-01 3.18041212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.459254154 meters 0.01699053751769106 Centerline is valid? [True, True] Translation: X:478.78, Y:5.60, Z:3.18 [[ 9.99340251e-01 -3.42537509e-02 -1.20724079e-02 4.78780950e+02] [ 3.42542550e-02 9.99413137e-01 -1.65074188e-04 5.60120683e+00] [ 1.20709775e-02 -2.48566058e-04 9.99927112e-01 3.17995443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.519254154 meters 0.019066019498091325 Centerline is valid? [True, True] Translation: X:478.84, Y:5.59, Z:3.18 [[ 9.99167470e-01 -3.90967344e-02 -1.16538494e-02 4.78841715e+02] [ 3.90975343e-02 9.99235386e-01 -1.59264072e-04 5.59431002e+00] [ 1.16511654e-02 -2.96505296e-04 9.99932079e-01 3.18054410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.579254154 meters 0.020938405542509114 Centerline is valid? [True, True] Translation: X:478.90, Y:5.59, Z:3.18 [[ 9.99017922e-01 -4.25398097e-02 -1.23918044e-02 4.78902378e+02] [ 4.25409828e-02 9.99094708e-01 -1.69025983e-04 5.58740342e+00] [ 1.23877765e-02 -3.58299552e-04 9.99923204e-01 3.17987710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.639254154 meters 0.019111314048014496 Centerline is valid? [True, True] Translation: X:478.96, Y:5.59, Z:3.18 [[ 9.98969120e-01 -4.36340077e-02 -1.25207892e-02 4.78964899e+02] [ 4.36352996e-02 9.99047512e-01 -1.70117115e-04 5.58921229e+00] [ 1.25162862e-02 -3.76406645e-04 9.99921597e-01 3.18095470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.699254154 meters 0.02075473794164501 Centerline is valid? [True, True] Translation: X:479.03, Y:5.58, Z:3.18 [[ 9.98966987e-01 -4.38167137e-02 -1.20438347e-02 4.79026065e+02] [ 4.38179316e-02 9.99039520e-01 -1.62863591e-04 5.58470151e+00] [ 1.20394030e-02 -3.65040574e-04 9.99927457e-01 3.18140139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.759254154 meters 0.018350799857093723 Centerline is valid? [True, True] Translation: X:479.09, Y:5.59, Z:3.18 [[ 9.99048813e-01 -4.20460999e-02 -1.15583095e-02 4.79087819e+02] [ 4.20471114e-02 9.99115617e-01 -1.55581338e-04 5.58773828e+00] [ 1.15546291e-02 -3.30560175e-04 9.99933188e-01 3.18278981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters 0.020561650099894642 Centerline is valid? [True, True] Translation: X:479.15, Y:5.58, Z:3.18 [[ 9.99128898e-01 -3.98646583e-02 -1.23391147e-02 4.79148726e+02] [ 3.98656611e-02 9.99205035e-01 -1.64786981e-04 5.58358891e+00] [ 1.23358747e-02 -3.27263529e-04 9.99923857e-01 3.18174670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87925415399997 meters 0.018565645249366408 Centerline is valid? [True, True] Translation: X:479.21, Y:5.59, Z:3.18 [[ 9.99187824e-01 -3.82003981e-02 -1.28227196e-02 4.79209746e+02] [ 3.82013590e-02 9.99270047e-01 -1.70077594e-04 5.58673467e+00] [ 1.28198566e-02 -3.19905853e-04 9.99917771e-01 3.18248542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.93925415399997 meters 0.01815901234552732 Centerline is valid? [True, True] Translation: X:479.27, Y:5.59, Z:3.18 [[ 9.99095645e-01 -4.04500711e-02 -1.31027844e-02 4.79271987e+02] [ 4.04512771e-02 9.99181497e-01 -1.73072787e-04 5.58754590e+00] [ 1.30990605e-02 -3.57108095e-04 9.99914140e-01 3.18258057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.99925415399997 meters 0.019172203966150575 Centerline is valid? [True, True] Translation: X:479.33, Y:5.59, Z:3.18 [[ 9.98925383e-01 -4.41096789e-02 -1.42272867e-02 4.79333286e+02] [ 4.41114834e-02 9.99026597e-01 -1.87102234e-04 5.58555785e+00] [ 1.42216909e-02 -4.40685552e-04 9.99898770e-01 3.18172154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.059254154 meters 0.021364909028486697 Centerline is valid? [True, True] Translation: X:479.39, Y:5.58, Z:3.18 [[ 9.98685700e-01 -4.90050257e-02 -1.50126847e-02 4.79393495e+02] [ 4.90075912e-02 9.98798387e-01 -1.97167121e-04 5.58175981e+00] [ 1.50043075e-02 -5.38827533e-04 9.99887284e-01 3.18084123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.119254154 meters 0.02182588436945928 Centerline is valid? [True, True] Translation: X:479.46, Y:5.58, Z:3.18 [[ 9.98639793e-01 -4.98720108e-02 -1.52100830e-02 4.79455736e+02] [ 4.98747542e-02 9.98755460e-01 -1.99140761e-04 5.58275761e+00] [ 1.52010850e-02 -5.59729265e-04 9.99884300e-01 3.18166236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.179254154 meters 0.021157962933435526 Centerline is valid? [True, True] Translation: X:479.52, Y:5.59, Z:3.18 [[ 9.98756893e-01 -4.80014049e-02 -1.34363063e-02 4.79517618e+02] [ 4.80033873e-02 9.98847158e-01 -1.75115414e-04 5.58706258e+00] [ 1.34292221e-02 -4.70090487e-04 9.99909713e-01 3.18394173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.239254154 meters 0.020876490379167643 Centerline is valid? [True, True] Translation: X:479.58, Y:5.59, Z:3.18 [[ 9.98957176e-01 -4.42880162e-02 -1.10965209e-02 4.79579272e+02] [ 4.42891455e-02 9.99018744e-01 -1.44073105e-04 5.59102039e+00] [ 1.10920131e-02 -3.47532568e-04 9.99938421e-01 3.18477307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.299254154 meters 0.018952887232599063 Centerline is valid? [True, True] Translation: X:479.64, Y:5.59, Z:3.19 [[ 9.99038497e-01 -4.26890823e-02 -9.98614334e-03 4.79641486e+02] [ 4.26899227e-02 9.99088361e-01 -1.29076260e-04 5.59464300e+00] [ 9.98254974e-03 -2.97355535e-04 9.99950129e-01 3.18657011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.359254154 meters 0.019191488343767518 Centerline is valid? [True, True] Translation: X:479.70, Y:5.60, Z:3.19 [[ 9.99169267e-01 -3.95526480e-02 -9.81648568e-03 4.79702077e+02] [ 3.95533143e-02 9.99217454e-01 -1.26331235e-04 5.59559150e+00] [ 9.81380056e-03 -2.62048255e-04 9.99951809e-01 3.18619912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.419254154 meters 0.016893235065454655 Centerline is valid? [True, True] Translation: X:479.76, Y:5.60, Z:3.19 [[ 9.99350314e-01 -3.44028244e-02 -1.07422108e-02 4.79763748e+02] [ 3.44033289e-02 9.99408021e-01 -1.37882577e-04 5.60187297e+00] [ 1.07405952e-02 -2.31774815e-04 9.99942291e-01 3.18642172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.479254154 meters 0.016195636043277943 Centerline is valid? [True, True] Translation: X:479.83, Y:5.61, Z:3.19 [[ 9.99495295e-01 -2.96171856e-02 -1.14881121e-02 4.79825608e+02] [ 2.96174542e-02 9.99561296e-01 -1.46786130e-04 5.60548845e+00] [ 1.14874196e-02 -1.93536586e-04 9.99933999e-01 3.18617231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.539254154 meters 0.015361011580776655 Centerline is valid? [True, True] Translation: X:479.89, Y:5.61, Z:3.19 [[ 9.99662066e-01 -2.28736712e-02 -1.23510503e-02 4.79887342e+02] [ 2.28734758e-02 9.99738355e-01 -1.57098292e-04 5.61064449e+00] [ 1.23514121e-02 -1.25466247e-04 9.99923711e-01 3.18549638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.599254154 meters 0.015175685071021797 Centerline is valid? [True, True] Translation: X:479.95, Y:5.61, Z:3.18 [[ 9.99699861e-01 -2.01778501e-02 -1.38939425e-02 4.79948254e+02] [ 2.01773483e-02 9.99796401e-01 -1.76306054e-04 5.61327111e+00] [ 1.38946711e-02 -1.04089779e-04 9.99903459e-01 3.18491319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.659254154 meters 0.014882853156677681 Centerline is valid? [True, True] Translation: X:480.01, Y:5.61, Z:3.18 [[ 9.99692232e-01 -1.96948692e-02 -1.50849019e-02 4.80007490e+02] [ 1.96941903e-02 9.99806032e-01 -1.93572677e-04 5.61392586e+00] [ 1.50857883e-02 -1.03571828e-04 9.99886198e-01 3.18457585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.719254154 meters 0.015185667759014632 Centerline is valid? [True, True] Translation: X:480.07, Y:5.61, Z:3.18 [[ 9.99647470e-01 -2.22161397e-02 -1.45388711e-02 4.80065687e+02] [ 2.22157352e-02 9.99753182e-01 -1.89344745e-04 5.61168940e+00] [ 1.45394891e-02 -1.33713715e-04 9.99894287e-01 3.18489318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.779254154 meters 0.015897263524433634 Centerline is valid? [True, True] Translation: X:480.12, Y:5.61, Z:3.19 [[ 9.99472840e-01 -2.97390592e-02 -1.30242343e-02 4.80124793e+02] [ 2.97393573e-02 9.99557673e-01 -1.70825727e-04 5.60668692e+00] [ 1.30235535e-02 -2.16596683e-04 9.99915166e-01 3.18765034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.839254154 meters 0.018208460294665486 Centerline is valid? [True, True] Translation: X:480.19, Y:5.60, Z:3.19 [[ 9.99143926e-01 -3.94525213e-02 -1.24464047e-02 4.80185387e+02] [ 3.94535421e-02 9.99221393e-01 -1.63602656e-04 5.59807296e+00] [ 1.24431684e-02 -3.27592151e-04 9.99922527e-01 3.18874613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.899254154 meters 0.019676663895885477 Centerline is valid? [True, True] Translation: X:480.25, Y:5.59, Z:3.19 [[ 9.98865195e-01 -4.61092269e-02 -1.19273709e-02 4.80246891e+02] [ 4.61106407e-02 9.98936326e-01 -1.56586280e-04 5.59317064e+00] [ 1.19219042e-02 -3.93570130e-04 9.99928854e-01 3.18929921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.959254154 meters 0.022179822325735836 Centerline is valid? [True, True] Translation: X:480.31, Y:5.59, Z:3.19 [[ 9.98470529e-01 -5.39511154e-02 -1.20780408e-02 4.80307525e+02] [ 5.39531411e-02 9.98543456e-01 -1.58292092e-04 5.58667411e+00] [ 1.20689886e-02 -4.93598251e-04 9.99927045e-01 3.19044861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.019254154 meters 0.02408154729292399 Centerline is valid? [True, True] Translation: X:480.37, Y:5.58, Z:3.19 [[ 9.98280668e-01 -5.73133217e-02 -1.22837727e-02 4.80369023e+02] [ 5.73156739e-02 9.98356093e-01 -1.60759498e-04 5.58251837e+00] [ 1.22727930e-02 -5.43569610e-04 9.99924539e-01 3.19064862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.079254154 meters 0.02516651887904432 Centerline is valid? [True, True] Translation: X:480.43, Y:5.58, Z:3.19 [[ 9.98156574e-01 -5.94006388e-02 -1.24505976e-02 4.80430819e+02] [ 5.94032243e-02 9.98234056e-01 -1.62377967e-04 5.58120354e+00] [ 1.24382559e-02 -5.77527009e-04 9.99922475e-01 3.19119303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.139254154 meters 0.024610239052500434 Centerline is valid? [True, True] Translation: X:480.49, Y:5.58, Z:3.19 [[ 9.98127767e-01 -5.97656522e-02 -1.30010847e-02 4.80492580e+02] [ 5.97685134e-02 9.98212250e-01 -1.68704333e-04 5.58289623e+00] [ 1.29879248e-02 -6.08667027e-04 9.99915468e-01 3.19156985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.199254154 meters 0.0248551423791755 Centerline is valid? [True, True] Translation: X:480.55, Y:5.58, Z:3.19 [[ 9.98220799e-01 -5.79204488e-02 -1.41583217e-02 4.80554829e+02] [ 5.79236723e-02 9.98320998e-01 -1.82633267e-04 5.58484201e+00] [ 1.41451281e-02 -6.37793664e-04 9.99899749e-01 3.19097711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.259254154 meters 0.024981328049018932 Centerline is valid? [True, True] Translation: X:480.61, Y:5.59, Z:3.19 [[ 9.98482228e-01 -5.31007986e-02 -1.46131843e-02 4.80614388e+02] [ 5.31037330e-02 9.98588984e-01 -1.87426891e-04 5.58681160e+00] [ 1.46025174e-02 -5.88872216e-04 9.99893204e-01 3.19001350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters 0.021817931358215206 Centerline is valid? [True, True] Translation: X:480.68, Y:5.60, Z:3.19 [[ 9.98717128e-01 -4.81814707e-02 -1.55770308e-02 4.80675379e+02] [ 4.81842182e-02 9.98838446e-01 -1.99095246e-04 5.59581258e+00] [ 1.55685299e-02 -5.51727218e-04 9.99878651e-01 3.19085880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37925415399997 meters 0.021944900495428438 Centerline is valid? [True, True] Translation: X:480.74, Y:5.60, Z:3.19 [[ 9.98821873e-01 -4.57371208e-02 -1.62167294e-02 4.80735753e+02] [ 4.57397819e-02 9.98953367e-01 -2.06961040e-04 5.59758302e+00] [ 1.62092222e-02 -5.35032451e-04 9.99868479e-01 3.19063119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.43925415399997 meters 0.021486590212057264 Centerline is valid? [True, True] Translation: X:480.80, Y:5.60, Z:3.19 [[ 9.98887278e-01 -4.44699219e-02 -1.57045462e-02 4.80797355e+02] [ 4.44722678e-02 9.99010599e-01 -1.99995451e-04 5.59962609e+00] [ 1.56979018e-02 -4.98643871e-04 9.99876656e-01 3.19192922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.49925415399997 meters 0.02177720503432074 Centerline is valid? [True, True] Translation: X:480.86, Y:5.60, Z:3.19 [[ 9.98899657e-01 -4.45177668e-02 -1.47527586e-02 4.80859092e+02] [ 4.45198495e-02 9.99008482e-01 -1.87375755e-04 5.60097064e+00] [ 1.47464726e-02 -4.69621017e-04 9.99891155e-01 3.19353110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.559254154 meters 0.022903014653130892 Centerline is valid? [True, True] Translation: X:480.92, Y:5.60, Z:3.19 [[ 9.98885093e-01 -4.50506261e-02 -1.41071866e-02 4.80920295e+02] [ 4.50525978e-02 9.98984600e-01 -1.78166479e-04 5.60138926e+00] [ 1.41008887e-02 -4.57597563e-04 9.99900473e-01 3.19485673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.619254154 meters 0.021698012866754032 Centerline is valid? [True, True] Translation: X:480.98, Y:5.60, Z:3.20 [[ 9.98725674e-01 -4.84432179e-02 -1.41521330e-02 4.80980922e+02] [ 4.84455543e-02 9.98825809e-01 -1.77883119e-04 5.60455651e+00] [ 1.41441329e-02 -5.07951489e-04 9.99899838e-01 3.19627314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.679254154 meters 0.024324657757031225 Centerline is valid? [True, True] Translation: X:481.04, Y:5.60, Z:3.20 [[ 9.98482064e-01 -5.32013343e-02 -1.42542964e-02 4.81041429e+02] [ 5.32041922e-02 9.98583638e-01 -1.78911095e-04 5.60100511e+00] [ 1.42436254e-02 -5.79748805e-04 9.99898386e-01 3.19602749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.739254154 meters 0.028825198749330316 Centerline is valid? [True, True] Translation: X:481.10, Y:5.60, Z:3.20 [[ 9.97951969e-01 -6.22244399e-02 -1.48319207e-02 4.81102525e+02] [ 6.22285342e-02 9.98061909e-01 -1.85745824e-04 5.59645052e+00] [ 1.48147330e-02 -7.37603274e-04 9.99889984e-01 3.19655287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.799254154 meters 0.031880018084351036 Centerline is valid? [True, True] Translation: X:481.16, Y:5.59, Z:3.20 [[ 9.97643317e-01 -6.69956793e-02 -1.48118358e-02 4.81162708e+02] [ 6.70002907e-02 9.97752939e-01 -1.85226643e-04 5.59406368e+00] [ 1.47909621e-02 -8.07607186e-04 9.99890282e-01 3.19731748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.859254154 meters 0.034835640763356004 Centerline is valid? [True, True] Translation: X:481.22, Y:5.59, Z:3.20 [[ 9.97435804e-01 -7.00359899e-02 -1.47233702e-02 4.81223233e+02] [ 7.00408789e-02 9.97544105e-01 -1.83960548e-04 5.59254871e+00] [ 1.47000950e-02 -8.47748950e-04 9.99891588e-01 3.19764370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.919254154 meters 0.035544869594047034 Centerline is valid? [True, True] Translation: X:481.29, Y:5.60, Z:3.20 [[ 9.97495256e-01 -6.91986650e-02 -1.46546259e-02 4.81285935e+02] [ 6.92034299e-02 9.97602552e-01 -1.82317689e-04 5.59600812e+00] [ 1.46321084e-02 -8.32289348e-04 9.99892599e-01 3.19767695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.979254154 meters 0.031143883146205895 Centerline is valid? [True, True] Translation: X:481.35, Y:5.61, Z:3.20 [[ 9.97634231e-01 -6.71315200e-02 -1.48087604e-02 4.81347450e+02] [ 6.71361750e-02 9.97743805e-01 -1.83129387e-04 5.60588586e+00] [ 1.47876427e-02 -8.11507386e-04 9.99890328e-01 3.19871526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.039254154 meters 0.03401826846365819 Centerline is valid? [True, True] Translation: X:481.41, Y:5.61, Z:3.20 [[ 9.97923200e-01 -6.26971155e-02 -1.47769902e-02 4.81407695e+02] [ 6.27012719e-02 9.98032323e-01 -1.82305927e-04 5.60619002e+00] [ 1.47593439e-02 -7.44608765e-04 9.99890798e-01 3.19758244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.099254154 meters 0.02690771809593648 Centerline is valid? [True, True] Translation: X:481.47, Y:5.62, Z:3.20 [[ 9.98153829e-01 -5.88748717e-02 -1.49225916e-02 4.81468475e+02] [ 5.88786862e-02 9.98265128e-01 -1.83966488e-04 5.62039559e+00] [ 1.49075339e-02 -6.94995737e-04 9.99888635e-01 3.19950224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.159254154 meters 0.023248236066414674 Centerline is valid? [True, True] Translation: X:481.53, Y:5.63, Z:3.20 [[ 9.98552351e-01 -5.17690424e-02 -1.46002978e-02 4.81528530e+02] [ 5.17719372e-02 9.98658918e-01 -1.79871214e-04 5.63265903e+00] [ 1.45900294e-02 -5.76274878e-04 9.99893394e-01 3.20025150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.219254154 meters 0.020258609884821362 Centerline is valid? [True, True] Translation: X:481.59, Y:5.64, Z:3.20 [[ 9.98922705e-01 -4.43779924e-02 -1.35655416e-02 4.81589503e+02] [ 4.43798112e-02 9.99014717e-01 -1.67072139e-04 5.64171564e+00] [ 1.35595900e-02 -4.35144024e-04 9.99907970e-01 3.19968941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.279254154 meters 0.019031612758787946 Centerline is valid? [True, True] Translation: X:481.65, Y:5.65, Z:3.20 [[ 9.99146998e-01 -3.91983143e-02 -1.29910755e-02 4.81650551e+02] [ 3.91995484e-02 9.99231390e-01 -1.59726733e-04 5.64694336e+00] [ 1.29873514e-02 -3.49653805e-04 9.99915600e-01 3.20000264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.339254154 meters 0.016883672692295505 Centerline is valid? [True, True] Translation: X:481.71, Y:5.66, Z:3.20 [[ 9.99423210e-01 -3.17961407e-02 -1.19269384e-02 4.81711055e+02] [ 3.17966565e-02 9.99494348e-01 -1.46420630e-04 5.65559574e+00] [ 1.19255631e-02 -2.32900587e-04 9.99928861e-01 3.20107265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.399254154 meters 0.016457420045966314 Centerline is valid? [True, True] Translation: X:481.77, Y:5.66, Z:3.20 [[ 9.99533366e-01 -2.80056583e-02 -1.21956087e-02 4.81771286e+02] [ 2.80059167e-02 9.99607746e-01 -1.49622462e-04 5.65839117e+00] [ 1.21950152e-02 -1.91996560e-04 9.99925620e-01 3.20074452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.459254154 meters 0.015285772370792611 Centerline is valid? [True, True] Translation: X:481.83, Y:5.66, Z:3.20 [[ 9.99622820e-01 -2.47164568e-02 -1.19714160e-02 4.81832587e+02] [ 2.47164737e-02 9.99694491e-01 -1.46567046e-04 5.66161685e+00] [ 1.19713813e-02 -1.49379425e-04 9.99928329e-01 3.20103767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.519254154 meters 0.015249586396227378 Centerline is valid? [True, True] Translation: X:481.89, Y:5.66, Z:3.20 [[ 9.99641757e-01 -2.36719866e-02 -1.24897919e-02 4.81893831e+02] [ 2.36719292e-02 9.99719769e-01 -1.52457189e-04 5.66319993e+00] [ 1.24899009e-02 -1.43254898e-04 9.99921988e-01 3.20124567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.579254154 meters 0.015283642884521755 Centerline is valid? [True, True] Translation: X:481.95, Y:5.66, Z:3.20 [[ 9.99635208e-01 -2.40184898e-02 -1.23516812e-02 4.81954928e+02] [ 2.40184654e-02 9.99711504e-01 -1.50334720e-04 5.66397103e+00] [ 1.23517286e-02 -1.46388548e-04 9.99923704e-01 3.20159591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.639254154 meters 0.015607887611518117 Centerline is valid? [True, True] Translation: X:482.02, Y:5.66, Z:3.20 [[ 9.99553309e-01 -2.73470001e-02 -1.20550646e-02 4.82015827e+02] [ 2.73472251e-02 9.99625984e-01 -1.46211081e-04 5.66161436e+00] [ 1.20545543e-02 -1.83526795e-04 9.99927324e-01 3.20178049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.699254154 meters 0.017176367045858884 Centerline is valid? [True, True] Translation: X:482.08, Y:5.66, Z:3.20 [[ 9.99325156e-01 -3.47522645e-02 -1.18958798e-02 4.82077208e+02] [ 3.47530142e-02 9.99395921e-01 -1.43745725e-04 5.65668266e+00] [ 1.18936893e-02 -2.69768962e-04 9.99929231e-01 3.20203481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.759254154 meters 0.019234990781122955 Centerline is valid? [True, True] Translation: X:482.14, Y:5.65, Z:3.20 [[ 9.99101305e-01 -4.05484183e-02 -1.23453667e-02 4.82138787e+02] [ 4.05496735e-02 9.99177513e-01 -1.48722523e-04 5.65230801e+00] [ 1.23412433e-02 -3.52011724e-04 9.99923782e-01 3.20190362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters 0.023073977171335015 Centerline is valid? [True, True] Translation: X:482.20, Y:5.64, Z:3.20 [[ 9.98689481e-01 -4.96560797e-02 -1.23932944e-02 4.82199664e+02] [ 4.96580481e-02 9.98766267e-01 -1.49041516e-04 5.64485468e+00] [ 1.23854052e-02 -4.66580616e-04 9.99923189e-01 3.20089791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87925415399997 meters 0.027779130311845174 Centerline is valid? [True, True] Translation: X:482.26, Y:5.64, Z:3.20 [[ 9.98234483e-01 -5.80885852e-02 -1.23948648e-02 4.82259669e+02] [ 5.80912035e-02 9.98311269e-01 -1.48990267e-04 5.63633384e+00] [ 1.23825878e-02 -5.71305388e-04 9.99923170e-01 3.20033319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.93925415399997 meters 0.030219276076725806 Centerline is valid? [True, True] Translation: X:482.32, Y:5.63, Z:3.20 [[ 9.98054824e-01 -6.10936733e-02 -1.24149972e-02 4.82320933e+02] [ 6.10965352e-02 9.98131851e-01 -1.48975967e-04 5.63373161e+00] [ 1.24009057e-02 -6.09827134e-04 9.99922920e-01 3.19986650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.99925415399997 meters 0.027769346583800137 Centerline is valid? [True, True] Translation: X:482.38, Y:5.64, Z:3.20 [[ 9.97682114e-01 -6.67225058e-02 -1.33606148e-02 4.82381874e+02] [ 6.67263271e-02 9.97771302e-01 -1.60050410e-04 5.63648403e+00] [ 1.33415170e-02 -7.31825320e-04 9.99910730e-01 3.20052921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.059254154 meters 0.031363451725184545 Centerline is valid? [True, True] Translation: X:482.44, Y:5.63, Z:3.20 [[ 9.97250329e-01 -7.29430522e-02 -1.30802554e-02 4.82442801e+02] [ 7.29472504e-02 9.97335788e-01 -1.56498694e-04 5.63124575e+00] [ 1.30568223e-02 -7.98100288e-04 9.99914438e-01 3.20032199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.119254154 meters 0.039386710677181844 Centerline is valid? [True, True] Translation: X:482.50, Y:5.62, Z:3.20 [[ 9.97175981e-01 -7.41190320e-02 -1.21008750e-02 4.82503830e+02] [ 7.41227167e-02 9.97249117e-01 -1.44323867e-04 5.62361326e+00] [ 1.20782840e-02 -7.53033435e-04 9.99926771e-01 3.19953909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.179254154 meters 0.031710031699785146 Centerline is valid? [True, True] Translation: X:482.57, Y:5.64, Z:3.20 [[ 9.97320051e-01 -7.20345290e-02 -1.27961528e-02 4.82565168e+02] [ 7.20384862e-02 9.97401841e-01 -1.52011664e-04 5.63760966e+00] [ 1.27738564e-02 -7.70211196e-04 9.99918114e-01 3.20132908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.239254154 meters 0.027558749563541388 Centerline is valid? [True, True] Translation: X:482.63, Y:5.65, Z:3.20 [[ 9.97691975e-01 -6.62955912e-02 -1.46839240e-02 4.82625907e+02] [ 6.63001867e-02 9.97799707e-01 -1.74152989e-04 5.64988773e+00] [ 1.46631606e-02 -7.99795859e-04 9.99892170e-01 3.20046949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.299254154 meters 0.02939022050942455 Centerline is valid? [True, True] Translation: X:482.69, Y:5.65, Z:3.20 [[ 9.97963477e-01 -6.18880273e-02 -1.54521961e-02 4.82686069e+02] [ 6.18925894e-02 9.98082799e-01 -1.83261155e-04 5.65227053e+00] [ 1.54339128e-02 -7.73488489e-04 9.99880591e-01 3.19967532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.359254154 meters 0.0248723579487944 Centerline is valid? [True, True] Translation: X:482.75, Y:5.67, Z:3.20 [[ 9.98273930e-01 -5.66541894e-02 -1.54746399e-02 4.82746557e+02] [ 5.66581392e-02 9.98393621e-01 -1.83396391e-04 5.66745343e+00] [ 1.54601719e-02 -6.93684464e-04 9.99880244e-01 3.20141500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.419254154 meters 0.023854917940238952 Centerline is valid? [True, True] Translation: X:482.81, Y:5.68, Z:3.20 [[ 9.98547257e-01 -5.18687765e-02 -1.45947137e-02 4.82806382e+02] [ 5.18717809e-02 9.98653738e-01 -1.72873454e-04 5.67613453e+00] [ 1.45840321e-02 -5.84431476e-04 9.99893477e-01 3.20312869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.479254154 meters 0.02297126441865452 Centerline is valid? [True, True] Translation: X:482.87, Y:5.68, Z:3.20 [[ 9.98761095e-01 -4.77057751e-02 -1.41575073e-02 4.82866700e+02] [ 4.77081844e-02 9.98861302e-01 -1.67694773e-04 5.68252190e+00] [ 1.41493862e-02 -5.07941955e-04 9.99899763e-01 3.20450305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.539254154 meters 0.02033837925129744 Centerline is valid? [True, True] Translation: X:482.93, Y:5.69, Z:3.21 [[ 9.99110214e-01 -3.99286471e-02 -1.35824726e-02 4.82927615e+02] [ 3.99301470e-02 9.99202461e-01 -1.60846812e-04 5.69331123e+00] [ 1.35780624e-02 -3.81646435e-04 9.99907741e-01 3.20592329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.599254154 meters 0.017590109948054156 Centerline is valid? [True, True] Translation: X:482.99, Y:5.70, Z:3.21 [[ 9.99371080e-01 -3.28201990e-02 -1.34267767e-02 4.82988715e+02] [ 3.28210255e-02 9.99461232e-01 -1.58848791e-04 5.70367366e+00] [ 1.34247562e-02 -2.81931693e-04 9.99909844e-01 3.20685346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.659254154 meters 0.015692835278172324 Centerline is valid? [True, True] Translation: X:483.05, Y:5.71, Z:3.21 [[ 9.99514669e-01 -2.71739838e-02 -1.52315993e-02 4.83049736e+02] [ 2.71743990e-02 9.99630692e-01 -1.79747908e-04 5.71140211e+00] [ 1.52308586e-02 -2.34248886e-04 9.99883976e-01 3.20671911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.719254154 meters 0.01647778968339041 Centerline is valid? [True, True] Translation: X:483.11, Y:5.71, Z:3.21 [[ 9.99598115e-01 -2.37484460e-02 -1.54796592e-02 4.83110433e+02] [ 2.37484706e-02 9.99717949e-01 -1.82260251e-04 5.71317857e+00] [ 1.54796215e-02 -1.85431228e-04 9.99880166e-01 3.20589821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.779254154 meters 0.015375752419681348 Centerline is valid? [True, True] Translation: X:483.17, Y:5.72, Z:3.21 [[ 9.99638850e-01 -2.24014619e-02 -1.48440098e-02 4.83171304e+02] [ 2.24013377e-02 9.99749043e-01 -1.74658595e-04 5.71655872e+00] [ 1.48441972e-02 -1.57930159e-04 9.99889806e-01 3.20807995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.839254154 meters 0.015458393464971538 Centerline is valid? [True, True] Translation: X:483.23, Y:5.72, Z:3.21 [[ 9.99600908e-01 -2.37545448e-02 -1.52887493e-02 4.83231602e+02] [ 2.37545713e-02 9.99717804e-01 -1.79891520e-04 5.71662115e+00] [ 1.52887082e-02 -1.83357960e-04 9.99883104e-01 3.20829738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.899254154 meters 0.015954170178435936 Centerline is valid? [True, True] Translation: X:483.29, Y:5.71, Z:3.21 [[ 9.99510188e-01 -2.75847178e-02 -1.47806585e-02 4.83291872e+02] [ 2.75851612e-02 9.99619442e-01 -1.73913187e-04 5.71371853e+00] [ 1.47798310e-02 -2.33898845e-04 9.99890745e-01 3.20852479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.959254154 meters 0.016604536833184497 Centerline is valid? [True, True] Translation: X:483.35, Y:5.71, Z:3.21 [[ 9.99389191e-01 -3.19052940e-02 -1.42582036e-02 4.83353194e+02] [ 3.19061501e-02 9.99490855e-01 -1.67481686e-04 5.71073926e+00] [ 1.42562876e-02 -2.87544998e-04 9.99898333e-01 3.20919054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.019254154 meters 0.018454804175474206 Centerline is valid? [True, True] Translation: X:483.41, Y:5.70, Z:3.21 [[ 9.99151426e-01 -3.92936188e-02 -1.23466766e-02 4.83414731e+02] [ 3.92948296e-02 9.99227649e-01 -1.44600646e-04 5.70326687e+00] [ 1.23428226e-02 -3.40682613e-04 9.99923766e-01 3.21016902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.079254154 meters 0.01980978031408802 Centerline is valid? [True, True] Translation: X:483.48, Y:5.70, Z:3.21 [[ 9.98899694e-01 -4.50350532e-02 -1.30860769e-02 4.83475632e+02] [ 4.50369105e-02 9.98985312e-01 -1.52878226e-04 5.69750163e+00] [ 1.30796835e-02 -4.36646461e-04 9.99914362e-01 3.21037952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.139254154 meters 0.02183481084691008 Centerline is valid? [True, True] Translation: X:483.54, Y:5.69, Z:3.21 [[ 9.98802851e-01 -4.67983098e-02 -1.42401829e-02 4.83537043e+02] [ 4.68006960e-02 9.98904233e-01 -1.65809725e-04 5.69263743e+00] [ 1.42323386e-02 -5.00839244e-04 9.99898590e-01 3.20926314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.199254154 meters 0.02034249637457368 Centerline is valid? [True, True] Translation: X:483.60, Y:5.69, Z:3.21 [[ 9.98947452e-01 -4.33512386e-02 -1.49886160e-02 4.83598667e+02] [ 4.33535074e-02 9.99059780e-01 -1.73679437e-04 5.69395016e+00] [ 1.49820526e-02 -4.76312443e-04 9.99887649e-01 3.20916364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.259254154 meters 0.018655242260740678 Centerline is valid? [True, True] Translation: X:483.66, Y:5.70, Z:3.21 [[ 9.99191118e-01 -3.71458793e-02 -1.54043440e-02 4.83659451e+02] [ 3.71475470e-02 9.99309776e-01 -1.77959283e-04 5.69789120e+00] [ 1.54003220e-02 -3.94418256e-04 9.99881330e-01 3.20998129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters 0.016278490632755584 Centerline is valid? [True, True] Translation: X:483.72, Y:5.71, Z:3.21 [[ 9.99589459e-01 -2.44114560e-02 -1.49998093e-02 4.83719507e+02] [ 2.44116044e-02 9.99701977e-01 -1.73229411e-04 5.70563504e+00] [ 1.49995678e-02 -1.93011117e-04 9.99887482e-01 3.21066197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37925415399997 meters 0.01555307550750504 Centerline is valid? [True, True] Translation: X:483.78, Y:5.71, Z:3.21 [[ 9.99790364e-01 -1.41540336e-02 -1.47949484e-02 4.83779400e+02] [ 1.41530499e-02 9.99899826e-01 -1.71198231e-04 5.71124905e+00] [ 1.47958895e-02 -3.82313014e-05 9.99890534e-01 3.21067935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.43925415399997 meters 0.015275698885960049 Centerline is valid? [True, True] Translation: X:483.84, Y:5.71, Z:3.21 [[ 9.99820543e-01 -1.12382305e-02 -1.52507361e-02 4.83837127e+02] [ 1.12368043e-02 9.99936849e-01 -1.79202840e-04 5.71177989e+00] [ 1.52517869e-02 7.80114397e-06 9.99883685e-01 3.21156586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.49925415399997 meters 0.015321277501538172 Centerline is valid? [True, True] Translation: X:483.89, Y:5.71, Z:3.21 [[ 9.99817981e-01 -1.26193353e-02 -1.43093311e-02 4.83894844e+02] [ 1.26181629e-02 9.99920373e-01 -1.72213141e-04 5.70722171e+00] [ 1.43103649e-02 -8.37567674e-06 9.99897601e-01 3.21155641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.559254154 meters 0.015409906152834706 Centerline is valid? [True, True] Translation: X:483.95, Y:5.70, Z:3.21 [[ 9.99724542e-01 -1.81699332e-02 -1.48557391e-02 4.83953895e+02] [ 1.81692430e-02 9.99834909e-01 -1.81436578e-04 5.70108503e+00] [ 1.48565833e-02 -8.85309339e-05 9.99889631e-01 3.21100625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.619254154 meters 0.017432464262328456 Centerline is valid? [True, True] Translation: X:484.01, Y:5.69, Z:3.21 [[ 9.99346346e-01 -3.19666781e-02 -1.68823089e-02 4.84013775e+02] [ 3.19677417e-02 9.99488880e-01 -2.06927320e-04 5.68638450e+00] [ 1.68802948e-02 -3.32897229e-04 9.99857462e-01 3.20922336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.679254154 meters 0.022428643245027313 Centerline is valid? [True, True] Translation: X:484.07, Y:5.67, Z:3.21 [[ 9.98762945e-01 -4.68786869e-02 -1.65821912e-02 4.84073840e+02] [ 4.68817621e-02 9.98900425e-01 -2.03442673e-04 5.67020196e+00] [ 1.65734950e-02 -5.74211341e-04 9.99862485e-01 3.20902645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.739254154 meters 0.026654055024267202 Centerline is valid? [True, True] Translation: X:484.13, Y:5.66, Z:3.21 [[ 9.98374974e-01 -5.50327411e-02 -1.47922016e-02 4.84134009e+02] [ 5.50360818e-02 9.98484350e-01 -1.81445935e-04 5.66173752e+00] [ 1.47797673e-02 -6.32953739e-04 9.99890573e-01 3.20999389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.799254154 meters 0.03135655388031497 Centerline is valid? [True, True] Translation: X:484.19, Y:5.65, Z:3.21 [[ 9.97840884e-01 -6.43567080e-02 -1.31066765e-02 4.84193941e+02] [ 6.43601330e-02 9.97926724e-01 -1.60745440e-04 5.65135856e+00] [ 1.30898478e-02 -6.83149074e-04 9.99914091e-01 3.21217278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.859254154 meters 0.032832259084130885 Centerline is valid? [True, True] Translation: X:484.26, Y:5.65, Z:3.21 [[ 9.97716398e-01 -6.62811964e-02 -1.29920065e-02 4.84256204e+02] [ 6.62847295e-02 9.97800736e-01 -1.58942877e-04 5.64904561e+00] [ 1.29739686e-02 -7.02591722e-04 9.99915588e-01 3.21286485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.919254154 meters 0.03612967512431214 Centerline is valid? [True, True] Translation: X:484.32, Y:5.64, Z:3.21 [[ 9.97446769e-01 -7.03472956e-02 -1.22963932e-02 4.84315940e+02] [ 7.03507729e-02 9.97522304e-01 -1.50060505e-04 5.64380536e+00] [ 1.22764829e-02 -7.15383403e-04 9.99924385e-01 3.21334790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.979254154 meters 0.029864585230741453 Centerline is valid? [True, True] Translation: X:484.38, Y:5.65, Z:3.21 [[ 9.97432401e-01 -7.05879368e-02 -1.20809262e-02 4.84378084e+02] [ 7.05913147e-02 9.97505311e-01 -1.47112001e-04 5.65201500e+00] [ 1.20611724e-02 -7.06074189e-04 9.99927012e-01 3.21454263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.039254154 meters 0.030010621546719234 Centerline is valid? [True, True] Translation: X:484.44, Y:5.65, Z:3.21 [[ 9.97530435e-01 -6.91091585e-02 -1.25281616e-02 4.84439888e+02] [ 6.91126867e-02 9.97608848e-01 -1.51621766e-04 5.65319348e+00] [ 1.25086833e-02 -7.14607583e-04 9.99921508e-01 3.21446363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.099254154 meters 0.029324353822121323 Centerline is valid? [True, True] Translation: X:484.50, Y:5.66, Z:3.21 [[ 9.97770610e-01 -6.52332648e-02 -1.40865891e-02 4.84500495e+02] [ 6.52373500e-02 9.97869761e-01 -1.69801126e-04 5.65623771e+00] [ 1.40676580e-02 -7.49549172e-04 9.99900765e-01 3.21303714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.159254154 meters 0.027390915031250594 Centerline is valid? [True, True] Translation: X:484.56, Y:5.66, Z:3.21 [[ 9.98064236e-01 -5.97656971e-02 -1.72000601e-02 4.84560943e+02] [ 5.97709824e-02 9.98212095e-01 -2.07082381e-04 5.66236446e+00] [ 1.71816844e-02 -8.21382969e-04 9.99852047e-01 3.21051988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.219254154 meters 0.026105557906016024 Centerline is valid? [True, True] Translation: X:484.62, Y:5.67, Z:3.21 [[ 9.98345965e-01 -5.46878523e-02 -1.77362069e-02 4.84621938e+02] [ 5.46926771e-02 9.98503213e-01 -2.13277868e-04 5.66827379e+00] [ 1.77213232e-02 -7.57115535e-04 9.99842678e-01 3.21061112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.279254154 meters 0.019811027770282732 Centerline is valid? [True, True] Translation: X:484.68, Y:5.69, Z:3.21 [[ 9.98844360e-01 -4.50823565e-02 -1.66590759e-02 4.84682711e+02] [ 4.50852810e-02 9.98983122e-01 -2.00160288e-04 5.68512236e+00] [ 1.66511594e-02 -5.51150145e-04 9.99861208e-01 3.21436524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.339254154 meters 0.017690158090304324 Centerline is valid? [True, True] Translation: X:484.74, Y:5.69, Z:3.22 [[ 9.99183438e-01 -3.72272331e-02 -1.57031853e-02 4.84743759e+02] [ 3.72288653e-02 9.99306748e-01 -1.88473040e-04 5.69313181e+00] [ 1.56993153e-02 -3.96292629e-04 9.99876680e-01 3.21600034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.399254154 meters 0.015520241265243418 Centerline is valid? [True, True] Translation: X:484.80, Y:5.70, Z:3.22 [[ 9.99567552e-01 -2.59759231e-02 -1.37826040e-02 4.84804908e+02] [ 2.59761143e-02 9.99662550e-01 -1.65180216e-04 5.70443797e+00] [ 1.37822438e-02 -1.92909712e-04 9.99905002e-01 3.21789989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.459254154 meters 0.016257792089615263 Centerline is valid? [True, True] Translation: X:484.87, Y:5.71, Z:3.22 [[ 9.99770906e-01 -1.70557714e-02 -1.29319820e-02 4.84865411e+02] [ 1.70552018e-02 9.99854538e-01 -1.54338254e-04 5.71129854e+00] [ 1.29327333e-02 -6.62546669e-05 9.99916367e-01 3.21788261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.519254154 meters 0.014688641971221278 Centerline is valid? [True, True] Translation: X:484.92, Y:5.72, Z:3.22 [[ 9.99821270e-01 -1.28782303e-02 -1.38411973e-02 4.84924946e+02] [ 1.28771823e-02 9.99917072e-01 -1.64837212e-04 5.71575736e+00] [ 1.38421722e-02 -1.34278705e-05 9.99904192e-01 3.21905433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.579254154 meters 0.014586481158007357 Centerline is valid? [True, True] Translation: X:484.98, Y:5.72, Z:3.22 [[ 9.99815577e-01 -1.26712204e-02 -1.44309315e-02 4.84982524e+02] [ 1.26700226e-02 9.99919717e-01 -1.74430167e-04 5.71629386e+00] [ 1.44319832e-02 -8.44223031e-06 9.99895853e-01 3.21906927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.639254154 meters 0.014721817881124942 Centerline is valid? [True, True] Translation: X:485.04, Y:5.71, Z:3.22 [[ 9.99778770e-01 -1.46565104e-02 -1.50863628e-02 4.85040615e+02] [ 1.46553840e-02 9.99892587e-01 -1.85226241e-04 5.71379069e+00] [ 1.50874571e-02 -3.59111766e-05 9.99886177e-01 3.21841954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.699254154 meters 0.014737931691287337 Centerline is valid? [True, True] Translation: X:485.10, Y:5.71, Z:3.22 [[ 9.99742328e-01 -1.72988507e-02 -1.46978365e-02 4.85098732e+02] [ 1.72980231e-02 9.99850361e-01 -1.83441928e-04 5.71176731e+00] [ 1.46988104e-02 -7.08488541e-05 9.99891964e-01 3.21921906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.759254154 meters 0.014809685499906739 Centerline is valid? [True, True] Translation: X:485.16, Y:5.71, Z:3.22 [[ 9.99718427e-01 -1.86049396e-02 -1.47282883e-02 4.85156299e+02] [ 1.86042099e-02 9.99826909e-01 -1.86563939e-04 5.70934858e+00] [ 1.47292100e-02 -8.74967601e-05 9.99891515e-01 3.21929799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters 0.014918940760411226 Centerline is valid? [True, True] Translation: X:485.21, Y:5.71, Z:3.22 [[ 9.99682508e-01 -2.05844948e-02 -1.45313933e-02 4.85214927e+02] [ 2.05839553e-02 9.99788111e-01 -1.86708095e-04 5.70683070e+00] [ 1.45321575e-02 -1.12464732e-04 9.99894396e-01 3.21983159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87925415399997 meters 0.015473944744422902 Centerline is valid? [True, True] Translation: X:485.27, Y:5.70, Z:3.22 [[ 9.99577978e-01 -2.52335134e-02 -1.43922075e-02 4.85273923e+02] [ 2.52334330e-02 9.99681569e-01 -1.87205913e-04 5.70077593e+00] [ 1.43923485e-02 -1.76037897e-04 9.99896409e-01 3.22032519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.93925415399997 meters 0.016470168788573658 Centerline is valid? [True, True] Translation: X:485.33, Y:5.69, Z:3.22 [[ 9.99436234e-01 -3.06946949e-02 -1.36032689e-02 4.85333700e+02] [ 3.06951208e-02 9.99528778e-01 -1.77529277e-04 5.69269543e+00] [ 1.36023080e-02 -2.40124790e-04 9.99907455e-01 3.22024808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.99925415399997 meters 0.01707152033628584 Centerline is valid? [True, True] Translation: X:485.40, Y:5.69, Z:3.22 [[ 9.99334381e-01 -3.35576437e-02 -1.43066111e-02 4.85395437e+02] [ 3.35584101e-02 9.99436741e-01 -1.86559575e-04 5.68916631e+00] [ 1.43048132e-02 -2.93671723e-04 9.99897638e-01 3.22027275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.059254154 meters 0.01689639402038815 Centerline is valid? [True, True] Translation: X:485.46, Y:5.69, Z:3.22 [[ 9.99311746e-01 -3.36895389e-02 -1.55257615e-02 4.85456651e+02] [ 3.36904666e-02 9.99432295e-01 -2.01870824e-04 5.68699888e+00] [ 1.55237484e-02 -3.21338265e-04 9.99879448e-01 3.22016024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.119254154 meters 0.01646095778384513 Centerline is valid? [True, True] Translation: X:485.52, Y:5.69, Z:3.22 [[ 9.99371004e-01 -3.15003029e-02 -1.62888480e-02 4.85517101e+02] [ 3.15010376e-02 9.99503697e-01 -2.11535046e-04 5.68809117e+00] [ 1.62874272e-02 -3.01713620e-04 9.99867306e-01 3.22082310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.179254154 meters 0.015937271668418372 Centerline is valid? [True, True] Translation: X:485.58, Y:5.69, Z:3.22 [[ 9.99444954e-01 -2.84375891e-02 -1.73518826e-02 4.85576834e+02] [ 2.84379580e-02 9.99595534e-01 -2.25535778e-04 5.68790654e+00] [ 1.73512781e-02 -2.68041513e-04 9.99849419e-01 3.22048869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.239254154 meters 0.015607069986654324 Centerline is valid? [True, True] Translation: X:485.64, Y:5.69, Z:3.22 [[ 9.99450002e-01 -2.74094393e-02 -1.86659271e-02 4.85636400e+02] [ 2.74096762e-02 9.99624255e-01 -2.43188931e-04 5.68711513e+00] [ 1.86655792e-02 -2.68571842e-04 9.99825747e-01 3.22080626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.299254154 meters 0.0166980171981522 Centerline is valid? [True, True] Translation: X:485.69, Y:5.68, Z:3.22 [[ 9.99431036e-01 -2.79466298e-02 -1.88836080e-02 4.85693794e+02] [ 2.79469427e-02 9.99609377e-01 -2.47379400e-04 5.68383435e+00] [ 1.88831450e-02 -2.80500459e-04 9.99821658e-01 3.21919789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.359254154 meters 0.015952982584859648 Centerline is valid? [True, True] Translation: X:485.75, Y:5.69, Z:3.22 [[ 9.99376986e-01 -2.98029202e-02 -1.89057120e-02 4.85752116e+02] [ 2.98034944e-02 9.99555746e-01 -2.51447135e-04 5.68500463e+00] [ 1.89048069e-02 -3.12165803e-04 9.99821239e-01 3.22239455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.419254154 meters 0.01631220632260393 Centerline is valid? [True, True] Translation: X:485.81, Y:5.68, Z:3.22 [[ 9.99292731e-01 -3.24397825e-02 -1.90183587e-02 4.85811230e+02] [ 3.24407944e-02 9.99473626e-01 -2.55385891e-04 5.68384651e+00] [ 1.90166326e-02 -3.61765400e-04 9.99819102e-01 3.22305844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.479254154 meters 0.016778222553263392 Centerline is valid? [True, True] Translation: X:485.87, Y:5.68, Z:3.22 [[ 9.99221941e-01 -3.45858239e-02 -1.89560907e-02 4.85870869e+02] [ 3.45871995e-02 9.99401651e-01 -2.55373725e-04 5.68218654e+00] [ 1.89535807e-02 -4.00463063e-04 9.99820285e-01 3.22362248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.539254154 meters 0.01763206788376739 Centerline is valid? [True, True] Translation: X:485.93, Y:5.68, Z:3.22 [[ 9.99145455e-01 -3.75744672e-02 -1.72197209e-02 4.85930056e+02] [ 3.75760406e-02 9.99293744e-01 -2.32284592e-04 5.67859366e+00] [ 1.72162874e-02 -4.14962838e-04 9.99851703e-01 3.22455154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.599254154 meters 0.018644739560878622 Centerline is valid? [True, True] Translation: X:485.99, Y:5.68, Z:3.23 [[ 9.99111698e-01 -3.91929125e-02 -1.54832393e-02 4.85990774e+02] [ 3.91943804e-02 9.99231583e-01 -2.08749632e-04 5.67660173e+00] [ 1.54795232e-02 -3.98291770e-04 9.99880106e-01 3.22632362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.659254154 meters 0.01742036325557481 Centerline is valid? [True, True] Translation: X:486.05, Y:5.68, Z:3.23 [[ 9.99085134e-01 -4.01414482e-02 -1.47499183e-02 4.86052151e+02] [ 4.01428897e-02 9.99193930e-01 -1.98446779e-04 5.67974910e+00] [ 1.47459948e-02 -3.93839119e-04 9.99891194e-01 3.22860540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.719254154 meters 0.019157328789256863 Centerline is valid? [True, True] Translation: X:486.11, Y:5.68, Z:3.23 [[ 9.98994317e-01 -4.20584549e-02 -1.55383999e-02 4.86113975e+02] [ 4.20602981e-02 9.99115052e-01 -2.08296546e-04 5.67779970e+00] [ 1.55334099e-02 -4.45462668e-04 9.99879250e-01 3.22768912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.779254154 meters 0.018721956622344358 Centerline is valid? [True, True] Translation: X:486.18, Y:5.68, Z:3.23 [[ 9.98929577e-01 -4.35716455e-02 -1.55309963e-02 4.86176534e+02] [ 4.35736858e-02 9.99050194e-01 -2.07164079e-04 5.67799058e+00] [ 1.55252713e-02 -4.69800427e-04 9.99879365e-01 3.22835446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.839254154 meters 0.020394293485498954 Centerline is valid? [True, True] Translation: X:486.24, Y:5.68, Z:3.23 [[ 9.98693833e-01 -4.83862546e-02 -1.64133454e-02 4.86237363e+02] [ 4.83891943e-02 9.98828533e-01 -2.18225091e-04 5.67510635e+00] [ 1.64046768e-02 -5.76288507e-04 9.99865268e-01 3.22727936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.899254154 meters 0.02184204299501779 Centerline is valid? [True, True] Translation: X:486.30, Y:5.67, Z:3.23 [[ 9.98412327e-01 -5.38085078e-02 -1.66574019e-02 4.86298835e+02] [ 5.38122971e-02 9.98551044e-01 -2.20974869e-04 5.67368788e+00] [ 1.66451564e-02 -6.75749025e-04 9.99861231e-01 3.22709262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.959254154 meters 0.022555353477233565 Centerline is valid? [True, True] Translation: X:486.36, Y:5.67, Z:3.23 [[ 9.98274574e-01 -5.62805210e-02 -1.67445083e-02 4.86360981e+02] [ 5.62847135e-02 9.98414735e-01 -2.21151054e-04 5.67418986e+00] [ 1.67304103e-02 -7.21690380e-04 9.99859776e-01 3.22744087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.019254154 meters 0.02346149658699852 Centerline is valid? [True, True] Translation: X:486.42, Y:5.68, Z:3.23 [[ 9.98270115e-01 -5.65125133e-02 -1.62207911e-02 4.86423294e+02] [ 5.65164972e-02 9.98401643e-01 -2.13059241e-04 5.67574290e+00] [ 1.62069050e-02 -7.04051623e-04 9.99868412e-01 3.22841126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.079254154 meters 0.02136559961877528 Centerline is valid? [True, True] Translation: X:486.48, Y:5.68, Z:3.23 [[ 9.98470993e-01 -5.36636889e-02 -1.32621503e-02 4.86484965e+02] [ 5.36661112e-02 9.98558921e-01 -1.73418779e-04 5.68341321e+00] [ 1.32523448e-02 -5.38574412e-04 9.99912039e-01 3.23155999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.139254154 meters 0.021539268963212548 Centerline is valid? [True, True] Translation: X:486.55, Y:5.69, Z:3.23 [[ 9.98672339e-01 -4.99166017e-02 -1.27237124e-02 4.86545960e+02] [ 4.99185351e-02 9.98753279e-01 -1.65786347e-04 5.68561953e+00] [ 1.27161249e-02 -4.69582844e-04 9.99919037e-01 3.23219595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.199254154 meters 0.020679898292806732 Centerline is valid? [True, True] Translation: X:486.61, Y:5.69, Z:3.23 [[ 9.98891074e-01 -4.54303145e-02 -1.23575119e-02 4.86606270e+02] [ 4.54317995e-02 9.98967430e-01 -1.60668780e-04 5.68967433e+00] [ 1.23520512e-02 -4.00933395e-04 9.99923630e-01 3.23213156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.259254154 meters 0.017564283831327958 Centerline is valid? [True, True] Translation: X:486.67, Y:5.70, Z:3.23 [[ 9.99211721e-01 -3.73667368e-02 -1.34038768e-02 4.86667455e+02] [ 3.73677623e-02 9.99301566e-01 -1.74018179e-04 5.69961451e+00] [ 1.34010175e-02 -3.26991877e-04 9.99910149e-01 3.23135848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters 0.01633164045886524 Centerline is valid? [True, True] Translation: X:486.73, Y:5.71, Z:3.23 [[ 9.99455106e-01 -2.93249115e-02 -1.51506305e-02 4.86729006e+02] [ 2.93253073e-02 9.99569901e-01 -1.96081906e-04 5.70812664e+00] [ 1.51498643e-02 -2.48321833e-04 9.99885203e-01 3.23043712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37925415399997 meters 0.015010881412049811 Centerline is valid? [True, True] Translation: X:486.79, Y:5.71, Z:3.23 [[ 9.99599322e-01 -2.36094355e-02 -1.56137839e-02 4.86788083e+02] [ 2.36091623e-02 9.99721245e-01 -2.01850413e-04 5.71410129e+00] [ 1.56141971e-02 -1.66858823e-04 9.99878077e-01 3.23051019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.43925415399997 meters 0.014642442649439407 Centerline is valid? [True, True] Translation: X:486.85, Y:5.72, Z:3.23 [[ 9.99648283e-01 -2.13661754e-02 -1.57097854e-02 4.86847282e+02] [ 2.13656147e-02 9.99771708e-01 -2.03545390e-04 5.71713968e+00] [ 1.57105480e-02 -1.32175423e-04 9.99876573e-01 3.23120168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.49925415399997 meters 0.01475710178465471 Centerline is valid? [True, True] Translation: X:486.91, Y:5.72, Z:3.23 [[ 9.99650112e-01 -2.18534552e-02 -1.49023765e-02 4.86906090e+02] [ 2.18529946e-02 9.99761176e-01 -1.93760888e-04 5.71834150e+00] [ 1.49030518e-02 -1.31968461e-04 9.99888935e-01 3.23185328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.559254154 meters 0.01565547704424932 Centerline is valid? [True, True] Translation: X:486.96, Y:5.71, Z:3.23 [[ 9.99502438e-01 -2.76303119e-02 -1.52132471e-02 4.86964599e+02] [ 2.76304884e-02 9.99618185e-01 -1.98626086e-04 5.71447148e+00] [ 1.52129266e-02 -2.21822191e-04 9.99884252e-01 3.23165579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.619254154 meters 0.01746505756520982 Centerline is valid? [True, True] Translation: X:487.03, Y:5.71, Z:3.23 [[ 9.99309451e-01 -3.38464508e-02 -1.53309925e-02 4.87025453e+02] [ 3.38473556e-02 9.99426994e-01 -2.00523412e-04 5.71140385e+00] [ 1.53289948e-02 -3.18528614e-04 9.99882453e-01 3.23205013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.679254154 meters 0.01943221375764159 Centerline is valid? [True, True] Translation: X:487.09, Y:5.70, Z:3.23 [[ 9.98984050e-01 -4.26914277e-02 -1.44329340e-02 4.87085342e+02] [ 4.26931571e-02 9.99088214e-01 -1.88410250e-04 5.70397992e+00] [ 1.44278178e-02 -4.27968685e-04 9.99895822e-01 3.23406955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.739254154 meters 0.01910513084986878 Centerline is valid? [True, True] Translation: X:487.15, Y:5.70, Z:3.24 [[ 9.98869098e-01 -4.53704684e-02 -1.42142463e-02 4.87147521e+02] [ 4.53724291e-02 9.98970124e-01 -1.84680335e-04 5.70349043e+00] [ 1.42079864e-02 -4.60463403e-04 9.99898955e-01 3.23524018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.799254154 meters 0.020969019580173037 Centerline is valid? [True, True] Translation: X:487.21, Y:5.70, Z:3.23 [[ 9.99028064e-01 -4.17311253e-02 -1.41929567e-02 4.87209088e+02] [ 4.17327242e-02 9.99128794e-01 -1.83622864e-04 5.70469354e+00] [ 1.41882545e-02 -4.08866352e-04 9.99899258e-01 3.23362802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.859254154 meters 0.016131248713257617 Centerline is valid? [True, True] Translation: X:487.27, Y:5.71, Z:3.24 [[ 9.99364469e-01 -3.26108447e-02 -1.43941353e-02 4.87269610e+02] [ 3.26115493e-02 9.99468085e-01 -1.85829483e-04 5.71171965e+00] [ 1.43925389e-02 -2.83703671e-04 9.99896382e-01 3.23687602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.919254154 meters 0.014521211263991396 Centerline is valid? [True, True] Translation: X:487.33, Y:5.72, Z:3.24 [[ 9.99678313e-01 -2.07246666e-02 -1.46205144e-02 4.87329687e+02] [ 2.07241241e-02 9.99785214e-01 -1.88626391e-04 5.71915907e+00] [ 1.46212833e-02 -1.14431641e-04 9.99893097e-01 3.23719511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.979254154 meters 0.01418680747539056 Centerline is valid? [True, True] Translation: X:487.39, Y:5.72, Z:3.24 [[ 9.99775588e-01 -1.45462754e-02 -1.54006223e-02 4.87389487e+02] [ 1.45449355e-02 9.99894197e-01 -1.99013045e-04 5.72336307e+00] [ 1.54018877e-02 -2.50326735e-05 9.99881384e-01 3.23765663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.039254154 meters 0.014341997621266162 Centerline is valid? [True, True] Translation: X:487.45, Y:5.72, Z:3.24 [[ 9.99812352e-01 -1.00441959e-02 -1.65642904e-02 4.87448686e+02] [ 1.00419811e-02 9.99949555e-01 -2.16881359e-04 5.72412324e+00] [ 1.65656333e-02 5.05023709e-05 9.99862779e-01 3.23721549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.099254154 meters 0.01430067206414925 Centerline is valid? [True, True] Translation: X:487.51, Y:5.72, Z:3.24 [[ 9.99797002e-01 -1.00536639e-02 -1.74607652e-02 4.87506171e+02] [ 1.00511453e-02 9.99949459e-01 -2.31996319e-04 5.72131603e+00] [ 1.74622151e-02 5.64485361e-05 9.99847522e-01 3.23660240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.159254154 meters 0.014307550156432848 Centerline is valid? [True, True] Translation: X:487.56, Y:5.72, Z:3.24 [[ 9.99776091e-01 -1.18803304e-02 -1.75107573e-02 4.87564227e+02] [ 1.18780063e-02 9.99929426e-01 -2.36724684e-04 5.71803585e+00] [ 1.75123339e-02 2.86787937e-05 9.99846647e-01 3.23670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.219254154 meters 0.014321575031964441 Centerline is valid? [True, True] Translation: X:487.62, Y:5.71, Z:3.24 [[ 9.99752980e-01 -1.48256985e-02 -1.65583347e-02 4.87622639e+02] [ 1.48239538e-02 9.99890093e-01 -2.28106195e-04 5.71167130e+00] [ 1.65598967e-02 -1.74101408e-05 9.99862875e-01 3.23768750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.279254154 meters 0.014418645764394894 Centerline is valid? [True, True] Translation: X:487.68, Y:5.70, Z:3.24 [[ 9.99705967e-01 -1.89660533e-02 -1.51085737e-02 4.87681105e+02] [ 1.89650153e-02 9.99820125e-01 -2.11987049e-04 5.70355538e+00] [ 1.51098766e-02 -7.46096131e-05 9.99885837e-01 3.23896524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.339254154 meters 0.015031511539637894 Centerline is valid? [True, True] Translation: X:487.74, Y:5.69, Z:3.24 [[ 9.99598454e-01 -2.44211359e-02 -1.43714814e-02 4.87739563e+02] [ 2.44207253e-02 9.99701749e-01 -2.04083976e-04 5.69312960e+00] [ 1.43721790e-02 -1.46959972e-04 9.99896704e-01 3.24043702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.399254154 meters 0.018114318509199655 Centerline is valid? [True, True] Translation: X:487.80, Y:5.69, Z:3.24 [[ 9.99478875e-01 -2.85232636e-02 -1.51129590e-02 4.87799411e+02] [ 2.85232645e-02 9.99593106e-01 -2.15531794e-04 5.68531762e+00] [ 1.51129573e-02 -2.15651453e-04 9.99885769e-01 3.24009064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.459254154 meters 0.016448340752854482 Centerline is valid? [True, True] Translation: X:487.86, Y:5.68, Z:3.24 [[ 9.99394556e-01 -3.19204119e-02 -1.38422767e-02 4.87858749e+02] [ 3.19207316e-02 9.99490384e-01 -1.97900043e-04 5.68076342e+00] [ 1.38415395e-02 -2.44075374e-04 9.99904172e-01 3.24140633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.519254154 meters 0.017104494083545856 Centerline is valid? [True, True] Translation: X:487.92, Y:5.67, Z:3.24 [[ 9.99258585e-01 -3.57218335e-02 -1.43607606e-02 4.87918572e+02] [ 3.57225642e-02 9.99361724e-01 -2.05709493e-04 5.67170839e+00] [ 1.43589427e-02 -3.07446214e-04 9.99896858e-01 3.24143116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.579254154 meters 0.017154904438723906 Centerline is valid? [True, True] Translation: X:487.98, Y:5.67, Z:3.24 [[ 9.99195710e-01 -3.73565269e-02 -1.45747083e-02 4.87979382e+02] [ 3.73574515e-02 9.99301945e-01 -2.08898229e-04 5.66913531e+00] [ 1.45723380e-02 -3.35743743e-04 9.99893761e-01 3.24188033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.639254154 meters 0.017479107247382972 Centerline is valid? [True, True] Translation: X:488.04, Y:5.66, Z:3.24 [[ 9.99153632e-01 -3.81530474e-02 -1.53741874e-02 4.88040221e+02] [ 3.81541705e-02 9.99271840e-01 -2.20357105e-04 5.66491711e+00] [ 1.53713999e-02 -3.66418767e-04 9.99881786e-01 3.24255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.699254154 meters 0.01749306722444667 Centerline is valid? [True, True] Translation: X:488.10, Y:5.66, Z:3.24 [[ 9.99166341e-01 -3.79003959e-02 -1.51718057e-02 4.88101199e+02] [ 3.79014605e-02 9.99281458e-01 -2.17456383e-04 5.66407560e+00] [ 1.51691458e-02 -3.57758497e-04 9.99884878e-01 3.24266818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.759254154 meters 0.01758434792577165 Centerline is valid? [True, True] Translation: X:488.16, Y:5.66, Z:3.24 [[ 9.99235733e-01 -3.56694593e-02 -1.59887610e-02 4.88161026e+02] [ 3.56703536e-02 9.99363584e-01 -2.29331667e-04 5.66035885e+00] [ 1.59867656e-02 -3.41168362e-04 9.99872145e-01 3.24245969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81925415399996 meters 0.01731223534202854 Centerline is valid? [True, True] Translation: X:488.22, Y:5.66, Z:3.24 [[ 9.99312480e-01 -3.34288591e-02 -1.60337002e-02 4.88220166e+02] [ 3.34294701e-02 9.99441053e-01 -2.29982988e-04 5.66049317e+00] [ 1.60324263e-02 -3.06173232e-04 9.99871426e-01 3.24352066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87925415399997 meters 0.01591410115019844 Centerline is valid? [True, True] Translation: X:488.28, Y:5.66, Z:3.25 [[ 9.99383203e-01 -3.12518962e-02 -1.60166617e-02 4.88279956e+02] [ 3.12522223e-02 9.99511504e-01 -2.29995459e-04 5.66143164e+00] [ 1.60160254e-02 -2.70702674e-04 9.99871699e-01 3.24566376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.93925415399997 meters 0.017947512970281833 Centerline is valid? [True, True] Translation: X:488.34, Y:5.66, Z:3.25 [[ 9.99330323e-01 -3.15541560e-02 -1.85267767e-02 4.88338477e+02] [ 3.15545831e-02 9.99501994e-01 -2.69345820e-04 5.65841040e+00] [ 1.85260492e-02 -3.15439270e-04 9.99828328e-01 3.24555427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.99925415399997 meters 0.015985817583717324 Centerline is valid? [True, True] Translation: X:488.40, Y:5.66, Z:3.25 [[ 9.99299204e-01 -3.31543102e-02 -1.73750395e-02 4.88397516e+02] [ 3.31548511e-02 9.99450194e-01 -2.57000805e-04 5.65771628e+00] [ 1.73740073e-02 -3.19246150e-04 9.99849010e-01 3.24718708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.059254154 meters 0.018209929444486014 Centerline is valid? [True, True] Translation: X:488.46, Y:5.65, Z:3.25 [[ 9.99163805e-01 -3.62829597e-02 -1.88477411e-02 4.88455883e+02] [ 3.62840954e-02 9.99341476e-01 -2.81820534e-04 5.65380558e+00] [ 1.88455547e-02 -4.02288359e-04 9.99822326e-01 3.24674116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.119254154 meters 0.019179768147687203 Centerline is valid? [True, True] Translation: X:488.51, Y:5.65, Z:3.25 [[ 9.98962954e-01 -4.10825239e-02 -1.96275857e-02 4.88514813e+02] [ 4.10846545e-02 9.99155626e-01 -2.94844894e-04 5.64831291e+00] [ 1.96231256e-02 -5.11853448e-04 9.99807317e-01 3.24616165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.179254154 meters 0.01937811367027265 Centerline is valid? [True, True] Translation: X:488.57, Y:5.65, Z:3.25 [[ 9.98762024e-01 -4.59045441e-02 -1.91622648e-02 4.88574664e+02] [ 4.59074457e-02 9.98945656e-01 -2.88669589e-04 5.64519119e+00] [ 1.91553124e-02 -5.91378406e-04 9.99816345e-01 3.24679104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.239254154 meters 0.02196520738358462 Centerline is valid? [True, True] Translation: X:488.64, Y:5.64, Z:3.25 [[ 9.98305681e-01 -5.46179633e-02 -2.00660305e-02 4.88635460e+02] [ 5.46228969e-02 9.98507009e-01 -3.02547804e-04 5.64039329e+00] [ 2.00525966e-02 -7.94029522e-04 9.99798611e-01 3.24789860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.299254154 meters 0.025420172278146393 Centerline is valid? [True, True] Translation: X:488.70, Y:5.63, Z:3.25 [[ 9.97677453e-01 -6.47063604e-02 -2.12787686e-02 4.88695624e+02] [ 6.47141912e-02 9.97903788e-01 -3.21103995e-04 5.63438906e+00] [ 2.12549413e-02 -1.05668009e-03 9.99773530e-01 3.24815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.359254154 meters 0.027128599814877793 Centerline is valid? [True, True] Translation: X:488.76, Y:5.63, Z:3.25 [[ 9.97175781e-01 -7.17620195e-02 -2.21511534e-02 4.88756233e+02] [ 7.17722382e-02 9.97420991e-01 -3.34377960e-04 5.63326053e+00] [ 2.21180210e-02 -1.25640426e-03 9.99754577e-01 3.24926817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.419254154 meters 0.03041354874337352 Centerline is valid? [True, True] Translation: X:488.82, Y:5.63, Z:3.25 [[ 9.96489718e-01 -8.04573447e-02 -2.31270016e-02 4.88816880e+02] [ 8.04708130e-02 9.96756904e-01 -3.49206972e-04 5.63099518e+00] [ 2.30800948e-02 -1.51306747e-03 9.99732474e-01 3.25019335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.479254154 meters 0.0341537846500944 Centerline is valid? [True, True] Translation: X:488.88, Y:5.63, Z:3.25 [[ 9.96040732e-01 -8.57435859e-02 -2.34712071e-02 4.88876498e+02] [ 8.57589104e-02 9.96315855e-01 -3.54744406e-04 5.63037263e+00] [ 2.34151529e-02 -1.65952527e-03 9.99724450e-01 3.25053824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.539254154 meters 0.03659729083895284 Centerline is valid? [True, True] Translation: X:488.94, Y:5.63, Z:3.25 [[ 9.95956833e-01 -8.67716106e-02 -2.32524125e-02 4.88935940e+02] [ 8.67869196e-02 9.96226835e-01 -3.51855069e-04 5.63339365e+00] [ 2.31952083e-02 -1.66757279e-03 9.99729564e-01 3.25163568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.599254154 meters 0.03700231580812436 Centerline is valid? [True, True] Translation: X:489.00, Y:5.64, Z:3.25 [[ 9.96115618e-01 -8.47506617e-02 -2.38956303e-02 4.88996196e+02] [ 8.47662482e-02 9.96400799e-01 -3.61713368e-04 5.64038367e+00] [ 2.38402805e-02 -1.66523459e-03 9.99714393e-01 3.25127543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.659254154 meters 0.030936139452761507 Centerline is valid? [True, True] Translation: X:489.06, Y:5.65, Z:3.25 [[ 9.96345796e-01 -8.19963946e-02 -2.39091026e-02 4.89057133e+02] [ 8.20112136e-02 9.96631341e-01 -3.61735528e-04 5.65441654e+00] [ 2.38582220e-02 -1.60040085e-03 9.99714071e-01 3.25319072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.719254154 meters 0.02835519986684197 Centerline is valid? [True, True] Translation: X:489.12, Y:5.67, Z:3.25 [[ 9.96811154e-01 -7.60059350e-02 -2.43026929e-02 4.89117733e+02] [ 7.60194771e-02 9.97106265e-01 -3.67501086e-04 5.66722041e+00] [ 2.42602996e-02 -1.48114882e-03 9.99704578e-01 3.25379700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.779254154 meters 0.027124968250023807 Centerline is valid? [True, True] Translation: X:489.18, Y:5.68, Z:3.25 [[ 9.97425981e-01 -6.76500111e-02 -2.37673835e-02 4.89177363e+02] [ 6.76606019e-02 9.97708331e-01 -3.59210051e-04 5.67843437e+00] [ 2.37372171e-02 -1.24983003e-03 9.99717451e-01 3.25368777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.839254154 meters 0.023860840039012496 Centerline is valid? [True, True] Translation: X:489.24, Y:5.69, Z:3.25 [[ 9.97854625e-01 -6.09591895e-02 -2.38772803e-02 4.89237276e+02] [ 6.09679684e-02 9.98139658e-01 -3.60813117e-04 5.68893152e+00] [ 2.38548552e-02 -1.09571023e-03 9.99714832e-01 3.25475140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.899254154 meters 0.0212160380704985 Centerline is valid? [True, True] Translation: X:489.30, Y:5.70, Z:3.26 [[ 9.98483128e-01 -5.03457894e-02 -2.22877862e-02 4.89296686e+02] [ 5.03507959e-02 9.98731537e-01 -3.36843712e-04 5.70171991e+00] [ 2.22764736e-02 -7.85875009e-04 9.99751540e-01 3.25545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.959254154 meters 0.018883831207739052 Centerline is valid? [True, True] Translation: X:489.36, Y:5.71, Z:3.26 [[ 9.98841492e-01 -4.31956007e-02 -2.12088364e-02 4.89356410e+02] [ 4.31985161e-02 9.99066457e-01 -3.20878179e-04 5.71063580e+00] [ 2.12028975e-02 -5.95683821e-04 9.99775016e-01 3.25632721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.019254154 meters 0.015252384448893633 Centerline is valid? [True, True] Translation: X:489.42, Y:5.72, Z:3.26 [[ 9.99289039e-01 -3.26402054e-02 -1.88688502e-02 4.89416431e+02] [ 3.26406273e-02 9.99467112e-01 -2.85695893e-04 5.72350935e+00] [ 1.88681204e-02 -3.30398334e-04 9.99821927e-01 3.25819883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.079254154 meters 0.014489669978485746 Centerline is valid? [True, True] Translation: X:489.47, Y:5.73, Z:3.26 [[ 9.99516478e-01 -2.54744416e-02 -1.78287188e-02 4.89474723e+02] [ 2.54736669e-02 9.99675457e-01 -2.70588080e-04 5.73079739e+00] [ 1.78298257e-02 -1.83705599e-04 9.99841019e-01 3.25676005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.139254154 meters 0.01376312295389832 Centerline is valid? [True, True] Translation: X:489.53, Y:5.74, Z:3.26 [[ 9.99545340e-01 -2.45610781e-02 -1.74890369e-02 4.89533623e+02] [ 2.45601379e-02 9.99698318e-01 -2.68575283e-04 5.73550295e+00] [ 1.74903572e-02 -1.61079985e-04 9.99847019e-01 3.25815642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.199254154 meters 0.015409913307344519 Centerline is valid? [True, True] Translation: X:489.59, Y:5.73, Z:3.26 [[ 9.99470557e-01 -2.84001474e-02 -1.58756941e-02 4.89592573e+02] [ 2.83997944e-02 9.99596614e-01 -2.47729187e-04 5.73412387e+00] [ 1.58763256e-02 -2.03268419e-04 9.99873943e-01 3.25761704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.259254154 meters 0.01528884872941826 Centerline is valid? [True, True] Translation: X:489.65, Y:5.73, Z:3.26 [[ 9.99289295e-01 -3.51670268e-02 -1.35714631e-02 4.89652512e+02] [ 3.51673691e-02 9.99381414e-01 -2.13502068e-04 5.73207905e+00] [ 1.35705762e-02 -2.63922319e-04 9.99907881e-01 3.25847731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31925415399996 meters 0.01674337244618068 Centerline is valid? [True, True] Translation: X:489.71, Y:5.73, Z:3.26 [[ 9.99123356e-01 -3.99387635e-02 -1.25464642e-02 4.89713092e+02] [ 3.99394326e-02 9.99202083e-01 -1.97323368e-04 5.72963896e+00] [ 1.25443341e-02 -3.03948277e-04 9.99921271e-01 3.25868438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37925415399997 meters 0.019583602284328552 Centerline is valid? [True, True] Translation: X:489.77, Y:5.72, Z:3.26 [[ 9.98869327e-01 -4.61689428e-02 -1.13356165e-02 4.89773103e+02] [ 4.61698970e-02 9.98933586e-01 -1.77634152e-04 5.72489773e+00] [ 1.13317292e-02 -3.45930941e-04 9.99935734e-01 3.25791849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.43925415399997 meters 0.019804929519309476 Centerline is valid? [True, True] Translation: X:489.83, Y:5.73, Z:3.26 [[ 9.98687416e-01 -5.04139059e-02 -9.04898717e-03 4.89834735e+02] [ 5.04146924e-02 9.98728361e-01 -1.41310936e-04 5.72616249e+00] [ 9.04460416e-03 -3.15076451e-04 9.99959047e-01 3.25852361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.49925415399997 meters 0.02102957330872493 Centerline is valid? [True, True] Translation: X:489.90, Y:5.73, Z:3.26 [[ 9.98594610e-01 -5.23650484e-02 -8.16735369e-03 4.89897279e+02] [ 5.23657570e-02 9.98627964e-01 -1.27212716e-04 5.72569319e+00] [ 8.16280929e-03 -3.00655726e-04 9.99966639e-01 3.25838373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.559254154 meters 0.02085574891541674 Centerline is valid? [True, True] Translation: X:489.96, Y:5.73, Z:3.26 [[ 9.98499100e-01 -5.42460305e-02 -7.54425401e-03 4.89959824e+02] [ 5.42466926e-02 9.98527557e-01 -1.16989981e-04 5.72761114e+00] [ 7.53949177e-03 -2.92436437e-04 9.99971535e-01 3.25869266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.619254154 meters 0.02309295967059687 Centerline is valid? [True, True] Translation: X:490.02, Y:5.73, Z:3.26 [[ 9.98397129e-01 -5.60926133e-02 -7.53602720e-03 4.90021401e+02] [ 5.60933306e-02 9.98425523e-01 -1.16315281e-04 5.72596537e+00] [ 7.53068633e-03 -3.06592023e-04 9.99971597e-01 3.25793720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.679254154 meters 0.0225200178349116 Centerline is valid? [True, True] Translation: X:490.08, Y:5.73, Z:3.26 [[ 9.98251454e-01 -5.86135560e-02 -7.64754470e-03 4.90083254e+02] [ 5.86143717e-02 9.98280693e-01 -1.17607756e-04 5.72901048e+00] [ 7.64128963e-03 -3.30853914e-04 9.99970750e-01 3.25702832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.739254154 meters 0.0245826812974581 Centerline is valid? [True, True] Translation: X:490.14, Y:5.73, Z:3.26 [[ 9.98288800e-01 -5.80064323e-02 -7.39766813e-03 4.90144204e+02] [ 5.80071824e-02 9.98316159e-01 -1.13304498e-04 5.73027577e+00] [ 7.39178402e-03 -3.16007273e-04 9.99972630e-01 3.25687418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.799254154 meters 0.02401092216706323 Centerline is valid? [True, True] Translation: X:490.21, Y:5.73, Z:3.26 [[ 9.98429738e-01 -5.55428312e-02 -7.28371655e-03 4.90205695e+02] [ 5.55434998e-02 9.98456262e-01 -1.10608512e-04 5.73467551e+00] [ 7.27861592e-03 -2.94128281e-04 9.99973467e-01 3.25705935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.859254154 meters 0.02246732215444613 Centerline is valid? [True, True] Translation: X:490.27, Y:5.74, Z:3.26 [[ 9.98586765e-01 -5.26847296e-02 -6.98511206e-03 4.90266794e+02] [ 5.26852764e-02 9.98611161e-01 -1.05835476e-04 5.74207463e+00] [ 6.98098677e-03 -2.62326654e-04 9.99975598e-01 3.25751712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.919254154 meters 0.02266291026052936 Centerline is valid? [True, True] Translation: X:490.33, Y:5.75, Z:3.26 [[ 9.98625700e-01 -5.18842979e-02 -7.39805193e-03 4.90329353e+02] [ 5.18848916e-02 9.98653066e-01 -1.11789301e-04 5.74509915e+00] [ 7.39388735e-03 -2.72211453e-04 9.99972628e-01 3.25738370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.979254154 meters 0.02352584343064231 Centerline is valid? [True, True] Translation: X:490.39, Y:5.75, Z:3.26 [[ 9.98613924e-01 -5.19139144e-02 -8.67047724e-03 4.90390202e+02] [ 5.19147380e-02 9.98651512e-01 -1.30200015e-04 5.74871702e+00] [ 8.66554440e-03 -3.20106006e-04 9.99962402e-01 3.25667885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.039254154 meters 0.024839455753615926 Centerline is valid? [True, True] Translation: X:490.45, Y:5.75, Z:3.26 [[ 9.98567071e-01 -5.27557710e-02 -8.97958325e-03 4.90451723e+02] [ 5.27566978e-02 9.98607387e-01 -1.33793061e-04 5.75040056e+00] [ 8.97413652e-03 -3.40131815e-04 9.99959674e-01 3.25706109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.099254154 meters 0.02091517108733973 Centerline is valid? [True, True] Translation: X:490.51, Y:5.76, Z:3.26 [[ 9.98567248e-01 -5.29170024e-02 -7.95254124e-03 4.90513809e+02] [ 5.29177375e-02 9.98598868e-01 -1.18094683e-04 5.75984689e+00] [ 7.94764789e-03 -3.02905007e-04 9.99968371e-01 3.25871025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.159254154 meters 0.0199959022706414 Centerline is valid? [True, True] Translation: X:490.58, Y:5.77, Z:3.26 [[ 9.98623679e-01 -5.20009763e-02 -6.82983822e-03 4.90576400e+02] [ 5.20015002e-02 9.98647002e-01 -1.00984858e-04 5.76651787e+00] [ 6.82584877e-03 -2.54315963e-04 9.99976671e-01 3.26076267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.219254154 meters 0.0202987795241106 Centerline is valid? [True, True] Translation: X:490.64, Y:5.77, Z:3.26 [[ 9.98728289e-01 -5.01493609e-02 -5.18134039e-03 4.90637979e+02] [ 5.01496394e-02 9.98741712e-01 -7.62444841e-05 5.77013373e+00] [ 5.17864438e-03 -1.83694829e-04 9.99986574e-01 3.26274380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.279254154 meters 0.019400969024942975 Centerline is valid? [True, True] Translation: X:490.70, Y:5.78, Z:3.26 [[ 9.98947107e-01 -4.56628429e-02 -4.42528348e-03 4.90698397e+02] [ 4.56630038e-02 9.98956899e-01 -6.47360320e-05 5.77539878e+00] [ 4.42362349e-03 -1.37403864e-04 9.99990206e-01 3.26388797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.339254154 meters 0.01729312464504557 Centerline is valid? [True, True] Translation: X:490.76, Y:5.78, Z:3.26 [[ 9.99145280e-01 -4.09897836e-02 -5.34297282e-03 4.90759657e+02] [ 4.09899519e-02 9.99159556e-01 -7.80630998e-05 5.78248675e+00] [ 5.34168214e-03 -1.41011821e-04 9.99985723e-01 3.26343317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.399254154 meters 0.015383334294250602 Centerline is valid? [True, True] Translation: X:490.82, Y:5.79, Z:3.26 [[ 9.99421205e-01 -3.33199487e-02 -6.85832278e-03 4.90819912e+02] [ 3.33200475e-02 9.99444728e-01 -9.98822519e-05 5.79124677e+00] [ 6.85784262e-03 -1.28695201e-04 9.99976476e-01 3.26285904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.459254154 meters 0.01482729453015289 Centerline is valid? [True, True] Translation: X:490.88, Y:5.80, Z:3.26 [[ 9.99545059e-01 -2.91394333e-02 -7.78254040e-03 4.90882150e+02] [ 2.91394345e-02 9.99575350e-01 -1.13263317e-04 5.79505361e+00] [ 7.78253598e-03 -1.13567038e-04 9.99969709e-01 3.26272664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.519254154 meters 0.014245879850796768 Centerline is valid? [True, True] Translation: X:490.94, Y:5.80, Z:3.26 [[ 9.99634671e-01 -2.56654141e-02 -8.47410035e-03 4.90943878e+02] [ 2.56652964e-02 9.99670585e-01 -1.22658388e-04 5.79870050e+00] [ 8.47445693e-03 -9.48767198e-05 9.99964087e-01 3.26189396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.579254154 meters 0.015938247575712865 Centerline is valid? [True, True] Translation: X:491.01, Y:5.80, Z:3.26 [[ 9.99621122e-01 -2.59542783e-02 -9.16453807e-03 4.91006144e+02] [ 2.59541593e-02 9.99663125e-01 -1.31930453e-04 5.79891895e+00] [ 9.16487492e-03 -1.05977414e-04 9.99957996e-01 3.26051693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.639254154 meters 0.01579987242636667 Centerline is valid? [True, True] Translation: X:491.07, Y:5.80, Z:3.26 [[ 9.99459410e-01 -3.14510702e-02 -9.57690605e-03 4.91068729e+02] [ 3.14511995e-02 9.99505279e-01 -1.37142679e-04 5.79646082e+00] [ 9.57648144e-03 -1.64136641e-04 9.99954131e-01 3.26120392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.699254154 meters 0.017424543509134163 Centerline is valid? [True, True] Translation: X:491.13, Y:5.79, Z:3.26 [[ 9.99166578e-01 -3.96055521e-02 -9.87668532e-03 4.91129473e+02] [ 3.96060933e-02 9.99215361e-01 -1.40874668e-04 5.79128543e+00] [ 9.87451511e-03 -2.50419660e-04 9.99951214e-01 3.26184249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.759254154 meters 0.02097030808697257 Centerline is valid? [True, True] Translation: X:491.19, Y:5.79, Z:3.26 [[ 9.98765502e-01 -4.88207414e-02 -9.16559446e-03 4.91190283e+02] [ 4.88215961e-02 9.98807506e-01 -1.30611016e-04 5.78526547e+00] [ 9.16104107e-03 -3.17029174e-04 9.99957987e-01 3.26284661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81925415399996 meters 0.02328759346634377 Centerline is valid? [True, True] Translation: X:491.25, Y:5.78, Z:3.26 [[ 9.98517695e-01 -5.36900389e-02 -8.93267367e-03 4.91251137e+02] [ 5.36910457e-02 9.98557587e-01 -1.27230949e-04 5.78163856e+00] [ 8.92662010e-03 -3.52562236e-04 9.99960095e-01 3.26320190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87925415399997 meters 0.02637658643819047 Centerline is valid? [True, True] Translation: X:491.31, Y:5.78, Z:3.26 [[ 9.98238064e-01 -5.87001226e-02 -8.66388454e-03 4.91310816e+02] [ 5.87012591e-02 9.98275587e-01 -1.23286538e-04 5.77713144e+00] [ 8.65618135e-03 -3.85511616e-04 9.99962460e-01 3.26319295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.93925415399997 meters 0.029004973556013426 Centerline is valid? [True, True] Translation: X:491.37, Y:5.78, Z:3.26 [[ 9.98116183e-01 -6.07667120e-02 -8.45528312e-03 4.91373287e+02] [ 6.07678694e-02 9.98151918e-01 -1.20196499e-04 5.77647870e+00] [ 8.44696101e-03 -3.93839469e-04 9.99964246e-01 3.26203480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.99925415399997 meters 0.029620605868212413 Centerline is valid? [True, True] Translation: X:491.43, Y:5.78, Z:3.26 [[ 9.98075874e-01 -6.14590396e-02 -8.20591781e-03 4.91434516e+02] [ 6.14601574e-02 9.98109531e-01 -1.16120357e-04 5.77515869e+00] [ 8.19754142e-03 -3.88440074e-04 9.99966324e-01 3.26414165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.059254154 meters 0.029112275415610196 Centerline is valid? [True, True] Translation: X:491.50, Y:5.78, Z:3.26 [[ 9.98211688e-01 -5.92504127e-02 -7.92553993e-03 4.91496101e+02] [ 5.92513889e-02 9.98243087e-01 -1.11777327e-04 5.77728542e+00] [ 7.91823830e-03 -3.58021815e-04 9.99968586e-01 3.26449143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.119254154 meters 0.02768192355743891 Centerline is valid? [True, True] Translation: X:491.56, Y:5.78, Z:3.26 [[ 9.98472614e-01 -5.46545387e-02 -8.08216964e-03 4.91555438e+02] [ 5.46554062e-02 9.98505270e-01 -1.13663426e-04 5.78107598e+00] [ 8.07630120e-03 -3.28244447e-04 9.99967332e-01 3.26491771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.179254154 meters 0.02295685429099839 Centerline is valid? [True, True] Translation: X:491.62, Y:5.79, Z:3.26 [[ 9.98677736e-01 -5.06370209e-02 -8.86969252e-03 4.91616481e+02] [ 5.06379125e-02 9.98717070e-01 -1.24174119e-04 5.79061007e+00] [ 8.86460113e-03 -3.25132785e-04 9.99960656e-01 3.26455295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.239254154 meters 0.019905102444396597 Centerline is valid? [True, True] Translation: X:491.68, Y:5.80, Z:3.26 [[ 9.98949553e-01 -4.43358625e-02 -1.15810874e-02 4.91677322e+02] [ 4.43369640e-02 9.99016620e-01 -1.61737646e-04 5.79988055e+00] [ 1.15768696e-02 -3.51902506e-04 9.99932924e-01 3.26273394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.299254154 meters 0.018127870540260844 Centerline is valid? [True, True] Translation: X:491.74, Y:5.81, Z:3.26 [[ 9.99146343e-01 -3.94360883e-02 -1.23036568e-02 4.91739168e+02] [ 3.94369656e-02 9.99222046e-01 -1.71402646e-04 5.80708975e+00] [ 1.23008446e-02 -3.13962563e-04 9.99924292e-01 3.26286651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.359254154 meters 0.0178304680181529 Centerline is valid? [True, True] Translation: X:491.80, Y:5.81, Z:3.26 [[ 9.99243575e-01 -3.70590188e-02 -1.17859049e-02 4.91801465e+02] [ 3.70596668e-02 9.99313041e-01 -1.63487819e-04 5.81043694e+00] [ 1.17838671e-02 -2.73417554e-04 9.99930530e-01 3.26385036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.419254154 meters 0.016146731518040074 Centerline is valid? [True, True] Translation: X:491.86, Y:5.82, Z:3.27 [[ 9.99336640e-01 -3.45776766e-02 -1.14308441e-02 4.91863838e+02] [ 3.45781331e-02 9.99401985e-01 -1.57753485e-04 5.81614927e+00] [ 1.14294630e-02 -2.37608411e-04 9.99934653e-01 3.26558798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.479254154 meters 0.015741677860579853 Centerline is valid? [True, True] Translation: X:491.93, Y:5.82, Z:3.27 [[ 9.99410698e-01 -3.26501230e-02 -1.05936486e-02 4.91926376e+02] [ 3.26504148e-02 9.99466823e-01 -1.45448207e-04 5.81991320e+00] [ 1.05927492e-02 -2.00524526e-04 9.99943875e-01 3.26696897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.539254154 meters 0.015542897241271336 Centerline is valid? [True, True] Translation: X:491.99, Y:5.82, Z:3.27 [[ 9.99442511e-01 -3.18134495e-02 -1.01277553e-02 4.91988933e+02] [ 3.18136807e-02 9.99493807e-01 -1.38318357e-04 5.82167739e+00] [ 1.01270291e-02 -1.83959928e-04 9.99948703e-01 3.26744641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.599254154 meters 0.01573733624561792 Centerline is valid? [True, True] Translation: X:492.05, Y:5.82, Z:3.27 [[ 9.99446666e-01 -3.18458174e-02 -9.60234640e-03 4.92051582e+02] [ 3.18460333e-02 9.99492778e-01 -1.30454910e-04 5.82266809e+00] [ 9.60163032e-03 -1.75413918e-04 9.99953888e-01 3.26813695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.659254154 meters 0.015994021166018987 Centerline is valid? [True, True] Translation: X:492.11, Y:5.82, Z:3.27 [[ 9.99418514e-01 -3.25436171e-02 -1.01757690e-02 4.92113847e+02] [ 3.25439037e-02 9.99470297e-01 -1.37468054e-04 5.82262548e+00] [ 1.01748525e-02 -1.93771127e-04 9.99948216e-01 3.26818977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.719254154 meters 0.01578087668883031 Centerline is valid? [True, True] Translation: X:492.18, Y:5.82, Z:3.27 [[ 9.99392121e-01 -3.31763098e-02 -1.07107860e-02 4.92175857e+02] [ 3.31766723e-02 9.99449492e-01 -1.43881683e-04 5.82364803e+00] [ 1.07096631e-02 -2.11554016e-04 9.99942628e-01 3.26848862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.779254154 meters 0.01686017098609882 Centerline is valid? [True, True] Translation: X:492.24, Y:5.82, Z:3.27 [[ 9.99382563e-01 -3.33876558e-02 -1.09433891e-02 4.92237331e+02] [ 3.33880550e-02 9.99442453e-01 -1.46259857e-04 5.82164419e+00] [ 1.09421709e-02 -2.19208925e-04 9.99940109e-01 3.26806934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.839254154 meters 0.01652765999046619 Centerline is valid? [True, True] Translation: X:492.30, Y:5.82, Z:3.27 [[ 9.99385110e-01 -3.29430540e-02 -1.20065526e-02 4.92299311e+02] [ 3.29435120e-02 9.99457202e-01 -1.59676666e-04 5.82354154e+00] [ 1.20052957e-02 -2.35959528e-04 9.99927906e-01 3.26757044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.899254154 meters 0.016135207648377402 Centerline is valid? [True, True] Translation: X:492.36, Y:5.82, Z:3.27 [[ 9.99375840e-01 -3.27983145e-02 -1.31225465e-02 4.92361605e+02] [ 3.27988624e-02 9.99461958e-01 -1.73513780e-04 5.82462966e+00] [ 1.31211770e-02 -2.56999119e-04 9.99913881e-01 3.26725152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.959254154 meters 0.01658050375503452 Centerline is valid? [True, True] Translation: X:492.42, Y:5.82, Z:3.27 [[ 9.99337090e-01 -3.35455696e-02 -1.41448041e-02 4.92422481e+02] [ 3.35462943e-02 9.99437147e-01 -1.86097678e-04 5.82356564e+00] [ 1.41430855e-02 -2.88531450e-04 9.99899940e-01 3.26681109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.019254154 meters 0.0171150818604633 Centerline is valid? [True, True] Translation: X:492.48, Y:5.82, Z:3.27 [[ 9.99277094e-01 -3.50746360e-02 -1.46649207e-02 4.92484518e+02] [ 3.50755933e-02 9.99384644e-01 -1.92002938e-04 5.82200747e+00] [ 1.46626310e-02 -3.22516657e-04 9.99892446e-01 3.26783428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.079254154 meters 0.01879633644704 Centerline is valid? [True, True] Translation: X:492.55, Y:5.82, Z:3.27 [[ 9.99133484e-01 -3.89205900e-02 -1.47468070e-02 4.92545611e+02] [ 3.89219897e-02 9.99242234e-01 -1.92180323e-04 5.81808344e+00] [ 1.47431121e-02 -3.81961274e-04 9.99891241e-01 3.26886034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.139254154 meters 0.020656763574932128 Centerline is valid? [True, True] Translation: X:492.61, Y:5.81, Z:3.27 [[ 9.98998819e-01 -4.22905580e-02 -1.45900159e-02 4.92608175e+02] [ 4.22923001e-02 9.99105263e-01 -1.89252943e-04 5.81364436e+00] [ 1.45849653e-02 -4.27981865e-04 9.99893542e-01 3.26936920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.199254154 meters 0.01900365299493896 Centerline is valid? [True, True] Translation: X:492.67, Y:5.82, Z:3.27 [[ 9.98915919e-01 -4.40063751e-02 -1.51798003e-02 4.92670148e+02] [ 4.40084755e-02 9.99031139e-01 -1.95805882e-04 5.81562730e+00] [ 1.51737099e-02 -4.72446257e-04 9.99884761e-01 3.27069616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.259254154 meters 0.019532110669935047 Centerline is valid? [True, True] Translation: X:492.73, Y:5.82, Z:3.27 [[ 9.98905226e-01 -4.37485389e-02 -1.65654991e-02 4.92732428e+02] [ 4.37510256e-02 9.99042443e-01 -2.12431959e-04 5.81519357e+00] [ 1.65589303e-02 -5.12558184e-04 9.99862760e-01 3.27043322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31925415399996 meters 0.021847421569875965 Centerline is valid? [True, True] Translation: X:492.79, Y:5.81, Z:3.27 [[ 9.99018226e-01 -4.06177855e-02 -1.76855582e-02 4.92792513e+02] [ 4.06201424e-02 9.99174636e-01 -2.26083689e-04 5.81273154e+00] [ 1.76801442e-02 -4.92528168e-04 9.99843573e-01 3.26977242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37925415399997 meters 0.01782217634184377 Centerline is valid? [True, True] Translation: X:492.85, Y:5.82, Z:3.27 [[ 9.99213186e-01 -3.60362787e-02 -1.65648924e-02 4.92853813e+02] [ 3.60377248e-02 9.99350408e-01 -2.11291065e-04 5.82227769e+00] [ 1.65617461e-02 -3.85836216e-04 9.99862770e-01 3.27430419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.43925415399997 meters 0.017068611440460884 Centerline is valid? [True, True] Translation: X:492.91, Y:5.82, Z:3.28 [[ 9.99336571e-01 -3.24755024e-02 -1.64851351e-02 4.92914421e+02] [ 3.24764571e-02 9.99472479e-01 -2.09861405e-04 5.82422399e+00] [ 1.64832542e-02 -3.25656607e-04 9.99864089e-01 3.27551049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.49925415399997 meters 0.015879357514515302 Centerline is valid? [True, True] Translation: X:492.98, Y:5.83, Z:3.28 [[ 9.99427623e-01 -2.92125331e-02 -1.70603104e-02 4.92975379e+02] [ 2.92130857e-02 9.99573183e-01 -2.16872476e-04 5.82813685e+00] [ 1.70593642e-02 -2.81635966e-04 9.99854439e-01 3.27622154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.559254154 meters 0.015373190728509149 Centerline is valid? [True, True] Translation: X:493.04, Y:5.83, Z:3.28 [[ 9.99472400e-01 -2.64095905e-02 -1.89064957e-02 4.93036000e+02] [ 2.64097705e-02 9.99651172e-01 -2.40205425e-04 5.82955967e+00] [ 1.89062443e-02 -2.59237519e-04 9.99821227e-01 3.27637667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.619254154 meters 0.015492245632869788 Centerline is valid? [True, True] Translation: X:493.10, Y:5.83, Z:3.28 [[ 9.99412411e-01 -2.72713301e-02 -2.07631462e-02 4.93095992e+02] [ 2.72717226e-02 9.99628022e-01 -2.64301949e-04 5.82731254e+00] [ 2.07626307e-02 -3.02100116e-04 9.99784388e-01 3.27670120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.679254154 meters 0.016905605241111274 Centerline is valid? [True, True] Translation: X:493.15, Y:5.82, Z:3.28 [[ 9.99269093e-01 -3.17435558e-02 -2.12985046e-02 4.93153579e+02] [ 3.17449513e-02 9.99495965e-01 -2.72659660e-04 5.82112878e+00] [ 2.12964246e-02 -4.03659621e-04 9.99773124e-01 3.27704557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.739254154 meters 0.01773260346719372 Centerline is valid? [True, True] Translation: X:493.21, Y:5.82, Z:3.28 [[ 9.99031102e-01 -3.89198005e-02 -2.05452429e-02 4.93212742e+02] [ 3.89225875e-02 9.99242194e-01 -2.64359190e-04 5.81573200e+00] [ 2.05399624e-02 -5.35570962e-04 9.99788889e-01 3.27983224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.799254154 meters 0.02052674060075917 Centerline is valid? [True, True] Translation: X:493.27, Y:5.81, Z:3.28 [[ 9.98828319e-01 -4.40556324e-02 -2.00272307e-02 4.93272932e+02] [ 4.40593217e-02 9.99028883e-01 -2.57201471e-04 5.80772774e+00] [ 2.00191131e-02 -6.25486085e-04 9.99799402e-01 3.27980765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.859254154 meters 0.021854384628367206 Centerline is valid? [True, True] Translation: X:493.33, Y:5.80, Z:3.28 [[ 9.98359484e-01 -5.37313337e-02 -1.97808978e-02 4.93333210e+02] [ 5.37368376e-02 9.98555100e-01 -2.53569204e-04 5.80160871e+00] [ 1.97659409e-02 -8.09809670e-04 9.99804307e-01 3.28144394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.919254154 meters 0.026571788182694477 Centerline is valid? [True, True] Translation: X:493.39, Y:5.79, Z:3.28 [[ 9.97756751e-01 -6.39180068e-02 -1.98986060e-02 4.93393241e+02] [ 6.39255951e-02 9.97954635e-01 -2.55145752e-04 5.79092382e+00] [ 1.98742145e-02 -1.01745683e-03 9.99801971e-01 3.28137176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.979254154 meters 0.028133438933885084 Centerline is valid? [True, True] Translation: X:493.45, Y:5.79, Z:3.28 [[ 9.97356618e-01 -6.97912652e-02 -2.02226327e-02 4.93453935e+02] [ 6.98003058e-02 9.97560951e-01 -2.59307360e-04 5.78727310e+00] [ 2.01914061e-02 -1.15292404e-03 9.99795468e-01 3.28184299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.039254154 meters 0.030222258361605518 Centerline is valid? [True, True] Translation: X:493.51, Y:5.78, Z:3.28 [[ 9.96975880e-01 -7.48699217e-02 -2.08228233e-02 4.93514217e+02] [ 7.48806117e-02 9.97192470e-01 -2.66940108e-04 5.78149049e+00] [ 2.07843484e-02 -1.29309290e-03 9.99783146e-01 3.28168182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.099254154 meters 0.030214153980318858 Centerline is valid? [True, True] Translation: X:493.58, Y:5.78, Z:3.28 [[ 9.96962050e-01 -7.50325233e-02 -2.08995691e-02 4.93576439e+02] [ 7.50433504e-02 9.97180237e-01 -2.66843750e-04 5.78054017e+00] [ 2.08606592e-02 -1.30234059e-03 9.99781545e-01 3.28170188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.159254154 meters 0.030059362065422 Centerline is valid? [True, True] Translation: X:493.64, Y:5.78, Z:3.28 [[ 9.97178398e-01 -7.19238500e-02 -2.14989032e-02 4.93636712e+02] [ 7.19345984e-02 9.97409313e-01 -2.73980497e-04 5.78145468e+00] [ 2.14629120e-02 -1.27330753e-03 9.99768834e-01 3.28078551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.219254154 meters 0.027700797838935552 Centerline is valid? [True, True] Translation: X:493.70, Y:5.79, Z:3.28 [[ 9.97679622e-01 -6.41804597e-02 -2.27209288e-02 4.93697289e+02] [ 6.41904620e-02 9.97937624e-01 -2.89580456e-04 5.78782058e+00] [ 2.26926551e-02 -1.16955840e-03 9.99741804e-01 3.27983134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.279254154 meters 0.02338519274193349 Centerline is valid? [True, True] Translation: X:493.76, Y:5.80, Z:3.28 [[ 9.98274319e-01 -5.48562157e-02 -2.09566328e-02 4.93758074e+02] [ 5.48626782e-02 9.98493873e-01 -2.66866845e-04 5.79747339e+00] [ 2.09397088e-02 -8.83330685e-04 9.99780350e-01 3.28136046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.339254154 meters 0.021992199546228178 Centerline is valid? [True, True] Translation: X:493.82, Y:5.80, Z:3.28 [[ 9.98663921e-01 -4.78062906e-02 -1.96196813e-02 4.93818044e+02] [ 4.78105982e-02 9.98856388e-01 -2.49714264e-04 5.80159445e+00] [ 1.96091820e-02 -6.88648076e-04 9.99807484e-01 3.28233093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.399254154 meters 0.019255888138073246 Centerline is valid? [True, True] Translation: X:493.88, Y:5.81, Z:3.28 [[ 9.99014125e-01 -4.05806654e-02 -1.79996808e-02 4.93878216e+02] [ 4.05831180e-02 9.99176140e-01 -2.29143061e-04 5.80944092e+00] [ 1.79941504e-02 -5.01566017e-04 9.99837966e-01 3.28349497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.459254154 meters 0.016615404690628853 Centerline is valid? [True, True] Translation: X:493.94, Y:5.82, Z:3.28 [[ 9.99312016e-01 -3.28544933e-02 -1.72068800e-02 4.93938944e+02] [ 3.28555907e-02 9.99460085e-01 -2.18991043e-04 5.81840666e+00] [ 1.72047846e-02 -3.46501827e-04 9.99851927e-01 3.28486343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.519254154 meters 0.014912415525867577 Centerline is valid? [True, True] Translation: X:494.00, Y:5.83, Z:3.28 [[ 9.99629375e-01 -2.15591597e-02 -1.66227415e-02 4.93999971e+02] [ 2.15586261e-02 9.99767563e-01 -2.11315760e-04 5.82578806e+00] [ 1.66234335e-02 -1.47126027e-04 9.99861810e-01 3.28435238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.579254154 meters 0.01470200896584491 Centerline is valid? [True, True] Translation: X:494.06, Y:5.83, Z:3.28 [[ 9.99765185e-01 -1.46638367e-02 -1.59545457e-02 4.94058685e+02] [ 1.46624306e-02 9.99892480e-01 -2.05108403e-04 5.83073592e+00] [ 1.59558379e-02 -2.88721777e-05 9.99872697e-01 3.28434552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.639254154 meters 0.014597242532238635 Centerline is valid? [True, True] Translation: X:494.12, Y:5.83, Z:3.28 [[ 9.99808647e-01 -1.30102337e-02 -1.46083023e-02 4.94117045e+02] [ 1.30088254e-02 9.99915363e-01 -1.91430974e-04 5.83142941e+00] [ 1.46095565e-02 1.35749014e-06 9.99893275e-01 3.28475558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.699254154 meters 0.014559586146470077 Centerline is valid? [True, True] Translation: X:494.17, Y:5.83, Z:3.29 [[ 9.99801959e-01 -1.50943602e-02 -1.29692984e-02 4.94174767e+02] [ 1.50933816e-02 9.99886073e-01 -1.73340535e-04 5.82906084e+00] [ 1.29704373e-02 -2.24443622e-05 9.99915880e-01 3.28539644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.759254154 meters 0.014865311954916876 Centerline is valid? [True, True] Translation: X:494.23, Y:5.82, Z:3.29 [[ 9.99709867e-01 -2.10640498e-02 -1.16827569e-02 4.94234040e+02] [ 2.10636380e-02 9.99778124e-01 -1.58310498e-04 5.82195161e+00] [ 1.16834995e-02 -8.78167957e-05 9.99931742e-01 3.28564594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81925415399996 meters 0.01551741706665224 Centerline is valid? [True, True] Translation: X:494.29, Y:5.82, Z:3.29 [[ 9.99575533e-01 -2.67960671e-02 -1.14334718e-02 4.94294239e+02] [ 2.67960419e-02 9.99640910e-01 -1.55424419e-04 5.81709826e+00] [ 1.14335309e-02 -1.51013342e-04 9.99934624e-01 3.28600102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87925415399997 meters 0.018496750701489095 Centerline is valid? [True, True] Translation: X:494.35, Y:5.80, Z:3.29 [[ 9.99215599e-01 -3.81034694e-02 -1.07848544e-02 4.94354600e+02] [ 3.81041051e-02 9.99273764e-01 -1.46607239e-04 5.80463821e+00] [ 1.07826083e-02 -2.64454985e-04 9.99941831e-01 3.28595594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.93925415399997 meters 0.02356211396298773 Centerline is valid? [True, True] Translation: X:494.42, Y:5.79, Z:3.29 [[ 9.98699585e-01 -4.99562247e-02 -1.01742177e-02 4.94415111e+02] [ 4.99574059e-02 9.98751340e-01 -1.38172549e-04 5.79121796e+00] [ 1.01684162e-02 -3.70284658e-04 9.99948232e-01 3.28611862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.99925415399997 meters 0.02628522257083361 Centerline is valid? [True, True] Translation: X:494.48, Y:5.79, Z:3.29 [[ 9.98411350e-01 -5.53693529e-02 -1.04408100e-02 4.94475823e+02] [ 5.53708957e-02 9.98465845e-01 -1.41461215e-04 5.78651969e+00] [ 1.04326248e-02 -4.36880521e-04 9.99945483e-01 3.28577655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.059254154 meters 0.024684339424481016 Centerline is valid? [True, True] Translation: X:494.54, Y:5.79, Z:3.29 [[ 9.97990067e-01 -6.24375575e-02 -1.08340872e-02 4.94536111e+02] [ 6.24396357e-02 9.98048731e-01 -1.46653281e-04 5.78519304e+00] [ 1.08221037e-02 -5.30117943e-04 9.99941299e-01 3.28640175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.119254154 meters 0.026675825339626327 Centerline is valid? [True, True] Translation: X:494.60, Y:5.78, Z:3.29 [[ 9.97733794e-01 -6.62950192e-02 -1.14998316e-02 4.94597137e+02] [ 6.62976175e-02 9.97799881e-01 -1.55552551e-04 5.78133742e+00] [ 1.14848430e-02 -6.07211402e-04 9.99933863e-01 3.28539286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.179254154 meters 0.02772665663812842 Centerline is valid? [True, True] Translation: X:494.66, Y:5.78, Z:3.29 [[ 9.97607474e-01 -6.80932853e-02 -1.19428774e-02 4.94658956e+02] [ 6.80962249e-02 9.97678745e-01 -1.60807699e-04 5.78059424e+00] [ 1.19261049e-02 -6.52841902e-04 9.99928668e-01 3.28512706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.239254154 meters 0.030034883695675745 Centerline is valid? [True, True] Translation: X:494.72, Y:5.78, Z:3.28 [[ 9.97409808e-01 -7.08582977e-02 -1.23603042e-02 4.94719308e+02] [ 7.08616692e-02 9.97486138e-01 -1.65518016e-04 5.77856848e+00] [ 1.23409604e-02 -7.10782493e-04 9.99923595e-01 3.28454612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.299254154 meters 0.03303396156482649 Centerline is valid? [True, True] Translation: X:494.78, Y:5.78, Z:3.28 [[ 9.97097698e-01 -7.50544875e-02 -1.27673623e-02 4.94779730e+02] [ 7.50584294e-02 9.97179123e-01 -1.70817051e-04 5.77591337e+00] [ 1.27441677e-02 -7.87976874e-04 9.99918479e-01 3.28411010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.359254154 meters 0.03697902366335163 Centerline is valid? [True, True] Translation: X:494.84, Y:5.77, Z:3.28 [[ 9.96689919e-01 -8.01238889e-02 -1.37610833e-02 4.94838816e+02] [ 8.01289466e-02 9.96784489e-01 -1.84310114e-04 5.77393691e+00] [ 1.37316021e-02 -9.18961078e-04 9.99905295e-01 3.28331841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.419254154 meters 0.040181182832609616 Centerline is valid? [True, True] Translation: X:494.90, Y:5.78, Z:3.28 [[ 9.96363422e-01 -8.38169537e-02 -1.53182689e-02 4.94899050e+02] [ 8.38236524e-02 9.96480583e-01 -2.05359152e-04 5.77516105e+00] [ 1.52815701e-02 -1.07942090e-03 9.99882647e-01 3.28274530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.479254154 meters 0.03402150579762362 Centerline is valid? [True, True] Translation: X:494.96, Y:5.79, Z:3.29 [[ 9.96216471e-01 -8.56266762e-02 -1.48598382e-02 4.94959555e+02] [ 8.56331830e-02 9.96326713e-01 -1.99023127e-04 5.78677720e+00] [ 1.48222954e-02 -1.07422513e-03 9.99889567e-01 3.28504545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.539254154 meters 0.035426868265691816 Centerline is valid? [True, True] Translation: X:495.02, Y:5.79, Z:3.29 [[ 9.96001239e-01 -8.84343533e-02 -1.26845478e-02 4.95020417e+02] [ 8.84393234e-02 9.96081552e-01 -1.69669845e-04 5.78978459e+00] [ 1.26498487e-02 -9.52821449e-04 9.99919533e-01 3.28766271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.599254154 meters 0.036284746951945085 Centerline is valid? [True, True] Translation: X:495.08, Y:5.79, Z:3.29 [[ 9.95975866e-01 -8.90311249e-02 -1.02729793e-02 4.95082707e+02] [ 8.90344200e-02 9.96028540e-01 -1.37045362e-04 5.79480412e+00] [ 1.02443819e-02 -7.78154882e-04 9.99947222e-01 3.29027651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.659254154 meters 0.037049271568597955 Centerline is valid? [True, True] Translation: X:495.15, Y:5.80, Z:3.29 [[ 9.95979429e-01 -8.91147789e-02 -9.13960739e-03 4.95145234e+02] [ 8.91173961e-02 9.96021122e-01 -1.21300990e-04 5.79757022e+00] [ 9.11405172e-03 -6.93684721e-04 9.99958226e-01 3.29187141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.719254154 meters 0.03706003375250788 Centerline is valid? [True, True] Translation: X:495.21, Y:5.80, Z:3.29 [[ 9.96012827e-01 -8.87967099e-02 -8.57867835e-03 4.95207778e+02] [ 8.87990091e-02 9.96049559e-01 -1.13252638e-04 5.80244961e+00] [ 8.55484524e-03 -6.48977056e-04 9.99963196e-01 3.29249352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.779254154 meters 0.04134350700500114 Centerline is valid? [True, True] Translation: X:495.27, Y:5.80, Z:3.29 [[ 9.95845372e-01 -9.05503933e-02 -9.62399039e-03 4.95267452e+02] [ 9.05533764e-02 9.95891596e-01 -1.26238914e-04 5.80089274e+00] [ 9.59588212e-03 -7.45770385e-04 9.99953680e-01 3.29188894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.839254154 meters 0.03872179196898135 Centerline is valid? [True, True] Translation: X:495.33, Y:5.81, Z:3.29 [[ 9.95588880e-01 -9.31662719e-02 -1.10827895e-02 4.95328608e+02] [ 9.31703974e-02 9.95650168e-01 -1.44610330e-04 5.80684392e+00] [ 1.10480541e-02 -8.88615467e-04 9.99938574e-01 3.29118619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.899254154 meters 0.04342014275934926 Centerline is valid? [True, True] Translation: X:495.39, Y:5.80, Z:3.29 [[ 9.95238908e-01 -9.66052877e-02 -1.29203238e-02 4.95387886e+02] [ 9.66111832e-02 9.95322184e-01 -1.68537239e-04 5.80353872e+00] [ 1.28761665e-02 -1.08051296e-03 9.99916515e-01 3.28949837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.959254154 meters 0.04902158897096317 Centerline is valid? [True, True] Translation: X:495.45, Y:5.80, Z:3.29 [[ 9.95201765e-01 -9.68920636e-02 -1.36152710e-02 4.95448716e+02] [ 9.68986472e-02 9.95294238e-01 -1.76852149e-04 5.79981673e+00] [ 1.35683364e-02 -1.14329777e-03 9.99907292e-01 3.28898039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.019254154 meters 0.04433889148926448 Centerline is valid? [True, True] Translation: X:495.51, Y:5.81, Z:3.29 [[ 9.95615151e-01 -9.26126086e-02 -1.31672288e-02 4.95509031e+02] [ 9.26184047e-02 9.95701663e-01 -1.70231739e-04 5.80993913e+00] [ 1.31263972e-02 -1.05004242e-03 9.99913294e-01 3.29105050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.079254154 meters 0.04317028181791713 Centerline is valid? [True, True] Translation: X:495.57, Y:5.82, Z:3.29 [[ 9.95983996e-01 -8.87404423e-02 -1.18749373e-02 4.95569288e+02] [ 8.87448827e-02 9.96054377e-01 -1.53529164e-04 5.81505040e+00] [ 1.18417075e-02 -9.00927327e-04 9.99929479e-01 3.29314300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.139254154 meters 0.03785771775991793 Centerline is valid? [True, True] Translation: X:495.63, Y:5.83, Z:3.30 [[ 9.96499351e-01 -8.29530691e-02 -1.03841993e-02 4.95629632e+02] [ 8.29561517e-02 9.96553189e-01 -1.34259572e-04 5.82558714e+00] [ 1.03595442e-02 -7.27643638e-04 9.99946074e-01 3.29566670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.199254154 meters 0.0415831510637969 Centerline is valid? [True, True] Translation: X:495.69, Y:5.82, Z:3.30 [[ 9.96828361e-01 -7.88852702e-02 -1.05039274e-02 4.95689167e+02] [ 7.88881988e-02 9.96883460e-01 -1.35876595e-04 5.82348805e+00] [ 1.04819101e-02 -6.93190267e-04 9.99944823e-01 3.29532901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.259254154 meters 0.041327952720500674 Centerline is valid? [True, True] Translation: X:495.75, Y:5.83, Z:3.29 [[ 9.97024089e-01 -7.62450053e-02 -1.13870565e-02 4.95749891e+02] [ 7.62482751e-02 9.97088852e-01 -1.47336743e-04 5.82588197e+00] [ 1.13651407e-02 -7.21345132e-04 9.99935155e-01 3.29428038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31925415399996 meters 0.032221714481886744 Centerline is valid? [True, True] Translation: X:495.81, Y:5.84, Z:3.29 [[ 9.97262809e-01 -7.28803945e-02 -1.24634499e-02 4.95810682e+02] [ 7.28840528e-02 9.97340408e-01 -1.61039957e-04 5.84024608e+00] [ 1.24420388e-02 -7.47787577e-04 9.99922315e-01 3.29457339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37925415399997 meters 0.028992142361543145 Centerline is valid? [True, True] Translation: X:495.87, Y:5.85, Z:3.29 [[ 9.97768913e-01 -6.53887083e-02 -1.34726488e-02 4.95870978e+02] [ 6.53923047e-02 9.97859618e-01 -1.73879227e-04 5.84822936e+00] [ 1.34551819e-02 -7.07516267e-04 9.99909225e-01 3.29414968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.43925415399997 meters 0.028299055412275658 Centerline is valid? [True, True] Translation: X:495.93, Y:5.85, Z:3.29 [[ 9.98144019e-01 -5.93536843e-02 -1.36256312e-02 4.95930828e+02] [ 5.93568012e-02 9.98236815e-01 -1.75901404e-04 5.85215618e+00] [ 1.36120471e-02 -6.33198946e-04 9.99907151e-01 3.29397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.49925415399997 meters 0.024371141463271653 Centerline is valid? [True, True] Translation: X:495.99, Y:5.86, Z:3.30 [[ 9.98713011e-01 -4.90378464e-02 -1.29464694e-02 4.95990887e+02] [ 4.90397941e-02 9.98796812e-01 -1.67167436e-04 5.86119667e+00] [ 1.29390899e-02 -4.67939901e-04 9.99916177e-01 3.29509949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.559254154 meters 0.019258566640927073 Centerline is valid? [True, True] Translation: X:496.05, Y:5.87, Z:3.30 [[ 9.99164550e-01 -3.89279659e-02 -1.24425129e-02 4.96050906e+02] [ 3.89289824e-02 9.99241967e-01 -1.60582281e-04 5.87272113e+00] [ 1.24393322e-02 -3.23926244e-04 9.99922576e-01 3.29601434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.619254154 meters 0.01765262281602774 Centerline is valid? [True, True] Translation: X:496.11, Y:5.88, Z:3.30 [[ 9.99345532e-01 -3.36628009e-02 -1.32409817e-02 4.96112038e+02] [ 3.36634931e-02 9.99433209e-01 -1.70656951e-04 5.87774767e+00] [ 1.32392216e-02 -2.75192433e-04 9.99912320e-01 3.29580364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.679254154 meters 0.016750537921462357 Centerline is valid? [True, True] Translation: X:496.17, Y:5.88, Z:3.30 [[ 9.99413646e-01 -3.08922328e-02 -1.47660020e-02 4.96174746e+02] [ 3.08928061e-02 9.99522685e-01 -1.89320189e-04 5.88083406e+00] [ 1.47648025e-02 -2.66954058e-04 9.99890959e-01 3.29600717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.739254154 meters 0.017284828119873634 Centerline is valid? [True, True] Translation: X:496.24, Y:5.88, Z:3.30 [[ 9.99348695e-01 -3.27936151e-02 -1.50587048e-02 4.96236493e+02] [ 3.27944409e-02 9.99462099e-01 -1.92158370e-04 5.87863176e+00] [ 1.50569063e-02 -3.01808589e-04 9.99886593e-01 3.29680198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.799254154 meters 0.018281980003504356 Centerline is valid? [True, True] Translation: X:496.30, Y:5.87, Z:3.30 [[ 9.99184397e-01 -3.75475989e-02 -1.48565706e-02 4.96297447e+02] [ 3.75489335e-02 9.99294772e-01 -1.89197199e-04 5.87366839e+00] [ 1.48531973e-02 -3.68805493e-04 9.99889617e-01 3.29864622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.859254154 meters 0.020009887789512352 Centerline is valid? [True, True] Translation: X:496.36, Y:5.87, Z:3.30 [[ 9.99018333e-01 -4.16050428e-02 -1.52115267e-02 4.96357928e+02] [ 4.16069160e-02 9.99134039e-01 -1.93442949e-04 5.86730800e+00] [ 1.52064023e-02 -4.39651662e-04 9.99884279e-01 3.29973803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.919254154 meters 0.019881321589818337 Centerline is valid? [True, True] Translation: X:496.42, Y:5.87, Z:3.30 [[ 9.98968122e-01 -4.28096595e-02 -1.51665555e-02 4.96420064e+02] [ 4.28116714e-02 9.99083142e-01 -1.92141816e-04 5.86568049e+00] [ 1.51608754e-02 -4.57362040e-04 9.99884963e-01 3.30174593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.979254154 meters 0.02081959176447179 Centerline is valid? [True, True] Translation: X:496.48, Y:5.86, Z:3.30 [[ 9.98958162e-01 -4.33005045e-02 -1.44103166e-02 4.96481167e+02] [ 4.33023843e-02 9.99061995e-01 -1.81690091e-04 5.86130203e+00] [ 1.44046670e-02 -4.42500270e-04 9.99896149e-01 3.30402855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.039254154 meters 0.021378234620657268 Centerline is valid? [True, True] Translation: X:496.54, Y:5.86, Z:3.30 [[ 9.98893616e-01 -4.44084049e-02 -1.54737474e-02 4.96543195e+02] [ 4.44107207e-02 9.99013338e-01 -1.94096330e-04 5.85745036e+00] [ 1.54670996e-02 -4.93318689e-04 9.99880256e-01 3.30492171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.099254154 meters 0.021919884332181817 Centerline is valid? [True, True] Translation: X:496.61, Y:5.85, Z:3.30 [[ 9.98841556e-01 -4.51323603e-02 -1.66918013e-02 4.96605518e+02] [ 4.51351763e-02 9.98980867e-01 -2.08166469e-04 5.85438807e+00] [ 1.66841851e-02 -5.45462073e-04 9.99860661e-01 3.30456548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.159254154 meters 0.021140639442462663 Centerline is valid? [True, True] Translation: X:496.67, Y:5.85, Z:3.30 [[ 9.98814686e-01 -4.46650011e-02 -1.93458388e-02 4.96667637e+02] [ 4.46687246e-02 9.99001826e-01 -2.39818294e-04 5.85271637e+00] [ 1.93372397e-02 -6.24619910e-04 9.99812823e-01 3.30365516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.219254154 meters 0.019946000697544375 Centerline is valid? [True, True] Translation: X:496.73, Y:5.85, Z:3.30 [[ 9.98943109e-01 -4.05582823e-02 -2.16261648e-02 4.96728723e+02] [ 4.05619974e-02 9.99176988e-01 -2.67015980e-04 5.85393137e+00] [ 2.16191959e-02 -6.10466668e-04 9.99766091e-01 3.30325131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.279254154 meters 0.018949376371022085 Centerline is valid? [True, True] Translation: X:496.79, Y:5.86, Z:3.30 [[ 9.99094667e-01 -3.61264550e-02 -2.24660874e-02 4.96789302e+02] [ 3.61293504e-02 9.99347083e-01 -2.77136802e-04 5.85613213e+00] [ 2.24614309e-02 -5.34799240e-04 9.99747567e-01 3.30406278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.339254154 meters 0.0176786812341092 Centerline is valid? [True, True] Translation: X:496.85, Y:5.86, Z:3.30 [[ 9.99324165e-01 -2.91212857e-02 -2.24313043e-02 4.96848324e+02] [ 2.91223958e-02 9.99575815e-01 -2.77248343e-04 5.85937438e+00] [ 2.24298631e-02 -3.76192351e-04 9.99748348e-01 3.30405038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.399254154 meters 0.016737170493821812 Centerline is valid? [True, True] Translation: X:496.91, Y:5.86, Z:3.30 [[ 9.99446449e-01 -2.46110010e-02 -2.23851263e-02 4.96906367e+02] [ 2.46109407e-02 9.99697066e-01 -2.78229947e-04 5.86127907e+00] [ 2.23851926e-02 -2.72843084e-04 9.99749383e-01 3.30485085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.459254154 meters 0.015823644556677823 Centerline is valid? [True, True] Translation: X:496.97, Y:5.86, Z:3.31 [[ 9.99495944e-01 -2.27148850e-02 -2.21786223e-02 4.96965001e+02] [ 2.27142573e-02 9.99741959e-01 -2.80251815e-04 5.86241728e+00] [ 2.21792651e-02 -2.23660380e-04 9.99753985e-01 3.30807745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.519254154 meters 0.01618888023440602 Centerline is valid? [True, True] Translation: X:497.02, Y:5.86, Z:3.31 [[ 9.99422040e-01 -2.52234445e-02 -2.27895757e-02 4.97023811e+02] [ 2.52232989e-02 9.99681799e-01 -2.93885944e-04 5.85750182e+00] [ 2.27897369e-02 -2.81112190e-04 9.99740241e-01 3.30676075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.579254154 meters 0.01664361418882443 Centerline is valid? [True, True] Translation: X:497.08, Y:5.85, Z:3.31 [[ 9.99301120e-01 -2.93353064e-02 -2.31670225e-02 4.97082854e+02] [ 2.93361224e-02 9.99569557e-01 -3.04707159e-04 5.85338167e+00] [ 2.31659891e-02 -3.75136402e-04 9.99731562e-01 3.30686386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.639254154 meters 0.018616454668310013 Centerline is valid? [True, True] Translation: X:497.14, Y:5.84, Z:3.31 [[ 9.99080208e-01 -3.70592562e-02 -2.15719523e-02 4.97141201e+02] [ 3.70617052e-02 9.99312938e-01 -2.86393341e-04 5.84479943e+00] [ 2.15677446e-02 -5.13363418e-04 9.99767257e-01 3.30737429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.699254154 meters 0.019989351912892726 Centerline is valid? [True, True] Translation: X:497.20, Y:5.84, Z:3.31 [[ 9.98752559e-01 -4.59439298e-02 -1.95571462e-02 4.97200992e+02] [ 4.59476275e-02 9.98943816e-01 -2.60473335e-04 5.83802191e+00] [ 1.95484574e-02 -6.38456058e-04 9.99808707e-01 3.30962621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.759254154 meters 0.023890153563146603 Centerline is valid? [True, True] Translation: X:497.26, Y:5.83, Z:3.31 [[ 9.98483515e-01 -5.14803931e-02 -1.95048625e-02 4.97261665e+02] [ 5.14851262e-02 9.98673728e-01 -2.59748707e-04 5.82907968e+00] [ 1.94923657e-02 -7.44855507e-04 9.99809728e-01 3.30834862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81925415399996 meters 0.02556156760336597 Centerline is valid? [True, True] Translation: X:497.32, Y:5.82, Z:3.31 [[ 9.98024998e-01 -5.99220698e-02 -1.88533390e-02 4.97322627e+02] [ 5.99280036e-02 9.98202671e-01 -2.50590196e-04 5.82465322e+00] [ 1.88344692e-02 -8.79747688e-04 9.99822229e-01 3.30988811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87925415399997 meters 0.029364529595204865 Centerline is valid? [True, True] Translation: X:497.38, Y:5.82, Z:3.31 [[ 9.97444762e-01 -6.89965886e-02 -1.85315088e-02 4.97382824e+02] [ 6.90038864e-02 9.97616361e-01 -2.46098395e-04 5.81703281e+00] [ 1.85043164e-02 -1.03327658e-03 9.99828247e-01 3.31010207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.93925415399997 meters 0.03394129765802563 Centerline is valid? [True, True] Translation: X:497.44, Y:5.81, Z:3.31 [[ 9.96824491e-01 -7.73128184e-02 -1.90699156e-02 4.97443075e+02] [ 7.73220637e-02 9.97006136e-01 -2.53143664e-04 5.80864969e+00] [ 1.90323941e-02 -1.22218543e-03 9.99818121e-01 3.30881837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.99925415399997 meters 0.032295713618805226 Centerline is valid? [True, True] Translation: X:497.50, Y:5.81, Z:3.31 [[ 9.96561557e-01 -8.06899053e-02 -1.88202527e-02 4.97504408e+02] [ 8.06995189e-02 9.96738444e-01 -2.49328298e-04 5.81097141e+00] [ 1.87789877e-02 -1.27031434e-03 9.99822852e-01 3.30984475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.059254154 meters 0.036614323420639014 Centerline is valid? [True, True] Translation: X:497.57, Y:5.81, Z:3.31 [[ 9.96472886e-01 -8.18978414e-02 -1.82901712e-02 4.97565687e+02] [ 8.19071395e-02 9.96639936e-01 -2.41423695e-04 5.80723813e+00] [ 1.82484872e-02 -1.25752344e-03 9.99832692e-01 3.30965917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.119254154 meters 0.03355898660680415 Centerline is valid? [True, True] Translation: X:497.63, Y:5.81, Z:3.31 [[ 9.96847585e-01 -7.73213438e-02 -1.77848766e-02 4.97625760e+02] [ 7.73294163e-02 9.97005570e-01 -2.34386968e-04 5.81471785e+00] [ 1.77497442e-02 -1.14164605e-03 9.99841809e-01 3.31002488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.179254154 meters 0.03133490843934501 Centerline is valid? [True, True] Translation: X:497.69, Y:5.82, Z:3.31 [[ 9.97035887e-01 -7.49204208e-02 -1.75034499e-02 4.97687531e+02] [ 7.49278855e-02 9.97188929e-01 -2.29862448e-04 5.82006328e+00] [ 1.74714678e-02 -1.08231538e-03 9.99846776e-01 3.31060386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.239254154 meters 0.02929535337026257 Centerline is valid? [True, True] Translation: X:497.75, Y:5.83, Z:3.31 [[ 9.97551585e-01 -6.77122553e-02 -1.74896130e-02 4.97748216e+02] [ 6.77186156e-02 9.97704434e-01 -2.28996376e-04 5.82913659e+00] [ 1.74649703e-02 -9.55936682e-04 9.99847019e-01 3.31096789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.299254154 meters 0.028170972559092112 Centerline is valid? [True, True] Translation: X:497.81, Y:5.84, Z:3.31 [[ 9.97872345e-01 -6.27482185e-02 -1.77043623e-02 4.97808859e+02] [ 6.27539605e-02 9.98029001e-01 -2.31589845e-04 5.83517183e+00] [ 1.76839988e-02 -8.79921749e-04 9.99843239e-01 3.31069429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.359254154 meters 0.02388002661653244 Centerline is valid? [True, True] Translation: X:497.87, Y:5.85, Z:3.31 [[ 9.98434568e-01 -5.32019252e-02 -1.72617801e-02 4.97869067e+02] [ 5.32059599e-02 9.98583534e-01 -2.25755554e-04 5.84792833e+00] [ 1.72493400e-02 -6.93027432e-04 9.99850979e-01 3.31087174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.419254154 meters 0.01913401797742476 Centerline is valid? [True, True] Translation: X:497.93, Y:5.86, Z:3.31 [[ 9.99016935e-01 -4.08140176e-02 -1.73025601e-02 4.97929626e+02] [ 4.08162167e-02 9.99166645e-01 -2.26172459e-04 5.86415858e+00] [ 1.72973719e-02 -4.80274923e-04 9.99850274e-01 3.31200248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.479254154 meters 0.01621023020165615 Centerline is valid? [True, True] Translation: X:497.99, Y:5.88, Z:3.32 [[ 9.99484723e-01 -2.86784169e-02 -1.44165626e-02 4.97990016e+02] [ 2.86786828e-02 9.99588664e-01 -1.88332073e-04 5.87840936e+00] [ 1.44160336e-02 -2.25212996e-04 9.99896058e-01 3.31513451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.539254154 meters 0.015438698298436653 Centerline is valid? [True, True] Translation: X:498.05, Y:5.88, Z:3.32 [[ 9.99679336e-01 -2.21264047e-02 -1.23145287e-02 4.98050816e+02] [ 2.21261033e-02 9.99755175e-01 -1.60733180e-04 5.88453871e+00] [ 1.23150703e-02 -1.11790897e-04 9.99924160e-01 3.31702646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.599254154 meters 0.0150477169261193 Centerline is valid? [True, True] Translation: X:498.11, Y:5.89, Z:3.32 [[ 9.99790283e-01 -1.67996443e-02 -1.17116522e-02 4.98111076e+02] [ 1.67990075e-02 9.99858875e-01 -1.52747175e-04 5.89002203e+00] [ 1.17125655e-02 -4.40289930e-05 9.99931405e-01 3.31749441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.659254154 meters 0.015186654716475272 Centerline is valid? [True, True] Translation: X:498.17, Y:5.89, Z:3.32 [[ 9.99748094e-01 -1.87384031e-02 -1.23539525e-02 4.98170928e+02] [ 1.87378400e-02 9.99824418e-01 -1.61333026e-04 5.88816773e+00] [ 1.23548065e-02 -7.01940011e-05 9.99923674e-01 3.31635572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.719254154 meters 0.0160120815643272 Centerline is valid? [True, True] Translation: X:498.23, Y:5.88, Z:3.31 [[ 9.99533148e-01 -2.73857688e-02 -1.35464123e-02 4.98230983e+02] [ 2.73858786e-02 9.99624921e-01 -1.77429188e-04 5.88022999e+00] [ 1.35461904e-02 -1.93634049e-04 9.99908227e-01 3.31445191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.779254154 meters 0.017312298380783183 Centerline is valid? [True, True] Translation: X:498.29, Y:5.87, Z:3.31 [[ 9.99318696e-01 -3.40404337e-02 -1.42616107e-02 4.98292617e+02] [ 3.40412329e-02 9.99420412e-01 -1.86782608e-04 5.87366434e+00] [ 1.42597030e-02 -2.98827460e-04 9.99898281e-01 3.31352427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.839254154 meters 0.019162457722862635 Centerline is valid? [True, True] Translation: X:498.35, Y:5.87, Z:3.31 [[ 9.99098787e-01 -3.98930881e-02 -1.44967248e-02 4.98353100e+02] [ 3.98945351e-02 9.99203878e-01 -1.89475182e-04 5.86615327e+00] [ 1.44927424e-02 -3.89035673e-04 9.99894899e-01 3.31255323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.899254154 meters 0.018280752900559454 Centerline is valid? [True, True] Translation: X:498.42, Y:5.86, Z:3.31 [[ 9.99148951e-01 -3.92229471e-02 -1.27645292e-02 4.98415243e+02] [ 3.92240212e-02 9.99230428e-01 -1.66281786e-04 5.86493669e+00] [ 1.27612280e-02 -3.34535890e-04 9.99918516e-01 3.31410614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.959254154 meters 0.017648063207302143 Centerline is valid? [True, True] Translation: X:498.48, Y:5.86, Z:3.31 [[ 9.99298217e-01 -3.61860851e-02 -9.67683927e-03 4.98476845e+02] [ 3.61865648e-02 9.99345044e-01 -1.25572498e-04 5.86354254e+00] [ 9.67504534e-03 -2.24687199e-04 9.99953170e-01 3.31489690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.019254154 meters 0.01809479439348588 Centerline is valid? [True, True] Translation: X:498.54, Y:5.86, Z:3.31 [[ 9.99344729e-01 -3.50082400e-02 -9.19435709e-03 4.98538332e+02] [ 3.50086267e-02 9.99387003e-01 -1.18939039e-04 5.86025009e+00] [ 9.19288482e-03 -2.03020713e-04 9.99957724e-01 3.31466332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.079254154 meters 0.01734532252500736 Centerline is valid? [True, True] Translation: X:498.60, Y:5.86, Z:3.31 [[ 9.99314879e-01 -3.54518968e-02 -1.06271538e-02 4.98600131e+02] [ 3.54524460e-02 9.99371355e-01 -1.36763224e-04 5.85744416e+00] [ 1.06253216e-02 -2.40089071e-04 9.99943521e-01 3.31301222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.139254154 meters 0.0181973474020089 Centerline is valid? [True, True] Translation: X:498.66, Y:5.85, Z:3.31 [[ 9.99248487e-01 -3.65539882e-02 -1.28944930e-02 4.98662473e+02] [ 3.65549020e-02 9.99331633e-01 -1.64886543e-04 5.85276111e+00] [ 1.28919020e-02 -3.06594299e-04 9.99916849e-01 3.31036291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.199254154 meters 0.017749703397266604 Centerline is valid? [True, True] Translation: X:498.72, Y:5.85, Z:3.31 [[ 9.99219996e-01 -3.70655579e-02 -1.36214748e-02 4.98724578e+02] [ 3.70666393e-02 9.99312781e-01 -1.73149992e-04 5.84995549e+00] [ 1.36185318e-02 -3.31887360e-04 9.99907208e-01 3.31033533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.259254154 meters 0.017827039260472355 Centerline is valid? [True, True] Translation: X:498.79, Y:5.85, Z:3.31 [[ 9.99238671e-01 -3.64030217e-02 -1.40320676e-02 4.98785897e+02] [ 3.64041168e-02 9.99337135e-01 -1.77464215e-04 5.84716493e+00] [ 1.40292265e-02 -3.33495921e-04 9.99901530e-01 3.31124000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31925415399996 meters 0.01687143093718332 Centerline is valid? [True, True] Translation: X:498.85, Y:5.85, Z:3.31 [[ 9.99309714e-01 -3.38046376e-02 -1.54059151e-02 4.98847646e+02] [ 3.38056600e-02 9.99428406e-01 -1.94122361e-04 5.84738758e+00] [ 1.54036714e-02 -3.26818766e-04 9.99881303e-01 3.31127660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37925415399997 meters 0.01698800560504208 Centerline is valid? [True, True] Translation: X:498.91, Y:5.84, Z:3.31 [[ 9.99364610e-01 -3.16246669e-02 -1.64394651e-02 4.98906956e+02] [ 3.16255377e-02 9.99499766e-01 -2.07059095e-04 5.84471294e+00] [ 1.64377897e-02 -3.12979391e-04 9.99864841e-01 3.31011549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.43925415399997 meters 0.016576315504467008 Centerline is valid? [True, True] Translation: X:498.97, Y:5.84, Z:3.31 [[ 9.99349915e-01 -3.23527335e-02 -1.59075097e-02 4.98966487e+02] [ 3.23536339e-02 9.99476464e-01 -2.00808895e-04 5.84430611e+00] [ 1.59056782e-02 -3.13987392e-04 9.99873447e-01 3.31178940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.49925415399997 meters 0.01746369051213403 Centerline is valid? [True, True] Translation: X:499.03, Y:5.84, Z:3.31 [[ 9.99263886e-01 -3.51735483e-02 -1.53136546e-02 4.99026583e+02] [ 3.51747091e-02 9.99381160e-01 -1.93617374e-04 5.84148428e+00] [ 1.53109881e-02 -3.45178497e-04 9.99882720e-01 3.31255947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.559254154 meters 0.01875289186590919 Centerline is valid? [True, True] Translation: X:499.09, Y:5.84, Z:3.31 [[ 9.99067075e-01 -4.08140726e-02 -1.41135432e-02 4.99087696e+02] [ 4.08156220e-02 9.99166679e-01 -1.78360430e-04 5.83615803e+00] [ 1.41090617e-02 -3.97859011e-04 9.99900383e-01 3.31407407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.619254154 meters 0.019332799495783884 Centerline is valid? [True, True] Translation: X:499.15, Y:5.83, Z:3.32 [[ 9.98876754e-01 -4.57492813e-02 -1.23383010e-02 4.99148723e+02] [ 4.57508440e-02 9.98952870e-01 -1.55714329e-04 5.83342486e+00] [ 1.23325050e-02 -4.08948263e-04 9.99923868e-01 3.31612862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.679254154 meters 0.020544442033594634 Centerline is valid? [True, True] Translation: X:499.21, Y:5.83, Z:3.32 [[ 9.98714143e-01 -4.94428381e-02 -1.12011352e-02 4.99209825e+02] [ 4.94443602e-02 9.98776870e-01 -1.41165491e-04 5.83133586e+00] [ 1.11944144e-02 -4.12848991e-04 9.99937255e-01 3.31669490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.739254154 meters 0.023179041286593184 Centerline is valid? [True, True] Translation: X:499.27, Y:5.83, Z:3.32 [[ 9.98562222e-01 -5.22789796e-02 -1.18489279e-02 4.99271062e+02] [ 5.22808872e-02 9.98632408e-01 -1.48913183e-04 5.82827197e+00] [ 1.18405084e-02 -4.70773384e-04 9.99929788e-01 3.31616571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.799254154 meters 0.024227577399681642 Centerline is valid? [True, True] Translation: X:499.33, Y:5.83, Z:3.32 [[ 9.98445100e-01 -5.42513585e-02 -1.28129798e-02 4.99332824e+02] [ 5.42537636e-02 9.98527167e-01 -1.60064038e-04 5.82856747e+00] [ 1.28027921e-02 -5.35337222e-04 9.99917898e-01 3.31566911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.859254154 meters 0.023270213931840374 Centerline is valid? [True, True] Translation: X:499.39, Y:5.83, Z:3.32 [[ 9.98248833e-01 -5.75578927e-02 -1.36512505e-02 4.99393478e+02] [ 5.75609422e-02 9.98341980e-01 -1.69745870e-04 5.83135735e+00] [ 1.36383866e-02 -6.16330221e-04 9.99906803e-01 3.31576004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.919254154 meters 0.025085437719309572 Centerline is valid? [True, True] Translation: X:499.45, Y:5.83, Z:3.32 [[ 9.98103845e-01 -5.97873572e-02 -1.46350833e-02 4.99454567e+02] [ 5.97911137e-02 9.98210895e-01 -1.81129915e-04 5.83010630e+00] [ 1.46197289e-02 -6.94261467e-04 9.99892885e-01 3.31559410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.979254154 meters 0.02567501859024409 Centerline is valid? [True, True] Translation: X:499.52, Y:5.83, Z:3.32 [[ 9.98084191e-01 -5.99919550e-02 -1.51298394e-02 4.99517104e+02] [ 5.99960120e-02 9.98198599e-01 -1.86012496e-04 5.83149605e+00] [ 1.51137437e-02 -7.22073894e-04 9.99885520e-01 3.31544172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.039254154 meters 0.024143713902100714 Centerline is valid? [True, True] Translation: X:499.58, Y:5.84, Z:3.32 [[ 9.98249929e-01 -5.70856710e-02 -1.54371127e-02 4.99578451e+02] [ 5.70895604e-02 9.98369043e-01 -1.88968275e-04 5.83841244e+00] [ 1.54227228e-02 -6.92660410e-04 9.99880823e-01 3.31656282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.099254154 meters 0.022265561452229726 Centerline is valid? [True, True] Translation: X:499.64, Y:5.84, Z:3.32 [[ 9.98511001e-01 -5.27606718e-02 -1.38597502e-02 4.99639165e+02] [ 5.27633958e-02 9.98607028e-01 -1.69305059e-04 5.84478197e+00] [ 1.38493766e-02 -5.62234519e-04 9.99903935e-01 3.31798967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.159254154 meters 0.01967001280466258 Centerline is valid? [True, True] Translation: X:499.70, Y:5.86, Z:3.32 [[ 9.98997174e-01 -4.31148229e-02 -1.20730081e-02 4.99699954e+02] [ 4.31161884e-02 9.99070054e-01 -1.47276989e-04 5.85571137e+00] [ 1.20681306e-02 -3.73412794e-04 9.99927108e-01 3.31974873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.219254154 meters 0.017964051900063567 Centerline is valid? [True, True] Translation: X:499.76, Y:5.86, Z:3.32 [[ 9.99264432e-01 -3.65289628e-02 -1.16717420e-02 4.99760796e+02] [ 3.65297924e-02 9.99332554e-01 -1.42178799e-04 5.86446108e+00] [ 1.16691454e-02 -2.84292096e-04 9.99931873e-01 3.32078289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.279254154 meters 0.016818002571746676 Centerline is valid? [True, True] Translation: X:499.82, Y:5.87, Z:3.32 [[ 9.99462306e-01 -3.00825334e-02 -1.30437964e-02 4.99821185e+02] [ 3.00830302e-02 9.99547391e-01 -1.58160422e-04 5.87283336e+00] [ 1.30426505e-02 -2.34321541e-04 9.99914914e-01 3.31927191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.339254154 meters 0.015800002419550502 Centerline is valid? [True, True] Translation: X:499.88, Y:5.88, Z:3.32 [[ 9.99434802e-01 -2.94931599e-02 -1.61316551e-02 4.99882257e+02] [ 2.94938615e-02 9.99564943e-01 -1.94464619e-04 5.87992564e+00] [ 1.61303723e-02 -2.81430094e-04 9.99869857e-01 3.31784450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.399254154 meters 0.016629224052590093 Centerline is valid? [True, True] Translation: X:499.94, Y:5.88, Z:3.32 [[ 9.99301833e-01 -3.29229575e-02 -1.76614150e-02 4.99942876e+02] [ 3.29243388e-02 9.99457824e-01 -2.12628873e-04 5.88152047e+00] [ 1.76588398e-02 -3.69009988e-04 9.99844002e-01 3.31729326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.459254154 meters 0.017932608303767156 Centerline is valid? [True, True] Translation: X:500.00, Y:5.88, Z:3.32 [[ 9.99162005e-01 -3.67635322e-02 -1.79925368e-02 5.00003040e+02] [ 3.67655857e-02 9.99323894e-01 -2.16746823e-04 5.88142763e+00] [ 1.79883403e-02 -4.44940963e-04 9.99838098e-01 3.31782429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.519254154 meters 0.018509734713941694 Centerline is valid? [True, True] Translation: X:500.06, Y:5.88, Z:3.32 [[ 9.99081784e-01 -3.91126838e-02 -1.74867440e-02 5.00064104e+02] [ 3.91149885e-02 9.99234694e-01 -2.10335616e-04 5.88181743e+00] [ 1.74815881e-02 -4.73851309e-04 9.99847073e-01 3.31934862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.579254154 meters 0.02148871982347285 Centerline is valid? [True, True] Translation: X:500.12, Y:5.88, Z:3.32 [[ 9.98978087e-01 -4.20877150e-02 -1.64744251e-02 5.00124428e+02] [ 4.20901713e-02 9.99113797e-01 -1.97752116e-04 5.88004275e+00] [ 1.64681483e-02 -4.95861343e-04 9.99864268e-01 3.31959388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.639254154 meters 0.019382178767580936 Centerline is valid? [True, True] Translation: X:500.19, Y:5.88, Z:3.32 [[ 9.98909400e-01 -4.40697612e-02 -1.54229185e-02 5.00186671e+02] [ 4.40721616e-02 9.99028333e-01 -1.84367273e-04 5.88350609e+00] [ 1.54160576e-02 -4.95555154e-04 9.99881043e-01 3.32090752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.699254154 meters 0.01888734900386924 Centerline is valid? [True, True] Translation: X:500.25, Y:5.89, Z:3.32 [[ 9.98995836e-01 -4.16629145e-02 -1.64779218e-02 5.00247898e+02] [ 4.16653424e-02 9.99131603e-01 -1.96081536e-04 5.88826762e+00] [ 1.64717818e-02 -4.90673617e-04 9.99864211e-01 3.32127348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.759254154 meters 0.01791530298976799 Centerline is valid? [True, True] Translation: X:500.31, Y:5.89, Z:3.32 [[ 9.99150573e-01 -3.74347662e-02 -1.72270369e-02 5.00309559e+02] [ 3.74368064e-02 9.99298976e-01 -2.04150670e-04 5.89262046e+00] [ 1.72226027e-02 -4.40947986e-04 9.99851583e-01 3.32127195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81925415399996 meters 0.016012752989502173 Centerline is valid? [True, True] Translation: X:500.37, Y:5.90, Z:3.32 [[ 9.99459649e-01 -2.80326885e-02 -1.71632681e-02 5.00370765e+02] [ 2.80333374e-02 9.99606968e-01 -2.02831108e-04 5.89991294e+00] [ 1.71622083e-02 -2.78422178e-04 9.99852680e-01 3.32169953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87925415399997 meters 0.014968293815934662 Centerline is valid? [True, True] Translation: X:500.43, Y:5.91, Z:3.32 [[ 9.99671920e-01 -1.89235183e-02 -1.72612848e-02 5.00430334e+02] [ 1.89228121e-02 9.99820927e-01 -2.04251846e-04 5.90685278e+00] [ 1.72620590e-02 -1.22447215e-04 9.99850992e-01 3.32212265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.93925415399997 meters 0.014895244974114779 Centerline is valid? [True, True] Translation: X:500.49, Y:5.91, Z:3.32 [[ 9.99722658e-01 -1.51462507e-02 -1.80332751e-02 5.00488892e+02] [ 1.51448078e-02 9.99885287e-01 -2.16587653e-04 5.91039406e+00] [ 1.80344869e-02 -5.65829006e-05 9.99837364e-01 3.32268011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.99925415399997 meters 0.015109125917557193 Centerline is valid? [True, True] Translation: X:500.55, Y:5.91, Z:3.32 [[ 9.99661337e-01 -1.74755500e-02 -1.92825350e-02 5.00546194e+02] [ 1.74742592e-02 9.99847286e-01 -2.35441493e-04 5.90881277e+00] [ 1.92837048e-02 -1.01586258e-04 9.99814047e-01 3.32232090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.059254154 meters 0.015426022290866372 Centerline is valid? [True, True] Translation: X:500.60, Y:5.91, Z:3.32 [[ 9.99559353e-01 -2.25866531e-02 -1.92598609e-02 5.00604686e+02] [ 2.25862317e-02 9.99744870e-01 -2.39430058e-04 5.90577152e+00] [ 1.92603550e-02 -1.95683126e-04 9.99814483e-01 3.32272005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.119254154 meters 0.017868408838933734 Centerline is valid? [True, True] Translation: X:500.66, Y:5.90, Z:3.32 [[ 9.99254050e-01 -3.39033408e-02 -1.84907456e-02 5.00664101e+02] [ 3.39048503e-02 9.99425038e-01 -2.31939108e-04 5.89617047e+00] [ 1.84879776e-02 -3.95159867e-04 9.99829005e-01 3.32351605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.179254154 meters 0.019666077544691907 Centerline is valid? [True, True] Translation: X:500.73, Y:5.89, Z:3.33 [[ 9.98840763e-01 -4.47460694e-02 -1.77459440e-02 5.00725071e+02] [ 4.47491640e-02 9.98998230e-01 -2.22867139e-04 5.88962138e+00] [ 1.77381391e-02 -5.71507375e-04 9.99842503e-01 3.32513799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.239254154 meters 0.021743801202765208 Centerline is valid? [True, True] Translation: X:500.79, Y:5.89, Z:3.33 [[ 9.98667995e-01 -4.88138044e-02 -1.67167327e-02 5.00785684e+02] [ 4.88171221e-02 9.98807712e-01 -2.09780968e-04 5.88609860e+00] [ 1.67070417e-02 -6.06561243e-04 9.99860244e-01 3.32652253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.299254154 meters 0.023649787296711005 Centerline is valid? [True, True] Translation: X:500.85, Y:5.88, Z:3.33 [[ 9.98592281e-01 -5.09926164e-02 -1.46017036e-02 5.00846371e+02] [ 5.09953858e-02 9.98698872e-01 -1.82848086e-04 5.88280441e+00] [ 1.45920288e-02 -5.62028822e-04 9.99893373e-01 3.32856161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.359254154 meters 0.022965642533296374 Centerline is valid? [True, True] Translation: X:500.91, Y:5.88, Z:3.33 [[ 9.98607798e-01 -5.08669432e-02 -1.39649863e-02 5.00908318e+02] [ 5.08694745e-02 9.98705295e-01 -1.74121600e-04 5.88424997e+00] [ 1.39557628e-02 -5.36512327e-04 9.99902470e-01 3.32936905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.419254154 meters 0.023331667836249407 Centerline is valid? [True, True] Translation: X:500.97, Y:5.88, Z:3.33 [[ 9.98666663e-01 -4.96231431e-02 -1.42281417e-02 5.00969219e+02] [ 4.96256574e-02 9.98767872e-01 -1.76510346e-04 5.88423726e+00] [ 1.42193698e-02 -5.29805886e-04 9.99898759e-01 3.32914995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.479254154 meters 0.021495875212649267 Centerline is valid? [True, True] Translation: X:501.03, Y:5.89, Z:3.33 [[ 9.98684371e-01 -4.88683040e-02 -1.55375912e-02 5.01031438e+02] [ 4.88712273e-02 9.98805069e-01 -1.91716945e-04 5.88813156e+00] [ 1.55283938e-02 -5.67876437e-04 9.99879266e-01 3.32902970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.539254154 meters 0.020462838244861965 Centerline is valid? [True, True] Translation: X:501.09, Y:5.89, Z:3.33 [[ 9.98707946e-01 -4.80537407e-02 -1.65310615e-02 5.01093562e+02] [ 4.80569593e-02 9.98844576e-01 -2.02713197e-04 5.89092248e+00] [ 1.65217022e-02 -5.91981269e-04 9.99863332e-01 3.32844421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.599254154 meters 0.024487025406930405 Centerline is valid? [True, True] Translation: X:501.15, Y:5.89, Z:3.33 [[ 9.98752318e-01 -4.64846105e-02 -1.82479789e-02 5.01154521e+02] [ 4.64882930e-02 9.98918810e-01 -2.22569965e-04 5.88608716e+00] [ 1.82385955e-02 -6.26025122e-04 9.99833467e-01 3.32547160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.659254154 meters 0.02046980047772785 Centerline is valid? [True, True] Translation: X:501.22, Y:5.90, Z:3.33 [[ 9.98798824e-01 -4.53396835e-02 -1.85801685e-02 5.01215392e+02] [ 4.53433185e-02 9.98971437e-01 -2.25808001e-04 5.89521713e+00] [ 1.85712957e-02 -6.16949732e-04 9.99827348e-01 3.32814092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.719254154 meters 0.020050563125778083 Centerline is valid? [True, True] Translation: X:501.28, Y:5.90, Z:3.33 [[ 9.98882881e-01 -4.40261506e-02 -1.71664744e-02 5.01277145e+02] [ 4.40290734e-02 9.99030229e-01 -2.07825737e-04 5.89858467e+00] [ 1.71589766e-02 -5.48230391e-04 9.99852624e-01 3.32973148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.779254154 meters 0.02023113829732501 Centerline is valid? [True, True] Translation: X:501.34, Y:5.90, Z:3.33 [[ 9.98968276e-01 -4.22921028e-02 -1.65457625e-02 5.01337081e+02] [ 4.22945979e-02 9.99105163e-01 -1.99249735e-04 5.90011833e+00] [ 1.65393835e-02 -5.00752209e-04 9.99863090e-01 3.33033077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.839254154 meters 0.01877155987351815 Centerline is valid? [True, True] Translation: X:501.40, Y:5.91, Z:3.33 [[ 9.99084046e-01 -3.96933503e-02 -1.59845973e-02 5.01398660e+02] [ 3.96953595e-02 9.99211810e-01 -1.91686167e-04 5.90613821e+00] [ 1.59796071e-02 -4.43003747e-04 9.99872220e-01 3.33131586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.899254154 meters 0.01866021840901526 Centerline is valid? [True, True] Translation: X:501.46, Y:5.91, Z:3.33 [[ 9.99139267e-01 -3.83310928e-02 -1.58572695e-02 5.01460121e+02] [ 3.83329079e-02 9.99265006e-01 -1.89575673e-04 5.91025419e+00] [ 1.58528811e-02 -4.18442750e-04 9.99874248e-01 3.33203194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.959254154 meters 0.018326774898843594 Centerline is valid? [True, True] Translation: X:501.52, Y:5.91, Z:3.33 [[ 9.99093556e-01 -3.97929030e-02 -1.51192149e-02 5.01521952e+02] [ 3.97947334e-02 9.99207860e-01 -1.79888437e-04 5.91174695e+00] [ 1.51143966e-02 -4.21939746e-04 9.99885682e-01 3.33374311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.019254154 meters 0.018743456928879437 Centerline is valid? [True, True] Translation: X:501.58, Y:5.91, Z:3.33 [[ 9.99054382e-01 -4.07641565e-02 -1.51203685e-02 5.01584283e+02] [ 4.07661152e-02 9.99168700e-01 -1.78780705e-04 5.91176184e+00] [ 1.51150868e-02 -4.37787040e-04 9.99885665e-01 3.33418304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.079254154 meters 0.01979723678269976 Centerline is valid? [True, True] Translation: X:501.65, Y:5.91, Z:3.33 [[ 9.98910282e-01 -4.43872844e-02 -1.44227828e-02 5.01646222e+02] [ 4.43894588e-02 9.99014288e-01 -1.69491695e-04 5.91070664e+00] [ 1.44160894e-02 -4.70912526e-04 9.99895972e-01 3.33438389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.139254154 meters 0.019944200795924894 Centerline is valid? [True, True] Translation: X:501.71, Y:5.91, Z:3.33 [[ 9.98779939e-01 -4.70656209e-02 -1.49486169e-02 5.01708727e+02] [ 4.70682732e-02 9.98891659e-01 -1.74538496e-04 5.91126916e+00] [ 1.49402635e-02 -5.29280034e-04 9.99888248e-01 3.33429831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.199254154 meters 0.02284343412999019 Centerline is valid? [True, True] Translation: X:501.77, Y:5.91, Z:3.33 [[ 9.98556620e-01 -5.12003133e-02 -1.62235526e-02 5.01769339e+02] [ 5.12039980e-02 9.98688197e-01 -1.88451048e-04 5.90764985e+00] [ 1.62119193e-02 -6.42531716e-04 9.99868372e-01 3.33229827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.259254154 meters 0.022825358776425084 Centerline is valid? [True, True] Translation: X:501.83, Y:5.91, Z:3.33 [[ 9.98278000e-01 -5.62557227e-02 -1.66231004e-02 5.01830264e+02] [ 5.62602988e-02 9.98416117e-01 -1.92599177e-04 5.90927317e+00] [ 1.66076061e-02 -7.42953073e-04 9.99861808e-01 3.33267291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31925415399996 meters 0.025962036419931143 Centerline is valid? [True, True] Translation: X:501.89, Y:5.91, Z:3.33 [[ 9.98072655e-01 -6.01919796e-02 -1.50963858e-02 5.01890789e+02] [ 6.01962068e-02 9.98186549e-01 -1.74641375e-04 5.90651966e+00] [ 1.50795212e-02 -7.34440380e-04 9.99886028e-01 3.33363344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37925415399997 meters 0.025023298098210862 Centerline is valid? [True, True] Translation: X:501.95, Y:5.91, Z:3.34 [[ 9.98035840e-01 -6.09159409e-02 -1.46188414e-02 5.01952838e+02] [ 6.09199926e-02 9.98142638e-01 -1.68407954e-04 5.90964051e+00] [ 1.46019477e-02 -7.22502536e-04 9.99893125e-01 3.33519034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.43925415399997 meters 0.023997277036689357 Centerline is valid? [True, True] Translation: X:502.01, Y:5.91, Z:3.34 [[ 9.98160684e-01 -5.88601323e-02 -1.45166980e-02 5.02013811e+02] [ 5.88639222e-02 9.98266002e-01 -1.66440705e-04 5.91496550e+00] [ 1.45013228e-02 -6.88375211e-04 9.99894613e-01 3.33601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.49925415399997 meters 0.023478774818951394 Centerline is valid? [True, True] Translation: X:502.07, Y:5.92, Z:3.34 [[ 9.98373829e-01 -5.48908323e-02 -1.53848351e-02 5.02074100e+02] [ 5.48946228e-02 9.98492138e-01 -1.76126329e-04 5.91992603e+00] [ 1.53713046e-02 -6.68704802e-04 9.99881631e-01 3.33681103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.559254154 meters 0.022470126469412943 Centerline is valid? [True, True] Translation: X:502.14, Y:5.92, Z:3.34 [[ 9.98520433e-01 -5.18549419e-02 -1.63709878e-02 5.02135152e+02] [ 5.18588326e-02 9.98654408e-01 -1.87058859e-04 5.92425983e+00] [ 1.63586590e-02 -6.62198221e-04 9.99865969e-01 3.33692650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.619254154 meters 0.01986284970584237 Centerline is valid? [True, True] Translation: X:502.20, Y:5.93, Z:3.34 [[ 9.98760587e-01 -4.64618310e-02 -1.78490145e-02 5.02196225e+02] [ 4.64656045e-02 9.98919870e-01 -2.03468496e-04 5.93246584e+00] [ 1.78391888e-02 -6.26148935e-04 9.99840673e-01 3.33735398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.679254154 meters 0.02000509028741471 Centerline is valid? [True, True] Translation: X:502.26, Y:5.94, Z:3.34 [[ 9.98947538e-01 -4.12993743e-02 -1.99543738e-02 5.02256520e+02] [ 4.13030696e-02 9.99146638e-01 -2.27081092e-04 5.93638617e+00] [ 1.99467238e-02 -5.97334791e-04 9.99800866e-01 3.33553441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.739254154 meters 0.017380903533496375 Centerline is valid? [True, True] Translation: X:502.32, Y:5.95, Z:3.34 [[ 9.99132021e-01 -3.62509559e-02 -2.05200374e-02 5.02317893e+02] [ 3.62538131e-02 9.99342587e-01 -2.32869848e-04 5.94509716e+00] [ 2.05149891e-02 -5.11261879e-04 9.99789415e-01 3.33712640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.799254154 meters 0.016649583102492538 Centerline is valid? [True, True] Translation: X:502.38, Y:5.95, Z:3.34 [[ 9.99258529e-01 -3.29177357e-02 -1.99703615e-02 5.02378871e+02] [ 3.29197863e-02 9.99457971e-01 -2.26139789e-04 5.94929722e+00] [ 1.99669810e-02 -4.31447920e-04 9.99800547e-01 3.33823130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.859254154 meters 0.01606796911938916 Centerline is valid? [True, True] Translation: X:502.44, Y:5.95, Z:3.34 [[ 9.99391072e-01 -2.96039393e-02 -1.84686610e-02 5.02439039e+02] [ 2.96051295e-02 9.99561650e-01 -2.09019610e-04 5.95447876e+00] [ 1.84667531e-02 -3.37874769e-04 9.99829418e-01 3.34022768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.919254154 meters 0.01596725404324973 Centerline is valid? [True, True] Translation: X:502.50, Y:5.96, Z:3.34 [[ 9.99413038e-01 -2.93702151e-02 -1.76343587e-02 5.02499619e+02] [ 2.93712638e-02 9.99568551e-01 -1.99577369e-04 5.95542663e+00] [ 1.76326120e-02 -3.18483177e-04 9.99844483e-01 3.34087910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.979254154 meters 0.01637862564478921 Centerline is valid? [True, True] Translation: X:502.56, Y:5.95, Z:3.34 [[ 9.99393287e-01 -3.08298216e-02 -1.62043481e-02 5.02560227e+02] [ 3.08308988e-02 9.99524598e-01 -1.83393182e-04 5.95449420e+00] [ 1.62022985e-02 -3.16312700e-04 9.99868684e-01 3.34212194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.039254154 meters 0.016687152574782056 Centerline is valid? [True, True] Translation: X:502.62, Y:5.95, Z:3.34 [[ 9.99414717e-01 -3.04432273e-02 -1.56023671e-02 5.02620507e+02] [ 3.04441814e-02 9.99536453e-01 -1.76419436e-04 5.95467009e+00] [ 1.56005055e-02 -2.98685114e-04 9.99878260e-01 3.34288725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.099254154 meters 0.015895053568723092 Centerline is valid? [True, True] Translation: X:502.68, Y:5.96, Z:3.34 [[ 9.99518460e-01 -2.65649151e-02 -1.60359778e-02 5.02682094e+02] [ 2.65654313e-02 9.99647060e-01 -1.80860561e-04 5.95668042e+00] [ 1.60351226e-02 -2.45229196e-04 9.99871399e-01 3.34273467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.159254154 meters 0.015563036370119056 Centerline is valid? [True, True] Translation: X:502.74, Y:5.96, Z:3.34 [[ 9.99568113e-01 -2.39677341e-02 -1.70039783e-02 5.02742173e+02] [ 2.39679432e-02 9.99712709e-01 -1.91520876e-04 5.95735146e+00] [ 1.70036835e-02 -2.16112224e-04 9.99855404e-01 3.34220988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.219254154 meters 0.015463522204060063 Centerline is valid? [True, True] Translation: X:502.80, Y:5.96, Z:3.34 [[ 9.99599516e-01 -2.22413135e-02 -1.74965990e-02 5.02801670e+02] [ 2.22412638e-02 9.99752613e-01 -1.97450827e-04 5.95683180e+00] [ 1.74966621e-02 -1.91774723e-04 9.99846903e-01 3.34091518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.279254154 meters 0.015882176256004597 Centerline is valid? [True, True] Translation: X:502.86, Y:5.95, Z:3.34 [[ 9.99552113e-01 -2.41007701e-02 -1.77405433e-02 5.02860074e+02] [ 2.41009974e-02 9.99709509e-01 -2.01019863e-04 5.95460569e+00] [ 1.77402346e-02 -2.26634959e-04 9.99842604e-01 3.34040924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.339254154 meters 0.01664525464720557 Centerline is valid? [True, True] Translation: X:502.92, Y:5.95, Z:3.34 [[ 9.99412316e-01 -2.97483616e-02 -1.70311024e-02 5.02919536e+02] [ 2.97493787e-02 9.99557371e-01 -1.93686146e-04 5.95011618e+00] [ 1.70293257e-02 -3.13092394e-04 9.99854941e-01 3.34092869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.399254154 meters 0.018833013860116984 Centerline is valid? [True, True] Translation: X:502.98, Y:5.94, Z:3.34 [[ 9.99195787e-01 -3.70122581e-02 -1.54230995e-02 5.02979761e+02] [ 3.70139619e-02 9.99314733e-01 -1.75063756e-04 5.94403520e+00] [ 1.54190101e-02 -3.95947051e-04 9.99881042e-01 3.34209785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.459254154 meters 0.022512949205613825 Centerline is valid? [True, True] Translation: X:503.04, Y:5.94, Z:3.34 [[ 9.98821675e-01 -4.65189646e-02 -1.38291943e-02 5.03040434e+02] [ 4.65212499e-02 9.98917288e-01 -1.56568440e-04 5.93599285e+00] [ 1.38215046e-02 -4.86967451e-04 9.99904360e-01 3.34348370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.519254154 meters 0.025177695727466465 Centerline is valid? [True, True] Translation: X:503.10, Y:5.93, Z:3.34 [[ 9.98490489e-01 -5.34086291e-02 -1.28164668e-02 5.03101071e+02] [ 5.34111589e-02 9.98572595e-01 -1.45063883e-04 5.93095723e+00] [ 1.28059201e-02 -5.39697435e-04 9.99917855e-01 3.34403086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.579254154 meters 0.02617963181646368 Centerline is valid? [True, True] Translation: X:503.16, Y:5.93, Z:3.34 [[ 9.98075168e-01 -6.08128363e-02 -1.21555620e-02 5.03161616e+02] [ 6.08156599e-02 9.98149005e-01 -1.37561713e-04 5.92798610e+00] [ 1.21414276e-02 -6.01951593e-04 9.99926109e-01 3.34427106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.639254154 meters 0.02709604734341684 Centerline is valid? [True, True] Translation: X:503.22, Y:5.93, Z:3.35 [[ 9.97917245e-01 -6.33868882e-02 -1.19697398e-02 5.03223150e+02] [ 6.33898130e-02 9.97988834e-01 -1.35265573e-04 5.92725137e+00] [ 1.19542407e-02 -6.23775720e-04 9.99928351e-01 3.34510154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.699254154 meters 0.026878103540884934 Centerline is valid? [True, True] Translation: X:503.29, Y:5.93, Z:3.35 [[ 9.97975330e-01 -6.24646865e-02 -1.19751153e-02 5.03285005e+02] [ 6.24675553e-02 9.98046986e-01 -1.34695200e-04 5.92886643e+00] [ 1.19601415e-02 -6.13633693e-04 9.99928287e-01 3.34573005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.759254154 meters 0.0241476098207321 Centerline is valid? [True, True] Translation: X:503.35, Y:5.94, Z:3.35 [[ 9.98253529e-01 -5.79342751e-02 -1.15547584e-02 5.03346251e+02] [ 5.79366496e-02 9.98320253e-01 -1.29402698e-04 5.93527311e+00] [ 1.15428462e-02 -5.40267291e-04 9.99933233e-01 3.34641250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81925415399996 meters 0.021439649605797466 Centerline is valid? [True, True] Translation: X:503.41, Y:5.94, Z:3.35 [[ 9.98709176e-01 -4.93197186e-02 -1.21468662e-02 5.03406423e+02] [ 4.93217080e-02 9.98782935e-01 -1.35907657e-04 5.94331927e+00] [ 1.21387856e-02 -4.63371963e-04 9.99926215e-01 3.34572399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87925415399997 meters 0.018943600519540076 Centerline is valid? [True, True] Translation: X:503.47, Y:5.95, Z:3.35 [[ 9.99039662e-01 -4.18138930e-02 -1.30901406e-02 5.03467038e+02] [ 4.18155611e-02 9.99125336e-01 -1.46359084e-04 5.95191397e+00] [ 1.30848109e-02 -4.01153043e-04 9.99914310e-01 3.34565815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.93925415399997 meters 0.01734805854022165 Centerline is valid? [True, True] Translation: X:503.53, Y:5.96, Z:3.35 [[ 9.99323694e-01 -3.42310009e-02 -1.34310596e-02 5.03527956e+02] [ 3.42320757e-02 9.99413900e-01 -1.49930368e-04 5.95989290e+00] [ 1.34283199e-02 -3.09944081e-04 9.99909788e-01 3.34601705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.99925415399997 meters 0.015415240322826774 Centerline is valid? [True, True] Translation: X:503.59, Y:5.97, Z:3.35 [[ 9.99610011e-01 -2.45824109e-02 -1.32488318e-02 5.03588040e+02] [ 2.45826110e-02 9.99697791e-01 -1.47775086e-04 5.96902064e+00] [ 1.32484606e-02 -1.77973423e-04 9.99912219e-01 3.34727496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.059254154 meters 0.01456405290172358 Centerline is valid? [True, True] Translation: X:503.65, Y:5.98, Z:3.35 [[ 9.99752911e-01 -1.74295691e-02 -1.37959253e-02 5.03648937e+02] [ 1.74291087e-02 9.99848090e-01 -1.53616521e-04 5.97729379e+00] [ 1.37965070e-02 -8.68721165e-05 9.99904820e-01 3.34821878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.119254154 meters 0.014424170400894228 Centerline is valid? [True, True] Translation: X:503.71, Y:5.98, Z:3.35 [[ 9.99807235e-01 -1.40984985e-02 -1.36647203e-02 5.03708905e+02] [ 1.40977355e-02 9.99900610e-01 -1.52166840e-04 5.98133066e+00] [ 1.36655075e-02 -4.05041053e-05 9.99906622e-01 3.34874020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.179254154 meters 0.014346456515458877 Centerline is valid? [True, True] Translation: X:503.77, Y:5.98, Z:3.35 [[ 9.99851090e-01 -1.09632410e-02 -1.33268891e-02 5.03767170e+02] [ 1.09622106e-02 9.99939902e-01 -1.50363894e-04 5.98384382e+00] [ 1.33277366e-02 4.24933883e-06 9.99911182e-01 3.34955480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.239254154 meters 0.01415672739546398 Centerline is valid? [True, True] Translation: X:503.83, Y:5.98, Z:3.35 [[ 9.99837281e-01 -1.10211545e-02 -1.42809855e-02 5.03825142e+02] [ 1.10199188e-02 9.99939265e-01 -1.65219261e-04 5.98419787e+00] [ 1.42819391e-02 7.81707555e-06 9.99898008e-01 3.34982299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.299254154 meters 0.014262433727511886 Centerline is valid? [True, True] Translation: X:503.88, Y:5.98, Z:3.35 [[ 9.99781524e-01 -1.48904729e-02 -1.46689658e-02 5.03884254e+02] [ 1.48895474e-02 9.99889130e-01 -1.72311788e-04 5.98089569e+00] [ 1.46699052e-02 -4.61401197e-05 9.99892390e-01 3.35033172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.359254154 meters 0.01434282122029926 Centerline is valid? [True, True] Translation: X:503.94, Y:5.98, Z:3.35 [[ 9.99724633e-01 -1.84784064e-02 -1.44639760e-02 5.03943060e+02] [ 1.84778463e-02 9.99829255e-01 -1.72374590e-04 5.97747634e+00] [ 1.44646915e-02 -9.49360015e-05 9.99895376e-01 3.35080151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.419254154 meters 0.014760999968287274 Centerline is valid? [True, True] Translation: X:504.00, Y:5.97, Z:3.35 [[ 9.99628845e-01 -2.34715662e-02 -1.38296301e-02 5.04003115e+02] [ 2.34715055e-02 9.99724492e-01 -1.66723394e-04 5.97246415e+00] [ 1.38297332e-02 -1.57940724e-04 9.99904352e-01 3.35165288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.479254154 meters 0.01541590654196785 Centerline is valid? [True, True] Translation: X:504.06, Y:5.97, Z:3.35 [[ 9.99584836e-01 -2.56649944e-02 -1.30944532e-02 5.04063669e+02] [ 2.56651265e-02 9.99670584e-01 -1.57979324e-04 5.96724324e+00] [ 1.30941942e-02 -1.78157062e-04 9.99914251e-01 3.35151729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.539254154 meters 0.015421832382892912 Centerline is valid? [True, True] Translation: X:504.13, Y:5.96, Z:3.35 [[ 9.99524325e-01 -2.73639544e-02 -1.42245211e-02 5.04125306e+02] [ 2.73642882e-02 9.99625513e-01 -1.71204428e-04 5.96388547e+00] [ 1.42238790e-02 -2.18120904e-04 9.99898812e-01 3.35114100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.599254154 meters 0.015696332875890395 Centerline is valid? [True, True] Translation: X:504.19, Y:5.96, Z:3.35 [[ 9.99465096e-01 -2.92253158e-02 -1.46765825e-02 5.04186943e+02] [ 2.92258798e-02 9.99572817e-01 -1.76096533e-04 5.95987335e+00] [ 1.46754594e-02 -2.52933696e-04 9.99892278e-01 3.35051487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.659254154 meters 0.015825248246446173 Centerline is valid? [True, True] Translation: X:504.25, Y:5.96, Z:3.35 [[ 9.99420771e-01 -3.04477852e-02 -1.52005062e-02 5.04248160e+02] [ 3.04485402e-02 9.99536319e-01 -1.81811642e-04 5.95740660e+00] [ 1.51989937e-02 -2.81126892e-04 9.99884449e-01 3.35035612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.719254154 meters 0.01600965578252969 Centerline is valid? [True, True] Translation: X:504.31, Y:5.95, Z:3.35 [[ 9.99442795e-01 -3.01013502e-02 -1.44224957e-02 5.04310069e+02] [ 3.01020033e-02 9.99546817e-01 -1.71848084e-04 5.95391081e+00] [ 1.44211325e-02 -2.62393682e-04 9.99895976e-01 3.35048531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.779254154 meters 0.015375645245838584 Centerline is valid? [True, True] Translation: X:504.37, Y:5.95, Z:3.35 [[ 9.99558742e-01 -2.62134372e-02 -1.39705930e-02 5.04371464e+02] [ 2.62136791e-02 9.99656349e-01 -1.65840839e-04 5.95463903e+00] [ 1.39701392e-02 -2.00452981e-04 9.99902393e-01 3.35137453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.839254154 meters 0.014972964823024855 Centerline is valid? [True, True] Translation: X:504.43, Y:5.96, Z:3.35 [[ 9.99678407e-01 -2.14203164e-02 -1.35739981e-02 5.04431532e+02] [ 2.14201061e-02 9.99770550e-01 -1.60893091e-04 5.95550866e+00] [ 1.35743299e-02 -1.29915131e-04 9.99907856e-01 3.35202369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.899254154 meters 0.015535809879719321 Centerline is valid? [True, True] Translation: X:504.49, Y:5.96, Z:3.35 [[ 9.99716011e-01 -1.98482632e-02 -1.31887724e-02 5.04491628e+02] [ 1.98479279e-02 9.99802998e-01 -1.56326997e-04 5.95522169e+00] [ 1.31892770e-02 -1.05487203e-04 9.99913012e-01 3.35232384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.959254154 meters 0.015101248633223022 Centerline is valid? [True, True] Translation: X:504.55, Y:5.95, Z:3.35 [[ 9.99667932e-01 -2.14867310e-02 -1.42248513e-02 5.04551496e+02] [ 2.14865029e-02 9.99769124e-01 -1.68876017e-04 5.95140202e+00] [ 1.42251957e-02 -1.36822370e-04 9.99898807e-01 3.35146009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.019254154 meters 0.01537170837222631 Centerline is valid? [True, True] Translation: X:504.61, Y:5.95, Z:3.35 [[ 9.99573475e-01 -2.51517749e-02 -1.48410070e-02 5.04611117e+02] [ 2.51519224e-02 9.99683625e-01 -1.76742437e-04 5.94689442e+00] [ 1.48407570e-02 -1.96612805e-04 9.99889851e-01 3.35132766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.079254154 meters 0.01616333653182072 Centerline is valid? [True, True] Translation: X:504.67, Y:5.94, Z:3.35 [[ 9.99475563e-01 -2.84791768e-02 -1.54121641e-02 5.04672073e+02] [ 2.84797273e-02 9.99594353e-01 -1.83802772e-04 5.94153785e+00] [ 1.54111468e-02 -2.55227853e-04 9.99881209e-01 3.35105708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.139254154 meters 0.01652760380992318 Centerline is valid? [True, True] Translation: X:504.73, Y:5.94, Z:3.35 [[ 9.99429688e-01 -3.04861070e-02 -1.45222365e-02 5.04732650e+02] [ 3.04868076e-02 9.99535154e-01 -1.73189651e-04 5.93831796e+00] [ 1.45207658e-02 -2.69645751e-04 9.99894532e-01 3.35181906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.199254154 meters 0.016963558465895534 Centerline is valid? [True, True] Translation: X:504.79, Y:5.93, Z:3.35 [[ 9.99347309e-01 -3.41610111e-02 -1.17465147e-02 5.04793499e+02] [ 3.41617242e-02 9.99416308e-01 -1.39992370e-04 5.93426062e+00] [ 1.17444407e-02 -2.61380197e-04 9.99930998e-01 3.35385321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.259254154 meters 0.017879439185582678 Centerline is valid? [True, True] Translation: X:504.86, Y:5.93, Z:3.35 [[ 9.99233891e-01 -3.79495021e-02 -9.56385357e-03 5.04855185e+02] [ 3.79501507e-02 9.99279627e-01 -1.13716650e-04 5.92829719e+00] [ 9.56127952e-03 -2.49320153e-04 9.99954259e-01 3.35443751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31925415399996 meters 0.018448865626442972 Centerline is valid? [True, True] Translation: X:504.92, Y:5.92, Z:3.35 [[ 9.99126083e-01 -4.08116528e-02 -9.02653713e-03 5.04916915e+02] [ 4.08123517e-02 9.99166823e-01 -1.06839783e-04 5.92497199e+00] [ 9.02337674e-03 -2.61647794e-04 9.99959254e-01 3.35453062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37925415399997 meters 0.02065739622954924 Centerline is valid? [True, True] Translation: X:504.98, Y:5.92, Z:3.35 [[ 9.98763072e-01 -4.85742973e-02 -1.06237176e-02 5.04977709e+02] [ 4.85757088e-02 9.98819496e-01 -1.25280265e-04 5.91677521e+00] [ 1.06172616e-02 -3.90929309e-04 9.99943559e-01 3.35317787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.43925415399997 meters 0.023013628525596623 Centerline is valid? [True, True] Translation: X:505.04, Y:5.91, Z:3.35 [[ 9.98604772e-01 -5.14819981e-02 -1.17521663e-02 5.05039002e+02] [ 5.14839301e-02 9.98673814e-01 -1.38278528e-04 5.91106690e+00] [ 1.17436996e-02 -4.66962111e-04 9.99930931e-01 3.35214783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.49925415399997 meters 0.025193349480066723 Centerline is valid? [True, True] Translation: X:505.10, Y:5.91, Z:3.35 [[ 9.98504968e-01 -5.30175447e-02 -1.33029799e-02 5.05101538e+02] [ 5.30201684e-02 9.98593430e-01 -1.55619929e-04 5.91007083e+00] [ 1.32925189e-02 -5.49938960e-04 9.99911499e-01 3.34984088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.559254154 meters 0.022078184014346764 Centerline is valid? [True, True] Translation: X:505.16, Y:5.91, Z:3.35 [[ 9.98594052e-01 -5.13044191e-02 -1.33332299e-02 5.05164096e+02] [ 5.13069172e-02 9.98682921e-01 -1.54860055e-04 5.91237314e+00] [ 1.33236140e-02 -5.29444593e-04 9.99911097e-01 3.35186644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.619254154 meters 0.021437292988821917 Centerline is valid? [True, True] Translation: X:505.23, Y:5.91, Z:3.35 [[ 9.98765308e-01 -4.77734426e-02 -1.36219274e-02 5.05225741e+02] [ 4.77757368e-02 9.98858075e-01 -1.57134716e-04 5.91476047e+00] [ 1.36138790e-02 -4.93856914e-04 9.99907205e-01 3.35219346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.679254154 meters 0.020054207236818073 Centerline is valid? [True, True] Translation: X:505.29, Y:5.92, Z:3.35 [[ 9.99055754e-01 -4.15415805e-02 -1.27238970e-02 5.05285016e+02] [ 4.15430808e-02 9.99136703e-01 -1.46485397e-04 5.91939887e+00] [ 1.27189978e-02 -3.82242805e-04 9.99919037e-01 3.35387325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.739254154 meters 0.01893572205422702 Centerline is valid? [True, True] Translation: X:505.35, Y:5.92, Z:3.36 [[ 9.99248152e-01 -3.68374766e-02 -1.20884906e-02 5.05346761e+02] [ 3.68384890e-02 9.99321223e-01 -1.38980506e-04 5.92399930e+00] [ 1.20854049e-02 -3.06445715e-04 9.99926922e-01 3.35548982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.799254154 meters 0.018522573924228614 Centerline is valid? [True, True] Translation: X:505.41, Y:5.93, Z:3.36 [[ 9.99353060e-01 -3.39522427e-02 -1.18619749e-02 5.05408630e+02] [ 3.39530218e-02 9.99423421e-01 -1.35755807e-04 5.92667967e+00] [ 1.18597448e-02 -2.67081911e-04 9.99929635e-01 3.35627478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.859254154 meters 0.017819962006740984 Centerline is valid? [True, True] Translation: X:505.47, Y:5.93, Z:3.36 [[ 9.99460940e-01 -3.07729687e-02 -1.14391535e-02 5.05470004e+02] [ 3.07734905e-02 9.99526375e-01 -1.30443043e-04 5.92962867e+00] [ 1.14377497e-02 -2.21649953e-04 9.99934562e-01 3.35675712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.919254154 meters 0.01628913547989261 Centerline is valid? [True, True] Translation: X:505.53, Y:5.94, Z:3.36 [[ 9.99601943e-01 -2.55465919e-02 -1.19719282e-02 5.05530930e+02] [ 2.55467939e-02 9.99673618e-01 -1.36083117e-04 5.93654817e+00] [ 1.19714972e-02 -1.69815433e-04 9.99928325e-01 3.35798869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.979254154 meters 0.01596960659155518 Centerline is valid? [True, True] Translation: X:505.59, Y:5.94, Z:3.36 [[ 9.99693279e-01 -2.07568673e-02 -1.35093011e-02 5.05590638e+02] [ 2.07566892e-02 9.99784545e-01 -1.53402326e-04 5.93949520e+00] [ 1.35095746e-02 -1.27053090e-04 9.99908733e-01 3.35702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.039254154 meters 0.01539809760863887 Centerline is valid? [True, True] Translation: X:505.65, Y:5.94, Z:3.36 [[ 9.99712139e-01 -1.87141950e-02 -1.50139553e-02 5.05650188e+02] [ 1.87137382e-02 9.99824868e-01 -1.70931891e-04 5.94319675e+00] [ 1.50145247e-02 -1.10084543e-04 9.99887270e-01 3.35842345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.099254154 meters 0.015584823583281313 Centerline is valid? [True, True] Translation: X:505.71, Y:5.94, Z:3.36 [[ 9.99688078e-01 -2.05662759e-02 -1.41695229e-02 5.05708975e+02] [ 2.05660241e-02 9.99788484e-01 -1.63500764e-04 5.94154350e+00] [ 1.41698884e-02 -1.27960984e-04 9.99899594e-01 3.35852621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.159254154 meters 0.015783870111747447 Centerline is valid? [True, True] Translation: X:505.77, Y:5.94, Z:3.36 [[ 9.99619637e-01 -2.35942784e-02 -1.42790664e-02 5.05768172e+02] [ 2.35942984e-02 9.99721602e-01 -1.67083672e-04 5.93946405e+00] [ 1.42790333e-02 -1.69884434e-04 9.99898035e-01 3.35840985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.219254154 meters 0.016774250129681444 Centerline is valid? [True, True] Translation: X:505.83, Y:5.93, Z:3.36 [[ 9.99431999e-01 -2.99750137e-02 -1.54005627e-02 5.05827200e+02] [ 2.99757811e-02 9.99550609e-01 -1.81055129e-04 5.93415547e+00] [ 1.53990690e-02 -2.80691607e-04 9.99881388e-01 3.35734684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.279254154 meters 0.01790097806582248 Centerline is valid? [True, True] Translation: X:505.89, Y:5.93, Z:3.36 [[ 9.99269772e-01 -3.51130263e-02 -1.50664345e-02 5.05887470e+02] [ 3.51143407e-02 9.99383286e-01 -1.77367254e-04 5.93027311e+00] [ 1.50633707e-02 -3.51810179e-04 9.99886479e-01 3.35837209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.339254154 meters 0.01991722554044283 Centerline is valid? [True, True] Translation: X:505.95, Y:5.92, Z:3.36 [[ 9.98933723e-01 -4.37582075e-02 -1.47185757e-02 5.05948458e+02] [ 4.37604012e-02 9.99042040e-01 -1.73136709e-04 5.92442658e+00] [ 1.47120520e-02 -4.71138679e-04 9.99891661e-01 3.35972002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.399254154 meters 0.022708374332892054 Centerline is valid? [True, True] Translation: X:506.01, Y:5.92, Z:3.36 [[ 9.98544482e-01 -5.16266993e-02 -1.56077383e-02 5.06009481e+02] [ 5.16301281e-02 9.98666259e-01 -1.83444156e-04 5.91845446e+00] [ 1.55963923e-02 -6.22652379e-04 9.99878175e-01 3.35979798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.459254154 meters 0.025933020480815187 Centerline is valid? [True, True] Translation: X:506.07, Y:5.91, Z:3.36 [[ 9.98135717e-01 -5.87687617e-02 -1.64719044e-02 5.06068919e+02] [ 5.87735490e-02 9.98271322e-01 -1.93722366e-04 5.91231102e+00] [ 1.64548146e-02 -7.74751067e-04 9.99864310e-01 3.35845152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.519254154 meters 0.028298110320318356 Centerline is valid? [True, True] Translation: X:506.13, Y:5.91, Z:3.36 [[ 9.97869442e-01 -6.30389401e-02 -1.68127649e-02 5.06129637e+02] [ 6.30445334e-02 9.98010695e-01 -1.97653039e-04 5.90959738e+00] [ 1.67917790e-02 -8.62720989e-04 9.99858636e-01 3.35833478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.579254154 meters 0.029007055151979638 Centerline is valid? [True, True] Translation: X:506.19, Y:5.91, Z:3.36 [[ 9.97572815e-01 -6.77559465e-02 -1.60502601e-02 5.06190294e+02] [ 6.77616550e-02 9.97701520e-01 -1.88525588e-04 5.91046055e+00] [ 1.60261426e-02 -8.99524186e-04 9.99871169e-01 3.36020715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.639254154 meters 0.030174151626196445 Centerline is valid? [True, True] Translation: X:506.25, Y:5.91, Z:3.36 [[ 9.97444986e-01 -6.96684366e-02 -1.58053412e-02 5.06252059e+02] [ 6.96742258e-02 9.97569781e-01 -1.84744572e-04 5.91242511e+00] [ 1.57798016e-02 -9.16952363e-04 9.99875071e-01 3.36073083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.699254154 meters 0.031725414205989975 Centerline is valid? [True, True] Translation: X:506.31, Y:5.91, Z:3.36 [[ 9.97426894e-01 -6.95947261e-02 -1.72094695e-02 5.06313065e+02] [ 6.96016006e-02 9.97574848e-01 -1.99892291e-04 5.91486512e+00] [ 1.71816453e-02 -9.98428673e-04 9.99851886e-01 3.35968480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.759254154 meters 0.032482034193707814 Centerline is valid? [True, True] Translation: X:506.37, Y:5.92, Z:3.36 [[ 9.97501808e-01 -6.83636700e-02 -1.77918893e-02 5.06374464e+02] [ 6.83708397e-02 9.97659955e-01 -2.05697385e-04 5.91766756e+00] [ 1.77643177e-02 -1.01126290e-03 9.99841691e-01 3.35929468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81925415399996 meters 0.026086914283001677 Centerline is valid? [True, True] Translation: X:506.44, Y:5.93, Z:3.36 [[ 9.97700012e-01 -6.50480321e-02 -1.90641178e-02 5.06435489e+02] [ 6.50556767e-02 9.97881612e-01 -2.19560364e-04 5.93350604e+00] [ 1.90380145e-02 -1.02117370e-03 9.99818239e-01 3.36054962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87925415399997 meters 0.029990017955934967 Centerline is valid? [True, True] Translation: X:506.50, Y:5.93, Z:3.36 [[ 9.97903209e-01 -6.15042110e-02 -2.01598046e-02 5.06496161e+02] [ 6.15120538e-02 9.98106314e-01 -2.31422301e-04 5.93392114e+00] [ 2.01358617e-02 -1.00913393e-03 9.99796744e-01 3.35911138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.93925415399997 meters 0.02275130489913238 Centerline is valid? [True, True] Translation: X:506.56, Y:5.95, Z:3.36 [[ 9.98377404e-01 -5.33550196e-02 -1.98947288e-02 5.06556331e+02] [ 5.33610468e-02 9.98575258e-01 -2.28153076e-04 5.95416945e+00] [ 1.98785571e-02 -8.33820682e-04 9.99802054e-01 3.36182706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.99925415399997 meters 0.020235128629372406 Centerline is valid? [True, True] Translation: X:506.62, Y:5.97, Z:3.36 [[ 9.98929853e-01 -4.21702774e-02 -1.89951490e-02 5.06616251e+02] [ 4.21737536e-02 9.99110268e-01 -2.17721414e-04 5.96791853e+00] [ 1.89874298e-02 -5.83608314e-04 9.99819552e-01 3.36282799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.059254154 meters 0.01660976608721312 Centerline is valid? [True, True] Translation: X:506.68, Y:5.98, Z:3.36 [[ 9.99384705e-01 -3.04517555e-02 -1.74040545e-02 5.06676298e+02] [ 3.04528983e-02 9.99536183e-01 -1.99412414e-04 5.98426975e+00] [ 1.74020547e-02 -3.30714186e-04 9.99848518e-01 3.36474558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.119254154 meters 0.017310011040634957 Centerline is valid? [True, True] Translation: X:506.74, Y:5.99, Z:3.37 [[ 9.99551323e-01 -2.36216569e-02 -1.84165663e-02 5.06736455e+02] [ 2.36217777e-02 9.99720945e-01 -2.11006497e-04 5.99217360e+00] [ 1.84164114e-02 -2.24120212e-04 9.99830378e-01 3.36556692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.179254154 meters 0.015326634505694124 Centerline is valid? [True, True] Translation: X:506.79, Y:6.00, Z:3.36 [[ 9.99695861e-01 -1.78053809e-02 -1.70632301e-02 5.06794932e+02] [ 1.78045929e-02 9.99841466e-01 -1.98107493e-04 6.00014930e+00] [ 1.70640524e-02 -1.05756624e-04 9.99854393e-01 3.36466993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.239254154 meters 0.015184427091422278 Centerline is valid? [True, True] Translation: X:506.85, Y:6.00, Z:3.36 [[ 9.99699796e-01 -1.65860056e-02 -1.80339258e-02 5.06853206e+02] [ 1.65848358e-02 9.99862439e-01 -2.14435825e-04 6.00323838e+00] [ 1.80350017e-02 -8.47182467e-05 9.99837353e-01 3.36415630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.299254154 meters 0.015215311036545108 Centerline is valid? [True, True] Translation: X:506.91, Y:6.00, Z:3.36 [[ 9.99678464e-01 -1.75573748e-02 -1.82949928e-02 5.06910673e+02] [ 1.75562344e-02 9.99845853e-01 -2.22955464e-04 6.00498588e+00] [ 1.82960872e-02 -9.83074048e-05 9.99832608e-01 3.36455050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.359254154 meters 0.015348074840931116 Centerline is valid? [True, True] Translation: X:506.97, Y:6.00, Z:3.36 [[ 9.99656950e-01 -1.89997281e-02 -1.80275597e-02 5.06968280e+02] [ 1.89988011e-02 9.99819482e-01 -2.22697565e-04 6.00483315e+00] [ 1.80285366e-02 -1.19880853e-04 9.99837466e-01 3.36486831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.419254154 meters 0.01566510317195303 Centerline is valid? [True, True] Translation: X:507.03, Y:6.00, Z:3.36 [[ 9.99615175e-01 -2.08840359e-02 -1.82581410e-02 5.07025866e+02] [ 2.08833691e-02 9.99781893e-01 -2.27204174e-04 6.00445443e+00] [ 1.82589037e-02 -1.54174757e-04 9.99833280e-01 3.36453504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.479254154 meters 0.01563271602381725 Centerline is valid? [True, True] Translation: X:507.08, Y:6.00, Z:3.36 [[ 9.99569292e-01 -2.30580489e-02 -1.81537262e-02 5.07084753e+02] [ 2.30576836e-02 9.99734110e-01 -2.29456849e-04 6.00388214e+00] [ 1.81541901e-02 -1.89224855e-04 9.99835181e-01 3.36499859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.539254154 meters 0.01619493403691645 Centerline is valid? [True, True] Translation: X:507.14, Y:6.00, Z:3.36 [[ 9.99452076e-01 -2.76704236e-02 -1.81630360e-02 5.07143351e+02] [ 2.76707344e-02 9.99617064e-01 -2.34248478e-04 6.00050370e+00] [ 1.81625625e-02 -2.68464417e-04 9.99835011e-01 3.36488468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.599254154 meters 0.017591771952270737 Centerline is valid? [True, True] Translation: X:507.20, Y:6.00, Z:3.36 [[ 9.99352431e-01 -3.05011216e-02 -1.90892872e-02 5.07202376e+02] [ 3.05019380e-02 9.99534677e-01 -2.48452888e-04 5.99823208e+00] [ 1.90879826e-02 -3.33968256e-04 9.99817752e-01 3.36498239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.659254154 meters 0.017088019721172187 Centerline is valid? [True, True] Translation: X:507.26, Y:6.00, Z:3.36 [[ 9.99341629e-01 -3.08792908e-02 -1.90467550e-02 5.07261970e+02] [ 3.08801635e-02 9.99523063e-01 -2.48359716e-04 5.99670159e+00] [ 1.90453401e-02 -3.39970705e-04 9.99818563e-01 3.36450707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.719254154 meters 0.01643805782448424 Centerline is valid? [True, True] Translation: X:507.32, Y:6.00, Z:3.36 [[ 9.99427617e-01 -2.77328512e-02 -1.93733513e-02 5.07322156e+02] [ 2.77331608e-02 9.99615330e-01 -2.52739322e-04 5.99876420e+00] [ 1.93729082e-02 -2.84689609e-04 9.99812287e-01 3.36490256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.779254154 meters 0.016022881689251638 Centerline is valid? [True, True] Translation: X:507.38, Y:6.00, Z:3.37 [[ 9.99560903e-01 -2.24272585e-02 -1.93654152e-02 5.07381221e+02] [ 2.24265133e-02 9.99748461e-01 -2.55673113e-04 6.00318130e+00] [ 1.93662781e-02 -1.78737894e-04 9.99812440e-01 3.36687458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.839254154 meters 0.01518765560065458 Centerline is valid? [True, True] Translation: X:507.44, Y:6.01, Z:3.37 [[ 9.99727313e-01 -1.41998594e-02 -1.85381503e-02 5.07439818e+02] [ 1.41976765e-02 9.99899177e-01 -2.49365428e-04 6.00827044e+00] [ 1.85398222e-02 -1.39012316e-05 9.99828123e-01 3.36796428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.899254154 meters 0.01581590662326142 Centerline is valid? [True, True] Translation: X:507.50, Y:6.01, Z:3.37 [[ 9.99769509e-01 -9.54387341e-03 -1.92313352e-02 5.07497061e+02] [ 9.54059087e-03 9.99954453e-01 -2.62429814e-04 6.01018346e+00] [ 1.92329639e-02 7.88910258e-05 9.99815026e-01 3.36671316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.959254154 meters 0.015889559442701238 Centerline is valid? [True, True] Translation: X:507.56, Y:6.01, Z:3.37 [[ 9.99746724e-01 -9.49116223e-03 -2.04060110e-02 5.07555708e+02] [ 9.48736088e-03 9.99954954e-01 -2.83089878e-04 6.00979920e+00] [ 2.04077786e-02 8.94189880e-05 9.99791736e-01 3.36708184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.019254154 meters 0.016839301480202178 Centerline is valid? [True, True] Translation: X:507.61, Y:6.01, Z:3.37 [[ 9.99685078e-01 -1.21955990e-02 -2.19320088e-02 5.07613419e+02] [ 1.21917723e-02 9.99925630e-01 -3.08186173e-04 6.00705447e+00] [ 2.19341362e-02 4.06990607e-05 9.99759417e-01 3.36560013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.079254154 meters 0.016021978410046836 Centerline is valid? [True, True] Translation: X:507.67, Y:6.00, Z:3.37 [[ 9.99624193e-01 -1.66306062e-02 -2.17921080e-02 5.07671054e+02] [ 1.66278268e-02 9.99861700e-01 -3.08745340e-04 6.00310172e+00] [ 2.17942288e-02 -5.37260853e-05 9.99762476e-01 3.36597255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.139254154 meters 0.01635321938940012 Centerline is valid? [True, True] Translation: X:507.73, Y:6.00, Z:3.37 [[ 9.99496671e-01 -2.46255492e-02 -1.99996893e-02 5.07729444e+02] [ 2.46247708e-02 9.99696724e-01 -2.85225517e-04 5.99508758e+00] [ 2.00006477e-02 -2.07405811e-04 9.99799946e-01 3.36814990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.199254154 meters 0.016843630391965635 Centerline is valid? [True, True] Translation: X:507.79, Y:5.99, Z:3.37 [[ 9.99358204e-01 -3.09539060e-02 -1.80287319e-02 5.07788582e+02] [ 3.09542398e-02 9.99520769e-01 -2.60608628e-04 5.98819776e+00] [ 1.80281588e-02 -2.97624317e-04 9.99837435e-01 3.37077311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.259254154 meters 0.017048045127898113 Centerline is valid? [True, True] Translation: X:507.85, Y:5.98, Z:3.37 [[ 9.99348331e-01 -3.20935188e-02 -1.65202817e-02 5.07849574e+02] [ 3.20939282e-02 9.99484828e-01 -2.40400716e-04 5.98466423e+00] [ 1.65194862e-02 -2.89956680e-04 9.99863502e-01 3.37199730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31925415399996 meters 0.01635596129075931 Centerline is valid? [True, True] Translation: X:507.91, Y:5.98, Z:3.37 [[ 9.99442184e-01 -2.96618468e-02 -1.53458952e-02 5.07909837e+02] [ 2.96619135e-02 9.99559964e-01 -2.23311216e-04 5.98120650e+00] [ 1.53457663e-02 -2.32001966e-04 9.99882220e-01 3.37392330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37925415399997 meters 0.015699363986473345 Centerline is valid? [True, True] Translation: X:507.97, Y:5.98, Z:3.38 [[ 9.99564486e-01 -2.52455519e-02 -1.52807125e-02 5.07970299e+02] [ 2.52451021e-02 9.99681267e-01 -2.22362687e-04 5.97922631e+00] [ 1.52814557e-02 -1.63497301e-04 9.99883218e-01 3.37511342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.43925415399997 meters 0.01556180608868224 Centerline is valid? [True, True] Translation: X:508.03, Y:5.98, Z:3.37 [[ 9.99599463e-01 -2.34287188e-02 -1.58748037e-02 5.08030438e+02] [ 2.34279988e-02 9.99725500e-01 -2.31347514e-04 5.97721944e+00] [ 1.58758662e-02 -1.40660031e-04 9.99873961e-01 3.37488237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.49925415399997 meters 0.015425824631066976 Centerline is valid? [True, True] Translation: X:508.09, Y:5.97, Z:3.37 [[ 9.99562177e-01 -2.29352537e-02 -1.86929893e-02 5.08088908e+02] [ 2.29341057e-02 9.99736941e-01 -2.75808883e-04 5.97137528e+00] [ 1.86943977e-02 -1.53018864e-04 9.99825233e-01 3.37269539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.559254154 meters 0.017087940840374773 Centerline is valid? [True, True] Translation: X:508.15, Y:5.97, Z:3.37 [[ 9.99501568e-01 -2.50134835e-02 -1.92598472e-02 5.08147437e+02] [ 2.50125539e-02 9.99687095e-01 -2.89192380e-04 5.96632802e+00] [ 1.92610545e-02 -1.92689731e-04 9.99814470e-01 3.37202173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.619254154 meters 0.01613218081351376 Centerline is valid? [True, True] Translation: X:508.21, Y:5.96, Z:3.37 [[ 9.99416545e-01 -2.86495168e-02 -1.85950072e-02 5.08205157e+02] [ 2.86492284e-02 9.99589487e-01 -2.81952561e-04 5.96100217e+00] [ 1.85954515e-02 -2.50944553e-04 9.99827058e-01 3.37262014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.679254154 meters 0.017128141905808116 Centerline is valid? [True, True] Translation: X:508.26, Y:5.95, Z:3.37 [[ 9.99156582e-01 -3.73388380e-02 -1.70861492e-02 5.08264543e+02] [ 3.73398447e-02 9.99302591e-01 -2.60212741e-04 5.95369668e+00] [ 1.70839492e-02 -3.78000885e-04 9.99853987e-01 3.37459731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.739254154 meters 0.01961113389433088 Centerline is valid? [True, True] Translation: X:508.32, Y:5.94, Z:3.38 [[ 9.98739933e-01 -4.77013324e-02 -1.55926146e-02 5.08324671e+02] [ 4.77034250e-02 9.98861515e-01 -2.37909962e-04 5.94423335e+00] [ 1.55862113e-02 -5.06210944e-04 9.99878399e-01 3.37564704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.799254154 meters 0.021877920478960266 Centerline is valid? [True, True] Translation: X:508.39, Y:5.94, Z:3.38 [[ 9.98374121e-01 -5.50261676e-02 -1.48739886e-02 5.08385335e+02] [ 5.50288826e-02 9.98484737e-01 -2.26984082e-04 5.93827961e+00] [ 1.48639406e-02 -5.91883937e-04 9.99889350e-01 3.37680272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.859254154 meters 0.026790308960483882 Centerline is valid? [True, True] Translation: X:508.45, Y:5.93, Z:3.38 [[ 9.97724864e-01 -6.58720828e-02 -1.43514533e-02 5.08445056e+02] [ 6.58757325e-02 9.97827811e-01 -2.18785952e-04 5.92731290e+00] [ 1.43346912e-02 -7.27124316e-04 9.99896989e-01 3.37676308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.919254154 meters 0.03220627881774059 Centerline is valid? [True, True] Translation: X:508.50, Y:5.92, Z:3.38 [[ 9.97083458e-01 -7.48929925e-02 -1.46839506e-02 5.08504668e+02] [ 7.48977884e-02 9.97191191e-01 -2.23818488e-04 5.91780261e+00] [ 1.46594686e-02 -8.76629712e-04 9.99892160e-01 3.37647075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.979254154 meters 0.03402468854436507 Centerline is valid? [True, True] Translation: X:508.57, Y:5.92, Z:3.38 [[ 9.96849319e-01 -7.76963857e-02 -1.59595685e-02 5.08565808e+02] [ 7.77024128e-02 9.96976567e-01 -2.43029383e-04 5.91653390e+00] [ 1.59301983e-02 -9.97833304e-04 9.99872608e-01 3.37632428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.039254154 meters 0.030760296469467156 Centerline is valid? [True, True] Translation: X:508.63, Y:5.92, Z:3.38 [[ 9.96838370e-01 -7.75825942e-02 -1.71524131e-02 5.08628371e+02] [ 7.75895576e-02 9.96985352e-01 -2.60134447e-04 5.92385540e+00] [ 1.71208866e-02 -1.07153615e-03 9.99852853e-01 3.37696175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.099254154 meters 0.027717497578468826 Centerline is valid? [True, True] Translation: X:508.69, Y:5.93, Z:3.38 [[ 9.97137530e-01 -7.35290503e-02 -1.76132265e-02 5.08688942e+02] [ 7.35357754e-02 9.97292544e-01 -2.66404222e-04 5.93167299e+00] [ 1.75851279e-02 -1.02956062e-03 9.99844840e-01 3.37714981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.159254154 meters 0.0305655228401989 Centerline is valid? [True, True] Translation: X:508.75, Y:5.93, Z:3.38 [[ 9.97419261e-01 -6.94669442e-02 -1.81428309e-02 5.08749194e+02] [ 6.94734122e-02 9.97583766e-01 -2.74283977e-04 5.93279430e+00] [ 1.81180472e-02 -9.86868248e-04 9.99835368e-01 3.37620445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.219254154 meters 0.024673093295351983 Centerline is valid? [True, True] Translation: X:508.81, Y:5.95, Z:3.38 [[ 9.97789845e-01 -6.36170099e-02 -1.91911645e-02 5.08809417e+02] [ 6.36231685e-02 9.97973952e-01 -2.90098180e-04 5.94695594e+00] [ 1.91707374e-02 -9.31545671e-04 9.99815791e-01 3.37765419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.279254154 meters 0.02491071440198332 Centerline is valid? [True, True] Translation: X:508.87, Y:5.95, Z:3.38 [[ 9.98078431e-01 -5.88541235e-02 -1.93813524e-02 5.08869679e+02] [ 5.88595089e-02 9.98266233e-01 -2.92954352e-04 5.95355041e+00] [ 1.93649912e-02 -8.48385465e-04 9.99812121e-01 3.37725776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.339254154 meters 0.02139393391757749 Centerline is valid? [True, True] Translation: X:508.93, Y:5.96, Z:3.38 [[ 9.98454443e-01 -5.30231310e-02 -1.66515196e-02 5.08929980e+02] [ 5.30262971e-02 9.98593085e-01 -2.51632966e-04 5.96306473e+00] [ 1.66414347e-02 -6.31724371e-04 9.99861322e-01 3.38097906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.399254154 meters 0.02008604746016001 Centerline is valid? [True, True] Translation: X:508.99, Y:5.97, Z:3.38 [[ 9.98802619e-01 -4.62066560e-02 -1.60708990e-02 5.08989346e+02] [ 4.62087350e-02 9.98931777e-01 -2.42141784e-04 5.97180031e+00] [ 1.60649202e-02 -5.00764064e-04 9.99870825e-01 3.38194545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.459254154 meters 0.018871876403971855 Centerline is valid? [True, True] Translation: X:509.05, Y:5.98, Z:3.38 [[ 9.98980731e-01 -4.22043950e-02 -1.60090221e-02 5.09051180e+02] [ 4.22059603e-02 9.99108903e-01 -2.40222488e-04 5.97874347e+00] [ 1.60048950e-02 -4.35698516e-04 9.99871819e-01 3.38285239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.519254154 meters 0.0178684067346081 Centerline is valid? [True, True] Translation: X:509.11, Y:5.99, Z:3.38 [[ 9.99198612e-01 -3.71100443e-02 -1.49992641e-02 5.09111513e+02] [ 3.71108519e-02 9.99311130e-01 -2.24582663e-04 5.98578317e+00] [ 1.49972658e-02 -3.32232782e-04 9.99887479e-01 3.38353856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.579254154 meters 0.017245618570993066 Centerline is valid? [True, True] Translation: X:509.17, Y:5.99, Z:3.38 [[ 9.99317263e-01 -3.38973732e-02 -1.46961028e-02 5.09173142e+02] [ 3.38978090e-02 9.99425280e-01 -2.19513264e-04 5.99156979e+00] [ 1.46950976e-02 -2.78802293e-04 9.99891982e-01 3.38453190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.639254154 meters 0.016873947323044144 Centerline is valid? [True, True] Translation: X:509.23, Y:6.00, Z:3.38 [[ 9.99372142e-01 -3.23079261e-02 -1.45436989e-02 5.09234105e+02] [ 3.23081935e-02 9.99477931e-01 -2.16625220e-04 5.99518217e+00] [ 1.45431048e-02 -2.53391429e-04 9.99894211e-01 3.38497933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.699254154 meters 0.015514213183862468 Centerline is valid? [True, True] Translation: X:509.30, Y:6.00, Z:3.39 [[ 9.99479770e-01 -2.86709595e-02 -1.47703924e-02 5.09295627e+02] [ 2.86708461e-02 9.99588883e-01 -2.19476075e-04 6.00294975e+00] [ 1.47706127e-02 -2.04117751e-04 9.99890888e-01 3.38550110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.759254154 meters 0.01611905185205024 Centerline is valid? [True, True] Translation: X:509.36, Y:6.00, Z:3.38 [[ 9.99524428e-01 -2.71047378e-02 -1.47054766e-02 5.09356187e+02] [ 2.71044615e-02 9.99632583e-01 -2.18126747e-04 6.00399760e+00] [ 1.47059858e-02 -1.80561012e-04 9.99891845e-01 3.38408798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81925415399996 meters 0.01557493877179834 Centerline is valid? [True, True] Translation: X:509.42, Y:6.01, Z:3.39 [[ 9.99523121e-01 -2.75631245e-02 -1.39213514e-02 5.09416674e+02] [ 2.75629229e-02 9.99620049e-01 -2.06382508e-04 6.00751436e+00] [ 1.39217505e-02 -1.77429046e-04 9.99903072e-01 3.38603909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87925415399997 meters 0.01641472819779995 Centerline is valid? [True, True] Translation: X:509.48, Y:6.01, Z:3.39 [[ 9.99451160e-01 -3.01315808e-02 -1.37647068e-02 5.09478296e+02] [ 3.01316305e-02 9.99545919e-01 -2.03816157e-04 6.00668843e+00] [ 1.37645978e-02 -2.11048766e-04 9.99905241e-01 3.38566774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.93925415399997 meters 0.017538253093714564 Centerline is valid? [True, True] Translation: X:509.54, Y:6.00, Z:3.38 [[ 9.99352078e-01 -3.29200201e-02 -1.45497984e-02 5.09538217e+02] [ 3.29203845e-02 9.99457954e-01 -2.14526993e-04 6.00420262e+00] [ 1.45489739e-02 -2.64596960e-04 9.99894123e-01 3.38441594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.99925415399997 meters 0.017859056748736397 Centerline is valid? [True, True] Translation: X:509.60, Y:6.00, Z:3.38 [[ 9.99309200e-01 -3.40589997e-02 -1.48696855e-02 5.09599290e+02] [ 3.40595191e-02 9.99419782e-01 -2.18383244e-04 6.00432641e+00] [ 1.48684957e-02 -2.88221950e-04 9.99889416e-01 3.38459524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.059254154 meters 0.018366511290976884 Centerline is valid? [True, True] Translation: X:509.66, Y:6.01, Z:3.39 [[ 9.99336419e-01 -3.31974234e-02 -1.49884172e-02 5.09660681e+02] [ 3.31978623e-02 9.99448775e-01 -2.19592905e-04 6.00910030e+00] [ 1.49874451e-02 -2.78136223e-04 9.99887643e-01 3.38523123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.119254154 meters 0.017798484688801713 Centerline is valid? [True, True] Translation: X:509.72, Y:6.01, Z:3.38 [[ 9.99391497e-01 -3.17381835e-02 -1.44679982e-02 5.09720976e+02] [ 3.17384504e-02 9.99496186e-01 -2.11213707e-04 6.00656387e+00] [ 1.44674126e-02 -2.48106663e-04 9.99895311e-01 3.38465079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.179254154 meters 0.01574163780419567 Centerline is valid? [True, True] Translation: X:509.78, Y:6.01, Z:3.39 [[ 9.99512114e-01 -2.76562050e-02 -1.45144485e-02 5.09781901e+02] [ 2.76560539e-02 9.99617476e-01 -2.11164862e-04 6.01296743e+00] [ 1.45147363e-02 -1.90350531e-04 9.99894638e-01 3.38641192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.239254154 meters 0.015003166368553906 Centerline is valid? [True, True] Translation: X:509.84, Y:6.02, Z:3.39 [[ 9.99627456e-01 -2.29746389e-02 -1.47348389e-02 5.09842160e+02] [ 2.29739782e-02 9.99736040e-01 -2.14126998e-04 6.01703853e+00] [ 1.47358690e-02 -1.24470643e-04 9.99891413e-01 3.38762947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.299254154 meters 0.014852540781303296 Centerline is valid? [True, True] Translation: X:509.90, Y:6.02, Z:3.39 [[ 9.99693633e-01 -1.98301707e-02 -1.48122987e-02 5.09901543e+02] [ 1.98291558e-02 9.99803360e-01 -2.15397743e-04 6.01854028e+00] [ 1.48136574e-02 -7.83836265e-05 9.99890269e-01 3.38748648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.359254154 meters 0.015285653372112093 Centerline is valid? [True, True] Translation: X:509.96, Y:6.02, Z:3.39 [[ 9.99735823e-01 -1.71683310e-02 -1.52817695e-02 5.09960395e+02] [ 1.71669045e-02 9.99852613e-01 -2.24528551e-04 6.02020668e+00] [ 1.52833720e-02 -3.78714427e-05 9.99883202e-01 3.38813176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.419254154 meters 0.014612016663835272 Centerline is valid? [True, True] Translation: X:510.02, Y:6.02, Z:3.39 [[ 9.99714381e-01 -1.77641685e-02 -1.59871813e-02 5.10018568e+02] [ 1.77626125e-02 9.99842204e-01 -2.39331878e-04 6.01995044e+00] [ 1.59889101e-02 -4.47105858e-05 9.99872168e-01 3.38880530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.479254154 meters 0.014975539812505757 Centerline is valid? [True, True] Translation: X:510.08, Y:6.02, Z:3.39 [[ 9.99625643e-01 -2.07522770e-02 -1.78302267e-02 5.10077803e+02] [ 2.07507280e-02 9.99784644e-01 -2.71902098e-04 6.01645401e+00] [ 1.78320294e-02 -9.81898749e-05 9.99840992e-01 3.38825499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.539254154 meters 0.015263243634819833 Centerline is valid? [True, True] Translation: X:510.14, Y:6.01, Z:3.39 [[ 9.99514816e-01 -2.50516142e-02 -1.85080590e-02 5.10136815e+02] [ 2.50505934e-02 9.99686143e-01 -2.87028422e-04 6.01176038e+00] [ 1.85094407e-02 -1.76748701e-04 9.99828670e-01 3.38852042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.599254154 meters 0.016365500399537228 Centerline is valid? [True, True] Translation: X:510.19, Y:6.01, Z:3.39 [[ 9.99428530e-01 -2.81074011e-02 -1.87773148e-02 5.10194491e+02] [ 2.81068366e-02 9.99604882e-01 -2.94023519e-04 6.00763948e+00] [ 1.87781598e-02 -2.33915424e-04 9.99823647e-01 3.38814171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.659254154 meters 0.016864808065782756 Centerline is valid? [True, True] Translation: X:510.25, Y:6.00, Z:3.39 [[ 9.99254810e-01 -3.34635899e-02 -1.92357276e-02 5.10253662e+02] [ 3.34639648e-02 9.99439879e-01 -3.02480330e-04 6.00187699e+00] [ 1.92350753e-02 -3.41448786e-04 9.99814931e-01 3.38967794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.719254154 meters 0.0188844340021059 Centerline is valid? [True, True] Translation: X:510.31, Y:5.99, Z:3.39 [[ 9.99044599e-01 -3.94882591e-02 -1.87234278e-02 5.10312605e+02] [ 3.94896656e-02 9.99219935e-01 -2.94741867e-04 5.99493294e+00] [ 1.87204612e-02 -4.44921633e-04 9.99824658e-01 3.39092891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.779254154 meters 0.021694981034207715 Centerline is valid? [True, True] Translation: X:510.37, Y:5.99, Z:3.39 [[ 9.98794713e-01 -4.58687971e-02 -1.74692416e-02 5.10372371e+02] [ 4.58709965e-02 9.98947334e-01 -2.74983960e-04 5.98690004e+00] [ 1.74634655e-02 -5.26678996e-04 9.99847363e-01 3.39225569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.839254154 meters 0.0230735731010126 Centerline is valid? [True, True] Translation: X:510.43, Y:5.98, Z:3.39 [[ 9.98601991e-01 -5.00062344e-02 -1.71300694e-02 5.10433980e+02] [ 5.00089634e-02 9.98748733e-01 -2.69283856e-04 5.98303335e+00] [ 1.71221010e-02 -5.87749620e-04 9.99853233e-01 3.39268749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.899254154 meters 0.026552828500869673 Centerline is valid? [True, True] Translation: X:510.49, Y:5.97, Z:3.39 [[ 9.98324098e-01 -5.50867430e-02 -1.77326424e-02 5.10494422e+02] [ 5.50904750e-02 9.98481328e-01 -2.78327230e-04 5.97494641e+00] [ 1.77210445e-02 -6.99038913e-04 9.99842726e-01 3.39190372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.959254154 meters 0.028196372147530457 Centerline is valid? [True, True] Translation: X:510.56, Y:5.97, Z:3.39 [[ 9.98226898e-01 -5.66833248e-02 -1.81675859e-02 5.10555381e+02] [ 5.66875118e-02 9.98391930e-01 -2.84846968e-04 5.97203552e+00] [ 1.81545172e-02 -7.45533335e-04 9.99834915e-01 3.39196318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.019254154 meters 0.028830323546314818 Centerline is valid? [True, True] Translation: X:510.62, Y:5.97, Z:3.39 [[ 9.98244020e-01 -5.64866874e-02 -1.78362239e-02 5.10616362e+02] [ 5.64907001e-02 9.98403086e-01 -2.79179187e-04 5.97102069e+00] [ 1.78235109e-02 -7.28891821e-04 9.99840883e-01 3.39292910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.079254154 meters 0.02875626129214925 Centerline is valid? [True, True] Translation: X:510.68, Y:5.97, Z:3.39 [[ 9.98326363e-01 -5.50258124e-02 -1.77941967e-02 5.10677570e+02] [ 5.50295847e-02 9.98484686e-01 -2.77945031e-04 5.97258523e+00] [ 1.77825270e-02 -7.01727401e-04 9.99841632e-01 3.39371746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.139254154 meters 0.027963768240002337 Centerline is valid? [True, True] Translation: X:510.74, Y:5.98, Z:3.39 [[ 9.98475321e-01 -5.20039184e-02 -1.85101362e-02 5.10738467e+02] [ 5.20074931e-02 9.98646653e-01 -2.88525414e-04 5.97584434e+00] [ 1.85000900e-02 -6.74580276e-04 9.99828631e-01 3.39295507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.199254154 meters 0.020522378183727846 Centerline is valid? [True, True] Translation: X:510.80, Y:5.99, Z:3.40 [[ 9.98590748e-01 -4.96197835e-02 -1.88253836e-02 5.10799538e+02] [ 4.96230704e-02 9.98767974e-01 -2.92772550e-04 5.98914125e+00] [ 1.88167175e-02 -6.41813375e-04 9.99822744e-01 3.39672849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.259254154 meters 0.02015633007797999 Centerline is valid? [True, True] Translation: X:510.86, Y:5.99, Z:3.40 [[ 9.98670489e-01 -4.78058636e-02 -1.92835028e-02 5.10861217e+02] [ 4.78089888e-02 9.98856452e-01 -2.99171564e-04 5.99240613e+00] [ 1.92757534e-02 -6.23150958e-04 9.99814011e-01 3.39774944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31925415399996 meters 0.026704110669193634 Centerline is valid? [True, True] Translation: X:510.92, Y:5.98, Z:3.39 [[ 9.98770249e-01 -4.60641850e-02 -1.83324785e-02 5.10921806e+02] [ 4.60667374e-02 9.98938324e-01 -2.83266483e-04 5.98259246e+00] [ 1.83260638e-02 -5.61599335e-04 9.99831906e-01 3.39468570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37925415399997 meters 0.019299408831404283 Centerline is valid? [True, True] Translation: X:510.98, Y:6.00, Z:3.40 [[ 9.98860690e-01 -4.41995626e-02 -1.79922497e-02 5.10983412e+02] [ 4.42017379e-02 9.99022587e-01 -2.76953470e-04 5.99647511e+00] [ 1.79869050e-02 -5.18650770e-04 9.99838088e-01 3.39981066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.43925415399997 meters 0.018467265509762916 Centerline is valid? [True, True] Translation: X:511.04, Y:6.00, Z:3.40 [[ 9.98977993e-01 -4.20077700e-02 -1.66828477e-02 5.11044519e+02] [ 4.20093457e-02 9.99117185e-01 -2.56135042e-04 5.99955559e+00] [ 1.66788795e-02 -4.44962245e-04 9.99860799e-01 3.40095278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.49925415399997 meters 0.01880030667962875 Centerline is valid? [True, True] Translation: X:511.11, Y:6.00, Z:3.40 [[ 9.98997798e-01 -4.14482216e-02 -1.68950814e-02 5.11105896e+02] [ 4.14497681e-02 9.99140556e-01 -2.58777392e-04 6.00056387e+00] [ 1.68912869e-02 -4.41779161e-04 9.99857234e-01 3.40128992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.559254154 meters 0.019051932002968435 Centerline is valid? [True, True] Translation: X:511.17, Y:6.00, Z:3.40 [[ 9.99004623e-01 -4.12119435e-02 -1.70686661e-02 5.11166800e+02] [ 4.12134980e-02 9.99150329e-01 -2.60822078e-04 6.00131785e+00] [ 1.70649124e-02 -4.42896978e-04 9.99854286e-01 3.40122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.619254154 meters 0.01831478169558155 Centerline is valid? [True, True] Translation: X:511.23, Y:6.00, Z:3.40 [[ 9.98976525e-01 -4.13278270e-02 -1.83824276e-02 5.11228175e+02] [ 4.13296623e-02 9.99145525e-01 -2.80210961e-04 6.00474370e+00] [ 1.83783008e-02 -4.79815352e-04 9.99830990e-01 3.40160594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.679254154 meters 0.018555347373320662 Centerline is valid? [True, True] Translation: X:511.29, Y:6.01, Z:3.40 [[ 9.98994424e-01 -4.04949915e-02 -1.92431061e-02 5.11288428e+02] [ 4.04968578e-02 9.99179623e-01 -2.92846207e-04 6.00524255e+00] [ 1.92391783e-02 -4.86733605e-04 9.99814791e-01 3.40131046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.739254154 meters 0.019881453867182278 Centerline is valid? [True, True] Translation: X:511.35, Y:6.01, Z:3.40 [[ 9.99139905e-01 -3.60914132e-02 -2.04171364e-02 5.11348043e+02] [ 3.60925930e-02 9.99348402e-01 -3.10826340e-04 6.00741223e+00] [ 2.04150507e-02 -4.26348392e-04 9.99791500e-01 3.39992970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.799254154 meters 0.01709057005635218 Centerline is valid? [True, True] Translation: X:511.41, Y:6.01, Z:3.40 [[ 9.99273077e-01 -3.31134513e-02 -1.88895796e-02 5.11407916e+02] [ 3.31139190e-02 9.99451542e-01 -2.88105981e-04 6.01185882e+00] [ 1.88887596e-02 -3.37611458e-04 9.99821534e-01 3.40287516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.859254154 meters 0.015570377163053265 Centerline is valid? [True, True] Translation: X:511.47, Y:6.02, Z:3.40 [[ 9.99462335e-01 -2.75933654e-02 -1.77101092e-02 5.11467800e+02] [ 2.75929025e-02 9.99619207e-01 -2.70537719e-04 6.01824569e+00] [ 1.77108303e-02 -2.18281057e-04 9.99843127e-01 3.40456271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.919254154 meters 0.015190755134409012 Centerline is valid? [True, True] Translation: X:511.53, Y:6.02, Z:3.40 [[ 9.99503249e-01 -2.59324207e-02 -1.79099361e-02 5.11526819e+02] [ 2.59316268e-02 9.99663681e-01 -2.76600328e-04 6.01885367e+00] [ 1.79110855e-02 -1.87970853e-04 9.99839566e-01 3.40424898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.979254154 meters 0.015178438848879676 Centerline is valid? [True, True] Translation: X:511.59, Y:6.02, Z:3.41 [[ 9.99497769e-01 -2.65107274e-02 -1.73606471e-02 5.11585446e+02] [ 2.65099911e-02 9.99648511e-01 -2.72585744e-04 6.01940127e+00] [ 1.73617715e-02 -1.87781756e-04 9.99849255e-01 3.40535434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.039254154 meters 0.01708348984067849 Centerline is valid? [True, True] Translation: X:511.64, Y:6.02, Z:3.40 [[ 9.99463680e-01 -2.69429100e-02 -1.86126581e-02 5.11644094e+02] [ 2.69420912e-02 9.99636953e-01 -2.94788498e-04 6.01865315e+00] [ 1.86138433e-02 -2.06833534e-04 9.99826726e-01 3.40446810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.099254154 meters 0.01540915228303933 Centerline is valid? [True, True] Translation: X:511.70, Y:6.02, Z:3.41 [[ 9.99439416e-01 -2.79464289e-02 -1.84350591e-02 5.11702493e+02] [ 2.79457338e-02 9.99609398e-01 -2.95369954e-04 6.01798619e+00] [ 1.84361129e-02 -2.19976881e-04 9.99830016e-01 3.40537380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.159254154 meters 0.015406831622021295 Centerline is valid? [True, True] Translation: X:511.76, Y:6.02, Z:3.41 [[ 9.99472113e-01 -2.74313238e-02 -1.74074187e-02 5.11761389e+02] [ 2.74305845e-02 9.99623671e-01 -2.81276557e-04 6.01642534e+00] [ 1.74085835e-02 -1.96367594e-04 9.99848440e-01 3.40563383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.219254154 meters 0.015193286547882778 Centerline is valid? [True, True] Translation: X:511.82, Y:6.02, Z:3.41 [[ 9.99529848e-01 -2.55497477e-02 -1.69497451e-02 5.11820404e+02] [ 2.55487253e-02 9.99673540e-01 -2.76886585e-04 6.01733221e+00] [ 1.69512860e-02 -1.56287974e-04 9.99856304e-01 3.40625032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.279254154 meters 0.014581644393720177 Centerline is valid? [True, True] Translation: X:511.88, Y:6.02, Z:3.41 [[ 9.99671589e-01 -1.97888371e-02 -1.62824036e-02 5.11879658e+02] [ 1.97870670e-02 9.99804180e-01 -2.69822487e-04 6.02098969e+00] [ 1.62845547e-02 -5.24471365e-05 9.99867396e-01 3.40704878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.339254154 meters 0.014531722766616208 Centerline is valid? [True, True] Translation: X:511.94, Y:6.02, Z:3.41 [[ 9.99796805e-01 -1.35270160e-02 -1.49455080e-02 5.11938129e+02] [ 1.35247725e-02 9.99908505e-01 -2.51174646e-04 6.02285410e+00] [ 1.49475382e-02 4.89890128e-05 9.99888278e-01 3.40809620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.399254154 meters 0.014829021826692528 Centerline is valid? [True, True] Translation: X:512.00, Y:6.02, Z:3.41 [[ 9.99850739e-01 -1.02190914e-02 -1.39308670e-02 5.11996464e+02] [ 1.02167733e-02 9.99947779e-01 -2.37561565e-04 6.02287204e+00] [ 1.39325672e-02 9.51975968e-05 9.99902933e-01 3.40892739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.459254154 meters 0.01501332578813433 Centerline is valid? [True, True] Translation: X:512.06, Y:6.02, Z:3.41 [[ 9.99871104e-01 -8.38435817e-03 -1.36922236e-02 5.12055337e+02] [ 8.38189890e-03 9.99964843e-01 -2.36987852e-04 6.02009323e+00] [ 1.36937292e-02 1.22190472e-04 9.99906229e-01 3.40823605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.519254154 meters 0.014743553803197943 Centerline is valid? [True, True] Translation: X:512.11, Y:6.02, Z:3.41 [[ 9.99852077e-01 -9.34926812e-03 -1.44366200e-02 5.12112815e+02] [ 9.34658618e-03 9.99956288e-01 -2.53233423e-04 6.01686884e+00] [ 1.44383565e-02 1.18262850e-04 9.99895755e-01 3.40732049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.579254154 meters 0.01470986127200452 Centerline is valid? [True, True] Translation: X:512.17, Y:6.01, Z:3.41 [[ 9.99801075e-01 -1.26503542e-02 -1.54201043e-02 5.12170539e+02] [ 1.26476530e-02 9.99919978e-01 -2.72686553e-04 6.00967992e+00] [ 1.54223199e-02 7.76041806e-05 9.99881066e-01 3.40560353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.639254154 meters 0.014565406120410709 Centerline is valid? [True, True] Translation: X:512.23, Y:6.01, Z:3.41 [[ 9.99763386e-01 -1.59419143e-02 -1.47995706e-02 5.12228666e+02] [ 1.59397679e-02 9.99872919e-01 -2.62982734e-04 6.00569060e+00] [ 1.48018823e-02 2.70187878e-05 9.99890446e-01 3.40648088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.699254154 meters 0.014573887509781436 Centerline is valid? [True, True] Translation: X:512.29, Y:6.00, Z:3.41 [[ 9.99666706e-01 -2.27554097e-02 -1.21929212e-02 5.12287559e+02] [ 2.27544491e-02 9.99741060e-01 -2.17517881e-04 5.99619942e+00] [ 1.21947137e-02 -5.99978220e-05 9.99925640e-01 3.40925398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.759254154 meters 0.01537050333499343 Centerline is valid? [True, True] Translation: X:512.35, Y:5.99, Z:3.41 [[ 9.99524274e-01 -2.89160085e-02 -1.07279974e-02 5.12346108e+02] [ 2.89156131e-02 9.99581838e-01 -1.91991100e-04 5.98829836e+00] [ 1.07290629e-02 -1.18306856e-04 9.99942435e-01 3.41071555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81925415399996 meters 0.0179435532269623 Centerline is valid? [True, True] Translation: X:512.41, Y:5.98, Z:3.41 [[ 9.99253686e-01 -3.76125591e-02 -8.79581695e-03 5.12406866e+02] [ 3.76126276e-02 9.99292382e-01 -1.57690522e-04 5.97582937e+00] [ 8.79552401e-03 -1.73260952e-04 9.99961304e-01 3.41264744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87925415399997 meters 0.01726934028082789 Centerline is valid? [True, True] Translation: X:512.47, Y:5.97, Z:3.41 [[ 9.99038715e-01 -4.29436576e-02 -8.80274610e-03 5.12467854e+02] [ 4.29439333e-02 9.99077471e-01 -1.57775677e-04 5.97412246e+00] [ 8.80140078e-03 -2.20400532e-04 9.99961243e-01 3.41344030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.93925415399997 meters 0.02180142083999595 Centerline is valid? [True, True] Translation: X:512.53, Y:5.96, Z:3.41 [[ 9.98712889e-01 -4.98487068e-02 -9.36331697e-03 5.12527840e+02] [ 4.98493232e-02 9.98756736e-01 -1.67689770e-04 5.96015130e+00] [ 9.36003501e-03 -2.99281079e-04 9.99956149e-01 3.41178325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.99925415399997 meters 0.020700077373951745 Centerline is valid? [True, True] Translation: X:512.59, Y:5.96, Z:3.41 [[ 9.98498538e-01 -5.37884679e-02 -1.03668369e-02 5.12588839e+02] [ 5.37894363e-02 9.98552283e-01 -1.85594655e-04 5.95902984e+00] [ 1.03618115e-02 -3.72310322e-04 9.99946246e-01 3.41238799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.059254154 meters 0.021318251061529347 Centerline is valid? [True, True] Translation: X:512.65, Y:5.96, Z:3.41 [[ 9.98383168e-01 -5.57842698e-02 -1.09162450e-02 5.12651061e+02] [ 5.57854674e-02 9.98442759e-01 -1.94989606e-04 5.95587703e+00] [ 1.09101231e-02 -4.14293489e-04 9.99940397e-01 3.41286855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.119254154 meters 0.021164173503148344 Centerline is valid? [True, True] Translation: X:512.71, Y:5.96, Z:3.41 [[ 9.98612483e-01 -5.15082259e-02 -1.09549314e-02 5.12711456e+02] [ 5.15091814e-02 9.98672502e-01 -1.95105086e-04 5.95575007e+00] [ 1.09504382e-02 -3.69445173e-04 9.99939974e-01 3.41341806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.179254154 meters 0.018557335557937274 Centerline is valid? [True, True] Translation: X:512.77, Y:5.96, Z:3.41 [[ 9.98860218e-01 -4.62643842e-02 -1.17418904e-02 5.12772068e+02] [ 4.62651224e-02 9.98929174e-01 -2.08896920e-04 5.96136719e+00] [ 1.17389814e-02 -3.34581176e-04 9.99931040e-01 3.41401977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.239254154 meters 0.016338442788425986 Centerline is valid? [True, True] Translation: X:512.83, Y:5.97, Z:3.41 [[ 9.99193202e-01 -3.77786590e-02 -1.36278336e-02 5.12833239e+02] [ 3.77788681e-02 9.99286094e-01 -2.42181604e-04 5.96814986e+00] [ 1.36272539e-02 -2.72857915e-04 9.99907107e-01 3.41392771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.299254154 meters 0.015482905298028935 Centerline is valid? [True, True] Translation: X:512.89, Y:5.97, Z:3.41 [[ 9.99347152e-01 -3.34340096e-02 -1.36907835e-02 5.12893553e+02] [ 3.34338147e-02 9.99440904e-01 -2.43177550e-04 5.97206060e+00] [ 1.36912595e-02 -2.14716329e-04 9.99906247e-01 3.41491144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.359254154 meters 0.015458464073887922 Centerline is valid? [True, True] Translation: X:512.95, Y:5.97, Z:3.42 [[ 9.99425979e-01 -3.11215176e-02 -1.33852228e-02 5.12953290e+02] [ 3.11211247e-02 9.99515592e-01 -2.37693511e-04 5.97341534e+00] [ 1.33861363e-02 -1.79006118e-04 9.99910386e-01 3.41556035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.419254154 meters 0.01686416268443787 Centerline is valid? [True, True] Translation: X:513.01, Y:5.97, Z:3.42 [[ 9.99456616e-01 -3.01891638e-02 -1.32320515e-02 5.13012770e+02] [ 3.01886958e-02 9.99544190e-01 -2.35148939e-04 5.97356143e+00] [ 1.32331191e-02 -1.64437215e-04 9.99912425e-01 3.41544819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.479254154 meters 0.016314258039908124 Centerline is valid? [True, True] Translation: X:513.07, Y:5.97, Z:3.42 [[ 9.99443706e-01 -3.08468039e-02 -1.26788705e-02 5.13071043e+02] [ 3.08464190e-02 9.99524110e-01 -2.25956910e-04 5.97208997e+00] [ 1.26798068e-02 -1.65266541e-04 9.99919594e-01 3.41644910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.539254154 meters 0.01578724963536579 Centerline is valid? [True, True] Translation: X:513.13, Y:5.97, Z:3.42 [[ 9.99400362e-01 -3.19860620e-02 -1.32592921e-02 5.13130924e+02] [ 3.19857319e-02 9.99488297e-01 -2.37007656e-04 5.97023391e+00] [ 1.32600882e-02 -1.87242626e-04 9.99912064e-01 3.41744275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.599254154 meters 0.01584400361413831 Centerline is valid? [True, True] Translation: X:513.19, Y:5.97, Z:3.42 [[ 9.99396475e-01 -3.17361804e-02 -1.41244876e-02 5.13190458e+02] [ 3.17357739e-02 9.99496261e-01 -2.52968363e-04 5.96960217e+00] [ 1.41254008e-02 -1.95435854e-04 9.99900212e-01 3.41692018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.659254154 meters 0.016749556283110985 Centerline is valid? [True, True] Translation: X:513.25, Y:5.97, Z:3.42 [[ 9.99435066e-01 -2.97944797e-02 -1.55511371e-02 5.13249915e+02] [ 2.97937432e-02 9.99556029e-01 -2.79084929e-04 5.96990140e+00] [ 1.55525481e-02 -1.84399321e-04 9.99879035e-01 3.41644825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.719254154 meters 0.014475764427107629 Centerline is valid? [True, True] Translation: X:513.31, Y:5.97, Z:3.42 [[ 9.99535374e-01 -2.70060188e-02 -1.41319132e-02 5.13308504e+02] [ 2.70051028e-02 9.99635263e-01 -2.55674257e-04 5.96992010e+00] [ 1.41336635e-02 -1.26078305e-04 9.99900107e-01 3.41958437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.779254154 meters 0.014286321735968468 Centerline is valid? [True, True] Translation: X:513.37, Y:5.97, Z:3.42 [[ 9.99606863e-01 -2.42248710e-02 -1.41165183e-02 5.13366430e+02] [ 2.42236471e-02 9.99706531e-01 -2.57702884e-04 5.97128600e+00] [ 1.41186183e-02 -8.43519858e-05 9.99900324e-01 3.42085779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.839254154 meters 0.016180500476744377 Centerline is valid? [True, True] Translation: X:513.42, Y:5.97, Z:3.42 [[ 9.99695761e-01 -1.88171055e-02 -1.59468330e-02 5.13424866e+02] [ 1.88148074e-02 9.99822943e-01 -2.94138964e-04 5.97272526e+00] [ 1.59495443e-02 -5.98711584e-06 9.99872798e-01 3.42029531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.899254154 meters 0.014089632266800227 Centerline is valid? [True, True] Translation: X:513.48, Y:5.97, Z:3.42 [[ 9.99757393e-01 -1.53366487e-02 -1.58095786e-02 5.13482543e+02] [ 1.53338859e-02 9.99882385e-01 -2.95961898e-04 5.97391177e+00] [ 1.58122582e-02 5.34678211e-05 9.99874977e-01 3.42201434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.959254154 meters 0.014399607104532005 Centerline is valid? [True, True] Translation: X:513.54, Y:5.97, Z:3.42 [[ 9.99803053e-01 -1.09401372e-02 -1.65580636e-02 5.13541508e+02] [ 1.09364289e-02 9.99940146e-01 -3.14492381e-04 5.97360626e+00] [ 1.65605131e-02 1.33344357e-04 9.99862856e-01 3.42290735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.019254154 meters 0.014312464347509416 Centerline is valid? [True, True] Translation: X:513.60, Y:5.97, Z:3.42 [[ 9.99782378e-01 -1.12064552e-02 -1.75958159e-02 5.13600220e+02] [ 1.12022299e-02 9.99937196e-01 -3.38678727e-04 5.97084696e+00] [ 1.75985062e-02 1.41492649e-04 9.99845124e-01 3.42346644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.079254154 meters 0.013837240965127909 Centerline is valid? [True, True] Translation: X:513.66, Y:5.97, Z:3.42 [[ 9.99731133e-01 -1.44102673e-02 -1.81660462e-02 5.13659160e+02] [ 1.44062095e-02 9.99896162e-01 -3.54223717e-04 5.96622294e+00] [ 1.81692644e-02 9.24246102e-05 9.99834921e-01 3.42408994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.139254154 meters 0.013661649302331116 Centerline is valid? [True, True] Translation: X:513.72, Y:5.96, Z:3.42 [[ 9.99629146e-01 -2.08914632e-02 -1.74676264e-02 5.13717110e+02] [ 2.08886562e-02 9.99781749e-01 -3.43155536e-04 5.95719987e+00] [ 1.74709831e-02 -2.18469681e-05 9.99847370e-01 3.42355266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.199254154 meters 0.01373205074053263 Centerline is valid? [True, True] Translation: X:513.78, Y:5.95, Z:3.43 [[ 9.99528019e-01 -2.56726368e-02 -1.68717120e-02 5.13775959e+02] [ 2.56706458e-02 9.99670399e-01 -3.34602955e-04 5.95231446e+00] [ 1.68747412e-02 -9.86627139e-05 9.99857607e-01 3.42551667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.259254154 meters 0.016428427652184257 Centerline is valid? [True, True] Translation: X:513.83, Y:5.94, Z:3.43 [[ 9.99309732e-01 -3.30812401e-02 -1.69023883e-02 5.13834654e+02] [ 3.30802595e-02 9.99452641e-01 -3.37676014e-04 5.94376732e+00] [ 1.69043074e-02 -2.21692466e-04 9.99857087e-01 3.42560334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31925415399996 meters 0.015745374686318526 Centerline is valid? [True, True] Translation: X:513.89, Y:5.94, Z:3.43 [[ 9.99116814e-01 -3.90870971e-02 -1.54204690e-02 5.13893809e+02] [ 3.90869545e-02 9.99235765e-01 -3.10748376e-04 5.93818198e+00] [ 1.54208304e-02 -2.92265242e-04 9.99881049e-01 3.42840713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37925415399997 meters 0.021245787772860583 Centerline is valid? [True, True] Translation: X:513.95, Y:5.93, Z:3.43 [[ 9.98662425e-01 -4.90864515e-02 -1.62444363e-02 5.13953782e+02] [ 4.90875827e-02 9.98794424e-01 -3.29328429e-04 5.92955404e+00] [ 1.62410180e-02 -4.68512182e-04 9.99867996e-01 3.42685320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.43925415399997 meters 0.02204618765822183 Centerline is valid? [True, True] Translation: X:514.01, Y:5.92, Z:3.43 [[ 9.97926659e-01 -6.23955143e-02 -1.57855632e-02 5.14014570e+02] [ 6.23982424e-02 9.98051280e-01 -3.20125233e-04 5.92121969e+00] [ 1.57747759e-02 -6.65529894e-04 9.99875349e-01 3.42932110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.49925415399997 meters 0.025688865697643618 Centerline is valid? [True, True] Translation: X:514.08, Y:5.92, Z:3.43 [[ 9.97278667e-01 -7.19193623e-02 -1.62131065e-02 5.14075234e+02] [ 7.19234935e-02 9.97410098e-01 -3.28893884e-04 5.91503712e+00] [ 1.61947700e-02 -8.38104405e-04 9.99868505e-01 3.42939630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.559254154 meters 0.029349796737275415 Centerline is valid? [True, True] Translation: X:514.14, Y:5.91, Z:3.43 [[ 9.96332592e-01 -8.40840147e-02 -1.58506666e-02 5.14135466e+02] [ 8.40894923e-02 9.96458155e-01 -3.21768687e-04 5.91189309e+00] [ 1.58215816e-02 -1.01228588e-03 9.99874319e-01 3.43084693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.619254154 meters 0.036647510792869195 Centerline is valid? [True, True] Translation: X:514.19, Y:5.91, Z:3.43 [[ 9.95783868e-01 -9.03102895e-02 -1.60791886e-02 5.14194850e+02] [ 9.03167335e-02 9.95913039e-01 -3.26422830e-04 5.90785771e+00] [ 1.60429529e-02 -1.12717320e-03 9.99870668e-01 3.42981655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.679254154 meters 0.03342916261287521 Centerline is valid? [True, True] Translation: X:514.25, Y:5.92, Z:3.43 [[ 9.95770054e-01 -9.05306211e-02 -1.56909789e-02 5.14254541e+02] [ 9.05367807e-02 9.95893061e-01 -3.18808869e-04 5.91694256e+00] [ 1.56553989e-02 -1.10315039e-03 9.99876838e-01 3.43171794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.739254154 meters 0.03216416311812806 Centerline is valid? [True, True] Translation: X:514.31, Y:5.93, Z:3.43 [[ 9.96144820e-01 -8.63307759e-02 -1.55722608e-02 5.14314443e+02] [ 8.63363273e-02 9.96265998e-01 -3.16673013e-04 5.92846025e+00] [ 1.55414526e-02 -1.02899963e-03 9.99878695e-01 3.43208147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.799254154 meters 0.03003475769442714 Centerline is valid? [True, True] Translation: X:514.37, Y:5.94, Z:3.43 [[ 9.96522454e-01 -8.20021206e-02 -1.47868280e-02 5.14374771e+02] [ 8.20066506e-02 9.96631737e-01 -3.00745203e-04 5.93850960e+00] [ 1.47616839e-02 -9.12918893e-04 9.99890624e-01 3.43328769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.859254154 meters 0.02883048742198545 Centerline is valid? [True, True] Translation: X:514.43, Y:5.95, Z:3.43 [[ 9.97017356e-01 -7.56562181e-02 -1.52488946e-02 5.14434546e+02] [ 7.56602953e-02 9.97133604e-01 -3.10173866e-04 5.95086554e+00] [ 1.52286518e-02 -8.44487143e-04 9.99883681e-01 3.43276692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.919254154 meters 0.02751841441821653 Centerline is valid? [True, True] Translation: X:514.50, Y:5.96, Z:3.43 [[ 9.97239820e-01 -7.24671582e-02 -1.61633294e-02 5.14495379e+02] [ 7.24713241e-02 9.97370442e-01 -3.28610110e-04 5.96055148e+00] [ 1.61446404e-02 -8.43674793e-04 9.99869311e-01 3.43302332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.979254154 meters 0.026846669440277564 Centerline is valid? [True, True] Translation: X:514.56, Y:5.97, Z:3.43 [[ 9.97454364e-01 -6.92675437e-02 -1.69351544e-02 5.14555634e+02] [ 6.92716592e-02 9.97597774e-01 -3.44173687e-04 5.97380502e+00] [ 1.69183124e-02 -8.29828696e-04 9.99856531e-01 3.43198813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.039254154 meters 0.02603295697777801 Centerline is valid? [True, True] Translation: X:514.62, Y:5.98, Z:3.43 [[ 9.97465128e-01 -6.93047090e-02 -1.61299625e-02 5.14616894e+02] [ 6.93084528e-02 9.97595224e-01 -3.27465678e-04 5.97977930e+00] [ 1.61138685e-02 -7.91307149e-04 9.99869850e-01 3.43371443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.099254154 meters 0.028794318979546027 Centerline is valid? [True, True] Translation: X:514.68, Y:5.99, Z:3.43 [[ 9.97402105e-01 -7.00588284e-02 -1.67571421e-02 5.14677954e+02] [ 7.00629856e-02 9.97542512e-01 -3.39579456e-04 5.98767586e+00] [ 1.67397521e-02 -8.35358140e-04 9.99859532e-01 3.43249763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.159254154 meters 0.02633127259967488 Centerline is valid? [True, True] Translation: X:514.74, Y:6.00, Z:3.44 [[ 9.97319346e-01 -7.15811247e-02 -1.51745012e-02 5.14739292e+02] [ 7.15847173e-02 9.97434476e-01 -3.06974136e-04 5.99536588e+00] [ 1.51575442e-02 -7.80111135e-04 9.99884814e-01 3.43555567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.219254154 meters 0.02835710838614997 Centerline is valid? [True, True] Translation: X:514.80, Y:6.00, Z:3.44 [[ 9.97122676e-01 -7.41399649e-02 -1.57998306e-02 5.14799549e+02] [ 7.41441868e-02 9.97247481e-01 -3.19200618e-04 6.00091093e+00] [ 1.57800068e-02 -8.53183418e-04 9.99875124e-01 3.43602411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.279254154 meters 0.0326274487938078 Centerline is valid? [True, True] Translation: X:514.86, Y:6.00, Z:3.44 [[ 9.96711437e-01 -7.95957214e-02 -1.51931446e-02 5.14859396e+02] [ 7.96002599e-02 9.96826818e-01 -3.06734719e-04 6.00288101e+00] [ 1.51693488e-02 -9.03652256e-04 9.99884530e-01 3.43694456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.339254154 meters 0.03287104798564633 Centerline is valid? [True, True] Translation: X:514.92, Y:6.01, Z:3.44 [[ 9.96551344e-01 -8.16754686e-02 -1.46470512e-02 5.14920622e+02] [ 8.16799155e-02 9.96658570e-01 -2.95355099e-04 6.00591146e+00] [ 1.46222324e-02 -9.02033383e-04 9.99892683e-01 3.43778825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.399254154 meters 0.03662070935103403 Centerline is valid? [True, True] Translation: X:514.98, Y:6.01, Z:3.44 [[ 9.96063234e-01 -8.74317380e-02 -1.46193642e-02 5.14981611e+02] [ 8.74367919e-02 9.96170026e-01 -2.94335230e-04 6.00881873e+00] [ 1.45891066e-02 -9.85093802e-04 9.99893088e-01 3.43856781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.459254154 meters 0.038917833085709154 Centerline is valid? [True, True] Translation: X:515.04, Y:6.01, Z:3.44 [[ 9.95890779e-01 -8.92977416e-02 -1.50821282e-02 5.15042913e+02] [ 8.93033409e-02 9.96004428e-01 -3.03164916e-04 6.01139771e+00] [ 1.50489384e-02 -1.04496529e-03 9.99886212e-01 3.43844335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.519254154 meters 0.0405469782853743 Centerline is valid? [True, True] Translation: X:515.10, Y:6.02, Z:3.44 [[ 9.95888785e-01 -8.91362076e-02 -1.61326915e-02 5.15103856e+02] [ 8.91426145e-02 9.96018820e-01 -3.22963110e-04 6.01686709e+00] [ 1.60972521e-02 -1.11647496e-03 9.99869808e-01 3.43782916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.579254154 meters 0.033031581361776446 Centerline is valid? [True, True] Translation: X:515.17, Y:6.04, Z:3.44 [[ 9.96020435e-01 -8.75333465e-02 -1.67692280e-02 5.15165294e+02] [ 8.75400656e-02 9.96160943e-01 -3.34354899e-04 6.03530548e+00] [ 1.67341172e-02 -1.13495500e-03 9.99859331e-01 3.43948992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.639254154 meters 0.03373968599136326 Centerline is valid? [True, True] Translation: X:515.23, Y:6.04, Z:3.44 [[ 9.96181693e-01 -8.55493903e-02 -1.74165753e-02 5.15225543e+02] [ 8.55563635e-02 9.96333272e-01 -3.45701713e-04 6.04018599e+00] [ 1.73822881e-02 -1.14571713e-03 9.99848260e-01 3.43956484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.699254154 meters 0.0322636519613103 Centerline is valid? [True, True] Translation: X:515.29, Y:6.05, Z:3.44 [[ 9.96552761e-01 -8.11644474e-02 -1.71734380e-02 5.15285657e+02] [ 8.11705915e-02 9.96700165e-01 -3.40124071e-04 6.04945163e+00] [ 1.71443745e-02 -1.05502654e-03 9.99852468e-01 3.44061780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.759254154 meters 0.031209439346366098 Centerline is valid? [True, True] Translation: X:515.35, Y:6.06, Z:3.44 [[ 9.96864002e-01 -7.73132836e-02 -1.68765169e-02 5.15346482e+02] [ 7.73186703e-02 9.97006375e-01 -3.34044689e-04 6.05620855e+00] [ 1.68518210e-02 -9.71872722e-04 9.99857526e-01 3.44107569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81925415399996 meters 0.025429367814833535 Centerline is valid? [True, True] Translation: X:515.41, Y:6.07, Z:3.44 [[ 9.97361438e-01 -7.05017963e-02 -1.73106749e-02 5.15407243e+02] [ 7.05064458e-02 9.97511265e-01 -3.42323762e-04 6.07209747e+00] [ 1.72917276e-02 -8.79093639e-04 9.99850100e-01 3.44214514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87925415399997 meters 0.025196683059228925 Centerline is valid? [True, True] Translation: X:515.47, Y:6.08, Z:3.44 [[ 9.97750893e-01 -6.45592258e-02 -1.80350257e-02 5.15466257e+02] [ 6.45633030e-02 9.97913550e-01 -3.56691701e-04 6.07737598e+00] [ 1.80204242e-02 -8.08511365e-04 9.99837292e-01 3.44152614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.93925415399997 meters 0.020753760762833688 Centerline is valid? [True, True] Translation: X:515.53, Y:6.09, Z:3.44 [[ 9.98356719e-01 -5.41187955e-02 -1.88418964e-02 5.15526832e+02] [ 5.41213889e-02 9.98534294e-01 -3.72630956e-04 6.09102914e+00] [ 1.88344460e-02 -6.47730982e-04 9.99822406e-01 3.44286116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.99925415399997 meters 0.019427218059014276 Centerline is valid? [True, True] Translation: X:515.59, Y:6.10, Z:3.44 [[ 9.98694346e-01 -4.73081853e-02 -1.92753510e-02 5.15586694e+02] [ 4.73096332e-02 9.98880200e-01 -3.81133087e-04 6.09826711e+00] [ 1.92717971e-02 -5.31274324e-04 9.99814141e-01 3.44352100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters 0.016862790378379972 Centerline is valid? [True, True] Translation: X:515.65, Y:6.11, Z:3.45 [[ 9.99053047e-01 -3.90424594e-02 -1.92014449e-02 5.15647498e+02] [ 3.90423743e-02 9.99237484e-01 -3.79444802e-04 6.10895189e+00] [ 1.92016180e-02 -3.70584513e-04 9.99815563e-01 3.44536384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.119254154 meters 0.018005364172411345 Centerline is valid? [True, True] Translation: X:515.71, Y:6.11, Z:3.44 [[ 9.99190864e-01 -3.51340921e-02 -1.95758238e-02 5.15708057e+02] [ 3.51332607e-02 9.99382562e-01 -3.86489153e-04 6.11190104e+00] [ 1.95773159e-02 -3.01586091e-04 9.99808301e-01 3.44379505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters 0.016149720197436542 Centerline is valid? [True, True] Translation: X:515.77, Y:6.11, Z:3.45 [[ 9.99186688e-01 -3.57069500e-02 -1.87343693e-02 5.15768942e+02] [ 3.57062913e-02 9.99362259e-01 -3.69761583e-04 6.11493598e+00] [ 1.87356247e-02 -2.99473997e-04 9.99824428e-01 3.44614312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.239254154 meters 0.017531035797157167 Centerline is valid? [True, True] Translation: X:515.83, Y:6.11, Z:3.45 [[ 9.98951893e-01 -4.15697900e-02 -1.91590007e-02 5.15829064e+02] [ 4.15701963e-02 9.99135515e-01 -3.77221998e-04 6.11004519e+00] [ 1.91581191e-02 -4.19616792e-04 9.99816378e-01 3.44656429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters 0.019282980985171273 Centerline is valid? [True, True] Translation: X:515.89, Y:6.11, Z:3.45 [[ 9.98665800e-01 -4.81655056e-02 -1.86200071e-02 5.15890119e+02] [ 4.81670477e-02 9.98839227e-01 -3.65904491e-04 6.10701269e+00] [ 1.86160174e-02 -5.31454467e-04 9.99826566e-01 3.44811503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.359254154 meters 0.023711971051798977 Centerline is valid? [True, True] Translation: X:515.95, Y:6.09, Z:3.45 [[ 9.98048216e-01 -5.98672414e-02 -1.77671663e-02 5.15950320e+02] [ 5.98705059e-02 9.98206091e-01 -3.48588464e-04 6.09442242e+00] [ 1.77561627e-02 -7.15821141e-04 9.99842091e-01 3.44818034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters 0.024193393017168507 Centerline is valid? [True, True] Translation: X:516.01, Y:6.09, Z:3.45 [[ 9.97615509e-01 -6.66409014e-02 -1.79523582e-02 5.16010609e+02] [ 6.66453339e-02 9.97776666e-01 -3.51919392e-04 6.09206413e+00] [ 1.79358964e-02 -8.45360663e-04 9.99838781e-01 3.44816824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.479254154 meters 0.02728658135771452 Centerline is valid? [True, True] Translation: X:516.07, Y:6.08, Z:3.45 [[ 9.97093745e-01 -7.38820743e-02 -1.85877308e-02 5.16071866e+02] [ 7.38880880e-02 9.97266473e-01 -3.63968745e-04 6.08486651e+00] [ 1.85638115e-02 -1.01050093e-03 9.99827167e-01 3.44758886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.539254154 meters 0.027667827718708366 Centerline is valid? [True, True] Translation: X:516.13, Y:6.08, Z:3.45 [[ 9.96883576e-01 -7.66944620e-02 -1.84687812e-02 5.16133351e+02] [ 7.67008921e-02 9.97054082e-01 -3.60980992e-04 6.08430899e+00] [ 1.84420589e-02 -1.05671597e-03 9.99829372e-01 3.44820749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters 0.03228170061933381 Centerline is valid? [True, True] Translation: X:516.19, Y:6.08, Z:3.45 [[ 9.96671442e-01 -7.96272230e-02 -1.74797430e-02 5.16193361e+02] [ 7.96334520e-02 9.96824156e-01 -3.40501054e-04 6.07619106e+00] [ 1.74513432e-02 -1.05260460e-03 9.99847160e-01 3.44887545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.659254154 meters 0.034221611328967456 Centerline is valid? [True, True] Translation: X:516.25, Y:6.07, Z:3.45 [[ 9.96429436e-01 -8.24548406e-02 -1.81543084e-02 5.16254338e+02] [ 8.24620415e-02 9.96594144e-01 -3.52849777e-04 6.07311881e+00] [ 1.81215716e-02 -1.14545143e-03 9.99835135e-01 3.44848446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters 0.03681346822443715 Centerline is valid? [True, True] Translation: X:516.31, Y:6.07, Z:3.45 [[ 9.96240993e-01 -8.45129302e-02 -1.90118196e-02 5.16314542e+02] [ 8.45212032e-02 9.96421612e-01 -3.69391789e-04 6.07033579e+00] [ 1.89750063e-02 -1.23889862e-03 9.99819191e-01 3.44794478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.779254154 meters 0.03581099830259047 Centerline is valid? [True, True] Translation: X:516.38, Y:6.07, Z:3.45 [[ 9.95978839e-01 -8.69000099e-02 -2.17839496e-02 5.16375745e+02] [ 8.69114533e-02 9.96215951e-01 -4.22676734e-04 6.07226718e+00] [ 2.17382487e-02 -1.47229764e-03 9.99762612e-01 3.44728632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters 0.03735266070741611 Centerline is valid? [True, True] Translation: X:516.44, Y:6.07, Z:3.45 [[ 9.95898550e-01 -8.75563745e-02 -2.28026201e-02 5.16438221e+02] [ 8.75691171e-02 9.96158348e-01 -4.41031845e-04 6.07217058e+00] [ 2.27536355e-02 -1.55758233e-03 9.99739889e-01 3.44692242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.899254154 meters 0.037230707832748254 Centerline is valid? [True, True] Translation: X:516.50, Y:6.08, Z:3.45 [[ 9.95992016e-01 -8.65018334e-02 -2.27450555e-02 5.16499894e+02] [ 8.65142681e-02 9.96250515e-01 -4.38594483e-04 6.07576883e+00] [ 2.26977125e-02 -1.53093523e-03 9.99741202e-01 3.44792572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters 0.031181361211260937 Centerline is valid? [True, True] Translation: X:516.56, Y:6.09, Z:3.45 [[ 9.96347350e-01 -8.27290471e-02 -2.11627775e-02 5.16560334e+02] [ 8.27389722e-02 9.96571170e-01 -4.07673590e-04 6.08888586e+00] [ 2.11239404e-02 -1.34480196e-03 9.99775960e-01 3.45154958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.019254154 meters 0.02835102241458446 Centerline is valid? [True, True] Translation: X:516.62, Y:6.10, Z:3.45 [[ 9.96651497e-01 -7.93756737e-02 -1.96289511e-02 5.16621131e+02] [ 7.93835692e-02 9.96844073e-01 -3.77848853e-04 6.09684211e+00] [ 1.95969956e-02 -1.18163257e-03 9.99807262e-01 3.45398678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters 0.028382135093010137 Centerline is valid? [True, True] Translation: X:516.68, Y:6.10, Z:3.46 [[ 9.96892768e-01 -7.67297960e-02 -1.78142473e-02 5.16681620e+02] [ 7.67358796e-02 9.97051397e-01 -3.42801828e-04 6.10004494e+00] [ 1.77880233e-02 -1.02525528e-03 9.99841255e-01 3.45502959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.139254154 meters 0.027586032652502902 Centerline is valid? [True, True] Translation: X:516.74, Y:6.11, Z:3.46 [[ 9.97105668e-01 -7.38598106e-02 -1.80282019e-02 5.16743074e+02] [ 7.38655849e-02 9.97268146e-01 -3.46290190e-04 6.10535675e+00] [ 1.80045285e-02 -9.86375771e-04 9.99837419e-01 3.45546311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters 0.030396915989906032 Centerline is valid? [True, True] Translation: X:516.80, Y:6.10, Z:3.45 [[ 9.97153217e-01 -7.28232556e-02 -1.95508523e-02 5.16804287e+02] [ 7.28298700e-02 9.97344309e-01 -3.74430379e-04 6.10499645e+00] [ 1.95261985e-02 -1.05052157e-03 9.99808794e-01 3.45383428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.259254154 meters 0.029741547392816946 Centerline is valid? [True, True] Translation: X:516.87, Y:6.11, Z:3.45 [[ 9.97270047e-01 -7.08875422e-02 -2.06738736e-02 5.16865734e+02] [ 7.08945420e-02 9.97483738e-01 -3.95058210e-04 6.10877369e+00] [ 2.06498575e-02 -1.07168508e-03 9.99786195e-01 3.45372517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters 0.023864112212762727 Centerline is valid? [True, True] Translation: X:516.93, Y:6.12, Z:3.46 [[ 9.97688007e-01 -6.47281254e-02 -2.07101736e-02 5.16925829e+02] [ 6.47338308e-02 9.97902488e-01 -3.95491482e-04 6.12163382e+00] [ 2.06923332e-02 -9.46071769e-04 9.99785443e-01 3.45612859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.379254154 meters 0.021923472604508148 Centerline is valid? [True, True] Translation: X:516.99, Y:6.13, Z:3.46 [[ 9.98116085e-01 -5.77324357e-02 -2.07664904e-02 5.16986560e+02] [ 5.77366611e-02 9.98331769e-01 -3.96528074e-04 6.12873156e+00] [ 2.07547396e-02 -8.03206768e-04 9.99784275e-01 3.45762033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters 0.018480671162884092 Centerline is valid? [True, True] Translation: X:517.05, Y:6.14, Z:3.46 [[ 9.98771275e-01 -4.51491467e-02 -2.04327070e-02 5.17045737e+02] [ 4.51506003e-02 9.98980115e-01 -3.90407868e-04 6.13946151e+00] [ 2.04294946e-02 -5.32620822e-04 9.99791154e-01 3.45855642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.499254154 meters 0.01679121571118818 Centerline is valid? [True, True] Translation: X:517.11, Y:6.15, Z:3.46 [[ 9.99099551e-01 -3.74127658e-02 -2.00093192e-02 5.17106191e+02] [ 3.74126062e-02 9.99299830e-01 -3.82445612e-04 6.14544730e+00] [ 2.00096176e-02 -3.66499541e-04 9.99799720e-01 3.45888646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters 0.01506826773194246 Centerline is valid? [True, True] Translation: X:517.17, Y:6.15, Z:3.46 [[ 9.99363047e-01 -2.96397835e-02 -1.98741912e-02 5.17166325e+02] [ 2.96380891e-02 9.99560623e-01 -3.79862860e-04 6.15086292e+00] [ 1.98767180e-02 -2.09412143e-04 9.99802417e-01 3.46047131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.619254154 meters 0.01639715421540739 Centerline is valid? [True, True] Translation: X:517.23, Y:6.15, Z:3.46 [[ 9.99415619e-01 -2.74994018e-02 -2.03028019e-02 5.17225804e+02] [ 2.74971819e-02 9.99621806e-01 -3.88546898e-04 6.15085767e+00] [ 2.03058083e-02 -1.69950000e-04 9.99793801e-01 3.45991619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters 0.015121598279644863 Centerline is valid? [True, True] Translation: X:517.29, Y:6.15, Z:3.46 [[ 9.99456261e-01 -2.64440633e-02 -1.96950073e-02 5.17285004e+02] [ 2.64416989e-02 9.99650285e-01 -3.80500114e-04 6.14857832e+00] [ 1.96981817e-02 -1.40476232e-04 9.99805962e-01 3.46124905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.739254154 meters 0.015090679198086874 Centerline is valid? [True, True] Translation: X:517.34, Y:6.15, Z:3.46 [[ 9.99478071e-01 -2.64544465e-02 -1.85404158e-02 5.17343948e+02] [ 2.64522662e-02 9.99650012e-01 -3.62873991e-04 6.14593059e+00] [ 1.85435265e-02 -1.27751416e-04 9.99828046e-01 3.46176587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters 0.015206609809520892 Centerline is valid? [True, True] Translation: X:517.40, Y:6.14, Z:3.46 [[ 9.99506279e-01 -2.62480124e-02 -1.72696016e-02 5.17403189e+02] [ 2.62460147e-02 9.99655455e-01 -3.42348022e-04 6.14213822e+00] [ 1.72726374e-02 -1.11079221e-04 9.99850811e-01 3.46329992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.859254154 meters 0.015178593508674372 Centerline is valid? [True, True] Translation: X:517.46, Y:6.14, Z:3.47 [[ 9.99522361e-01 -2.57114551e-02 -1.71455694e-02 5.17463359e+02] [ 2.57093709e-02 9.99669401e-01 -3.42000580e-04 6.14013736e+00] [ 1.71486944e-02 -9.89645749e-05 9.99852945e-01 3.46501103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters 0.015375974994967932 Centerline is valid? [True, True] Translation: X:517.52, Y:6.14, Z:3.47 [[ 9.99556433e-01 -2.47772917e-02 -1.65234335e-02 5.17522959e+02] [ 2.47752186e-02 9.99692993e-01 -3.30187896e-04 6.13517295e+00] [ 1.65265418e-02 -7.93302403e-05 9.99863424e-01 3.46551282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.979254154 meters 0.015160120152583096 Centerline is valid? [True, True] Translation: X:517.58, Y:6.13, Z:3.47 [[ 9.99591019e-01 -2.29891824e-02 -1.70086050e-02 5.17582113e+02] [ 2.29867132e-02 9.99735713e-01 -3.40688520e-04 6.12992615e+00] [ 1.70119420e-02 -5.04227410e-05 9.99855285e-01 3.46521073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.039254154 meters 0.016544808555815835 Centerline is valid? [True, True] Translation: X:517.64, Y:6.13, Z:3.46 [[ 9.99596312e-01 -2.19749376e-02 -1.80087714e-02 5.17641391e+02] [ 2.19719482e-02 9.99758521e-01 -3.63859770e-04 6.12729760e+00] [ 1.80124184e-02 -3.19749086e-05 9.99837763e-01 3.46430601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters 0.01519427792211948 Centerline is valid? [True, True] Translation: X:517.70, Y:6.12, Z:3.47 [[ 9.99622824e-01 -2.03183544e-02 -1.84763173e-02 5.17699267e+02] [ 2.03148304e-02 9.99793561e-01 -3.78418189e-04 6.12267047e+00] [ 1.84801919e-02 2.93220645e-06 9.99829227e-01 3.46580751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.159254154 meters 0.015331865866525865 Centerline is valid? [True, True] Translation: X:517.76, Y:6.12, Z:3.47 [[ 9.99614741e-01 -2.03143444e-02 -1.89128997e-02 5.17757301e+02] [ 2.03105451e-02 9.99793642e-01 -3.92964331e-04 6.11999599e+00] [ 1.89169797e-02 8.68163502e-06 9.99821058e-01 3.46672869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters 0.015274012581681604 Centerline is valid? [True, True] Translation: X:517.82, Y:6.12, Z:3.47 [[ 9.99599123e-01 -2.04221157e-02 -1.96094262e-02 5.17815964e+02] [ 2.04179474e-02 9.99791447e-01 -4.12774278e-04 6.11535000e+00] [ 1.96137663e-02 1.22245745e-05 9.99807632e-01 3.46768651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.279254154 meters 0.015490876114414272 Centerline is valid? [True, True] Translation: X:517.87, Y:6.11, Z:3.47 [[ 9.99579659e-01 -2.08279082e-02 -2.01669102e-02 5.17874270e+02] [ 2.08235224e-02 9.99783076e-01 -4.27469610e-04 6.11046521e+00] [ 2.01714388e-02 7.34382101e-06 9.99796536e-01 3.46872122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters 0.015646491376951503 Centerline is valid? [True, True] Translation: X:517.93, Y:6.11, Z:3.47 [[ 9.99570319e-01 -2.07022017e-02 -2.07507915e-02 5.17931679e+02] [ 2.06974783e-02 9.99785686e-01 -4.42389318e-04 6.10796644e+00] [ 2.07555027e-02 1.27101757e-05 9.99784581e-01 3.46994350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.399254154 meters 0.01584643076833284 Centerline is valid? [True, True] Translation: X:517.99, Y:6.10, Z:3.47 [[ 9.99568663e-01 -2.01218887e-02 -2.13915268e-02 5.17989855e+02] [ 2.01166888e-02 9.99797534e-01 -4.58262867e-04 6.10374823e+00] [ 2.13964168e-02 2.77385138e-05 9.99771070e-01 3.47124922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters 0.015972682911569884 Centerline is valid? [True, True] Translation: X:518.05, Y:6.10, Z:3.47 [[ 9.99567789e-01 -1.96803658e-02 -2.18384789e-02 5.18049129e+02] [ 1.96747491e-02 9.99806322e-01 -4.72041631e-04 6.10072654e+00] [ 2.18435392e-02 4.21710160e-05 9.99761401e-01 3.47257419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.519254154 meters 0.01589483751858853 Centerline is valid? [True, True] Translation: X:518.11, Y:6.09, Z:3.48 [[ 9.99602713e-01 -1.89077582e-02 -2.09024525e-02 5.18107142e+02] [ 1.89023241e-02 9.99821230e-01 -4.57536797e-04 6.09465520e+00] [ 2.09073668e-02 6.22500924e-05 9.99781415e-01 3.47639556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters 0.015945824175545933 Centerline is valid? [True, True] Translation: X:518.17, Y:6.09, Z:3.48 [[ 9.99585872e-01 -1.92001332e-02 -2.14345180e-02 5.18165152e+02] [ 1.91943500e-02 9.99815658e-01 -4.75526801e-04 6.09130999e+00] [ 2.14396969e-02 6.39082307e-05 9.99770141e-01 3.47706772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.639254154 meters 0.016093319066801996 Centerline is valid? [True, True] Translation: X:518.22, Y:6.08, Z:3.48 [[ 9.99491029e-01 -2.27502459e-02 -2.23631043e-02 5.18223946e+02] [ 2.27447029e-02 9.99741180e-01 -5.02218846e-04 6.08406884e+00] [ 2.23687419e-02 -6.67893222e-06 9.99749788e-01 3.47825667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters 0.016596183304948126 Centerline is valid? [True, True] Translation: X:518.28, Y:6.07, Z:3.48 [[ 9.99294092e-01 -3.04937809e-02 -2.19418991e-02 5.18282064e+02] [ 3.04902432e-02 9.99534941e-01 -4.95838976e-04 6.07348857e+00] [ 2.19468148e-02 -1.73524880e-04 9.99759125e-01 3.47868170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.759254154 meters 0.017758619441148416 Centerline is valid? [True, True] Translation: X:518.34, Y:6.07, Z:3.48 [[ 9.99058906e-01 -3.77107449e-02 -2.14289957e-02 5.18340655e+02] [ 3.77089894e-02 9.99288645e-01 -4.86139160e-04 6.06566219e+00] [ 2.14320847e-02 -3.22384114e-04 9.99770255e-01 3.47889447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters 0.021043619272335046 Centerline is valid? [True, True] Translation: X:518.40, Y:6.05, Z:3.48 [[ 9.98623943e-01 -4.72947677e-02 -2.26588974e-02 5.18401584e+02] [ 4.72952556e-02 9.98880821e-01 -5.14665961e-04 6.05408996e+00] [ 2.26578791e-02 -5.57700593e-04 9.99743122e-01 3.47821626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.879254154 meters 0.022367066594821176 Centerline is valid? [True, True] Translation: X:518.46, Y:6.05, Z:3.48 [[ 9.98377967e-01 -5.22897670e-02 -2.25214622e-02 5.18460615e+02] [ 5.22915000e-02 9.98631732e-01 -5.12360976e-04 6.04742823e+00] [ 2.25174381e-02 -6.66151134e-04 9.99746228e-01 3.47769001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters 0.02102661993319559 Centerline is valid? [True, True] Translation: X:518.52, Y:6.05, Z:3.48 [[ 9.98112556e-01 -5.73777341e-02 -2.18888283e-02 5.18520213e+02] [ 5.73805729e-02 9.98352253e-01 -4.98873300e-04 6.04615267e+00] [ 2.18813853e-02 -7.58061805e-04 9.99760286e-01 3.48121373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.999254154 meters 0.021672785331201858 Centerline is valid? [True, True] Translation: X:518.58, Y:6.04, Z:3.48 [[ 9.97944528e-01 -6.05070809e-02 -2.11095090e-02 5.18579353e+02] [ 6.05103351e-02 9.98167453e-01 -4.85137348e-04 6.04433656e+00] [ 2.11001791e-02 -7.93203303e-04 9.99777052e-01 3.48259192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters 0.022872884548178717 Centerline is valid? [True, True] Translation: X:518.64, Y:6.04, Z:3.48 [[ 9.97827688e-01 -6.25627402e-02 -2.06351526e-02 5.18637927e+02] [ 6.25662370e-02 9.98040700e-01 -4.76730450e-04 6.04052309e+00] [ 2.06245477e-02 -8.15369004e-04 9.99786959e-01 3.48225284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.119254154 meters 0.022821744377631428 Centerline is valid? [True, True] Translation: X:518.70, Y:6.04, Z:3.48 [[ 9.97888495e-01 -6.15230576e-02 -2.08198430e-02 5.18696547e+02] [ 6.15263080e-02 9.98105344e-01 -4.85004215e-04 6.04104808e+00] [ 2.08102355e-02 -7.96987948e-04 9.99783126e-01 3.48174367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters 0.022510527840716603 Centerline is valid? [True, True] Translation: X:518.76, Y:6.04, Z:3.48 [[ 9.97981194e-01 -5.99755815e-02 -2.08917671e-02 5.18755112e+02] [ 5.99784039e-02 9.98199554e-01 -4.92039089e-04 6.04252196e+00] [ 2.08836629e-02 -7.62009089e-04 9.99781622e-01 3.48174912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.239254154 meters 0.020197035499607486 Centerline is valid? [True, True] Translation: X:518.82, Y:6.05, Z:3.48 [[ 9.98408522e-01 -5.26824886e-02 -2.01240679e-02 5.18815548e+02] [ 5.26835924e-02 9.98611142e-01 -4.75672320e-04 6.04741762e+00] [ 2.01211780e-02 -5.85292894e-04 9.99797377e-01 3.48184202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters 0.018949006681203515 Centerline is valid? [True, True] Translation: X:518.87, Y:6.05, Z:3.48 [[ 9.98730359e-01 -4.67197142e-02 -1.88398171e-02 5.18874769e+02] [ 4.67196124e-02 9.98907943e-01 -4.45777712e-04 6.05099896e+00] [ 1.88400696e-02 -4.34977221e-04 9.99822416e-01 3.48213572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.359254154 meters 0.017305435003782444 Centerline is valid? [True, True] Translation: X:518.93, Y:6.06, Z:3.48 [[ 9.99029557e-01 -4.02535154e-02 -1.78772990e-02 5.18934274e+02] [ 4.02523775e-02 9.99189455e-01 -4.23621430e-04 6.05547774e+00] [ 1.78798609e-02 -2.96393458e-04 9.99840099e-01 3.48262694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters 0.017484318946261505 Centerline is valid? [True, True] Translation: X:518.99, Y:6.06, Z:3.48 [[ 9.99107820e-01 -3.84419793e-02 -1.74865065e-02 5.18992654e+02] [ 3.84405636e-02 9.99260801e-01 -4.17202015e-04 6.05660150e+00] [ 1.74896186e-02 -2.55361369e-04 9.99847012e-01 3.48329626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.479254154 meters 0.016471422975240357 Centerline is valid? [True, True] Translation: X:519.05, Y:6.06, Z:3.48 [[ 9.99016904e-01 -4.13865803e-02 -1.58863905e-02 5.19051427e+02] [ 4.13857234e-02 9.99143171e-01 -3.82830556e-04 6.05541371e+00] [ 1.58886226e-02 -2.75015566e-04 9.99873730e-01 3.48457832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.539254154 meters 0.01968579258428471 Centerline is valid? [True, True] Translation: X:519.11, Y:6.05, Z:3.48 [[ 9.98775772e-01 -4.71867879e-02 -1.48446898e-02 5.19109961e+02] [ 4.71866476e-02 9.98886025e-01 -3.59900044e-04 6.04762198e+00] [ 1.48451357e-02 -3.41011702e-04 9.99889747e-01 3.48354772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters 0.021034901373635236 Centerline is valid? [True, True] Translation: X:519.17, Y:6.05, Z:3.49 [[ 9.98638967e-01 -4.98821044e-02 -1.52311768e-02 5.19169925e+02] [ 4.98822578e-02 9.98755037e-01 -3.70067679e-04 6.04906382e+00] [ 1.52306743e-02 -3.90201483e-04 9.99883930e-01 3.48541848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.659254154 meters 0.020193275643557818 Centerline is valid? [True, True] Translation: X:519.23, Y:6.05, Z:3.49 [[ 9.98378700e-01 -5.56967005e-02 -1.17409013e-02 5.19229378e+02] [ 5.56971878e-02 9.98447666e-01 -2.85723041e-04 6.04593661e+00] [ 1.17385893e-02 -3.68675385e-04 9.99931032e-01 3.48662841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters 0.022461770903013392 Centerline is valid? [True, True] Translation: X:519.29, Y:6.05, Z:3.49 [[ 9.98354285e-01 -5.59027004e-02 -1.27910182e-02 5.19289534e+02] [ 5.59032906e-02 9.98436140e-01 -3.11674115e-04 6.04762497e+00] [ 1.27884383e-02 -4.03898820e-04 9.99918143e-01 3.48796992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.779254154 meters 0.021890442235535188 Centerline is valid? [True, True] Translation: X:519.35, Y:6.05, Z:3.49 [[ 9.98294250e-01 -5.72604643e-02 -1.13942543e-02 5.19348869e+02] [ 5.72610206e-02 9.98359203e-01 -2.77667881e-04 6.04674275e+00] [ 1.13914581e-02 -3.75252383e-04 9.99935045e-01 3.48678251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters 0.01962783300882584 Centerline is valid? [True, True] Translation: X:519.41, Y:6.05, Z:3.49 [[ 9.98337015e-01 -5.68040112e-02 -9.82384531e-03 5.19410100e+02] [ 5.68044034e-02 9.98385298e-01 -2.39318275e-04 6.04992350e+00] [ 9.82157696e-03 -3.19117379e-04 9.99951716e-01 3.48619473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.899254154 meters 0.020192796533809163 Centerline is valid? [True, True] Translation: X:519.47, Y:6.05, Z:3.49 [[ 9.98717115e-01 -4.94766933e-02 -1.07787662e-02 5.19469373e+02] [ 4.94767411e-02 9.98775242e-01 -2.62383360e-04 6.05478855e+00] [ 1.07785467e-02 -2.71251473e-04 9.99941873e-01 3.48636350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters 0.016549810056753874 Centerline is valid? [True, True] Translation: X:519.53, Y:6.06, Z:3.49 [[ 9.98942277e-01 -4.51987095e-02 -8.45008697e-03 5.19530070e+02] [ 4.51985851e-02 9.98978001e-01 -2.05789689e-04 6.06088865e+00] [ 8.45075241e-03 -1.76359955e-04 9.99964276e-01 3.48688040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.019254154 meters 0.015523285657335947 Centerline is valid? [True, True] Translation: X:519.59, Y:6.07, Z:3.49 [[ 9.99289115e-01 -3.71344618e-02 -6.50354322e-03 5.19590336e+02] [ 3.71342172e-02 9.99310275e-01 -1.58396402e-04 6.06601739e+00] [ 6.50493952e-03 -8.32201861e-05 9.99978839e-01 3.48772681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters 0.015408198710164737 Centerline is valid? [True, True] Translation: X:519.65, Y:6.07, Z:3.49 [[ 9.99430242e-01 -3.31438722e-02 -6.37766581e-03 5.19651987e+02] [ 3.31435600e-02 9.99450589e-01 -1.54656252e-04 6.06971019e+00] [ 6.37928776e-03 -5.68104143e-05 9.99979651e-01 3.48704388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.139254154 meters 0.015012637907248749 Centerline is valid? [True, True] Translation: X:519.71, Y:6.07, Z:3.49 [[ 9.99459611e-01 -3.24377601e-02 -5.31762615e-03 5.19712087e+02] [ 3.24375341e-02 9.99473756e-01 -1.28768984e-04 6.06938188e+00] [ 5.31900476e-03 -4.37912806e-05 9.99985853e-01 3.48609330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters 0.016229301918803018 Centerline is valid? [True, True] Translation: X:519.77, Y:6.06, Z:3.49 [[ 9.99278109e-01 -3.77458751e-02 -4.30234612e-03 5.19774382e+02] [ 3.77457760e-02 9.99287369e-01 -1.04260191e-04 6.06454676e+00] [ 4.30321552e-03 -5.82104663e-05 9.99990739e-01 3.48665269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.259254154 meters 0.018623714384740944 Centerline is valid? [True, True] Translation: X:519.84, Y:6.06, Z:3.49 [[ 9.99037793e-01 -4.36287948e-02 -4.47392081e-03 5.19835955e+02] [ 4.36287485e-02 9.99047807e-01 -1.07991459e-04 6.05989181e+00] [ 4.47437231e-03 -8.73040163e-05 9.99989986e-01 3.48737881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters 0.020485086509173956 Centerline is valid? [True, True] Translation: X:519.90, Y:6.05, Z:3.49 [[ 9.98467004e-01 -5.52436491e-02 -3.43241107e-03 5.19895806e+02] [ 5.52436912e-02 9.98472898e-01 -8.26135213e-05 6.05007718e+00] [ 3.43173330e-03 -1.07132182e-04 9.99994106e-01 3.48684487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.379254154 meters 0.022494169823769623 Centerline is valid? [True, True] Translation: X:519.96, Y:6.05, Z:3.49 [[ 9.98077900e-01 -6.18450898e-02 -3.96107250e-03 5.19956939e+02] [ 6.18451971e-02 9.98085749e-01 -9.55035010e-05 6.04587579e+00] [ 3.95939644e-03 -1.49653376e-04 9.99992150e-01 3.48622651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters 0.02609675434413152 Centerline is valid? [True, True] Translation: X:520.02, Y:6.04, Z:3.49 [[ 9.97588927e-01 -6.92499334e-02 -4.55845897e-03 5.20017113e+02] [ 6.92501534e-02 9.97599320e-01 -1.09737927e-04 6.04007915e+00] [ 4.55511491e-03 -2.06200642e-04 9.99989604e-01 3.48598846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.499254154 meters 0.028415399758353308 Centerline is valid? [True, True] Translation: X:520.08, Y:6.04, Z:3.49 [[ 9.97313234e-01 -7.30924500e-02 -4.87920710e-03 5.20078495e+02] [ 7.30927472e-02 9.97325141e-01 -1.17631547e-04 6.03761173e+00] [ 4.87475389e-03 -2.39319152e-04 9.99988090e-01 3.48644595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters 0.03156069956505985 Centerline is valid? [True, True] Translation: X:520.14, Y:6.04, Z:3.49 [[ 9.96882177e-01 -7.86860423e-02 -5.86787390e-03 5.20139447e+02] [ 7.86865703e-02 9.96899395e-01 -1.41184202e-04 6.03576651e+00] [ 5.86078917e-03 -3.20978858e-04 9.99982774e-01 3.48721969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.619254154 meters 0.036135784227698385 Centerline is valid? [True, True] Translation: X:520.20, Y:6.03, Z:3.49 [[ 9.96530476e-01 -8.29373497e-02 -6.95753445e-03 5.20198946e+02] [ 8.29381955e-02 9.96554679e-01 -1.67371555e-04 6.03472659e+00] [ 6.94744486e-03 -4.10254497e-04 9.99975782e-01 3.48825139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters 0.03757423493614055 Centerline is valid? [True, True] Translation: X:520.26, Y:6.04, Z:3.49 [[ 9.96290893e-01 -8.58221011e-02 -6.24686596e-03 5.20259838e+02] [ 8.58228402e-02 9.96310402e-01 -1.50145107e-04 6.03571445e+00] [ 6.23670330e-03 -3.86535576e-04 9.99980477e-01 3.48897717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.739254154 meters 0.043010492846803756 Centerline is valid? [True, True] Translation: X:520.32, Y:6.04, Z:3.49 [[ 9.95986807e-01 -8.88500231e-02 -1.07681457e-02 5.20319442e+02] [ 8.88523991e-02 9.96044770e-01 -2.58492156e-04 6.03845933e+00] [ 1.07485222e-02 -6.99320798e-04 9.99941988e-01 3.48708706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters 0.043189013214343756 Centerline is valid? [True, True] Translation: X:520.38, Y:6.04, Z:3.49 [[ 9.95887085e-01 -8.99445632e-02 -1.09036861e-02 5.20379737e+02] [ 8.99470647e-02 9.95946513e-01 -2.61750365e-04 6.04317745e+00] [ 1.08830311e-02 -7.20080747e-04 9.99940519e-01 3.48710531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.859254154 meters 0.04337962557168892 Centerline is valid? [True, True] Translation: X:520.44, Y:6.05, Z:3.49 [[ 9.95985536e-01 -8.89549625e-02 -9.99130415e-03 5.20438848e+02] [ 8.89570122e-02 9.96035437e-01 -2.39955463e-04 6.05352350e+00] [ 9.97303823e-03 -6.49804395e-04 9.99950057e-01 3.48861408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters 0.04281543497564833 Centerline is valid? [True, True] Translation: X:520.50, Y:6.06, Z:3.49 [[ 9.96203049e-01 -8.64991990e-02 -9.86777880e-03 5.20499890e+02] [ 8.65010766e-02 9.96251729e-01 -2.37154601e-04 6.06305250e+00] [ 9.85130537e-03 -6.17319354e-04 9.99951284e-01 3.48994879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.979254154 meters 0.0416911558599024 Centerline is valid? [True, True] Translation: X:520.56, Y:6.08, Z:3.49 [[ 9.96586413e-01 -8.19613286e-02 -9.89254728e-03 5.20559245e+02] [ 8.19629935e-02 9.96635345e-01 -2.37691016e-04 6.07687361e+00] [ 9.87874375e-03 -5.73943151e-04 9.99951039e-01 3.49020431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.039254154 meters 0.04119247921456784 Centerline is valid? [True, True] Translation: X:520.62, Y:6.08, Z:3.49 [[ 9.96691332e-01 -8.05805612e-02 -1.06377602e-02 5.20620366e+02] [ 8.05824081e-02 9.96747917e-01 -2.55584953e-04 6.08248878e+00] [ 1.06237605e-02 -6.02477027e-04 9.99943385e-01 3.49006581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters 0.04043467227202342 Centerline is valid? [True, True] Translation: X:520.68, Y:6.09, Z:3.49 [[ 9.96878157e-01 -7.81002391e-02 -1.15885012e-02 5.20680970e+02] [ 7.81022668e-02 9.96945314e-01 -2.78178213e-04 6.09159263e+00] [ 1.15748278e-02 -6.27778430e-04 9.99932812e-01 3.48957763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.159254154 meters 0.03951847098925308 Centerline is valid? [True, True] Translation: X:520.74, Y:6.10, Z:3.49 [[ 9.97111993e-01 -7.48314571e-02 -1.29586687e-02 5.20741975e+02] [ 7.48337189e-02 9.97195978e-01 -3.10946808e-04 6.10381182e+00] [ 1.29456009e-02 -6.59696578e-04 9.99915985e-01 3.48889865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters 0.038018250694486826 Centerline is valid? [True, True] Translation: X:520.80, Y:6.11, Z:3.49 [[ 9.97342626e-01 -7.16255968e-02 -1.33213894e-02 5.20802044e+02] [ 7.16277031e-02 9.97431386e-01 -3.19544209e-04 6.11376750e+00] [ 1.33100594e-02 -6.35485463e-04 9.99911215e-01 3.48948913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.279254154 meters 0.03429985408449581 Centerline is valid? [True, True] Translation: X:520.86, Y:6.13, Z:3.49 [[ 9.97812548e-01 -6.44151206e-02 -1.48597231e-02 5.20861687e+02] [ 6.44169439e-02 9.97923008e-01 -3.56403240e-04 6.12970277e+00] [ 1.48518174e-02 -6.01594326e-04 9.99889525e-01 3.48895497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters 0.03129772502989706 Centerline is valid? [True, True] Translation: X:520.92, Y:6.14, Z:3.49 [[ 9.98128607e-01 -5.91917471e-02 -1.53499714e-02 5.20921993e+02] [ 5.91930770e-02 9.98246485e-01 -3.68081038e-04 6.14127219e+00] [ 1.53448423e-02 -5.41219824e-04 9.99882115e-01 3.48894243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.399254154 meters 0.027180359205415255 Centerline is valid? [True, True] Translation: X:520.98, Y:6.16, Z:3.49 [[ 9.98519471e-01 -5.22039634e-02 -1.52843820e-02 5.20982336e+02] [ 5.22044648e-02 9.98636350e-01 -3.66449082e-04 6.15604226e+00] [ 1.52826696e-02 -4.32006440e-04 9.99883120e-01 3.48881242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters 0.019269058095594534 Centerline is valid? [True, True] Translation: X:521.04, Y:6.18, Z:3.49 [[ 9.98633231e-01 -4.94179740e-02 -1.70157097e-02 5.21043520e+02] [ 4.94181979e-02 9.98778091e-01 -4.07573696e-04 6.17521540e+00] [ 1.70150595e-02 -4.33869070e-04 9.99855139e-01 3.49211647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.519254154 meters 0.01985570011800267 Centerline is valid? [True, True] Translation: X:521.10, Y:6.18, Z:3.49 [[ 9.98628528e-01 -4.90808093e-02 -1.82246146e-02 5.21104391e+02] [ 4.90810220e-02 9.98794705e-01 -4.35876424e-04 6.17930090e+00] [ 1.82240417e-02 -4.59204080e-04 9.99833823e-01 3.49291362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters 0.02112016379377468 Centerline is valid? [True, True] Translation: X:521.16, Y:6.18, Z:3.49 [[ 9.98608669e-01 -4.89288742e-02 -1.96644840e-02 5.21164264e+02] [ 4.89291018e-02 9.98802144e-01 -4.69840101e-04 6.18209776e+00] [ 1.96639176e-02 -4.92979144e-04 9.99806525e-01 3.49437018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.639254154 meters 0.02017695208804753 Centerline is valid? [True, True] Translation: X:521.22, Y:6.18, Z:3.50 [[ 9.98633323e-01 -4.88395755e-02 -1.86059797e-02 5.21224681e+02] [ 4.88397658e-02 9.98806528e-01 -4.44440745e-04 6.18354783e+00] [ 1.86054803e-02 -4.64878355e-04 9.99826795e-01 3.49527871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters 0.020759314403160947 Centerline is valid? [True, True] Translation: X:521.29, Y:6.18, Z:3.50 [[ 9.98578155e-01 -4.95909587e-02 -1.95552040e-02 5.21286466e+02] [ 4.95913213e-02 9.98769484e-01 -4.66686600e-04 6.18434340e+00] [ 1.95542845e-02 -5.03745363e-04 9.99808670e-01 3.49615123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.759254154 meters 0.02222967655212531 Centerline is valid? [True, True] Translation: X:521.35, Y:6.18, Z:3.50 [[ 9.98414546e-01 -5.21438552e-02 -2.11993411e-02 5.21346230e+02] [ 5.21448616e-02 9.98639403e-01 -5.05681612e-04 6.18319314e+00] [ 2.11968655e-02 -6.00556830e-04 9.99775141e-01 3.49651986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters 0.024000367023706993 Centerline is valid? [True, True] Translation: X:521.41, Y:6.18, Z:3.50 [[ 9.98193206e-01 -5.56823965e-02 -2.25786173e-02 5.21406568e+02] [ 5.56844366e-02 9.98448273e-01 -5.38841532e-04 6.18077252e+00] [ 2.25735854e-02 -7.19409625e-04 9.99744925e-01 3.49691447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.879254154 meters 0.028597668573666905 Centerline is valid? [True, True] Translation: X:521.47, Y:6.18, Z:3.50 [[ 9.97900413e-01 -5.95213681e-02 -2.55337373e-02 5.21465488e+02] [ 5.95252142e-02 9.98226616e-01 -6.10096183e-04 6.17677911e+00] [ 2.55247699e-02 -9.11085947e-04 9.99673775e-01 3.49691292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters 0.029719977392724476 Centerline is valid? [True, True] Translation: X:521.53, Y:6.17, Z:3.50 [[ 9.97518837e-01 -6.55636951e-02 -2.56431498e-02 5.21525962e+02] [ 6.55695585e-02 9.97847813e-01 -6.13031259e-04 6.17290815e+00] [ 2.56281535e-02 -1.06989978e-03 9.99670972e-01 3.49857340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.999254154 meters 0.02730518677446641 Centerline is valid? [True, True] Translation: X:521.59, Y:6.18, Z:3.50 [[ 9.97257578e-01 -6.88565261e-02 -2.71311993e-02 5.21586292e+02] [ 6.88643051e-02 9.97625825e-01 -6.48643822e-04 6.17639340e+00] [ 2.71114485e-02 -1.22150622e-03 9.99631671e-01 3.50206328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters 0.026847272205611252 Centerline is valid? [True, True] Translation: X:521.65, Y:6.18, Z:3.50 [[ 9.97313351e-01 -6.82361187e-02 -2.66441870e-02 5.21645630e+02] [ 6.82433815e-02 9.97668499e-01 -6.37689260e-04 6.17703182e+00] [ 2.66255795e-02 -1.18231340e-03 9.99644777e-01 3.50259976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.119254154 meters 0.024984531127651723 Centerline is valid? [True, True] Translation: X:521.71, Y:6.18, Z:3.50 [[ 9.97725675e-01 -6.18693212e-02 -2.67519084e-02 5.21705375e+02] [ 6.18743403e-02 9.98083742e-01 -6.40911957e-04 6.18191694e+00] [ 2.67402977e-02 -1.01580237e-03 9.99641898e-01 3.50313296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters 0.022517768154712375 Centerline is valid? [True, True] Translation: X:521.77, Y:6.19, Z:3.50 [[ 9.98077236e-01 -5.58026158e-02 -2.69796192e-02 5.21765651e+02] [ 5.58054940e-02 9.98441450e-01 -6.46839551e-04 6.18780292e+00] [ 2.69736654e-02 -8.60015144e-04 9.99635775e-01 3.50336906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.239254154 meters 0.018695514443609 Centerline is valid? [True, True] Translation: X:521.82, Y:6.20, Z:3.50 [[ 9.98594475e-01 -4.59016671e-02 -2.64973751e-02 5.21824657e+02] [ 4.59009459e-02 9.98945794e-01 -6.35770991e-04 6.19534904e+00] [ 2.64986244e-02 -5.81377184e-04 9.99648681e-01 3.50433092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters 0.015193402653607547 Centerline is valid? [True, True] Translation: X:521.88, Y:6.20, Z:3.51 [[ 9.98966719e-01 -3.74701432e-02 -2.57193217e-02 5.21883918e+02] [ 3.74666498e-02 9.99297688e-01 -6.17871420e-04 6.20412133e+00] [ 2.57244105e-02 -3.46383837e-04 9.99669013e-01 3.50613996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.359254154 meters 0.016396714723584657 Centerline is valid? [True, True] Translation: X:521.94, Y:6.21, Z:3.50 [[ 9.99163479e-01 -3.22917605e-02 -2.50915236e-02 5.21941816e+02] [ 3.22867590e-02 9.99478464e-01 -6.04536243e-04 6.20683539e+00] [ 2.50979590e-02 -2.06093442e-04 9.99684975e-01 3.50437657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters 0.013709651883950628 Centerline is valid? [True, True] Translation: X:522.00, Y:6.21, Z:3.51 [[ 9.99282043e-01 -2.97405258e-02 -2.34712469e-02 5.22001033e+02] [ 2.97353492e-02 9.99557644e-01 -5.69606436e-04 6.20904212e+00] [ 2.34778047e-02 -1.28728240e-04 9.99724350e-01 3.50626490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.479254154 meters 0.013297233811111754 Centerline is valid? [True, True] Translation: X:522.06, Y:6.21, Z:3.51 [[ 9.99431247e-01 -2.63684506e-02 -2.10211022e-02 5.22058620e+02] [ 2.63634909e-02 9.99652291e-01 -5.13075608e-04 6.20977791e+00] [ 2.10273220e-02 -4.14058431e-05 9.99778901e-01 3.50748307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.539254154 meters 0.012569234350063584 Centerline is valid? [True, True] Translation: X:522.12, Y:6.21, Z:3.51 [[ 9.99515116e-01 -2.47839890e-02 -1.88490681e-02 5.22117222e+02] [ 2.47796460e-02 9.99692830e-01 -4.63967519e-04 6.20835109e+00] [ 1.88547772e-02 -3.33068543e-06 9.99822233e-01 3.51301895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters 0.012630000611758773 Centerline is valid? [True, True] Translation: X:522.18, Y:6.21, Z:3.51 [[ 9.99545279e-01 -2.49210636e-02 -1.69757286e-02 5.22175186e+02] [ 2.49175174e-02 9.99689422e-01 -4.20407856e-04 6.20540858e+00] [ 1.69809334e-02 -2.77632687e-06 9.99855814e-01 3.51185270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.659254154 meters 0.013399299165909052 Centerline is valid? [True, True] Translation: X:522.23, Y:6.20, Z:3.51 [[ 9.99503838e-01 -2.73108839e-02 -1.56905608e-02 5.22234203e+02] [ 2.73081062e-02 9.99626988e-01 -3.91294687e-04 6.19847429e+00] [ 1.56953947e-02 -3.73789600e-05 9.99876819e-01 3.51218636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters 0.012877357743601516 Centerline is valid? [True, True] Translation: X:522.29, Y:6.19, Z:3.51 [[ 9.99394469e-01 -3.10786505e-02 -1.56465168e-02 5.22293513e+02] [ 3.10762921e-02 9.99516938e-01 -3.93897483e-04 6.19303801e+00] [ 1.56512003e-02 -9.25767595e-05 9.99877508e-01 3.51167350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.779254154 meters 0.013117548227433972 Centerline is valid? [True, True] Translation: X:522.35, Y:6.18, Z:3.51 [[ 9.99205943e-01 -3.64622114e-02 -1.60620628e-02 5.22353245e+02] [ 3.64603899e-02 9.99335016e-01 -4.06319163e-04 6.18458323e+00] [ 1.60661971e-02 -1.79632549e-04 9.99870914e-01 3.51204542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters 0.0156814920826772 Centerline is valid? [True, True] Translation: X:522.41, Y:6.18, Z:3.51 [[ 9.99042865e-01 -4.09113135e-02 -1.54796215e-02 5.22412973e+02] [ 4.09101495e-02 9.99162753e-01 -3.91973015e-04 6.17523690e+00] [ 1.54826973e-02 -2.41675785e-04 9.99880107e-01 3.51240736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.899254154 meters 0.015159942106351002 Centerline is valid? [True, True] Translation: X:522.47, Y:6.17, Z:3.51 [[ 9.98878035e-01 -4.51599228e-02 -1.42566362e-02 5.22473524e+02] [ 4.51593664e-02 9.98979730e-01 -3.61114192e-04 6.17018007e+00] [ 1.42583985e-02 -2.83111625e-04 9.99898304e-01 3.51256571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters 0.018604709595072384 Centerline is valid? [True, True] Translation: X:522.53, Y:6.17, Z:3.51 [[ 9.98855491e-01 -4.56953628e-02 -1.41294492e-02 5.22534230e+02] [ 4.56948698e-02 9.98955380e-01 -3.57892602e-04 6.16897500e+00] [ 1.41310434e-02 -2.88160352e-04 9.99900110e-01 3.51345076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.019254154 meters 0.018438334529254176 Centerline is valid? [True, True] Translation: X:522.59, Y:6.16, Z:3.51 [[ 9.98556837e-01 -5.22423372e-02 -1.24491288e-02 5.22594407e+02] [ 5.22424629e-02 9.98634380e-01 -3.15330841e-04 6.15941405e+00] [ 1.24486017e-02 -3.35497384e-04 9.99922457e-01 3.51221777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters 0.0216079791396197 Centerline is valid? [True, True] Translation: X:522.65, Y:6.15, Z:3.51 [[ 9.98266209e-01 -5.77756769e-02 -1.12493205e-02 5.22654733e+02] [ 5.77761303e-02 9.98329524e-01 -2.84940236e-04 6.14981140e+00] [ 1.12469914e-02 -3.65496001e-04 9.99936684e-01 3.51200687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.139254154 meters 0.02418947070405958 Centerline is valid? [True, True] Translation: X:522.72, Y:6.14, Z:3.51 [[ 9.98066468e-01 -6.11765459e-02 -1.09888788e-02 5.22715053e+02] [ 6.11771852e-02 9.98126883e-01 -2.78272514e-04 6.14455668e+00] [ 1.09853191e-02 -3.94534211e-04 9.99939582e-01 3.51195811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters 0.026812343041984474 Centerline is valid? [True, True] Translation: X:522.78, Y:6.14, Z:3.51 [[ 9.97868234e-01 -6.43435487e-02 -1.09039349e-02 5.22776701e+02] [ 6.43443696e-02 9.97927716e-01 -2.75874709e-04 6.13793733e+00] [ 1.08990896e-02 -4.26320207e-04 9.99940512e-01 3.51185892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.259254154 meters 0.0282200300334228 Centerline is valid? [True, True] Translation: X:522.84, Y:6.14, Z:3.51 [[ 9.97926777e-01 -6.32891050e-02 -1.16891677e-02 5.22836824e+02] [ 6.32899789e-02 9.97995136e-01 -2.95507347e-04 6.13726852e+00] [ 1.16844349e-02 -4.44912485e-04 9.99931636e-01 3.51260274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters 0.026527253402186625 Centerline is valid? [True, True] Translation: X:522.90, Y:6.14, Z:3.51 [[ 9.98033394e-01 -6.18964536e-02 -9.90825658e-03 5.22897262e+02] [ 6.18970129e-02 9.98082510e-01 -2.50485123e-04 6.13813813e+00] [ 9.90476174e-03 -3.63298968e-04 9.99950881e-01 3.51193243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.379254154 meters 0.024841345213274236 Centerline is valid? [True, True] Translation: X:522.96, Y:6.14, Z:3.51 [[ 9.98316003e-01 -5.71553406e-02 -9.92096634e-03 5.22957195e+02] [ 5.71556675e-02 9.98365247e-01 -2.50806431e-04 6.14158424e+00] [ 9.91908294e-03 -3.16655379e-04 9.99950755e-01 3.51095106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters 0.023820433266628638 Centerline is valid? [True, True] Translation: X:523.02, Y:6.14, Z:3.51 [[ 9.98451131e-01 -5.50033747e-02 -8.36465395e-03 5.23017646e+02] [ 5.50035316e-02 9.98486138e-01 -2.11462163e-04 6.14378379e+00] [ 8.36362214e-03 -2.48950872e-04 9.99964993e-01 3.51144825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.499254154 meters 0.01796682761232364 Centerline is valid? [True, True] Translation: X:523.08, Y:6.15, Z:3.51 [[ 9.98501743e-01 -5.43687970e-02 -6.18902202e-03 5.23079404e+02] [ 5.43688705e-02 9.98520907e-01 -1.56498944e-04 6.15336217e+00] [ 6.18837654e-03 -1.80225669e-04 9.99980836e-01 3.51193124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters 0.02074292593685846 Centerline is valid? [True, True] Translation: X:523.14, Y:6.15, Z:3.51 [[ 9.98382365e-01 -5.66114683e-02 -5.27208034e-03 5.23140318e+02] [ 5.66115541e-02 9.98396271e-01 -1.33077342e-04 6.15097811e+00] [ 5.27115906e-03 -1.65598590e-04 9.99986094e-01 3.51269838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.619254154 meters 0.029658960626898268 Centerline is valid? [True, True] Translation: X:523.20, Y:6.14, Z:3.51 [[ 9.98251587e-01 -5.89623358e-02 -4.14877135e-03 5.23200779e+02] [ 5.89624117e-02 9.98260198e-01 -1.04109368e-04 6.13827853e+00] [ 4.14769185e-03 -1.40694223e-04 9.99991388e-01 3.51323066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters 0.03094652091824012 Centerline is valid? [True, True] Translation: X:523.26, Y:6.14, Z:3.51 [[ 9.98178874e-01 -6.02312129e-02 -3.33709306e-03 5.23261796e+02] [ 6.02312691e-02 9.98184445e-01 -8.37468333e-05 6.13733170e+00] [ 3.33607856e-03 -1.17403030e-04 9.99994428e-01 3.51248248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.739254154 meters 0.03231841660454561 Centerline is valid? [True, True] Translation: X:523.32, Y:6.14, Z:3.51 [[ 9.98161945e-01 -6.05151459e-02 -3.26337264e-03 5.23322813e+02] [ 6.05152013e-02 9.98167272e-01 -8.18543689e-05 6.13821504e+00] [ 3.26234519e-03 -1.15779736e-04 9.99994672e-01 3.51185558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters 0.03162810899487078 Centerline is valid? [True, True] Translation: X:523.38, Y:6.14, Z:3.51 [[ 9.98297103e-01 -5.82797996e-02 -2.52184471e-03 5.23383071e+02] [ 5.82798260e-02 9.98300284e-01 -6.30881286e-05 6.14301640e+00] [ 2.52123505e-03 -8.39919747e-05 9.99996818e-01 3.51239705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.859254154 meters 0.02057376168735044 Centerline is valid? [True, True] Translation: X:523.44, Y:6.17, Z:3.51 [[ 9.98525322e-01 -5.42562219e-02 -1.85582487e-03 5.23443975e+02] [ 5.42562290e-02 9.98527045e-01 -4.65371121e-05 6.16575808e+00] [ 1.85561625e-03 -5.42215742e-05 9.99998277e-01 3.51140237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters 0.018069215237965536 Centerline is valid? [True, True] Translation: X:523.50, Y:6.17, Z:3.51 [[ 9.98819419e-01 -4.85763398e-02 3.26615435e-04 5.23504279e+02] [ 4.85763398e-02 9.98819473e-01 8.01654759e-06 6.17225374e+00] [-3.26619271e-04 7.85869895e-06 9.99999947e-01 3.51400789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.979254154 meters 0.01649381473820304 Centerline is valid? [True, True] Translation: X:523.57, Y:6.18, Z:3.51 [[ 9.99009753e-01 -4.44899053e-02 -4.03245425e-04 5.23565747e+02] [ 4.44899047e-02 9.99009834e-01 -1.03913586e-05 6.18058031e+00] [ 4.03308455e-04 -7.55928192e-06 9.99999919e-01 3.51380488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.039254154 meters 0.015827029885857283 Centerline is valid? [True, True] Translation: X:523.63, Y:6.19, Z:3.51 [[ 9.99210509e-01 -3.97175060e-02 -9.37576678e-04 5.23627331e+02] [ 3.97175013e-02 9.99210948e-01 -2.37241179e-05 6.18848922e+00] [ 9.37779145e-04 -1.35328149e-05 9.99999560e-01 3.51285190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters 0.015940020798694728 Centerline is valid? [True, True] Translation: X:523.69, Y:6.19, Z:3.51 [[ 9.99248919e-01 -3.87333461e-02 -1.15115666e-03 5.23688947e+02] [ 3.87333384e-02 9.99249582e-01 -2.89500960e-05 6.19146415e+00] [ 1.15141415e-03 -1.56597885e-05 9.99999337e-01 3.51286330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.159254154 meters 0.018167743403659235 Centerline is valid? [True, True] Translation: X:523.75, Y:6.19, Z:3.51 [[ 9.99224587e-01 -3.93392842e-02 -1.62626977e-03 5.23751123e+02] [ 3.93392703e-02 9.99225910e-01 -4.05709923e-05 6.19307414e+00] [ 1.62660692e-03 -2.34367329e-05 9.99998677e-01 3.51310944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters 0.01729573075705655 Centerline is valid? [True, True] Translation: X:523.81, Y:6.19, Z:3.51 [[ 9.99121246e-01 -4.18859087e-02 -1.51872332e-03 5.23813489e+02] [ 4.18858996e-02 9.99122400e-01 -3.78093860e-05 6.19403496e+00] [ 1.51897417e-03 -2.58369317e-05 9.99998846e-01 3.51393588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.279254154 meters 0.01946323362409142 Centerline is valid? [True, True] Translation: X:523.87, Y:6.19, Z:3.51 [[ 9.99004333e-01 -4.45972955e-02 -1.19339621e-03 5.23874734e+02] [ 4.45972919e-02 9.99005045e-01 -2.96265352e-05 6.19293863e+00] [ 1.19353010e-03 -2.36252021e-05 9.99999287e-01 3.51403696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters 0.017738606895144175 Centerline is valid? [True, True] Translation: X:523.94, Y:6.20, Z:3.51 [[ 9.98891432e-01 -4.70403047e-02 -1.76551050e-03 5.23937261e+02] [ 4.70403009e-02 9.98892991e-01 -4.36816913e-05 6.19645381e+00] [ 1.76561086e-03 -3.94168780e-05 9.99998441e-01 3.51317015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.399254154 meters 0.01831450830921988 Centerline is valid? [True, True] Translation: X:524.00, Y:6.20, Z:3.51 [[ 9.98755539e-01 -4.98442113e-02 -1.71091950e-03 5.23999783e+02] [ 4.98442121e-02 9.98757004e-01 -4.22169406e-05 6.19627186e+00] [ 1.71089710e-03 -4.31150311e-05 9.99998535e-01 3.51350826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters 0.019660422492713353 Centerline is valid? [True, True] Translation: X:524.06, Y:6.20, Z:3.51 [[ 9.98703721e-01 -5.08971599e-02 -5.97437513e-04 5.24062104e+02] [ 5.08971601e-02 9.98703900e-01 -1.50187142e-05 6.19654573e+00] [ 5.97427584e-04 -1.54086269e-05 9.99999821e-01 3.51414007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.519254154 meters 0.019133896018067274 Centerline is valid? [True, True] Translation: X:524.12, Y:6.20, Z:3.52 [[ 9.98684961e-01 -5.12671276e-02 -1.72534881e-04 5.24123886e+02] [ 5.12671276e-02 9.98684976e-01 -4.67479960e-06 6.19840665e+00] [ 1.72547657e-04 -4.17671571e-06 9.99999985e-01 3.51518050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters 0.020170225760753526 Centerline is valid? [True, True] Translation: X:524.19, Y:6.20, Z:3.51 [[ 9.98837103e-01 -4.82055856e-02 8.14184382e-04 5.24186431e+02] [ 4.82055861e-02 9.98837435e-01 1.90346537e-05 6.20264121e+00] [-8.14155416e-04 2.02357169e-05 9.99999668e-01 3.51346314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.639254154 meters 0.017817855738583844 Centerline is valid? [True, True] Translation: X:524.25, Y:6.21, Z:3.51 [[ 9.99058732e-01 -4.33772170e-02 -2.59523218e-04 5.24246615e+02] [ 4.33772168e-02 9.99058766e-01 -6.38470114e-06 6.20789028e+00] [ 2.59555896e-04 -4.87870345e-06 9.99999966e-01 3.51355060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters 0.0180786413478905 Centerline is valid? [True, True] Translation: X:524.31, Y:6.21, Z:3.51 [[ 9.99225557e-01 -3.93457670e-02 -4.44156078e-04 5.24308558e+02] [ 3.93457659e-02 9.99225655e-01 -1.11787941e-05 6.21358224e+00] [ 4.44251987e-04 -6.30552434e-06 9.99999901e-01 3.51211853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.759254154 meters 0.019941631309354755 Centerline is valid? [True, True] Translation: X:524.37, Y:6.22, Z:3.51 [[ 9.99281914e-01 -3.78648378e-02 -1.38185195e-03 5.24369583e+02] [ 3.78648276e-02 9.99282870e-01 -3.35256757e-05 6.21595837e+00] [ 1.38213042e-03 -1.88219844e-05 9.99999045e-01 3.51094054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters 0.01974296515314579 Centerline is valid? [True, True] Translation: X:524.43, Y:6.22, Z:3.51 [[ 9.99195860e-01 -4.00550971e-02 -1.79526789e-03 5.24432190e+02] [ 4.00550836e-02 9.99197472e-01 -4.34535420e-05 6.21734348e+00] [ 1.79556767e-03 -2.84910060e-05 9.99998388e-01 3.51077968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.879254154 meters 0.019134633958578628 Centerline is valid? [True, True] Translation: X:524.49, Y:6.22, Z:3.51 [[ 9.99117457e-01 -4.19590638e-02 -1.93473909e-03 5.24493134e+02] [ 4.19590523e-02 9.99119330e-01 -4.65472183e-05 6.21688449e+00] [ 1.93498831e-03 -3.46736805e-05 9.99998127e-01 3.51195546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters 0.018699683477402685 Centerline is valid? [True, True] Translation: X:524.55, Y:6.21, Z:3.52 [[ 9.98834134e-01 -4.82165122e-02 -2.35374552e-03 5.24554761e+02] [ 4.82165132e-02 9.98836906e-01 -5.63287470e-05 6.21450462e+00] [ 2.35372387e-03 -5.72263269e-05 9.99997228e-01 3.51502312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.999254154 meters 0.01957331360163236 Centerline is valid? [True, True] Translation: X:524.62, Y:6.21, Z:3.52 [[ 9.98581110e-01 -5.32028483e-02 -2.28560094e-03 5.24616346e+02] [ 5.32028626e-02 9.98583723e-01 -5.46232376e-05 6.21278388e+00] [ 2.28527000e-03 -6.70547792e-05 9.99997387e-01 3.51625790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters 0.02104620179447535 Centerline is valid? [True, True] Translation: X:524.68, Y:6.21, Z:3.52 [[ 9.98423756e-01 -5.60418148e-02 -3.05247984e-03 5.24677039e+02] [ 5.60418529e-02 9.98428418e-01 -7.30871653e-05 6.21017114e+00] [ 3.05177856e-03 -9.80946644e-05 9.99995339e-01 3.51693152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.119254154 meters 0.023235659323160865 Centerline is valid? [True, True] Translation: X:524.74, Y:6.21, Z:3.52 [[ 9.98262260e-01 -5.87707263e-02 -4.29671138e-03 5.24738920e+02] [ 5.87708319e-02 9.98271496e-01 -1.01797898e-04 6.20877440e+00] [ 4.29526723e-03 -1.50900302e-04 9.99990764e-01 3.51571194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters 0.022398369000788156 Centerline is valid? [True, True] Translation: X:524.80, Y:6.21, Z:3.52 [[ 9.98299337e-01 -5.80600624e-02 -5.24045993e-03 5.24801315e+02] [ 5.80602115e-02 9.98313075e-01 -1.23819176e-04 6.21088104e+00] [ 5.23880862e-03 -1.80653610e-04 9.99986261e-01 3.51697273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.239254154 meters 0.02187574512274523 Centerline is valid? [True, True] Translation: X:524.86, Y:6.22, Z:3.52 [[ 9.98509499e-01 -5.42917962e-02 -5.58402156e-03 5.24863129e+02] [ 5.42919090e-02 9.98525098e-01 -1.31494051e-04 6.21560971e+00] [ 5.58292472e-03 -1.71869132e-04 9.99984401e-01 3.51614528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters 0.020252655619004963 Centerline is valid? [True, True] Translation: X:524.92, Y:6.22, Z:3.52 [[ 9.98910735e-01 -4.60938909e-02 -7.25931691e-03 5.24922327e+02] [ 4.60938692e-02 9.98937098e-01 -1.70381266e-04 6.22316467e+00] [ 7.25945451e-03 -1.64414329e-04 9.99973636e-01 3.51609807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.359254154 meters 0.016799827071690154 Centerline is valid? [True, True] Translation: X:524.98, Y:6.23, Z:3.52 [[ 9.99205767e-01 -3.92107461e-02 -7.09598027e-03 5.24983721e+02] [ 3.92105553e-02 9.99230957e-01 -1.66063023e-04 6.23175124e+00] [ 7.09703461e-03 -1.12306196e-04 9.99974809e-01 3.51885414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.419254154 meters 0.01606295064518188 Centerline is valid? [True, True] Translation: X:525.05, Y:6.24, Z:3.52 [[ 9.99306423e-01 -3.64584850e-02 -7.57971784e-03 5.25045482e+02] [ 3.64581915e-02 9.99335163e-01 -1.76937254e-04 6.23581689e+00] [ 7.58112943e-03 -9.95282696e-05 9.99971258e-01 3.51919131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.479254154 meters 0.019551418381080682 Centerline is valid? [True, True] Translation: X:525.11, Y:6.23, Z:3.52 [[ 9.99231917e-01 -3.80733423e-02 -9.27339911e-03 5.25106443e+02] [ 3.80729793e-02 9.99274938e-01 -2.15742542e-04 6.23354368e+00] [ 9.27488936e-03 -1.37489099e-04 9.99956978e-01 3.51676575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.539254154 meters 0.017245207311769067 Centerline is valid? [True, True] Translation: X:525.17, Y:6.23, Z:3.52 [[ 9.98999377e-01 -4.36689187e-02 -9.65760471e-03 5.25167713e+02] [ 4.36687910e-02 9.99046038e-01 -2.24199913e-04 6.23344728e+00] [ 9.65818229e-03 -1.97760347e-04 9.99953339e-01 3.52039061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters 0.020288201400026625 Centerline is valid? [True, True] Translation: X:525.23, Y:6.23, Z:3.52 [[ 9.98468201e-01 -5.44272191e-02 -9.94629907e-03 5.25228183e+02] [ 5.44276194e-02 9.98517692e-01 -2.30639385e-04 6.22547128e+00] [ 9.94410865e-03 -3.11067288e-04 9.99950508e-01 3.52109601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.659254154 meters 0.025820488749014426 Centerline is valid? [True, True] Translation: X:525.29, Y:6.22, Z:3.52 [[ 9.97854409e-01 -6.43424836e-02 -1.21087898e-02 5.25289051e+02] [ 6.43438064e-02 9.97927751e-01 -2.80706389e-04 6.21862272e+00] [ 1.21017587e-02 -4.99021519e-04 9.99926647e-01 3.51851882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters 0.027158469799643713 Centerline is valid? [True, True] Translation: X:525.35, Y:6.22, Z:3.52 [[ 9.97480272e-01 -7.00502991e-02 -1.12277826e-02 5.25348681e+02] [ 7.00517970e-02 9.97543321e-01 -2.60288839e-04 6.21505438e+00] [ 1.12184328e-02 -5.26893363e-04 9.99936933e-01 3.52061403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.779254154 meters 0.0299392956599274 Centerline is valid? [True, True] Translation: X:525.41, Y:6.21, Z:3.52 [[ 9.97125336e-01 -7.49820681e-02 -1.08974080e-02 5.25408919e+02] [ 7.49837721e-02 9.97184722e-01 -2.52704195e-04 6.21261794e+00] [ 1.08856770e-02 -5.65151002e-04 9.99940590e-01 3.52084245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters 0.034696847714487715 Centerline is valid? [True, True] Translation: X:525.47, Y:6.21, Z:3.52 [[ 9.96578031e-01 -8.20575762e-02 -9.93894605e-03 5.25469413e+02] [ 8.20593448e-02 9.96627418e-01 -2.30415183e-04 6.20846958e+00] [ 9.92433345e-03 -5.85956691e-04 9.99950581e-01 3.52184918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.899254154 meters 0.03902423959611369 Centerline is valid? [True, True] Translation: X:525.53, Y:6.21, Z:3.52 [[ 9.96245861e-01 -8.58553022e-02 -1.10928870e-02 5.25529396e+02] [ 8.58577401e-02 9.96307373e-01 -2.57138959e-04 6.20711999e+00] [ 1.10740019e-02 -6.96236591e-04 9.99938439e-01 3.52068608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters 0.03511711517874288 Centerline is valid? [True, True] Translation: X:525.59, Y:6.22, Z:3.52 [[ 9.95896411e-01 -8.97657419e-02 -1.15087150e-02 5.25589590e+02] [ 8.97686251e-02 9.95962611e-01 -2.66853042e-04 6.21803708e+00] [ 1.14862041e-02 -7.67363533e-04 9.99933737e-01 3.52208060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.019254154 meters 0.04373465887722082 Centerline is valid? [True, True] Translation: X:525.65, Y:6.21, Z:3.52 [[ 9.95912621e-01 -8.95211842e-02 -1.20004108e-02 5.25651293e+02] [ 8.95243094e-02 9.95984599e-01 -2.77587636e-04 6.21137902e+00] [ 1.19770744e-02 -7.97875463e-04 9.99927954e-01 3.52118631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters 0.03406088644536216 Centerline is valid? [True, True] Translation: X:525.71, Y:6.23, Z:3.52 [[ 9.96107837e-01 -8.71613405e-02 -1.31178264e-02 5.25712255e+02] [ 8.71648857e-02 9.96193852e-01 -3.02316818e-04 6.23331972e+00] [ 1.30942483e-02 -8.42273687e-04 9.99913912e-01 3.52217559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.139254154 meters 0.03347358699483391 Centerline is valid? [True, True] Translation: X:525.77, Y:6.24, Z:3.52 [[ 9.96338547e-01 -8.45870085e-02 -1.24313169e-02 5.25773754e+02] [ 8.45899994e-02 9.96415802e-01 -2.85955760e-04 6.24157123e+00] [ 1.24109488e-02 -7.66656346e-04 9.99922687e-01 3.52323539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters 0.02749829209891897 Centerline is valid? [True, True] Translation: X:525.83, Y:6.26, Z:3.52 [[ 9.96672485e-01 -8.05911833e-02 -1.22073037e-02 5.25834023e+02] [ 8.05937743e-02 9.96746991e-01 -2.80343153e-04 6.26061055e+00] [ 1.21901864e-02 -7.04422374e-04 9.99925449e-01 3.52471873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.259254154 meters 0.029249884002499473 Centerline is valid? [True, True] Translation: X:525.89, Y:6.27, Z:3.52 [[ 9.96865696e-01 -7.81669864e-02 -1.21945348e-02 5.25894644e+02] [ 7.81693951e-02 9.96940052e-01 -2.79717891e-04 6.26837809e+00] [ 1.21790848e-02 -6.74398237e-04 9.99925605e-01 3.52466680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters 0.02777308149761978 Centerline is valid? [True, True] Translation: X:525.96, Y:6.28, Z:3.53 [[ 9.96843666e-01 -7.84350593e-02 -1.22738352e-02 5.25956918e+02] [ 7.84375279e-02 9.96918991e-01 -2.80868159e-04 6.27842561e+00] [ 1.22580493e-02 -6.82747641e-04 9.99924634e-01 3.52532887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.379254154 meters 0.029311462961358982 Centerline is valid? [True, True] Translation: X:526.02, Y:6.29, Z:3.53 [[ 9.96724536e-01 -7.98813682e-02 -1.26160848e-02 5.26018576e+02] [ 7.98841025e-02 9.96804117e-01 -2.87856914e-04 6.28541324e+00] [ 1.25987596e-02 -7.20910559e-04 9.99920373e-01 3.52551159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters 0.032565180615007294 Centerline is valid? [True, True] Translation: X:526.08, Y:6.29, Z:3.53 [[ 9.96709012e-01 -8.01199351e-02 -1.23264642e-02 5.26079824e+02] [ 8.01225717e-02 9.96784979e-01 -2.80579611e-04 6.28745506e+00] [ 1.23093144e-02 -7.07971786e-04 9.99923987e-01 3.52565749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.499254154 meters 0.030209534014385572 Centerline is valid? [True, True] Translation: X:526.14, Y:6.30, Z:3.53 [[ 9.96975319e-01 -7.67069292e-02 -1.25004234e-02 5.26140372e+02] [ 7.67093792e-02 9.97053454e-01 -2.84065748e-04 6.30083478e+00] [ 1.24853802e-02 -6.75693183e-04 9.99921826e-01 3.52648026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters 0.02748978637769974 Centerline is valid? [True, True] Translation: X:526.20, Y:6.31, Z:3.53 [[ 9.97306646e-01 -7.22462417e-02 -1.26464951e-02 5.26200927e+02] [ 7.22483949e-02 9.97386629e-01 -2.87117294e-04 6.31190585e+00] [ 1.26341883e-02 -6.27344988e-04 9.99919989e-01 3.52759226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.619254154 meters 0.026270276533780758 Centerline is valid? [True, True] Translation: X:526.26, Y:6.32, Z:3.53 [[ 9.97840580e-01 -6.43880459e-02 -1.29752331e-02 5.26260799e+02] [ 6.43896520e-02 9.97924790e-01 -2.94366332e-04 6.32365096e+00] [ 1.29672605e-02 -5.41740073e-04 9.99915775e-01 3.52688661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters 0.024100437357676505 Centerline is valid? [True, True] Translation: X:526.32, Y:6.33, Z:3.53 [[ 9.98098380e-01 -6.01332622e-02 -1.35504233e-02 5.26321494e+02] [ 6.01346248e-02 9.98190229e-01 -3.07235339e-04 6.33361221e+00] [ 1.35443752e-02 -5.08198528e-04 9.99908142e-01 3.52668272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.739254154 meters 0.02079642887067072 Centerline is valid? [True, True] Translation: X:526.38, Y:6.35, Z:3.53 [[ 9.98406400e-01 -5.46472398e-02 -1.40833271e-02 5.26381958e+02] [ 5.46481701e-02 9.98505621e-01 -3.19052465e-04 6.34710154e+00] [ 1.40797166e-02 -4.51084033e-04 9.99900774e-01 3.52727201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters 0.022067505627719974 Centerline is valid? [True, True] Translation: X:526.44, Y:6.35, Z:3.53 [[ 9.98477141e-01 -5.33308637e-02 -1.41144565e-02 5.26442727e+02] [ 5.33316817e-02 9.98576802e-01 -3.18696425e-04 6.34876411e+00] [ 1.41113651e-02 -4.34536604e-04 9.99900335e-01 3.52694995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.859254154 meters 0.021443061951999784 Centerline is valid? [True, True] Translation: X:526.50, Y:6.36, Z:3.53 [[ 9.98676906e-01 -4.96214204e-02 -1.34963422e-02 5.26503295e+02] [ 4.96218440e-02 9.98768031e-01 -3.03693692e-04 6.35501787e+00] [ 1.34947849e-02 -3.66421511e-04 9.99908874e-01 3.52744748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.919254154 meters 0.018747071683246633 Centerline is valid? [True, True] Translation: X:526.56, Y:6.37, Z:3.53 [[ 9.98907811e-01 -4.41321719e-02 -1.53471787e-02 5.26564268e+02] [ 4.41320806e-02 9.99025646e-01 -3.44785007e-04 6.36504405e+00] [ 1.53474413e-02 -3.32894492e-04 9.99882166e-01 3.52571914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.979254154 meters 0.017741412399291702 Centerline is valid? [True, True] Translation: X:526.63, Y:6.37, Z:3.52 [[ 9.99058389e-01 -4.01955430e-02 -1.63295504e-02 5.26626318e+02] [ 4.01949287e-02 9.99191790e-01 -3.65956645e-04 6.37058070e+00] [ 1.63310625e-02 -2.90753057e-04 9.99866597e-01 3.52477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.039254154 meters 0.016785520635354333 Centerline is valid? [True, True] Translation: X:526.69, Y:6.38, Z:3.52 [[ 9.99294510e-01 -3.43770769e-02 -1.51228249e-02 5.26687154e+02] [ 3.43758943e-02 9.99408917e-01 -3.38210191e-04 6.37530217e+00] [ 1.51255127e-02 -1.81889044e-04 9.99885586e-01 3.52435433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters 0.016678557150673762 Centerline is valid? [True, True] Translation: X:526.75, Y:6.38, Z:3.53 [[ 9.99404311e-01 -3.14296876e-02 -1.42547648e-02 5.26748260e+02] [ 3.14283436e-02 9.99505957e-01 -3.18338787e-04 6.37943785e+00] [ 1.42577276e-02 -1.29854490e-04 9.99898345e-01 3.52571468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.159254154 meters 0.015159569041188689 Centerline is valid? [True, True] Translation: X:526.81, Y:6.38, Z:3.53 [[ 9.99501033e-01 -2.89319913e-02 -1.26737622e-02 5.26808911e+02] [ 2.89307318e-02 9.99581379e-01 -2.82740831e-04 6.38153392e+00] [ 1.26766370e-02 -8.40614640e-05 9.99919645e-01 3.52704357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters 0.016387639544704992 Centerline is valid? [True, True] Translation: X:526.87, Y:6.38, Z:3.53 [[ 9.99536486e-01 -2.74371604e-02 -1.31915004e-02 5.26869987e+02] [ 2.74356699e-02 9.99623528e-01 -2.93973130e-04 6.38207242e+00] [ 1.31946000e-02 -6.80807819e-05 9.99912945e-01 3.52597409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.279254154 meters 0.014714763358368669 Centerline is valid? [True, True] Translation: X:526.93, Y:6.38, Z:3.53 [[ 9.99553042e-01 -2.73126060e-02 -1.21547092e-02 5.26931223e+02] [ 2.73113362e-02 9.99626939e-01 -2.70477363e-04 6.38118044e+00] [ 1.21575622e-02 -6.16048779e-05 9.99926092e-01 3.52831961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters 0.014991204955883155 Centerline is valid? [True, True] Translation: X:526.99, Y:6.38, Z:3.53 [[ 9.99551301e-01 -2.74520372e-02 -1.19826106e-02 5.26991969e+02] [ 2.74508171e-02 9.99623120e-01 -2.66318344e-04 6.37803765e+00] [ 1.19854055e-02 -6.27336033e-05 9.99928170e-01 3.52716833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.399254154 meters 0.014688557365341947 Centerline is valid? [True, True] Translation: X:527.05, Y:6.38, Z:3.53 [[ 9.99564150e-01 -2.72741686e-02 -1.12973588e-02 5.27053481e+02] [ 2.72730757e-02 9.99627989e-01 -2.50811007e-04 6.37616212e+00] [ 1.12999968e-02 -5.74120322e-05 9.99936151e-01 3.52940460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters 0.014742054926365707 Centerline is valid? [True, True] Translation: X:527.12, Y:6.37, Z:3.53 [[ 9.99588621e-01 -2.65477408e-02 -1.08538324e-02 5.27115145e+02] [ 2.65466973e-02 9.99647545e-01 -2.40226066e-04 6.37233881e+00] [ 1.08563844e-02 -4.80061620e-05 9.99941067e-01 3.52789879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.519254154 meters 0.015980885671948594 Centerline is valid? [True, True] Translation: X:527.18, Y:6.37, Z:3.53 [[ 9.99606947e-01 -2.56486423e-02 -1.13180771e-02 5.27175677e+02] [ 2.56474604e-02 9.99671019e-01 -2.49580242e-04 6.36824086e+00] [ 1.13207551e-02 -4.07977915e-05 9.99935917e-01 3.52667175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters 0.01465529273792524 Centerline is valid? [True, True] Translation: X:527.24, Y:6.37, Z:3.53 [[ 9.99606802e-01 -2.59351885e-02 -1.06587215e-02 5.27236600e+02] [ 2.59341592e-02 9.99663626e-01 -2.34801252e-04 6.36723075e+00] [ 1.06612258e-02 -4.17160514e-05 9.99943167e-01 3.52939644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.639254154 meters 0.014807639575679902 Centerline is valid? [True, True] Translation: X:527.30, Y:6.36, Z:3.53 [[ 9.99515429e-01 -2.95541994e-02 -9.77019270e-03 5.27299255e+02] [ 2.95535118e-02 9.99563177e-01 -2.14777744e-04 6.36029322e+00] [ 9.77227244e-03 -7.40698370e-05 9.99952247e-01 3.52986346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters 0.01755529032715616 Centerline is valid? [True, True] Translation: X:527.36, Y:6.35, Z:3.53 [[ 9.99245508e-01 -3.76040822e-02 -9.71326291e-03 5.27361112e+02] [ 3.76037891e-02 9.99292705e-01 -2.12874145e-04 6.34961344e+00] [ 9.71439770e-03 -1.52541957e-04 9.99952802e-01 3.52847661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.759254154 meters 0.01819212650025283 Centerline is valid? [True, True] Translation: X:527.42, Y:6.34, Z:3.53 [[ 9.98959877e-01 -4.48590453e-02 -8.17491697e-03 5.27421720e+02] [ 4.48590832e-02 9.98993309e-01 -1.78822739e-04 6.34060614e+00] [ 8.17470917e-03 -1.88082539e-04 9.99966569e-01 3.52929997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters 0.02215934257072003 Centerline is valid? [True, True] Translation: X:527.48, Y:6.33, Z:3.53 [[ 9.98487224e-01 -5.44966180e-02 -7.30626667e-03 5.27482690e+02] [ 5.44969067e-02 9.98513927e-01 -1.59711087e-04 6.33127218e+00] [ 7.30411274e-03 -2.38699453e-04 9.99973296e-01 3.52787199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.879254154 meters 0.021415476319730255 Centerline is valid? [True, True] Translation: X:527.54, Y:6.33, Z:3.53 [[ 9.98135666e-01 -6.07280716e-02 -6.10680359e-03 5.27543633e+02] [ 6.07283898e-02 9.98154319e-01 -1.33480144e-04 6.32718150e+00] [ 6.10363837e-03 -2.37625056e-04 9.99981344e-01 3.52913691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters 0.025532472207107543 Centerline is valid? [True, True] Translation: X:527.60, Y:6.32, Z:3.53 [[ 9.97681937e-01 -6.77873371e-02 -5.96898267e-03 5.27603238e+02] [ 6.77877678e-02 9.97699755e-01 -1.30354710e-04 6.31743172e+00] [ 5.96408895e-03 -2.74571472e-04 9.99982177e-01 3.52894570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.999254154 meters 0.0278512368377848 Centerline is valid? [True, True] Translation: X:527.66, Y:6.31, Z:3.53 [[ 9.97369880e-01 -7.23015642e-02 -5.08007561e-03 5.27664523e+02] [ 7.23019349e-02 9.97382784e-01 -1.10893036e-04 6.31252225e+00] [ 5.07479769e-03 -2.56697922e-04 9.99987090e-01 3.52935307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters 0.03149720463648351 Centerline is valid? [True, True] Translation: X:527.73, Y:6.31, Z:3.53 [[ 9.97267315e-01 -7.36471717e-02 -5.83064599e-03 5.27726027e+02] [ 7.36476835e-02 9.97284314e-01 -1.27185438e-04 6.30906136e+00] [ 5.82417863e-03 -3.02575690e-04 9.99982994e-01 3.52798559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.119254154 meters 0.03083649236383339 Centerline is valid? [True, True] Translation: X:527.79, Y:6.31, Z:3.53 [[ 9.97207013e-01 -7.43901654e-02 -6.65408889e-03 5.27787851e+02] [ 7.43908511e-02 9.97229151e-01 -1.44741433e-04 6.31021434e+00] [ 6.64641875e-03 -3.50666163e-04 9.99977851e-01 3.52721501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters 0.03138798117728577 Centerline is valid? [True, True] Translation: X:527.85, Y:6.31, Z:3.53 [[ 9.97309334e-01 -7.29716055e-02 -7.01693218e-03 5.27850246e+02] [ 7.29723366e-02 9.97333954e-01 -1.52115483e-04 6.31237925e+00] [ 7.00932482e-03 -3.60335746e-04 9.99975369e-01 3.52642592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.239254154 meters 0.026943057639350964 Centerline is valid? [True, True] Translation: X:527.91, Y:6.32, Z:3.53 [[ 9.97607959e-01 -6.88338924e-02 -6.34466317e-03 5.27910355e+02] [ 6.88344093e-02 9.97628090e-01 -1.37121200e-04 6.32365390e+00] [ 6.33905279e-03 -2.99937941e-04 9.99979863e-01 3.52721617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters 0.024690534372650702 Centerline is valid? [True, True] Translation: X:527.97, Y:6.33, Z:3.53 [[ 9.97877692e-01 -6.47828205e-02 -6.58012251e-03 5.27970706e+02] [ 6.47832886e-02 9.97899346e-01 -1.42209959e-04 6.33297915e+00] [ 6.57551271e-03 -2.84373829e-04 9.99978341e-01 3.52710301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.359254154 meters 0.020917201782463098 Centerline is valid? [True, True] Translation: X:528.03, Y:6.34, Z:3.53 [[ 9.98195560e-01 -5.98415530e-02 -4.96112198e-03 5.28031487e+02] [ 5.98417579e-02 9.98207870e-01 -1.07253411e-04 6.34292807e+00] [ 4.95864921e-03 -1.89822382e-04 9.99987688e-01 3.52849524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.419254154 meters 0.022926492969652858 Centerline is valid? [True, True] Translation: X:528.09, Y:6.35, Z:3.53 [[ 9.98419130e-01 -5.59427591e-02 -5.44511250e-03 5.28091794e+02] [ 5.59429487e-02 9.98433960e-01 -1.17600206e-04 6.34713100e+00] [ 5.44316412e-03 -1.87201354e-04 9.99985168e-01 3.52665449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.479254154 meters 0.018938881975517352 Centerline is valid? [True, True] Translation: X:528.15, Y:6.36, Z:3.53 [[ 9.98655673e-01 -5.15199171e-02 -5.70477080e-03 5.28152759e+02] [ 5.15200536e-02 9.98671953e-01 -1.23112314e-04 6.35554303e+00] [ 5.70353733e-03 -1.70963287e-04 9.99983720e-01 3.52799847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.539254154 meters 0.019869510263740255 Centerline is valid? [True, True] Translation: X:528.21, Y:6.36, Z:3.53 [[ 9.98818284e-01 -4.80893812e-02 -7.03185884e-03 5.28213020e+02] [ 4.80895060e-02 9.98843019e-01 -1.51433270e-04 6.35670511e+00] [ 7.03100544e-03 -1.86904299e-04 9.99975265e-01 3.52752842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters 0.019596325301311245 Centerline is valid? [True, True] Translation: X:528.27, Y:6.36, Z:3.53 [[ 9.99034808e-01 -4.31108589e-02 -8.42058346e-03 5.28274639e+02] [ 4.31108634e-02 9.99070278e-01 -1.81069869e-04 6.36453938e+00] [ 8.42056074e-03 -1.82123521e-04 9.99964530e-01 3.52585010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.659254154 meters 0.016872395875906197 Centerline is valid? [True, True] Translation: X:528.34, Y:6.37, Z:3.53 [[ 9.99089990e-01 -4.20590619e-02 -7.08717096e-03 5.28336317e+02] [ 4.20590416e-02 9.99115115e-01 -1.51966180e-04 6.36768582e+00] [ 7.08729118e-03 -1.46251729e-04 9.99974874e-01 3.52806744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters 0.01640851907971926 Centerline is valid? [True, True] Translation: X:528.40, Y:6.37, Z:3.53 [[ 9.99196818e-01 -3.94532676e-02 -7.01128083e-03 5.28398852e+02] [ 3.94531873e-02 9.99221409e-01 -1.49823813e-04 6.37067635e+00] [ 7.01173295e-03 -1.26913899e-04 9.99975409e-01 3.52858998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.779254154 meters 0.01813612757946088 Centerline is valid? [True, True] Translation: X:528.46, Y:6.37, Z:3.53 [[ 9.99291243e-01 -3.65461133e-02 -9.02180172e-03 5.28460682e+02] [ 3.65458691e-02 9.99331958e-01 -1.91978210e-04 6.37204280e+00] [ 9.02279083e-03 -1.37867440e-04 9.99959284e-01 3.52724802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters 0.01658133924925671 Centerline is valid? [True, True] Translation: X:528.52, Y:6.37, Z:3.53 [[ 9.99193711e-01 -3.92499573e-02 -8.44796857e-03 5.28521711e+02] [ 3.92498445e-02 9.99229412e-01 -1.79212763e-04 6.36944100e+00] [ 8.44849276e-03 -1.52513187e-04 9.99964299e-01 3.52825053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.899254154 meters 0.020712089492283012 Centerline is valid? [True, True] Translation: X:528.58, Y:6.36, Z:3.53 [[ 9.99021313e-01 -4.28643775e-02 -1.09115331e-02 5.28582518e+02] [ 4.28644115e-02 9.99080872e-01 -2.30855721e-04 6.36484442e+00] [ 1.09113995e-02 -2.37086658e-04 9.99940441e-01 3.52672394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters 0.01986543694509291 Centerline is valid? [True, True] Translation: X:528.64, Y:6.36, Z:3.53 [[ 9.98706738e-01 -4.98128197e-02 -1.01751608e-02 5.28643235e+02] [ 4.98132124e-02 9.98758528e-01 -2.14992555e-04 6.35952017e+00] [ 1.01732380e-02 -2.92142932e-04 9.99948209e-01 3.52850349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.019254154 meters 0.019078305284703154 Centerline is valid? [True, True] Translation: X:528.71, Y:6.36, Z:3.53 [[ 9.98507164e-01 -5.34127341e-02 -1.14246813e-02 5.28705637e+02] [ 5.34134702e-02 9.98572453e-01 -2.40905724e-04 6.35927548e+00] [ 1.14212395e-02 -3.69685785e-04 9.99934707e-01 3.52874418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters 0.019740433913727214 Centerline is valid? [True, True] Translation: X:528.77, Y:6.36, Z:3.53 [[ 9.98454237e-01 -5.41437274e-02 -1.25536464e-02 5.28768173e+02] [ 5.41446863e-02 9.98533066e-01 -2.63722765e-04 6.35638156e+00] [ 1.25495099e-02 -4.16398132e-04 9.99921165e-01 3.52843840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.139254154 meters 0.01831288535348629 Centerline is valid? [True, True] Translation: X:528.83, Y:6.36, Z:3.53 [[ 9.98767456e-01 -4.80376073e-02 -1.24882998e-02 5.28828767e+02] [ 4.80380867e-02 9.98845470e-01 -2.61748670e-04 6.35910186e+00] [ 1.24864555e-02 -3.38487977e-04 9.99921984e-01 3.52983941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters 0.016687864468808 Centerline is valid? [True, True] Translation: X:528.89, Y:6.36, Z:3.53 [[ 9.99070375e-01 -4.14224968e-02 -1.19399708e-02 5.28889854e+02] [ 4.14224665e-02 9.99141690e-01 -2.49945855e-04 6.36340678e+00] [ 1.19400760e-02 -2.44869542e-04 9.99928685e-01 3.53093029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.259254154 meters 0.015481534124179004 Centerline is valid? [True, True] Translation: X:528.95, Y:6.37, Z:3.53 [[ 9.99368441e-01 -3.35948303e-02 -1.15804806e-02 5.28949912e+02] [ 3.35942801e-02 9.99435524e-01 -2.42091399e-04 6.36697709e+00] [ 1.15820767e-02 -1.47099403e-04 9.99932915e-01 3.53162048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters 0.01432778940756393 Centerline is valid? [True, True] Translation: X:529.01, Y:6.37, Z:3.53 [[ 9.99623700e-01 -2.42215397e-02 -1.28753852e-02 5.29011085e+02] [ 2.42200866e-02 9.99706615e-01 -2.68796686e-04 6.37115586e+00] [ 1.28781184e-02 -4.31474065e-05 9.99917073e-01 3.53134132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.379254154 meters 0.014300892204142936 Centerline is valid? [True, True] Translation: X:529.07, Y:6.37, Z:3.53 [[ 9.99675448e-01 -2.10836199e-02 -1.42996360e-02 5.29070444e+02] [ 2.10815064e-02 9.99777716e-01 -2.98535928e-04 6.37079774e+00] [ 1.43027516e-02 -3.01882994e-06 9.99897710e-01 3.53038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters 0.014212733292967988 Centerline is valid? [True, True] Translation: X:529.13, Y:6.37, Z:3.53 [[ 9.99623182e-01 -2.22116393e-02 -1.61287379e-02 5.29129032e+02] [ 2.22090527e-02 9.99753291e-01 -3.39489041e-04 6.36503470e+00] [ 1.61322994e-02 -1.88428736e-05 9.99869866e-01 3.52919564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.499254154 meters 0.014153905117083313 Centerline is valid? [True, True] Translation: X:529.19, Y:6.36, Z:3.53 [[ 9.99535765e-01 -2.53699867e-02 -1.68706050e-02 5.29187048e+02] [ 2.53675517e-02 9.99678128e-01 -3.58351493e-04 6.35950013e+00] [ 1.68742662e-02 -6.97808102e-05 9.99857617e-01 3.52851492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters 0.014586727256647097 Centerline is valid? [True, True] Translation: X:529.25, Y:6.35, Z:3.53 [[ 9.99330560e-01 -3.19816929e-02 -1.77652040e-02 5.29246123e+02] [ 3.19799696e-02 9.99488437e-01 -3.81157165e-04 6.34931574e+00] [ 1.77683060e-02 -1.87228680e-04 9.99842114e-01 3.52881049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.619254154 meters 0.015230600735048025 Centerline is valid? [True, True] Translation: X:529.30, Y:6.34, Z:3.53 [[ 9.99188876e-01 -3.65896813e-02 -1.68162023e-02 5.29304549e+02] [ 3.65887468e-02 9.99330342e-01 -3.63334373e-04 6.34238997e+00] [ 1.68182355e-02 -2.52244105e-04 9.99858532e-01 3.52935002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters 0.01699664478140805 Centerline is valid? [True, True] Translation: X:529.36, Y:6.33, Z:3.53 [[ 9.98903793e-01 -4.43190720e-02 -1.50675975e-02 5.29364276e+02] [ 4.43191877e-02 9.99017369e-01 -3.26395709e-04 6.33161411e+00] [ 1.50672571e-02 -3.41745767e-04 9.99886424e-01 3.53168611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.739254154 meters 0.0185121820434583 Centerline is valid? [True, True] Translation: X:529.42, Y:6.32, Z:3.53 [[ 9.98604246e-01 -5.08495977e-02 -1.42785674e-02 5.29424677e+02] [ 5.08503633e-02 9.98706235e-01 -3.09669891e-04 6.32480946e+00] [ 1.42758409e-02 -4.16832672e-04 9.99898008e-01 3.53269393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters 0.024173076788580626 Centerline is valid? [True, True] Translation: X:529.48, Y:6.31, Z:3.53 [[ 9.97872238e-01 -6.35411749e-02 -1.46122021e-02 5.29484213e+02] [ 6.35433289e-02 9.97979030e-01 -3.17292183e-04 6.30909228e+00] [ 1.46028324e-02 -6.11890900e-04 9.99893186e-01 3.53218833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.859254154 meters 0.026941506427493184 Centerline is valid? [True, True] Translation: X:529.55, Y:6.30, Z:3.53 [[ 9.96893691e-01 -7.72361176e-02 -1.54127055e-02 5.29545044e+02] [ 7.72401423e-02 9.97012461e-01 -3.34868476e-04 6.30016751e+00] [ 1.53925234e-02 -8.56651295e-04 9.99881161e-01 3.53181216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.919254154 meters 0.030075699623682006 Centerline is valid? [True, True] Translation: X:529.61, Y:6.29, Z:3.53 [[ 9.96277162e-01 -8.48144585e-02 -1.54377620e-02 5.29605920e+02] [ 8.48194031e-02 9.96396285e-01 -3.35356492e-04 6.29420359e+00] [ 1.54105718e-02 -9.75313744e-04 9.99880774e-01 3.53179642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.979254154 meters 0.03363769314303238 Centerline is valid? [True, True] Translation: X:529.67, Y:6.29, Z:3.53 [[ 9.95729848e-01 -9.10817729e-02 -1.50393269e-02 5.29666875e+02] [ 9.10871775e-02 9.95842869e-01 -3.26658312e-04 6.28989656e+00] [ 1.50065591e-02 -1.04462641e-03 9.99886850e-01 3.53146455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.039254154 meters 0.03468042512445472 Centerline is valid? [True, True] Translation: X:529.73, Y:6.29, Z:3.53 [[ 9.95689687e-01 -9.15268789e-02 -1.49959546e-02 5.29728646e+02] [ 9.15323073e-02 9.95802054e-01 -3.25393639e-04 6.29134169e+00] [ 1.49627846e-02 -1.04862323e-03 9.99887501e-01 3.53135574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters 0.035384700393409095 Centerline is valid? [True, True] Translation: X:529.79, Y:6.30, Z:3.53 [[ 9.95942816e-01 -8.88085551e-02 -1.45240110e-02 5.29788019e+02] [ 8.88133608e-02 9.96048236e-01 -3.15056217e-04 6.29694687e+00] [ 1.44945953e-02 -9.76148256e-04 9.99894471e-01 3.53104004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.159254154 meters 0.03362200011052995 Centerline is valid? [True, True] Translation: X:529.85, Y:6.30, Z:3.53 [[ 9.96293156e-01 -8.48789242e-02 -1.39827183e-02 5.29848752e+02] [ 8.48829918e-02 9.96390880e-01 -3.03390433e-04 6.30471587e+00] [ 1.39580045e-02 -8.84629153e-04 9.99902191e-01 3.53163101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters 0.031933091470330244 Centerline is valid? [True, True] Translation: X:529.91, Y:6.32, Z:3.53 [[ 9.96782109e-01 -7.91699794e-02 -1.25515344e-02 5.29909577e+02] [ 7.91728073e-02 9.96860869e-01 -2.72205835e-04 6.31558724e+00] [ 1.25336840e-02 -7.22410307e-04 9.99921189e-01 3.53276543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.279254154 meters 0.02552005107919881 Centerline is valid? [True, True] Translation: X:529.97, Y:6.33, Z:3.53 [[ 9.97105366e-01 -7.50504145e-02 -1.21788279e-02 5.29969837e+02] [ 7.50527731e-02 9.97179528e-01 -2.63911088e-04 6.33052381e+00] [ 1.21642845e-02 -6.50907642e-04 9.99925800e-01 3.53399962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters 0.025533123290343625 Centerline is valid? [True, True] Translation: X:530.03, Y:6.34, Z:3.53 [[ 9.97442777e-01 -7.02968511e-02 -1.28941747e-02 5.30030028e+02] [ 7.02991004e-02 9.97525919e-01 -2.79278831e-04 6.34036027e+00] [ 1.28819059e-02 -6.27884232e-04 9.99916828e-01 3.53378017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.399254154 meters 0.023882784250805932 Centerline is valid? [True, True] Translation: X:530.09, Y:6.35, Z:3.53 [[ 9.97624861e-01 -6.77070946e-02 -1.26643729e-02 5.30091360e+02] [ 6.77090590e-02 9.97705071e-01 -2.74080039e-04 6.34753932e+00] [ 1.26538662e-02 -5.84063712e-04 9.99919766e-01 3.53393716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters 0.023779791013730046 Centerline is valid? [True, True] Translation: X:530.15, Y:6.36, Z:3.53 [[ 9.98005106e-01 -6.19153241e-02 -1.23410443e-02 5.30150864e+02] [ 6.19167498e-02 9.98081282e-01 -2.66883941e-04 6.35621453e+00] [ 1.23338895e-02 -4.97765817e-04 9.99923811e-01 3.53408817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.519254154 meters 0.01883351170436311 Centerline is valid? [True, True] Translation: X:530.21, Y:6.37, Z:3.54 [[ 9.98443233e-01 -5.47325659e-02 -1.07450660e-02 5.30211430e+02] [ 5.47332309e-02 9.98500986e-01 -2.32387317e-04 6.37289370e+00] [ 1.07416782e-02 -3.56086636e-04 9.99942243e-01 3.53568123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters 0.01794928248434524 Centerline is valid? [True, True] Translation: X:530.27, Y:6.38, Z:3.54 [[ 9.98570806e-01 -5.24044055e-02 -1.04939766e-02 5.30273689e+02] [ 5.24049148e-02 9.98625893e-01 -2.26623875e-04 6.37835550e+00] [ 1.04914328e-02 -3.23635962e-04 9.99944911e-01 3.53635061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.639254154 meters 0.017630707057102683 Centerline is valid? [True, True] Translation: X:530.33, Y:6.38, Z:3.54 [[ 9.98786389e-01 -4.81989010e-02 -1.01299026e-02 5.30333821e+02] [ 4.81991651e-02 9.98837721e-01 -2.18206600e-04 6.38483687e+00] [ 1.01286461e-02 -2.70311065e-04 9.99948667e-01 3.53584694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters 0.016462269558001136 Centerline is valid? [True, True] Translation: X:530.40, Y:6.39, Z:3.54 [[ 9.98946693e-01 -4.49845812e-02 -9.04939022e-03 5.30395103e+02] [ 4.49846619e-02 9.98987659e-01 -1.94731313e-04 6.39182054e+00] [ 9.04898905e-03 -2.12557559e-04 9.99959034e-01 3.53583560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.759254154 meters 0.016215424528532855 Centerline is valid? [True, True] Translation: X:530.46, Y:6.40, Z:3.54 [[ 9.99063024e-01 -4.26848739e-02 -7.14670595e-03 5.30457109e+02] [ 4.26848671e-02 9.99088574e-01 -1.53557705e-04 6.39797671e+00] [ 7.14674684e-03 -1.51642368e-04 9.99974450e-01 3.53660676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters 0.01665361712928811 Centerline is valid? [True, True] Translation: X:530.52, Y:6.40, Z:3.54 [[ 9.99082524e-01 -4.24100168e-02 -5.95823393e-03 5.30518686e+02] [ 4.24100090e-02 9.99100283e-01 -1.27701312e-04 6.40058978e+00] [ 5.95828902e-03 -1.25104605e-04 9.99982241e-01 3.53714428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.879254154 meters 0.016418301190198444 Centerline is valid? [True, True] Translation: X:530.58, Y:6.40, Z:3.54 [[ 9.99044936e-01 -4.33956804e-02 -5.10194286e-03 5.30581210e+02] [ 4.33956905e-02 9.99057957e-01 -1.08767538e-04 6.40438324e+00] [ 5.10185666e-03 -1.12738676e-04 9.99986979e-01 3.53635772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters 0.0168550123905509 Centerline is valid? [True, True] Translation: X:530.64, Y:6.41, Z:3.54 [[ 9.98993799e-01 -4.46142889e-02 -4.57753692e-03 5.30643483e+02] [ 4.46143111e-02 9.99004281e-01 -9.72965763e-05 6.40543796e+00] [ 4.57731980e-03 -1.07024980e-04 9.99989518e-01 3.53626752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.999254154 meters 0.017529157998604886 Centerline is valid? [True, True] Translation: X:530.71, Y:6.41, Z:3.53 [[ 9.98868080e-01 -4.73595915e-02 -4.43029496e-03 5.30705504e+02] [ 4.73596407e-02 9.98877898e-01 -9.38566090e-05 6.40613942e+00] [ 4.42976873e-03 -1.16066807e-04 9.99990182e-01 3.53498578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters 0.017638090715204155 Centerline is valid? [True, True] Translation: X:530.77, Y:6.41, Z:3.53 [[ 9.98764686e-01 -4.95027447e-02 -4.31051982e-03 5.30767883e+02] [ 4.95028125e-02 9.98773980e-01 -9.10190316e-05 6.40772772e+00] [ 4.30974072e-03 -1.22476260e-04 9.99990706e-01 3.53482453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.119254154 meters 0.019129020467740288 Centerline is valid? [True, True] Translation: X:530.83, Y:6.41, Z:3.53 [[ 9.98616075e-01 -5.24588336e-02 -3.74231451e-03 5.30828826e+02] [ 5.24589065e-02 9.98623081e-01 -7.87481474e-05 6.40730008e+00] [ 3.74129268e-03 -1.17678561e-04 9.99992994e-01 3.53441678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters 0.019788672083549067 Centerline is valid? [True, True] Translation: X:530.89, Y:6.41, Z:3.53 [[ 9.98502020e-01 -5.45825134e-02 -3.80338816e-03 5.30890858e+02] [ 5.45826046e-02 9.98509255e-01 -7.98696752e-05 6.40900012e+00] [ 3.80207777e-03 -1.27848800e-04 9.99992764e-01 3.53434327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.239254154 meters 0.020267697082257702 Centerline is valid? [True, True] Translation: X:530.95, Y:6.41, Z:3.53 [[ 9.98450700e-01 -5.54931610e-02 -4.08753339e-03 5.30952903e+02] [ 5.54932754e-02 9.98459057e-01 -8.54971249e-05 6.41002987e+00] [ 4.08597924e-03 -1.41465952e-04 9.99991642e-01 3.53396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters 0.020132076152859425 Centerline is valid? [True, True] Translation: X:531.01, Y:6.41, Z:3.53 [[ 9.98433273e-01 -5.57812361e-02 -4.41047259e-03 5.31014883e+02] [ 5.57813737e-02 9.98443003e-01 -9.18883068e-05 6.41251785e+00] [ 4.40873114e-03 -1.54277877e-04 9.99990270e-01 3.53340389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.359254154 meters 0.020377531052475806 Centerline is valid? [True, True] Translation: X:531.08, Y:6.41, Z:3.53 [[ 9.98442294e-01 -5.55332726e-02 -5.38895601e-03 5.31076954e+02] [ 5.55334773e-02 9.98456820e-01 -1.11762266e-04 6.41452967e+00] [ 5.38684640e-03 -1.87679293e-04 9.99985473e-01 3.53304741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.419254154 meters 0.020827830549963466 Centerline is valid? [True, True] Translation: X:531.14, Y:6.42, Z:3.53 [[ 9.98503550e-01 -5.43555096e-02 -6.01157828e-03 5.31137967e+02] [ 5.43557461e-02 9.98521626e-01 -1.24161690e-04 6.41769666e+00] [ 6.00943979e-03 -2.02787934e-04 9.99981923e-01 3.53314251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.479254154 meters 0.02056135173457863 Centerline is valid? [True, True] Translation: X:531.20, Y:6.42, Z:3.53 [[ 9.98636577e-01 -5.18643184e-02 -5.92272664e-03 5.31199502e+02] [ 5.18645059e-02 9.98654123e-01 -1.22022411e-04 6.42082055e+00] [ 5.92108399e-03 -1.85323248e-04 9.99982453e-01 3.53332405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.539254154 meters 0.01932977169397047 Centerline is valid? [True, True] Translation: X:531.26, Y:6.43, Z:3.53 [[ 9.98873106e-01 -4.70971819e-02 -5.86292873e-03 5.31261035e+02] [ 4.70972861e-02 9.98890300e-01 -1.20365579e-04 6.42615789e+00] [ 5.86209151e-03 -1.55898092e-04 9.99982806e-01 3.53340595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters 0.017444504398113042 Centerline is valid? [True, True] Translation: X:531.32, Y:6.43, Z:3.53 [[ 9.99142915e-01 -4.08740355e-02 -6.53827528e-03 5.31322810e+02] [ 4.08740343e-02 9.99164299e-01 -1.33852906e-04 6.43373068e+00] [ 6.53828234e-03 -1.33507505e-04 9.99978616e-01 3.53390640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.659254154 meters 0.015121749183242337 Centerline is valid? [True, True] Translation: X:531.39, Y:6.44, Z:3.53 [[ 9.99306716e-01 -3.66018064e-02 -6.81141786e-03 5.31385470e+02] [ 3.66017094e-02 9.99329923e-01 -1.38938919e-04 6.44167827e+00] [ 6.81193910e-03 -1.10466943e-04 9.99976792e-01 3.53434691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters 0.014741602295819037 Centerline is valid? [True, True] Translation: X:531.45, Y:6.44, Z:3.53 [[ 9.99433493e-01 -3.29722842e-02 -6.74690898e-03 5.31447436e+02] [ 3.29721111e-02 9.99456263e-01 -1.36925956e-04 6.44498876e+00] [ 6.74775519e-03 -8.56114457e-05 9.99977230e-01 3.53458541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.779254154 meters 0.0142727446851407 Centerline is valid? [True, True] Translation: X:531.51, Y:6.45, Z:3.54 [[ 9.99507162e-01 -3.07318154e-02 -6.40219622e-03 5.31509425e+02] [ 3.07316164e-02 9.99527664e-01 -1.29486172e-04 6.44781456e+00] [ 6.40315158e-03 -6.73274815e-05 9.99979497e-01 3.53538264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters 0.014727751308384133 Centerline is valid? [True, True] Translation: X:531.57, Y:6.45, Z:3.54 [[ 9.99452185e-01 -3.25386485e-02 -6.04702659e-03 5.31570189e+02] [ 3.25385063e-02 9.99470475e-01 -1.21918651e-04 6.44672468e+00] [ 6.04779161e-03 -7.49093506e-05 9.99981709e-01 3.53597948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.899254154 meters 0.015533347466085803 Centerline is valid? [True, True] Translation: X:531.63, Y:6.44, Z:3.54 [[ 9.99322599e-01 -3.64087441e-02 -5.36159691e-03 5.31632114e+02] [ 3.64086915e-02 9.99336978e-01 -1.07440452e-04 6.44382847e+00] [ 5.36195382e-03 -8.78410567e-05 9.99985621e-01 3.53640973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters 0.01719334817436587 Centerline is valid? [True, True] Translation: X:531.69, Y:6.44, Z:3.54 [[ 9.98951416e-01 -4.54466875e-02 -5.53779076e-03 5.31693172e+02] [ 4.54467728e-02 9.98966756e-01 -1.10496636e-04 6.43853131e+00] [ 5.53709057e-03 -1.41293947e-04 9.99984660e-01 3.53584738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.019254154 meters 0.019768985439775077 Centerline is valid? [True, True] Translation: X:531.75, Y:6.43, Z:3.54 [[ 9.98610444e-01 -5.23585444e-02 -5.98029319e-03 5.31753067e+02] [ 5.23587685e-02 9.98628332e-01 -1.19192114e-04 6.43302587e+00] [ 5.97833094e-03 -1.94094297e-04 9.99982111e-01 3.53603611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters 0.025355331174985677 Centerline is valid? [True, True] Translation: X:531.81, Y:6.42, Z:3.54 [[ 9.97984833e-01 -6.31058046e-02 -6.62805581e-03 5.31813177e+02] [ 6.31063164e-02 9.98006801e-01 -1.32102029e-04 6.42367966e+00] [ 6.62318118e-03 -2.86436366e-04 9.99978025e-01 3.53505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.139254154 meters 0.02690350622853127 Centerline is valid? [True, True] Translation: X:531.87, Y:6.42, Z:3.53 [[ 9.97516043e-01 -7.00161900e-02 -7.71218999e-03 5.31874172e+02] [ 7.00170885e-02 9.97545780e-01 -1.53756404e-04 6.42200744e+00] [ 7.70402802e-03 -3.86610610e-04 9.99970249e-01 3.53429113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters 0.031065242897658205 Centerline is valid? [True, True] Translation: X:531.94, Y:6.42, Z:3.53 [[ 9.96906050e-01 -7.81643742e-02 -8.28601942e-03 5.31935046e+02] [ 7.81656923e-02 9.96940368e-01 -1.65157549e-04 6.41857829e+00] [ 8.27357668e-03 -4.83035884e-04 9.99965657e-01 3.53433591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.259254154 meters 0.033187775739107 Centerline is valid? [True, True] Translation: X:532.00, Y:6.42, Z:3.53 [[ 9.96636053e-01 -8.14732118e-02 -8.87095031e-03 5.31996242e+02] [ 8.14748542e-02 9.96675382e-01 -1.76693229e-04 6.41908681e+00] [ 8.85585355e-03 -5.46660541e-04 9.99960637e-01 3.53459266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters 0.0346128704974849 Centerline is valid? [True, True] Translation: X:532.06, Y:6.42, Z:3.54 [[ 9.96534265e-01 -8.27948987e-02 -8.02889423e-03 5.32058704e+02] [ 8.27962884e-02 9.96566480e-01 -1.59718905e-04 6.42340844e+00] [ 8.01455077e-03 -5.05597280e-04 9.99967755e-01 3.53602825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.379254154 meters 0.03540552913110607 Centerline is valid? [True, True] Translation: X:532.12, Y:6.43, Z:3.54 [[ 9.96619320e-01 -8.18214207e-02 -7.42876179e-03 5.32121051e+02] [ 8.18225871e-02 9.96646900e-01 -1.47288211e-04 6.42819955e+00] [ 7.41590374e-03 -4.61050232e-04 9.99972396e-01 3.53765705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters 0.03589461683513572 Centerline is valid? [True, True] Translation: X:532.18, Y:6.44, Z:3.54 [[ 9.96834569e-01 -7.92135919e-02 -6.78596538e-03 5.32180897e+02] [ 7.92145079e-02 9.96857585e-01 -1.34112644e-04 6.43537571e+00] [ 6.77526460e-03 -4.03858788e-04 9.99976966e-01 3.53856189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.499254154 meters 0.0350377931291238 Centerline is valid? [True, True] Translation: X:532.24, Y:6.44, Z:3.54 [[ 9.96903464e-01 -7.82762657e-02 -7.50404062e-03 5.32243258e+02] [ 7.82773598e-02 9.96931609e-01 -1.48249417e-04 6.44003472e+00] [ 7.49261970e-03 -4.39606130e-04 9.99971833e-01 3.53884560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters 0.03411998423671421 Centerline is valid? [True, True] Translation: X:532.31, Y:6.45, Z:3.54 [[ 9.97090941e-01 -7.56968365e-02 -8.92434331e-03 5.32305127e+02] [ 7.56982868e-02 9.97130753e-01 -1.75645003e-04 6.44687928e+00] [ 8.91203293e-03 -5.00423458e-04 9.99960162e-01 3.53776508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.619254154 meters 0.02811792744497471 Centerline is valid? [True, True] Translation: X:532.37, Y:6.46, Z:3.54 [[ 9.97519804e-01 -6.96538795e-02 -1.01280634e-02 5.32365449e+02] [ 6.96554407e-02 9.97571090e-01 -1.98944090e-04 6.46471353e+00] [ 1.01173205e-02 -5.07024050e-04 9.99948690e-01 3.53750276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters 0.024672679397534553 Centerline is valid? [True, True] Translation: X:532.42, Y:6.48, Z:3.54 [[ 9.98173422e-01 -5.96054129e-02 -9.84954984e-03 5.32424673e+02] [ 5.96064004e-02 9.98221939e-01 -1.93533545e-04 6.48019672e+00] [ 9.84357239e-03 -3.93916171e-04 9.99951473e-01 3.53902899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.739254154 meters 0.020658595491119612 Centerline is valid? [True, True] Translation: X:532.48, Y:6.49, Z:3.54 [[ 9.98664252e-01 -5.08914882e-02 -8.93132901e-03 5.32484495e+02] [ 5.08919509e-02 9.98704150e-01 -1.75609299e-04 6.49416130e+00] [ 8.92869236e-03 -2.79158028e-04 9.99960099e-01 3.54078965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters 0.017107888394603296 Centerline is valid? [True, True] Translation: X:532.54, Y:6.51, Z:3.54 [[ 9.99248088e-01 -3.81853611e-02 -6.71838619e-03 5.32544574e+02] [ 3.81853357e-02 9.99270665e-01 -1.32096307e-04 6.51003793e+00] [ 6.71853039e-03 -1.24546850e-04 9.99977423e-01 3.54323466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.859254154 meters 0.015324601908583854 Centerline is valid? [True, True] Translation: X:532.61, Y:6.52, Z:3.54 [[ 9.99511251e-01 -3.06741962e-02 -6.02931232e-03 5.32605651e+02] [ 3.06740389e-02 9.99529434e-01 -1.18573830e-04 6.52123576e+00] [ 6.03011229e-03 -6.64274831e-05 9.99981817e-01 3.54259852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.919254154 meters 0.01501536108324281 Centerline is valid? [True, True] Translation: X:532.67, Y:6.52, Z:3.54 [[ 9.99522099e-01 -2.98749225e-02 -7.94123622e-03 5.32668248e+02] [ 2.98746278e-02 9.99553642e-01 -1.55756395e-04 6.52398293e+00] [ 7.94234480e-03 -8.15595175e-05 9.99968456e-01 3.54128806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.979254154 meters 0.015445922201641187 Centerline is valid? [True, True] Translation: X:532.73, Y:6.52, Z:3.54 [[ 9.99336051e-01 -3.48477056e-02 -1.06346042e-02 5.32730783e+02] [ 3.48474687e-02 9.99392621e-01 -2.07628036e-04 6.52219148e+00] [ 1.06353803e-02 -1.63098854e-04 9.99943429e-01 3.53958711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.039254154 meters 0.0166527386254802 Centerline is valid? [True, True] Translation: X:532.79, Y:6.52, Z:3.54 [[ 9.99157838e-01 -3.96131406e-02 -1.06964438e-02 5.32792866e+02] [ 3.96131824e-02 9.99215068e-01 -2.08044446e-04 6.51883342e+00] [ 1.06962891e-02 -2.15850940e-04 9.99942770e-01 3.53936239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters 0.017907715431644457 Centerline is valid? [True, True] Translation: X:532.85, Y:6.52, Z:3.54 [[ 9.98987755e-01 -4.38365049e-02 -1.00908770e-02 5.32854535e+02] [ 4.38367639e-02 9.99038688e-01 -1.95618436e-04 6.51515891e+00] [ 1.00897517e-02 -2.46930969e-04 9.99949067e-01 3.54075798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.159254154 meters 0.017695293572133758 Centerline is valid? [True, True] Translation: X:532.92, Y:6.51, Z:3.54 [[ 9.99035839e-01 -4.29446949e-02 -9.11837983e-03 5.32916907e+02] [ 4.29448739e-02 9.99077428e-01 -1.76260989e-04 6.51351459e+00] [ 9.11753694e-03 -2.15496626e-04 9.99958411e-01 3.54166149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters 0.017464949478590275 Centerline is valid? [True, True] Translation: X:532.98, Y:6.51, Z:3.54 [[ 9.99101312e-01 -4.14626539e-02 -8.79868939e-03 5.32979542e+02] [ 4.14627686e-02 9.99140035e-01 -1.69462395e-04 6.51282433e+00] [ 8.79814918e-03 -1.95507921e-04 9.99961276e-01 3.54186670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.279254154 meters 0.016918781104520858 Centerline is valid? [True, True] Translation: X:533.04, Y:6.51, Z:3.54 [[ 9.99159568e-01 -4.00090105e-02 -8.91278038e-03 5.33041714e+02] [ 4.00090761e-02 9.99199302e-01 -1.71008403e-04 6.51174550e+00] [ 8.91248581e-03 -1.85727426e-04 9.99960266e-01 3.54212487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters 0.016958401516682382 Centerline is valid? [True, True] Translation: X:533.10, Y:6.51, Z:3.54 [[ 9.99217720e-01 -3.82628397e-02 -9.99518880e-03 5.33103217e+02] [ 3.82628422e-02 9.99267691e-01 -1.91051447e-04 6.50780582e+00] [ 9.99517940e-03 -1.91542340e-04 9.99950029e-01 3.54166545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.399254154 meters 0.015822052135269302 Centerline is valid? [True, True] Translation: X:533.17, Y:6.51, Z:3.54 [[ 9.99290903e-01 -3.59972610e-02 -1.10403478e-02 5.33165051e+02] [ 3.59971337e-02 9.99351871e-01 -2.10309420e-04 6.50842325e+00] [ 1.10407628e-02 -1.87260587e-04 9.99939031e-01 3.54117793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters 0.015543516987516935 Centerline is valid? [True, True] Translation: X:533.23, Y:6.51, Z:3.54 [[ 9.99438325e-01 -3.09577197e-02 -1.28317325e-02 5.33226151e+02] [ 3.09571442e-02 9.99520683e-01 -2.43521309e-04 6.50654890e+00] [ 1.28331209e-02 -1.53849263e-04 9.99917640e-01 3.53993338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.519254154 meters 0.014674468610881817 Centerline is valid? [True, True] Translation: X:533.29, Y:6.51, Z:3.54 [[ 9.99601477e-01 -2.47775142e-02 -1.35263114e-02 5.33287819e+02] [ 2.47763175e-02 9.99692987e-01 -2.56064173e-04 6.50809686e+00] [ 1.35285033e-02 -7.91700604e-05 9.99908482e-01 3.54087798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters 0.014603337249786798 Centerline is valid? [True, True] Translation: X:533.35, Y:6.51, Z:3.54 [[ 9.99664656e-01 -2.18341493e-02 -1.39228612e-02 5.33348738e+02] [ 2.18325995e-02 9.99761606e-01 -2.63315975e-04 6.50815921e+00] [ 1.39252913e-02 -4.07445787e-05 9.99903038e-01 3.54125575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.639254154 meters 0.01452101876315208 Centerline is valid? [True, True] Translation: X:533.41, Y:6.50, Z:3.54 [[ 9.99649379e-01 -2.20114334e-02 -1.47178683e-02 5.33408771e+02] [ 2.20097207e-02 9.99757718e-01 -2.78355572e-04 6.50344471e+00] [ 1.47204295e-02 -4.56781968e-05 9.99891648e-01 3.54106350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters 0.014982800629116041 Centerline is valid? [True, True] Translation: X:533.47, Y:6.50, Z:3.54 [[ 9.99562456e-01 -2.51100489e-02 -1.56327538e-02 5.33468002e+02] [ 2.51084876e-02 9.99684688e-01 -2.96163545e-04 6.49874683e+00] [ 1.56352613e-02 -9.64808458e-05 9.99877757e-01 3.54144406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.759254154 meters 0.015327969364449993 Centerline is valid? [True, True] Translation: X:533.53, Y:6.49, Z:3.54 [[ 9.99327035e-01 -3.27491155e-02 -1.65218648e-02 5.33528102e+02] [ 3.27484026e-02 9.99463578e-01 -3.13770718e-04 6.48909988e+00] [ 1.65232778e-02 -2.27505118e-04 9.99863455e-01 3.54179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters 0.016683399824476704 Centerline is valid? [True, True] Translation: X:533.59, Y:6.48, Z:3.54 [[ 9.99056446e-01 -4.06261954e-02 -1.53535226e-02 5.33588573e+02] [ 4.06265057e-02 9.99174360e-01 -2.91814043e-04 6.47911736e+00] [ 1.53527014e-02 -3.32221272e-04 9.99882085e-01 3.54329097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.879254154 meters 0.017357299167083624 Centerline is valid? [True, True] Translation: X:533.65, Y:6.48, Z:3.54 [[ 9.98931433e-01 -4.40149239e-02 -1.40953565e-02 5.33649843e+02] [ 4.40155264e-02 9.99030811e-01 -2.67624404e-04 6.47558593e+00] [ 1.40934749e-02 -3.53076108e-04 9.99900620e-01 3.54433831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters 0.01775672463076126 Centerline is valid? [True, True] Translation: X:533.71, Y:6.47, Z:3.55 [[ 9.98910989e-01 -4.47631971e-02 -1.31564774e-02 5.33711716e+02] [ 4.47637962e-02 9.98997568e-01 -2.49086298e-04 6.47147309e+00] [ 1.31544388e-02 -3.40118832e-04 9.99913419e-01 3.54553587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.999254154 meters 0.01727151885621589 Centerline is valid? [True, True] Translation: X:533.77, Y:6.47, Z:3.55 [[ 9.99022499e-01 -4.22541729e-02 -1.29858117e-02 5.33773411e+02] [ 4.22545541e-02 9.99106847e-01 -2.45134107e-04 6.47133486e+00] [ 1.29845714e-02 -3.03815196e-04 9.99915651e-01 3.54610863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters 0.01612109420540404 Centerline is valid? [True, True] Translation: X:533.83, Y:6.47, Z:3.55 [[ 9.99323405e-01 -3.49928143e-02 -1.13241060e-02 5.33834338e+02] [ 3.49926424e-02 9.99387547e-01 -2.13383049e-04 6.47367851e+00] [ 1.13246374e-02 -1.83021717e-04 9.99935857e-01 3.54765219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.119254154 meters 0.014782481780555424 Centerline is valid? [True, True] Translation: X:533.90, Y:6.48, Z:3.55 [[ 9.99611343e-01 -2.56395333e-02 -1.09442554e-02 5.33895863e+02] [ 2.56388163e-02 9.99671250e-01 -2.05834672e-04 6.47825347e+00] [ 1.09459350e-02 -7.48430793e-05 9.99940089e-01 3.54851953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters 0.014609387029875038 Centerline is valid? [True, True] Translation: X:533.96, Y:6.48, Z:3.55 [[ 9.99710605e-01 -2.09155289e-02 -1.18847358e-02 5.33957285e+02] [ 2.09143550e-02 9.99781246e-01 -2.23065302e-04 6.48078241e+00] [ 1.18868015e-02 -2.55608341e-05 9.99929349e-01 3.54788020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.239254154 meters 0.014541638399926133 Centerline is valid? [True, True] Translation: X:534.02, Y:6.48, Z:3.55 [[ 9.99749590e-01 -1.77393348e-02 -1.36408844e-02 5.34016573e+02] [ 1.77374931e-02 9.99842646e-01 -2.55997698e-04 6.48075104e+00] [ 1.36432792e-02 1.39785007e-05 9.99906926e-01 3.54619408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters 0.014625086026467867 Centerline is valid? [True, True] Translation: X:534.07, Y:6.48, Z:3.55 [[ 9.99722719e-01 -1.87177946e-02 -1.42873938e-02 5.34074458e+02] [ 1.87158606e-02 9.99824807e-01 -2.69077115e-04 6.47922057e+00] [ 1.42899273e-02 1.60163540e-06 9.99897894e-01 3.54536837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.359254154 meters 0.01473481674494249 Centerline is valid? [True, True] Translation: X:534.13, Y:6.47, Z:3.55 [[ 9.99614011e-01 -2.36752084e-02 -1.45366576e-02 5.34133636e+02] [ 2.36736933e-02 9.99719701e-01 -2.76315501e-04 6.47353464e+00] [ 1.45391248e-02 -6.79275279e-05 9.99894299e-01 3.54601319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.419254154 meters 0.014913007475204017 Centerline is valid? [True, True] Translation: X:534.19, Y:6.47, Z:3.55 [[ 9.99529444e-01 -2.69182933e-02 -1.47069870e-02 5.34192414e+02] [ 2.69170389e-02 9.99637631e-01 -2.83269171e-04 6.47242846e+00] [ 1.47092828e-02 -1.12732665e-04 9.99891806e-01 3.54718216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.479254154 meters 0.016921458155968537 Centerline is valid? [True, True] Translation: X:534.25, Y:6.46, Z:3.55 [[ 9.99120363e-01 -3.93521604e-02 -1.44881616e-02 5.34251498e+02] [ 3.93522209e-02 9.99225362e-01 -2.81025461e-04 6.46156853e+00] [ 1.44879975e-02 -2.89363075e-04 9.99895002e-01 3.54822615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.539254154 meters 0.01901271345721309 Centerline is valid? [True, True] Translation: X:534.31, Y:6.45, Z:3.55 [[ 9.98695897e-01 -4.93171621e-02 -1.32031115e-02 5.34312749e+02] [ 4.93180800e-02 9.98783090e-01 -2.56255667e-04 6.45491355e+00] [ 1.31996823e-02 -3.95230624e-04 9.99912802e-01 3.54979164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters 0.022695836111439213 Centerline is valid? [True, True] Translation: X:534.37, Y:6.45, Z:3.55 [[ 9.97871568e-01 -6.41412903e-02 -1.17570815e-02 5.34373413e+02] [ 6.41430455e-02 9.97940688e-01 -2.28119665e-04 6.44516206e+00] [ 1.17475019e-02 -5.26500884e-04 9.99930857e-01 3.55152923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.659254154 meters 0.026149523767823066 Centerline is valid? [True, True] Translation: X:534.43, Y:6.44, Z:3.55 [[ 9.97267755e-01 -7.30234424e-02 -1.11625300e-02 5.34434689e+02] [ 7.30255811e-02 9.97330045e-01 -2.16419371e-04 6.43905228e+00] [ 1.11485303e-02 -5.99322182e-04 9.99937674e-01 3.55258452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters 0.031939640882299045 Centerline is valid? [True, True] Translation: X:534.50, Y:6.43, Z:3.55 [[ 9.96435960e-01 -8.34830405e-02 -1.20813966e-02 5.34495212e+02] [ 8.34863143e-02 9.96508896e-01 -2.33980179e-04 6.43132754e+00] [ 1.20587526e-02 -7.75485012e-04 9.99926990e-01 3.55126029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.779254154 meters 0.03247077495580496 Centerline is valid? [True, True] Translation: X:534.56, Y:6.43, Z:3.55 [[ 9.95962070e-01 -8.87597328e-02 -1.34635009e-02 5.34556413e+02] [ 8.87642810e-02 9.96052626e-01 -2.60551230e-04 6.43251856e+00] [ 1.34334819e-02 -9.35578840e-04 9.99909329e-01 3.55211316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters 0.0331138150599539 Centerline is valid? [True, True] Translation: X:534.62, Y:6.43, Z:3.55 [[ 9.95952369e-01 -8.88786919e-02 -1.33961383e-02 5.34618591e+02] [ 8.88832146e-02 9.96042021e-01 -2.58567016e-04 6.43455046e+00] [ 1.33660978e-02 -9.33171406e-04 9.99910234e-01 3.55232344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.899254154 meters 0.03247667848878132 Centerline is valid? [True, True] Translation: X:534.68, Y:6.44, Z:3.55 [[ 9.96273114e-01 -8.50121199e-02 -1.45884176e-02 5.34679545e+02] [ 8.50170805e-02 9.96379454e-01 -2.80920011e-04 6.44060383e+00] [ 1.45594812e-02 -9.60391622e-04 9.99893544e-01 3.55158241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters 0.03037763769079395 Centerline is valid? [True, True] Translation: X:534.74, Y:6.45, Z:3.55 [[ 9.96639447e-01 -8.04326036e-02 -1.55051199e-02 5.34740047e+02] [ 8.04376572e-02 9.96759597e-01 -2.98444314e-04 6.44814602e+00] [ 1.54788817e-02 -9.49754139e-04 9.99879744e-01 3.55085475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.019254154 meters 0.02940312445057498 Centerline is valid? [True, True] Translation: X:534.80, Y:6.46, Z:3.55 [[ 9.97256341e-01 -7.21806142e-02 -1.64240302e-02 5.34799396e+02] [ 7.21851657e-02 9.97391198e-01 -3.16305990e-04 6.45730539e+00] [ 1.64040143e-02 -8.70133184e-04 9.99865066e-01 3.55035873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters 0.022432587813169442 Centerline is valid? [True, True] Translation: X:534.86, Y:6.48, Z:3.55 [[ 9.97946390e-01 -6.22426961e-02 -1.51277794e-02 5.34859648e+02] [ 6.22454177e-02 9.98060831e-01 -2.91325246e-04 6.47618078e+00] [ 1.51165770e-02 -6.50907973e-04 9.99885526e-01 3.55330552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.139254154 meters 0.020882237668181616 Centerline is valid? [True, True] Translation: X:534.92, Y:6.49, Z:3.55 [[ 9.98432266e-01 -5.41431705e-02 -1.41960201e-02 5.34920446e+02] [ 5.41447528e-02 9.98533060e-01 -2.73135001e-04 6.48607856e+00] [ 1.41899838e-02 -4.95933202e-04 9.99899194e-01 3.55396419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters 0.01688556618044496 Centerline is valid? [True, True] Translation: X:534.98, Y:6.50, Z:3.56 [[ 9.99069448e-01 -4.14729435e-02 -1.18420293e-02 5.34981078e+02] [ 4.14731570e-02 9.99139593e-01 -2.27649076e-04 6.50162792e+00] [ 1.18412816e-02 -2.63689104e-04 9.99929855e-01 3.55685011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.259254154 meters 0.01550677636004345 Centerline is valid? [True, True] Translation: X:535.04, Y:6.51, Z:3.56 [[ 9.99345387e-01 -3.45236499e-02 -1.08127455e-02 5.35042565e+02] [ 3.45234248e-02 9.99403867e-01 -2.07526693e-04 6.51079120e+00] [ 1.08134643e-02 -1.65902162e-04 9.99941519e-01 3.55808257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters 0.014792058446591191 Centerline is valid? [True, True] Translation: X:535.10, Y:6.52, Z:3.56 [[ 9.99476189e-01 -3.05732320e-02 -1.06125030e-02 5.35104286e+02] [ 3.05727987e-02 9.99532522e-01 -2.03100342e-04 6.51739155e+00] [ 1.06137513e-02 -1.21459960e-04 9.99943665e-01 3.55827808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.379254154 meters 0.015244702774831354 Centerline is valid? [True, True] Translation: X:535.17, Y:6.52, Z:3.56 [[ 9.99428530e-01 -3.17783470e-02 -1.15217349e-02 5.35166894e+02] [ 3.17779249e-02 9.99494930e-01 -2.19751046e-04 6.51961900e+00] [ 1.15228990e-02 -1.46511363e-04 9.99933598e-01 3.55826936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters 0.015941186452290736 Centerline is valid? [True, True] Translation: X:535.23, Y:6.52, Z:3.56 [[ 9.99257491e-01 -3.64743834e-02 -1.24131777e-02 5.35228601e+02] [ 3.64742661e-02 9.99334565e-01 -2.35910620e-04 6.52039771e+00] [ 1.24135222e-02 -2.17026092e-04 9.99922926e-01 3.55824206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.499254154 meters 0.016794210734764364 Centerline is valid? [True, True] Translation: X:535.29, Y:6.52, Z:3.56 [[ 9.99131859e-01 -3.97949880e-02 -1.23242427e-02 5.35289415e+02] [ 3.97951320e-02 9.99207833e-01 -2.33641137e-04 6.51911304e+00] [ 1.23237776e-02 -2.57006564e-04 9.99924026e-01 3.55809440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters 0.01754296068842627 Centerline is valid? [True, True] Translation: X:535.35, Y:6.52, Z:3.56 [[ 9.99048445e-01 -4.18938224e-02 -1.21290009e-02 5.35351408e+02] [ 4.18941242e-02 9.99122029e-01 -2.29303545e-04 6.51927138e+00] [ 1.21279584e-02 -2.79048519e-04 9.99926415e-01 3.55857907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.619254154 meters 0.017199874382318937 Centerline is valid? [True, True] Translation: X:535.41, Y:6.52, Z:3.56 [[ 9.99093243e-01 -4.09606177e-02 -1.16154812e-02 5.35413628e+02] [ 4.09608410e-02 9.99160729e-01 -2.18769521e-04 6.52152779e+00] [ 1.16146935e-02 -2.57208726e-04 9.99932514e-01 3.55898268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters 0.017204679252757253 Centerline is valid? [True, True] Translation: X:535.47, Y:6.52, Z:3.56 [[ 9.99175570e-01 -3.89839256e-02 -1.13328610e-02 5.35474388e+02] [ 3.89840194e-02 9.99239812e-01 -2.12716325e-04 6.52296194e+00] [ 1.13325384e-02 -2.29259519e-04 9.99935758e-01 3.55922513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.739254154 meters 0.016692965648777647 Centerline is valid? [True, True] Translation: X:535.54, Y:6.53, Z:3.56 [[ 9.99183696e-01 -3.86348338e-02 -1.18022116e-02 5.35536901e+02] [ 3.86349201e-02 9.99253368e-01 -2.20773673e-04 6.52517180e+00] [ 1.18019292e-02 -2.35384046e-04 9.99930327e-01 3.55909202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters 0.016360417668910977 Centerline is valid? [True, True] Translation: X:535.60, Y:6.53, Z:3.56 [[ 9.99191125e-01 -3.83762368e-02 -1.20149707e-02 5.35599585e+02] [ 3.83763200e-02 9.99263333e-01 -2.23713842e-04 6.52671966e+00] [ 1.20147049e-02 -2.37557474e-04 9.99927793e-01 3.55910993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.859254154 meters 0.015993592252079365 Centerline is valid? [True, True] Translation: X:535.66, Y:6.53, Z:3.56 [[ 9.99301413e-01 -3.53893403e-02 -1.20116629e-02 5.35661746e+02] [ 3.53892206e-02 9.99373581e-01 -2.22579857e-04 6.52867846e+00] [ 1.20120156e-02 -2.02659025e-04 9.99927833e-01 3.55877826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.919254154 meters 0.015186396518704567 Centerline is valid? [True, True] Translation: X:535.72, Y:6.53, Z:3.56 [[ 9.99444367e-01 -3.09663184e-02 -1.23306175e-02 5.35723637e+02] [ 3.09658659e-02 9.99520417e-01 -2.27669309e-04 6.53198136e+00] [ 1.23317540e-02 -1.54285437e-04 9.99923949e-01 3.55871083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.979254154 meters 0.014646519310314212 Centerline is valid? [True, True] Translation: X:535.78, Y:6.54, Z:3.56 [[ 9.99617356e-01 -2.41517567e-02 -1.34846215e-02 5.35784922e+02] [ 2.41506042e-02 9.99708301e-01 -2.48322097e-04 6.53752139e+00] [ 1.34866854e-02 -7.74346780e-05 9.99909048e-01 3.55878358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.039254154 meters 0.014456198615854373 Centerline is valid? [True, True] Translation: X:535.84, Y:6.54, Z:3.56 [[ 9.99675804e-01 -2.13107783e-02 -1.39333508e-02 5.35844105e+02] [ 2.13092737e-02 9.99772899e-01 -2.56461512e-04 6.53946936e+00] [ 1.39356519e-02 -4.05312175e-05 9.99902893e-01 3.55798960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters 0.014424119363131115 Centerline is valid? [True, True] Translation: X:535.90, Y:6.54, Z:3.56 [[ 9.99662811e-01 -2.12807601e-02 -1.48793285e-02 5.35903784e+02] [ 2.12790346e-02 9.99773538e-01 -2.74296534e-04 6.53868087e+00] [ 1.48817961e-02 -4.24137007e-05 9.99889259e-01 3.55874674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.159254154 meters 0.014810292221300357 Centerline is valid? [True, True] Translation: X:535.96, Y:6.54, Z:3.56 [[ 9.99571488e-01 -2.44715711e-02 -1.60618196e-02 5.35962376e+02] [ 2.44699306e-02 9.99700522e-01 -2.98687010e-04 6.53614764e+00] [ 1.60643188e-02 -9.44725925e-05 9.99870956e-01 3.55844295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters 0.015203374407460826 Centerline is valid? [True, True] Translation: X:536.02, Y:6.53, Z:3.56 [[ 9.99402019e-01 -2.93791811e-02 -1.82337240e-02 5.36021343e+02] [ 2.93777967e-02 9.99568320e-01 -3.43832827e-04 6.53252049e+00] [ 1.82359544e-02 -1.92039415e-04 9.99833693e-01 3.55843078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.279254154 meters 0.016881436422848305 Centerline is valid? [True, True] Translation: X:536.08, Y:6.53, Z:3.56 [[ 9.99174835e-01 -3.58498426e-02 -1.90902332e-02 5.36079798e+02] [ 3.58494559e-02 9.99357136e-01 -3.62581361e-04 6.52724588e+00] [ 1.90909593e-02 -3.22092303e-04 9.99817699e-01 3.55766179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters 0.01825111201811389 Centerline is valid? [True, True] Translation: X:536.14, Y:6.52, Z:3.56 [[ 9.98776775e-01 -4.56056131e-02 -1.91070913e-02 5.36140415e+02] [ 4.56070004e-02 9.98959393e-01 -3.63365240e-04 6.52049842e+00] [ 1.91037798e-02 -5.08496358e-04 9.99817377e-01 3.55979222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.399254154 meters 0.0229778105726746 Centerline is valid? [True, True] Translation: X:536.20, Y:6.51, Z:3.56 [[ 9.98495516e-01 -5.17449551e-02 -1.81429019e-02 5.36200479e+02] [ 5.17472180e-02 9.98660156e-01 -3.45028962e-04 6.51140897e+00] [ 1.81364467e-02 -5.94334826e-04 9.99835344e-01 3.55947149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters 0.027638837884329335 Centerline is valid? [True, True] Translation: X:536.26, Y:6.50, Z:3.56 [[ 9.98048795e-01 -5.99596368e-02 -1.74196872e-02 5.36259784e+02] [ 5.99629815e-02 9.98200547e-01 -3.30705947e-04 6.50319917e+00] [ 1.74081703e-02 -7.14475709e-04 9.99848211e-01 3.56048185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.519254154 meters 0.031462622075393534 Centerline is valid? [True, True] Translation: X:536.32, Y:6.50, Z:3.56 [[ 9.97668238e-01 -6.60036718e-02 -1.73666888e-02 5.36320471e+02] [ 6.60079164e-02 9.97819045e-01 -3.29313130e-04 6.49834618e+00] [ 1.73505487e-02 -8.17793690e-04 9.99849133e-01 3.56077791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters 0.03079427073571697 Centerline is valid? [True, True] Translation: X:536.38, Y:6.50, Z:3.56 [[ 9.97044099e-01 -7.48533597e-02 -1.73216541e-02 5.36380993e+02] [ 7.48589140e-02 9.97194081e-01 -3.28417801e-04 6.50030814e+00] [ 1.72976341e-02 -9.69233182e-04 9.99849915e-01 3.56330820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.639254154 meters 0.03245146843599079 Centerline is valid? [True, True] Translation: X:536.44, Y:6.50, Z:3.56 [[ 9.96630175e-01 -8.00783315e-02 -1.77695273e-02 5.36441283e+02] [ 8.00850050e-02 9.96787981e-01 -3.36860566e-04 6.49981392e+00] [ 1.77394265e-02 -1.08734728e-03 9.99842053e-01 3.56438986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters 0.0361687193711815 Centerline is valid? [True, True] Translation: X:536.50, Y:6.50, Z:3.56 [[ 9.96138525e-01 -8.55233300e-02 -1.98443959e-02 5.36502797e+02] [ 8.55327367e-02 9.96335290e-01 -3.75804042e-04 6.49825426e+00] [ 1.98038120e-02 -1.32299261e-03 9.99803010e-01 3.56401045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.759254154 meters 0.035983441606206354 Centerline is valid? [True, True] Translation: X:536.56, Y:6.50, Z:3.56 [[ 9.95980230e-01 -8.71555910e-02 -2.06708401e-02 5.36563703e+02] [ 8.71661665e-02 9.96193710e-01 -3.90545887e-04 6.50159025e+00] [ 2.06261991e-02 -1.41282191e-03 9.99786259e-01 3.56396798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters 0.0346285103073855 Centerline is valid? [True, True] Translation: X:536.63, Y:6.51, Z:3.56 [[ 9.96057912e-01 -8.58732428e-02 -2.22356198e-02 5.36625731e+02] [ 8.58851960e-02 9.96304952e-01 -4.18610549e-04 6.50901110e+00] [ 2.21894056e-02 -1.49275022e-03 9.99752670e-01 3.56466932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.879254154 meters 0.03445930124486188 Centerline is valid? [True, True] Translation: X:536.69, Y:6.51, Z:3.57 [[ 9.96328265e-01 -8.25430350e-02 -2.27296100e-02 5.36686552e+02] [ 8.25546803e-02 9.96586445e-01 -4.27125156e-04 6.51442863e+00] [ 2.26872774e-02 -1.45087882e-03 9.99741558e-01 3.56508748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters 0.0315488683376104 Centerline is valid? [True, True] Translation: X:536.75, Y:6.53, Z:3.57 [[ 9.96999595e-01 -7.39120305e-02 -2.29960810e-02 5.36746478e+02] [ 7.39216603e-02 9.97263958e-01 -4.32189821e-04 6.52566177e+00] [ 2.29651068e-02 -1.26901541e-03 9.99735462e-01 3.56592742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.999254154 meters 0.027307924196656196 Centerline is valid? [True, True] Translation: X:536.81, Y:6.54, Z:3.57 [[ 9.97752187e-01 -6.31787813e-02 -2.23386411e-02 5.36806506e+02] [ 6.31851833e-02 9.98001732e-01 -4.19821597e-04 6.54011048e+00] [ 2.23205263e-02 -9.92593216e-04 9.99750373e-01 3.56789017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters 0.02512690207766847 Centerline is valid? [True, True] Translation: X:536.87, Y:6.55, Z:3.57 [[ 9.98187923e-01 -5.62549421e-02 -2.13600713e-02 5.36865641e+02] [ 5.62592077e-02 9.98416116e-01 -4.01642995e-04 6.54915968e+00] [ 2.13488338e-02 -8.00785500e-04 9.99771767e-01 3.56861584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.119254154 meters 0.018440473906235003 Centerline is valid? [True, True] Translation: X:536.93, Y:6.57, Z:3.57 [[ 9.98706754e-01 -4.62975127e-02 -2.10085603e-02 5.36925971e+02] [ 4.62994352e-02 9.98927528e-01 -3.95139065e-04 6.56724368e+00] [ 2.10043232e-02 -5.78056422e-04 9.99779218e-01 3.57157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters 0.016630994355755855 Centerline is valid? [True, True] Translation: X:536.99, Y:6.57, Z:3.57 [[ 9.99002328e-01 -3.97210066e-02 -2.04105491e-02 5.36986640e+02] [ 3.97214543e-02 9.99210718e-01 -3.83635239e-04 6.57462814e+00] [ 2.04096778e-02 -4.27484199e-04 9.99791609e-01 3.57257456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.239254154 meters 0.015467043473473888 Centerline is valid? [True, True] Translation: X:537.05, Y:6.58, Z:3.57 [[ 9.99308309e-01 -3.07716613e-02 -2.08808389e-02 5.37047672e+02] [ 3.07701844e-02 9.99526409e-01 -3.92088903e-04 6.58453295e+00] [ 2.08830152e-02 -2.50689566e-04 9.99781895e-01 3.57258932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters 0.014850267415800622 Centerline is valid? [True, True] Translation: X:537.11, Y:6.59, Z:3.57 [[ 9.99476260e-01 -2.45675653e-02 -2.10627905e-02 5.37106438e+02] [ 2.45646685e-02 9.99698164e-01 -3.96289433e-04 6.59058270e+00] [ 2.10661689e-02 -1.21318586e-04 9.99778076e-01 3.57167058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.359254154 meters 0.014925472427195717 Centerline is valid? [True, True] Translation: X:537.16, Y:6.60, Z:3.57 [[ 9.99672305e-01 -1.56746728e-02 -2.02382844e-02 5.37164863e+02] [ 1.56700970e-02 9.99877143e-01 -3.84670503e-04 6.59811085e+00] [ 2.02418275e-02 6.74085691e-05 9.99795111e-01 3.57331020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.419254154 meters 0.015354579705055571 Centerline is valid? [True, True] Translation: X:537.22, Y:6.60, Z:3.57 [[ 9.99743560e-01 -1.16937295e-02 -1.93925621e-02 5.37222671e+02] [ 1.16887123e-02 9.99931615e-01 -3.72048470e-04 6.60211441e+00] [ 1.93955865e-02 1.45278983e-04 9.99811877e-01 3.57376273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.479254154 meters 0.015241881409356148 Centerline is valid? [True, True] Translation: X:537.28, Y:6.60, Z:3.58 [[ 9.99735305e-01 -1.18058714e-02 -1.97469088e-02 5.37280355e+02] [ 1.18005965e-02 9.99930297e-01 -3.83633608e-04 6.60144176e+00] [ 1.97500615e-02 1.50506760e-04 9.99804937e-01 3.57513519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.539254154 meters 0.014869438644460784 Centerline is valid? [True, True] Translation: X:537.34, Y:6.60, Z:3.58 [[ 9.99579585e-01 -1.95813113e-02 -2.13828546e-02 5.37339435e+02] [ 1.95768363e-02 9.99808268e-01 -4.18607919e-04 6.59562167e+00] [ 2.13869517e-02 -1.76714230e-07 9.99771273e-01 3.57505919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters 0.01524793007932366 Centerline is valid? [True, True] Translation: X:537.40, Y:6.59, Z:3.58 [[ 9.99386520e-01 -2.77776302e-02 -2.13304133e-02 5.37398003e+02] [ 2.77750103e-02 9.99614112e-01 -4.19129307e-04 6.58920610e+00] [ 2.13338245e-02 -1.73580270e-04 9.99772393e-01 3.57536691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.659254154 meters 0.016018456636402258 Centerline is valid? [True, True] Translation: X:537.46, Y:6.58, Z:3.58 [[ 9.99156513e-01 -3.52442825e-02 -2.10737346e-02 5.37456580e+02] [ 3.52433479e-02 9.99378674e-01 -4.15858016e-04 6.58186155e+00] [ 2.10752975e-02 -3.27201715e-04 9.99777838e-01 3.57638503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters 0.018296081137269996 Centerline is valid? [True, True] Translation: X:537.52, Y:6.57, Z:3.58 [[ 9.98857433e-01 -4.28764322e-02 -2.11054720e-02 5.37515565e+02] [ 4.28771682e-02 9.99080264e-01 -4.17856607e-04 6.57304285e+00] [ 2.11039768e-02 -4.87563697e-04 9.99777167e-01 3.57726751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.779254154 meters 0.018340783190609333 Centerline is valid? [True, True] Translation: X:537.58, Y:6.57, Z:3.58 [[ 9.98705862e-01 -4.59979548e-02 -2.16977034e-02 5.37576186e+02] [ 4.59994608e-02 9.98941372e-01 -4.29950199e-04 6.56944442e+00] [ 2.16945105e-02 -5.68688875e-04 9.99764485e-01 3.57828281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters 0.018659165580520387 Centerline is valid? [True, True] Translation: X:537.64, Y:6.57, Z:3.58 [[ 9.98671669e-01 -4.69009606e-02 -2.13353783e-02 5.37637924e+02] [ 4.69026340e-02 9.98899377e-01 -4.22234579e-04 6.56689121e+00] [ 2.13316993e-02 -5.79011728e-04 9.99772286e-01 3.57864393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.899254154 meters 0.019398840827731707 Centerline is valid? [True, True] Translation: X:537.70, Y:6.56, Z:3.58 [[ 9.98728518e-01 -4.58989131e-02 -2.08479367e-02 5.37698824e+02] [ 4.59002977e-02 9.98945941e-01 -4.12347689e-04 6.56442210e+00] [ 2.08448881e-02 -5.45103106e-04 9.99782573e-01 3.57926648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters 0.018252370052172298 Centerline is valid? [True, True] Translation: X:537.76, Y:6.57, Z:3.58 [[ 9.98814622e-01 -4.34531528e-02 -2.19356834e-02 5.37759635e+02] [ 4.34540964e-02 9.99055330e-01 -4.33862039e-04 6.56559941e+00] [ 2.19338141e-02 -5.19847552e-04 9.99759290e-01 3.57963348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.019254154 meters 0.01744749947422675 Centerline is valid? [True, True] Translation: X:537.82, Y:6.57, Z:3.58 [[ 9.98924065e-01 -3.97298133e-02 -2.39218231e-02 5.37818920e+02] [ 3.97298539e-02 9.99210345e-01 -4.73762142e-04 6.56638135e+00] [ 2.39217556e-02 -4.77158133e-04 9.99713720e-01 3.57802683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters 0.017203777030889617 Centerline is valid? [True, True] Translation: X:537.88, Y:6.57, Z:3.58 [[ 9.98910889e-01 -3.95837616e-02 -2.47014390e-02 5.37877657e+02] [ 3.95836385e-02 9.99216138e-01 -4.94137535e-04 6.56692035e+00] [ 2.47016363e-02 -4.84173467e-04 9.99694751e-01 3.57846712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.139254154 meters 0.017491705500659947 Centerline is valid? [True, True] Translation: X:537.94, Y:6.56, Z:3.58 [[ 9.98840450e-01 -4.09704622e-02 -2.52819502e-02 5.37935752e+02] [ 4.09706890e-02 9.99160219e-01 -5.09239012e-04 6.56292146e+00] [ 2.52815826e-02 -5.27170393e-04 9.99680231e-01 3.57710175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters 0.017631455992668243 Centerline is valid? [True, True] Translation: X:537.99, Y:6.56, Z:3.58 [[ 9.98787907e-01 -4.22454279e-02 -2.52594501e-02 5.37994331e+02] [ 4.22459273e-02 9.99107110e-01 -5.14107090e-04 6.56371459e+00] [ 2.52586148e-02 -5.53624947e-04 9.99680797e-01 3.57808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.259254154 meters 0.01774763318317923 Centerline is valid? [True, True] Translation: X:538.05, Y:6.56, Z:3.58 [[ 9.98669924e-01 -4.53950466e-02 -2.44473399e-02 5.38053313e+02] [ 4.53963050e-02 9.98968929e-01 -5.03800623e-04 6.56270047e+00] [ 2.44450030e-02 -6.06688369e-04 9.99700992e-01 3.58043979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters 0.01826935151395616 Centerline is valid? [True, True] Translation: X:538.11, Y:6.56, Z:3.58 [[ 9.98619868e-01 -4.71256592e-02 -2.31847219e-02 5.38113176e+02] [ 4.71272049e-02 9.98888781e-01 -4.80022524e-04 6.56152277e+00] [ 2.31815799e-02 -6.13271107e-04 9.99731083e-01 3.58182637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.379254154 meters 0.01854380533449258 Centerline is valid? [True, True] Translation: X:538.17, Y:6.56, Z:3.58 [[ 9.98556107e-01 -4.90962547e-02 -2.18004552e-02 5.38173987e+02] [ 4.90980852e-02 9.98793860e-01 -4.51592266e-04 6.56037291e+00] [ 2.17963323e-02 -6.19420392e-04 9.99762240e-01 3.58407620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters 0.01817988618278873 Centerline is valid? [True, True] Translation: X:538.24, Y:6.56, Z:3.59 [[ 9.98542779e-01 -4.99896236e-02 -2.03311464e-02 5.38235602e+02] [ 4.99914108e-02 9.98749559e-01 -4.20647925e-04 6.56064030e+00] [ 2.03267516e-02 -5.96347745e-04 9.99793212e-01 3.58558247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.499254154 meters 0.01830589968762041 Centerline is valid? [True, True] Translation: X:538.30, Y:6.56, Z:3.59 [[ 9.98602975e-01 -4.87673942e-02 -2.03430692e-02 5.38296584e+02] [ 4.87689454e-02 9.98809999e-01 -4.20143316e-04 6.55955332e+00] [ 2.03393502e-02 -5.72553664e-04 9.99792970e-01 3.58591761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters 0.017934599483099112 Centerline is valid? [True, True] Translation: X:538.36, Y:6.56, Z:3.59 [[ 9.98747639e-01 -4.56824727e-02 -2.04025643e-02 5.38356636e+02] [ 4.56833999e-02 9.98955880e-01 -4.20877317e-04 6.56079310e+00] [ 2.04004883e-02 -5.11708277e-04 9.99791757e-01 3.58594394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.619254154 meters 0.016007799853256517 Centerline is valid? [True, True] Translation: X:538.42, Y:6.57, Z:3.59 [[ 9.99050203e-01 -3.85564274e-02 -2.03000844e-02 5.38416817e+02] [ 3.85558623e-02 9.99256358e-01 -4.19369621e-04 6.56535164e+00] [ 2.03011579e-02 -3.63715955e-04 9.99793844e-01 3.58693082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters 0.014676750916965476 Centerline is valid? [True, True] Translation: X:538.48, Y:6.57, Z:3.59 [[ 9.99277850e-01 -3.26418274e-02 -1.94496926e-02 5.38476062e+02] [ 3.26401724e-02 9.99467087e-01 -4.02620008e-04 6.57026298e+00] [ 1.94524699e-02 -2.32512064e-04 9.99810756e-01 3.58839193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.739254154 meters 0.013995277310616498 Centerline is valid? [True, True] Translation: X:538.53, Y:6.57, Z:3.59 [[ 9.99532649e-01 -2.42657775e-02 -1.85918088e-02 5.38534619e+02] [ 2.42628000e-02 9.99705541e-01 -3.85732064e-04 6.57338189e+00] [ 1.85956944e-02 -6.55375472e-05 9.99827083e-01 3.58709773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters 0.013768576640987832 Centerline is valid? [True, True] Translation: X:538.59, Y:6.57, Z:3.59 [[ 9.99606263e-01 -2.15331991e-02 -1.79900149e-02 5.38593112e+02] [ 2.15299114e-02 9.99768134e-01 -3.76432928e-04 6.57491912e+00] [ 1.79939495e-02 -1.10387145e-05 9.99838096e-01 3.58800875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.859254154 meters 0.013972173253936777 Centerline is valid? [True, True] Translation: X:538.65, Y:6.57, Z:3.59 [[ 9.99580070e-01 -2.32259490e-02 -1.73274101e-02 5.38650666e+02] [ 2.32230702e-02 9.99730241e-01 -3.67362788e-04 6.57250044e+00] [ 1.73312682e-02 -3.51871386e-05 9.99849802e-01 3.58863522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.919254154 meters 0.014353979373233438 Centerline is valid? [True, True] Translation: X:538.71, Y:6.57, Z:3.59 [[ 9.99388186e-01 -3.08239204e-02 -1.65269365e-02 5.38709582e+02] [ 3.08222965e-02 9.99524818e-01 -3.53027074e-04 6.56574782e+00] [ 1.65299649e-02 -1.56587051e-04 9.99863359e-01 3.58907066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.979254154 meters 0.01731370869947642 Centerline is valid? [True, True] Translation: X:538.77, Y:6.56, Z:3.59 [[ 9.99116423e-01 -3.89505707e-02 -1.57868804e-02 5.38768598e+02] [ 3.89500843e-02 9.99241100e-01 -3.38391000e-04 6.55554648e+00] [ 1.57880803e-02 -2.76808318e-04 9.99875322e-01 3.58749479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.039254154 meters 0.018311264150447065 Centerline is valid? [True, True] Translation: X:538.83, Y:6.55, Z:3.59 [[ 9.98566445e-01 -5.15459690e-02 -1.44245748e-02 5.38828944e+02] [ 5.15468691e-02 9.98670528e-01 -3.09634760e-04 6.54934233e+00] [ 1.44213581e-02 -4.34350785e-04 9.99895912e-01 3.59043750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters 0.02029718684855765 Centerline is valid? [True, True] Translation: X:538.89, Y:6.54, Z:3.59 [[ 9.98175975e-01 -5.88687859e-02 -1.33861803e-02 5.38890130e+02] [ 5.88702203e-02 9.98265603e-01 -2.87202897e-04 6.54391291e+00] [ 1.33798707e-02 -5.01368354e-04 9.99910360e-01 3.59090347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.159254154 meters 0.024269098733441314 Centerline is valid? [True, True] Translation: X:538.95, Y:6.54, Z:3.59 [[ 9.97650138e-01 -6.72860030e-02 -1.29149605e-02 5.38949662e+02] [ 6.72880421e-02 9.97733553e-01 -2.77072611e-04 6.53616820e+00] [ 1.29043326e-02 -5.92600878e-04 9.99916560e-01 3.59006458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters 0.025243208349169842 Centerline is valid? [True, True] Translation: X:539.01, Y:6.54, Z:3.59 [[ 9.97380674e-01 -7.10252910e-02 -1.36820532e-02 5.39010980e+02] [ 7.10279325e-02 9.97474284e-01 -2.93381158e-04 6.53511158e+00] [ 1.36683337e-02 -6.79195255e-04 9.99906353e-01 3.58992692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.279254154 meters 0.028094535305981636 Centerline is valid? [True, True] Translation: X:539.07, Y:6.53, Z:3.59 [[ 9.97051981e-01 -7.55968907e-02 -1.31323287e-02 5.39072496e+02] [ 7.55997257e-02 9.97138206e-01 -2.81124006e-04 6.53165737e+00] [ 1.31159987e-02 -7.12505197e-04 9.99913728e-01 3.58946178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters 0.030663975611736317 Centerline is valid? [True, True] Translation: X:539.13, Y:6.53, Z:3.59 [[ 9.96844718e-01 -7.84032615e-02 -1.23910339e-02 5.39133043e+02] [ 7.84060055e-02 9.96921475e-01 -2.64925687e-04 6.52932905e+00] [ 1.23736588e-02 -7.07441697e-04 9.99923193e-01 3.58955187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.399254154 meters 0.0319732875763413 Centerline is valid? [True, True] Translation: X:539.19, Y:6.53, Z:3.59 [[ 9.96637000e-01 -8.11302106e-02 -1.15142771e-02 5.39194588e+02] [ 8.11327646e-02 9.96703273e-01 -2.45894994e-04 6.53086966e+00] [ 1.14962672e-02 -6.89117083e-04 9.99933678e-01 3.59052560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters 0.03392678918384344 Centerline is valid? [True, True] Translation: X:539.26, Y:6.53, Z:3.59 [[ 9.96589757e-01 -8.16787069e-02 -1.17236998e-02 5.39256002e+02] [ 8.16813985e-02 9.96658460e-01 -2.49854362e-04 6.53174342e+00] [ 1.17049323e-02 -7.08605893e-04 9.99931244e-01 3.59017020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.519254154 meters 0.0316529709502755 Centerline is valid? [True, True] Translation: X:539.32, Y:6.54, Z:3.59 [[ 9.96605213e-01 -8.13938126e-02 -1.23732015e-02 5.39318219e+02] [ 8.13967986e-02 9.96681741e-01 -2.62906831e-04 6.54055819e+00] [ 1.23535430e-02 -7.45124672e-04 9.99923414e-01 3.58999060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters 0.029366893602016903 Centerline is valid? [True, True] Translation: X:539.38, Y:6.55, Z:3.59 [[ 9.96790950e-01 -7.90123217e-02 -1.28396145e-02 5.39380053e+02] [ 7.90153512e-02 9.96873362e-01 -2.71959597e-04 6.55081738e+00] [ 1.28209579e-02 -7.43439786e-04 9.99917532e-01 3.58966813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.639254154 meters 0.027493280899518847 Centerline is valid? [True, True] Translation: X:539.44, Y:6.56, Z:3.59 [[ 9.96995248e-01 -7.66080993e-02 -1.14749428e-02 5.39440991e+02] [ 7.66103662e-02 9.97061078e-01 -2.42531484e-04 6.55800934e+00] [ 1.14597987e-02 -6.37296830e-04 9.99934131e-01 3.59211806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters 0.02543605362355706 Centerline is valid? [True, True] Translation: X:539.50, Y:6.57, Z:3.59 [[ 9.97339797e-01 -7.21661042e-02 -1.02656380e-02 5.39501899e+02] [ 7.21676867e-02 9.97392489e-01 -2.16679145e-04 6.56771323e+00] [ 1.02545071e-02 -5.24744611e-04 9.99947283e-01 3.59338049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.759254154 meters 0.026464139226913354 Centerline is valid? [True, True] Translation: X:539.56, Y:6.57, Z:3.59 [[ 9.97543328e-01 -6.92529324e-02 -1.05517787e-02 5.39562846e+02] [ 6.92544447e-02 9.97599004e-01 -2.22445367e-04 6.57092844e+00] [ 1.05418489e-02 -5.08858682e-04 9.99944304e-01 3.59320422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters 0.02439185421399758 Centerline is valid? [True, True] Translation: X:539.62, Y:6.58, Z:3.59 [[ 9.97804939e-01 -6.52720880e-02 -1.11739642e-02 5.39623150e+02] [ 6.52735377e-02 9.97867381e-01 -2.35296489e-04 6.57985381e+00] [ 1.11654927e-02 -4.94584178e-04 9.99937542e-01 3.59316726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.879254154 meters 0.023040860150697205 Centerline is valid? [True, True] Translation: X:539.68, Y:6.59, Z:3.59 [[ 9.97962150e-01 -6.27296209e-02 -1.16850967e-02 5.39684275e+02] [ 6.27310344e-02 9.98030439e-01 -2.45874412e-04 6.58609616e+00] [ 1.16775058e-02 -4.87644844e-04 9.99931697e-01 3.59330596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters 0.021684209343567705 Centerline is valid? [True, True] Translation: X:539.74, Y:6.59, Z:3.59 [[ 9.98259253e-01 -5.79218108e-02 -1.11143355e-02 5.39744423e+02] [ 5.79227947e-02 9.98321038e-01 -2.33626949e-04 6.59324203e+00] [ 1.11092071e-02 -4.10553110e-04 9.99938207e-01 3.59444535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.999254154 meters 0.02060209909106478 Centerline is valid? [True, True] Translation: X:539.81, Y:6.60, Z:3.60 [[ 9.98456460e-01 -5.44449428e-02 -1.09748145e-02 5.39805432e+02] [ 5.44456940e-02 9.98516707e-01 -2.30535030e-04 6.59896789e+00] [ 1.09710871e-02 -3.67352204e-04 9.99939748e-01 3.59517543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters 0.018815725877464 Centerline is valid? [True, True] Translation: X:539.87, Y:6.61, Z:3.60 [[ 9.98709552e-01 -4.95144904e-02 -1.12936133e-02 5.39866788e+02] [ 4.95149758e-02 9.98773353e-01 -2.36801899e-04 6.60571434e+00] [ 1.12914851e-02 -3.22706669e-04 9.99936197e-01 3.59562572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.119254154 meters 0.01995506357911953 Centerline is valid? [True, True] Translation: X:539.93, Y:6.61, Z:3.59 [[ 9.98831434e-01 -4.69367234e-02 -1.15199769e-02 5.39928653e+02] [ 4.69370641e-02 9.98897820e-01 -2.40937319e-04 6.60765363e+00] [ 1.15185887e-02 -3.00058129e-04 9.99933614e-01 3.59489606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters 0.01735845588079305 Centerline is valid? [True, True] Translation: X:539.99, Y:6.61, Z:3.60 [[ 9.99094200e-01 -4.07999631e-02 -1.20889317e-02 5.39989611e+02] [ 4.07998978e-02 9.99167306e-01 -2.52120317e-04 6.61352437e+00] [ 1.20891518e-02 -2.41335232e-04 9.99926894e-01 3.59604852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.239254154 meters 0.016597168727757364 Centerline is valid? [True, True] Translation: X:540.05, Y:6.62, Z:3.60 [[ 9.99233711e-01 -3.72197504e-02 -1.21112062e-02 5.40051765e+02] [ 3.72194299e-02 9.99307085e-01 -2.51935485e-04 6.61722273e+00] [ 1.21121911e-02 -1.99029760e-04 9.99926625e-01 3.59683163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters 0.016115816835261924 Centerline is valid? [True, True] Translation: X:540.11, Y:6.62, Z:3.60 [[ 9.99312362e-01 -3.49188725e-02 -1.24689850e-02 5.40114339e+02] [ 3.49183655e-02 9.99390135e-01 -2.58429050e-04 6.61842822e+00] [ 1.24704047e-02 -1.77145233e-04 9.99922226e-01 3.59756627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.359254154 meters 0.018907218374352674 Centerline is valid? [True, True] Translation: X:540.18, Y:6.62, Z:3.60 [[ 9.99304330e-01 -3.52004054e-02 -1.23202462e-02 5.40175410e+02] [ 3.51999419e-02 9.99380258e-01 -2.54531635e-04 6.61521099e+00] [ 1.23215704e-02 -1.79317386e-04 9.99924070e-01 3.59553735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.419254154 meters 0.017237852747285613 Centerline is valid? [True, True] Translation: X:540.24, Y:6.61, Z:3.60 [[ 9.99101052e-01 -4.06439843e-02 -1.20480055e-02 5.40236731e+02] [ 4.06439434e-02 9.99173663e-01 -2.48343760e-04 6.61181240e+00] [ 1.20481435e-02 -2.41557942e-04 9.99927389e-01 3.59746506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.479254154 meters 0.01889355422374211 Centerline is valid? [True, True] Translation: X:540.30, Y:6.61, Z:3.60 [[ 9.98838005e-01 -4.64761357e-02 -1.27518254e-02 5.40296527e+02] [ 4.64765682e-02 9.98919346e-01 -2.62589289e-04 6.60509863e+00] [ 1.27502493e-02 -3.30376923e-04 9.99918658e-01 3.59741232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.539254154 meters 0.019373726407085273 Centerline is valid? [True, True] Translation: X:540.36, Y:6.60, Z:3.60 [[ 9.98662541e-01 -5.01025314e-02 -1.27618761e-02 5.40358119e+02] [ 5.01032646e-02 9.98744008e-01 -2.62458981e-04 6.60270786e+00] [ 1.27589972e-02 -3.77303703e-04 9.99918529e-01 3.59867689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters 0.021160872291876145 Centerline is valid? [True, True] Translation: X:540.42, Y:6.60, Z:3.60 [[ 9.98475872e-01 -5.36612657e-02 -1.28996711e-02 5.40419095e+02] [ 5.36623192e-02 9.98559105e-01 -2.64688470e-04 6.59746600e+00] [ 1.28952876e-02 -4.27941219e-04 9.99916761e-01 3.59894701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.659254154 meters 0.021914832772842424 Centerline is valid? [True, True] Translation: X:540.48, Y:6.60, Z:3.60 [[ 9.98417962e-01 -5.47425047e-02 -1.28386883e-02 5.40481693e+02] [ 5.47436464e-02 9.98500408e-01 -2.62752511e-04 6.59506813e+00] [ 1.28338193e-02 -4.40499788e-04 9.99917546e-01 3.59936737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters 0.022353248898321843 Centerline is valid? [True, True] Translation: X:540.54, Y:6.59, Z:3.60 [[ 9.98400880e-01 -5.49005196e-02 -1.34764787e-02 5.40544283e+02] [ 5.49018053e-02 9.98491721e-01 -2.74816500e-04 6.59148030e+00] [ 1.34712400e-02 -4.65505976e-04 9.99909150e-01 3.59867571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.779254154 meters 0.024083178462561118 Centerline is valid? [True, True] Translation: X:540.61, Y:6.59, Z:3.60 [[ 9.98463622e-01 -5.35714192e-02 -1.41597469e-02 5.40605757e+02] [ 5.35727258e-02 9.98563909e-01 -2.87282770e-04 6.58946714e+00] [ 1.41548024e-02 -4.71734846e-04 9.99899704e-01 3.59743369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters 0.019749678498165623 Centerline is valid? [True, True] Translation: X:540.67, Y:6.59, Z:3.60 [[ 9.98652010e-01 -4.98726507e-02 -1.43833528e-02 5.40667344e+02] [ 4.98736344e-02 9.98755494e-01 -2.90513044e-04 6.59397165e+00] [ 1.43799412e-02 -4.27228642e-04 9.99896512e-01 3.60015949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.899254154 meters 0.01867219314652915 Centerline is valid? [True, True] Translation: X:540.73, Y:6.60, Z:3.60 [[ 9.98880766e-01 -4.50670567e-02 -1.43588525e-02 5.40728486e+02] [ 4.50675503e-02 9.98983900e-01 -2.89364277e-04 6.59643529e+00] [ 1.43573032e-02 -3.58077895e-04 9.99896864e-01 3.60068732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters 0.01710639091004633 Centerline is valid? [True, True] Translation: X:540.79, Y:6.60, Z:3.60 [[ 9.99218313e-01 -3.68491465e-02 -1.43144578e-02 5.40788225e+02] [ 3.68487975e-02 9.99320811e-01 -2.88221661e-04 6.59777935e+00] [ 1.43153563e-02 -2.39474197e-04 9.99897501e-01 3.60172743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.019254154 meters 0.015849892156542963 Centerline is valid? [True, True] Translation: X:540.85, Y:6.60, Z:3.60 [[ 9.99463477e-01 -2.89331658e-02 -1.53502640e-02 5.40848835e+02] [ 2.89318307e-02 9.99581339e-01 -3.09077621e-04 6.60252297e+00] [ 1.53527800e-02 -1.35199446e-04 9.99882130e-01 3.60237920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters 0.01551760282459591 Centerline is valid? [True, True] Translation: X:540.91, Y:6.60, Z:3.60 [[ 9.99557295e-01 -2.47950665e-02 -1.64444227e-02 5.40908782e+02] [ 2.47929685e-02 9.99692552e-01 -3.31463392e-04 6.60444599e+00] [ 1.64475856e-02 -7.63894031e-05 9.99864726e-01 3.60262216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.139254154 meters 0.015278749227826346 Centerline is valid? [True, True] Translation: X:540.97, Y:6.60, Z:3.60 [[ 9.99610334e-01 -2.21280187e-02 -1.70155879e-02 5.40967129e+02] [ 2.21253377e-02 9.99755145e-01 -3.45818418e-04 6.60442937e+00] [ 1.70190738e-02 -3.07919636e-05 9.99855165e-01 3.60321909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters 0.015393107792822436 Centerline is valid? [True, True] Translation: X:541.02, Y:6.60, Z:3.60 [[ 9.99604754e-01 -2.28551786e-02 -1.63700207e-02 5.41024923e+02] [ 2.28527231e-02 9.99738786e-01 -3.37068082e-04 6.60366102e+00] [ 1.63734483e-02 -3.71646928e-05 9.99865945e-01 3.60488683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.259254154 meters 0.015579173063790076 Centerline is valid? [True, True] Translation: X:541.08, Y:6.60, Z:3.61 [[ 9.99536455e-01 -2.59596681e-02 -1.59050454e-02 5.41083009e+02] [ 2.59576726e-02 9.99662988e-01 -3.31926624e-04 6.60047432e+00] [ 1.59083019e-02 -8.10851983e-05 9.99873452e-01 3.60605742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters 0.015798113423050764 Centerline is valid? [True, True] Translation: X:541.14, Y:6.59, Z:3.61 [[ 9.99404613e-01 -3.02064648e-02 -1.66729824e-02 5.41141352e+02] [ 3.02048203e-02 9.99543669e-01 -3.50501952e-04 6.59462660e+00] [ 1.66759614e-02 -1.53311170e-04 9.99860935e-01 3.60565599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.379254154 meters 0.016392115560178205 Centerline is valid? [True, True] Translation: X:541.20, Y:6.59, Z:3.60 [[ 9.99277924e-01 -3.35899125e-02 -1.77580415e-02 5.41200419e+02] [ 3.35885267e-02 9.99435675e-01 -3.76370888e-04 6.59114440e+00] [ 1.77606625e-02 -2.20367332e-04 9.99842243e-01 3.60463000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters 0.0173287077329691 Centerline is valid? [True, True] Translation: X:541.26, Y:6.59, Z:3.60 [[ 9.99132537e-01 -3.73030775e-02 -1.85108893e-02 5.41258802e+02] [ 3.73021594e-02 9.99303954e-01 -3.94995734e-04 6.58689945e+00] [ 1.85127394e-02 -2.95843052e-04 9.99828581e-01 3.60395590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.499254154 meters 0.019181582914018135 Centerline is valid? [True, True] Translation: X:541.32, Y:6.58, Z:3.60 [[ 9.98946692e-01 -4.21942411e-02 -1.80320017e-02 5.41317184e+02] [ 4.21941431e-02 9.99109356e-01 -3.86057732e-04 6.58082458e+00] [ 1.80322310e-02 -3.75193767e-04 9.99837336e-01 3.60452775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters 0.01757472161275035 Centerline is valid? [True, True] Translation: X:541.38, Y:6.58, Z:3.61 [[ 9.98953946e-01 -4.20241873e-02 -1.80272653e-02 5.41376502e+02] [ 4.20240467e-02 9.99116525e-01 -3.86791454e-04 6.58380691e+00] [ 1.80275933e-02 -3.71191789e-04 9.99837421e-01 3.60735533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.619254154 meters 0.016598579021659846 Centerline is valid? [True, True] Translation: X:541.44, Y:6.59, Z:3.61 [[ 9.99078487e-01 -3.91032474e-02 -1.76950104e-02 5.41436610e+02] [ 3.91026462e-02 9.99235127e-01 -3.80095552e-04 6.58700964e+00] [ 1.76963390e-02 -3.12176444e-04 9.99843359e-01 3.60858304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters 0.01578761139057698 Centerline is valid? [True, True] Translation: X:541.50, Y:6.59, Z:3.61 [[ 9.99356277e-01 -3.15586543e-02 -1.70611499e-02 5.41496639e+02] [ 3.15569907e-02 9.99501887e-01 -3.66785072e-04 6.59184925e+00] [ 1.70642267e-02 -1.71849584e-04 9.99854381e-01 3.60907239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.739254154 meters 0.014867735829748317 Centerline is valid? [True, True] Translation: X:541.55, Y:6.60, Z:3.61 [[ 9.99515667e-01 -2.62028013e-02 -1.67882189e-02 5.41554790e+02] [ 2.62004222e-02 9.99656645e-01 -3.61680425e-04 6.59552861e+00] [ 1.67919317e-02 -7.83531728e-05 9.99859003e-01 3.60948755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters 0.014687231353627787 Centerline is valid? [True, True] Translation: X:541.61, Y:6.60, Z:3.61 [[ 9.99607726e-01 -2.23756158e-02 -1.68441635e-02 5.41612675e+02] [ 2.23726216e-02 9.99749635e-01 -3.66201237e-04 6.59862778e+00] [ 1.68481403e-02 -1.07905099e-05 9.99858060e-01 3.60978979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.859254154 meters 0.014835270402556812 Centerline is valid? [True, True] Translation: X:541.67, Y:6.60, Z:3.61 [[ 9.99598296e-01 -2.30522454e-02 -1.64875924e-02 5.41669814e+02] [ 2.30494180e-02 9.99734262e-01 -3.61515145e-04 6.59797060e+00] [ 1.64915448e-02 -1.86594878e-05 9.99864005e-01 3.60918440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.919254154 meters 0.014959003587434542 Centerline is valid? [True, True] Translation: X:541.73, Y:6.59, Z:3.61 [[ 9.99463066e-01 -2.87713156e-02 -1.56777544e-02 5.41728577e+02] [ 2.87694159e-02 9.99586015e-01 -3.46740370e-04 6.59237719e+00] [ 1.56812402e-02 -1.04485643e-04 9.99877036e-01 3.61081338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.979254154 meters 0.016408656154988186 Centerline is valid? [True, True] Translation: X:541.79, Y:6.59, Z:3.61 [[ 9.99210323e-01 -3.66336300e-02 -1.53852939e-02 5.41786917e+02] [ 3.66326947e-02 9.99328739e-01 -3.42699529e-04 6.58664765e+00] [ 1.53875207e-02 -2.21175868e-04 9.99881581e-01 3.61244558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.039254154 meters 0.01597445967680494 Centerline is valid? [True, True] Translation: X:541.85, Y:6.59, Z:3.61 [[ 9.99117738e-01 -3.93304670e-02 -1.47261466e-02 5.41846915e+02] [ 3.93298919e-02 9.99226226e-01 -3.28766262e-04 6.58510770e+00] [ 1.47276824e-02 -2.50701550e-04 9.99891510e-01 3.61330375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters 0.018796589833529213 Centerline is valid? [True, True] Translation: X:541.91, Y:6.58, Z:3.61 [[ 9.98846722e-01 -4.55678745e-02 -1.51259782e-02 5.41907806e+02] [ 4.55679805e-02 9.98961183e-01 -3.37820528e-04 6.57802403e+00] [ 1.51256588e-02 -3.51829352e-04 9.99885539e-01 3.61154487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.159254154 meters 0.02003522796705741 Centerline is valid? [True, True] Translation: X:541.97, Y:6.57, Z:3.61 [[ 9.98662576e-01 -4.93831559e-02 -1.53089489e-02 5.41968178e+02] [ 4.93837124e-02 9.98779822e-01 -3.41906959e-04 6.57388091e+00] [ 1.53071537e-02 -4.14563045e-04 9.99882753e-01 3.61155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters 0.02031511902280343 Centerline is valid? [True, True] Translation: X:542.03, Y:6.57, Z:3.61 [[ 9.98419717e-01 -5.44235299e-02 -1.40053011e-02 5.42028816e+02] [ 5.44244909e-02 9.98517840e-01 -3.12791553e-04 6.56815911e+00] [ 1.40015662e-02 -4.49934128e-04 9.99901872e-01 3.61425874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.279254154 meters 0.023026920745999786 Centerline is valid? [True, True] Translation: X:542.09, Y:6.56, Z:3.61 [[ 9.98280913e-01 -5.70428117e-02 -1.34661075e-02 5.42089728e+02] [ 5.70439381e-02 9.98371624e-01 -3.00749313e-04 6.56479481e+00] [ 1.34613352e-02 -4.67927504e-04 9.99909283e-01 3.61376171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters 0.023158647060625568 Centerline is valid? [True, True] Translation: X:542.15, Y:6.56, Z:3.62 [[ 9.98177870e-01 -5.90904830e-02 -1.22169838e-02 5.42151131e+02] [ 5.90915655e-02 9.98252529e-01 -2.72658804e-04 6.56207180e+00] [ 1.22117465e-02 -4.49758714e-04 9.99925333e-01 3.61637365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.399254154 meters 0.022767900231666832 Centerline is valid? [True, True] Translation: X:542.21, Y:6.56, Z:3.62 [[ 9.98191074e-01 -5.87876207e-02 -1.25934782e-02 5.42212364e+02] [ 5.87887526e-02 9.98270406e-01 -2.80612011e-04 6.56303687e+00] [ 1.25881931e-02 -4.60250469e-04 9.99920660e-01 3.61659999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters 0.023707726983060888 Centerline is valid? [True, True] Translation: X:542.27, Y:6.56, Z:3.62 [[ 9.98195861e-01 -5.84620207e-02 -1.36826619e-02 5.42272575e+02] [ 5.84633316e-02 9.98289510e-01 -3.04503830e-04 6.56273392e+00] [ 1.36770597e-02 -4.95979535e-04 9.99906342e-01 3.61582175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.519254154 meters 0.020837487260684844 Centerline is valid? [True, True] Translation: X:542.33, Y:6.57, Z:3.62 [[ 9.98179556e-01 -5.88565047e-02 -1.31713679e-02 5.42334125e+02] [ 5.88577583e-02 9.98266337e-01 -2.92773595e-04 6.56869198e+00] [ 1.31657648e-02 -4.82996569e-04 9.99913211e-01 3.61723991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters 0.0213785352871811 Centerline is valid? [True, True] Translation: X:542.40, Y:6.57, Z:3.62 [[ 9.98089061e-01 -6.03713567e-02 -1.31729170e-02 5.42395151e+02] [ 6.03727488e-02 9.98175859e-01 -2.92320797e-04 6.56912444e+00] [ 1.31665356e-02 -5.03523021e-04 9.99913191e-01 3.61829904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.639254154 meters 0.022174431906433874 Centerline is valid? [True, True] Translation: X:542.46, Y:6.57, Z:3.62 [[ 9.98025273e-01 -6.15328662e-02 -1.26198371e-02 5.42456913e+02] [ 6.15342422e-02 9.98104934e-01 -2.79593859e-04 6.56969872e+00] [ 1.26131258e-02 -4.97510373e-04 9.99920328e-01 3.61963734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters 0.022921280971512303 Centerline is valid? [True, True] Translation: X:542.52, Y:6.57, Z:3.62 [[ 9.98054073e-01 -6.10942108e-02 -1.24725762e-02 5.42518367e+02] [ 6.10955263e-02 9.98131885e-01 -2.75880318e-04 6.57093630e+00] [ 1.24661306e-02 -4.86675130e-04 9.99922176e-01 3.61969260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.759254154 meters 0.02387052701329499 Centerline is valid? [True, True] Translation: X:542.58, Y:6.57, Z:3.62 [[ 9.98051734e-01 -6.10502564e-02 -1.28686911e-02 5.42578228e+02] [ 6.10516610e-02 9.98134567e-01 -2.84030418e-04 6.57266850e+00] [ 1.28620255e-02 -5.02177913e-04 9.99917155e-01 3.61958871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters 0.02489380582304333 Centerline is valid? [True, True] Translation: X:542.64, Y:6.57, Z:3.62 [[ 9.97963631e-01 -6.23696376e-02 -1.33648491e-02 5.42638705e+02] [ 6.23712778e-02 9.98052973e-01 -2.94456290e-04 6.57498478e+00] [ 1.33571925e-02 -5.39726045e-04 9.99910643e-01 3.62037343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.879254154 meters 0.026455109615222686 Centerline is valid? [True, True] Translation: X:542.70, Y:6.58, Z:3.62 [[ 9.97879829e-01 -6.35899287e-02 -1.38624810e-02 5.42699807e+02] [ 6.35918160e-02 9.97975946e-01 -3.05051378e-04 6.57670051e+00] [ 1.38538208e-02 -5.77135724e-04 9.99903865e-01 3.61954295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters 0.023004597072183282 Centerline is valid? [True, True] Translation: X:542.76, Y:6.59, Z:3.62 [[ 9.97789001e-01 -6.51114523e-02 -1.33269548e-02 5.42760858e+02] [ 6.51133382e-02 9.97877832e-01 -2.92798481e-04 6.58580700e+00] [ 1.33177373e-02 -5.75611410e-04 9.99911149e-01 3.62221010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.999254154 meters 0.022427000013136945 Centerline is valid? [True, True] Translation: X:542.82, Y:6.59, Z:3.62 [[ 9.97852213e-01 -6.41868419e-02 -1.30770658e-02 5.42822712e+02] [ 6.41885879e-02 9.97937745e-01 -2.86587841e-04 6.59079104e+00] [ 1.30684927e-02 -5.53426077e-04 9.99914450e-01 3.62383729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters 0.022842667042278764 Centerline is valid? [True, True] Translation: X:542.88, Y:6.60, Z:3.62 [[ 9.98101240e-01 -6.01711564e-02 -1.31660818e-02 5.42883584e+02] [ 6.01725872e-02 9.98187947e-01 -2.87794864e-04 6.59626756e+00] [ 1.31595411e-02 -5.04988792e-04 9.99913282e-01 3.62375913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.119254154 meters 0.021341553924230136 Centerline is valid? [True, True] Translation: X:542.94, Y:6.60, Z:3.63 [[ 9.98338362e-01 -5.59731549e-02 -1.36938092e-02 5.42944721e+02] [ 5.59743153e-02 9.98432164e-01 -2.98820658e-04 6.60355774e+00] [ 1.36890655e-02 -4.68177466e-04 9.99906191e-01 3.62509946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters 0.020750626444046266 Centerline is valid? [True, True] Translation: X:543.01, Y:6.61, Z:3.63 [[ 9.98498592e-01 -5.29784946e-02 -1.39226885e-02 5.43005728e+02] [ 5.29794102e-02 9.98595559e-01 -3.03313240e-04 6.60863762e+00] [ 1.39192040e-02 -4.34757983e-04 9.99903029e-01 3.62539874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.239254154 meters 0.01999446732039219 Centerline is valid? [True, True] Translation: X:543.07, Y:6.61, Z:3.63 [[ 9.98685533e-01 -4.93781303e-02 -1.37479296e-02 5.43066182e+02] [ 4.93786871e-02 9.98780084e-01 -2.99147356e-04 6.61413233e+00] [ 1.37459296e-02 -3.80100576e-04 9.99905448e-01 3.62642279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters 0.01972533615242456 Centerline is valid? [True, True] Translation: X:543.13, Y:6.62, Z:3.63 [[ 9.98754251e-01 -4.80066923e-02 -1.36126534e-02 5.43127751e+02] [ 4.80071157e-02 9.98846950e-01 -2.95850907e-04 6.61691780e+00] [ 1.36111602e-02 -3.58021877e-04 9.99907300e-01 3.62744763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.359254154 meters 0.017131324355067024 Centerline is valid? [True, True] Translation: X:543.19, Y:6.63, Z:3.63 [[ 9.98848517e-01 -4.59480189e-02 -1.37992546e-02 5.43188806e+02] [ 4.59482645e-02 9.98943776e-01 -2.99409134e-04 6.62527237e+00] [ 1.37984368e-02 -3.34987431e-04 9.99904741e-01 3.62996304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.419254154 meters 0.016803551964669462 Centerline is valid? [True, True] Translation: X:543.25, Y:6.63, Z:3.63 [[ 9.98893759e-01 -4.50232431e-02 -1.35707445e-02 5.43250608e+02] [ 4.50234039e-02 9.98985889e-01 -2.93820159e-04 6.62814584e+00] [ 1.35702110e-02 -3.17505986e-04 9.99907870e-01 3.63020805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.479254154 meters 0.01855222066081606 Centerline is valid? [True, True] Translation: X:543.31, Y:6.63, Z:3.63 [[ 9.98918227e-01 -4.39861587e-02 -1.50861784e-02 5.43312391e+02] [ 4.39862504e-02 9.99032083e-01 -3.25897678e-04 6.62905079e+00] [ 1.50859112e-02 -3.38039288e-04 9.99886144e-01 3.62787286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.539254154 meters 0.01728536874205014 Centerline is valid? [True, True] Translation: X:543.37, Y:6.63, Z:3.63 [[ 9.98884963e-01 -4.53597519e-02 -1.30890883e-02 5.43372903e+02] [ 4.53599431e-02 9.98970668e-01 -2.82419016e-04 6.62859286e+00] [ 1.30884258e-02 -3.11616194e-04 9.99914294e-01 3.63077451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters 0.017021811031860543 Centerline is valid? [True, True] Translation: X:543.43, Y:6.63, Z:3.63 [[ 9.98833329e-01 -4.65442943e-02 -1.28689389e-02 5.43434579e+02] [ 4.65445834e-02 9.98916175e-01 -2.77198062e-04 6.62970022e+00] [ 1.28678932e-02 -3.22104734e-04 9.99917153e-01 3.63163557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.659254154 meters 0.01812726659474437 Centerline is valid? [True, True] Translation: X:543.50, Y:6.63, Z:3.63 [[ 9.98770591e-01 -4.77227793e-02 -1.34105619e-02 5.43496878e+02] [ 4.77232116e-02 9.98860557e-01 -2.87961615e-04 6.62819975e+00] [ 1.34090237e-02 -3.52387490e-04 9.99910033e-01 3.63055910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters 0.018049102320096724 Centerline is valid? [True, True] Translation: X:543.56, Y:6.63, Z:3.63 [[ 9.98769171e-01 -4.79435978e-02 -1.27104146e-02 5.43558083e+02] [ 4.79440195e-02 9.98849987e-01 -2.71706342e-04 6.62705308e+00] [ 1.27088240e-02 -3.38016445e-04 9.99919183e-01 3.63172771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.779254154 meters 0.017388082788318056 Centerline is valid? [True, True] Translation: X:543.62, Y:6.63, Z:3.63 [[ 9.98850490e-01 -4.62717542e-02 -1.25149291e-02 5.43619244e+02] [ 4.62720447e-02 9.98928840e-01 -2.66496515e-04 6.62923235e+00] [ 1.25138549e-02 -3.12901184e-04 9.99921650e-01 3.63263948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters 0.016949628409480715 Centerline is valid? [True, True] Translation: X:543.68, Y:6.63, Z:3.63 [[ 9.98953019e-01 -4.41347025e-02 -1.20413701e-02 5.43680823e+02] [ 4.41348215e-02 9.99025551e-01 -2.55974824e-04 6.63072960e+00] [ 1.20409338e-02 -2.75736897e-04 9.99927467e-01 3.63319926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.899254154 meters 0.016749810835437775 Centerline is valid? [True, True] Translation: X:543.74, Y:6.63, Z:3.63 [[ 9.99032625e-01 -4.22100891e-02 -1.23338270e-02 5.43741983e+02] [ 4.22100730e-02 9.99108723e-01 -2.61731874e-04 6.63201555e+00] [ 1.23338819e-02 -2.59133058e-04 9.99923901e-01 3.63312732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters 0.016142008208479584 Centerline is valid? [True, True] Translation: X:543.80, Y:6.63, Z:3.63 [[ 9.99072111e-01 -4.10993762e-02 -1.28746796e-02 5.43802987e+02] [ 4.10992728e-02 9.99155031e-01 -2.72720841e-04 6.63316929e+00] [ 1.28750095e-02 -2.56672181e-04 9.99917081e-01 3.63323940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.019254154 meters 0.017053233607109617 Centerline is valid? [True, True] Translation: X:543.86, Y:6.63, Z:3.63 [[ 9.99026501e-01 -4.21154012e-02 -1.31279773e-02 5.43863005e+02] [ 4.21153864e-02 9.99112715e-01 -2.77709828e-04 6.63164685e+00] [ 1.31280249e-02 -2.75450360e-04 9.99913786e-01 3.63295748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters 0.01745178257426294 Centerline is valid? [True, True] Translation: X:543.92, Y:6.63, Z:3.63 [[ 9.98847763e-01 -4.63135253e-02 -1.25779190e-02 5.43923972e+02] [ 4.63138471e-02 9.98926903e-01 -2.65846107e-04 6.62839764e+00] [ 1.25767339e-02 -3.16992027e-04 9.99920860e-01 3.63370297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.139254154 meters 0.01933813947991646 Centerline is valid? [True, True] Translation: X:543.99, Y:6.62, Z:3.63 [[ 9.98519833e-01 -5.27357337e-02 -1.33073604e-02 5.43985402e+02] [ 5.27366686e-02 9.98608414e-01 -2.80889344e-04 6.62379359e+00] [ 1.33036549e-02 -4.21312273e-04 9.99911414e-01 3.63403982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters 0.019991020675636274 Centerline is valid? [True, True] Translation: X:544.05, Y:6.62, Z:3.63 [[ 9.98259023e-01 -5.75372277e-02 -1.29765373e-02 5.44046661e+02] [ 5.75385279e-02 9.98343249e-01 -2.73430158e-04 6.62226726e+00] [ 1.29707708e-02 -4.73696733e-04 9.99915764e-01 3.63443752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.259254154 meters 0.024286132697165716 Centerline is valid? [True, True] Translation: X:544.11, Y:6.62, Z:3.63 [[ 9.97893155e-01 -6.37478633e-02 -1.20607112e-02 5.44106740e+02] [ 6.37494447e-02 9.97965903e-01 -2.53674617e-04 6.61606926e+00] [ 1.20523497e-02 -5.15723476e-04 9.99927235e-01 3.63356286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters 0.024346423956287593 Centerline is valid? [True, True] Translation: X:544.17, Y:6.62, Z:3.64 [[ 9.97647566e-01 -6.75547808e-02 -1.16484112e-02 5.44167915e+02] [ 6.75565190e-02 9.97715419e-01 -2.44640613e-04 6.61620516e+00] [ 1.16383261e-02 -5.42861003e-04 9.99932125e-01 3.63560798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.379254154 meters 0.025514568889319144 Centerline is valid? [True, True] Translation: X:544.23, Y:6.62, Z:3.64 [[ 9.97390354e-01 -7.12895530e-02 -1.14140954e-02 5.44228737e+02] [ 7.12914682e-02 9.97455497e-01 -2.39510850e-04 6.61671679e+00] [ 1.14021268e-02 -5.74841808e-04 9.99934828e-01 3.63629865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters 0.029579198345342086 Centerline is valid? [True, True] Translation: X:544.29, Y:6.62, Z:3.63 [[ 9.97157488e-01 -7.41347931e-02 -1.34527263e-02 5.44289560e+02] [ 7.41377180e-02 9.97247973e-01 -2.81841662e-04 6.61712690e+00] [ 1.34365983e-02 -7.16313903e-04 9.99909468e-01 3.63362799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.499254154 meters 0.029191073990692217 Centerline is valid? [True, True] Translation: X:544.35, Y:6.62, Z:3.63 [[ 9.97060623e-01 -7.54126581e-02 -1.35294267e-02 5.44351931e+02] [ 7.54157446e-02 9.97152138e-01 -2.82643017e-04 6.61964199e+00] [ 1.35122116e-02 -7.38519566e-04 9.99908433e-01 3.63379473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters 0.030431303875831005 Centerline is valid? [True, True] Translation: X:544.41, Y:6.62, Z:3.64 [[ 9.97034190e-01 -7.58422889e-02 -1.30679595e-02 5.44413245e+02] [ 7.58452159e-02 9.97119566e-01 -2.72174700e-04 6.62113871e+00] [ 1.30509605e-02 -7.19774732e-04 9.99914574e-01 3.63578753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.619254154 meters 0.030862793268137876 Centerline is valid? [True, True] Translation: X:544.47, Y:6.62, Z:3.64 [[ 9.97087109e-01 -7.50614566e-02 -1.35305395e-02 5.44474782e+02] [ 7.50645312e-02 9.97178639e-01 -2.81188750e-04 6.62474118e+00] [ 1.35134714e-02 -7.35293926e-04 9.99908419e-01 3.63628746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters 0.030540095461700164 Centerline is valid? [True, True] Translation: X:544.53, Y:6.63, Z:3.64 [[ 9.97287709e-01 -7.21252796e-02 -1.46686367e-02 5.44534800e+02] [ 7.21285925e-02 9.97395295e-01 -3.03756249e-04 6.63155893e+00] [ 1.46523377e-02 -7.55095742e-04 9.99892364e-01 3.63672346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.739254154 meters 0.02647545131357528 Centerline is valid? [True, True] Translation: X:544.60, Y:6.64, Z:3.64 [[ 9.97457892e-01 -6.95261986e-02 -1.56160919e-02 5.44595727e+02] [ 6.95296524e-02 9.97579833e-01 -3.22304575e-04 6.64329350e+00] [ 1.56007069e-02 -7.64296197e-04 9.99878009e-01 3.63732979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters 0.024437238971950756 Centerline is valid? [True, True] Translation: X:544.66, Y:6.65, Z:3.64 [[ 9.97725351e-01 -6.54421831e-02 -1.61692675e-02 5.44656723e+02] [ 6.54453581e-02 9.97856099e-01 -3.33264744e-04 6.65473043e+00] [ 1.61564117e-02 -7.25696815e-04 9.99869213e-01 3.63789565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.859254154 meters 0.022715966874412085 Centerline is valid? [True, True] Translation: X:544.72, Y:6.66, Z:3.64 [[ 9.97945442e-01 -6.22779286e-02 -1.50450647e-02 5.44717473e+02] [ 6.22803250e-02 9.98058648e-01 -3.09652511e-04 6.66141773e+00] [ 1.50351415e-02 -6.27995210e-04 9.99886769e-01 3.63987469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.919254154 meters 0.020417849348757146 Centerline is valid? [True, True] Translation: X:544.78, Y:6.67, Z:3.64 [[ 9.98310118e-01 -5.60979302e-02 -1.51634357e-02 5.44777889e+02] [ 5.60996586e-02 9.98425125e-01 -3.11681964e-04 6.67417491e+00] [ 1.51570399e-02 -5.39508309e-04 9.99884980e-01 3.64048534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.979254154 meters 0.020145368418283127 Centerline is valid? [True, True] Translation: X:544.84, Y:6.68, Z:3.64 [[ 9.98560754e-01 -5.14010159e-02 -1.53087172e-02 5.44838773e+02] [ 5.14022329e-02 9.98677982e-01 -3.14228091e-04 6.68071610e+00] [ 1.53046305e-02 -4.73126409e-04 9.99882765e-01 3.64026761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.039254154 meters 0.019220308712866285 Centerline is valid? [True, True] Translation: X:544.90, Y:6.69, Z:3.64 [[ 9.98907540e-01 -4.39366037e-02 -1.59154433e-02 5.44899581e+02] [ 4.39369788e-02 9.99034251e-01 -3.26260709e-04 6.69340928e+00] [ 1.59144078e-02 -3.73372214e-04 9.99873288e-01 3.64027891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters 0.015659682517426988 Centerline is valid? [True, True] Translation: X:544.96, Y:6.71, Z:3.64 [[ 9.99181510e-01 -3.78341436e-02 -1.43139194e-02 5.44960899e+02] [ 3.78338285e-02 9.99284002e-01 -2.92896745e-04 6.70592123e+00] [ 1.43147521e-02 -2.48893360e-04 9.99897508e-01 3.64301501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.159254154 meters 0.015614092738407805 Centerline is valid? [True, True] Translation: X:545.02, Y:6.71, Z:3.64 [[ 9.99261765e-01 -3.55207756e-02 -1.46355837e-02 5.45021831e+02] [ 3.55202080e-02 9.99368914e-01 -2.98803176e-04 6.71124605e+00] [ 1.46369611e-02 -2.21276387e-04 9.99892849e-01 3.64277168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters 0.0158599542971394 Centerline is valid? [True, True] Translation: X:545.08, Y:6.72, Z:3.64 [[ 9.99265043e-01 -3.53126568e-02 -1.49127247e-02 5.45081993e+02] [ 3.53120503e-02 9.99376289e-01 -3.04060189e-04 6.71518790e+00] [ 1.49141606e-02 -2.22762166e-04 9.99888753e-01 3.64204718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.279254154 meters 0.016323473229303727 Centerline is valid? [True, True] Translation: X:545.14, Y:6.72, Z:3.64 [[ 9.99132063e-01 -3.91476280e-02 -1.42332035e-02 5.45142832e+02] [ 3.91474682e-02 9.99233402e-01 -2.89950405e-04 6.71699689e+00] [ 1.42336432e-02 -2.67495135e-04 9.99898661e-01 3.64270568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters 0.016922178765270617 Centerline is valid? [True, True] Translation: X:545.20, Y:6.72, Z:3.64 [[ 9.98959512e-01 -4.32167955e-02 -1.45671584e-02 5.45204867e+02] [ 4.32170708e-02 9.99065662e-01 -2.96038155e-04 6.71723674e+00] [ 1.45663416e-02 -3.33819785e-04 9.99893849e-01 3.64304093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.399254154 meters 0.021654485506086583 Centerline is valid? [True, True] Translation: X:545.26, Y:6.71, Z:3.64 [[ 9.98651884e-01 -4.97327550e-02 -1.48683300e-02 5.45264626e+02] [ 4.97337709e-02 9.98762465e-01 -3.01645385e-04 6.70968948e+00] [ 1.48649316e-02 -4.38219388e-04 9.99889415e-01 3.64165972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters 0.019530067640116694 Centerline is valid? [True, True] Translation: X:545.33, Y:6.71, Z:3.64 [[ 9.98457099e-01 -5.35593996e-02 -1.46564856e-02 5.45326204e+02] [ 5.35608050e-02 9.98564546e-01 -2.96903751e-04 6.71465734e+00] [ 1.46513489e-02 -4.88567511e-04 9.99892544e-01 3.64377638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.519254154 meters 0.021653355661870096 Centerline is valid? [True, True] Translation: X:545.39, Y:6.71, Z:3.64 [[ 9.98461052e-01 -5.34727441e-02 -1.47035445e-02 5.45386999e+02] [ 5.34741612e-02 9.98569189e-01 -2.97037300e-04 6.71339289e+00] [ 1.46983899e-02 -4.89679535e-04 9.99891853e-01 3.64356171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters 0.02030205743716854 Centerline is valid? [True, True] Translation: X:545.45, Y:6.72, Z:3.64 [[ 9.98718476e-01 -4.84121034e-02 -1.47537636e-02 5.45448816e+02] [ 4.84129906e-02 9.98827359e-01 -2.97221868e-04 6.72169198e+00] [ 1.47508518e-02 -4.17432845e-04 9.99891113e-01 3.64360034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.639254154 meters 0.01713421016362114 Centerline is valid? [True, True] Translation: X:545.51, Y:6.73, Z:3.65 [[ 9.98940198e-01 -4.39473124e-02 -1.36789818e-02 5.45509952e+02] [ 4.39476651e-02 9.99033797e-01 -2.74956465e-04 6.72659152e+00] [ 1.36778487e-02 -3.26494243e-04 9.99906401e-01 3.64579141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters 0.01718631039678282 Centerline is valid? [True, True] Translation: X:545.57, Y:6.73, Z:3.65 [[ 9.99195272e-01 -3.74271468e-02 -1.44228081e-02 5.45571444e+02] [ 3.74268698e-02 9.99299327e-01 -2.89214582e-04 6.73320231e+00] [ 1.44235269e-02 -2.50818717e-04 9.99895944e-01 3.64523474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.759254154 meters 0.01861202246097464 Centerline is valid? [True, True] Translation: X:545.63, Y:6.74, Z:3.64 [[ 9.99277681e-01 -3.44142244e-02 -1.61176156e-02 5.45633079e+02] [ 3.44134989e-02 9.99407628e-01 -3.22439811e-04 6.73649560e+00] [ 1.61191645e-02 -2.32456642e-04 9.99870051e-01 3.64355583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters 0.015596150904667178 Centerline is valid? [True, True] Translation: X:545.69, Y:6.74, Z:3.64 [[ 9.99336708e-01 -3.27685250e-02 -1.58860652e-02 5.45693440e+02] [ 3.27676188e-02 9.99462947e-01 -3.17401524e-04 6.73871871e+00] [ 1.58879343e-02 -2.03357535e-04 9.99873758e-01 3.64444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.879254154 meters 0.015369337903191829 Centerline is valid? [True, True] Translation: X:545.75, Y:6.74, Z:3.64 [[ 9.99399273e-01 -3.06438031e-02 -1.61879945e-02 5.45753546e+02] [ 3.06425854e-02 9.99530353e-01 -3.23311308e-04 6.74082213e+00] [ 1.61902994e-02 -1.72924918e-04 9.99868914e-01 3.64425461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters 0.015872375152015773 Centerline is valid? [True, True] Translation: X:545.81, Y:6.75, Z:3.64 [[ 9.99532634e-01 -2.57902913e-02 -1.64126230e-02 5.45814322e+02] [ 2.57883853e-02 9.99667371e-01 -3.27797652e-04 6.74550472e+00] [ 1.64156176e-02 -9.56105941e-05 9.99865250e-01 3.64495793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.999254154 meters 0.014394463218069925 Centerline is valid? [True, True] Translation: X:545.87, Y:6.75, Z:3.65 [[ 9.99625513e-01 -2.24185517e-02 -1.56920921e-02 5.45873494e+02] [ 2.24163887e-02 9.99748672e-01 -3.13738282e-04 6.74843517e+00] [ 1.56951818e-02 -3.81392442e-05 9.99876822e-01 3.64709120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters 0.014736638854718067 Centerline is valid? [True, True] Translation: X:545.93, Y:6.75, Z:3.65 [[ 9.99708511e-01 -1.92942715e-02 -1.45128980e-02 5.45932831e+02] [ 1.92920847e-02 9.99813848e-01 -2.90674184e-04 6.74889569e+00] [ 1.45158048e-02 1.06053967e-05 9.99894640e-01 3.64804246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.119254154 meters 0.014281454265093611 Centerline is valid? [True, True] Translation: X:545.99, Y:6.75, Z:3.65 [[ 9.99687033e-01 -2.16056582e-02 -1.26107984e-02 5.45992151e+02] [ 2.16041706e-02 9.99766570e-01 -2.54190576e-04 6.74519739e+00] [ 1.26133466e-02 -1.83348174e-05 9.99920448e-01 3.64972545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters 0.0144689046930379 Centerline is valid? [True, True] Translation: X:546.05, Y:6.74, Z:3.65 [[ 9.99594777e-01 -2.57521875e-02 -1.21287930e-02 5.46052826e+02] [ 2.57510981e-02 9.99668355e-01 -2.46007622e-04 6.74036851e+00] [ 1.21311058e-02 -6.64218045e-05 9.99926413e-01 3.64982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.239254154 meters 0.01598222640809197 Centerline is valid? [True, True] Translation: X:546.11, Y:6.73, Z:3.65 [[ 9.99420299e-01 -3.13621747e-02 -1.32469176e-02 5.46113823e+02] [ 3.13613695e-02 9.99508075e-01 -2.68566785e-04 6.73276548e+00] [ 1.32488240e-02 -1.47030382e-04 9.99912220e-01 3.64806151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters 0.01665380253820298 Centerline is valid? [True, True] Translation: X:546.18, Y:6.72, Z:3.65 [[ 9.99009343e-01 -4.22602381e-02 -1.39428924e-02 5.46175589e+02] [ 4.22604121e-02 9.99106590e-01 -2.82282305e-04 6.72200917e+00] [ 1.39423650e-02 -3.07229718e-04 9.99902753e-01 3.64825632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.359254154 meters 0.021076837880991926 Centerline is valid? [True, True] Translation: X:546.24, Y:6.71, Z:3.65 [[ 9.98571091e-01 -5.16873849e-02 -1.35716963e-02 5.46235178e+02] [ 5.16884213e-02 9.98663222e-01 -2.74623742e-04 6.70926111e+00] [ 1.35677485e-02 -4.27268225e-04 9.99907863e-01 3.64722096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.419254154 meters 0.022518235894454536 Centerline is valid? [True, True] Translation: X:546.30, Y:6.70, Z:3.65 [[ 9.98318090e-01 -5.64986641e-02 -1.29958187e-02 5.46296268e+02] [ 5.65000217e-02 9.98402563e-01 -2.62950249e-04 6.70280891e+00] [ 1.29899151e-02 -4.71756050e-04 9.99915516e-01 3.64814811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.479254154 meters 0.024753067644241195 Centerline is valid? [True, True] Translation: X:546.36, Y:6.70, Z:3.65 [[ 9.97963861e-01 -6.24717730e-02 -1.28611567e-02 5.46357565e+02] [ 6.24736011e-02 9.98046583e-01 -2.59959921e-04 6.69556789e+00] [ 1.28522737e-02 -5.44052167e-04 9.99917258e-01 3.64820339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.539254154 meters 0.02596543291258953 Centerline is valid? [True, True] Translation: X:546.42, Y:6.70, Z:3.65 [[ 9.97600623e-01 -6.80295679e-02 -1.28442631e-02 5.46418255e+02] [ 6.80318534e-02 9.97683116e-01 -2.59411770e-04 6.69505599e+00] [ 1.28321521e-02 -6.15029684e-04 9.99917475e-01 3.64729253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters 0.03205366252877193 Centerline is valid? [True, True] Translation: X:546.48, Y:6.68, Z:3.65 [[ 9.97265070e-01 -7.29022063e-02 -1.21510724e-02 5.46478198e+02] [ 7.29046125e-02 9.97338888e-01 -2.45401116e-04 6.68319716e+00] [ 1.21366273e-02 -6.41139264e-04 9.99926143e-01 3.64848496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.659254154 meters 0.027973989036579845 Centerline is valid? [True, True] Translation: X:546.54, Y:6.69, Z:3.65 [[ 9.96737774e-01 -7.97725876e-02 -1.22533319e-02 5.46539486e+02] [ 7.97755531e-02 9.96812821e-01 -2.47347735e-04 6.68858027e+00] [ 1.22340099e-02 -7.30975498e-04 9.99924895e-01 3.65050623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters 0.03213189470517543 Centerline is valid? [True, True] Translation: X:546.60, Y:6.69, Z:3.65 [[ 9.96495502e-01 -8.26203398e-02 -1.30611445e-02 5.46600289e+02] [ 8.26239593e-02 9.96580760e-01 -2.63168226e-04 6.68645282e+00] [ 1.30382283e-02 -8.16917516e-04 9.99914665e-01 3.64887900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.779254154 meters 0.033568519458334486 Centerline is valid? [True, True] Translation: X:546.66, Y:6.69, Z:3.65 [[ 9.96325629e-01 -8.44390636e-02 -1.43278094e-02 5.46661793e+02] [ 8.44436152e-02 9.96428218e-01 -2.88086491e-04 6.68800976e+00] [ 1.43009594e-02 -9.22864071e-04 9.99897310e-01 3.64875370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters 0.032341662236807754 Centerline is valid? [True, True] Translation: X:546.72, Y:6.69, Z:3.65 [[ 9.96359649e-01 -8.41392190e-02 -1.37128257e-02 5.46723247e+02] [ 8.41433685e-02 9.96453621e-01 -2.75094897e-04 6.69077313e+00] [ 1.36873411e-02 -8.79749890e-04 9.99905937e-01 3.65128883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.899254154 meters 0.033400574516871694 Centerline is valid? [True, True] Translation: X:546.78, Y:6.70, Z:3.65 [[ 9.96712488e-01 -7.94975932e-02 -1.56316424e-02 5.46782239e+02] [ 7.95024212e-02 9.96834624e-01 -3.13299177e-04 6.69597795e+00] [ 1.56070689e-02 -9.30484217e-04 9.99877769e-01 3.65118424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters 0.025981725335790382 Centerline is valid? [True, True] Translation: X:546.84, Y:6.71, Z:3.65 [[ 9.97267204e-01 -7.22232573e-02 -1.55539281e-02 5.46842470e+02] [ 7.22271532e-02 9.97388160e-01 -3.11855084e-04 6.71307502e+00] [ 1.55358269e-02 -8.12413098e-04 9.99878982e-01 3.65384278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.019254154 meters 0.023896783777939044 Centerline is valid? [True, True] Translation: X:546.90, Y:6.72, Z:3.66 [[ 9.97685636e-01 -6.62992925e-02 -1.50922241e-02 5.46902729e+02] [ 6.63022841e-02 9.97799537e-01 -3.02593118e-04 6.72147876e+00] [ 1.50790759e-02 -6.98756120e-04 9.99886060e-01 3.65560309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters 0.020770647854986037 Centerline is valid? [True, True] Translation: X:546.96, Y:6.73, Z:3.66 [[ 9.98240104e-01 -5.73994749e-02 -1.48994857e-02 5.46963254e+02] [ 5.74014016e-02 9.98351136e-01 -2.98657774e-04 6.73320597e+00] [ 1.48920613e-02 -5.57119194e-04 9.99888952e-01 3.65706815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.139254154 meters 0.019061289383384483 Centerline is valid? [True, True] Translation: X:547.02, Y:6.74, Z:3.66 [[ 9.98563711e-01 -5.12848530e-02 -1.55041368e-02 5.47024296e+02] [ 5.12862062e-02 9.98683948e-01 -3.10564712e-04 6.73977620e+00] [ 1.54996599e-02 -4.85029707e-04 9.99879755e-01 3.65731151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters 0.017156507338476488 Centerline is valid? [True, True] Translation: X:547.09, Y:6.75, Z:3.66 [[ 9.98879411e-01 -4.43128119e-02 -1.66221749e-02 5.47085296e+02] [ 4.43134079e-02 9.99017623e-01 -3.32644162e-04 6.74798013e+00] [ 1.66205860e-02 -4.04313811e-04 9.99861787e-01 3.65723877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.259254154 meters 0.01636991509631537 Centerline is valid? [True, True] Translation: X:547.15, Y:6.75, Z:3.66 [[ 9.98999334e-01 -4.14930019e-02 -1.66931621e-02 5.47146445e+02] [ 4.14932178e-02 9.99138730e-01 -3.33569868e-04 6.75230662e+00] [ 1.66926256e-02 -3.59416936e-04 9.99860604e-01 3.65828910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters 0.016157230235120598 Centerline is valid? [True, True] Translation: X:547.21, Y:6.75, Z:3.66 [[ 9.99121325e-01 -3.86736313e-02 -1.61532684e-02 5.47206748e+02] [ 3.86734717e-02 9.99251849e-01 -3.22368343e-04 6.75467442e+00] [ 1.61536504e-02 -3.02617880e-04 9.99869475e-01 3.65921590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.379254154 meters 0.016180950676404265 Centerline is valid? [True, True] Translation: X:547.27, Y:6.76, Z:3.66 [[ 9.99141363e-01 -3.81255794e-02 -1.62165799e-02 5.47268376e+02] [ 3.81253540e-02 9.99272912e-01 -3.23166400e-04 6.75561019e+00] [ 1.62171099e-02 -2.95373930e-04 9.99868450e-01 3.65980469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters 0.01578022902781186 Centerline is valid? [True, True] Translation: X:547.33, Y:6.76, Z:3.66 [[ 9.99123377e-01 -3.83332216e-02 -1.68238396e-02 5.47329954e+02] [ 3.83330189e-02 9.99264964e-01 -3.34643711e-04 6.75690389e+00] [ 1.68243015e-02 -3.10558208e-04 9.99858413e-01 3.66077246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.499254154 meters 0.016591001303056043 Centerline is valid? [True, True] Translation: X:547.39, Y:6.75, Z:3.66 [[ 9.99046657e-01 -3.96395353e-02 -1.82889346e-02 5.47389905e+02] [ 3.96395196e-02 9.99213979e-01 -3.63516710e-04 6.75473749e+00] [ 1.82889687e-02 -3.61794427e-04 9.99832677e-01 3.66014616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters 0.018498726079238244 Centerline is valid? [True, True] Translation: X:547.45, Y:6.75, Z:3.66 [[ 9.98978499e-01 -4.00779386e-02 -2.08738303e-02 5.47450738e+02] [ 4.00780193e-02 9.99196467e-01 -4.14636792e-04 6.75451842e+00] [ 2.08736753e-02 -4.22368534e-04 9.99782032e-01 3.66048069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.619254154 meters 0.016554727700362825 Centerline is valid? [True, True] Translation: X:547.51, Y:6.75, Z:3.66 [[ 9.98946951e-01 -4.15653268e-02 -1.94245484e-02 5.47511272e+02] [ 4.15656798e-02 9.99135699e-01 -3.85734540e-04 6.75347573e+00] [ 1.94237929e-02 -4.22066215e-04 9.99811251e-01 3.66049204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters 0.016614714127669888 Centerline is valid? [True, True] Translation: X:547.57, Y:6.75, Z:3.66 [[ 9.98927821e-01 -4.18098649e-02 -1.98782390e-02 5.47571641e+02] [ 4.18102830e-02 9.99125490e-01 -3.94743973e-04 6.75276857e+00] [ 1.98773595e-02 -4.36794063e-04 9.99802330e-01 3.66046322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.739254154 meters 0.01731650218225744 Centerline is valid? [True, True] Translation: X:547.63, Y:6.75, Z:3.66 [[ 9.98932195e-01 -4.15653770e-02 -2.01690044e-02 5.47631648e+02] [ 4.15657583e-02 9.99135690e-01 -4.00489981e-04 6.75016385e+00] [ 2.01682187e-02 -4.38277628e-04 9.99796505e-01 3.65946018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters 0.016631935870400922 Centerline is valid? [True, True] Translation: X:547.69, Y:6.75, Z:3.66 [[ 9.98996605e-01 -4.01853023e-02 -1.97718029e-02 5.47691942e+02] [ 4.01853988e-02 9.99192164e-01 -3.92589164e-04 6.75092054e+00] [ 1.97716068e-02 -4.02342541e-04 9.99804442e-01 3.66013461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.859254154 meters 0.01585042297782174 Centerline is valid? [True, True] Translation: X:547.75, Y:6.75, Z:3.66 [[ 9.99133344e-01 -3.65169044e-02 -1.99768861e-02 5.47752229e+02] [ 3.65162698e-02 9.99332980e-01 -3.96661299e-04 6.75277537e+00] [ 1.99780460e-02 -3.33163833e-04 9.99800363e-01 3.66055774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.919254154 meters 0.015742153193153106 Centerline is valid? [True, True] Translation: X:547.81, Y:6.75, Z:3.66 [[ 9.99211257e-01 -3.40149112e-02 -2.04902302e-02 5.47811672e+02] [ 3.40137077e-02 9.99421283e-01 -4.07345698e-04 6.75420336e+00] [ 2.04922280e-02 -2.89924293e-04 9.99789970e-01 3.66068637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.979254154 meters 0.015212854820771103 Centerline is valid? [True, True] Translation: X:547.87, Y:6.75, Z:3.66 [[ 9.99237340e-01 -3.36705032e-02 -1.97746082e-02 5.47869496e+02] [ 3.36692876e-02 9.99432951e-01 -3.94495054e-04 6.75184074e+00] [ 1.97766778e-02 -2.71602782e-04 9.99804385e-01 3.66093437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.039254154 meters 0.015608289836258463 Centerline is valid? [True, True] Translation: X:547.93, Y:6.75, Z:3.66 [[ 9.99137342e-01 -3.65491296e-02 -1.97163221e-02 5.47928347e+02] [ 3.65484045e-02 9.99331805e-01 -3.97233206e-04 6.74965221e+00] [ 1.97176663e-02 -3.23709587e-04 9.99805536e-01 3.66218252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters 0.017541231841710192 Centerline is valid? [True, True] Translation: X:547.99, Y:6.74, Z:3.66 [[ 9.98865085e-01 -4.28766698e-02 -2.07396355e-02 5.47987276e+02] [ 4.28771707e-02 9.99080263e-01 -4.20731788e-04 6.74253309e+00] [ 2.07386001e-02 -4.69002598e-04 9.99784822e-01 3.66066747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.159254154 meters 0.01724994268949718 Centerline is valid? [True, True] Translation: X:548.05, Y:6.74, Z:3.66 [[ 9.98693349e-01 -4.65767999e-02 -2.10284681e-02 5.48047265e+02] [ 4.65781178e-02 9.98914559e-01 -4.27379878e-04 6.74203507e+00] [ 2.10255489e-02 -5.52645021e-04 9.99778786e-01 3.66207475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters 0.018529036711760177 Centerline is valid? [True, True] Translation: X:548.11, Y:6.74, Z:3.66 [[ 9.98514512e-01 -5.02700685e-02 -2.10164216e-02 5.48107049e+02] [ 5.02721884e-02 9.98735463e-01 -4.27783929e-04 6.73846512e+00] [ 2.10113503e-02 -6.29393043e-04 9.99779039e-01 3.66291935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.279254154 meters 0.018863406679369286 Centerline is valid? [True, True] Translation: X:548.17, Y:6.74, Z:3.67 [[ 9.98457989e-01 -5.19949142e-02 -1.94466592e-02 5.48167362e+02] [ 5.19970514e-02 9.98647160e-01 -3.96059800e-04 6.73716467e+00] [ 1.94409441e-02 -6.15719867e-04 9.99810817e-01 3.66538483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters 0.018653765875531126 Centerline is valid? [True, True] Translation: X:548.23, Y:6.74, Z:3.67 [[ 9.98439024e-01 -5.24833841e-02 -1.91052469e-02 5.48227449e+02] [ 5.24855362e-02 9.98621609e-01 -3.89106435e-04 6.73808880e+00] [ 1.90993340e-02 -6.14250077e-04 9.99817402e-01 3.66637799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.399254154 meters 0.019624137480390467 Centerline is valid? [True, True] Translation: X:548.29, Y:6.74, Z:3.67 [[ 9.98473811e-01 -5.21703021e-02 -1.81192621e-02 5.48288196e+02] [ 5.21721900e-02 9.98638036e-01 -3.68815904e-04 6.73602960e+00] [ 1.81138256e-02 -5.77068563e-04 9.99835765e-01 3.66596944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters 0.018861940558362482 Centerline is valid? [True, True] Translation: X:548.35, Y:6.74, Z:3.67 [[ 9.98469877e-01 -5.21549709e-02 -1.83783399e-02 5.48349093e+02] [ 5.21569208e-02 9.98638832e-01 -3.73532599e-04 6.73868148e+00] [ 1.83728055e-02 -5.85596570e-04 9.99831034e-01 3.66649505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.519254154 meters 0.019434123495136218 Centerline is valid? [True, True] Translation: X:548.41, Y:6.74, Z:3.67 [[ 9.98475948e-01 -5.18795125e-02 -1.88228132e-02 5.48409282e+02] [ 5.18815179e-02 9.98653174e-01 -3.82091367e-04 6.73902466e+00] [ 1.88172848e-02 -5.95047079e-04 9.99822762e-01 3.66570390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters 0.02158405248809113 Centerline is valid? [True, True] Translation: X:548.47, Y:6.74, Z:3.67 [[ 9.98479463e-01 -5.16632675e-02 -1.92267717e-02 5.48470012e+02] [ 5.16653267e-02 9.98664379e-01 -3.89943057e-04 6.73802941e+00] [ 1.92212377e-02 -6.04007306e-04 9.99815072e-01 3.66520507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.639254154 meters 0.018610605905525823 Centerline is valid? [True, True] Translation: X:548.53, Y:6.74, Z:3.67 [[ 9.98551585e-01 -5.07462578e-02 -1.78759679e-02 5.48530804e+02] [ 5.07478928e-02 9.98711430e-01 -3.62435643e-04 6.74259915e+00] [ 1.78713257e-02 -5.45257018e-04 9.99840146e-01 3.66673862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters 0.017661802016321223 Centerline is valid? [True, True] Translation: X:548.59, Y:6.75, Z:3.67 [[ 9.98658709e-01 -4.89170906e-02 -1.69676648e-02 5.48592127e+02] [ 4.89183063e-02 9.98802724e-01 -3.43637106e-04 6.74663669e+00] [ 1.69641596e-02 -4.86853237e-04 9.99855980e-01 3.66741699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.759254154 meters 0.01761875675498394 Centerline is valid? [True, True] Translation: X:548.65, Y:6.75, Z:3.67 [[ 9.98754503e-01 -4.72293806e-02 -1.60881663e-02 5.48653629e+02] [ 4.72302640e-02 9.98883975e-01 -3.25242328e-04 6.74842408e+00] [ 1.60855725e-02 -4.35011102e-04 9.99870524e-01 3.66789459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters 0.017481383430859133 Centerline is valid? [True, True] Translation: X:548.71, Y:6.75, Z:3.67 [[ 9.98852708e-01 -4.54047360e-02 -1.52209578e-02 5.48714168e+02] [ 4.54053283e-02 9.98968599e-01 -3.06839792e-04 6.74989962e+00] [ 1.52191908e-02 -3.84624826e-04 9.99884107e-01 3.66876873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.879254154 meters 0.017160113154554055 Centerline is valid? [True, True] Translation: X:548.78, Y:6.75, Z:3.67 [[ 9.98897707e-01 -4.47396918e-02 -1.42032054e-02 5.48775976e+02] [ 4.47401515e-02 9.98998617e-01 -2.85533917e-04 6.75250701e+00] [ 1.42017572e-02 -3.50234384e-04 9.99899089e-01 3.67003508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters 0.017862365799387877 Centerline is valid? [True, True] Translation: X:548.84, Y:6.75, Z:3.67 [[ 9.98863100e-01 -4.57309591e-02 -1.34605566e-02 5.48837440e+02] [ 4.57314688e-02 9.98953733e-01 -2.70090847e-04 6.75233222e+00] [ 1.34588248e-02 -3.45787243e-04 9.99909366e-01 3.67070079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.999254154 meters 0.01816088475396529 Centerline is valid? [True, True] Translation: X:548.90, Y:6.75, Z:3.67 [[ 9.98797277e-01 -4.72555796e-02 -1.30732722e-02 5.48899430e+02] [ 4.72561999e-02 9.98882767e-01 -2.61627907e-04 6.75274984e+00] [ 1.30710297e-02 -3.56479923e-04 9.99914507e-01 3.67117093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters 0.020528282112494682 Centerline is valid? [True, True] Translation: X:548.96, Y:6.75, Z:3.67 [[ 9.98637530e-01 -5.04998445e-02 -1.31472355e-02 5.48960405e+02] [ 5.05007636e-02 9.98723988e-01 -2.62278099e-04 6.75047970e+00] [ 1.31437044e-02 -4.02024677e-04 9.99913537e-01 3.67037830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.119254154 meters 0.01873623772458528 Centerline is valid? [True, True] Translation: X:549.02, Y:6.76, Z:3.67 [[ 9.98483686e-01 -5.33828685e-02 -1.34386806e-02 5.49021882e+02] [ 5.33841033e-02 9.98574016e-01 -2.67076481e-04 6.75584912e+00] [ 1.34337746e-02 -4.50740403e-04 9.99909661e-01 3.67118334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters 0.021612291804884654 Centerline is valid? [True, True] Translation: X:549.08, Y:6.75, Z:3.67 [[ 9.98279814e-01 -5.71647909e-02 -1.30230658e-02 5.49082578e+02] [ 5.71662815e-02 9.98364638e-01 -2.58072149e-04 6.75212577e+00] [ 1.30165210e-02 -4.86852030e-04 9.99915163e-01 3.67108179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.239254154 meters 0.023542231069757405 Centerline is valid? [True, True] Translation: X:549.14, Y:6.75, Z:3.67 [[ 9.97906629e-01 -6.36835550e-02 -1.12589784e-02 5.49143286e+02] [ 6.36850846e-02 9.97970020e-01 -2.22987333e-04 6.75165200e+00] [ 1.12503235e-02 -4.94508452e-04 9.99936591e-01 3.67188281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters 0.02577457079469307 Centerline is valid? [True, True] Translation: X:549.20, Y:6.75, Z:3.67 [[ 9.97604783e-01 -6.84575857e-02 -9.91236551e-03 5.49203925e+02] [ 6.84590071e-02 9.97653911e-01 -1.96233639e-04 6.75185359e+00] [ 9.90254390e-03 -4.82827084e-04 9.99950852e-01 3.67222176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.359254154 meters 0.027040468153273167 Centerline is valid? [True, True] Translation: X:549.27, Y:6.75, Z:3.67 [[ 9.97463916e-01 -7.05787699e-02 -9.18548413e-03 5.49265735e+02] [ 7.05800824e-02 9.97506100e-01 -1.81596399e-04 6.75346195e+00] [ 9.17539330e-03 -4.67176372e-04 9.99957796e-01 3.67243571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.419254154 meters 0.026862426545812473 Centerline is valid? [True, True] Translation: X:549.33, Y:6.76, Z:3.67 [[ 9.97318276e-01 -7.25767285e-02 -9.42739584e-03 5.49327290e+02] [ 7.25782051e-02 9.97362707e-01 -1.85854620e-04 6.75922285e+00] [ 9.41602176e-03 -4.98867260e-04 9.99955544e-01 3.67252244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.479254154 meters 0.027122869065158314 Centerline is valid? [True, True] Translation: X:549.39, Y:6.76, Z:3.67 [[ 9.97283009e-01 -7.31111886e-02 -9.01959723e-03 5.49389412e+02] [ 7.31125667e-02 9.97323679e-01 -1.77290328e-04 6.76349541e+00] [ 9.00841980e-03 -4.82637273e-04 9.99959307e-01 3.67331678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.539254154 meters 0.031805033934782345 Centerline is valid? [True, True] Translation: X:549.45, Y:6.76, Z:3.67 [[ 9.97283748e-01 -7.30860191e-02 -9.14113599e-03 5.49451644e+02] [ 7.30874401e-02 9.97325521e-01 -1.78956555e-04 6.76369198e+00] [ 9.12976743e-03 -4.89631765e-04 9.99958203e-01 3.67364193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters 0.027397373250653258 Centerline is valid? [True, True] Translation: X:549.51, Y:6.78, Z:3.67 [[ 9.97376172e-01 -7.16973986e-02 -1.00127623e-02 5.49513807e+02] [ 7.16990429e-02 9.97426293e-01 -1.95110540e-04 6.77507963e+00] [ 1.00009813e-02 -5.23306868e-04 9.99949852e-01 3.67409792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.659254154 meters 0.023804227604697772 Centerline is valid? [True, True] Translation: X:549.58, Y:6.79, Z:3.67 [[ 9.97590896e-01 -6.85430123e-02 -1.06892054e-02 5.49575149e+02] [ 6.85447136e-02 9.97648024e-01 -2.07545178e-04 6.78661395e+00] [ 1.06782904e-02 -5.25643343e-04 9.99942847e-01 3.67453724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters 0.021658619394366464 Centerline is valid? [True, True] Translation: X:549.64, Y:6.80, Z:3.68 [[ 9.97927615e-01 -6.34121880e-02 -1.09256651e-02 5.49635648e+02] [ 6.34136636e-02 9.97987306e-01 -2.11667992e-04 6.79631049e+00] [ 1.09170974e-02 -4.81607113e-04 9.99940291e-01 3.67504511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.779254154 meters 0.019426626482178633 Centerline is valid? [True, True] Translation: X:549.70, Y:6.81, Z:3.68 [[ 9.98421649e-01 -5.50869517e-02 -1.09379026e-02 5.49696363e+02] [ 5.50879330e-02 9.98481484e-01 -2.11773892e-04 6.80982654e+00] [ 1.09329592e-02 -3.91106806e-04 9.99940157e-01 3.67562433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters 0.01838436032042372 Centerline is valid? [True, True] Translation: X:549.76, Y:6.82, Z:3.68 [[ 9.98806132e-01 -4.77144491e-02 -1.04709995e-02 5.49756376e+02] [ 4.77149437e-02 9.98860973e-01 -2.02727469e-04 6.82089870e+00] [ 1.04687458e-02 -2.97137713e-04 9.99945157e-01 3.67679980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.899254154 meters 0.01691212209959394 Centerline is valid? [True, True] Translation: X:549.82, Y:6.83, Z:3.68 [[ 9.99021803e-01 -4.31579831e-02 -9.63459471e-03 5.49817720e+02] [ 4.31581910e-02 9.99068234e-01 -1.86427571e-04 6.82890073e+00] [ 9.63366336e-03 -2.29566470e-04 9.99953569e-01 3.67771919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters 0.016874082447227528 Centerline is valid? [True, True] Translation: X:549.88, Y:6.84, Z:3.68 [[ 9.99200578e-01 -3.86044308e-02 -1.03875861e-02 5.49878410e+02] [ 3.86044306e-02 9.99254551e-01 -2.00603217e-04 6.83572215e+00] [ 1.03875868e-02 -2.00563995e-04 9.99946027e-01 3.67794630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.019254154 meters 0.01493298420179543 Centerline is valid? [True, True] Translation: X:549.94, Y:6.85, Z:3.68 [[ 9.99353071e-01 -3.41421999e-02 -1.13026612e-02 5.49940135e+02] [ 3.41419210e-02 9.99416971e-01 -2.17677283e-04 6.84523430e+00] [ 1.13035034e-02 -1.68358104e-04 9.99936099e-01 3.67849619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters 0.015537437520811376 Centerline is valid? [True, True] Translation: X:550.00, Y:6.85, Z:3.68 [[ 9.99353160e-01 -3.37172698e-02 -1.25062753e-02 5.50001733e+02] [ 3.37169060e-02 9.99431395e-01 -2.39999293e-04 6.84745217e+00] [ 1.25072563e-02 -1.81828857e-04 9.99921765e-01 3.67758716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.139254154 meters 0.015427584567069885 Centerline is valid? [True, True] Translation: X:550.06, Y:6.85, Z:3.68 [[ 9.99275701e-01 -3.55681485e-02 -1.35269966e-02 5.50063949e+02] [ 3.55679043e-02 9.99367228e-01 -2.58703302e-04 6.84919517e+00] [ 1.35276387e-02 -2.22610998e-04 9.99908473e-01 3.67773443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters 0.016239370230833904 Centerline is valid? [True, True] Translation: X:550.13, Y:6.85, Z:3.68 [[ 9.99076252e-01 -4.07933213e-02 -1.35110479e-02 5.50125583e+02] [ 4.07935668e-02 9.99167563e-01 -2.57541666e-04 6.84806085e+00] [ 1.35103068e-02 -2.93860072e-04 9.99908688e-01 3.67868528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.259254154 meters 0.017713522124024127 Centerline is valid? [True, True] Translation: X:550.19, Y:6.85, Z:3.68 [[ 9.98894695e-01 -4.50331962e-02 -1.34684900e-02 5.50187669e+02] [ 4.50338367e-02 9.98985429e-01 -2.55875115e-04 6.84540655e+00] [ 1.34663481e-02 -3.50945484e-04 9.99909263e-01 3.67956541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters 0.021303697670707503 Centerline is valid? [True, True] Translation: X:550.25, Y:6.84, Z:3.68 [[ 9.98574068e-01 -5.16798351e-02 -1.33800073e-02 5.50247452e+02] [ 5.16810756e-02 9.98663608e-01 -2.53261499e-04 6.83909803e+00] [ 1.33752149e-02 -4.38592803e-04 9.99910452e-01 3.67957776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.379254154 meters 0.023284941889381443 Centerline is valid? [True, True] Translation: X:550.31, Y:6.84, Z:3.68 [[ 9.98321954e-01 -5.62892438e-02 -1.35939836e-02 5.50308624e+02] [ 5.62909589e-02 9.98414374e-01 -2.56730632e-04 6.83606985e+00] [ 1.35868798e-02 -5.08918545e-04 9.99907565e-01 3.67949665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters 0.021635516742450612 Centerline is valid? [True, True] Translation: X:550.37, Y:6.84, Z:3.68 [[ 9.97972461e-01 -6.20915227e-02 -1.39860901e-02 5.50369317e+02] [ 6.20939104e-02 9.98070276e-01 -2.63882366e-04 6.83803204e+00] [ 1.39754856e-02 -6.05103688e-04 9.99902155e-01 3.68016816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.499254154 meters 0.02453580868849849 Centerline is valid? [True, True] Translation: X:550.43, Y:6.83, Z:3.68 [[ 9.97808012e-01 -6.48029475e-02 -1.34070431e-02 5.50430354e+02] [ 6.48053923e-02 9.97897889e-01 -2.52467373e-04 6.83499360e+00] [ 1.33952206e-02 -6.16934721e-04 9.99910090e-01 3.68070014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters 0.025068598441041055 Centerline is valid? [True, True] Translation: X:550.49, Y:6.84, Z:3.68 [[ 9.97799151e-01 -6.49216085e-02 -1.34921751e-02 5.50493022e+02] [ 6.49241070e-02 9.97890172e-01 -2.53203257e-04 6.83612836e+00] [ 1.34801473e-02 -6.23321427e-04 9.99908944e-01 3.68080541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.619254154 meters 0.023407386097313018 Centerline is valid? [True, True] Translation: X:550.56, Y:6.84, Z:3.68 [[ 9.97902305e-01 -6.31792849e-02 -1.41197945e-02 5.50555234e+02] [ 6.31818621e-02 9.98001995e-01 -2.63923191e-04 6.84114722e+00] [ 1.41082576e-02 -6.28745348e-04 9.99900276e-01 3.68062678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters 0.024811974750701446 Centerline is valid? [True, True] Translation: X:550.62, Y:6.84, Z:3.68 [[ 9.98046297e-01 -6.08235059e-02 -1.42859979e-02 5.50616175e+02] [ 6.08259144e-02 9.98148354e-01 -2.66250658e-04 6.84107943e+00] [ 1.42757396e-02 -6.03228401e-04 9.99897914e-01 3.68038033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.739254154 meters 0.021024096651593365 Centerline is valid? [True, True] Translation: X:550.68, Y:6.85, Z:3.68 [[ 9.98355270e-01 -5.55210286e-02 -1.42888103e-02 5.50677307e+02] [ 5.55229011e-02 9.98457379e-01 -2.65919242e-04 6.85027767e+00] [ 1.42815322e-02 -5.27874328e-04 9.99897874e-01 3.68122856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters 0.019883088014614993 Centerline is valid? [True, True] Translation: X:550.74, Y:6.86, Z:3.68 [[ 9.98629579e-01 -5.00663612e-02 -1.52421559e-02 5.50737736e+02] [ 5.00678593e-02 9.98745778e-01 -2.83530240e-04 6.85692475e+00] [ 1.52372342e-02 -4.80000433e-04 9.99883791e-01 3.68132080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.859254154 meters 0.017171017970793866 Centerline is valid? [True, True] Translation: X:550.80, Y:6.86, Z:3.68 [[ 9.99016648e-01 -4.15295426e-02 -1.55252908e-02 5.50797507e+02] [ 4.15300664e-02 9.99137213e-01 -2.88797035e-04 6.86423413e+00] [ 1.55238894e-02 -3.56253312e-04 9.99879434e-01 3.68028153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.919254154 meters 0.016147049092447893 Centerline is valid? [True, True] Translation: X:550.86, Y:6.87, Z:3.68 [[ 9.99218297e-01 -3.62513669e-02 -1.57680957e-02 5.50859333e+02] [ 3.62512580e-02 9.99342664e-01 -2.92827597e-04 6.87000819e+00] [ 1.57683462e-02 -2.79014614e-04 9.99875633e-01 3.68064945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.979254154 meters 0.014858908106552516 Centerline is valid? [True, True] Translation: X:550.92, Y:6.88, Z:3.68 [[ 9.99443375e-01 -3.01286174e-02 -1.43250172e-02 5.50921147e+02] [ 3.01279091e-02 9.99546016e-01 -2.65288723e-04 6.87596672e+00] [ 1.43265066e-02 -1.66441759e-04 9.99897356e-01 3.68194380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.039254154 meters 0.014554431736665667 Centerline is valid? [True, True] Translation: X:550.98, Y:6.88, Z:3.68 [[ 9.99563513e-01 -2.60411110e-02 -1.39514907e-02 5.50982254e+02] [ 2.60400497e-02 9.99660867e-01 -2.57752785e-04 6.87976107e+00] [ 1.39534715e-02 -1.05657232e-04 9.99902640e-01 3.68275331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters 0.014178519938286366 Centerline is valid? [True, True] Translation: X:551.04, Y:6.88, Z:3.68 [[ 9.99614352e-01 -2.41025916e-02 -1.37917615e-02 5.51043333e+02] [ 2.41013769e-02 9.99709487e-01 -2.54302119e-04 6.88147136e+00] [ 1.37938841e-02 -7.81963933e-05 9.99904857e-01 3.68291117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.159254154 meters 0.014236128911862723 Centerline is valid? [True, True] Translation: X:551.10, Y:6.88, Z:3.68 [[ 9.99631355e-01 -2.34128496e-02 -1.37474240e-02 5.51104464e+02] [ 2.34115843e-02 9.99725879e-01 -2.52985409e-04 6.88214709e+00] [ 1.37495787e-02 -6.89568291e-05 9.99905468e-01 3.68305600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters 0.01436509606695941 Centerline is valid? [True, True] Translation: X:551.16, Y:6.88, Z:3.68 [[ 9.99632970e-01 -2.35659785e-02 -1.33629732e-02 5.51164732e+02] [ 2.35647998e-02 9.99722281e-01 -2.45673275e-04 6.88032839e+00] [ 1.33650515e-02 -6.93126818e-05 9.99910681e-01 3.68276504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.279254154 meters 0.014402951273245953 Centerline is valid? [True, True] Translation: X:551.23, Y:6.88, Z:3.68 [[ 9.99623163e-01 -2.40626163e-02 -1.32106652e-02 5.51226104e+02] [ 2.40615109e-02 9.99710451e-01 -2.42635076e-04 6.87987013e+00] [ 1.32126785e-02 -7.53249238e-05 9.99912706e-01 3.68319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters 0.014923108535435202 Centerline is valid? [True, True] Translation: X:551.29, Y:6.88, Z:3.68 [[ 9.99563557e-01 -2.58854144e-02 -1.42351969e-02 5.51286998e+02] [ 2.58843214e-02 9.99664911e-01 -2.61049211e-04 6.87751990e+00] [ 1.42371842e-02 -1.07533134e-04 9.99898640e-01 3.68220930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.399254154 meters 0.01507261862960049 Centerline is valid? [True, True] Translation: X:551.35, Y:6.87, Z:3.68 [[ 9.99521173e-01 -2.70276919e-02 -1.50641765e-02 5.51348095e+02] [ 2.70266042e-02 9.99634677e-01 -2.75815054e-04 6.87442103e+00] [ 1.50661279e-02 -1.31450550e-04 9.99886491e-01 3.68125126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters 0.016813812886502334 Centerline is valid? [True, True] Translation: X:551.41, Y:6.87, Z:3.68 [[ 9.99541446e-01 -2.63210277e-02 -1.49700024e-02 5.51408099e+02] [ 2.63198802e-02 9.99653534e-01 -2.73697973e-04 6.87237863e+00] [ 1.49720198e-02 -1.20436203e-04 9.99887906e-01 3.68141910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.519254154 meters 0.015274000824640192 Centerline is valid? [True, True] Translation: X:551.47, Y:6.87, Z:3.68 [[ 9.99560496e-01 -2.61973170e-02 -1.38750282e-02 5.51469038e+02] [ 2.61963209e-02 9.99656785e-01 -2.53566467e-04 6.87275702e+00] [ 1.38769089e-02 -1.10019668e-04 9.99903705e-01 3.68244300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters 0.015167988302836236 Centerline is valid? [True, True] Translation: X:551.53, Y:6.87, Z:3.68 [[ 9.99613962e-01 -2.42336471e-02 -1.35888658e-02 5.51530159e+02] [ 2.42325135e-02 9.99706319e-01 -2.48089964e-04 6.87231183e+00] [ 1.35908872e-02 -8.12981827e-05 9.99907636e-01 3.68248230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.639254154 meters 0.015102883840185866 Centerline is valid? [True, True] Translation: X:551.59, Y:6.87, Z:3.68 [[ 9.99690416e-01 -2.00758441e-02 -1.46980433e-02 5.51590125e+02] [ 2.00740745e-02 9.99798460e-01 -2.67938393e-04 6.87277221e+00] [ 1.47004601e-02 -2.71941713e-05 9.99891942e-01 3.68186993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters 0.015159980853895574 Centerline is valid? [True, True] Translation: X:551.65, Y:6.87, Z:3.68 [[ 9.99752365e-01 -1.71354842e-02 -1.41980081e-02 5.51649490e+02] [ 1.71335342e-02 9.99853177e-01 -2.58974433e-04 6.87333045e+00] [ 1.42003611e-02 1.56482450e-05 9.99899170e-01 3.68227461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.759254154 meters 0.015286354001813322 Centerline is valid? [True, True] Translation: X:551.71, Y:6.87, Z:3.68 [[ 9.99829804e-01 -1.31469958e-02 -1.29429281e-02 5.51708618e+02] [ 1.31450342e-02 9.99913572e-01 -2.36625531e-04 6.87317004e+00] [ 1.29449204e-02 6.64500262e-05 9.99916209e-01 3.68295261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters 0.01551699687382821 Centerline is valid? [True, True] Translation: X:551.77, Y:6.87, Z:3.68 [[ 9.99849456e-01 -1.12309673e-02 -1.32261473e-02 5.51767273e+02] [ 1.12287251e-02 9.99936926e-01 -2.43777618e-04 6.87373890e+00] [ 1.32280509e-02 9.52281472e-05 9.99912501e-01 3.68331864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.879254154 meters 0.01559010423237532 Centerline is valid? [True, True] Translation: X:551.83, Y:6.87, Z:3.68 [[ 9.99851364e-01 -1.02220704e-02 -1.38837791e-02 5.51825681e+02] [ 1.02194525e-02 9.99947746e-01 -2.59497717e-04 6.87113638e+00] [ 1.38857063e-02 1.17574525e-04 9.99903582e-01 3.68283694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters 0.015324475776817304 Centerline is valid? [True, True] Translation: X:551.88, Y:6.87, Z:3.68 [[ 9.99829853e-01 -1.17969955e-02 -1.41808495e-02 5.51883713e+02] [ 1.17943663e-02 9.99930408e-01 -2.69022418e-04 6.86847294e+00] [ 1.41830363e-02 1.01722511e-04 9.99899411e-01 3.68288723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.999254154 meters 0.015181650515858427 Centerline is valid? [True, True] Translation: X:551.94, Y:6.86, Z:3.68 [[ 9.99757631e-01 -1.74416838e-02 -1.34337950e-02 5.51941348e+02] [ 1.74398005e-02 9.99847882e-01 -2.57331073e-04 6.86137463e+00] [ 1.34362398e-02 2.29859986e-05 9.99909729e-01 3.68301846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters 0.015051121328013752 Centerline is valid? [True, True] Translation: X:552.00, Y:6.86, Z:3.68 [[ 9.99666533e-01 -2.26693111e-02 -1.23662642e-02 5.51999864e+02] [ 2.26680907e-02 9.99743017e-01 -2.38861873e-04 6.85611525e+00] [ 1.23685011e-02 -4.15373786e-05 9.99923506e-01 3.68440908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.119254154 meters 0.015991965843652707 Centerline is valid? [True, True] Translation: X:552.06, Y:6.85, Z:3.68 [[ 9.99440290e-01 -3.10845181e-02 -1.23636093e-02 5.52060802e+02] [ 3.10839211e-02 9.99516749e-01 -2.40496723e-04 6.84584033e+00] [ 1.23651103e-02 -1.43947341e-04 9.99923539e-01 3.68397276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters 0.016827690057777442 Centerline is valid? [True, True] Translation: X:552.12, Y:6.84, Z:3.68 [[ 9.99118400e-01 -3.98608619e-02 -1.31732445e-02 5.52122477e+02] [ 3.98609496e-02 9.99205204e-01 -2.56004075e-04 6.83739092e+00] [ 1.31729790e-02 -2.69319653e-04 9.99913196e-01 3.68402590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.239254154 meters 0.018970389200658452 Centerline is valid? [True, True] Translation: X:552.18, Y:6.83, Z:3.68 [[ 9.98866563e-01 -4.58109542e-02 -1.29207373e-02 5.52182533e+02] [ 4.58115392e-02 9.98950069e-01 -2.50850864e-04 6.83027682e+00] [ 1.29186631e-02 -3.41352320e-04 9.99916492e-01 3.68422931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters 0.0205956121641658 Centerline is valid? [True, True] Translation: X:552.24, Y:6.82, Z:3.69 [[ 9.98495382e-01 -5.33753942e-02 -1.25713463e-02 5.52243852e+02] [ 5.33765480e-02 9.98574426e-01 -2.43960457e-04 6.82274179e+00] [ 1.25664464e-02 -4.27421678e-04 9.99920948e-01 3.68520089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.359254154 meters 0.021865125278358735 Centerline is valid? [True, True] Translation: X:552.30, Y:6.82, Z:3.69 [[ 9.98305356e-01 -5.67044739e-02 -1.30774242e-02 5.52304911e+02] [ 5.67060110e-02 9.98390887e-01 -2.53537134e-04 6.81883508e+00] [ 1.30707579e-02 -4.88461082e-04 9.99914455e-01 3.68506036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.419254154 meters 0.022905949369675004 Centerline is valid? [True, True] Translation: X:552.37, Y:6.82, Z:3.68 [[ 9.98188875e-01 -5.85830393e-02 -1.36747133e-02 5.52366950e+02] [ 5.85849046e-02 9.98282394e-01 -2.64480938e-04 6.81522221e+00] [ 1.36667197e-02 -5.37129847e-04 9.99906462e-01 3.68490798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.479254154 meters 0.023659969150010007 Centerline is valid? [True, True] Translation: X:552.43, Y:6.81, Z:3.68 [[ 9.98268018e-01 -5.71504923e-02 -1.39565770e-02 5.52427970e+02] [ 5.71523080e-02 9.98365435e-01 -2.69042572e-04 6.81492402e+00] [ 1.39491400e-02 -5.29073995e-04 9.99902566e-01 3.68469340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.539254154 meters 0.02088076840279397 Centerline is valid? [True, True] Translation: X:552.49, Y:6.82, Z:3.69 [[ 9.98482290e-01 -5.32122437e-02 -1.41976873e-02 5.52489039e+02] [ 5.32137341e-02 9.98583108e-01 -2.73046042e-04 6.82128262e+00] [ 1.41921001e-02 -4.82880318e-04 9.99899170e-01 3.68523794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters 0.020371090817407487 Centerline is valid? [True, True] Translation: X:552.55, Y:6.82, Z:3.69 [[ 9.98634867e-01 -5.02040613e-02 -1.44206630e-02 5.52550861e+02] [ 5.02052953e-02 9.98738881e-01 -2.76663001e-04 6.82403136e+00] [ 1.44163664e-02 -4.47708324e-04 9.99895979e-01 3.68531080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.659254154 meters 0.019994899222822604 Centerline is valid? [True, True] Translation: X:552.61, Y:6.83, Z:3.69 [[ 9.98771626e-01 -4.73406384e-02 -1.46322936e-02 5.52611337e+02] [ 4.73416092e-02 9.98878718e-01 -2.80211762e-04 6.82710603e+00] [ 1.46291521e-02 -4.12848769e-04 9.99892903e-01 3.68579797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters 0.020391126533530195 Centerline is valid? [True, True] Translation: X:552.67, Y:6.83, Z:3.69 [[ 9.98787633e-01 -4.70749306e-02 -1.43949551e-02 5.52671594e+02] [ 4.70758512e-02 9.98891280e-01 -2.75077084e-04 6.82778385e+00] [ 1.43919444e-02 -4.02911176e-04 9.99896349e-01 3.68574622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.779254154 meters 0.020824141772972 Centerline is valid? [True, True] Translation: X:552.73, Y:6.83, Z:3.69 [[ 9.98746773e-01 -4.75692055e-02 -1.55580614e-02 5.52733234e+02] [ 4.75703526e-02 9.98867846e-01 -2.96545051e-04 6.82944907e+00] [ 1.55545537e-02 -4.43929054e-04 9.99878922e-01 3.68627163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters 0.02034816582984995 Centerline is valid? [True, True] Translation: X:552.79, Y:6.83, Z:3.69 [[ 9.98632527e-01 -4.97977750e-02 -1.59140460e-02 5.52794188e+02] [ 4.97992644e-02 9.98759201e-01 -3.02921252e-04 6.83021849e+00] [ 1.59093847e-02 -4.90000768e-04 9.99873318e-01 3.68688022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.899254154 meters 0.022717391347949766 Centerline is valid? [True, True] Translation: X:552.85, Y:6.83, Z:3.69 [[ 9.98488123e-01 -5.24834355e-02 -1.63388487e-02 5.52854221e+02] [ 5.24853666e-02 9.98621645e-01 -3.10882510e-04 6.82730909e+00] [ 1.63326442e-02 -5.47137972e-04 9.99866464e-01 3.68646281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters 0.022430386539062135 Centerline is valid? [True, True] Translation: X:552.92, Y:6.83, Z:3.69 [[ 9.98127452e-01 -5.87587913e-02 -1.69997984e-02 5.52915264e+02] [ 5.87617928e-02 9.98271981e-01 -3.23327310e-04 6.82842253e+00] [ 1.69894208e-02 -6.76216769e-04 9.99855441e-01 3.68784667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.019254154 meters 0.026158045071407045 Centerline is valid? [True, True] Translation: X:552.98, Y:6.82, Z:3.69 [[ 9.97835033e-01 -6.36397727e-02 -1.65899598e-02 5.52975325e+02] [ 6.36433056e-02 9.97972660e-01 -3.15448889e-04 6.82404591e+00] [ 1.65764014e-02 -7.41073927e-04 9.99862327e-01 3.68826427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters 0.029627208510954517 Centerline is valid? [True, True] Translation: X:553.04, Y:6.82, Z:3.69 [[ 9.97480156e-01 -6.90939485e-02 -1.61047995e-02 5.53035084e+02] [ 6.90979897e-02 9.97609831e-01 -3.06035422e-04 6.82119517e+00] [ 1.60874515e-02 -8.07545010e-04 9.99870262e-01 3.68920801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.139254154 meters 0.026751583816189584 Centerline is valid? [True, True] Translation: X:553.10, Y:6.83, Z:3.69 [[ 9.97222981e-01 -7.27472461e-02 -1.59425052e-02 5.53095704e+02] [ 7.27516767e-02 9.97350040e-01 -3.02645926e-04 6.82837709e+00] [ 1.59222749e-02 -8.58038513e-04 9.99872864e-01 3.69111735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters 0.028518632241734607 Centerline is valid? [True, True] Translation: X:553.16, Y:6.83, Z:3.69 [[ 9.97079651e-01 -7.48148049e-02 -1.53269176e-02 5.53157465e+02] [ 7.48191525e-02 9.97197077e-01 -2.90361569e-04 6.82872809e+00] [ 1.53056808e-02 -8.57233376e-04 9.99882494e-01 3.69213521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.259254154 meters 0.028598169990492302 Centerline is valid? [True, True] Translation: X:553.22, Y:6.83, Z:3.69 [[ 9.96891930e-01 -7.72635261e-02 -1.53891775e-02 5.53218656e+02] [ 7.72682105e-02 9.97010300e-01 -2.90843930e-04 6.83316338e+00] [ 1.53656401e-02 -8.99154240e-04 9.99881537e-01 3.69321770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters 0.02801244676256863 Centerline is valid? [True, True] Translation: X:553.28, Y:6.84, Z:3.69 [[ 9.96831012e-01 -7.80188891e-02 -1.55237291e-02 5.53280772e+02] [ 7.80237613e-02 9.96951457e-01 -2.92466151e-04 6.83785210e+00] [ 1.54992223e-02 -9.19680407e-04 9.99879457e-01 3.69408665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.379254154 meters 0.028938637021060972 Centerline is valid? [True, True] Translation: X:553.34, Y:6.84, Z:3.69 [[ 9.96790548e-01 -7.83906875e-02 -1.62328167e-02 5.53342820e+02] [ 7.83960844e-02 9.96922244e-01 -3.04579198e-04 6.84160358e+00] [ 1.62067322e-02 -9.68987604e-04 9.99868193e-01 3.69321377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters 0.02917465738830679 Centerline is valid? [True, True] Translation: X:553.40, Y:6.84, Z:3.69 [[ 9.96792593e-01 -7.82678755e-02 -1.66932946e-02 5.53404893e+02] [ 7.82735870e-02 9.96931867e-01 -3.11956177e-04 6.84387898e+00] [ 1.66664935e-02 -9.95688442e-04 9.99860609e-01 3.69301729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.499254154 meters 0.030734212112605012 Centerline is valid? [True, True] Translation: X:553.47, Y:6.85, Z:3.69 [[ 9.96795846e-01 -7.79200964e-02 -1.80692936e-02 5.53466392e+02] [ 7.79267603e-02 9.96959030e-01 -3.36078631e-04 6.84890829e+00] [ 1.80405327e-02 -1.07307972e-03 9.99836681e-01 3.69226588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters 0.031646273188972285 Centerline is valid? [True, True] Translation: X:553.53, Y:6.85, Z:3.69 [[ 9.96830782e-01 -7.75885927e-02 -1.75613754e-02 5.53528524e+02] [ 7.75948602e-02 9.96984921e-01 -3.25246857e-04 6.85302419e+00] [ 1.75336619e-02 -1.03845639e-03 9.99845734e-01 3.69278253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.619254154 meters 0.03212953316070344 Centerline is valid? [True, True] Translation: X:553.59, Y:6.86, Z:3.69 [[ 9.97019021e-01 -7.53377588e-02 -1.66521203e-02 5.53589434e+02] [ 7.53430944e-02 9.97157622e-01 -3.07594434e-04 6.86052351e+00] [ 1.66279621e-02 -9.47944770e-04 9.99861297e-01 3.69434969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters 0.031279445161707456 Centerline is valid? [True, True] Translation: X:553.65, Y:6.87, Z:3.70 [[ 9.97324345e-01 -7.15177528e-02 -1.51446816e-02 5.53650538e+02] [ 7.15217323e-02 9.97439003e-01 -2.79385364e-04 6.86826090e+00] [ 1.51258771e-02 -8.04536034e-04 9.99885274e-01 3.69630692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.739254154 meters 0.024099544714207586 Centerline is valid? [True, True] Translation: X:553.71, Y:6.89, Z:3.70 [[ 9.97921396e-01 -6.30740142e-02 -1.32119360e-02 5.53710416e+02] [ 6.30763063e-02 9.98008677e-01 -2.43557630e-04 6.88779867e+00] [ 1.32009890e-02 -5.90308753e-04 9.99912689e-01 3.69878050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters 0.02174926219560585 Centerline is valid? [True, True] Translation: X:553.77, Y:6.90, Z:3.70 [[ 9.98299175e-01 -5.67961776e-02 -1.31510819e-02 5.53771172e+02] [ 5.67979064e-02 9.98385667e-01 -2.42300423e-04 6.89725990e+00] [ 1.31436134e-02 -5.05065608e-04 9.99913491e-01 3.69884898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.859254154 meters 0.018904045332433624 Centerline is valid? [True, True] Translation: X:553.83, Y:6.91, Z:3.70 [[ 9.98679588e-01 -4.94746411e-02 -1.38325724e-02 5.53832269e+02] [ 4.94758549e-02 9.98775288e-01 -2.54653753e-04 6.90918502e+00] [ 1.38282304e-02 -4.30060840e-04 9.99904293e-01 3.69859174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.919254154 meters 0.018490590013692042 Centerline is valid? [True, True] Translation: X:553.89, Y:6.91, Z:3.70 [[ 9.98807199e-01 -4.66523991e-02 -1.44129507e-02 5.53894082e+02] [ 4.66534335e-02 9.98911101e-01 -2.64628750e-04 6.91443313e+00] [ 1.44096020e-02 -4.08100538e-04 9.99896093e-01 3.69833938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.979254154 meters 0.01842191155042743 Centerline is valid? [True, True] Translation: X:553.96, Y:6.92, Z:3.70 [[ 9.98834193e-01 -4.56259766e-02 -1.57646581e-02 5.53956452e+02] [ 4.56271058e-02 9.98958500e-01 -2.88223411e-04 6.91875322e+00] [ 1.57613897e-02 -4.31408326e-04 9.99875689e-01 3.69737486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.039254154 meters 0.01837613160614819 Centerline is valid? [True, True] Translation: X:554.02, Y:6.92, Z:3.70 [[ 9.98828361e-01 -4.56455489e-02 -1.60744924e-02 5.54018885e+02] [ 4.56467449e-02 9.98957601e-01 -2.92680244e-04 6.92186878e+00] [ 1.60710960e-02 -4.41410928e-04 9.99870754e-01 3.69740428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters 0.01838114442047777 Centerline is valid? [True, True] Translation: X:554.08, Y:6.92, Z:3.70 [[ 9.98810383e-01 -4.61664348e-02 -1.56996362e-02 5.54080934e+02] [ 4.61676581e-02 9.98933665e-01 -2.84694068e-04 6.92499705e+00] [ 1.56960384e-02 -4.40460047e-04 9.99876713e-01 3.69818795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.159254154 meters 0.018632614907673366 Centerline is valid? [True, True] Translation: X:554.14, Y:6.93, Z:3.70 [[ 9.98741179e-01 -4.75858026e-02 -1.58634206e-02 5.54143506e+02] [ 4.75872494e-02 9.98867044e-01 -2.86468907e-04 6.92741174e+00] [ 1.58590799e-02 -4.68788256e-04 9.99874127e-01 3.69860463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters 0.01969203481141697 Centerline is valid? [True, True] Translation: X:554.21, Y:6.93, Z:3.70 [[ 9.98641489e-01 -4.97556152e-02 -1.54775534e-02 5.54205182e+02] [ 4.97572680e-02 9.98761301e-01 -2.78519242e-04 6.92709515e+00] [ 1.54722393e-02 -4.91979902e-04 9.99880177e-01 3.69878704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.279254154 meters 0.021047185324335624 Centerline is valid? [True, True] Translation: X:554.27, Y:6.93, Z:3.70 [[ 9.98467968e-01 -5.31113175e-02 -1.55210886e-02 5.54266796e+02] [ 5.31133978e-02 9.98588448e-01 -2.78443808e-04 6.92562700e+00] [ 1.55139683e-02 -5.46360531e-04 9.99879502e-01 3.69945368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters 0.021489644224111003 Centerline is valid? [True, True] Translation: X:554.33, Y:6.93, Z:3.70 [[ 9.98363767e-01 -5.50956005e-02 -1.53056533e-02 5.54328843e+02] [ 5.50978715e-02 9.98480921e-01 -2.73584302e-04 6.92568138e+00] [ 1.52974761e-02 -5.70172268e-04 9.99882824e-01 3.69982838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.399254154 meters 0.02331570256113236 Centerline is valid? [True, True] Translation: X:554.39, Y:6.92, Z:3.70 [[ 9.98349043e-01 -5.53438537e-02 -1.53703037e-02 5.54389905e+02] [ 5.53461881e-02 9.98467188e-01 -2.73774547e-04 6.92350053e+00] [ 1.53618956e-02 -5.77365162e-04 9.99881832e-01 3.69930282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters 0.0230819702582806 Centerline is valid? [True, True] Translation: X:554.45, Y:6.93, Z:3.70 [[ 9.98468205e-01 -5.31237852e-02 -1.54631137e-02 5.54451987e+02] [ 5.31258971e-02 9.98587785e-01 -2.74454525e-04 6.92533222e+00] [ 1.54558565e-02 -5.47457670e-04 9.99880401e-01 3.69986878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.519254154 meters 0.01881973656637388 Centerline is valid? [True, True] Translation: X:554.51, Y:6.93, Z:3.70 [[ 9.98765374e-01 -4.74379148e-02 -1.47435660e-02 5.54512290e+02] [ 4.74392222e-02 9.98874092e-01 -2.61239977e-04 6.93462341e+00] [ 1.47393588e-02 -4.38505859e-04 9.99891274e-01 3.70193118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters 0.017609288197438275 Centerline is valid? [True, True] Translation: X:554.57, Y:6.94, Z:3.70 [[ 9.98953986e-01 -4.32306659e-02 -1.49011479e-02 5.54573998e+02] [ 4.32315404e-02 9.99065045e-01 -2.63576487e-04 6.93865574e+00] [ 1.48986105e-02 -3.80898793e-04 9.99888937e-01 3.70270242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.639254154 meters 0.016933749579122265 Centerline is valid? [True, True] Translation: X:554.63, Y:6.94, Z:3.70 [[ 9.99148585e-01 -3.82663958e-02 -1.54203987e-02 5.54634182e+02] [ 3.82667498e-02 9.99267523e-01 -2.72214540e-04 6.94208488e+00] [ 1.54195203e-02 -3.18105767e-04 9.99881062e-01 3.70246837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters 0.016230263578638212 Centerline is valid? [True, True] Translation: X:554.70, Y:6.95, Z:3.70 [[ 9.99205822e-01 -3.65738439e-02 -1.58138814e-02 5.54696071e+02] [ 3.65740169e-02 9.99330908e-01 -2.78362615e-04 6.94530994e+00] [ 1.58134812e-02 -3.00235619e-04 9.99874914e-01 3.70332454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.759254154 meters 0.01688933459146653 Centerline is valid? [True, True] Translation: X:554.76, Y:6.94, Z:3.70 [[ 9.99172821e-01 -3.70541047e-02 -1.67530989e-02 5.54757105e+02] [ 3.70543843e-02 9.99313207e-01 -2.93823916e-04 6.94399015e+00] [ 1.67524804e-02 -3.27194894e-04 9.99859614e-01 3.70318937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters 0.016540905316724655 Centerline is valid? [True, True] Translation: X:554.82, Y:6.94, Z:3.70 [[ 9.99092492e-01 -3.89867281e-02 -1.71530522e-02 5.54819396e+02] [ 3.89873258e-02 9.99239660e-01 -2.99683969e-04 6.94476299e+00] [ 1.71516938e-02 -3.69339631e-04 9.99852831e-01 3.70489504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.879254154 meters 0.01755437745182536 Centerline is valid? [True, True] Translation: X:554.88, Y:6.94, Z:3.71 [[ 9.98907373e-01 -4.33255692e-02 -1.75201536e-02 5.54880710e+02] [ 4.33268755e-02 9.99060903e-01 -3.05183844e-04 6.94183702e+00] [ 1.75169227e-02 -4.54243123e-04 9.99846464e-01 3.70593471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters 0.01836376537219782 Centerline is valid? [True, True] Translation: X:554.94, Y:6.94, Z:3.71 [[ 9.98761845e-01 -4.64007807e-02 -1.79372172e-02 5.54943014e+02] [ 4.64026651e-02 9.98922768e-01 -3.11354104e-04 6.94060325e+00] [ 1.79323417e-02 -5.21366082e-04 9.99839067e-01 3.70679131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.999254154 meters 0.020273344594950306 Centerline is valid? [True, True] Translation: X:555.00, Y:6.94, Z:3.71 [[ 9.98570261e-01 -5.02722167e-02 -1.81696991e-02 5.55003058e+02] [ 5.02747996e-02 9.98735373e-01 -3.14881408e-04 6.93717869e+00] [ 1.81625510e-02 -5.99046771e-04 9.99834868e-01 3.70809154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters 0.020112498301041754 Centerline is valid? [True, True] Translation: X:555.07, Y:6.94, Z:3.71 [[ 9.98496426e-01 -5.17285010e-02 -1.81397006e-02 5.55065496e+02] [ 5.17313308e-02 9.98660989e-01 -3.13512678e-04 6.93708463e+00] [ 1.81316289e-02 -6.25349563e-04 9.99835413e-01 3.70989936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.119254154 meters 0.02036597790054592 Centerline is valid? [True, True] Translation: X:555.13, Y:6.94, Z:3.71 [[ 9.98502295e-01 -5.09898330e-02 -1.98293857e-02 5.55128013e+02] [ 5.09930997e-02 9.98698947e-01 -3.41183883e-04 6.93890009e+00] [ 1.98209835e-02 -6.70488951e-04 9.99803320e-01 3.71150856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters 0.018889210741579933 Centerline is valid? [True, True] Translation: X:555.19, Y:6.94, Z:3.71 [[ 9.98581165e-01 -4.93332957e-02 -2.00470242e-02 5.55189916e+02] [ 4.93363314e-02 9.98782163e-01 -3.43413895e-04 6.94120404e+00] [ 2.00395519e-02 -6.46119981e-04 9.99798979e-01 3.71293016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.239254154 meters 0.01783963729295015 Centerline is valid? [True, True] Translation: X:555.25, Y:6.94, Z:3.71 [[ 9.98720754e-01 -4.52865489e-02 -2.24940910e-02 5.55250926e+02] [ 4.52893720e-02 9.98973836e-01 -3.84175131e-04 6.94334906e+00] [ 2.24884063e-02 -6.35059579e-04 9.99746902e-01 3.71312212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.299254154 meters 0.016983080356454378 Centerline is valid? [True, True] Translation: X:555.31, Y:6.95, Z:3.71 [[ 9.98847124e-01 -4.19388946e-02 -2.33570535e-02 5.55312814e+02] [ 4.19410519e-02 9.99120008e-01 -3.97722643e-04 6.94630033e+00] [ 2.33531796e-02 -5.82355277e-04 9.99727108e-01 3.71326037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.359254154 meters 0.016850792004176402 Centerline is valid? [True, True] Translation: X:555.37, Y:6.95, Z:3.71 [[ 9.98906242e-01 -4.05889031e-02 -2.32133801e-02 5.55372959e+02] [ 4.05906783e-02 9.99175781e-01 -3.94903648e-04 6.94812625e+00] [ 2.32102759e-02 -5.47775123e-04 9.99730455e-01 3.71377375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.419254154 meters 0.016345492233708306 Centerline is valid? [True, True] Translation: X:555.43, Y:6.95, Z:3.71 [[ 9.99014919e-01 -3.73746674e-02 -2.39233134e-02 5.55432055e+02] [ 3.73756243e-02 9.99301204e-01 -4.07293518e-04 6.94972947e+00] [ 2.39218183e-02 -4.87256472e-04 9.99713714e-01 3.71364024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.479254154 meters 0.016161181131138923 Centerline is valid? [True, True] Translation: X:555.49, Y:6.95, Z:3.71 [[ 9.99012010e-01 -3.71545128e-02 -2.43833144e-02 5.55491916e+02] [ 3.71554228e-02 9.99309412e-01 -4.15887139e-04 6.95024377e+00] [ 2.43819277e-02 -4.90496112e-04 9.99702596e-01 3.71426408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.539254154 meters 0.017195651860459807 Centerline is valid? [True, True] Translation: X:555.55, Y:6.95, Z:3.71 [[ 9.98936962e-01 -3.94672658e-02 -2.38176613e-02 5.55550704e+02] [ 3.94687636e-02 9.99220722e-01 -4.07387576e-04 6.94749613e+00] [ 2.38151792e-02 -5.33099136e-04 9.99716236e-01 3.71473779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters 0.018060900827143764 Centerline is valid? [True, True] Translation: X:555.61, Y:6.95, Z:3.72 [[ 9.98840107e-01 -4.20088135e-02 -2.35308385e-02 5.55611375e+02] [ 4.20109718e-02 9.99117068e-01 -4.02834907e-04 6.94636567e+00] [ 2.35269850e-02 -5.86185732e-04 9.99723030e-01 3.71566841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.659254154 meters 0.021811121193273286 Centerline is valid? [True, True] Translation: X:555.67, Y:6.94, Z:3.72 [[ 9.98630636e-01 -4.68115563e-02 -2.33566181e-02 5.55670832e+02] [ 4.68149882e-02 9.98903497e-01 -4.00139369e-04 6.94125500e+00] [ 2.33497386e-02 -6.93848365e-04 9.99727117e-01 3.71535687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters 0.019219717294211045 Centerline is valid? [True, True] Translation: X:555.73, Y:6.94, Z:3.72 [[ 9.98328475e-01 -5.32164016e-02 -2.25448483e-02 5.55732170e+02] [ 5.32212404e-02 9.98582671e-01 -3.85747925e-04 6.94302895e+00] [ 2.25334230e-02 -8.14761655e-04 9.99745758e-01 3.71885650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.779254154 meters 0.020617653593798007 Centerline is valid? [True, True] Translation: X:555.79, Y:6.94, Z:3.72 [[ 9.98164024e-01 -5.64229146e-02 -2.20235407e-02 5.55793404e+02] [ 5.64283293e-02 9.98406582e-01 -3.76010844e-04 6.94105297e+00] [ 2.20096636e-02 -8.67431110e-04 9.99757382e-01 3.71922449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters 0.022053172200276437 Centerline is valid? [True, True] Translation: X:555.86, Y:6.94, Z:3.72 [[ 9.98023428e-01 -5.92723219e-02 -2.08812984e-02 5.55855400e+02] [ 5.92778385e-02 9.98241460e-01 -3.55224690e-04 6.93945059e+00] [ 2.08656328e-02 -8.83275673e-04 9.99781899e-01 3.72040632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.899254154 meters 0.02449978139087891 Centerline is valid? [True, True] Translation: X:555.92, Y:6.94, Z:3.72 [[ 9.98048549e-01 -5.89012265e-02 -2.07301664e-02 5.55917059e+02] [ 5.89066097e-02 9.98263436e-01 -3.51395321e-04 6.93870974e+00] [ 2.07148648e-02 -8.70434230e-04 9.99785045e-01 3.71977758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters 0.023246635780775588 Centerline is valid? [True, True] Translation: X:555.98, Y:6.94, Z:3.72 [[ 9.98105278e-01 -5.75708417e-02 -2.17129386e-02 5.55979037e+02] [ 5.75764650e-02 9.98341032e-01 -3.66598215e-04 6.94096796e+00] [ 2.16980229e-02 -8.84250637e-04 9.99764179e-01 3.71871103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.019254154 meters 0.022848351764897853 Centerline is valid? [True, True] Translation: X:556.04, Y:6.94, Z:3.72 [[ 9.98226854e-01 -5.52507765e-02 -2.21472211e-02 5.56040708e+02] [ 5.52560861e-02 9.98472146e-01 -3.72614078e-04 6.94446984e+00] [ 2.21339706e-02 -8.51815377e-04 9.99754651e-01 3.71857002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters 0.01906974338211924 Centerline is valid? [True, True] Translation: X:556.10, Y:6.95, Z:3.72 [[ 9.98460812e-01 -5.06941173e-02 -2.24969786e-02 5.56102369e+02] [ 5.06984687e-02 9.98713935e-01 -3.77255364e-04 6.95297554e+00] [ 2.24871707e-02 -7.63887671e-04 9.99746840e-01 3.72002195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.139254154 meters 0.01720227019870718 Centerline is valid? [True, True] Translation: X:556.16, Y:6.96, Z:3.72 [[ 9.98752472e-01 -4.46133655e-02 -2.24309667e-02 5.56162950e+02] [ 4.46161739e-02 9.99004132e-01 -3.75484353e-04 6.96115100e+00] [ 2.24253800e-02 -6.25767985e-04 9.99748324e-01 3.72150618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters 0.01616028727762413 Centerline is valid? [True, True] Translation: X:556.22, Y:6.97, Z:3.72 [[ 9.98944440e-01 -4.03487573e-02 -2.19541036e-02 5.56223975e+02] [ 4.03504335e-02 9.99185522e-01 -3.66811390e-04 6.96707404e+00] [ 2.19510229e-02 -5.19433399e-04 9.99758912e-01 3.72233044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.259254154 meters 0.015074338798127022 Centerline is valid? [True, True] Translation: X:556.28, Y:6.97, Z:3.72 [[ 9.99180343e-01 -3.52390847e-02 -1.99210797e-02 5.56284069e+02] [ 3.52394538e-02 9.99378842e-01 -3.32616374e-04 6.97385535e+00] [ 1.99204267e-02 -3.69664227e-04 9.99801500e-01 3.72354136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters 0.014421547688219787 Centerline is valid? [True, True] Translation: X:556.34, Y:6.98, Z:3.72 [[ 9.99337162e-01 -3.09810692e-02 -1.91156856e-02 5.56344107e+02] [ 3.09806302e-02 9.99519934e-01 -3.19168946e-04 6.97919194e+00] [ 1.91163970e-02 -2.73258598e-04 9.99817228e-01 3.72400672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.379254154 meters 0.01409483632366551 Centerline is valid? [True, True] Translation: X:556.40, Y:6.98, Z:3.72 [[ 9.99421841e-01 -2.84883000e-02 -1.85580302e-02 5.56404312e+02] [ 2.84874566e-02 9.99594102e-01 -3.09857939e-04 6.98332674e+00] [ 1.85593249e-02 -2.18992288e-04 9.99827737e-01 3.72459699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters 0.0139792148578551 Centerline is valid? [True, True] Translation: X:556.46, Y:6.99, Z:3.73 [[ 9.99538576e-01 -2.47957527e-02 -1.75443909e-02 5.56464970e+02] [ 2.47944301e-02 9.99692528e-01 -2.92933504e-04 6.98790076e+00] [ 1.75462600e-02 -1.42204837e-04 9.99846042e-01 3.72678284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.499254154 meters 0.014326336376482252 Centerline is valid? [True, True] Translation: X:556.52, Y:6.99, Z:3.73 [[ 9.99598844e-01 -2.28670294e-02 -1.67107788e-02 5.56524270e+02] [ 2.28655570e-02 9.99738510e-01 -2.79198036e-04 6.98858216e+00] [ 1.67127936e-02 -1.03015232e-04 9.99860326e-01 3.72619144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters 0.013633815093108247 Centerline is valid? [True, True] Translation: X:556.58, Y:6.99, Z:3.73 [[ 9.99605411e-01 -2.26767981e-02 -1.65766736e-02 5.56584304e+02] [ 2.26753151e-02 9.99742844e-01 -2.77432873e-04 6.98904326e+00] [ 1.65787021e-02 -9.85578977e-05 9.99862559e-01 3.72663563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.619254154 meters 0.01410715140227754 Centerline is valid? [True, True] Translation: X:556.64, Y:6.99, Z:3.73 [[ 9.99561151e-01 -2.44172622e-02 -1.67720576e-02 5.56643922e+02] [ 2.44159820e-02 9.99701846e-01 -2.81123379e-04 6.98634160e+00] [ 1.67739213e-02 -1.28506249e-04 9.99859300e-01 3.72531542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters 0.01406125184896279 Centerline is valid? [True, True] Translation: X:556.70, Y:6.99, Z:3.73 [[ 9.99486940e-01 -2.72232851e-02 -1.68745528e-02 5.56704350e+02] [ 2.72223870e-02 9.99629362e-01 -2.82960245e-04 6.98584377e+00] [ 1.68760016e-02 -1.76550537e-04 9.99857575e-01 3.72752318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.739254154 meters 0.014904785359083895 Centerline is valid? [True, True] Translation: X:556.76, Y:6.98, Z:3.73 [[ 9.99289770e-01 -3.36300698e-02 -1.69992204e-02 5.56764997e+02] [ 3.36300849e-02 9.99434308e-01 -2.85050728e-04 6.98153244e+00] [ 1.69991903e-02 -2.86836949e-04 9.99855462e-01 3.72834962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.799254154 meters 0.016590203726255245 Centerline is valid? [True, True] Translation: X:556.83, Y:6.98, Z:3.73 [[ 9.99149137e-01 -3.79357451e-02 -1.61827749e-02 5.56826191e+02] [ 3.79363289e-02 9.99280122e-01 -2.71012806e-04 6.97795612e+00] [ 1.61814064e-02 -3.43132860e-04 9.99869014e-01 3.72823986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.859254154 meters 0.019940737335504725 Centerline is valid? [True, True] Translation: X:556.89, Y:6.97, Z:3.73 [[ 9.98882017e-01 -4.50295948e-02 -1.43892796e-02 5.56886223e+02] [ 4.50308036e-02 9.98985570e-01 -2.40147380e-04 6.97032588e+00] [ 1.43854964e-02 -4.08081925e-04 9.99896440e-01 3.72828661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.919254154 meters 0.020222914692048885 Centerline is valid? [True, True] Translation: X:556.95, Y:6.97, Z:3.73 [[ 9.98607471e-01 -5.10315796e-02 -1.33752109e-02 5.56947825e+02] [ 5.10331714e-02 9.98696934e-01 -2.22486509e-04 6.96692384e+00] [ 1.33691359e-02 -4.60402738e-04 9.99910523e-01 3.72960677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.979254154 meters 0.024278998465654584 Centerline is valid? [True, True] Translation: X:557.01, Y:6.96, Z:3.73 [[ 9.98060915e-01 -6.09198955e-02 -1.27740568e-02 5.57009431e+02] [ 6.09221608e-02 9.98142498e-01 -2.12082036e-04 6.95866822e+00] [ 1.27632490e-02 -5.66552351e-04 9.99918386e-01 3.72911096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.039254154 meters 0.030631968094955123 Centerline is valid? [True, True] Translation: X:557.07, Y:6.95, Z:3.73 [[ 9.97483319e-01 -6.99569867e-02 -1.15346189e-02 5.57069047e+02] [ 6.99594369e-02 9.97549819e-01 -1.91425305e-04 6.94891820e+00] [ 1.15197485e-02 -6.16011895e-04 9.99933456e-01 3.72883877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters 0.03312384989469042 Centerline is valid? [True, True] Translation: X:557.13, Y:6.95, Z:3.73 [[ 9.97202214e-01 -7.40807758e-02 -9.98916367e-03 5.57129574e+02] [ 7.40828188e-02 9.97252079e-01 -1.65846523e-04 6.94595239e+00] [ 9.97400027e-03 -5.74642883e-04 9.99950093e-01 3.72911564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.159254154 meters 0.03680052092480129 Centerline is valid? [True, True] Translation: X:557.19, Y:6.94, Z:3.73 [[ 9.97008643e-01 -7.68619061e-02 -8.12481537e-03 5.57189519e+02] [ 7.68633512e-02 9.97041628e-01 -1.34710265e-04 6.94164655e+00] [ 8.11113323e-03 -4.90193239e-04 9.99966984e-01 3.72881080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters 0.029331887202571186 Centerline is valid? [True, True] Translation: X:557.25, Y:6.95, Z:3.73 [[ 9.97015021e-01 -7.67692984e-02 -8.21718791e-03 5.57252842e+02] [ 7.67707790e-02 9.97048760e-01 -1.35550833e-04 6.95305981e+00] [ 8.20334316e-03 -4.95693701e-04 9.99966229e-01 3.72831792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.279254154 meters 0.03727317024067031 Centerline is valid? [True, True] Translation: X:557.31, Y:6.94, Z:3.73 [[ 9.97187968e-01 -7.44464154e-02 -8.59578764e-03 5.57313186e+02] [ 7.44479567e-02 9.97224890e-01 -1.40975221e-04 6.94481580e+00] [ 8.58242848e-03 -4.99360032e-04 9.99963046e-01 3.72679981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters 0.026261707223786405 Centerline is valid? [True, True] Translation: X:557.37, Y:6.96, Z:3.73 [[ 9.97512274e-01 -6.98994920e-02 -9.12823324e-03 5.57374130e+02] [ 6.99010419e-02 9.97553919e-01 -1.49532677e-04 6.96242991e+00] [ 9.11635710e-03 -4.88912333e-04 9.99958326e-01 3.72645369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.399254154 meters 0.021969902778811782 Centerline is valid? [True, True] Translation: X:557.43, Y:6.97, Z:3.73 [[ 9.98265654e-01 -5.83114667e-02 -8.09054391e-03 5.57434600e+02] [ 5.83123051e-02 9.98298381e-01 -1.32417348e-04 6.97454170e+00] [ 8.08449834e-03 -3.39590574e-04 9.99967262e-01 3.72715977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters 0.018871311619997323 Centerline is valid? [True, True] Translation: X:557.50, Y:6.98, Z:3.73 [[ 9.98812186e-01 -4.82958210e-02 -6.45987029e-03 5.57495302e+02] [ 4.82961465e-02 9.98833055e-01 -1.05692529e-04 6.98447039e+00] [ 6.45743648e-03 -2.06419856e-04 9.99979129e-01 3.72831226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.519254154 meters 0.014935674323776267 Centerline is valid? [True, True] Translation: X:557.56, Y:7.00, Z:3.73 [[ 9.99488569e-01 -3.16804728e-02 -4.35300826e-03 5.57556151e+02] [ 3.16804633e-02 9.99498046e-01 -7.11605784e-05 6.99961655e+00] [ 4.35307765e-03 -6.67811337e-05 9.99990523e-01 3.72940014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters 0.013625022480815362 Centerline is valid? [True, True] Translation: X:557.62, Y:7.01, Z:3.73 [[ 9.99753914e-01 -2.18567843e-02 -3.79374333e-03 5.57617283e+02] [ 2.18567061e-02 9.99761112e-01 -6.20773851e-05 7.00820980e+00] [ 3.79419386e-03 -2.08566241e-05 9.99992802e-01 3.72952432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.639254154 meters 0.013548719282760024 Centerline is valid? [True, True] Translation: X:557.68, Y:7.02, Z:3.73 [[ 9.99923500e-01 -1.16961156e-02 -4.02442416e-03 5.57679427e+02] [ 1.16959455e-02 9.99931598e-01 -6.57885546e-05 7.01723637e+00] [ 4.02491836e-03 1.87140760e-05 9.99991900e-01 3.72870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters 0.01386651700772391 Centerline is valid? [True, True] Translation: X:557.74, Y:7.02, Z:3.73 [[ 9.99951393e-01 -8.66508874e-03 -4.70412616e-03 5.57741693e+02] [ 8.66482486e-03 9.99962457e-01 -7.64731119e-05 7.02018835e+00] [ 4.70461220e-03 3.57089654e-05 9.99988933e-01 3.72788824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.759254154 meters 0.013789914589903725 Centerline is valid? [True, True] Translation: X:557.80, Y:7.02, Z:3.73 [[ 9.99950352e-01 -8.36911017e-03 -5.40846855e-03 5.57803163e+02] [ 8.36875981e-03 9.99964978e-01 -8.74067472e-05 7.02002844e+00] [ 5.40901065e-03 4.21402334e-05 9.99985370e-01 3.72684630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters 0.013592367250821604 Centerline is valid? [True, True] Translation: X:557.86, Y:7.02, Z:3.73 [[ 9.99937667e-01 -1.01752247e-02 -4.59631411e-03 5.57863475e+02] [ 1.01749917e-02 9.99948231e-01 -7.40722187e-05 7.01886936e+00] [ 4.59682987e-03 2.73001438e-05 9.99989434e-01 3.72736491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.879254154 meters 0.013471420989852928 Centerline is valid? [True, True] Translation: X:557.93, Y:7.01, Z:3.73 [[ 9.99909126e-01 -1.32569711e-02 -2.44799105e-03 5.57925103e+02] [ 1.32569117e-02 9.99912122e-01 -4.04574180e-05 7.01483523e+00] [ 2.44831227e-03 8.00094018e-06 9.99997003e-01 3.72802169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters 0.013465250444748106 Centerline is valid? [True, True] Translation: X:557.99, Y:7.01, Z:3.73 [[ 9.99862324e-01 -1.64813315e-02 -1.92300136e-03 5.57987454e+02] [ 1.64813026e-02 9.99864174e-01 -3.08789738e-05 7.00987376e+00] [ 1.92324910e-03 -8.18844962e-07 9.99998151e-01 3.72813796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.999254154 meters 0.013657828595847177 Centerline is valid? [True, True] Translation: X:558.05, Y:7.01, Z:3.73 [[ 9.99823307e-01 -1.87584166e-02 -1.21524534e-03 5.58050157e+02] [ 1.87584067e-02 9.99824045e-01 -1.96117806e-05 7.00601232e+00] [ 1.21539939e-03 -3.18775089e-06 9.99999261e-01 3.72810989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters 0.013818142096916152 Centerline is valid? [True, True] Translation: X:558.11, Y:7.00, Z:3.73 [[ 9.99773516e-01 -2.12731930e-02 -6.07147999e-04 5.58112399e+02] [ 2.12731908e-02 9.99773700e-01 -9.99303938e-06 6.99976812e+00] [ 6.07223185e-04 -2.92519912e-06 9.99999816e-01 3.72830690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.119254154 meters 0.01393473553241124 Centerline is valid? [True, True] Translation: X:558.18, Y:7.00, Z:3.73 [[ 9.99761301e-01 -2.18263091e-02 -9.75893180e-04 5.58175514e+02] [ 2.18263040e-02 9.99761778e-01 -1.59180260e-05 6.99586910e+00] [ 9.76008132e-04 -5.38591480e-06 9.99999524e-01 3.72734312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters 0.013892875738682763 Centerline is valid? [True, True] Translation: X:558.24, Y:6.99, Z:3.73 [[ 9.99798349e-01 -1.99866602e-02 -1.94814508e-03 5.58238200e+02] [ 1.99866384e-02 9.99800247e-01 -3.06457435e-05 6.99085008e+00] [ 1.94836844e-03 -8.29730757e-06 9.99998102e-01 3.72605652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.239254154 meters 0.014094733080145461 Centerline is valid? [True, True] Translation: X:558.30, Y:6.99, Z:3.73 [[ 9.99871170e-01 -1.58582790e-02 -2.48149513e-03 5.58300501e+02] [ 1.58582317e-02 9.99874250e-01 -3.87220132e-05 6.98710934e+00] [ 2.48179715e-03 -6.35100183e-07 9.99996920e-01 3.72527241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.299254154 meters 0.014000008380477932 Centerline is valid? [True, True] Translation: X:558.36, Y:6.98, Z:3.73 [[ 9.99907082e-01 -1.32665272e-02 -3.13481207e-03 5.58361321e+02] [ 1.32664404e-02 9.99911996e-01 -4.84886188e-05 6.98494716e+00] [ 3.13517946e-03 6.89631580e-06 9.99995085e-01 3.72538608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.359254154 meters 0.014080872874448215 Centerline is valid? [True, True] Translation: X:558.42, Y:6.98, Z:3.72 [[ 9.99915758e-01 -1.24408415e-02 -3.70165201e-03 5.58422300e+02] [ 1.24407150e-02 9.99922610e-01 -5.71822259e-05 6.97807607e+00] [ 3.70207693e-03 1.11262109e-05 9.99993147e-01 3.72472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.419254154 meters 0.014038171230681785 Centerline is valid? [True, True] Translation: X:558.48, Y:6.97, Z:3.72 [[ 9.99889766e-01 -1.41939968e-02 -4.35722163e-03 5.58484956e+02] [ 1.41938416e-02 9.99899260e-01 -6.65425124e-05 6.97205472e+00] [ 4.35772719e-03 4.68946357e-06 9.99990505e-01 3.72405992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters 0.014144152947019656 Centerline is valid? [True, True] Translation: X:558.55, Y:6.96, Z:3.72 [[ 9.99791920e-01 -1.94805152e-02 -6.05200348e-03 5.58546122e+02] [ 1.94803160e-02 9.99810236e-01 -9.18589209e-05 6.96055731e+00] [ 6.05264449e-03 -2.60551335e-05 9.99981682e-01 3.72295652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.539254154 meters 0.01439498452320083 Centerline is valid? [True, True] Translation: X:558.61, Y:6.95, Z:3.72 [[ 9.99678082e-01 -2.45232838e-02 -6.50695113e-03 5.58608012e+02] [ 2.45231665e-02 9.99699257e-01 -9.78223745e-05 6.95276470e+00] [ 6.50739314e-03 -6.17801622e-05 9.99978825e-01 3.72282626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters 0.015981328700216447 Centerline is valid? [True, True] Translation: X:558.67, Y:6.94, Z:3.72 [[ 9.99455210e-01 -3.24312152e-02 -6.12367687e-03 5.58669237e+02] [ 3.24312634e-02 9.99473964e-01 -9.14593573e-05 6.93859780e+00] [ 6.12342173e-03 -1.07189046e-04 9.99981246e-01 3.72293365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.659254154 meters 0.019723190267763577 Centerline is valid? [True, True] Translation: X:558.73, Y:6.93, Z:3.72 [[ 9.99319752e-01 -3.65060435e-02 -5.22902296e-03 5.58730144e+02] [ 3.65061412e-02 9.99333426e-01 -7.67874417e-05 6.92633750e+00] [ 5.22834063e-03 -1.14156244e-04 9.99986326e-01 3.72384688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters 0.017501259089496873 Centerline is valid? [True, True] Translation: X:558.79, Y:6.92, Z:3.72 [[ 9.99242754e-01 -3.86089991e-02 -4.82326165e-03 5.58792710e+02] [ 3.86091071e-02 9.99254388e-01 -7.07441321e-05 6.92434287e+00] [ 4.82239673e-03 -1.15531264e-04 9.99988366e-01 3.72369872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.779254154 meters 0.016671811424461953 Centerline is valid? [True, True] Translation: X:558.86, Y:6.92, Z:3.72 [[ 9.99351410e-01 -3.56655898e-02 -4.97237879e-03 5.58855073e+02] [ 3.56656701e-02 9.99363775e-01 -7.25573707e-05 6.92109392e+00] [ 4.97180304e-03 -1.04832911e-04 9.99987635e-01 3.72340619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters 0.01618144370157695 Centerline is valid? [True, True] Translation: X:558.92, Y:6.92, Z:3.72 [[ 9.99484535e-01 -3.16697560e-02 -5.26216381e-03 5.58916511e+02] [ 3.16697921e-02 9.99498383e-01 -7.64688873e-05 6.92015488e+00] [ 5.26194598e-03 -9.02221639e-05 9.99986152e-01 3.72368302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.899254154 meters 0.014667487914847514 Centerline is valid? [True, True] Translation: X:558.98, Y:6.92, Z:3.72 [[ 9.99669044e-01 -2.49203098e-02 -6.38592355e-03 5.58978151e+02] [ 2.49202327e-02 9.99689439e-01 -9.16591333e-05 6.92036444e+00] [ 6.38622450e-03 -6.75099028e-05 9.99979606e-01 3.72290689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters 0.014220519583584845 Centerline is valid? [True, True] Translation: X:559.04, Y:6.92, Z:3.72 [[ 9.99753108e-01 -2.07905332e-02 -7.84069818e-03 5.59039745e+02] [ 2.07902925e-02 9.99783852e-01 -1.12201513e-04 6.92063413e+00] [ 7.84133616e-03 -5.08365980e-05 9.99969255e-01 3.72228387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.019254154 meters 0.015907527713223665 Centerline is valid? [True, True] Translation: X:559.10, Y:6.92, Z:3.72 [[ 9.99805559e-01 -1.74438389e-02 -9.19549633e-03 5.59100175e+02] [ 1.74433691e-02 9.99847844e-01 -1.31304520e-04 6.91748552e+00] [ 9.19638763e-03 -2.91214468e-05 9.99957712e-01 3.72081304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters 0.014068338935269424 Centerline is valid? [True, True] Translation: X:559.16, Y:6.91, Z:3.72 [[ 9.99753447e-01 -1.95153445e-02 -1.05922474e-02 5.59159407e+02] [ 1.95148344e-02 9.99809556e-01 -1.51517266e-04 6.91214896e+00] [ 1.05931871e-02 -5.52260447e-05 9.99943889e-01 3.72134159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.139254154 meters 0.014225092520008819 Centerline is valid? [True, True] Translation: X:559.22, Y:6.91, Z:3.72 [[ 9.99714076e-01 -2.12589566e-02 -1.09464123e-02 5.59219385e+02] [ 2.12585094e-02 9.99774000e-01 -1.57214358e-04 6.91022059e+00] [ 1.09472806e-02 -7.55350025e-05 9.99940074e-01 3.72176285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters 0.017934517095459943 Centerline is valid? [True, True] Translation: X:559.28, Y:6.90, Z:3.72 [[ 9.99617825e-01 -2.53992169e-02 -1.09125248e-02 5.59278530e+02] [ 2.53990185e-02 9.99677381e-01 -1.56791806e-04 6.90394976e+00] [ 1.09129866e-02 -1.20435534e-04 9.99940444e-01 3.72142742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.259254154 meters 0.015838400788687167 Centerline is valid? [True, True] Translation: X:559.34, Y:6.90, Z:3.72 [[ 9.99359571e-01 -3.41234639e-02 -1.07720887e-02 5.59338598e+02] [ 3.41237792e-02 9.99417602e-01 -1.54571667e-04 6.89574842e+00] [ 1.07710896e-02 -2.13111702e-04 9.99941967e-01 3.72404850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters 0.017834447389831257 Centerline is valid? [True, True] Translation: X:559.40, Y:6.89, Z:3.73 [[ 9.99183747e-01 -3.93210578e-02 -9.25714669e-03 5.59399316e+02] [ 3.93215131e-02 9.99226601e-01 -1.32892888e-04 6.88884816e+00] [ 9.25521272e-03 -2.31220601e-04 9.99957143e-01 3.72530624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.379254154 meters 0.02082954580450051 Centerline is valid? [True, True] Translation: X:559.46, Y:6.88, Z:3.73 [[ 9.98877831e-01 -4.65573810e-02 -8.68842899e-03 5.59459211e+02] [ 4.65580571e-02 9.98915578e-01 -1.24535940e-04 6.88005505e+00] [ 8.68480513e-03 -2.80120184e-04 9.99962247e-01 3.72645967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters 0.024822831588104787 Centerline is valid? [True, True] Translation: X:559.52, Y:6.87, Z:3.73 [[ 9.98477294e-01 -5.42963691e-02 -9.74670766e-03 5.59518967e+02] [ 5.42975905e-02 9.98524788e-01 -1.39447113e-04 6.87122278e+00] [ 9.73990067e-03 -3.89987965e-04 9.99952490e-01 3.72551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.499254154 meters 0.025160561267172674 Centerline is valid? [True, True] Translation: X:559.58, Y:6.87, Z:3.73 [[ 9.98221468e-01 -5.86971544e-02 -1.04184414e-02 5.59579530e+02] [ 5.86987889e-02 9.98275728e-01 -1.49093229e-04 6.87217552e+00] [ 1.04092285e-02 -4.62721830e-04 9.99945715e-01 3.72507742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters 0.024811175705901592 Centerline is valid? [True, True] Translation: X:559.64, Y:6.87, Z:3.73 [[ 9.97924063e-01 -6.33871374e-02 -1.13857782e-02 5.59640609e+02] [ 6.33893965e-02 9.97988857e-01 -1.62715634e-04 6.87195144e+00] [ 1.13731938e-02 -5.59359760e-04 9.99935167e-01 3.72592575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.619254154 meters 0.027204388671194037 Centerline is valid? [True, True] Translation: X:559.70, Y:6.87, Z:3.73 [[ 9.97872184e-01 -6.40305447e-02 -1.22960655e-02 5.59701824e+02] [ 6.40332325e-02 9.97947751e-01 -1.75387197e-04 6.87210813e+00] [ 1.22820611e-02 -6.12342817e-04 9.99924385e-01 3.72541803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters 0.02677586707652516 Centerline is valid? [True, True] Translation: X:559.76, Y:6.88, Z:3.73 [[ 9.98042864e-01 -6.12018211e-02 -1.28366285e-02 5.59762294e+02] [ 6.12045217e-02 9.98125229e-01 -1.82730915e-04 6.87676629e+00] [ 1.28237462e-02 -6.03286419e-04 9.99917590e-01 3.72613687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.739254154 meters 0.02394146572855399 Centerline is valid? [True, True] Translation: X:559.82, Y:6.89, Z:3.73 [[ 9.98212898e-01 -5.82955149e-02 -1.31394139e-02 5.59823565e+02] [ 5.82980978e-02 9.98299202e-01 -1.86680767e-04 6.88550279e+00] [ 1.31279491e-02 -5.79655689e-04 9.99913657e-01 3.72674280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.799254154 meters 0.023795175752856088 Centerline is valid? [True, True] Translation: X:559.88, Y:6.89, Z:3.73 [[ 9.98449546e-01 -5.41976682e-02 -1.26931943e-02 5.59883038e+02] [ 5.41997497e-02 9.98530097e-01 -1.80210616e-04 6.89219779e+00] [ 1.26843035e-02 -5.08036746e-04 9.99919422e-01 3.72715598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.859254154 meters 0.022255786100987992 Centerline is valid? [True, True] Translation: X:559.94, Y:6.90, Z:3.73 [[ 9.98654523e-01 -5.03786505e-02 -1.22937224e-02 5.59943935e+02] [ 5.03803137e-02 9.98730090e-01 -1.74556513e-04 6.90172250e+00] [ 1.22869044e-02 -4.45039941e-04 9.99924414e-01 3.72815856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.919254154 meters 0.02099200392465228 Centerline is valid? [True, True] Translation: X:560.01, Y:6.91, Z:3.73 [[ 9.98825468e-01 -4.68930635e-02 -1.21952647e-02 5.60005023e+02] [ 4.68944446e-02 9.98899835e-01 -1.72843331e-04 6.90952709e+00] [ 1.21899531e-02 -3.99249844e-04 9.99925620e-01 3.72893274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters 0.01811468174267981 Centerline is valid? [True, True] Translation: X:560.07, Y:6.92, Z:3.73 [[ 9.99100092e-01 -4.06101096e-02 -1.22403422e-02 5.60065580e+02] [ 4.06110339e-02 9.99175017e-01 -1.73139330e-04 6.92216073e+00] [ 1.22372753e-02 -3.24109432e-04 9.99925069e-01 3.73007032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.039254154 meters 0.019047713976036502 Centerline is valid? [True, True] Translation: X:560.13, Y:6.93, Z:3.73 [[ 9.99300619e-01 -3.51636530e-02 -1.27197144e-02 5.60126437e+02] [ 3.51642131e-02 9.99381532e-01 -1.79681100e-04 6.93029632e+00] [ 1.27181659e-02 -2.67723314e-04 9.99919085e-01 3.72990584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters 0.015237151084661529 Centerline is valid? [True, True] Translation: X:560.19, Y:6.94, Z:3.73 [[ 9.99558145e-01 -2.74070577e-02 -1.15050957e-02 5.60185548e+02] [ 2.74070054e-02 9.99624344e-01 -1.62241547e-04 6.94121496e+00] [ 1.15052204e-02 -1.53150361e-04 9.99933801e-01 3.73139398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.159254154 meters 0.014423932554357203 Centerline is valid? [True, True] Translation: X:560.25, Y:6.95, Z:3.73 [[ 9.99696797e-01 -2.18103960e-02 -1.14288991e-02 5.60245849e+02] [ 2.18099813e-02 9.99762121e-01 -1.60933071e-04 6.94949150e+00] [ 1.14296904e-02 -8.83798003e-05 9.99934675e-01 3.73211349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters 0.014274916993859106 Centerline is valid? [True, True] Translation: X:560.31, Y:6.95, Z:3.73 [[ 9.99720453e-01 -2.06114758e-02 -1.15837110e-02 5.60305446e+02] [ 2.06109672e-02 9.99787558e-01 -1.63295171e-04 6.95242043e+00] [ 1.15846159e-02 -7.55019650e-05 9.99932893e-01 3.73278830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.279254154 meters 0.014382569863252634 Centerline is valid? [True, True] Translation: X:560.37, Y:6.95, Z:3.73 [[ 9.99717610e-01 -2.09113272e-02 -1.12879194e-02 5.60365513e+02] [ 2.09108587e-02 9.99781331e-01 -1.59539035e-04 6.95344018e+00] [ 1.12887872e-02 -7.65461041e-05 9.99936277e-01 3.73283999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters 0.014536504670757549 Centerline is valid? [True, True] Translation: X:560.43, Y:6.95, Z:3.73 [[ 9.99672134e-01 -2.27101546e-02 -1.18268014e-02 5.60425421e+02] [ 2.27097620e-02 9.99742086e-01 -1.67508292e-04 6.95337207e+00] [ 1.18275553e-02 -1.01130473e-04 9.99930047e-01 3.73253322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.399254154 meters 0.014608749911250033 Centerline is valid? [True, True] Translation: X:560.49, Y:6.95, Z:3.73 [[ 9.99634497e-01 -2.44145286e-02 -1.16105108e-02 5.60485416e+02] [ 2.44142616e-02 9.99701914e-01 -1.64747476e-04 6.95359747e+00] [ 1.16110721e-02 -1.18774789e-04 9.99932582e-01 3.73295483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters 0.015795213437327434 Centerline is valid? [True, True] Translation: X:560.54, Y:6.95, Z:3.73 [[ 9.99536626e-01 -2.79242507e-02 -1.21148231e-02 5.60544475e+02] [ 2.79242174e-02 9.99610028e-01 -1.71935187e-04 6.94797878e+00] [ 1.21148999e-02 -1.66441438e-04 9.99926598e-01 3.73127628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.519254154 meters 0.015902181769251754 Centerline is valid? [True, True] Translation: X:560.60, Y:6.95, Z:3.73 [[ 9.99345230e-01 -3.36493226e-02 -1.32979148e-02 5.60604857e+02] [ 3.36497933e-02 9.99433668e-01 -1.88412985e-04 6.94789172e+00] [ 1.32967238e-02 -2.59182467e-04 9.99911561e-01 3.73191310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters 0.016588881834557468 Centerline is valid? [True, True] Translation: X:560.67, Y:6.95, Z:3.73 [[ 9.99217573e-01 -3.71833241e-02 -1.34774839e-02 5.60665045e+02] [ 3.71841288e-02 9.99308413e-01 -1.90957229e-04 6.94615951e+00] [ 1.34752635e-02 -3.10340678e-04 9.99909156e-01 3.73228853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.639254154 meters 0.019174322983174428 Centerline is valid? [True, True] Translation: X:560.73, Y:6.94, Z:3.73 [[ 9.99092727e-01 -4.01288567e-02 -1.42617650e-02 5.60725795e+02] [ 4.01300597e-02 9.99194444e-01 -2.01931745e-04 6.94354352e+00] [ 1.42583797e-02 -3.70576945e-04 9.99898275e-01 3.73227035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters 0.018539738838332896 Centerline is valid? [True, True] Translation: X:560.79, Y:6.95, Z:3.73 [[ 9.99076214e-01 -4.07900945e-02 -1.35235673e-02 5.60787587e+02] [ 4.07912417e-02 9.99167673e-01 -1.91109751e-04 6.94527307e+00] [ 1.35201066e-02 -3.60709896e-04 9.99908534e-01 3.73395628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.759254154 meters 0.017939330694575244 Centerline is valid? [True, True] Translation: X:560.85, Y:6.95, Z:3.74 [[ 9.99119274e-01 -4.01994740e-02 -1.20282658e-02 5.60847934e+02] [ 4.02003425e-02 9.99191625e-01 -1.69658618e-04 6.94638675e+00] [ 1.20253627e-02 -3.14031212e-04 9.99927643e-01 3.73605085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters 0.017551989202077414 Centerline is valid? [True, True] Translation: X:560.91, Y:6.95, Z:3.74 [[ 9.99110700e-01 -4.05637708e-02 -1.15060514e-02 5.60909592e+02] [ 4.05645930e-02 9.99176905e-01 -1.61999634e-04 6.94914067e+00] [ 1.15031521e-02 -3.04882724e-04 9.99933790e-01 3.73707871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.879254154 meters 0.018054681838358507 Centerline is valid? [True, True] Translation: X:560.97, Y:6.95, Z:3.74 [[ 9.99081766e-01 -4.12787679e-02 -1.14755542e-02 5.60972165e+02] [ 4.12796397e-02 9.99147619e-01 -1.60977688e-04 6.95057396e+00] [ 1.14724176e-02 -3.12876870e-04 9.99934141e-01 3.73760636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters 0.018196594859263244 Centerline is valid? [True, True] Translation: X:561.03, Y:6.95, Z:3.74 [[ 9.99029280e-01 -4.26458182e-02 -1.10377757e-02 5.61034602e+02] [ 4.26467169e-02 9.99090203e-01 -1.54047719e-04 6.95327815e+00] [ 1.10343030e-02 -3.16826713e-04 9.99939070e-01 3.73858503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.999254154 meters 0.01944874186657846 Centerline is valid? [True, True] Translation: X:561.10, Y:6.95, Z:3.74 [[ 9.98963900e-01 -4.40579591e-02 -1.14027419e-02 5.61096211e+02] [ 4.40590188e-02 9.99028917e-01 -1.58377143e-04 6.95476067e+00] [ 1.13986466e-02 -3.44180569e-04 9.99934974e-01 3.73835999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters 0.01957271418083865 Centerline is valid? [True, True] Translation: X:561.16, Y:6.96, Z:3.74 [[ 9.98843260e-01 -4.67019558e-02 -1.14485657e-02 5.61157535e+02] [ 4.67032037e-02 9.98908797e-01 -1.58473806e-04 6.95621101e+00] [ 1.14434741e-02 -3.76394205e-04 9.99934450e-01 3.73880354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.119254154 meters 0.021624829595470803 Centerline is valid? [True, True] Translation: X:561.22, Y:6.96, Z:3.74 [[ 9.98709109e-01 -4.95942822e-02 -1.09783277e-02 5.61218972e+02] [ 4.95956111e-02 9.98769369e-01 -1.51339866e-04 6.95566753e+00] [ 1.09723230e-02 -3.93332369e-04 9.99939725e-01 3.73970787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters 0.02341742597230088 Centerline is valid? [True, True] Translation: X:561.28, Y:6.96, Z:3.74 [[ 9.98524020e-01 -5.34712541e-02 -9.51877966e-03 5.61280353e+02] [ 5.34724349e-02 9.98569317e-01 -1.30588019e-04 6.95793516e+00] [ 9.51214402e-03 -3.78597052e-04 9.99954687e-01 3.74199790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.239254154 meters 0.02504515290978567 Centerline is valid? [True, True] Translation: X:561.34, Y:6.96, Z:3.74 [[ 9.98232828e-01 -5.88384667e-02 -8.32199910e-03 5.61341087e+02] [ 5.88395576e-02 9.98267446e-01 -1.13906888e-04 6.96090522e+00] [ 8.31428289e-03 -3.75957150e-04 9.99965365e-01 3.74337035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.299254154 meters 0.025817712110191945 Centerline is valid? [True, True] Translation: X:561.40, Y:6.97, Z:3.74 [[ 9.97960326e-01 -6.33074422e-02 -8.20705766e-03 5.61401637e+02] [ 6.33086559e-02 9.97993989e-01 -1.12080735e-04 6.96570561e+00] [ 8.19768975e-03 -4.07725663e-04 9.99966315e-01 3.74323750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.359254154 meters 0.02726310596212093 Centerline is valid? [True, True] Translation: X:561.46, Y:6.97, Z:3.75 [[ 9.97529074e-01 -6.98289229e-02 -7.72448734e-03 5.61462087e+02] [ 6.98301939e-02 9.97558887e-01 -1.05368821e-04 6.96879382e+00] [ 7.71298879e-03 -4.34293986e-04 9.99970160e-01 3.74539740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.419254154 meters 0.028685450688717664 Centerline is valid? [True, True] Translation: X:561.52, Y:6.97, Z:3.75 [[ 9.97375882e-01 -7.19744447e-02 -7.81214878e-03 5.61522855e+02] [ 7.19758106e-02 9.97406372e-01 -1.06523129e-04 6.97175715e+00] [ 7.79955392e-03 -4.56042142e-04 9.99969479e-01 3.74609811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters 0.030218504057119393 Centerline is valid? [True, True] Translation: X:561.58, Y:6.98, Z:3.75 [[ 9.97392298e-01 -7.17174307e-02 -8.07552528e-03 5.61583827e+02] [ 7.17188835e-02 9.97424879e-01 -1.09910363e-04 6.97712096e+00] [ 8.06261232e-03 -4.69543908e-04 9.99967386e-01 3.74615280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.539254154 meters 0.030101941474490964 Centerline is valid? [True, True] Translation: X:561.64, Y:6.98, Z:3.75 [[ 9.97607012e-01 -6.85184683e-02 -9.24499448e-03 5.61643715e+02] [ 6.85202394e-02 9.97649719e-01 -1.25404547e-04 6.98416336e+00] [ 9.23185867e-03 -5.08364779e-04 9.99957256e-01 3.74565611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters 0.027424993815509013 Centerline is valid? [True, True] Translation: X:561.70, Y:6.99, Z:3.75 [[ 9.97823594e-01 -6.50710715e-02 -1.06691411e-02 5.61704179e+02] [ 6.50732338e-02 9.97880480e-01 -1.44722510e-04 6.99402989e+00] [ 1.06559449e-02 -5.49867977e-04 9.99943073e-01 3.74522664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.659254154 meters 0.022858318442201316 Centerline is valid? [True, True] Translation: X:561.76, Y:7.01, Z:3.75 [[ 9.98223871e-01 -5.83680774e-02 -1.19277093e-02 5.61764297e+02] [ 5.83703025e-02 9.98294987e-01 -1.61791003e-04 7.00937917e+00] [ 1.19168158e-02 -5.34720356e-04 9.99928849e-01 3.74542392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters 0.021784035979459736 Centerline is valid? [True, True] Translation: X:561.83, Y:7.02, Z:3.75 [[ 9.98488792e-01 -5.35910350e-02 -1.21709930e-02 5.61825079e+02] [ 5.35929987e-02 9.98562849e-01 -1.64985088e-04 7.01632317e+00] [ 1.21623431e-02 -4.87544249e-04 9.99925917e-01 3.74551375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.779254154 meters 0.019909381770271368 Centerline is valid? [True, True] Translation: X:561.89, Y:7.03, Z:3.75 [[ 9.98806484e-01 -4.74350185e-02 -1.16416262e-02 5.61886098e+02] [ 4.74364002e-02 9.98874248e-01 -1.57567251e-04 7.02607275e+00] [ 1.16359948e-02 -3.94857649e-04 9.99932222e-01 3.74560453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters 0.018738199007327802 Centerline is valid? [True, True] Translation: X:561.95, Y:7.03, Z:3.75 [[ 9.98998157e-01 -4.31344444e-02 -1.19206946e-02 5.61947452e+02] [ 4.31355916e-02 9.99069214e-01 -1.60979416e-04 7.03225138e+00] [ 1.19165427e-02 -3.53388073e-04 9.99928933e-01 3.74533988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.899254154 meters 0.016951763446368697 Centerline is valid? [True, True] Translation: X:562.01, Y:7.04, Z:3.74 [[ 9.99274710e-01 -3.61906042e-02 -1.18446067e-02 5.62008399e+02] [ 3.61912533e-02 9.99344869e-01 -1.59610668e-04 7.03829561e+00] [ 1.18426233e-02 -2.69176256e-04 9.99929837e-01 3.74485183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters 0.015437330476449044 Centerline is valid? [True, True] Translation: X:562.07, Y:7.04, Z:3.75 [[ 9.99418944e-01 -3.22270683e-02 -1.10991562e-02 5.62069572e+02] [ 3.22273970e-02 9.99480551e-01 -1.49285362e-04 7.04231322e+00] [ 1.10982018e-02 -2.08498296e-04 9.99938391e-01 3.74539021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.019254154 meters 0.014682492350397529 Centerline is valid? [True, True] Translation: X:562.13, Y:7.04, Z:3.74 [[ 9.99566891e-01 -2.72123684e-02 -1.12034696e-02 5.62130481e+02] [ 2.72123931e-02 9.99629663e-01 -1.50265491e-04 7.04348446e+00] [ 1.12034096e-02 -1.54672809e-04 9.99937228e-01 3.74477511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters 0.014337842800416901 Centerline is valid? [True, True] Translation: X:562.19, Y:7.04, Z:3.74 [[ 9.99618025e-01 -2.43186776e-02 -1.31303747e-02 5.62191644e+02] [ 2.43184689e-02 9.99704247e-01 -1.75578604e-04 7.04101111e+00] [ 1.31307612e-02 -1.43799072e-04 9.99913777e-01 3.74224932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.139254154 meters 0.014094632469117754 Centerline is valid? [True, True] Translation: X:562.25, Y:7.04, Z:3.74 [[ 9.99638684e-01 -2.36141069e-02 -1.28403603e-02 5.62252296e+02] [ 2.36138524e-02 9.99721139e-01 -1.71455927e-04 7.03729011e+00] [ 1.28408284e-02 -1.31816394e-04 9.99917544e-01 3.74177200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters 0.014590506683848578 Centerline is valid? [True, True] Translation: X:562.31, Y:7.03, Z:3.74 [[ 9.99607465e-01 -2.47924884e-02 -1.30478912e-02 5.62312698e+02] [ 2.47923274e-02 9.99692608e-01 -1.74111390e-04 7.02943073e+00] [ 1.30481970e-02 -1.49444544e-04 9.99914857e-01 3.74092405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.259254154 meters 0.016082597005105722 Centerline is valid? [True, True] Translation: X:562.37, Y:7.02, Z:3.74 [[ 9.99469015e-01 -2.88495189e-02 -1.51457040e-02 5.62373262e+02] [ 2.88497699e-02 9.99583738e-01 -2.01962473e-04 7.01955305e+00] [ 1.51452260e-02 -2.35094842e-04 9.99885277e-01 3.73858005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters 0.01662828809142513 Centerline is valid? [True, True] Translation: X:562.43, Y:7.01, Z:3.74 [[ 9.99329757e-01 -3.30575506e-02 -1.57237318e-02 5.62433536e+02] [ 3.30583392e-02 9.99453402e-01 -2.09830282e-04 7.01091295e+00] [ 1.57220737e-02 -3.10110816e-04 9.99876352e-01 3.73788402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.379254154 meters 0.01787557865474008 Centerline is valid? [True, True] Translation: X:562.49, Y:7.00, Z:3.74 [[ 9.99109920e-01 -3.91774108e-02 -1.56364208e-02 5.62493706e+02] [ 3.91789352e-02 9.99232189e-01 -2.08945143e-04 6.99979009e+00] [ 1.56326010e-02 -4.03859153e-04 9.99877722e-01 3.73817196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters 0.01991950040508034 Centerline is valid? [True, True] Translation: X:562.55, Y:6.99, Z:3.74 [[ 9.98970430e-01 -4.28091589e-02 -1.50151797e-02 5.62553918e+02] [ 4.28109828e-02 9.99083170e-01 -2.00082568e-04 6.98886466e+00] [ 1.50099787e-02 -4.42938030e-04 9.99887246e-01 3.73835791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.499254154 meters 0.02079719870880401 Centerline is valid? [True, True] Translation: X:562.61, Y:6.98, Z:3.74 [[ 9.98903895e-01 -4.44386737e-02 -1.47041809e-02 5.62614777e+02] [ 4.44406091e-02 9.99012009e-01 -1.95262974e-04 6.98291274e+00] [ 1.46983305e-02 -4.58413810e-04 9.99891869e-01 3.73855105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters 0.019456082536212786 Centerline is valid? [True, True] Translation: X:562.68, Y:6.98, Z:3.74 [[ 9.98882534e-01 -4.47971226e-02 -1.50632449e-02 5.62675845e+02] [ 4.47992008e-02 9.98995992e-01 -1.99599516e-04 6.98120854e+00] [ 1.50570628e-02 -4.75444865e-04 9.99886523e-01 3.73950885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.619254154 meters 0.019193251339994884 Centerline is valid? [True, True] Translation: X:562.74, Y:6.98, Z:3.74 [[ 9.98902888e-01 -4.42252840e-02 -1.53994786e-02 5.62737037e+02] [ 4.42273971e-02 9.99021469e-01 -2.03478507e-04 6.97897252e+00] [ 1.53934087e-02 -4.77823588e-04 9.99881400e-01 3.74011803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters 0.018408009149825266 Centerline is valid? [True, True] Translation: X:562.80, Y:6.98, Z:3.74 [[ 9.98960507e-01 -4.26971734e-02 -1.59642269e-02 5.62798132e+02] [ 4.26992590e-02 9.99087949e-01 -2.10338143e-04 6.97751323e+00] [ 1.59586476e-02 -4.71541162e-04 9.99872541e-01 3.74053393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.739254154 meters 0.018487664854047865 Centerline is valid? [True, True] Translation: X:562.86, Y:6.98, Z:3.74 [[ 9.98969027e-01 -4.21782144e-02 -1.67893419e-02 5.62858959e+02] [ 4.21804525e-02 9.99109984e-01 -2.20945441e-04 6.97563832e+00] [ 1.67837182e-02 -4.87464385e-04 9.99859025e-01 3.74014910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.799254154 meters 0.018432501674715322 Centerline is valid? [True, True] Translation: X:562.92, Y:6.97, Z:3.74 [[ 9.98928137e-01 -4.25901525e-02 -1.81288828e-02 5.62919699e+02] [ 4.25928299e-02 9.99092485e-01 -2.38573617e-04 6.97401382e+00] [ 1.81225915e-02 -5.33842524e-04 9.99835630e-01 3.74021042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.859254154 meters 0.018636815002804962 Centerline is valid? [True, True] Translation: X:562.98, Y:6.97, Z:3.74 [[ 9.98891149e-01 -4.32659991e-02 -1.85614324e-02 5.62979596e+02] [ 4.32689142e-02 9.99063432e-01 -2.44707249e-04 6.97195672e+00] [ 1.85546358e-02 -5.58697120e-04 9.99827692e-01 3.74031697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.919254154 meters 0.019996685110633582 Centerline is valid? [True, True] Translation: X:563.04, Y:6.97, Z:3.74 [[ 9.98904725e-01 -4.31330248e-02 -1.81353753e-02 5.63039085e+02] [ 4.31357774e-02 9.99069190e-01 -2.39543701e-04 6.96859498e+00] [ 1.81288269e-02 -5.43002176e-04 9.99835512e-01 3.74081486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters 0.018942985749772306 Centerline is valid? [True, True] Translation: X:563.10, Y:6.97, Z:3.74 [[ 9.98938674e-01 -4.28695226e-02 -1.68442977e-02 5.63099017e+02] [ 4.28718516e-02 9.99080555e-01 -2.22974148e-04 6.97025157e+00] [ 1.68383691e-02 -4.99408731e-04 9.99858100e-01 3.74306176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.039254154 meters 0.019377855802807695 Centerline is valid? [True, True] Translation: X:563.16, Y:6.97, Z:3.75 [[ 9.98965951e-01 -4.28984069e-02 -1.50584012e-02 5.63159433e+02] [ 4.29002681e-02 9.99079340e-01 -1.99552415e-04 6.97015931e+00] [ 1.50530981e-02 -4.46663383e-04 9.99886596e-01 3.74515991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters 0.01988328658576336 Centerline is valid? [True, True] Translation: X:563.22, Y:6.97, Z:3.75 [[ 9.98926070e-01 -4.43693294e-02 -1.33442458e-02 5.63221123e+02] [ 4.43709251e-02 9.99015110e-01 -1.76597827e-04 6.96872573e+00] [ 1.33389387e-02 -4.15688359e-04 9.99910946e-01 3.74697335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.159254154 meters 0.01972700210887037 Centerline is valid? [True, True] Translation: X:563.28, Y:6.97, Z:3.75 [[ 9.98802805e-01 -4.72827679e-02 -1.25418075e-02 5.63282017e+02] [ 4.72844132e-02 9.98881453e-01 -1.65479463e-04 6.96798807e+00] [ 1.25356032e-02 -4.27750655e-04 9.99921335e-01 3.74746583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters 0.024027524911481926 Centerline is valid? [True, True] Translation: X:563.34, Y:6.96, Z:3.75 [[ 9.98453561e-01 -5.43481827e-02 -1.16945105e-02 5.63342123e+02] [ 5.43501016e-02 9.98521929e-01 -1.53892044e-04 6.96145318e+00] [ 1.16855890e-02 -4.81943775e-04 9.99931605e-01 3.74693611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.279254154 meters 0.029222005107075708 Centerline is valid? [True, True] Translation: X:563.40, Y:6.96, Z:3.75 [[ 9.98115864e-01 -6.02260532e-02 -1.17279456e-02 5.63401959e+02] [ 6.02283889e-02 9.98184611e-01 -1.54248379e-04 6.95530905e+00] [ 1.17159445e-02 -5.52397512e-04 9.99931213e-01 3.74679071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters 0.028290241038051247 Centerline is valid? [True, True] Translation: X:563.46, Y:6.96, Z:3.75 [[ 9.97610990e-01 -6.81097342e-02 -1.15488502e-02 5.63462967e+02] [ 6.81125264e-02 9.97677634e-01 -1.51832663e-04 6.95914405e+00] [ 1.15323708e-02 -6.35151429e-04 9.99933298e-01 3.74766564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.399254154 meters 0.03905954074542281 Centerline is valid? [True, True] Translation: X:563.52, Y:6.95, Z:3.75 [[ 9.97418677e-01 -7.09400403e-02 -1.11127645e-02 5.63523558e+02] [ 7.09428051e-02 9.97480374e-01 -1.45708686e-04 6.94807447e+00] [ 1.10951011e-02 -6.43038120e-04 9.99938241e-01 3.74643932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters 0.02857141280905403 Centerline is valid? [True, True] Translation: X:563.59, Y:6.97, Z:3.75 [[ 9.97328734e-01 -7.25315627e-02 -8.63527005e-03 5.63585670e+02] [ 7.25332945e-02 9.97365985e-01 -1.12864190e-04 6.96783740e+00] [ 8.62071083e-03 -5.13781887e-04 9.99962709e-01 3.75032043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.519254154 meters 0.031829814454375965 Centerline is valid? [True, True] Translation: X:563.65, Y:6.97, Z:3.75 [[ 9.97339142e-01 -7.23308920e-02 -9.10370521e-03 5.63646750e+02] [ 7.23328146e-02 9.97380544e-01 -1.18320474e-04 6.96784613e+00] [ 9.08841668e-03 -5.40490981e-04 9.99958553e-01 3.75011415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters 0.03024708604423623 Centerline is valid? [True, True] Translation: X:563.71, Y:6.98, Z:3.75 [[ 9.97223664e-01 -7.37166040e-02 -1.05273945e-02 5.63708644e+02] [ 7.37192594e-02 9.97279024e-01 -1.36109282e-04 6.97603028e+00] [ 1.05087832e-02 -6.40340327e-04 9.99944576e-01 3.74870055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.639254154 meters 0.03417203297805124 Centerline is valid? [True, True] Translation: X:563.77, Y:6.98, Z:3.75 [[ 9.97037883e-01 -7.60482203e-02 -1.14946691e-02 5.63768831e+02] [ 7.60515478e-02 9.97103876e-01 -1.47984412e-04 6.97524495e+00] [ 1.14726331e-02 -7.26641312e-04 9.99933923e-01 3.74860600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters 0.03316634031198063 Centerline is valid? [True, True] Translation: X:563.83, Y:6.98, Z:3.75 [[ 9.96723442e-01 -8.00459989e-02 -1.16197581e-02 5.63829207e+02] [ 8.00496713e-02 9.96790865e-01 -1.49451080e-04 6.98393088e+00] [ 1.15944317e-02 -7.81196424e-04 9.99932477e-01 3.75036594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.759254154 meters 0.03482309724234272 Centerline is valid? [True, True] Translation: X:563.89, Y:6.99, Z:3.75 [[ 9.96609289e-01 -8.14866146e-02 -1.13954754e-02 5.63891076e+02] [ 8.14902445e-02 9.96674129e-01 -1.46195630e-04 6.98848464e+00] [ 1.13694885e-02 -7.82920151e-04 9.99935059e-01 3.75054965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters 0.03512931186968751 Centerline is valid? [True, True] Translation: X:563.95, Y:6.99, Z:3.75 [[ 9.96767494e-01 -7.94624475e-02 -1.18441077e-02 5.63952388e+02] [ 7.94662349e-02 9.96837547e-01 -1.51253371e-04 6.99395687e+00] [ 1.18186702e-02 -7.90442198e-04 9.99929845e-01 3.75055999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.879254154 meters 0.031024314504147058 Centerline is valid? [True, True] Translation: X:564.01, Y:7.01, Z:3.75 [[ 9.97346496e-01 -7.17921170e-02 -1.20772278e-02 5.64012845e+02] [ 7.17954987e-02 9.97419362e-01 -1.53882521e-04 7.01000894e+00] [ 1.20571084e-02 -7.13616402e-04 9.99927056e-01 3.75224059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters 0.02878719867889575 Centerline is valid? [True, True] Translation: X:564.07, Y:7.02, Z:3.75 [[ 9.97784638e-01 -6.54487974e-02 -1.19277054e-02 5.64073008e+02] [ 6.54516458e-02 9.97855731e-01 -1.51818316e-04 7.02031954e+00] [ 1.19120656e-02 -6.29205968e-04 9.99928851e-01 3.75374233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.999254154 meters 0.026601529912935427 Centerline is valid? [True, True] Translation: X:564.13, Y:7.03, Z:3.75 [[ 9.98222706e-01 -5.82795138e-02 -1.24470181e-02 5.64133067e+02] [ 5.82820599e-02 9.98300143e-01 -1.58383681e-04 7.03276742e+00] [ 1.24350905e-02 -5.67335667e-04 9.99922520e-01 3.75434060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters 0.024982808801474462 Centerline is valid? [True, True] Translation: X:564.19, Y:7.04, Z:3.75 [[ 9.98356697e-01 -5.58132661e-02 -1.29917529e-02 5.64194416e+02] [ 5.58158344e-02 9.98441068e-01 -1.65093979e-04 7.04061838e+00] [ 1.29807141e-02 -5.60322852e-04 9.99915590e-01 3.75454215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.119254154 meters 0.02506854356002566 Centerline is valid? [True, True] Translation: X:564.26, Y:7.05, Z:3.75 [[ 9.98456647e-01 -5.37557219e-02 -1.39515606e-02 5.64255721e+02] [ 5.37584923e-02 9.98553951e-01 -1.76646365e-04 7.04744726e+00] [ 1.39408817e-02 -5.73641124e-04 9.99902657e-01 3.75352543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters 0.02518185035808172 Centerline is valid? [True, True] Translation: X:564.32, Y:7.05, Z:3.75 [[ 9.98536478e-01 -5.20558234e-02 -1.46660695e-02 5.64316742e+02] [ 5.20587233e-02 9.98644008e-01 -1.84231828e-04 7.05179385e+00] [ 1.46557727e-02 -5.79534651e-04 9.99892430e-01 3.75322295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.239254154 meters 0.02525322354507974 Centerline is valid? [True, True] Translation: X:564.38, Y:7.06, Z:3.75 [[ 9.98610747e-01 -5.05596968e-02 -1.48422999e-02 5.64379154e+02] [ 5.05625238e-02 9.98720880e-01 -1.84962400e-04 7.05799268e+00] [ 1.48326664e-02 -5.65758700e-04 9.99889830e-01 3.75353384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.299254154 meters 0.02712858210738599 Centerline is valid? [True, True] Translation: X:564.44, Y:7.06, Z:3.75 [[ 9.98547967e-01 -5.20469285e-02 -1.38951556e-02 5.64439917e+02] [ 5.20495676e-02 9.98644488e-01 -1.71885872e-04 7.06145559e+00] [ 1.38852667e-02 -5.51600552e-04 9.99903443e-01 3.75473265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.359254154 meters 0.023110756852649572 Centerline is valid? [True, True] Translation: X:564.50, Y:7.07, Z:3.76 [[ 9.98459281e-01 -5.39087972e-02 -1.31493517e-02 5.64501497e+02] [ 5.39113404e-02 9.98545713e-01 -1.61231909e-04 7.07121647e+00] [ 1.31389206e-02 -5.47915683e-04 9.99913531e-01 3.75677966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.419254154 meters 0.0251568127877456 Centerline is valid? [True, True] Translation: X:564.56, Y:7.07, Z:3.76 [[ 9.98273600e-01 -5.71992565e-02 -1.33440728e-02 5.64561851e+02] [ 5.72021802e-02 9.98362602e-01 -1.62777959e-04 7.07231325e+00] [ 1.33315340e-02 -6.00813117e-04 9.99910951e-01 3.75707512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters 0.027741512589129547 Centerline is valid? [True, True] Translation: X:564.62, Y:7.07, Z:3.76 [[ 9.98064452e-01 -6.06245388e-02 -1.38569478e-02 5.64622060e+02] [ 6.06280271e-02 9.98160415e-01 -1.68589189e-04 7.07286280e+00] [ 1.38416774e-02 -6.71856528e-04 9.99903974e-01 3.75725237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.539254154 meters 0.037216391092498045 Centerline is valid? [True, True] Translation: X:564.68, Y:7.06, Z:3.76 [[ 9.97887118e-01 -6.31164682e-02 -1.54146459e-02 5.64682543e+02] [ 6.31210890e-02 9.98005858e-01 -1.87055822e-04 7.06246824e+00] [ 1.53957133e-02 -7.86328644e-04 9.99881170e-01 3.75500944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters 0.03199738685998952 Centerline is valid? [True, True] Translation: X:564.74, Y:7.07, Z:3.76 [[ 9.97732422e-01 -6.53237166e-02 -1.62119350e-02 5.64743625e+02] [ 6.53291257e-02 9.97863752e-01 -1.96279968e-04 7.07278004e+00] [ 1.61901240e-02 -8.63276652e-04 9.99868559e-01 3.75663724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.659254154 meters 0.03249835308673896 Centerline is valid? [True, True] Translation: X:564.81, Y:7.07, Z:3.76 [[ 9.97752693e-01 -6.50932551e-02 -1.58881195e-02 5.64806043e+02] [ 6.50984348e-02 9.97878829e-01 -1.91503264e-04 7.07435198e+00] [ 1.58668837e-02 -8.43218814e-04 9.99873758e-01 3.75779217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters 0.02773324621356689 Centerline is valid? [True, True] Translation: X:564.87, Y:7.08, Z:3.76 [[ 9.98095571e-01 -5.97726025e-02 -1.52468431e-02 5.64866497e+02] [ 5.97767604e-02 9.98211754e-01 -1.83287063e-04 7.08492671e+00] [ 1.52305335e-02 -7.28468881e-04 9.99883743e-01 3.75991654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.779254154 meters 0.024997878975486942 Centerline is valid? [True, True] Translation: X:564.93, Y:7.09, Z:3.76 [[ 9.98377898e-01 -5.48054589e-02 -1.54251027e-02 5.64927556e+02] [ 5.48091258e-02 9.98496833e-01 -1.85238624e-04 7.09190792e+00] [ 1.54120683e-02 -6.60498248e-04 9.99881009e-01 3.76025279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters 0.02154858073512851 Centerline is valid? [True, True] Translation: X:564.99, Y:7.10, Z:3.76 [[ 9.98720647e-01 -4.75725603e-02 -1.71441420e-02 5.64987676e+02] [ 4.75760292e-02 9.98867598e-01 -2.05695218e-04 7.10132498e+00] [ 1.71345134e-02 -6.10218140e-04 9.99853007e-01 3.75954647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.899254154 meters 0.0206765192359833 Centerline is valid? [True, True] Translation: X:565.05, Y:7.10, Z:3.76 [[ 9.98824039e-01 -4.52398803e-02 -1.74325192e-02 5.65049633e+02] [ 4.52431262e-02 9.98975984e-01 -2.08343171e-04 7.10396363e+00] [ 1.74240934e-02 -5.80603499e-04 9.99848020e-01 3.75933385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters 0.01905874099886927 Centerline is valid? [True, True] Translation: X:565.11, Y:7.11, Z:3.76 [[ 9.99101526e-01 -3.84176852e-02 -1.78947522e-02 5.65108872e+02] [ 3.84200174e-02 9.99261656e-01 -2.13567128e-04 7.11022184e+00] [ 1.78897445e-02 -4.74141448e-04 9.99839853e-01 3.75927561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.019254154 meters 0.017609928257609788 Centerline is valid? [True, True] Translation: X:565.17, Y:7.12, Z:3.76 [[ 9.99313421e-01 -3.25112944e-02 -1.77680059e-02 5.65170735e+02] [ 3.25126686e-02 9.99471301e-01 -2.11593260e-04 7.11617685e+00] [ 1.77654911e-02 -3.66237302e-04 9.99842114e-01 3.75970103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters 0.014725008276842958 Centerline is valid? [True, True] Translation: X:565.23, Y:7.13, Z:3.76 [[ 9.99585812e-01 -2.35252172e-02 -1.65761572e-02 5.65231040e+02] [ 2.35251832e-02 9.99723225e-01 -1.97071845e-04 7.12650707e+00] [ 1.65762055e-02 -1.92966914e-04 9.99862587e-01 3.76270389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.139254154 meters 0.014098838914686765 Centerline is valid? [True, True] Translation: X:565.29, Y:7.13, Z:3.76 [[ 9.99702555e-01 -1.82532429e-02 -1.61746748e-02 5.65291006e+02] [ 1.82525204e-02 9.99833390e-01 -1.92298672e-04 7.12922115e+00] [ 1.61754900e-02 -1.02987109e-04 9.99869163e-01 3.76292158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters 0.014023255995099572 Centerline is valid? [True, True] Translation: X:565.35, Y:7.13, Z:3.76 [[ 9.99687421e-01 -1.94487212e-02 -1.57101245e-02 5.65350051e+02] [ 1.94481508e-02 9.99810849e-01 -1.89098667e-04 7.12845217e+00] [ 1.57108306e-02 -1.16493311e-04 9.99876570e-01 3.76383044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.259254154 meters 0.01593101704317692 Centerline is valid? [True, True] Translation: X:565.41, Y:7.12, Z:3.76 [[ 9.99534276e-01 -2.64094952e-02 -1.52895359e-02 5.65408796e+02] [ 2.64097361e-02 9.99651185e-01 -1.86188154e-04 7.11924067e+00] [ 1.52891198e-02 -2.17691166e-04 9.99883091e-01 3.76230363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters 0.016359619000922997 Centerline is valid? [True, True] Translation: X:565.47, Y:7.12, Z:3.76 [[ 9.99310795e-01 -3.37817679e-02 -1.53859183e-02 5.65469615e+02] [ 3.37828819e-02 9.99429178e-01 -1.87570458e-04 7.11575633e+00] [ 1.53834722e-02 -3.32339479e-04 9.99881612e-01 3.76348439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.379254154 meters 0.021577395881442814 Centerline is valid? [True, True] Translation: X:565.53, Y:7.10, Z:3.76 [[ 9.98804222e-01 -4.55997139e-02 -1.76293158e-02 5.65529316e+02] [ 4.56030146e-02 9.98959618e-01 -2.14942693e-04 7.10237896e+00] [ 1.76207759e-02 -5.89264277e-04 9.99844568e-01 3.76164104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters 0.025452257324683005 Centerline is valid? [True, True] Translation: X:565.59, Y:7.09, Z:3.76 [[ 9.98429287e-01 -5.31790592e-02 -1.76336815e-02 5.65589695e+02] [ 5.31835403e-02 9.98584731e-01 -2.15063024e-04 7.09469166e+00] [ 1.76201619e-02 -7.23096389e-04 9.99844491e-01 3.76093267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.499254154 meters 0.029051733943135684 Centerline is valid? [True, True] Translation: X:565.65, Y:7.09, Z:3.76 [[ 9.97935235e-01 -6.20665454e-02 -1.65230277e-02 5.65650401e+02] [ 6.20716968e-02 9.98071673e-01 -2.01383566e-04 7.08668321e+00] [ 1.65036651e-02 -8.24644611e-04 9.99863465e-01 3.76210818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters 0.03161100377566674 Centerline is valid? [True, True] Translation: X:565.71, Y:7.08, Z:3.76 [[ 9.97737551e-01 -6.52062115e-02 -1.63685473e-02 5.65711082e+02] [ 6.52116922e-02 9.97871432e-01 -1.99257435e-04 7.08246231e+00] [ 1.63466985e-02 -8.68614040e-04 9.99866007e-01 3.76239880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.619254154 meters 0.02930778654277547 Centerline is valid? [True, True] Translation: X:565.77, Y:7.09, Z:3.76 [[ 9.97710778e-01 -6.57738661e-02 -1.57163145e-02 5.65773091e+02] [ 6.57790008e-02 9.97834198e-01 -1.90564653e-04 7.08702297e+00] [ 1.56948102e-02 -8.43675052e-04 9.99876473e-01 3.76448774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters 0.027568753423220838 Centerline is valid? [True, True] Translation: X:565.83, Y:7.09, Z:3.77 [[ 9.97975251e-01 -6.17530846e-02 -1.52300719e-02 5.65834230e+02] [ 6.17574487e-02 9.98091170e-01 -1.84053420e-04 7.09224373e+00] [ 1.52123662e-02 -7.56889627e-04 9.99883999e-01 3.76536678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.739254154 meters 0.027443838990917648 Centerline is valid? [True, True] Translation: X:565.89, Y:7.10, Z:3.77 [[ 9.98187829e-01 -5.81286047e-02 -1.55603283e-02 5.65893706e+02] [ 5.81327201e-02 9.98308846e-01 -1.88077507e-04 7.09555071e+00] [ 1.55449461e-02 -7.16827532e-04 9.99878913e-01 3.76569511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.799254154 meters 0.026021641701627393 Centerline is valid? [True, True] Translation: X:565.95, Y:7.10, Z:3.76 [[ 9.98480254e-01 -5.24047814e-02 -1.70564002e-02 5.65954665e+02] [ 5.24088935e-02 9.98625688e-01 -2.06113830e-04 7.10277484e+00] [ 1.70437607e-02 -6.88106473e-04 9.99854508e-01 3.76405920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.859254154 meters 0.023289685197797904 Centerline is valid? [True, True] Translation: X:566.02, Y:7.11, Z:3.76 [[ 9.98545950e-01 -5.06070737e-02 -1.85717636e-02 5.66016852e+02] [ 5.06116567e-02 9.98718384e-01 -2.23460234e-04 7.10894851e+00] [ 1.85592704e-02 -7.16812411e-04 9.99827505e-01 3.76495367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.919254154 meters 0.019858194859646433 Centerline is valid? [True, True] Translation: X:566.08, Y:7.12, Z:3.77 [[ 9.98727622e-01 -4.54219092e-02 -2.19086203e-02 5.66078537e+02] [ 4.54270725e-02 9.98967623e-01 -2.62207061e-04 7.11954459e+00] [ 2.18979123e-02 -7.33371051e-04 9.99759943e-01 3.76516620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters 0.018525770915947815 Centerline is valid? [True, True] Translation: X:566.14, Y:7.13, Z:3.77 [[ 9.98998055e-01 -3.86519665e-02 -2.25590492e-02 5.66138588e+02] [ 3.86557249e-02 9.99252552e-01 -2.69609062e-04 7.12764963e+00] [ 2.25526084e-02 -6.02697473e-04 9.99745476e-01 3.76635429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.039254154 meters 0.018073252526334616 Centerline is valid? [True, True] Translation: X:566.20, Y:7.13, Z:3.77 [[ 9.99231068e-01 -3.26978210e-02 -2.16361870e-02 5.66198710e+02] [ 3.26998830e-02 9.99465182e-01 -2.58579695e-04 7.13211489e+00] [ 2.16330705e-02 -4.49119916e-04 9.99765877e-01 3.76737116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters 0.015265482869267934 Centerline is valid? [True, True] Translation: X:566.26, Y:7.14, Z:3.77 [[ 9.99565951e-01 -2.17060866e-02 -1.99187422e-02 5.66258379e+02] [ 2.17056471e-02 9.99764376e-01 -2.38285361e-04 7.14379712e+00] [ 1.99192211e-02 -1.94167255e-04 9.99801574e-01 3.77201404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.159254154 meters 0.014721439231016374 Centerline is valid? [True, True] Translation: X:566.32, Y:7.15, Z:3.77 [[ 9.99737323e-01 -1.19216393e-02 -1.95744844e-02 5.66315773e+02] [ 1.19193041e-02 9.99928935e-01 -2.35966395e-04 7.15203450e+00] [ 1.95759065e-02 2.59018041e-06 9.99808374e-01 3.77398309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters 0.014879712160430639 Centerline is valid? [True, True] Translation: X:566.37, Y:7.15, Z:3.77 [[ 9.99763526e-01 -8.84508708e-03 -1.98659440e-02 5.66374668e+02] [ 8.84199489e-03 9.99960879e-01 -2.43484985e-04 7.15350214e+00] [ 1.98673205e-02 6.77728313e-05 9.99802623e-01 3.77426440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.279254154 meters 0.014715763608573492 Centerline is valid? [True, True] Translation: X:566.43, Y:7.15, Z:3.77 [[ 9.99730899e-01 -1.03094153e-02 -2.07808710e-02 5.66433373e+02] [ 1.03062450e-02 9.99946856e-01 -2.59655536e-04 7.14942467e+00] [ 2.07824435e-02 4.54129145e-05 9.99784021e-01 3.77407469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters 0.014614397639443782 Centerline is valid? [True, True] Translation: X:566.49, Y:7.14, Z:3.77 [[ 9.99615339e-01 -1.68528055e-02 -2.20262790e-02 5.66491990e+02] [ 1.68507721e-02 9.99857977e-01 -2.77929074e-04 7.14026604e+00] [ 2.20278347e-02 -9.33376421e-05 9.99757353e-01 3.77461324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.399254154 meters 0.015082351320380829 Centerline is valid? [True, True] Translation: X:566.55, Y:7.13, Z:3.77 [[ 9.99503512e-01 -2.21734846e-02 -2.23844896e-02 5.66550833e+02] [ 2.21726244e-02 9.99754116e-01 -2.86652941e-04 7.13251822e+00] [ 2.23853417e-02 -2.09812259e-04 9.99749395e-01 3.77451124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters 0.016877479284423062 Centerline is valid? [True, True] Translation: X:566.61, Y:7.12, Z:3.77 [[ 9.99332721e-01 -2.90964726e-02 -2.20795762e-02 5.66609287e+02] [ 2.90972670e-02 9.99576544e-01 -2.85358017e-04 7.11996999e+00] [ 2.20785293e-02 -3.57287718e-04 9.99756176e-01 3.77498677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.519254154 meters 0.01937122918163414 Centerline is valid? [True, True] Translation: X:566.67, Y:7.11, Z:3.77 [[ 9.99220003e-01 -3.31024415e-02 -2.15316983e-02 5.66667494e+02] [ 3.31040961e-02 9.99451870e-01 -2.79683244e-04 7.11000516e+00] [ 2.15291543e-02 -4.33322319e-04 9.99768127e-01 3.77466564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters 0.019076851165910482 Centerline is valid? [True, True] Translation: X:566.73, Y:7.10, Z:3.78 [[ 9.99153348e-01 -3.53857550e-02 -2.09865647e-02 5.66726838e+02] [ 3.53878114e-02 9.99373618e-01 -2.73495773e-04 7.10289477e+00] [ 2.09830969e-02 -4.69404376e-04 9.99779720e-01 3.77764235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.639254154 meters 0.01902999832787336 Centerline is valid? [True, True] Translation: X:566.79, Y:7.10, Z:3.78 [[ 9.99197621e-01 -3.39536685e-02 -2.12429326e-02 5.66786492e+02] [ 3.39554423e-02 9.99423309e-01 -2.77293019e-04 7.09894928e+00] [ 2.12400971e-02 -4.44242646e-04 9.99774305e-01 3.77752048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters 0.017376770412377302 Centerline is valid? [True, True] Translation: X:566.85, Y:7.10, Z:3.78 [[ 9.99372365e-01 -2.86999269e-02 -2.07651027e-02 5.66846326e+02] [ 2.87004766e-02 9.99588020e-01 -2.71606672e-04 7.09612190e+00] [ 2.07643430e-02 -3.24532141e-04 9.99784345e-01 3.77722124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.759254154 meters 0.01477790729902047 Centerline is valid? [True, True] Translation: X:566.90, Y:7.10, Z:3.78 [[ 9.99412054e-01 -2.69297488e-02 -2.12211062e-02 5.66904886e+02] [ 2.69298386e-02 9.99637286e-01 -2.81591281e-04 7.10052012e+00] [ 2.12209922e-02 -2.90055245e-04 9.99774767e-01 3.78182512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters 0.01407730719586187 Centerline is valid? [True, True] Translation: X:566.96, Y:7.10, Z:3.78 [[ 9.99570490e-01 -2.02470263e-02 -2.11870934e-02 5.66964060e+02] [ 2.02455031e-02 9.99794998e-01 -2.86409905e-04 7.09724002e+00] [ 2.11885490e-02 -1.42656475e-04 9.99775487e-01 3.78194145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.879254154 meters 0.013944589842641141 Centerline is valid? [True, True] Translation: X:567.02, Y:7.10, Z:3.78 [[ 9.99679634e-01 -1.49032345e-02 -2.04578181e-02 5.67021918e+02] [ 1.49006374e-02 9.99888940e-01 -2.79384644e-04 7.09635225e+00] [ 2.04597098e-02 -2.55393905e-05 9.99790678e-01 3.78176386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters 0.014584769410207981 Centerline is valid? [True, True] Translation: X:567.08, Y:7.10, Z:3.78 [[ 9.99756972e-01 -5.49342108e-03 -2.13499153e-02 5.67080217e+02] [ 5.48840472e-03 9.99984896e-01 -2.93547395e-04 7.09541712e+00] [ 2.13512054e-02 1.76299078e-04 9.99772021e-01 3.78071591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.999254154 meters 0.015262335625584732 Centerline is valid? [True, True] Translation: X:567.14, Y:7.09, Z:3.78 [[ 9.99764116e-01 -1.37333082e-03 -2.16754983e-02 5.67138727e+02] [ 1.36709683e-03 9.99999020e-01 -3.02420952e-04 7.09424858e+00] [ 2.16758923e-02 2.72717111e-04 9.99765013e-01 3.78006520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters 0.015226913100037298 Centerline is valid? [True, True] Translation: X:567.20, Y:7.09, Z:3.78 [[ 9.99757432e-01 -2.26372970e-03 -2.19078334e-02 5.67197171e+02] [ 2.25751399e-03 9.99997404e-01 -3.08448371e-04 7.08572289e+00] [ 2.19084747e-02 2.58916311e-04 9.99759947e-01 3.77924097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.119254154 meters 0.01439252075135672 Centerline is valid? [True, True] Translation: X:567.26, Y:7.07, Z:3.78 [[ 9.99673809e-01 -1.17143346e-02 -2.26947325e-02 5.67255905e+02] [ 1.17100626e-02 9.99931383e-01 -3.21131277e-04 7.07141126e+00] [ 2.26969371e-02 5.52697893e-05 9.99742390e-01 3.77948779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters 0.014775881998263763 Centerline is valid? [True, True] Translation: X:567.31, Y:7.06, Z:3.78 [[ 9.99556564e-01 -1.99206134e-02 -2.21324417e-02 5.67314448e+02] [ 1.99185279e-02 9.99801557e-01 -3.14695389e-04 7.06043932e+00] [ 2.21343186e-02 -1.26289816e-04 9.99754998e-01 3.78043198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.239254154 meters 0.01630850673149903 Centerline is valid? [True, True] Translation: X:567.37, Y:7.04, Z:3.78 [[ 9.99292540e-01 -3.12580660e-02 -2.09129702e-02 5.67374183e+02] [ 3.12586659e-02 9.99511284e-01 -2.98283220e-04 7.04412223e+00] [ 2.09120734e-02 -3.55639352e-04 9.99781255e-01 3.78300232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.299254154 meters 0.01894265166323259 Centerline is valid? [True, True] Translation: X:567.43, Y:7.03, Z:3.78 [[ 9.99100157e-01 -3.77682562e-02 -1.92985570e-02 5.67432704e+02] [ 3.77699594e-02 9.99286422e-01 -2.76352735e-04 7.03081100e+00] [ 1.92952234e-02 -4.52801655e-04 9.99813727e-01 3.78458531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.359254154 meters 0.017775892981351023 Centerline is valid? [True, True] Translation: X:567.49, Y:7.03, Z:3.79 [[ 9.99039185e-01 -3.91240355e-02 -1.97488365e-02 5.67491855e+02] [ 3.91260108e-02 9.99234243e-01 -2.86498517e-04 7.02733653e+00] [ 1.97449227e-02 -4.86469946e-04 9.99804932e-01 3.78635046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.419254154 meters 0.017890817456275927 Centerline is valid? [True, True] Translation: X:567.55, Y:7.02, Z:3.79 [[ 9.99048477e-01 -3.85696819e-02 -2.03597620e-02 5.67550762e+02] [ 3.85715641e-02 9.99255795e-01 -3.00382731e-04 7.02424049e+00] [ 2.03561958e-02 -4.85210955e-04 9.99792673e-01 3.78597851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters 0.017806675716126225 Centerline is valid? [True, True] Translation: X:567.61, Y:7.02, Z:3.79 [[ 9.99101528e-01 -3.73684093e-02 -1.99934578e-02 5.67608423e+02] [ 3.73699293e-02 9.99301456e-01 -2.97711819e-04 7.02164834e+00] [ 1.99906165e-02 -4.49709773e-04 9.99800067e-01 3.78575126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.539254154 meters 0.01661611015275568 Centerline is valid? [True, True] Translation: X:567.67, Y:7.02, Z:3.79 [[ 9.99213915e-01 -3.42012636e-02 -2.00456024e-02 5.67667153e+02] [ 3.42020801e-02 9.99414892e-01 -3.02205912e-04 7.02054849e+00] [ 2.00442093e-02 -3.83632944e-04 9.99799021e-01 3.78577860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters 0.015448745863685612 Centerline is valid? [True, True] Translation: X:567.73, Y:7.02, Z:3.78 [[ 9.99373487e-01 -2.84084442e-02 -2.11090935e-02 5.67725481e+02] [ 2.84080024e-02 9.99596360e-01 -3.20859617e-04 7.02157335e+00] [ 2.11096882e-02 -2.79008585e-04 9.99777127e-01 3.78385252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.659254154 meters 0.013731012918459495 Centerline is valid? [True, True] Translation: X:567.78, Y:7.03, Z:3.79 [[ 9.99490931e-01 -2.31170709e-02 -2.19881991e-02 5.67784425e+02] [ 2.31152168e-02 9.99732750e-01 -3.38514557e-04 7.02545125e+00] [ 2.19901482e-02 -1.69919759e-04 9.99758173e-01 3.78610304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters 0.013139371163732726 Centerline is valid? [True, True] Translation: X:567.84, Y:7.03, Z:3.79 [[ 9.99650715e-01 -1.56309470e-02 -2.13101062e-02 5.67843659e+02] [ 1.56273987e-02 9.99877829e-01 -3.33041343e-04 7.02807110e+00] [ 2.13127085e-02 -9.65080502e-08 9.99772858e-01 3.78704252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.779254154 meters 0.01309383132068471 Centerline is valid? [True, True] Translation: X:567.90, Y:7.03, Z:3.79 [[ 9.99713303e-01 -1.26253671e-02 -2.03448073e-02 5.67901202e+02] [ 1.26214010e-02 9.99920295e-01 -3.23338594e-04 7.02858490e+00] [ 2.03472680e-02 6.64659218e-05 9.99792971e-01 3.78912513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters 0.013013563280335075 Centerline is valid? [True, True] Translation: X:567.96, Y:7.03, Z:3.79 [[ 9.99734898e-01 -1.25246949e-02 -1.93200839e-02 5.67959695e+02] [ 1.25210039e-02 9.99921560e-01 -3.12004921e-04 7.02575034e+00] [ 1.93224762e-02 7.00153616e-05 9.99813301e-01 3.79008888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.899254154 meters 0.013305245587195431 Centerline is valid? [True, True] Translation: X:568.02, Y:7.02, Z:3.79 [[ 9.99652978e-01 -1.77143333e-02 -1.94967963e-02 5.68016644e+02] [ 1.77114983e-02 9.99843089e-01 -3.18089326e-04 7.01804400e+00] [ 1.94993717e-02 -2.73385307e-05 9.99809869e-01 3.78951228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters 0.013177671105495354 Centerline is valid? [True, True] Translation: X:568.08, Y:7.01, Z:3.79 [[ 9.99506817e-01 -2.48088813e-02 -1.92520845e-02 5.68075621e+02] [ 2.48074005e-02 9.99692199e-01 -3.15771024e-04 7.01064699e+00] [ 1.92539926e-02 -1.61978879e-04 9.99814612e-01 3.79008009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.019254154 meters 0.017048426518951273 Centerline is valid? [True, True] Translation: X:568.14, Y:7.00, Z:3.79 [[ 9.99080594e-01 -3.85080060e-02 -1.88440941e-02 5.68135224e+02] [ 3.85090056e-02 9.99258205e-01 -3.09948377e-04 6.99605966e+00] [ 1.88420511e-02 -4.16003915e-04 9.99822386e-01 3.78995028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters 0.017750273954129744 Centerline is valid? [True, True] Translation: X:568.20, Y:6.99, Z:3.79 [[ 9.98660782e-01 -4.84540190e-02 -1.81342580e-02 5.68196129e+02] [ 4.84565804e-02 9.98825245e-01 -2.98381869e-04 6.99111290e+00] [ 1.81274125e-02 -5.80741862e-04 9.99835516e-01 3.79230447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.139254154 meters 0.022207964320813005 Centerline is valid? [True, True] Translation: X:568.26, Y:6.98, Z:3.79 [[ 9.97962821e-01 -6.17459327e-02 -1.60514325e-02 5.68256923e+02] [ 6.17496559e-02 9.98091634e-01 -2.64034258e-04 6.97975409e+00] [ 1.60371035e-02 -7.27674058e-04 9.99871133e-01 3.79400520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters 0.025958068967668724 Centerline is valid? [True, True] Translation: X:568.32, Y:6.97, Z:3.79 [[ 9.97431855e-01 -7.01039136e-02 -1.46675369e-02 5.68317539e+02] [ 7.01079236e-02 9.97539383e-01 -2.41245976e-04 6.97318646e+00] [ 1.46483580e-02 -7.87684135e-04 9.99892397e-01 3.79468671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.259254154 meters 0.027638552977811186 Centerline is valid? [True, True] Translation: X:568.38, Y:6.97, Z:3.79 [[ 9.97189464e-01 -7.30302649e-02 -1.67257990e-02 5.68378031e+02] [ 7.30358901e-02 9.97329275e-01 -2.75087970e-04 6.97394446e+00] [ 1.67012187e-02 -9.47268789e-04 9.99860076e-01 3.79438506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters 0.02956024412381521 Centerline is valid? [True, True] Translation: X:568.44, Y:6.97, Z:3.79 [[ 9.97067551e-01 -7.49146500e-02 -1.56235182e-02 5.68437290e+02] [ 7.49197860e-02 9.97189530e-01 -2.57122883e-04 6.97301692e+00] [ 1.55988710e-02 -9.14141753e-04 9.99877912e-01 3.79404665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.379254154 meters 0.0287057486051087 Centerline is valid? [True, True] Translation: X:568.50, Y:6.98, Z:3.79 [[ 9.97082420e-01 -7.48749286e-02 -1.48456543e-02 5.68497949e+02] [ 7.48795596e-02 9.97192555e-01 -2.44438595e-04 6.97872303e+00] [ 1.48222783e-02 -8.67910630e-04 9.99889767e-01 3.79463221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters 0.02950607608435886 Centerline is valid? [True, True] Translation: X:568.56, Y:6.98, Z:3.79 [[ 9.97030837e-01 -7.55548387e-02 -1.48652853e-02 5.68558800e+02] [ 7.55595595e-02 9.97141260e-01 -2.44613498e-04 6.98174130e+00] [ 1.48412711e-02 -8.79327209e-04 9.99889476e-01 3.79451727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.499254154 meters 0.03188020711294115 Centerline is valid? [True, True] Translation: X:568.62, Y:6.99, Z:3.79 [[ 9.96902593e-01 -7.69878550e-02 -1.60651880e-02 5.68619389e+02] [ 7.69935591e-02 9.97031555e-01 -2.64059142e-04 6.98531611e+00] [ 1.60378287e-02 -9.73674759e-04 9.99870912e-01 3.79258837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters 0.027723329812922304 Centerline is valid? [True, True] Translation: X:568.68, Y:7.00, Z:3.79 [[ 9.96785283e-01 -7.81478369e-02 -1.76639328e-02 5.68680018e+02] [ 7.81549260e-02 9.96941184e-01 -2.89685436e-04 6.99620218e+00] [ 1.76325404e-02 -1.09176918e-03 9.99843939e-01 3.79299792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.619254154 meters 0.0321295762726918 Centerline is valid? [True, True] Translation: X:568.74, Y:7.00, Z:3.79 [[ 9.96701903e-01 -7.91931515e-02 -1.77133356e-02 5.68740534e+02] [ 7.92004601e-02 9.96858668e-01 -2.89627746e-04 6.99920264e+00] [ 1.76806287e-02 -1.11423180e-03 9.99843065e-01 3.79244608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters 0.02972317843093456 Centerline is valid? [True, True] Translation: X:568.80, Y:7.01, Z:3.79 [[ 9.96724215e-01 -7.90070569e-02 -1.72836217e-02 5.68801888e+02] [ 7.90139996e-02 9.96873467e-01 -2.81883802e-04 7.00586864e+00] [ 1.72518547e-02 -1.08468767e-03 9.99850587e-01 3.79403284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.739254154 meters 0.02719804012985361 Centerline is valid? [True, True] Translation: X:568.86, Y:7.02, Z:3.80 [[ 9.96932736e-01 -7.67939653e-02 -1.50932463e-02 5.68863307e+02] [ 7.67990168e-02 9.97046564e-01 -2.45491673e-04 7.01831442e+00] [ 1.50675217e-02 -9.14407793e-04 9.99886060e-01 3.79649550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.799254154 meters 0.03325907160010333 Centerline is valid? [True, True] Translation: X:568.92, Y:7.02, Z:3.80 [[ 9.97220931e-01 -7.31420751e-02 -1.41651348e-02 5.68922917e+02] [ 7.31461619e-02 9.97321205e-01 -2.30056576e-04 7.01660020e+00] [ 1.41440162e-02 -8.06708013e-04 9.99899643e-01 3.79604337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.859254154 meters 0.024295069407180292 Centerline is valid? [True, True] Translation: X:568.98, Y:7.04, Z:3.80 [[ 9.97783650e-01 -6.51510976e-02 -1.35322810e-02 5.68983325e+02] [ 6.51540956e-02 9.97875190e-01 -2.19664075e-04 7.03842338e+00] [ 1.35178389e-02 -6.62506311e-04 9.99908410e-01 3.79766703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.919254154 meters 0.02245965163660927 Centerline is valid? [True, True] Translation: X:569.04, Y:7.05, Z:3.80 [[ 9.98128473e-01 -5.97280304e-02 -1.31192297e-02 5.69044288e+02] [ 5.97303830e-02 9.98214524e-01 -2.12776135e-04 7.04718433e+00] [ 1.31085144e-02 -5.71238698e-04 9.99913917e-01 3.79813246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters 0.02036399311713718 Centerline is valid? [True, True] Translation: X:569.10, Y:7.06, Z:3.80 [[ 9.98475363e-01 -5.35523548e-02 -1.33826451e-02 5.69104847e+02] [ 5.35542513e-02 9.98564918e-01 -2.16867314e-04 7.05843562e+00] [ 1.33750537e-02 -5.00160869e-04 9.99910425e-01 3.79862885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.039254154 meters 0.019694307386817402 Centerline is valid? [True, True] Translation: X:569.17, Y:7.07, Z:3.80 [[ 9.98665528e-01 -4.95710162e-02 -1.44871823e-02 5.69165006e+02] [ 4.95728240e-02 9.98770484e-01 -2.34514482e-04 7.06506425e+00] [ 1.44809952e-02 -4.83969010e-04 9.99895028e-01 3.79728178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters 0.017586605188746274 Centerline is valid? [True, True] Translation: X:569.23, Y:7.07, Z:3.80 [[ 9.98719543e-01 -4.84537191e-02 -1.45434506e-02 5.69226105e+02] [ 4.84554286e-02 9.98825318e-01 -2.35011636e-04 7.07140009e+00] [ 1.45377539e-02 -4.69998420e-04 9.99894211e-01 3.79752254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.159254154 meters 0.01818422353458115 Centerline is valid? [True, True] Translation: X:569.29, Y:7.08, Z:3.80 [[ 9.98781184e-01 -4.71853961e-02 -1.44804898e-02 5.69286846e+02] [ 4.71869654e-02 9.98886047e-01 -2.33461486e-04 7.07540336e+00] [ 1.44753752e-02 -4.50113430e-04 9.99895125e-01 3.79795247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters 0.019123826709588655 Centerline is valid? [True, True] Translation: X:569.35, Y:7.08, Z:3.80 [[ 9.98838056e-01 -4.62074572e-02 -1.36897416e-02 5.69347704e+02] [ 4.62087746e-02 9.98931780e-01 -2.20230766e-04 7.07713541e+00] [ 1.36852942e-02 -4.12611311e-04 9.99906267e-01 3.79803094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.279254154 meters 0.01911422668002412 Centerline is valid? [True, True] Translation: X:569.41, Y:7.08, Z:3.80 [[ 9.98868075e-01 -4.57488418e-02 -1.30235040e-02 5.69409318e+02] [ 4.57500009e-02 9.98952899e-01 -2.09061669e-04 7.07901002e+00] [ 1.30194314e-02 -3.87000294e-04 9.99915169e-01 3.79859054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters 0.02093340884055714 Centerline is valid? [True, True] Translation: X:569.47, Y:7.08, Z:3.80 [[ 9.98815062e-01 -4.72881173e-02 -1.15024672e-02 5.69470020e+02] [ 4.72891277e-02 9.98881226e-01 -1.84268840e-04 7.07752616e+00] [ 1.14983122e-02 -3.59891146e-04 9.99933827e-01 3.79985360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.399254154 meters 0.019748282666350387 Centerline is valid? [True, True] Translation: X:569.53, Y:7.08, Z:3.80 [[ 9.98690558e-01 -5.00593806e-02 -1.05464486e-02 5.69532177e+02] [ 5.00603896e-02 9.98746178e-01 -1.68456504e-04 7.07922301e+00] [ 1.05416580e-02 -3.59723403e-04 9.99944370e-01 3.79985982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters 0.024355123524023043 Centerline is valid? [True, True] Translation: X:569.59, Y:7.07, Z:3.80 [[ 9.98608521e-01 -5.16539823e-02 -1.06248962e-02 5.69593254e+02] [ 5.16551041e-02 9.98664970e-01 -1.68999847e-04 7.07203196e+00] [ 1.06194412e-02 -3.80065434e-04 9.99943540e-01 3.79861410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.519254154 meters 0.02031441737193062 Centerline is valid? [True, True] Translation: X:569.66, Y:7.08, Z:3.80 [[ 9.98523683e-01 -5.30015834e-02 -1.18864365e-02 5.69655711e+02] [ 5.30030922e-02 9.98594330e-01 -1.88270709e-04 7.07965358e+00] [ 1.18797067e-02 -4.42025127e-04 9.99929336e-01 3.79789139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters 0.020293997996666265 Centerline is valid? [True, True] Translation: X:569.72, Y:7.08, Z:3.80 [[ 9.98531834e-01 -5.27215339e-02 -1.24344884e-02 5.69717623e+02] [ 5.27231753e-02 9.98609147e-01 -1.95995430e-04 7.08087551e+00] [ 1.24275270e-02 -4.59878035e-04 9.99922670e-01 3.79760064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.639254154 meters 0.020691858323631813 Centerline is valid? [True, True] Translation: X:569.78, Y:7.08, Z:3.80 [[ 9.98552483e-01 -5.24150899e-02 -1.20663567e-02 5.69780149e+02] [ 5.24166239e-02 9.98625286e-01 -1.89305456e-04 7.08192905e+00] [ 1.20596913e-02 -4.43446245e-04 9.99927181e-01 3.79782061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters 0.020442352828555235 Centerline is valid? [True, True] Translation: X:569.84, Y:7.08, Z:3.80 [[ 9.98576787e-01 -5.19611308e-02 -1.20183674e-02 5.69842818e+02] [ 5.19626317e-02 9.98649012e-01 -1.87557907e-04 7.08458594e+00] [ 1.20118764e-02 -4.37215026e-04 9.99927759e-01 3.79763126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.759254154 meters 0.022688304124530868 Centerline is valid? [True, True] Translation: X:569.90, Y:7.08, Z:3.80 [[ 9.98550840e-01 -5.24613004e-02 -1.20012993e-02 5.69904063e+02] [ 5.24628442e-02 9.98622859e-01 -1.86369929e-04 7.08180223e+00] [ 1.19945490e-02 -4.43522446e-04 9.99927964e-01 3.79729554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters 0.022269129966058288 Centerline is valid? [True, True] Translation: X:569.97, Y:7.08, Z:3.80 [[ 9.98480176e-01 -5.36120752e-02 -1.27703915e-02 5.69966484e+02] [ 5.36139280e-02 9.98561720e-01 -1.97472146e-04 7.08394246e+00] [ 1.27626110e-02 -4.87498827e-04 9.99918436e-01 3.79729865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.879254154 meters 0.02254917074413371 Centerline is valid? [True, True] Translation: X:570.03, Y:7.09, Z:3.80 [[ 9.98463825e-01 -5.38031509e-02 -1.32367591e-02 5.70029002e+02] [ 5.38051713e-02 9.98551432e-01 -2.03694054e-04 7.08533893e+00] [ 1.32285441e-02 -5.08824946e-04 9.99912370e-01 3.79723987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters 0.024005235864644696 Centerline is valid? [True, True] Translation: X:570.09, Y:7.08, Z:3.80 [[ 9.98518011e-01 -5.30106408e-02 -1.23147651e-02 5.70089940e+02] [ 5.30123387e-02 9.98593840e-01 -1.88744309e-04 7.08398410e+00] [ 1.23074540e-02 -4.64369907e-04 9.99924153e-01 3.79791290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.999254154 meters 0.020678742950715024 Centerline is valid? [True, True] Translation: X:570.15, Y:7.09, Z:3.80 [[ 9.98741863e-01 -4.90946163e-02 -1.02181263e-02 5.70151410e+02] [ 4.90955859e-02 9.98794072e-01 -1.56077368e-04 7.09201510e+00] [ 1.02134665e-02 -3.45783895e-04 9.99947781e-01 3.79956847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters 0.01877298846485343 Centerline is valid? [True, True] Translation: X:570.21, Y:7.10, Z:3.80 [[ 9.99126454e-01 -4.07184645e-02 -9.39872705e-03 5.70212562e+02] [ 4.07189186e-02 9.99170631e-01 -1.43118844e-04 7.09742776e+00] [ 9.39675961e-03 -2.39712178e-04 9.99955821e-01 3.79894061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.119254154 meters 0.01752271114029755 Centerline is valid? [True, True] Translation: X:570.27, Y:7.10, Z:3.80 [[ 9.99357208e-01 -3.46551462e-02 -9.17565171e-03 5.70273565e+02] [ 3.46553252e-02 9.99399314e-01 -1.39543285e-04 7.10199294e+00] [ 9.17497592e-03 -1.78531607e-04 9.99957893e-01 3.79878073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters 0.016578511847584135 Centerline is valid? [True, True] Translation: X:570.33, Y:7.11, Z:3.80 [[ 9.99548645e-01 -2.86584490e-02 -9.01104171e-03 5.70334197e+02] [ 2.86583808e-02 9.99589255e-01 -1.36717413e-04 7.10542853e+00] [ 9.01125857e-03 -1.21586159e-04 9.99959390e-01 3.79895968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.239254154 meters 0.016249887474597366 Centerline is valid? [True, True] Translation: X:570.40, Y:7.11, Z:3.80 [[ 9.99564766e-01 -2.81382027e-02 -8.86113893e-03 5.70395329e+02] [ 2.81381191e-02 9.99604036e-01 -1.34127110e-04 7.10678022e+00] [ 8.86140433e-03 -1.15267050e-04 9.99960730e-01 3.79889891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.299254154 meters 0.016709701475960195 Centerline is valid? [True, True] Translation: X:570.46, Y:7.10, Z:3.80 [[ 9.99437481e-01 -3.19089424e-02 -1.03218230e-02 5.70457236e+02] [ 3.19090357e-02 9.99490765e-01 -1.55678290e-04 7.10248145e+00] [ 1.03215343e-02 -1.73768702e-04 9.99946716e-01 3.79632885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.359254154 meters 0.0185209369561304 Centerline is valid? [True, True] Translation: X:570.52, Y:7.10, Z:3.79 [[ 9.99132264e-01 -3.98915412e-02 -1.19743013e-02 5.70518338e+02] [ 3.98922489e-02 9.99203971e-01 -1.79842737e-04 7.09513728e+00] [ 1.19719436e-02 -2.97995125e-04 9.99928289e-01 3.79415838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.419254154 meters 0.020343468357334867 Centerline is valid? [True, True] Translation: X:570.58, Y:7.09, Z:3.79 [[ 9.98906760e-01 -4.51555519e-02 -1.20938164e-02 5.70578913e+02] [ 4.51566631e-02 9.98979901e-01 -1.81308478e-04 7.09048922e+00] [ 1.20896666e-02 -3.65006129e-04 9.99926851e-01 3.79357405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters 0.021348282431917276 Centerline is valid? [True, True] Translation: X:570.64, Y:7.09, Z:3.80 [[ 9.98655302e-01 -5.06895270e-02 -1.08701484e-02 5.70639785e+02] [ 5.06907541e-02 9.98714384e-01 -1.62776850e-04 7.08741734e+00] [ 1.08644246e-02 -3.88458054e-04 9.99940905e-01 3.79546487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.539254154 meters 0.02383940677065937 Centerline is valid? [True, True] Translation: X:570.70, Y:7.08, Z:3.80 [[ 9.98617542e-01 -5.18171274e-02 -8.83114716e-03 5.70700731e+02] [ 5.18179844e-02 9.98656537e-01 -1.31901114e-04 7.08430038e+00] [ 8.82611758e-03 -3.25893479e-04 9.99960996e-01 3.79720463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters 0.02378381409032043 Centerline is valid? [True, True] Translation: X:570.76, Y:7.09, Z:3.80 [[ 9.98634771e-01 -5.15095537e-02 -8.68099663e-03 5.70762437e+02] [ 5.15103779e-02 9.98672451e-01 -1.28768195e-04 7.08547151e+00] [ 8.67610497e-03 -3.18569020e-04 9.99962311e-01 3.79789252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.659254154 meters 0.023739964626942684 Centerline is valid? [True, True] Translation: X:570.82, Y:7.09, Z:3.80 [[ 9.98787706e-01 -4.85790016e-02 -7.94976071e-03 5.70822422e+02] [ 4.85796037e-02 9.98819307e-01 -1.17464177e-04 7.08733815e+00] [ 7.94608077e-03 -2.68874448e-04 9.99968393e-01 3.79839397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters 0.019829022529159298 Centerline is valid? [True, True] Translation: X:570.88, Y:7.10, Z:3.80 [[ 9.98958997e-01 -4.48619147e-02 -8.26621244e-03 5.70884005e+02] [ 4.48624403e-02 9.98993166e-01 -1.21929645e-04 7.09570091e+00] [ 8.26335974e-03 -2.49039745e-04 9.99965827e-01 3.79853181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.779254154 meters 0.02025243050049164 Centerline is valid? [True, True] Translation: X:570.94, Y:7.10, Z:3.80 [[ 9.99237582e-01 -3.80669195e-02 -8.66974322e-03 5.70943227e+02] [ 3.80672450e-02 9.99275172e-01 -1.27522285e-04 7.10043139e+00] [ 8.66831352e-03 -2.02608180e-04 9.99962409e-01 3.79818997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters 0.01805817112292914 Centerline is valid? [True, True] Translation: X:571.00, Y:7.10, Z:3.80 [[ 9.99331842e-01 -3.51038125e-02 -1.01779851e-02 5.71004712e+02] [ 3.51041075e-02 9.99383650e-01 -1.49726251e-04 7.10230951e+00] [ 1.01769679e-02 -2.07662873e-04 9.99948192e-01 3.79672538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.899254154 meters 0.017364004194504918 Centerline is valid? [True, True] Translation: X:571.07, Y:7.10, Z:3.80 [[ 9.99418009e-01 -3.21218685e-02 -1.14816894e-02 5.71066410e+02] [ 3.21220522e-02 9.99483940e-01 -1.68463611e-04 7.10301537e+00] [ 1.14811755e-02 -2.00449859e-04 9.99934069e-01 3.79567735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters 0.017405529930953817 Centerline is valid? [True, True] Translation: X:571.13, Y:7.10, Z:3.79 [[ 9.99419134e-01 -3.16113880e-02 -1.27324419e-02 5.71126917e+02] [ 3.16115803e-02 9.99500212e-01 -1.86201282e-04 7.10220042e+00] [ 1.27319645e-02 -2.16399487e-04 9.99918922e-01 3.79481714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.019254154 meters 0.01765633997174711 Centerline is valid? [True, True] Translation: X:571.19, Y:7.10, Z:3.79 [[ 9.99366172e-01 -3.29892137e-02 -1.33777847e-02 5.71187500e+02] [ 3.29895549e-02 9.99455677e-01 -1.95228618e-04 7.10062192e+00] [ 1.33769433e-02 -2.46222287e-04 9.99910494e-01 3.79467994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters 0.018110321690831967 Centerline is valid? [True, True] Translation: X:571.25, Y:7.10, Z:3.80 [[ 9.99203828e-01 -3.75786848e-02 -1.33997259e-02 5.71248361e+02] [ 3.75794395e-02 9.99293624e-01 -1.95548816e-04 7.09892194e+00] [ 1.33976091e-02 -3.08161063e-04 9.99910201e-01 3.79627047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.139254154 meters 0.01956158737501581 Centerline is valid? [True, True] Translation: X:571.31, Y:7.09, Z:3.80 [[ 9.98841788e-01 -4.65359422e-02 -1.22265372e-02 5.71309190e+02] [ 4.65372420e-02 9.98916540e-01 -1.78335945e-04 7.09127487e+00] [ 1.22215893e-02 -3.90859928e-04 9.99925237e-01 3.79817445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters 0.022748690979690456 Centerline is valid? [True, True] Translation: X:571.37, Y:7.08, Z:3.80 [[ 9.98458328e-01 -5.42872737e-02 -1.15697193e-02 5.71368387e+02] [ 5.42889574e-02 9.98525253e-01 -1.68722253e-04 7.08392350e+00] [ 1.15618164e-02 -4.59645860e-04 9.99933054e-01 3.79929558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.259254154 meters 0.02680350339079538 Centerline is valid? [True, True] Translation: X:571.43, Y:7.08, Z:3.80 [[ 9.97822118e-01 -6.51922690e-02 -1.00493457e-02 5.71429506e+02] [ 6.51940904e-02 9.97872592e-01 -1.46586505e-04 7.07614547e+00] [ 1.00375230e-02 -5.08890697e-04 9.99949493e-01 3.80161067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters 0.02921369440723839 Centerline is valid? [True, True] Translation: X:571.49, Y:7.07, Z:3.80 [[ 9.97420309e-01 -7.09930646e-02 -1.06165846e-02 5.71489857e+02] [ 7.09954262e-02 9.97476629e-01 -1.54740529e-04 7.07298394e+00] [ 1.06007805e-02 -5.99387604e-04 9.99943631e-01 3.80282557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.379254154 meters 0.033503135420650185 Centerline is valid? [True, True] Translation: X:571.55, Y:7.07, Z:3.80 [[ 9.97065589e-01 -7.56761648e-02 -1.15468389e-02 5.71550662e+02] [ 7.56792719e-02 9.97132198e-01 -1.68250636e-04 7.06942308e+00] [ 1.15264574e-02 -7.06099437e-04 9.99933319e-01 3.80263124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters 0.031172587947050707 Centerline is valid? [True, True] Translation: X:571.61, Y:7.07, Z:3.80 [[ 9.96946310e-01 -7.70827602e-02 -1.25021092e-02 5.71612269e+02] [ 7.70865174e-02 9.97024391e-01 -1.81808159e-04 7.07421723e+00] [ 1.24789221e-02 -7.82491088e-04 9.99921829e-01 3.80448127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.499254154 meters 0.02998218626184249 Centerline is valid? [True, True] Translation: X:571.67, Y:7.08, Z:3.81 [[ 9.97087466e-01 -7.50631378e-02 -1.34948665e-02 5.71673575e+02] [ 7.50673400e-02 9.97178448e-01 -1.95589678e-04 7.07866976e+00] [ 1.34714716e-02 -8.18003717e-04 9.99908921e-01 3.80502146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters 0.03277354147194881 Centerline is valid? [True, True] Translation: X:571.73, Y:7.08, Z:3.80 [[ 9.97437314e-01 -6.99074191e-02 -1.52235484e-02 5.71732727e+02] [ 6.99121706e-02 9.97553126e-01 -2.20502790e-04 7.07974196e+00] [ 1.52017131e-02 -8.44373603e-04 9.99884091e-01 3.80394911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.619254154 meters 0.026131000207197465 Centerline is valid? [True, True] Translation: X:571.79, Y:7.09, Z:3.81 [[ 9.97662171e-01 -6.63123791e-02 -1.65185012e-02 5.71793063e+02] [ 6.63174801e-02 9.97798544e-01 -2.39379036e-04 7.09272832e+00] [ 1.64980102e-02 -8.56645964e-04 9.99863532e-01 3.80502308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters 0.02492074985371386 Centerline is valid? [True, True] Translation: X:571.85, Y:7.10, Z:3.81 [[ 9.97936624e-01 -6.17759021e-02 -1.74994768e-02 5.71853728e+02] [ 6.17809347e-02 9.98089701e-01 -2.53396833e-04 7.09901878e+00] [ 1.74817014e-02 -8.28260053e-04 9.99846840e-01 3.80539668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.739254154 meters 0.025405744464998676 Centerline is valid? [True, True] Translation: X:571.91, Y:7.10, Z:3.81 [[ 9.98173494e-01 -5.79270758e-02 -1.71501954e-02 5.71913051e+02] [ 5.79313412e-02 9.98320539e-01 -2.48406751e-04 7.10266662e+00] [ 1.71357817e-02 -7.45580785e-04 9.99852894e-01 3.80636187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.799254154 meters 0.02293794921077798 Centerline is valid? [True, True] Translation: X:571.97, Y:7.11, Z:3.81 [[ 9.98363333e-01 -5.45979745e-02 -1.70210899e-02 5.71974119e+02] [ 5.46016972e-02 9.98508184e-01 -2.46281152e-04 7.10923057e+00] [ 1.70091440e-02 -6.83502327e-04 9.99855100e-01 3.80799235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.859254154 meters 0.020392588879711567 Centerline is valid? [True, True] Translation: X:572.03, Y:7.12, Z:3.81 [[ 9.98691696e-01 -4.81352071e-02 -1.72597272e-02 5.72034742e+02] [ 4.81380785e-02 9.98840660e-01 -2.49294613e-04 7.11646913e+00] [ 1.72517171e-02 -5.81881642e-04 9.99851009e-01 3.80899398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.919254154 meters 0.019597127446670103 Centerline is valid? [True, True] Translation: X:572.09, Y:7.12, Z:3.81 [[ 9.99028511e-01 -4.02655966e-02 -1.79085638e-02 5.72094993e+02] [ 4.02674267e-02 9.99188905e-01 -2.58539870e-04 7.12167563e+00] [ 1.79044485e-02 -4.62843078e-04 9.99839595e-01 3.80794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters 0.01675253323249473 Centerline is valid? [True, True] Translation: X:572.16, Y:7.13, Z:3.81 [[ 9.99196560e-01 -3.55388938e-02 -1.85262381e-02 5.72155467e+02] [ 3.55400402e-02 9.99368217e-01 -2.67457024e-04 7.12911552e+00] [ 1.85240386e-02 -3.91181107e-04 9.99828339e-01 3.80886258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.039254154 meters 0.01576095965248576 Centerline is valid? [True, True] Translation: X:572.22, Y:7.13, Z:3.81 [[ 9.99281710e-01 -3.30719675e-02 -1.85016067e-02 5.72215123e+02] [ 3.30726802e-02 9.99452913e-01 -2.67535198e-04 7.13233943e+00] [ 1.85003326e-02 -3.44554692e-04 9.99828795e-01 3.80926871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters 0.016016099243589724 Centerline is valid? [True, True] Translation: X:572.27, Y:7.13, Z:3.81 [[ 9.99250033e-01 -3.42905002e-02 -1.79870136e-02 5.72274345e+02] [ 3.42913594e-02 9.99411844e-01 -2.60745305e-04 7.13154154e+00] [ 1.79853756e-02 -3.56249394e-04 9.99838187e-01 3.80943955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.159254154 meters 0.016579133778006974 Centerline is valid? [True, True] Translation: X:572.33, Y:7.13, Z:3.81 [[ 9.99088316e-01 -3.93673399e-02 -1.65151540e-02 5.72334305e+02] [ 3.93687475e-02 9.99224722e-01 -2.39999423e-04 7.12902257e+00] [ 1.65117983e-02 -4.10400310e-04 9.99863587e-01 3.81015855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters 0.019522364259040036 Centerline is valid? [True, True] Translation: X:572.39, Y:7.12, Z:3.81 [[ 9.98744325e-01 -4.73287369e-02 -1.64244863e-02 5.72394575e+02] [ 4.73312009e-02 9.98879222e-01 -2.38887104e-04 7.12150481e+00] [ 1.64173843e-02 -5.38803523e-04 9.99865080e-01 3.80992668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.279254154 meters 0.020910001455943045 Centerline is valid? [True, True] Translation: X:572.46, Y:7.12, Z:3.81 [[ 9.98455067e-01 -5.31370200e-02 -1.62461150e-02 5.72455650e+02] [ 5.31402017e-02 9.98587033e-01 -2.36086523e-04 7.11788818e+00] [ 1.62357048e-02 -6.27600046e-04 9.99867995e-01 3.81008074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters 0.024431492130031696 Centerline is valid? [True, True] Translation: X:572.52, Y:7.11, Z:3.81 [[ 9.97949343e-01 -6.17065344e-02 -1.70121277e-02 5.72516478e+02] [ 6.17112694e-02 9.98094013e-01 -2.46989763e-04 7.11254219e+00] [ 1.69949437e-02 -8.03356725e-04 9.99855253e-01 3.81034441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.399254154 meters 0.02800260578675415 Centerline is valid? [True, True] Translation: X:572.58, Y:7.11, Z:3.81 [[ 9.97587548e-01 -6.77182401e-02 -1.52749606e-02 5.72576197e+02] [ 6.77227587e-02 9.97704154e-01 -2.21841423e-04 7.10527172e+00] [ 1.52549143e-02 -8.13156229e-04 9.99883306e-01 3.81102393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters 0.026153851443901113 Centerline is valid? [True, True] Translation: X:572.64, Y:7.11, Z:3.81 [[ 9.97526675e-01 -6.87073724e-02 -1.48266409e-02 5.72637860e+02] [ 6.87117439e-02 9.97636532e-01 -2.14970696e-04 7.10855812e+00] [ 1.48063687e-02 -8.04325347e-04 9.99890056e-01 3.81255061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.519254154 meters 0.027176839308031782 Centerline is valid? [True, True] Translation: X:572.70, Y:7.11, Z:3.81 [[ 9.97542512e-01 -6.85213180e-02 -1.46207442e-02 5.72700535e+02] [ 6.85255630e-02 9.97649339e-01 -2.11025140e-04 7.10825710e+00] [ 1.46008355e-02 -7.91388180e-04 9.99893089e-01 3.81304698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters 0.02628333288224331 Centerline is valid? [True, True] Translation: X:572.76, Y:7.11, Z:3.81 [[ 9.97745293e-01 -6.56390281e-02 -1.39945759e-02 5.72761909e+02] [ 6.56426448e-02 9.97843175e-01 -2.01242913e-04 7.11205896e+00] [ 1.39776014e-02 -7.17851805e-04 9.99902051e-01 3.81389373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.639254154 meters 0.025177509513296975 Centerline is valid? [True, True] Translation: X:572.82, Y:7.12, Z:3.81 [[ 9.97977422e-01 -6.16738412e-02 -1.54078647e-02 5.72822371e+02] [ 6.16777582e-02 9.98096090e-01 -2.21293733e-04 7.11779125e+00] [ 1.53921776e-02 -7.29476406e-04 9.99881267e-01 3.81353991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters 0.02768537771908674 Centerline is valid? [True, True] Translation: X:572.88, Y:7.12, Z:3.81 [[ 9.98094598e-01 -5.93064007e-02 -1.70271515e-02 5.72883187e+02] [ 5.93108471e-02 9.98239532e-01 -2.44173578e-04 7.11742096e+00] [ 1.70116568e-02 -7.66186452e-04 9.99854998e-01 3.81253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.759254154 meters 0.025591459014058383 Centerline is valid? [True, True] Translation: X:572.94, Y:7.12, Z:3.81 [[ 9.98233216e-01 -5.71523022e-02 -1.62499523e-02 5.72943289e+02] [ 5.71560735e-02 9.98365228e-01 -2.32628228e-04 7.12217069e+00] [ 1.62366826e-02 -6.96566247e-04 9.99867934e-01 3.81335380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters 0.023276458868144435 Centerline is valid? [True, True] Translation: X:573.00, Y:7.13, Z:3.81 [[ 9.98322124e-01 -5.52848898e-02 -1.72197185e-02 5.73004666e+02] [ 5.52888560e-02 9.98470371e-01 -2.46012136e-04 7.12796742e+00] [ 1.72069795e-02 -7.06459178e-04 9.99851699e-01 3.81358521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.879254154 meters 0.020637939961572562 Centerline is valid? [True, True] Translation: X:573.07, Y:7.14, Z:3.81 [[ 9.98435141e-01 -5.30026735e-02 -1.78321661e-02 5.73065784e+02] [ 5.30065754e-02 9.98594131e-01 -2.54098818e-04 7.13519401e+00] [ 1.78205643e-02 -6.91520866e-04 9.99840962e-01 3.81408005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters 0.019408562912317243 Centerline is valid? [True, True] Translation: X:573.13, Y:7.14, Z:3.82 [[ 9.98637260e-01 -4.96039159e-02 -1.62195880e-02 5.73127497e+02] [ 4.96067084e-02 9.98768803e-01 -2.30357154e-04 7.14080044e+00] [ 1.62110451e-02 -5.74557134e-04 9.99868427e-01 3.81607438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.999254154 meters 0.0201642317623899 Centerline is valid? [True, True] Translation: X:573.19, Y:7.14, Z:3.82 [[ 9.98775749e-01 -4.69099984e-02 -1.56989128e-02 5.73188641e+02] [ 4.69122930e-02 9.98898988e-01 -2.22263341e-04 7.14317214e+00] [ 1.56920544e-02 -5.14480761e-04 9.99876740e-01 3.81725152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters 0.019050657653714834 Centerline is valid? [True, True] Translation: X:573.25, Y:7.14, Z:3.82 [[ 9.98846577e-01 -4.58183888e-02 -1.43593556e-02 5.73249603e+02] [ 4.58202030e-02 9.98949682e-01 -2.02792114e-04 7.14494027e+00] [ 1.43535653e-02 -4.55390380e-04 9.99896879e-01 3.81787536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.119254154 meters 0.02130160122794226 Centerline is valid? [True, True] Translation: X:573.31, Y:7.14, Z:3.82 [[ 9.98827717e-01 -4.61737851e-02 -1.45317802e-02 5.73310776e+02] [ 4.61756905e-02 9.98933313e-01 -2.04558032e-04 7.14382773e+00] [ 1.45257246e-02 -4.66696753e-04 9.99894387e-01 3.81735154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters 0.02161994745117802 Centerline is valid? [True, True] Translation: X:573.37, Y:7.14, Z:3.82 [[ 9.98703630e-01 -4.92153009e-02 -1.29966930e-02 5.73371780e+02] [ 4.92170903e-02 9.98788088e-01 -1.82318430e-04 7.14183123e+00] [ 1.29899150e-02 -4.57577336e-04 9.99915523e-01 3.81826857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.239254154 meters 0.023405208537078014 Centerline is valid? [True, True] Translation: X:573.43, Y:7.14, Z:3.82 [[ 9.98628567e-01 -5.07883602e-02 -1.27093707e-02 5.73432938e+02] [ 5.07902103e-02 9.98709329e-01 -1.77358996e-04 7.14009548e+00] [ 1.27019749e-02 -4.68395852e-04 9.99919217e-01 3.81834564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.299254154 meters 0.02258125389070165 Centerline is valid? [True, True] Translation: X:573.50, Y:7.14, Z:3.82 [[ 9.98554579e-01 -5.19462465e-02 -1.37963712e-02 5.73495019e+02] [ 5.19485543e-02 9.98649744e-01 -1.91284324e-04 7.14173473e+00] [ 1.37876790e-02 -5.25693699e-04 9.99904807e-01 3.81826195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.359254154 meters 0.023557740389289948 Centerline is valid? [True, True] Translation: X:573.56, Y:7.14, Z:3.82 [[ 9.98570539e-01 -5.13299233e-02 -1.49036136e-02 5.73556738e+02] [ 5.13325643e-02 9.98681594e-01 -2.05538030e-04 7.14299240e+00] [ 1.48945149e-02 -5.59796485e-04 9.99888914e-01 3.81789655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.419254154 meters 0.02228925328650653 Centerline is valid? [True, True] Translation: X:573.62, Y:7.15, Z:3.82 [[ 9.98650560e-01 -4.97901667e-02 -1.47647859e-02 5.73617835e+02] [ 4.97926017e-02 9.98759558e-01 -2.02869097e-04 7.14593509e+00] [ 1.47565720e-02 -5.32581767e-04 9.99890974e-01 3.81770574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters 0.021041137295014136 Centerline is valid? [True, True] Translation: X:573.68, Y:7.15, Z:3.82 [[ 9.98768865e-01 -4.74965895e-02 -1.43118342e-02 5.73679016e+02] [ 4.74986493e-02 9.98871283e-01 -1.96146393e-04 7.14995809e+00] [ 1.43049965e-02 -4.83887885e-04 9.99897561e-01 3.81843431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.539254154 meters 0.021512112536697055 Centerline is valid? [True, True] Translation: X:573.74, Y:7.15, Z:3.82 [[ 9.98843537e-01 -4.59973289e-02 -1.39940674e-02 5.73741150e+02] [ 4.59991617e-02 9.98941460e-01 -1.91046994e-04 7.15170990e+00] [ 1.39880418e-02 -4.52889315e-04 9.99902060e-01 3.81908212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters 0.021599661341178373 Centerline is valid? [True, True] Translation: X:573.80, Y:7.15, Z:3.82 [[ 9.98856166e-01 -4.57169234e-02 -1.40115497e-02 5.73802330e+02] [ 4.57187451e-02 9.98954333e-01 -1.90436927e-04 7.15394636e+00] [ 1.40056045e-02 -4.50371373e-04 9.99901815e-01 3.82029622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.659254154 meters 0.022255741424553825 Centerline is valid? [True, True] Translation: X:573.86, Y:7.15, Z:3.82 [[ 9.98817146e-01 -4.62698588e-02 -1.49468575e-02 5.73864070e+02] [ 4.62720035e-02 9.98928857e-01 -2.02499877e-04 7.15436089e+00] [ 1.49402169e-02 -4.89360693e-04 9.99888269e-01 3.82020514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters 0.02010671721037914 Centerline is valid? [True, True] Translation: X:573.93, Y:7.16, Z:3.82 [[ 9.98666286e-01 -4.88330050e-02 -1.67626657e-02 5.73925584e+02] [ 4.88360735e-02 9.98806781e-01 -2.26479838e-04 7.15873677e+00] [ 1.67537239e-02 -5.92444997e-04 9.99859471e-01 3.82174035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.779254154 meters 0.02177175146639788 Centerline is valid? [True, True] Translation: X:573.99, Y:7.16, Z:3.82 [[ 9.98504548e-01 -5.14679126e-02 -1.84315273e-02 5.73987130e+02] [ 5.14720837e-02 9.98674403e-01 -2.48337478e-04 7.15858916e+00] [ 1.84198759e-02 -7.00743014e-04 9.99830094e-01 3.82192509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters 0.021554910857120947 Centerline is valid? [True, True] Translation: X:574.05, Y:7.16, Z:3.82 [[ 9.98513294e-01 -5.09527594e-02 -1.93654001e-02 5.74048132e+02] [ 5.09572810e-02 9.98700800e-01 -2.60210796e-04 7.16145905e+00] [ 1.93534991e-02 -7.26984198e-04 9.99812439e-01 3.82270646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.899254154 meters 0.018955322464829037 Centerline is valid? [True, True] Translation: X:574.11, Y:7.17, Z:3.83 [[ 9.98776388e-01 -4.53620336e-02 -1.96980563e-02 5.74109220e+02] [ 4.53656353e-02 9.98970415e-01 -2.64197408e-04 7.16942038e+00] [ 1.96897600e-02 -6.29740704e-04 9.99805940e-01 3.82539282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters 0.016313610594546484 Centerline is valid? [True, True] Translation: X:574.17, Y:7.18, Z:3.83 [[ 9.99134363e-01 -3.74287590e-02 -1.81552476e-02 5.74169816e+02] [ 3.74305147e-02 9.99299203e-01 -2.43213448e-04 7.17794542e+00] [ 1.81516277e-02 -4.36557351e-04 9.99835150e-01 3.82875739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.019254154 meters 0.015309958480165156 Centerline is valid? [True, True] Translation: X:574.23, Y:7.18, Z:3.83 [[ 9.99292122e-01 -3.33877206e-02 -1.73353530e-02 5.74230607e+02] [ 3.33887185e-02 9.99442414e-01 -2.31935004e-04 7.18194753e+00] [ 1.73334309e-02 -3.47034400e-04 9.99849705e-01 3.83027650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters 0.015137058464462205 Centerline is valid? [True, True] Translation: X:574.29, Y:7.18, Z:3.83 [[ 9.99313182e-01 -3.16704753e-02 -1.92391681e-02 5.74291208e+02] [ 3.16713891e-02 9.99498303e-01 -2.57269946e-04 7.18209063e+00] [ 1.92376637e-02 -3.52237930e-04 9.99814877e-01 3.82946817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.139254154 meters 0.016079406371039228 Centerline is valid? [True, True] Translation: X:574.35, Y:7.18, Z:3.83 [[ 9.99194805e-01 -3.38650908e-02 -2.15150572e-02 5.74350213e+02] [ 3.38667251e-02 9.99426316e-01 -2.88499671e-04 7.17985206e+00] [ 2.15124844e-02 -4.40377155e-04 9.99768483e-01 3.82801260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters 0.017805838823582033 Centerline is valid? [True, True] Translation: X:574.41, Y:7.17, Z:3.83 [[ 9.98898175e-01 -3.99865260e-02 -2.45665130e-02 5.74410573e+02] [ 3.99904889e-02 9.99200006e-01 -3.30149463e-04 7.17494743e+00] [ 2.45600615e-02 -6.52641168e-04 9.99698143e-01 3.82736275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.259254154 meters 0.01876503229261088 Centerline is valid? [True, True] Translation: X:574.47, Y:7.17, Z:3.83 [[ 9.98566298e-01 -4.70257782e-02 -2.55719367e-02 5.74470680e+02] [ 4.70323652e-02 9.98893307e-01 -3.44136182e-04 7.17048848e+00] [ 2.55598197e-02 -8.59065872e-04 9.99672925e-01 3.82899524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters 0.022324043794246788 Centerline is valid? [True, True] Translation: X:574.53, Y:7.16, Z:3.83 [[ 9.98345175e-01 -5.18617454e-02 -2.48449213e-02 5.74528954e+02] [ 5.18694220e-02 9.98653819e-01 -3.35798814e-04 7.16367833e+00] [ 2.48288907e-02 -9.53448585e-04 9.99691261e-01 3.82876805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.379254154 meters 0.02483332686272786 Centerline is valid? [True, True] Translation: X:574.59, Y:7.16, Z:3.83 [[ 9.98098843e-01 -5.67476059e-02 -2.40501196e-02 5.74588770e+02] [ 5.67561957e-02 9.98388015e-01 -3.25835496e-04 7.15924324e+00] [ 2.40298416e-02 -1.03977726e-03 9.99710701e-01 3.82967409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters 0.025958053533568396 Centerline is valid? [True, True] Translation: X:574.65, Y:7.16, Z:3.83 [[ 9.97813767e-01 -6.17458007e-02 -2.35614666e-02 5.74648919e+02] [ 6.17554248e-02 9.98091261e-01 -3.19631829e-04 7.15772773e+00] [ 2.35362299e-02 -1.13611534e-03 9.99722339e-01 3.83146213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.499254154 meters 0.029729372977308526 Centerline is valid? [True, True] Translation: X:574.71, Y:7.15, Z:3.83 [[ 9.97341913e-01 -6.96193390e-02 -2.15001646e-02 5.74709196e+02] [ 6.96291724e-02 9.97572901e-01 -2.91809079e-04 7.15216739e+00] [ 2.14682972e-02 -1.20600525e-03 9.99768802e-01 3.83341225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters 0.03385773870993478 Centerline is valid? [True, True] Translation: X:574.77, Y:7.15, Z:3.83 [[ 9.97027002e-01 -7.40494587e-02 -2.13034159e-02 5.74769886e+02] [ 7.40601224e-02 9.97253736e-01 -2.89041733e-04 7.14813702e+00] [ 2.12663145e-02 -1.28955117e-03 9.99773015e-01 3.83397808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.619254154 meters 0.037008884662893274 Centerline is valid? [True, True] Translation: X:574.83, Y:7.14, Z:3.84 [[ 9.96631187e-01 -7.97479557e-02 -1.91452781e-02 5.74829769e+02] [ 7.97576116e-02 9.96814253e-01 -2.59899166e-04 7.14412891e+00] [ 1.91050125e-02 -1.26795804e-03 9.99816679e-01 3.83513187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters 0.03900161052305986 Centerline is valid? [True, True] Translation: X:574.89, Y:7.14, Z:3.83 [[ 9.96492537e-01 -8.15442817e-02 -1.87923831e-02 5.74891454e+02] [ 8.15539087e-02 9.96668899e-01 -2.54789750e-04 7.14252067e+00] [ 1.87505605e-02 -1.27869622e-03 9.99823375e-01 3.83465925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.739254154 meters 0.040107252557293464 Centerline is valid? [True, True] Translation: X:574.95, Y:7.14, Z:3.83 [[ 9.96625080e-01 -7.97275624e-02 -1.95439677e-02 5.74953342e+02] [ 7.97376449e-02 9.96815850e-01 -2.64082116e-04 7.14404540e+00] [ 1.95027914e-02 -1.29519910e-03 9.99808964e-01 3.83272066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.799254154 meters 0.0379093969898187 Centerline is valid? [True, True] Translation: X:575.01, Y:7.15, Z:3.83 [[ 9.97044639e-01 -7.40852276e-02 -2.03314472e-02 5.75012678e+02] [ 7.40949728e-02 9.97251152e-01 -2.74607965e-04 7.15289754e+00] [ 2.02959035e-02 -1.23266163e-03 9.99793257e-01 3.83159760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.859254154 meters 0.026014683384096206 Centerline is valid? [True, True] Translation: X:575.07, Y:7.17, Z:3.83 [[ 9.97455420e-01 -6.84525572e-02 -1.99231579e-02 5.75072730e+02] [ 6.84607922e-02 9.97653771e-01 -2.69211584e-04 7.17431293e+00] [ 1.98948418e-02 -1.09542862e-03 9.99801478e-01 3.83467719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.919254154 meters 0.023293376322040964 Centerline is valid? [True, True] Translation: X:575.13, Y:7.19, Z:3.84 [[ 9.98035878e-01 -5.99150429e-02 -1.82913519e-02 5.75133339e+02] [ 5.99205566e-02 9.98203119e-01 -2.46968960e-04 7.18504820e+00] [ 1.82732816e-02 -8.49544102e-04 9.99832669e-01 3.83585689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters 0.019674706584467697 Centerline is valid? [True, True] Translation: X:575.19, Y:7.20, Z:3.84 [[ 9.98568396e-01 -5.12875239e-02 -1.51904056e-02 5.75193424e+02] [ 5.12903318e-02 9.98683764e-01 -2.04931887e-04 7.19747769e+00] [ 1.51809218e-02 -5.74482436e-04 9.99884598e-01 3.83817989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.039254154 meters 0.017913636524852845 Centerline is valid? [True, True] Translation: X:575.25, Y:7.21, Z:3.84 [[ 9.98898374e-01 -4.49909972e-02 -1.33359687e-02 5.75253964e+02] [ 4.49926030e-02 9.98987304e-01 -1.79738873e-04 7.20596255e+00] [ 1.33305500e-02 -4.20479076e-04 9.99911056e-01 3.83916312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters 0.01580928020562501 Centerline is valid? [True, True] Translation: X:575.31, Y:7.21, Z:3.84 [[ 9.99238483e-01 -3.70861099e-02 -1.21274448e-02 5.75314894e+02] [ 3.70868589e-02 9.99312032e-01 -1.63206440e-04 7.21368803e+00] [ 1.21251542e-02 -2.86686677e-04 9.99926447e-01 3.83854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.159254154 meters 0.01525661013234702 Centerline is valid? [True, True] Translation: X:575.38, Y:7.22, Z:3.84 [[ 9.99372660e-01 -3.32135346e-02 -1.22942405e-02 5.75376592e+02] [ 3.32140171e-02 9.99448249e-01 -1.64980752e-04 7.21741871e+00] [ 1.22929367e-02 -2.43463861e-04 9.99924409e-01 3.83762898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters 0.014895130838984487 Centerline is valid? [True, True] Translation: X:575.44, Y:7.22, Z:3.84 [[ 9.99408568e-01 -3.21471551e-02 -1.22095931e-02 5.75438806e+02] [ 3.21475608e-02 9.99483120e-01 -1.63077049e-04 7.21915273e+00] [ 1.22085247e-02 -2.29528037e-04 9.99925447e-01 3.83770106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.279254154 meters 0.015452447652394915 Centerline is valid? [True, True] Translation: X:575.50, Y:7.22, Z:3.84 [[ 9.99401353e-01 -3.26288580e-02 -1.15018499e-02 5.75499675e+02] [ 3.26292583e-02 9.99467512e-01 -1.52901470e-04 7.21871992e+00] [ 1.15007143e-02 -2.22486896e-04 9.99933840e-01 3.83805151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters 0.01622505449672632 Centerline is valid? [True, True] Translation: X:575.56, Y:7.22, Z:3.84 [[ 9.99363425e-01 -3.40156200e-02 -1.07556097e-02 5.75561502e+02] [ 3.40160570e-02 9.99421276e-01 -1.42353683e-04 7.21691427e+00] [ 1.07542274e-02 -2.23600368e-04 9.99942147e-01 3.83749202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.399254154 meters 0.0176066293372513 Centerline is valid? [True, True] Translation: X:575.62, Y:7.21, Z:3.84 [[ 9.99324400e-01 -3.55184933e-02 -9.44351238e-03 5.75623292e+02] [ 3.55189030e-02 9.99368997e-01 -1.24377058e-04 7.21499714e+00] [ 9.44197118e-03 -2.11130172e-04 9.99955401e-01 3.83770108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters 0.017829806798391107 Centerline is valid? [True, True] Translation: X:575.69, Y:7.21, Z:3.84 [[ 9.99256088e-01 -3.76438182e-02 -8.37938497e-03 5.75685731e+02] [ 3.76442200e-02 9.99291199e-01 -1.09828226e-04 7.21305707e+00] [ 8.37758001e-03 -2.05688887e-04 9.99964886e-01 3.83906833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.519254154 meters 0.01888497151807803 Centerline is valid? [True, True] Translation: X:575.75, Y:7.21, Z:3.84 [[ 9.99188178e-01 -3.95259158e-02 -7.79021909e-03 5.75747549e+02] [ 3.95263240e-02 9.99218524e-01 -1.01613632e-04 7.21023168e+00] [ 7.78814760e-03 -2.06387584e-04 9.99969651e-01 3.83951731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters 0.017795691404132764 Centerline is valid? [True, True] Translation: X:575.81, Y:7.21, Z:3.84 [[ 9.99028442e-01 -4.34084828e-02 -7.60757900e-03 5.75809187e+02] [ 4.34089875e-02 9.99057381e-01 -9.88395695e-05 7.20891425e+00] [ 7.60469842e-03 -2.31493761e-04 9.99971057e-01 3.83909173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.639254154 meters 0.02457703174040198 Centerline is valid? [True, True] Translation: X:575.87, Y:7.20, Z:3.84 [[ 9.98840041e-01 -4.75788836e-02 -7.40423879e-03 5.75869721e+02] [ 4.75794792e-02 9.98867451e-01 -9.57935548e-05 7.19505906e+00] [ 7.40041088e-03 -2.56607387e-04 9.99972584e-01 3.83897763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters 0.020141807653305685 Centerline is valid? [True, True] Translation: X:575.93, Y:7.20, Z:3.84 [[ 9.98789519e-01 -4.87453425e-02 -6.58694074e-03 5.75932023e+02] [ 4.87458412e-02 9.98811211e-01 -8.49152820e-05 7.20025884e+00] [ 6.58324948e-03 -2.36273473e-04 9.99978302e-01 3.83953546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.759254154 meters 0.020719197266226983 Centerline is valid? [True, True] Translation: X:575.99, Y:7.20, Z:3.84 [[ 9.98819470e-01 -4.82085937e-02 -5.96636324e-03 5.75993341e+02] [ 4.82089957e-02 9.98837267e-01 -7.65063009e-05 7.19663538e+00] [ 5.96311421e-03 -2.11216396e-04 9.99982198e-01 3.83968681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters 0.020398876551459326 Centerline is valid? [True, True] Translation: X:576.06, Y:7.20, Z:3.84 [[ 9.98889030e-01 -4.67411532e-02 -5.99748358e-03 5.76055721e+02] [ 4.67415349e-02 9.98907014e-01 -7.65886494e-05 7.19652031e+00] [ 5.99450825e-03 -2.03828026e-04 9.99982012e-01 3.83972095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.879254154 meters 0.02124336041258689 Centerline is valid? [True, True] Translation: X:576.12, Y:7.20, Z:3.84 [[ 9.99010081e-01 -4.41305974e-02 -5.59888421e-03 5.76118103e+02] [ 4.41308911e-02 9.99025755e-01 -7.11279979e-05 7.19718999e+00] [ 5.59656845e-03 -1.76026163e-04 9.99984324e-01 3.83775290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters 0.020444903362208396 Centerline is valid? [True, True] Translation: X:576.18, Y:7.19, Z:3.84 [[ 9.99060338e-01 -4.28769041e-02 -6.32544710e-03 5.76178970e+02] [ 4.28772573e-02 9.99080344e-01 -7.98211976e-05 7.19408523e+00] [ 6.32305236e-03 -1.91471630e-04 9.99979991e-01 3.83892034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.999254154 meters 0.018117996731562613 Centerline is valid? [True, True] Translation: X:576.24, Y:7.20, Z:3.84 [[ 9.99229002e-01 -3.87646497e-02 -6.22116623e-03 5.76240813e+02] [ 3.87649138e-02 9.99248355e-01 -7.81718383e-05 7.19678278e+00] [ 6.21952043e-03 -1.63051405e-04 9.99980645e-01 3.83914985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters 0.016360185521829013 Centerline is valid? [True, True] Translation: X:576.30, Y:7.20, Z:3.84 [[ 9.99358642e-01 -3.52790349e-02 -6.13951368e-03 5.76303126e+02] [ 3.52792283e-02 9.99377491e-01 -7.68325261e-05 7.20019579e+00] [ 6.13840236e-03 -1.39814056e-04 9.99981150e-01 3.83961652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.119254154 meters 0.017075951258804324 Centerline is valid? [True, True] Translation: X:576.36, Y:7.20, Z:3.84 [[ 9.99390194e-01 -3.45409657e-02 -5.11495857e-03 5.76364808e+02] [ 3.45410914e-02 9.99403276e-01 -6.37966296e-05 7.19705899e+00] [ 5.11410996e-03 -1.12918526e-04 9.99986916e-01 3.84013253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters 0.018597700506005663 Centerline is valid? [True, True] Translation: X:576.43, Y:7.19, Z:3.84 [[ 9.99298745e-01 -3.72273352e-02 -4.01797267e-03 5.76426888e+02] [ 3.72274363e-02 9.99306818e-01 -4.96391205e-05 7.19374645e+00] [ 4.01703542e-03 -9.99745112e-05 9.99991927e-01 3.84007041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.239254154 meters 0.01995739051019615 Centerline is valid? [True, True] Translation: X:576.49, Y:7.18, Z:3.84 [[ 9.98914362e-01 -4.64481937e-02 -3.55860063e-03 5.76487534e+02] [ 4.64483329e-02 9.98920693e-01 -4.35446715e-05 7.18425455e+00] [ 3.55678237e-03 -1.21793669e-04 9.99993667e-01 3.84158057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.299254154 meters 0.02301680004992064 Centerline is valid? [True, True] Translation: X:576.55, Y:7.18, Z:3.84 [[ 9.98724093e-01 -5.03223645e-02 -4.22450374e-03 5.76547824e+02] [ 5.03225955e-02 9.98733014e-01 -5.16850033e-05 7.17816955e+00] [ 4.22175226e-03 -1.60968935e-04 9.99991075e-01 3.84211123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.359254154 meters 0.027810059158631092 Centerline is valid? [True, True] Translation: X:576.61, Y:7.17, Z:3.84 [[ 9.98032884e-01 -6.24629034e-02 -5.36181779e-03 5.76608269e+02] [ 6.24634509e-02 9.98047250e-01 -6.54484439e-05 7.16651962e+00] [ 5.35543560e-03 -2.69597944e-04 9.99985623e-01 3.84123836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.419254154 meters 0.028164710702687737 Centerline is valid? [True, True] Translation: X:576.67, Y:7.16, Z:3.84 [[ 9.97630093e-01 -6.84919650e-02 -6.56104850e-03 5.76668650e+02] [ 6.84929150e-02 9.97651600e-01 -8.00636889e-05 7.16361706e+00] [ 6.55112425e-03 -3.69511392e-04 9.99978473e-01 3.84154680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters 0.030834461107573593 Centerline is valid? [True, True] Translation: X:576.73, Y:7.16, Z:3.84 [[ 9.97385274e-01 -7.19564822e-02 -6.69926163e-03 5.76729755e+02] [ 7.19575506e-02 9.97407692e-01 -8.17303054e-05 7.15849928e+00] [ 6.68777610e-03 -4.00545855e-04 9.99977556e-01 3.84251150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.539254154 meters 0.030625547370843945 Centerline is valid? [True, True] Translation: X:576.79, Y:7.16, Z:3.84 [[ 9.97486973e-01 -7.04994089e-02 -7.04079960e-03 5.76792311e+02] [ 7.05005550e-02 9.97511736e-01 -8.55932775e-05 7.15894323e+00] [ 7.02931451e-03 -4.11002100e-04 9.99975210e-01 3.84205321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters 0.029951750222426347 Centerline is valid? [True, True] Translation: X:576.85, Y:7.16, Z:3.84 [[ 9.97805061e-01 -6.56511747e-02 -8.65934588e-03 5.76852163e+02] [ 6.56527326e-02 9.97842527e-01 -1.04540952e-04 7.16032960e+00] [ 8.64752681e-03 -4.64198228e-04 9.99962502e-01 3.84184957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.659254154 meters 0.02398427283150164 Centerline is valid? [True, True] Translation: X:576.91, Y:7.17, Z:3.84 [[ 9.98245683e-01 -5.82574688e-02 -1.05652459e-02 5.76912676e+02] [ 5.82593734e-02 9.98301472e-01 -1.27670055e-04 7.17238279e+00] [ 1.05547383e-02 -4.88078527e-04 9.99944178e-01 3.84152337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters 0.022391407439756192 Centerline is valid? [True, True] Translation: X:576.97, Y:7.18, Z:3.84 [[ 9.98647856e-01 -5.05290736e-02 -1.22177462e-02 5.76972479e+02] [ 5.05310418e-02 9.98722480e-01 -1.47745505e-04 7.17919030e+00] [ 1.22096032e-02 -4.69829710e-04 9.99925350e-01 3.84153386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.779254154 meters 0.02067383698669061 Centerline is valid? [True, True] Translation: X:577.03, Y:7.18, Z:3.84 [[ 9.98849117e-01 -4.63126955e-02 -1.24730266e-02 5.77034340e+02] [ 4.63144210e-02 9.98926900e-01 -1.50639064e-04 7.18471357e+00] [ 1.24666183e-02 -4.27215311e-04 9.99922197e-01 3.84201102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters 0.02015647060918533 Centerline is valid? [True, True] Translation: X:577.09, Y:7.19, Z:3.84 [[ 9.99117150e-01 -3.97633289e-02 -1.35572228e-02 5.77094960e+02] [ 3.97647723e-02 9.99209055e-01 -1.63185074e-04 7.19376151e+00] [ 1.35529886e-02 -3.76058873e-04 9.99908083e-01 3.84195527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.899254154 meters 0.018145230091956954 Centerline is valid? [True, True] Translation: X:577.16, Y:7.20, Z:3.84 [[ 9.99323351e-01 -3.37407619e-02 -1.46424363e-02 5.77156092e+02] [ 3.37418060e-02 9.99430568e-01 -1.75803212e-04 7.20183033e+00] [ 1.46400301e-02 -3.18377989e-04 9.99892778e-01 3.84218992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters 0.01734730021095272 Centerline is valid? [True, True] Translation: X:577.22, Y:7.21, Z:3.84 [[ 9.99414682e-01 -3.04483892e-02 -1.55945097e-02 5.77215583e+02] [ 3.04491745e-02 9.99536299e-01 -1.87131208e-04 7.20510960e+00] [ 1.55929764e-02 -2.87818271e-04 9.99878381e-01 3.84157074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.019254154 meters 0.016604172441083472 Centerline is valid? [True, True] Translation: X:577.28, Y:7.21, Z:3.84 [[ 9.99452478e-01 -2.82049318e-02 -1.72981724e-02 5.77276027e+02] [ 2.82055599e-02 9.99602122e-01 -2.07707658e-04 7.21018934e+00] [ 1.72971482e-02 -2.80310705e-04 9.99850354e-01 3.84243487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters 0.017288971731545057 Centerline is valid? [True, True] Translation: X:577.34, Y:7.21, Z:3.84 [[ 9.99426056e-01 -2.87870100e-02 -1.78568609e-02 5.77335094e+02] [ 2.87877583e-02 9.99585523e-01 -2.15197621e-04 7.21007344e+00] [ 1.78556545e-02 -2.98984885e-04 9.99840530e-01 3.84229855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.139254154 meters 0.016746648688547486 Centerline is valid? [True, True] Translation: X:577.39, Y:7.21, Z:3.85 [[ 9.99304953e-01 -3.25957823e-02 -1.80866488e-02 5.77393573e+02] [ 3.25971120e-02 9.99468548e-01 -2.21370248e-04 7.21064960e+00] [ 1.80842524e-02 -3.68356132e-04 9.99836399e-01 3.84551356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters 0.01806853140610224 Centerline is valid? [True, True] Translation: X:577.45, Y:7.21, Z:3.85 [[ 9.99059728e-01 -3.92551678e-02 -1.84036019e-02 5.77453403e+02] [ 3.92576370e-02 9.99229096e-01 -2.27222775e-04 7.20670396e+00] [ 1.83983341e-02 -4.95472797e-04 9.99830614e-01 3.84661060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.259254154 meters 0.020581639961534677 Centerline is valid? [True, True] Translation: X:577.51, Y:7.20, Z:3.85 [[ 9.98821567e-01 -4.47612156e-02 -1.87592759e-02 5.77513420e+02] [ 4.47647488e-02 9.98997529e-01 -2.31740797e-04 7.20122097e+00] [ 1.87508433e-02 -6.08286566e-04 9.99824002e-01 3.84586516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters 0.023703992787050873 Centerline is valid? [True, True] Translation: X:577.57, Y:7.20, Z:3.85 [[ 9.98409109e-01 -5.26368180e-02 -2.02142546e-02 5.77574075e+02] [ 5.26425300e-02 9.98613389e-01 -2.49815590e-04 7.19516246e+00] [ 2.01993748e-02 -8.14711344e-04 9.99795640e-01 3.84539213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.379254154 meters 0.02485897444958028 Centerline is valid? [True, True] Translation: X:577.63, Y:7.19, Z:3.85 [[ 9.98026136e-01 -5.92839571e-02 -2.07182358e-02 5.77634723e+02] [ 5.92913862e-02 9.98240685e-01 -2.56048628e-04 7.19268010e+00] [ 2.06969655e-02 -9.72869699e-04 9.99785322e-01 3.84622951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters 0.02496879598218727 Centerline is valid? [True, True] Translation: X:577.70, Y:7.19, Z:3.85 [[ 9.97752330e-01 -6.34638371e-02 -2.15088318e-02 5.77695775e+02] [ 6.34728193e-02 9.97983532e-01 -2.65518319e-04 7.19266333e+00] [ 2.14823108e-02 -1.10030468e-03 9.99768623e-01 3.84701220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.499254154 meters 0.030662302610088024 Centerline is valid? [True, True] Translation: X:577.76, Y:7.19, Z:3.85 [[ 9.97389270e-01 -6.90316446e-02 -2.11961563e-02 5.77755078e+02] [ 6.90416184e-02 9.97613746e-01 -2.61753972e-04 7.18527283e+00] [ 2.11636462e-02 -1.20234633e-03 9.99775302e-01 3.84589432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters 0.03217994571368163 Centerline is valid? [True, True] Translation: X:577.82, Y:7.19, Z:3.85 [[ 9.97092104e-01 -7.32455471e-02 -2.10339349e-02 5.77816139e+02] [ 7.32563041e-02 9.97313114e-01 -2.59684223e-04 7.18501547e+00] [ 2.09964398e-02 -1.28193924e-03 9.99778729e-01 3.84669886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.619254154 meters 0.032171484192499995 Centerline is valid? [True, True] Translation: X:577.88, Y:7.19, Z:3.85 [[ 9.96920058e-01 -7.53739969e-02 -2.16600492e-02 5.77876946e+02] [ 7.53859121e-02 9.97154398e-01 -2.67061564e-04 7.18703629e+00] [ 2.16185428e-02 -1.36662353e-03 9.99765358e-01 3.84729046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters 0.03423881710624199 Centerline is valid? [True, True] Translation: X:577.94, Y:7.19, Z:3.85 [[ 9.96832471e-01 -7.63030091e-02 -2.24248990e-02 5.77938291e+02] [ 7.63160512e-02 9.97083640e-01 -2.74881412e-04 7.18800647e+00] [ 2.23804742e-02 -1.43736902e-03 9.99748493e-01 3.84716828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.739254154 meters 0.03496747860022086 Centerline is valid? [True, True] Translation: X:578.00, Y:7.19, Z:3.85 [[ 9.97014571e-01 -7.40897180e-02 -2.17407188e-02 5.77998706e+02] [ 7.41014997e-02 9.97250670e-01 -2.64295462e-04 7.19188687e+00] [ 2.17005280e-02 -1.34751344e-03 9.99763608e-01 3.84791822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.799254154 meters 0.028507280433549827 Centerline is valid? [True, True] Translation: X:578.06, Y:7.21, Z:3.85 [[ 9.97330106e-01 -6.95195483e-02 -2.23537796e-02 5.78059036e+02] [ 6.95308802e-02 9.97579763e-01 -2.70843719e-04 7.20609491e+00] [ 2.23185071e-02 -1.28415738e-03 9.99750086e-01 3.84994769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.859254154 meters 0.030367506783926083 Centerline is valid? [True, True] Translation: X:578.12, Y:7.21, Z:3.85 [[ 9.97703486e-01 -6.38372131e-02 -2.26399031e-02 5.78118736e+02] [ 6.38473736e-02 9.97959637e-01 -2.74511357e-04 7.20789811e+00] [ 2.26112335e-02 -1.17161741e-03 9.99743647e-01 3.84842341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.919254154 meters 0.021761814432619035 Centerline is valid? [True, True] Translation: X:578.18, Y:7.23, Z:3.85 [[ 9.98407536e-01 -5.18055070e-02 -2.23289260e-02 5.78179401e+02] [ 5.18123848e-02 9.98656800e-01 -2.70785214e-04 7.22808097e+00] [ 2.23129619e-02 -8.86560906e-04 9.99750642e-01 3.85188266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters 0.01826310811401602 Centerline is valid? [True, True] Translation: X:578.24, Y:7.24, Z:3.85 [[ 9.99061336e-01 -3.80320279e-02 -2.07367430e-02 5.78239393e+02] [ 3.80349943e-02 9.99276376e-01 -2.51475080e-04 7.24179010e+00] [ 2.07313015e-02 -5.37482872e-04 9.99784939e-01 3.85383085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.039254154 meters 0.016360185999789837 Centerline is valid? [True, True] Translation: X:578.30, Y:7.25, Z:3.85 [[ 9.99367878e-01 -2.97844217e-02 -1.94096086e-02 5.78299056e+02] [ 2.97854607e-02 9.99556287e-01 -2.35620287e-04 7.24964762e+00] [ 1.94080141e-02 -3.42652789e-04 9.99811588e-01 3.85497118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters 0.014894013541913031 Centerline is valid? [True, True] Translation: X:578.36, Y:7.26, Z:3.86 [[ 9.99584192e-01 -2.19651376e-02 -1.86808844e-02 5.78358641e+02] [ 2.19647244e-02 9.99758721e-01 -2.27321726e-04 7.25693949e+00] [ 1.86813703e-02 -1.83093273e-04 9.99825471e-01 3.85537498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.159254154 meters 0.014461795574886855 Centerline is valid? [True, True] Translation: X:578.42, Y:7.26, Z:3.86 [[ 9.99607142e-01 -2.02598036e-02 -1.93675468e-02 5.78416328e+02] [ 2.02589610e-02 9.99794737e-01 -2.39725183e-04 7.25981051e+00] [ 1.93684282e-02 -1.52735371e-04 9.99812403e-01 3.85588040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters 0.015363924098815129 Centerline is valid? [True, True] Translation: X:578.48, Y:7.26, Z:3.86 [[ 9.99573675e-01 -2.07216110e-02 -2.05689915e-02 5.78475356e+02] [ 2.07206407e-02 9.99785271e-01 -2.60317161e-04 7.25941435e+00] [ 2.05699690e-02 -1.65996503e-04 9.99788402e-01 3.85508743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.279254154 meters 0.014440623882394242 Centerline is valid? [True, True] Translation: X:578.53, Y:7.26, Z:3.86 [[ 9.99511306e-01 -2.50808907e-02 -1.86573644e-02 5.78534066e+02] [ 2.50807638e-02 9.99685399e-01 -2.40827824e-04 7.25610815e+00] [ 1.86575349e-02 -2.27230816e-04 9.99825907e-01 3.85677515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters 0.014902584710230577 Centerline is valid? [True, True] Translation: X:578.59, Y:7.25, Z:3.86 [[ 9.99432664e-01 -2.86297461e-02 -1.77394579e-02 5.78592770e+02] [ 2.86301097e-02 9.99590047e-01 -2.33519671e-04 7.25232999e+00] [ 1.77388712e-02 -2.74495438e-04 9.99842616e-01 3.85731931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.399254154 meters 0.01579922217048586 Centerline is valid? [True, True] Translation: X:578.65, Y:7.25, Z:3.86 [[ 9.99307924e-01 -3.24774569e-02 -1.81352659e-02 5.78652334e+02] [ 3.24784302e-02 9.99472408e-01 -2.40931948e-04 7.24706863e+00] [ 1.81335228e-02 -3.48239765e-04 9.99835514e-01 3.85737642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters 0.01617295785685112 Centerline is valid? [True, True] Translation: X:578.71, Y:7.24, Z:3.86 [[ 9.99273555e-01 -3.39019290e-02 -1.74075267e-02 5.78712889e+02] [ 3.39030376e-02 9.99425100e-01 -2.31499224e-04 7.24312652e+00] [ 1.74053674e-02 -3.58836979e-04 9.99848451e-01 3.85724732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.519254154 meters 0.017139148727226293 Centerline is valid? [True, True] Translation: X:578.77, Y:7.24, Z:3.86 [[ 9.99255347e-01 -3.48913734e-02 -1.64724806e-02 5.78773835e+02] [ 3.48925004e-02 9.99391047e-01 -2.19064234e-04 7.23897111e+00] [ 1.64700931e-02 -3.55864931e-04 9.99864295e-01 3.85816391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters 0.016524357609759906 Centerline is valid? [True, True] Translation: X:578.84, Y:7.23, Z:3.86 [[ 9.99187905e-01 -3.71061153e-02 -1.57056152e-02 5.78835130e+02] [ 3.71074184e-02 9.99311261e-01 -2.08535823e-04 7.23380227e+00] [ 1.57025360e-02 -3.74428361e-04 9.99876637e-01 3.85930325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.639254154 meters 0.017195937611984673 Centerline is valid? [True, True] Translation: X:578.90, Y:7.23, Z:3.86 [[ 9.99132365e-01 -3.84459620e-02 -1.60133025e-02 5.78895159e+02] [ 3.84474953e-02 9.99260599e-01 -2.12202183e-04 7.22799375e+00] [ 1.60096205e-02 -4.03653303e-04 9.99871756e-01 3.85863591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters 0.01670408236431232 Centerline is valid? [True, True] Translation: X:578.96, Y:7.23, Z:3.86 [[ 9.99176079e-01 -3.75263359e-02 -1.54575671e-02 5.78955668e+02] [ 3.75276564e-02 9.99295568e-01 -2.04720795e-04 7.22611447e+00] [ 1.54543608e-02 -3.75534148e-04 9.99880504e-01 3.85907630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.759254154 meters 0.015574756883404187 Centerline is valid? [True, True] Translation: X:579.01, Y:7.22, Z:3.86 [[ 9.99384869e-01 -3.16461781e-02 -1.51130097e-02 5.79014939e+02] [ 3.16467661e-02 9.99499096e-01 -2.00308000e-04 7.22475977e+00] [ 1.51117786e-02 -2.78093100e-04 9.99885772e-01 3.85900644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters 0.014560573067193416 Centerline is valid? [True, True] Translation: X:579.08, Y:7.23, Z:3.86 [[ 9.99532769e-01 -2.63427067e-02 -1.55018217e-02 5.79076049e+02] [ 2.63426881e-02 9.99652950e-01 -2.05427581e-04 7.22608392e+00] [ 1.55018533e-02 -2.03028055e-04 9.99879818e-01 3.85926035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.879254154 meters 0.013652226527977422 Centerline is valid? [True, True] Translation: X:579.14, Y:7.23, Z:3.86 [[ 9.99672127e-01 -1.98114712e-02 -1.62216977e-02 5.79135616e+02] [ 1.98105875e-02 9.99803728e-01 -2.15179177e-04 7.22593773e+00] [ 1.62227769e-02 -1.06252737e-04 9.99868396e-01 3.85904253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters 0.015188878895345538 Centerline is valid? [True, True] Translation: X:579.19, Y:7.22, Z:3.86 [[ 9.99694620e-01 -1.68435149e-02 -1.80821001e-02 5.79193906e+02] [ 1.68418660e-02 9.99858136e-01 -2.43481633e-04 7.22287988e+00] [ 1.80836359e-02 -6.11290267e-05 9.99836476e-01 3.85912015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.999254154 meters 0.014291112646691318 Centerline is valid? [True, True] Translation: X:579.25, Y:7.22, Z:3.86 [[ 9.99638256e-01 -1.97817404e-02 -1.82219726e-02 5.79252038e+02] [ 1.97804888e-02 9.99804316e-01 -2.48938184e-04 7.21537873e+00] [ 1.82233312e-02 -1.11591391e-04 9.99833935e-01 3.85943444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters 0.014101173754118363 Centerline is valid? [True, True] Translation: X:579.31, Y:7.21, Z:3.86 [[ 9.99534015e-01 -2.51607618e-02 -1.72826236e-02 5.79310377e+02] [ 2.51604077e-02 9.99683399e-01 -2.37961733e-04 7.20890241e+00] [ 1.72831392e-02 -1.96987009e-04 9.99850616e-01 3.86146854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.119254154 meters 0.01609606397764048 Centerline is valid? [True, True] Translation: X:579.37, Y:7.20, Z:3.86 [[ 9.99175128e-01 -3.69025865e-02 -1.69488436e-02 5.79370602e+02] [ 3.69039194e-02 9.99318791e-01 -2.34222001e-04 7.19603164e+00] [ 1.69459413e-02 -3.91449961e-04 9.99856331e-01 3.86254481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters 0.01993305524788723 Centerline is valid? [True, True] Translation: X:579.43, Y:7.18, Z:3.86 [[ 9.98583880e-01 -5.07079054e-02 -1.60916923e-02 5.79430705e+02] [ 5.07108926e-02 9.98713350e-01 -2.22605150e-04 7.18215246e+00] [ 1.60822758e-02 -5.93734165e-04 9.99870496e-01 3.86277573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.239254154 meters 0.02484031717518422 Centerline is valid? [True, True] Translation: X:579.49, Y:7.17, Z:3.86 [[ 9.98100744e-01 -5.97373447e-02 -1.50450966e-02 5.79490731e+02] [ 5.97409767e-02 9.98213891e-01 -2.08308033e-04 7.17059807e+00] [ 1.50306682e-02 -6.90896365e-04 9.99886794e-01 3.86333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.299254154 meters 0.028642408596964226 Centerline is valid? [True, True] Translation: X:579.55, Y:7.16, Z:3.86 [[ 9.97388553e-01 -7.07575491e-02 -1.44721778e-02 5.79551222e+02] [ 7.07620650e-02 9.97493203e-01 -2.00430696e-04 7.16046248e+00] [ 1.44500810e-02 -8.24173908e-04 9.99895252e-01 3.86459811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.359254154 meters 0.03368895953455259 Centerline is valid? [True, True] Translation: X:579.61, Y:7.15, Z:3.86 [[ 9.96882854e-01 -7.76481540e-02 -1.39763881e-02 5.79611614e+02] [ 7.76530437e-02 9.96980425e-01 -1.93307474e-04 7.15006769e+00] [ 1.39491953e-02 -8.92604167e-04 9.99902307e-01 3.86458257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.419254154 meters 0.03162189963984308 Centerline is valid? [True, True] Translation: X:579.67, Y:7.15, Z:3.87 [[ 9.96682974e-01 -8.00129750e-02 -1.48651418e-02 5.79672699e+02] [ 8.00187737e-02 9.96793336e-01 -2.05232873e-04 7.15211761e+00] [ 1.48338956e-02 -9.84938306e-04 9.99889487e-01 3.86539467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters 0.03322248493699097 Centerline is valid? [True, True] Translation: X:579.73, Y:7.15, Z:3.87 [[ 9.96629090e-01 -8.06158345e-02 -1.52165735e-02 5.79734733e+02] [ 8.06219921e-02 9.96744727e-01 -2.09332302e-04 7.15021021e+00] [ 1.51839149e-02 -1.01816381e-03 9.99884199e-01 3.86507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.539254154 meters 0.03328670940533336 Centerline is valid? [True, True] Translation: X:579.80, Y:7.15, Z:3.86 [[ 9.96824317e-01 -7.82058631e-02 -1.50041603e-02 5.79795660e+02] [ 7.82115876e-02 9.96936761e-01 -2.05774155e-04 7.15277254e+00] [ 1.49742917e-02 -9.68378514e-04 9.99887410e-01 3.86491582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters 0.027849276250012354 Centerline is valid? [True, True] Translation: X:579.86, Y:7.16, Z:3.87 [[ 9.96998931e-01 -7.57891870e-02 -1.57838653e-02 5.79856769e+02] [ 7.57952279e-02 9.97123381e-01 -2.15991672e-04 7.16286453e+00] [ 1.57548309e-02 -9.80998198e-04 9.99875404e-01 3.86588543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.659254154 meters 0.02809148933089736 Centerline is valid? [True, True] Translation: X:579.92, Y:7.17, Z:3.87 [[ 9.97144488e-01 -7.38895731e-02 -1.55949361e-02 5.79918373e+02] [ 7.38952505e-02 9.97265986e-01 -2.12648711e-04 7.16742957e+00] [ 1.55680118e-02 -9.40350217e-04 9.99878369e-01 3.86577207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters 0.028519140268815243 Centerline is valid? [True, True] Translation: X:579.98, Y:7.17, Z:3.87 [[ 9.97205746e-01 -7.30994740e-02 -1.54002243e-02 5.79979447e+02] [ 7.31049274e-02 9.97324233e-01 -2.09294545e-04 7.17200280e+00] [ 1.53743162e-02 -9.17122553e-04 9.99881388e-01 3.86616216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.779254154 meters 0.029964427386122393 Centerline is valid? [True, True] Translation: X:580.04, Y:7.17, Z:3.87 [[ 9.97233394e-01 -7.30176547e-02 -1.39276560e-02 5.80040606e+02] [ 7.30221156e-02 9.97330304e-01 -1.88657325e-04 7.17396756e+00] [ 1.39042487e-02 -8.28891522e-04 9.99902988e-01 3.86704729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters 0.026954447293248612 Centerline is valid? [True, True] Translation: X:580.10, Y:7.18, Z:3.87 [[ 9.97267969e-01 -7.26955084e-02 -1.31134291e-02 5.80102523e+02] [ 7.26994461e-02 9.97353879e-01 -1.76791089e-04 7.18393651e+00] [ 1.30915813e-02 -7.77030940e-04 9.99914000e-01 3.86794570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.899254154 meters 0.02782678430247703 Centerline is valid? [True, True] Translation: X:580.16, Y:7.19, Z:3.87 [[ 9.97405050e-01 -7.07689904e-02 -1.32256023e-02 5.80163897e+02] [ 7.07728370e-02 9.97492443e-01 -1.77542595e-04 7.18839043e+00] [ 1.32050028e-02 -7.58931512e-04 9.99912522e-01 3.86727508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters 0.028865857871836507 Centerline is valid? [True, True] Translation: X:580.22, Y:7.19, Z:3.87 [[ 9.97578655e-01 -6.84550489e-02 -1.22773367e-02 5.80224049e+02] [ 6.84581930e-02 9.97653972e-01 -1.64475412e-04 7.19123543e+00] [ 1.22597929e-02 -6.76407126e-04 9.99924617e-01 3.86736302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.019254154 meters 0.02513222327745935 Centerline is valid? [True, True] Translation: X:580.28, Y:7.20, Z:3.87 [[ 9.97968704e-01 -6.26324635e-02 -1.16465160e-02 5.80284826e+02] [ 6.26348987e-02 9.98036495e-01 -1.55899483e-04 7.20242438e+00] [ 1.16334124e-02 -5.73895547e-04 9.99932165e-01 3.86780030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters 0.02331921573113254 Centerline is valid? [True, True] Translation: X:580.35, Y:7.21, Z:3.87 [[ 9.98229331e-01 -5.82493621e-02 -1.20505114e-02 5.80345207e+02] [ 5.82516506e-02 9.98301918e-01 -1.61298216e-04 7.20948793e+00] [ 1.20394442e-02 -5.40949570e-04 9.99927377e-01 3.86850736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.139254154 meters 0.02217856027023427 Centerline is valid? [True, True] Translation: X:580.41, Y:7.22, Z:3.87 [[ 9.98479859e-01 -5.39268503e-02 -1.13958724e-02 5.80405724e+02] [ 5.39286158e-02 9.98544782e-01 -1.52535758e-04 7.21517708e+00] [ 1.13875147e-02 -4.62259744e-04 9.99935053e-01 3.86889004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters 0.018813555984458913 Centerline is valid? [True, True] Translation: X:580.47, Y:7.23, Z:3.87 [[ 9.98785385e-01 -4.80503922e-02 -1.09047736e-02 5.80466223e+02] [ 4.80516598e-02 9.98844841e-01 -1.45883130e-04 7.22738350e+00] [ 1.08991866e-02 -3.78286532e-04 9.99940531e-01 3.87025049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.259254154 meters 0.01829348858412398 Centerline is valid? [True, True] Translation: X:580.53, Y:7.23, Z:3.87 [[ 9.98922853e-01 -4.49378280e-02 -1.15639804e-02 5.80528078e+02] [ 4.49390499e-02 9.98989719e-01 -1.54294690e-04 7.23234437e+00] [ 1.15592312e-02 -3.65545801e-04 9.99933123e-01 3.87009876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters 0.01774329153062026 Centerline is valid? [True, True] Translation: X:580.59, Y:7.24, Z:3.87 [[ 9.99028913e-01 -4.22906146e-02 -1.23586366e-02 5.80589879e+02] [ 4.22918167e-02 9.99105287e-01 -1.64179233e-04 7.23756872e+00] [ 1.23545224e-02 -3.58649392e-04 9.99923616e-01 3.86968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.379254154 meters 0.01901153359228442 Centerline is valid? [True, True] Translation: X:580.65, Y:7.24, Z:3.87 [[ 9.99060352e-01 -4.15000977e-02 -1.24962029e-02 5.80651522e+02] [ 4.15012736e-02 9.99138437e-01 -1.65310686e-04 7.23751388e+00] [ 1.24922970e-02 -3.53452982e-04 9.99921906e-01 3.86897314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters 0.017854648063892396 Centerline is valid? [True, True] Translation: X:580.71, Y:7.24, Z:3.87 [[ 9.99135385e-01 -3.94268115e-02 -1.31912700e-02 5.80712637e+02] [ 3.94279494e-02 9.99222401e-01 -1.73885209e-04 7.24367736e+00] [ 1.31878682e-02 -3.46369861e-04 9.99912976e-01 3.86925150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.499254154 meters 0.017312353821017593 Centerline is valid? [True, True] Translation: X:580.77, Y:7.25, Z:3.87 [[ 9.99229238e-01 -3.66981041e-02 -1.39348344e-02 5.80772626e+02] [ 3.66991141e-02 9.99326344e-01 -1.83306323e-04 7.24619289e+00] [ 1.39321741e-02 -3.28231040e-04 9.99902889e-01 3.86866556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters 0.017061056816876096 Centerline is valid? [True, True] Translation: X:580.83, Y:7.25, Z:3.87 [[ 9.99304392e-01 -3.47342065e-02 -1.35745201e-02 5.80833875e+02] [ 3.47349886e-02 9.99396542e-01 -1.78214347e-04 7.24834716e+00] [ 1.35725186e-02 -2.93420423e-04 9.99907846e-01 3.86938752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.619254154 meters 0.015956079123395434 Centerline is valid? [True, True] Translation: X:580.90, Y:7.25, Z:3.87 [[ 9.99339603e-01 -3.36965332e-02 -1.35978591e-02 5.80895639e+02] [ 3.36972302e-02 9.99432071e-01 -1.77914604e-04 7.25233046e+00] [ 1.35961316e-02 -2.80413079e-04 9.99907529e-01 3.87101726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters 0.016558536661150317 Centerline is valid? [True, True] Translation: X:580.96, Y:7.25, Z:3.87 [[ 9.99407694e-01 -3.13003762e-02 -1.43020102e-02 5.80955599e+02] [ 3.13009076e-02 9.99509989e-01 -1.86744603e-04 7.25212382e+00] [ 1.43008473e-02 -2.61031907e-04 9.99897704e-01 3.87000069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.739254154 meters 0.01498791574699206 Centerline is valid? [True, True] Translation: X:581.02, Y:7.26, Z:3.87 [[ 9.99514714e-01 -2.76669151e-02 -1.43135632e-02 5.81016314e+02] [ 2.76670748e-02 9.99617176e-01 -1.86895452e-04 7.25723373e+00] [ 1.43132544e-02 -2.09209668e-04 9.99897538e-01 3.87105273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.799254154 meters 0.01424215315207807 Centerline is valid? [True, True] Translation: X:581.08, Y:7.26, Z:3.87 [[ 9.99590720e-01 -2.47841904e-02 -1.42876084e-02 5.81076499e+02] [ 2.47840551e-02 9.99692811e-01 -1.86556556e-04 7.26025623e+00] [ 1.42878431e-02 -1.67624674e-04 9.99897910e-01 3.87259084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.859254154 meters 0.014408801467722748 Centerline is valid? [True, True] Translation: X:581.14, Y:7.26, Z:3.87 [[ 9.99597437e-01 -2.44086128e-02 -1.44631500e-02 5.81136559e+02] [ 2.44084308e-02 9.99702052e-01 -1.89128084e-04 7.26056571e+00] [ 1.44634571e-02 -1.63970848e-04 9.99895385e-01 3.87303334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.919254154 meters 0.014913884644410465 Centerline is valid? [True, True] Translation: X:581.20, Y:7.26, Z:3.87 [[ 9.99507100e-01 -2.73884684e-02 -1.53436606e-02 5.81196144e+02] [ 2.73886060e-02 9.99624842e-01 -2.01207080e-04 7.25728629e+00] [ 1.53434151e-02 -2.19133571e-04 9.99882259e-01 3.87293265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters 0.015840526051943492 Centerline is valid? [True, True] Translation: X:581.26, Y:7.25, Z:3.87 [[ 9.99398132e-01 -3.11790044e-02 -1.52067221e-02 5.81256089e+02] [ 3.11795699e-02 9.99513779e-01 -1.99949880e-04 7.25380230e+00] [ 1.52055625e-02 -2.74309517e-04 9.99884351e-01 3.87340090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.039254154 meters 0.0204454843030815 Centerline is valid? [True, True] Translation: X:581.32, Y:7.25, Z:3.87 [[ 9.99155630e-01 -3.81058427e-02 -1.53613586e-02 5.81315538e+02] [ 3.81072318e-02 9.99273635e-01 -2.02374311e-04 7.24507407e+00] [ 1.53579123e-02 -3.83175419e-04 9.99881987e-01 3.87267274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters 0.02034204201397925 Centerline is valid? [True, True] Translation: X:581.38, Y:7.24, Z:3.87 [[ 9.98823375e-01 -4.61566614e-02 -1.48804836e-02 5.81375978e+02] [ 4.61588567e-02 9.98934093e-01 -1.96069518e-04 7.24006076e+00] [ 1.48736722e-02 -4.91027290e-04 9.99889260e-01 3.87470335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.159254154 meters 0.02138016060786696 Centerline is valid? [True, True] Translation: X:581.44, Y:7.24, Z:3.88 [[ 9.98488230e-01 -5.28912197e-02 -1.49590924e-02 5.81436491e+02] [ 5.28941945e-02 9.98600103e-01 -1.96989080e-04 7.23631989e+00] [ 1.49485702e-02 -5.94557866e-04 9.99888087e-01 3.87564478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters 0.023569589624473062 Centerline is valid? [True, True] Translation: X:581.50, Y:7.23, Z:3.88 [[ 9.98277347e-01 -5.68201083e-02 -1.46223902e-02 5.81496183e+02] [ 5.68233718e-02 9.98384228e-01 -1.92517358e-04 7.23251676e+00] [ 1.46097026e-02 -6.38707796e-04 9.99893069e-01 3.87624053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.279254154 meters 0.02407503208616507 Centerline is valid? [True, True] Translation: X:581.56, Y:7.23, Z:3.88 [[ 9.97900970e-01 -6.30465119e-02 -1.47915739e-02 5.81556358e+02] [ 6.30505341e-02 9.98010317e-01 -1.94715262e-04 7.23061774e+00] [ 1.47744194e-02 -7.38310083e-04 9.99890580e-01 3.87740145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters 0.027534512307222002 Centerline is valid? [True, True] Translation: X:581.62, Y:7.23, Z:3.88 [[ 9.97583138e-01 -6.78701611e-02 -1.48836768e-02 5.81615673e+02] [ 6.78747674e-02 9.97693830e-01 -1.96020415e-04 7.22524840e+00] [ 1.48626564e-02 -8.14679437e-04 9.99889213e-01 3.87735613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.399254154 meters 0.030565308565816567 Centerline is valid? [True, True] Translation: X:581.68, Y:7.22, Z:3.88 [[ 9.97092640e-01 -7.46944377e-02 -1.50668079e-02 5.81676964e+02] [ 7.46999364e-02 9.97206037e-01 -1.98281878e-04 7.22247520e+00] [ 1.50395223e-02 -9.27784189e-04 9.99886470e-01 3.87775305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters 0.03113754680904566 Centerline is valid? [True, True] Translation: X:581.74, Y:7.22, Z:3.88 [[ 9.96765456e-01 -7.87719004e-02 -1.59252522e-02 5.81737553e+02] [ 7.87785657e-02 9.96892117e-01 -2.09329690e-04 7.22309886e+00] [ 1.58922476e-02 -1.04591592e-03 9.99873163e-01 3.87819489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.519254154 meters 0.03484813173628612 Centerline is valid? [True, True] Translation: X:581.80, Y:7.22, Z:3.88 [[ 9.96723800e-01 -7.91833132e-02 -1.64823947e-02 5.81798638e+02] [ 7.91905185e-02 9.96859476e-01 -2.16083839e-04 7.22159829e+00] [ 1.64477415e-02 -1.08987347e-03 9.99864133e-01 3.87852474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters 0.03478291229304668 Centerline is valid? [True, True] Translation: X:581.86, Y:7.23, Z:3.88 [[ 9.96781935e-01 -7.84206536e-02 -1.66124950e-02 5.81861031e+02] [ 7.84278857e-02 9.96919766e-01 -2.16705678e-04 7.22524763e+00] [ 1.65783188e-02 -1.08687455e-03 9.99861980e-01 3.87948139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.639254154 meters 0.03196272960427353 Centerline is valid? [True, True] Translation: X:581.92, Y:7.24, Z:3.88 [[ 9.96936664e-01 -7.61437392e-02 -1.78723209e-02 5.81922303e+02] [ 7.61517622e-02 9.97096212e-01 -2.32211679e-04 7.23508392e+00] [ 1.78381049e-02 -1.12950839e-03 9.99840250e-01 3.88040064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters 0.030016334151264354 Centerline is valid? [True, True] Translation: X:581.98, Y:7.24, Z:3.88 [[ 9.97153293e-01 -7.32056877e-02 -1.80620711e-02 5.81982787e+02] [ 7.32134063e-02 9.97316270e-01 -2.34427744e-04 7.24328446e+00] [ 1.80307588e-02 -1.08862535e-03 9.99836840e-01 3.88162156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.759254154 meters 0.027623391834656504 Centerline is valid? [True, True] Translation: X:582.04, Y:7.25, Z:3.88 [[ 9.97560042e-01 -6.77838454e-02 -1.67126298e-02 5.82043075e+02] [ 6.77896948e-02 9.97699609e-01 -2.16913026e-04 7.25465961e+00] [ 1.66888874e-02 -9.16560306e-04 9.99860311e-01 3.88475410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters 0.02639311807666154 Centerline is valid? [True, True] Translation: X:582.10, Y:7.27, Z:3.89 [[ 9.97993289e-01 -6.09106583e-02 -1.72999197e-02 5.82102927e+02] [ 6.09158958e-02 9.98142877e-01 -2.24541294e-04 7.26559181e+00] [ 1.72814685e-02 -8.29749399e-04 9.99850320e-01 3.88571836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.879254154 meters 0.02389388725569184 Centerline is valid? [True, True] Translation: X:582.16, Y:7.28, Z:3.89 [[ 9.98367258e-01 -5.39819645e-02 -1.86752740e-02 5.82163620e+02] [ 5.39868581e-02 9.98541617e-01 -2.42384039e-04 7.27781150e+00] [ 1.86611226e-02 -7.66231078e-04 9.99825572e-01 3.88537285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters 0.02230045435313585 Centerline is valid? [True, True] Translation: X:582.22, Y:7.29, Z:3.89 [[ 9.98615651e-01 -4.88579326e-02 -1.94855060e-02 5.82223959e+02] [ 4.88622862e-02 9.98805493e-01 -2.52892584e-04 7.28614977e+00] [ 1.94745863e-02 -6.99563880e-04 9.99810108e-01 3.88535988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.999254154 meters 0.01834615417748755 Centerline is valid? [True, True] Translation: X:582.28, Y:7.30, Z:3.89 [[ 9.98844939e-01 -4.35327427e-02 -2.03393278e-02 5.82284786e+02] [ 4.35363887e-02 9.99051807e-01 -2.63715556e-04 7.29775108e+00] [ 2.03315225e-02 -6.22089934e-04 9.99793100e-01 3.88735075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters 0.01685635430574211 Centerline is valid? [True, True] Translation: X:582.34, Y:7.31, Z:3.89 [[ 9.99125806e-01 -3.66041320e-02 -2.01930857e-02 5.82344971e+02] [ 3.66063140e-02 9.99329730e-01 -2.61693128e-04 7.30733485e+00] [ 2.01891300e-02 -4.77730079e-04 9.99796065e-01 3.88849992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.119254154 meters 0.015935620394347833 Centerline is valid? [True, True] Translation: X:582.41, Y:7.31, Z:3.89 [[ 9.99255240e-01 -3.29877593e-02 -2.00193223e-02 5.82405763e+02] [ 3.29891782e-02 9.99455675e-01 -2.59453924e-04 7.31238111e+00] [ 2.00169841e-02 -4.01160297e-04 9.99799560e-01 3.88850485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters 0.015946650646670425 Centerline is valid? [True, True] Translation: X:582.47, Y:7.32, Z:3.89 [[ 9.99297822e-01 -3.15311856e-02 -2.02397215e-02 5.82465710e+02] [ 3.15323371e-02 9.99502698e-01 -2.62316806e-04 7.31606612e+00] [ 2.02379274e-02 -3.76073109e-04 9.99795121e-01 3.88792079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.239254154 meters 0.015932316318100406 Centerline is valid? [True, True] Translation: X:582.53, Y:7.32, Z:3.89 [[ 9.99212021e-01 -3.40895660e-02 -2.03282810e-02 5.82525285e+02] [ 3.40912464e-02 9.99418690e-01 -2.63974847e-04 7.31893310e+00] [ 2.03254628e-02 -4.29249596e-04 9.99793324e-01 3.88908659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.299254154 meters 0.017449269372091285 Centerline is valid? [True, True] Translation: X:582.59, Y:7.32, Z:3.89 [[ 9.99024225e-01 -3.91193503e-02 -2.05005881e-02 5.82585114e+02] [ 3.91221123e-02 9.99234402e-01 -2.66465920e-04 7.31699983e+00] [ 2.04953169e-02 -5.35820401e-04 9.99789805e-01 3.88902191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.359254154 meters 0.02079109556064223 Centerline is valid? [True, True] Translation: X:582.65, Y:7.31, Z:3.89 [[ 9.98883460e-01 -4.27405131e-02 -2.01266451e-02 5.82645211e+02] [ 4.27439095e-02 9.99086027e-01 -2.61605422e-04 7.31229620e+00] [ 2.01194310e-02 -5.98978167e-04 9.99797404e-01 3.88832506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.419254154 meters 0.019200008253828147 Centerline is valid? [True, True] Translation: X:582.71, Y:7.32, Z:3.89 [[ 9.98846793e-01 -4.35986656e-02 -2.01057117e-02 5.82706628e+02] [ 4.36022384e-02 9.99048936e-01 -2.60845287e-04 7.31655246e+00] [ 2.00979624e-02 -6.16109554e-04 9.99797826e-01 3.89053883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters 0.018208090724362636 Centerline is valid? [True, True] Translation: X:582.77, Y:7.32, Z:3.89 [[ 9.98955858e-01 -4.16158178e-02 -1.88498739e-02 5.82768404e+02] [ 4.16186224e-02 9.99133540e-01 -2.43646085e-04 7.31939120e+00] [ 1.88436808e-02 -5.41114102e-04 9.99822296e-01 3.89198311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.539254154 meters 0.01671021872645955 Centerline is valid? [True, True] Translation: X:582.83, Y:7.32, Z:3.89 [[ 9.99219495e-01 -3.56004231e-02 -1.71175330e-02 5.82829254e+02] [ 3.56018627e-02 9.99366028e-01 -2.20722671e-04 7.32427691e+00] [ 1.71145388e-02 -3.88865664e-04 9.99853460e-01 3.89359773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters 0.01573393822715518 Centerline is valid? [True, True] Translation: X:582.89, Y:7.33, Z:3.89 [[ 9.99433558e-01 -2.93465136e-02 -1.64725413e-02 5.82888939e+02] [ 2.93469993e-02 9.99569262e-01 -2.12286696e-04 7.32911082e+00] [ 1.64716758e-02 -2.71253210e-04 9.99864296e-01 3.89445316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.659254154 meters 0.015006367504751778 Centerline is valid? [True, True] Translation: X:582.95, Y:7.33, Z:3.89 [[ 9.99507030e-01 -2.64279166e-02 -1.69488337e-02 5.82950144e+02] [ 2.64280178e-02 9.99650695e-01 -2.18043854e-04 7.33145425e+00] [ 1.69486758e-02 -2.29987714e-04 9.99856334e-01 3.89455756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters 0.015170590825406366 Centerline is valid? [True, True] Translation: X:583.01, Y:7.33, Z:3.89 [[ 9.99489118e-01 -2.66528836e-02 -1.76387733e-02 5.83011166e+02] [ 2.66530329e-02 9.99644719e-01 -2.26659949e-04 7.32892811e+00] [ 1.76385478e-02 -2.43582654e-04 9.99844399e-01 3.89334521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.779254154 meters 0.016150201347569094 Centerline is valid? [True, True] Translation: X:583.07, Y:7.32, Z:3.89 [[ 9.99342758e-01 -3.08433708e-02 -1.90457199e-02 5.83070455e+02] [ 3.08443014e-02 9.99524171e-01 -2.44963632e-04 7.32427191e+00] [ 1.90442129e-02 -3.42649293e-04 9.99818584e-01 3.89224657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters 0.016407261721980735 Centerline is valid? [True, True] Translation: X:583.13, Y:7.32, Z:3.89 [[ 9.99214787e-01 -3.44207981e-02 -1.96218725e-02 5.83130281e+02] [ 3.44224634e-02 9.99407339e-01 -2.52976958e-04 7.32249432e+00] [ 1.96189511e-02 -4.22654870e-04 9.99807441e-01 3.89231288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.899254154 meters 0.019453216057501225 Centerline is valid? [True, True] Translation: X:583.19, Y:7.32, Z:3.89 [[ 9.99025934e-01 -4.02070465e-02 -1.81817742e-02 5.83189956e+02] [ 4.02094256e-02 9.99191246e-01 -2.34848917e-04 7.31502666e+00] [ 1.81765122e-02 -4.96458539e-04 9.99834670e-01 3.89161891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters 0.022385440230682646 Centerline is valid? [True, True] Translation: X:583.25, Y:7.31, Z:3.89 [[ 9.98741951e-01 -4.79537982e-02 -1.46610956e-02 5.83251021e+02] [ 4.79561790e-02 9.98849423e-01 -1.89333207e-04 7.30978107e+00] [ 1.46533061e-02 -5.13995106e-04 9.99892502e-01 3.89407229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.019254154 meters 0.025387079680678753 Centerline is valid? [True, True] Translation: X:583.31, Y:7.31, Z:3.90 [[ 9.98273428e-01 -5.75189340e-02 -1.19052604e-02 5.83312525e+02] [ 5.75211857e-02 9.98344274e-01 -1.53478130e-04 7.30767054e+00] [ 1.18943764e-02 -5.31591553e-04 9.99929118e-01 3.89585612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters 0.026715171136052207 Centerline is valid? [True, True] Translation: X:583.37, Y:7.30, Z:3.90 [[ 9.97616288e-01 -6.83075843e-02 -9.78856777e-03 5.83373394e+02] [ 6.83096259e-02 9.97664162e-01 -1.26003854e-04 7.30354986e+00] [ 9.77431028e-03 -5.42949906e-04 9.99952083e-01 3.89740119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.139254154 meters 0.030599603144239814 Centerline is valid? [True, True] Translation: X:583.43, Y:7.30, Z:3.90 [[ 9.97265375e-01 -7.33020750e-02 -9.41155972e-03 5.83433039e+02] [ 7.33041837e-02 9.97309622e-01 -1.21181297e-04 7.29965662e+00] [ 9.39512191e-03 -5.69056791e-04 9.99955703e-01 3.89716307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters 0.031246841683242623 Centerline is valid? [True, True] Translation: X:583.49, Y:7.30, Z:3.90 [[ 9.96962730e-01 -7.72731274e-02 -9.70454928e-03 5.83494045e+02] [ 7.72755558e-02 9.97009766e-01 -1.25039701e-04 7.30193797e+00] [ 9.68519261e-03 -6.25264518e-04 9.99952902e-01 3.89701291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.259254154 meters 0.03148012345231382 Centerline is valid? [True, True] Translation: X:583.56, Y:7.31, Z:3.90 [[ 9.97030626e-01 -7.62908969e-02 -1.04704100e-02 5.83556648e+02] [ 7.62936757e-02 9.97085381e-01 -1.34354003e-04 7.30582226e+00] [ 1.04501427e-02 -6.64871007e-04 9.99945175e-01 3.89582775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters 0.033007541078124966 Centerline is valid? [True, True] Translation: X:583.62, Y:7.31, Z:3.90 [[ 9.97519832e-01 -6.95223913e-02 -1.09919145e-02 5.83616245e+02] [ 6.95250537e-02 9.97580196e-01 -1.40172937e-04 7.31180981e+00] [ 1.09750614e-02 -6.24388164e-04 9.99939577e-01 3.89571937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.379254154 meters 0.024608704019410683 Centerline is valid? [True, True] Translation: X:583.68, Y:7.33, Z:3.90 [[ 9.98283235e-01 -5.75262390e-02 -1.10142558e-02 5.83676801e+02] [ 5.75281821e-02 9.98343873e-01 -1.40593132e-04 7.33391285e+00] [ 1.10041026e-02 -4.93278346e-04 9.99939331e-01 3.89717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters 0.019310331196069307 Centerline is valid? [True, True] Translation: X:583.74, Y:7.35, Z:3.90 [[ 9.98938524e-01 -4.49382701e-02 -1.01181537e-02 5.83737615e+02] [ 4.49392653e-02 9.98989713e-01 -1.29095107e-04 7.35166399e+00] [ 1.01137327e-02 -3.25744316e-04 9.99948802e-01 3.89846130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.499254154 meters 0.01756808790193061 Centerline is valid? [True, True] Translation: X:583.80, Y:7.36, Z:3.90 [[ 9.99268879e-01 -3.70774853e-02 -9.32568243e-03 5.83797985e+02] [ 3.70779896e-02 9.99312368e-01 -1.18869683e-04 7.36123009e+00] [ 9.32367718e-03 -2.26994781e-04 9.99956508e-01 3.89951875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters 0.015276331377434811 Centerline is valid? [True, True] Translation: X:583.86, Y:7.37, Z:3.90 [[ 9.99586043e-01 -2.75530371e-02 -8.28083401e-03 5.83858827e+02] [ 2.75531081e-02 9.99620335e-01 -1.05523294e-04 7.37393284e+00] [ 8.28059756e-03 -1.22683103e-04 9.99965708e-01 3.90101981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.619254154 meters 0.014276887979218077 Centerline is valid? [True, True] Translation: X:583.92, Y:7.38, Z:3.90 [[ 9.99743563e-01 -2.08063253e-02 -8.93901863e-03 5.83921303e+02] [ 2.08061413e-02 9.99783522e-01 -1.13582615e-04 7.38213027e+00] [ 8.93944677e-03 -7.24329969e-05 9.99960040e-01 3.90064958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters 0.014003336607170602 Centerline is valid? [True, True] Translation: X:583.98, Y:7.39, Z:3.90 [[ 9.99796972e-01 -1.75890979e-02 -9.83049866e-03 5.83983404e+02] [ 1.75887286e-02 9.99845299e-01 -1.24025091e-04 7.38720355e+00] [ 9.83115936e-03 -4.89060629e-05 9.99951672e-01 3.90063178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.739254154 meters 0.013989077575268315 Centerline is valid? [True, True] Translation: X:584.04, Y:7.39, Z:3.90 [[ 9.99826056e-01 -1.57609418e-02 -9.97246921e-03 5.84044804e+02] [ 1.57604770e-02 9.99875788e-01 -1.25194905e-04 7.39082285e+00] [ 9.97320370e-03 -3.19977432e-05 9.99950266e-01 3.90089390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.799254154 meters 0.01414604890970357 Centerline is valid? [True, True] Translation: X:584.11, Y:7.39, Z:3.90 [[ 9.99791010e-01 -1.81944774e-02 -9.32188354e-03 5.84106600e+02] [ 1.81941801e-02 9.99834465e-01 -1.16705497e-04 7.39065436e+00] [ 9.32246384e-03 -5.29229211e-05 9.99956543e-01 3.90150592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.859254154 meters 0.014878212964843363 Centerline is valid? [True, True] Translation: X:584.17, Y:7.39, Z:3.90 [[ 9.99688654e-01 -2.37339760e-02 -7.70019681e-03 5.84167713e+02] [ 2.37339393e-02 9.99718306e-01 -9.61511596e-05 7.38757447e+00] [ 7.70030976e-03 -8.66347807e-05 9.99970348e-01 3.90283986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.919254154 meters 0.015210085384532435 Centerline is valid? [True, True] Translation: X:584.23, Y:7.39, Z:3.90 [[ 9.99638466e-01 -2.59771431e-02 -6.93718054e-03 5.84229839e+02] [ 2.59771697e-02 9.99662533e-01 -8.62855222e-05 7.38648257e+00] [ 6.93708092e-03 -9.39539888e-05 9.99975934e-01 3.90368822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters 0.017579101976953934 Centerline is valid? [True, True] Translation: X:584.29, Y:7.38, Z:3.91 [[ 9.99381977e-01 -3.48435679e-02 -4.64640680e-03 5.84290940e+02] [ 3.48436769e-02 9.99392773e-01 -5.75111829e-05 7.38065098e+00] [ 4.64558927e-03 -1.04422258e-04 9.99989204e-01 3.90536680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.039254154 meters 0.022208466896359882 Centerline is valid? [True, True] Translation: X:584.35, Y:7.37, Z:3.91 [[ 9.99018874e-01 -4.41827452e-02 -3.02903562e-03 5.84350786e+02] [ 4.41828348e-02 9.99023461e-01 -3.73610781e-05 7.37060962e+00] [ 3.02772837e-03 -9.65069583e-05 9.99995412e-01 3.90741499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters 0.02676508206096528 Centerline is valid? [True, True] Translation: X:584.41, Y:7.36, Z:3.91 [[ 9.98611461e-01 -5.26058835e-02 -2.78766006e-03 5.84411034e+02] [ 5.26059919e-02 9.98615346e-01 -3.45003981e-05 7.36207138e+00] [ 2.78561504e-03 -1.12195129e-04 9.99996114e-01 3.90761377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.159254154 meters 0.022828959194008 Centerline is valid? [True, True] Translation: X:584.47, Y:7.37, Z:3.91 [[ 9.98383558e-01 -5.67822282e-02 -2.45948987e-03 5.84471897e+02] [ 5.67823251e-02 9.98386582e-01 -3.04766756e-05 7.36747674e+00] [ 2.45725222e-03 -1.09228142e-04 9.99996975e-01 3.90675284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters 0.023390608439074614 Centerline is valid? [True, True] Translation: X:584.53, Y:7.37, Z:3.91 [[ 9.98272658e-01 -5.87150386e-02 -2.06000232e-03 5.84534173e+02] [ 5.87151102e-02 9.98274779e-01 -2.57719311e-05 7.36706001e+00] [ 2.05796156e-03 -9.52258491e-05 9.99997878e-01 3.90696587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.279254154 meters 0.025034941521527767 Centerline is valid? [True, True] Translation: X:584.60, Y:7.37, Z:3.91 [[ 9.98356697e-01 -5.72818422e-02 -1.64188974e-03 5.84595818e+02] [ 5.72818858e-02 9.98358045e-01 -2.05136400e-05 7.36742242e+00] [ 1.64036889e-03 -7.35706107e-05 9.99998652e-01 3.90808016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters 0.023574027401537034 Centerline is valid? [True, True] Translation: X:584.66, Y:7.37, Z:3.91 [[ 9.98570002e-01 -5.34254475e-02 -1.91620221e-03 5.84656024e+02] [ 5.34255009e-02 9.98571838e-01 -2.33599411e-05 7.37281108e+00] [ 1.91471357e-03 -7.90475262e-05 9.99998164e-01 3.90886372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.399254154 meters 0.020570972324039784 Centerline is valid? [True, True] Translation: X:584.72, Y:7.38, Z:3.91 [[ 9.98829797e-01 -4.83193449e-02 -2.06831946e-03 5.84717084e+02] [ 4.83193960e-02 9.98831935e-01 -2.53136433e-05 7.38103769e+00] [ 2.06712667e-03 -7.46559258e-05 9.99997861e-01 3.90918467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters 0.020720514106037844 Centerline is valid? [True, True] Translation: X:584.78, Y:7.38, Z:3.91 [[ 9.99015313e-01 -4.43064467e-02 -2.31135758e-03 5.84777733e+02] [ 4.43064997e-02 9.99017984e-01 -2.82891981e-05 7.38370003e+00] [ 2.31034119e-03 -7.41468219e-05 9.99997328e-01 3.90950465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.519254154 meters 0.017905059988597184 Centerline is valid? [True, True] Translation: X:584.84, Y:7.39, Z:3.91 [[ 9.99304371e-01 -3.70571669e-02 -4.18825327e-03 5.84838374e+02] [ 3.70572790e-02 9.99313142e-01 -5.08599403e-05 7.39188172e+00] [ 4.18726126e-03 -1.04380710e-04 9.99991228e-01 3.90804618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters 0.016501649500862307 Centerline is valid? [True, True] Translation: X:584.90, Y:7.40, Z:3.91 [[ 9.99573371e-01 -2.84030353e-02 -6.80757406e-03 5.84898927e+02] [ 2.84031321e-02 9.99596546e-01 -8.24701482e-05 7.40175383e+00] [ 6.80716992e-03 -1.10921461e-04 9.99976825e-01 3.90550497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.639254154 meters 0.014179478668528547 Centerline is valid? [True, True] Translation: X:584.96, Y:7.41, Z:3.91 [[ 9.99756832e-01 -2.05802252e-02 -7.92032131e-03 5.84960373e+02] [ 2.05801123e-02 9.99788202e-01 -9.57630803e-05 7.40897048e+00] [ 7.92061463e-03 -6.72613085e-05 9.99968629e-01 3.90533519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters 0.013816264532719582 Centerline is valid? [True, True] Translation: X:585.02, Y:7.41, Z:3.91 [[ 9.99838334e-01 -1.58776885e-02 -8.43832576e-03 5.85022246e+02] [ 1.58773961e-02 9.99873941e-01 -1.01642966e-04 7.41317292e+00] [ 8.43887589e-03 -3.23521068e-05 9.99964392e-01 3.90518833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.759254154 meters 0.014845768844313751 Centerline is valid? [True, True] Translation: X:585.08, Y:7.42, Z:3.90 [[ 9.99886002e-01 -9.94547684e-03 -1.13609363e-02 5.85084060e+02] [ 9.94457307e-03 9.99950542e-01 -1.36041033e-04 7.41729277e+00] [ 1.13617274e-02 2.30458636e-05 9.99935453e-01 3.90249884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters 0.014747696071919671 Centerline is valid? [True, True] Translation: X:585.14, Y:7.42, Z:3.90 [[ 9.99887875e-01 -7.82703685e-03 -1.27661383e-02 5.85142523e+02] [ 7.82570705e-03 9.99969367e-01 -1.54118095e-04 7.41764074e+00] [ 1.27669535e-02 5.41967564e-05 9.99918498e-01 3.90168874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.879254154 meters 0.013466927274632702 Centerline is valid? [True, True] Translation: X:585.20, Y:7.41, Z:3.90 [[ 9.99842169e-01 -1.00231883e-02 -1.46687598e-02 5.85201811e+02] [ 1.00216321e-02 9.99949766e-01 -1.79596424e-04 7.41361701e+00] [ 1.46698231e-02 3.25631645e-05 9.99892392e-01 3.90235285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters 0.013603936882668826 Centerline is valid? [True, True] Translation: X:585.26, Y:7.41, Z:3.90 [[ 9.99752668e-01 -1.24928520e-02 -1.83992173e-02 5.85259759e+02] [ 1.24907818e-02 9.99921961e-01 -2.27438315e-04 7.40786635e+00] [ 1.84006228e-02 -2.43854649e-06 9.99830694e-01 3.89978602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.999254154 meters 0.01595745074785427 Centerline is valid? [True, True] Translation: X:585.32, Y:7.40, Z:3.90 [[ 9.99690836e-01 -1.29188840e-02 -2.12446551e-02 5.85318167e+02] [ 1.29161193e-02 9.99916548e-01 -2.67354763e-04 7.40377711e+00] [ 2.12463361e-02 -7.12639278e-06 9.99774271e-01 3.89826711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters 0.01372433584401339 Centerline is valid? [True, True] Translation: X:585.38, Y:7.40, Z:3.90 [[ 9.99663739e-01 -1.33769370e-02 -2.22140921e-02 5.85377469e+02] [ 1.33739001e-02 9.99910525e-01 -2.85272851e-04 7.39670728e+00] [ 2.22159206e-02 -1.19121237e-05 9.99753196e-01 3.89859640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.119254154 meters 0.01365285544578217 Centerline is valid? [True, True] Translation: X:585.44, Y:7.39, Z:3.90 [[ 9.99638904e-01 -1.36339051e-02 -2.31555053e-02 5.85436380e+02] [ 1.36305360e-02 9.99907054e-01 -3.03329249e-04 7.38902071e+00] [ 2.31574887e-02 -1.24022322e-05 9.99731829e-01 3.89873285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.179254154 meters 0.013917706347102357 Centerline is valid? [True, True] Translation: X:585.49, Y:7.38, Z:3.90 [[ 9.99588875e-01 -1.56221287e-02 -2.40422690e-02 5.85494928e+02] [ 1.56189230e-02 9.99877966e-01 -3.21128859e-04 7.37937380e+00] [ 2.40443518e-02 -5.45175140e-05 9.99710891e-01 3.89855764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.239254154 meters 0.01472753047116626 Centerline is valid? [True, True] Translation: X:585.55, Y:7.37, Z:3.90 [[ 9.99539360e-01 -1.75226189e-02 -2.47795247e-02 5.85552456e+02] [ 1.75197138e-02 9.99846462e-01 -3.34347681e-04 7.37161018e+00] [ 2.47815787e-02 -9.99365136e-05 9.99692885e-01 3.89667070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.299254154 meters 0.01505771131676586 Centerline is valid? [True, True] Translation: X:585.61, Y:7.36, Z:3.90 [[ 9.99414745e-01 -2.25734969e-02 -2.57022464e-02 5.85611574e+02] [ 2.25719035e-02 9.99745160e-01 -3.52149861e-04 7.35879629e+00] [ 2.57036456e-02 -2.28204862e-04 9.99669581e-01 3.89603529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.359254154 meters 0.01634001429957177 Centerline is valid? [True, True] Translation: X:585.67, Y:7.35, Z:3.90 [[ 9.99293594e-01 -2.70041887e-02 -2.61359297e-02 5.85670854e+02] [ 2.70038814e-02 9.99635262e-01 -3.64767283e-04 7.34762343e+00] [ 2.61362472e-02 -3.41261938e-04 9.99658332e-01 3.89650278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.419254154 meters 0.014921357324755814 Centerline is valid? [True, True] Translation: X:585.73, Y:7.34, Z:3.90 [[ 9.99265144e-01 -2.80465231e-02 -2.61259335e-02 5.85729723e+02] [ 2.80463978e-02 9.99606553e-01 -3.71298575e-04 7.33835199e+00] [ 2.61260680e-02 -3.61712600e-04 9.99658591e-01 3.89793371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters 0.014623929663081058 Centerline is valid? [True, True] Translation: X:585.79, Y:7.33, Z:3.90 [[ 9.99379361e-01 -2.38509574e-02 -2.59234317e-02 5.85787978e+02] [ 2.38492538e-02 9.99715496e-01 -3.74936267e-04 7.33487393e+00] [ 2.59249990e-02 -2.43550936e-04 9.99663861e-01 3.89860541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.539254154 meters 0.014234301319776207 Centerline is valid? [True, True] Translation: X:585.85, Y:7.33, Z:3.90 [[ 9.99556778e-01 -1.71843921e-02 -2.43093374e-02 5.85846843e+02] [ 1.71807774e-02 9.99852336e-01 -3.57560419e-04 7.33473174e+00] [ 2.43118922e-02 -6.02513729e-05 9.99704420e-01 3.90173577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters 0.014850379802172138 Centerline is valid? [True, True] Translation: X:585.91, Y:7.33, Z:3.90 [[ 9.99625386e-01 -1.39087964e-02 -2.35718841e-02 5.85905982e+02] [ 1.39043453e-02 9.99903268e-01 -3.52724723e-04 7.33402461e+00] [ 2.35745099e-02 2.48409704e-05 9.99722082e-01 3.90466153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.659254154 meters 0.014259104053722443 Centerline is valid? [True, True] Translation: X:585.96, Y:7.33, Z:3.91 [[ 9.99641012e-01 -1.37894981e-02 -2.29716461e-02 5.85963564e+02] [ 1.37851482e-02 9.99904920e-01 -3.47707633e-04 7.33159233e+00] [ 2.29742566e-02 3.09152636e-05 9.99736056e-01 3.90519604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters 0.01698657846492777 Centerline is valid? [True, True] Translation: X:586.02, Y:7.33, Z:3.90 [[ 9.99572199e-01 -1.70057043e-02 -2.37954848e-02 5.86022221e+02] [ 1.70018272e-02 9.99855392e-01 -3.65251846e-04 7.32583429e+00] [ 2.37982552e-02 -3.94711300e-05 9.99716781e-01 3.90440486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.779254154 meters 0.014215682071963203 Centerline is valid? [True, True] Translation: X:586.08, Y:7.32, Z:3.91 [[ 9.99501417e-01 -2.33541889e-02 -2.12485196e-02 5.86081230e+02] [ 2.33524789e-02 9.99727240e-01 -3.28636150e-04 7.32091009e+00] [ 2.12503989e-02 -1.67733310e-04 9.99774171e-01 3.91031125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters 0.016695365568952323 Centerline is valid? [True, True] Translation: X:586.14, Y:7.32, Z:3.91 [[ 9.99451762e-01 -2.45884257e-02 -2.21717316e-02 5.86139552e+02] [ 2.45867682e-02 9.99697639e-01 -3.47395508e-04 7.32103537e+00] [ 2.21735697e-02 -1.97926173e-04 9.99754117e-01 3.91097632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.899254154 meters 0.01523695392459713 Centerline is valid? [True, True] Translation: X:586.20, Y:7.32, Z:3.91 [[ 9.99321745e-01 -3.13216210e-02 -1.93650664e-02 5.86197731e+02] [ 3.13215687e-02 9.99509312e-01 -3.06072310e-04 7.31668720e+00] [ 1.93651509e-02 -3.00679544e-04 9.99812433e-01 3.91407624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters 0.017321438648165623 Centerline is valid? [True, True] Translation: X:586.26, Y:7.31, Z:3.91 [[ 9.99041735e-01 -3.92478750e-02 -1.93704725e-02 5.86256760e+02] [ 3.92492867e-02 9.99229403e-01 -3.07438933e-04 7.31092028e+00] [ 1.93676120e-02 -4.53132903e-04 9.99812328e-01 3.91388316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.019254154 meters 0.01979364088027569 Centerline is valid? [True, True] Translation: X:586.32, Y:7.31, Z:3.92 [[ 9.98702452e-01 -4.72333726e-02 -1.90373382e-02 5.86317402e+02] [ 4.72361784e-02 9.98883703e-01 -3.02502846e-04 7.30748481e+00] [ 1.90303751e-02 -5.97140769e-04 9.99818728e-01 3.91502702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters 0.020976649534768087 Centerline is valid? [True, True] Translation: X:586.38, Y:7.31, Z:3.92 [[ 9.98497663e-01 -5.15266317e-02 -1.86393112e-02 5.86378288e+02] [ 5.15300724e-02 9.98671399e-01 -2.95963416e-04 7.30560339e+00] [ 1.86297970e-02 -6.64966275e-04 9.99826229e-01 3.91604701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.139254154 meters 0.02336703355521854 Centerline is valid? [True, True] Translation: X:586.44, Y:7.30, Z:3.92 [[ 9.98352760e-01 -5.47588300e-02 -1.71241671e-02 5.86438730e+02] [ 5.47622136e-02 9.98499387e-01 -2.71609581e-04 7.30376434e+00] [ 1.71133433e-02 -6.66595120e-04 9.99853334e-01 3.91743992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters 0.02203495170978489 Centerline is valid? [True, True] Translation: X:586.50, Y:7.31, Z:3.92 [[ 9.98549463e-01 -5.13469379e-02 -1.62007069e-02 5.86500029e+02] [ 5.13495251e-02 9.98680710e-01 -2.56513031e-04 7.30940153e+00] [ 1.61925046e-02 -5.75757656e-04 9.99868727e-01 3.91908643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.259254154 meters 0.020307344046628047 Centerline is valid? [True, True] Translation: X:586.56, Y:7.32, Z:3.92 [[ 9.98778837e-01 -4.64681498e-02 -1.67793127e-02 5.86560730e+02] [ 4.64702445e-02 9.98919639e-01 -2.65251341e-04 7.31618891e+00] [ 1.67735107e-02 -5.14811336e-04 9.99859182e-01 3.91876889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters 0.01667934492183078 Centerline is valid? [True, True] Translation: X:586.62, Y:7.33, Z:3.92 [[ 9.99086016e-01 -3.94336655e-02 -1.64960045e-02 5.86621158e+02] [ 3.94347335e-02 9.99222114e-01 -2.60657178e-04 7.32583864e+00] [ 1.64934512e-02 -3.90096600e-04 9.99863898e-01 3.91966020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.379254154 meters 0.015845942215755738 Centerline is valid? [True, True] Translation: X:586.68, Y:7.33, Z:3.92 [[ 9.99201643e-01 -3.67811491e-02 -1.55956438e-02 5.86682652e+02] [ 3.67817859e-02 9.99323291e-01 -2.46099610e-04 7.33044807e+00] [ 1.55941419e-02 -3.27732497e-04 9.99878350e-01 3.92019753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters 0.017213132687522482 Centerline is valid? [True, True] Translation: X:586.74, Y:7.33, Z:3.92 [[ 9.99121637e-01 -3.88299701e-02 -1.57539822e-02 5.86743235e+02] [ 3.88308858e-02 9.99245766e-01 -2.47870727e-04 7.33028232e+00] [ 1.57517249e-02 -3.64088079e-04 9.99875868e-01 3.91839534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.499254154 meters 0.018078827938474033 Centerline is valid? [True, True] Translation: X:586.80, Y:7.33, Z:3.92 [[ 9.99033896e-01 -4.11445140e-02 -1.54403420e-02 5.86804914e+02] [ 4.11456800e-02 9.99153129e-01 -2.42281376e-04 7.32857572e+00] [ 1.54372346e-02 -3.93256066e-04 9.99880761e-01 3.91716482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters 0.01749571913380371 Centerline is valid? [True, True] Translation: X:586.87, Y:7.33, Z:3.92 [[ 9.99006195e-01 -4.25854338e-02 -1.31568832e-02 5.86866424e+02] [ 4.25864109e-02 9.99092766e-01 -2.06010998e-04 7.32968188e+00] [ 1.31537199e-02 -3.54498171e-04 9.99913423e-01 3.91766177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.619254154 meters 0.016777972001283045 Centerline is valid? [True, True] Translation: X:586.93, Y:7.33, Z:3.92 [[ 9.99096758e-01 -4.10007158e-02 -1.11628344e-02 5.86928425e+02] [ 4.10013264e-02 9.99159077e-01 -1.74244719e-04 7.33270854e+00] [ 1.11605915e-02 -2.83603685e-04 9.99937678e-01 3.91791158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.679254154 meters 0.01636002271344117 Centerline is valid? [True, True] Translation: X:586.99, Y:7.33, Z:3.92 [[ 9.99227899e-01 -3.81607762e-02 -9.34673665e-03 5.86989875e+02] [ 3.81610854e-02 9.99271590e-01 -1.45329195e-04 7.33393325e+00] [ 9.34547426e-03 -2.11464629e-04 9.99956308e-01 3.91752343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.739254154 meters 0.015773602493744814 Centerline is valid? [True, True] Translation: X:587.05, Y:7.34, Z:3.92 [[ 9.99344965e-01 -3.53445776e-02 -7.77183759e-03 5.87052004e+02] [ 3.53447092e-02 9.99375173e-01 -1.20454222e-04 7.33608839e+00] [ 7.77123894e-03 -1.54318019e-04 9.99969792e-01 3.91751760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.799254154 meters 0.015287093639595848 Centerline is valid? [True, True] Translation: X:587.11, Y:7.34, Z:3.92 [[ 9.99514347e-01 -3.06201402e-02 -5.78596680e-03 5.87112146e+02] [ 3.06201361e-02 9.99531090e-01 -8.93232737e-05 7.33767420e+00] [ 5.78598879e-03 -8.78871974e-05 9.99983257e-01 3.91804690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.859254154 meters 0.01404179929179118 Centerline is valid? [True, True] Translation: X:587.17, Y:7.34, Z:3.92 [[ 9.99667045e-01 -2.51614988e-02 -5.71826467e-03 5.87174323e+02] [ 2.51614057e-02 9.99683398e-01 -8.82332896e-05 7.34295815e+00] [ 5.71867434e-03 -5.56756651e-05 9.99983647e-01 3.91658779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.919254154 meters 0.014125702349238224 Centerline is valid? [True, True] Translation: X:587.24, Y:7.34, Z:3.92 [[ 9.99720723e-01 -2.26248097e-02 -6.82598050e-03 5.87235213e+02] [ 2.26246222e-02 9.99744025e-01 -1.04704063e-04 7.34432466e+00] [ 6.82660213e-03 -4.97604079e-05 9.99976697e-01 3.91558576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters 0.01574196419034071 Centerline is valid? [True, True] Translation: X:587.30, Y:7.34, Z:3.91 [[ 9.99721636e-01 -2.18866354e-02 -8.81049509e-03 5.87296351e+02] [ 2.18863053e-02 9.99760457e-01 -1.33895221e-04 7.34373966e+00] [ 8.81131511e-03 -5.89712358e-05 9.99961178e-01 3.91311286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.039254154 meters 0.014603217403704648 Centerline is valid? [True, True] Translation: X:587.36, Y:7.34, Z:3.91 [[ 9.99649023e-01 -2.47957924e-02 -9.32734828e-03 5.87357690e+02] [ 2.47955535e-02 9.99692533e-01 -1.41268640e-04 7.34181836e+00] [ 9.32798329e-03 -9.00577053e-05 9.99956489e-01 3.91266590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters 0.015522308132239752 Centerline is valid? [True, True] Translation: X:587.42, Y:7.34, Z:3.91 [[ 9.99497069e-01 -3.00847280e-02 -1.00258561e-02 5.87418819e+02] [ 3.00847218e-02 9.99547341e-01 -1.51467859e-04 7.33809739e+00] [ 1.00258747e-02 -1.50233410e-04 9.99949728e-01 3.91261733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.159254154 meters 0.016304750456966423 Centerline is valid? [True, True] Translation: X:587.48, Y:7.34, Z:3.91 [[ 9.99361111e-01 -3.45175703e-02 -9.26860369e-03 5.87480593e+02] [ 3.45177600e-02 9.99404075e-01 -1.39548762e-04 7.33512141e+00] [ 9.26789718e-03 -1.80471832e-04 9.99957036e-01 3.91311393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters 0.018607483161972548 Centerline is valid? [True, True] Translation: X:587.54, Y:7.33, Z:3.91 [[ 9.99076581e-01 -4.21705582e-02 -8.22375504e-03 5.87542129e+02] [ 4.21709718e-02 9.99110401e-01 -1.23176549e-04 7.32903011e+00] [ 8.22163362e-03 -2.23740937e-04 9.99966177e-01 3.91499802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.279254154 meters 0.020738531473344528 Centerline is valid? [True, True] Translation: X:587.60, Y:7.32, Z:3.92 [[ 9.98685348e-01 -5.06508753e-02 -7.87812620e-03 5.87602490e+02] [ 5.06515203e-02 9.98716381e-01 -1.17762332e-04 7.32440799e+00] [ 7.87397845e-03 -2.81431554e-04 9.99968960e-01 3.91651557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters 0.02340705281103945 Centerline is valid? [True, True] Translation: X:587.66, Y:7.32, Z:3.92 [[ 9.98361740e-01 -5.66156017e-02 -8.27704977e-03 5.87663109e+02] [ 5.66165187e-02 9.98395991e-01 -1.23673213e-04 7.31961541e+00] [ 8.27077514e-03 -3.45147139e-04 9.99965737e-01 3.91720996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.399254154 meters 0.027183397945310758 Centerline is valid? [True, True] Translation: X:587.72, Y:7.31, Z:3.92 [[ 9.97787163e-01 -6.59076872e-02 -8.77238143e-03 5.87723771e+02] [ 6.59090767e-02 9.97825624e-01 -1.30922073e-04 7.31295079e+00] [ 8.76193574e-03 -4.47547196e-04 9.99961513e-01 3.91746339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters 0.02938123576070001 Centerline is valid? [True, True] Translation: X:587.79, Y:7.31, Z:3.92 [[ 9.97277636e-01 -7.31135923e-02 -9.57701393e-03 5.87785173e+02] [ 7.31155812e-02 9.97323464e-01 -1.42749320e-04 7.31020108e+00] [ 9.56181762e-03 -5.57868235e-04 9.99954129e-01 3.91779482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.519254154 meters 0.030206645374741516 Centerline is valid? [True, True] Translation: X:587.85, Y:7.31, Z:3.92 [[ 9.97108402e-01 -7.52400261e-02 -1.06664047e-02 5.87846031e+02] [ 7.52426192e-02 9.97165244e-01 -1.58550454e-04 7.31200383e+00] [ 1.06480974e-02 -6.44476237e-04 9.99943100e-01 3.91789847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters 0.027857912980018922 Centerline is valid? [True, True] Translation: X:587.91, Y:7.32, Z:3.92 [[ 9.97200959e-01 -7.38053773e-02 -1.19588725e-02 5.87907860e+02] [ 7.38085437e-02 9.97272414e-01 -1.76956654e-04 7.32060306e+00] [ 1.19393140e-02 -7.06205618e-04 9.99928474e-01 3.91808913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.639254154 meters 0.0267761787404915 Centerline is valid? [True, True] Translation: X:587.97, Y:7.33, Z:3.92 [[ 9.97634256e-01 -6.74977716e-02 -1.30361843e-02 5.87967283e+02] [ 6.75010030e-02 9.97719188e-01 -1.92466072e-04 7.33027415e+00] [ 1.30194422e-02 -6.87944766e-04 9.99915007e-01 3.91811408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters 0.02603601809611615 Centerline is valid? [True, True] Translation: X:588.03, Y:7.34, Z:3.92 [[ 9.97911541e-01 -6.31737548e-02 -1.34770999e-02 5.88028084e+02] [ 6.31768149e-02 9.98002330e-01 -1.98986354e-04 7.33675595e+00] [ 1.34627478e-02 -6.52869464e-04 9.99909160e-01 3.91846463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.759254154 meters 0.024022903892563046 Centerline is valid? [True, True] Translation: X:588.09, Y:7.35, Z:3.92 [[ 9.98083442e-01 -6.02304082e-02 -1.42035598e-02 5.88089467e+02] [ 6.02335155e-02 9.98184292e-01 -2.09303480e-04 7.34507344e+00] [ 1.41903767e-02 -6.46628003e-04 9.99899102e-01 3.91903282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters 0.02318776292645194 Centerline is valid? [True, True] Translation: X:588.15, Y:7.35, Z:3.92 [[ 9.98195182e-01 -5.80176555e-02 -1.55025760e-02 5.88151441e+02] [ 5.80211052e-02 9.98315331e-01 -2.27527597e-04 7.35155484e+00] [ 1.54896599e-02 -6.72359640e-04 9.99879802e-01 3.91825161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.879254154 meters 0.02281543908817871 Centerline is valid? [True, True] Translation: X:588.21, Y:7.36, Z:3.92 [[ 9.98293607e-01 -5.59619430e-02 -1.66774091e-02 5.88213353e+02] [ 5.59656705e-02 9.98432664e-01 -2.43492590e-04 7.35843227e+00] [ 1.66648963e-02 -6.90285288e-04 9.99860893e-01 3.91916634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters 0.02043192335419908 Centerline is valid? [True, True] Translation: X:588.27, Y:7.37, Z:3.92 [[ 9.98498364e-01 -5.22745344e-02 -1.63826152e-02 5.88274481e+02] [ 5.22776497e-02 9.98632560e-01 -2.38327903e-04 7.36739129e+00] [ 1.63726715e-02 -6.18474597e-04 9.99865768e-01 3.92090446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.999254154 meters 0.020382019456189403 Centerline is valid? [True, True] Translation: X:588.33, Y:7.37, Z:3.92 [[ 9.98771830e-01 -4.69030320e-02 -1.59667315e-02 5.88334451e+02] [ 4.69053094e-02 9.98899313e-01 -2.32030780e-04 7.37311527e+00] [ 1.59600401e-02 -5.17178674e-04 9.99872497e-01 3.92089146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters 0.01827286997915916 Centerline is valid? [True, True] Translation: X:588.40, Y:7.38, Z:3.92 [[ 9.98958064e-01 -4.26300069e-02 -1.62932094e-02 5.88396234e+02] [ 4.26318191e-02 9.99090823e-01 -2.36244646e-04 7.38093780e+00] [ 1.62884671e-02 -4.58610664e-04 9.99867229e-01 3.92180401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.119254154 meters 0.017890721959324146 Centerline is valid? [True, True] Translation: X:588.46, Y:7.39, Z:3.92 [[ 9.99190581e-01 -3.62791851e-02 -1.73782353e-02 5.88456291e+02] [ 3.62802970e-02 9.99341622e-01 -2.51385189e-04 7.38747225e+00] [ 1.73759139e-02 -3.79305824e-04 9.99848955e-01 3.92121077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.179254154 meters 0.016835586954437157 Centerline is valid? [True, True] Translation: X:588.52, Y:7.39, Z:3.92 [[ 9.99319201e-01 -3.14929523e-02 -1.92179440e-02 5.88517350e+02] [ 3.14934387e-02 9.99503920e-01 -2.77416276e-04 7.39462748e+00] [ 1.92171470e-02 -3.28011731e-04 9.99815280e-01 3.92123752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.239254154 meters 0.01644064207666012 Centerline is valid? [True, True] Translation: X:588.58, Y:7.40, Z:3.92 [[ 9.99360476e-01 -2.93904012e-02 -2.03677249e-02 5.88576798e+02] [ 2.93905062e-02 9.99567962e-01 -2.94250584e-04 7.39849222e+00] [ 2.03675734e-02 -3.04555339e-04 9.99792513e-01 3.92141380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.299254154 meters 0.01649121175511286 Centerline is valid? [True, True] Translation: X:588.64, Y:7.40, Z:3.92 [[ 9.99338702e-01 -3.04530800e-02 -1.98687966e-02 5.88635116e+02] [ 3.04533201e-02 9.99536148e-01 -2.90552046e-04 7.39873088e+00] [ 1.98684286e-02 -3.14710919e-04 9.99802554e-01 3.92182529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.359254154 meters 0.017195113700745692 Centerline is valid? [True, True] Translation: X:588.69, Y:7.40, Z:3.92 [[ 9.99214233e-01 -3.48788610e-02 -1.88250353e-02 5.88694824e+02] [ 3.48798235e-02 9.99391475e-01 -2.77305767e-04 7.39608017e+00] [ 1.88232519e-02 -3.79526039e-04 9.99822755e-01 3.92300662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.419254154 meters 0.019481904493833233 Centerline is valid? [True, True] Translation: X:588.76, Y:7.39, Z:3.92 [[ 9.98927035e-01 -4.21562276e-02 -1.91737154e-02 5.88755114e+02] [ 4.21585564e-02 9.99110893e-01 -2.82908019e-04 7.38999547e+00] [ 1.91685942e-02 -5.25731693e-04 9.99816127e-01 3.92292626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters 0.019965107969665198 Centerline is valid? [True, True] Translation: X:588.82, Y:7.39, Z:3.92 [[ 9.98681448e-01 -4.72806637e-02 -1.99976176e-02 5.88816398e+02] [ 4.72842304e-02 9.98881432e-01 -2.94701660e-04 7.38880978e+00] [ 1.99891826e-02 -6.51258877e-04 9.99799984e-01 3.92370038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.539254154 meters 0.021921299961773978 Centerline is valid? [True, True] Translation: X:588.88, Y:7.38, Z:3.92 [[ 9.98315905e-01 -5.44190637e-02 -2.00977677e-02 5.88877057e+02] [ 5.44241164e-02 9.98517866e-01 -2.95871063e-04 7.38345536e+00] [ 2.00840811e-02 -7.98430460e-04 9.99797976e-01 3.92429544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters 0.024399998225902893 Centerline is valid? [True, True] Translation: X:588.94, Y:7.38, Z:3.92 [[ 9.97936741e-01 -6.10592236e-02 -1.98502390e-02 5.88937823e+02] [ 6.10654646e-02 9.98133720e-01 -2.92150524e-04 7.37812065e+00] [ 1.98310314e-02 -9.20616323e-04 9.99802922e-01 3.92462341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.659254154 meters 0.024897496742648954 Centerline is valid? [True, True] Translation: X:589.00, Y:7.38, Z:3.93 [[ 9.97741513e-01 -6.44038252e-02 -1.90793156e-02 5.88998658e+02] [ 6.44102055e-02 9.97923467e-01 -2.80551077e-04 7.37610607e+00] [ 1.90577653e-02 -9.48985178e-04 9.99817934e-01 3.92542417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters 0.02583018386183211 Centerline is valid? [True, True] Translation: X:589.06, Y:7.38, Z:3.93 [[ 9.97808467e-01 -6.34015738e-02 -1.89341944e-02 5.89059481e+02] [ 6.34076924e-02 9.97987669e-01 -2.77618808e-04 7.37540814e+00] [ 1.89136941e-02 -9.23563180e-04 9.99820694e-01 3.92583518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.779254154 meters 0.024289817962910028 Centerline is valid? [True, True] Translation: X:589.12, Y:7.38, Z:3.93 [[ 9.98140483e-01 -5.83364834e-02 -1.76757061e-02 5.89119837e+02] [ 5.83410313e-02 9.98296678e-01 -2.58680841e-04 7.37928321e+00] [ 1.76606892e-02 -7.73019103e-04 9.99843739e-01 3.92813993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters 0.021277478487694595 Centerline is valid? [True, True] Translation: X:589.18, Y:7.39, Z:3.93 [[ 9.98665621e-01 -4.92170705e-02 -1.56415551e-02 5.89180384e+02] [ 4.92195154e-02 9.98787959e-01 -2.28845811e-04 7.38703277e+00] [ 1.56338600e-02 -5.41329317e-04 9.99877637e-01 3.93089822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.899254154 meters 0.018514418263534393 Centerline is valid? [True, True] Translation: X:589.24, Y:7.39, Z:3.93 [[ 9.99100222e-01 -3.94602493e-02 -1.55446470e-02 5.89239577e+02] [ 3.94614813e-02 9.99221066e-01 -2.27581597e-04 7.39451035e+00] [ 1.55415191e-02 -3.86037971e-04 9.99879149e-01 3.93093166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters 0.017326986016711378 Centerline is valid? [True, True] Translation: X:589.30, Y:7.40, Z:3.93 [[ 9.99275908e-01 -3.45743291e-02 -1.58831813e-02 5.89301154e+02] [ 3.45750042e-02 9.99402079e-01 -2.32174331e-04 7.39923536e+00] [ 1.58817117e-02 -3.17154845e-04 9.99873827e-01 3.93068796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.019254154 meters 0.01600458049596075 Centerline is valid? [True, True] Translation: X:589.36, Y:7.40, Z:3.93 [[ 9.99428704e-01 -2.88210392e-02 -1.76525477e-02 5.89361806e+02] [ 2.88209894e-02 9.99584556e-01 -2.57276771e-04 7.40294282e+00] [ 1.76526290e-02 -2.51634100e-04 9.99844149e-01 3.92938248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters 0.015252659194607186 Centerline is valid? [True, True] Translation: X:589.42, Y:7.41, Z:3.93 [[ 9.99522388e-01 -2.49447520e-02 -1.82415897e-02 5.89421210e+02] [ 2.49440505e-02 9.99688813e-01 -2.66023556e-04 7.40543596e+00] [ 1.82425491e-02 -1.89122635e-04 9.99833573e-01 3.92943555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.139254154 meters 0.014684740247207178 Centerline is valid? [True, True] Translation: X:589.48, Y:7.41, Z:3.93 [[ 9.99578817e-01 -2.38246775e-02 -1.65702446e-02 5.89479631e+02] [ 2.38238994e-02 9.99716141e-01 -2.44381458e-04 7.40707135e+00] [ 1.65713633e-02 -1.50489313e-04 9.99862674e-01 3.93197441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters 0.015483793865893075 Centerline is valid? [True, True] Translation: X:589.54, Y:7.40, Z:3.93 [[ 9.99607494e-01 -2.47938755e-02 -1.30430759e-02 5.89539731e+02] [ 2.47934553e-02 9.99692576e-01 -1.93941000e-04 7.40455979e+00] [ 1.30438747e-02 -1.29518043e-04 9.99914917e-01 3.93394319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.259254154 meters 0.015445455793097796 Centerline is valid? [True, True] Translation: X:589.60, Y:7.40, Z:3.93 [[ 9.99500046e-01 -2.97531440e-02 -1.06961893e-02 5.89600604e+02] [ 2.97531432e-02 9.99557265e-01 -1.59243050e-04 7.39828681e+00] [ 1.06961917e-02 -1.59081814e-04 9.99942781e-01 3.93416855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters 0.016295655060817295 Centerline is valid? [True, True] Translation: X:589.66, Y:7.39, Z:3.93 [[ 9.99339657e-01 -3.50456171e-02 -9.59450972e-03 5.89662679e+02] [ 3.50458623e-02 9.99385695e-01 -1.42628779e-04 7.39406213e+00] [ 9.59361427e-03 -1.93713271e-04 9.99953961e-01 3.93456222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.379254154 meters 0.020493059071793676 Centerline is valid? [True, True] Translation: X:589.72, Y:7.39, Z:3.93 [[ 9.99042655e-01 -4.28220966e-02 -8.94654391e-03 5.89724263e+02] [ 4.28226261e-02 9.99082682e-01 -1.32451838e-04 7.38621547e+00] [ 8.94400895e-03 -2.50789469e-04 9.99959970e-01 3.93455903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters 0.020090598148243898 Centerline is valid? [True, True] Translation: X:589.78, Y:7.38, Z:3.93 [[ 9.98676539e-01 -5.03530472e-02 -1.04757228e-02 5.89784682e+02] [ 5.03541903e-02 9.98731411e-01 -1.54772276e-04 7.38072103e+00] [ 1.04702267e-02 -3.72929099e-04 9.99945116e-01 3.93275171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.499254154 meters 0.022192492439917208 Centerline is valid? [True, True] Translation: X:589.84, Y:7.38, Z:3.93 [[ 9.98471225e-01 -5.41408341e-02 -1.11347237e-02 5.89844850e+02] [ 5.41423613e-02 9.98533213e-01 -1.64457881e-04 7.37680054e+00] [ 1.11272953e-02 -4.38653769e-04 9.99937994e-01 3.93255981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters 0.021759186022397757 Centerline is valid? [True, True] Translation: X:589.91, Y:7.38, Z:3.93 [[ 9.98484756e-01 -5.39044643e-02 -1.10680016e-02 5.89906859e+02] [ 5.39059623e-02 9.98546003e-01 -1.63151866e-04 7.37887140e+00] [ 1.10607034e-02 -4.33726628e-04 9.99938734e-01 3.93342957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.619254154 meters 0.02257337094941508 Centerline is valid? [True, True] Translation: X:589.97, Y:7.38, Z:3.93 [[ 9.98532705e-01 -5.30443930e-02 -1.08963072e-02 5.89967728e+02] [ 5.30458015e-02 9.98592068e-01 -1.59907512e-04 7.37889289e+00] [ 1.08894481e-02 -4.18330467e-04 9.99940621e-01 3.93353091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.679254154 meters 0.02098030885665418 Centerline is valid? [True, True] Translation: X:590.03, Y:7.39, Z:3.93 [[ 9.98778327e-01 -4.81797709e-02 -1.09801160e-02 5.90028799e+02] [ 4.81809124e-02 9.98838613e-01 -1.60693579e-04 7.38532585e+00] [ 1.09751060e-02 -3.68534744e-04 9.99939704e-01 3.93434130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.739254154 meters 0.02003223550890806 Centerline is valid? [True, True] Translation: X:590.09, Y:7.39, Z:3.93 [[ 9.98958450e-01 -4.41835993e-02 -1.13941043e-02 5.90090016e+02] [ 4.41845721e-02 9.99023371e-01 -1.66461281e-04 7.39153088e+00] [ 1.13903314e-02 -3.37155722e-04 9.99935071e-01 3.93467144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.799254154 meters 0.020265062948583074 Centerline is valid? [True, True] Translation: X:590.15, Y:7.39, Z:3.93 [[ 9.98983644e-01 -4.32112629e-02 -1.28244153e-02 5.90151362e+02] [ 4.32124228e-02 9.99065890e-01 -1.86769239e-04 7.39435397e+00] [ 1.28205064e-02 -3.67594640e-04 9.99917746e-01 3.93320697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.859254154 meters 0.020681821203027032 Centerline is valid? [True, True] Translation: X:590.21, Y:7.40, Z:3.93 [[ 9.98959605e-01 -4.34244310e-02 -1.39293352e-02 5.90213543e+02] [ 4.34258323e-02 9.99056633e-01 -2.01983648e-04 7.39572687e+00] [ 1.39249658e-02 -4.03119469e-04 9.99902962e-01 3.93275685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.919254154 meters 0.020612487600092825 Centerline is valid? [True, True] Translation: X:590.28, Y:7.40, Z:3.93 [[ 9.98972999e-01 -4.27452668e-02 -1.50262799e-02 5.90275837e+02] [ 4.27468369e-02 9.99085913e-01 -2.16825107e-04 7.39981738e+00] [ 1.50218128e-02 -4.25723506e-04 9.99887076e-01 3.93287266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters 0.02002105980561236 Centerline is valid? [True, True] Translation: X:590.34, Y:7.40, Z:3.93 [[ 9.99078590e-01 -4.02014005e-02 -1.50272823e-02 5.90337304e+02] [ 4.02026942e-02 9.99191522e-01 -2.16102471e-04 7.40410259e+00] [ 1.50238206e-02 -3.88233881e-04 9.99887061e-01 3.93357850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.039254154 meters 0.017658593059982113 Centerline is valid? [True, True] Translation: X:590.40, Y:7.41, Z:3.93 [[ 9.99342357e-01 -3.30861401e-02 -1.48378221e-02 5.90398434e+02] [ 3.30866227e-02 9.99452465e-01 -2.13020857e-04 7.41331576e+00] [ 1.48367460e-02 -2.78052657e-04 9.99889891e-01 3.93472510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters 0.01524311727622625 Centerline is valid? [True, True] Translation: X:590.46, Y:7.42, Z:3.94 [[ 9.99566127e-01 -2.57289844e-02 -1.43379803e-02 5.90459289e+02] [ 2.57286817e-02 9.99668942e-01 -2.05604438e-04 7.42369385e+00] [ 1.43385236e-02 -1.63382099e-04 9.99897185e-01 3.93607956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.159254154 meters 0.014813436670622338 Centerline is valid? [True, True] Translation: X:590.52, Y:7.43, Z:3.94 [[ 9.99635543e-01 -2.29081543e-02 -1.42827795e-02 5.90520243e+02] [ 2.29075694e-02 9.99737566e-01 -2.04565908e-04 7.42796406e+00] [ 1.42837174e-02 -1.22692410e-04 9.99897975e-01 3.93677597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters 0.015082039306424697 Centerline is valid? [True, True] Translation: X:590.58, Y:7.43, Z:3.94 [[ 9.99630116e-01 -2.32003789e-02 -1.41906376e-02 5.90579566e+02] [ 2.31998309e-02 9.99730827e-01 -2.03258308e-04 7.42894832e+00] [ 1.41915336e-02 -1.26037267e-04 9.99899287e-01 3.93631481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.279254154 meters 0.01606005044563975 Centerline is valid? [True, True] Translation: X:590.64, Y:7.43, Z:3.94 [[ 9.99514604e-01 -2.73335079e-02 -1.49477367e-02 5.90639677e+02] [ 2.73333581e-02 9.99626351e-01 -2.14359762e-04 7.42609376e+00] [ 1.49480107e-02 -1.94316128e-04 9.99888253e-01 3.93583626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters 0.016960590058332253 Centerline is valid? [True, True] Translation: X:590.70, Y:7.42, Z:3.94 [[ 9.99391834e-01 -3.15261564e-02 -1.49018240e-02 5.90700394e+02] [ 3.15264717e-02 9.99502894e-01 -2.13812772e-04 7.42312944e+00] [ 1.49011569e-02 -2.56119194e-04 9.99888939e-01 3.93544882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.399254154 meters 0.019576802248478624 Centerline is valid? [True, True] Translation: X:590.76, Y:7.42, Z:3.94 [[ 9.99176194e-01 -3.79564048e-02 -1.43612371e-02 5.90761395e+02] [ 3.79573631e-02 9.99279338e-01 -2.05932037e-04 7.41795708e+00] [ 1.43587040e-02 -3.39352304e-04 9.99896851e-01 3.93568431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters 0.02223896778625261 Centerline is valid? [True, True] Translation: X:590.82, Y:7.41, Z:3.94 [[ 9.98985722e-01 -4.28683577e-02 -1.37779528e-02 5.90822082e+02] [ 4.28697095e-02 9.99080652e-01 -1.97349927e-04 7.41423835e+00] [ 1.37737462e-02 -3.93507077e-04 9.99905060e-01 3.93648654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.519254154 meters 0.02559021699261034 Centerline is valid? [True, True] Translation: X:590.88, Y:7.41, Z:3.94 [[ 9.98790642e-01 -4.74528412e-02 -1.28639193e-02 5.90882047e+02] [ 4.74544006e-02 9.98873388e-01 -1.84157046e-04 7.41014971e+00] [ 1.28581655e-02 -4.26515247e-04 9.99917239e-01 3.93672671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters 0.029024735274532976 Centerline is valid? [True, True] Translation: X:590.94, Y:7.41, Z:3.94 [[ 9.98537691e-01 -5.25630117e-02 -1.26336461e-02 5.90942886e+02] [ 5.25649253e-02 9.98617492e-01 -1.80767808e-04 7.40613305e+00] [ 1.26256817e-02 -4.83583193e-04 9.99920176e-01 3.93669766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.639254154 meters 0.025034159350830355 Centerline is valid? [True, True] Translation: X:591.00, Y:7.41, Z:3.94 [[ 9.97988950e-01 -6.22350631e-02 -1.20354362e-02 5.91003736e+02] [ 6.22375034e-02 9.98061353e-01 -1.72042130e-04 7.41243173e+00] [ 1.20228107e-02 -5.77359354e-04 9.99927557e-01 3.93811401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters 0.04180789326579673 Centerline is valid? [True, True] Translation: X:591.06, Y:7.39, Z:3.94 [[ 9.97591032e-01 -6.83721667e-02 -1.17209116e-02 5.91063904e+02] [ 6.83749035e-02 9.97659684e-01 -1.67540435e-04 7.39067921e+00] [ 1.17049361e-02 -6.34279366e-04 9.99931294e-01 3.93627227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.759254154 meters 0.04712516521715036 Centerline is valid? [True, True] Translation: X:591.12, Y:7.39, Z:3.94 [[ 9.97201891e-01 -7.36483948e-02 -1.28180219e-02 5.91124164e+02] [ 7.36521014e-02 9.97283979e-01 -1.83286545e-04 7.38737142e+00] [ 1.27967066e-02 -7.61300559e-04 9.99917829e-01 3.93581158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters 0.047038567357164315 Centerline is valid? [True, True] Translation: X:591.19, Y:7.39, Z:3.94 [[ 9.97313356e-01 -7.21850987e-02 -1.24652115e-02 5.91185422e+02] [ 7.21884929e-02 9.97390991e-01 -1.78019368e-04 7.39236015e+00] [ 1.24455400e-02 -7.22303739e-04 9.99922290e-01 3.93681203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.879254154 meters 0.02847565229735304 Centerline is valid? [True, True] Translation: X:591.25, Y:7.42, Z:3.94 [[ 9.97667194e-01 -6.70143859e-02 -1.30092822e-02 5.91245204e+02] [ 6.70176474e-02 9.97751773e-01 -1.85565876e-04 7.42415160e+00] [ 1.29924700e-02 -6.86718502e-04 9.99915358e-01 3.94005333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters 0.026137595342653384 Centerline is valid? [True, True] Translation: X:591.31, Y:7.43, Z:3.94 [[ 9.97964664e-01 -6.24461783e-02 -1.29230415e-02 5.91305536e+02] [ 6.24490147e-02 9.98048138e-01 -1.84321095e-04 7.43265181e+00] [ 1.29093277e-02 -6.23085271e-04 9.99916477e-01 3.94089644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.999254154 meters 0.02477126623019997 Centerline is valid? [True, True] Translation: X:591.37, Y:7.44, Z:3.94 [[ 9.98389514e-01 -5.54849427e-02 -1.18237260e-02 5.91365367e+02] [ 5.54868297e-02 9.98459405e-01 -1.68642017e-04 7.44224146e+00] [ 1.18148675e-02 -4.87690647e-04 9.99930083e-01 3.94188754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters 0.022483572680469837 Centerline is valid? [True, True] Translation: X:591.42, Y:7.45, Z:3.94 [[ 9.98803633e-01 -4.78182938e-02 -1.02329753e-02 5.91424411e+02] [ 4.78193045e-02 9.98855992e-01 -1.46012474e-04 7.45277467e+00] [ 1.02282508e-02 -3.43495975e-04 9.99947631e-01 3.94337996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.119254154 meters 0.020161315661053787 Centerline is valid? [True, True] Translation: X:591.49, Y:7.46, Z:3.94 [[ 9.99063505e-01 -4.21693799e-02 -9.68790479e-03 5.91485224e+02] [ 4.21700199e-02 9.99110440e-01 -1.38290034e-04 7.46147453e+00] [ 9.68511841e-03 -2.70378612e-04 9.99953062e-01 3.94452163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.179254154 meters 0.01769132189007044 Centerline is valid? [True, True] Translation: X:591.55, Y:7.47, Z:3.95 [[ 9.99367015e-01 -3.44339901e-02 -8.93701848e-03 5.91546393e+02] [ 3.44342268e-02 9.99406958e-01 -1.27427456e-04 7.47009421e+00] [ 8.93610629e-03 -1.80392525e-04 9.99960056e-01 3.94558270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.239254154 meters 0.01563403657002621 Centerline is valid? [True, True] Translation: X:591.61, Y:7.48, Z:3.95 [[ 9.99506720e-01 -2.99534612e-02 -9.43969194e-03 5.91608468e+02] [ 2.99535286e-02 9.99551283e-01 -1.34273304e-04 7.47633150e+00] [ 9.43947814e-03 -1.48545013e-04 9.99955436e-01 3.94536604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.299254154 meters 0.01561606031906268 Centerline is valid? [True, True] Translation: X:591.67, Y:7.48, Z:3.94 [[ 9.99527123e-01 -2.86546828e-02 -1.11552596e-02 5.91670970e+02] [ 2.86547061e-02 9.99589357e-01 -1.57768486e-04 7.47691691e+00] [ 1.11551996e-02 -1.61956806e-04 9.99937766e-01 3.94435292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.359254154 meters 0.01565062095842878 Centerline is valid? [True, True] Translation: X:591.73, Y:7.48, Z:3.94 [[ 9.99516157e-01 -2.80150694e-02 -1.35132153e-02 5.91733475e+02] [ 2.80150599e-02 9.99607483e-01 -1.90034237e-04 7.47656499e+00] [ 1.35132349e-02 -1.88631245e-04 9.99908674e-01 3.94323915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.419254154 meters 0.015965976238583344 Centerline is valid? [True, True] Translation: X:591.80, Y:7.47, Z:3.94 [[ 9.99517828e-01 -2.82863329e-02 -1.28060619e-02 5.91795136e+02] [ 2.82863553e-02 9.99599845e-01 -1.79413604e-04 7.47483338e+00] [ 1.28060125e-02 -1.82909722e-04 9.99917983e-01 3.94439934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters 0.016640392422938157 Centerline is valid? [True, True] Translation: X:591.86, Y:7.47, Z:3.95 [[ 9.99443105e-01 -3.09622519e-02 -1.24426411e-02 5.91856187e+02] [ 3.09624870e-02 9.99520532e-01 -1.73788450e-04 7.47009923e+00] [ 1.24420561e-02 -2.11563444e-04 9.99922572e-01 3.94545781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.539254154 meters 0.017845127727976865 Centerline is valid? [True, True] Translation: X:591.92, Y:7.47, Z:3.95 [[ 9.99410958e-01 -3.21989110e-02 -1.18730008e-02 5.91917989e+02] [ 3.21992206e-02 9.99481457e-01 -1.65134831e-04 7.46825635e+00] [ 1.18721613e-02 -2.17263812e-04 9.99929500e-01 3.94587909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters 0.017564706621067662 Centerline is valid? [True, True] Translation: X:591.98, Y:7.47, Z:3.95 [[ 9.99317241e-01 -3.51078603e-02 -1.15104173e-02 5.91980495e+02] [ 3.51083532e-02 9.99383499e-01 -1.59300169e-04 7.46605576e+00] [ 1.15089138e-02 -2.44920389e-04 9.99933740e-01 3.94664116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.659254154 meters 0.01782840553944271 Centerline is valid? [True, True] Translation: X:592.04, Y:7.46, Z:3.95 [[ 9.99123862e-01 -4.02920030e-02 -1.13164700e-02 5.92041765e+02] [ 4.02928188e-02 9.99187902e-01 -1.55981237e-04 7.46266434e+00] [ 1.13135647e-02 -3.00127898e-04 9.99935955e-01 3.94690975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters 0.019674538483961067 Centerline is valid? [True, True] Translation: X:592.10, Y:7.46, Z:3.95 [[ 9.98839432e-01 -4.68801323e-02 -1.10472530e-02 5.92102871e+02] [ 4.68813170e-02 9.98900455e-01 -1.51846213e-04 7.45602641e+00] [ 1.10422247e-02 -3.66239786e-04 9.99938966e-01 3.94633175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.779254154 meters 0.02112626763128522 Centerline is valid? [True, True] Translation: X:592.16, Y:7.45, Z:3.95 [[ 9.98487296e-01 -5.38030042e-02 -1.13294703e-02 5.92163988e+02] [ 5.38046985e-02 9.98551466e-01 -1.55412574e-04 7.45190367e+00] [ 1.13214208e-02 -4.54401252e-04 9.99935807e-01 3.94552720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters 0.02359953093987001 Centerline is valid? [True, True] Translation: X:592.22, Y:7.45, Z:3.94 [[ 9.98115113e-01 -6.00779341e-02 -1.25245207e-02 5.92224620e+02] [ 6.00804986e-02 9.98193520e-01 -1.71728695e-04 7.44643228e+00] [ 1.25122125e-02 -5.81074442e-04 9.99921550e-01 3.94368067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.899254154 meters 0.02475687941874239 Centerline is valid? [True, True] Translation: X:592.29, Y:7.44, Z:3.94 [[ 9.97864335e-01 -6.40372329e-02 -1.28841659e-02 5.92286073e+02] [ 6.40402796e-02 9.97947299e-01 -1.76382049e-04 7.44455157e+00] [ 1.28690136e-02 -6.49100231e-04 9.99916980e-01 3.94347503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters 0.027651623198142055 Centerline is valid? [True, True] Translation: X:592.35, Y:7.44, Z:3.94 [[ 9.97556274e-01 -6.86605773e-02 -1.29307933e-02 5.92346040e+02] [ 6.86640356e-02 9.97639824e-01 -1.76851992e-04 7.44115124e+00] [ 1.29124171e-02 -7.11460637e-04 9.99916378e-01 3.94301634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.019254154 meters 0.02887857516681521 Centerline is valid? [True, True] Translation: X:592.41, Y:7.44, Z:3.94 [[ 9.97289915e-01 -7.20826316e-02 -1.47281997e-02 5.92407453e+02] [ 7.20874929e-02 9.97398292e-01 -2.01242159e-04 7.44128056e+00] [ 1.47043873e-02 -8.61022215e-04 9.99891514e-01 3.94205895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters 0.029029555961378618 Centerline is valid? [True, True] Translation: X:592.47, Y:7.44, Z:3.94 [[ 9.97181716e-01 -7.33752954e-02 -1.56425978e-02 5.92469078e+02] [ 7.33809496e-02 9.97303961e-01 -2.12976757e-04 7.44232751e+00] [ 1.56160520e-02 -9.35492154e-04 9.99877624e-01 3.94167153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.139254154 meters 0.030681367481761833 Centerline is valid? [True, True] Translation: X:592.53, Y:7.44, Z:3.94 [[ 9.97239251e-01 -7.26293353e-02 -1.54549426e-02 5.92529899e+02] [ 7.26347785e-02 9.97358584e-01 -2.09573554e-04 7.44275043e+00] [ 1.54293409e-02 -9.13571358e-04 9.99880543e-01 3.94171101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters 0.026266727778246953 Centerline is valid? [True, True] Translation: X:592.59, Y:7.45, Z:3.94 [[ 9.97726289e-01 -6.57220196e-02 -1.49287770e-02 5.92590466e+02] [ 6.57263323e-02 9.97837666e-01 -2.02091937e-04 7.45444767e+00] [ 1.49097779e-02 -7.79581322e-04 9.99888539e-01 3.94407052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.259254154 meters 0.02640106926133641 Centerline is valid? [True, True] Translation: X:592.65, Y:7.46, Z:3.95 [[ 9.98203958e-01 -5.82697675e-02 -1.39101546e-02 5.92649933e+02] [ 5.82727875e-02 9.98300680e-01 -1.88448532e-04 7.45882456e+00] [ 1.38974976e-02 -6.22473411e-04 9.99903231e-01 3.94503991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters 0.019473857117383524 Centerline is valid? [True, True] Translation: X:592.71, Y:7.48, Z:3.95 [[ 9.98932056e-01 -4.42792000e-02 -1.31947039e-02 5.92710418e+02] [ 4.42806969e-02 9.99019113e-01 -1.78825098e-04 7.47596061e+00] [ 1.31896796e-02 -4.05636559e-04 9.99912930e-01 3.94766981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.379254154 meters 0.016039278283792993 Centerline is valid? [True, True] Translation: X:592.77, Y:7.49, Z:3.95 [[ 9.99461007e-01 -3.06585544e-02 -1.17366540e-02 5.92770779e+02] [ 3.06588003e-02 9.99529896e-01 -1.59015997e-04 7.48874796e+00] [ 1.17360117e-02 -2.00901441e-04 9.99931110e-01 3.94950836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters 0.014978063174879996 Centerline is valid? [True, True] Translation: X:592.83, Y:7.50, Z:3.95 [[ 9.99667049e-01 -2.30256680e-02 -1.16451889e-02 5.92831972e+02] [ 2.30253943e-02 9.99734868e-01 -1.57597695e-04 7.49614523e+00] [ 1.16457301e-02 -1.10589842e-04 9.99932180e-01 3.95039431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.499254154 meters 0.014747361509982918 Centerline is valid? [True, True] Translation: X:592.89, Y:7.50, Z:3.95 [[ 9.99816863e-01 -1.47756935e-02 -1.21621813e-02 5.92893165e+02] [ 1.47747900e-02 9.99890833e-01 -1.64138145e-04 7.50334508e+00] [ 1.21632788e-02 -1.55855897e-05 9.99926024e-01 3.94999405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters 0.014863010408947412 Centerline is valid? [True, True] Translation: X:592.95, Y:7.51, Z:3.95 [[ 9.99856016e-01 -1.01658179e-02 -1.35868638e-02 5.92953160e+02] [ 1.01642650e-02 9.99948326e-01 -1.83343736e-04 7.50691981e+00] [ 1.35880255e-02 4.52168537e-05 9.99907677e-01 3.94850010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.619254154 meters 0.01501605075229567 Centerline is valid? [True, True] Translation: X:593.01, Y:7.51, Z:3.95 [[ 9.99840379e-01 -9.67124643e-03 -1.50227865e-02 5.93012196e+02] [ 9.66925642e-03 9.99953231e-01 -2.05095884e-04 7.50859896e+00] [ 1.50240674e-02 5.98039720e-05 9.99887131e-01 3.94792824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.679254154 meters 0.014879464928404586 Centerline is valid? [True, True] Translation: X:593.07, Y:7.51, Z:3.95 [[ 9.99844043e-01 -1.03757482e-02 -1.42910077e-02 5.93070194e+02] [ 1.03739645e-02 9.99946169e-01 -1.98943597e-04 7.50850677e+00] [ 1.42923026e-02 5.06581639e-05 9.99897859e-01 3.94870249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.739254154 meters 0.01463087540884739 Centerline is valid? [True, True] Translation: X:593.13, Y:7.51, Z:3.95 [[ 9.99832106e-01 -1.28857868e-02 -1.30274971e-02 5.93128501e+02] [ 1.28844729e-02 9.99916975e-01 -1.84781600e-04 7.50668483e+00] [ 1.30287965e-02 1.68981431e-05 9.99915121e-01 3.94944295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.799254154 meters 0.014557316466980013 Centerline is valid? [True, True] Translation: X:593.19, Y:7.50, Z:3.95 [[ 9.99776378e-01 -1.72001129e-02 -1.23024242e-02 5.93187049e+02] [ 1.71992426e-02 9.99852067e-01 -1.76548097e-04 7.50219689e+00] [ 1.23036409e-02 -3.50837617e-05 9.99924307e-01 3.94948383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.859254154 meters 0.014705626807397587 Centerline is valid? [True, True] Translation: X:593.25, Y:7.50, Z:3.95 [[ 9.99691593e-01 -2.17461738e-02 -1.19925832e-02 5.93247157e+02] [ 2.17456669e-02 9.99763520e-01 -1.72680789e-04 7.49753228e+00] [ 1.19935023e-02 -8.81591863e-05 9.99928071e-01 3.94904002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.919254154 meters 0.01600592084070019 Centerline is valid? [True, True] Translation: X:593.31, Y:7.49, Z:3.95 [[ 9.99462924e-01 -3.05545014e-02 -1.18442704e-02 5.93308553e+02] [ 3.05546260e-02 9.99533084e-01 -1.70480065e-04 7.48820901e+00] [ 1.18439491e-02 -1.91508747e-04 9.99929840e-01 3.94808244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters 0.017508850564413453 Centerline is valid? [True, True] Translation: X:593.37, Y:7.48, Z:3.95 [[ 9.99167039e-01 -3.89654079e-02 -1.21212422e-02 5.93369696e+02] [ 3.89661611e-02 9.99240516e-01 -1.74117150e-04 7.48075737e+00] [ 1.21188209e-02 -2.98346159e-04 9.99926520e-01 3.94759465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.039254154 meters 0.01991425495146681 Centerline is valid? [True, True] Translation: X:593.43, Y:7.47, Z:3.95 [[ 9.98966081e-01 -4.36211125e-02 -1.28050012e-02 5.93429752e+02] [ 4.36223439e-02 9.99048076e-01 -1.83255048e-04 7.47382667e+00] [ 1.28008056e-02 -3.75518588e-04 9.99917996e-01 3.94669095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters 0.01938779893489902 Centerline is valid? [True, True] Translation: X:593.49, Y:7.47, Z:3.95 [[ 9.98808904e-01 -4.71519969e-02 -1.25483861e-02 5.93491347e+02] [ 4.71534693e-02 9.98887641e-01 -1.78656811e-04 7.47258012e+00] [ 1.25428518e-02 -4.13255925e-04 9.99921250e-01 3.94716776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.159254154 meters 0.02036743611216582 Centerline is valid? [True, True] Translation: X:593.55, Y:7.47, Z:3.95 [[ 9.98802099e-01 -4.72836313e-02 -1.25946483e-02 5.93552494e+02] [ 4.72851340e-02 9.98881417e-01 -1.78609856e-04 7.47163610e+00] [ 1.25890055e-02 -4.17143733e-04 9.99920668e-01 3.94707757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters 0.01979475086541101 Centerline is valid? [True, True] Translation: X:593.62, Y:7.47, Z:3.95 [[ 9.98912189e-01 -4.50478207e-02 -1.20470567e-02 5.93615000e+02] [ 4.50490421e-02 9.98984762e-01 -1.70098756e-04 7.47402355e+00] [ 1.20424886e-02 -3.72794643e-04 9.99927417e-01 3.94782695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.279254154 meters 0.01971977866052484 Centerline is valid? [True, True] Translation: X:593.68, Y:7.48, Z:3.95 [[ 9.98957310e-01 -4.38971697e-02 -1.25431452e-02 5.93677251e+02] [ 4.38984148e-02 9.99035984e-01 -1.76171549e-04 7.47542510e+00] [ 1.25387868e-02 -3.74636335e-04 9.99921316e-01 3.94803929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters 0.019846704506457192 Centerline is valid? [True, True] Translation: X:593.74, Y:7.48, Z:3.95 [[ 9.98925871e-01 -4.42957287e-02 -1.36011754e-02 5.93739880e+02] [ 4.42972438e-02 9.99018377e-01 -1.89998841e-04 7.47786549e+00] [ 1.35962403e-02 -4.12699826e-04 9.99907482e-01 3.94689641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.399254154 meters 0.02045567186997886 Centerline is valid? [True, True] Translation: X:593.80, Y:7.48, Z:3.95 [[ 9.98785982e-01 -4.70135348e-02 -1.47067828e-02 5.93801811e+02] [ 4.70156196e-02 9.98894133e-01 -2.04146972e-04 7.47666484e+00] [ 1.47001167e-02 -4.87549372e-04 9.99891829e-01 3.94575994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters 0.021010768956766415 Centerline is valid? [True, True] Translation: X:593.86, Y:7.48, Z:3.95 [[ 9.98743729e-01 -4.80039555e-02 -1.43730461e-02 5.93864172e+02] [ 4.80060660e-02 9.98847024e-01 -1.98336641e-04 7.47677060e+00] [ 1.43659953e-02 -4.91905926e-04 9.99896683e-01 3.94591593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.519254154 meters 0.022784576541577128 Centerline is valid? [True, True] Translation: X:593.93, Y:7.48, Z:3.95 [[ 9.98611429e-01 -5.07697536e-02 -1.40586323e-02 5.93925159e+02] [ 5.07720586e-02 9.98710249e-01 -1.93132657e-04 7.47658148e+00] [ 1.40503055e-02 -5.20921225e-04 9.99901154e-01 3.94713252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters 0.024123543977021388 Centerline is valid? [True, True] Translation: X:593.99, Y:7.48, Z:3.95 [[ 9.98546745e-01 -5.22458506e-02 -1.32200666e-02 5.93987499e+02] [ 5.22480284e-02 9.98634123e-01 -1.80821097e-04 7.47729049e+00] [ 1.32114568e-02 -5.10164098e-04 9.99912595e-01 3.94829957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.639254154 meters 0.024837538246551844 Centerline is valid? [True, True] Translation: X:594.05, Y:7.48, Z:3.95 [[ 9.98471938e-01 -5.39542893e-02 -1.19466994e-02 5.94049384e+02] [ 5.39561993e-02 9.98543290e-01 -1.62613915e-04 7.47954593e+00] [ 1.19380703e-02 -4.82233063e-04 9.99928622e-01 3.94937695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters 0.02633072554466286 Centerline is valid? [True, True] Translation: X:594.11, Y:7.48, Z:3.95 [[ 9.98409418e-01 -5.51431374e-02 -1.17417230e-02 5.94110411e+02] [ 5.51450766e-02 9.98478340e-01 -1.58790694e-04 7.48048257e+00] [ 1.17326123e-02 -4.88960091e-04 9.99931051e-01 3.94884351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.759254154 meters 0.027448423135205985 Centerline is valid? [True, True] Translation: X:594.17, Y:7.48, Z:3.95 [[ 9.98382281e-01 -5.56299043e-02 -1.17530373e-02 5.94171129e+02] [ 5.56318929e-02 9.98451335e-01 -1.57923405e-04 7.48352968e+00] [ 1.17436210e-02 -4.96175783e-04 9.99930918e-01 3.94991079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters 0.02776154875951821 Centerline is valid? [True, True] Translation: X:594.23, Y:7.49, Z:3.95 [[ 9.98437372e-01 -5.48932174e-02 -1.04665368e-02 5.94233397e+02] [ 5.48947598e-02 9.98492136e-01 -1.40080757e-04 7.48645262e+00] [ 1.04584441e-02 -4.34696158e-04 9.99945214e-01 3.95141494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.879254154 meters 0.027695597222314357 Centerline is valid? [True, True] Translation: X:594.29, Y:7.49, Z:3.95 [[ 9.98556793e-01 -5.27162621e-02 -1.02629202e-02 5.94294158e+02] [ 5.27176360e-02 9.98609449e-01 -1.36797942e-04 7.49120132e+00] [ 1.02558606e-02 -4.04436377e-04 9.99947325e-01 3.95231128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters 0.022201180013188708 Centerline is valid? [True, True] Translation: X:594.36, Y:7.50, Z:3.95 [[ 9.98683006e-01 -5.00338077e-02 -1.13521679e-02 5.94355551e+02] [ 5.00353204e-02 9.98747438e-01 -1.50905228e-04 7.50463764e+00] [ 1.13454990e-02 -4.17302871e-04 9.99935551e-01 3.95262712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.999254154 meters 0.02174997040272336 Centerline is valid? [True, True] Translation: X:594.42, Y:7.51, Z:3.95 [[ 9.98814678e-01 -4.72677824e-02 -1.16187917e-02 5.94416599e+02] [ 4.72691849e-02 9.98882175e-01 -1.54030070e-04 7.51024958e+00] [ 1.16130845e-02 -3.95363317e-04 9.99932488e-01 3.95237516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters 0.021273672077776796 Centerline is valid? [True, True] Translation: X:594.48, Y:7.51, Z:3.95 [[ 9.98881892e-01 -4.58954594e-02 -1.13389763e-02 5.94478974e+02] [ 4.58967131e-02 9.98946179e-01 -1.49765623e-04 7.51395389e+00] [ 1.13339006e-02 -3.70823573e-04 9.99935701e-01 3.95285845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.119254154 meters 0.02064035474271651 Centerline is valid? [True, True] Translation: X:594.54, Y:7.52, Z:3.95 [[ 9.98952182e-01 -4.43456191e-02 -1.13139288e-02 5.94541274e+02] [ 4.43467769e-02 9.99016187e-01 -1.48644448e-04 7.52010055e+00] [ 1.13093898e-02 -3.53247582e-04 9.99935984e-01 3.95385019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.179254154 meters 0.018279851637616047 Centerline is valid? [True, True] Translation: X:594.60, Y:7.53, Z:3.95 [[ 9.99041591e-01 -4.19413649e-02 -1.25228686e-02 5.94603571e+02] [ 4.19426066e-02 9.99120008e-01 -1.63582426e-04 7.52931573e+00] [ 1.25187094e-02 -3.61816102e-04 9.99921572e-01 3.95447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.239254154 meters 0.01724202500868319 Centerline is valid? [True, True] Translation: X:594.67, Y:7.53, Z:3.95 [[ 9.99132760e-01 -3.93770975e-02 -1.35341198e-02 5.94666292e+02] [ 3.93783284e-02 9.99224357e-01 -1.75631284e-04 7.53411076e+00] [ 1.35305380e-02 -3.57472044e-04 9.99908394e-01 3.95446372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.299254154 meters 0.016269244162765824 Centerline is valid? [True, True] Translation: X:594.73, Y:7.54, Z:3.95 [[ 9.99321893e-01 -3.41382176e-02 -1.37962187e-02 5.94726494e+02] [ 3.41390081e-02 9.99417078e-01 -1.78271857e-04 7.54149536e+00] [ 1.37942625e-02 -2.92838252e-04 9.99904812e-01 3.95481264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.359254154 meters 0.01559088103029673 Centerline is valid? [True, True] Translation: X:594.79, Y:7.55, Z:3.96 [[ 9.99552135e-01 -2.69312859e-02 -1.30474090e-02 5.94786985e+02] [ 2.69313835e-02 9.99637270e-01 -1.68253508e-04 7.54821016e+00] [ 1.30472076e-02 -1.83206622e-04 9.99914865e-01 3.95564671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.419254154 meters 0.013652050992530711 Centerline is valid? [True, True] Translation: X:594.85, Y:7.56, Z:3.96 [[ 9.99661054e-01 -2.18475284e-02 -1.41584894e-02 5.94848057e+02] [ 2.18471410e-02 9.99761306e-01 -1.82050481e-04 7.55850686e+00] [ 1.41590872e-02 -1.27333739e-04 9.99899747e-01 3.95738254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters 0.013580658096856529 Centerline is valid? [True, True] Translation: X:594.91, Y:7.56, Z:3.96 [[ 9.99665201e-01 -2.13522713e-02 -1.46139196e-02 5.94909708e+02] [ 2.13518135e-02 9.99772007e-01 -1.87367718e-04 7.55976304e+00] [ 1.46145885e-02 -1.24728699e-04 9.99893193e-01 3.95706571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.539254154 meters 0.013944235200870531 Centerline is valid? [True, True] Translation: X:594.97, Y:7.56, Z:3.96 [[ 9.99578051e-01 -2.48160769e-02 -1.50957755e-02 5.94970309e+02] [ 2.48159871e-02 9.99692017e-01 -1.93294527e-04 7.55949907e+00] [ 1.50959231e-02 -1.81403605e-04 9.99886034e-01 3.95702258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters 0.015439880638492047 Centerline is valid? [True, True] Translation: X:595.03, Y:7.56, Z:3.96 [[ 9.99363779e-01 -3.18337339e-02 -1.60826488e-02 5.95031821e+02] [ 3.18345458e-02 9.99493131e-01 -2.05590481e-04 7.55566967e+00] [ 1.60810417e-02 -3.06524140e-04 9.99870645e-01 3.95618325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.659254154 meters 0.017130437756006364 Centerline is valid? [True, True] Translation: X:595.09, Y:7.55, Z:3.96 [[ 9.99084650e-01 -3.92695431e-02 -1.69636656e-02 5.95092808e+02] [ 3.92715248e-02 9.99228553e-01 -2.16406934e-04 7.55192068e+00] [ 1.69590773e-02 -4.49980171e-04 9.99856083e-01 3.95624184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters 0.018852353589567092 Centerline is valid? [True, True] Translation: X:595.15, Y:7.55, Z:3.96 [[ 9.98855168e-01 -4.46381251e-02 -1.71985935e-02 5.95153788e+02] [ 4.46409625e-02 9.99003071e-01 -2.19086959e-04 7.54905712e+00] [ 1.71912273e-02 -5.48925624e-04 9.99852069e-01 3.95715173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.779254154 meters 0.02123557904099704 Centerline is valid? [True, True] Translation: X:595.21, Y:7.55, Z:3.96 [[ 9.98447122e-01 -5.27225066e-02 -1.79911795e-02 5.95214733e+02] [ 5.27269247e-02 9.98608942e-01 -2.29019520e-04 7.54533604e+00] [ 1.79782272e-02 -7.19955683e-04 9.99838119e-01 3.95768055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters 0.02333228598437093 Centerline is valid? [True, True] Translation: X:595.28, Y:7.54, Z:3.96 [[ 9.98152553e-01 -5.81395460e-02 -1.76429554e-02 5.95276146e+02] [ 5.81446464e-02 9.98308144e-01 -2.24167621e-04 7.54331204e+00] [ 1.76261391e-02 -8.02089922e-04 9.99844326e-01 3.95904104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.899254154 meters 0.023804345991645232 Centerline is valid? [True, True] Translation: X:595.34, Y:7.54, Z:3.96 [[ 9.98169925e-01 -5.81545611e-02 -1.65785416e-02 5.95338499e+02] [ 5.81590823e-02 9.98307306e-01 -2.09692104e-04 7.54401030e+00] [ 1.65626737e-02 -7.54884413e-04 9.99862545e-01 3.96038347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters 0.022897068395575607 Centerline is valid? [True, True] Translation: X:595.40, Y:7.55, Z:3.96 [[ 9.98362399e-01 -5.48307018e-02 -1.63130365e-02 5.95400253e+02] [ 5.48346529e-02 9.98495427e-01 -2.05326197e-04 7.54960450e+00] [ 1.62997505e-02 -6.89529738e-04 9.99866912e-01 3.96254157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.019254154 meters 0.021302272931163362 Centerline is valid? [True, True] Translation: X:595.46, Y:7.56, Z:3.96 [[ 9.98615086e-01 -4.97579149e-02 -1.70897753e-02 5.95461298e+02] [ 4.97615192e-02 9.98761105e-01 -2.14531740e-04 7.55642580e+00] [ 1.70792775e-02 -6.36178550e-04 9.99853936e-01 3.96357661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters 0.018981940672748998 Centerline is valid? [True, True] Translation: X:595.52, Y:7.56, Z:3.97 [[ 9.98847629e-01 -4.51300245e-02 -1.63307935e-02 5.95522912e+02] [ 4.51327082e-02 9.98980979e-01 -2.04366699e-04 7.56424679e+00] [ 1.63233752e-02 -5.32921746e-04 9.99866623e-01 3.96547112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.139254154 meters 0.017883864256098773 Centerline is valid? [True, True] Translation: X:595.58, Y:7.57, Z:3.97 [[ 9.98993796e-01 -4.16294207e-02 -1.66849496e-02 5.95584672e+02] [ 4.16317497e-02 9.99133001e-01 -2.07877531e-04 7.56981183e+00] [ 1.66791376e-02 -4.86955283e-04 9.99860775e-01 3.96599044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters 0.018237848595960008 Centerline is valid? [True, True] Translation: X:595.65, Y:7.57, Z:3.96 [[ 9.99049764e-01 -3.98384861e-02 -1.76766294e-02 5.95646374e+02] [ 3.98408410e-02 9.99206015e-01 -2.19049704e-04 7.57106043e+00] [ 1.76713210e-02 -4.85410226e-04 9.99843732e-01 3.96467122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.259254154 meters 0.017695714536108315 Centerline is valid? [True, True] Translation: X:595.71, Y:7.58, Z:3.97 [[ 9.99061253e-01 -3.91316805e-02 -1.85828791e-02 5.95709025e+02] [ 3.91341903e-02 9.99233938e-01 -2.28705061e-04 7.57517686e+00] [ 1.85775930e-02 -4.98735560e-04 9.99827297e-01 3.96520814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters 0.01764915264900158 Centerline is valid? [True, True] Translation: X:595.77, Y:7.58, Z:3.97 [[ 9.99057097e-01 -3.93504418e-02 -1.83428234e-02 5.95771312e+02] [ 3.93529503e-02 9.99225347e-01 -2.24316615e-04 7.57713171e+00] [ 1.83374411e-02 -4.97739113e-04 9.99831731e-01 3.96599116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.379254154 meters 0.01824496410291253 Centerline is valid? [True, True] Translation: X:595.83, Y:7.58, Z:3.97 [[ 9.99040733e-01 -4.02214506e-02 -1.73161648e-02 5.95833012e+02] [ 4.02238346e-02 9.99190672e-01 -2.10733348e-04 7.57742492e+00] [ 1.73106264e-02 -4.85991351e-04 9.99850042e-01 3.96697173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters 0.017919288872959092 Centerline is valid? [True, True] Translation: X:595.90, Y:7.58, Z:3.97 [[ 9.99040428e-01 -4.12131790e-02 -1.48222109e-02 5.95895398e+02] [ 4.12150480e-02 9.99150283e-01 -1.79474208e-04 7.57913327e+00] [ 1.48170129e-02 -4.31596145e-04 9.99890129e-01 3.96945767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.499254154 meters 0.017953097140385843 Centerline is valid? [True, True] Translation: X:595.96, Y:7.58, Z:3.97 [[ 9.99062376e-01 -4.11828840e-02 -1.33543395e-02 5.95957387e+02] [ 4.11844109e-02 9.99151549e-01 -1.60764861e-04 7.58076853e+00] [ 1.33496297e-02 -3.89376480e-04 9.99910814e-01 3.97101817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters 0.01738103855979569 Centerline is valid? [True, True] Translation: X:596.02, Y:7.58, Z:3.97 [[ 9.99112505e-01 -4.01904752e-02 -1.26066449e-02 5.96019170e+02] [ 4.01917683e-02 9.99191973e-01 -1.50860244e-04 7.58336226e+00] [ 1.26025216e-02 -3.55956995e-04 9.99920522e-01 3.97306570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.619254154 meters 0.017905237732472205 Centerline is valid? [True, True] Translation: X:596.08, Y:7.58, Z:3.97 [[ 9.99114459e-01 -3.96796024e-02 -1.39938379e-02 5.96080677e+02] [ 3.96811591e-02 9.99212379e-01 -1.66509230e-04 7.58258661e+00] [ 1.39894231e-02 -3.88929930e-04 9.99902068e-01 3.97222445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.679254154 meters 0.018077092962203438 Centerline is valid? [True, True] Translation: X:596.14, Y:7.58, Z:3.97 [[ 9.99114510e-01 -3.92914908e-02 -1.50457441e-02 5.96143328e+02] [ 3.92932659e-02 9.99227706e-01 -1.77729295e-04 7.58208853e+00] [ 1.50411076e-02 -4.13624507e-04 9.99886791e-01 3.97104373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.739254154 meters 0.018548716206343643 Centerline is valid? [True, True] Translation: X:596.21, Y:7.58, Z:3.97 [[ 9.99104820e-01 -3.92410300e-02 -1.58019242e-02 5.96205731e+02] [ 3.92430040e-02 9.99229679e-01 -1.85256338e-04 7.58090300e+00] [ 1.57970213e-02 -4.35024475e-04 9.99875125e-01 3.97061115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.799254154 meters 0.019194162945704956 Centerline is valid? [True, True] Translation: X:596.27, Y:7.58, Z:3.97 [[ 9.99101368e-01 -3.95025540e-02 -1.53624639e-02 5.96267752e+02] [ 3.95044670e-02 9.99219378e-01 -1.79039788e-04 7.57911552e+00] [ 1.53575442e-02 -4.28007052e-04 9.99881974e-01 3.97125871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.859254154 meters 0.019600228330348878 Centerline is valid? [True, True] Translation: X:596.33, Y:7.58, Z:3.97 [[ 9.99128058e-01 -3.92266249e-02 -1.42967181e-02 5.96329212e+02] [ 3.92282652e-02 9.99230262e-01 -1.65792862e-04 7.57666442e+00] [ 1.42922169e-02 -3.95187150e-04 9.99897783e-01 3.97193735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.919254154 meters 0.02000930074212203 Centerline is valid? [True, True] Translation: X:596.39, Y:7.57, Z:3.97 [[ 9.99169833e-01 -3.84851359e-02 -1.33618872e-02 5.96390778e+02] [ 3.84865112e-02 9.99259108e-01 -1.54291326e-04 7.57422915e+00] [ 1.33579254e-02 -3.60089182e-04 9.99910714e-01 3.97281964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters 0.01993419937167346 Centerline is valid? [True, True] Translation: X:596.45, Y:7.57, Z:3.97 [[ 9.99223087e-01 -3.72608990e-02 -1.28393427e-02 5.96453460e+02] [ 3.72620797e-02 9.99305517e-01 -1.47331591e-04 7.57415465e+00] [ 1.28359157e-02 -3.31203483e-04 9.99917561e-01 3.97395644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.039254154 meters 0.01965068043531063 Centerline is valid? [True, True] Translation: X:596.51, Y:7.57, Z:3.97 [[ 9.99290394e-01 -3.53980496e-02 -1.28719073e-02 5.96514534e+02] [ 3.53990942e-02 9.99373245e-01 -1.46744314e-04 7.57329614e+00] [ 1.28690342e-02 -3.09013676e-04 9.99917143e-01 3.97495102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters 0.019335849261085634 Centerline is valid? [True, True] Translation: X:596.58, Y:7.57, Z:3.98 [[ 9.99341645e-01 -3.39554049e-02 -1.27791540e-02 5.96576880e+02] [ 3.39563258e-02 9.99423307e-01 -1.44967926e-04 7.57158481e+00] [ 1.27767068e-02 -2.89060631e-04 9.99918333e-01 3.97507814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.159254154 meters 0.01643332060649722 Centerline is valid? [True, True] Translation: X:596.64, Y:7.58, Z:3.98 [[ 9.99360708e-01 -3.30822992e-02 -1.35549656e-02 5.96638808e+02] [ 3.30832680e-02 9.99452587e-01 -1.52816928e-04 7.57605913e+00] [ 1.35526010e-02 -2.95723326e-04 9.99908116e-01 3.97707342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters 0.016224962973379324 Centerline is valid? [True, True] Translation: X:596.70, Y:7.58, Z:3.98 [[ 9.99375683e-01 -3.20171960e-02 -1.49379725e-02 5.96701278e+02] [ 3.20182705e-02 9.99487270e-01 -1.67282072e-04 7.57529234e+00] [ 1.49356693e-02 -3.11110410e-04 9.99888408e-01 3.97627880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.279254154 meters 0.016506350261069218 Centerline is valid? [True, True] Translation: X:596.76, Y:7.57, Z:3.98 [[ 9.99352144e-01 -3.19162303e-02 -1.66326839e-02 5.96762809e+02] [ 3.19175663e-02 9.99490488e-01 -1.85192687e-04 7.57312601e+00] [ 1.66301200e-02 -3.45802084e-04 9.99861650e-01 3.97526395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters 0.016139472140403933 Centerline is valid? [True, True] Translation: X:596.82, Y:7.57, Z:3.98 [[ 9.99292229e-01 -3.35489525e-02 -1.70149677e-02 5.96824732e+02] [ 3.35506063e-02 9.99437002e-01 -1.88325814e-04 7.57220631e+00] [ 1.70117065e-02 -3.82669961e-04 9.99855217e-01 3.97608680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.399254154 meters 0.016757335187048528 Centerline is valid? [True, True] Translation: X:596.89, Y:7.57, Z:3.98 [[ 9.99237875e-01 -3.52656482e-02 -1.67332908e-02 5.96886646e+02] [ 3.52675085e-02 9.99377891e-01 -1.83995598e-04 7.57038204e+00] [ 1.67293696e-02 -4.06286105e-04 9.99859972e-01 3.97669837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters 0.01773156767024856 Centerline is valid? [True, True] Translation: X:596.95, Y:7.57, Z:3.98 [[ 9.99121353e-01 -3.84184534e-02 -1.67494638e-02 5.96948339e+02] [ 3.84207773e-02 9.99261633e-01 -1.83138583e-04 7.56952323e+00] [ 1.67441324e-02 -4.60549747e-04 9.99859701e-01 3.97703013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.519254154 meters 0.01820463664816285 Centerline is valid? [True, True] Translation: X:597.01, Y:7.57, Z:3.98 [[ 9.99011771e-01 -4.15675024e-02 -1.57360544e-02 5.97010546e+02] [ 4.15699597e-02 9.99135581e-01 -1.71050035e-04 7.56972974e+00] [ 1.57295620e-02 -4.83266148e-04 9.99876166e-01 3.97862346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters 0.019981503972041837 Centerline is valid? [True, True] Translation: X:597.07, Y:7.57, Z:3.98 [[ 9.98884538e-01 -4.53312846e-02 -1.32195010e-02 5.97072118e+02] [ 4.53333579e-02 9.98971905e-01 -1.42925484e-04 7.56802041e+00] [ 1.32123891e-02 -4.56518314e-04 9.99912608e-01 3.98081994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.639254154 meters 0.021070226152817367 Centerline is valid? [True, True] Translation: X:597.13, Y:7.57, Z:3.98 [[ 9.98772320e-01 -4.83027952e-02 -1.09860614e-02 5.97134296e+02] [ 4.83044133e-02 9.98832654e-01 -1.18163266e-04 7.56815911e+00] [ 1.09789445e-02 -4.12657053e-04 9.99939644e-01 3.98318266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters 0.02186503073466447 Centerline is valid? [True, True] Translation: X:597.19, Y:7.57, Z:3.98 [[ 9.98893402e-01 -4.58249091e-02 -1.05853598e-02 5.97194560e+02] [ 4.58262816e-02 9.98949418e-01 -1.12977501e-04 7.56720503e+00] [ 1.05794162e-02 -3.72235201e-04 9.99943967e-01 3.98329975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.759254154 meters 0.020175203557374875 Centerline is valid? [True, True] Translation: X:597.25, Y:7.57, Z:3.99 [[ 9.99176444e-01 -3.98957860e-02 -7.39998298e-03 5.97253988e+02] [ 3.98962982e-02 9.99203823e-01 -7.84413146e-05 7.57245316e+00] [ 7.39722076e-03 -2.16855214e-04 9.99972617e-01 3.98663125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters 0.01584421161634357 Centerline is valid? [True, True] Translation: X:597.32, Y:7.58, Z:3.99 [[ 9.99439495e-01 -3.32601736e-02 -3.80217154e-03 5.97315197e+02] [ 3.32602613e-02 9.99446724e-01 -4.01737393e-05 7.58284231e+00] [ 3.80140408e-03 -8.63099975e-05 9.99992771e-01 3.99034904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.879254154 meters 0.014976942980399456 Centerline is valid? [True, True] Translation: X:597.38, Y:7.59, Z:3.99 [[ 9.99633301e-01 -2.70731923e-02 5.53314106e-04 5.97375700e+02] [ 2.70731937e-02 9.99633454e-01 5.02497840e-06 7.58775641e+00] [-5.53247333e-04 9.95684420e-06 9.99999847e-01 3.99403789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters 0.014331428994843453 Centerline is valid? [True, True] Translation: X:597.44, Y:7.59, Z:4.00 [[ 9.99726624e-01 -2.32715820e-02 2.26074136e-03 5.97437931e+02] [ 2.32715898e-02 9.99729180e-01 2.28532238e-05 7.59113861e+00] [-2.26066094e-03 2.97640693e-05 9.99997444e-01 3.99593851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.999254154 meters 0.013216626769854741 Centerline is valid? [True, True] Translation: X:597.50, Y:7.60, Z:4.00 [[ 9.99871359e-01 -1.57985833e-02 2.76945914e-03 5.97500125e+02] [ 1.57985667e-02 9.99875194e-01 2.78792393e-05 7.59780077e+00] [-2.76955395e-03 1.58778319e-05 9.99996165e-01 3.99550684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters 0.013085368385868863 Centerline is valid? [True, True] Translation: X:597.56, Y:7.60, Z:3.99 [[ 9.99963432e-01 -7.86597910e-03 3.35587761e-03 5.97562708e+02] [ 7.86591047e-03 9.99969063e-01 3.36468763e-05 7.60170716e+00] [-3.35603846e-03 -7.24861298e-06 9.99994368e-01 3.99469366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.119254154 meters 0.013372265344417883 Centerline is valid? [True, True] Translation: X:597.63, Y:7.60, Z:3.99 [[ 9.99985091e-01 -3.59312671e-03 4.11191302e-03 5.97625173e+02] [ 3.59298833e-03 9.99993544e-01 4.10409599e-05 7.60327425e+00] [-4.11203394e-03 -2.62662925e-05 9.99991545e-01 3.99490063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.179254154 meters 0.014052359256289245 Centerline is valid? [True, True] Translation: X:597.69, Y:7.60, Z:3.99 [[ 9.99981181e-01 6.97498665e-04 6.09517293e-03 5.97687629e+02] [-6.97881171e-04 9.99999755e-01 6.06289177e-05 7.60360811e+00] [-6.09512914e-03 -6.48814831e-05 9.99981422e-01 3.99467061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.239254154 meters 0.014277522686661078 Centerline is valid? [True, True] Translation: X:597.75, Y:7.60, Z:3.99 [[ 9.99977042e-01 2.08026183e-03 6.44893849e-03 5.97750128e+02] [-2.08071594e-03 9.99997833e-01 6.37078313e-05 7.60171458e+00] [-6.44879198e-03 -7.71247777e-05 9.99979203e-01 3.99366500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.299254154 meters 0.014288125846918959 Centerline is valid? [True, True] Translation: X:597.81, Y:7.59, Z:3.99 [[ 9.99983415e-01 1.11779230e-03 5.64978588e-03 5.97812318e+02] [-1.11811011e-03 9.99999374e-01 5.30932738e-05 7.59480145e+00] [-5.64972299e-03 -5.94094759e-05 9.99984038e-01 3.99046104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.359254154 meters 0.01400562994461474 Centerline is valid? [True, True] Translation: X:597.88, Y:7.59, Z:3.99 [[ 9.99987667e-01 -2.29569872e-03 4.40399240e-03 5.97875014e+02] [ 2.29554554e-03 9.99997364e-01 3.98361963e-05 7.58766328e+00] [-4.40407225e-03 -2.97261399e-05 9.99990302e-01 3.98680707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.419254154 meters 0.013912652780295545 Centerline is valid? [True, True] Translation: X:597.94, Y:7.57, Z:3.98 [[ 9.99928443e-01 -1.19105642e-02 -1.11724608e-03 5.97937877e+02] [ 1.19105593e-02 9.99929067e-01 -1.10610256e-05 7.57456575e+00] [ 1.11729857e-03 -2.24679159e-06 9.99999376e-01 3.98062261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters 0.015175355459762209 Centerline is valid? [True, True] Translation: X:598.00, Y:7.56, Z:3.97 [[ 9.99687604e-01 -2.37529968e-02 -7.77745339e-03 5.97998861e+02] [ 2.37531501e-02 9.99717852e-01 -7.26708934e-05 7.55678108e+00] [ 7.77698514e-03 -1.12090826e-04 9.99969753e-01 3.97183527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.539254154 meters 0.01862338629126009 Centerline is valid? [True, True] Translation: X:598.06, Y:7.54, Z:3.96 [[ 9.99327994e-01 -3.41183753e-02 -1.33976248e-02 5.98059515e+02] [ 3.41197683e-02 9.99417743e-01 -1.24651028e-04 7.53730360e+00] [ 1.33940768e-02 -3.32556591e-04 9.99910240e-01 3.96471352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters 0.019043287451988813 Centerline is valid? [True, True] Translation: X:598.12, Y:7.53, Z:3.96 [[ 9.99090049e-01 -3.91768829e-02 -1.68595906e-02 5.98120588e+02] [ 3.91798181e-02 9.99232164e-01 -1.56296007e-04 7.52909899e+00] [ 1.68527684e-02 -5.04401907e-04 9.99857855e-01 3.96147711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.659254154 meters 0.02059661719785685 Centerline is valid? [True, True] Translation: X:598.18, Y:7.51, Z:3.96 [[ 9.98784471e-01 -4.44257080e-02 -2.13526609e-02 5.98181536e+02] [ 4.44316279e-02 9.99012408e-01 -1.97331330e-04 7.51464783e+00] [ 2.13403398e-02 -7.51642016e-04 9.99771986e-01 3.95551449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters 0.0217003825207443 Centerline is valid? [True, True] Translation: X:598.24, Y:7.50, Z:3.95 [[ 9.98593028e-01 -4.72040745e-02 -2.41607183e-02 5.98241625e+02] [ 4.72124623e-02 9.98884845e-01 -2.23463284e-04 7.49885279e+00] [ 2.41443237e-02 -9.17538124e-04 9.99708062e-01 3.95052861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.779254154 meters 0.022307625195287333 Centerline is valid? [True, True] Translation: X:598.30, Y:7.49, Z:3.95 [[ 9.98438264e-01 -4.80865157e-02 -2.84380051e-02 5.98300830e+02] [ 4.80984581e-02 9.98842564e-01 -2.64353078e-04 7.48513988e+00] [ 2.84178017e-02 -1.10388397e-03 9.99595523e-01 3.94591265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters 0.022457639646026144 Centerline is valid? [True, True] Translation: X:598.36, Y:7.47, Z:3.94 [[ 9.98267263e-01 -4.87853393e-02 -3.29007888e-02 5.98360924e+02] [ 4.88016615e-02 9.98808442e-01 -3.07216398e-04 7.47125809e+00] [ 3.28765733e-02 -1.29892909e-03 9.99458575e-01 3.94097297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.899254154 meters 0.02421284000169715 Centerline is valid? [True, True] Translation: X:598.42, Y:7.46, Z:3.94 [[ 9.98202182e-01 -4.91398073e-02 -3.43173959e-02 5.98419120e+02] [ 4.91576822e-02 9.98790978e-01 -3.23176859e-04 7.45983109e+00] [ 3.42917863e-02 -1.36436780e-03 9.99410932e-01 3.93782420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters 0.023282318194540963 Centerline is valid? [True, True] Translation: X:598.48, Y:7.45, Z:3.94 [[ 9.98192634e-01 -4.81582441e-02 -3.59478522e-02 5.98477492e+02] [ 4.81769012e-02 9.98838758e-01 -3.47526929e-04 7.44996482e+00] [ 3.59228444e-02 -1.38495730e-03 9.99353607e-01 3.93791381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.019254154 meters 0.022276835916356798 Centerline is valid? [True, True] Translation: X:598.54, Y:7.44, Z:3.94 [[ 9.98383461e-01 -4.36717291e-02 -3.63764309e-02 5.98537149e+02] [ 4.36877519e-02 9.99045171e-01 -3.54657421e-04 7.44273660e+00] [ 3.63571862e-02 -1.23512039e-03 9.99338096e-01 3.93819370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters 0.020812475466470536 Centerline is valid? [True, True] Translation: X:598.60, Y:7.44, Z:3.94 [[ 9.98671685e-01 -3.68695059e-02 -3.59931152e-02 5.98596818e+02] [ 3.68807336e-02 9.99319612e-01 -3.52179494e-04 7.44041089e+00] [ 3.59816106e-02 -9.75740802e-04 9.99351976e-01 3.94027990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.139254154 meters 0.01851868787591645 Centerline is valid? [True, True] Translation: X:598.66, Y:7.44, Z:3.94 [[ 9.98938367e-01 -3.14075498e-02 -3.37002340e-02 5.98657042e+02] [ 3.14142613e-02 9.99506396e-01 -3.30444712e-04 7.44121042e+00] [ 3.36939779e-02 -7.28574055e-04 9.99431931e-01 3.94433715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters 0.015876492407497587 Centerline is valid? [True, True] Translation: X:598.72, Y:7.44, Z:3.95 [[ 9.99324822e-01 -2.40515110e-02 -2.77745468e-02 5.98717151e+02] [ 2.40532229e-02 9.99710642e-01 -2.72511591e-04 7.44287238e+00] [ 2.77730643e-02 -3.95739766e-04 9.99614176e-01 3.95134201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.259254154 meters 0.014791703982081895 Centerline is valid? [True, True] Translation: X:598.78, Y:7.45, Z:3.96 [[ 9.99482643e-01 -2.04262910e-02 -2.48437779e-02 5.98775669e+02] [ 2.04265077e-02 9.99791327e-01 -2.45078510e-04 7.44758635e+00] [ 2.48435997e-02 -2.62519902e-04 9.99691316e-01 3.95761206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters 0.014736392578775832 Centerline is valid? [True, True] Translation: X:598.83, Y:7.45, Z:3.96 [[ 9.99524420e-01 -2.09094838e-02 -2.26655471e-02 5.98834788e+02] [ 2.09096878e-02 9.99781343e-01 -2.28020130e-04 7.44691117e+00] [ 2.26653589e-02 -2.46017826e-04 9.99743077e-01 3.96015357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.379254154 meters 0.015026980868185909 Centerline is valid? [True, True] Translation: X:598.89, Y:7.45, Z:3.96 [[ 9.99478775e-01 -2.52368470e-02 -2.01315634e-02 5.98893799e+02] [ 2.52377861e-02 9.99681455e-01 -2.07454091e-04 7.44624191e+00] [ 2.01303861e-02 -3.00730131e-04 9.99797318e-01 3.96489679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters 0.015981691167870703 Centerline is valid? [True, True] Translation: X:598.95, Y:7.45, Z:3.97 [[ 9.99383596e-01 -2.95618685e-02 -1.89347237e-02 5.98952207e+02] [ 2.95634235e-02 9.99562887e-01 -1.97841592e-04 7.44581686e+00] [ 1.89322956e-02 -3.62055613e-04 9.99820702e-01 3.96768424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.499254154 meters 0.01667190698091637 Centerline is valid? [True, True] Translation: X:599.01, Y:7.45, Z:3.97 [[ 9.99252578e-01 -3.36412569e-02 -1.90407542e-02 5.99011154e+02] [ 3.36434978e-02 9.99433877e-01 -2.02712485e-04 7.44540310e+00] [ 1.90367943e-02 -4.38036601e-04 9.99818688e-01 3.96980669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters 0.01811615568556714 Centerline is valid? [True, True] Translation: X:599.07, Y:7.45, Z:3.97 [[ 9.99101213e-01 -3.79794090e-02 -1.88236902e-02 5.99070763e+02] [ 3.79823282e-02 9.99278391e-01 -2.02537603e-04 7.44612343e+00] [ 1.88177991e-02 -5.12612013e-04 9.99822798e-01 3.97195718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.619254154 meters 0.0193897827503435 Centerline is valid? [True, True] Translation: X:599.13, Y:7.45, Z:3.97 [[ 9.98920456e-01 -4.28227069e-02 -1.80038447e-02 5.99130070e+02] [ 4.28261477e-02 9.99082521e-01 -1.94568054e-04 7.44600601e+00] [ 1.79956585e-02 -5.76677303e-04 9.99837899e-01 3.97450744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.679254154 meters 0.02323364485047916 Centerline is valid? [True, True] Translation: X:599.19, Y:7.44, Z:3.98 [[ 9.98773758e-01 -4.62644863e-02 -1.76231956e-02 5.99189063e+02] [ 4.62683014e-02 9.98929030e-01 -1.91402914e-04 7.44061891e+00] [ 1.76131769e-02 -6.24227119e-04 9.99844681e-01 3.97506121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.739254154 meters 0.023234799170532578 Centerline is valid? [True, True] Translation: X:599.25, Y:7.44, Z:3.98 [[ 9.98559834e-01 -5.08407862e-02 -1.71310528e-02 5.99249246e+02] [ 5.08450542e-02 9.98706536e-01 -1.86595501e-04 7.44347033e+00] [ 1.71183811e-02 -6.84702537e-04 9.99853235e-01 3.97849300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.799254154 meters 0.023260266251086844 Centerline is valid? [True, True] Translation: X:599.31, Y:7.45, Z:3.98 [[ 9.98406113e-01 -5.41780130e-02 -1.58106240e-02 5.99310178e+02] [ 5.41820668e-02 9.98531058e-01 -1.72156947e-04 7.44608539e+00] [ 1.57967262e-02 -6.84769736e-04 9.99874989e-01 3.98167696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.859254154 meters 0.02369028489789722 Centerline is valid? [True, True] Translation: X:599.37, Y:7.45, Z:3.98 [[ 9.98324984e-01 -5.56812440e-02 -1.57106838e-02 5.99371667e+02] [ 5.56854395e-02 9.98448348e-01 -1.70616982e-04 7.44782373e+00] [ 1.56958064e-02 -7.04525136e-04 9.99876565e-01 3.98306957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.919254154 meters 0.02478976111955867 Centerline is valid? [True, True] Translation: X:599.43, Y:7.45, Z:3.98 [[ 9.98280162e-01 -5.63621247e-02 -1.61253909e-02 5.99431654e+02] [ 5.63666458e-02 9.98410122e-01 -1.74354591e-04 7.45181135e+00] [ 1.61095805e-02 -7.34879467e-04 9.99869962e-01 3.98384208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters 0.026324813408429636 Centerline is valid? [True, True] Translation: X:599.49, Y:7.45, Z:3.98 [[ 9.98195479e-01 -5.76704460e-02 -1.67303477e-02 5.99492443e+02] [ 5.76755053e-02 9.98335366e-01 -1.80337756e-04 7.45333421e+00] [ 1.67128979e-02 -7.84918923e-04 9.99860022e-01 3.98355733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.039254154 meters 0.02597489248851895 Centerline is valid? [True, True] Translation: X:599.55, Y:7.46, Z:3.98 [[ 9.97897747e-01 -6.24295078e-02 -1.73966191e-02 5.99552717e+02] [ 6.24357030e-02 9.98048971e-01 -1.87315975e-04 7.45715426e+00] [ 1.73743719e-02 -8.99247956e-04 9.99848650e-01 3.98412224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters 0.028799195503714417 Centerline is valid? [True, True] Translation: X:599.61, Y:7.46, Z:3.99 [[ 9.97548772e-01 -6.78034587e-02 -1.72956402e-02 5.99613713e+02] [ 6.78103888e-02 9.97698209e-01 -1.86129772e-04 7.45946874e+00] [ 1.72684495e-02 -9.87150564e-04 9.99850402e-01 3.98580429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.159254154 meters 0.028174175023507837 Centerline is valid? [True, True] Translation: X:599.68, Y:7.46, Z:3.99 [[ 9.97505415e-01 -6.84853319e-02 -1.71086823e-02 5.99675948e+02] [ 6.84922267e-02 9.97651633e-01 -1.83315947e-04 7.46226976e+00] [ 1.70810593e-02 -9.88953096e-04 9.99853619e-01 3.98686516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters 0.028985892876761222 Centerline is valid? [True, True] Translation: X:599.74, Y:7.47, Z:3.99 [[ 9.97418083e-01 -6.97067343e-02 -1.72667231e-02 5.99737783e+02] [ 6.97139615e-02 9.97567005e-01 -1.83727399e-04 7.46617233e+00] [ 1.72375203e-02 -1.02047864e-03 9.99850902e-01 3.98752456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.279254154 meters 0.030715827976628026 Centerline is valid? [True, True] Translation: X:599.80, Y:7.47, Z:3.99 [[ 9.97471227e-01 -6.88997648e-02 -1.74348680e-02 5.99798990e+02] [ 6.89070438e-02 9.97623068e-01 -1.83606956e-04 7.46848548e+00] [ 1.74060770e-02 -1.01824256e-03 9.99847984e-01 3.98821075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters 0.03145581171865187 Centerline is valid? [True, True] Translation: X:599.86, Y:7.47, Z:3.99 [[ 9.97589850e-01 -6.72281885e-02 -1.71715689e-02 5.99859801e+02] [ 6.72350237e-02 9.97737149e-01 -1.79594372e-04 7.47262775e+00] [ 1.71447860e-02 -9.75369320e-04 9.99852542e-01 3.98934059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.399254154 meters 0.025593235521657612 Centerline is valid? [True, True] Translation: X:599.92, Y:7.49, Z:3.99 [[ 9.97775644e-01 -6.41741595e-02 -1.80400200e-02 5.99921146e+02] [ 6.41812184e-02 9.97938243e-01 -1.87999585e-04 7.48534407e+00] [ 1.80148906e-02 -9.70249055e-04 9.99837248e-01 3.99059272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters 0.02476115180574294 Centerline is valid? [True, True] Translation: X:599.98, Y:7.49, Z:3.99 [[ 9.97939611e-01 -6.10282295e-02 -1.98012087e-02 5.99982829e+02] [ 6.10361378e-02 9.98135536e-01 -2.05287573e-04 7.48958520e+00] [ 1.97768184e-02 -1.00372470e-03 9.99803916e-01 3.98996069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.519254154 meters 0.024502613216818223 Centerline is valid? [True, True] Translation: X:600.04, Y:7.50, Z:3.99 [[ 9.98349728e-01 -5.36603373e-02 -2.04545647e-02 6.00042020e+02] [ 5.36672362e-02 9.98558853e-01 -2.11898281e-04 7.49631324e+00] [ 2.04364572e-02 -8.86191363e-04 9.99790761e-01 3.98959418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters 0.020411791002839977 Centerline is valid? [True, True] Translation: X:600.10, Y:7.51, Z:3.99 [[ 9.98784012e-01 -4.53927995e-02 -1.92351528e-02 6.00102341e+02] [ 4.53973664e-02 9.98968988e-01 -1.99388705e-04 7.50766617e+00] [ 1.92243720e-02 -6.74079030e-04 9.99814967e-01 3.99180845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.639254154 meters 0.016581705666589962 Centerline is valid? [True, True] Translation: X:600.16, Y:7.52, Z:3.99 [[ 9.99135865e-01 -3.63167962e-02 -2.02142011e-02 6.00162590e+02] [ 3.63199857e-02 9.99340190e-01 -2.09439115e-04 7.52115675e+00] [ 2.02084697e-02 -5.24921363e-04 9.99795650e-01 3.99357605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters 0.015183914202693752 Centerline is valid? [True, True] Translation: X:600.22, Y:7.53, Z:3.99 [[ 9.99404076e-01 -2.78610925e-02 -2.03777434e-02 6.00221828e+02] [ 2.78625727e-02 9.99611741e-01 -2.11329952e-04 7.52999221e+00] [ 2.03757195e-02 -3.56572342e-04 9.99792330e-01 3.99252567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.759254154 meters 0.014034977287253213 Centerline is valid? [True, True] Translation: X:600.28, Y:7.54, Z:3.99 [[ 9.99512108e-01 -2.38838855e-02 -2.01272233e-02 6.00281091e+02] [ 2.38844582e-02 9.99714703e-01 -2.11966362e-04 7.53619465e+00] [ 2.01265436e-02 -2.68864878e-04 9.99797404e-01 3.99390917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters 0.01429436382108836 Centerline is valid? [True, True] Translation: X:600.34, Y:7.54, Z:3.99 [[ 9.99500814e-01 -2.45601148e-02 -1.98727014e-02 6.00339293e+02] [ 2.45607026e-02 9.99698317e-01 -2.14528820e-04 7.53793107e+00] [ 1.98719750e-02 -2.73665779e-04 9.99802495e-01 3.99388328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.879254154 meters 0.015877288997235527 Centerline is valid? [True, True] Translation: X:600.40, Y:7.53, Z:3.99 [[ 9.99284301e-01 -3.03755339e-02 -2.25435522e-02 6.00398017e+02] [ 3.03776925e-02 9.99538461e-01 -2.46772489e-04 7.53436299e+00] [ 2.25406434e-02 -4.38225224e-04 9.99745831e-01 3.99144764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters 0.017041110720416613 Centerline is valid? [True, True] Translation: X:600.46, Y:7.53, Z:3.99 [[ 9.98918437e-01 -3.98663149e-02 -2.39297612e-02 6.00458558e+02] [ 3.98714474e-02 9.99204783e-01 -2.62795264e-04 7.53111932e+00] [ 2.39212085e-02 -6.91603180e-04 9.99713608e-01 3.99298656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.999254154 meters 0.02017928090044769 Centerline is valid? [True, True] Translation: X:600.52, Y:7.53, Z:3.99 [[ 9.98669649e-01 -4.67377742e-02 -2.17832974e-02 6.00517804e+02] [ 4.67436522e-02 9.98906889e-01 -2.39534856e-04 7.52656485e+00] [ 2.17706812e-02 -7.79014687e-04 9.99762687e-01 3.99495219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters 0.0203884101307822 Centerline is valid? [True, True] Translation: X:600.58, Y:7.53, Z:4.00 [[ 9.98758724e-01 -4.58112857e-02 -1.95534686e-02 6.00578520e+02] [ 4.58158425e-02 9.98949880e-01 -2.15100331e-04 7.52739966e+00] [ 1.95427891e-02 -6.81025304e-04 9.99808790e-01 3.99670850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.119254154 meters 0.018649354469736548 Centerline is valid? [True, True] Translation: X:600.64, Y:7.53, Z:4.00 [[ 9.99065669e-01 -3.84136210e-02 -1.98035870e-02 6.00638849e+02] [ 3.84168429e-02 9.99261777e-01 -2.17851789e-04 7.53406194e+00] [ 1.97973360e-02 -5.43143047e-04 9.99803866e-01 3.99651643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.179254154 meters 0.016730870511861066 Centerline is valid? [True, True] Translation: X:600.70, Y:7.54, Z:4.00 [[ 9.99235970e-01 -3.38519203e-02 -1.95326561e-02 6.00698759e+02] [ 3.38541793e-02 9.99426760e-01 -2.15093419e-04 7.53885625e+00] [ 1.95287406e-02 -4.46332962e-04 9.99809196e-01 3.99679862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.239254154 meters 0.013821530763144949 Centerline is valid? [True, True] Translation: X:600.76, Y:7.54, Z:4.00 [[ 9.99443754e-01 -2.82861706e-02 -1.76656292e-02 6.00758644e+02] [ 2.82871436e-02 9.99599820e-01 -1.94841684e-04 7.54405819e+00] [ 1.76640711e-02 -3.04976886e-04 9.99843932e-01 3.99885145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.299254154 meters 0.013657307747748508 Centerline is valid? [True, True] Translation: X:600.82, Y:7.55, Z:4.00 [[ 9.99462796e-01 -2.69947465e-02 -1.85850394e-02 6.00818248e+02] [ 2.69955897e-02 9.99635532e-01 -2.05549999e-04 7.54504709e+00] [ 1.85838145e-02 -2.96274523e-04 9.99827262e-01 3.99838935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.359254154 meters 0.01331036423342716 Centerline is valid? [True, True] Translation: X:600.88, Y:7.54, Z:4.00 [[ 9.99473501e-01 -2.46870280e-02 -2.10540302e-02 6.00876564e+02] [ 2.46875763e-02 9.99695188e-01 -2.33915452e-04 7.54443774e+00] [ 2.10533874e-02 -2.85980682e-04 9.99778312e-01 3.99560162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.419254154 meters 0.012754340188045547 Centerline is valid? [True, True] Translation: X:600.94, Y:7.55, Z:4.00 [[ 9.99566986e-01 -2.10405732e-02 -2.05702496e-02 6.00935659e+02] [ 2.10402437e-02 9.99778603e-01 -2.32468933e-04 7.54613010e+00] [ 2.05705867e-02 -2.00434794e-04 9.99788383e-01 3.99652159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters 0.012366189265914153 Centerline is valid? [True, True] Translation: X:600.99, Y:7.55, Z:4.00 [[ 9.99665112e-01 -1.72624331e-02 -1.92788264e-02 6.00994809e+02] [ 1.72613524e-02 9.99850987e-01 -2.22469762e-04 7.54919408e+00] [ 1.92797940e-02 -1.10383357e-04 9.99814121e-01 3.99808985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.539254154 meters 0.01351651768940009 Centerline is valid? [True, True] Translation: X:601.05, Y:7.55, Z:4.00 [[ 9.99763620e-01 -1.13388152e-02 -1.85508631e-02 6.01052782e+02] [ 1.13367371e-02 9.99935714e-01 -2.17184270e-04 7.55070863e+00] [ 1.85521331e-02 6.82667590e-06 9.99827894e-01 3.99835167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters 0.012606424329807592 Centerline is valid? [True, True] Translation: X:601.11, Y:7.55, Z:4.00 [[ 9.99808991e-01 -8.71294319e-03 -1.74947714e-02 6.01110672e+02] [ 8.71062503e-03 9.99962040e-01 -2.08703768e-04 7.55165601e+00] [ 1.74959257e-02 5.62735101e-05 9.99846933e-01 3.99945522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.659254154 meters 0.01252753079372262 Centerline is valid? [True, True] Translation: X:601.17, Y:7.55, Z:4.00 [[ 9.99815501e-01 -9.67894116e-03 -1.65916432e-02 6.01169805e+02] [ 9.67691724e-03 9.99953157e-01 -2.02265282e-04 7.54987956e+00] [ 1.65928237e-02 4.16720060e-05 9.99862329e-01 4.00175222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters 0.012889617092828312 Centerline is valid? [True, True] Translation: X:601.23, Y:7.54, Z:4.00 [[ 9.99774054e-01 -1.44782911e-02 -1.55634363e-02 6.01227608e+02] [ 1.44770522e-02 9.99895184e-01 -1.92273451e-04 7.54318713e+00] [ 1.55645888e-02 -3.30826715e-05 9.99878864e-01 4.00006896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.779254154 meters 0.013277535783410213 Centerline is valid? [True, True] Translation: X:601.29, Y:7.54, Z:4.00 [[ 9.99700249e-01 -1.91750337e-02 -1.52226721e-02 6.01286686e+02] [ 1.91743517e-02 9.99816137e-01 -1.90764567e-04 7.53762094e+00] [ 1.52235311e-02 -1.01177482e-04 9.99884110e-01 4.00068572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters 0.015213691811368713 Centerline is valid? [True, True] Translation: X:601.35, Y:7.53, Z:4.00 [[ 9.99521568e-01 -2.61019706e-02 -1.65928290e-02 6.01346400e+02] [ 2.61020798e-02 9.99659261e-01 -2.10026492e-04 7.53109204e+00] [ 1.65926572e-02 -2.23181337e-04 9.99862307e-01 4.00206568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.899254154 meters 0.015768579320177584 Centerline is valid? [True, True] Translation: X:601.41, Y:7.52, Z:4.00 [[ 9.99289494e-01 -3.36055086e-02 -1.70638957e-02 6.01405720e+02] [ 3.36067036e-02 9.99435112e-01 -2.16799291e-04 7.52182266e+00] [ 1.70615421e-02 -3.56816030e-04 9.99854378e-01 4.00187650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters 0.016828524228009803 Centerline is valid? [True, True] Translation: X:601.47, Y:7.52, Z:4.00 [[ 9.99100144e-01 -3.86308371e-02 -1.75088957e-02 6.01466358e+02] [ 3.86328598e-02 9.99253448e-01 -2.22825554e-04 7.51616735e+00] [ 1.75044323e-02 -4.53793670e-04 9.99846683e-01 4.00286972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.019254154 meters 0.017300061768441382 Centerline is valid? [True, True] Translation: X:601.53, Y:7.51, Z:4.00 [[ 9.99026142e-01 -4.03979946e-02 -1.77417730e-02 6.01527284e+02] [ 4.04003499e-02 9.99183547e-01 -2.25789248e-04 7.51368085e+00] [ 1.77364091e-02 -4.91204476e-04 9.99842577e-01 4.00364768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters 0.017591641547565446 Centerline is valid? [True, True] Translation: X:601.59, Y:7.51, Z:4.00 [[ 9.99028025e-01 -4.02741778e-02 -1.79163756e-02 6.01588734e+02] [ 4.02765671e-02 9.99188544e-01 -2.27601157e-04 7.51293732e+00] [ 1.79110037e-02 -4.94230169e-04 9.99839463e-01 4.00380306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.139254154 meters 0.017629154173547275 Centerline is valid? [True, True] Translation: X:601.65, Y:7.51, Z:4.00 [[ 9.99080989e-01 -3.88373927e-02 -1.81338088e-02 6.01649247e+02] [ 3.88396084e-02 9.99245431e-01 -2.30114732e-04 7.51137811e+00] [ 1.81290626e-02 -4.74406777e-04 9.99835542e-01 4.00438920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters 0.017614031370515273 Centerline is valid? [True, True] Translation: X:601.71, Y:7.51, Z:4.01 [[ 9.99166676e-01 -3.70430935e-02 -1.71394816e-02 6.01708599e+02] [ 3.70448057e-02 9.99313582e-01 -2.17683316e-04 7.51094285e+00] [ 1.71357804e-02 -4.17426852e-04 9.99853085e-01 4.00691307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.259254154 meters 0.01622486948362489 Centerline is valid? [True, True] Translation: X:601.77, Y:7.51, Z:4.01 [[ 9.99192579e-01 -3.61183188e-02 -1.75970764e-02 6.01769268e+02] [ 3.61199783e-02 9.99347436e-01 -2.23618237e-04 7.51412731e+00] [ 1.75936698e-02 -4.12168332e-04 9.99845134e-01 4.00895825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters 0.018189902361661684 Centerline is valid? [True, True] Translation: X:601.83, Y:7.51, Z:4.01 [[ 9.99102336e-01 -3.72604219e-02 -2.01539958e-02 6.01828561e+02] [ 3.72628262e-02 9.99305467e-01 -2.56357378e-04 7.50968461e+00] [ 2.01495501e-02 -4.94867586e-04 9.99796855e-01 4.00635972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.379254154 meters 0.017003784466953952 Centerline is valid? [True, True] Translation: X:601.89, Y:7.51, Z:4.01 [[ 9.99023560e-01 -3.87824546e-02 -2.11624296e-02 6.01888251e+02] [ 3.87854327e-02 9.99247526e-01 -2.69854098e-04 7.51168240e+00] [ 2.11569710e-02 -5.51203387e-04 9.99776014e-01 4.00834597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters 0.017704073876890488 Centerline is valid? [True, True] Translation: X:601.95, Y:7.51, Z:4.01 [[ 9.98904617e-01 -4.15569152e-02 -2.15078977e-02 6.01948067e+02] [ 4.15606165e-02 9.99135946e-01 -2.75065911e-04 7.51068275e+00] [ 2.15007446e-02 -6.19116879e-04 9.99768641e-01 4.00970870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.499254154 meters 0.018669056781626732 Centerline is valid? [True, True] Translation: X:602.01, Y:7.51, Z:4.01 [[ 9.98783907e-01 -4.43706692e-02 -2.14930225e-02 6.02007690e+02] [ 4.43749989e-02 9.99014907e-01 -2.75676145e-04 7.50805116e+00] [ 2.14840818e-02 -6.78411951e-04 9.99768960e-01 4.01065286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters 0.020417675339133554 Centerline is valid? [True, True] Translation: X:602.07, Y:7.50, Z:4.01 [[ 9.98674469e-01 -4.63437885e-02 -2.23954743e-02 6.02067295e+02] [ 4.63489729e-02 9.98925267e-01 -2.87799364e-04 7.50377926e+00] [ 2.23847428e-02 -7.50589353e-04 9.99749148e-01 4.01000727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.619254154 meters 0.01916804015616629 Centerline is valid? [True, True] Translation: X:602.13, Y:7.51, Z:4.01 [[ 9.98649244e-01 -4.63246875e-02 -2.35310557e-02 6.02127370e+02] [ 4.63303883e-02 9.98926125e-01 -3.03147876e-04 7.50699461e+00] [ 2.35198295e-02 -7.87464547e-04 9.99723060e-01 4.01160572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.679254154 meters 0.018638633554725198 Centerline is valid? [True, True] Translation: X:602.19, Y:7.51, Z:4.01 [[ 9.98834672e-01 -4.24280347e-02 -2.30034926e-02 6.02186688e+02] [ 4.24324307e-02 9.99099295e-01 -2.97195172e-04 7.50922435e+00] [ 2.29953827e-02 -6.79245266e-04 9.99735340e-01 4.01339253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.739254154 meters 0.017376336997904328 Centerline is valid? [True, True] Translation: X:602.25, Y:7.51, Z:4.02 [[ 9.99028127e-01 -3.77848800e-02 -2.26958881e-02 6.02246741e+02] [ 3.77879363e-02 9.99285738e-01 -2.94347595e-04 7.51380556e+00] [ 2.26907992e-02 -5.63569246e-04 9.99742372e-01 4.01583707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.799254154 meters 0.015740029114479897 Centerline is valid? [True, True] Translation: X:602.31, Y:7.52, Z:4.02 [[ 9.99284615e-01 -3.05356756e-02 -2.23121422e-02 6.02306856e+02] [ 3.05367974e-02 9.99533601e-01 -2.90511674e-04 7.51908135e+00] [ 2.23106068e-02 -3.91037519e-04 9.99751011e-01 4.01700109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.859254154 meters 0.01597767302388009 Centerline is valid? [True, True] Translation: X:602.37, Y:7.52, Z:4.01 [[ 9.99352282e-01 -2.77673171e-02 -2.28908835e-02 6.02365076e+02] [ 2.77676700e-02 9.99614358e-01 -3.02499974e-04 7.51884859e+00] [ 2.28904554e-02 -3.33322459e-04 9.99737924e-01 4.01412916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.919254154 meters 0.015709395453235627 Centerline is valid? [True, True] Translation: X:602.42, Y:7.52, Z:4.01 [[ 9.99321093e-01 -2.92316276e-02 -2.24246595e-02 6.02423501e+02] [ 2.92322091e-02 9.99572602e-01 -3.01939584e-04 7.51680455e+00] [ 2.24239015e-02 -3.53787741e-04 9.99748490e-01 4.01458625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters 0.01692508565270268 Centerline is valid? [True, True] Translation: X:602.48, Y:7.51, Z:4.01 [[ 9.99186139e-01 -3.37124960e-02 -2.21478672e-02 6.02482633e+02] [ 3.37140423e-02 9.99431474e-01 -3.03676780e-04 7.51355081e+00] [ 2.21455132e-02 -4.43264501e-04 9.99754660e-01 4.01486867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.039254154 meters 0.019053419047441456 Centerline is valid? [True, True] Translation: X:602.54, Y:7.51, Z:4.01 [[ 9.98957572e-01 -4.00389322e-02 -2.19238085e-02 6.02542087e+02] [ 4.00419162e-02 9.99197955e-01 -3.03036788e-04 7.50706452e+00] [ 2.19183579e-02 -5.75150410e-04 9.99759598e-01 4.01472987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters 0.020163182484805368 Centerline is valid? [True, True] Translation: X:602.60, Y:7.50, Z:4.02 [[ 9.98711781e-01 -4.66771238e-02 -1.99003741e-02 6.02602319e+02] [ 4.66808873e-02 9.98909815e-01 -2.75624574e-04 7.50164460e+00] [ 1.98915444e-02 -6.53697610e-04 9.99801930e-01 4.01729438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.159254154 meters 0.019916302972572877 Centerline is valid? [True, True] Translation: X:602.66, Y:7.50, Z:4.02 [[ 9.98608030e-01 -4.93681654e-02 -1.85684410e-02 6.02662664e+02] [ 4.93719043e-02 9.98780431e-01 -2.57290064e-04 7.50228534e+00] [ 1.85584974e-02 -6.59827366e-04 9.99827559e-01 4.01936816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters 0.020500583011566757 Centerline is valid? [True, True] Translation: X:602.72, Y:7.50, Z:4.02 [[ 9.98633611e-01 -4.89971441e-02 -1.81711417e-02 6.02723036e+02] [ 4.90006671e-02 9.98798714e-01 -2.51573792e-04 7.50019819e+00] [ 1.81616393e-02 -6.39168021e-04 9.99834860e-01 4.01844084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.279254154 meters 0.022389973062746628 Centerline is valid? [True, True] Translation: X:602.78, Y:7.50, Z:4.02 [[ 9.98798083e-01 -4.59552153e-02 -1.70442845e-02 6.02782397e+02] [ 4.59578792e-02 9.98943351e-01 -2.35568420e-04 7.49578925e+00] [ 1.70371003e-02 -5.48033882e-04 9.99854708e-01 4.01719848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters 0.019070740986523154 Centerline is valid? [True, True] Translation: X:602.84, Y:7.50, Z:4.02 [[ 9.99024612e-01 -4.07498707e-02 -1.70079965e-02 6.02843057e+02] [ 4.07517757e-02 9.99169274e-01 -2.34696106e-04 7.50232511e+00] [ 1.70034314e-02 -4.58638874e-04 9.99855326e-01 4.01858463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.399254154 meters 0.01815198986240193 Centerline is valid? [True, True] Translation: X:602.90, Y:7.51, Z:4.02 [[ 9.99192647e-01 -3.62484697e-02 -1.73234637e-02 6.02903292e+02] [ 3.62497612e-02 9.99342733e-01 -2.39557376e-04 7.50560666e+00] [ 1.73207611e-02 -3.88607452e-04 9.99849909e-01 4.01809201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters 0.016204139507698275 Centerline is valid? [True, True] Translation: X:602.96, Y:7.51, Z:4.02 [[ 9.99413311e-01 -2.97353344e-02 -1.69953850e-02 6.02962747e+02] [ 2.97356229e-02 9.99557771e-01 -2.35784010e-04 7.50920789e+00] [ 1.69948802e-02 -2.69722680e-04 9.99855540e-01 4.01788419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.519254154 meters 0.015573696964550892 Centerline is valid? [True, True] Translation: X:603.02, Y:7.51, Z:4.02 [[ 9.99516692e-01 -2.63167264e-02 -1.65472572e-02 6.03021500e+02] [ 2.63164864e-02 9.99653634e-01 -2.32289197e-04 7.51212577e+00] [ 1.65476389e-02 -2.03288741e-04 9.99863058e-01 4.01924865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters 0.015437862948340651 Centerline is valid? [True, True] Translation: X:603.08, Y:7.51, Z:4.02 [[ 9.99531591e-01 -2.60620514e-02 -1.60426682e-02 6.03079736e+02] [ 2.60617534e-02 9.99660309e-01 -2.27677024e-04 7.51171867e+00] [ 1.60431524e-02 -1.90529685e-04 9.99871282e-01 4.01991407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.639254154 meters 0.016175679302956575 Centerline is valid? [True, True] Translation: X:603.14, Y:7.51, Z:4.02 [[ 9.99356006e-01 -3.20756424e-02 -1.60849557e-02 6.03138876e+02] [ 3.20760735e-02 9.99485404e-01 -2.31251156e-04 7.50840656e+00] [ 1.60840960e-02 -2.84839991e-04 9.99870602e-01 4.02038596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters 0.01921008939451376 Centerline is valid? [True, True] Translation: X:603.20, Y:7.50, Z:4.02 [[ 9.99068322e-01 -4.03900990e-02 -1.52029149e-02 6.03197831e+02] [ 4.03914169e-02 9.99183909e-01 -2.20481501e-04 7.50024117e+00] [ 1.51994133e-02 -3.93791192e-04 9.99884405e-01 4.02038920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.759254154 meters 0.01880585967629504 Centerline is valid? [True, True] Translation: X:603.26, Y:7.50, Z:4.02 [[ 9.98859081e-01 -4.53448789e-02 -1.49792892e-02 6.03258512e+02] [ 4.53467113e-02 9.98971285e-01 -2.17474083e-04 7.50117859e+00] [ 1.49737411e-02 -4.62035540e-04 9.99887781e-01 4.02200964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters 0.02061300536118715 Centerline is valid? [True, True] Translation: X:603.32, Y:7.50, Z:4.02 [[ 9.98643217e-01 -4.99950934e-02 -1.45676488e-02 6.03319525e+02] [ 4.99973226e-02 9.98749329e-01 -2.11353716e-04 7.49816199e+00] [ 1.45599962e-02 -5.17276484e-04 9.99893864e-01 4.02261693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.879254154 meters 0.02254803694554605 Centerline is valid? [True, True] Translation: X:603.38, Y:7.50, Z:4.02 [[ 9.98499884e-01 -5.28480473e-02 -1.43200969e-02 6.03379620e+02] [ 5.28504960e-02 9.98602414e-01 -2.07641198e-04 7.49523574e+00] [ 1.43110568e-02 -5.49494513e-04 9.99897441e-01 4.02278522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters 0.02331922416479918 Centerline is valid? [True, True] Translation: X:603.44, Y:7.50, Z:4.02 [[ 9.98504252e-01 -5.30120952e-02 -1.33781975e-02 6.03440103e+02] [ 5.30142486e-02 9.98593737e-01 -1.93866217e-04 7.49554731e+00] [ 1.33696615e-02 -5.15658844e-04 9.99910489e-01 4.02432688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.999254154 meters 0.022009361014568584 Centerline is valid? [True, True] Translation: X:603.50, Y:7.50, Z:4.03 [[ 9.98514569e-01 -5.28613555e-02 -1.32034781e-02 6.03502707e+02] [ 5.28634476e-02 9.98601732e-01 -1.90746640e-04 7.49864356e+00] [ 1.31950992e-02 -5.07518073e-04 9.99912812e-01 4.02562033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters 0.021488225294236173 Centerline is valid? [True, True] Translation: X:603.56, Y:7.50, Z:4.03 [[ 9.98534398e-01 -5.23076731e-02 -1.38911384e-02 6.03564504e+02] [ 5.23099498e-02 9.98630877e-01 -1.99643630e-04 7.50119744e+00] [ 1.38825626e-02 -5.27293719e-04 9.99903494e-01 4.02577874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.119254154 meters 0.02321596879164715 Centerline is valid? [True, True] Translation: X:603.63, Y:7.50, Z:4.02 [[ 9.98422697e-01 -5.34071519e-02 -1.73145547e-02 6.03625637e+02] [ 5.34108750e-02 9.98572590e-01 -2.47659411e-04 7.50116782e+00] [ 1.73030665e-02 -6.77516739e-04 9.99850061e-01 4.02261726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.179254154 meters 0.025180349659817945 Centerline is valid? [True, True] Translation: X:603.69, Y:7.50, Z:4.02 [[ 9.98272683e-01 -5.61256085e-02 -1.73656411e-02 6.03685969e+02] [ 5.61297737e-02 9.98423451e-01 -2.47840297e-04 7.50126498e+00] [ 1.73521735e-02 -7.27317309e-04 9.99849175e-01 4.02313626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.239254154 meters 0.023202393464181938 Centerline is valid? [True, True] Translation: X:603.75, Y:7.51, Z:4.03 [[ 9.98099167e-01 -5.92631687e-02 -1.69094669e-02 6.03746877e+02] [ 5.92675757e-02 9.98242103e-01 -2.40827340e-04 7.50736973e+00] [ 1.68940140e-02 -7.61813543e-04 9.99856996e-01 4.02540756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.299254154 meters 0.023627803209027347 Centerline is valid? [True, True] Translation: X:603.81, Y:7.51, Z:4.03 [[ 9.98017771e-01 -6.09551572e-02 -1.56523878e-02 6.03808298e+02] [ 6.09591497e-02 9.98140237e-01 -2.22354431e-04 7.50926264e+00] [ 1.56368317e-02 -7.32242578e-04 9.99877469e-01 4.02672409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.359254154 meters 0.02332954070712244 Centerline is valid? [True, True] Translation: X:603.87, Y:7.51, Z:4.03 [[ 9.98178689e-01 -5.87413040e-02 -1.37391696e-02 6.03870166e+02] [ 5.87441790e-02 9.98273051e-01 -1.94565762e-04 7.51175756e+00] [ 1.37268718e-02 -6.12884842e-04 9.99905594e-01 4.02807709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.419254154 meters 0.021176454133524487 Centerline is valid? [True, True] Translation: X:603.93, Y:7.52, Z:4.03 [[ 9.98616522e-01 -5.13605501e-02 -1.12754962e-02 6.03930599e+02] [ 5.13620199e-02 9.98680088e-01 -1.59369971e-04 7.51976845e+00] [ 1.12687988e-02 -4.19982773e-04 9.99936417e-01 4.03056451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters 0.01857882294583867 Centerline is valid? [True, True] Translation: X:603.99, Y:7.53, Z:4.03 [[ 9.99032145e-01 -4.23747519e-02 -1.17963746e-02 6.03990612e+02] [ 4.23757349e-02 9.99101731e-01 -1.66721790e-04 7.52804929e+00] [ 1.17928431e-02 -3.33319617e-04 9.99930406e-01 4.02943715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.539254154 meters 0.016486691982361117 Centerline is valid? [True, True] Translation: X:604.05, Y:7.54, Z:4.03 [[ 9.99265296e-01 -3.60196547e-02 -1.30939790e-02 6.04052036e+02] [ 3.60203237e-02 9.99351041e-01 -1.84810762e-04 7.53539551e+00] [ 1.30921384e-02 -2.86974383e-04 9.99914253e-01 4.02884106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters 0.01623993771066342 Centerline is valid? [True, True] Translation: X:604.11, Y:7.54, Z:4.03 [[ 9.99320924e-01 -3.44448507e-02 -1.30859912e-02 6.04113259e+02] [ 3.44453902e-02 9.99406565e-01 -1.84217850e-04 7.53757569e+00] [ 1.30845709e-02 -2.66659321e-04 9.99914358e-01 4.02860464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.659254154 meters 0.016373469967649157 Centerline is valid? [True, True] Translation: X:604.18, Y:7.54, Z:4.03 [[ 9.99368824e-01 -3.33509369e-02 -1.22339150e-02 6.04175033e+02] [ 3.33513324e-02 9.99443675e-01 -1.71743235e-04 7.53967016e+00] [ 1.22328367e-02 -2.36382529e-04 9.99925148e-01 4.02885550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters 0.016570922028521402 Centerline is valid? [True, True] Translation: X:604.24, Y:7.54, Z:4.03 [[ 9.99353629e-01 -3.38380108e-02 -1.21372309e-02 6.04235757e+02] [ 3.38384408e-02 9.99427302e-01 -1.69986262e-04 7.53877391e+00] [ 1.21360319e-02 -2.40828582e-04 9.99926327e-01 4.02806029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.779254154 meters 0.017289986001510934 Centerline is valid? [True, True] Translation: X:604.30, Y:7.54, Z:4.03 [[ 9.99312010e-01 -3.54404117e-02 -1.09309077e-02 6.04296704e+02] [ 3.54408591e-02 9.99371764e-01 -1.52835637e-04 7.53699939e+00] [ 1.09294570e-02 -2.34670270e-04 9.99940244e-01 4.02892205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters 0.01923623948057332 Centerline is valid? [True, True] Translation: X:604.36, Y:7.53, Z:4.03 [[ 9.99159364e-01 -3.99826973e-02 -9.05256077e-03 6.04358217e+02] [ 3.99831929e-02 9.99200344e-01 -1.26296158e-04 7.53112514e+00] [ 9.05037150e-03 -2.35760295e-04 9.99959017e-01 4.03021440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.899254154 meters 0.022302410134608156 Centerline is valid? [True, True] Translation: X:604.42, Y:7.52, Z:4.03 [[ 9.98878008e-01 -4.65512200e-02 -8.70110381e-03 6.04419506e+02] [ 4.65519291e-02 9.98915864e-01 -1.21134816e-04 7.52318124e+00] [ 8.69730960e-03 -2.84054263e-04 9.99962137e-01 4.03050054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters 0.02581794430687494 Centerline is valid? [True, True] Translation: X:604.48, Y:7.52, Z:4.03 [[ 9.98561951e-01 -5.26056683e-02 -1.03283386e-02 6.04479214e+02] [ 5.26069936e-02 9.98615283e-01 -1.43513248e-04 7.51583211e+00] [ 1.03215863e-02 -4.00035971e-04 9.99946651e-01 4.02950922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.019254154 meters 0.027038700196749605 Centerline is valid? [True, True] Translation: X:604.54, Y:7.51, Z:4.03 [[ 9.98466622e-01 -5.41664650e-02 -1.14192133e-02 6.04541034e+02] [ 5.41681952e-02 9.98531813e-01 -1.57948825e-04 7.51285108e+00] [ 1.14110032e-02 -4.60851542e-04 9.99934786e-01 4.02898861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters 0.022915097918877754 Centerline is valid? [True, True] Translation: X:604.60, Y:7.52, Z:4.03 [[ 9.98618418e-01 -5.13854871e-02 -1.09903022e-02 6.04602635e+02] [ 5.13869306e-02 9.98678807e-01 -1.51184741e-04 7.51860854e+00] [ 1.09835506e-02 -4.13782031e-04 9.99939593e-01 4.03023410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.139254154 meters 0.02083610804616039 Centerline is valid? [True, True] Translation: X:604.66, Y:7.52, Z:4.03 [[ 9.98804474e-01 -4.71496291e-02 -1.29048303e-02 6.04664379e+02] [ 4.71512762e-02 9.98887744e-01 -1.76758357e-04 7.52326712e+00] [ 1.28988109e-02 -4.31932179e-04 9.99916714e-01 4.02974196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters 0.01977221713448115 Centerline is valid? [True, True] Translation: X:604.73, Y:7.53, Z:4.03 [[ 9.99006586e-01 -4.25148156e-02 -1.33541055e-02 6.04726045e+02] [ 4.25161758e-02 9.99095762e-01 -1.82150154e-04 7.52910116e+00] [ 1.33497743e-02 -3.85796292e-04 9.99910813e-01 4.03027423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.259254154 meters 0.020034816481533123 Centerline is valid? [True, True] Translation: X:604.79, Y:7.53, Z:4.03 [[ 9.99013877e-01 -4.20086767e-02 -1.43716297e-02 6.04787798e+02] [ 4.20102097e-02 9.99117162e-01 -1.95344957e-04 7.53076362e+00] [ 1.43671481e-02 -4.08602854e-04 9.99896704e-01 4.03007133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters 0.021769418686707256 Centerline is valid? [True, True] Translation: X:604.85, Y:7.53, Z:4.03 [[ 9.98864651e-01 -4.52626022e-02 -1.48561948e-02 6.04847644e+02] [ 4.52646034e-02 9.98975012e-01 -2.01688676e-04 7.53175148e+00] [ 1.48500964e-02 -4.71000078e-04 9.99889620e-01 4.03067000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.379254154 meters 0.02274309688919526 Centerline is valid? [True, True] Translation: X:604.91, Y:7.53, Z:4.03 [[ 9.98715197e-01 -4.85749762e-02 -1.44370332e-02 6.04908454e+02] [ 4.85772136e-02 9.98819411e-01 -1.95863693e-04 7.53426830e+00] [ 1.44295030e-02 -5.05698797e-04 9.99895761e-01 4.03215450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters 0.0247848235380967 Centerline is valid? [True, True] Translation: X:604.97, Y:7.53, Z:4.03 [[ 9.98589174e-01 -5.09962119e-02 -1.48002684e-02 6.04969036e+02] [ 5.09988450e-02 9.98698692e-01 -1.99700139e-04 7.53321753e+00] [ 1.47911926e-02 -5.55378198e-04 9.99890450e-01 4.03200385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.499254154 meters 0.0229394772415471 Centerline is valid? [True, True] Translation: X:605.03, Y:7.54, Z:4.03 [[ 9.98410914e-01 -5.43314426e-02 -1.49579978e-02 6.05030403e+02] [ 5.43345225e-02 9.98522769e-01 -2.00711795e-04 7.53981519e+00] [ 1.49468064e-02 -6.12342824e-04 9.99888103e-01 4.03327448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters 0.023263431030008642 Centerline is valid? [True, True] Translation: X:605.09, Y:7.55, Z:4.03 [[ 9.98487828e-01 -5.29709430e-02 -1.47016119e-02 6.05091706e+02] [ 5.29737809e-02 9.98595884e-01 -1.96595546e-04 7.54513837e+00] [ 1.46913830e-02 -5.82501708e-04 9.99891906e-01 4.03474131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.619254154 meters 0.022307264376994485 Centerline is valid? [True, True] Translation: X:605.15, Y:7.55, Z:4.04 [[ 9.98718722e-01 -4.82179731e-02 -1.53603680e-02 6.05151268e+02] [ 4.82205154e-02 9.98836693e-01 -2.05023406e-04 7.55305814e+00] [ 1.53523850e-02 -5.35924147e-04 9.99882002e-01 4.03558463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.679254154 meters 0.019648350959537722 Centerline is valid? [True, True] Translation: X:605.21, Y:7.56, Z:4.04 [[ 9.99013256e-01 -4.17859959e-02 -1.50480616e-02 6.05211925e+02] [ 4.17877090e-02 9.99126492e-01 -2.00707059e-04 7.56189523e+00] [ 1.50433038e-02 -4.28315008e-04 9.99886751e-01 4.03651129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.739254154 meters 0.017554502743798352 Centerline is valid? [True, True] Translation: X:605.27, Y:7.57, Z:4.04 [[ 9.99138975e-01 -3.85568586e-02 -1.53191844e-02 6.05273496e+02] [ 3.85582634e-02 9.99256333e-01 -2.03749932e-04 7.56989802e+00] [ 1.53156480e-02 -3.87106651e-04 9.99882634e-01 4.03793506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.799254154 meters 0.018318713250254005 Centerline is valid? [True, True] Translation: X:605.33, Y:7.57, Z:4.04 [[ 9.99199687e-01 -3.62130902e-02 -1.69881655e-02 6.05334015e+02] [ 3.62144893e-02 9.99344015e-01 -2.25369060e-04 7.57135557e+00] [ 1.69851828e-02 -3.90029042e-04 9.99855665e-01 4.03618493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.859254154 meters 0.01687497338872611 Centerline is valid? [True, True] Translation: X:605.40, Y:7.58, Z:4.04 [[ 9.99191409e-01 -3.66193120e-02 -1.65998245e-02 6.05395446e+02] [ 3.66207120e-02 9.99329213e-01 -2.19726738e-04 7.57580602e+00] [ 1.65967358e-02 -3.88348323e-04 9.99862189e-01 4.03792493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.919254154 meters 0.017644188221464744 Centerline is valid? [True, True] Translation: X:605.46, Y:7.58, Z:4.04 [[ 9.99162267e-01 -3.72815466e-02 -1.68775007e-02 6.05455276e+02] [ 3.72830925e-02 9.99304719e-01 -2.23146587e-04 7.57574025e+00] [ 1.68740854e-02 -4.06285772e-04 9.99857540e-01 4.03831055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters 0.018007087853837672 Centerline is valid? [True, True] Translation: X:605.52, Y:7.58, Z:4.04 [[ 9.99059352e-01 -3.98634623e-02 -1.70679643e-02 6.05516953e+02] [ 3.98654263e-02 9.99205033e-01 -2.25286758e-04 7.57865036e+00] [ 1.70633765e-02 -4.55346829e-04 9.99854306e-01 4.03925178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.039254154 meters 0.02027169179333445 Centerline is valid? [True, True] Translation: X:605.58, Y:7.58, Z:4.04 [[ 9.98921091e-01 -4.36466469e-02 -1.58626433e-02 6.05577140e+02] [ 4.36488259e-02 9.99046914e-01 -2.08985157e-04 7.57500079e+00] [ 1.58566464e-02 -4.83626076e-04 9.99874159e-01 4.03947598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters 0.02179387508670808 Centerline is valid? [True, True] Translation: X:605.64, Y:7.57, Z:4.04 [[ 9.98815392e-01 -4.61383984e-02 -1.54616054e-02 6.05638873e+02] [ 4.61407733e-02 9.98934927e-01 -2.03279521e-04 7.57334669e+00] [ 1.54545167e-02 -5.10371716e-04 9.99880442e-01 4.03969880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.159254154 meters 0.021440419513854416 Centerline is valid? [True, True] Translation: X:605.70, Y:7.58, Z:4.04 [[ 9.98752036e-01 -4.74132998e-02 -1.56955362e-02 6.05701029e+02] [ 4.74159182e-02 9.98875212e-01 -2.05475151e-04 7.57692220e+00] [ 1.56876243e-02 -5.38999537e-04 9.99876796e-01 4.04022302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters 0.021009340269372043 Centerline is valid? [True, True] Translation: X:605.76, Y:7.58, Z:4.04 [[ 9.98894207e-01 -4.43158899e-02 -1.56991956e-02 6.05761048e+02] [ 4.43181373e-02 9.99017448e-01 -2.04885100e-04 7.58030761e+00] [ 1.56928500e-02 -4.91100567e-04 9.99876739e-01 4.04115984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.279254154 meters 0.019805862674348872 Centerline is valid? [True, True] Translation: X:605.82, Y:7.58, Z:4.04 [[ 9.99068086e-01 -4.01375537e-02 -1.58725029e-02 6.05822811e+02] [ 4.01393335e-02 9.99194071e-01 -2.06552363e-04 7.58384544e+00] [ 1.58680013e-02 -4.30751813e-04 9.99874003e-01 4.04134432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters 0.01595821822398821 Centerline is valid? [True, True] Translation: X:605.88, Y:7.60, Z:4.04 [[ 9.99384025e-01 -3.14585527e-02 -1.55541214e-02 6.05883229e+02] [ 3.14592189e-02 9.99505016e-01 -2.01903424e-04 7.59649168e+00] [ 1.55527739e-02 -2.87541453e-04 9.99879007e-01 4.04464337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.399254154 meters 0.015072583888068104 Centerline is valid? [True, True] Translation: X:605.94, Y:7.60, Z:4.04 [[ 9.99610638e-01 -2.30427560e-02 -1.57354442e-02 6.05942803e+02] [ 2.30423946e-02 9.99734468e-01 -2.04295833e-04 7.60327269e+00] [ 1.57359735e-02 -1.58366027e-04 9.99876169e-01 4.04412475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters 0.014464414483735812 Centerline is valid? [True, True] Translation: X:606.00, Y:7.61, Z:4.04 [[ 9.99693660e-01 -1.81792106e-02 -1.67959124e-02 6.06002579e+02] [ 1.81781041e-02 9.99834741e-01 -2.18561731e-04 7.60788050e+00] [ 1.67971100e-02 -8.68230678e-05 9.99858915e-01 4.04367728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.519254154 meters 0.014708398547107196 Centerline is valid? [True, True] Translation: X:606.06, Y:7.61, Z:4.04 [[ 9.99668391e-01 -1.85143505e-02 -1.78976565e-02 6.06060605e+02] [ 1.85131252e-02 9.99828590e-01 -2.34157442e-04 7.60751821e+00] [ 1.78989239e-02 -9.72617629e-05 9.99839797e-01 4.04299994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters 0.014575562980957107 Centerline is valid? [True, True] Translation: X:606.12, Y:7.61, Z:4.05 [[ 9.99614511e-01 -2.16256492e-02 -1.74115013e-02 6.06119026e+02] [ 2.16249036e-02 9.99766128e-01 -2.31117138e-04 7.60513575e+00] [ 1.74124273e-02 -1.45493992e-04 9.99848382e-01 4.04565154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.639254154 meters 0.014799547414390718 Centerline is valid? [True, True] Translation: X:606.18, Y:7.60, Z:4.05 [[ 9.99548002e-01 -2.47216409e-02 -1.71064970e-02 6.06178195e+02] [ 2.47213005e-02 9.99694355e-01 -2.31395745e-04 7.60115059e+00] [ 1.71069890e-02 -1.91603699e-04 9.99853646e-01 4.04599771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters 0.015568236911677589 Centerline is valid? [True, True] Translation: X:606.24, Y:7.59, Z:4.05 [[ 9.99453480e-01 -2.93496797e-02 -1.52097945e-02 6.06237526e+02] [ 2.93499162e-02 9.99569177e-01 -2.07714785e-04 7.59283484e+00] [ 1.52093382e-02 -2.38804929e-04 9.99884303e-01 4.04621489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.759254154 meters 0.016202932062999453 Centerline is valid? [True, True] Translation: X:606.30, Y:7.59, Z:4.05 [[ 9.99389750e-01 -3.20015916e-02 -1.40008915e-02 6.06297950e+02] [ 3.20020474e-02 9.99487785e-01 -1.91539353e-04 7.58658797e+00] [ 1.39998496e-02 -2.56634728e-04 9.99901964e-01 4.04646273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters 0.017385219998557487 Centerline is valid? [True, True] Translation: X:606.36, Y:7.58, Z:4.05 [[ 9.99299009e-01 -3.44772639e-02 -1.45879792e-02 6.06358410e+02] [ 3.44780281e-02 9.99405436e-01 -1.99178997e-04 7.57942306e+00] [ 1.45861729e-02 -3.03925384e-04 9.99893570e-01 4.04571935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.879254154 meters 0.017442811403384426 Centerline is valid? [True, True] Translation: X:606.42, Y:7.57, Z:4.05 [[ 9.99175449e-01 -3.78131174e-02 -1.47848203e-02 6.06419774e+02] [ 3.78142767e-02 9.99284764e-01 -2.01231357e-04 7.57362414e+00] [ 1.47818548e-02 -3.58011854e-04 9.99890678e-01 4.04550638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters 0.017677847726205648 Centerline is valid? [True, True] Translation: X:606.48, Y:7.57, Z:4.05 [[ 9.99141617e-01 -3.90018312e-02 -1.39601749e-02 6.06481064e+02] [ 3.90029877e-02 9.99239076e-01 -1.89508640e-04 7.56898893e+00] [ 1.39569435e-02 -3.55142562e-04 9.99902534e-01 4.04602903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.999254154 meters 0.016796357420298613 Centerline is valid? [True, True] Translation: X:606.54, Y:7.57, Z:4.05 [[ 9.99186397e-01 -3.82299438e-02 -1.28458533e-02 6.06542323e+02] [ 3.82308651e-02 9.99268918e-01 -1.73922212e-04 7.56622924e+00] [ 1.28431110e-02 -3.17327377e-04 9.99917473e-01 4.04673300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters 0.016645721828644433 Centerline is valid? [True, True] Translation: X:606.60, Y:7.56, Z:4.05 [[ 9.99261109e-01 -3.60271259e-02 -1.33896099e-02 6.06602667e+02] [ 3.60279345e-02 9.99350767e-01 -1.80893664e-04 7.56266037e+00] [ 1.33874340e-02 -3.01639985e-04 9.99910339e-01 4.04606792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.119254154 meters 0.016425801727604317 Centerline is valid? [True, True] Translation: X:606.66, Y:7.56, Z:4.05 [[ 9.99299033e-01 -3.45053675e-02 -1.45197012e-02 6.06663497e+02] [ 3.45061598e-02 9.99404466e-01 -1.96025266e-04 7.56001584e+00] [ 1.45178182e-02 -3.05131272e-04 9.99894564e-01 4.04534521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.179254154 meters 0.017270403913215205 Centerline is valid? [True, True] Translation: X:606.72, Y:7.55, Z:4.05 [[ 9.99223200e-01 -3.68970420e-02 -1.38421116e-02 6.06723751e+02] [ 3.68979914e-02 9.99319020e-01 -1.86877373e-04 7.55393800e+00] [ 1.38395807e-02 -3.24013910e-04 9.99904176e-01 4.04604203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.239254154 meters 0.018437429992655293 Centerline is valid? [True, True] Translation: X:606.78, Y:7.55, Z:4.05 [[ 9.99087982e-01 -4.04688008e-02 -1.36191210e-02 6.06784402e+02] [ 4.04700515e-02 9.99180735e-01 -1.83866856e-04 7.54788283e+00] [ 1.36154042e-02 -3.67467360e-04 9.99907239e-01 4.04601443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.299254154 meters 0.019397062632588762 Centerline is valid? [True, True] Translation: X:606.85, Y:7.54, Z:4.05 [[ 9.99017481e-01 -4.23495004e-02 -1.30610808e-02 6.06845711e+02] [ 4.23508142e-02 9.99102786e-01 -1.76107779e-04 7.54458234e+00] [ 1.30568203e-02 -3.77212658e-04 9.99914685e-01 4.04633395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.359254154 meters 0.020949179266079684 Centerline is valid? [True, True] Translation: X:606.91, Y:7.54, Z:4.05 [[ 9.98906605e-01 -4.49837843e-02 -1.27300388e-02 6.06907010e+02] [ 4.49852516e-02 9.98987636e-01 -1.71201961e-04 7.53954080e+00] [ 1.27248527e-02 -4.01649231e-04 9.99918955e-01 4.04581020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.419254154 meters 0.020020754883655494 Centerline is valid? [True, True] Translation: X:606.97, Y:7.54, Z:4.05 [[ 9.98738911e-01 -4.87166271e-02 -1.21358500e-02 6.06968181e+02] [ 4.87182410e-02 9.98812548e-01 -1.62786385e-04 7.54047321e+00] [ 1.21293696e-02 -4.28656165e-04 9.99926345e-01 4.04673728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters 0.0266551799597117 Centerline is valid? [True, True] Translation: X:607.03, Y:7.53, Z:4.05 [[ 9.98460592e-01 -5.41050075e-02 -1.22104461e-02 6.07028312e+02] [ 5.41070503e-02 9.98535127e-01 -1.63232245e-04 7.53011053e+00] [ 1.22013910e-02 -4.97690255e-04 9.99925436e-01 4.04566317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.539254154 meters 0.02361114843015641 Centerline is valid? [True, True] Translation: X:607.09, Y:7.54, Z:4.05 [[ 9.98280044e-01 -5.73700512e-02 -1.20677326e-02 6.07089582e+02] [ 5.73722914e-02 9.98352841e-01 -1.60760467e-04 7.53525393e+00] [ 1.20570779e-02 -5.31869504e-04 9.99927169e-01 4.04676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters 0.02535287082532406 Centerline is valid? [True, True] Translation: X:607.15, Y:7.53, Z:4.05 [[ 9.98059846e-01 -6.12465850e-02 -1.11981579e-02 6.07150694e+02] [ 6.12487608e-02 9.98122521e-01 -1.48865746e-04 7.53276954e+00] [ 1.11862511e-02 -5.37296373e-04 9.99937288e-01 4.04779208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.659254154 meters 0.027109272236001875 Centerline is valid? [True, True] Translation: X:607.21, Y:7.53, Z:4.05 [[ 9.98069412e-01 -6.09424615e-02 -1.19777233e-02 6.07212253e+02] [ 6.09449340e-02 9.98141117e-01 -1.58812027e-04 7.53390677e+00] [ 1.19651365e-02 -5.71476127e-04 9.99928252e-01 4.04836465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters 0.025492756175249355 Centerline is valid? [True, True] Translation: X:607.27, Y:7.54, Z:4.05 [[ 9.98235934e-01 -5.78150369e-02 -1.35071266e-02 6.07273611e+02] [ 5.78179044e-02 9.98327130e-01 -1.78434042e-04 7.54064317e+00] [ 1.34948471e-02 -6.02834480e-04 9.99908759e-01 4.04793017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.779254154 meters 0.02494212757238105 Centerline is valid? [True, True] Translation: X:607.34, Y:7.54, Z:4.05 [[ 9.98295528e-01 -5.67627592e-02 -1.35656661e-02 6.07335465e+02] [ 5.67655629e-02 9.98387519e-01 -1.78596849e-04 7.54269026e+00] [ 1.35539293e-02 -5.91770234e-04 9.99907966e-01 4.04871682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters 0.021495815335417934 Centerline is valid? [True, True] Translation: X:607.40, Y:7.55, Z:4.05 [[ 9.98428997e-01 -5.44375447e-02 -1.32699544e-02 6.07396496e+02] [ 5.44400304e-02 9.98517027e-01 -1.74102715e-04 7.55083350e+00] [ 1.32597532e-02 -5.48587523e-04 9.99911935e-01 4.05015322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.899254154 meters 0.021226067700372674 Centerline is valid? [True, True] Translation: X:607.46, Y:7.56, Z:4.05 [[ 9.98637320e-01 -5.07292595e-02 -1.22493114e-02 6.07457471e+02] [ 5.07311043e-02 9.98712336e-01 -1.60269002e-04 7.55511198e+00] [ 1.22416687e-02 -4.61370489e-04 9.99924962e-01 4.05194742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters 0.02141974866198353 Centerline is valid? [True, True] Translation: X:607.52, Y:7.56, Z:4.05 [[ 9.98753926e-01 -4.80773381e-02 -1.33852282e-02 6.07517670e+02] [ 4.80793084e-02 9.98843506e-01 -1.74736318e-04 7.55892602e+00] [ 1.33781491e-02 -4.69033931e-04 9.99910399e-01 4.05099870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.019254154 meters 0.01985686375801484 Centerline is valid? [True, True] Translation: X:607.58, Y:7.56, Z:4.05 [[ 9.98731104e-01 -4.78710891e-02 -1.56378255e-02 6.07579377e+02] [ 4.78737661e-02 9.98853373e-01 -2.03330201e-04 7.56449598e+00] [ 1.56296284e-02 -5.45569402e-04 9.99877701e-01 4.05056764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters 0.019905154262257477 Centerline is valid? [True, True] Translation: X:607.64, Y:7.57, Z:4.05 [[ 9.98753560e-01 -4.76446470e-02 -1.48766308e-02 6.07640557e+02] [ 4.76470561e-02 9.98864215e-01 -1.92648613e-04 7.56741222e+00] [ 1.48689128e-02 -5.16419175e-04 9.99889318e-01 4.05211913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.139254154 meters 0.018601531773380225 Centerline is valid? [True, True] Translation: X:607.70, Y:7.57, Z:4.05 [[ 9.99114513e-01 -4.02011968e-02 -1.24118729e-02 6.07700640e+02] [ 4.02023022e-02 9.99191548e-01 -1.60525813e-04 7.57472147e+00] [ 1.24082918e-02 -3.38602195e-04 9.99922957e-01 4.05461806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters 0.01699077218430403 Centerline is valid? [True, True] Translation: X:607.76, Y:7.58, Z:4.06 [[ 9.99382221e-01 -3.27646741e-02 -1.27142265e-02 6.07761560e+02] [ 3.27652331e-02 9.99463062e-01 -1.64385812e-04 7.58263298e+00] [ 1.27127858e-02 -2.52300337e-04 9.99919157e-01 4.05509264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.259254154 meters 0.015224154044259018 Centerline is valid? [True, True] Translation: X:607.82, Y:7.59, Z:4.05 [[ 9.99678270e-01 -2.14595317e-02 -1.35220128e-02 6.07821672e+02] [ 2.14591306e-02 9.99769711e-01 -1.74764103e-04 7.59422920e+00] [ 1.35226492e-02 -1.15462764e-04 9.99908558e-01 4.05408408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters 0.014801436420291756 Centerline is valid? [True, True] Translation: X:607.88, Y:7.60, Z:4.06 [[ 9.99792590e-01 -1.57437079e-02 -1.29194671e-02 6.07881137e+02] [ 1.57428617e-02 9.99876060e-01 -1.67200539e-04 7.60102995e+00] [ 1.29204982e-02 -3.62235241e-05 9.99916526e-01 4.05510070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.379254154 meters 0.016947203410387995 Centerline is valid? [True, True] Translation: X:607.94, Y:7.60, Z:4.05 [[ 9.99790682e-01 -1.55552367e-02 -1.32901008e-02 6.07939339e+02] [ 1.55543136e-02 9.99879009e-01 -1.72829008e-04 7.60210030e+00] [ 1.32911812e-02 -3.39255629e-05 9.99911668e-01 4.05477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters 0.015284506485481025 Centerline is valid? [True, True] Translation: X:608.00, Y:7.60, Z:4.06 [[ 9.99690486e-01 -2.10341757e-02 -1.32851778e-02 6.07997899e+02] [ 2.10337230e-02 9.99778752e-01 -1.73817529e-04 7.60113058e+00] [ 1.32858946e-02 -1.05673021e-04 9.99911733e-01 4.05553347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.499254154 meters 0.016833334123086616 Centerline is valid? [True, True] Translation: X:608.06, Y:7.60, Z:4.05 [[ 9.99468223e-01 -2.87373120e-02 -1.54090271e-02 6.08056682e+02] [ 2.87376028e-02 9.99586969e-01 -2.02596015e-04 7.59546278e+00] [ 1.54084848e-02 -2.40330220e-04 9.99881253e-01 4.05300845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters 0.018677445839654905 Centerline is valid? [True, True] Translation: X:608.12, Y:7.59, Z:4.05 [[ 9.99243295e-01 -3.57371694e-02 -1.53522545e-02 6.08116311e+02] [ 3.57382738e-02 9.99361163e-01 -2.02490533e-04 7.59085087e+00] [ 1.53496834e-02 -3.46325768e-04 9.99882127e-01 4.05324186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.619254154 meters 0.018397130425947858 Centerline is valid? [True, True] Translation: X:608.18, Y:7.59, Z:4.06 [[ 9.99033588e-01 -4.12955191e-02 -1.50522590e-02 6.08177602e+02] [ 4.12972124e-02 9.99146887e-01 -1.98448677e-04 7.59304247e+00] [ 1.50476127e-02 -4.23359443e-04 9.99886689e-01 4.05680988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.679254154 meters 0.019182446884743617 Centerline is valid? [True, True] Translation: X:608.24, Y:7.59, Z:4.06 [[ 9.98853988e-01 -4.54625485e-02 -1.49621745e-02 6.08238433e+02] [ 4.54646946e-02 9.98965927e-01 -1.96857334e-04 7.59217860e+00] [ 1.49556522e-02 -4.83618962e-04 9.99888041e-01 4.05728685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.739254154 meters 0.022559108041284477 Centerline is valid? [True, True] Translation: X:608.30, Y:7.59, Z:4.06 [[ 9.98446059e-01 -5.42231200e-02 -1.28577211e-02 6.08297819e+02] [ 5.42254300e-02 9.98528705e-01 -1.69156699e-04 7.58729352e+00] [ 1.28479758e-02 -5.28321614e-04 9.99917322e-01 4.05879415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.799254154 meters 0.02885199049354939 Centerline is valid? [True, True] Translation: X:608.36, Y:7.58, Z:4.06 [[ 9.98217119e-01 -5.82824586e-02 -1.28739616e-02 6.08357548e+02] [ 5.82851099e-02 9.98299964e-01 -1.69475465e-04 7.57986937e+00] [ 1.28619529e-02 -5.81186958e-04 9.99917113e-01 4.05874602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.859254154 meters 0.027845860280820152 Centerline is valid? [True, True] Translation: X:608.42, Y:7.59, Z:4.06 [[ 9.97792672e-01 -6.44282467e-02 -1.60867602e-02 6.08418058e+02] [ 6.44331838e-02 9.97922001e-01 -2.11739418e-04 7.58512915e+00] [ 1.60669739e-02 -8.25249137e-04 9.99870577e-01 4.05688124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.919254154 meters 0.02947129573982707 Centerline is valid? [True, True] Translation: X:608.48, Y:7.58, Z:4.06 [[ 9.97500839e-01 -6.87747236e-02 -1.61899354e-02 6.08479109e+02] [ 6.87802979e-02 9.97631808e-01 -2.12909359e-04 7.58432429e+00] [ 1.61662373e-02 -9.01171313e-04 9.99868912e-01 4.05770422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters 0.02920631755617233 Centerline is valid? [True, True] Translation: X:608.54, Y:7.59, Z:4.06 [[ 9.97290700e-01 -7.18593397e-02 -1.57320019e-02 6.08540121e+02] [ 7.18649900e-02 9.97414347e-01 -2.06606062e-04 7.58754949e+00] [ 1.57061709e-02 -9.24533852e-04 9.99876223e-01 4.05990259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.039254154 meters 0.030659477173457947 Centerline is valid? [True, True] Translation: X:608.60, Y:7.59, Z:4.06 [[ 9.97373676e-01 -7.05575999e-02 -1.63516274e-02 6.08601154e+02] [ 7.05635405e-02 9.97507264e-01 -2.14086016e-04 7.59251845e+00] [ 1.63259725e-02 -9.40304969e-04 9.99866280e-01 4.06057039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters 0.02759063451470266 Centerline is valid? [True, True] Translation: X:608.66, Y:7.60, Z:4.06 [[ 9.97856500e-01 -6.36994426e-02 -1.49929096e-02 6.08661467e+02] [ 6.37036708e-02 9.97968839e-01 -1.95886460e-04 7.60331100e+00] [ 1.49749344e-02 -7.59636799e-04 9.99887581e-01 4.06266037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.159254154 meters 0.02345388626390565 Centerline is valid? [True, True] Translation: X:608.72, Y:7.62, Z:4.06 [[ 9.98493096e-01 -5.28005974e-02 -1.49543933e-02 6.08722248e+02] [ 5.28035862e-02 9.98604898e-01 -1.95191770e-04 7.61707772e+00] [ 1.49438366e-02 -5.94747960e-04 9.99888158e-01 4.06356289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters 0.02112826158977049 Centerline is valid? [True, True] Translation: X:608.78, Y:7.63, Z:4.06 [[ 9.98861838e-01 -4.49335432e-02 -1.60001812e-02 6.08782439e+02] [ 4.49359586e-02 9.98989848e-01 -2.08700396e-04 7.62831419e+00] [ 1.59933962e-02 -5.10520618e-04 9.99871967e-01 4.06420986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.279254154 meters 0.017639933090682517 Centerline is valid? [True, True] Translation: X:608.84, Y:7.64, Z:4.07 [[ 9.99314421e-01 -3.39120391e-02 -1.48546562e-02 6.08842699e+02] [ 3.39129040e-02 9.99424773e-01 -1.93739601e-04 7.64298994e+00] [ 1.48526815e-02 -3.10157752e-04 9.99889645e-01 4.06575945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters 0.01509369399165262 Centerline is valid? [True, True] Translation: X:608.90, Y:7.65, Z:4.07 [[ 9.99557471e-01 -2.56099741e-02 -1.51324793e-02 6.08904086e+02] [ 2.56099252e-02 9.99671993e-01 -1.97046873e-04 7.65444816e+00] [ 1.51325621e-02 -1.90581988e-04 9.99885478e-01 4.06602240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.399254154 meters 0.015144679697599242 Centerline is valid? [True, True] Translation: X:608.96, Y:7.66, Z:4.07 [[ 9.99656597e-01 -2.08067698e-02 -1.59300308e-02 6.08963744e+02] [ 2.08061073e-02 9.99783508e-01 -2.07335853e-04 7.66358359e+00] [ 1.59308960e-02 -1.24177276e-04 9.99873088e-01 4.06515469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters 0.014678370908415424 Centerline is valid? [True, True] Translation: X:609.02, Y:7.67, Z:4.07 [[ 9.99702419e-01 -1.87878565e-02 -1.55592507e-02 6.09023442e+02] [ 1.87869731e-02 9.99823489e-01 -2.02954209e-04 7.66932179e+00] [ 1.55603173e-02 -8.94174094e-05 9.99878927e-01 4.06739373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.519254154 meters 0.01463187696175107 Centerline is valid? [True, True] Translation: X:609.08, Y:7.67, Z:4.07 [[ 9.99684651e-01 -1.94834904e-02 -1.58427193e-02 6.09082291e+02] [ 1.94826484e-02 9.99810174e-01 -2.07501529e-04 7.66972074e+00] [ 1.58437548e-02 -1.01222035e-04 9.99874475e-01 4.06651204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters 0.01484739939299429 Centerline is valid? [True, True] Translation: X:609.14, Y:7.67, Z:4.07 [[ 9.99610147e-01 -2.45827725e-02 -1.32379055e-02 6.09140633e+02] [ 2.45826040e-02 9.99697787e-01 -1.75471651e-04 7.67037388e+00] [ 1.32382184e-02 -1.50018947e-04 9.99912360e-01 4.07033315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.639254154 meters 0.01631425757414492 Centerline is valid? [True, True] Translation: X:609.20, Y:7.66, Z:4.07 [[ 9.99447206e-01 -3.11063951e-02 -1.17334620e-02 6.09201008e+02] [ 3.11066962e-02 9.99516057e-01 -1.56889185e-04 7.66306025e+00] [ 1.17326639e-02 -2.08186779e-04 9.99931148e-01 4.07075293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters 0.01637499724117316 Centerline is valid? [True, True] Translation: X:609.26, Y:7.66, Z:4.07 [[ 9.99357039e-01 -3.38138492e-02 -1.19219077e-02 6.09262748e+02] [ 3.38143594e-02 9.99428118e-01 -1.58834454e-04 7.66260628e+00] [ 1.19204606e-02 -2.44399342e-04 9.99928919e-01 4.07120054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.759254154 meters 0.017884698349627883 Centerline is valid? [True, True] Translation: X:609.32, Y:7.66, Z:4.07 [[ 9.99086026e-01 -4.08569365e-02 -1.25627990e-02 6.09324305e+02] [ 4.08580671e-02 9.99164947e-01 -1.66756631e-04 7.65597101e+00] [ 1.25591216e-02 -3.46687465e-04 9.99921071e-01 4.07115222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters 0.021191606062483565 Centerline is valid? [True, True] Translation: X:609.39, Y:7.65, Z:4.07 [[ 9.99002601e-01 -4.24728001e-02 -1.37791367e-02 6.09386136e+02] [ 4.24743232e-02 9.99097542e-01 -1.82225154e-04 7.65267519e+00] [ 1.37744412e-02 -4.03216103e-04 9.99905047e-01 4.06936196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.879254154 meters 0.01814860330428039 Centerline is valid? [True, True] Translation: X:609.45, Y:7.65, Z:4.07 [[ 9.99031196e-01 -4.09832272e-02 -1.60326193e-02 6.09448647e+02] [ 4.09851159e-02 9.99159735e-01 -2.10885482e-04 7.65006734e+00] [ 1.60277904e-02 -4.46417585e-04 9.99871447e-01 4.06848763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters 0.017092054947152626 Centerline is valid? [True, True] Translation: X:609.51, Y:7.65, Z:4.07 [[ 9.99282340e-01 -3.42917344e-02 -1.60897895e-02 6.09509187e+02] [ 3.42927830e-02 9.99411807e-01 -2.10802735e-04 7.65333533e+00] [ 1.60875544e-02 -3.41112208e-04 9.99870529e-01 4.06854664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.999254154 meters 0.014996474388472604 Centerline is valid? [True, True] Translation: X:609.57, Y:7.66, Z:4.07 [[ 9.99599911e-01 -2.37719604e-02 -1.53268288e-02 6.09569934e+02] [ 2.37716813e-02 9.99717394e-01 -2.00421294e-04 7.66157880e+00] [ 1.53272617e-02 -1.64003380e-04 9.99882517e-01 4.06948511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters 0.017277291549747206 Centerline is valid? [True, True] Translation: X:609.63, Y:7.67, Z:4.07 [[ 9.99736152e-01 -1.69079845e-02 -1.55482199e-02 6.09629070e+02] [ 1.69068665e-02 9.99857048e-01 -2.03351097e-04 7.66516072e+00] [ 1.55494355e-02 -5.95742362e-05 9.99879098e-01 4.06846403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.119254154 meters 0.014680034947294312 Centerline is valid? [True, True] Translation: X:609.69, Y:7.67, Z:4.07 [[ 9.99877521e-01 -8.87616405e-03 -1.28901959e-02 6.09686591e+02] [ 8.87471978e-03 9.99960605e-01 -1.69241460e-04 7.66943265e+00] [ 1.28911903e-02 5.48238551e-05 9.99916904e-01 4.07163825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.179254154 meters 0.015028240155692712 Centerline is valid? [True, True] Translation: X:609.75, Y:7.67, Z:4.07 [[ 9.99889885e-01 -4.39240319e-03 -1.41748013e-02 6.09745705e+02] [ 4.39017054e-03 9.99990345e-01 -1.88621545e-04 7.66998842e+00] [ 1.41754929e-02 1.26370980e-04 9.99899515e-01 4.07114856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.239254154 meters 0.014991901886986009 Centerline is valid? [True, True] Translation: X:609.80, Y:7.66, Z:4.07 [[ 9.99854714e-01 -5.99969754e-03 -1.59547379e-02 6.09802323e+02] [ 5.99702555e-03 9.99981995e-01 -2.15311590e-04 7.66412091e+00] [ 1.59557424e-02 1.19599337e-04 9.99872692e-01 4.06912525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.299254154 meters 0.014527724629007838 Centerline is valid? [True, True] Translation: X:609.86, Y:7.66, Z:4.07 [[ 9.99819695e-01 -9.75477268e-03 -1.62917596e-02 6.09861415e+02] [ 9.75246033e-03 9.99952419e-01 -2.21377310e-04 7.65701062e+00] [ 1.62931439e-02 6.24526545e-05 9.99867256e-01 4.07015563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.359254154 meters 0.014540833407364498 Centerline is valid? [True, True] Translation: X:609.92, Y:7.65, Z:4.07 [[ 9.99749673e-01 -1.32256926e-02 -1.80463989e-02 6.09919867e+02] [ 1.32233960e-02 9.99912537e-01 -2.46589732e-04 7.65357133e+00] [ 1.80480819e-02 7.89332397e-06 9.99837120e-01 4.07203164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.419254154 meters 0.014550090952244606 Centerline is valid? [True, True] Translation: X:609.98, Y:7.65, Z:4.07 [[ 9.99692631e-01 -1.70125035e-02 -1.80338248e-02 6.09978662e+02] [ 1.70108021e-02 9.99855275e-01 -2.47749196e-04 7.64871893e+00] [ 1.80354297e-02 -5.90967796e-05 9.99837347e-01 4.07312690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters 0.014449683214059551 Centerline is valid? [True, True] Translation: X:610.04, Y:7.65, Z:4.08 [[ 9.99655313e-01 -2.01879146e-02 -1.67839979e-02 6.10036475e+02] [ 2.01868302e-02 9.99796198e-01 -2.34041360e-04 7.64701322e+00] [ 1.67853021e-02 -1.04855027e-04 9.99859111e-01 4.07509806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.539254154 meters 0.015639866620711963 Centerline is valid? [True, True] Translation: X:610.09, Y:7.64, Z:4.08 [[ 9.99424827e-01 -2.93136838e-02 -1.70506321e-02 6.10094634e+02] [ 2.93138538e-02 9.99570228e-01 -2.40014592e-04 7.64115522e+00] [ 1.70503399e-02 -2.59943193e-04 9.99854599e-01 4.07545265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters 0.016795893564002413 Centerline is valid? [True, True] Translation: X:610.15, Y:7.64, Z:4.07 [[ 9.99211896e-01 -3.49202485e-02 -1.88723060e-02 6.10154736e+02] [ 3.49214490e-02 9.99390025e-01 -2.66038709e-04 7.63803011e+00] [ 1.88700845e-02 -3.93219231e-04 9.99821867e-01 4.07368849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.659254154 meters 0.020903265148482366 Centerline is valid? [True, True] Translation: X:610.21, Y:7.63, Z:4.07 [[ 9.98746138e-01 -4.55426577e-02 -2.07850257e-02 6.10213860e+02] [ 4.55463984e-02 9.98962181e-01 -2.93635839e-04 7.63115488e+00] [ 2.07768276e-02 -6.53415400e-04 9.99783925e-01 4.07224907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters 0.022988642205404124 Centerline is valid? [True, True] Translation: X:610.27, Y:7.63, Z:4.07 [[ 9.98180953e-01 -5.68609991e-02 -2.00402740e-02 6.10274449e+02] [ 5.68667488e-02 9.98381737e-01 -2.83308769e-04 7.62990620e+00] [ 2.00239528e-02 -8.56831809e-04 9.99799133e-01 4.07473153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.779254154 meters 0.025531379984860703 Centerline is valid? [True, True] Translation: X:610.34, Y:7.63, Z:4.07 [[ 9.97849762e-01 -6.24244881e-02 -1.99758742e-02 6.10335203e+02] [ 6.24313161e-02 9.98049223e-01 -2.82236350e-04 7.62810399e+00] [ 1.99545242e-02 -9.65490640e-04 9.99800422e-01 4.07480079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters 0.027857342025849323 Centerline is valid? [True, True] Translation: X:610.39, Y:7.63, Z:4.08 [[ 9.97662094e-01 -6.52912293e-02 -2.01841776e-02 6.10394940e+02] [ 6.52988080e-02 9.97865715e-01 -2.84067517e-04 7.63162081e+00] [ 2.01596459e-02 -1.03459934e-03 9.99796238e-01 4.07535466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.899254154 meters 0.024358538728412617 Centerline is valid? [True, True] Translation: X:610.46, Y:7.64, Z:4.08 [[ 9.97750556e-01 -6.36676975e-02 -2.09821938e-02 6.10457373e+02] [ 6.36755690e-02 9.97970609e-01 -2.93412838e-04 7.64459383e+00] [ 2.09582937e-02 -1.04330031e-03 9.99779806e-01 4.07666782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters 0.026039023394785393 Centerline is valid? [True, True] Translation: X:610.52, Y:7.65, Z:4.08 [[ 9.97880714e-01 -6.19292847e-02 -1.99711122e-02 6.10518248e+02] [ 6.19360902e-02 9.98080079e-01 -2.78175490e-04 7.64956940e+00] [ 1.99499965e-02 -9.59346652e-04 9.99800519e-01 4.07714192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.019254154 meters 0.025363975727683393 Centerline is valid? [True, True] Translation: X:610.58, Y:7.66, Z:4.08 [[ 9.98020431e-01 -6.01496532e-02 -1.83640381e-02 6.10579218e+02] [ 6.01551186e-02 9.98189008e-01 -2.55134338e-04 7.65733362e+00] [ 1.83461272e-02 -8.50061608e-04 9.99831334e-01 4.07824050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters 0.023131039144923028 Centerline is valid? [True, True] Translation: X:610.64, Y:7.67, Z:4.08 [[ 9.98139408e-01 -5.81950053e-02 -1.81951689e-02 6.10640800e+02] [ 5.82000626e-02 9.98304908e-01 -2.51899662e-04 7.66644817e+00] [ 1.81789857e-02 -8.07528991e-04 9.99834422e-01 4.07904110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.139254154 meters 0.02187373023188019 Centerline is valid? [True, True] Translation: X:610.70, Y:7.68, Z:4.08 [[ 9.98429267e-01 -5.29335037e-02 -1.83587098e-02 6.10701937e+02] [ 5.29377752e-02 9.98597781e-01 -2.53568171e-04 7.67709778e+00] [ 1.83463891e-02 -7.18699370e-04 9.99831433e-01 4.07962532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters 0.01999100480110565 Centerline is valid? [True, True] Translation: X:610.76, Y:7.69, Z:4.08 [[ 9.98859092e-01 -4.47747072e-02 -1.66054206e-02 6.10761345e+02] [ 4.47770743e-02 9.98996977e-01 -2.29409901e-04 7.68729969e+00] [ 1.65990368e-02 -5.14393987e-04 9.99862094e-01 4.08038919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.259254154 meters 0.017799462723374713 Centerline is valid? [True, True] Translation: X:610.82, Y:7.70, Z:4.08 [[ 9.99197142e-01 -3.61172801e-02 -1.73382308e-02 6.10821640e+02] [ 3.61185559e-02 9.99347483e-01 -2.39654310e-04 7.69975302e+00] [ 1.73355729e-02 -3.86769954e-04 9.99849653e-01 4.07968005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters 0.016193977158384037 Centerline is valid? [True, True] Translation: X:610.88, Y:7.71, Z:4.08 [[ 9.99415555e-01 -2.95409938e-02 -1.72011333e-02 6.10882974e+02] [ 2.95412822e-02 9.99563533e-01 -2.37383678e-04 7.70874484e+00] [ 1.72006381e-02 -2.70898590e-04 9.99852021e-01 4.08016196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.379254154 meters 0.014749930611535232 Centerline is valid? [True, True] Translation: X:610.94, Y:7.72, Z:4.08 [[ 9.99693133e-01 -1.91820136e-02 -1.56745173e-02 6.10943366e+02] [ 1.91809830e-02 9.99816005e-01 -2.16096720e-04 7.72107788e+00] [ 1.56757784e-02 -8.46222434e-05 9.99877124e-01 4.08185436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters 0.01462545662947561 Centerline is valid? [True, True] Translation: X:611.00, Y:7.73, Z:4.08 [[ 9.99821464e-01 -1.30284032e-02 -1.36857814e-02 6.11002222e+02] [ 1.30270360e-02 9.99915127e-01 -1.89048176e-04 7.72922824e+00] [ 1.36870828e-02 1.07292571e-05 9.99906327e-01 4.08258841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.499254154 meters 0.01468068722031158 Centerline is valid? [True, True] Translation: X:611.06, Y:7.73, Z:4.08 [[ 9.99826766e-01 -1.30681408e-02 -1.32537676e-02 6.11060915e+02] [ 1.30668359e-02 9.99914608e-01 -1.85051669e-04 7.73231774e+00] [ 1.32550541e-02 1.18348052e-05 9.99912148e-01 4.08259823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters 0.014627153152929595 Centerline is valid? [True, True] Translation: X:611.12, Y:7.73, Z:4.08 [[ 9.99749625e-01 -1.77251742e-02 -1.36566964e-02 6.11119663e+02] [ 1.77241931e-02 9.99842896e-01 -1.92882137e-04 7.73067432e+00] [ 1.36579697e-02 -4.92200794e-05 9.99906724e-01 4.08199931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.619254154 meters 0.014758447618160192 Centerline is valid? [True, True] Translation: X:611.18, Y:7.73, Z:4.08 [[ 9.99697001e-01 -2.03481598e-02 -1.38513046e-02 6.11179563e+02] [ 2.03473923e-02 9.99792951e-01 -1.96352420e-04 7.72917178e+00] [ 1.38524321e-02 -8.55450037e-05 9.99904047e-01 4.08146793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.679254154 meters 0.01624146809330921 Centerline is valid? [True, True] Translation: X:611.24, Y:7.72, Z:4.08 [[ 9.99484780e-01 -2.91172667e-02 -1.35040514e-02 6.11240286e+02] [ 2.91173342e-02 9.99575982e-01 -1.91655520e-04 7.72220719e+00] [ 1.35039059e-02 -2.01645201e-04 9.99908798e-01 4.08231662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.739254154 meters 0.018992613910115384 Centerline is valid? [True, True] Translation: X:611.30, Y:7.71, Z:4.08 [[ 9.99243252e-01 -3.65676033e-02 -1.32564834e-02 6.11300240e+02] [ 3.65683235e-02 9.99331137e-01 -1.88141926e-04 7.71340521e+00] [ 1.32544966e-02 -2.96767826e-04 9.99912111e-01 4.08183616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.799254154 meters 0.02021950835616837 Centerline is valid? [True, True] Translation: X:611.36, Y:7.71, Z:4.08 [[ 9.99128618e-01 -3.95147548e-02 -1.34383273e-02 6.11362618e+02] [ 3.95157673e-02 9.99218929e-01 -1.90273331e-04 7.71115336e+00] [ 1.34353496e-02 -3.40918285e-04 9.99909684e-01 4.08154465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.859254154 meters 0.01753970836694787 Centerline is valid? [True, True] Translation: X:611.43, Y:7.71, Z:4.08 [[ 9.99072851e-01 -4.06299160e-02 -1.42354846e-02 6.11425032e+02] [ 4.06311803e-02 9.99174193e-01 -2.00516777e-04 7.71472665e+00] [ 1.42318758e-02 -3.78073672e-04 9.99898650e-01 4.08206080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.919254154 meters 0.021387162385394766 Centerline is valid? [True, True] Translation: X:611.49, Y:7.71, Z:4.08 [[ 9.99116240e-01 -3.94537684e-02 -1.44961799e-02 6.11486311e+02] [ 3.94549780e-02 9.99221329e-01 -2.02650328e-04 7.70807036e+00] [ 1.44928874e-02 -3.69475223e-04 9.99894904e-01 4.08042256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters 0.020557711672968323 Centerline is valid? [True, True] Translation: X:611.55, Y:7.71, Z:4.08 [[ 9.99227690e-01 -3.66634156e-02 -1.41356753e-02 6.11547172e+02] [ 3.66643021e-02 9.99327619e-01 -1.96513965e-04 7.70974880e+00] [ 1.41333756e-02 -3.21912473e-04 9.99900067e-01 4.08052667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.039254154 meters 0.016758164246638393 Centerline is valid? [True, True] Translation: X:611.61, Y:7.72, Z:4.08 [[ 9.99348362e-01 -3.31712684e-02 -1.42308926e-02 6.11608933e+02] [ 3.31718239e-02 9.99449644e-01 -1.97074501e-04 7.71816668e+00] [ 1.42295977e-02 -2.75118582e-04 9.99898716e-01 4.08198105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters 0.015369176402672071 Centerline is valid? [True, True] Translation: X:611.67, Y:7.72, Z:4.08 [[ 9.99545736e-01 -2.62553089e-02 -1.47979963e-02 6.11670727e+02] [ 2.62551657e-02 9.99655253e-01 -2.03985186e-04 7.72293513e+00] [ 1.47982504e-02 -1.84631321e-04 9.99890483e-01 4.08175050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.159254154 meters 0.014674445451739737 Centerline is valid? [True, True] Translation: X:611.73, Y:7.73, Z:4.08 [[ 9.99720950e-01 -1.82916625e-02 -1.49478332e-02 6.11731388e+02] [ 1.82906316e-02 9.99832691e-01 -2.05685854e-04 7.72766233e+00] [ 1.49490946e-02 -6.77768535e-05 9.99888254e-01 4.08175106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters 0.014390324337568535 Centerline is valid? [True, True] Translation: X:611.79, Y:7.73, Z:4.08 [[ 9.99823100e-01 -1.11472677e-02 -1.51495057e-02 6.11790530e+02] [ 1.11453840e-02 9.99937867e-01 -2.08767774e-04 7.73255378e+00] [ 1.51508916e-02 3.98837848e-05 9.99885218e-01 4.08259115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.279254154 meters 0.014532516685127925 Centerline is valid? [True, True] Translation: X:611.85, Y:7.73, Z:4.08 [[ 9.99851695e-01 -8.05335934e-03 -1.52227112e-02 6.11849687e+02] [ 8.05106196e-03 9.99967567e-01 -2.12196103e-04 7.73292271e+00] [ 1.52239264e-02 8.96056424e-05 9.99884105e-01 4.08210715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters 0.014350432938971607 Centerline is valid? [True, True] Translation: X:611.91, Y:7.73, Z:4.08 [[ 9.99855647e-01 -1.00622933e-02 -1.36906925e-02 6.11907117e+02] [ 1.00605937e-02 9.99949372e-01 -1.93007217e-04 7.73074718e+00] [ 1.36919415e-02 5.52428613e-05 9.99906259e-01 4.08332314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.399254154 meters 0.014241893398689583 Centerline is valid? [True, True] Translation: X:611.97, Y:7.72, Z:4.08 [[ 9.99784881e-01 -1.69019957e-02 -1.20214180e-02 6.11966499e+02] [ 1.69011663e-02 9.99857151e-01 -1.70583123e-04 7.72475591e+00] [ 1.20225840e-02 -3.26295591e-05 9.99927726e-01 4.08428274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters 0.014871130805867947 Centerline is valid? [True, True] Translation: X:612.03, Y:7.72, Z:4.08 [[ 9.99654063e-01 -2.36602713e-02 -1.14867481e-02 6.12026617e+02] [ 2.36599511e-02 9.99720051e-01 -1.63781286e-04 7.71848032e+00] [ 1.14874075e-02 -1.08051270e-04 9.99934012e-01 4.08447455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.519254154 meters 0.01715541487779663 Centerline is valid? [True, True] Translation: X:612.09, Y:7.71, Z:4.08 [[ 9.99292032e-01 -3.58219465e-02 -1.14988635e-02 6.12087487e+02] [ 3.58224300e-02 9.99358157e-01 -1.63983255e-04 7.70895800e+00] [ 1.14973573e-02 -2.48050074e-04 9.99933872e-01 4.08451078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters 0.02061964191449447 Centerline is valid? [True, True] Translation: X:612.15, Y:7.70, Z:4.09 [[ 9.98955862e-01 -4.44701769e-02 -1.04684718e-02 6.12147423e+02] [ 4.44710556e-02 9.99010662e-01 -1.48937219e-04 7.70013719e+00] [ 1.04647382e-02 -3.16762283e-04 9.99945193e-01 4.08522827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.639254154 meters 0.021646176267298374 Centerline is valid? [True, True] Translation: X:612.21, Y:7.70, Z:4.09 [[ 9.98392828e-01 -5.56435160e-02 -1.07498957e-02 6.12208329e+02] [ 5.56450955e-02 9.98450600e-01 -1.52336555e-04 7.69602386e+00] [ 1.07417164e-02 -4.46087250e-04 9.99942207e-01 4.08572597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters 0.031678176846026626 Centerline is valid? [True, True] Translation: X:612.27, Y:7.68, Z:4.09 [[ 9.97990792e-01 -6.23350467e-02 -1.13455143e-02 6.12268462e+02] [ 6.23372416e-02 9.98055130e-01 -1.60422756e-04 7.68125795e+00] [ 1.13334487e-02 -5.47147630e-04 9.99935625e-01 4.08500853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.759254154 meters 0.024840907446086684 Centerline is valid? [True, True] Translation: X:612.33, Y:7.69, Z:4.09 [[ 9.97933653e-01 -6.31675482e-02 -1.17594277e-02 6.12330612e+02] [ 6.31699694e-02 9.98002769e-01 -1.65802062e-04 7.69320462e+00] [ 1.17464147e-02 -5.77383229e-04 9.99930842e-01 4.08648158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters 0.025402109327856078 Centerline is valid? [True, True] Translation: X:612.39, Y:7.70, Z:4.09 [[ 9.98217204e-01 -5.86262035e-02 -1.11973939e-02 6.12389990e+02] [ 5.86281225e-02 9.98279880e-01 -1.57073281e-04 7.69623142e+00] [ 1.11873416e-02 -4.99688929e-04 9.99937295e-01 4.08710590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.879254154 meters 0.021392042761107163 Centerline is valid? [True, True] Translation: X:612.45, Y:7.70, Z:4.09 [[ 9.98475037e-01 -5.41056584e-02 -1.09626175e-02 6.12450733e+02] [ 5.41072320e-02 9.98535119e-01 -1.53220226e-04 7.70498713e+00] [ 1.09548487e-02 -4.40170318e-04 9.99939897e-01 4.08788639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters 0.02559330191391945 Centerline is valid? [True, True] Translation: X:612.51, Y:7.71, Z:4.09 [[ 9.98855777e-01 -4.62814118e-02 -1.20485773e-02 6.12509914e+02] [ 4.62827446e-02 9.98928365e-01 -1.68339091e-04 7.70528738e+00] [ 1.20434566e-02 -3.89494754e-04 9.99927399e-01 4.08662665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.999254154 meters 0.0178214148200138 Centerline is valid? [True, True] Translation: X:612.57, Y:7.72, Z:4.09 [[ 9.99179444e-01 -3.79413519e-02 -1.41736307e-02 6.12570307e+02] [ 3.79423579e-02 9.99279910e-01 -1.98013206e-04 7.72348590e+00] [ 1.41709372e-02 -3.39930242e-04 9.99899529e-01 4.08688468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters 0.01598263956177053 Centerline is valid? [True, True] Translation: X:612.63, Y:7.73, Z:4.09 [[ 9.99446167e-01 -2.97715004e-02 -1.48666194e-02 6.12630826e+02] [ 2.97717097e-02 9.99556703e-01 -2.07284202e-04 7.73448370e+00] [ 1.48662003e-02 -2.35435277e-04 9.99889464e-01 4.08771286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.119254154 meters 0.014705100162226316 Centerline is valid? [True, True] Translation: X:612.69, Y:7.74, Z:4.09 [[ 9.99597729e-01 -2.46379374e-02 -1.40482224e-02 6.12691751e+02] [ 2.46376241e-02 9.99696429e-01 -1.95391596e-04 7.74141792e+00] [ 1.40487718e-02 -1.50801829e-04 9.99901300e-01 4.08884349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.179254154 meters 0.014060163208364625 Centerline is valid? [True, True] Translation: X:612.75, Y:7.75, Z:4.09 [[ 9.99739706e-01 -1.78773280e-02 -1.41746985e-02 6.12752984e+02] [ 1.78763367e-02 9.99840186e-01 -1.96639911e-04 7.75171927e+00] [ 1.41759486e-02 -5.68029559e-05 9.99899515e-01 4.09009593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.239254154 meters 0.013934252227291617 Centerline is valid? [True, True] Translation: X:612.81, Y:7.76, Z:4.09 [[ 9.99845131e-01 -1.15935674e-02 -1.32402290e-02 6.12812202e+02] [ 1.15921514e-02 9.99932792e-01 -1.83688279e-04 7.75919625e+00] [ 1.32414688e-02 3.01770916e-05 9.99912327e-01 4.09107976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.299254154 meters 0.01399741027117316 Centerline is valid? [True, True] Translation: X:612.87, Y:7.76, Z:4.09 [[ 9.99890851e-01 -8.53167570e-03 -1.20621653e-02 6.12870747e+02] [ 8.53025843e-03 9.99963602e-01 -1.68941404e-04 7.76313672e+00] [ 1.20631676e-02 6.60295774e-05 9.99927235e-01 4.09261623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.359254154 meters 0.013824375026785896 Centerline is valid? [True, True] Translation: X:612.93, Y:7.76, Z:4.09 [[ 9.99886250e-01 -9.05496042e-03 -1.20621146e-02 6.12928596e+02] [ 9.05354160e-03 9.99959001e-01 -1.72226411e-04 7.76376527e+00] [ 1.20631795e-02 6.30019641e-05 9.99927235e-01 4.09315933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.419254154 meters 0.013748687290010915 Centerline is valid? [True, True] Translation: X:612.99, Y:7.76, Z:4.09 [[ 9.99826878e-01 -1.35818032e-02 -1.27180408e-02 6.12986522e+02] [ 1.35805584e-02 9.99907763e-01 -1.84232840e-04 7.75979328e+00] [ 1.27193700e-02 1.14828481e-05 9.99919105e-01 4.09146982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters 0.013646046583260723 Centerline is valid? [True, True] Translation: X:613.04, Y:7.76, Z:4.09 [[ 9.99780865e-01 -1.62128817e-02 -1.32425531e-02 6.13044827e+02] [ 1.62117315e-02 9.99868562e-01 -1.94208955e-04 7.75821765e+00] [ 1.32439612e-02 -2.05183172e-05 9.99912295e-01 4.09199782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.539254154 meters 0.01401455138500266 Centerline is valid? [True, True] Translation: X:613.10, Y:7.75, Z:4.09 [[ 9.99659528e-01 -2.20535718e-02 -1.39451665e-02 6.13104674e+02] [ 2.20528349e-02 9.99756785e-01 -2.06631857e-04 7.75403711e+00] [ 1.39463318e-02 -1.00968950e-04 9.99902740e-01 4.09150965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters 0.016610309454352507 Centerline is valid? [True, True] Translation: X:613.17, Y:7.75, Z:4.09 [[ 9.99461898e-01 -2.99081783e-02 -1.34690627e-02 6.13165373e+02] [ 2.99082022e-02 9.99552630e-01 -1.99693626e-04 7.74584920e+00] [ 1.34690095e-02 -2.03249279e-04 9.99909268e-01 4.09079984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.659254154 meters 0.01598529453054139 Centerline is valid? [True, True] Translation: X:613.23, Y:7.74, Z:4.09 [[ 9.99296646e-01 -3.51439945e-02 -1.30810110e-02 6.13227117e+02] [ 3.51444716e-02 9.99382224e-01 -1.93470343e-04 7.74385718e+00] [ 1.30797292e-02 -2.66390957e-04 9.99914421e-01 4.09312092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters 0.018096894163456112 Centerline is valid? [True, True] Translation: X:613.29, Y:7.74, Z:4.09 [[ 9.99033531e-01 -4.17362445e-02 -1.37872977e-02 6.13288804e+02] [ 4.17374107e-02 9.99128594e-01 -2.03271008e-04 7.73612414e+00] [ 1.37837671e-02 -3.72371552e-04 9.99904930e-01 4.09162938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.779254154 meters 0.019789855036639242 Centerline is valid? [True, True] Translation: X:613.35, Y:7.73, Z:4.09 [[ 9.98742573e-01 -4.83327982e-02 -1.33121931e-02 6.13350177e+02] [ 4.83344768e-02 9.98831187e-01 -1.95791960e-04 7.73093145e+00] [ 1.33060968e-02 -4.47892121e-04 9.99911370e-01 4.09198495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters 0.0230011956810172 Centerline is valid? [True, True] Translation: X:613.41, Y:7.73, Z:4.09 [[ 9.98407711e-01 -5.49347175e-02 -1.28147883e-02 6.13410253e+02] [ 5.49368179e-02 9.98489815e-01 -1.88320483e-04 7.72517475e+00] [ 1.28057810e-02 -5.15983071e-04 9.99917869e-01 4.09202029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.899254154 meters 0.02451189649868576 Centerline is valid? [True, True] Translation: X:613.47, Y:7.72, Z:4.09 [[ 9.98044643e-01 -6.07745080e-02 -1.46064743e-02 6.13471420e+02] [ 6.07778620e-02 9.98151294e-01 -2.14575232e-04 7.72171736e+00] [ 1.45925119e-02 -6.73594617e-04 9.99893297e-01 4.09053384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters 0.026450175683658983 Centerline is valid? [True, True] Translation: X:613.53, Y:7.72, Z:4.09 [[ 9.97775114e-01 -6.50037602e-02 -1.48098937e-02 6.13532811e+02] [ 6.50076795e-02 9.97884740e-01 -2.17118843e-04 7.71994008e+00] [ 1.47926805e-02 -7.46121045e-04 9.99890304e-01 4.09024265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.019254154 meters 0.030862547425143487 Centerline is valid? [True, True] Translation: X:613.59, Y:7.71, Z:4.09 [[ 9.97441107e-01 -7.01711159e-02 -1.36839990e-02 6.13592906e+02] [ 7.01749515e-02 9.97534679e-01 -2.00254312e-04 7.71495634e+00] [ 1.36643156e-02 -7.60532084e-04 9.99906350e-01 4.09019339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters 0.033038392242249054 Centerline is valid? [True, True] Translation: X:613.65, Y:7.71, Z:4.09 [[ 9.97211414e-01 -7.34560113e-02 -1.31761596e-02 6.13653669e+02] [ 7.34598580e-02 9.97298156e-01 -1.92449801e-04 7.71362665e+00] [ 1.31546962e-02 -7.76005673e-04 9.99913172e-01 4.09006712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.139254154 meters 0.02860835539650035 Centerline is valid? [True, True] Translation: X:613.72, Y:7.72, Z:4.09 [[ 9.97226741e-01 -7.31214050e-02 -1.38595348e-02 6.13716211e+02] [ 7.31256420e-02 9.97322716e-01 -2.01494541e-04 7.72434611e+00] [ 1.38371625e-02 -8.12551639e-04 9.99903932e-01 4.09091178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters 0.02801382774006136 Centerline is valid? [True, True] Translation: X:613.78, Y:7.73, Z:4.09 [[ 9.97480134e-01 -6.97093672e-02 -1.31903796e-02 6.13777352e+02] [ 6.97129168e-02 9.97567077e-01 -1.91053424e-04 7.73041158e+00] [ 1.31716066e-02 -7.28967841e-04 9.99912985e-01 4.09202740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.259254154 meters 0.03377772549430779 Centerline is valid? [True, True] Translation: X:613.84, Y:7.73, Z:4.09 [[ 9.97669357e-01 -6.71486682e-02 -1.21206709e-02 6.13837668e+02] [ 6.71514795e-02 9.97742777e-01 -1.75347213e-04 7.72634977e+00] [ 1.21050861e-02 -6.38982440e-04 9.99926527e-01 4.09299268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters 0.026081862285683193 Centerline is valid? [True, True] Translation: X:613.90, Y:7.74, Z:4.10 [[ 9.97952182e-01 -6.31818746e-02 -9.97466959e-03 6.13898680e+02] [ 6.31835823e-02 9.98001911e-01 -1.44141133e-04 7.74203213e+00] [ 9.96384642e-03 -4.86389399e-04 9.99950241e-01 4.09557161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.379254154 meters 0.02568549031265805 Centerline is valid? [True, True] Translation: X:613.96, Y:7.75, Z:4.10 [[ 9.98261301e-01 -5.81657674e-02 -9.54562375e-03 6.13958197e+02] [ 5.81671036e-02 9.98306851e-01 -1.37824948e-04 7.74763691e+00] [ 9.53747828e-03 -4.17655973e-04 9.99954430e-01 4.09550930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters 0.021584393001327435 Centerline is valid? [True, True] Translation: X:614.02, Y:7.76, Z:4.10 [[ 9.98532425e-01 -5.33586233e-02 -9.26569781e-03 6.14018831e+02] [ 5.33596760e-02 9.98575349e-01 -1.33736841e-04 7.75825354e+00] [ 9.25963344e-03 -3.60874061e-04 9.99957064e-01 4.09555726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.499254154 meters 0.02223112772365792 Centerline is valid? [True, True] Translation: X:614.08, Y:7.76, Z:4.10 [[ 9.98751480e-01 -4.92337898e-02 -8.45660556e-03 6.14078925e+02] [ 4.92345202e-02 9.98787238e-01 -1.21914423e-04 7.76034967e+00] [ 8.45235202e-03 -2.94594707e-04 9.99964235e-01 4.09588592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters 0.019410529442278415 Centerline is valid? [True, True] Translation: X:614.14, Y:7.77, Z:4.09 [[ 9.98996438e-01 -4.39641250e-02 -8.55989445e-03 6.14140621e+02] [ 4.39646820e-02 9.99033078e-01 -1.23177317e-04 7.77061846e+00] [ 8.55703308e-03 -2.53279336e-04 9.99963356e-01 4.09499492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.619254154 meters 0.017739937685725352 Centerline is valid? [True, True] Translation: X:614.20, Y:7.77, Z:4.10 [[ 9.99120343e-01 -4.09496244e-02 -9.03709223e-03 6.14203067e+02] [ 4.09501270e-02 9.99161183e-01 -1.29483541e-04 7.77445013e+00] [ 9.03481407e-03 -2.40700435e-04 9.99959156e-01 4.09629224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.679254154 meters 0.01698160906685528 Centerline is valid? [True, True] Translation: X:614.26, Y:7.78, Z:4.10 [[ 9.99342279e-01 -3.52295965e-02 -8.59565015e-03 6.14264004e+02] [ 3.52298444e-02 9.99379229e-01 -1.22622728e-04 7.77645256e+00] [ 8.59463417e-03 -1.80281341e-04 9.99963049e-01 4.09564401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.739254154 meters 0.0146807429109961 Centerline is valid? [True, True] Translation: X:614.33, Y:7.78, Z:4.10 [[ 9.99596728e-01 -2.72280795e-02 -8.06306210e-03 6.14325168e+02] [ 2.72280395e-02 9.99629242e-01 -1.14747670e-04 7.78486406e+00] [ 8.06319701e-03 -1.04839978e-04 9.99967486e-01 4.09659755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.799254154 meters 0.01388136913176431 Centerline is valid? [True, True] Translation: X:614.39, Y:7.79, Z:4.10 [[ 9.99757047e-01 -2.06172735e-02 -7.79580189e-03 6.14387387e+02] [ 2.06170377e-02 9.99787440e-01 -1.10622461e-04 7.79011289e+00] [ 7.79642555e-03 -5.01307569e-05 9.99969606e-01 4.09742543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.859254154 meters 0.01392583362949657 Centerline is valid? [True, True] Translation: X:614.45, Y:7.79, Z:4.10 [[ 9.99785657e-01 -1.92167863e-02 -7.70420699e-03 6.14448461e+02] [ 1.92165186e-02 9.99815340e-01 -1.08768541e-04 7.78984682e+00] [ 7.70487451e-03 -3.93028096e-05 9.99970316e-01 4.09739279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.919254154 meters 0.014000278582811523 Centerline is valid? [True, True] Translation: X:614.51, Y:7.79, Z:4.10 [[ 9.99756970e-01 -2.06870890e-02 -7.61879519e-03 6.14510401e+02] [ 2.06868733e-02 9.99785998e-01 -1.07128902e-04 7.78783395e+00] [ 7.61938093e-03 -5.05061841e-05 9.99970971e-01 4.09767685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters 0.014667416167747152 Centerline is valid? [True, True] Translation: X:614.57, Y:7.78, Z:4.10 [[ 9.99699226e-01 -2.35396397e-02 -6.88056593e-03 6.14571939e+02] [ 2.35395344e-02 9.99722902e-01 -9.63016661e-05 7.78313999e+00] [ 6.88092624e-03 -6.56926170e-05 9.99976324e-01 4.09673112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.039254154 meters 0.01506693250138927 Centerline is valid? [True, True] Translation: X:614.63, Y:7.78, Z:4.10 [[ 9.99602878e-01 -2.67985644e-02 -8.71340604e-03 6.14634549e+02] [ 2.67985244e-02 9.99640848e-01 -1.21358898e-04 7.77851698e+00] [ 8.71352884e-03 -1.12195720e-04 9.99962030e-01 4.09516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters 0.015860496204169985 Centerline is valid? [True, True] Translation: X:614.70, Y:7.78, Z:4.10 [[ 9.99470554e-01 -3.12154482e-02 -9.17646946e-03 6.14696525e+02] [ 3.12155962e-02 9.99512666e-01 -1.27130289e-04 7.77505930e+00] [ 9.17596589e-03 -1.59385985e-04 9.99957887e-01 4.09534595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.159254154 meters 0.016109055641004347 Centerline is valid? [True, True] Translation: X:614.76, Y:7.77, Z:4.10 [[ 9.99347384e-01 -3.49485912e-02 -9.13242448e-03 6.14758742e+02] [ 3.49488997e-02 9.99389093e-01 -1.25854337e-04 7.77313642e+00] [ 9.13124385e-03 -1.93395984e-04 9.99958291e-01 4.09548295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters 0.01936385143676702 Centerline is valid? [True, True] Translation: X:614.82, Y:7.76, Z:4.09 [[ 9.99088420e-01 -4.16391807e-02 -9.40782356e-03 6.14818916e+02] [ 4.16398115e-02 9.99132679e-01 -1.28898999e-04 7.76400093e+00] [ 9.40503120e-03 -2.62958502e-04 9.99955737e-01 4.09405990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.279254154 meters 0.019220013426366308 Centerline is valid? [True, True] Translation: X:614.88, Y:7.76, Z:4.09 [[ 9.98920255e-01 -4.54967612e-02 -9.40044588e-03 6.14881077e+02] [ 4.54975689e-02 9.98964441e-01 -1.28025832e-04 7.76365708e+00] [ 9.39653592e-03 -2.99809836e-04 9.99955807e-01 4.09459281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters 0.021315360665918735 Centerline is valid? [True, True] Translation: X:614.94, Y:7.76, Z:4.09 [[ 9.98687492e-01 -5.01931895e-02 -1.01949065e-02 6.14942268e+02] [ 5.01943909e-02 9.98739458e-01 -1.38146928e-04 7.75939574e+00] [ 1.01889894e-02 -3.73761515e-04 9.99948021e-01 4.09429116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.399254154 meters 0.023065749912823594 Centerline is valid? [True, True] Translation: X:615.00, Y:7.76, Z:4.09 [[ 9.98525596e-01 -5.31582559e-02 -1.09924107e-02 6.15003989e+02] [ 5.31598383e-02 9.98586005e-01 -1.48391013e-04 7.75681214e+00] [ 1.09847557e-02 -4.36182549e-04 9.99939571e-01 4.09328194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters 0.024583584397365386 Centerline is valid? [True, True] Translation: X:615.07, Y:7.76, Z:4.09 [[ 9.98393627e-01 -5.53434014e-02 -1.21356162e-02 6.15066265e+02] [ 5.53455007e-02 9.98467250e-01 -1.63043312e-04 7.75516862e+00] [ 1.21260387e-02 -5.08870352e-04 9.99926347e-01 4.09265997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.519254154 meters 0.026068428475921567 Centerline is valid? [True, True] Translation: X:615.13, Y:7.76, Z:4.09 [[ 9.98201618e-01 -5.83659391e-02 -1.36728410e-02 6.15127139e+02] [ 5.83688959e-02 9.98295066e-01 -1.83035645e-04 7.75543285e+00] [ 1.36602128e-02 -6.15362158e-04 9.99906506e-01 4.09216068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters 0.02292796407143772 Centerline is valid? [True, True] Translation: X:615.19, Y:7.76, Z:4.09 [[ 9.98148709e-01 -5.91419276e-02 -1.41910792e-02 6.15189624e+02] [ 5.91452009e-02 9.98249372e-01 -1.89285660e-04 7.76211475e+00] [ 1.41774306e-02 -6.50398993e-04 9.99899284e-01 4.09293107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.639254154 meters 0.025126615296363973 Centerline is valid? [True, True] Translation: X:615.25, Y:7.76, Z:4.09 [[ 9.98234695e-01 -5.79701968e-02 -1.29209262e-02 6.15250450e+02] [ 5.79728302e-02 9.98318147e-01 -1.70958473e-04 7.76104447e+00] [ 1.29091056e-02 -5.78405980e-04 9.99916507e-01 4.09301990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters 0.021299549495912718 Centerline is valid? [True, True] Translation: X:615.31, Y:7.77, Z:4.10 [[ 9.98505994e-01 -5.32834575e-02 -1.21100719e-02 6.15311590e+02] [ 5.32854391e-02 9.98579309e-01 -1.59193170e-04 7.77189076e+00] [ 1.21013496e-02 -4.86335164e-04 9.99926658e-01 4.09507597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.759254154 meters 0.020291246732074695 Centerline is valid? [True, True] Translation: X:615.37, Y:7.78, Z:4.10 [[ 9.98715657e-01 -4.92960726e-02 -1.17019029e-02 6.15372827e+02] [ 4.92976531e-02 9.98784120e-01 -1.53520248e-04 7.77743800e+00] [ 1.16952428e-02 -4.23553275e-04 9.99931519e-01 4.09634158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters 0.018758357824014738 Centerline is valid? [True, True] Translation: X:615.43, Y:7.78, Z:4.10 [[ 9.98952351e-01 -4.41799091e-02 -1.19304356e-02 6.15433784e+02] [ 4.41811916e-02 9.99023522e-01 -1.56167281e-04 7.78359890e+00] [ 1.19256853e-02 -3.71097191e-04 9.99928818e-01 4.09602575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.879254154 meters 0.01770612065794965 Centerline is valid? [True, True] Translation: X:615.49, Y:7.79, Z:4.10 [[ 9.99196579e-01 -3.79175022e-02 -1.29792263e-02 6.15493222e+02] [ 3.79184924e-02 9.99280821e-01 -1.69874734e-04 7.79005662e+00] [ 1.29763331e-02 -3.22414439e-04 9.99915752e-01 4.09576149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters 0.015368106624660923 Centerline is valid? [True, True] Translation: X:615.56, Y:7.80, Z:4.10 [[ 9.99435160e-01 -3.05350823e-02 -1.40345951e-02 6.15555097e+02] [ 3.05355163e-02 9.99533666e-01 -1.83410216e-04 7.79989808e+00] [ 1.40336507e-02 -2.45246990e-04 9.99901493e-01 4.09606925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.999254154 meters 0.014685614331201224 Centerline is valid? [True, True] Translation: X:615.62, Y:7.81, Z:4.10 [[ 9.99582256e-01 -2.47196863e-02 -1.49750123e-02 6.15616084e+02] [ 2.47195385e-02 9.99694407e-01 -1.94997782e-04 7.80555227e+00] [ 1.49752563e-02 -1.75259069e-04 9.99887849e-01 4.09648490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.059254154 meters 0.014245156280589534 Centerline is valid? [True, True] Translation: X:615.68, Y:7.82, Z:4.10 [[ 9.99762980e-01 -1.45588598e-02 -1.61871240e-02 6.15677121e+02] [ 1.45573651e-02 9.99894014e-01 -2.10167280e-04 7.81630264e+00] [ 1.61884682e-02 -2.55244081e-05 9.99868958e-01 4.09729423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.119254154 meters 0.014361779654644809 Centerline is valid? [True, True] Translation: X:615.74, Y:7.82, Z:4.10 [[ 9.99827899e-01 -9.96839285e-03 -1.56461748e-02 6.15735181e+02] [ 9.96639698e-03 9.99950313e-01 -2.05532515e-04 7.82199840e+00] [ 1.56474462e-02 4.95611541e-05 9.99877570e-01 4.09907485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.179254154 meters 0.014491200596554038 Centerline is valid? [True, True] Translation: X:615.79, Y:7.82, Z:4.10 [[ 9.99830339e-01 -9.12679191e-03 -1.59998627e-02 6.15792781e+02] [ 9.12452093e-03 9.99958348e-01 -2.14933761e-04 7.82433050e+00] [ 1.60011579e-02 6.89062134e-05 9.99871971e-01 4.10005844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.239254154 meters 0.014630775324130554 Centerline is valid? [True, True] Translation: X:615.85, Y:7.83, Z:4.10 [[ 9.99810743e-01 -9.83303350e-03 -1.67866052e-02 6.15850348e+02] [ 9.83058305e-03 9.99951653e-01 -2.28489139e-04 7.82739463e+00] [ 1.67880404e-02 6.34237789e-05 9.99859069e-01 4.10056811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.299254154 meters 0.014490018926274426 Centerline is valid? [True, True] Translation: X:615.91, Y:7.83, Z:4.10 [[ 9.99774635e-01 -1.15213958e-02 -1.78307604e-02 6.15907930e+02] [ 1.15188319e-02 9.99933626e-01 -2.46493060e-04 7.82706560e+00] [ 1.78324168e-02 4.10479787e-05 9.99840989e-01 4.10084874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.359254154 meters 0.01447287829444079 Centerline is valid? [True, True] Translation: X:615.97, Y:7.83, Z:4.10 [[ 9.99741688e-01 -1.32825439e-02 -1.84426478e-02 6.15965380e+02] [ 1.32800038e-02 9.99911783e-01 -2.60197887e-04 7.82698649e+00] [ 1.84444769e-02 1.52122426e-05 9.99829886e-01 4.10110992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.419254154 meters 0.014363656150935775 Centerline is valid? [True, True] Translation: X:616.02, Y:7.83, Z:4.10 [[ 9.99710026e-01 -1.46736485e-02 -1.90931504e-02 6.16023674e+02] [ 1.46711214e-02 9.99892336e-01 -2.72430301e-04 7.82707218e+00] [ 1.90950923e-02 -7.76662351e-06 9.99817672e-01 4.10323301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters 0.014462955395664395 Centerline is valid? [True, True] Translation: X:616.08, Y:7.83, Z:4.10 [[ 9.99697836e-01 -1.48905202e-02 -1.95578634e-02 6.16081897e+02] [ 1.48878758e-02 9.99889130e-01 -2.80812317e-04 7.82722072e+00] [ 1.95598764e-02 -1.04475749e-05 9.99808687e-01 4.10374412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.539254154 meters 0.014658192260227852 Centerline is valid? [True, True] Translation: X:616.14, Y:7.83, Z:4.10 [[ 9.99713424e-01 -1.26471523e-02 -2.03253489e-02 6.16140700e+02] [ 1.26437501e-02 9.99920021e-01 -2.95890350e-04 7.82723324e+00] [ 2.03274655e-02 3.88169215e-05 9.99793375e-01 4.10441381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters 0.015111151180533664 Centerline is valid? [True, True] Translation: X:616.20, Y:7.83, Z:4.10 [[ 9.99745256e-01 -9.89167707e-03 -2.02873980e-02 6.16198847e+02] [ 9.88766153e-03 9.99951071e-01 -2.98233463e-04 7.82890138e+00] [ 2.02893554e-02 9.75625653e-05 9.99794145e-01 4.10405269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.659254154 meters 0.014827176734992885 Centerline is valid? [True, True] Translation: X:616.26, Y:7.83, Z:4.11 [[ 9.99737284e-01 -8.66862812e-03 -2.12183573e-02 6.16257569e+02] [ 8.66387115e-03 9.99962418e-01 -3.16109606e-04 7.82917254e+00] [ 2.12203002e-02 1.32193444e-04 9.99774815e-01 4.10703096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters 0.01513097977650422 Centerline is valid? [True, True] Translation: X:616.32, Y:7.83, Z:4.11 [[ 9.99702414e-01 -8.77464928e-03 -2.27615844e-02 6.16315932e+02] [ 8.76907369e-03 9.99961492e-01 -3.44758608e-04 7.82651912e+00] [ 2.27637330e-02 1.45058002e-04 9.99740862e-01 4.10583865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.779254154 meters 0.015045408339487283 Centerline is valid? [True, True] Translation: X:616.37, Y:7.82, Z:4.11 [[ 9.99609685e-01 -1.32379913e-02 -2.46014935e-02 6.16374550e+02] [ 1.32327557e-02 9.99912373e-01 -3.75607699e-04 7.82048817e+00] [ 2.46043101e-02 4.99155390e-05 9.99697267e-01 4.10524821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters 0.015192025863101609 Centerline is valid? [True, True] Translation: X:616.43, Y:7.82, Z:4.11 [[ 9.99546251e-01 -1.73737179e-02 -2.46058202e-02 6.16432331e+02] [ 1.73696025e-02 9.99849065e-01 -3.80990698e-04 7.81675446e+00] [ 2.46087256e-02 -4.65754921e-05 9.99697158e-01 4.10614854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.899254154 meters 0.015099751978880253 Centerline is valid? [True, True] Translation: X:616.49, Y:7.81, Z:4.11 [[ 9.99410512e-01 -2.33522223e-02 -2.51654850e-02 6.16491600e+02] [ 2.33497316e-02 9.99727281e-01 -3.92858903e-04 7.80964261e+00] [ 2.51677960e-02 -1.94980003e-04 9.99683222e-01 4.10889657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters 0.015679710860534664 Centerline is valid? [True, True] Translation: X:616.55, Y:7.80, Z:4.11 [[ 9.99270186e-01 -2.92380334e-02 -2.45811528e-02 6.16550787e+02] [ 2.92373132e-02 9.99572423e-01 -3.88772703e-04 7.80307190e+00] [ 2.45820095e-02 -3.30197893e-04 9.99697762e-01 4.11005147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.019254154 meters 0.016714213004824327 Centerline is valid? [True, True] Translation: X:616.61, Y:7.80, Z:4.11 [[ 9.99173645e-01 -3.32923831e-02 -2.33161737e-02 6.16608230e+02] [ 3.32927588e-02 9.99445573e-01 -3.72176754e-04 7.79609250e+00] [ 2.33156372e-02 -4.04390544e-04 9.99728072e-01 4.11056291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters 0.016764371297229904 Centerline is valid? [True, True] Translation: X:616.67, Y:7.79, Z:4.11 [[ 9.99166821e-01 -3.32536757e-02 -2.36612828e-02 6.16668413e+02] [ 3.32540203e-02 9.99446860e-01 -3.79017650e-04 7.79357585e+00] [ 2.36607985e-02 -4.08130918e-04 9.99719961e-01 4.11160196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.139254154 meters 0.016069639803958414 Centerline is valid? [True, True] Translation: X:616.73, Y:7.80, Z:4.11 [[ 9.99239824e-01 -3.07789924e-02 -2.39254515e-02 6.16728298e+02] [ 3.07786146e-02 9.99526152e-01 -3.84127286e-04 7.79613960e+00] [ 2.39259375e-02 -3.52556968e-04 9.99713672e-01 4.11367875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters 0.015424773843956104 Centerline is valid? [True, True] Translation: X:616.79, Y:7.80, Z:4.11 [[ 9.99342510e-01 -2.53373712e-02 -2.59338754e-02 6.16786978e+02] [ 2.53349596e-02 9.99678930e-01 -4.21613520e-04 7.79735149e+00] [ 2.59362314e-02 -2.35697372e-04 9.99663572e-01 4.11313185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.259254154 meters 0.01547785267448969 Centerline is valid? [True, True] Translation: X:616.84, Y:7.80, Z:4.11 [[ 9.99403132e-01 -2.10964668e-02 -2.73554057e-02 6.16844063e+02] [ 2.10920733e-02 9.99777437e-01 -4.49174333e-04 7.79991545e+00] [ 2.73587934e-02 -1.28075987e-04 9.99625670e-01 4.11280100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters 0.015240328900004185 Centerline is valid? [True, True] Translation: X:616.90, Y:7.80, Z:4.11 [[ 9.99461593e-01 -1.74969115e-02 -2.77557705e-02 6.16902152e+02] [ 1.74908048e-02 9.99846917e-01 -4.62802145e-04 7.80201836e+00] [ 2.77596191e-02 -2.29177944e-05 9.99614627e-01 4.11440422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.379254154 meters 0.015328811952702316 Centerline is valid? [True, True] Translation: X:616.96, Y:7.81, Z:4.12 [[ 9.99550016e-01 -1.27196699e-02 -2.71656933e-02 6.16959734e+02] [ 1.27118413e-02 9.99919095e-01 -4.60861856e-04 7.80523486e+00] [ 2.71693574e-02 1.15328494e-04 9.99630838e-01 4.11628203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters 0.015233999410166283 Centerline is valid? [True, True] Translation: X:617.02, Y:7.80, Z:4.12 [[ 9.99606310e-01 -1.21108343e-02 -2.53091383e-02 6.17018057e+02] [ 1.21036777e-02 9.99926653e-01 -4.35946189e-04 7.80357332e+00] [ 2.53125616e-02 1.29440908e-04 9.99679577e-01 4.11810367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.499254154 meters 0.015091582472727776 Centerline is valid? [True, True] Translation: X:617.08, Y:7.80, Z:4.12 [[ 9.99585203e-01 -1.46158207e-02 -2.48153316e-02 6.17076799e+02] [ 1.46095559e-02 9.99893181e-01 -4.33748390e-04 7.80077726e+00] [ 2.48190205e-02 7.10274988e-05 9.99691958e-01 4.11911189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.559254154 meters 0.015049793611691006 Centerline is valid? [True, True] Translation: X:617.13, Y:7.79, Z:4.12 [[ 9.99498710e-01 -2.03079282e-02 -2.42881951e-02 6.17134562e+02] [ 2.03035279e-02 9.99793771e-01 -4.27786298e-04 7.79403766e+00] [ 2.42918736e-02 -6.55641942e-05 9.99704907e-01 4.11945779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.619254154 meters 0.01599637384292467 Centerline is valid? [True, True] Translation: X:617.19, Y:7.79, Z:4.12 [[ 9.99325120e-01 -2.72440202e-02 -2.46387538e-02 6.17193953e+02] [ 2.72415522e-02 9.99628785e-01 -4.35875516e-04 7.78516372e+00] [ 2.46414825e-02 -2.35616543e-04 9.99696325e-01 4.11988915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.679254154 meters 0.016151289658521348 Centerline is valid? [True, True] Translation: X:617.25, Y:7.78, Z:4.12 [[ 9.99078770e-01 -3.47625471e-02 -2.51630108e-02 6.17253827e+02] [ 3.47623265e-02 9.99395508e-01 -4.46330337e-04 7.77711764e+00] [ 2.51633155e-02 -4.28805632e-04 9.99683262e-01 4.12066639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.739254154 meters 0.01667122440532635 Centerline is valid? [True, True] Translation: X:617.31, Y:7.77, Z:4.12 [[ 9.98962527e-01 -3.85425190e-02 -2.42558110e-02 6.17312369e+02] [ 3.85433113e-02 9.99256836e-01 -4.35027925e-04 7.77273719e+00] [ 2.42545521e-02 -5.00322680e-04 9.99705690e-01 4.12174692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.799254154 meters 0.01733270734694832 Centerline is valid? [True, True] Translation: X:617.37, Y:7.77, Z:4.12 [[ 9.98897815e-01 -4.06428091e-02 -2.34801414e-02 6.17372292e+02] [ 4.06440773e-02 9.99173598e-01 -4.23413518e-04 7.76672939e+00] [ 2.34779460e-02 -5.31381843e-04 9.99724214e-01 4.12185580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.859254154 meters 0.017222213302703 Centerline is valid? [True, True] Translation: X:617.43, Y:7.76, Z:4.12 [[ 9.98933135e-01 -3.98706859e-02 -2.33006489e-02 6.17433258e+02] [ 3.98717192e-02 9.99204718e-01 -4.20420114e-04 7.76461546e+00] [ 2.32988807e-02 -5.09065346e-04 9.99728415e-01 4.12266673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.919254154 meters 0.016878898309793222 Centerline is valid? [True, True] Translation: X:617.49, Y:7.76, Z:4.12 [[ 9.98955932e-01 -3.91574401e-02 -2.35317067e-02 6.17493282e+02] [ 3.91582815e-02 9.99232930e-01 -4.25213333e-04 7.76299273e+00] [ 2.35303065e-02 -4.96691813e-04 9.99723001e-01 4.12394849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters 0.016813932482859305 Centerline is valid? [True, True] Translation: X:617.55, Y:7.76, Z:4.12 [[ 9.98952209e-01 -3.98201529e-02 -2.25574583e-02 6.17553402e+02] [ 3.98210761e-02 9.99206743e-01 -4.08441936e-04 7.76031506e+00] [ 2.25558287e-02 -4.90248291e-04 9.99745465e-01 4.12481028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.039254154 meters 0.017969484115306366 Centerline is valid? [True, True] Translation: X:617.61, Y:7.76, Z:4.12 [[ 9.98891748e-01 -4.11277657e-02 -2.28863117e-02 6.17612875e+02] [ 4.11290463e-02 9.99153757e-01 -4.14950181e-04 7.75510681e+00] [ 2.28840103e-02 -5.26801861e-04 9.99737988e-01 4.12385213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters 0.01877625918381835 Centerline is valid? [True, True] Translation: X:617.67, Y:7.75, Z:4.12 [[ 9.98806301e-01 -4.29465924e-02 -2.32715041e-02 6.17672757e+02] [ 4.29483926e-02 9.99077203e-01 -4.22676487e-04 7.75260093e+00] [ 2.32681817e-02 -5.77301755e-04 9.99729093e-01 4.12451463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.159254154 meters 0.018490883188053444 Centerline is valid? [True, True] Translation: X:617.73, Y:7.75, Z:4.12 [[ 9.98727313e-01 -4.51622631e-02 -2.24527164e-02 6.17732762e+02] [ 4.51644862e-02 9.98979481e-01 -4.08334097e-04 7.74839401e+00] [ 2.24482443e-02 -6.06250985e-04 9.99747823e-01 4.12488757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters 0.018630819750939952 Centerline is valid? [True, True] Translation: X:617.79, Y:7.75, Z:4.13 [[ 9.98675676e-01 -4.67919294e-02 -2.13871190e-02 6.17793691e+02] [ 4.67943171e-02 9.98904470e-01 -3.89071688e-04 7.74580738e+00] [ 2.13818942e-02 -6.12239199e-04 9.99771194e-01 4.12727312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.279254154 meters 0.019047512014413476 Centerline is valid? [True, True] Translation: X:617.85, Y:7.74, Z:4.13 [[ 9.98721750e-01 -4.63118977e-02 -2.02503010e-02 6.17853121e+02] [ 4.63139346e-02 9.98926866e-01 -3.68636034e-04 7.74344905e+00] [ 2.02456420e-02 -5.69706293e-04 9.99794874e-01 4.12795607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters 0.018450318584424915 Centerline is valid? [True, True] Translation: X:617.91, Y:7.74, Z:4.13 [[ 9.98719187e-01 -4.60466870e-02 -2.09687331e-02 6.17913830e+02] [ 4.60488101e-02 9.98939118e-01 -3.81840163e-04 7.74332354e+00] [ 2.09640702e-02 -5.84234110e-04 9.99780059e-01 4.12832036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.399254154 meters 0.01936394903187321 Centerline is valid? [True, True] Translation: X:617.97, Y:7.74, Z:4.13 [[ 9.98628471e-01 -4.73766029e-02 -2.22852887e-02 6.17973445e+02] [ 4.73793257e-02 9.98876887e-01 -4.06096027e-04 7.74112678e+00] [ 2.22794992e-02 -6.50322898e-04 9.99751570e-01 4.12749396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters 0.020517363428223884 Centerline is valid? [True, True] Translation: X:618.03, Y:7.74, Z:4.13 [[ 9.98546326e-01 -4.90595385e-02 -2.23247829e-02 6.18033089e+02] [ 4.90626822e-02 9.98795618e-01 -4.07214569e-04 7.73917929e+00] [ 2.23178731e-02 -6.88691118e-04 9.99750688e-01 4.12781290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.519254154 meters 0.019953769222838178 Centerline is valid? [True, True] Translation: X:618.09, Y:7.74, Z:4.13 [[ 9.98440579e-01 -5.08454611e-02 -2.30466605e-02 6.18093879e+02] [ 5.08492840e-02 9.98706250e-01 -4.20505010e-04 7.74023449e+00] [ 2.30382247e-02 -7.52056921e-04 9.99734302e-01 4.12907430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters 0.021320098292495305 Centerline is valid? [True, True] Translation: X:618.15, Y:7.74, Z:4.13 [[ 9.98397367e-01 -5.16404400e-02 -2.31508481e-02 6.18152965e+02] [ 5.16445306e-02 9.98665442e-01 -4.21560239e-04 7.73871750e+00] [ 2.31417215e-02 -7.74730052e-04 9.99731894e-01 4.12895324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.639254154 meters 0.024512566272757438 Centerline is valid? [True, True] Translation: X:618.21, Y:7.73, Z:4.13 [[ 9.98347675e-01 -5.27465795e-02 -2.27973271e-02 6.18212617e+02] [ 5.27508399e-02 9.98607619e-01 -4.14867551e-04 7.73464855e+00] [ 2.27874674e-02 -7.88396096e-04 9.99740021e-01 4.12895475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters 0.02181266189687996 Centerline is valid? [True, True] Translation: X:618.27, Y:7.74, Z:4.13 [[ 9.98306122e-01 -5.35644063e-02 -2.27099188e-02 6.18272514e+02] [ 5.35688379e-02 9.98564073e-01 -4.13601772e-04 7.73969241e+00] [ 2.26994633e-02 -8.03642777e-04 9.99742011e-01 4.13293934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.759254154 meters 0.02151528427014971 Centerline is valid? [True, True] Translation: X:618.33, Y:7.74, Z:4.14 [[ 9.98277998e-01 -5.44405724e-02 -2.18463533e-02 6.18332715e+02] [ 5.44448802e-02 9.98516698e-01 -3.97991070e-04 7.74038088e+00] [ 2.18356154e-02 -7.92116359e-04 9.99761261e-01 4.13519917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters 0.022521669460379024 Centerline is valid? [True, True] Translation: X:618.39, Y:7.74, Z:4.14 [[ 9.98175878e-01 -5.63556907e-02 -2.16553097e-02 6.18393851e+02] [ 5.63603849e-02 9.98410413e-01 -3.93976759e-04 7.73812912e+00] [ 2.16430895e-02 -8.27243490e-04 9.99765419e-01 4.13599351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.879254154 meters 0.02387604132841677 Centerline is valid? [True, True] Translation: X:618.46, Y:7.74, Z:4.14 [[ 9.98029639e-01 -5.88423256e-02 -2.17811854e-02 6.18455389e+02] [ 5.88476826e-02 9.98266895e-01 -3.95490012e-04 7.73561334e+00] [ 2.17667079e-02 -8.87061530e-04 9.99762684e-01 4.13654754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters 0.02329331948778697 Centerline is valid? [True, True] Translation: X:618.52, Y:7.74, Z:4.14 [[ 9.97988322e-01 -5.95608040e-02 -2.17214279e-02 6.18516317e+02] [ 5.95663184e-02 9.98224273e-01 -3.93624926e-04 7.73653443e+00] [ 2.17063012e-02 -9.01032410e-04 9.99763984e-01 4.13812061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.999254154 meters 0.025391516999822273 Centerline is valid? [True, True] Translation: X:618.58, Y:7.73, Z:4.14 [[ 9.98003185e-01 -5.89669056e-02 -2.26395095e-02 6.18576594e+02] [ 5.89727713e-02 9.98259508e-01 -4.09044519e-04 7.73459649e+00] [ 2.26242257e-02 -9.26886884e-04 9.99743610e-01 4.13697760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.059254154 meters 0.02493915547203824 Centerline is valid? [True, True] Translation: X:618.64, Y:7.73, Z:4.14 [[ 9.98068234e-01 -5.78782042e-02 -2.25812830e-02 6.18637156e+02] [ 5.78837770e-02 9.98323245e-01 -4.07311602e-04 7.73466796e+00] [ 2.25669942e-02 -9.00565180e-04 9.99744927e-01 4.13829706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.119254154 meters 0.022930115640809823 Centerline is valid? [True, True] Translation: X:618.70, Y:7.74, Z:4.14 [[ 9.98118972e-01 -5.67522952e-02 -2.31882342e-02 6.18698002e+02] [ 5.67578849e-02 9.98387885e-01 -4.17549855e-04 7.73758706e+00] [ 2.31745490e-02 -8.99350695e-04 9.99731030e-01 4.13985253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.179254154 meters 0.020756929569478968 Centerline is valid? [True, True] Translation: X:618.76, Y:7.74, Z:4.14 [[ 9.98259412e-01 -5.39821815e-02 -2.37501831e-02 6.18758134e+02] [ 5.39872685e-02 9.98541533e-01 -4.27422789e-04 7.74203796e+00] [ 2.37386175e-02 -8.55528690e-04 9.99717833e-01 4.14237891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.239254154 meters 0.01976967564510907 Centerline is valid? [True, True] Translation: X:618.82, Y:7.74, Z:4.14 [[ 9.98401470e-01 -5.14700722e-02 -2.33524451e-02 6.18818736e+02] [ 5.14743038e-02 9.98674231e-01 -4.20264854e-04 7.74494071e+00] [ 2.33431162e-02 -7.82457806e-04 9.99727206e-01 4.14450671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.299254154 meters 0.018925629962520684 Centerline is valid? [True, True] Translation: X:618.88, Y:7.75, Z:4.15 [[ 9.98566548e-01 -4.78628189e-02 -2.39582863e-02 6.18878663e+02] [ 4.78662282e-02 9.98853662e-01 -4.31487264e-04 7.74801745e+00] [ 2.39514742e-02 -7.15924052e-04 9.99712866e-01 4.14555538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.359254154 meters 0.020353285358577944 Centerline is valid? [True, True] Translation: X:618.94, Y:7.75, Z:4.14 [[ 9.98851134e-01 -4.04952615e-02 -2.56231689e-02 6.18937539e+02] [ 4.04967176e-02 9.99179565e-01 -4.62292673e-04 7.75195845e+00] [ 2.56208674e-02 -5.75892676e-04 9.99671566e-01 4.14467806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.419254154 meters 0.016006301001993944 Centerline is valid? [True, True] Translation: X:619.00, Y:7.76, Z:4.15 [[ 9.99198892e-01 -3.19719304e-02 -2.40701051e-02 6.18996488e+02] [ 3.19707221e-02 9.99488711e-01 -4.35120039e-04 7.75995306e+00] [ 2.40717100e-02 -3.34767183e-04 9.99710178e-01 4.14834901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters 0.015411901228265962 Centerline is valid? [True, True] Translation: X:619.05, Y:7.76, Z:4.15 [[ 9.99366895e-01 -2.69053472e-02 -2.32789811e-02 6.19054420e+02] [ 2.69028035e-02 9.99637965e-01 -4.22496251e-04 7.76398612e+00] [ 2.32819207e-02 -2.04041089e-04 9.99728919e-01 4.14959394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.539254154 meters 0.014477293898784927 Centerline is valid? [True, True] Translation: X:619.11, Y:7.77, Z:4.15 [[ 9.99539903e-01 -2.00314128e-02 -2.27755465e-02 6.19112705e+02] [ 2.00270906e-02 9.99799350e-01 -4.17876441e-04 7.76871842e+00] [ 2.27793473e-02 -3.84437565e-05 9.99740516e-01 4.15173516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters 0.014888616272538622 Centerline is valid? [True, True] Translation: X:619.17, Y:7.77, Z:4.15 [[ 9.99530384e-01 -2.01939105e-02 -2.30481501e-02 6.19169241e+02] [ 2.01894177e-02 9.99796081e-01 -4.27633386e-04 7.76927929e+00] [ 2.30520857e-02 -3.78961657e-05 9.99734265e-01 4.15067989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.659254154 meters 0.014542069835702446 Centerline is valid? [True, True] Translation: X:619.23, Y:7.77, Z:4.15 [[ 9.99426346e-01 -2.36386904e-02 -2.42526560e-02 6.19227633e+02] [ 2.36346578e-02 9.99720560e-01 -4.52943790e-04 7.76658418e+00] [ 2.42565858e-02 -1.20519269e-04 9.99705758e-01 4.15390346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters 0.014963893015080984 Centerline is valid? [True, True] Translation: X:619.29, Y:7.76, Z:4.15 [[ 9.99340530e-01 -2.74290855e-02 -2.37939002e-02 6.19286464e+02] [ 2.74261585e-02 9.99623731e-01 -4.49401713e-04 7.76310620e+00] [ 2.37972739e-02 -2.03469931e-04 9.99716784e-01 4.15418395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.779254154 meters 0.015877186241721155 Centerline is valid? [True, True] Translation: X:619.34, Y:7.76, Z:4.15 [[ 9.99181719e-01 -3.30429135e-02 -2.33250597e-02 6.19344729e+02] [ 3.30415350e-02 9.99453881e-01 -4.44604298e-04 7.75658195e+00] [ 2.33270124e-02 -3.26455287e-04 9.99727835e-01 4.15472538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters 0.01887970183861475 Centerline is valid? [True, True] Translation: X:619.40, Y:7.75, Z:4.15 [[ 9.99006620e-01 -3.71240078e-02 -2.46491836e-02 6.19403914e+02] [ 3.71235789e-02 9.99310569e-01 -4.75161900e-04 7.75080638e+00] [ 2.46498296e-02 -4.40376026e-04 9.99696050e-01 4.15342159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.899254154 meters 0.016644749295475988 Centerline is valid? [True, True] Translation: X:619.46, Y:7.75, Z:4.16 [[ 9.98923499e-01 -3.89068644e-02 -2.52606397e-02 6.19462260e+02] [ 3.89068993e-02 9.99242720e-01 -4.90289878e-04 7.75040680e+00] [ 2.52605860e-02 -4.93051085e-04 9.99680779e-01 4.15593262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters 0.018551229809982576 Centerline is valid? [True, True] Translation: X:619.52, Y:7.75, Z:4.16 [[ 9.99003521e-01 -3.65951361e-02 -2.55491758e-02 6.19519794e+02] [ 3.65943573e-02 9.99330078e-01 -4.98193529e-04 7.74955898e+00] [ 2.55502913e-02 -4.37258577e-04 9.99673442e-01 4.15588519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.019254154 meters 0.015486423322500376 Centerline is valid? [True, True] Translation: X:619.58, Y:7.75, Z:4.16 [[ 9.99216238e-01 -3.14472466e-02 -2.40412069e-02 6.19577339e+02] [ 3.14450173e-02 9.99505372e-01 -4.70858920e-04 7.75195389e+00] [ 2.40441226e-02 -2.85486288e-04 9.99710858e-01 4.15766997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters 0.016434928172971527 Centerline is valid? [True, True] Translation: X:619.64, Y:7.75, Z:4.16 [[ 9.99317396e-01 -2.72961757e-02 -2.48929738e-02 6.19635720e+02] [ 2.72923739e-02 9.99627372e-01 -4.92525608e-04 7.75416873e+00] [ 2.48971421e-02 -1.87198940e-04 9.99690001e-01 4.15785975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.139254154 meters 0.016052586412422673 Centerline is valid? [True, True] Translation: X:619.69, Y:7.76, Z:4.16 [[ 9.99469616e-01 -2.02475081e-02 -2.55053810e-02 6.19694577e+02] [ 2.02410577e-02 9.99794998e-01 -5.11074434e-04 7.75791509e+00] [ 2.55105003e-02 -5.45251939e-06 9.99674554e-01 4.16062191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters 0.013998561052677813 Centerline is valid? [True, True] Translation: X:619.75, Y:7.76, Z:4.16 [[ 9.99625583e-01 -1.34556118e-02 -2.38251903e-02 6.19752552e+02] [ 1.34478970e-02 9.99909456e-01 -4.84006837e-04 7.76028608e+00] [ 2.38295457e-02 1.63426912e-04 9.99716023e-01 4.16383223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.259254154 meters 0.014409579546863891 Centerline is valid? [True, True] Translation: X:619.81, Y:7.76, Z:4.16 [[ 9.99675428e-01 -1.06103060e-02 -2.31616171e-02 6.19810999e+02] [ 1.06021091e-02 9.99943682e-01 -4.76671609e-04 7.76029336e+00] [ 2.31653703e-02 2.30954904e-04 9.99731620e-01 4.16424229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters 0.016129938718121437 Centerline is valid? [True, True] Translation: X:619.87, Y:7.76, Z:4.16 [[ 9.99711048e-01 -8.53434242e-03 -2.24718619e-02 6.19869653e+02] [ 8.52597405e-03 9.99963544e-01 -4.68178112e-04 7.75814382e+00] [ 2.24750383e-02 2.76448319e-04 9.99747366e-01 4.16386703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.379254154 meters 0.015543740364170144 Centerline is valid? [True, True] Translation: X:619.93, Y:7.75, Z:4.17 [[ 9.99724625e-01 -8.34710151e-03 -2.19316917e-02 6.19928143e+02] [ 8.33894961e-03 9.99965123e-01 -4.63124927e-04 7.75396069e+00] [ 2.19347925e-02 2.80110123e-04 9.99759364e-01 4.16504154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters 0.014240039762093157 Centerline is valid? [True, True] Translation: X:619.99, Y:7.75, Z:4.17 [[ 9.99765219e-01 -8.22538716e-03 -2.00462032e-02 6.19987388e+02] [ 8.21844664e-03 9.99966136e-01 -4.28585660e-04 7.74862249e+00] [ 2.00490496e-02 2.63736385e-04 9.99798963e-01 4.16755954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.499254154 meters 0.01614711456880645 Centerline is valid? [True, True] Translation: X:620.05, Y:7.75, Z:4.17 [[ 9.99792939e-01 -7.22366855e-03 -1.90236177e-02 6.20045802e+02] [ 7.21713702e-03 9.99973871e-01 -4.11970541e-04 7.74598128e+00] [ 1.90260966e-02 2.74589182e-04 9.99818950e-01 4.16709060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.559254154 meters 0.016122760428619987 Centerline is valid? [True, True] Translation: X:620.10, Y:7.74, Z:4.17 [[ 9.99824751e-01 -4.65191673e-03 -1.81335725e-02 6.20104919e+02] [ 4.64547142e-03 9.99989131e-01 -3.97542597e-04 7.74232952e+00] [ 1.81352248e-02 3.13233935e-04 9.99835494e-01 4.16901478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.619254154 meters 0.017000026140171626 Centerline is valid? [True, True] Translation: X:620.16, Y:7.74, Z:4.17 [[ 9.99830531e-01 -4.17495784e-03 -1.79298466e-02 6.20163367e+02] [ 4.16849640e-03 9.99991233e-01 -3.97731910e-04 7.73865308e+00] [ 1.79313499e-02 3.22924006e-04 9.99839168e-01 4.16871463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.679254154 meters 0.014932282931405397 Centerline is valid? [True, True] Translation: X:620.22, Y:7.73, Z:4.17 [[ 9.99836889e-01 -5.24065414e-03 -1.72838189e-02 6.20221624e+02] [ 5.23476327e-03 9.99986224e-01 -3.86055802e-04 7.73139812e+00] [ 1.72856039e-02 2.95516132e-04 9.99850549e-01 4.17019408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.739254154 meters 0.015115619745766246 Centerline is valid? [True, True] Translation: X:620.28, Y:7.72, Z:4.17 [[ 9.99814678e-01 -8.25006050e-03 -1.73938697e-02 6.20280508e+02] [ 8.24452545e-03 9.99965937e-01 -3.89902879e-04 7.72410974e+00] [ 1.73964939e-02 2.46426420e-04 9.99848639e-01 4.17066825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.799254154 meters 0.015039559242957008 Centerline is valid? [True, True] Translation: X:620.34, Y:7.71, Z:4.17 [[ 9.99745591e-01 -1.37946615e-02 -1.78454702e-02 6.20338277e+02] [ 1.37896918e-02 9.99904837e-01 -4.01513093e-04 7.71410688e+00] [ 1.78493107e-02 1.55327411e-04 9.99840676e-01 4.16936360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.859254154 meters 0.014213909831399082 Centerline is valid? [True, True] Translation: X:620.40, Y:7.70, Z:4.17 [[ 9.99674911e-01 -1.98571841e-02 -1.59926607e-02 6.20397290e+02] [ 1.98539494e-02 9.99802826e-01 -3.61020076e-04 7.70397551e+00] [ 1.59966762e-02 4.33852358e-05 9.99872044e-01 4.17215011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.919254154 meters 0.016659466074601153 Centerline is valid? [True, True] Translation: X:620.46, Y:7.70, Z:4.17 [[ 9.99585400e-01 -2.43849571e-02 -1.53101885e-02 6.20455836e+02] [ 2.43824792e-02 9.99702642e-01 -3.48511762e-04 7.69837067e+00] [ 1.53141343e-02 -2.49330831e-05 9.99882731e-01 4.17180394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters 0.014232134554588544 Centerline is valid? [True, True] Translation: X:620.51, Y:7.69, Z:4.17 [[ 9.99366591e-01 -3.16649636e-02 -1.62403076e-02 6.20513702e+02] [ 3.16630901e-02 9.99498529e-01 -3.72536851e-04 7.68879913e+00] [ 1.62439599e-02 -1.41917439e-04 9.99868048e-01 4.17315024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.039254154 meters 0.017265497870285737 Centerline is valid? [True, True] Translation: X:620.57, Y:7.68, Z:4.17 [[ 9.99232512e-01 -3.63045746e-02 -1.47093200e-02 6.20572872e+02] [ 3.63035040e-02 9.99340753e-01 -3.39876590e-04 7.68076170e+00] [ 1.47119620e-02 -1.94384120e-04 9.99891754e-01 4.17325373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters 0.016355459531939252 Centerline is valid? [True, True] Translation: X:620.63, Y:7.68, Z:4.17 [[ 9.99174168e-01 -3.80339611e-02 -1.42968437e-02 6.20632091e+02] [ 3.80330782e-02 9.99276425e-01 -3.33739553e-04 7.67957223e+00] [ 1.42991923e-02 -2.10289035e-04 9.99897739e-01 4.17488648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.159254154 meters 0.014615936674337754 Centerline is valid? [True, True] Translation: X:620.69, Y:7.68, Z:4.18 [[ 9.99051843e-01 -4.09471949e-02 -1.47899616e-02 6.20691041e+02] [ 4.09465136e-02 9.99161279e-01 -3.49007624e-04 7.67758458e+00] [ 1.47918478e-02 -2.56920652e-04 9.99890562e-01 4.17905107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters 0.016019487139885064 Centerline is valid? [True, True] Translation: X:620.75, Y:7.67, Z:4.18 [[ 9.99022875e-01 -4.17286491e-02 -1.45607551e-02 6.20749099e+02] [ 4.17280365e-02 9.99128946e-01 -3.46016291e-04 7.67432677e+00] [ 1.45625107e-02 -2.61913531e-04 9.99893927e-01 4.17930760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.279254154 meters 0.015359279269871155 Centerline is valid? [True, True] Translation: X:620.81, Y:7.67, Z:4.18 [[ 9.98980229e-01 -4.25697270e-02 -1.50439448e-02 6.20807917e+02] [ 4.25691266e-02 9.99093459e-01 -3.60274423e-04 7.67490941e+00] [ 1.50456437e-02 -2.80500568e-04 9.99886769e-01 4.18105433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters 0.01659973574130969 Centerline is valid? [True, True] Translation: X:620.87, Y:7.67, Z:4.18 [[ 9.98910387e-01 -4.39835155e-02 -1.56041494e-02 6.20865694e+02] [ 4.39830014e-02 9.99032209e-01 -3.76290199e-04 7.67183763e+00] [ 1.56055984e-02 -3.10437136e-04 9.99878177e-01 4.18156382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.399254154 meters 0.01819277232299958 Centerline is valid? [True, True] Translation: X:620.92, Y:7.67, Z:4.18 [[ 9.98718379e-01 -4.77439739e-02 -1.67962066e-02 6.20924910e+02] [ 4.77438557e-02 9.98859528e-01 -4.08254402e-04 7.67020578e+00] [ 1.67965427e-02 -3.94184491e-04 9.99858850e-01 4.18208560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters 0.020088506301502204 Centerline is valid? [True, True] Translation: X:620.98, Y:7.67, Z:4.18 [[ 9.98447838e-01 -5.31305813e-02 -1.67049584e-02 6.20984814e+02] [ 5.31311829e-02 9.98587458e-01 -4.08106238e-04 7.66832750e+00] [ 1.67030449e-02 -4.80081410e-04 9.99860379e-01 4.18417984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.519254154 meters 0.020838772948197998 Centerline is valid? [True, True] Translation: X:621.04, Y:7.66, Z:4.19 [[ 9.98181303e-01 -5.79780973e-02 -1.65113914e-02 6.21043723e+02] [ 5.79793302e-02 9.98317702e-01 -4.04411982e-04 7.66270419e+00] [ 1.65070614e-02 -5.53642936e-04 9.99863596e-01 4.18522177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters 0.0216321063791366 Centerline is valid? [True, True] Translation: X:621.10, Y:7.66, Z:4.19 [[ 9.97777888e-01 -6.44420462e-02 -1.69265562e-02 6.21104123e+02] [ 6.44442567e-02 9.97921222e-01 -4.15391306e-04 7.65976724e+00] [ 1.69181383e-02 -6.76351073e-04 9.99856649e-01 4.18699079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.639254154 meters 0.023679183543701954 Centerline is valid? [True, True] Translation: X:621.16, Y:7.66, Z:4.19 [[ 9.97530056e-01 -6.81731983e-02 -1.69175065e-02 6.21163705e+02] [ 6.81759328e-02 9.97673228e-01 -4.15706926e-04 7.65729345e+00] [ 1.69064833e-02 -7.38686631e-04 9.99856802e-01 4.18734865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters 0.02617272358461301 Centerline is valid? [True, True] Translation: X:621.22, Y:7.65, Z:4.19 [[ 9.97085268e-01 -7.45246335e-02 -1.63416048e-02 6.21224206e+02] [ 7.45280315e-02 9.97218838e-01 -4.01806969e-04 7.65415939e+00] [ 1.63261007e-02 -8.17271826e-04 9.99866386e-01 4.18981252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.759254154 meters 0.029657625911947844 Centerline is valid? [True, True] Translation: X:621.28, Y:7.65, Z:4.19 [[ 9.96940026e-01 -7.62306681e-02 -1.73051948e-02 6.21282837e+02] [ 7.62347214e-02 9.97089808e-01 -4.26291813e-04 7.65062605e+00] [ 1.72873299e-02 -8.94269334e-04 9.99850163e-01 4.18888276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters 0.02816430323042238 Centerline is valid? [True, True] Translation: X:621.34, Y:7.66, Z:4.19 [[ 9.96911309e-01 -7.61511917e-02 -1.92051504e-02 6.21340736e+02] [ 7.61560897e-02 9.97095794e-01 -4.77257695e-04 7.65781066e+00] [ 1.91857184e-02 -9.86805561e-04 9.99815450e-01 4.18849493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.879254154 meters 0.026505665963108542 Centerline is valid? [True, True] Translation: X:621.40, Y:7.66, Z:4.19 [[ 9.97007160e-01 -7.49022208e-02 -1.91410753e-02 6.21399237e+02] [ 7.49067606e-02 9.97190426e-01 -4.80687281e-04 7.66241538e+00] [ 1.91233015e-02 -9.54547282e-04 9.99816677e-01 4.19002904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters 0.02683634027574643 Centerline is valid? [True, True] Translation: X:621.46, Y:7.67, Z:4.19 [[ 9.97375647e-01 -6.96408662e-02 -1.97981886e-02 6.21459383e+02] [ 6.96446531e-02 9.97571738e-01 -4.98980978e-04 7.66906863e+00] [ 1.97848629e-02 -8.81166503e-04 9.99803872e-01 4.18913070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.999254154 meters 0.02339932670939912 Centerline is valid? [True, True] Translation: X:621.52, Y:7.68, Z:4.19 [[ 9.97806886e-01 -6.33968043e-02 -1.90332368e-02 6.21518299e+02] [ 6.33991642e-02 9.97988134e-01 -4.79995591e-04 7.67739341e+00] [ 1.90253747e-02 -7.27748401e-04 9.99818736e-01 4.19134940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.059254154 meters 0.0239149770482288 Centerline is valid? [True, True] Translation: X:621.58, Y:7.69, Z:4.19 [[ 9.98207734e-01 -5.62855765e-02 -2.03286291e-02 6.21577834e+02] [ 5.62867861e-02 9.98414510e-01 -5.13122889e-04 7.68754607e+00] [ 2.03252797e-02 -6.32029960e-04 9.99793220e-01 4.19015265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.119254154 meters 0.020732281425513883 Centerline is valid? [True, True] Translation: X:621.64, Y:7.69, Z:4.19 [[ 9.98341017e-01 -5.45003709e-02 -1.85721209e-02 6.21636823e+02] [ 5.45010542e-02 9.98513603e-01 -4.69723494e-04 7.69185283e+00] [ 1.85701155e-02 -5.43255940e-04 9.99827413e-01 4.19227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.179254154 meters 0.024790431107084055 Centerline is valid? [True, True] Translation: X:621.69, Y:7.70, Z:4.19 [[ 9.98409246e-01 -5.25537649e-02 -2.04225209e-02 6.21694896e+02] [ 5.25541401e-02 9.98617942e-01 -5.18695466e-04 7.69818264e+00] [ 2.04215552e-02 -5.55417676e-04 9.99791304e-01 4.19008568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.239254154 meters 0.0191803610223011 Centerline is valid? [True, True] Translation: X:621.75, Y:7.71, Z:4.19 [[ 9.98373134e-01 -5.37166963e-02 -1.91207194e-02 6.21752336e+02] [ 5.37171549e-02 9.98556071e-01 -4.89991394e-04 7.70582965e+00] [ 1.91194311e-02 -5.37916400e-04 9.99817062e-01 4.19359375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.299254154 meters 0.021731335315138874 Centerline is valid? [True, True] Translation: X:621.81, Y:7.71, Z:4.19 [[ 9.98305213e-01 -5.48979074e-02 -1.93111640e-02 6.21810381e+02] [ 5.48985364e-02 9.98491814e-01 -4.97954980e-04 7.70778025e+00] [ 1.93093759e-02 -5.63043588e-04 9.99813398e-01 4.19325291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.359254154 meters 0.019059861143187237 Centerline is valid? [True, True] Translation: X:621.87, Y:7.71, Z:4.20 [[ 9.98209325e-01 -5.73576949e-02 -1.69775563e-02 6.21869000e+02] [ 5.73584827e-02 9.98353550e-01 -4.40930427e-04 7.71121468e+00] [ 1.69748943e-02 -5.33666004e-04 9.99855774e-01 4.19530001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.419254154 meters 0.021106212909076626 Centerline is valid? [True, True] Translation: X:621.93, Y:7.71, Z:4.20 [[ 9.97952636e-01 -6.17194100e-02 -1.67705459e-02 6.21927710e+02] [ 6.17207563e-02 9.98093361e-01 -4.37788527e-04 7.71158419e+00] [ 1.67655906e-02 -5.98198562e-04 9.99859269e-01 4.19517343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters 0.024546006799189897 Centerline is valid? [True, True] Translation: X:621.99, Y:7.71, Z:4.20 [[ 9.97504833e-01 -6.88613242e-02 -1.55636463e-02 6.21988016e+02] [ 6.88633451e-02 9.97626019e-01 -4.06669279e-04 7.70941580e+00] [ 1.55547023e-02 -6.66110175e-04 9.99878796e-01 4.19559663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.539254154 meters 0.024777403993612973 Centerline is valid? [True, True] Translation: X:622.05, Y:7.71, Z:4.20 [[ 9.97127183e-01 -7.42756236e-02 -1.48496367e-02 6.22047971e+02] [ 7.42780593e-02 9.97237494e-01 -3.88198806e-04 7.71186108e+00] [ 1.48374482e-02 -7.15918616e-04 9.99889663e-01 4.19686758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters 0.035441592489878514 Centerline is valid? [True, True] Translation: X:622.11, Y:7.70, Z:4.20 [[ 9.96445780e-01 -8.31593379e-02 -1.34287435e-02 6.22107034e+02] [ 8.31621290e-02 9.96535969e-01 -3.51390328e-04 7.70356166e+00] [ 1.34114473e-02 -7.66621487e-04 9.99909769e-01 4.19574156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.659254154 meters 0.02908765827056098 Centerline is valid? [True, True] Translation: X:622.17, Y:7.72, Z:4.20 [[ 9.96178880e-01 -8.63716840e-02 -1.29449329e-02 6.22167385e+02] [ 8.63745465e-02 9.96262678e-01 -3.38829994e-04 7.71825043e+00] [ 1.29258189e-02 -7.80577427e-04 9.99916153e-01 4.19761740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters 0.036858935245624856 Centerline is valid? [True, True] Translation: X:622.23, Y:7.72, Z:4.20 [[ 9.96001028e-01 -8.85433206e-02 -1.19177324e-02 6.22227347e+02] [ 8.85459030e-02 9.96072049e-01 -3.11826875e-04 7.71619574e+00] [ 1.18985303e-02 -7.44686489e-04 9.99928933e-01 4.19678080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.779254154 meters 0.03203708982422567 Centerline is valid? [True, True] Translation: X:622.29, Y:7.73, Z:4.20 [[ 9.95935692e-01 -8.95027240e-02 -1.00677850e-02 6.22288060e+02] [ 8.95046169e-02 9.95986373e-01 -2.63298472e-04 7.73039937e+00] [ 1.00509426e-02 -6.38884894e-04 9.99949284e-01 4.19837746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters 0.031016294060983343 Centerline is valid? [True, True] Translation: X:622.35, Y:7.74, Z:4.20 [[ 9.95818420e-01 -9.09029894e-02 -9.07306246e-03 6.22350388e+02] [ 9.09045882e-02 9.95859578e-01 -2.36883200e-04 7.73714994e+00] [ 9.05702954e-03 -5.88890353e-04 9.99958811e-01 4.19978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.899254154 meters 0.033714689439823246 Centerline is valid? [True, True] Translation: X:622.41, Y:7.74, Z:4.20 [[ 9.95806110e-01 -9.09945947e-02 -9.49609875e-03 6.22412650e+02] [ 9.09963571e-02 9.95851195e-01 -2.47198006e-04 7.74485892e+00] [ 9.47919497e-03 -6.17949108e-04 9.99954880e-01 4.19786865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters 0.03257457980235515 Centerline is valid? [True, True] Translation: X:622.47, Y:7.75, Z:4.20 [[ 9.95734828e-01 -9.19288620e-02 -7.82538037e-03 6.22474652e+02] [ 9.19300914e-02 9.95765443e-01 -2.03215503e-04 7.75496128e+00] [ 7.81092472e-03 -5.17039178e-04 9.99969361e-01 4.20024971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.019254154 meters 0.034374497576569074 Centerline is valid? [True, True] Translation: X:622.54, Y:7.76, Z:4.20 [[ 9.95767922e-01 -9.15871404e-02 -7.61849924e-03 6.22536631e+02] [ 9.15882998e-02 9.95796939e-01 -1.97295020e-04 7.75797408e+00] [ 7.60454791e-03 -5.01305341e-04 9.99970959e-01 4.19994574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters 0.037786309243242076 Centerline is valid? [True, True] Translation: X:622.60, Y:7.77, Z:4.20 [[ 9.95800974e-01 -9.12176494e-02 -7.73047253e-03 6.22597673e+02] [ 9.12188364e-02 9.95830851e-01 -1.99644437e-04 7.76604306e+00] [ 7.71645413e-03 -5.06358584e-04 9.99970100e-01 4.19865054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.139254154 meters 0.036907256571939336 Centerline is valid? [True, True] Translation: X:622.66, Y:7.78, Z:4.20 [[ 9.95930550e-01 -8.98550950e-02 -6.95708295e-03 6.22658560e+02] [ 8.98560256e-02 9.95954749e-01 -1.79337586e-04 7.77764766e+00] [ 6.94505420e-03 -4.46528042e-04 9.99975783e-01 4.20032490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters 0.03246125782063647 Centerline is valid? [True, True] Translation: X:622.72, Y:7.79, Z:4.20 [[ 9.96095000e-01 -8.80319386e-02 -6.71784088e-03 6.22719295e+02] [ 8.80327664e-02 9.96117564e-01 -1.72940354e-04 7.79419943e+00] [ 6.70698357e-03 -4.19125095e-04 9.99977420e-01 4.20095704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.259254154 meters 0.03212371281290842 Centerline is valid? [True, True] Translation: X:622.78, Y:7.81, Z:4.20 [[ 9.96436888e-01 -8.41053853e-02 -6.30973183e-03 6.22779538e+02] [ 8.41060386e-02 9.96456797e-01 -1.62214034e-04 7.80766797e+00] [ 6.30101824e-03 -3.69050502e-04 9.99980080e-01 4.20046981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters 0.0298079448468275 Centerline is valid? [True, True] Translation: X:622.84, Y:7.82, Z:4.20 [[ 9.96831250e-01 -7.92620462e-02 -6.70723138e-03 6.22839576e+02] [ 7.92626762e-02 9.96853750e-01 -1.72253177e-04 7.82202011e+00] [ 6.69978189e-03 -3.59925759e-04 9.99977491e-01 4.19926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.379254154 meters 0.026491826075552505 Centerline is valid? [True, True] Translation: X:622.90, Y:7.84, Z:4.20 [[ 9.97252473e-01 -7.37698232e-02 -6.74676446e-03 6.22899299e+02] [ 7.37703355e-02 9.97275242e-01 -1.73234548e-04 7.83807905e+00] [ 6.74116064e-03 -3.24952496e-04 9.99977225e-01 4.20097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters 0.026476033624937903 Centerline is valid? [True, True] Translation: X:622.96, Y:7.85, Z:4.20 [[ 9.97595236e-01 -6.88629886e-02 -7.85076598e-03 6.22959775e+02] [ 6.88635309e-02 9.97626069e-01 -2.01539775e-04 7.84730262e+00] [ 7.84600744e-03 -3.39576346e-04 9.99969162e-01 4.20102405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.499254154 meters 0.023800632681646755 Centerline is valid? [True, True] Translation: X:623.02, Y:7.86, Z:4.20 [[ 9.97959313e-01 -6.34832868e-02 -6.86167867e-03 6.23019045e+02] [ 6.34835748e-02 9.97982868e-01 -1.76043888e-04 7.85972865e+00] [ 6.85901361e-03 -2.59919254e-04 9.99976443e-01 4.20331002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.559254154 meters 0.02451760530783622 Centerline is valid? [True, True] Translation: X:623.08, Y:7.87, Z:4.20 [[ 9.98333075e-01 -5.71628001e-02 -7.96773040e-03 6.23079468e+02] [ 5.71629875e-02 9.98364839e-01 -2.04399131e-04 7.87290719e+00] [ 7.96638590e-03 -2.51400861e-04 9.99968236e-01 4.20126954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.619254154 meters 0.02135088481303984 Centerline is valid? [True, True] Translation: X:623.14, Y:7.88, Z:4.20 [[ 9.98461216e-01 -5.47415241e-02 -8.86377989e-03 6.23141307e+02] [ 5.47416632e-02 9.98500525e-01 -2.27109849e-04 7.88044134e+00] [ 8.86292122e-03 -2.58457678e-04 9.99960690e-01 4.20213206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.679254154 meters 0.020793506220424432 Centerline is valid? [True, True] Translation: X:623.20, Y:7.89, Z:4.20 [[ 9.98642452e-01 -5.13004804e-02 -9.02846501e-03 6.23201955e+02] [ 5.13004890e-02 9.98683236e-01 -2.30784613e-04 7.88901155e+00] [ 9.02841601e-03 -2.32693358e-04 9.99959216e-01 4.20208733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.739254154 meters 0.021679862426528307 Centerline is valid? [True, True] Translation: X:623.26, Y:7.90, Z:4.20 [[ 9.98798264e-01 -4.82841963e-02 -8.40622189e-03 6.23263908e+02] [ 4.82840997e-02 9.98833620e-01 -2.14555904e-04 7.89636582e+00] [ 8.40677669e-03 -1.91588791e-04 9.99964644e-01 4.20196997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.799254154 meters 0.020449696962786625 Centerline is valid? [True, True] Translation: X:623.33, Y:7.90, Z:4.20 [[ 9.98919908e-01 -4.55269965e-02 -9.29036640e-03 6.23326362e+02] [ 4.55267664e-02 9.98963091e-01 -2.36360256e-04 7.90352903e+00] [ 9.29149391e-03 -1.86855375e-04 9.99956816e-01 4.20193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.859254154 meters 0.019095999552906296 Centerline is valid? [True, True] Translation: X:623.39, Y:7.91, Z:4.20 [[ 9.99008077e-01 -4.31573766e-02 -1.09682765e-02 6.23388329e+02] [ 4.31569256e-02 9.99068267e-01 -2.77905279e-04 7.91073562e+00] [ 1.09700507e-02 -1.95727476e-04 9.99939808e-01 4.20158510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.919254154 meters 0.018262821471018896 Centerline is valid? [True, True] Translation: X:623.45, Y:7.92, Z:4.20 [[ 9.99128607e-01 -4.00964099e-02 -1.15889527e-02 6.23450571e+02] [ 4.00957107e-02 9.99195801e-01 -2.92758588e-04 7.91537161e+00] [ 1.15913715e-02 -1.72163816e-04 9.99932803e-01 4.20173857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters 0.01707770889059477 Centerline is valid? [True, True] Translation: X:623.51, Y:7.92, Z:4.20 [[ 9.99256752e-01 -3.65531069e-02 -1.22398636e-02 6.23512521e+02] [ 3.65520726e-02 9.99331702e-01 -3.08269358e-04 7.92120346e+00] [ 1.22429519e-02 -1.39352146e-04 9.99925043e-01 4.20318582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.039254154 meters 0.01478139758695058 Centerline is valid? [True, True] Translation: X:623.57, Y:7.92, Z:4.20 [[ 9.99406081e-01 -3.23955737e-02 -1.17478621e-02 6.23574549e+02] [ 3.23943438e-02 9.99475122e-01 -2.95016261e-04 7.92393796e+00] [ 1.17512532e-02 -8.57232392e-05 9.99930948e-01 4.20466144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters 0.016641051462398155 Centerline is valid? [True, True] Translation: X:623.64, Y:7.93, Z:4.20 [[ 9.99490607e-01 -2.95507525e-02 -1.20531898e-02 6.23637089e+02] [ 2.95492620e-02 9.99563280e-01 -3.01773713e-04 7.92602439e+00] [ 1.20568436e-02 -5.45428720e-05 9.99927312e-01 4.20476933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.159254154 meters 0.01618366893312964 Centerline is valid? [True, True] Translation: X:623.70, Y:7.93, Z:4.20 [[ 9.99551661e-01 -2.75583266e-02 -1.17053636e-02 6.23698138e+02] [ 2.75567971e-02 9.99620197e-01 -2.91959343e-04 7.92608936e+00] [ 1.17089638e-02 -3.07338847e-05 9.99931447e-01 4.20471931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters 0.014667740142976123 Centerline is valid? [True, True] Translation: X:623.76, Y:7.92, Z:4.20 [[ 9.99483742e-01 -2.98445562e-02 -1.18975778e-02 6.23760606e+02] [ 2.98431527e-02 9.99554550e-01 -2.95530344e-04 7.92216614e+00] [ 1.19010980e-02 -5.96834562e-05 9.99929178e-01 4.20499225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.279254154 meters 0.0156032955734329 Centerline is valid? [True, True] Translation: X:623.82, Y:7.92, Z:4.21 [[ 9.99337280e-01 -3.43277391e-02 -1.21081572e-02 6.23822787e+02] [ 3.43266250e-02 9.99410623e-01 -2.99879342e-04 7.91529052e+00] [ 1.21113151e-02 -1.15951565e-04 9.99926649e-01 4.20531442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters 0.015373442527280599 Centerline is valid? [True, True] Translation: X:623.89, Y:7.91, Z:4.21 [[ 9.99219673e-01 -3.77710731e-02 -1.15495346e-02 6.23885188e+02] [ 3.77702989e-02 9.99286407e-01 -2.85232293e-04 7.91130489e+00] [ 1.15520664e-02 -1.51219654e-04 9.99933261e-01 4.20692441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.399254154 meters 0.015758690733232494 Centerline is valid? [True, True] Translation: X:623.95, Y:7.91, Z:4.21 [[ 9.99078781e-01 -4.13751298e-02 -1.13880943e-02 6.23947905e+02] [ 4.13746205e-02 9.99143664e-01 -2.80419981e-04 7.90560057e+00] [ 1.13899447e-02 -1.91016426e-04 9.99935114e-01 4.20782839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters 0.018491417866910182 Centerline is valid? [True, True] Translation: X:624.01, Y:7.90, Z:4.21 [[ 9.99032060e-01 -4.22801566e-02 -1.21380380e-02 6.24010231e+02] [ 4.22796560e-02 9.99105771e-01 -2.97958384e-04 7.90065174e+00] [ 1.21397816e-02 -2.15522094e-04 9.99926287e-01 4.20705077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.519254154 meters 0.016000427192515716 Centerline is valid? [True, True] Translation: X:624.07, Y:7.90, Z:4.21 [[ 9.99025111e-01 -4.26900665e-02 -1.12421630e-02 6.24072558e+02] [ 4.26896719e-02 9.99088343e-01 -2.75176107e-04 7.89873263e+00] [ 1.12436612e-02 -2.05016407e-04 9.99936767e-01 4.20826057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters 0.015930084831000196 Centerline is valid? [True, True] Translation: X:624.13, Y:7.89, Z:4.21 [[ 9.99059025e-01 -4.15208929e-02 -1.25331401e-02 6.24134264e+02] [ 4.15203214e-02 9.99137613e-01 -3.05908900e-04 7.89479689e+00] [ 1.25350333e-02 -2.14758956e-04 9.99921410e-01 4.20794131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.639254154 meters 0.01673873077418212 Centerline is valid? [True, True] Translation: X:624.20, Y:7.89, Z:4.21 [[ 9.99096230e-01 -4.02673023e-02 -1.36112919e-02 6.24195426e+02] [ 4.02665224e-02 9.99188920e-01 -3.31460693e-04 7.89235912e+00] [ 1.36135991e-02 -2.16918261e-04 9.99907307e-01 4.20657502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters 0.01592141201610921 Centerline is valid? [True, True] Translation: X:624.26, Y:7.89, Z:4.21 [[ 9.99125269e-01 -3.94809416e-02 -1.37823283e-02 6.24257522e+02] [ 3.94800790e-02 9.99220302e-01 -3.34762730e-04 7.89238250e+00] [ 1.37847989e-02 -2.09657506e-04 9.99904963e-01 4.20779484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.759254154 meters 0.01586343900110257 Centerline is valid? [True, True] Translation: X:624.32, Y:7.89, Z:4.21 [[ 9.99142829e-01 -3.93344996e-02 -1.28997870e-02 6.24319914e+02] [ 3.93337431e-02 9.99226080e-01 -3.12447470e-04 7.89152365e+00] [ 1.29020935e-02 -1.95217258e-04 9.99916745e-01 4.20840758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters 0.016257503957588727 Centerline is valid? [True, True] Translation: X:624.38, Y:7.89, Z:4.21 [[ 9.99067465e-01 -4.11818096e-02 -1.29714978e-02 6.24381748e+02] [ 4.11812108e-02 9.99151645e-01 -3.13380638e-04 7.88860498e+00] [ 1.29733989e-02 -2.21093585e-04 9.99915817e-01 4.20932332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.879254154 meters 0.017147512019193557 Centerline is valid? [True, True] Translation: X:624.44, Y:7.89, Z:4.21 [[ 9.98904418e-01 -4.47740085e-02 -1.36107336e-02 6.24443779e+02] [ 4.47736941e-02 9.98997101e-01 -3.27962753e-04 7.88684391e+00] [ 1.36117676e-02 -2.81799381e-04 9.99907316e-01 4.21011853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters 0.0178270129108239 Centerline is valid? [True, True] Translation: X:624.51, Y:7.89, Z:4.21 [[ 9.98844653e-01 -4.59270364e-02 -1.41444552e-02 6.24506358e+02] [ 4.59268269e-02 9.98944749e-01 -3.39802060e-04 7.88643559e+00] [ 1.41451353e-02 -3.10200474e-04 9.99899904e-01 4.21000782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.999254154 meters 0.019600403885786762 Centerline is valid? [True, True] Translation: X:624.57, Y:7.88, Z:4.21 [[ 9.98616425e-01 -5.08225715e-02 -1.35019042e-02 6.24566603e+02] [ 5.08228354e-02 9.98707632e-01 -3.23794371e-04 7.88092026e+00] [ 1.35009108e-02 -3.62858676e-04 9.99908793e-01 4.21028886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.059254154 meters 0.020347329525297917 Centerline is valid? [True, True] Translation: X:624.63, Y:7.88, Z:4.21 [[ 9.98312244e-01 -5.65351955e-02 -1.32829272e-02 6.24627262e+02] [ 5.65359590e-02 9.98400513e-01 -3.18309987e-04 7.88013480e+00] [ 1.32796771e-02 -4.33190271e-04 9.99911727e-01 4.21096853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.119254154 meters 0.02416065224515061 Centerline is valid? [True, True] Translation: X:624.69, Y:7.88, Z:4.21 [[ 9.98092800e-01 -6.03020866e-02 -1.32068281e-02 6.24688725e+02] [ 6.03031753e-02 9.98180057e-01 -3.16134776e-04 7.87822395e+00] [ 1.32018561e-02 -4.80881829e-04 9.99912736e-01 4.21047014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.179254154 meters 0.026568440563919556 Centerline is valid? [True, True] Translation: X:624.75, Y:7.87, Z:4.21 [[ 9.97561863e-01 -6.87969453e-02 -1.17179498e-02 6.24748536e+02] [ 6.87983897e-02 9.97630544e-01 -2.80268606e-04 7.87336958e+00] [ 1.17094662e-02 -5.26590803e-04 9.99931303e-01 4.21261770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.239254154 meters 0.03215806883564649 Centerline is valid? [True, True] Translation: X:624.81, Y:7.87, Z:4.21 [[ 9.96881255e-01 -7.81395208e-02 -1.10443644e-02 6.24808025e+02] [ 7.81413769e-02 9.96942253e-01 -2.64024349e-04 7.86798492e+00] [ 1.10312242e-02 -5.99820913e-04 9.99938974e-01 4.21352779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.299254154 meters 0.03705848226607074 Centerline is valid? [True, True] Translation: X:624.87, Y:7.87, Z:4.21 [[ 9.96499765e-01 -8.29959407e-02 -9.99461765e-03 6.24868733e+02] [ 8.29977058e-02 9.96549710e-01 -2.38757509e-04 7.86551381e+00] [ 9.97994922e-03 -5.91608534e-04 9.99950024e-01 4.21376822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.359254154 meters 0.04022925929630879 Centerline is valid? [True, True] Translation: X:624.93, Y:7.87, Z:4.21 [[ 9.96189847e-01 -8.67270188e-02 -9.17678409e-03 6.24929045e+02] [ 8.67286648e-02 9.96231946e-01 -2.19189280e-04 7.86577239e+00] [ 9.16121511e-03 -5.77536096e-04 9.99957868e-01 4.21468057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.419254154 meters 0.04048992602180438 Centerline is valid? [True, True] Translation: X:624.99, Y:7.87, Z:4.22 [[ 9.96260063e-01 -8.60737691e-02 -7.56267490e-03 6.24990528e+02] [ 8.60748688e-02 9.96288655e-01 -1.80552913e-04 7.87083512e+00] [ 7.55014808e-03 -4.71078594e-04 9.99971386e-01 4.21717474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters 0.0402969812618599 Centerline is valid? [True, True] Translation: X:625.05, Y:7.88, Z:4.22 [[ 9.96512938e-01 -8.31731264e-02 -6.64789370e-03 6.25051551e+02] [ 8.31739144e-02 9.96535034e-01 -1.58321588e-04 7.87652169e+00] [ 6.63802708e-03 -3.95161831e-04 9.99977890e-01 4.21825170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.539254154 meters 0.03952518471991105 Centerline is valid? [True, True] Translation: X:625.11, Y:7.89, Z:4.22 [[ 9.96964971e-01 -7.76371364e-02 -5.77247054e-03 6.25112122e+02] [ 7.76376385e-02 9.96981634e-01 -1.37377257e-04 7.88688435e+00] [ 5.76571269e-03 -3.11200669e-04 9.99983330e-01 4.21840105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters 0.035548811679712106 Centerline is valid? [True, True] Translation: X:625.17, Y:7.90, Z:4.22 [[ 9.97379701e-01 -7.20837594e-02 -6.13709357e-03 6.25170964e+02] [ 7.20842222e-02 9.97398538e-01 -1.46049028e-04 7.89873979e+00] [ 6.13165592e-03 -2.96721281e-04 9.99981157e-01 4.21864891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.659254154 meters 0.034245058922643457 Centerline is valid? [True, True] Translation: X:625.23, Y:7.90, Z:4.22 [[ 9.97582345e-01 -6.91597366e-02 -6.81146260e-03 6.25232659e+02] [ 6.91602378e-02 9.97605551e-01 -1.62213078e-04 7.90499180e+00] [ 6.80637152e-03 -3.09261471e-04 9.99976789e-01 4.21757934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters 0.024526737417046737 Centerline is valid? [True, True] Translation: X:625.29, Y:7.93, Z:4.22 [[ 9.97897217e-01 -6.44617266e-02 -6.76976053e-03 6.25293139e+02] [ 6.44621160e-02 9.97920142e-01 -1.60902969e-04 7.92726553e+00] [ 6.76605248e-03 -2.75828463e-04 9.99977072e-01 4.21714522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.779254154 meters 0.023188970898681143 Centerline is valid? [True, True] Translation: X:625.35, Y:7.94, Z:4.22 [[ 9.98183313e-01 -5.98073375e-02 -7.29085942e-03 6.25354077e+02] [ 5.98076661e-02 9.98209904e-01 -1.73147199e-04 7.93655354e+00] [ 7.28816356e-03 -2.63216641e-04 9.99973406e-01 4.21705827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters 0.02015733086966328 Centerline is valid? [True, True] Translation: X:625.41, Y:7.95, Z:4.22 [[ 9.98486804e-01 -5.44656355e-02 -7.58930440e-03 6.25414941e+02] [ 5.44658384e-02 9.98515618e-01 -1.80092864e-04 7.94716553e+00] [ 7.58784785e-03 -2.33537479e-04 9.99971185e-01 4.21843725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.899254154 meters 0.019673754126165125 Centerline is valid? [True, True] Translation: X:625.48, Y:7.95, Z:4.22 [[ 9.98714468e-01 -5.01290283e-02 -7.51616884e-03 6.25475244e+02] [ 5.01291056e-02 9.98742730e-01 -1.78223457e-04 7.95231270e+00] [ 7.51565316e-03 -1.98784477e-04 9.99971737e-01 4.21821414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters 0.019436234081356328 Centerline is valid? [True, True] Translation: X:625.54, Y:7.96, Z:4.22 [[ 9.98985750e-01 -4.41692938e-02 -8.74894009e-03 6.25536364e+02] [ 4.41691720e-02 9.99024044e-01 -2.07243220e-04 7.96068686e+00] [ 8.74955530e-03 -1.79400416e-04 9.99961706e-01 4.21629228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.019254154 meters 0.018108894420262617 Centerline is valid? [True, True] Translation: X:625.60, Y:7.97, Z:4.22 [[ 9.99118708e-01 -4.09608686e-02 -9.16590582e-03 6.25597673e+02] [ 4.09606033e-02 9.99160739e-01 -2.16744871e-04 7.96615396e+00] [ 9.16709129e-03 -1.58887176e-04 9.99957969e-01 4.21638351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters 0.019147653345210423 Centerline is valid? [True, True] Translation: X:625.66, Y:7.97, Z:4.21 [[ 9.99157555e-01 -3.97894841e-02 -1.00487365e-02 6.25660042e+02] [ 3.97891123e-02 9.99208072e-01 -2.37002474e-04 7.96836839e+00] [ 1.00502089e-02 -1.63027494e-04 9.99949482e-01 4.21408155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.139254154 meters 0.016637823346933034 Centerline is valid? [True, True] Translation: X:625.72, Y:7.97, Z:4.22 [[ 9.99091649e-01 -4.14488679e-02 -9.89288864e-03 6.25722297e+02] [ 4.14485957e-02 9.99140611e-01 -2.32634881e-04 7.96869925e+00] [ 9.89402925e-03 -1.77622775e-04 9.99951037e-01 4.21581492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters 0.01830000416741756 Centerline is valid? [True, True] Translation: X:625.78, Y:7.97, Z:4.21 [[ 9.98973867e-01 -4.40138724e-02 -1.06766892e-02 6.25784612e+02] [ 4.40137102e-02 9.99030896e-01 -2.50276223e-04 7.96696359e+00] [ 1.06773580e-02 -2.19901298e-04 9.99942971e-01 4.21375685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.259254154 meters 0.020861398671702728 Centerline is valid? [True, True] Translation: X:625.85, Y:7.96, Z:4.21 [[ 9.98852909e-01 -4.66906225e-02 -1.06231511e-02 6.25846257e+02] [ 4.66906225e-02 9.98909367e-01 -2.48144343e-04 7.96186361e+00] [ 1.06231512e-02 -2.48141840e-04 9.99943542e-01 4.21234888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters 0.018969916581098083 Centerline is valid? [True, True] Translation: X:625.91, Y:7.96, Z:4.21 [[ 9.98563759e-01 -5.25964802e-02 -1.01994434e-02 6.25907361e+02] [ 5.25967964e-02 9.98615802e-01 -2.37417762e-04 7.95951097e+00] [ 1.01978127e-02 -2.99381273e-04 9.99947956e-01 4.21384825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.379254154 meters 0.02141500974203011 Centerline is valid? [True, True] Translation: X:625.97, Y:7.96, Z:4.21 [[ 9.98436343e-01 -5.46568888e-02 -1.17257568e-02 6.25969876e+02] [ 5.46574574e-02 9.98505127e-01 -2.72204498e-04 7.95846838e+00] [ 1.17231061e-02 -3.69121187e-04 9.99931214e-01 4.21155924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters 0.02929974934629811 Centerline is valid? [True, True] Translation: X:626.03, Y:7.94, Z:4.21 [[ 9.98109229e-01 -6.02311641e-02 -1.22545291e-02 6.26029853e+02] [ 6.02322111e-02 9.98184352e-01 -2.83954015e-04 7.94202628e+00] [ 1.22493821e-02 -4.54700263e-04 9.99924870e-01 4.20833671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.499254154 meters 0.022395837810160735 Centerline is valid? [True, True] Translation: X:626.09, Y:7.95, Z:4.21 [[ 9.97782082e-01 -6.54644324e-02 -1.20550500e-02 6.26090362e+02] [ 6.54658280e-02 9.97854773e-01 -2.79232108e-04 7.94879794e+00] [ 1.20474689e-02 -5.10581032e-04 9.99927296e-01 4.21052461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.559254154 meters 0.024589921879095044 Centerline is valid? [True, True] Translation: X:626.15, Y:7.95, Z:4.21 [[ 9.97462191e-01 -7.00457845e-02 -1.27579346e-02 6.26151634e+02] [ 7.00477246e-02 9.97543598e-01 -2.95267356e-04 7.94664782e+00] [ 1.27472782e-02 -5.99146265e-04 9.99918571e-01 4.21017142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.619254154 meters 0.026465236846820568 Centerline is valid? [True, True] Translation: X:626.21, Y:7.94, Z:4.21 [[ 9.97089473e-01 -7.53117760e-02 -1.18625418e-02 6.26212088e+02] [ 7.53138269e-02 9.97159843e-01 -2.74374361e-04 7.94269066e+00] [ 1.18495140e-02 -6.19837637e-04 9.99929600e-01 4.21099880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.679254154 meters 0.028217913668825433 Centerline is valid? [True, True] Translation: X:626.27, Y:7.94, Z:4.21 [[ 9.96746219e-01 -7.99424426e-02 -1.03044484e-02 6.26273057e+02] [ 7.99442375e-02 9.96799309e-01 -2.38255761e-04 7.94122260e+00] [ 1.02905138e-02 -5.86300740e-04 9.99946879e-01 4.21280851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.739254154 meters 0.030325266067242215 Centerline is valid? [True, True] Translation: X:626.33, Y:7.94, Z:4.21 [[ 9.96449485e-01 -8.36792708e-02 -9.28454127e-03 6.26334369e+02] [ 8.36808907e-02 9.96492580e-01 -2.14544743e-04 7.94141441e+00] [ 9.26992943e-03 -5.63155685e-04 9.99956875e-01 4.21443683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.799254154 meters 0.031161564077723733 Centerline is valid? [True, True] Translation: X:626.40, Y:7.94, Z:4.22 [[ 9.96413352e-01 -8.41505884e-02 -8.89442032e-03 6.26396012e+02] [ 8.41520969e-02 9.96452900e-01 -2.05172352e-04 7.94274430e+00] [ 8.88013630e-03 -5.44047650e-04 9.99960423e-01 4.21500171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.859254154 meters 0.033006401953885524 Centerline is valid? [True, True] Translation: X:626.46, Y:7.95, Z:4.21 [[ 9.96516604e-01 -8.28274300e-02 -9.70950332e-03 6.26458729e+02] [ 8.28291717e-02 9.96563735e-01 -2.23294927e-04 7.94545800e+00] [ 9.69463385e-03 -5.81713016e-04 9.99952837e-01 4.21339793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.919254154 meters 0.030564801947717084 Centerline is valid? [True, True] Translation: X:626.52, Y:7.95, Z:4.21 [[ 9.96816205e-01 -7.92630282e-02 -8.65015002e-03 6.26519404e+02] [ 7.92642818e-02 9.96853617e-01 -1.98351073e-04 7.95384220e+00] [ 8.63865524e-03 -4.87928365e-04 9.99962567e-01 4.21490564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters 0.03010871268700041 Centerline is valid? [True, True] Translation: X:626.58, Y:7.96, Z:4.22 [[ 9.97142805e-01 -7.51133627e-02 -8.01303682e-03 6.26579949e+02] [ 7.51143059e-02 9.97174913e-01 -1.83596374e-04 7.96011755e+00] [ 8.00418984e-03 -4.18821896e-04 9.99967878e-01 4.21551912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.039254154 meters 0.027640358817662365 Centerline is valid? [True, True] Translation: X:626.64, Y:7.97, Z:4.22 [[ 9.97634915e-01 -6.83447968e-02 -7.31880447e-03 6.26639873e+02] [ 6.83454030e-02 9.97661705e-01 -1.67539391e-04 7.97005710e+00] [ 7.31314139e-03 -3.33063495e-04 9.99973203e-01 4.21634934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters 0.02503398143767626 Centerline is valid? [True, True] Translation: X:626.70, Y:7.98, Z:4.22 [[ 9.98190549e-01 -5.98119463e-02 -6.17730916e-03 6.26698851e+02] [ 5.98122150e-02 9.98209637e-01 -1.41402403e-04 7.98259091e+00] [ 6.17470709e-03 -2.28332002e-04 9.99980910e-01 4.21737766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.159254154 meters 0.019900331921246565 Centerline is valid? [True, True] Translation: X:626.76, Y:8.00, Z:4.22 [[ 9.98543174e-01 -5.37217338e-02 -5.05021878e-03 6.26759081e+02] [ 5.37218350e-02 9.98555933e-01 -1.15704647e-04 7.99641352e+00] [ 5.04914178e-03 -1.55770935e-04 9.99987241e-01 4.21855433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters 0.020566407291692047 Centerline is valid? [True, True] Translation: X:626.82, Y:8.00, Z:4.22 [[ 9.99083221e-01 -4.26345585e-02 -3.87453971e-03 6.26818085e+02] [ 4.26345348e-02 9.99090731e-01 -8.87276223e-05 8.00424777e+00] [ 3.87479958e-03 -7.65429198e-05 9.99992490e-01 4.21821393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.279254154 meters 0.015261820405524215 Centerline is valid? [True, True] Translation: X:626.88, Y:8.02, Z:4.22 [[ 9.99447128e-01 -3.31644407e-02 -2.35767178e-03 6.26879232e+02] [ 3.31644051e-02 9.99449908e-01 -5.42080298e-05 8.01827341e+00] [ 2.35817262e-03 -2.40127221e-05 9.99997219e-01 4.21946595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters 0.014519297754040273 Centerline is valid? [True, True] Translation: X:626.94, Y:8.03, Z:4.22 [[ 9.99675769e-01 -2.53889820e-02 -1.93832667e-03 6.26941614e+02] [ 2.53889430e-02 9.99677648e-01 -4.47258151e-05 8.02644107e+00] [ 1.93883739e-03 -4.50075184e-06 9.99998120e-01 4.21827462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.399254154 meters 0.01446280507722895 Centerline is valid? [True, True] Translation: X:627.00, Y:8.03, Z:4.22 [[ 9.99693111e-01 -2.47416305e-02 -1.23917639e-03 6.27004023e+02] [ 2.47416138e-02 9.99693879e-01 -2.87776482e-05 8.02807094e+00] [ 1.23950906e-03 -1.89040704e-06 9.99999232e-01 4.21751581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters 0.014663822427523782 Centerline is valid? [True, True] Translation: X:627.07, Y:8.03, Z:4.22 [[ 9.99590184e-01 -2.85763198e-02 -1.69047485e-03 6.27065871e+02] [ 2.85762951e-02 9.99591614e-01 -3.87757939e-05 8.02588672e+00] [ 1.69089255e-03 -9.54760511e-06 9.99998570e-01 4.21629643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.519254154 meters 0.01706812237025165 Centerline is valid? [True, True] Translation: X:627.13, Y:8.01, Z:4.22 [[ 9.99062083e-01 -4.32993870e-02 3.43188295e-04 6.27126936e+02] [ 4.32993869e-02 9.99062142e-01 7.64424143e-06 8.01472883e+00] [-3.43197424e-04 7.22277100e-06 9.99999941e-01 4.21589901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters 0.02089399629841392 Centerline is valid? [True, True] Translation: X:627.19, Y:8.01, Z:4.22 [[ 9.98697879e-01 -5.09706344e-02 2.13079330e-03 6.27187348e+02] [ 5.09706475e-02 9.98700151e-01 4.82199015e-05 8.00746388e+00] [-2.13048139e-03 6.04508010e-05 9.99997729e-01 4.21642164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.639254154 meters 0.021661588906408263 Centerline is valid? [True, True] Translation: X:627.25, Y:8.00, Z:4.22 [[ 9.98068010e-01 -6.20507646e-02 3.15425434e-03 6.27248304e+02] [ 6.20508487e-02 9.98072987e-01 7.12828787e-05 8.00136157e+00] [-3.15259920e-03 1.24578998e-04 9.99995023e-01 4.21598994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters 0.023853600749894538 Centerline is valid? [True, True] Translation: X:627.31, Y:8.00, Z:4.22 [[ 9.97716870e-01 -6.74671071e-02 3.03936156e-03 6.27309782e+02] [ 6.74672112e-02 9.97721490e-01 6.83877990e-05 7.99651561e+00] [-3.03705027e-03 1.36825588e-04 9.99995379e-01 4.21532450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.759254154 meters 0.026679254509390495 Centerline is valid? [True, True] Translation: X:627.37, Y:7.99, Z:4.21 [[ 9.97430226e-01 -7.16273121e-02 1.57250281e-03 6.27369937e+02] [ 7.16273450e-02 9.97431462e-01 3.55116294e-05 7.99211724e+00] [-1.57100738e-03 7.72138289e-05 9.99998763e-01 4.21267443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters 0.02810642613588408 Centerline is valid? [True, True] Translation: X:627.43, Y:7.99, Z:4.21 [[ 9.97314766e-01 -7.32341360e-02 1.36493257e-04 6.27430637e+02] [ 7.32341364e-02 9.97314775e-01 2.21542742e-06 7.99089798e+00] [-1.36288987e-04 7.78648731e-06 9.99999991e-01 4.21134445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.879254154 meters 0.028794059932312852 Centerline is valid? [True, True] Translation: X:627.49, Y:7.99, Z:4.21 [[ 9.97294000e-01 -7.35163220e-02 -1.66156170e-04 6.27492361e+02] [ 7.35163223e-02 9.97294014e-01 -4.20085557e-06 7.99238180e+00] [ 1.66015385e-04 -8.02570249e-06 9.99999986e-01 4.21128484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters 0.029693246352116228 Centerline is valid? [True, True] Translation: X:627.55, Y:7.99, Z:4.21 [[ 9.97338700e-01 -7.29046021e-02 -6.61352145e-04 6.27553998e+02] [ 7.29046080e-02 9.97338918e-01 -1.52314197e-05 7.99463267e+00] [ 6.60702673e-04 -3.30247346e-05 9.99999781e-01 4.21131462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.999254154 meters 0.031399982753958854 Centerline is valid? [True, True] Translation: X:627.62, Y:8.00, Z:4.21 [[ 9.97468010e-01 -7.11160231e-02 2.83138632e-04 6.27615233e+02] [ 7.11160246e-02 9.97468050e-01 4.74577934e-06 7.99866077e+00] [-2.82759240e-04 1.54019308e-05 9.99999960e-01 4.21064195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.059254154 meters 0.031042480117760736 Centerline is valid? [True, True] Translation: X:627.68, Y:8.00, Z:4.21 [[ 9.97463457e-01 -7.11799025e-02 2.71786608e-04 6.27677545e+02] [ 7.11799036e-02 9.97463494e-01 5.52599798e-06 8.00151216e+00] [-2.71490560e-04 1.38337635e-05 9.99999963e-01 4.21262350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.119254154 meters 0.03262372492309294 Centerline is valid? [True, True] Translation: X:627.74, Y:8.01, Z:4.21 [[ 9.97535159e-01 -7.01608631e-02 -1.02982576e-03 6.27739879e+02] [ 7.01608766e-02 9.97535689e-01 -2.30603256e-05 8.00600851e+00] [ 1.02890588e-03 -4.92499922e-05 9.99999469e-01 4.21043485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.179254154 meters 0.03402796834957693 Centerline is valid? [True, True] Translation: X:627.80, Y:8.01, Z:4.21 [[ 9.97410248e-01 -7.18845727e-02 -2.32492941e-03 6.27801033e+02] [ 7.18846481e-02 9.97412951e-01 -5.12583510e-05 8.00733827e+00] [ 2.32259939e-03 -1.16001128e-04 9.99997296e-01 4.20997837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.239254154 meters 0.03423923590954239 Centerline is valid? [True, True] Translation: X:627.86, Y:8.01, Z:4.21 [[ 9.97471553e-01 -7.10312799e-02 -2.24913551e-03 6.27863624e+02] [ 7.10313477e-02 9.97474082e-01 -4.98076488e-05 8.01161762e+00] [ 2.24699228e-03 -1.10077414e-04 9.99997469e-01 4.21157773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.299254154 meters 0.031631010646474556 Centerline is valid? [True, True] Translation: X:627.92, Y:8.02, Z:4.21 [[ 9.97903194e-01 -6.47232380e-02 -3.42902704e-04 6.27924040e+02] [ 6.47232392e-02 9.97903253e-01 -7.47032021e-06 8.02285459e+00] [ 3.42667226e-04 -1.47391173e-05 9.99999941e-01 4.21489612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.359254154 meters 0.027875626160428598 Centerline is valid? [True, True] Translation: X:627.98, Y:8.03, Z:4.22 [[ 9.98341749e-01 -5.75650222e-02 1.46160791e-04 6.27984550e+02] [ 5.75650223e-02 9.98341759e-01 3.18212166e-06 8.03347762e+00] [-1.46101601e-04 5.23690432e-06 9.99999989e-01 4.21586865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.419254154 meters 0.020197241628608423 Centerline is valid? [True, True] Translation: X:628.04, Y:8.05, Z:4.22 [[ 9.99123541e-01 -4.18254033e-02 1.66920411e-03 6.28043734e+02] [ 4.18254009e-02 9.99124934e-01 3.63721251e-05 8.05399956e+00] [-1.66926473e-03 3.34748848e-05 9.99998606e-01 4.21739398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters 0.01742130545183993 Centerline is valid? [True, True] Translation: X:628.11, Y:8.06, Z:4.22 [[ 9.99380579e-01 -3.51376976e-02 1.94964887e-03 6.28105171e+02] [ 3.51376824e-02 9.99382480e-01 4.20700546e-05 8.06383823e+00] [-1.94992317e-03 2.64621472e-05 9.99998099e-01 4.21801429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.539254154 meters 0.015447491813038998 Centerline is valid? [True, True] Translation: X:628.17, Y:8.07, Z:4.22 [[ 9.99566350e-01 -2.94458690e-02 2.28269677e-04 6.28165554e+02] [ 2.94458686e-02 9.99566376e-01 4.85727957e-06 8.07182822e+00] [-2.28313721e-04 1.86642572e-06 9.99999974e-01 4.21564690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters 0.014227156432479448 Centerline is valid? [True, True] Translation: X:628.23, Y:8.08, Z:4.21 [[ 9.99611176e-01 -2.78138765e-02 -1.97109818e-03 6.28227709e+02] [ 2.78138454e-02 9.99613119e-01 -4.31709572e-05 8.07712431e+00] [ 1.97153635e-03 -1.16696487e-05 9.99998056e-01 4.20967345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.659254154 meters 0.015220714264985188 Centerline is valid? [True, True] Translation: X:628.29, Y:8.08, Z:4.21 [[ 9.99591360e-01 -2.83058261e-02 -3.98665928e-03 6.28290075e+02] [ 2.83057063e-02 9.99599309e-01 -8.65003792e-05 8.07750098e+00] [ 3.98751033e-03 -2.63801749e-05 9.99992050e-01 4.20739039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters 0.01585350109616983 Centerline is valid? [True, True] Translation: X:628.35, Y:8.07, Z:4.21 [[ 9.99529405e-01 -3.04058524e-02 -4.05623654e-03 6.28351320e+02] [ 3.04057471e-02 9.99537635e-01 -8.76470489e-05 8.07303174e+00] [ 4.05702606e-03 -3.57270996e-05 9.99991770e-01 4.20991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.779254154 meters 0.016045922701553732 Centerline is valid? [True, True] Translation: X:628.41, Y:8.07, Z:4.21 [[ 9.99404834e-01 -3.43634727e-02 -3.02163657e-03 6.28413082e+02] [ 3.43634326e-02 9.99409401e-01 -6.52157059e-05 8.07367073e+00] [ 3.02209303e-03 -3.86569129e-05 9.99995433e-01 4.20956614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters 0.015871230294721202 Centerline is valid? [True, True] Translation: X:628.48, Y:8.07, Z:4.21 [[ 9.99270576e-01 -3.81687804e-02 -1.20820282e-03 6.28475499e+02] [ 3.81687765e-02 9.99271306e-01 -2.63356692e-05 8.07146400e+00] [ 1.20832761e-03 -1.97991642e-05 9.99999270e-01 4.21151077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.899254154 meters 0.016537300744672787 Centerline is valid? [True, True] Translation: X:628.54, Y:8.07, Z:4.21 [[ 9.99066851e-01 -4.31855443e-02 6.60691862e-04 6.28538039e+02] [ 4.31855448e-02 9.99067069e-01 1.35782069e-05 8.06650102e+00] [-6.60661864e-04 1.49668016e-05 9.99999782e-01 4.21221980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters 0.018124410858900136 Centerline is valid? [True, True] Translation: X:628.60, Y:8.06, Z:4.21 [[ 9.98884161e-01 -4.72165446e-02 1.01565197e-03 6.28599546e+02] [ 4.72165489e-02 9.98884677e-01 1.97994028e-05 8.06063397e+00] [-1.01545405e-03 2.81782713e-05 9.99999484e-01 4.21213781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.019254154 meters 0.020819253804586508 Centerline is valid? [True, True] Translation: X:628.66, Y:8.05, Z:4.21 [[ 9.98743809e-01 -5.00904419e-02 -1.32341001e-03 6.28660620e+02] [ 5.00904485e-02 9.98744685e-01 -2.81828113e-05 8.05204487e+00] [ 1.32316040e-03 -3.81427926e-05 9.99999124e-01 4.21037799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters 0.018577918002663844 Centerline is valid? [True, True] Translation: X:628.72, Y:8.05, Z:4.21 [[ 9.98849408e-01 -4.78813441e-02 -2.69022973e-03 6.28723098e+02] [ 4.78813645e-02 9.98853028e-01 -5.68412811e-05 8.05472213e+00] [ 2.68986575e-03 -7.20359902e-05 9.99996380e-01 4.20913016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.139254154 meters 0.0163440736103134 Centerline is valid? [True, True] Translation: X:628.78, Y:8.06, Z:4.21 [[ 9.99248134e-01 -3.86144826e-02 -3.47675473e-03 6.28782898e+02] [ 3.86144629e-02 9.99254181e-01 -7.28315944e-05 8.06014349e+00] [ 3.47697405e-03 -6.14761816e-05 9.99993953e-01 4.20836872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters 0.01523616055865407 Centerline is valid? [True, True] Translation: X:628.84, Y:8.07, Z:4.21 [[ 9.99677986e-01 -2.51090969e-02 -3.66840854e-03 6.28844593e+02] [ 2.51089831e-02 9.99684717e-01 -7.70718652e-05 8.06945711e+00] [ 3.66918716e-03 -1.50629611e-05 9.99993268e-01 4.20749316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.259254154 meters 0.014276559998676282 Centerline is valid? [True, True] Translation: X:628.91, Y:8.08, Z:4.21 [[ 9.99842612e-01 -1.75811148e-02 -2.37816004e-03 6.28906289e+02] [ 1.75810457e-02 9.99845440e-01 -4.99408630e-05 8.07543721e+00] [ 2.37867048e-03 8.12246261e-06 9.99997171e-01 4.20869911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters 0.014886832873428638 Centerline is valid? [True, True] Translation: X:628.97, Y:8.08, Z:4.21 [[ 9.99923094e-01 -1.21077158e-02 -2.68493824e-03 6.28968354e+02] [ 1.21076087e-02 9.99926699e-01 -5.61585624e-05 8.07681540e+00] [ 2.68542139e-03 2.36460619e-05 9.99996394e-01 4.20744037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.379254154 meters 0.014145003277704567 Centerline is valid? [True, True] Translation: X:629.03, Y:8.07, Z:4.21 [[ 9.99893349e-01 -1.42664959e-02 -3.12358831e-03 6.29030631e+02] [ 1.42663624e-02 9.99898228e-01 -6.50166509e-05 8.07217698e+00] [ 3.12419798e-03 2.04474741e-05 9.99995119e-01 4.20681833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters 0.013844784115600597 Centerline is valid? [True, True] Translation: X:629.09, Y:8.06, Z:4.21 [[ 9.99808335e-01 -1.92222992e-02 -3.71425098e-03 6.29092883e+02] [ 1.92221440e-02 9.99815235e-01 -7.74813267e-05 8.06495979e+00] [ 3.71505409e-03 6.07060909e-06 9.99993099e-01 4.20597967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.499254154 meters 0.014004364778555994 Centerline is valid? [True, True] Translation: X:629.16, Y:8.06, Z:4.21 [[ 9.99726616e-01 -2.31384655e-02 -3.36229944e-03 6.29155107e+02] [ 2.31383646e-02 9.99732270e-01 -6.89102417e-05 8.06007622e+00] [ 3.36299373e-03 -8.90670767e-06 9.99994345e-01 4.20617921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.559254154 meters 0.014403806778223942 Centerline is valid? [True, True] Translation: X:629.22, Y:8.05, Z:4.21 [[ 9.99573880e-01 -2.90660231e-02 -2.68798086e-03 6.29216970e+02] [ 2.90659808e-02 9.99577494e-01 -5.48303255e-05 8.05178862e+00] [ 2.68843887e-03 -2.33218387e-05 9.99996386e-01 4.20634902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.619254154 meters 0.015573678667395716 Centerline is valid? [True, True] Translation: X:629.28, Y:8.04, Z:4.21 [[ 9.99390742e-01 -3.48326824e-02 -2.19748293e-03 6.29278627e+02] [ 3.48326682e-02 9.99393157e-01 -4.47682567e-05 8.04366424e+00] [ 2.19770880e-03 -3.18032124e-05 9.99997585e-01 4.20677232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.679254154 meters 0.016296285562955877 Centerline is valid? [True, True] Translation: X:629.34, Y:8.04, Z:4.21 [[ 9.99205220e-01 -3.98428183e-02 -1.21598314e-03 6.29340369e+02] [ 3.98428175e-02 9.99205959e-01 -2.48769096e-05 8.03741825e+00] [ 1.21600877e-03 -2.35910565e-05 9.99999260e-01 4.20674005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.739254154 meters 0.016842475866475286 Centerline is valid? [True, True] Translation: X:629.40, Y:8.03, Z:4.21 [[ 9.99104644e-01 -4.22854625e-02 -1.35982917e-03 6.29402490e+02] [ 4.22854638e-02 9.99105569e-01 -2.78013207e-05 8.03435736e+00] [ 1.35978849e-03 -2.97245787e-05 9.99999075e-01 4.20653469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.799254154 meters 0.017345354669573168 Centerline is valid? [True, True] Translation: X:629.46, Y:8.03, Z:4.21 [[ 9.99027652e-01 -4.40543448e-02 -1.72225707e-03 6.29464404e+02] [ 4.40543500e-02 9.99029135e-01 -3.49516458e-05 8.03080369e+00] [ 1.72212477e-03 -4.09552553e-05 9.99998516e-01 4.20561255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.859254154 meters 0.018607615421963968 Centerline is valid? [True, True] Translation: X:629.53, Y:8.03, Z:4.20 [[ 9.98975550e-01 -4.50883212e-02 -3.85937948e-03 6.29526782e+02] [ 4.50883583e-02 9.98983000e-01 -7.74205960e-05 8.02810454e+00] [ 3.85894525e-03 -9.66718024e-05 9.99992550e-01 4.20312715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.919254154 meters 0.017492418164611136 Centerline is valid? [True, True] Translation: X:629.59, Y:8.03, Z:4.20 [[ 9.98953652e-01 -4.55094450e-02 -4.52684692e-03 6.29589118e+02] [ 4.55095023e-02 9.98963902e-01 -9.03981536e-05 8.02708983e+00] [ 4.52627064e-03 -1.15710985e-04 9.99989750e-01 4.20264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters 0.017057535576996057 Centerline is valid? [True, True] Translation: X:629.65, Y:8.03, Z:4.20 [[ 9.98979455e-01 -4.49613984e-02 -4.30363768e-03 6.29651771e+02] [ 4.49614464e-02 9.98988719e-01 -8.56497151e-05 8.02785711e+00] [ 4.30313642e-03 -1.07935469e-04 9.99990736e-01 4.20231516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.039254154 meters 0.017035316754006203 Centerline is valid? [True, True] Translation: X:629.71, Y:8.03, Z:4.20 [[ 9.99053022e-01 -4.33143046e-02 -4.11469265e-03 6.29713150e+02] [ 4.33143359e-02 9.99061490e-01 -8.15491253e-05 8.02789958e+00] [ 4.11436322e-03 -9.67532795e-05 9.99991531e-01 4.20240253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters 0.016353384630015448 Centerline is valid? [True, True] Translation: X:629.78, Y:8.03, Z:4.20 [[ 9.99148262e-01 -4.10289800e-02 -4.40141258e-03 6.29775020e+02] [ 4.10289947e-02 9.99157953e-01 -8.70005447e-05 8.02959774e+00] [ 4.40127593e-03 -9.36590904e-05 9.99990310e-01 4.20164051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.159254154 meters 0.01577333133833833 Centerline is valid? [True, True] Translation: X:629.84, Y:8.03, Z:4.20 [[ 9.99157200e-01 -4.08189557e-02 -4.32462343e-03 6.29838170e+02] [ 4.08189688e-02 9.99166555e-01 -8.52686150e-05 8.03041911e+00] [ 4.32449967e-03 -9.13299181e-05 9.99990645e-01 4.20098555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters 0.017165826579093508 Centerline is valid? [True, True] Translation: X:629.90, Y:8.03, Z:4.20 [[ 9.98968344e-01 -4.52946518e-02 -3.26234651e-03 6.29899844e+02] [ 4.52946837e-02 9.98973667e-01 -6.41649466e-05 8.02657778e+00] [ 3.26190459e-03 -8.36682028e-05 9.99994676e-01 4.20061233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.279254154 meters 0.018540273753384833 Centerline is valid? [True, True] Translation: X:629.96, Y:8.02, Z:4.20 [[ 9.98793713e-01 -4.90035688e-02 -3.12559661e-03 6.29960501e+02] [ 4.90036172e-02 9.98798599e-01 -6.11585561e-05 8.02346924e+00] [ 3.12483850e-03 -9.20807582e-05 9.99995113e-01 4.20097003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters 0.02225140694191894 Centerline is valid? [True, True] Translation: X:630.02, Y:8.02, Z:4.20 [[ 9.98406347e-01 -5.63547073e-02 -2.98543676e-03 6.30020663e+02] [ 5.63547868e-02 9.98410805e-01 -5.75468108e-05 8.01681378e+00] [ 2.98393535e-03 -1.10788551e-04 9.99995542e-01 4.20058347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.399254154 meters 0.024641709940079536 Centerline is valid? [True, True] Translation: X:630.08, Y:8.01, Z:4.20 [[ 9.98154248e-01 -6.06255956e-02 -3.55435698e-03 6.30082303e+02] [ 6.06257345e-02 9.98160566e-01 -6.87348935e-05 8.01425113e+00] [ 3.55198607e-03 -1.46877477e-04 9.99993681e-01 4.20004129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters 0.023111111676888264 Centerline is valid? [True, True] Translation: X:630.14, Y:8.02, Z:4.20 [[ 9.97881124e-01 -6.49288005e-02 -4.18494250e-03 6.30143579e+02] [ 6.49290316e-02 9.97889881e-01 -8.07422567e-05 8.01812378e+00] [ 4.18135427e-03 -1.91153090e-04 9.99991240e-01 4.20084820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.519254154 meters 0.027954121320529234 Centerline is valid? [True, True] Translation: X:630.21, Y:8.01, Z:4.20 [[ 9.97886872e-01 -6.48660984e-02 -3.76557815e-03 6.30206140e+02] [ 6.48662849e-02 9.97893962e-01 -7.26989129e-05 8.01390275e+00] [ 3.76236340e-03 -1.71713775e-04 9.99992908e-01 4.20213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters 0.023330532108905285 Centerline is valid? [True, True] Translation: X:630.27, Y:8.02, Z:4.20 [[ 9.97959275e-01 -6.37780062e-02 -3.10678429e-03 6.30268055e+02] [ 6.37781287e-02 9.97964101e-01 -5.97348450e-05 8.02394126e+00] [ 3.10426895e-03 -1.38531945e-04 9.99995172e-01 4.20202362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.639254154 meters 0.024792464600805482 Centerline is valid? [True, True] Translation: X:630.33, Y:8.03, Z:4.20 [[ 9.98107802e-01 -6.13153914e-02 -4.60842238e-03 6.30328213e+02] [ 6.13156379e-02 9.98118422e-01 -8.79014591e-05 8.02636445e+00] [ 4.60514099e-03 -1.94833226e-04 9.99989377e-01 4.20084077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters 0.02867802580711539 Centerline is valid? [True, True] Translation: X:630.39, Y:8.02, Z:4.20 [[ 9.98173939e-01 -6.01861621e-02 -5.13937891e-03 6.30389653e+02] [ 6.01864540e-02 9.98187147e-01 -9.79749164e-05 8.02455880e+00] [ 5.13595871e-03 -2.11524984e-04 9.99986789e-01 4.20125036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.759254154 meters 0.021435755135100792 Centerline is valid? [True, True] Translation: X:630.45, Y:8.04, Z:4.20 [[ 9.98292166e-01 -5.81814749e-02 -5.26003249e-03 6.30452065e+02] [ 5.81817541e-02 9.98306002e-01 -1.00038010e-04 8.03878809e+00] [ 5.25694237e-03 -2.06170755e-04 9.99986161e-01 4.20156935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters 0.020470316124707726 Centerline is valid? [True, True] Translation: X:630.51, Y:8.05, Z:4.20 [[ 9.98362180e-01 -5.68959502e-02 -5.98397023e-03 6.30514454e+02] [ 5.68962925e-02 9.98380088e-01 -1.13152287e-04 8.04711509e+00] [ 5.98071462e-03 -2.27498756e-04 9.99982089e-01 4.20227098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.879254154 meters 0.020256067560269625 Centerline is valid? [True, True] Translation: X:630.58, Y:8.05, Z:4.20 [[ 9.98397550e-01 -5.61732547e-02 -6.84821642e-03 6.30576397e+02] [ 5.61736901e-02 9.98421003e-01 -1.28901924e-04 8.05228048e+00] [ 6.84464395e-03 -2.55994222e-04 9.99976542e-01 4.20191125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters 0.01994066531694291 Centerline is valid? [True, True] Translation: X:630.64, Y:8.06, Z:4.20 [[ 9.98457732e-01 -5.51306825e-02 -6.53945314e-03 6.30638804e+02] [ 5.51310603e-02 9.98479119e-01 -1.22618789e-04 8.05595576e+00] [ 6.53626747e-03 -2.38097307e-04 9.99978610e-01 4.20212958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.999254154 meters 0.019874682191826108 Centerline is valid? [True, True] Translation: X:630.70, Y:8.06, Z:4.20 [[ 9.98655329e-01 -5.13759602e-02 -6.93141364e-03 6.30698745e+02] [ 5.13762980e-02 9.98679358e-01 -1.29425725e-04 8.06152184e+00] [ 6.92890909e-03 -2.26858683e-04 9.99975969e-01 4.20327500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.059254154 meters 0.019216491224499244 Centerline is valid? [True, True] Translation: X:630.76, Y:8.07, Z:4.20 [[ 9.98857867e-01 -4.70526281e-02 -8.30739013e-03 6.30760554e+02] [ 4.70529659e-02 9.98892384e-01 -1.54877709e-04 8.06913314e+00] [ 8.30547613e-03 -2.36186527e-04 9.99965481e-01 4.20237355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.119254154 meters 0.01690862045908178 Centerline is valid? [True, True] Translation: X:630.82, Y:8.08, Z:4.20 [[ 9.99081392e-01 -4.21169094e-02 -7.90810764e-03 6.30822081e+02] [ 4.21170644e-02 9.99112672e-01 -1.47009593e-04 8.07596185e+00] [ 7.90728214e-03 -1.86191730e-04 9.99968720e-01 4.20397117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.179254154 meters 0.01665095843872939 Centerline is valid? [True, True] Translation: X:630.88, Y:8.08, Z:4.20 [[ 9.99200898e-01 -3.91649083e-02 -7.97963001e-03 6.30884808e+02] [ 3.91649759e-02 9.99232747e-01 -1.47847050e-04 8.07983221e+00] [ 7.97929803e-03 -1.64793112e-04 9.99968151e-01 4.20390509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.239254154 meters 0.016481334689736643 Centerline is valid? [True, True] Translation: X:630.95, Y:8.08, Z:4.20 [[ 9.99197191e-01 -3.92520452e-02 -8.01568022e-03 6.30948237e+02] [ 3.92521224e-02 9.99229328e-01 -1.47756199e-04 8.08303700e+00] [ 8.01530249e-03 -1.66994882e-04 9.99967863e-01 4.20436297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.299254154 meters 0.01655233920052629 Centerline is valid? [True, True] Translation: X:631.01, Y:8.08, Z:4.20 [[ 9.99155815e-01 -4.02952811e-02 -7.99676650e-03 6.31010262e+02] [ 4.02953980e-02 9.99187800e-01 -1.46569789e-04 8.08476441e+00] [ 7.99617759e-03 -1.75786831e-04 9.99968015e-01 4.20451817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.359254154 meters 0.01759596974769087 Centerline is valid? [True, True] Translation: X:631.07, Y:8.08, Z:4.20 [[ 9.99030345e-01 -4.30961492e-02 -9.00504913e-03 6.31070991e+02] [ 4.30964189e-02 9.99070904e-01 -1.64193679e-04 8.08415842e+00] [ 9.00375869e-03 -2.24050901e-04 9.99959440e-01 4.20417929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.419254154 meters 0.019877865984114125 Centerline is valid? [True, True] Translation: X:631.13, Y:8.08, Z:4.20 [[ 9.98771660e-01 -4.85416834e-02 -9.94366532e-03 6.31131089e+02] [ 4.85422912e-02 9.98821112e-01 -1.80359265e-04 8.08042473e+00] [ 9.94069780e-03 -3.02550575e-04 9.99950544e-01 4.20297643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters 0.0201226247307376 Centerline is valid? [True, True] Translation: X:631.19, Y:8.08, Z:4.20 [[ 9.98549533e-01 -5.29673691e-02 -9.65861920e-03 6.31191775e+02] [ 5.29681498e-02 9.98596187e-01 -1.75134988e-04 8.08034268e+00] [ 9.65433674e-03 -3.36718228e-04 9.99953339e-01 4.20360786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.539254154 meters 0.021740395006939913 Centerline is valid? [True, True] Translation: X:631.25, Y:8.08, Z:4.20 [[ 9.98348521e-01 -5.68637464e-02 -8.16979220e-03 6.31253195e+02] [ 5.68644365e-02 9.98381898e-01 -1.47981384e-04 8.07946096e+00] [ 8.16498742e-03 -3.16833634e-04 9.99966616e-01 4.20479324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters 0.02301048530451579 Centerline is valid? [True, True] Translation: X:631.31, Y:8.08, Z:4.21 [[ 9.98389728e-01 -5.62410031e-02 -7.40950229e-03 6.31314435e+02] [ 5.62415556e-02 9.98417182e-01 -1.33949826e-04 8.07994590e+00] [ 7.40530787e-03 -2.82987804e-04 9.99972540e-01 4.20504893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.659254154 meters 0.0202079797581437 Centerline is valid? [True, True] Translation: X:631.38, Y:8.09, Z:4.21 [[ 9.98494131e-01 -5.44233391e-02 -6.89707332e-03 6.31376254e+02] [ 5.44237769e-02 9.98517920e-01 -1.24333586e-04 8.08665515e+00] [ 6.89361795e-03 -2.51218424e-04 9.99976207e-01 4.20521211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters 0.02154207599594085 Centerline is valid? [True, True] Translation: X:631.44, Y:8.09, Z:4.21 [[ 9.98584762e-01 -5.26026870e-02 -7.83776697e-03 6.31437466e+02] [ 5.26032013e-02 9.98615483e-01 -1.40656055e-04 8.08775681e+00] [ 7.83431434e-03 -2.71834640e-04 9.99969274e-01 4.20521262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.779254154 meters 0.020152700623266684 Centerline is valid? [True, True] Translation: X:631.50, Y:8.09, Z:4.20 [[ 9.98518235e-01 -5.35154256e-02 -9.87080827e-03 6.31499387e+02] [ 5.35162929e-02 9.98566961e-01 -1.76437133e-04 8.09301115e+00] [ 9.86610512e-03 -3.52073372e-04 9.99951267e-01 4.20359465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters 0.020002570696085045 Centerline is valid? [True, True] Translation: X:631.56, Y:8.10, Z:4.20 [[ 9.98473907e-01 -5.40741651e-02 -1.12178816e-02 6.31561968e+02] [ 5.40753306e-02 9.98536839e-01 -1.99613397e-04 8.09596349e+00] [ 1.12122619e-02 -4.07301884e-04 9.99937058e-01 4.20341777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.899254154 meters 0.02031089378923413 Centerline is valid? [True, True] Translation: X:631.62, Y:8.10, Z:4.20 [[ 9.98566617e-01 -5.22450079e-02 -1.16262731e-02 6.31623156e+02] [ 5.22461452e-02 9.98634216e-01 -2.06088322e-04 8.09860085e+00] [ 1.16211612e-02 -4.01635033e-04 9.99932391e-01 4.20372747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters 0.018692726806470425 Centerline is valid? [True, True] Translation: X:631.68, Y:8.11, Z:4.20 [[ 9.98806816e-01 -4.73411758e-02 -1.19898777e-02 6.31684760e+02] [ 4.73420404e-02 9.98878715e-01 -2.11860586e-04 8.10624678e+00] [ 1.19864634e-02 -3.56017478e-04 9.99928096e-01 4.20471508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.019254154 meters 0.017078291375054094 Centerline is valid? [True, True] Translation: X:631.75, Y:8.11, Z:4.21 [[ 9.99073494e-01 -4.15269374e-02 -1.12989696e-02 6.31746036e+02] [ 4.15273394e-02 9.99137348e-01 -1.99135929e-04 8.11370645e+00] [ 1.12974920e-02 -2.70264718e-04 9.99936145e-01 4.20582856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters 0.016180563669259605 Centerline is valid? [True, True] Translation: X:631.81, Y:8.12, Z:4.21 [[ 9.99205511e-01 -3.84499825e-02 -1.04854832e-02 6.31808363e+02] [ 3.84501647e-02 9.99260502e-01 -1.84288546e-04 8.11914259e+00] [ 1.04848151e-02 -2.19026425e-04 9.99945009e-01 4.20684046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.139254154 meters 0.015893015493629096 Centerline is valid? [True, True] Translation: X:631.87, Y:8.12, Z:4.21 [[ 9.99331417e-01 -3.52461821e-02 -9.71726860e-03 6.31870032e+02] [ 3.52461938e-02 9.99378645e-01 -1.70102889e-04 8.12238888e+00] [ 9.71722620e-03 -1.72507571e-04 9.99952772e-01 4.20753600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters 0.01542718840606689 Centerline is valid? [True, True] Translation: X:631.93, Y:8.12, Z:4.21 [[ 9.99361322e-01 -3.48770074e-02 -7.78089113e-03 6.31932317e+02] [ 3.48770074e-02 9.99391603e-01 -1.35732828e-04 8.12454248e+00] [ 7.78089122e-03 -1.35728059e-04 9.99969719e-01 4.20949290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.259254154 meters 0.015979747450837547 Centerline is valid? [True, True] Translation: X:631.99, Y:8.12, Z:4.21 [[ 9.99308743e-01 -3.62558822e-02 -8.21877027e-03 6.31994492e+02] [ 3.62559340e-02 9.99342527e-01 -1.42732681e-04 8.12334573e+00] [ 8.21854156e-03 -1.55345177e-04 9.99966215e-01 4.20925844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters 0.016141947779025077 Centerline is valid? [True, True] Translation: X:632.06, Y:8.12, Z:4.21 [[ 9.99188732e-01 -3.91674882e-02 -9.36940214e-03 6.32056844e+02] [ 3.91676907e-02 9.99232638e-01 -1.61955723e-04 8.12047943e+00] [ 9.36855582e-03 -2.05153511e-04 9.99956093e-01 4.20773801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.379254154 meters 0.016924412324724834 Centerline is valid? [True, True] Translation: X:632.12, Y:8.12, Z:4.21 [[ 9.99089172e-01 -4.17469172e-02 -8.83301691e-03 6.32119221e+02] [ 4.17472034e-02 9.99128194e-01 -1.52053488e-04 8.11801298e+00] [ 8.83166400e-03 -2.16838760e-04 9.99960977e-01 4.20790460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters 0.01871302684829266 Centerline is valid? [True, True] Translation: X:632.18, Y:8.11, Z:4.21 [[ 9.98916109e-01 -4.57668211e-02 -8.48557398e-03 6.32180516e+02] [ 4.57672350e-02 9.98952121e-01 -1.45495864e-04 8.11319031e+00] [ 8.48334100e-03 -2.43023096e-04 9.99963986e-01 4.20770523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.499254154 meters 0.01897840029399668 Centerline is valid? [True, True] Translation: X:632.24, Y:8.11, Z:4.21 [[ 9.98731136e-01 -4.95587717e-02 -8.94683683e-03 6.32242216e+02] [ 4.95593885e-02 9.98771167e-01 -1.52891762e-04 8.11226273e+00] [ 8.94341978e-03 -2.90701999e-04 9.99959965e-01 4.20773695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.559254154 meters 0.0208470156645021 Centerline is valid? [True, True] Translation: X:632.30, Y:8.11, Z:4.21 [[ 9.98570611e-01 -5.27914929e-02 -8.35428843e-03 6.32303247e+02] [ 5.27921473e-02 9.98605512e-01 -1.42326434e-04 8.10908837e+00] [ 8.35015210e-03 -2.98917831e-04 9.99965092e-01 4.20739955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.619254154 meters 0.022754238456960618 Centerline is valid? [True, True] Translation: X:632.36, Y:8.11, Z:4.21 [[ 9.98330904e-01 -5.70776744e-02 -8.80597816e-03 6.32364591e+02] [ 5.70785720e-02 9.98369678e-01 -1.49556415e-04 8.10663333e+00] [ 8.80015791e-03 -3.53325867e-04 9.99961215e-01 4.20712898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.679254154 meters 0.023614977539130916 Centerline is valid? [True, True] Translation: X:632.43, Y:8.11, Z:4.21 [[ 9.98040669e-01 -6.20628456e-02 -7.93885433e-03 6.32425761e+02] [ 6.20637346e-02 9.98072179e-01 -1.34564818e-04 8.10614491e+00] [ 7.93190111e-03 -3.58413787e-04 9.99968478e-01 4.20711108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.739254154 meters 0.02975235527405652 Centerline is valid? [True, True] Translation: X:632.49, Y:8.10, Z:4.21 [[ 9.97637095e-01 -6.82367100e-02 -7.99857203e-03 6.32485217e+02] [ 6.82378125e-02 9.97669075e-01 -1.35301227e-04 8.09758202e+00] [ 7.98916047e-03 -4.10823536e-04 9.99968002e-01 4.20643195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.799254154 meters 0.02997036725831491 Centerline is valid? [True, True] Translation: X:632.55, Y:8.10, Z:4.21 [[ 9.97332406e-01 -7.23890421e-02 -9.37542591e-03 6.32545769e+02] [ 7.23907413e-02 9.97376336e-01 -1.58440373e-04 8.09898910e+00] [ 9.36229729e-03 -5.20676313e-04 9.99956037e-01 4.20619568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.859254154 meters 0.028069710084746523 Centerline is valid? [True, True] Translation: X:632.61, Y:8.10, Z:4.21 [[ 9.97433663e-01 -7.08150002e-02 -1.05510386e-02 6.32608094e+02] [ 7.08170687e-02 9.97489304e-01 -1.77896163e-04 8.10371420e+00] [ 1.05371459e-02 -5.69754006e-04 9.99944320e-01 4.20615718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.919254154 meters 0.02560273085088557 Centerline is valid? [True, True] Translation: X:632.67, Y:8.11, Z:4.21 [[ 9.97759910e-01 -6.59945261e-02 -1.09491823e-02 6.32669105e+02] [ 6.59964705e-02 9.97819839e-01 -1.84025730e-04 8.10953048e+00] [ 1.09374560e-02 -5.38993891e-04 9.99940039e-01 4.20634493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters 0.021278889436379938 Centerline is valid? [True, True] Translation: X:632.73, Y:8.12, Z:4.21 [[ 9.98442108e-01 -5.44364409e-02 -1.22486998e-02 6.32730030e+02] [ 5.44380084e-02 9.98517131e-01 -2.05644890e-04 8.12273801e+00] [ 1.22417312e-02 -4.61470306e-04 9.99924961e-01 4.20669101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.039254154 meters 0.017213108017920895 Centerline is valid? [True, True] Translation: X:632.79, Y:8.14, Z:4.21 [[ 9.99066885e-01 -4.10054879e-02 -1.35613427e-02 6.32790548e+02] [ 4.10061758e-02 9.99158867e-01 -2.27449207e-04 8.13641399e+00] [ 1.35592625e-02 -3.28861832e-04 9.99908015e-01 4.20646647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters 0.01715369944743035 Centerline is valid? [True, True] Translation: X:632.85, Y:8.15, Z:4.21 [[ 9.99373187e-01 -3.18650250e-02 -1.54225129e-02 6.32852005e+02] [ 3.18648358e-02 9.99492154e-01 -2.58062347e-04 8.14571161e+00] [ 1.54229038e-02 -2.33535252e-04 9.99881033e-01 4.20575252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.159254154 meters 0.013756868729112392 Centerline is valid? [True, True] Translation: X:632.91, Y:8.16, Z:4.21 [[ 9.99712579e-01 -1.89116180e-02 -1.47346665e-02 6.32912472e+02] [ 1.89100476e-02 9.99821159e-01 -2.45913094e-04 8.16111964e+00] [ 1.47366819e-02 -3.27908306e-05 9.99891409e-01 4.20734778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters 0.013671298352678688 Centerline is valid? [True, True] Translation: X:632.97, Y:8.17, Z:4.21 [[ 9.99767016e-01 -1.54502685e-02 -1.50732647e-02 6.32971587e+02] [ 1.54482309e-02 9.99880637e-01 -2.51610699e-04 8.16542962e+00] [ 1.50753529e-02 1.86968037e-05 9.99886360e-01 4.20699437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.279254154 meters 0.01357828490812339 Centerline is valid? [True, True] Translation: X:633.03, Y:8.17, Z:4.21 [[ 9.99783026e-01 -1.48386659e-02 -1.46190124e-02 6.33030171e+02] [ 1.48366506e-02 9.99889901e-01 -2.46308564e-04 8.16757196e+00] [ 1.46210577e-02 2.93579426e-05 9.99893106e-01 4.20845711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters 0.013575390862208743 Centerline is valid? [True, True] Translation: X:633.09, Y:8.17, Z:4.21 [[ 9.99754067e-01 -1.76428971e-02 -1.34362856e-02 6.33088131e+02] [ 1.76414182e-02 9.99844352e-01 -2.28592022e-04 8.16657905e+00] [ 1.34382273e-02 -8.49932993e-06 9.99909703e-01 4.20967237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.399254154 meters 0.013607070096944719 Centerline is valid? [True, True] Translation: X:633.15, Y:8.16, Z:4.21 [[ 9.99703274e-01 -2.07004610e-02 -1.28395493e-02 6.33148105e+02] [ 2.06993523e-02 9.99785721e-01 -2.19245712e-04 8.16422656e+00] [ 1.28413366e-02 -4.65896986e-05 9.99917546e-01 4.21032814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters 0.013852599589329304 Centerline is valid? [True, True] Translation: X:633.21, Y:8.16, Z:4.21 [[ 9.99593451e-01 -2.63028973e-02 -1.10040634e-02 6.33209020e+02] [ 2.63024200e-02 9.99654014e-01 -1.88113024e-04 8.15790900e+00] [ 1.10052041e-02 -1.01396952e-04 9.99939436e-01 4.21127070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.519254154 meters 0.014617288209472354 Centerline is valid? [True, True] Translation: X:633.27, Y:8.15, Z:4.21 [[ 9.99472144e-01 -3.08543182e-02 -1.01708031e-02 6.33271231e+02] [ 3.08541487e-02 9.99523882e-01 -1.73615064e-04 8.15148055e+00] [ 1.01713174e-02 -1.40288050e-04 9.99948261e-01 4.21199617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters 0.014946567532928102 Centerline is valid? [True, True] Translation: X:633.33, Y:8.15, Z:4.21 [[ 9.99421663e-01 -3.20716919e-02 -1.13024632e-02 6.33332084e+02] [ 3.20715694e-02 9.99485556e-01 -1.92137725e-04 8.14660315e+00] [ 1.13028109e-02 -1.70461126e-04 9.99936107e-01 4.21104242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.639254154 meters 0.014877910977141187 Centerline is valid? [True, True] Translation: X:633.39, Y:8.15, Z:4.21 [[ 9.99451673e-01 -3.10414672e-02 -1.15230553e-02 6.33394004e+02] [ 3.10412796e-02 9.99518084e-01 -1.95171394e-04 8.14560639e+00] [ 1.15235606e-02 -1.62626005e-04 9.99933588e-01 4.21033053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters 0.014183331475178336 Centerline is valid? [True, True] Translation: X:633.46, Y:8.14, Z:4.21 [[ 9.99542951e-01 -2.76960543e-02 -1.21168179e-02 6.33456649e+02] [ 2.76956121e-02 9.99616382e-01 -2.04319624e-04 8.14475112e+00] [ 1.21178285e-02 -1.31356447e-04 9.99926568e-01 4.20955272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.759254154 meters 0.013876458745676267 Centerline is valid? [True, True] Translation: X:633.52, Y:8.14, Z:4.21 [[ 9.99632029e-01 -2.37223030e-02 -1.31551821e-02 6.33516891e+02] [ 2.37214464e-02 9.99718582e-01 -2.21171336e-04 8.14387081e+00] [ 1.31567267e-02 -9.09699952e-05 9.99913442e-01 4.20840645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters 0.013919453878688396 Centerline is valid? [True, True] Translation: X:633.58, Y:8.14, Z:4.21 [[ 9.99662720e-01 -2.23640719e-02 -1.32020559e-02 6.33578084e+02] [ 2.23630955e-02 9.99749890e-01 -2.21600890e-04 8.14302707e+00] [ 1.32037098e-02 -7.37126883e-05 9.99912825e-01 4.20848862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.879254154 meters 0.01394110694179401 Centerline is valid? [True, True] Translation: X:633.64, Y:8.14, Z:4.21 [[ 9.99629869e-01 -2.41648465e-02 -1.24973753e-02 6.33638644e+02] [ 2.41641151e-02 9.99707983e-01 -2.09541581e-04 8.13797748e+00] [ 1.24987893e-02 -9.25239911e-05 9.99921883e-01 4.20784111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters 0.014394702511964756 Centerline is valid? [True, True] Translation: X:633.70, Y:8.13, Z:4.21 [[ 9.99507406e-01 -2.87510731e-02 -1.25825704e-02 6.33700214e+02] [ 2.87506978e-02 9.99586591e-01 -2.10752359e-04 8.13148471e+00] [ 1.25834280e-02 -1.51109135e-04 9.99920814e-01 4.20794734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.999254154 meters 0.015262087364833418 Centerline is valid? [True, True] Translation: X:633.76, Y:8.13, Z:4.21 [[ 9.99361535e-01 -3.34903234e-02 -1.24467385e-02 6.33761007e+02] [ 3.34903293e-02 9.99439020e-01 -2.08020301e-04 8.12567555e+00] [ 1.24467228e-02 -2.08957885e-04 9.99922515e-01 4.20796048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.059254154 meters 0.016468148301423756 Centerline is valid? [True, True] Translation: X:633.82, Y:8.12, Z:4.21 [[ 9.99232700e-01 -3.72551407e-02 -1.20857635e-02 6.33823092e+02] [ 3.72554290e-02 9.99305755e-01 -2.01364417e-04 8.12017147e+00] [ 1.20848749e-02 -2.49050395e-04 9.99926944e-01 4.20753773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.119254154 meters 0.01664398520483781 Centerline is valid? [True, True] Translation: X:633.88, Y:8.12, Z:4.21 [[ 9.99149192e-01 -3.94857409e-02 -1.19066603e-02 6.33884929e+02] [ 3.94861891e-02 9.99220097e-01 -1.97529349e-04 8.11941493e+00] [ 1.19051738e-02 -2.72787351e-04 9.99929094e-01 4.20792031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.179254154 meters 0.01842416211646349 Centerline is valid? [True, True] Translation: X:633.95, Y:8.12, Z:4.21 [[ 9.99071180e-01 -4.12499224e-02 -1.24587712e-02 6.33945725e+02] [ 4.12505592e-02 9.99148812e-01 -2.05968761e-04 8.11542185e+00] [ 1.24566626e-02 -3.08153825e-04 9.99922365e-01 4.20787189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.239254154 meters 0.017696398492188865 Centerline is valid? [True, True] Translation: X:634.01, Y:8.12, Z:4.21 [[ 9.99010894e-01 -4.20502894e-02 -1.44570814e-02 6.34007900e+02] [ 4.20512430e-02 9.99115427e-01 -2.38151778e-04 8.11696289e+00] [ 1.44543074e-02 -3.70022025e-04 9.99895463e-01 4.20737484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.299254154 meters 0.017875954825595553 Centerline is valid? [True, True] Translation: X:634.07, Y:8.12, Z:4.21 [[ 9.98960216e-01 -4.33688094e-02 -1.40582252e-02 6.34069884e+02] [ 4.33698559e-02 9.99059059e-01 -2.30559887e-04 8.11611402e+00] [ 1.40549964e-02 -3.79383048e-04 9.99901152e-01 4.20847745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.359254154 meters 0.01823702368802391 Centerline is valid? [True, True] Translation: X:634.13, Y:8.11, Z:4.21 [[ 9.98923155e-01 -4.45021940e-02 -1.31180911e-02 6.34131958e+02] [ 4.45032150e-02 9.99009218e-01 -2.14216097e-04 8.11485029e+00] [ 1.31146271e-02 -3.69811811e-04 9.99913931e-01 4.20918392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.419254154 meters 0.019673212333139834 Centerline is valid? [True, True] Translation: X:634.19, Y:8.11, Z:4.21 [[ 9.98725177e-01 -4.87591396e-02 -1.30601254e-02 6.34193492e+02] [ 4.87605245e-02 9.98810476e-01 -2.12549146e-04 8.11415793e+00] [ 1.30549538e-02 -4.24540382e-04 9.99914690e-01 4.20980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters 0.021324791311324403 Centerline is valid? [True, True] Translation: X:634.25, Y:8.11, Z:4.21 [[ 9.98612865e-01 -5.11416960e-02 -1.25248895e-02 6.34254520e+02] [ 5.11431669e-02 9.98691311e-01 -2.03032991e-04 8.11131030e+00] [ 1.25188818e-02 -4.37811158e-04 9.99921540e-01 4.20982077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.539254154 meters 0.02294714329835873 Centerline is valid? [True, True] Translation: X:634.32, Y:8.11, Z:4.21 [[ 9.98102961e-01 -6.04600089e-02 -1.16217967e-02 6.34315745e+02] [ 6.04619143e-02 9.98170487e-01 -1.87653489e-04 8.10864643e+00] [ 1.16118800e-02 -5.15378574e-04 9.99932447e-01 4.21014154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters 0.02787082387626763 Centerline is valid? [True, True] Translation: X:634.38, Y:8.10, Z:4.21 [[ 9.97403712e-01 -7.10114401e-02 -1.19671001e-02 6.34376046e+02] [ 7.10142198e-02 9.97475285e-01 -1.93030039e-04 8.10354800e+00] [ 1.19505940e-02 -6.57305402e-04 9.99928373e-01 4.21015918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.659254154 meters 0.031849543439695954 Centerline is valid? [True, True] Translation: X:634.44, Y:8.10, Z:4.21 [[ 9.97017105e-01 -7.62644491e-02 -1.18585834e-02 6.34435390e+02] [ 7.62675497e-02 9.97087370e-01 -1.91203306e-04 8.09982840e+00] [ 1.18386258e-02 -7.13792135e-04 9.99929666e-01 4.20971692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters 0.029820594679861673 Centerline is valid? [True, True] Translation: X:634.50, Y:8.11, Z:4.21 [[ 9.97042279e-01 -7.58950927e-02 -1.21090570e-02 6.34497343e+02] [ 7.58983044e-02 9.97115545e-01 -1.94760972e-04 8.10510321e+00] [ 1.20889104e-02 -7.24871972e-04 9.99926664e-01 4.20972607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.779254154 meters 0.026947471879200824 Centerline is valid? [True, True] Translation: X:634.56, Y:8.11, Z:4.21 [[ 9.97389502e-01 -7.10738346e-02 -1.27550334e-02 6.34557869e+02] [ 7.10770121e-02 9.97470810e-01 -2.04595752e-04 8.11324621e+00] [ 1.27373149e-02 -7.02528005e-04 9.99918630e-01 4.20973471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters 0.02392698423570407 Centerline is valid? [True, True] Translation: X:634.62, Y:8.12, Z:4.21 [[ 9.97979544e-01 -6.21515348e-02 -1.31915351e-02 6.34617962e+02] [ 6.21541560e-02 9.98066539e-01 -2.11573088e-04 8.12321901e+00] [ 1.31791794e-02 -6.08763116e-04 9.99912966e-01 4.20974287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.899254154 meters 0.021633772521314012 Centerline is valid? [True, True] Translation: X:634.68, Y:8.13, Z:4.21 [[ 9.98653511e-01 -4.99862597e-02 -1.38758414e-02 6.34678994e+02] [ 4.99879885e-02 9.98749794e-01 -2.22430365e-04 8.13395276e+00] [ 1.38696122e-02 -4.71494536e-04 9.99903701e-01 4.20992318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters 0.017651534819383093 Centerline is valid? [True, True] Translation: X:634.74, Y:8.15, Z:4.21 [[ 9.99134785e-01 -3.96732199e-02 -1.24786506e-02 6.34738532e+02] [ 3.96738141e-02 9.99212664e-01 -2.00022744e-04 8.14610982e+00] [ 1.24767612e-02 -2.95225980e-04 9.99922119e-01 4.21055437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.019254154 meters 0.01608243087854938 Centerline is valid? [True, True] Translation: X:634.80, Y:8.15, Z:4.21 [[ 9.99397710e-01 -3.26307059e-02 -1.18090936e-02 6.34799549e+02] [ 3.26307473e-02 9.99467457e-01 -1.89217400e-04 8.15376281e+00] [ 1.18089790e-02 -1.96236113e-04 9.99930252e-01 4.21088275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters 0.014893186650715918 Centerline is valid? [True, True] Translation: X:634.86, Y:8.16, Z:4.21 [[ 9.99637234e-01 -2.42449670e-02 -1.17295543e-02 6.34860508e+02] [ 2.42444355e-02 9.99706043e-01 -1.87525576e-04 8.16211302e+00] [ 1.17306529e-02 -9.69188747e-05 9.99931189e-01 4.21031399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.139254154 meters 0.01477561695009711 Centerline is valid? [True, True] Translation: X:634.92, Y:8.17, Z:4.21 [[ 9.99737148e-01 -1.93394816e-02 -1.23133789e-02 6.34921882e+02] [ 1.93385293e-02 9.99812974e-01 -1.96413084e-04 8.16735854e+00] [ 1.23148745e-02 -4.17611806e-05 9.99924168e-01 4.20924564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters 0.01476549492896556 Centerline is valid? [True, True] Translation: X:634.98, Y:8.17, Z:4.21 [[ 9.99728801e-01 -1.89960161e-02 -1.34713294e-02 6.34982544e+02] [ 1.89948485e-02 9.99819559e-01 -2.14627682e-04 8.16900808e+00] [ 1.34729756e-02 -4.13163852e-05 9.99909234e-01 4.20877770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.259254154 meters 0.015024927835090242 Centerline is valid? [True, True] Translation: X:635.04, Y:8.17, Z:4.21 [[ 9.99673157e-01 -2.20154088e-02 -1.29962198e-02 6.35041955e+02] [ 2.20145743e-02 9.99757628e-01 -2.07288626e-04 8.16693118e+00] [ 1.29976334e-02 -7.88853713e-05 9.99915524e-01 4.20879388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters 0.015474694089930803 Centerline is valid? [True, True] Translation: X:635.10, Y:8.16, Z:4.21 [[ 9.99592626e-01 -2.67234057e-02 -1.00220922e-02 6.35102902e+02] [ 2.67231447e-02 9.99642860e-01 -1.59980306e-04 8.16137312e+00] [ 1.00227881e-02 -1.07906686e-04 9.99949765e-01 4.21106424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.379254154 meters 0.016211472402999697 Centerline is valid? [True, True] Translation: X:635.16, Y:8.15, Z:4.21 [[ 9.99490909e-01 -3.08423188e-02 -8.16537311e-03 6.35163768e+02] [ 3.08422843e-02 9.99524255e-01 -1.30188171e-04 8.15453614e+00] [ 8.16550378e-03 -1.21716865e-04 9.99966654e-01 4.21217991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters 0.016755807752194825 Centerline is valid? [True, True] Translation: X:635.23, Y:8.15, Z:4.21 [[ 9.99396878e-01 -3.39869610e-02 -7.12514016e-03 6.35226090e+02] [ 3.39870163e-02 9.99422268e-01 -1.13359317e-04 8.14898776e+00] [ 7.12487647e-03 -1.28871307e-04 9.99974609e-01 4.21204373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.499254154 meters 0.01830165995524815 Centerline is valid? [True, True] Translation: X:635.29, Y:8.14, Z:4.21 [[ 9.99163855e-01 -4.00840705e-02 -8.05346218e-03 6.35287023e+02] [ 4.00843436e-02 9.99196292e-01 -1.27561489e-04 8.13937930e+00] [ 8.05210273e-03 -1.95362916e-04 9.99967562e-01 4.20986415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.559254154 meters 0.01897190400772654 Centerline is valid? [True, True] Translation: X:635.35, Y:8.13, Z:4.21 [[ 9.99013841e-01 -4.34042420e-02 -9.34968999e-03 6.35349653e+02] [ 4.34047585e-02 9.99057558e-01 -1.47760726e-04 8.13402004e+00] [ 9.34729190e-03 -2.58206026e-04 9.99956280e-01 4.20829698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.619254154 meters 0.018654868201193747 Centerline is valid? [True, True] Translation: X:635.41, Y:8.13, Z:4.21 [[ 9.99052451e-01 -4.22422599e-02 -1.04781821e-02 6.35411962e+02] [ 4.22428534e-02 9.99107359e-01 -1.64771168e-04 8.13386578e+00] [ 1.04757891e-02 -2.78013269e-04 9.99945089e-01 4.20781837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.679254154 meters 0.019309869523673858 Centerline is valid? [True, True] Translation: X:635.47, Y:8.13, Z:4.21 [[ 9.99200609e-01 -3.82785315e-02 -1.15280749e-02 6.35472066e+02] [ 3.82789934e-02 9.99267074e-01 -1.80656583e-04 8.13141647e+00] [ 1.15265409e-02 -2.60770934e-04 9.99933533e-01 4.20622414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.739254154 meters 0.016584090369782832 Centerline is valid? [True, True] Translation: X:635.53, Y:8.14, Z:4.21 [[ 9.99283709e-01 -3.61620262e-02 -1.11524165e-02 6.35533967e+02] [ 3.61623318e-02 9.99345914e-01 -1.74321845e-04 8.13643859e+00] [ 1.11514256e-02 -2.29100404e-04 9.99937795e-01 4.20708599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.799254154 meters 0.017086434637956376 Centerline is valid? [True, True] Translation: X:635.60, Y:8.13, Z:4.21 [[ 9.99232214e-01 -3.71237618e-02 -1.25223616e-02 6.35595847e+02] [ 3.71242350e-02 9.99310639e-01 -1.94739305e-04 8.13358154e+00] [ 1.25209586e-02 -2.70293306e-04 9.99921573e-01 4.20553078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.859254154 meters 0.01756713292958803 Centerline is valid? [True, True] Translation: X:635.66, Y:8.13, Z:4.21 [[ 9.99131044e-01 -3.92985485e-02 -1.38845557e-02 6.35657614e+02] [ 3.92993582e-02 9.99227459e-01 -2.14618181e-04 8.13186677e+00] [ 1.38822635e-02 -3.31222441e-04 9.99903582e-01 4.20521768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.919254154 meters 0.0191723135246131 Centerline is valid? [True, True] Translation: X:635.72, Y:8.13, Z:4.20 [[ 9.98868985e-01 -4.46594982e-02 -1.63180709e-02 6.35718838e+02] [ 4.46613479e-02 9.99002153e-01 -2.51232962e-04 8.12693157e+00] [ 1.63130079e-02 -4.77838227e-04 9.99866820e-01 4.20440087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters 0.020781367214201815 Centerline is valid? [True, True] Translation: X:635.78, Y:8.12, Z:4.20 [[ 9.98629356e-01 -4.87602585e-02 -1.90222533e-02 6.35779746e+02] [ 4.87635223e-02 9.98810309e-01 -2.92500751e-04 8.12245864e+00] [ 1.90138851e-02 -6.35492237e-04 9.99819018e-01 4.20292103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.039254154 meters 0.023492149403977848 Centerline is valid? [True, True] Translation: X:635.84, Y:8.12, Z:4.20 [[ 9.98273209e-01 -5.48605768e-02 -2.09980517e-02 6.35840587e+02] [ 5.48659053e-02 9.98493680e-01 -3.22692193e-04 8.11689998e+00] [ 2.09841250e-02 -8.29942145e-04 9.99779465e-01 4.20198249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters 0.02313670308311725 Centerline is valid? [True, True] Translation: X:635.90, Y:8.12, Z:4.20 [[ 9.98109449e-01 -5.70609480e-02 -2.28380280e-02 6.35902147e+02] [ 5.70678408e-02 9.98370241e-01 -3.50347278e-04 8.11849346e+00] [ 2.28207987e-02 -9.53632021e-04 9.99739117e-01 4.20272082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.159254154 meters 0.022650570570820868 Centerline is valid? [True, True] Translation: X:635.96, Y:8.12, Z:4.21 [[ 9.98202273e-01 -5.52835441e-02 -2.31506460e-02 6.35963677e+02] [ 5.52901696e-02 9.98470266e-01 -3.54291283e-04 8.12208108e+00] [ 2.31348181e-02 -9.26348777e-04 9.99731925e-01 4.20513698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters 0.021969437085388954 Centerline is valid? [True, True] Translation: X:636.02, Y:8.13, Z:4.21 [[ 9.98367592e-01 -5.23071460e-02 -2.29371505e-02 6.36023938e+02] [ 5.23128710e-02 9.98630683e-01 -3.50780667e-04 8.12653074e+00] [ 2.29240906e-02 -8.49700143e-04 9.99736847e-01 4.20737809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.279254154 meters 0.019635766874762456 Centerline is valid? [True, True] Translation: X:636.08, Y:8.13, Z:4.21 [[ 9.98645388e-01 -4.77743997e-02 -2.06154151e-02 6.36084207e+02] [ 4.77780591e-02 9.98857927e-01 -3.15274082e-04 8.13234913e+00] [ 2.06069328e-02 -6.70117514e-04 9.99787430e-01 4.21016277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters 0.023128438863388407 Centerline is valid? [True, True] Translation: X:636.14, Y:8.13, Z:4.21 [[ 9.98710139e-01 -4.65930203e-02 -2.01779496e-02 6.36144302e+02] [ 4.65962850e-02 9.98913756e-01 -3.08583869e-04 8.12758326e+00] [ 2.01704093e-02 -6.32031654e-04 9.99796357e-01 4.20820625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.399254154 meters 0.01969584580733428 Centerline is valid? [True, True] Translation: X:636.21, Y:8.14, Z:4.21 [[ 9.98768993e-01 -4.53198834e-02 -2.01645092e-02 6.36205923e+02] [ 4.53228944e-02 9.98972342e-01 -3.07891484e-04 8.13574932e+00] [ 2.01577406e-02 -6.06401455e-04 9.99796628e-01 4.21147752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters 0.019935072160971335 Centerline is valid? [True, True] Translation: X:636.27, Y:8.14, Z:4.21 [[ 9.98722519e-01 -4.58800586e-02 -2.11742939e-02 6.36266035e+02] [ 4.58835101e-02 9.98946745e-01 -3.23054914e-04 8.13643854e+00] [ 2.11668138e-02 -6.48908712e-04 9.99775747e-01 4.21070300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.519254154 meters 0.020824356857053805 Centerline is valid? [True, True] Translation: X:636.33, Y:8.14, Z:4.21 [[ 9.98615932e-01 -4.77943169e-02 -2.19527667e-02 6.36326897e+02] [ 4.77984890e-02 9.98856943e-01 -3.34932025e-04 8.13583029e+00] [ 2.19436813e-02 -7.14840619e-04 9.99758953e-01 4.21024035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters 0.020753663956888664 Centerline is valid? [True, True] Translation: X:636.39, Y:8.14, Z:4.21 [[ 9.98404857e-01 -5.17017225e-02 -2.26864319e-02 6.36387334e+02] [ 5.17071854e-02 9.98662229e-01 -3.46125510e-04 8.13822830e+00] [ 2.26739779e-02 -8.27478148e-04 9.99742570e-01 4.21141411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.639254154 meters 0.02162204200415515 Centerline is valid? [True, True] Translation: X:636.45, Y:8.14, Z:4.21 [[ 9.98351783e-01 -5.21835830e-02 -2.38870386e-02 6.36447255e+02] [ 5.21898149e-02 9.98637117e-01 -3.62879895e-04 8.13879210e+00] [ 2.38734197e-02 -8.84378332e-04 9.99714598e-01 4.21063921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters 0.02048969760730287 Centerline is valid? [True, True] Translation: X:636.51, Y:8.14, Z:4.21 [[ 9.98431457e-01 -5.00678502e-02 -2.50566581e-02 6.36507295e+02] [ 5.00740585e-02 9.98745435e-01 -3.80007675e-04 8.14349960e+00] [ 2.50442490e-02 -8.75276945e-04 9.99685960e-01 4.21063447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.759254154 meters 0.01957915275814564 Centerline is valid? [True, True] Translation: X:636.57, Y:8.15, Z:4.21 [[ 9.98597712e-01 -4.71360654e-02 -2.40998179e-02 6.36566703e+02] [ 4.71409400e-02 9.98888181e-01 -3.66135492e-04 8.14818171e+00] [ 2.40902815e-02 -7.70466005e-04 9.99709490e-01 4.21314881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters 0.019576887776588312 Centerline is valid? [True, True] Translation: X:636.63, Y:8.15, Z:4.21 [[ 9.98689582e-01 -4.51839858e-02 -2.40317884e-02 6.36626718e+02] [ 4.51882624e-02 9.98978422e-01 -3.65347878e-04 8.15074120e+00] [ 2.40237460e-02 -7.21085644e-04 9.99711128e-01 4.21458394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.879254154 meters 0.01867459104586492 Centerline is valid? [True, True] Translation: X:636.69, Y:8.15, Z:4.22 [[ 9.98673701e-01 -4.51641015e-02 -2.47192904e-02 6.36687532e+02] [ 4.51686204e-02 9.98979306e-01 -3.75799759e-04 8.15312054e+00] [ 2.47110323e-02 -7.41234910e-04 9.99694361e-01 4.21573820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters 0.019862727746726136 Centerline is valid? [True, True] Translation: X:636.75, Y:8.15, Z:4.22 [[ 9.98643307e-01 -4.55965263e-02 -2.51496065e-02 6.36746772e+02] [ 4.56013326e-02 9.98959645e-01 -3.82676991e-04 8.15209848e+00] [ 2.51408908e-02 -7.64697757e-04 9.99683625e-01 4.21525171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.999254154 meters 0.021231569192468828 Centerline is valid? [True, True] Translation: X:636.81, Y:8.15, Z:4.22 [[ 9.98699072e-01 -4.49742905e-02 -2.40307677e-02 6.36805409e+02] [ 4.49784735e-02 9.98987889e-01 -3.66688513e-04 8.15242756e+00] [ 2.40229375e-02 -7.14655772e-04 9.99711152e-01 4.21672176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.059254154 meters 0.01837926788584869 Centerline is valid? [True, True] Translation: X:636.87, Y:8.16, Z:4.22 [[ 9.98707988e-01 -4.55817242e-02 -2.24646536e-02 6.36866134e+02] [ 4.55855255e-02 9.98960381e-01 -3.43123853e-04 8.15637326e+00] [ 2.24569391e-02 -6.81382504e-04 9.99747579e-01 4.21904814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.119254154 meters 0.01921454910691951 Centerline is valid? [True, True] Translation: X:636.93, Y:8.16, Z:4.22 [[ 9.98662710e-01 -4.60893579e-02 -2.34214188e-02 6.36925974e+02] [ 4.60936224e-02 9.98937060e-01 -3.58044291e-04 8.15703797e+00] [ 2.34130253e-02 -7.22012551e-04 9.99725617e-01 4.21766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.179254154 meters 0.019035310521479446 Centerline is valid? [True, True] Translation: X:636.99, Y:8.16, Z:4.22 [[ 9.98706260e-01 -4.50690006e-02 -2.35497596e-02 6.36986972e+02] [ 4.50730329e-02 9.98983630e-01 -3.59823092e-04 8.15945429e+00] [ 2.35420412e-02 -7.02101514e-04 9.99722601e-01 4.21814557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.239254154 meters 0.01693171287867002 Centerline is valid? [True, True] Translation: X:637.05, Y:8.17, Z:4.22 [[ 9.98987419e-01 -3.91965814e-02 -2.20854168e-02 6.37046760e+02] [ 3.91986894e-02 9.99231379e-01 -3.37621587e-04 8.16848268e+00] [ 2.20816751e-02 -5.28439676e-04 9.99756030e-01 4.22139593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.299254154 meters 0.016870165715061863 Centerline is valid? [True, True] Translation: X:637.11, Y:8.17, Z:4.22 [[ 9.99079123e-01 -3.70158629e-02 -2.16963488e-02 6.37107218e+02] [ 3.70173807e-02 9.99314567e-01 -3.31797041e-04 8.17103694e+00] [ 2.16937592e-02 -4.71650507e-04 9.99764551e-01 4.22152383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.359254154 meters 0.016614882146643403 Centerline is valid? [True, True] Translation: X:637.17, Y:8.17, Z:4.22 [[ 9.99144571e-01 -3.55108074e-02 -2.11921780e-02 6.37167330e+02] [ 3.55119114e-02 9.99369201e-01 -3.24352960e-04 8.17312471e+00] [ 2.11903280e-02 -4.28499248e-04 9.99775368e-01 4.22230969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.419254154 meters 0.017363971314340105 Centerline is valid? [True, True] Translation: X:637.23, Y:8.17, Z:4.22 [[ 9.99123717e-01 -3.57688492e-02 -2.17344938e-02 6.37226390e+02] [ 3.57700628e-02 9.99359991e-01 -3.33051372e-04 8.17240621e+00] [ 2.17324964e-02 -4.44684684e-04 9.99763723e-01 4.22138145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters 0.017199661236949295 Centerline is valid? [True, True] Translation: X:637.29, Y:8.17, Z:4.22 [[ 9.99029307e-01 -3.79154255e-02 -2.24246298e-02 6.37286068e+02] [ 3.79172423e-02 9.99280823e-01 -3.44326268e-04 8.17390636e+00] [ 2.24215578e-02 -5.06288089e-04 9.99748477e-01 4.22267744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.539254154 meters 0.01903849830912318 Centerline is valid? [True, True] Translation: X:637.35, Y:8.17, Z:4.22 [[ 9.98736894e-01 -4.42893183e-02 -2.37291561e-02 6.37345969e+02] [ 4.42931364e-02 9.99018511e-01 -3.64923867e-04 8.16929300e+00] [ 2.37220284e-02 -6.86575819e-04 9.99718357e-01 4.22134883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters 0.02013630978542957 Centerline is valid? [True, True] Translation: X:637.41, Y:8.17, Z:4.22 [[ 9.98465900e-01 -4.98668011e-02 -2.40655055e-02 6.37405883e+02] [ 4.98723354e-02 9.98755532e-01 -3.70538952e-04 8.16758228e+00] [ 2.40540343e-02 -8.30232452e-04 9.99710315e-01 4.22207673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.659254154 meters 0.022890807641746322 Centerline is valid? [True, True] Translation: X:637.47, Y:8.16, Z:4.22 [[ 9.98078860e-01 -5.72109036e-02 -2.37802606e-02 6.37466951e+02] [ 5.72183825e-02 9.98361619e-01 -3.66371848e-04 8.16435125e+00] [ 2.37622599e-02 -9.95000050e-04 9.99717142e-01 4.22206877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters 0.023043106081688972 Centerline is valid? [True, True] Translation: X:637.53, Y:8.17, Z:4.22 [[ 9.97891004e-01 -6.11030889e-02 -2.19079345e-02 6.37528257e+02] [ 6.11103834e-02 9.98130957e-01 -3.36993104e-04 8.16724516e+00] [ 2.18875790e-02 -1.00251989e-03 9.99759936e-01 4.22420875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.779254154 meters 0.02362182618398934 Centerline is valid? [True, True] Translation: X:637.59, Y:8.17, Z:4.23 [[ 9.97957928e-01 -6.09771853e-02 -1.90198865e-02 6.37590438e+02] [ 6.09826814e-02 9.98138782e-01 -2.91432877e-04 8.17016351e+00] [ 1.90022571e-02 -8.69045927e-04 9.99819063e-01 4.22668620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters 0.024744628705116612 Centerline is valid? [True, True] Translation: X:637.65, Y:8.17, Z:4.23 [[ 9.98046262e-01 -5.99299448e-02 -1.76652438e-02 6.37651302e+02] [ 5.99345409e-02 9.98202273e-01 -2.69608947e-04 8.17202684e+00] [ 1.76496442e-02 -7.89676075e-04 9.99843921e-01 4.22833769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.899254154 meters 0.024451251060402926 Centerline is valid? [True, True] Translation: X:637.71, Y:8.17, Z:4.23 [[ 9.98111949e-01 -5.92640023e-02 -1.61343161e-02 6.37713757e+02] [ 5.92677656e-02 9.98242091e-01 -2.45222805e-04 8.17494120e+00] [ 1.61204863e-02 -7.11485051e-04 9.99869803e-01 4.22860860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters 0.025191436348797138 Centerline is valid? [True, True] Translation: X:637.78, Y:8.18, Z:4.23 [[ 9.98070152e-01 -5.96528302e-02 -1.72485449e-02 6.37776366e+02] [ 5.96572114e-02 9.98218888e-01 -2.60881305e-04 8.17628799e+00] [ 1.72333856e-02 -7.68622244e-04 9.99851199e-01 4.22736157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.019254154 meters 0.02360059829960226 Centerline is valid? [True, True] Translation: X:637.84, Y:8.18, Z:4.23 [[ 9.98127563e-01 -5.82882169e-02 -1.85432515e-02 6.37838743e+02] [ 5.82930714e-02 9.98299474e-01 -2.79077131e-04 8.17992907e+00] [ 1.85279851e-02 -8.02388504e-04 9.99828020e-01 4.22572749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters 0.023230168857005833 Centerline is valid? [True, True] Translation: X:637.90, Y:8.18, Z:4.23 [[ 9.98323148e-01 -5.41583102e-02 -2.04393967e-02 6.37899158e+02] [ 5.41633607e-02 9.98532041e-01 -3.06820503e-04 8.18475094e+00] [ 2.04260094e-02 -8.00760405e-04 9.99791047e-01 4.22522695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.139254154 meters 0.022007961583726508 Centerline is valid? [True, True] Translation: X:637.96, Y:8.19, Z:4.22 [[ 9.98546935e-01 -4.93358210e-02 -2.16793924e-02 6.37960780e+02] [ 4.93403877e-02 9.98781969e-01 -3.24525017e-04 8.19072712e+00] [ 2.16689970e-02 -7.45616167e-04 9.99764922e-01 4.22461887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters 0.019424769516705 Centerline is valid? [True, True] Translation: X:638.02, Y:8.20, Z:4.22 [[ 9.98981609e-01 -3.93188461e-02 -2.21308282e-02 6.38020127e+02] [ 3.93211509e-02 9.99226570e-01 -3.31175762e-04 8.20092154e+00] [ 2.21267330e-02 -5.39371137e-04 9.99755028e-01 4.22435345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.259254154 meters 0.016975323642430512 Centerline is valid? [True, True] Translation: X:638.08, Y:8.21, Z:4.23 [[ 9.99152566e-01 -3.49938159e-02 -2.16698753e-02 6.38080603e+02] [ 3.49950065e-02 9.99387435e-01 -3.24384239e-04 8.20826802e+00] [ 2.16679526e-02 -4.34228084e-04 9.99765128e-01 4.22731737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters 0.015346859874898509 Centerline is valid? [True, True] Translation: X:638.14, Y:8.22, Z:4.23 [[ 9.99588000e-01 -2.14019645e-02 -1.91255578e-02 6.38139191e+02] [ 2.14003950e-02 9.99770944e-01 -2.86745967e-04 8.22136696e+00] [ 1.91273139e-02 -1.22666664e-04 9.99817049e-01 4.23056990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.379254154 meters 0.015419368546662024 Centerline is valid? [True, True] Translation: X:638.20, Y:8.23, Z:4.23 [[ 9.99778196e-01 -1.13071524e-02 -1.77681687e-02 6.38197438e+02] [ 1.13041502e-02 9.99936070e-01 -2.69390754e-04 8.23133160e+00] [ 1.77700788e-02 6.84769541e-05 9.99842097e-01 4.23195111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters 0.015295172530048914 Centerline is valid? [True, True] Translation: X:638.25, Y:8.23, Z:4.23 [[ 9.99784060e-01 -1.09132336e-02 -1.76842897e-02 6.38254867e+02] [ 1.09101117e-02 9.99940446e-01 -2.73004154e-04 8.23323707e+00] [ 1.76862159e-02 8.00076254e-05 9.99843583e-01 4.23239832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.499254154 meters 0.014874895623782048 Centerline is valid? [True, True] Translation: X:638.31, Y:8.23, Z:4.23 [[ 9.99719618e-01 -1.58757644e-02 -1.75682848e-02 6.38314207e+02] [ 1.58733887e-02 9.99873972e-01 -2.74675679e-04 8.22993898e+00] [ 1.75704314e-02 -4.26954837e-06 9.99845628e-01 4.23222991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.559254154 meters 0.015497855551650834 Centerline is valid? [True, True] Translation: X:638.37, Y:8.22, Z:4.23 [[ 9.99443526e-01 -2.83410513e-02 -1.75904519e-02 6.38373830e+02] [ 2.83405759e-02 9.99598287e-01 -2.76356388e-04 8.22151576e+00] [ 1.75912178e-02 -2.22320934e-04 9.99845238e-01 4.23241351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.619254154 meters 0.018389879164010872 Centerline is valid? [True, True] Translation: X:638.43, Y:8.21, Z:4.23 [[ 9.98971308e-01 -4.11849369e-02 -1.89770083e-02 6.38433144e+02] [ 4.11867005e-02 9.99151423e-01 -2.98058617e-04 8.21296453e+00] [ 1.89731804e-02 -4.83848351e-04 9.99819876e-01 4.23121165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.679254154 meters 0.020731987092151176 Centerline is valid? [True, True] Translation: X:638.49, Y:8.21, Z:4.23 [[ 9.98672662e-01 -4.77145176e-02 -1.93968585e-02 6.38493949e+02] [ 4.77175983e-02 9.98860820e-01 -3.04233083e-04 8.20750417e+00] [ 1.93892783e-02 -6.21742241e-04 9.99811817e-01 4.23007032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.739254154 meters 0.023391583475622674 Centerline is valid? [True, True] Translation: X:638.55, Y:8.20, Z:4.23 [[ 9.98337998e-01 -5.40787227e-02 -1.99181613e-02 6.38554791e+02] [ 5.40832406e-02 9.98536382e-01 -3.12175102e-04 8.20295820e+00] [ 1.99058907e-02 -7.65582443e-04 9.99801565e-01 4.22930220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.799254154 meters 0.025230338096332537 Centerline is valid? [True, True] Translation: X:638.62, Y:8.20, Z:4.23 [[ 9.98179846e-01 -5.73927880e-02 -1.85219639e-02 6.38615766e+02] [ 5.73972688e-02 9.98351376e-01 -2.90032803e-04 8.20160132e+00] [ 1.85080739e-02 -7.73605241e-04 9.99828412e-01 4.23022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.859254154 meters 0.027821146143847817 Centerline is valid? [True, True] Translation: X:638.68, Y:8.20, Z:4.23 [[ 9.98018875e-01 -6.07437060e-02 -1.63868021e-02 6.38676206e+02] [ 6.07476681e-02 9.98153122e-01 -2.56327585e-04 8.19967755e+00] [ 1.63721080e-02 -7.39640249e-04 9.99865694e-01 4.23168955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.919254154 meters 0.025411736586121374 Centerline is valid? [True, True] Translation: X:638.74, Y:8.20, Z:4.23 [[ 9.97899286e-01 -6.30391405e-02 -1.49359441e-02 6.38737932e+02] [ 6.30426968e-02 9.98010804e-01 -2.33074728e-04 8.20344612e+00] [ 1.49209264e-02 -7.09017087e-04 9.99888425e-01 4.23307476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters 0.028061776693987503 Centerline is valid? [True, True] Translation: X:638.80, Y:8.20, Z:4.23 [[ 9.97670054e-01 -6.65188511e-02 -1.51560648e-02 6.38797951e+02] [ 6.65229191e-02 9.97784869e-01 -2.36135081e-04 8.20162629e+00] [ 1.51381996e-02 -7.72640777e-04 9.99885112e-01 4.23249248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.039254154 meters 0.02792810088106689 Centerline is valid? [True, True] Translation: X:638.86, Y:8.20, Z:4.23 [[ 9.97489324e-01 -6.90006317e-02 -1.59361790e-02 6.38858826e+02] [ 6.90054478e-02 9.97616252e-01 -2.48121338e-04 8.20312903e+00] [ 1.59153117e-02 -8.52184784e-04 9.99872980e-01 4.23162400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters 0.02959689615259748 Centerline is valid? [True, True] Translation: X:638.92, Y:8.20, Z:4.23 [[ 9.97323223e-01 -7.07680015e-02 -1.83923479e-02 6.38920179e+02] [ 7.07747270e-02 9.97492284e-01 -2.85801083e-04 8.20250809e+00] [ 1.83664507e-02 -1.01667735e-03 9.99830806e-01 4.22918809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.159254154 meters 0.030106164309762536 Centerline is valid? [True, True] Translation: X:638.98, Y:8.20, Z:4.23 [[ 9.97293333e-01 -7.07852750e-02 -1.98860166e-02 6.38981894e+02] [ 7.07931776e-02 9.97490968e-01 -3.07171459e-04 8.20482336e+00] [ 1.98578651e-02 -1.10145426e-03 9.99802206e-01 4.22821085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters 0.03000062047431614 Centerline is valid? [True, True] Translation: X:639.04, Y:8.21, Z:4.23 [[ 9.97299558e-01 -7.03095337e-02 -2.12170119e-02 6.39044045e+02] [ 7.03184630e-02 9.97524540e-01 -3.25832251e-04 8.20988382e+00] [ 2.11873992e-02 -1.16699531e-03 9.99774841e-01 4.22835182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.279254154 meters 0.028187634424400167 Centerline is valid? [True, True] Translation: X:639.11, Y:8.22, Z:4.23 [[ 9.97496145e-01 -6.79523539e-02 -1.95938204e-02 6.39105736e+02] [ 6.79595377e-02 9.97688033e-01 -2.99756679e-04 8.21760052e+00] [ 1.95688893e-02 -1.03258084e-03 9.99807978e-01 4.23092106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters 0.02925504860601617 Centerline is valid? [True, True] Translation: X:639.17, Y:8.22, Z:4.23 [[ 9.97754110e-01 -6.49878061e-02 -1.62271844e-02 6.39165231e+02] [ 6.49923438e-02 9.97885732e-01 -2.48118121e-04 8.22053419e+00] [ 1.62090005e-02 -8.07081876e-04 9.99868300e-01 4.23435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.399254154 meters 0.026896442712921565 Centerline is valid? [True, True] Translation: X:639.23, Y:8.23, Z:4.24 [[ 9.97855346e-01 -6.38196720e-02 -1.45519363e-02 6.39227012e+02] [ 6.38232037e-02 9.97961196e-01 -2.22046130e-04 8.22571173e+00] [ 1.45364387e-02 -7.07181280e-04 9.99894090e-01 4.23618032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters 0.026398181219624305 Centerline is valid? [True, True] Translation: X:639.29, Y:8.23, Z:4.23 [[ 9.97855583e-01 -6.32393851e-02 -1.68824142e-02 6.39289609e+02] [ 6.32440780e-02 9.97998057e-01 -2.56311738e-04 8.22834122e+00] [ 1.68648256e-02 -8.11950621e-04 9.99857449e-01 4.23484963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.519254154 meters 0.027758702330143693 Centerline is valid? [True, True] Translation: X:639.35, Y:8.23, Z:4.23 [[ 9.97720320e-01 -6.48723931e-02 -1.85939556e-02 6.39351700e+02] [ 6.48783946e-02 9.97893138e-01 -2.80913262e-04 8.22729525e+00] [ 1.85730042e-02 -9.26073120e-04 9.99827078e-01 4.23341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters 0.030825640071976742 Centerline is valid? [True, True] Translation: X:639.41, Y:8.22, Z:4.23 [[ 9.97423950e-01 -6.86733839e-02 -2.07226811e-02 6.39411253e+02] [ 6.86816676e-02 9.97638577e-01 -3.12548604e-04 8.22442377e+00] [ 2.06952099e-02 -1.11152483e-03 9.99785213e-01 4.23272150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.639254154 meters 0.032156330569785424 Centerline is valid? [True, True] Translation: X:639.47, Y:8.22, Z:4.23 [[ 9.97364349e-01 -6.94829529e-02 -2.08919875e-02 6.39473697e+02] [ 6.94915701e-02 9.97582489e-01 -3.14122048e-04 8.22411080e+00] [ 2.08633070e-02 -1.13852288e-03 9.99781689e-01 4.23318948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters 0.03186762778840518 Centerline is valid? [True, True] Translation: X:639.54, Y:8.23, Z:4.23 [[ 9.97517734e-01 -6.73183638e-02 -2.06545155e-02 6.39535529e+02] [ 6.73263478e-02 9.97730959e-01 -3.09369102e-04 8.22805388e+00] [ 2.06284758e-02 -1.08199193e-03 9.99786625e-01 4.23462765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.759254154 meters 0.029000287732663697 Centerline is valid? [True, True] Translation: X:639.60, Y:8.24, Z:4.24 [[ 9.97957287e-01 -6.07717500e-02 -1.96989320e-02 6.39596377e+02] [ 6.07777501e-02 9.98151280e-01 -2.94510876e-04 8.23820773e+00] [ 1.96804121e-02 -9.03347490e-04 9.99805914e-01 4.23774811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters 0.023720909875621636 Centerline is valid? [True, True] Translation: X:639.66, Y:8.25, Z:4.24 [[ 9.98201174e-01 -5.65654038e-02 -1.98688762e-02 6.39656741e+02] [ 5.65706782e-02 9.98398553e-01 -2.96940152e-04 8.24854851e+00] [ 1.98538538e-02 -8.27589795e-04 9.99802550e-01 4.23955688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.879254154 meters 0.024056931916830632 Centerline is valid? [True, True] Translation: X:639.72, Y:8.25, Z:4.24 [[ 9.98369267e-01 -5.29982869e-02 -2.12129392e-02 6.39716857e+02] [ 5.30035009e-02 9.98594276e-01 -3.16765947e-04 8.25144418e+00] [ 2.11999077e-02 -8.08110657e-04 9.99774930e-01 4.23893435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters 0.02292110641699297 Centerline is valid? [True, True] Translation: X:639.78, Y:8.26, Z:4.24 [[ 9.98384003e-01 -5.16996450e-02 -2.35908599e-02 6.39778794e+02] [ 5.17057637e-02 9.98662301e-01 -3.50940562e-04 8.25570894e+00] [ 2.35774459e-02 -8.69409987e-04 9.99721635e-01 4.23809454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.999254154 meters 0.02425131648969562 Centerline is valid? [True, True] Translation: X:639.84, Y:8.26, Z:4.24 [[ 9.98386935e-01 -5.11564735e-02 -2.46280877e-02 6.39840054e+02] [ 5.11630130e-02 9.98690249e-01 -3.64929175e-04 8.25620543e+00] [ 2.46144995e-02 -8.95706649e-04 9.99696616e-01 4.23796169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.059254154 meters 0.0226712658143911 Centerline is valid? [True, True] Translation: X:639.90, Y:8.26, Z:4.24 [[ 9.98455593e-01 -4.96691379e-02 -2.48878410e-02 6.39902038e+02] [ 4.96753954e-02 9.98765348e-01 -3.67142010e-04 8.26043184e+00] [ 2.48753488e-02 -8.69738348e-04 9.99690182e-01 4.24051127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.119254154 meters 0.01983230278500728 Centerline is valid? [True, True] Translation: X:639.96, Y:8.27, Z:4.24 [[ 9.98682541e-01 -4.53147595e-02 -2.40781104e-02 6.39963954e+02] [ 4.53193845e-02 9.98972486e-01 -3.53841847e-04 8.26567169e+00] [ 2.40694040e-02 -7.37829468e-04 9.99710018e-01 4.24377765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.179254154 meters 0.021740875412901137 Centerline is valid? [True, True] Translation: X:640.02, Y:8.26, Z:4.24 [[ 9.98750690e-01 -4.39492745e-02 -2.37806757e-02 6.40024009e+02] [ 4.39534146e-02 9.99033521e-01 -3.48823000e-04 8.26327663e+00] [ 2.37730227e-02 -6.96854686e-04 9.99717139e-01 4.24275212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.239254154 meters 0.020536328253178786 Centerline is valid? [True, True] Translation: X:640.08, Y:8.27, Z:4.25 [[ 9.98932606e-01 -3.97779725e-02 -2.34810738e-02 6.40084028e+02] [ 3.97808967e-02 9.99208368e-01 -3.42748332e-04 8.26794966e+00] [ 2.34761193e-02 -5.91715687e-04 9.99724223e-01 4.24500989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.299254154 meters 0.017729847850873816 Centerline is valid? [True, True] Translation: X:640.15, Y:8.27, Z:4.25 [[ 9.99011343e-01 -3.64453210e-02 -2.54573080e-02 6.40145171e+02] [ 3.64477115e-02 9.99335493e-01 -3.70252199e-04 8.27361048e+00] [ 2.54538854e-02 -5.57974468e-04 9.99675842e-01 4.24715794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.359254154 meters 0.01769551813521351 Centerline is valid? [True, True] Translation: X:640.20, Y:8.27, Z:4.25 [[ 9.98942384e-01 -3.57784644e-02 -2.88793220e-02 6.40204881e+02] [ 3.57812484e-02 9.99359558e-01 -4.20534943e-04 8.27378358e+00] [ 2.88758725e-02 -6.13248014e-04 9.99582817e-01 4.24550984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.419254154 meters 0.017944885883089335 Centerline is valid? [True, True] Translation: X:640.26, Y:8.27, Z:4.25 [[ 9.98858767e-01 -3.65168953e-02 -3.07844111e-02 6.40263393e+02] [ 3.65202194e-02 9.99332811e-01 -4.54462642e-04 8.27401511e+00] [ 3.07804676e-02 -6.70309452e-04 9.99525944e-01 4.24590242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters 0.01856408757789769 Centerline is valid? [True, True] Translation: X:640.32, Y:8.27, Z:4.25 [[ 9.98734065e-01 -3.89252434e-02 -3.18605273e-02 6.40322081e+02] [ 3.89297771e-02 9.99241834e-01 -4.78243931e-04 8.27197746e+00] [ 3.18549875e-02 -7.62684722e-04 9.99492210e-01 4.24726262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.539254154 meters 0.01911094086508203 Centerline is valid? [True, True] Translation: X:640.38, Y:8.27, Z:4.25 [[ 9.98633791e-01 -4.25675637e-02 -3.03076701e-02 6.40380864e+02] [ 4.25731166e-02 9.99093247e-01 -4.62344645e-04 8.26955848e+00] [ 3.02998694e-02 -8.28578988e-04 9.99540510e-01 4.25079946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters 0.021354623892842022 Centerline is valid? [True, True] Translation: X:640.44, Y:8.26, Z:4.25 [[ 9.98575363e-01 -4.58061818e-02 -2.73685462e-02 6.40439804e+02] [ 4.58118533e-02 9.98949998e-01 -4.20086137e-04 8.26355759e+00] [ 2.73590517e-02 -8.34316157e-04 9.99625323e-01 4.25360673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.659254154 meters 0.019469657739688617 Centerline is valid? [True, True] Translation: X:640.50, Y:8.27, Z:4.26 [[ 9.98485111e-01 -4.78013684e-02 -2.72490618e-02 6.40501445e+02] [ 4.78077434e-02 9.98856469e-01 -4.17852856e-04 8.26585308e+00] [ 2.72378755e-02 -8.85496295e-04 9.99628588e-01 4.25785826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters 0.021124136172861796 Centerline is valid? [True, True] Translation: X:640.56, Y:8.26, Z:4.26 [[ 9.98298601e-01 -5.08206761e-02 -2.85860592e-02 6.40561314e+02] [ 5.08289795e-02 9.98707277e-01 -4.36572740e-04 8.26085439e+00] [ 2.85712923e-02 -1.01717026e-03 9.99591240e-01 4.25723335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.779254154 meters 0.02261180736276621 Centerline is valid? [True, True] Translation: X:640.62, Y:8.26, Z:4.26 [[ 9.98122887e-01 -5.28339248e-02 -3.09722281e-02 6.40622200e+02] [ 5.28446572e-02 9.98602633e-01 -4.72507779e-04 8.25547908e+00] [ 3.09539130e-02 -1.16509595e-03 9.99520134e-01 4.25547141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters 0.021488477545177347 Centerline is valid? [True, True] Translation: X:640.68, Y:8.25, Z:4.26 [[ 9.98108752e-01 -5.19847295e-02 -3.28101827e-02 6.40682910e+02] [ 5.19963170e-02 9.98647151e-01 -5.00547346e-04 8.25463786e+00] [ 3.27918163e-02 -1.20640797e-03 9.99461476e-01 4.25675540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.899254154 meters 0.01975341165993068 Centerline is valid? [True, True] Translation: X:640.74, Y:8.26, Z:4.26 [[ 9.98244141e-01 -4.88812608e-02 -3.34552981e-02 6.40742634e+02] [ 4.88915356e-02 9.98803963e-01 -5.11371721e-04 8.25719843e+00] [ 3.34402808e-02 -1.12520707e-03 9.99440084e-01 4.25902688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters 0.01669869931054808 Centerline is valid? [True, True] Translation: X:640.80, Y:8.26, Z:4.26 [[ 9.98720921e-01 -3.87138486e-02 -3.25232270e-02 6.40802510e+02] [ 3.87181606e-02 9.99250047e-01 -4.97428999e-04 8.26289824e+00] [ 3.25180935e-02 -7.62446779e-04 9.99470856e-01 4.26234564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.019254154 meters 0.014767095565086489 Centerline is valid? [True, True] Translation: X:640.86, Y:8.27, Z:4.26 [[ 9.99128194e-01 -2.61043098e-02 -3.25794050e-02 6.40862231e+02] [ 2.61019185e-02 9.99659162e-01 -4.98776351e-04 8.26851224e+00] [ 3.25813210e-02 -3.52043459e-04 9.99469026e-01 4.26320766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters 0.014434285597889687 Centerline is valid? [True, True] Translation: X:640.92, Y:8.27, Z:4.26 [[ 9.99270947e-01 -1.79396495e-02 -3.37008076e-02 6.40920664e+02] [ 1.79322148e-02 9.99839068e-01 -5.22869868e-04 8.27141793e+00] [ 3.37047642e-02 -8.18414555e-05 9.99431830e-01 4.26327599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.139254154 meters 0.014409561995424291 Centerline is valid? [True, True] Translation: X:640.98, Y:8.27, Z:4.26 [[ 9.99288562e-01 -1.62881215e-02 -3.40157016e-02 6.40978126e+02] [ 1.62792631e-02 9.99867340e-01 -5.37378570e-04 8.27001032e+00] [ 3.40199420e-02 -1.67542987e-05 9.99421154e-01 4.26422138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters 0.015767614423047947 Centerline is valid? [True, True] Translation: X:641.04, Y:8.26, Z:4.26 [[ 9.99236561e-01 -1.88248904e-02 -3.42332975e-02 6.41036101e+02] [ 1.88172556e-02 9.99822791e-01 -5.45220498e-04 8.26248536e+00] [ 3.42374947e-02 -9.93724531e-05 9.99413720e-01 4.26309791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.259254154 meters 0.014470593924080954 Centerline is valid? [True, True] Translation: X:641.10, Y:8.25, Z:4.27 [[ 9.99060452e-01 -2.60026792e-02 -3.46709316e-02 6.41095298e+02] [ 2.59990756e-02 9.99661813e-01 -5.54850912e-04 8.25364190e+00] [ 3.46736340e-02 -3.47082569e-04 9.99398628e-01 4.26602088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters 0.0160244749401376 Centerline is valid? [True, True] Translation: X:641.15, Y:8.24, Z:4.27 [[ 9.98861563e-01 -3.47162850e-02 -3.27163272e-02 6.41153684e+02] [ 3.47176541e-02 9.99397022e-01 -5.26393100e-04 8.24138162e+00] [ 3.27148744e-02 -6.10040296e-04 9.99464539e-01 4.26576311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.379254154 meters 0.017893621132979775 Centerline is valid? [True, True] Translation: X:641.21, Y:8.23, Z:4.27 [[ 9.98670973e-01 -4.10359433e-02 -3.11823679e-02 6.41213524e+02] [ 4.10402191e-02 9.99157369e-01 -5.03157536e-04 8.23368044e+00] [ 3.11767402e-02 -7.77242383e-04 9.99513585e-01 4.26636694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters 0.021747767224583898 Centerline is valid? [True, True] Translation: X:641.27, Y:8.22, Z:4.27 [[ 9.98221998e-01 -5.17488741e-02 -2.95786529e-02 6.41274207e+02] [ 5.17574060e-02 9.98659573e-01 -4.77618704e-04 8.22172872e+00] [ 2.95637211e-02 -1.05414485e-03 9.99562342e-01 4.26765479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.499254154 meters 0.023660319645472192 Centerline is valid? [True, True] Translation: X:641.33, Y:8.21, Z:4.27 [[ 9.97649818e-01 -6.27416948e-02 -2.75376138e-02 6.41334455e+02] [ 6.27532553e-02 9.98028973e-01 -4.45044334e-04 8.21306849e+00] [ 2.75112592e-02 -1.28407651e-03 9.99620669e-01 4.27101494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.559254154 meters 0.027457531174112013 Centerline is valid? [True, True] Translation: X:641.40, Y:8.20, Z:4.27 [[ 9.97164086e-01 -7.10110868e-02 -2.49241114e-02 6.41395317e+02] [ 7.10231293e-02 9.97474588e-01 -4.02852329e-04 8.20387081e+00] [ 2.48897747e-02 -1.36847851e-03 9.99689265e-01 4.27266907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.619254154 meters 0.028878817123582496 Centerline is valid? [True, True] Translation: X:641.46, Y:8.20, Z:4.27 [[ 9.96778649e-01 -7.61921185e-02 -2.50416912e-02 6.41455527e+02] [ 7.62058970e-02 9.97092020e-01 -4.05016297e-04 8.19627315e+00] [ 2.49997295e-02 -1.50461294e-03 9.99686326e-01 4.27295796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.679254154 meters 0.03101212035516454 Centerline is valid? [True, True] Translation: X:641.52, Y:8.19, Z:4.27 [[ 9.96657966e-01 -7.75327834e-02 -2.57209486e-02 6.41516683e+02] [ 7.75477888e-02 9.96988550e-01 -4.15067770e-04 8.19142526e+00] [ 2.56756726e-02 -1.58092209e-03 9.99669076e-01 4.27178847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.739254154 meters 0.028645590029605525 Centerline is valid? [True, True] Translation: X:641.58, Y:8.19, Z:4.27 [[ 9.96776174e-01 -7.56021670e-02 -2.68620796e-02 6.41578249e+02] [ 7.56178661e-02 9.97136777e-01 -4.32347914e-04 8.19356141e+00] [ 2.68178539e-02 -1.60029904e-03 9.99639056e-01 4.27150489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.799254154 meters 0.027018675686161855 Centerline is valid? [True, True] Translation: X:641.64, Y:8.20, Z:4.27 [[ 9.97243505e-01 -6.90694635e-02 -2.71072090e-02 6.41638456e+02] [ 6.90830505e-02 9.97610817e-01 -4.36062139e-04 8.19615636e+00] [ 2.70725635e-02 -1.43778855e-03 9.99632437e-01 4.27085690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.859254154 meters 0.02127674717195689 Centerline is valid? [True, True] Translation: X:641.70, Y:8.21, Z:4.27 [[ 9.98052087e-01 -5.67715370e-02 -2.58654953e-02 6.41698629e+02] [ 5.67797839e-02 9.98386640e-01 -4.16085598e-04 8.20726061e+00] [ 2.58473867e-02 -1.05336213e-03 9.99665346e-01 4.27225416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.919254154 meters 0.01776894887050009 Centerline is valid? [True, True] Translation: X:641.76, Y:8.22, Z:4.27 [[ 9.98663532e-01 -4.58647732e-02 -2.38237813e-02 6.41759390e+02] [ 4.58686742e-02 9.98947405e-01 -3.82978903e-04 8.21704056e+00] [ 2.38162698e-02 -7.10298200e-04 9.99716100e-01 4.27382239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters 0.01411686074996684 Centerline is valid? [True, True] Translation: X:641.82, Y:8.23, Z:4.28 [[ 9.99407450e-01 -2.84617955e-02 -1.93565438e-02 6.41819324e+02] [ 2.84611094e-02 9.99594852e-01 -3.10980253e-04 8.22926691e+00] [ 1.93575526e-02 -2.40112729e-04 9.99812596e-01 4.27537959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.039254154 meters 0.01325883177599502 Centerline is valid? [True, True] Translation: X:641.88, Y:8.24, Z:4.28 [[ 9.99771792e-01 -1.42365902e-02 -1.59274186e-02 6.41878183e+02] [ 1.42342860e-02 9.99898654e-01 -2.58032051e-04 8.23926601e+00] [ 1.59294779e-02 3.12577340e-05 9.99873117e-01 4.27687970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters 0.013451429910051438 Centerline is valid? [True, True] Translation: X:641.94, Y:8.24, Z:4.28 [[ 9.99824089e-01 -1.11698143e-02 -1.50674103e-02 6.41936188e+02] [ 1.11673447e-02 9.99937613e-01 -2.48037949e-04 8.24204488e+00] [ 1.50692408e-02 7.97313526e-05 9.99886449e-01 4.27738426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.159254154 meters 0.013635888730975907 Centerline is valid? [True, True] Translation: X:641.99, Y:8.24, Z:4.28 [[ 9.99891413e-01 -7.10495589e-03 -1.29105137e-02 6.41994449e+02] [ 7.10276134e-03 9.99974752e-01 -2.15825917e-04 8.24409760e+00] [ 1.29117212e-02 1.24102184e-04 9.99916633e-01 4.27797543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters 0.013624059551822339 Centerline is valid? [True, True] Translation: X:642.05, Y:8.24, Z:4.28 [[ 9.99909295e-01 -7.32683436e-03 -1.13012836e-02 6.42052053e+02] [ 7.32513413e-03 9.99973152e-01 -1.91832639e-04 8.24086424e+00] [ 1.13023857e-02 1.09031821e-04 9.99936120e-01 4.27586012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.279254154 meters 0.013650435715897045 Centerline is valid? [True, True] Translation: X:642.11, Y:8.23, Z:4.27 [[ 9.99879307e-01 -1.27938348e-02 -8.81416500e-03 6.42109618e+02] [ 1.27929975e-02 9.99918155e-01 -1.51371723e-04 8.23279791e+00] [ 8.81538022e-03 3.85938626e-05 9.99961143e-01 4.27484319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters 0.0133449932461571 Centerline is valid? [True, True] Translation: X:642.17, Y:8.22, Z:4.27 [[ 9.99740991e-01 -2.19783266e-02 -5.90797179e-03 6.42169811e+02] [ 2.19781085e-02 9.99758447e-01 -1.01844572e-04 8.22226162e+00] [ 5.90878308e-03 -2.80278516e-05 9.99982543e-01 4.27469274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.399254154 meters 0.014995284693887773 Centerline is valid? [True, True] Translation: X:642.23, Y:8.21, Z:4.27 [[ 9.99452732e-01 -3.28393237e-02 -3.97675953e-03 6.42230825e+02] [ 3.28393088e-02 9.99460642e-01 -6.90591274e-05 8.20897580e+00] [ 3.97688249e-03 -6.15727006e-05 9.99992090e-01 4.27393246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters 0.016395154059796715 Centerline is valid? [True, True] Translation: X:642.29, Y:8.20, Z:4.27 [[ 9.99183872e-01 -4.02399546e-02 -3.51231511e-03 6.42292307e+02] [ 4.02399909e-02 9.99190042e-01 -6.03697353e-05 8.20060713e+00] [ 3.51189956e-03 -8.10150621e-05 9.99993830e-01 4.27264100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.519254154 meters 0.01914459682048366 Centerline is valid? [True, True] Translation: X:642.35, Y:8.19, Z:4.27 [[ 9.98746806e-01 -4.99921180e-02 -2.36767496e-03 6.42352645e+02] [ 4.99921622e-02 9.98749609e-01 -4.05445157e-05 8.19014005e+00] [ 2.36674135e-03 -7.78714850e-05 9.99997196e-01 4.27238271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters 0.022158074681967205 Centerline is valid? [True, True] Translation: X:642.41, Y:8.18, Z:4.27 [[ 9.98354724e-01 -5.73395790e-02 -1.30870291e-04 6.42413477e+02] [ 5.73395792e-02 9.98354733e-01 -2.26246727e-06 8.18241527e+00] [ 1.30784703e-04 -5.24530254e-06 9.99999991e-01 4.27377725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.639254154 meters 0.023470405333458344 Centerline is valid? [True, True] Translation: X:642.47, Y:8.18, Z:4.27 [[ 9.98004213e-01 -6.31454714e-02 4.90838689e-04 6.42474188e+02] [ 6.31454749e-02 9.98004333e-01 8.36282048e-06 8.17736956e+00] [-4.90387213e-04 2.26481120e-05 9.99999880e-01 4.27326675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters 0.02380492931197043 Centerline is valid? [True, True] Translation: X:642.54, Y:8.18, Z:4.27 [[ 9.97880655e-01 -6.50689554e-02 4.78993324e-04 6.42535910e+02] [ 6.50689594e-02 9.97880770e-01 7.27532489e-06 8.17758430e+00] [-4.78451625e-04 2.39076912e-05 9.99999885e-01 4.27244934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.759254154 meters 0.025676384117105933 Centerline is valid? [True, True] Translation: X:642.60, Y:8.18, Z:4.27 [[ 9.97877934e-01 -6.51121113e-02 -2.05020203e-04 6.42598042e+02] [ 6.51121119e-02 9.97877955e-01 -4.08986167e-06 8.17666627e+00] [ 2.04851440e-04 -9.26811566e-06 9.99999979e-01 4.27226970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters 0.025110426954561355 Centerline is valid? [True, True] Translation: X:642.66, Y:8.18, Z:4.27 [[ 9.97882080e-01 -6.49872868e-02 -2.82954776e-03 6.42660337e+02] [ 6.49874112e-02 9.97886083e-01 -4.80622509e-05 8.17932539e+00] [ 2.82668977e-03 -1.35924525e-04 9.99995996e-01 4.26966662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.879254154 meters 0.025032659399517557 Centerline is valid? [True, True] Translation: X:642.72, Y:8.18, Z:4.27 [[ 9.97767246e-01 -6.64339290e-02 -6.85978143e-03 6.42722650e+02] [ 6.64347024e-02 9.97790768e-01 -1.15307981e-04 8.18404941e+00] [ 6.85228695e-03 -3.40677012e-04 9.99976465e-01 4.26756123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters 0.026412201416648955 Centerline is valid? [True, True] Translation: X:642.78, Y:8.19, Z:4.27 [[ 9.97722661e-01 -6.69354081e-02 -8.31518965e-03 6.42783999e+02] [ 6.69365677e-02 9.97757223e-01 -1.39077845e-04 8.18528884e+00] [ 8.30584977e-03 -4.17829137e-04 9.99965419e-01 4.26743906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.999254154 meters 0.02617178655033407 Centerline is valid? [True, True] Translation: X:642.85, Y:8.19, Z:4.27 [[ 9.97776408e-01 -6.60571844e-02 -8.87066450e-03 6.42846580e+02] [ 6.60584752e-02 9.97815743e-01 -1.47725056e-04 8.19216901e+00] [ 8.86104698e-03 -4.38585996e-04 9.99960644e-01 4.26886431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.059254154 meters 0.022731427589717676 Centerline is valid? [True, True] Translation: X:642.91, Y:8.21, Z:4.27 [[ 9.98169234e-01 -5.99991930e-02 -7.63395785e-03 6.42907059e+02] [ 5.99999772e-02 9.98198370e-01 -1.26460714e-04 8.20505038e+00] [ 7.62779182e-03 -3.31808103e-04 9.99970853e-01 4.27170152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.119254154 meters 0.0237297937863076 Centerline is valid? [True, True] Translation: X:642.97, Y:8.21, Z:4.27 [[ 9.98558292e-01 -5.32888208e-02 -6.45286275e-03 6.42966726e+02] [ 5.32892413e-02 9.98579113e-01 -1.06870870e-04 8.20997187e+00] [ 6.44938899e-03 -2.37151367e-04 9.99979174e-01 4.27415973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.179254154 meters 0.017762909088817027 Centerline is valid? [True, True] Translation: X:643.03, Y:8.23, Z:4.28 [[ 9.99074296e-01 -4.27610106e-02 -4.69550612e-03 6.43026488e+02] [ 4.27611168e-02 9.99085322e-01 -7.78341002e-05 8.22861281e+00] [ 4.69453951e-03 -1.23023037e-04 9.99988973e-01 4.27751052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.239254154 meters 0.016285832861928504 Centerline is valid? [True, True] Translation: X:643.09, Y:8.24, Z:4.28 [[ 9.99334546e-01 -3.61478002e-02 -4.87874674e-03 6.43087471e+02] [ 3.61478357e-02 9.99346450e-01 -8.09371688e-05 8.23732878e+00] [ 4.87848394e-03 -9.54728269e-05 9.99988096e-01 4.27809073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.299254154 meters 0.01787912647407986 Centerline is valid? [True, True] Translation: X:643.15, Y:8.24, Z:4.28 [[ 9.99279339e-01 -3.72721088e-02 -7.18281899e-03 6.43148351e+02] [ 3.72722176e-02 9.99305142e-01 -1.18765722e-04 8.23808317e+00] [ 7.18225460e-03 -1.49039460e-04 9.99974196e-01 4.27642564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.359254154 meters 0.018840456583794275 Centerline is valid? [True, True] Translation: X:643.21, Y:8.24, Z:4.27 [[ 9.99031824e-01 -4.27084762e-02 -1.05546619e-02 6.43209180e+02] [ 4.27090207e-02 9.99087538e-01 -1.73908414e-04 8.23708876e+00] [ 1.05524585e-02 -2.77039233e-04 9.99944283e-01 4.27475365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.419254154 meters 0.019777175257943088 Centerline is valid? [True, True] Translation: X:643.27, Y:8.24, Z:4.28 [[ 9.98746337e-01 -4.86667617e-02 -1.17175014e-02 6.43270588e+02] [ 4.86678461e-02 9.98815000e-01 -1.92752687e-04 8.23750088e+00] [ 1.17129968e-02 -3.77754513e-04 9.99931329e-01 4.27552462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters 0.020101704297520683 Centerline is valid? [True, True] Translation: X:643.33, Y:8.24, Z:4.28 [[ 9.98573090e-01 -5.20872347e-02 -1.17772500e-02 6.43332908e+02] [ 5.20885751e-02 9.98642450e-01 -1.93106544e-04 8.23895164e+00] [ 1.17713202e-02 -4.20629172e-04 9.99930627e-01 4.27692625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.539254154 meters 0.022000607866318404 Centerline is valid? [True, True] Translation: X:643.39, Y:8.24, Z:4.28 [[ 9.98313009e-01 -5.68140870e-02 -1.19706100e-02 6.43393320e+02] [ 5.68158183e-02 9.98384658e-01 -1.95665789e-04 8.23727289e+00] [ 1.19623899e-02 -4.84784299e-04 9.99928331e-01 4.27837691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters 0.02428168397679655 Centerline is valid? [True, True] Translation: X:643.45, Y:8.24, Z:4.28 [[ 9.98185779e-01 -5.90284771e-02 -1.18654791e-02 6.43454118e+02] [ 5.90303436e-02 9.98256170e-01 -1.93166176e-04 8.23501290e+00] [ 1.18561900e-02 -5.07607576e-04 9.99929584e-01 4.27814625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.659254154 meters 0.022537361681560963 Centerline is valid? [True, True] Translation: X:643.52, Y:8.24, Z:4.28 [[ 9.98128368e-01 -5.98622617e-02 -1.25008228e-02 6.43516454e+02] [ 5.98644154e-02 9.98206497e-01 -2.02172474e-04 8.23931695e+00] [ 1.24905051e-02 -5.46560369e-04 9.99921841e-01 4.27938694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters 0.02260660796008716 Centerline is valid? [True, True] Translation: X:643.58, Y:8.24, Z:4.28 [[ 9.98304429e-01 -5.66729703e-02 -1.32830977e-02 6.43576648e+02] [ 5.66751289e-02 9.98392650e-01 -2.14166219e-04 8.24205987e+00] [ 1.32738846e-02 -5.39018191e-04 9.99911753e-01 4.28005450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.779254154 meters 0.021383419231475624 Centerline is valid? [True, True] Translation: X:643.64, Y:8.25, Z:4.28 [[ 9.98542085e-01 -5.19454252e-02 -1.46757686e-02 6.43636950e+02] [ 5.19475524e-02 9.98649786e-01 -2.36482137e-04 8.24717817e+00] [ 1.46682373e-02 -5.26232889e-04 9.99892277e-01 4.27954914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters 0.0183407440998647 Centerline is valid? [True, True] Translation: X:643.70, Y:8.26, Z:4.28 [[ 9.98779974e-01 -4.67719473e-02 -1.58413594e-02 6.43698010e+02] [ 4.67737812e-02 9.98905475e-01 -2.54921412e-04 8.25541805e+00] [ 1.58359438e-02 -4.86349878e-04 9.99874485e-01 4.27923200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.899254154 meters 0.01762309698390786 Centerline is valid? [True, True] Translation: X:643.76, Y:8.26, Z:4.28 [[ 9.98892275e-01 -4.37166648e-02 -1.74090895e-02 6.43759594e+02] [ 4.37184278e-02 9.99043853e-01 -2.79477234e-04 8.25926460e+00] [ 1.74046617e-02 -4.81930373e-04 9.99848411e-01 4.27875437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters 0.01745354772387751 Centerline is valid? [True, True] Translation: X:643.82, Y:8.26, Z:4.28 [[ 9.98973116e-01 -4.15887752e-02 -1.79746282e-02 6.43821131e+02] [ 4.15903224e-02 9.99134707e-01 -2.87889639e-04 8.26271562e+00] [ 1.79710478e-02 -4.59976572e-04 9.99838402e-01 4.27819527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.019254154 meters 0.01727262502916029 Centerline is valid? [True, True] Translation: X:643.88, Y:8.27, Z:4.28 [[ 9.99008810e-01 -4.04701368e-02 -1.85355100e-02 6.43882106e+02] [ 4.04716023e-02 9.99180645e-01 -2.96193426e-04 8.26612043e+00] [ 1.85323099e-02 -4.54261948e-04 9.99828159e-01 4.27879940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters 0.01726633695296524 Centerline is valid? [True, True] Translation: X:643.94, Y:8.27, Z:4.28 [[ 9.99035329e-01 -3.97979082e-02 -1.85617597e-02 6.43943552e+02] [ 3.97992743e-02 9.99207651e-01 -2.95946282e-04 8.26811547e+00] [ 1.85588303e-02 -4.43083774e-04 9.99827672e-01 4.27924827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.139254154 meters 0.017649965475799233 Centerline is valid? [True, True] Translation: X:644.00, Y:8.27, Z:4.28 [[ 9.99068832e-01 -3.94945734e-02 -1.73679991e-02 6.44003708e+02] [ 3.94957274e-02 9.99219701e-01 -2.76688652e-04 8.26980897e+00] [ 1.73653746e-02 -4.09530751e-04 9.99849127e-01 4.28034201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters 0.017613781873581372 Centerline is valid? [True, True] Translation: X:644.07, Y:8.27, Z:4.28 [[ 9.99223379e-01 -3.68339768e-02 -1.39963326e-02 6.44065604e+02] [ 3.68344705e-02 9.99321356e-01 -2.22597145e-04 8.27359674e+00] [ 1.39950332e-02 -2.93123230e-04 9.99902022e-01 4.28319740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.259254154 meters 0.01599950133545537 Centerline is valid? [True, True] Translation: X:644.13, Y:8.28, Z:4.29 [[ 9.99435010e-01 -3.15731576e-02 -1.15237809e-02 6.44125600e+02] [ 3.15731469e-02 9.99501427e-01 -1.82900862e-04 8.27609204e+00] [ 1.15238102e-02 -1.81044502e-04 9.99933582e-01 4.28501726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters 0.01529969961449698 Centerline is valid? [True, True] Translation: X:644.19, Y:8.28, Z:4.29 [[ 9.99501906e-01 -2.92395761e-02 -1.18738215e-02 6.44186998e+02] [ 2.92394036e-02 9.99572420e-01 -1.88157509e-04 8.27914538e+00] [ 1.18742461e-02 -1.59119670e-04 9.99929486e-01 4.28554084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.379254154 meters 0.015060231975939222 Centerline is valid? [True, True] Translation: X:644.25, Y:8.28, Z:4.28 [[ 9.99390850e-01 -3.19614090e-02 -1.40142115e-02 6.44248763e+02] [ 3.19614458e-02 9.99489078e-01 -2.21401887e-04 8.27865151e+00] [ 1.40141277e-02 -2.26647443e-04 9.99901772e-01 4.28467809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters 0.017820479720810717 Centerline is valid? [True, True] Translation: X:644.31, Y:8.27, Z:4.28 [[ 9.99224564e-01 -3.62069661e-02 -1.54701974e-02 6.44308657e+02] [ 3.62075382e-02 9.99344263e-01 -2.43200509e-04 8.27037210e+00] [ 1.54688586e-02 -3.17125842e-04 9.99880300e-01 4.28172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.499254154 meters 0.017957874009914925 Centerline is valid? [True, True] Translation: X:644.37, Y:8.27, Z:4.28 [[ 9.98896655e-01 -4.38650184e-02 -1.67729679e-02 6.44369455e+02] [ 4.38667836e-02 9.99037355e-01 -2.62839034e-04 8.26823882e+00] [ 1.67683509e-02 -4.73227120e-04 9.99859289e-01 4.28248992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.559254154 meters 0.018242220283451346 Centerline is valid? [True, True] Translation: X:644.43, Y:8.27, Z:4.28 [[ 9.98682588e-01 -4.84255243e-02 -1.69722485e-02 6.44430769e+02] [ 4.84279981e-02 9.98826641e-01 -2.65450174e-04 8.26772670e+00] [ 1.69651885e-02 -5.56831551e-04 9.99855926e-01 4.28346059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.619254154 meters 0.021822459983761484 Centerline is valid? [True, True] Translation: X:644.49, Y:8.26, Z:4.28 [[ 9.98431947e-01 -5.35324625e-02 -1.63683656e-02 6.44491445e+02] [ 5.35354555e-02 9.98565917e-01 -2.55580837e-04 8.25994741e+00] [ 1.63585739e-02 -6.21107835e-04 9.99865997e-01 4.28318025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.679254154 meters 0.0241002663855935 Centerline is valid? [True, True] Translation: X:644.55, Y:8.26, Z:4.28 [[ 9.98228685e-01 -5.76282396e-02 -1.47809853e-02 6.44552597e+02] [ 5.76311320e-02 9.98337918e-01 -2.30538896e-04 8.25660462e+00] [ 1.47697036e-02 -6.21714375e-04 9.99890729e-01 4.28478683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.739254154 meters 0.023494522742225632 Centerline is valid? [True, True] Translation: X:644.61, Y:8.26, Z:4.29 [[ 9.98083187e-01 -6.02656267e-02 -1.40714910e-02 6.44614185e+02] [ 6.02685215e-02 9.98182177e-01 -2.18630902e-04 8.25829635e+00] [ 1.40590874e-02 -6.29856131e-04 9.99900968e-01 4.28665440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.799254154 meters 0.025917724447831293 Centerline is valid? [True, True] Translation: X:644.68, Y:8.25, Z:4.29 [[ 9.97844658e-01 -6.40461746e-02 -1.42872917e-02 6.44675567e+02] [ 6.40495590e-02 9.97946695e-01 -2.21035799e-04 8.25386427e+00] [ 1.42721121e-02 -6.94535343e-04 9.99897907e-01 4.28619295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.859254154 meters 0.027606576523792455 Centerline is valid? [True, True] Translation: X:644.74, Y:8.25, Z:4.29 [[ 9.97657683e-01 -6.68433066e-02 -1.45299519e-02 6.44736625e+02] [ 6.68471084e-02 9.97763205e-01 -2.24403017e-04 8.25238500e+00] [ 1.45124513e-02 -7.47407878e-04 9.99894409e-01 4.28635434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.919254154 meters 0.027347236905008083 Centerline is valid? [True, True] Translation: X:644.80, Y:8.25, Z:4.29 [[ 9.97621007e-01 -6.72684829e-02 -1.50757110e-02 6.44798786e+02] [ 6.72726351e-02 9.97734603e-01 -2.32099291e-04 8.25434298e+00] [ 1.50571715e-02 -7.82635676e-04 9.99886328e-01 4.28564793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters 0.028188943386818606 Centerline is valid? [True, True] Translation: X:644.86, Y:8.26, Z:4.29 [[ 9.97877823e-01 -6.33210227e-02 -1.51755778e-02 6.44858485e+02] [ 6.33247822e-02 9.97992945e-01 -2.33146299e-04 8.25546318e+00] [ 1.51598826e-02 -7.28338638e-04 9.99884817e-01 4.28583755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.039254154 meters 0.022482440215673794 Centerline is valid? [True, True] Translation: X:644.92, Y:8.27, Z:4.29 [[ 9.98386331e-01 -5.48173148e-02 -1.48255194e-02 6.44919087e+02] [ 5.48199687e-02 9.98496229e-01 -2.27630237e-04 8.26769058e+00] [ 1.48157033e-02 -5.85471593e-04 9.99890070e-01 4.28717727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters 0.018847645796414687 Centerline is valid? [True, True] Translation: X:644.98, Y:8.28, Z:4.29 [[ 9.98770506e-01 -4.76415016e-02 -1.37027051e-02 6.44979474e+02] [ 4.76430962e-02 9.98864401e-01 -2.10230423e-04 8.27664429e+00] [ 1.36971600e-02 -4.42867349e-04 9.99906091e-01 4.28861307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.159254154 meters 0.017281085540384794 Centerline is valid? [True, True] Translation: X:645.04, Y:8.28, Z:4.29 [[ 9.99218407e-01 -3.69729796e-02 -1.39847817e-02 6.45038625e+02] [ 3.69735951e-02 9.99316220e-01 -2.14620502e-04 8.28295996e+00] [ 1.39831543e-02 -3.02614899e-04 9.99902185e-01 4.28789775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters 0.014672635502361791 Centerline is valid? [True, True] Translation: X:645.10, Y:8.29, Z:4.29 [[ 9.99532692e-01 -2.66723465e-02 -1.49326106e-02 6.45099381e+02] [ 2.66718994e-02 9.99644215e-01 -2.29132856e-04 8.29253417e+00] [ 1.49334093e-02 -1.69255306e-04 9.99888476e-01 4.28827787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.279254154 meters 0.013966495848211693 Centerline is valid? [True, True] Translation: X:645.16, Y:8.30, Z:4.29 [[ 9.99701633e-01 -2.03197172e-02 -1.35556224e-02 6.45158593e+02] [ 2.03187645e-02 9.99793531e-01 -2.08015214e-04 8.29603821e+00] [ 1.35570504e-02 -6.74803485e-05 9.99908097e-01 4.28968803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters 0.014125085809553191 Centerline is valid? [True, True] Translation: X:645.22, Y:8.29, Z:4.29 [[ 9.99703246e-01 -2.00264614e-02 -1.38694349e-02 6.45217825e+02] [ 2.00254308e-02 9.99799448e-01 -2.13198425e-04 8.29374141e+00] [ 1.38709230e-02 -6.46062511e-05 9.99903792e-01 4.28973915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.399254154 meters 0.014544540172008869 Centerline is valid? [True, True] Translation: X:645.28, Y:8.29, Z:4.29 [[ 9.99583852e-01 -2.50042672e-02 -1.43843687e-02 6.45277439e+02] [ 2.50036666e-02 9.99687335e-01 -2.21624976e-04 8.28833853e+00] [ 1.43854128e-02 -1.38129212e-04 9.99896515e-01 4.28970805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters 0.014841304907807707 Centerline is valid? [True, True] Translation: X:645.34, Y:8.29, Z:4.29 [[ 9.99450939e-01 -3.00006428e-02 -1.40635163e-02 6.45338238e+02] [ 3.00005599e-02 9.99549858e-01 -2.16913808e-04 8.28512770e+00] [ 1.40636933e-02 -2.05118653e-04 9.99901080e-01 4.29108311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.519254154 meters 0.016237666860223127 Centerline is valid? [True, True] Translation: X:645.40, Y:8.28, Z:4.29 [[ 9.99262630e-01 -3.57600304e-02 -1.39791793e-02 6.45399826e+02] [ 3.57605155e-02 9.99360365e-01 -2.15342039e-04 8.28023611e+00] [ 1.39779383e-02 -2.84719405e-04 9.99902263e-01 4.29124823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters 0.020048531882459718 Centerline is valid? [True, True] Translation: X:645.46, Y:8.27, Z:4.29 [[ 9.98843965e-01 -4.56864493e-02 -1.49493280e-02 6.45459545e+02] [ 4.56881168e-02 9.98955726e-01 -2.30137766e-04 8.26833272e+00] [ 1.49442310e-02 -4.53134926e-04 9.99888226e-01 4.29036802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.639254154 meters 0.020931255083943553 Centerline is valid? [True, True] Translation: X:645.52, Y:8.26, Z:4.29 [[ 9.98352254e-01 -5.49567311e-02 -1.65086049e-02 6.45520120e+02] [ 5.49600287e-02 9.98488523e-01 -2.54218687e-04 8.26390823e+00] [ 1.64976236e-02 -6.53513599e-04 9.99863691e-01 4.29125015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters 0.023794535427243413 Centerline is valid? [True, True] Translation: X:645.58, Y:8.26, Z:4.29 [[ 9.97898469e-01 -6.25855537e-02 -1.67837229e-02 6.45580960e+02] [ 6.25900389e-02 9.98039288e-01 -2.58432038e-04 8.25683323e+00] [ 1.67669889e-02 -7.92604932e-04 9.99859110e-01 4.29144865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.759254154 meters 0.02638998054723319 Centerline is valid? [True, True] Translation: X:645.64, Y:8.25, Z:4.29 [[ 9.97479065e-01 -6.84503847e-02 -1.87098628e-02 6.45641568e+02] [ 6.84569881e-02 9.97654027e-01 -2.88051380e-04 8.25146332e+00] [ 1.86856872e-02 -9.93495636e-04 9.99824914e-01 4.29056415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters 0.028325043755806977 Centerline is valid? [True, True] Translation: X:645.70, Y:8.25, Z:4.29 [[ 9.97151422e-01 -7.28184604e-02 -1.96599215e-02 6.45701995e+02] [ 7.28266009e-02 9.97344572e-01 -3.02520437e-04 8.24941935e+00] [ 1.96297450e-02 -1.13010657e-03 9.99806679e-01 4.29052289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.879254154 meters 0.028371448556285542 Centerline is valid? [True, True] Translation: X:645.76, Y:8.25, Z:4.29 [[ 9.97087489e-01 -7.38044852e-02 -1.92207739e-02 6.45764281e+02] [ 7.38124678e-02 9.97272096e-01 -2.94761608e-04 8.25029324e+00] [ 1.91900962e-02 -1.12482964e-03 9.99815220e-01 4.29132285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.939254154 meters 0.029239690987135594 Centerline is valid? [True, True] Translation: X:645.83, Y:8.25, Z:4.29 [[ 9.97010781e-01 -7.48209889e-02 -1.92697265e-02 6.45826439e+02] [ 7.48292289e-02 9.97196320e-01 -2.94078690e-04 8.25173807e+00] [ 1.92377036e-02 -1.14873915e-03 9.99814278e-01 4.29176584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.999254154 meters 0.03043907862160452 Centerline is valid? [True, True] Translation: X:645.89, Y:8.25, Z:4.29 [[ 9.97138203e-01 -7.27797554e-02 -2.04575545e-02 6.45886937e+02] [ 7.27886308e-02 9.97347341e-01 -3.11427225e-04 8.25450294e+00] [ 2.04259532e-02 -1.17854140e-03 9.99790674e-01 4.29065022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.059254154 meters 0.030005735512421212 Centerline is valid? [True, True] Translation: X:645.95, Y:8.26, Z:4.29 [[ 9.97308484e-01 -7.03048043e-02 -2.08091991e-02 6.45947949e+02] [ 7.03134636e-02 9.97524895e-01 -3.16148615e-04 8.25876522e+00] [ 2.07799209e-02 -1.14786917e-03 9.99783415e-01 4.29022062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.119254154 meters 0.02921004471736906 Centerline is valid? [True, True] Translation: X:646.01, Y:8.27, Z:4.29 [[ 9.97531861e-01 -6.68722900e-02 -2.14075680e-02 6.46008241e+02] [ 6.68806717e-02 9.97760928e-01 -3.24991047e-04 8.26522708e+00] [ 2.13813678e-02 -1.10756360e-03 9.99770779e-01 4.28954065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.179254154 meters 0.029030969305267586 Centerline is valid? [True, True] Translation: X:646.07, Y:8.27, Z:4.29 [[ 9.97703051e-01 -6.39539806e-02 -2.23273314e-02 6.46069989e+02] [ 6.39623902e-02 9.97952253e-01 -3.38022638e-04 8.27311065e+00] [ 2.23032285e-02 -1.09086326e-03 9.99750657e-01 4.28927794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.239254154 meters 0.027242778011993055 Centerline is valid? [True, True] Translation: X:646.13, Y:8.28, Z:4.29 [[ 9.98042735e-01 -5.88960210e-02 -2.10228161e-02 6.46130537e+02] [ 5.89023663e-02 9.98263698e-01 -3.17797165e-04 8.28144915e+00] [ 2.10050311e-02 -9.21118463e-04 9.99778946e-01 4.28979415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.299254154 meters 0.021611859315219126 Centerline is valid? [True, True] Translation: X:646.19, Y:8.30, Z:4.29 [[ 9.98301022e-01 -5.46746172e-02 -2.01434027e-02 6.46191022e+02] [ 5.46795904e-02 9.98503906e-01 -3.04210040e-04 8.29552667e+00] [ 2.01298988e-02 -7.97739815e-04 9.99797055e-01 4.29368979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.359254154 meters 0.01942730104314693 Centerline is valid? [True, True] Translation: X:646.25, Y:8.31, Z:4.30 [[ 9.98777360e-01 -4.59455058e-02 -1.82427098e-02 6.46251253e+02] [ 4.59481329e-02 9.98943789e-01 -2.75328644e-04 8.30716762e+00] [ 1.82360918e-02 -5.63226440e-04 9.99833550e-01 4.29546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.419254154 meters 0.01843436714631362 Centerline is valid? [True, True] Translation: X:646.31, Y:8.32, Z:4.29 [[ 9.99240478e-01 -3.51028879e-02 -1.69190513e-02 6.46310909e+02] [ 3.51035915e-02 9.99383646e-01 -2.55485454e-04 8.31512038e+00] [ 1.69175915e-02 -3.38628059e-04 9.99856830e-01 4.29413757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters 0.015045895079184479 Centerline is valid? [True, True] Translation: X:646.37, Y:8.33, Z:4.30 [[ 9.99526773e-01 -2.61208979e-02 -1.62458957e-02 6.46371133e+02] [ 2.61203585e-02 9.99658775e-01 -2.45427040e-04 8.33092030e+00] [ 1.62467630e-02 -1.79037723e-04 9.99867997e-01 4.29769958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.539254154 meters 0.015614770466491915 Centerline is valid? [True, True] Translation: X:646.43, Y:8.34, Z:4.30 [[ 9.99606757e-01 -2.32028139e-02 -1.57467780e-02 6.46431765e+02] [ 2.32019450e-02 9.99730770e-01 -2.37886860e-04 8.33580552e+00] [ 1.57480581e-02 -1.27562565e-04 9.99875984e-01 4.29727924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters 0.014982116891909166 Centerline is valid? [True, True] Translation: X:646.49, Y:8.34, Z:4.30 [[ 9.99567935e-01 -2.47796617e-02 -1.58085966e-02 6.46491486e+02] [ 2.47789781e-02 9.99692925e-01 -2.39143799e-04 8.33525416e+00] [ 1.58096681e-02 -1.52680395e-04 9.99875008e-01 4.29697362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.659254154 meters 0.015740860718348744 Centerline is valid? [True, True] Translation: X:646.55, Y:8.33, Z:4.30 [[ 9.99430311e-01 -2.98495518e-02 -1.57498324e-02 6.46551531e+02] [ 2.98494938e-02 9.99554376e-01 -2.38810618e-04 8.33319968e+00] [ 1.57499423e-02 -2.31449955e-04 9.99875935e-01 4.29708957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters 0.016668342643388675 Centerline is valid? [True, True] Translation: X:646.61, Y:8.33, Z:4.30 [[ 9.99231668e-01 -3.59006551e-02 -1.57231212e-02 6.46613180e+02] [ 3.59013474e-02 9.99355310e-01 -2.38312291e-04 8.33079493e+00] [ 1.57215402e-02 -3.26352048e-04 9.99876356e-01 4.29757277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.779254154 meters 0.017363313330996125 Centerline is valid? [True, True] Translation: X:646.67, Y:8.33, Z:4.30 [[ 9.99090328e-01 -3.94393904e-02 -1.62188488e-02 6.46674342e+02] [ 3.94406029e-02 9.99221887e-01 -2.45223878e-04 8.32903780e+00] [ 1.62159002e-02 -3.94680369e-04 9.99868436e-01 4.29769642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters 0.01897279886621937 Centerline is valid? [True, True] Translation: X:646.74, Y:8.33, Z:4.30 [[ 9.98951684e-01 -4.26829451e-02 -1.65438681e-02 6.46735654e+02] [ 4.26846709e-02 9.99088563e-01 -2.48941386e-04 8.32567504e+00] [ 1.65394150e-02 -4.57489150e-04 9.99863110e-01 4.29777972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.899254154 meters 0.019491577788587955 Centerline is valid? [True, True] Translation: X:646.80, Y:8.32, Z:4.30 [[ 9.98969989e-01 -4.25685045e-02 -1.57125493e-02 6.46797781e+02] [ 4.25700667e-02 9.99093456e-01 -2.35181015e-04 8.32475347e+00] [ 1.57083165e-02 -4.33945496e-04 9.99876523e-01 4.29839043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters 0.017451474932124855 Centerline is valid? [True, True] Translation: X:646.86, Y:8.33, Z:4.30 [[ 9.99105446e-01 -3.90597657e-02 -1.62062709e-02 6.46859534e+02] [ 3.90609828e-02 9.99236799e-01 -2.41553227e-04 8.32991909e+00] [ 1.62033373e-02 -3.91695724e-04 9.99868641e-01 4.29940169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.019254154 meters 0.016272225134859993 Centerline is valid? [True, True] Translation: X:646.92, Y:8.33, Z:4.30 [[ 9.99313493e-01 -3.27283717e-02 -1.73607720e-02 6.46921285e+02] [ 3.27288303e-02 9.99464235e-01 -2.57778903e-04 8.33431507e+00] [ 1.73599074e-02 -3.10595826e-04 9.99849257e-01 4.29894650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters 0.01516267741925149 Centerline is valid? [True, True] Translation: X:646.98, Y:8.34, Z:4.30 [[ 9.99515923e-01 -2.55781806e-02 -1.77109373e-02 6.46982212e+02] [ 2.55775458e-02 9.99672807e-01 -2.62400887e-04 8.34037502e+00] [ 1.77118541e-02 -1.90728444e-04 9.99843115e-01 4.29991440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.139254154 meters 0.014902144890434567 Centerline is valid? [True, True] Translation: X:647.04, Y:8.34, Z:4.30 [[ 9.99657924e-01 -1.88965977e-02 -1.80818364e-02 6.47041215e+02] [ 1.88948378e-02 9.99821441e-01 -2.68180443e-04 8.34473815e+00] [ 1.80836755e-02 -7.35646629e-05 9.99836474e-01 4.30023285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters 0.014802214167781762 Centerline is valid? [True, True] Translation: X:647.10, Y:8.35, Z:4.30 [[ 9.99684052e-01 -1.57461552e-02 -1.95921985e-02 6.47099943e+02] [ 1.57434161e-02 9.99876022e-01 -2.94045960e-04 8.34696762e+00] [ 1.95943996e-02 -1.44950760e-05 9.99808011e-01 4.29984116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.259254154 meters 0.014980040221875615 Centerline is valid? [True, True] Translation: X:647.16, Y:8.35, Z:4.30 [[ 9.99701835e-01 -1.36031298e-02 -2.02779481e-02 6.47159120e+02] [ 1.35996506e-02 9.99907473e-01 -3.09473897e-04 8.34688220e+00] [ 2.02802816e-02 3.36086153e-05 9.99794333e-01 4.30006751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters 0.014986357273092606 Centerline is valid? [True, True] Translation: X:647.22, Y:8.34, Z:4.30 [[ 9.99674687e-01 -1.42847307e-02 -2.11297719e-02 6.47217836e+02] [ 1.42809924e-02 9.99897968e-01 -3.27809163e-04 8.34423177e+00] [ 2.11322987e-02 2.59484100e-05 9.99776688e-01 4.30045725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.379254154 meters 0.014915084784517824 Centerline is valid? [True, True] Translation: X:647.28, Y:8.34, Z:4.30 [[ 9.99645512e-01 -1.61642863e-02 -2.11557733e-02 6.47275821e+02] [ 1.61608389e-02 9.99869349e-01 -3.33919109e-04 8.33946703e+00] [ 2.11584068e-02 -8.09430548e-06 9.99776136e-01 4.30133604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.439254154 meters 0.014664288397472382 Centerline is valid? [True, True] Translation: X:647.33, Y:8.34, Z:4.30 [[ 9.99618448e-01 -1.84246980e-02 -2.05788364e-02 6.47333522e+02] [ 1.84217936e-02 9.99830250e-01 -3.30712047e-04 8.33685268e+00] [ 2.05814364e-02 -4.85132141e-05 9.99788179e-01 4.30410690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.499254154 meters 0.01468633815767463 Centerline is valid? [True, True] Translation: X:647.39, Y:8.33, Z:4.31 [[ 9.99550693e-01 -2.21785213e-02 -2.01624526e-02 6.47392539e+02] [ 2.21763878e-02 9.99754019e-01 -3.29426200e-04 8.33179826e+00] [ 2.01647993e-02 -1.17852183e-04 9.99796663e-01 4.30545267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.559254154 meters 0.014741701694058801 Centerline is valid? [True, True] Translation: X:647.45, Y:8.33, Z:4.31 [[ 9.99453851e-01 -2.64462126e-02 -1.98140771e-02 6.47451780e+02] [ 2.64448891e-02 9.99650219e-01 -3.28852274e-04 8.32632101e+00] [ 1.98158435e-02 -1.95308401e-04 9.99803628e-01 4.30574132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.619254154 meters 0.015256569526355547 Centerline is valid? [True, True] Translation: X:647.51, Y:8.32, Z:4.31 [[ 9.99358262e-01 -3.05820877e-02 -1.86494143e-02 6.47510250e+02] [ 3.05815839e-02 9.99532225e-01 -3.12265501e-04 8.32041519e+00] [ 1.86502403e-02 -2.58263522e-04 9.99826036e-01 4.30651947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.679254154 meters 0.015785230154823318 Centerline is valid? [True, True] Translation: X:647.57, Y:8.31, Z:4.31 [[ 9.99278862e-01 -3.37360508e-02 -1.74251223e-02 6.47570373e+02] [ 3.37360735e-02 9.99430734e-01 -2.92731188e-04 8.31333676e+00] [ 1.74250783e-02 -2.95335118e-04 9.99848128e-01 4.30740687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.739254154 meters 0.01611402633090703 Centerline is valid? [True, True] Translation: X:647.63, Y:8.31, Z:4.31 [[ 9.99252705e-01 -3.44305628e-02 -1.75661097e-02 6.47630580e+02] [ 3.44306889e-02 9.99407044e-01 -2.95345309e-04 8.30888181e+00] [ 1.75658627e-02 -3.09688659e-04 9.99845660e-01 4.30742208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.799254154 meters 0.015975403451674672 Centerline is valid? [True, True] Translation: X:647.69, Y:8.31, Z:4.31 [[ 9.99271389e-01 -3.37143302e-02 -1.78895356e-02 6.47691441e+02] [ 3.37143462e-02 9.99431465e-01 -3.00783185e-04 8.30588520e+00] [ 1.78895055e-02 -3.02569965e-04 9.99839924e-01 4.30774757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.859254154 meters 0.015530571499347907 Centerline is valid? [True, True] Translation: X:647.75, Y:8.30, Z:4.31 [[ 9.99362246e-01 -3.12735546e-02 -1.72355913e-02 6.47751716e+02] [ 3.12732032e-02 9.99510832e-01 -2.89976814e-04 8.30243855e+00] [ 1.72362288e-02 -2.49220269e-04 9.99851414e-01 4.30852949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.919254154 meters 0.01635609219726984 Centerline is valid? [True, True] Translation: X:647.81, Y:8.30, Z:4.31 [[ 9.99405621e-01 -2.94781529e-02 -1.78729952e-02 6.47810937e+02] [ 2.94774785e-02 9.99565399e-01 -3.01233954e-04 8.30115645e+00] [ 1.78741074e-02 -2.25795925e-04 9.99840220e-01 4.30843913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters 0.015050223227921 Centerline is valid? [True, True] Translation: X:647.87, Y:8.30, Z:4.31 [[ 9.99394181e-01 -2.91754112e-02 -1.89754183e-02 6.47869784e+02] [ 2.91745319e-02 9.99574281e-01 -3.23219415e-04 8.29785338e+00] [ 1.89767701e-02 -2.30575342e-04 9.99819898e-01 4.30828362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.039254154 meters 0.01610068348430869 Centerline is valid? [True, True] Translation: X:647.93, Y:8.29, Z:4.31 [[ 9.99305474e-01 -3.16726339e-02 -1.96319805e-02 6.47928246e+02] [ 3.16721159e-02 9.99498256e-01 -3.37384193e-04 8.29300754e+00] [ 1.96328161e-02 -2.84636492e-04 9.99807217e-01 4.30799964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters 0.016370479341772694 Centerline is valid? [True, True] Translation: X:647.99, Y:8.29, Z:4.31 [[ 9.99148806e-01 -3.75326219e-02 -1.71162499e-02 6.47986523e+02] [ 3.75330522e-02 9.99295343e-01 -2.96205822e-04 8.28848230e+00] [ 1.71153062e-02 -3.46471410e-04 9.99853462e-01 4.31044515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.159254154 meters 0.017294198444011 Centerline is valid? [True, True] Translation: X:648.05, Y:8.29, Z:4.31 [[ 9.99020373e-01 -4.14652022e-02 -1.54574081e-02 6.48047216e+02] [ 4.14660099e-02 9.99139879e-01 -2.68378918e-04 8.28567334e+00] [ 1.54552413e-02 -3.72841030e-04 9.99880491e-01 4.31186178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters 0.01902068958548003 Centerline is valid? [True, True] Translation: X:648.11, Y:8.28, Z:4.31 [[ 9.98710175e-01 -4.86144235e-02 -1.46500311e-02 6.48108595e+02] [ 4.86159217e-02 9.98817515e-01 -2.54064267e-04 8.28117374e+00] [ 1.46450589e-02 -4.58488198e-04 9.99892650e-01 4.31256222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.279254154 meters 0.022091011746193608 Centerline is valid? [True, True] Translation: X:648.17, Y:8.27, Z:4.31 [[ 9.98216026e-01 -5.81348633e-02 -1.36052880e-02 6.48169244e+02] [ 5.81370414e-02 9.98308584e-01 -2.35690492e-04 8.27468205e+00] [ 1.35959776e-02 -5.55701163e-04 9.99907416e-01 4.31372280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters 0.02757365564559422 Centerline is valid? [True, True] Translation: X:648.23, Y:8.26, Z:4.31 [[ 9.97551439e-01 -6.86001043e-02 -1.36070786e-02 6.48229825e+02] [ 6.86032544e-02 9.97643994e-01 -2.35677374e-04 8.26499238e+00] [ 1.35911877e-02 -6.98389569e-04 9.99907392e-01 4.31211731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.399254154 meters 0.031181032102941136 Centerline is valid? [True, True] Translation: X:648.29, Y:8.26, Z:4.31 [[ 9.96789926e-01 -7.88908861e-02 -1.36407831e-02 6.48290941e+02] [ 7.88950122e-02 9.96882902e-01 -2.36213278e-04 8.25975625e+00] [ 1.36168986e-02 -8.40734737e-04 9.99906932e-01 4.31333932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters 0.03682658544483131 Centerline is valid? [True, True] Translation: X:648.35, Y:8.25, Z:4.31 [[ 9.96378995e-01 -8.37473486e-02 -1.46724347e-02 6.48350798e+02] [ 8.37526453e-02 9.96486543e-01 -2.54172354e-04 8.25428518e+00] [ 1.46421700e-02 -9.75603228e-04 9.99892322e-01 4.31226234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.519254154 meters 0.037783769728248276 Centerline is valid? [True, True] Translation: X:648.41, Y:8.26, Z:4.31 [[ 9.96423480e-01 -8.31035263e-02 -1.52987781e-02 6.48412561e+02] [ 8.31092170e-02 9.96540410e-01 -2.64529566e-04 8.25708995e+00] [ 1.52678339e-02 -1.00788600e-03 9.99882932e-01 4.31184569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters 0.033320238719899836 Centerline is valid? [True, True] Translation: X:648.47, Y:8.27, Z:4.31 [[ 9.96541279e-01 -8.14982993e-02 -1.62328763e-02 6.48474329e+02] [ 8.15045107e-02 9.96672934e-01 -2.79663550e-04 8.26800988e+00] [ 1.62016605e-02 -1.04435636e-03 9.99868199e-01 4.31305560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.639254154 meters 0.030488543560406235 Centerline is valid? [True, True] Translation: X:648.53, Y:8.28, Z:4.31 [[ 9.96812161e-01 -7.80794155e-02 -1.64048745e-02 6.48534810e+02] [ 7.80853069e-02 9.96946641e-01 -2.82078012e-04 8.27952205e+00] [ 1.63768090e-02 -9.99800865e-04 9.99865391e-01 4.31426372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters 0.02672964619762172 Centerline is valid? [True, True] Translation: X:648.60, Y:8.29, Z:4.32 [[ 9.97144150e-01 -7.37735992e-02 -1.61554963e-02 6.48595418e+02] [ 7.37787543e-02 9.97274595e-01 -2.77495370e-04 8.29205455e+00] [ 1.61319378e-02 -9.15229503e-04 9.99869453e-01 4.31595662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.759254154 meters 0.026070494234490888 Centerline is valid? [True, True] Translation: X:648.65, Y:8.30, Z:4.32 [[ 9.97542752e-01 -6.83246090e-02 -1.54985538e-02 6.48654955e+02] [ 6.83286968e-02 9.97662828e-01 -2.66242467e-04 8.30054672e+00] [ 1.54805219e-02 -7.93407740e-04 9.99879855e-01 4.31775058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters 0.024741216565870257 Centerline is valid? [True, True] Translation: X:648.72, Y:8.31, Z:4.32 [[ 9.97906390e-01 -6.30048681e-02 -1.46021832e-02 6.48715342e+02] [ 6.30079274e-02 9.98012995e-01 -2.50899904e-04 8.30779659e+00] [ 1.45889765e-02 -6.69678683e-04 9.99893351e-01 4.31876029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.879254154 meters 0.021683936063532597 Centerline is valid? [True, True] Translation: X:648.78, Y:8.32, Z:4.32 [[ 9.98429108e-01 -5.41088644e-02 -1.45446850e-02 6.48775954e+02] [ 5.41109596e-02 9.98534898e-01 -2.49733919e-04 8.31882047e+00] [ 1.45368884e-02 -5.37685250e-04 9.99894189e-01 4.31946248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.939254154 meters 0.019644013323483752 Centerline is valid? [True, True] Translation: X:648.84, Y:8.33, Z:4.32 [[ 9.98827396e-01 -4.56865221e-02 -1.60179387e-02 6.48835370e+02] [ 4.56879811e-02 9.98955721e-01 -2.75028300e-04 8.32929945e+00] [ 1.60137766e-02 -4.57121482e-04 9.99871667e-01 4.31891737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.999254154 meters 0.016879737310705495 Centerline is valid? [True, True] Translation: X:648.90, Y:8.34, Z:4.32 [[ 9.99084616e-01 -3.94637399e-02 -1.65088814e-02 6.48896556e+02] [ 3.94644451e-02 9.99220935e-01 -2.83186003e-04 8.33916293e+00] [ 1.65071955e-02 -3.68587065e-04 9.99863679e-01 4.31970402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.059254154 meters 0.017298622510813138 Centerline is valid? [True, True] Translation: X:648.96, Y:8.34, Z:4.32 [[ 9.99160529e-01 -3.77861733e-02 -1.58253629e-02 6.48957241e+02] [ 3.77866173e-02 9.99285794e-01 -2.71056431e-04 8.34172471e+00] [ 1.58243025e-02 -3.27158045e-04 9.99874734e-01 4.31995817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.119254154 meters 0.018187011817552994 Centerline is valid? [True, True] Translation: X:649.02, Y:8.34, Z:4.32 [[ 9.99151691e-01 -3.85719053e-02 -1.44258926e-02 6.49018660e+02] [ 3.85723616e-02 9.99255779e-01 -2.46701074e-04 8.34375943e+00] [ 1.44246722e-02 -3.09948949e-04 9.99895911e-01 4.32001794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.179254154 meters 0.01769755231285095 Centerline is valid? [True, True] Translation: X:649.08, Y:8.35, Z:4.32 [[ 9.98972882e-01 -4.29767876e-02 -1.43588343e-02 6.49080625e+02] [ 4.29777059e-02 9.99076002e-01 -2.44752970e-04 8.34653156e+00] [ 1.43560855e-02 -3.72608179e-04 9.99896877e-01 4.32167020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.239254154 meters 0.019709610670405494 Centerline is valid? [True, True] Translation: X:649.14, Y:8.34, Z:4.32 [[ 9.98642511e-01 -5.00214814e-02 -1.45253575e-02 6.49142234e+02] [ 5.00231768e-02 9.98748027e-01 -2.46800783e-04 8.34255393e+00] [ 1.45195175e-02 -4.80138775e-04 9.99894471e-01 4.32090447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.299254154 meters 0.023938148768459153 Centerline is valid? [True, True] Translation: X:649.20, Y:8.33, Z:4.32 [[ 9.98145110e-01 -5.90542243e-02 -1.47965377e-02 6.49201694e+02] [ 5.90569761e-02 9.98254582e-01 -2.51279537e-04 8.33457479e+00] [ 1.47855506e-02 -6.23025330e-04 9.99890494e-01 4.32055861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.359254154 meters 0.025280686374267225 Centerline is valid? [True, True] Translation: X:649.26, Y:8.33, Z:4.32 [[ 9.97838254e-01 -6.39462602e-02 -1.51556929e-02 6.49262351e+02] [ 6.39497110e-02 9.97953089e-01 -2.57331097e-04 8.33228054e+00] [ 1.51411259e-02 -7.12427367e-04 9.99885113e-01 4.32116471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.419254154 meters 0.0289164525866055 Centerline is valid? [True, True] Translation: X:649.32, Y:8.33, Z:4.32 [[ 9.97604713e-01 -6.74742106e-02 -1.52337506e-02 6.49322616e+02] [ 6.74781194e-02 9.97720721e-01 -2.57852353e-04 8.32798408e+00] [ 1.52164270e-02 -7.70710116e-04 9.99883926e-01 4.32069128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters 0.026629206828560098 Centerline is valid? [True, True] Translation: X:649.39, Y:8.33, Z:4.32 [[ 9.97623575e-01 -6.72041697e-02 -1.51921694e-02 6.49385083e+02] [ 6.72080437e-02 9.97738951e-01 -2.55984475e-04 8.33459871e+00] [ 1.51750224e-02 -7.65659840e-04 9.99884560e-01 4.32071263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.539254154 meters 0.02492897540669785 Centerline is valid? [True, True] Translation: X:649.45, Y:8.34, Z:4.32 [[ 9.97653441e-01 -6.67584421e-02 -1.51961187e-02 6.49446837e+02] [ 6.67622837e-02 9.97768877e-01 -2.54915032e-04 8.34077789e+00] [ 1.51792321e-02 -7.60210731e-04 9.99884500e-01 4.32223045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters 0.02599220093184996 Centerline is valid? [True, True] Translation: X:649.51, Y:8.34, Z:4.32 [[ 9.97634610e-01 -6.69575235e-02 -1.55523322e-02 6.49508543e+02] [ 6.69615897e-02 9.97755520e-01 -2.59717309e-04 8.34448853e+00] [ 1.55348153e-02 -7.82305913e-04 9.99879021e-01 4.32253260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.659254154 meters 0.025307190463701768 Centerline is valid? [True, True] Translation: X:649.57, Y:8.35, Z:4.32 [[ 9.97561330e-01 -6.77370092e-02 -1.68252706e-02 6.49570934e+02] [ 6.77419010e-02 9.97702840e-01 -2.79675041e-04 8.34889600e+00] [ 1.68055646e-02 -8.60782810e-04 9.99858406e-01 4.32289125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters 0.026173939411003613 Centerline is valid? [True, True] Translation: X:649.63, Y:8.35, Z:4.32 [[ 9.97490974e-01 -6.85618914e-02 -1.76358898e-02 6.49632728e+02] [ 6.85674182e-02 9.97646442e-01 -2.91805473e-04 8.35131408e+00] [ 1.76143894e-02 -9.18174103e-04 9.99844433e-01 4.32290546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.779254154 meters 0.027340232239900026 Centerline is valid? [True, True] Translation: X:649.69, Y:8.36, Z:4.32 [[ 9.97498203e-01 -6.81863481e-02 -1.86536307e-02 6.49693516e+02] [ 6.81924881e-02 9.97672136e-01 -3.07457584e-04 8.35605923e+00] [ 1.86311720e-02 -9.65349101e-04 9.99825959e-01 4.32380221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters 0.02749530795082113 Centerline is valid? [True, True] Translation: X:649.76, Y:8.36, Z:4.32 [[ 9.97608082e-01 -6.66251163e-02 -1.84176129e-02 6.49755664e+02] [ 6.66308587e-02 9.97777649e-01 -3.02356214e-04 8.36090749e+00] [ 1.83968270e-02 -9.25548359e-04 9.99830336e-01 4.32484485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.899254154 meters 0.0247179044598421 Centerline is valid? [True, True] Translation: X:649.82, Y:8.38, Z:4.33 [[ 9.98067673e-01 -5.92552337e-02 -1.87012607e-02 6.49815648e+02] [ 5.92598722e-02 9.98242542e-01 -3.06525430e-04 8.37530270e+00] [ 1.86865572e-02 -8.02301195e-04 9.99825069e-01 4.32654238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters 0.02323098426099727 Centerline is valid? [True, True] Translation: X:649.88, Y:8.38, Z:4.33 [[ 9.98360648e-01 -5.42568879e-02 -1.82265208e-02 6.49876405e+02] [ 5.42604657e-02 9.98526771e-01 -2.98543644e-04 8.38331665e+00] [ 1.82158670e-02 -6.90925279e-04 9.99833839e-01 4.32793083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.019254154 meters 0.019097046731715854 Centerline is valid? [True, True] Translation: X:649.94, Y:8.40, Z:4.33 [[ 9.98803790e-01 -4.55686302e-02 -1.77338404e-02 6.49936751e+02] [ 4.55706511e-02 9.98961076e-01 -2.90344111e-04 8.39944493e+00] [ 1.77286469e-02 -5.18145853e-04 9.99842701e-01 4.33026749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters 0.01721630783139176 Centerline is valid? [True, True] Translation: X:650.00, Y:8.41, Z:4.33 [[ 9.99130011e-01 -3.77261332e-02 -1.77752719e-02 6.49997827e+02] [ 3.77269266e-02 9.99288044e-01 -2.90813217e-04 8.41208482e+00] [ 1.77735879e-02 -3.80046163e-04 9.99841965e-01 4.33140962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.139254154 meters 0.016432984671682242 Centerline is valid? [True, True] Translation: X:650.06, Y:8.42, Z:4.33 [[ 9.99293722e-01 -3.28267398e-02 -1.82883224e-02 6.50059015e+02] [ 3.28267693e-02 9.99461012e-01 -2.98664611e-04 8.41939842e+00] [ 1.82882694e-02 -3.01892871e-04 9.99832710e-01 4.33126972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters 0.015567304245334859 Centerline is valid? [True, True] Translation: X:650.12, Y:8.43, Z:4.33 [[ 9.99497135e-01 -2.60266893e-02 -1.81132082e-02 6.50120336e+02] [ 2.60256134e-02 9.99661233e-01 -2.95160843e-04 8.42898927e+00] [ 1.81147541e-02 -1.76394937e-04 9.99835899e-01 4.33192501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.259254154 meters 0.014905061968925 Centerline is valid? [True, True] Translation: X:650.18, Y:8.44, Z:4.33 [[ 9.99651655e-01 -1.94989684e-02 -1.77864997e-02 6.50180287e+02] [ 1.94969018e-02 9.99809875e-01 -2.89603313e-04 8.43717800e+00] [ 1.77887650e-02 -5.72792078e-05 9.99841766e-01 4.33417081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters 0.014874547298599727 Centerline is valid? [True, True] Translation: X:650.24, Y:8.44, Z:4.33 [[ 9.99740235e-01 -1.58118649e-02 -1.64148289e-02 6.50239217e+02] [ 1.58095671e-02 9.99874985e-01 -2.69742297e-04 8.44101607e+00] [ 1.64170419e-02 1.01608873e-05 9.99865231e-01 4.33463905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.379254154 meters 0.014881872645337626 Centerline is valid? [True, True] Translation: X:650.30, Y:8.44, Z:4.33 [[ 9.99710343e-01 -1.77195339e-02 -1.62864663e-02 6.50298438e+02] [ 1.77174575e-02 9.99842997e-01 -2.71784266e-04 8.44009163e+00] [ 1.62887251e-02 -1.68492314e-05 9.99867330e-01 4.33432956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.439254154 meters 0.01548512026663855 Centerline is valid? [True, True] Translation: X:650.36, Y:8.44, Z:4.33 [[ 9.99632149e-01 -2.13613838e-02 -1.67110127e-02 6.50356887e+02] [ 2.13596680e-02 9.99771817e-01 -2.81173572e-04 8.43640768e+00] [ 1.67132058e-02 -7.58715399e-05 9.99860322e-01 4.33296646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.499254154 meters 0.015722575895116858 Centerline is valid? [True, True] Translation: X:650.42, Y:8.43, Z:4.33 [[ 9.99420984e-01 -2.94455505e-02 -1.70486357e-02 6.50416844e+02] [ 2.94449279e-02 9.99566363e-01 -2.87588801e-04 8.42758303e+00] [ 1.70497109e-02 -2.14573566e-04 9.99854620e-01 4.33210489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.559254154 meters 0.017398172118929894 Centerline is valid? [True, True] Translation: X:650.48, Y:8.42, Z:4.33 [[ 9.99173814e-01 -3.71947006e-02 -1.63781224e-02 6.50478267e+02] [ 3.71951682e-02 9.99307982e-01 -2.76166877e-04 8.41838865e+00] [ 1.63770604e-02 -3.33248305e-04 9.99865831e-01 4.33284526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.619254154 meters 0.017789451048553135 Centerline is valid? [True, True] Translation: X:650.54, Y:8.41, Z:4.33 [[ 9.98979363e-01 -4.22673208e-02 -1.59281335e-02 6.50540735e+02] [ 4.22684216e-02 9.99106255e-01 -2.67684295e-04 8.41298529e+00] [ 1.59252121e-02 -4.05845975e-04 9.99873103e-01 4.33392447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.679254154 meters 0.01962195590924879 Centerline is valid? [True, True] Translation: X:650.60, Y:8.41, Z:4.33 [[ 9.98886733e-01 -4.43487049e-02 -1.60775301e-02 6.50602352e+02] [ 4.43501119e-02 9.99016013e-01 -2.69194190e-04 8.40731751e+00] [ 1.60736485e-02 -4.44145756e-04 9.99870712e-01 4.33335365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.739254154 meters 0.019914970998216857 Centerline is valid? [True, True] Translation: X:650.66, Y:8.40, Z:4.33 [[ 9.98786301e-01 -4.66701184e-02 -1.57424647e-02 6.50664125e+02] [ 4.66717749e-02 9.98910245e-01 -2.62344220e-04 8.40376716e+00] [ 1.57375529e-02 -4.72702959e-04 9.99876045e-01 4.33401564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.799254154 meters 0.02078350827267271 Centerline is valid? [True, True] Translation: X:650.73, Y:8.40, Z:4.33 [[ 9.98577074e-01 -5.08977312e-02 -1.59137668e-02 6.50725770e+02] [ 5.08999760e-02 9.98703721e-01 -2.64204060e-04 8.39879120e+00] [ 1.59065855e-02 -5.46182231e-04 9.99873333e-01 4.33398965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.859254154 meters 0.023550910257636837 Centerline is valid? [True, True] Translation: X:650.79, Y:8.39, Z:4.33 [[ 9.98213449e-01 -5.72371498e-02 -1.71411747e-02 6.50786522e+02] [ 5.72406926e-02 9.98360367e-01 -2.84273496e-04 8.39031709e+00] [ 1.71293405e-02 -6.97407085e-04 9.99853039e-01 4.33248709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.919254154 meters 0.023546942630976626 Centerline is valid? [True, True] Translation: X:650.85, Y:8.39, Z:4.33 [[ 9.97956881e-01 -6.17389828e-02 -1.64426807e-02 6.50848030e+02] [ 6.17428587e-02 9.98092053e-01 -2.72299940e-04 8.38847660e+00] [ 1.64281204e-02 -7.43474510e-04 9.99864773e-01 4.33396017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters 0.02750074181675913 Centerline is valid? [True, True] Translation: X:650.91, Y:8.38, Z:4.33 [[ 9.97826879e-01 -6.37772853e-02 -1.65522803e-02 6.50909084e+02] [ 6.37815059e-02 9.97963849e-01 -2.73323543e-04 8.38192859e+00] [ 1.65360092e-02 -7.82999784e-04 9.99862964e-01 4.33330645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.039254154 meters 0.026266395684692048 Centerline is valid? [True, True] Translation: X:650.97, Y:8.38, Z:4.33 [[ 9.97630013e-01 -6.62522090e-02 -1.85742295e-02 6.50969834e+02] [ 6.62579706e-02 9.97802479e-01 -3.05710065e-04 8.38278982e+00] [ 1.85536662e-02 -9.25705217e-04 9.99827437e-01 4.33263851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters 0.02594763034753877 Centerline is valid? [True, True] Translation: X:651.03, Y:8.38, Z:4.33 [[ 9.97595189e-01 -6.64888394e-02 -1.95722487e-02 6.51031568e+02] [ 6.64953209e-02 9.97786686e-01 -3.20169342e-04 8.38424178e+00] [ 1.95502168e-02 -9.82063561e-04 9.99808394e-01 4.33236029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.159254154 meters 0.027712511747398447 Centerline is valid? [True, True] Translation: X:651.09, Y:8.38, Z:4.33 [[ 9.97671189e-01 -6.53650157e-02 -1.94836858e-02 6.51092818e+02] [ 6.53712547e-02 9.97860961e-01 -3.17186254e-04 8.38404060e+00] [ 1.94627423e-02 -9.57225399e-04 9.99810125e-01 4.33279697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters 0.026378020996512416 Centerline is valid? [True, True] Translation: X:651.15, Y:8.39, Z:4.34 [[ 9.97992574e-01 -6.10948430e-02 -1.66806199e-02 6.51153502e+02] [ 6.10988296e-02 9.98131685e-01 -2.70996362e-04 8.39014584e+00] [ 1.66660117e-02 -7.48713994e-04 9.99860832e-01 4.33563966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.279254154 meters 0.02233305542169799 Centerline is valid? [True, True] Translation: X:651.21, Y:8.40, Z:4.34 [[ 9.98432008e-01 -5.38775927e-02 -1.51898122e-02 6.51214057e+02] [ 5.38800665e-02 9.98547384e-01 -2.46624069e-04 8.40094812e+00] [ 1.51810347e-02 -5.72190728e-04 9.99884598e-01 4.33827505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters 0.019996242351816927 Centerline is valid? [True, True] Translation: X:651.27, Y:8.41, Z:4.34 [[ 9.98836828e-01 -4.57492557e-02 -1.52314114e-02 6.51274608e+02] [ 4.57507992e-02 9.98952853e-01 -2.47275460e-04 8.41111506e+00] [ 1.52267746e-02 -4.49861409e-04 9.99883965e-01 4.33908120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.399254154 meters 0.019034825757312412 Centerline is valid? [True, True] Translation: X:651.34, Y:8.42, Z:4.34 [[ 9.99029080e-01 -4.10988745e-02 -1.58675632e-02 6.51335920e+02] [ 4.10999690e-02 9.99155006e-01 -2.57253700e-04 8.41730370e+00] [ 1.58647281e-02 -3.95152429e-04 9.99874069e-01 4.33843011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters 0.016643815135249176 Centerline is valid? [True, True] Translation: X:651.40, Y:8.42, Z:4.34 [[ 9.99145540e-01 -3.77490291e-02 -1.68285529e-02 6.51397565e+02] [ 3.77497986e-02 9.99287185e-01 -2.72048544e-04 8.42435320e+00] [ 1.68268268e-02 -3.63458392e-04 9.99858353e-01 4.33946584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.519254154 meters 0.017536908383611535 Centerline is valid? [True, True] Translation: X:651.46, Y:8.43, Z:4.34 [[ 9.99123707e-01 -3.79829337e-02 -1.75816423e-02 6.51459639e+02] [ 3.79838301e-02 9.99278314e-01 -2.83063354e-04 8.42596938e+00] [ 1.75797054e-02 -3.85002806e-04 9.99845391e-01 4.33899802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters 0.01671184249382853 Centerline is valid? [True, True] Translation: X:651.52, Y:8.43, Z:4.34 [[ 9.99112566e-01 -3.84829752e-02 -1.71213484e-02 6.51521853e+02] [ 3.84839201e-02 9.99259182e-01 -2.74403835e-04 8.42782450e+00] [ 1.71192245e-02 -3.84736286e-04 9.99853381e-01 4.34015027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.639254154 meters 0.016840883181474083 Centerline is valid? [True, True] Translation: X:651.58, Y:8.43, Z:4.34 [[ 9.99075195e-01 -3.95655359e-02 -1.68321979e-02 6.51584328e+02] [ 3.95666236e-02 9.99216898e-01 -2.68524439e-04 8.42834877e+00] [ 1.68296409e-02 -3.97717133e-04 9.99858292e-01 4.34039042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters 0.01736758800757605 Centerline is valid? [True, True] Translation: X:651.65, Y:8.43, Z:4.34 [[ 9.99033058e-01 -4.09528713e-02 -1.59940856e-02 6.51646213e+02] [ 4.09540497e-02 9.99160999e-01 -2.53985326e-04 8.42872020e+00] [ 1.59910679e-02 -4.01282839e-04 9.99872054e-01 4.34109007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.759254154 meters 0.01854144178229075 Centerline is valid? [True, True] Translation: X:651.71, Y:8.43, Z:4.34 [[ 9.98942395e-01 -4.37244604e-02 -1.42219406e-02 6.51706964e+02] [ 4.37256829e-02 9.99043550e-01 -2.25122004e-04 8.42657722e+00] [ 1.42181814e-02 -3.96980152e-04 9.99898838e-01 4.34214858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters 0.01975296239506748 Centerline is valid? [True, True] Translation: X:651.77, Y:8.42, Z:4.34 [[ 9.98800220e-01 -4.71660651e-02 -1.31712537e-02 6.51768669e+02] [ 4.71674202e-02 9.98886976e-01 -2.07908143e-04 8.42344132e+00] [ 1.31664000e-02 -4.13595360e-04 9.99913234e-01 4.34237802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.879254154 meters 0.021202804897074167 Centerline is valid? [True, True] Translation: X:651.83, Y:8.42, Z:4.34 [[ 9.98699910e-01 -4.92951072e-02 -1.29801079e-02 6.51830100e+02] [ 4.92966119e-02 9.98784162e-01 -2.04191841e-04 8.42130318e+00] [ 1.29743918e-02 -4.35948967e-04 9.99915734e-01 4.34217788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.939254154 meters 0.022840197360315315 Centerline is valid? [True, True] Translation: X:651.89, Y:8.42, Z:4.34 [[ 9.98565499e-01 -5.19550000e-02 -1.29469320e-02 6.51892589e+02] [ 5.19567306e-02 9.98649316e-01 -2.02870272e-04 8.41879553e+00] [ 1.29399850e-02 -4.70101006e-04 9.99916164e-01 4.34138248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.999254154 meters 0.02288528201991702 Centerline is valid? [True, True] Translation: X:651.95, Y:8.42, Z:4.34 [[ 9.98486354e-01 -5.34896065e-02 -1.28009183e-02 6.51954372e+02] [ 5.34914345e-02 9.98568288e-01 -1.99787206e-04 8.41943527e+00] [ 1.27932776e-02 -4.85254682e-04 9.99918045e-01 4.34154697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.059254154 meters 0.022909581398147756 Centerline is valid? [True, True] Translation: X:652.02, Y:8.42, Z:4.34 [[ 9.98438458e-01 -5.43128320e-02 -1.30675985e-02 6.52016599e+02] [ 5.43148182e-02 9.98523840e-01 -2.03122440e-04 8.42057216e+00] [ 1.30593408e-02 -5.06958983e-04 9.99914595e-01 4.34214004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.119254154 meters 0.02271373647560495 Centerline is valid? [True, True] Translation: X:652.08, Y:8.42, Z:4.34 [[ 9.98341932e-01 -5.57228382e-02 -1.44344330e-02 6.52079109e+02] [ 5.57254247e-02 9.98446106e-01 -2.23268411e-04 8.42253130e+00] [ 1.44244445e-02 -5.81466690e-04 9.99895793e-01 4.34206191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.179254154 meters 0.022384941763042322 Centerline is valid? [True, True] Translation: X:652.14, Y:8.42, Z:4.34 [[ 9.98297255e-01 -5.64065641e-02 -1.48623972e-02 6.52141141e+02] [ 5.64093984e-02 9.98407696e-01 -2.28777718e-04 8.42394263e+00] [ 1.48516363e-02 -6.09990714e-04 9.99889522e-01 4.34180142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.239254154 meters 0.025757772231642023 Centerline is valid? [True, True] Translation: X:652.20, Y:8.42, Z:4.34 [[ 9.98223564e-01 -5.72926227e-02 -1.63484453e-02 6.52202590e+02] [ 5.72961989e-02 9.98357192e-01 -2.49933979e-04 8.42153776e+00] [ 1.63359073e-02 -6.87213785e-04 9.99866324e-01 4.33986918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.299254154 meters 0.022460109848046226 Centerline is valid? [True, True] Translation: X:652.26, Y:8.43, Z:4.34 [[ 9.98260761e-01 -5.63908873e-02 -1.71907353e-02 6.52264782e+02] [ 5.63947362e-02 9.98408516e-01 -2.61176959e-04 8.42698548e+00] [ 1.71781045e-02 -7.08744272e-04 9.99852194e-01 4.34170411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.359254154 meters 0.020686582911265634 Centerline is valid? [True, True] Translation: X:652.33, Y:8.43, Z:4.34 [[ 9.98462052e-01 -5.22502964e-02 -1.85320410e-02 6.52326040e+02] [ 5.22540756e-02 9.98633783e-01 -2.80574331e-04 8.43251578e+00] [ 1.85213823e-02 -6.88231848e-04 9.99828228e-01 4.34145308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.419254154 meters 0.020469285072822054 Centerline is valid? [True, True] Translation: X:652.39, Y:8.44, Z:4.34 [[ 9.98680225e-01 -4.78839049e-02 -1.85725490e-02 6.52386141e+02] [ 4.78869552e-02 9.98852722e-01 -2.80713835e-04 8.43634528e+00] [ 1.85646828e-02 -6.09039464e-04 9.99827476e-01 4.34205874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters 0.01767190381582877 Centerline is valid? [True, True] Translation: X:652.45, Y:8.44, Z:4.34 [[ 9.99042648e-01 -4.01956569e-02 -1.72654993e-02 6.52446420e+02] [ 4.01971473e-02 9.99191734e-01 -2.60842478e-04 8.44444953e+00] [ 1.72620289e-02 -4.33431057e-04 9.99850906e-01 4.34371730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.539254154 meters 0.017493191735406064 Centerline is valid? [True, True] Translation: X:652.51, Y:8.45, Z:4.34 [[ 9.99349049e-01 -3.21264172e-02 -1.64125591e-02 6.52506717e+02] [ 3.21266760e-02 9.99483774e-01 -2.47956489e-04 8.45142798e+00] [ 1.64120524e-02 -2.79485886e-04 9.99865274e-01 4.34377452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters 0.014953822724735616 Centerline is valid? [True, True] Translation: X:652.57, Y:8.46, Z:4.35 [[ 9.99623497e-01 -2.35559733e-02 -1.40705172e-02 6.52566900e+02] [ 2.35553242e-02 9.99722512e-01 -2.11879120e-04 8.45823689e+00] [ 1.40716039e-02 -1.19636248e-04 9.99900983e-01 4.34539155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.659254154 meters 0.014969132875158638 Centerline is valid? [True, True] Translation: X:652.63, Y:8.46, Z:4.35 [[ 9.99764887e-01 -1.67210661e-02 -1.38049573e-02 6.52627770e+02] [ 1.67198000e-02 9.99860193e-01 -2.07130812e-04 8.46398069e+00] [ 1.38064907e-02 -2.37340127e-05 9.99904686e-01 4.34594856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters 0.014272262930715967 Centerline is valid? [True, True] Translation: X:652.69, Y:8.47, Z:4.35 [[ 9.99792666e-01 -1.52078210e-02 -1.35406080e-02 6.52687717e+02] [ 1.52064624e-02 9.99884354e-01 -2.03294833e-04 8.46511137e+00] [ 1.35421337e-02 -2.65206285e-06 9.99908301e-01 4.34649827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.779254154 meters 0.014213059459778467 Centerline is valid? [True, True] Translation: X:652.75, Y:8.46, Z:4.35 [[ 9.99745135e-01 -1.78266852e-02 -1.38518983e-02 6.52746501e+02] [ 1.78254863e-02 9.99841091e-01 -2.10023163e-04 8.46116845e+00] [ 1.38534412e-02 -3.69471876e-05 9.99904036e-01 4.34534226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters 0.01472696397189418 Centerline is valid? [True, True] Translation: X:652.81, Y:8.45, Z:4.34 [[ 9.99581253e-01 -2.48998967e-02 -1.47415985e-02 6.52805717e+02] [ 2.48992746e-02 9.99689940e-01 -2.25763533e-04 8.45434106e+00] [ 1.47426493e-02 -1.41386115e-04 9.99891311e-01 4.34364629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.899254154 meters 0.016990442922632902 Centerline is valid? [True, True] Translation: X:652.87, Y:8.45, Z:4.34 [[ 9.99357752e-01 -3.26884619e-02 -1.46815838e-02 6.52865714e+02] [ 3.26886902e-02 9.99465557e-01 -2.24488691e-04 8.44761388e+00] [ 1.46810755e-02 -2.55577230e-04 9.99892195e-01 4.34324331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters 0.01749948675966469 Centerline is valid? [True, True] Translation: X:652.93, Y:8.44, Z:4.34 [[ 9.99070898e-01 -4.07779798e-02 -1.39462548e-02 6.52926488e+02] [ 4.07789833e-02 9.99168169e-01 -2.12529950e-04 8.44173858e+00] [ 1.39433204e-02 -3.56381604e-04 9.99902724e-01 4.34434367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.019254154 meters 0.020051722266079045 Centerline is valid? [True, True] Translation: X:652.99, Y:8.43, Z:4.35 [[ 9.98784105e-01 -4.77786659e-02 -1.21453951e-02 6.52986792e+02] [ 4.77799452e-02 9.98857869e-01 -1.84978375e-04 8.43441986e+00] [ 1.21403615e-02 -3.95552853e-04 9.99926225e-01 4.34545737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters 0.021946153188698234 Centerline is valid? [True, True] Translation: X:653.05, Y:8.43, Z:4.35 [[ 9.98645782e-01 -5.07938619e-02 -1.12510476e-02 6.53048136e+02] [ 5.07951535e-02 9.98709078e-01 -1.71112142e-04 8.43011383e+00] [ 1.12452149e-02 -4.00618274e-04 9.99936690e-01 4.34642742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.139254154 meters 0.02058857529192935 Centerline is valid? [True, True] Translation: X:653.11, Y:8.43, Z:4.35 [[ 9.98625147e-01 -5.10103862e-02 -1.20729724e-02 6.53109974e+02] [ 5.10118988e-02 9.98698029e-01 -1.82826614e-04 8.43135467e+00] [ 1.20665798e-02 -4.33289990e-04 9.99927102e-01 4.34639833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters 0.019059570279060887 Centerline is valid? [True, True] Translation: X:653.17, Y:8.43, Z:4.35 [[ 9.98836610e-01 -4.64825944e-02 -1.28372147e-02 6.53171723e+02] [ 4.64839438e-02 9.98919019e-01 -1.93397292e-04 8.43410649e+00] [ 1.28323275e-02 -4.03552073e-04 9.99917581e-01 4.34679445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.259254154 meters 0.01758630980379901 Centerline is valid? [True, True] Translation: X:653.23, Y:8.44, Z:4.35 [[ 9.99066685e-01 -4.11709513e-02 -1.30657049e-02 6.53233286e+02] [ 4.11719068e-02 9.99152058e-01 -1.95955443e-04 8.43825748e+00] [ 1.30626936e-02 -3.42167429e-04 9.99914621e-01 4.34766891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters 0.015910285112460478 Centerline is valid? [True, True] Translation: X:653.29, Y:8.44, Z:4.35 [[ 9.99385894e-01 -3.26197855e-02 -1.27978234e-02 6.53293082e+02] [ 3.26200060e-02 9.99467808e-01 -1.91569975e-04 8.44276944e+00] [ 1.27972615e-02 -2.26012745e-04 9.99918086e-01 4.34810035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.379254154 meters 0.014804826241580107 Centerline is valid? [True, True] Translation: X:653.35, Y:8.45, Z:4.35 [[ 9.99549390e-01 -2.67974053e-02 -1.35246431e-02 6.53354061e+02] [ 2.67971221e-02 9.99640872e-01 -2.02195964e-04 8.44655477e+00] [ 1.35252044e-02 -1.60316660e-04 9.99908517e-01 4.34745216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.439254154 meters 0.014913055433745874 Centerline is valid? [True, True] Translation: X:653.41, Y:8.45, Z:4.35 [[ 9.99557322e-01 -2.51441380e-02 -1.59038192e-02 6.53414126e+02] [ 2.51435444e-02 9.99683823e-01 -2.37304215e-04 8.44766300e+00] [ 1.59047576e-02 -1.62679220e-04 9.99873498e-01 4.34533131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.499254154 meters 0.014732287450518291 Centerline is valid? [True, True] Translation: X:653.47, Y:8.45, Z:4.35 [[ 9.99533190e-01 -2.58308181e-02 -1.63147678e-02 6.53474565e+02] [ 2.58302870e-02 9.99666313e-01 -2.43310986e-04 8.44845132e+00] [ 1.63156087e-02 -1.78217729e-04 9.99866876e-01 4.34580370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.559254154 meters 0.015946784173859842 Centerline is valid? [True, True] Translation: X:653.53, Y:8.44, Z:4.35 [[ 9.99378664e-01 -3.09380220e-02 -1.68856437e-02 6.53533801e+02] [ 3.09381787e-02 9.99521268e-01 -2.52006260e-04 8.44456655e+00] [ 1.68853566e-02 -2.70561383e-04 9.99857396e-01 4.34534650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.619254154 meters 0.01746970471300292 Centerline is valid? [True, True] Translation: X:653.59, Y:8.44, Z:4.35 [[ 9.99092612e-01 -3.93171987e-02 -1.63740926e-02 6.53594704e+02] [ 3.93184714e-02 9.99226700e-01 -2.44314430e-04 8.44079002e+00] [ 1.63710363e-02 -3.99711551e-04 9.99865906e-01 4.34710104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.679254154 meters 0.01944649962509151 Centerline is valid? [True, True] Translation: X:653.66, Y:8.44, Z:4.35 [[ 9.98747616e-01 -4.77961485e-02 -1.47894696e-02 6.53655518e+02] [ 4.77981189e-02 9.98856992e-01 -2.20417314e-04 8.43683426e+00] [ 1.47831002e-02 -4.86767560e-04 9.99890606e-01 4.34889555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.739254154 meters 0.022578416750750712 Centerline is valid? [True, True] Translation: X:653.72, Y:8.43, Z:4.35 [[ 9.98404688e-01 -5.48977165e-02 -1.32030059e-02 6.53716624e+02] [ 5.48999090e-02 9.98491843e-01 -1.96588752e-04 8.43099844e+00] [ 1.31938860e-02 -5.28568691e-04 9.99912817e-01 4.34994356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.799254154 meters 0.026121299760727756 Centerline is valid? [True, True] Translation: X:653.78, Y:8.43, Z:4.35 [[ 9.98164542e-01 -5.90695057e-02 -1.33544092e-02 6.53776508e+02] [ 5.90721226e-02 9.98253698e-01 -1.98762347e-04 8.42682127e+00] [ 1.33428291e-02 -5.90475767e-04 9.99910806e-01 4.35024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.859254154 meters 0.026400920146619503 Centerline is valid? [True, True] Translation: X:653.84, Y:8.43, Z:4.35 [[ 9.97788624e-01 -6.51803013e-02 -1.30149835e-02 6.53837377e+02] [ 6.51833055e-02 9.97873288e-01 -1.93690653e-04 8.42634497e+00] [ 1.29999292e-02 -6.55097315e-04 9.99915283e-01 4.35131560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.919254154 meters 0.029060055094007317 Centerline is valid? [True, True] Translation: X:653.90, Y:8.42, Z:4.35 [[ 9.97488990e-01 -6.92221593e-02 -1.49668900e-02 6.53897016e+02] [ 6.92265862e-02 9.97600937e-01 -2.22718925e-04 8.42316506e+00] [ 1.49464005e-02 -8.13947023e-04 9.99887965e-01 4.34975653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters 0.026406847404303747 Centerline is valid? [True, True] Translation: X:653.96, Y:8.43, Z:4.35 [[ 9.97444540e-01 -6.96257592e-02 -1.60200923e-02 6.53958970e+02] [ 6.96308943e-02 9.97572795e-01 -2.37696575e-04 8.42887769e+00] [ 1.59977581e-02 -8.78404205e-04 9.99871642e-01 4.35011607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.039254154 meters 0.024678229209892818 Centerline is valid? [True, True] Translation: X:654.02, Y:8.44, Z:4.35 [[ 9.97788800e-01 -6.41900927e-02 -1.72378495e-02 6.54019283e+02] [ 6.41952396e-02 9.97937326e-01 -2.55161475e-04 8.43730964e+00] [ 1.72186723e-02 -8.51990617e-04 9.99851385e-01 4.35035334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters 0.022499157489694416 Centerline is valid? [True, True] Translation: X:654.08, Y:8.45, Z:4.35 [[ 9.98260502e-01 -5.61667653e-02 -1.79238370e-02 6.54079471e+02] [ 5.61710395e-02 9.98421126e-01 -2.65281470e-04 8.44630767e+00] [ 1.79104375e-02 -7.41980541e-04 9.99839320e-01 4.35023385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.159254154 meters 0.022041052023765006 Centerline is valid? [True, True] Translation: X:654.14, Y:8.45, Z:4.35 [[ 9.98557988e-01 -5.02231727e-02 -1.89625255e-02 6.54139763e+02] [ 5.02268864e-02 9.98737794e-01 -2.80658836e-04 8.45294120e+00] [ 1.89526864e-02 -6.72174491e-04 9.99820156e-01 4.34984116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters 0.01972813599701317 Centerline is valid? [True, True] Translation: X:654.20, Y:8.46, Z:4.35 [[ 9.98893072e-01 -4.31514270e-02 -1.87239318e-02 6.54200428e+02] [ 4.31538106e-02 9.99068402e-01 -2.76908239e-04 8.46308895e+00] [ 1.87184377e-02 -5.31407286e-04 9.99824653e-01 4.35092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.279254154 meters 0.01616228855403747 Centerline is valid? [True, True] Translation: X:654.26, Y:8.47, Z:4.35 [[ 9.99202327e-01 -3.60543113e-02 -1.71696296e-02 6.54261017e+02] [ 3.60552734e-02 9.99349765e-01 -2.53613694e-04 8.47246840e+00] [ 1.71676092e-02 -3.65644298e-04 9.99852559e-01 4.35423166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters 0.014754012893241457 Centerline is valid? [True, True] Translation: X:654.32, Y:8.48, Z:4.36 [[ 9.99482593e-01 -2.72113148e-02 -1.71490504e-02 6.54322550e+02] [ 2.72109852e-02 9.99629681e-01 -2.52600107e-04 8.48147254e+00] [ 1.71495733e-02 -2.14173146e-04 9.99852912e-01 4.35503543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.399254154 meters 0.014072555111360293 Centerline is valid? [True, True] Translation: X:654.38, Y:8.49, Z:4.36 [[ 9.99736320e-01 -1.63353085e-02 -1.61383867e-02 6.54382015e+02] [ 1.63336023e-02 9.99866570e-01 -2.37531915e-04 8.49080655e+00] [ 1.61401135e-02 -2.61287083e-05 9.99869740e-01 4.35536665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters 0.014212996817533304 Centerline is valid? [True, True] Translation: X:654.44, Y:8.50, Z:4.36 [[ 9.99810416e-01 -1.11049153e-02 -1.59941704e-02 6.54440262e+02] [ 1.11025309e-02 9.99938337e-01 -2.37871641e-04 8.49585127e+00] [ 1.59958257e-02 6.02507743e-05 9.99872057e-01 4.35572801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.519254154 meters 0.014630647671782461 Centerline is valid? [True, True] Translation: X:654.50, Y:8.50, Z:4.36 [[ 9.99853877e-01 -6.13125343e-03 -1.59572092e-02 6.54499304e+02] [ 6.12818185e-03 9.99981193e-01 -2.41379375e-04 8.49891885e+00] [ 1.59583891e-02 1.43555424e-04 9.99872646e-01 4.35559038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters 0.014958590670135866 Centerline is valid? [True, True] Translation: X:654.56, Y:8.50, Z:4.35 [[ 9.99856015e-01 -6.56052623e-03 -1.56495700e-02 6.54557190e+02] [ 6.55755774e-03 9.99978470e-01 -2.40993121e-04 8.49948218e+00] [ 1.56508141e-02 1.38335462e-04 9.99877509e-01 4.35497854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.639254154 meters 0.014276503446611043 Centerline is valid? [True, True] Translation: X:654.62, Y:8.50, Z:4.35 [[ 9.99791906e-01 -1.11355906e-02 -1.70922292e-02 6.54616045e+02] [ 1.11326688e-02 9.99937995e-01 -2.66083864e-04 8.49521893e+00] [ 1.70941324e-02 7.57463660e-05 9.99853882e-01 4.35450170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters 0.013990328496219532 Centerline is valid? [True, True] Translation: X:654.67, Y:8.49, Z:4.35 [[ 9.99688946e-01 -1.83374110e-02 -1.69041569e-02 6.54674472e+02] [ 1.83355620e-02 9.99831855e-01 -2.64373892e-04 8.48765756e+00] [ 1.69061624e-02 -4.56555583e-05 9.99857080e-01 4.35476056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.759254154 meters 0.014088742372072076 Centerline is valid? [True, True] Translation: X:654.73, Y:8.48, Z:4.36 [[ 9.99616111e-01 -2.27967658e-02 -1.57460315e-02 6.54732980e+02] [ 2.27956717e-02 9.99740114e-01 -2.48987707e-04 8.48317711e+00] [ 1.57476154e-02 -1.10049240e-04 9.99875993e-01 4.35664404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters 0.014623496069327222 Centerline is valid? [True, True] Translation: X:654.79, Y:8.48, Z:4.36 [[ 9.99544098e-01 -2.65832753e-02 -1.43152258e-02 6.54792616e+02] [ 2.65827332e-02 9.99646591e-01 -2.28180798e-04 8.47652232e+00] [ 1.43162325e-02 -1.52461059e-04 9.99897506e-01 4.35858650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.879254154 meters 0.015616827265711508 Centerline is valid? [True, True] Translation: X:654.85, Y:8.47, Z:4.36 [[ 9.99531508e-01 -2.62781077e-02 -1.56915817e-02 6.54853900e+02] [ 2.62774197e-02 9.99654658e-01 -2.50058417e-04 8.47450902e+00] [ 1.56927338e-02 -1.62393011e-04 9.99876848e-01 4.35773222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.939254154 meters 0.014615197468314866 Centerline is valid? [True, True] Translation: X:654.91, Y:8.47, Z:4.36 [[ 9.99557879e-01 -2.45761694e-02 -1.67349644e-02 6.54914556e+02] [ 2.45751528e-02 9.99697950e-01 -2.66420550e-04 8.47193331e+00] [ 1.67364572e-02 -1.44961548e-04 9.99859925e-01 4.35793673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.999254154 meters 0.014319861570573392 Centerline is valid? [True, True] Translation: X:654.97, Y:8.47, Z:4.36 [[ 9.99644291e-01 -2.00759649e-02 -1.75569959e-02 6.54974467e+02] [ 2.00741449e-02 9.99798455e-01 -2.79907628e-04 8.47212429e+00] [ 1.75590768e-02 -7.26336188e-05 9.99845825e-01 4.35848507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.059254154 meters 0.014442846616837979 Centerline is valid? [True, True] Translation: X:655.03, Y:8.47, Z:4.36 [[ 9.99732852e-01 -1.41078734e-02 -1.83082390e-02 6.55033577e+02] [ 1.41048341e-02 9.99900478e-01 -2.95130585e-04 8.47387979e+00] [ 1.83105806e-02 3.68170669e-05 9.99832347e-01 4.35836754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.119254154 meters 0.014644358640902192 Centerline is valid? [True, True] Translation: X:655.09, Y:8.47, Z:4.36 [[ 9.99787700e-01 -1.02258132e-02 -1.78881819e-02 6.55092017e+02] [ 1.02222079e-02 9.99947709e-01 -2.92972249e-04 8.47439697e+00] [ 1.78902424e-02 1.10053336e-04 9.99839951e-01 4.35893778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.179254154 meters 0.01499386677060484 Centerline is valid? [True, True] Translation: X:655.15, Y:8.47, Z:4.36 [[ 9.99825492e-01 -7.66663905e-03 -1.70355145e-02 6.55149418e+02] [ 7.66295324e-03 9.99970600e-01 -2.81626448e-04 8.47211032e+00] [ 1.70371728e-02 1.51034951e-04 9.99854845e-01 4.35919227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.239254154 meters 0.01479926141562001 Centerline is valid? [True, True] Translation: X:655.21, Y:8.47, Z:4.36 [[ 9.99787125e-01 -1.15364884e-02 -1.71059833e-02 6.55207892e+02] [ 1.15333148e-02 9.99933449e-01 -2.84172868e-04 8.46630708e+00] [ 1.71081232e-02 8.68236847e-05 9.99853642e-01 4.35967141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.299254154 meters 0.014898332545976384 Centerline is valid? [True, True] Translation: X:655.27, Y:8.46, Z:4.36 [[ 9.99627402e-01 -2.05527202e-02 -1.79622447e-02 6.55265996e+02] [ 2.05506469e-02 9.99788768e-01 -3.00017062e-04 8.45545601e+00] [ 1.79646167e-02 -6.92304728e-05 9.99838621e-01 4.35870716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.359254154 meters 0.01565710735309491 Centerline is valid? [True, True] Translation: X:655.32, Y:8.45, Z:4.36 [[ 9.99415682e-01 -2.84331592e-02 -1.89696955e-02 6.55324931e+02] [ 2.84322359e-02 9.99595672e-01 -3.18426756e-04 8.44657355e+00] [ 1.89710794e-02 -2.21110163e-04 9.99820008e-01 4.35921032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.419254154 meters 0.01752389657411394 Centerline is valid? [True, True] Translation: X:655.38, Y:8.44, Z:4.36 [[ 9.99153380e-01 -3.66110902e-02 -1.87656753e-02 6.55383815e+02] [ 3.66116069e-02 9.99329520e-01 -3.16129057e-04 8.43682518e+00] [ 1.87646672e-02 -3.71180114e-04 9.99823859e-01 4.35928593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters 0.019187287282826027 Centerline is valid? [True, True] Translation: X:655.44, Y:8.43, Z:4.36 [[ 9.98907186e-01 -4.28732555e-02 -1.86095943e-02 6.55444639e+02] [ 4.28748428e-02 9.99080402e-01 -3.13856256e-04 8.42921269e+00] [ 1.86059370e-02 -4.84370160e-04 9.99826777e-01 4.36012550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.539254154 meters 0.021546058136563306 Centerline is valid? [True, True] Translation: X:655.51, Y:8.42, Z:4.36 [[ 9.98657100e-01 -4.87988088e-02 -1.73974699e-02 6.55505407e+02] [ 4.88010974e-02 9.98808474e-01 -2.93225809e-04 8.42078198e+00] [ 1.73910494e-02 -5.56183587e-04 9.99848610e-01 4.36132743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters 0.019950684621785297 Centerline is valid? [True, True] Translation: X:655.57, Y:8.42, Z:4.36 [[ 9.98603518e-01 -4.99937761e-02 -1.70773600e-02 6.55567931e+02] [ 4.99961709e-02 9.98749368e-01 -2.86939111e-04 8.42138589e+00] [ 1.70703477e-02 -5.67264201e-04 9.99854130e-01 4.36350287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.659254154 meters 0.019748955458054707 Centerline is valid? [True, True] Translation: X:655.63, Y:8.42, Z:4.36 [[ 9.98675549e-01 -4.85389056e-02 -1.70623090e-02 6.55629048e+02] [ 4.85410991e-02 9.98821145e-01 -2.85804374e-04 8.42067012e+00] [ 1.70560677e-02 -5.42797393e-04 9.99854387e-01 4.36413869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters 0.019908092121363335 Centerline is valid? [True, True] Translation: X:655.69, Y:8.42, Z:4.36 [[ 9.98789333e-01 -4.63095163e-02 -1.65920534e-02 6.55689026e+02] [ 4.63112901e-02 9.98927018e-01 -2.77509089e-04 8.42116725e+00] [ 1.65871017e-02 -4.91226280e-04 9.99862304e-01 4.36493082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.779254154 meters 0.01972919019044146 Centerline is valid? [True, True] Translation: X:655.75, Y:8.42, Z:4.37 [[ 9.98808654e-01 -4.54697090e-02 -1.77137861e-02 6.55750618e+02] [ 4.54716082e-02 9.98965588e-01 -2.95748909e-04 8.42235558e+00] [ 1.77089104e-02 -5.10077771e-04 9.99843055e-01 4.36521826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters 0.019618841594139985 Centerline is valid? [True, True] Translation: X:655.81, Y:8.42, Z:4.36 [[ 9.98767660e-01 -4.56587871e-02 -1.94534322e-02 6.55812186e+02] [ 4.56611276e-02 9.98956934e-01 -3.24075894e-04 8.42292613e+00] [ 1.94479379e-02 -5.64589128e-04 9.99810712e-01 4.36418928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.899254154 meters 0.020059121822617258 Centerline is valid? [True, True] Translation: X:655.87, Y:8.42, Z:4.36 [[ 9.98723496e-01 -4.59423905e-02 -2.09922849e-02 6.55872566e+02] [ 4.59451842e-02 9.98943901e-01 -3.49452944e-04 8.42338047e+00] [ 2.09861697e-02 -6.15487532e-04 9.99779577e-01 4.36280546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters 0.017586125963091184 Centerline is valid? [True, True] Translation: X:655.93, Y:8.43, Z:4.36 [[ 9.98811209e-01 -4.33947992e-02 -2.22049366e-02 6.55932777e+02] [ 4.33972962e-02 9.99057825e-01 -3.69639632e-04 8.42917549e+00] [ 2.22000561e-02 -5.94434004e-04 9.99753372e-01 4.36436176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.019254154 meters 0.017171307367492963 Centerline is valid? [True, True] Translation: X:655.99, Y:8.43, Z:4.37 [[ 9.99122512e-01 -3.63806945e-02 -2.07521452e-02 6.55992136e+02] [ 3.63813574e-02 9.99337919e-01 -3.45715078e-04 8.43477365e+00] [ 2.07509829e-02 -4.09579493e-04 9.99784591e-01 4.36622160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters 0.015233697302811636 Centerline is valid? [True, True] Translation: X:656.05, Y:8.44, Z:4.37 [[ 9.99400216e-01 -2.97810291e-02 -1.76719950e-02 6.56052373e+02] [ 2.97804726e-02 9.99556420e-01 -2.94708613e-04 8.44120728e+00] [ 1.76729328e-02 -2.31748513e-04 9.99843795e-01 4.36887546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.139254154 meters 0.014545004619420761 Centerline is valid? [True, True] Translation: X:656.11, Y:8.44, Z:4.37 [[ 9.99537236e-01 -2.61014190e-02 -1.56214263e-02 6.56112087e+02] [ 2.61005280e-02 9.99659289e-01 -2.60944683e-04 8.44425557e+00] [ 1.56229149e-02 -1.46903546e-04 9.99877944e-01 4.36984131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters 0.01468840384118652 Centerline is valid? [True, True] Translation: X:656.17, Y:8.45, Z:4.37 [[ 9.99630510e-01 -2.25845289e-02 -1.51255450e-02 6.56171335e+02] [ 2.25832851e-02 9.99744933e-01 -2.53047863e-04 8.44724341e+00] [ 1.51274019e-02 -8.86301310e-05 9.99885570e-01 4.36981491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.259254154 meters 0.014431512212029025 Centerline is valid? [True, True] Translation: X:656.23, Y:8.45, Z:4.37 [[ 9.99624972e-01 -2.27662304e-02 -1.52188602e-02 6.56230514e+02] [ 2.27649573e-02 9.99740812e-01 -2.56906321e-04 8.44740964e+00] [ 1.52207645e-02 -8.96467291e-05 9.99884153e-01 4.36993457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters 0.015594186509994331 Centerline is valid? [True, True] Translation: X:656.29, Y:8.44, Z:4.37 [[ 9.99535993e-01 -2.64445842e-02 -1.51156514e-02 6.56289613e+02] [ 2.64436907e-02 9.99650271e-01 -2.59015311e-04 8.44222303e+00] [ 1.51172146e-02 -1.40818484e-04 9.99885718e-01 4.37005041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.379254154 meters 0.015758474827575256 Centerline is valid? [True, True] Translation: X:656.35, Y:8.44, Z:4.37 [[ 9.99435432e-01 -2.99408439e-02 -1.52434411e-02 6.56349370e+02] [ 2.99403107e-02 9.99551654e-01 -2.63240675e-04 8.43832382e+00] [ 1.52444884e-02 -1.93301305e-04 9.99883777e-01 4.36911466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.439254154 meters 0.01628245554519712 Centerline is valid? [True, True] Translation: X:656.41, Y:8.43, Z:4.37 [[ 9.99223664e-01 -3.59782400e-02 -1.60510026e-02 6.56410190e+02] [ 3.59784233e-02 9.99352528e-01 -2.77441341e-04 8.43150825e+00] [ 1.60505918e-02 -3.00263811e-04 9.99871136e-01 4.36721937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.499254154 meters 0.01706610017417657 Centerline is valid? [True, True] Translation: X:656.47, Y:8.43, Z:4.37 [[ 9.99047426e-01 -4.06113381e-02 -1.59674542e-02 6.56471015e+02] [ 4.06121107e-02 9.99174950e-01 -2.75997208e-04 8.42773239e+00] [ 1.59654888e-02 -3.72737717e-04 9.99872474e-01 4.36785591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.559254154 meters 0.0202184530978021 Centerline is valid? [True, True] Translation: X:656.53, Y:8.42, Z:4.37 [[ 9.98835866e-01 -4.57794660e-02 -1.52037125e-02 6.56531561e+02] [ 4.57807689e-02 9.98951476e-01 -2.62508716e-04 8.42031790e+00] [ 1.51997886e-02 -4.33834529e-04 9.99884382e-01 4.36789312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.619254154 meters 0.022512732887638765 Centerline is valid? [True, True] Translation: X:656.59, Y:8.42, Z:4.37 [[ 9.98658061e-01 -5.00706352e-02 -1.32290601e-02 6.56591392e+02] [ 5.00720003e-02 9.98745585e-01 -2.28216738e-04 8.41607251e+00] [ 1.32238923e-02 -4.34495015e-04 9.99912466e-01 4.36949418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.679254154 meters 0.02596448328613171 Centerline is valid? [True, True] Translation: X:656.65, Y:8.41, Z:4.37 [[ 9.98346827e-01 -5.61396910e-02 -1.23267133e-02 6.56652684e+02] [ 5.61413392e-02 9.98422809e-01 -2.12558673e-04 8.41020420e+00] [ 1.23192047e-02 -4.79830915e-04 9.99924001e-01 4.36997300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.739254154 meters 0.023568731073871176 Centerline is valid? [True, True] Translation: X:656.71, Y:8.41, Z:4.37 [[ 9.98018330e-01 -6.17416081e-02 -1.21402740e-02 6.56713722e+02] [ 6.17436228e-02 9.98092020e-01 -2.09138698e-04 8.41445689e+00] [ 1.21300231e-02 -5.40860243e-04 9.99926282e-01 4.37061668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.799254154 meters 0.025023547881534342 Centerline is valid? [True, True] Translation: X:656.78, Y:8.41, Z:4.37 [[ 9.97838255e-01 -6.45299910e-02 -1.24377248e-02 6.56775333e+02] [ 6.45323259e-02 9.97915594e-01 -2.13929413e-04 8.41459702e+00] [ 1.24256044e-02 -5.89168361e-04 9.99922626e-01 4.37109074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.859254154 meters 0.031616024113162645 Centerline is valid? [True, True] Translation: X:656.84, Y:8.41, Z:4.37 [[ 9.97627374e-01 -6.75218611e-02 -1.34320990e-02 6.56835922e+02] [ 6.75248600e-02 9.97717565e-01 -2.30645249e-04 8.40756530e+00] [ 1.34170147e-02 -6.76902591e-04 9.99909759e-01 4.37009017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.919254154 meters 0.02920798331972119 Centerline is valid? [True, True] Translation: X:656.90, Y:8.42, Z:4.37 [[ 9.97640335e-01 -6.72945292e-02 -1.36091207e-02 6.56898348e+02] [ 6.72975950e-02 9.97732920e-01 -2.33069723e-04 8.41545773e+00] [ 1.35939520e-02 -6.83341334e-04 9.99907364e-01 4.37061886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters 0.026526057740654863 Centerline is valid? [True, True] Translation: X:656.96, Y:8.42, Z:4.37 [[ 9.97768596e-01 -6.54228740e-02 -1.33295590e-02 6.56959353e+02] [ 6.54256580e-02 9.97857420e-01 -2.27572759e-04 8.42315447e+00] [ 1.33158878e-02 -6.45030215e-04 9.99911132e-01 4.37170151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.039254154 meters 0.023366899206938886 Centerline is valid? [True, True] Translation: X:657.02, Y:8.43, Z:4.37 [[ 9.98049723e-01 -6.06692921e-02 -1.46965320e-02 6.57020118e+02] [ 6.06721687e-02 9.98157716e-01 -2.50455091e-04 8.43257297e+00] [ 1.46846518e-02 -6.41703836e-04 9.99891969e-01 4.37091735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters 0.024198795269108783 Centerline is valid? [True, True] Translation: X:657.08, Y:8.44, Z:4.37 [[ 9.98228828e-01 -5.74476967e-02 -1.54586174e-02 6.57080833e+02] [ 5.74505013e-02 9.98348321e-01 -2.62958556e-04 8.43597736e+00] [ 1.54481911e-02 -6.25612510e-04 9.99880474e-01 4.37072566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.159254154 meters 0.021063382093295342 Centerline is valid? [True, True] Translation: X:657.14, Y:8.45, Z:4.37 [[ 9.98603300e-01 -5.08800978e-02 -1.42360409e-02 6.57141084e+02] [ 5.08818141e-02 9.98704652e-01 -2.41847479e-04 8.44823129e+00] [ 1.42299055e-02 -4.82845897e-04 9.99898633e-01 4.37290485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters 0.01783937750789075 Centerline is valid? [True, True] Translation: X:657.20, Y:8.46, Z:4.38 [[ 9.99069395e-01 -4.10963748e-02 -1.30932296e-02 6.57201706e+02] [ 4.10969878e-02 9.99155137e-01 -2.22349103e-04 8.46179120e+00] [ 1.30913054e-02 -3.15950113e-04 9.99914255e-01 4.37533122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.279254154 meters 0.0156926193425092 Centerline is valid? [True, True] Translation: X:657.26, Y:8.47, Z:4.38 [[ 9.99447445e-01 -3.08739127e-02 -1.23128239e-02 6.57261294e+02] [ 3.08736792e-02 9.99523272e-01 -2.09085994e-04 8.47264754e+00] [ 1.23134093e-02 -1.71171713e-04 9.99924172e-01 4.37544596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters 0.015073667174997281 Centerline is valid? [True, True] Translation: X:657.32, Y:8.48, Z:4.38 [[ 9.99524245e-01 -2.83497212e-02 -1.21481475e-02 6.57322310e+02] [ 2.83493098e-02 9.99598056e-01 -2.06100657e-04 8.47719723e+00] [ 1.21491075e-02 -1.38388994e-04 9.99926187e-01 4.37581941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.399254154 meters 0.014518391776729164 Centerline is valid? [True, True] Translation: X:657.38, Y:8.48, Z:4.37 [[ 9.99564837e-01 -2.56624585e-02 -1.45455840e-02 6.57383762e+02] [ 2.56615924e-02 9.99670657e-01 -2.46213505e-04 8.48393114e+00] [ 1.45471120e-02 -1.27156486e-04 9.99894177e-01 4.37409124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters 0.015516744102763921 Centerline is valid? [True, True] Translation: X:657.44, Y:8.48, Z:4.37 [[ 9.99413585e-01 -2.95790553e-02 -1.72501060e-02 6.57444388e+02] [ 2.95784254e-02 9.99562420e-01 -2.91706674e-04 8.48395530e+00] [ 1.72511861e-02 -2.18695361e-04 9.99851163e-01 4.37267379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.519254154 meters 0.01695695638018878 Centerline is valid? [True, True] Translation: X:657.50, Y:8.48, Z:4.37 [[ 9.99190782e-01 -3.69037950e-02 -1.59965816e-02 6.57504247e+02] [ 3.69041862e-02 9.99318772e-01 -2.70834375e-04 8.47980868e+00] [ 1.59956791e-02 -3.19725616e-04 9.99872010e-01 4.37378340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters 0.018661588590785066 Centerline is valid? [True, True] Translation: X:657.57, Y:8.48, Z:4.38 [[ 9.98984596e-01 -4.27917170e-02 -1.40941565e-02 6.57565148e+02] [ 4.27926070e-02 9.99083948e-01 -2.38565317e-04 8.47772704e+00] [ 1.40914542e-02 -3.64802625e-04 9.99900644e-01 4.37535393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.639254154 meters 0.021212755821194168 Centerline is valid? [True, True] Translation: X:657.63, Y:8.47, Z:4.38 [[ 9.98812162e-01 -4.71483228e-02 -1.23004740e-02 6.57625134e+02] [ 4.71493391e-02 9.98887830e-01 -2.07508550e-04 8.47361828e+00] [ 1.22965774e-02 -3.72697155e-04 9.99924325e-01 4.37572972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters 0.022356131986283074 Centerline is valid? [True, True] Translation: X:657.69, Y:8.47, Z:4.38 [[ 9.98698930e-01 -4.94410733e-02 -1.24910648e-02 6.57687148e+02] [ 4.94423129e-02 9.98776959e-01 -2.09736494e-04 8.47211617e+00] [ 1.24861573e-02 -4.08123523e-04 9.99921962e-01 4.37574785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.759254154 meters 0.024347244807039793 Centerline is valid? [True, True] Translation: X:657.75, Y:8.47, Z:4.37 [[ 9.98552775e-01 -5.21478910e-02 -1.31511624e-02 6.57748413e+02] [ 5.21495137e-02 9.98639264e-01 -2.19740396e-04 8.46965471e+00] [ 1.31447262e-02 -4.66404343e-04 9.99913496e-01 4.37483664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters 0.024832910728256136 Centerline is valid? [True, True] Translation: X:657.81, Y:8.47, Z:4.37 [[ 9.98553351e-01 -5.20345615e-02 -1.35502602e-02 6.57811097e+02] [ 5.20362886e-02 9.98645169e-01 -2.25313392e-04 8.46909401e+00] [ 1.35436259e-02 -4.80117806e-04 9.99908166e-01 4.37415512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.879254154 meters 0.01996547048279061 Centerline is valid? [True, True] Translation: X:657.87, Y:8.48, Z:4.37 [[ 9.98881656e-01 -4.52377124e-02 -1.37472426e-02 6.57871948e+02] [ 4.52388549e-02 9.98976173e-01 -2.28010770e-04 8.47792273e+00] [ 1.37434825e-02 -3.94153738e-04 9.99905476e-01 4.37473661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.939254154 meters 0.016118445794617724 Centerline is valid? [True, True] Translation: X:657.93, Y:8.49, Z:4.38 [[ 9.99361917e-01 -3.32591596e-02 -1.30225948e-02 6.57932186e+02] [ 3.32591696e-02 9.99446737e-01 -2.15863630e-04 8.49022378e+00] [ 1.30225693e-02 -2.17394798e-04 9.99915179e-01 4.37634845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.999254154 meters 0.01447857538900927 Centerline is valid? [True, True] Translation: X:657.99, Y:8.50, Z:4.38 [[ 9.99683025e-01 -2.22070972e-02 -1.18614975e-02 6.57993726e+02] [ 2.22063309e-02 9.99753390e-01 -1.96318556e-04 8.49967320e+00] [ 1.18629320e-02 -6.71440106e-05 9.99929631e-01 4.37700835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.059254154 meters 0.014687451672900795 Centerline is valid? [True, True] Translation: X:658.05, Y:8.50, Z:4.38 [[ 9.99713538e-01 -2.01379260e-02 -1.29346669e-02 6.58054024e+02] [ 2.01368468e-02 9.99797210e-01 -2.13679499e-04 8.50231045e+00] [ 1.29363469e-02 -4.68451172e-05 9.99916321e-01 4.37671637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.119254154 meters 0.015447652510656669 Centerline is valid? [True, True] Translation: X:658.11, Y:8.50, Z:4.38 [[ 9.99591215e-01 -2.48518998e-02 -1.41345791e-02 6.58113839e+02] [ 2.48510803e-02 9.99691137e-01 -2.33636625e-04 8.49878388e+00] [ 1.41360197e-02 -1.17718442e-04 9.99900075e-01 4.37519007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.179254154 meters 0.01763121832112032 Centerline is valid? [True, True] Translation: X:658.17, Y:8.49, Z:4.37 [[ 9.99188758e-01 -3.75619620e-02 -1.45232329e-02 6.58173171e+02] [ 3.75624377e-02 9.99294254e-01 -2.40122115e-04 8.48556926e+00] [ 1.45220027e-02 -3.05600714e-04 9.99894503e-01 4.37408861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.239254154 meters 0.020128368966146178 Centerline is valid? [True, True] Translation: X:658.23, Y:8.48, Z:4.38 [[ 9.98688863e-01 -4.92110275e-02 -1.41007321e-02 6.58233539e+02] [ 4.92126365e-02 9.98788297e-01 -2.33067970e-04 8.47696433e+00] [ 1.40951157e-02 -4.61171819e-04 9.99900553e-01 4.37545748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.299254154 meters 0.022176716432842386 Centerline is valid? [True, True] Translation: X:658.29, Y:8.47, Z:4.38 [[ 9.98339867e-01 -5.62191959e-02 -1.25264220e-02 6.58294747e+02] [ 5.62210183e-02 9.98418326e-01 -2.06888996e-04 8.47186540e+00] [ 1.25182404e-02 -4.97702665e-04 9.99921520e-01 4.37708314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.359254154 meters 0.02675438468230243 Centerline is valid? [True, True] Translation: X:658.35, Y:8.46, Z:4.38 [[ 9.98159560e-01 -5.99154993e-02 -9.36088552e-03 6.58354673e+02] [ 5.99166803e-02 9.98203370e-01 -1.54481247e-04 8.46269565e+00] [ 9.35332329e-03 -4.06676252e-04 9.99956174e-01 4.37857801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.419254154 meters 0.029611659640614196 Centerline is valid? [True, True] Translation: X:658.41, Y:8.46, Z:4.38 [[ 9.97960049e-01 -6.34161912e-02 -7.35709206e-03 6.58414347e+02] [ 6.34170156e-02 9.97987108e-01 -1.21412953e-04 8.45855201e+00] [ 7.34998258e-03 -3.45399545e-04 9.99972929e-01 4.37986275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters 0.026503349178385045 Centerline is valid? [True, True] Translation: X:658.48, Y:8.46, Z:4.38 [[ 9.97670884e-01 -6.76256743e-02 -8.92054959e-03 6.58475287e+02] [ 6.76270545e-02 9.97710659e-01 -1.47173823e-04 8.46396543e+00] [ 8.91008015e-03 -4.56439456e-04 9.99960200e-01 4.37888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.539254154 meters 0.027167981366244234 Centerline is valid? [True, True] Translation: X:658.54, Y:8.46, Z:4.38 [[ 9.97480665e-01 -7.00707115e-02 -1.10642565e-02 6.58536060e+02] [ 7.00729874e-02 9.97541850e-01 -1.82308014e-04 8.46456048e+00] [ 1.10498334e-02 -5.93456790e-04 9.99938773e-01 4.37724038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters 0.025882505426120257 Centerline is valid? [True, True] Translation: X:658.60, Y:8.47, Z:4.38 [[ 9.97616072e-01 -6.80306424e-02 -1.15760452e-02 6.58597206e+02] [ 6.80330004e-02 9.97683053e-01 -1.90429216e-04 8.47044357e+00] [ 1.15621791e-02 -5.97577841e-04 9.99932977e-01 4.37690244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.659254154 meters 0.02686885443018449 Centerline is valid? [True, True] Translation: X:658.66, Y:8.47, Z:4.38 [[ 9.97869594e-01 -6.39119496e-02 -1.30971635e-02 6.58656670e+02] [ 6.39146163e-02 9.97955347e-01 -2.15284666e-04 8.47291517e+00] [ 1.30841436e-02 -6.22274157e-04 9.99914205e-01 4.37585883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters 0.022089997050450876 Centerline is valid? [True, True] Translation: X:658.72, Y:8.49, Z:4.38 [[ 9.98435718e-01 -5.42193514e-02 -1.36520963e-02 6.58717339e+02] [ 5.42213438e-02 9.98528916e-01 -2.24420273e-04 8.48727208e+00] [ 1.36441808e-02 -5.16165789e-04 9.99906781e-01 4.37638126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.779254154 meters 0.02039081282709952 Centerline is valid? [True, True] Translation: X:658.78, Y:8.50, Z:4.38 [[ 9.98993492e-01 -4.28058831e-02 -1.34037379e-02 6.58777767e+02] [ 4.28067782e-02 9.99083346e-01 -2.20238054e-04 8.50029042e+00] [ 1.34008788e-02 -3.53754454e-04 9.99910142e-01 4.37635938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters 0.015779044008990734 Centerline is valid? [True, True] Translation: X:658.84, Y:8.51, Z:4.38 [[ 9.99335024e-01 -3.41287215e-02 -1.28351423e-02 6.58838361e+02] [ 3.41288281e-02 9.99417420e-01 -2.10791847e-04 8.51282164e+00] [ 1.28348588e-02 -2.27396689e-04 9.99917604e-01 4.37910320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.899254154 meters 0.014698909473052831 Centerline is valid? [True, True] Translation: X:658.90, Y:8.52, Z:4.38 [[ 9.99577003e-01 -2.67006292e-02 -1.15278808e-02 6.58900198e+02] [ 2.67002255e-02 9.99643468e-01 -1.88949250e-04 8.52218166e+00] [ 1.15288158e-02 -1.18927693e-04 9.99933534e-01 4.38028995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters 0.014181341595899205 Centerline is valid? [True, True] Translation: X:658.96, Y:8.53, Z:4.38 [[ 9.99662495e-01 -2.32506139e-02 -1.15890317e-02 6.58961018e+02] [ 2.32499803e-02 9.99729665e-01 -1.89408884e-04 8.52736361e+00] [ 1.15903026e-02 -8.00998015e-05 9.99932827e-01 4.38052232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.019254154 meters 0.014076356859972517 Centerline is valid? [True, True] Translation: X:659.02, Y:8.53, Z:4.38 [[ 9.99661080e-01 -2.33624976e-02 -1.14856200e-02 6.59021843e+02] [ 2.33618874e-02 9.99727056e-01 -1.87305361e-04 8.52966856e+00] [ 1.14868610e-02 -8.10838818e-05 9.99934021e-01 4.38114862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters 0.014222654810065774 Centerline is valid? [True, True] Translation: X:659.08, Y:8.53, Z:4.38 [[ 9.99575519e-01 -2.66452000e-02 -1.17819660e-02 6.59082744e+02] [ 2.66447922e-02 9.99644946e-01 -1.91606682e-04 8.52868143e+00] [ 1.17828882e-02 -1.22402689e-04 9.99930572e-01 4.38106653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.139254154 meters 0.014884723429573476 Centerline is valid? [True, True] Translation: X:659.15, Y:8.53, Z:4.38 [[ 9.99415636e-01 -3.21500190e-02 -1.16087703e-02 6.59145367e+02] [ 3.21500028e-02 9.99483037e-01 -1.88062816e-04 8.52625419e+00] [ 1.16088152e-02 -1.85269078e-04 9.99932598e-01 4.38114033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters 0.017996896952490064 Centerline is valid? [True, True] Translation: X:659.21, Y:8.52, Z:4.38 [[ 9.99374505e-01 -3.33382393e-02 -1.17966613e-02 6.59206242e+02] [ 3.33383146e-02 9.99444106e-01 -1.90316871e-04 8.52458577e+00] [ 1.17964485e-02 -2.03082979e-04 9.99930399e-01 4.37958734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.259254154 meters 0.016233433126129286 Centerline is valid? [True, True] Translation: X:659.27, Y:8.52, Z:4.38 [[ 9.99182002e-01 -3.90829726e-02 -1.03849792e-02 6.59268744e+02] [ 3.90833473e-02 9.99235940e-01 -1.66942548e-04 8.52064160e+00] [ 1.03835690e-02 -2.39073758e-04 9.99946061e-01 4.38178470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters 0.01800986228678829 Centerline is valid? [True, True] Translation: X:659.33, Y:8.52, Z:4.38 [[ 9.99019882e-01 -4.29641227e-02 -1.06470737e-02 6.59331188e+02] [ 4.29647453e-02 9.99076574e-01 -1.70354503e-04 8.51720713e+00] [ 1.06445610e-02 -2.87261274e-04 9.99943304e-01 4.38137908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.379254154 meters 0.01846475550315458 Centerline is valid? [True, True] Translation: X:659.39, Y:8.51, Z:4.38 [[ 9.98934006e-01 -4.49387058e-02 -1.05529724e-02 6.59393173e+02] [ 4.49394356e-02 9.98989699e-01 -1.68081464e-04 8.51491299e+00] [ 1.05498641e-02 -3.06342333e-04 9.99944302e-01 4.38183704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.439254154 meters 0.017842185530826313 Centerline is valid? [True, True] Translation: X:659.46, Y:8.52, Z:4.38 [[ 9.98905760e-01 -4.53980032e-02 -1.12385035e-02 6.59455502e+02] [ 4.53988696e-02 9.98968924e-01 -1.78147002e-04 8.51623457e+00] [ 1.12350032e-02 -3.32263286e-04 9.99936830e-01 4.38233949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.499254154 meters 0.02001869380118504 Centerline is valid? [True, True] Translation: X:659.52, Y:8.52, Z:4.38 [[ 9.98954841e-01 -4.43676828e-02 -1.09879105e-02 6.59517028e+02] [ 4.43684566e-02 9.99015220e-01 -1.73454519e-04 8.51513200e+00] [ 1.09847856e-02 -3.14243398e-04 9.99939616e-01 4.38064621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.559254154 meters 0.018643963030001987 Centerline is valid? [True, True] Translation: X:659.58, Y:8.52, Z:4.38 [[ 9.98989986e-01 -4.31793683e-02 -1.24318398e-02 6.59579482e+02] [ 4.31802773e-02 9.99067278e-01 -1.95417632e-04 8.51866426e+00] [ 1.24286823e-02 -3.41590031e-04 9.99922703e-01 4.38096546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.619254154 meters 0.016984245482479978 Centerline is valid? [True, True] Translation: X:659.64, Y:8.52, Z:4.38 [[ 9.99115563e-01 -3.97657442e-02 -1.36666424e-02 6.59641862e+02] [ 3.97665378e-02 9.99208976e-01 -2.13781737e-04 8.52319458e+00] [ 1.36643329e-02 -3.29882392e-04 9.99906584e-01 4.38120666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.679254154 meters 0.015941114492538645 Centerline is valid? [True, True] Translation: X:659.70, Y:8.53, Z:4.38 [[ 9.99270223e-01 -3.56636823e-02 -1.36792751e-02 6.59703470e+02] [ 3.56641052e-02 9.99363811e-01 -2.13099305e-04 8.52794947e+00] [ 1.36781724e-02 -2.74915315e-04 9.99906412e-01 4.38229271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.739254154 meters 0.014823468517564128 Centerline is valid? [True, True] Translation: X:659.77, Y:8.54, Z:4.38 [[ 9.99504554e-01 -2.84645425e-02 -1.34319318e-02 6.59765291e+02] [ 2.84643102e-02 9.99594788e-01 -2.08509216e-04 8.53515159e+00] [ 1.34324242e-02 -1.73924763e-04 9.99909766e-01 4.38415895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.799254154 meters 0.014082723376153277 Centerline is valid? [True, True] Translation: X:659.83, Y:8.54, Z:4.39 [[ 9.99679845e-01 -2.17951879e-02 -1.28521697e-02 6.59826264e+02] [ 2.17944314e-02 9.99762453e-01 -1.98932532e-04 8.54034263e+00] [ 1.28534525e-02 -8.12368878e-05 9.99917388e-01 4.38521961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.859254154 meters 0.01393221553157343 Centerline is valid? [True, True] Translation: X:659.89, Y:8.54, Z:4.39 [[ 9.99732070e-01 -1.91583511e-02 -1.29902154e-02 6.59886527e+02] [ 1.91573588e-02 9.99816461e-01 -2.00823776e-04 8.54221731e+00] [ 1.29916787e-02 -4.80882490e-05 9.99915603e-01 4.38604717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.919254154 meters 0.014091310064323929 Centerline is valid? [True, True] Translation: X:659.95, Y:8.54, Z:4.39 [[ 9.99734743e-01 -1.81119143e-02 -1.42268155e-02 6.59945814e+02] [ 1.81106164e-02 9.99835965e-01 -2.20073930e-04 8.54237953e+00] [ 1.42284678e-02 -3.76408440e-05 9.99898770e-01 4.38665193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters 0.014274352755112093 Centerline is valid? [True, True] Translation: X:660.00, Y:8.54, Z:4.39 [[ 9.99648386e-01 -2.15688624e-02 -1.54236570e-02 6.60004695e+02] [ 2.15677123e-02 9.99767361e-01 -2.40919648e-04 8.53773949e+00] [ 1.54252652e-02 -9.18180586e-05 9.99881019e-01 4.38755414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.039254154 meters 0.01523845993547907 Centerline is valid? [True, True] Translation: X:660.06, Y:8.53, Z:4.39 [[ 9.99423930e-01 -2.96435401e-02 -1.65247607e-02 6.60064054e+02] [ 2.96432842e-02 9.99560507e-01 -2.60479918e-04 8.53002482e+00] [ 1.65252197e-02 -2.29518314e-04 9.99863423e-01 4.38951070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters 0.01742740101377158 Centerline is valid? [True, True] Translation: X:660.12, Y:8.52, Z:4.39 [[ 9.99182390e-01 -3.65203727e-02 -1.73440101e-02 6.60123947e+02] [ 3.65211161e-02 9.99332844e-01 -2.73976701e-04 8.52218799e+00] [ 1.73424447e-02 -3.59669913e-04 9.99849544e-01 4.38947520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.159254154 meters 0.020874370815414014 Centerline is valid? [True, True] Translation: X:660.18, Y:8.51, Z:4.39 [[ 9.98758905e-01 -4.67218882e-02 -1.72543951e-02 6.60184930e+02] [ 4.67241430e-02 9.98907794e-01 -2.72646468e-04 8.51190246e+00] [ 1.72482883e-02 -5.33888736e-04 9.99851095e-01 4.39150799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters 0.022452713917801095 Centerline is valid? [True, True] Translation: X:660.25, Y:8.51, Z:4.39 [[ 9.98243750e-01 -5.69812362e-02 -1.62035031e-02 6.60245195e+02] [ 5.69845716e-02 9.98375026e-01 -2.56164883e-04 8.50511595e+00] [ 1.61917694e-02 -6.67634690e-04 9.99868682e-01 4.39438820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.279254154 meters 0.028571665377122493 Centerline is valid? [True, True] Translation: X:660.31, Y:8.50, Z:4.39 [[ 9.97649886e-01 -6.57869220e-02 -1.91516595e-02 6.60305413e+02] [ 6.57932150e-02 9.97833233e-01 -3.01989655e-04 8.49576167e+00] [ 1.91300293e-02 -9.58769309e-04 9.99816545e-01 4.39200720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters 0.030805408778114208 Centerline is valid? [True, True] Translation: X:660.37, Y:8.49, Z:4.39 [[ 9.97151416e-01 -7.26481746e-02 -2.02804339e-02 6.60366286e+02] [ 7.26566592e-02 9.97356961e-01 -3.19128572e-04 8.48995320e+00] [ 2.02500160e-02 -1.15528907e-03 9.99794280e-01 4.39277462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.399254154 meters 0.03138091220687549 Centerline is valid? [True, True] Translation: X:660.43, Y:8.49, Z:4.39 [[ 9.96972553e-01 -7.50638790e-02 -2.02766699e-02 6.60427625e+02] [ 7.50728695e-02 9.97178000e-01 -3.18510226e-04 8.48854167e+00] [ 2.02433577e-02 -1.20468184e-03 9.99794356e-01 4.39409356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters 0.02927786108618932 Centerline is valid? [True, True] Translation: X:660.49, Y:8.50, Z:4.39 [[ 9.96897503e-01 -7.53159547e-02 -2.28664812e-02 6.60489493e+02] [ 7.53274895e-02 9.97158784e-01 -3.57713633e-04 8.49507166e+00] [ 2.28284542e-02 -1.36587080e-03 9.99738464e-01 4.39382940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.519254154 meters 0.029303788264151996 Centerline is valid? [True, True] Translation: X:660.55, Y:8.50, Z:4.39 [[ 9.97014094e-01 -7.35471754e-02 -2.35310119e-02 6.60550874e+02] [ 7.35589265e-02 9.97290805e-01 -3.66970636e-04 8.49798726e+00] [ 2.34942515e-02 -1.36504108e-03 9.99723040e-01 4.39367207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters 0.0282696158205037 Centerline is valid? [True, True] Translation: X:660.61, Y:8.50, Z:4.39 [[ 9.97303534e-01 -6.94482611e-02 -2.37192129e-02 6.60611926e+02] [ 6.94590609e-02 9.97584735e-01 -3.69247341e-04 8.50498520e+00] [ 2.36875683e-02 -1.27926257e-03 9.99718592e-01 4.39384216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.639254154 meters 0.027950818031714328 Centerline is valid? [True, True] Translation: X:660.67, Y:8.51, Z:4.39 [[ 9.97590762e-01 -6.48842027e-02 -2.45501932e-02 6.60671691e+02] [ 6.48943985e-02 9.97892064e-01 -3.82017138e-04 8.51117875e+00] [ 2.45232299e-02 -1.21207325e-03 9.99698526e-01 4.39391746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters 0.025127988814280928 Centerline is valid? [True, True] Translation: X:660.73, Y:8.53, Z:4.40 [[ 9.97985569e-01 -5.82024407e-02 -2.52444212e-02 6.60731847e+02] [ 5.82110889e-02 9.98304220e-01 -3.92777431e-04 8.52637195e+00] [ 2.52244728e-02 -1.07751904e-03 9.99681232e-01 4.39500522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.759254154 meters 0.02348291368148089 Centerline is valid? [True, True] Translation: X:660.79, Y:8.53, Z:4.40 [[ 9.98314701e-01 -5.34161744e-02 -2.26819475e-02 6.60793032e+02] [ 5.34219266e-02 9.98571967e-01 -3.52688137e-04 8.53494006e+00] [ 2.26683962e-02 -8.59619581e-04 9.99742669e-01 4.39636819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters 0.02233761105570779 Centerline is valid? [True, True] Translation: X:660.85, Y:8.54, Z:4.40 [[ 9.98462519e-01 -5.16519730e-02 -2.01164518e-02 6.60853207e+02] [ 5.16561458e-02 9.98664881e-01 -3.12479572e-04 8.54151845e+00] [ 2.01057341e-02 -7.27139226e-04 9.99797595e-01 4.39865909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.879254154 meters 0.023018416143139472 Centerline is valid? [True, True] Translation: X:660.92, Y:8.54, Z:4.40 [[ 9.98413937e-01 -5.23750290e-02 -2.06510576e-02 6.60915389e+02] [ 5.23796040e-02 9.98627195e-01 -3.19675571e-04 8.54487896e+00] [ 2.06394508e-02 -7.62525674e-04 9.99786693e-01 4.39879901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.939254154 meters 0.02556211771244687 Centerline is valid? [True, True] Translation: X:660.98, Y:8.55, Z:4.40 [[ 9.98162744e-01 -5.64763593e-02 -2.19443983e-02 6.60975052e+02] [ 5.64825482e-02 9.98403529e-01 -3.38176289e-04 8.54633561e+00] [ 2.19284637e-02 -9.01920562e-04 9.99759136e-01 4.39725333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.999254154 meters 0.023936021658235825 Centerline is valid? [True, True] Translation: X:661.04, Y:8.55, Z:4.40 [[ 9.97834080e-01 -6.20451109e-02 -2.18529824e-02 6.61035364e+02] [ 6.20525933e-02 9.98072824e-01 -3.36186043e-04 8.55393177e+00] [ 2.18317266e-02 -1.02057634e-03 9.99761139e-01 4.39946417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.059254154 meters 0.03449013683183718 Centerline is valid? [True, True] Translation: X:661.10, Y:8.55, Z:4.40 [[ 9.97488827e-01 -6.72147301e-02 -2.23208523e-02 6.61095345e+02] [ 6.72238232e-02 9.97737861e-01 -3.43555546e-04 8.54517324e+00] [ 2.22934514e-02 -1.15780021e-03 9.99750800e-01 4.39664287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.119254154 meters 0.027267944172841518 Centerline is valid? [True, True] Translation: X:661.16, Y:8.55, Z:4.40 [[ 9.97383930e-01 -6.92826089e-02 -2.06207653e-02 6.61157121e+02] [ 6.92908290e-02 9.97596452e-01 -3.16451378e-04 8.55439687e+00] [ 2.05931269e-02 -1.11320640e-03 9.99787319e-01 4.40131538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.179254154 meters 0.029911258227348643 Centerline is valid? [True, True] Translation: X:661.22, Y:8.55, Z:4.40 [[ 9.97103549e-01 -7.37268937e-02 -1.86777340e-02 6.61218176e+02] [ 7.37344265e-02 9.97277871e-01 -2.85968351e-04 8.55392504e+00] [ 1.86479744e-02 -1.09205195e-03 9.99825515e-01 4.40335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.239254154 meters 0.031212202519468366 Centerline is valid? [True, True] Translation: X:661.28, Y:8.55, Z:4.40 [[ 9.97032844e-01 -7.50461578e-02 -1.71342163e-02 6.61280585e+02] [ 7.50527056e-02 9.97179534e-01 -2.61470670e-04 8.55413639e+00] [ 1.71055122e-02 -1.02527445e-03 9.99853164e-01 4.40421388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.299254154 meters 0.030913135547821984 Centerline is valid? [True, True] Translation: X:661.34, Y:8.56, Z:4.40 [[ 9.97024046e-01 -7.51549429e-02 -1.71693614e-02 6.61342611e+02] [ 7.51615551e-02 9.97171336e-01 -2.60758889e-04 8.55736594e+00] [ 1.71403924e-02 -1.03049302e-03 9.99852562e-01 4.40396626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.359254154 meters 0.029883185187243855 Centerline is valid? [True, True] Translation: X:661.40, Y:8.56, Z:4.40 [[ 9.97134521e-01 -7.36171914e-02 -1.74142639e-02 6.61404603e+02] [ 7.36237820e-02 9.97286052e-01 -2.63207459e-04 8.56165623e+00] [ 1.73863791e-02 -1.01965072e-03 9.99848326e-01 4.40366738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.419254154 meters 0.028058010166245526 Centerline is valid? [True, True] Translation: X:661.47, Y:8.57, Z:4.40 [[ 9.97232128e-01 -7.21276734e-02 -1.80466504e-02 6.61466527e+02] [ 7.21345328e-02 9.97394874e-01 -2.71417643e-04 8.56726358e+00] [ 1.80192133e-02 -1.03112030e-03 9.99837109e-01 4.40452628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters 0.02741372181259305 Centerline is valid? [True, True] Translation: X:661.53, Y:8.57, Z:4.40 [[ 9.97427207e-01 -6.90543065e-02 -1.92475696e-02 6.61528435e+02] [ 6.90615625e-02 9.97612358e-01 -2.88251148e-04 8.57213775e+00] [ 1.92215183e-02 -1.04175769e-03 9.99814707e-01 4.40376550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.539254154 meters 0.026505165440795175 Centerline is valid? [True, True] Translation: X:661.59, Y:8.58, Z:4.40 [[ 9.97734677e-01 -6.42552556e-02 -1.99192679e-02 6.61589274e+02] [ 6.42620856e-02 9.97933012e-01 -2.97682139e-04 8.57881877e+00] [ 1.98972226e-02 -9.83045904e-04 9.99801547e-01 4.40312651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters 0.023668273233148105 Centerline is valid? [True, True] Translation: X:661.65, Y:8.58, Z:4.41 [[ 9.97972520e-01 -6.05944244e-02 -1.94721747e-02 6.61650288e+02] [ 6.06002626e-02 9.98162073e-01 -2.90644228e-04 8.58483144e+00] [ 1.94539977e-02 -8.89963947e-04 9.99810357e-01 4.40502451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.659254154 meters 0.021482395894482476 Centerline is valid? [True, True] Translation: X:661.71, Y:8.59, Z:4.41 [[ 9.98302821e-01 -5.52663131e-02 -1.83606229e-02 6.61711448e+02] [ 5.52706116e-02 9.98471374e-01 -2.73637857e-04 8.59325770e+00] [ 1.83476794e-02 -7.41629414e-04 9.99831392e-01 4.40753627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters 0.02129151613781553 Centerline is valid? [True, True] Translation: X:661.77, Y:8.60, Z:4.41 [[ 9.98476136e-01 -5.20418276e-02 -1.83590229e-02 6.61772235e+02] [ 5.20455920e-02 9.98644672e-01 -2.73013302e-04 8.59669814e+00] [ 1.83483485e-02 -6.82908947e-04 9.99831422e-01 4.40705466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.779254154 meters 0.021141297254270795 Centerline is valid? [True, True] Translation: X:661.83, Y:8.60, Z:4.41 [[ 9.98485309e-01 -5.12948713e-02 -1.98978288e-02 6.61834421e+02] [ 5.12991697e-02 9.98683287e-01 -2.94670924e-04 8.59868420e+00] [ 1.98867441e-02 -7.26517506e-04 9.99801975e-01 4.40638660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters 0.020217391205765635 Centerline is valid? [True, True] Translation: X:661.90, Y:8.60, Z:4.41 [[ 9.98587059e-01 -4.90862247e-02 -2.03575335e-02 6.61896347e+02] [ 4.90902962e-02 9.98794300e-01 -2.99981785e-04 8.60367597e+00] [ 2.03477134e-02 -6.99799423e-04 9.99792719e-01 4.40728965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.899254154 meters 0.01788745420263108 Centerline is valid? [True, True] Translation: X:661.96, Y:8.61, Z:4.41 [[ 9.98928952e-01 -4.27373344e-02 -1.77332984e-02 6.61957041e+02] [ 4.27394364e-02 9.99086219e-01 -2.60608838e-04 8.61173035e+00] [ 1.77282318e-02 -4.97581465e-04 9.99842719e-01 4.41083914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters 0.016587800185234775 Centerline is valid? [True, True] Translation: X:662.02, Y:8.62, Z:4.41 [[ 9.99159096e-01 -3.77877749e-02 -1.59117865e-02 6.62018848e+02] [ 3.77888503e-02 9.99285719e-01 -2.33175869e-04 8.61763249e+00] [ 1.59092322e-02 -3.68308328e-04 9.99873372e-01 4.41343833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.019254154 meters 0.015533730210418258 Centerline is valid? [True, True] Translation: X:662.08, Y:8.62, Z:4.41 [[ 9.99397604e-01 -3.18211354e-02 -1.38507605e-02 6.62079352e+02] [ 3.18213855e-02 9.99493551e-01 -2.02384905e-04 8.62222942e+00] [ 1.38501859e-02 -2.38487399e-04 9.99904053e-01 4.41409945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters 0.01743412729811854 Centerline is valid? [True, True] Translation: X:662.14, Y:8.62, Z:4.41 [[ 9.99432182e-01 -3.08744458e-02 -1.34937581e-02 6.62141797e+02] [ 3.08746066e-02 9.99523246e-01 -1.96446644e-04 8.62208738e+00] [ 1.34933901e-02 -2.20279376e-04 9.99908936e-01 4.41187504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.139254154 meters 0.016139186090548752 Centerline is valid? [True, True] Translation: X:662.20, Y:8.62, Z:4.41 [[ 9.99342222e-01 -3.32965924e-02 -1.43687568e-02 6.62204423e+02] [ 3.32970403e-02 9.99445478e-01 -2.08128957e-04 8.62146433e+00] [ 1.43677190e-02 -2.70445021e-04 9.99896742e-01 4.41231154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters 0.01840327214020015 Centerline is valid? [True, True] Translation: X:662.27, Y:8.62, Z:4.41 [[ 9.99130569e-01 -3.86914631e-02 -1.55266272e-02 6.62265840e+02] [ 3.86926500e-02 9.99251134e-01 -2.24063231e-04 8.61795386e+00] [ 1.55236692e-02 -3.76897928e-04 9.99879430e-01 4.41067363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.259254154 meters 0.019247345559482765 Centerline is valid? [True, True] Translation: X:662.33, Y:8.61, Z:4.41 [[ 9.98938798e-01 -4.31392075e-02 -1.61333938e-02 6.62326966e+02] [ 4.31410754e-02 9.99068963e-01 -2.32400278e-04 8.61393142e+00] [ 1.61283986e-02 -4.63858303e-04 9.99869821e-01 4.41031823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters 0.021654271403771498 Centerline is valid? [True, True] Translation: X:662.39, Y:8.61, Z:4.41 [[ 9.98658657e-01 -4.92274376e-02 -1.60482473e-02 6.62388377e+02] [ 4.92300780e-02 9.98787438e-01 -2.30724314e-04 8.60961405e+00] [ 1.60401458e-02 -5.59641634e-04 9.99871192e-01 4.41007262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.379254154 meters 0.023955559944512848 Centerline is valid? [True, True] Translation: X:662.45, Y:8.61, Z:4.41 [[ 9.98490094e-01 -5.30007753e-02 -1.44378201e-02 6.62449228e+02] [ 5.30033111e-02 9.98594315e-01 -2.07222776e-04 8.60709503e+00] [ 1.44285080e-02 -5.58342381e-04 9.99895748e-01 4.41120877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.439254154 meters 0.0227024760865415 Centerline is valid? [True, True] Translation: X:662.51, Y:8.61, Z:4.41 [[ 9.98437230e-01 -5.44776456e-02 -1.24613191e-02 6.62511028e+02] [ 5.44796559e-02 9.98514865e-01 -1.78334154e-04 8.61058779e+00] [ 1.24525276e-02 -5.00832916e-04 9.99922339e-01 4.41352050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.499254154 meters 0.027705340518189302 Centerline is valid? [True, True] Translation: X:662.57, Y:8.60, Z:4.41 [[ 9.98345102e-01 -5.65731510e-02 -1.03215833e-02 6.62572441e+02] [ 5.65746481e-02 9.98398361e-01 -1.47112814e-04 8.60469192e+00] [ 1.03133745e-02 -4.37070587e-04 9.99946720e-01 4.41489046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.559254154 meters 0.02626325875139289 Centerline is valid? [True, True] Translation: X:662.63, Y:8.61, Z:4.41 [[ 9.98170750e-01 -5.94351135e-02 -1.10734160e-02 6.62633718e+02] [ 5.94370184e-02 9.98232045e-01 -1.57287005e-04 8.60818947e+00] [ 1.10631871e-02 -5.01171544e-04 9.99938675e-01 4.41470090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.619254154 meters 0.028547583103354184 Centerline is valid? [True, True] Translation: X:662.69, Y:8.61, Z:4.41 [[ 9.98064654e-01 -6.10067443e-02 -1.20467448e-02 6.62694525e+02] [ 6.10091240e-02 9.98137194e-01 -1.70200354e-04 8.60607546e+00] [ 1.20346874e-02 -5.65090391e-04 9.99927421e-01 4.41379948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.679254154 meters 0.029341520421280375 Centerline is valid? [True, True] Translation: X:662.76, Y:8.61, Z:4.41 [[ 9.98031863e-01 -6.12723655e-02 -1.33453134e-02 6.62755560e+02] [ 6.12753264e-02 9.98120884e-01 -1.87292215e-04 8.60618011e+00] [ 1.33317119e-02 -6.30814838e-04 9.99910930e-01 4.41243891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.739254154 meters 0.02882240101942527 Centerline is valid? [True, True] Translation: X:662.82, Y:8.61, Z:4.41 [[ 9.98112052e-01 -5.96433601e-02 -1.46629087e-02 6.62817498e+02] [ 5.96467727e-02 9.98219525e-01 -2.04859852e-04 8.60855372e+00] [ 1.46490203e-02 -6.70122093e-04 9.99892473e-01 4.41167027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.799254154 meters 0.0268146374237545 Centerline is valid? [True, True] Translation: X:662.88, Y:8.62, Z:4.41 [[ 9.98409362e-01 -5.40790414e-02 -1.59437611e-02 6.62878514e+02] [ 5.40823783e-02 9.98536453e-01 -2.22115248e-04 8.61557798e+00] [ 1.59324385e-02 -6.40514578e-04 9.99872865e-01 4.41125445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.859254154 meters 0.02221496868232563 Centerline is valid? [True, True] Translation: X:662.94, Y:8.63, Z:4.41 [[ 9.98854600e-01 -4.52734607e-02 -1.54855306e-02 6.62939290e+02] [ 4.52755551e-02 9.98974513e-01 -2.15485115e-04 8.62823265e+00] [ 1.54794061e-02 -4.85877694e-04 9.99880069e-01 4.41303624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.919254154 meters 0.020045145787144503 Centerline is valid? [True, True] Translation: X:663.00, Y:8.64, Z:4.41 [[ 9.99123234e-01 -3.92473882e-02 -1.45741599e-02 6.63000137e+02] [ 3.92486059e-02 9.99229456e-01 -2.02567815e-04 8.63514911e+00] [ 1.45708802e-02 -3.69625250e-04 9.99893771e-01 4.41453011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters 0.01712371810806612 Centerline is valid? [True, True] Translation: X:663.06, Y:8.64, Z:4.42 [[ 9.99432416e-01 -3.09322617e-02 -1.33431918e-02 6.63060892e+02] [ 3.09325443e-02 9.99521457e-01 -1.85248034e-04 8.64497837e+00] [ 1.33425367e-02 -2.27595982e-04 9.99910958e-01 4.41664338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.039254154 meters 0.016292609364805324 Centerline is valid? [True, True] Translation: X:663.12, Y:8.65, Z:4.42 [[ 9.99508068e-01 -2.83220358e-02 -1.34716060e-02 6.63123056e+02] [ 2.83220943e-02 9.99598832e-01 -1.86477103e-04 8.64892668e+00] [ 1.34714830e-02 -1.95158726e-04 9.99909236e-01 4.41749618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters 0.014704151891184701 Centerline is valid? [True, True] Translation: X:663.18, Y:8.66, Z:4.42 [[ 9.99680276e-01 -2.08645721e-02 -1.42833626e-02 6.63183982e+02] [ 2.08638869e-02 9.99782306e-01 -1.97000619e-04 8.65802978e+00] [ 1.42843635e-02 -1.01068828e-04 9.99897968e-01 4.41793403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.159254154 meters 0.014128765076118679 Centerline is valid? [True, True] Translation: X:663.24, Y:8.66, Z:4.42 [[ 9.99741695e-01 -1.71878466e-02 -1.48701398e-02 6.63244741e+02] [ 1.71867006e-02 9.99852277e-01 -2.04865910e-04 8.66277016e+00] [ 1.48714644e-02 -5.07556488e-05 9.99889412e-01 4.41772225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters 0.0137601773988671 Centerline is valid? [True, True] Translation: X:663.30, Y:8.67, Z:4.42 [[ 9.99777242e-01 -1.39245229e-02 -1.58610628e-02 6.63304213e+02] [ 1.39228032e-02 9.99903049e-01 -2.18845444e-04 8.66665906e+00] [ 1.58625724e-02 -2.03376220e-06 9.99874181e-01 4.42040010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.279254154 meters 0.01374426825864544 Centerline is valid? [True, True] Translation: X:663.36, Y:8.67, Z:4.42 [[ 9.99767478e-01 -1.44767463e-02 -1.59816881e-02 6.63361787e+02] [ 1.44750247e-02 9.99895206e-01 -2.23400858e-04 8.66549818e+00] [ 1.59832474e-02 -7.98641671e-06 9.99872260e-01 4.42048796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters 0.013732914661730069 Centerline is valid? [True, True] Translation: X:663.42, Y:8.66, Z:4.42 [[ 9.99726449e-01 -1.69165227e-02 -1.61510972e-02 6.63419435e+02] [ 1.69150084e-02 9.99856904e-01 -2.30371337e-04 8.66335935e+00] [ 1.61526831e-02 -4.28876257e-05 9.99869536e-01 4.41994412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.399254154 meters 0.013801419750056956 Centerline is valid? [True, True] Translation: X:663.48, Y:8.66, Z:4.42 [[ 9.99637746e-01 -2.13685583e-02 -1.63634246e-02 6.63478060e+02] [ 2.13675300e-02 9.99771660e-01 -2.37692564e-04 8.65827221e+00] [ 1.63647673e-02 -1.12039506e-04 9.99866082e-01 4.42003782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters 0.014189749195300532 Centerline is valid? [True, True] Translation: X:663.54, Y:8.65, Z:4.42 [[ 9.99562539e-01 -2.49553246e-02 -1.58733013e-02 6.63538707e+02] [ 2.49547838e-02 9.99688554e-01 -2.32173779e-04 8.65459568e+00] [ 1.58741515e-02 -1.64042588e-04 9.99873984e-01 4.42142903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.519254154 meters 0.014954074328344936 Centerline is valid? [True, True] Translation: X:663.60, Y:8.65, Z:4.42 [[ 9.99390092e-01 -3.13039291e-02 -1.54760541e-02 6.63599553e+02] [ 3.13041783e-02 9.99509879e-01 -2.26205547e-04 8.64793816e+00] [ 1.54755500e-02 -2.58397574e-04 9.99880213e-01 4.42221619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters 0.016374507994993844 Centerline is valid? [True, True] Translation: X:663.66, Y:8.64, Z:4.42 [[ 9.99208080e-01 -3.65247282e-02 -1.57847317e-02 6.63661492e+02] [ 3.65256481e-02 9.99332689e-01 -2.30105556e-04 8.64166135e+00] [ 1.57826029e-02 -3.46624224e-04 9.99875387e-01 4.42184418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.639254154 meters 0.021998366258825307 Centerline is valid? [True, True] Translation: X:663.72, Y:8.63, Z:4.42 [[ 9.98893987e-01 -4.42705201e-02 -1.58406024e-02 6.63722146e+02] [ 4.42724277e-02 9.99019469e-01 -2.30396625e-04 8.62624754e+00] [ 1.58352699e-02 -4.71160120e-04 9.99874503e-01 4.41955850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters 0.0230939590774055 Centerline is valid? [True, True] Translation: X:663.78, Y:8.62, Z:4.42 [[ 9.98709079e-01 -4.80263576e-02 -1.65421976e-02 6.63783781e+02] [ 4.80289600e-02 9.98845915e-01 -2.40150845e-04 8.62145411e+00] [ 1.65346401e-02 -5.54663718e-04 9.99863140e-01 4.41929920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.759254154 meters 0.023013087367938993 Centerline is valid? [True, True] Translation: X:663.85, Y:8.62, Z:4.42 [[ 9.98578109e-01 -5.05134512e-02 -1.70338243e-02 6.63845718e+02] [ 5.05165883e-02 9.98723192e-01 -2.46330984e-04 8.61939129e+00] [ 1.70245184e-02 -6.14509961e-04 9.99854884e-01 4.42003780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters 0.022171631308997897 Centerline is valid? [True, True] Translation: X:663.91, Y:8.61, Z:4.42 [[ 9.98464155e-01 -5.28416117e-02 -1.66461680e-02 6.63908341e+02] [ 5.28449502e-02 9.98602701e-01 -2.39551129e-04 8.61432824e+00] [ 1.66355666e-02 -6.40482703e-04 9.99861414e-01 4.42126917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.879254154 meters 0.025199999572287735 Centerline is valid? [True, True] Translation: X:663.97, Y:8.61, Z:4.42 [[ 9.98405877e-01 -5.36928886e-02 -1.74005251e-02 6.63969194e+02] [ 5.36966810e-02 9.98557261e-01 -2.49525769e-04 8.60828300e+00] [ 1.73888185e-02 -6.85222455e-04 9.99848568e-01 4.41982481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.939254154 meters 0.024955102102856164 Centerline is valid? [True, True] Translation: X:664.03, Y:8.61, Z:4.42 [[ 9.98366560e-01 -5.40524547e-02 -1.85079235e-02 6.64031201e+02] [ 5.40568268e-02 9.98537826e-01 -2.64336210e-04 8.60571706e+00] [ 1.84951497e-02 -7.36575182e-04 9.99828679e-01 4.41978765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.999254154 meters 0.02700060669605655 Centerline is valid? [True, True] Translation: X:664.09, Y:8.60, Z:4.42 [[ 9.98357459e-01 -5.41827757e-02 -1.86175023e-02 6.64092505e+02] [ 5.41872425e-02 9.98530757e-01 -2.64822648e-04 8.59986541e+00] [ 1.86044975e-02 -7.44443445e-04 9.99826644e-01 4.41936243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.059254154 meters 0.027231595033978304 Centerline is valid? [True, True] Translation: X:664.15, Y:8.60, Z:4.42 [[ 9.98383720e-01 -5.31533153e-02 -2.01164818e-02 6.64154834e+02] [ 5.31583477e-02 9.98586055e-01 -2.84866920e-04 8.60018690e+00] [ 2.01031799e-02 -7.84952440e-04 9.99797603e-01 4.41837763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.119254154 meters 0.024421690277872204 Centerline is valid? [True, True] Translation: X:664.22, Y:8.60, Z:4.42 [[ 9.98378239e-01 -5.33250521e-02 -1.99331732e-02 6.64216786e+02] [ 5.33300545e-02 9.98576901e-01 -2.80907438e-04 8.60174618e+00] [ 1.99197857e-02 -7.82585341e-04 9.99801275e-01 4.42037539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.179254154 meters 0.024314424355439863 Centerline is valid? [True, True] Translation: X:664.28, Y:8.60, Z:4.42 [[ 9.98521750e-01 -5.11475098e-02 -1.83915162e-02 6.64277739e+02] [ 5.11514145e-02 9.98690876e-01 -2.58354478e-04 8.60151143e+00] [ 1.83806536e-02 -6.82779501e-04 9.99830828e-01 4.42172092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.239254154 meters 0.022847206279288327 Centerline is valid? [True, True] Translation: X:664.34, Y:8.60, Z:4.42 [[ 9.98746865e-01 -4.74104565e-02 -1.60296302e-02 6.64338705e+02] [ 4.74129473e-02 9.98875349e-01 -2.24818735e-04 8.60487765e+00] [ 1.60222612e-02 -5.35475006e-04 9.99871492e-01 4.42436204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.299254154 meters 0.019493384415844927 Centerline is valid? [True, True] Translation: X:664.40, Y:8.61, Z:4.43 [[ 9.99183888e-01 -3.83243565e-02 -1.27593616e-02 6.64399272e+02] [ 3.83251953e-02 9.99265304e-01 -1.78856604e-04 8.61330244e+00] [ 1.27568419e-02 -3.10294388e-04 9.99918580e-01 4.42758818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.359254154 meters 0.015918456177465186 Centerline is valid? [True, True] Translation: X:664.46, Y:8.62, Z:4.43 [[ 9.99486098e-01 -2.96639754e-02 -1.21486351e-02 6.64459846e+02] [ 2.96640974e-02 9.99559909e-01 -1.70195656e-04 8.62019165e+00] [ 1.21483373e-02 -1.90270103e-04 9.99926188e-01 4.42883991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.419254154 meters 0.015263976118970273 Centerline is valid? [True, True] Translation: X:664.52, Y:8.62, Z:4.43 [[ 9.99606724e-01 -2.49115065e-02 -1.28768869e-02 6.64520480e+02] [ 2.49112568e-02 9.99689650e-01 -1.79812380e-04 8.62227242e+00] [ 1.28773699e-02 -1.41037771e-04 9.99917073e-01 4.42820919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters 0.014532975429198586 Centerline is valid? [True, True] Translation: X:664.58, Y:8.62, Z:4.43 [[ 9.99708012e-01 -1.97040570e-02 -1.39871794e-02 6.64581445e+02] [ 1.97032638e-02 9.99805853e-01 -1.94526133e-04 8.62460490e+00] [ 1.39882968e-02 -8.11237519e-05 9.99902156e-01 4.42803561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.539254154 meters 0.014404275877771268 Centerline is valid? [True, True] Translation: X:664.64, Y:8.62, Z:4.43 [[ 9.99760319e-01 -1.72494531e-02 -1.34818406e-02 6.64641080e+02] [ 1.72484928e-02 9.99851216e-01 -1.87505986e-04 8.62230744e+00] [ 1.34830691e-02 -4.50803862e-05 9.99909098e-01 4.42777999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters 0.014282171331428638 Centerline is valid? [True, True] Translation: X:664.70, Y:8.62, Z:4.43 [[ 9.99764725e-01 -1.72629649e-02 -1.31333149e-02 6.64700541e+02] [ 1.72620491e-02 9.99850983e-01 -1.83099327e-04 8.61988002e+00] [ 1.31345186e-02 -4.36516778e-05 9.99913738e-01 4.42918218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.659254154 meters 0.015044336654055468 Centerline is valid? [True, True] Translation: X:664.76, Y:8.61, Z:4.43 [[ 9.99744724e-01 -1.87348127e-02 -1.26290707e-02 6.64759375e+02] [ 1.87340766e-02 9.99824486e-01 -1.76600219e-04 8.61345688e+00] [ 1.26301627e-02 -6.00388398e-05 9.99920235e-01 4.42925104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters 0.01643471901984797 Centerline is valid? [True, True] Translation: X:664.82, Y:8.60, Z:4.43 [[ 9.99638134e-01 -2.37114350e-02 -1.27031132e-02 6.64818875e+02] [ 2.37110862e-02 9.99718837e-01 -1.78085284e-04 8.60299060e+00] [ 1.27037642e-02 -1.23183770e-04 9.99919296e-01 4.42877850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.779254154 meters 0.01882200040416664 Centerline is valid? [True, True] Translation: X:664.88, Y:8.59, Z:4.43 [[ 9.99406051e-01 -3.25769760e-02 -1.12376757e-02 6.64878624e+02] [ 3.25772612e-02 9.99469208e-01 -1.57716994e-04 8.58791973e+00] [ 1.12368488e-02 -2.08469380e-04 9.99936843e-01 4.42832809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters 0.021402231215576287 Centerline is valid? [True, True] Translation: X:664.94, Y:8.58, Z:4.43 [[ 9.99153046e-01 -3.97239613e-02 -1.07330436e-02 6.64939834e+02] [ 3.97246331e-02 9.99210654e-01 -1.50675373e-04 8.57733103e+00] [ 1.07305570e-02 -2.75818462e-04 9.99942388e-01 4.42827394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.899254154 meters 0.021523052979406935 Centerline is valid? [True, True] Translation: X:665.00, Y:8.57, Z:4.43 [[ 9.98706603e-01 -4.95011267e-02 -1.16085675e-02 6.65000588e+02] [ 4.95025737e-02 9.98773983e-01 -1.62830427e-04 8.57037709e+00] [ 1.16023955e-02 -4.12034146e-04 9.99932605e-01 4.42776110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters 0.02415682705355515 Centerline is valid? [True, True] Translation: X:665.06, Y:8.57, Z:4.43 [[ 9.98564837e-01 -5.21188131e-02 -1.23246221e-02 6.65061454e+02] [ 5.21206461e-02 9.98640781e-01 -1.72645104e-04 8.56521770e+00] [ 1.23168683e-02 -4.69969937e-04 9.99924034e-01 4.42721465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.019254154 meters 0.023841735478614408 Centerline is valid? [True, True] Translation: X:665.12, Y:8.56, Z:4.43 [[ 9.98317519e-01 -5.69634425e-02 -1.08303598e-02 6.65122963e+02] [ 5.69651463e-02 9.98376156e-01 -1.51348990e-04 8.55985665e+00] [ 1.08213943e-02 -4.65858681e-04 9.99941338e-01 4.42866414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters 0.027220232957121945 Centerline is valid? [True, True] Translation: X:665.18, Y:8.55, Z:4.43 [[ 9.98097998e-01 -6.07295987e-02 -1.05972822e-02 6.65182847e+02] [ 6.07314444e-02 9.98154131e-01 -1.47853525e-04 8.55330207e+00] [ 1.05867000e-02 -4.96015944e-04 9.99943836e-01 4.42841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.139254154 meters 0.029628816782643896 Centerline is valid? [True, True] Translation: X:665.24, Y:8.55, Z:4.43 [[ 9.97882412e-01 -6.42129089e-02 -1.03630892e-02 6.65242733e+02] [ 6.42148612e-02 9.97936085e-01 -1.44586059e-04 8.54751006e+00] [ 1.03509849e-02 -5.21184447e-04 9.99946291e-01 4.42862862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters 0.03169727298507429 Centerline is valid? [True, True] Translation: X:665.30, Y:8.55, Z:4.43 [[ 9.97747565e-01 -6.59912886e-02 -1.20393440e-02 6.65304684e+02] [ 6.59940589e-02 9.97820002e-01 -1.67461658e-04 8.54502082e+00] [ 1.20241492e-02 -6.27440713e-04 9.99927510e-01 4.42610603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.259254154 meters 0.034519676642174306 Centerline is valid? [True, True] Translation: X:665.37, Y:8.54, Z:4.42 [[ 9.97524325e-01 -6.88066414e-02 -1.45212492e-02 6.65365814e+02] [ 6.88109824e-02 9.97629695e-01 -2.01073568e-04 8.54253038e+00] [ 1.45006646e-02 -7.98645650e-04 9.99894541e-01 4.42389896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters 0.035475976168534484 Centerline is valid? [True, True] Translation: X:665.43, Y:8.54, Z:4.43 [[ 9.97422973e-01 -7.02538966e-02 -1.45534575e-02 6.65428008e+02] [ 7.02584199e-02 9.97528804e-01 -2.00876380e-04 8.54116003e+00] [ 1.45316054e-02 -8.22144214e-04 9.99894073e-01 4.42510055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.379254154 meters 0.036106543367616296 Centerline is valid? [True, True] Translation: X:665.49, Y:8.54, Z:4.43 [[ 9.97486262e-01 -6.91914248e-02 -1.52874054e-02 6.65489309e+02] [ 6.91963052e-02 9.97603041e-01 -2.10103774e-04 8.54136593e+00] [ 1.52652994e-02 -8.48256338e-04 9.99883119e-01 4.42527026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.439254154 meters 0.03387465255194188 Centerline is valid? [True, True] Translation: X:665.55, Y:8.55, Z:4.43 [[ 9.97877176e-01 -6.32681193e-02 -1.54365639e-02 6.65549793e+02] [ 6.32723936e-02 9.97996272e-01 -2.11818497e-04 8.54785594e+00] [ 1.54190345e-02 -7.65339501e-04 9.99880827e-01 4.42604135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.499254154 meters 0.030409502877682633 Centerline is valid? [True, True] Translation: X:665.61, Y:8.56, Z:4.43 [[ 9.98305848e-01 -5.62168827e-02 -1.50031874e-02 6.65610781e+02] [ 5.62201273e-02 9.98418377e-01 -2.05747900e-04 8.55600854e+00] [ 1.49910245e-02 -6.38081775e-04 9.99887425e-01 4.42734102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.559254154 meters 0.02371818694723431 Centerline is valid? [True, True] Translation: X:665.67, Y:8.57, Z:4.43 [[ 9.98967649e-01 -4.30353487e-02 -1.45463140e-02 6.65671483e+02] [ 4.30370043e-02 9.99073459e-01 -1.99337912e-04 8.57010045e+00] [ 1.45414149e-02 -4.26897656e-04 9.99894177e-01 4.42846929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.619254154 meters 0.017850406133428257 Centerline is valid? [True, True] Translation: X:665.73, Y:8.59, Z:4.43 [[ 9.99432006e-01 -2.99135562e-02 -1.55191971e-02 6.65731024e+02] [ 2.99138576e-02 9.99552458e-01 -2.12769698e-04 8.58567561e+00] [ 1.55186163e-02 -2.51590205e-04 9.99879547e-01 4.42911523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.679254154 meters 0.01559387433312168 Centerline is valid? [True, True] Translation: X:665.79, Y:8.60, Z:4.43 [[ 9.99611707e-01 -2.28544770e-02 -1.59407517e-02 6.65791058e+02] [ 2.28538933e-02 9.99738792e-01 -2.18801292e-04 8.59514998e+00] [ 1.59415884e-02 -1.45591905e-04 9.99872914e-01 4.42947144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.739254154 meters 0.014725977580538816 Centerline is valid? [True, True] Translation: X:665.85, Y:8.60, Z:4.43 [[ 9.99749712e-01 -1.59633232e-02 -1.56743548e-02 6.65849678e+02] [ 1.59619040e-02 9.99872577e-01 -2.15651813e-04 8.60331308e+00] [ 1.56758001e-02 -3.45947093e-05 9.99877126e-01 4.42921801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.799254154 meters 0.014017619696831055 Centerline is valid? [True, True] Translation: X:665.91, Y:8.61, Z:4.43 [[ 9.99776177e-01 -1.41253681e-02 -1.57502489e-02 6.65907239e+02] [ 1.41236615e-02 9.99900232e-01 -2.19588459e-04 8.60642483e+00] [ 1.57517793e-02 -2.91187396e-06 9.99875933e-01 4.43337362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.859254154 meters 0.01412159288947048 Centerline is valid? [True, True] Translation: X:665.97, Y:8.61, Z:4.43 [[ 9.99780884e-01 -1.37101444e-02 -1.58182125e-02 6.65965328e+02] [ 1.37082989e-02 9.99906012e-01 -2.25097081e-04 8.60745563e+00] [ 1.58198119e-02 8.20697347e-06 9.99874859e-01 4.43396070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.919254154 meters 0.014740737850525766 Centerline is valid? [True, True] Translation: X:666.02, Y:8.61, Z:4.43 [[ 9.99781932e-01 -1.45091494e-02 -1.50190590e-02 6.66022917e+02] [ 1.45075111e-02 9.99894737e-01 -2.18028979e-04 8.60515166e+00] [ 1.50206415e-02 9.22683643e-08 9.99887184e-01 4.43476105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters 0.01613059853524498 Centerline is valid? [True, True] Translation: X:666.08, Y:8.60, Z:4.44 [[ 9.99775540e-01 -1.57991461e-02 -1.41158492e-02 6.66081076e+02] [ 1.57977706e-02 9.99875186e-01 -2.08950229e-04 8.60280268e+00] [ 1.41173886e-02 -1.40956196e-05 9.99900345e-01 4.43525944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.039254154 meters 0.01629489046616655 Centerline is valid? [True, True] Translation: X:666.14, Y:8.60, Z:4.44 [[ 9.99716880e-01 -1.98702943e-02 -1.30893317e-02 6.66138819e+02] [ 1.98694127e-02 9.99802564e-01 -1.97406359e-04 8.59683816e+00] [ 1.30906699e-02 -6.27268633e-05 9.99914312e-01 4.43670241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters 0.014484484314737327 Centerline is valid? [True, True] Translation: X:666.20, Y:8.59, Z:4.44 [[ 9.99629354e-01 -2.36628914e-02 -1.34618697e-02 6.66197194e+02] [ 2.36622712e-02 9.99719988e-01 -2.05365737e-04 8.59070989e+00] [ 1.34629598e-02 -1.13248793e-04 9.99909364e-01 4.43773729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.159254154 meters 0.015434363642737377 Centerline is valid? [True, True] Translation: X:666.26, Y:8.58, Z:4.44 [[ 9.99458791e-01 -2.92516641e-02 -1.50487599e-02 6.66256898e+02] [ 2.92515121e-02 9.99572056e-01 -2.30260740e-04 8.58113764e+00] [ 1.50490554e-02 -2.10062860e-04 9.99886734e-01 4.43659987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters 0.01653054115511984 Centerline is valid? [True, True] Translation: X:666.32, Y:8.57, Z:4.44 [[ 9.99278266e-01 -3.46176607e-02 -1.56385555e-02 6.66317007e+02] [ 3.46181470e-02 9.99400584e-01 -2.39685406e-04 8.57311729e+00] [ 1.56374788e-02 -3.01865395e-04 9.99877682e-01 4.43673893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.279254154 meters 0.019798401510735638 Centerline is valid? [True, True] Translation: X:666.38, Y:8.57, Z:4.43 [[ 9.99187426e-01 -3.71762705e-02 -1.55695981e-02 6.66377176e+02] [ 3.71770587e-02 9.99308666e-01 -2.38904930e-04 8.56809036e+00] [ 1.55677159e-02 -3.40121062e-04 9.99878758e-01 4.43483797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters 0.01774256600310405 Centerline is valid? [True, True] Translation: X:666.44, Y:8.56, Z:4.44 [[ 9.99028917e-01 -4.15891724e-02 -1.45452390e-02 6.66438031e+02] [ 4.15903281e-02 9.99134723e-01 -2.23152331e-04 8.56351188e+00] [ 1.45419341e-02 -3.82005633e-04 9.99894188e-01 4.43821212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.399254154 meters 0.019447785505418015 Centerline is valid? [True, True] Translation: X:666.50, Y:8.56, Z:4.44 [[ 9.98953818e-01 -4.34569564e-02 -1.42394817e-02 6.66499720e+02] [ 4.34582593e-02 9.99055220e-01 -2.18060700e-04 8.56011413e+00] [ 1.42355048e-02 -4.00990521e-04 9.99898590e-01 4.43783937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters 0.021582018394496038 Centerline is valid? [True, True] Translation: X:666.56, Y:8.55, Z:4.44 [[ 9.98794357e-01 -4.71045425e-02 -1.38200643e-02 6.66560703e+02] [ 4.71061237e-02 9.98889868e-01 -2.11267295e-04 8.55467168e+00] [ 1.38146738e-02 -4.39997076e-04 9.99904476e-01 4.43718222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.519254154 meters 0.02222118664949479 Centerline is valid? [True, True] Translation: X:666.62, Y:8.55, Z:4.44 [[ 9.98607090e-01 -5.09576306e-02 -1.36820760e-02 6.66622401e+02] [ 5.09595466e-02 9.98700696e-01 -2.08783438e-04 8.55045458e+00] [ 1.36749380e-02 -4.88739770e-04 9.99906374e-01 4.43781862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters 0.02519026010096983 Centerline is valid? [True, True] Translation: X:666.68, Y:8.54, Z:4.44 [[ 9.98182915e-01 -5.86769880e-02 -1.37068745e-02 6.66681700e+02] [ 5.86796392e-02 9.98276844e-01 -2.09022338e-04 8.54288341e+00] [ 1.36955202e-02 -5.95671925e-04 9.99906035e-01 4.43865179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.639254154 meters 0.0287733416331153 Centerline is valid? [True, True] Translation: X:666.74, Y:8.54, Z:4.44 [[ 9.97898239e-01 -6.29182090e-02 -1.55049374e-02 6.66742462e+02] [ 6.29221129e-02 9.98018413e-01 -2.36400668e-04 8.53912802e+00] [ 1.54890869e-02 -7.39699611e-04 9.99879763e-01 4.43690402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters 0.032028726817395346 Centerline is valid? [True, True] Translation: X:666.80, Y:8.53, Z:4.44 [[ 9.97453807e-01 -6.95442386e-02 -1.57956408e-02 6.66803935e+02] [ 6.95491244e-02 9.97578499e-01 -2.40458744e-04 8.53322693e+00] [ 1.57741142e-02 -8.58726497e-04 9.99875212e-01 4.43770394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.759254154 meters 0.028994303613019922 Centerline is valid? [True, True] Translation: X:666.86, Y:8.54, Z:4.44 [[ 9.97203357e-01 -7.29360734e-02 -1.63031641e-02 6.66864857e+02] [ 7.29417391e-02 9.97336173e-01 -2.47629148e-04 8.53982789e+00] [ 1.62777964e-02 -9.42244522e-04 9.99867064e-01 4.44000677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters 0.030110764363356263 Centerline is valid? [True, True] Translation: X:666.93, Y:8.54, Z:4.44 [[ 9.97164333e-01 -7.35827310e-02 -1.57757677e-02 6.66926798e+02] [ 7.35881310e-02 9.97288689e-01 -2.38710633e-04 8.53992835e+00] [ 1.57505597e-02 -9.22875533e-04 9.99875526e-01 4.44075248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.879254154 meters 0.03043754004744894 Centerline is valid? [True, True] Translation: X:666.99, Y:8.54, Z:4.44 [[ 9.97144320e-01 -7.38777693e-02 -1.56614581e-02 6.66989311e+02] [ 7.38831454e-02 9.97266878e-01 -2.35840034e-04 8.54345065e+00] [ 1.56360767e-02 -9.21951235e-04 9.99877324e-01 4.44150671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.939254154 meters 0.029424913121233458 Centerline is valid? [True, True] Translation: X:667.05, Y:8.55, Z:4.44 [[ 9.97250922e-01 -7.26069800e-02 -1.47927356e-02 6.67051502e+02] [ 7.26116524e-02 9.97360265e-01 -2.21702160e-04 8.54766046e+00] [ 1.47697838e-02 -8.53032291e-04 9.99890557e-01 4.44255109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.999254154 meters 0.02814113704174366 Centerline is valid? [True, True] Translation: X:667.11, Y:8.56, Z:4.44 [[ 9.97548333e-01 -6.85517100e-02 -1.40707304e-02 6.67112331e+02] [ 6.85555436e-02 9.97647279e-01 -2.10277737e-04 8.55711508e+00] [ 1.40520408e-02 -7.54864364e-04 9.99900980e-01 4.44421120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.059254154 meters 0.025681637857559593 Centerline is valid? [True, True] Translation: X:667.17, Y:8.57, Z:4.45 [[ 9.97924978e-01 -6.29871027e-02 -1.33552715e-02 6.67173057e+02] [ 6.29900608e-02 9.98014134e-01 -1.99453326e-04 8.56650556e+00] [ 1.33413127e-02 -6.42209909e-04 9.99910794e-01 4.44523792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.119254154 meters 0.024694200253444668 Centerline is valid? [True, True] Translation: X:667.23, Y:8.57, Z:4.45 [[ 9.98193585e-01 -5.86236230e-02 -1.31468063e-02 6.67233786e+02] [ 5.86261134e-02 9.98279991e-01 -1.96209068e-04 8.57306953e+00] [ 1.31356961e-02 -5.74891521e-04 9.99913558e-01 4.44580255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.179254154 meters 0.020511094280715028 Centerline is valid? [True, True] Translation: X:667.29, Y:8.59, Z:4.45 [[ 9.98619474e-01 -5.05224522e-02 -1.43745889e-02 6.67294583e+02] [ 5.05245954e-02 9.98722794e-01 -2.14252272e-04 8.58822367e+00] [ 1.43670542e-02 -5.12313799e-04 9.99896657e-01 4.44642623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.239254154 meters 0.02040973727826585 Centerline is valid? [True, True] Translation: X:667.35, Y:8.59, Z:4.45 [[ 9.98899264e-01 -4.43218033e-02 -1.53570302e-02 6.67354354e+02] [ 4.43235195e-02 9.99017204e-01 -2.28756127e-04 8.59445631e+00] [ 1.53520762e-02 -4.52173299e-04 9.99882048e-01 4.44561598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.299254154 meters 0.018607696117383457 Centerline is valid? [True, True] Translation: X:667.41, Y:8.61, Z:4.45 [[ 9.99248258e-01 -3.57100085e-02 -1.50902126e-02 6.67414678e+02] [ 3.57106839e-02 9.99362145e-01 -2.24781651e-04 8.60820927e+00] [ 1.50886142e-02 -3.14269140e-04 9.99886111e-01 4.44601876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.359254154 meters 0.017915356061627342 Centerline is valid? [True, True] Translation: X:667.48, Y:8.62, Z:4.45 [[ 9.99382828e-01 -3.18473485e-02 -1.48225868e-02 6.67475552e+02] [ 3.18475798e-02 9.99492713e-01 -2.20498326e-04 8.61616735e+00] [ 1.48220898e-02 -2.51701276e-04 9.99890115e-01 4.44709185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.419254154 meters 0.015805022508821154 Centerline is valid? [True, True] Translation: X:667.54, Y:8.62, Z:4.45 [[ 9.99375928e-01 -3.24620259e-02 -1.39273706e-02 6.67536664e+02] [ 3.24622967e-02 9.99472939e-01 -2.06685382e-04 8.62162668e+00] [ 1.39267394e-02 -2.45558040e-04 9.99902988e-01 4.44926874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters 0.016953162454825234 Centerline is valid? [True, True] Translation: X:667.60, Y:8.62, Z:4.45 [[ 9.99151065e-01 -3.88201735e-02 -1.37892698e-02 6.67597867e+02] [ 3.88210510e-02 9.99246158e-01 -2.04128320e-04 8.62200901e+00] [ 1.37867991e-02 -3.31358917e-04 9.99904903e-01 4.45040942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.539254154 meters 0.019805486773370448 Centerline is valid? [True, True] Translation: X:667.66, Y:8.62, Z:4.45 [[ 9.98717408e-01 -4.90076013e-02 -1.27197945e-02 6.67658479e+02] [ 4.90091762e-02 9.98798311e-01 -1.88045454e-04 8.61810696e+00] [ 1.27137249e-02 -4.35582381e-04 9.99919082e-01 4.45094617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters 0.022120484832334985 Centerline is valid? [True, True] Translation: X:667.72, Y:8.62, Z:4.45 [[ 9.98336596e-01 -5.60368618e-02 -1.35613720e-02 6.67718937e+02] [ 5.60393001e-02 9.98428544e-01 -2.00435852e-04 8.61571748e+00] [ 1.35512927e-02 -5.59867350e-04 9.99908020e-01 4.45042456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.659254154 meters 0.025647159814506004 Centerline is valid? [True, True] Translation: X:667.78, Y:8.61, Z:4.45 [[ 9.97993688e-01 -6.15669796e-02 -1.47684355e-02 6.67778695e+02] [ 6.15704790e-02 9.98102714e-01 -2.18037424e-04 8.61218379e+00] [ 1.47538394e-02 -6.91699674e-04 9.99890917e-01 4.44891689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters 0.026217071253162513 Centerline is valid? [True, True] Translation: X:667.84, Y:8.61, Z:4.45 [[ 9.97618764e-01 -6.73910314e-02 -1.46714168e-02 6.67838801e+02] [ 6.73951158e-02 9.97726341e-01 -2.16405871e-04 8.61401104e+00] [ 1.46526428e-02 -7.72891275e-04 9.99892346e-01 4.45064363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.779254154 meters 0.03134320367393964 Centerline is valid? [True, True] Translation: X:667.90, Y:8.61, Z:4.45 [[ 9.97427358e-01 -7.02563793e-02 -1.42375028e-02 6.67899432e+02] [ 7.02605189e-02 9.97528654e-01 -2.09847467e-04 8.61070071e+00] [ 1.42170601e-02 -7.91026726e-04 9.99898620e-01 4.44924899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters 0.02941285702073477 Centerline is valid? [True, True] Translation: X:667.96, Y:8.61, Z:4.45 [[ 9.97270064e-01 -7.24709420e-02 -1.41556491e-02 6.67960752e+02] [ 7.24752621e-02 9.97370189e-01 -2.08247236e-04 8.61478684e+00] [ 1.41335142e-02 -8.18255640e-04 9.99899782e-01 4.45098849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.899254154 meters 0.03134589829615194 Centerline is valid? [True, True] Translation: X:668.02, Y:8.62, Z:4.45 [[ 9.97054198e-01 -7.54813392e-02 -1.36196290e-02 6.68021352e+02] [ 7.54856230e-02 9.97146870e-01 -2.00000585e-04 8.61636644e+00] [ 1.35958668e-02 -8.28674758e-04 9.99907229e-01 4.45055149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters 0.03382820180008831 Centerline is valid? [True, True] Translation: X:668.08, Y:8.62, Z:4.45 [[ 9.96912092e-01 -7.71173856e-02 -1.48050841e-02 6.68083685e+02] [ 7.71226378e-02 9.97021590e-01 -2.16699445e-04 8.61659539e+00] [ 1.47776998e-02 -9.25776843e-04 9.99890375e-01 4.44911905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.019254154 meters 0.03452361863657097 Centerline is valid? [True, True] Translation: X:668.15, Y:8.62, Z:4.45 [[ 9.96726552e-01 -7.92756007e-02 -1.58606064e-02 6.68145102e+02] [ 7.92819141e-02 9.96852208e-01 -2.31310122e-04 8.62008808e+00] [ 1.58290177e-02 -1.02690629e-03 9.99874186e-01 4.44937811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters 0.036180525033833115 Centerline is valid? [True, True] Translation: X:668.21, Y:8.62, Z:4.45 [[ 9.96660503e-01 -7.99515968e-02 -1.66006975e-02 6.68207208e+02] [ 7.99586224e-02 9.96798154e-01 -2.41153076e-04 8.62172136e+00] [ 1.65668252e-02 -1.08702116e-03 9.99862170e-01 4.44855180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.139254154 meters 0.03660070500926389 Centerline is valid? [True, True] Translation: X:668.27, Y:8.63, Z:4.45 [[ 9.96589918e-01 -8.03758978e-02 -1.86614671e-02 6.68268798e+02] [ 8.03848723e-02 9.96763863e-01 -2.69921832e-04 8.62639664e+00] [ 1.86227713e-02 -1.23109827e-03 9.99825823e-01 4.44756130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters 0.03271187672952649 Centerline is valid? [True, True] Translation: X:668.33, Y:8.64, Z:4.45 [[ 9.96612272e-01 -8.00030911e-02 -1.90652797e-02 6.68331326e+02] [ 8.00124192e-02 9.96793829e-01 -2.74245969e-04 8.63791323e+00] [ 1.90260937e-02 -1.25214226e-03 9.99818203e-01 4.44765904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.259254154 meters 0.034485575994091765 Centerline is valid? [True, True] Translation: X:668.39, Y:8.64, Z:4.45 [[ 9.96698394e-01 -7.91726242e-02 -1.80001677e-02 6.68392729e+02] [ 7.91808259e-02 9.96860236e-01 -2.57710577e-04 8.64249415e+00] [ 1.79640550e-02 -1.16840843e-03 9.99837951e-01 4.45006104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters 0.03212733641334831 Centerline is valid? [True, True] Translation: X:668.45, Y:8.65, Z:4.45 [[ 9.96891489e-01 -7.73602500e-02 -1.49248385e-02 6.68454280e+02] [ 7.73656999e-02 9.97002760e-01 -2.12731030e-04 8.65012160e+00] [ 1.48965621e-02 -9.42600823e-04 9.99888596e-01 4.45454780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.379254154 meters 0.031170862369371666 Centerline is valid? [True, True] Translation: X:668.52, Y:8.66, Z:4.46 [[ 9.97093517e-01 -7.50604822e-02 -1.30553408e-02 6.68515726e+02] [ 7.50644662e-02 9.97178666e-01 -1.85275564e-04 8.65750298e+00] [ 1.30324142e-02 -7.95255124e-04 9.99914758e-01 4.45701189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.439254154 meters 0.0303834078838018 Centerline is valid? [True, True] Translation: X:668.58, Y:8.66, Z:4.46 [[ 9.97180734e-01 -7.38638957e-02 -1.32177093e-02 6.68578199e+02] [ 7.38678860e-02 9.97268018e-01 -1.86727779e-04 8.66224274e+00] [ 1.31953912e-02 -7.90162901e-04 9.99912625e-01 4.45820145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.499254154 meters 0.0291972699423377 Centerline is valid? [True, True] Translation: X:668.64, Y:8.67, Z:4.46 [[ 9.97176102e-01 -7.35909186e-02 -1.49732503e-02 6.68640961e+02] [ 7.35960309e-02 9.97288113e-01 -2.10049086e-04 8.66538135e+00] [ 1.49481022e-02 -8.92515858e-04 9.99887873e-01 4.45675965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.559254154 meters 0.02811271432315156 Centerline is valid? [True, True] Translation: X:668.70, Y:8.67, Z:4.46 [[ 9.97196731e-01 -7.30350125e-02 -1.62655269e-02 6.68703290e+02] [ 7.30409966e-02 9.97328913e-01 -2.26648353e-04 8.66902590e+00] [ 1.62386336e-02 -9.62037301e-04 9.99867682e-01 4.45629699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.619254154 meters 0.028173606815419076 Centerline is valid? [True, True] Translation: X:668.76, Y:8.67, Z:4.46 [[ 9.97395008e-01 -6.97573595e-02 -1.83605475e-02 6.68763369e+02] [ 6.97644457e-02 9.97563460e-01 -2.55062108e-04 8.67251949e+00] [ 1.83336038e-02 -1.02651575e-03 9.99831398e-01 4.45539964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.679254154 meters 0.02553292333879056 Centerline is valid? [True, True] Translation: X:668.82, Y:8.68, Z:4.46 [[ 9.97838229e-01 -6.30112301e-02 -1.86669041e-02 6.68824189e+02] [ 6.30173835e-02 9.98012396e-01 -2.58979707e-04 8.67986693e+00] [ 1.86461203e-02 -9.17919604e-04 9.99825725e-01 4.45615236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.739254154 meters 0.02601074029819393 Centerline is valid? [True, True] Translation: X:668.89, Y:8.68, Z:4.46 [[ 9.98005546e-01 -6.05308569e-02 -1.79149715e-02 6.68885037e+02] [ 6.05361350e-02 9.98165976e-01 -2.48025840e-04 8.68105157e+00] [ 1.78971283e-02 -8.36971972e-04 9.99839483e-01 4.45668907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.799254154 meters 0.025104760628131394 Centerline is valid? [True, True] Translation: X:668.94, Y:8.69, Z:4.46 [[ 9.98449370e-01 -5.33951089e-02 -1.57422528e-02 6.68944422e+02] [ 5.33982993e-02 9.98573269e-01 -2.17896927e-04 8.68839546e+00] [ 1.57314275e-02 -6.23050477e-04 9.99876059e-01 4.45768072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.859254154 meters 0.02046262141298819 Centerline is valid? [True, True] Translation: X:669.01, Y:8.70, Z:4.46 [[ 9.98627071e-01 -5.02519703e-02 -1.47889074e-02 6.69006065e+02] [ 5.02544466e-02 9.98736426e-01 -2.04367319e-04 8.69718331e+00] [ 1.47804904e-02 -5.39121621e-04 9.99890617e-01 4.46079044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.919254154 meters 0.022759170905919272 Centerline is valid? [True, True] Translation: X:669.07, Y:8.70, Z:4.46 [[ 9.98730850e-01 -4.80199081e-02 -1.51913752e-02 6.69067860e+02] [ 4.80222784e-02 9.98846243e-01 -2.08929153e-04 8.69594372e+00] [ 1.51838808e-02 -5.20860459e-04 9.99884583e-01 4.45969478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters 0.021127579862075804 Centerline is valid? [True, True] Translation: X:669.13, Y:8.70, Z:4.46 [[ 9.98756807e-01 -4.70740292e-02 -1.63974344e-02 6.69129900e+02] [ 4.70766834e-02 9.98891253e-01 -2.24305589e-04 8.70078657e+00] [ 1.63898128e-02 -5.47910094e-04 9.99865528e-01 4.45941659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.039254154 meters 0.02006420656818009 Centerline is valid? [True, True] Translation: X:669.19, Y:8.70, Z:4.46 [[ 9.98670222e-01 -4.86349989e-02 -1.71004423e-02 6.69191772e+02] [ 4.86381358e-02 9.98816438e-01 -2.32660876e-04 8.70460522e+00] [ 1.70915184e-02 -5.99382146e-04 9.99853750e-01 4.45943586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters 0.021091500003473967 Centerline is valid? [True, True] Translation: X:669.25, Y:8.70, Z:4.46 [[ 9.98632927e-01 -4.92332140e-02 -1.75603924e-02 6.69253427e+02] [ 4.92366335e-02 9.98787113e-01 -2.37819073e-04 8.70470817e+00] [ 1.75508022e-02 -6.27120648e-04 9.99845776e-01 4.45900835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.159254154 meters 0.02091232347739032 Centerline is valid? [True, True] Translation: X:669.32, Y:8.71, Z:4.46 [[ 9.98711069e-01 -4.79872406e-02 -1.65355890e-02 6.69316021e+02] [ 4.79901222e-02 9.98847786e-01 -2.22713062e-04 8.70788104e+00] [ 1.65272238e-02 -5.71118936e-04 9.99863253e-01 4.46062325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters 0.019589646537499898 Centerline is valid? [True, True] Translation: X:669.38, Y:8.71, Z:4.46 [[ 9.98834513e-01 -4.56671028e-02 -1.56246918e-02 6.69378223e+02] [ 4.56694111e-02 9.98956586e-01 -2.09224898e-04 8.71221970e+00] [ 1.56179435e-02 -5.04589427e-04 9.99877905e-01 4.46199370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.279254154 meters 0.017867120126454215 Centerline is valid? [True, True] Translation: X:669.44, Y:8.72, Z:4.46 [[ 9.99002217e-01 -4.23669375e-02 -1.41284639e-02 6.69439964e+02] [ 4.23685089e-02 9.99102034e-01 -1.88208577e-04 8.71738031e+00] [ 1.41237509e-02 -4.10581165e-04 9.99900171e-01 4.46367051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters 0.01821004691098487 Centerline is valid? [True, True] Translation: X:669.50, Y:8.72, Z:4.46 [[ 9.99065765e-01 -4.09486960e-02 -1.38130670e-02 6.69501637e+02] [ 4.09500764e-02 9.99161177e-01 -1.83009042e-04 8.71841986e+00] [ 1.38089742e-02 -3.82808078e-04 9.99904578e-01 4.46384322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.399254154 meters 0.018355258212732435 Centerline is valid? [True, True] Translation: X:669.56, Y:8.72, Z:4.46 [[ 9.99051551e-01 -4.07501745e-02 -1.53434635e-02 6.69564130e+02] [ 4.07518723e-02 9.99169277e-01 -2.02113830e-04 8.71898724e+00] [ 1.53389535e-02 -4.23352731e-04 9.99882262e-01 4.46225994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters 0.018774217431918712 Centerline is valid? [True, True] Translation: X:669.63, Y:8.72, Z:4.46 [[ 9.98957993e-01 -4.21121847e-02 -1.75923625e-02 6.69626558e+02] [ 4.21146516e-02 9.99112758e-01 -2.30395659e-04 8.71919034e+00] [ 1.75864562e-02 -5.10740630e-04 9.99845216e-01 4.46087468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.519254154 meters 0.01949796266846696 Centerline is valid? [True, True] Translation: X:669.69, Y:8.72, Z:4.46 [[ 9.98923783e-01 -4.25934294e-02 -1.83596130e-02 6.69687687e+02] [ 4.25962288e-02 9.99092340e-01 -2.38730417e-04 8.71924714e+00] [ 1.83531170e-02 -5.43576783e-04 9.99831420e-01 4.46044547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters 0.01804734301951165 Centerline is valid? [True, True] Translation: X:669.75, Y:8.72, Z:4.46 [[ 9.98959970e-01 -4.19240867e-02 -1.79262171e-02 6.69749667e+02] [ 4.19266749e-02 9.99120664e-01 -2.31585281e-04 8.72408965e+00] [ 1.79201629e-02 -5.20242250e-04 9.99839286e-01 4.46247787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.639254154 meters 0.01844509597337616 Centerline is valid? [True, True] Translation: X:669.81, Y:8.73, Z:4.46 [[ 9.99050281e-01 -4.03377136e-02 -1.64743815e-02 6.69810491e+02] [ 4.03397003e-02 9.99186001e-01 -2.11837479e-04 8.72649332e+00] [ 1.64695164e-02 -4.52935319e-04 9.99864266e-01 4.46409909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters 0.01966578513866287 Centerline is valid? [True, True] Translation: X:669.87, Y:8.73, Z:4.47 [[ 9.99130836e-01 -3.88111902e-02 -1.52073424e-02 6.69871584e+02] [ 3.88127183e-02 9.99246484e-01 -1.94753375e-04 8.72647532e+00] [ 1.52034420e-02 -3.95654192e-04 9.99884343e-01 4.46601926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.759254154 meters 0.017806960673251746 Centerline is valid? [True, True] Translation: X:669.93, Y:8.73, Z:4.47 [[ 9.99116608e-01 -3.95231487e-02 -1.42802288e-02 6.69934122e+02] [ 3.95245814e-02 9.99218582e-01 -1.81992245e-04 8.73019414e+00] [ 1.42762628e-02 -3.82588590e-04 9.99898016e-01 4.46772071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters 0.018607948348847887 Centerline is valid? [True, True] Translation: X:670.00, Y:8.73, Z:4.47 [[ 9.99016464e-01 -4.22386308e-02 -1.34908713e-02 6.69995834e+02] [ 4.22401681e-02 9.99107471e-01 -1.71096723e-04 8.72788836e+00] [ 1.34860572e-02 -3.98928228e-04 9.99908979e-01 4.46865131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.879254154 meters 0.020314812335645006 Centerline is valid? [True, True] Translation: X:670.06, Y:8.72, Z:4.47 [[ 9.98924874e-01 -4.41942321e-02 -1.39988096e-02 6.70057170e+02] [ 4.41960901e-02 9.99022860e-01 -1.76761176e-04 8.72491341e+00] [ 1.39929426e-02 -4.42121513e-04 9.99901996e-01 4.46828852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.939254154 meters 0.02096974586896814 Centerline is valid? [True, True] Translation: X:670.12, Y:8.72, Z:4.47 [[ 9.98891440e-01 -4.47878005e-02 -1.44894201e-02 6.70119022e+02] [ 4.47898668e-02 9.98996414e-01 -1.82032705e-04 8.72337553e+00] [ 1.44830316e-02 -4.67148285e-04 9.99895006e-01 4.46797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.999254154 meters 0.020616410309856524 Centerline is valid? [True, True] Translation: X:670.18, Y:8.72, Z:4.47 [[ 9.98840035e-01 -4.57680678e-02 -1.49622117e-02 6.70180752e+02] [ 4.57704017e-02 9.98951969e-01 -1.86585189e-04 8.72212053e+00] [ 1.49550705e-02 -4.98457685e-04 9.99888042e-01 4.46818125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.059254154 meters 0.020731953156677124 Centerline is valid? [True, True] Translation: X:670.24, Y:8.72, Z:4.47 [[ 9.98819440e-01 -4.60931276e-02 -1.53346258e-02 6.70242866e+02] [ 4.60956384e-02 9.98937013e-01 -1.89860834e-04 8.72109382e+00] [ 1.53270765e-02 -5.17222673e-04 9.99882400e-01 4.46900135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.119254154 meters 0.01902433693889865 Centerline is valid? [True, True] Translation: X:670.30, Y:8.72, Z:4.47 [[ 9.98956406e-01 -4.28846214e-02 -1.57165212e-02 6.70304433e+02] [ 4.28868752e-02 9.99079916e-01 -1.93763745e-04 8.72434569e+00] [ 1.57103702e-02 -4.80470949e-04 9.99876469e-01 4.47007723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.179254154 meters 0.017055259128806406 Centerline is valid? [True, True] Translation: X:670.37, Y:8.73, Z:4.47 [[ 9.99274896e-01 -3.48793155e-02 -1.52681416e-02 6.70365383e+02] [ 3.48805145e-02 9.99391472e-01 -1.87840832e-04 8.72884951e+00] [ 1.52654022e-02 -3.44856006e-04 9.99883417e-01 4.47165579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.239254154 meters 0.015646514566215023 Centerline is valid? [True, True] Translation: X:670.43, Y:8.73, Z:4.47 [[ 9.99528169e-01 -2.67614152e-02 -1.50753618e-02 6.70427000e+02] [ 2.67616695e-02 9.99641825e-01 -1.84902035e-04 8.73277698e+00] [ 1.50749104e-02 -2.18627056e-04 9.99886343e-01 4.47182028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.299254154 meters 0.014867857496397893 Centerline is valid? [True, True] Translation: X:670.49, Y:8.74, Z:4.47 [[ 9.99622203e-01 -2.29459103e-02 -1.51306457e-02 6.70488246e+02] [ 2.29457396e-02 9.99736695e-01 -1.84906956e-04 8.73500264e+00] [ 1.51309046e-02 -1.62346757e-04 9.99885508e-01 4.47245814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.359254154 meters 0.014577545163807853 Centerline is valid? [True, True] Translation: X:670.55, Y:8.73, Z:4.47 [[ 9.99654355e-01 -2.10948320e-02 -1.56900682e-02 6.70548601e+02] [ 2.10944246e-02 9.99777470e-01 -1.91484837e-04 8.73321802e+00] [ 1.56906160e-02 -1.39554308e-04 9.99876885e-01 4.47249376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.419254154 meters 0.014866705185701792 Centerline is valid? [True, True] Translation: X:670.61, Y:8.73, Z:4.47 [[ 9.99626106e-01 -2.22129841e-02 -1.59446164e-02 6.70607782e+02] [ 2.22127057e-02 9.99753248e-01 -1.94581588e-04 8.72988109e+00] [ 1.59450043e-02 -1.59664236e-04 9.99872858e-01 4.47219082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters 0.01749533353508707 Centerline is valid? [True, True] Translation: X:670.67, Y:8.73, Z:4.47 [[ 9.99542601e-01 -2.46383612e-02 -1.75368371e-02 6.70668751e+02] [ 2.46383978e-02 9.99696406e-01 -2.14004560e-04 8.72551846e+00] [ 1.75367857e-02 -2.18172894e-04 9.99846195e-01 4.47079263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.539254154 meters 0.015446016310772385 Centerline is valid? [True, True] Translation: X:670.73, Y:8.72, Z:4.47 [[ 9.99435875e-01 -2.86146837e-02 -1.75821675e-02 6.70729317e+02] [ 2.86153355e-02 9.99590474e-01 -2.14557733e-04 8.72267009e+00] [ 1.75811066e-02 -2.88682926e-04 9.99845399e-01 4.47354631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters 0.016872283232941942 Centerline is valid? [True, True] Translation: X:670.79, Y:8.71, Z:4.47 [[ 9.99238101e-01 -3.47974677e-02 -1.76735449e-02 6.70789630e+02] [ 3.47990963e-02 9.99394305e-01 -2.15471206e-04 8.71488887e+00] [ 1.76703379e-02 -3.99716351e-04 9.99843787e-01 4.47294087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.659254154 meters 0.017317231234088105 Centerline is valid? [True, True] Translation: X:670.85, Y:8.71, Z:4.47 [[ 9.99144196e-01 -3.74517352e-02 -1.75568398e-02 6.70851009e+02] [ 3.74537611e-02 9.99298339e-01 -2.13522803e-04 8.71299455e+00] [ 1.75525177e-02 -4.44229615e-04 9.99845844e-01 4.47342305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters 0.019097330325256404 Centerline is valid? [True, True] Translation: X:670.91, Y:8.71, Z:4.47 [[ 9.98954509e-01 -4.26032154e-02 -1.65787337e-02 6.70911164e+02] [ 4.26057344e-02 9.99091943e-01 -2.01391848e-04 8.70644801e+00] [ 1.65722592e-02 -5.05167828e-04 9.99862543e-01 4.47422552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.779254154 meters 0.021844158638539342 Centerline is valid? [True, True] Translation: X:670.97, Y:8.70, Z:4.48 [[ 9.98645979e-01 -4.95734177e-02 -1.57697153e-02 6.70972435e+02] [ 4.95765694e-02 9.98770308e-01 -1.91252809e-04 8.69776862e+00] [ 1.57598045e-02 -5.90814537e-04 9.99875632e-01 4.47517683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters 0.02409018574479511 Centerline is valid? [True, True] Translation: X:671.03, Y:8.69, Z:4.47 [[ 9.98475790e-01 -5.31270022e-02 -1.49538672e-02 6.71034033e+02] [ 5.31302415e-02 9.98587575e-01 -1.80847145e-04 8.69184943e+00] [ 1.49423538e-02 -6.13931079e-04 9.99888168e-01 4.47466514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.899254154 meters 0.0263248391896685 Centerline is valid? [True, True] Translation: X:671.09, Y:8.68, Z:4.48 [[ 9.98207852e-01 -5.79558183e-02 -1.49066538e-02 6.71094886e+02] [ 5.79595802e-02 9.98318914e-01 -1.79893702e-04 8.68475838e+00] [ 1.48920203e-02 -6.84412091e-04 9.99888873e-01 4.47530017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters 0.027398992948680666 Centerline is valid? [True, True] Translation: X:671.16, Y:8.68, Z:4.47 [[ 9.98058261e-01 -6.04632718e-02 -1.49632971e-02 6.71155640e+02] [ 6.04673474e-02 9.98170160e-01 -1.80311298e-04 8.68109757e+00] [ 1.49468189e-02 -7.24829705e-04 9.99888027e-01 4.47494155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.019254154 meters 0.03005605942610123 Centerline is valid? [True, True] Translation: X:671.22, Y:8.67, Z:4.47 [[ 9.97918505e-01 -6.26372973e-02 -1.53371167e-02 6.71217212e+02] [ 6.26418439e-02 9.98036054e-01 -1.84244401e-04 8.67458347e+00] [ 1.53185360e-02 -7.76884374e-04 9.99882363e-01 4.47383302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters 0.030449284875760277 Centerline is valid? [True, True] Translation: X:671.28, Y:8.67, Z:4.47 [[ 9.97927831e-01 -6.24053551e-02 -1.56721648e-02 6.71279525e+02] [ 6.24100893e-02 9.98050573e-01 -1.87294909e-04 8.67328327e+00] [ 1.56533012e-02 -7.91194401e-04 9.99877167e-01 4.47367011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.139254154 meters 0.02547362892236575 Centerline is valid? [True, True] Translation: X:671.34, Y:8.68, Z:4.48 [[ 9.98065271e-01 -6.01861906e-02 -1.55992747e-02 6.71340701e+02] [ 6.01906228e-02 9.98186884e-01 -1.85636058e-04 8.68095549e+00] [ 1.55821642e-02 -7.53653160e-04 9.99878307e-01 4.47541106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters 0.022314715342575203 Centerline is valid? [True, True] Translation: X:671.40, Y:8.69, Z:4.48 [[ 9.98480522e-01 -5.32333776e-02 -1.42427300e-02 6.71400731e+02] [ 5.32363694e-02 9.98581925e-01 -1.69263495e-04 8.68800752e+00] [ 1.42315432e-02 -5.89224934e-04 9.99898553e-01 4.47748830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.259254154 meters 0.019767435376305185 Centerline is valid? [True, True] Translation: X:671.46, Y:8.69, Z:4.48 [[ 9.98814073e-01 -4.67953288e-02 -1.34403844e-02 6.71461868e+02] [ 4.67974125e-02 9.98904388e-01 -1.59601049e-04 8.69475093e+00] [ 1.34331276e-02 -4.69563439e-04 9.99909661e-01 4.47950190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters 0.01783496541518861 Centerline is valid? [True, True] Translation: X:671.52, Y:8.70, Z:4.48 [[ 9.99222153e-01 -3.73781230e-02 -1.25684090e-02 6.71521298e+02] [ 3.73792007e-02 9.99301142e-01 -1.49224948e-04 8.69985529e+00] [ 1.25652032e-02 -3.20688209e-04 9.99921003e-01 4.47946001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.379254154 meters 0.0173341567262362 Centerline is valid? [True, True] Translation: X:671.58, Y:8.70, Z:4.48 [[ 9.99431866e-01 -3.13244412e-02 -1.24388365e-02 6.71582797e+02] [ 3.13250295e-02 9.99509240e-01 -1.47578270e-04 8.70407467e+00] [ 1.24373548e-02 -2.42152494e-04 9.99922624e-01 4.47901474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.439254154 meters 0.015256558504470418 Centerline is valid? [True, True] Translation: X:671.64, Y:8.71, Z:4.48 [[ 9.99660628e-01 -2.30766153e-02 -1.20871114e-02 6.71644543e+02] [ 2.30765745e-02 9.99733690e-01 -1.42861259e-04 8.70843080e+00] [ 1.20871892e-02 -1.36116350e-04 9.99926938e-01 4.48062935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.499254154 meters 0.0149530393010413 Centerline is valid? [True, True] Translation: X:671.70, Y:8.71, Z:4.48 [[ 9.99761199e-01 -1.77978350e-02 -1.26799659e-02 6.71704931e+02] [ 1.77973719e-02 9.99841603e-01 -1.49368473e-04 8.71151645e+00] [ 1.26806158e-02 -7.63372647e-05 9.99919595e-01 4.48074480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.559254154 meters 0.014694925947520322 Centerline is valid? [True, True] Translation: X:671.76, Y:8.71, Z:4.48 [[ 9.99828524e-01 -1.32335674e-02 -1.29536112e-02 6.71764186e+02] [ 1.32327012e-02 9.99912432e-01 -1.52578524e-04 8.71186498e+00] [ 1.29544960e-02 -1.88589060e-05 9.99916087e-01 4.48021008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.619254154 meters 0.014715549536936755 Centerline is valid? [True, True] Translation: X:671.82, Y:8.71, Z:4.48 [[ 9.99809665e-01 -1.41994381e-02 -1.33794828e-02 6.71822735e+02] [ 1.41985767e-02 9.99899182e-01 -1.59379690e-04 8.70720614e+00] [ 1.33803970e-02 -3.06202577e-05 9.99910478e-01 4.48051850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.679254154 meters 0.014810650099651509 Centerline is valid? [True, True] Translation: X:671.88, Y:8.70, Z:4.48 [[ 9.99750244e-01 -1.76494523e-02 -1.37093309e-02 6.71881646e+02] [ 1.76488249e-02 9.99844233e-01 -1.66761436e-04 8.70245913e+00] [ 1.37101386e-02 -7.52337934e-05 9.99906009e-01 4.48062952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.739254154 meters 0.01572303808811607 Centerline is valid? [True, True] Translation: X:671.94, Y:8.69, Z:4.48 [[ 9.99574243e-01 -2.58744711e-02 -1.34849981e-02 6.71941187e+02] [ 2.58745868e-02 9.99665183e-01 -1.65916871e-04 8.69220429e+00] [ 1.34847761e-02 -1.83072522e-04 9.99909060e-01 4.48031221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.799254154 meters 0.016665481840330666 Centerline is valid? [True, True] Translation: X:672.00, Y:8.69, Z:4.48 [[ 9.99363276e-01 -3.31285723e-02 -1.32491380e-02 6.72002030e+02] [ 3.31293195e-02 9.99451060e-01 -1.63130802e-04 8.68537604e+00] [ 1.32472693e-02 -2.75907992e-04 9.99912213e-01 4.48074039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.859254154 meters 0.01967563195935151 Centerline is valid? [True, True] Translation: X:672.06, Y:8.67, Z:4.48 [[ 9.98957790e-01 -4.38227988e-02 -1.27630629e-02 6.72061890e+02] [ 4.38243644e-02 9.99039239e-01 -1.57118669e-04 8.67299475e+00] [ 1.27576860e-02 -4.02378202e-04 9.99918536e-01 4.48116520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.919254154 meters 0.023320393799017302 Centerline is valid? [True, True] Translation: X:672.12, Y:8.66, Z:4.48 [[ 9.98532557e-01 -5.26267900e-02 -1.27731763e-02 6.72121700e+02] [ 5.26290746e-02 9.98614118e-01 -1.57437243e-04 8.66148306e+00] [ 1.27637596e-02 -5.15034238e-04 9.99918407e-01 4.48096024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters 0.025750524528235313 Centerline is valid? [True, True] Translation: X:672.18, Y:8.66, Z:4.48 [[ 9.98294151e-01 -5.69435128e-02 -1.28928292e-02 6.72183241e+02] [ 5.69462012e-02 9.98377236e-01 -1.58793685e-04 8.65542476e+00] [ 1.28809495e-02 -5.75674841e-04 9.99916871e-01 4.48057606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.039254154 meters 0.028693029256839517 Centerline is valid? [True, True] Translation: X:672.24, Y:8.65, Z:4.48 [[ 9.98063196e-01 -6.07278055e-02 -1.34904019e-02 6.72242905e+02] [ 6.07310972e-02 9.98154150e-01 -1.65903634e-04 8.64967895e+00] [ 1.34755756e-02 -6.53704598e-04 9.99908987e-01 4.47999602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters 0.027483904676978275 Centerline is valid? [True, True] Translation: X:672.31, Y:8.65, Z:4.48 [[ 9.97993947e-01 -6.19577239e-02 -1.30124095e-02 6.72305234e+02] [ 6.19608966e-02 9.98078565e-01 -1.59570781e-04 8.65150291e+00] [ 1.29972937e-02 -6.47009888e-04 9.99915322e-01 4.48156125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.159254154 meters 0.024405825400480762 Centerline is valid? [True, True] Translation: X:672.37, Y:8.66, Z:4.48 [[ 9.97985013e-01 -6.21423432e-02 -1.28157588e-02 6.72367557e+02] [ 6.21454480e-02 9.98067091e-01 -1.56218455e-04 8.65719248e+00] [ 1.28006949e-02 -6.40537398e-04 9.99917863e-01 4.48271154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters 0.025504566789031985 Centerline is valid? [True, True] Translation: X:672.43, Y:8.66, Z:4.48 [[ 9.97999564e-01 -6.17873015e-02 -1.33865764e-02 6.72428475e+02] [ 6.17906693e-02 9.98089118e-01 -1.62268837e-04 8.65764993e+00] [ 1.33710224e-02 -6.65221285e-04 9.99910383e-01 4.48322611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.279254154 meters 0.026321616497183772 Centerline is valid? [True, True] Translation: X:672.49, Y:8.66, Z:4.48 [[ 9.98055651e-01 -6.03640652e-02 -1.55273336e-02 6.72489312e+02] [ 6.03684390e-02 9.98176145e-01 -1.87297169e-04 8.66004007e+00] [ 1.55103200e-02 -7.50427896e-04 9.99879426e-01 4.48202811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters 0.025179627169755303 Centerline is valid? [True, True] Translation: X:672.55, Y:8.66, Z:4.48 [[ 9.98170756e-01 -5.80266611e-02 -1.69719956e-02 6.72550780e+02] [ 5.80315629e-02 9.98314728e-01 -2.03943783e-04 8.66448597e+00] [ 1.69552274e-02 -7.81340713e-04 9.99855945e-01 4.48156346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.399254154 meters 0.021939123705490712 Centerline is valid? [True, True] Translation: X:672.61, Y:8.68, Z:4.48 [[ 9.98432825e-01 -5.30506224e-02 -1.78192537e-02 6.72611696e+02] [ 5.30552432e-02 9.98591556e-01 -2.13657628e-04 8.67508820e+00] [ 1.78054909e-02 -7.32082049e-04 9.99841202e-01 4.48290341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters 0.02084270309440017 Centerline is valid? [True, True] Translation: X:672.67, Y:8.68, Z:4.49 [[ 9.98739500e-01 -4.74108727e-02 -1.64808981e-02 6.72671515e+02] [ 4.74140603e-02 9.98875301e-01 -1.97493780e-04 8.68386298e+00] [ 1.64717254e-02 -5.84181456e-04 9.99864161e-01 4.48541824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.519254154 meters 0.019908251209675154 Centerline is valid? [True, True] Translation: X:672.73, Y:8.69, Z:4.49 [[ 9.98909098e-01 -4.40776109e-02 -1.54200832e-02 6.72732782e+02] [ 4.40800095e-02 9.99027987e-01 -1.84459061e-04 8.69003664e+00] [ 1.54132252e-02 -4.95459580e-04 9.99881086e-01 4.48702955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters 0.021096704935458645 Centerline is valid? [True, True] Translation: X:672.79, Y:8.69, Z:4.49 [[ 9.99007316e-01 -4.17624121e-02 -1.55011075e-02 6.72794705e+02] [ 4.17645689e-02 9.99127463e-01 -1.84692380e-04 8.69278213e+00] [ 1.54952954e-02 -4.62888035e-04 9.99879834e-01 4.48613010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.639254154 meters 0.018488553763508206 Centerline is valid? [True, True] Translation: X:672.86, Y:8.70, Z:4.49 [[ 9.99140491e-01 -3.90688381e-02 -1.38530019e-02 6.72856589e+02] [ 3.90703120e-02 9.99236450e-01 -1.64326443e-04 8.69976735e+00] [ 1.38488445e-02 -3.77055903e-04 9.99904029e-01 4.48871262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters 0.01785723271972523 Centerline is valid? [True, True] Translation: X:672.92, Y:8.71, Z:4.49 [[ 9.99232565e-01 -3.67259475e-02 -1.36193268e-02 6.72918049e+02] [ 3.67271631e-02 9.99325317e-01 -1.60931582e-04 8.70545200e+00] [ 1.36160484e-02 -3.39391158e-04 9.99907240e-01 4.48939546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.759254154 meters 0.018377103429724765 Centerline is valid? [True, True] Translation: X:672.98, Y:8.71, Z:4.49 [[ 9.99282529e-01 -3.51906951e-02 -1.40015184e-02 6.72978973e+02] [ 3.51918461e-02 9.99380562e-01 -1.64244870e-04 8.70595851e+00] [ 1.39986252e-02 -3.28612250e-04 9.99901960e-01 4.48833266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters 0.01717381913762497 Centerline is valid? [True, True] Translation: X:673.04, Y:8.71, Z:4.49 [[ 9.99353436e-01 -3.29405523e-02 -1.44093541e-02 6.73040439e+02] [ 3.29415545e-02 9.99457266e-01 -1.67849421e-04 8.71048552e+00] [ 1.44070627e-02 -3.06925629e-04 9.99896166e-01 4.48890861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.879254154 meters 0.016593673127439347 Centerline is valid? [True, True] Translation: X:673.10, Y:8.71, Z:4.49 [[ 9.99446575e-01 -3.03805906e-02 -1.35485819e-02 6.73101827e+02] [ 3.03812481e-02 9.99538371e-01 -1.57339065e-04 8.71284001e+00] [ 1.35471076e-02 -2.54370838e-04 9.99908201e-01 4.48968919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.939254154 meters 0.01615270296140209 Centerline is valid? [True, True] Translation: X:673.16, Y:8.71, Z:4.49 [[ 9.99515611e-01 -2.82420862e-02 -1.30739380e-02 6.73163213e+02] [ 2.82425217e-02 9.99601089e-01 -1.51353645e-04 8.71341731e+00] [ 1.30729972e-02 -2.17960646e-04 9.99914521e-01 4.48986771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.999254154 meters 0.015723998551594787 Centerline is valid? [True, True] Translation: X:673.22, Y:8.71, Z:4.49 [[ 9.99615391e-01 -2.48839447e-02 -1.22416866e-02 6.73224517e+02] [ 2.48840801e-02 9.99690333e-01 -1.41283547e-04 8.71405636e+00] [ 1.22414114e-02 -1.63393901e-04 9.99925058e-01 4.49060549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.059254154 meters 0.015612030657435775 Centerline is valid? [True, True] Translation: X:673.29, Y:8.71, Z:4.49 [[ 9.99642578e-01 -2.35433774e-02 -1.26659292e-02 6.73285450e+02] [ 2.35434207e-02 9.99722805e-01 -1.45704511e-04 8.71284503e+00] [ 1.26658487e-02 -1.52546868e-04 9.99919773e-01 4.48992825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.119254154 meters 0.01544799603503786 Centerline is valid? [True, True] Translation: X:673.35, Y:8.71, Z:4.49 [[ 9.99619045e-01 -2.43926158e-02 -1.29137364e-02 6.73345796e+02] [ 2.43927349e-02 9.99702442e-01 -1.48303148e-04 8.71013452e+00] [ 1.29135113e-02 -1.66754697e-04 9.99916603e-01 4.48960596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.179254154 meters 0.016164078377345122 Centerline is valid? [True, True] Translation: X:673.41, Y:8.70, Z:4.49 [[ 9.99513783e-01 -2.79923737e-02 -1.37340647e-02 6.73406287e+02] [ 2.79928482e-02 9.99608111e-01 -1.57723912e-04 8.70459080e+00] [ 1.37330975e-02 -2.26808362e-04 9.99905671e-01 4.48929510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.239254154 meters 0.01638025501853609 Centerline is valid? [True, True] Translation: X:673.47, Y:8.70, Z:4.49 [[ 9.99459299e-01 -2.98627866e-02 -1.37594632e-02 6.73467933e+02] [ 2.98634436e-02 9.99553975e-01 -1.57755790e-04 8.70164033e+00] [ 1.37580372e-02 -2.53234462e-04 9.99905322e-01 4.48985868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.299254154 meters 0.016823406099583302 Centerline is valid? [True, True] Translation: X:673.53, Y:8.70, Z:4.49 [[ 9.99474130e-01 -2.95584522e-02 -1.33326937e-02 6.73527817e+02] [ 2.95590468e-02 9.99563024e-01 -1.52503116e-04 8.69988369e+00] [ 1.33313754e-02 -2.41678799e-04 9.99911104e-01 4.48969946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.359254154 meters 0.01580337456664576 Centerline is valid? [True, True] Translation: X:673.59, Y:8.70, Z:4.49 [[ 9.99553565e-01 -2.64745290e-02 -1.38481072e-02 6.73589153e+02] [ 2.64748800e-02 9.99649466e-01 -1.58008203e-04 8.70050355e+00] [ 1.38474362e-02 -2.08689314e-04 9.99904098e-01 4.49003567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.419254154 meters 0.01568460995457276 Centerline is valid? [True, True] Translation: X:673.65, Y:8.70, Z:4.49 [[ 9.99623121e-01 -2.42063287e-02 -1.29487548e-02 6.73650143e+02] [ 2.42064498e-02 9.99706970e-01 -1.47400568e-04 8.70135511e+00] [ 1.29485285e-02 -1.66098367e-04 9.99916150e-01 4.49065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters 0.015198939075214114 Centerline is valid? [True, True] Translation: X:673.71, Y:8.70, Z:4.49 [[ 9.99733110e-01 -2.00413082e-02 -1.14915514e-02 6.73709942e+02] [ 2.00411287e-02 9.99799148e-01 -1.30789808e-04 8.70219769e+00] [ 1.14918645e-02 -9.95487585e-05 9.99933961e-01 4.49203398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.539254154 meters 0.01484202257382225 Centerline is valid? [True, True] Translation: X:673.77, Y:8.70, Z:4.49 [[ 9.99790403e-01 -1.66590174e-02 -1.19007384e-02 6.73770545e+02] [ 1.66585837e-02 9.99861227e-01 -1.35571604e-04 8.70185263e+00] [ 1.19013454e-02 -6.27062585e-05 9.99929175e-01 4.49268821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters 0.014769000167533675 Centerline is valid? [True, True] Translation: X:673.83, Y:8.70, Z:4.49 [[ 9.99813240e-01 -1.52347594e-02 -1.18906719e-02 6.73829949e+02] [ 1.52342235e-02 9.99883943e-01 -1.35646562e-04 8.70080914e+00] [ 1.18913585e-02 -4.55239245e-05 9.99929294e-01 4.49285329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.659254154 meters 0.014798280394037133 Centerline is valid? [True, True] Translation: X:673.89, Y:8.70, Z:4.49 [[ 9.99804979e-01 -1.55839449e-02 -1.21303213e-02 6.73888609e+02] [ 1.55833926e-02 9.99878562e-01 -1.40060151e-04 8.69696449e+00] [ 1.21310309e-02 -4.89987231e-05 9.99926415e-01 4.49320391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters 0.017444282092104954 Centerline is valid? [True, True] Translation: X:673.95, Y:8.69, Z:4.49 [[ 9.99744027e-01 -1.71460329e-02 -1.47612344e-02 6.73947310e+02] [ 1.71453448e-02 9.99852993e-01 -1.73172516e-04 8.69218310e+00] [ 1.47620336e-02 -7.99582662e-05 9.99891032e-01 4.49032924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.779254154 meters 0.01565197569349045 Centerline is valid? [True, True] Translation: X:674.00, Y:8.68, Z:4.49 [[ 9.99625884e-01 -2.27642885e-02 -1.51617995e-02 6.74004919e+02] [ 2.27641899e-02 9.99740846e-01 -1.79106336e-04 8.68484766e+00] [ 1.51619474e-02 -1.66106753e-04 9.99885037e-01 4.49094229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters 0.01657011116315498 Centerline is valid? [True, True] Translation: X:674.06, Y:8.68, Z:4.49 [[ 9.99526406e-01 -2.71208183e-02 -1.45404772e-02 6.74063516e+02] [ 2.71211527e-02 9.99632139e-01 -1.74223931e-04 8.68014395e+00] [ 1.45398534e-02 -2.20213082e-04 9.99894266e-01 4.49182033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.899254154 meters 0.016973756148710977 Centerline is valid? [True, True] Translation: X:674.12, Y:8.67, Z:4.49 [[ 9.99347498e-01 -3.39610541e-02 -1.22973425e-02 6.74123143e+02] [ 3.39617914e-02 9.99423121e-01 -1.48931125e-04 8.67421515e+00] [ 1.22953062e-02 -2.68805832e-04 9.99924374e-01 4.49490438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters 0.01879024168576605 Centerline is valid? [True, True] Translation: X:674.18, Y:8.67, Z:4.50 [[ 9.99126522e-01 -4.03588331e-02 -1.08331666e-02 6.74182908e+02] [ 4.03597785e-02 9.99185204e-01 -1.31420749e-04 8.66639565e+00] [ 1.08296438e-02 -3.05918249e-04 9.99941311e-01 4.49685959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.019254154 meters 0.01981944160041767 Centerline is valid? [True, True] Translation: X:674.25, Y:8.66, Z:4.50 [[ 9.98991121e-01 -4.36771049e-02 -1.04427058e-02 6.74245371e+02] [ 4.36781674e-02 9.99045645e-01 -1.26409043e-04 8.66190102e+00] [ 1.04382609e-02 -3.29836738e-04 9.99945465e-01 4.49761397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters 0.02180629110690734 Centerline is valid? [True, True] Translation: X:674.31, Y:8.65, Z:4.50 [[ 9.98714403e-01 -4.93402647e-02 -1.16224157e-02 6.74306919e+02] [ 4.93419722e-02 9.98781933e-01 -1.39959249e-04 8.65469625e+00] [ 1.16151645e-02 -4.33693595e-04 9.99932448e-01 4.49622926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.139254154 meters 0.022994622952430755 Centerline is valid? [True, True] Translation: X:674.37, Y:8.65, Z:4.50 [[ 9.98518518e-01 -5.29062139e-02 -1.27161637e-02 6.74368061e+02] [ 5.29085515e-02 9.98599350e-01 -1.52751329e-04 8.65049718e+00] [ 1.27064343e-02 -5.20268773e-04 9.99919135e-01 4.49552696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters 0.023741860143215943 Centerline is valid? [True, True] Translation: X:674.43, Y:8.65, Z:4.50 [[ 9.98258648e-01 -5.72735581e-02 -1.41212988e-02 6.74429063e+02] [ 5.72768808e-02 9.98358318e-01 -1.69355979e-04 8.64737132e+00] [ 1.41078158e-02 -6.39762879e-04 9.99900275e-01 4.49539603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.259254154 meters 0.02479056107254827 Centerline is valid? [True, True] Translation: X:674.49, Y:8.65, Z:4.50 [[ 9.98172594e-01 -5.85893580e-02 -1.47904975e-02 6.74491291e+02] [ 5.85931581e-02 9.98281929e-01 -1.76651740e-04 8.64641741e+00] [ 1.47754363e-02 -6.90293034e-04 9.99890599e-01 4.49554956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters 0.02482872501681844 Centerline is valid? [True, True] Translation: X:674.55, Y:8.65, Z:4.50 [[ 9.98207433e-01 -5.74919309e-02 -1.66312590e-02 6.74553339e+02] [ 5.74966053e-02 9.98345682e-01 -1.97352005e-04 8.64796659e+00] [ 1.66150918e-02 -7.59242694e-04 9.99861672e-01 4.49514479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.379254154 meters 0.023943872400076168 Centerline is valid? [True, True] Translation: X:674.61, Y:8.65, Z:4.50 [[ 9.98393857e-01 -5.39591697e-02 -1.72659797e-02 6.74614758e+02] [ 5.39636959e-02 9.98542877e-01 -2.03990701e-04 8.65316764e+00] [ 1.72518282e-02 -7.28073012e-04 9.99850911e-01 4.49531460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.439254154 meters 0.022011465906573786 Centerline is valid? [True, True] Translation: X:674.68, Y:8.66, Z:4.50 [[ 9.98486911e-01 -5.23275476e-02 -1.69031703e-02 6.74676506e+02] [ 5.23316657e-02 9.98629740e-01 -1.98895619e-04 8.65805971e+00] [ 1.68904163e-02 -6.85976387e-04 9.99857111e-01 4.49626425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.499254154 meters 0.02091544402663791 Centerline is valid? [True, True] Translation: X:674.74, Y:8.66, Z:4.50 [[ 9.98716850e-01 -4.80178565e-02 -1.60915810e-02 6.74736753e+02] [ 4.80210357e-02 9.98846307e-01 -1.88988647e-04 8.66270413e+00] [ 1.60820911e-02 -5.83988241e-04 9.99870504e-01 4.49716205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.559254154 meters 0.019527497184878215 Centerline is valid? [True, True] Translation: X:674.80, Y:8.67, Z:4.50 [[ 9.99079258e-01 -4.04326198e-02 -1.43471276e-02 6.74796304e+02] [ 4.04343641e-02 9.99182182e-01 -1.68593309e-04 8.67046593e+00] [ 1.43422109e-02 -4.11678903e-04 9.99897060e-01 4.49795051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.619254154 meters 0.017188404066543428 Centerline is valid? [True, True] Translation: X:674.86, Y:8.68, Z:4.50 [[ 9.99297857e-01 -3.50576784e-02 -1.32194017e-02 6.74857265e+02] [ 3.50586897e-02 9.99385243e-01 -1.55295845e-04 8.67797376e+00] [ 1.32167193e-02 -3.08268096e-04 9.99912608e-01 4.49932144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.679254154 meters 0.015995697693599726 Centerline is valid? [True, True] Translation: X:674.92, Y:8.68, Z:4.50 [[ 9.99522056e-01 -2.86780907e-02 -1.15423551e-02 6.74917776e+02] [ 2.86784377e-02 9.99588680e-01 -1.35486191e-04 8.68304820e+00] [ 1.15414930e-02 -1.95595275e-04 9.99933376e-01 4.49953112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.739254154 meters 0.01571919110529144 Centerline is valid? [True, True] Translation: X:674.98, Y:8.69, Z:4.50 [[ 9.99612527e-01 -2.54455931e-02 -1.12835174e-02 6.74978498e+02] [ 2.54457188e-02 9.99676197e-01 -1.32447909e-04 8.68580140e+00] [ 1.12832339e-02 -1.54720621e-04 9.99936330e-01 4.49874321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.799254154 meters 0.015440228369146191 Centerline is valid? [True, True] Translation: X:675.04, Y:8.69, Z:4.50 [[ 9.99610940e-01 -2.53711319e-02 -1.15876656e-02 6.75039414e+02] [ 2.53712616e-02 9.99678089e-01 -1.35837970e-04 8.68607808e+00] [ 1.15873818e-02 -1.58208575e-04 9.99932852e-01 4.49797626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.859254154 meters 0.015605786794618402 Centerline is valid? [True, True] Translation: X:675.10, Y:8.69, Z:4.50 [[ 9.99607528e-01 -2.49174125e-02 -1.28028295e-02 6.75099935e+02] [ 2.49175371e-02 9.99689499e-01 -1.49809099e-04 8.68606059e+00] [ 1.28025871e-02 -1.69264676e-04 9.99918029e-01 4.49647784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.919254154 meters 0.015372693933131149 Centerline is valid? [True, True] Translation: X:675.16, Y:8.69, Z:4.50 [[ 9.99635104e-01 -2.42733881e-02 -1.18516322e-02 6.75160809e+02] [ 2.42734496e-02 9.99705347e-01 -1.38678901e-04 8.68682504e+00] [ 1.18515062e-02 -1.49051698e-04 9.99929757e-01 4.49655926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters 0.015211598506929606 Centerline is valid? [True, True] Translation: X:675.22, Y:8.69, Z:4.50 [[ 9.99651326e-01 -2.44071860e-02 -1.00754772e-02 6.75221165e+02] [ 2.44072372e-02 9.99702092e-01 -1.17895670e-04 8.68543619e+00] [ 1.00753532e-02 -1.28060000e-04 9.99949234e-01 4.49669734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.039254154 meters 0.015401070141995765 Centerline is valid? [True, True] Translation: X:675.28, Y:8.68, Z:4.50 [[ 9.99623109e-01 -2.60442963e-02 -8.67960286e-03 6.75282169e+02] [ 2.60443967e-02 9.99660782e-01 -1.01490070e-04 8.68243957e+00] [ 8.67930182e-03 -1.24603201e-04 9.99962326e-01 4.49726922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters 0.016358658190281535 Centerline is valid? [True, True] Translation: X:675.34, Y:8.68, Z:4.50 [[ 9.99495203e-01 -3.08422271e-02 -7.62210930e-03 6.75343745e+02] [ 3.08424458e-02 9.99524255e-01 -8.88759314e-05 8.67573082e+00] [ 7.62122425e-03 -1.46253426e-04 9.99970947e-01 4.49729344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.159254154 meters 0.017555057665148668 Centerline is valid? [True, True] Translation: X:675.40, Y:8.67, Z:4.50 [[ 9.99404551e-01 -3.37257057e-02 -7.28834454e-03 6.75404819e+02] [ 3.37259842e-02 9.99431114e-01 -8.47205033e-05 8.67139501e+00] [ 7.28705556e-03 -1.61136537e-04 9.99973436e-01 4.49712276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters 0.0180191921291069 Centerline is valid? [True, True] Translation: X:675.47, Y:8.67, Z:4.50 [[ 9.99356509e-01 -3.53789574e-02 -5.90747721e-03 6.75466805e+02] [ 3.53791707e-02 9.99373959e-01 -6.84343545e-05 8.66716008e+00] [ 5.90620002e-03 -1.40611327e-04 9.99982548e-01 4.49730773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.279254154 meters 0.01817527085797545 Centerline is valid? [True, True] Translation: X:675.53, Y:8.66, Z:4.50 [[ 9.99386102e-01 -3.44876466e-02 -6.16611962e-03 6.75528112e+02] [ 3.44878649e-02 9.99405114e-01 -7.09550143e-05 8.66423797e+00] [ 6.16489856e-03 -1.41744845e-04 9.99980987e-01 4.49693349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters 0.018399830363333612 Centerline is valid? [True, True] Translation: X:675.59, Y:8.66, Z:4.50 [[ 9.99405031e-01 -3.36763491e-02 -7.44902022e-03 6.75588966e+02] [ 3.36766487e-02 9.99432777e-01 -8.52476736e-05 8.66358392e+00] [ 7.44766579e-03 -1.65661083e-04 9.99972252e-01 4.49577109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.399254154 meters 0.017898030439786498 Centerline is valid? [True, True] Translation: X:675.65, Y:8.66, Z:4.49 [[ 9.99456600e-01 -3.18119860e-02 -8.63147048e-03 6.75650852e+02] [ 3.18123229e-02 9.99493855e-01 -9.82952899e-05 8.66322044e+00] [ 8.63022868e-03 -1.76345250e-04 9.99962743e-01 4.49469504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters 0.016097072262563364 Centerline is valid? [True, True] Translation: X:675.71, Y:8.67, Z:4.49 [[ 9.99506706e-01 -3.00890622e-02 -8.99964362e-03 6.75711870e+02] [ 3.00893620e-02 9.99547207e-01 -1.02107751e-04 8.66717810e+00] [ 8.99864098e-03 -1.68736154e-04 9.99959497e-01 4.49469956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.519254154 meters 0.015939708902645736 Centerline is valid? [True, True] Translation: X:675.77, Y:8.67, Z:4.49 [[ 9.99544696e-01 -2.84642653e-02 -1.00092948e-02 6.75772768e+02] [ 2.84645588e-02 9.99594796e-01 -1.13167482e-04 8.66888345e+00] [ 1.00084602e-02 -1.71794204e-04 9.99949899e-01 4.49459896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters 0.016063430930337862 Centerline is valid? [True, True] Translation: X:675.83, Y:8.67, Z:4.50 [[ 9.99513685e-01 -2.93306648e-02 -1.05880128e-02 6.75834262e+02] [ 2.93310460e-02 9.99569745e-01 -1.19310694e-04 8.66882444e+00] [ 1.05869567e-02 -1.91304819e-04 9.99943938e-01 4.49508054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.639254154 meters 0.01792835734004132 Centerline is valid? [True, True] Translation: X:675.89, Y:8.66, Z:4.50 [[ 9.99329573e-01 -3.52244658e-02 -9.98205594e-03 6.75894201e+02] [ 3.52251007e-02 9.99379397e-01 -1.12251891e-04 8.66327631e+00] [ 9.97981506e-03 -2.39442292e-04 9.99950172e-01 4.49567334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters 0.023056314654403706 Centerline is valid? [True, True] Translation: X:675.95, Y:8.66, Z:4.49 [[ 9.98948002e-01 -4.47318178e-02 -1.00972349e-02 6.75954408e+02] [ 4.47329527e-02 9.98998974e-01 -1.13535761e-04 8.65541825e+00] [ 1.00922060e-02 -3.38262810e-04 9.99949015e-01 4.49488391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.759254154 meters 0.02591960128627959 Centerline is valid? [True, True] Translation: X:676.02, Y:8.65, Z:4.50 [[ 9.98575876e-01 -5.23045595e-02 -1.05096573e-02 6.76015493e+02] [ 5.23062080e-02 9.98631086e-01 -1.18137658e-04 8.64907564e+00] [ 1.05014497e-02 -4.31750907e-04 9.99944765e-01 4.49505990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.819254154 meters 0.029384956510504736 Centerline is valid? [True, True] Translation: X:676.08, Y:8.64, Z:4.50 [[ 9.97972183e-01 -6.27994148e-02 -1.03805652e-02 6.76076272e+02] [ 6.28015894e-02 9.98026025e-01 -1.16663897e-04 8.64229162e+00] [ 1.03674007e-02 -5.35488670e-04 9.99946114e-01 4.49684373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.879254154 meters 0.032533903788574195 Centerline is valid? [True, True] Translation: X:676.14, Y:8.64, Z:4.50 [[ 9.97665016e-01 -6.75209504e-02 -1.02682207e-02 6.76136625e+02] [ 6.75233277e-02 9.97717689e-01 -1.15385360e-04 8.63848619e+00] [ 1.02525764e-02 -5.78228497e-04 9.99947274e-01 4.49722556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.939254154 meters 0.029478920725502775 Centerline is valid? [True, True] Translation: X:676.20, Y:8.65, Z:4.50 [[ 9.97466827e-01 -7.03046347e-02 -1.08252916e-02 6.76197544e+02] [ 7.03074426e-02 9.97525362e-01 -1.21429889e-04 8.64554864e+00] [ 1.08070401e-02 -6.39976285e-04 9.99941397e-01 4.49703721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.999254154 meters 0.030461755554158795 Centerline is valid? [True, True] Translation: X:676.26, Y:8.65, Z:4.50 [[ 9.97520011e-01 -6.95916573e-02 -1.05275104e-02 6.76259253e+02] [ 6.95942794e-02 9.97575372e-01 -1.17508357e-04 8.64726801e+00] [ 1.05101628e-02 -6.15437565e-04 9.99944577e-01 4.49851723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.059254154 meters 0.032923186817657255 Centerline is valid? [True, True] Translation: X:676.32, Y:8.65, Z:4.50 [[ 9.97651733e-01 -6.74939224e-02 -1.16442941e-02 6.76319872e+02] [ 6.74969963e-02 9.97719469e-01 -1.29250545e-04 8.64750619e+00] [ 1.16264626e-02 -6.57007848e-04 9.99932195e-01 4.49844790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.119254154 meters 0.02745486290495807 Centerline is valid? [True, True] Translation: X:676.38, Y:8.66, Z:4.50 [[ 9.97914048e-01 -6.33212246e-02 -1.25688049e-02 6.76380916e+02] [ 6.33244806e-02 9.97992981e-01 -1.39144978e-04 8.66160290e+00] [ 1.25523899e-02 -6.57058314e-04 9.99921000e-01 4.49901120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.179254154 meters 0.02674144303056428 Centerline is valid? [True, True] Translation: X:676.44, Y:8.67, Z:4.50 [[ 9.98124279e-01 -5.99856235e-02 -1.22331062e-02 6.76441802e+02] [ 5.99884606e-02 9.98199061e-01 -1.35210034e-04 8.66725899e+00] [ 1.22191858e-02 -5.98888791e-04 9.99925164e-01 4.50024948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.239254154 meters 0.024652548407016084 Centerline is valid? [True, True] Translation: X:676.50, Y:8.68, Z:4.50 [[ 9.98385613e-01 -5.56107678e-02 -1.15589748e-02 6.76502096e+02] [ 5.56130095e-02 9.98452391e-01 -1.27644723e-04 8.67696811e+00] [ 1.15481845e-02 -5.15390721e-04 9.99933185e-01 4.50157116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.299254154 meters 0.024408272754103386 Centerline is valid? [True, True] Translation: X:676.56, Y:8.68, Z:4.50 [[ 9.98565265e-01 -5.20796547e-02 -1.24547504e-02 6.76562394e+02] [ 5.20819845e-02 9.98642803e-01 -1.37432978e-04 8.68274720e+00] [ 1.24450043e-02 -5.11432319e-04 9.99922427e-01 4.50135243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.359254154 meters 0.020437168522463908 Centerline is valid? [True, True] Translation: X:676.62, Y:8.70, Z:4.50 [[ 9.98886143e-01 -4.49056739e-02 -1.44897672e-02 6.76623221e+02] [ 4.49080770e-02 9.98991111e-01 -1.59644007e-04 8.69641440e+00] [ 1.44823176e-02 -4.91241397e-04 9.99895005e-01 4.50110646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.419254154 meters 0.020255965507688257 Centerline is valid? [True, True] Translation: X:676.68, Y:8.70, Z:4.50 [[ 9.98976384e-01 -4.25495872e-02 -1.53530583e-02 6.76684271e+02] [ 4.25520135e-02 9.99094239e-01 -1.68752834e-04 8.70000722e+00] [ 1.53463324e-02 -4.84723446e-04 9.99882121e-01 4.50106941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters 0.017965359868187595 Centerline is valid? [True, True] Translation: X:676.75, Y:8.71, Z:4.50 [[ 9.99164863e-01 -3.75094519e-02 -1.62054758e-02 6.76745260e+02] [ 3.75114996e-02 9.99296180e-01 -1.77696156e-04 8.71151324e+00] [ 1.62007353e-02 -4.30343942e-04 9.99868667e-01 4.50258821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.539254154 meters 0.018779223881117885 Centerline is valid? [True, True] Translation: X:676.81, Y:8.71, Z:4.50 [[ 9.99214390e-01 -3.58643583e-02 -1.68626840e-02 6.76805163e+02] [ 3.58663436e-02 9.99356579e-01 -1.84774920e-04 8.71480527e+00] [ 1.68584610e-02 -4.20173059e-04 9.99857798e-01 4.50232555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters 0.01807418049949498 Centerline is valid? [True, True] Translation: X:676.87, Y:8.72, Z:4.50 [[ 9.99208368e-01 -3.56636508e-02 -1.76278651e-02 6.76866318e+02] [ 3.56657960e-02 9.99363755e-01 -1.92772519e-04 8.72068646e+00] [ 1.76235244e-02 -4.36091925e-04 9.99844599e-01 4.50276429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.659254154 meters 0.018561702414070198 Centerline is valid? [True, True] Translation: X:676.93, Y:8.72, Z:4.50 [[ 9.99187224e-01 -3.64398683e-02 -1.72344643e-02 6.76926989e+02] [ 3.64420381e-02 9.99335751e-01 -1.88237869e-04 8.72268801e+00] [ 1.72298757e-02 -4.39974131e-04 9.99851458e-01 4.50317847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters 0.019673007510345827 Centerline is valid? [True, True] Translation: X:676.99, Y:8.72, Z:4.50 [[ 9.99138605e-01 -3.83211705e-02 -1.59227901e-02 6.76987139e+02] [ 3.83232613e-02 9.99265379e-01 -1.73911531e-04 8.72361259e+00] [ 1.59177574e-02 -4.36451520e-04 9.99873209e-01 4.50406400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.779254154 meters 0.021034467542168346 Centerline is valid? [True, True] Translation: X:677.05, Y:8.72, Z:4.50 [[ 9.99070196e-01 -4.01200037e-02 -1.57838187e-02 6.77047407e+02] [ 4.01222849e-02 9.99194762e-01 -1.72239114e-04 8.72314041e+00] [ 1.57780192e-02 -4.61203907e-04 9.99875413e-01 4.50423754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters 0.02187514928534794 Centerline is valid? [True, True] Translation: X:677.11, Y:8.72, Z:4.50 [[ 9.99015134e-01 -4.14836732e-02 -1.57438075e-02 6.77108304e+02] [ 4.14861202e-02 9.99139066e-01 -1.71274157e-04 8.72312885e+00] [ 1.57373582e-02 -4.82044016e-04 9.99876044e-01 4.50473243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.899254154 meters 0.020046117414849577 Centerline is valid? [True, True] Translation: X:677.17, Y:8.73, Z:4.51 [[ 9.98910360e-01 -4.37305521e-02 -1.63013028e-02 6.77169787e+02] [ 4.37334853e-02 9.99043218e-01 -1.76671922e-04 8.72785137e+00] [ 1.62934320e-02 -5.36433374e-04 9.99867109e-01 4.50559047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters 0.02077558689195747 Centerline is valid? [True, True] Translation: X:677.23, Y:8.73, Z:4.51 [[ 9.98886439e-01 -4.41178067e-02 -1.67182924e-02 6.77231069e+02] [ 4.41209695e-02 9.99026180e-01 -1.79787528e-04 8.72797571e+00] [ 1.67099436e-02 -5.58039944e-04 9.99860223e-01 4.50511476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.019254154 meters 0.018648740242981406 Centerline is valid? [True, True] Translation: X:677.29, Y:8.73, Z:4.51 [[ 9.99044073e-01 -4.03410127e-02 -1.68387085e-02 6.77292260e+02] [ 4.03437047e-02 9.99185845e-01 -1.79925528e-04 8.73475113e+00] [ 1.68322576e-02 -4.99582351e-04 9.99858203e-01 4.50528633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters 0.016983327178458563 Centerline is valid? [True, True] Translation: X:677.35, Y:8.74, Z:4.51 [[ 9.99254110e-01 -3.51101412e-02 -1.60779689e-02 6.77353126e+02] [ 3.51119254e-02 9.99383372e-01 -1.71383679e-04 8.74081011e+00] [ 1.60740721e-02 -3.93272600e-04 9.99870726e-01 4.50721691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.139254154 meters 0.0161844227984525 Centerline is valid? [True, True] Translation: X:677.41, Y:8.75, Z:4.51 [[ 9.99561266e-01 -2.57231631e-02 -1.46831017e-02 6.77413026e+02] [ 2.57236401e-02 9.99669080e-01 -1.56401101e-04 8.74771349e+00] [ 1.46822659e-02 -2.21370342e-04 9.99892185e-01 4.50822520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters 0.014740729718332683 Centerline is valid? [True, True] Translation: X:677.47, Y:8.75, Z:4.51 [[ 9.99693405e-01 -2.05311744e-02 -1.38407761e-02 6.77473572e+02] [ 2.05311007e-02 9.99789204e-01 -1.47428838e-04 8.75333277e+00] [ 1.38408854e-02 -1.36782732e-04 9.99904201e-01 4.51017686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.259254154 meters 0.014453797763697398 Centerline is valid? [True, True] Translation: X:677.53, Y:8.76, Z:4.51 [[ 9.99774355e-01 -1.63621185e-02 -1.35469273e-02 6.77532343e+02] [ 1.63616598e-02 9.99866129e-01 -1.44694662e-04 8.75532390e+00] [ 1.35474813e-02 -7.69882039e-05 9.99908226e-01 4.50948870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.319254154 meters 0.014488835639176769 Centerline is valid? [True, True] Translation: X:677.59, Y:8.75, Z:4.51 [[ 9.99739548e-01 -1.71426022e-02 -1.50654198e-02 6.77591462e+02] [ 1.71420851e-02 9.99853050e-01 -1.63464006e-04 8.75498506e+00] [ 1.50660081e-02 -9.48312765e-05 9.99886497e-01 4.50865460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.379254154 meters 0.017431868754813788 Centerline is valid? [True, True] Translation: X:677.65, Y:8.75, Z:4.51 [[ 9.99589825e-01 -2.23327737e-02 -1.79284338e-02 6.77650264e+02] [ 2.23328249e-02 9.99750572e-01 -1.97384388e-04 8.74937924e+00] [ 1.79283701e-02 -2.03089147e-04 9.99839253e-01 4.50531314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.439254154 meters 0.016395835381129747 Centerline is valid? [True, True] Translation: X:677.71, Y:8.74, Z:4.51 [[ 9.99350110e-01 -3.16537439e-02 -1.72452203e-02 6.77710038e+02] [ 3.16551633e-02 9.99498832e-01 -1.90729131e-04 8.74149490e+00] [ 1.72426149e-02 -3.55295087e-04 9.99851272e-01 4.50769919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.499254154 meters 0.018984370079994158 Centerline is valid? [True, True] Translation: X:677.77, Y:8.73, Z:4.51 [[ 9.99066076e-01 -4.03867194e-02 -1.53586533e-02 6.77769395e+02] [ 4.03888678e-02 9.99184022e-01 -1.70399097e-04 8.73299832e+00] [ 1.53530028e-02 -4.50078658e-04 9.99882034e-01 4.50942224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.559254154 meters 0.020777897640908222 Centerline is valid? [True, True] Translation: X:677.83, Y:8.73, Z:4.51 [[ 9.98929102e-01 -4.42238537e-02 -1.35978188e-02 6.77830473e+02] [ 4.42258946e-02 9.99021545e-01 -1.50726541e-04 8.72909381e+00] [ 1.35911797e-02 -4.50810574e-04 9.99907534e-01 4.51020333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.619254154 meters 0.02324605727230755 Centerline is valid? [True, True] Translation: X:677.89, Y:8.72, Z:4.51 [[ 9.98673361e-01 -5.01731964e-02 -1.15831129e-02 6.77890237e+02] [ 5.01750801e-02 9.98740429e-01 -1.28101373e-04 8.72185771e+00] [ 1.15749504e-02 -4.53252188e-04 9.99932905e-01 4.51227217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.679254154 meters 0.022564766812525318 Centerline is valid? [True, True] Translation: X:677.95, Y:8.72, Z:4.51 [[ 9.98386678e-01 -5.57558561e-02 -1.07389877e-02 6.77951310e+02] [ 5.57577983e-02 9.98444317e-01 -1.18689890e-04 8.72239907e+00] [ 1.07288989e-02 -4.80283906e-04 9.99942328e-01 4.51365038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.739254154 meters 0.02469016793268531 Centerline is valid? [True, True] Translation: X:678.01, Y:8.72, Z:4.51 [[ 9.98194788e-01 -5.90742630e-02 -1.08349878e-02 6.78011168e+02] [ 5.90764365e-02 9.98253455e-01 -1.19623104e-04 8.71815524e+00] [ 1.08231306e-02 -5.20685309e-04 9.99941293e-01 4.51376416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.799254154 meters 0.02483676390452344 Centerline is valid? [True, True] Translation: X:678.07, Y:8.72, Z:4.51 [[ 9.98039486e-01 -6.16027115e-02 -1.10585368e-02 6.78072191e+02] [ 6.16051314e-02 9.98100593e-01 -1.22009238e-04 8.71769763e+00] [ 1.10450482e-02 -5.59492573e-04 9.99938845e-01 4.51393709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.859254154 meters 0.025235803794839393 Centerline is valid? [True, True] Translation: X:678.13, Y:8.72, Z:4.51 [[ 9.98105026e-01 -6.04544843e-02 -1.14722774e-02 6.78134768e+02] [ 6.04570186e-02 9.98170794e-01 -1.26087653e-04 8.71852222e+00] [ 1.14589148e-02 -5.67730969e-04 9.99934183e-01 4.51386650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.919254154 meters 0.023650931383532046 Centerline is valid? [True, True] Translation: X:678.20, Y:8.73, Z:4.51 [[ 9.98455703e-01 -5.38234397e-02 -1.37566843e-02 6.78195120e+02] [ 5.38264641e-02 9.98550294e-01 -1.50578899e-04 8.72619654e+00] [ 1.37448458e-02 -5.90127313e-04 9.99905361e-01 4.51232471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters 0.022206282908767156 Centerline is valid? [True, True] Translation: X:678.26, Y:8.73, Z:4.51 [[ 9.98704609e-01 -4.83651893e-02 -1.58086337e-02 6.78255724e+02] [ 4.83685042e-02 9.98829544e-01 -1.72812062e-04 8.73286561e+00] [ 1.57984885e-02 -5.92051762e-04 9.99875021e-01 4.51149887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.039254154 meters 0.01981138268313847 Centerline is valid? [True, True] Translation: X:678.32, Y:8.74, Z:4.51 [[ 9.98989235e-01 -4.18789728e-02 -1.63297246e-02 6.78315352e+02] [ 4.18816468e-02 9.99122563e-01 -1.78348228e-04 8.74156981e+00] [ 1.63228654e-02 -5.05747800e-04 9.99866645e-01 4.51260177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters 0.018727280129813766 Centerline is valid? [True, True] Translation: X:678.38, Y:8.75, Z:4.52 [[ 9.99161449e-01 -3.81388149e-02 -1.48939508e-02 6.78376441e+02] [ 3.81406283e-02 9.99272368e-01 -1.62374685e-04 8.74746409e+00] [ 1.48893062e-02 -4.05826115e-04 9.99889066e-01 4.51503313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.159254154 meters 0.01845547258430094 Centerline is valid? [True, True] Translation: X:678.44, Y:8.75, Z:4.52 [[ 9.99282963e-01 -3.52033511e-02 -1.39385605e-02 6.78437440e+02] [ 3.52046606e-02 9.99380112e-01 -1.51480702e-04 8.75172983e+00] [ 1.39352528e-02 -3.39330207e-04 9.99902842e-01 4.51609743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters 0.01596478327152481 Centerline is valid? [True, True] Translation: X:678.50, Y:8.76, Z:4.52 [[ 9.99442918e-01 -3.02948253e-02 -1.40027720e-02 6.78499227e+02] [ 3.02956743e-02 9.99540969e-01 -1.51535242e-04 8.76089410e+00] [ 1.40009350e-02 -2.72772595e-04 9.99901945e-01 4.51739794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.279254154 meters 0.015846606558997736 Centerline is valid? [True, True] Translation: X:678.56, Y:8.76, Z:4.52 [[ 9.99485015e-01 -2.87277811e-02 -1.42975112e-02 6.78560781e+02] [ 2.87285154e-02 9.99587239e-01 -1.54064525e-04 8.76292569e+00] [ 1.42960356e-02 -2.56761086e-04 9.99897773e-01 4.51763282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters 0.015407634081160766 Centerline is valid? [True, True] Translation: X:678.62, Y:8.77, Z:4.52 [[ 9.99551920e-01 -2.56790498e-02 -1.53800616e-02 6.78620685e+02] [ 2.56795453e-02 9.99670212e-01 -1.65308444e-04 8.76553261e+00] [ 1.53792344e-02 -2.29718615e-04 9.99881706e-01 4.51647532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.399254154 meters 0.01514031139473392 Centerline is valid? [True, True] Translation: X:678.68, Y:8.77, Z:4.52 [[ 9.99558751e-01 -2.49261934e-02 -1.61551123e-02 6.78680849e+02] [ 2.49266438e-02 9.99689268e-01 -1.73511684e-04 8.76856854e+00] [ 1.61544174e-02 -2.29257608e-04 9.99869483e-01 4.51718536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters 0.015386657774434825 Centerline is valid? [True, True] Translation: X:678.74, Y:8.77, Z:4.52 [[ 9.99557792e-01 -2.54574726e-02 -1.53667552e-02 6.78740466e+02] [ 2.54579405e-02 9.99675880e-01 -1.65198887e-04 8.76947011e+00] [ 1.53659801e-02 -2.26080105e-04 9.99881911e-01 4.51764539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.519254154 meters 0.015265310622673034 Centerline is valid? [True, True] Translation: X:678.80, Y:8.77, Z:4.52 [[ 9.99535273e-01 -2.66669308e-02 -1.47686562e-02 6.78800939e+02] [ 2.66674932e-02 9.99644347e-01 -1.58884151e-04 8.77051126e+00] [ 1.47676406e-02 -2.35032725e-04 9.99890925e-01 4.51821633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters 0.015664025465391918 Centerline is valid? [True, True] Translation: X:678.86, Y:8.77, Z:4.52 [[ 9.99441028e-01 -2.98539188e-02 -1.50457347e-02 6.78861776e+02] [ 2.98548658e-02 9.99554231e-01 -1.61713163e-04 8.76971972e+00] [ 1.50438556e-02 -2.87565621e-04 9.99886793e-01 4.51816497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.639254154 meters 0.01686145731122581 Centerline is valid? [True, True] Translation: X:678.92, Y:8.77, Z:4.52 [[ 9.99322682e-01 -3.35769998e-02 -1.50586471e-02 6.78922119e+02] [ 3.35783749e-02 9.99436074e-01 -1.61580193e-04 8.76877645e+00] [ 1.50555805e-02 -3.44174145e-04 9.99886599e-01 4.51829073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters 0.017532069655603454 Centerline is valid? [True, True] Translation: X:678.98, Y:8.77, Z:4.52 [[ 9.99218793e-01 -3.65921791e-02 -1.49270269e-02 6.78983402e+02] [ 3.65938727e-02 9.99330207e-01 -1.59752166e-04 8.76816361e+00] [ 1.49228746e-02 -3.86610356e-04 9.99888573e-01 4.51899223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.759254154 meters 0.020250207352063013 Centerline is valid? [True, True] Translation: X:679.04, Y:8.76, Z:4.52 [[ 9.99052873e-01 -4.10474996e-02 -1.44381489e-02 6.79043191e+02] [ 4.10495606e-02 9.99157100e-01 -1.53705053e-04 8.76399648e+00] [ 1.44322882e-02 -4.39120192e-04 9.99895753e-01 4.51863674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.819254154 meters 0.019723700465441647 Centerline is valid? [True, True] Translation: X:679.11, Y:8.77, Z:4.52 [[ 9.98978823e-01 -4.29859066e-02 -1.39112902e-02 6.79105194e+02] [ 4.29880216e-02 9.99075577e-01 -1.47089035e-04 8.76741722e+00] [ 1.39047531e-02 -4.51080014e-04 9.99903223e-01 4.51996902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.879254154 meters 0.02236718693050649 Centerline is valid? [True, True] Translation: X:679.17, Y:8.77, Z:4.52 [[ 9.99073369e-01 -4.06614973e-02 -1.41083672e-02 6.79166078e+02] [ 4.06634619e-02 9.99172888e-01 -1.47697897e-04 8.76637454e+00] [ 1.41027037e-02 -4.26134019e-04 9.99900461e-01 4.51810658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.939254154 meters 0.01639552913360709 Centerline is valid? [True, True] Translation: X:679.23, Y:8.78, Z:4.52 [[ 9.99300598e-01 -3.46681926e-02 -1.40153739e-02 6.79227720e+02] [ 3.46695604e-02 9.99398820e-01 -1.45435294e-04 8.77957109e+00] [ 1.40119901e-02 -3.40573275e-04 9.99901769e-01 4.52189219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.999254154 meters 0.019005950083059504 Centerline is valid? [True, True] Translation: X:679.29, Y:8.78, Z:4.52 [[ 9.99439681e-01 -3.06082731e-02 -1.35446807e-02 6.79287876e+02] [ 3.06091844e-02 9.99531419e-01 -1.40068819e-04 8.77992408e+00] [ 1.35426212e-02 -2.74601294e-04 9.99908257e-01 4.52006798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.059254154 meters 0.01531563465923698 Centerline is valid? [True, True] Translation: X:679.35, Y:8.79, Z:4.52 [[ 9.99523320e-01 -2.82357879e-02 -1.24848755e-02 6.79349114e+02] [ 2.82363811e-02 9.99601266e-01 -1.28790105e-04 8.78840518e+00] [ 1.24835338e-02 -2.23798988e-04 9.99922053e-01 4.52358356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.119254154 meters 0.01583140816655736 Centerline is valid? [True, True] Translation: X:679.41, Y:8.79, Z:4.52 [[ 9.99478643e-01 -2.89867660e-02 -1.42200254e-02 6.79410822e+02] [ 2.89876212e-02 9.99579760e-01 -1.46013747e-04 8.78968262e+00] [ 1.42182821e-02 -2.66267089e-04 9.99898880e-01 4.52238631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.179254154 meters 0.016596004514182285 Centerline is valid? [True, True] Translation: X:679.47, Y:8.79, Z:4.52 [[ 9.99413293e-01 -3.05497781e-02 -1.54848345e-02 6.79471827e+02] [ 3.05509906e-02 9.99533197e-01 -1.58302892e-04 8.79092592e+00] [ 1.54824422e-02 -3.14867017e-04 9.99880090e-01 4.52188365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.239254154 meters 0.018155875266539643 Centerline is valid? [True, True] Translation: X:679.53, Y:8.79, Z:4.52 [[ 9.99325560e-01 -3.31035390e-02 -1.58927625e-02 6.79533377e+02] [ 3.31051478e-02 9.99451861e-01 -1.61913560e-04 8.79154469e+00] [ 1.58894110e-02 -3.64327894e-04 9.99873689e-01 4.52207543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.299254154 meters 0.018954705603050945 Centerline is valid? [True, True] Translation: X:679.59, Y:8.79, Z:4.52 [[ 9.99225504e-01 -3.67485753e-02 -1.40689147e-02 6.79594575e+02] [ 3.67502037e-02 9.99324473e-01 -1.42861732e-04 8.79248187e+00] [ 1.40646608e-02 -3.74284395e-04 9.99901018e-01 4.52425295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.359254154 meters 0.019802739130789872 Centerline is valid? [True, True] Translation: X:679.66, Y:8.79, Z:4.53 [[ 9.99151641e-01 -3.92527371e-02 -1.24588020e-02 6.79656496e+02] [ 3.92542163e-02 9.99229248e-01 -1.25885736e-04 8.79259259e+00] [ 1.24541407e-02 -3.63281569e-04 9.99922378e-01 4.52628444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.419254154 meters 0.02138498665440829 Centerline is valid? [True, True] Translation: X:679.72, Y:8.79, Z:4.53 [[ 9.99057005e-01 -4.22114041e-02 -1.01635610e-02 6.79717766e+02] [ 4.22125487e-02 9.99108648e-01 -1.01967500e-04 8.79062285e+00] [ 1.01588059e-02 -3.27158471e-04 9.99948344e-01 4.52770006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters 0.022004449297615955 Centerline is valid? [True, True] Translation: X:679.78, Y:8.79, Z:4.53 [[ 9.98849534e-01 -4.68296032e-02 -1.03245571e-02 6.79778484e+02] [ 4.68310382e-02 9.98902820e-01 -1.02856335e-04 8.79067238e+00] [ 1.03180459e-02 -3.80771726e-04 9.99946695e-01 4.52658922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.539254154 meters 0.02268049878777024 Centerline is valid? [True, True] Translation: X:679.84, Y:8.79, Z:4.53 [[ 9.98613422e-01 -5.16468980e-02 -1.01897298e-02 6.79839707e+02] [ 5.16485481e-02 9.98665318e-01 -1.01326865e-04 8.78882533e+00] [ 1.01813630e-02 -4.25098381e-04 9.99948078e-01 4.52847310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters 0.027779185577575992 Centerline is valid? [True, True] Translation: X:679.90, Y:8.78, Z:4.53 [[ 9.98293517e-01 -5.74570576e-02 -1.04278642e-02 6.79899336e+02] [ 5.74591027e-02 9.98347856e-01 -1.03622178e-04 8.78299725e+00] [ 1.04165897e-02 -4.95730374e-04 9.99945623e-01 4.52755626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.659254154 meters 0.02781848560302931 Centerline is valid? [True, True] Translation: X:679.96, Y:8.78, Z:4.53 [[ 9.98100512e-01 -6.05749248e-02 -1.12270603e-02 6.79960451e+02] [ 6.05774919e-02 9.98163491e-01 -1.11586894e-04 8.78178004e+00] [ 1.12132010e-02 -5.68732217e-04 9.99936968e-01 4.52910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters 0.028696046157022398 Centerline is valid? [True, True] Translation: X:680.02, Y:8.78, Z:4.53 [[ 9.98103799e-01 -6.03128306e-02 -1.22951101e-02 6.80023507e+02] [ 6.03158984e-02 9.98179331e-01 -1.21477678e-04 8.78168976e+00] [ 1.22800515e-02 -6.20343283e-04 9.99924405e-01 4.52867427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.779254154 meters 0.025805222188795406 Centerline is valid? [True, True] Translation: X:680.08, Y:8.79, Z:4.53 [[ 9.98427330e-01 -5.43071194e-02 -1.39141146e-02 6.80084132e+02] [ 5.43104782e-02 9.98524088e-01 -1.36627209e-04 8.78952118e+00] [ 1.39009984e-02 -6.19269876e-04 9.99903185e-01 4.52870125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters 0.021855149593730503 Centerline is valid? [True, True] Translation: X:680.14, Y:8.80, Z:4.53 [[ 9.98723196e-01 -4.83079330e-02 -1.47757321e-02 6.80144927e+02] [ 4.83110679e-02 9.98832328e-01 -1.44904154e-04 8.79869676e+00] [ 1.47654789e-02 -5.69112257e-04 9.99890822e-01 4.52957414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.899254154 meters 0.019391129749597065 Centerline is valid? [True, True] Translation: X:680.21, Y:8.81, Z:4.53 [[ 9.99014474e-01 -4.19636657e-02 -1.44613562e-02 6.80206102e+02] [ 4.19660083e-02 9.99119029e-01 -1.41561869e-04 8.80530427e+00] [ 1.44545566e-02 -4.65463040e-04 9.99895419e-01 4.53091982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters 0.017285058194976933 Centerline is valid? [True, True] Translation: X:680.27, Y:8.81, Z:4.53 [[ 9.99322096e-01 -3.42082772e-02 -1.36067119e-02 6.80266966e+02] [ 3.42096359e-02 9.99414670e-01 -1.32954808e-04 8.81301159e+00] [ 1.36032956e-02 -3.32615981e-04 9.99907416e-01 4.53276188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.019254154 meters 0.015833819542129687 Centerline is valid? [True, True] Translation: X:680.33, Y:8.82, Z:4.53 [[ 9.99556487e-01 -2.70130512e-02 -1.25349656e-02 6.80327468e+02] [ 2.70136426e-02 9.99635058e-01 -1.22159865e-04 8.81893760e+00] [ 1.25336909e-02 -2.16509394e-04 9.99921427e-01 4.53411477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters 0.014794435184956815 Centerline is valid? [True, True] Translation: X:680.39, Y:8.82, Z:4.53 [[ 9.99668525e-01 -2.23681046e-02 -1.27478746e-02 6.80388630e+02] [ 2.23683447e-02 9.99749790e-01 -1.23764123e-04 8.82399691e+00] [ 1.27474533e-02 -1.61425755e-04 9.99918735e-01 4.53455087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.139254154 meters 0.014471625327423639 Centerline is valid? [True, True] Translation: X:680.45, Y:8.83, Z:4.53 [[ 9.99760828e-01 -1.69074660e-02 -1.38717231e-02 6.80449127e+02] [ 1.69072355e-02 9.99857054e-01 -1.33897329e-04 8.82765632e+00] [ 1.38720040e-02 -1.00667184e-04 9.99903774e-01 4.53319759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters 0.014353935525600037 Centerline is valid? [True, True] Translation: X:680.51, Y:8.83, Z:4.53 [[ 9.99770695e-01 -1.50657899e-02 -1.52177614e-02 6.80507676e+02] [ 1.50653003e-02 9.99886501e-01 -1.46816250e-04 8.82906939e+00] [ 1.52182461e-02 -8.24775611e-05 9.99884192e-01 4.53279938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.259254154 meters 0.014427214375550366 Centerline is valid? [True, True] Translation: X:680.57, Y:8.83, Z:4.53 [[ 9.99767991e-01 -1.49885188e-02 -1.54696118e-02 6.80565361e+02] [ 1.49879595e-02 9.99887663e-01 -1.52098441e-04 8.82903078e+00] [ 1.54701537e-02 -7.97947616e-05 9.99880327e-01 4.53314064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.319254154 meters 0.014493996269425574 Centerline is valid? [True, True] Translation: X:680.62, Y:8.83, Z:4.53 [[ 9.99762376e-01 -1.65907035e-02 -1.41399850e-02 6.80623627e+02] [ 1.65903416e-02 9.99862361e-01 -1.42897637e-04 8.82547679e+00] [ 1.41404096e-02 -9.17235010e-05 9.99900015e-01 4.53361442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.379254154 meters 0.014534553707126205 Centerline is valid? [True, True] Translation: X:680.68, Y:8.82, Z:4.53 [[ 9.99724079e-01 -1.90681348e-02 -1.37176183e-02 6.80682571e+02] [ 1.90679772e-02 9.99818179e-01 -1.42287669e-04 8.82261390e+00] [ 1.37178374e-02 -1.19318825e-04 9.99905899e-01 4.53403196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.439254154 meters 0.014964682448306314 Centerline is valid? [True, True] Translation: X:680.74, Y:8.82, Z:4.53 [[ 9.99666375e-01 -2.20870752e-02 -1.33902799e-02 6.80742716e+02] [ 2.20871701e-02 9.99756039e-01 -1.40814071e-04 8.81803130e+00] [ 1.33901233e-02 -1.54986298e-04 9.99910336e-01 4.53435655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.499254154 meters 0.015371850060164024 Centerline is valid? [True, True] Translation: X:680.80, Y:8.81, Z:4.53 [[ 9.99611537e-01 -2.47895698e-02 -1.27378500e-02 6.80803380e+02] [ 2.47898721e-02 9.99692675e-01 -1.34185037e-04 8.81255590e+00] [ 1.27372617e-02 -1.81636761e-04 9.99918861e-01 4.53454333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.559254154 meters 0.015692079413904596 Centerline is valid? [True, True] Translation: X:680.87, Y:8.81, Z:4.53 [[ 9.99543113e-01 -2.74672488e-02 -1.26140928e-02 6.80865007e+02] [ 2.74677611e-02 9.99622681e-01 -1.32661495e-04 8.80824449e+00] [ 1.26129771e-02 -2.13880004e-04 9.99920430e-01 4.53477124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.619254154 meters 0.018850523763696562 Centerline is valid? [True, True] Translation: X:680.93, Y:8.80, Z:4.53 [[ 9.99405765e-01 -3.18958317e-02 -1.30679804e-02 6.80925917e+02] [ 3.18967740e-02 9.99491159e-01 -1.36358921e-04 8.79854404e+00] [ 1.30656802e-02 -2.80548527e-04 9.99914601e-01 4.53239309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.679254154 meters 0.01806228927068842 Centerline is valid? [True, True] Translation: X:680.99, Y:8.79, Z:4.53 [[ 9.99335423e-01 -3.37864275e-02 -1.36817301e-02 6.80988258e+02] [ 3.37876566e-02 9.99429024e-01 -1.41366909e-04 8.79499549e+00] [ 1.36786945e-02 -3.21000639e-04 9.99906391e-01 4.53251727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.739254154 meters 0.01834773076990672 Centerline is valid? [True, True] Translation: X:681.05, Y:8.79, Z:4.53 [[ 9.99372448e-01 -3.28023647e-02 -1.33684408e-02 6.81050025e+02] [ 3.28034625e-02 9.99461812e-01 -1.37202185e-04 8.79104455e+00] [ 1.33657466e-02 -3.01415063e-04 9.99910629e-01 4.53217081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.799254154 meters 0.01669737038138643 Centerline is valid? [True, True] Translation: X:681.11, Y:8.79, Z:4.53 [[ 9.99431976e-01 -3.14684059e-02 -1.20608787e-02 6.81112011e+02] [ 3.14692123e-02 9.99504714e-01 -1.22960810e-04 8.79334205e+00] [ 1.20587745e-02 -2.56655387e-04 9.99927257e-01 4.53393942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters 0.016703269084563235 Centerline is valid? [True, True] Translation: X:681.17, Y:8.79, Z:4.53 [[ 9.99457599e-01 -3.03639377e-02 -1.27490674e-02 6.81174163e+02] [ 3.03647614e-02 9.99538876e-01 -1.29000102e-04 8.79174081e+00] [ 1.27471054e-02 -2.58192257e-04 9.99918719e-01 4.53426014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.919254154 meters 0.016990284811408286 Centerline is valid? [True, True] Translation: X:681.24, Y:8.79, Z:4.53 [[ 9.99418375e-01 -3.14514485e-02 -1.31802256e-02 6.81235971e+02] [ 3.14524333e-02 9.99505241e-01 -1.32612157e-04 8.78956564e+00] [ 1.31778754e-02 -2.82015141e-04 9.99913128e-01 4.53392237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters 0.019296723221740263 Centerline is valid? [True, True] Translation: X:681.30, Y:8.78, Z:4.53 [[ 9.99255253e-01 -3.59545617e-02 -1.40074413e-02 6.81296104e+02] [ 3.59561197e-02 9.99353360e-01 -1.40673384e-04 8.78275511e+00] [ 1.40034414e-02 -3.63084619e-04 9.99901881e-01 4.53176150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.039254154 meters 0.019491211210388288 Centerline is valid? [True, True] Translation: X:681.36, Y:8.78, Z:4.53 [[ 9.99014463e-01 -4.18182478e-02 -1.48773777e-02 6.81357621e+02] [ 4.18206594e-02 9.99125122e-01 -1.49107674e-04 8.77968999e+00] [ 1.48705972e-02 -4.73221022e-04 9.99889315e-01 4.53228764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters 0.02097471055359233 Centerline is valid? [True, True] Translation: X:681.42, Y:8.78, Z:4.53 [[ 9.98881750e-01 -4.46980971e-02 -1.54054785e-02 6.81419082e+02] [ 4.47010339e-02 9.99000397e-01 -1.53826605e-04 8.77634789e+00] [ 1.53969549e-02 -5.34986228e-04 9.99881317e-01 4.53208119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.159254154 meters 0.02069273539206926 Centerline is valid? [True, True] Translation: X:681.48, Y:8.78, Z:4.53 [[ 9.98809136e-01 -4.62836726e-02 -1.54315194e-02 6.81480966e+02] [ 4.62868221e-02 9.98928179e-01 -1.53190605e-04 8.77715351e+00] [ 1.54220698e-02 -5.61267819e-04 9.99880915e-01 4.53389803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters 0.02046078152561898 Centerline is valid? [True, True] Translation: X:681.54, Y:8.78, Z:4.54 [[ 9.98860631e-01 -4.53602434e-02 -1.48286000e-02 6.81543561e+02] [ 4.53630660e-02 9.98970556e-01 -1.46118246e-04 8.77857858e+00] [ 1.48199627e-02 -5.26718997e-04 9.99890040e-01 4.53514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.279254154 meters 0.018578322053626976 Centerline is valid? [True, True] Translation: X:681.60, Y:8.78, Z:4.54 [[ 9.99120412e-01 -3.97240942e-02 -1.34312777e-02 6.81604062e+02] [ 3.97259072e-02 9.99210606e-01 -1.31895830e-04 8.78335631e+00] [ 1.34259145e-02 -4.01789874e-04 9.99909788e-01 4.53684589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters 0.017464614798085788 Centerline is valid? [True, True] Translation: X:681.66, Y:8.79, Z:4.54 [[ 9.99491652e-01 -2.97435128e-02 -1.14787268e-02 6.81663772e+02] [ 2.97441784e-02 9.99557538e-01 -1.12768701e-04 8.78880727e+00] [ 1.14770020e-02 -2.28713922e-04 9.99934111e-01 4.53861045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.399254154 meters 0.015484220400374775 Centerline is valid? [True, True] Translation: X:681.73, Y:8.80, Z:4.54 [[ 9.99641796e-01 -2.40740852e-02 -1.16926368e-02 6.81725132e+02] [ 2.40743894e-02 9.99710163e-01 -1.14753171e-04 8.79560291e+00] [ 1.16920104e-02 -1.66781025e-04 9.99931632e-01 4.53945990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters 0.01510271946663721 Centerline is valid? [True, True] Translation: X:681.79, Y:8.80, Z:4.54 [[ 9.99689619e-01 -2.07711232e-02 -1.37559712e-02 6.81786140e+02] [ 2.07712392e-02 9.99784246e-01 -1.34454702e-04 8.79751801e+00] [ 1.37557960e-02 -1.51315597e-04 9.99905373e-01 4.53764261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.519254154 meters 0.015428125441915776 Centerline is valid? [True, True] Translation: X:681.85, Y:8.79, Z:4.54 [[ 9.99581077e-01 -2.43859502e-02 -1.55883195e-02 6.81845896e+02] [ 2.43865379e-02 9.99702593e-01 -1.52413074e-04 8.79401627e+00] [ 1.55874002e-02 -2.27795920e-04 9.99878483e-01 4.53578589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters 0.016606923973024393 Centerline is valid? [True, True] Translation: X:681.90, Y:8.79, Z:4.54 [[ 9.99462139e-01 -2.86682949e-02 -1.59236014e-02 6.81904430e+02] [ 2.86694365e-02 9.99588935e-01 -1.56624016e-04 8.79022526e+00] [ 1.59215459e-02 -2.99980904e-04 9.99873199e-01 4.53507482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.639254154 meters 0.018633297497306908 Centerline is valid? [True, True] Translation: X:681.97, Y:8.78, Z:4.54 [[ 9.99218009e-01 -3.63824515e-02 -1.54818209e-02 6.81965139e+02] [ 3.63844484e-02 9.99337855e-01 -1.52761609e-04 8.78427307e+00] [ 1.54771276e-02 -4.10655363e-04 9.99880138e-01 4.53603477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters 0.019393786258109766 Centerline is valid? [True, True] Translation: X:682.03, Y:8.78, Z:4.54 [[ 9.99030562e-01 -4.14371800e-02 -1.48625690e-02 6.82026638e+02] [ 4.14395835e-02 9.99141001e-01 -1.46351616e-04 8.78183577e+00] [ 1.48558664e-02 -4.69688930e-04 9.99889535e-01 4.53732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.759254154 meters 0.02304963949296264 Centerline is valid? [True, True] Translation: X:682.09, Y:8.77, Z:4.54 [[ 9.98632600e-01 -5.01446872e-02 -1.47797418e-02 6.82086224e+02] [ 5.01480207e-02 9.98741786e-01 -1.45212513e-04 8.77425212e+00] [ 1.47684274e-02 -5.96160850e-04 9.99890763e-01 4.53780427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.819254154 meters 0.02812285729993284 Centerline is valid? [True, True] Translation: X:682.15, Y:8.76, Z:4.54 [[ 9.98167183e-01 -5.88596759e-02 -1.40645796e-02 6.82146688e+02] [ 5.88635623e-02 9.98266028e-01 -1.37841336e-04 8.76483834e+00] [ 1.40483053e-02 -6.90302561e-04 9.99901079e-01 4.53865454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.879254154 meters 0.030944756340597443 Centerline is valid? [True, True] Translation: X:682.21, Y:8.76, Z:4.54 [[ 9.97813456e-01 -6.46874211e-02 -1.35589376e-02 6.82207031e+02] [ 6.46915731e-02 9.97905298e-01 -1.32616950e-04 8.75989609e+00] [ 1.35391143e-02 -7.44822023e-04 9.99908065e-01 4.53933646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.939254154 meters 0.034065582828077694 Centerline is valid? [True, True] Translation: X:682.27, Y:8.76, Z:4.54 [[ 9.97323994e-01 -7.17212560e-02 -1.41743473e-02 6.82268157e+02] [ 7.17265045e-02 9.97424328e-01 -1.38389828e-04 8.75577203e+00] [ 1.41477643e-02 -8.78656890e-04 9.99899529e-01 4.54009304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.999254154 meters 0.03305903382626186 Centerline is valid? [True, True] Translation: X:682.33, Y:8.76, Z:4.54 [[ 9.97090940e-01 -7.46492319e-02 -1.53996513e-02 6.82329454e+02] [ 7.46557832e-02 9.97209352e-01 -1.49816556e-04 8.75873295e+00] [ 1.53678600e-02 -1.00029230e-03 9.99881407e-01 4.54083311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.059254154 meters 0.038201303023559216 Centerline is valid? [True, True] Translation: X:682.39, Y:8.75, Z:4.54 [[ 9.97030826e-01 -7.52875935e-02 -1.61651240e-02 6.82390436e+02] [ 7.52949083e-02 9.97161297e-01 -1.56498052e-04 8.75353462e+00] [ 1.61310183e-02 -1.06111814e-03 9.99869324e-01 4.54003439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.119254154 meters 0.035249041129357 Centerline is valid? [True, True] Translation: X:682.45, Y:8.76, Z:4.54 [[ 9.97097802e-01 -7.42520947e-02 -1.68107193e-02 6.82453023e+02] [ 7.42598804e-02 9.97238910e-01 -1.61473951e-04 8.75959387e+00] [ 1.67762932e-02 -1.08735669e-03 9.99858677e-01 4.54067218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.179254154 meters 0.0346193070317749 Centerline is valid? [True, True] Translation: X:682.51, Y:8.76, Z:4.54 [[ 9.97320643e-01 -7.08396633e-02 -1.82558689e-02 6.82514142e+02] [ 7.08482915e-02 9.97487087e-01 -1.74504904e-04 8.76438224e+00] [ 1.82223554e-02 -1.11935978e-03 9.99833333e-01 4.53989126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.239254154 meters 0.03328419072005673 Centerline is valid? [True, True] Translation: X:682.58, Y:8.77, Z:4.54 [[ 9.97545052e-01 -6.71960331e-02 -1.97119690e-02 6.82575360e+02] [ 6.72053910e-02 9.97739144e-01 -1.88070929e-04 8.76992850e+00] [ 1.96800407e-02 -1.13714136e-03 9.99805683e-01 4.53968901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.299254154 meters 0.0315866508337041 Centerline is valid? [True, True] Translation: X:682.63, Y:8.78, Z:4.54 [[ 9.97972057e-01 -6.02517641e-02 -2.05304082e-02 6.82634624e+02] [ 6.02604472e-02 9.98182669e-01 -1.96011866e-04 8.77878585e+00] [ 2.05049077e-02 -1.04155721e-03 9.99789210e-01 4.53966626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters 0.023330206894765063 Centerline is valid? [True, True] Translation: X:682.70, Y:8.80, Z:4.54 [[ 9.98299532e-01 -5.46589540e-02 -2.02594185e-02 6.82695236e+02] [ 5.46662600e-02 9.98504663e-01 -1.93426832e-04 8.79575954e+00] [ 2.02396963e-02 -9.14408721e-04 9.99794738e-01 4.54342074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.419254154 meters 0.0202750620540033 Centerline is valid? [True, True] Translation: X:682.76, Y:8.81, Z:4.55 [[ 9.98814251e-01 -4.52275834e-02 -1.80154635e-02 6.82755729e+02] [ 4.52318287e-02 9.98976502e-01 -1.71964897e-04 8.80780170e+00] [ 1.80048023e-02 -6.43111371e-04 9.99837694e-01 4.54631946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters 0.018381026626911635 Centerline is valid? [True, True] Translation: X:682.82, Y:8.82, Z:4.55 [[ 9.99133882e-01 -3.84437856e-02 -1.59235890e-02 6.82816320e+02] [ 3.84462446e-02 9.99260658e-01 -1.51778609e-04 8.81633061e+00] [ 1.59176510e-02 -4.60555048e-04 9.99873200e-01 4.54842394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.539254154 meters 0.015570380279065632 Centerline is valid? [True, True] Translation: X:682.88, Y:8.83, Z:4.55 [[ 9.99505112e-01 -2.79324106e-02 -1.44676126e-02 6.82877077e+02] [ 2.79333431e-02 9.99609779e-01 -1.37660755e-04 8.82824077e+00] [ 1.44658122e-02 -2.66536158e-04 9.99895329e-01 4.54943873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters 0.014273547235281157 Centerline is valid? [True, True] Translation: X:682.94, Y:8.84, Z:4.55 [[ 9.99735072e-01 -1.81788531e-02 -1.41178863e-02 6.82938052e+02] [ 1.81787715e-02 9.99834744e-01 -1.34118749e-04 8.83794433e+00] [ 1.41179914e-02 -1.22562612e-04 9.99900329e-01 4.54935261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.659254154 meters 0.013968887720403275 Centerline is valid? [True, True] Translation: X:683.00, Y:8.84, Z:4.55 [[ 9.99798584e-01 -1.41504386e-02 -1.42322021e-02 6.82996390e+02] [ 1.41499435e-02 9.99899875e-01 -1.35491825e-04 8.84221052e+00] [ 1.42326944e-02 -6.59203207e-05 9.99898708e-01 4.54922950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters 0.013869262180171758 Centerline is valid? [True, True] Translation: X:683.05, Y:8.85, Z:4.55 [[ 9.99815580e-01 -1.20153699e-02 -1.49812491e-02 6.83054404e+02] [ 1.20145590e-02 9.99927812e-01 -1.44127363e-04 8.84557397e+00] [ 1.49818993e-02 -3.58923183e-05 9.99887764e-01 4.54820034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.779254154 meters 0.01388748578541256 Centerline is valid? [True, True] Translation: X:683.11, Y:8.85, Z:4.55 [[ 9.99789144e-01 -1.36762890e-02 -1.53175285e-02 6.83112024e+02] [ 1.36755830e-02 9.99906473e-01 -1.50837398e-04 8.84595372e+00] [ 1.53181588e-02 -5.86705395e-05 9.99882668e-01 4.54807473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters 0.014164673786159288 Centerline is valid? [True, True] Translation: X:683.17, Y:8.84, Z:4.55 [[ 9.99725090e-01 -1.77856683e-02 -1.52778840e-02 6.83169860e+02] [ 1.77854036e-02 9.99841815e-01 -1.53207480e-04 8.84359143e+00] [ 1.52781921e-02 -1.18557970e-04 9.99883275e-01 4.54748401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.899254154 meters 0.015415448181738236 Centerline is valid? [True, True] Translation: X:683.23, Y:8.84, Z:4.55 [[ 9.99622124e-01 -2.27324956e-02 -1.54545351e-02 6.83228603e+02] [ 2.27327711e-02 9.99741565e-01 -1.57869158e-04 8.84199568e+00] [ 1.54541298e-02 -1.93514905e-04 9.99880559e-01 4.54817880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters 0.01492675703337387 Centerline is valid? [True, True] Translation: X:683.29, Y:8.84, Z:4.55 [[ 9.99533243e-01 -2.64892326e-02 -1.52189305e-02 6.83288377e+02] [ 2.64899041e-02 9.99649069e-01 -1.57496014e-04 8.84063189e+00] [ 1.52177616e-02 -2.45725507e-04 9.99884173e-01 4.54911909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.019254154 meters 0.01613302023159406 Centerline is valid? [True, True] Translation: X:683.35, Y:8.84, Z:4.55 [[ 9.99381712e-01 -3.20813291e-02 -1.43869012e-02 6.83349445e+02] [ 3.20825098e-02 9.99485213e-01 -1.48777662e-04 8.83696261e+00] [ 1.43842680e-02 -3.12882226e-04 9.99896492e-01 4.54925635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters 0.016930533869018397 Centerline is valid? [True, True] Translation: X:683.41, Y:8.83, Z:4.55 [[ 9.99295754e-01 -3.47695150e-02 -1.41094861e-02 6.83412010e+02] [ 3.47709302e-02 9.99395298e-01 -1.45072330e-04 8.83408674e+00] [ 1.41059981e-02 -3.45629792e-04 9.99900446e-01 4.54911194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.139254154 meters 0.01736524052077948 Centerline is valid? [True, True] Translation: X:683.47, Y:8.83, Z:4.55 [[ 9.99279285e-01 -3.56058273e-02 -1.31580702e-02 6.83474161e+02] [ 3.56071427e-02 9.99365856e-01 -1.34362225e-04 8.83207091e+00] [ 1.31545102e-02 -3.34255895e-04 9.99913420e-01 4.54863028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters 0.01716826218471261 Centerline is valid? [True, True] Translation: X:683.54, Y:8.83, Z:4.55 [[ 9.99355300e-01 -3.33337762e-02 -1.33358043e-02 6.83536350e+02] [ 3.33349382e-02 9.99444227e-01 -1.35207137e-04 8.83334302e+00] [ 1.33328996e-02 -3.09428244e-04 9.99911065e-01 4.54843697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.259254154 meters 0.015929835768473257 Centerline is valid? [True, True] Translation: X:683.60, Y:8.84, Z:4.55 [[ 9.99538267e-01 -2.70737606e-02 -1.37936174e-02 6.83597918e+02] [ 2.70744201e-02 9.99633411e-01 -1.38960163e-04 8.83914002e+00] [ 1.37923230e-02 -2.34558192e-04 9.99904854e-01 4.54841357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.319254154 meters 0.01601167355179582 Centerline is valid? [True, True] Translation: X:683.66, Y:8.84, Z:4.55 [[ 9.99646258e-01 -2.26682287e-02 -1.39107867e-02 6.83658536e+02] [ 2.26684799e-02 9.99743027e-01 -1.39637690e-04 8.84162811e+00] [ 1.39103774e-02 -1.75748096e-04 9.99903231e-01 4.54772484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.379254154 meters 0.014150886004788468 Centerline is valid? [True, True] Translation: X:683.72, Y:8.85, Z:4.55 [[ 9.99709402e-01 -1.92773272e-02 -1.44739856e-02 6.83719190e+02] [ 1.92772456e-02 9.99814166e-01 -1.45165424e-04 8.84545315e+00] [ 1.44740942e-02 -1.33895335e-04 9.99895236e-01 4.54822053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.439254154 meters 0.014182281889438555 Centerline is valid? [True, True] Translation: X:683.78, Y:8.85, Z:4.55 [[ 9.99695844e-01 -1.90709806e-02 -1.56370783e-02 6.83778559e+02] [ 1.90708550e-02 9.99818122e-01 -1.57157226e-04 8.84678601e+00] [ 1.56372314e-02 -1.41103027e-04 9.99877721e-01 4.54750163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.499254154 meters 0.014449627247438734 Centerline is valid? [True, True] Translation: X:683.84, Y:8.85, Z:4.55 [[ 9.99604883e-01 -2.25829926e-02 -1.67357575e-02 6.83837015e+02] [ 2.25832932e-02 9.99744950e-01 -1.71050333e-04 8.84555604e+00] [ 1.67353518e-02 -2.06965769e-04 9.99859933e-01 4.54615380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.559254154 meters 0.017857559968254427 Centerline is valid? [True, True] Translation: X:683.90, Y:8.84, Z:4.55 [[ 9.99490778e-01 -2.72943606e-02 -1.65288641e-02 6.83896534e+02] [ 2.72952636e-02 9.99627400e-01 -1.71002840e-04 8.84243367e+00] [ 1.65273729e-02 -2.80243942e-04 9.99863374e-01 4.54518990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.619254154 meters 0.01681540477604568 Centerline is valid? [True, True] Translation: X:683.96, Y:8.84, Z:4.55 [[ 9.99343608e-01 -3.23793387e-02 -1.62459553e-02 6.83957362e+02] [ 3.23808787e-02 9.99475588e-01 -1.68315100e-04 8.84084456e+00] [ 1.62428857e-02 -3.57853690e-04 9.99868012e-01 4.54726340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.679254154 meters 0.0190764074539128 Centerline is valid? [True, True] Translation: X:684.02, Y:8.84, Z:4.55 [[ 9.99159127e-01 -3.85177185e-02 -1.40507782e-02 6.84017605e+02] [ 3.85194785e-02 9.99257839e-01 -1.45442420e-04 8.83755733e+00] [ 1.40459523e-02 -3.95908526e-04 9.99901272e-01 4.54902654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.739254154 meters 0.02084716599590879 Centerline is valid? [True, True] Translation: X:684.08, Y:8.84, Z:4.55 [[ 9.98979431e-01 -4.38091915e-02 -1.09932155e-02 6.84078624e+02] [ 4.38105920e-02 9.99039849e-01 -1.13502675e-04 8.83520812e+00] [ 1.09876328e-02 -3.68232440e-04 9.99939566e-01 4.55109501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.799254154 meters 0.02058752610849813 Centerline is valid? [True, True] Translation: X:684.14, Y:8.84, Z:4.55 [[ 9.98872313e-01 -4.63296435e-02 -1.03762907e-02 6.84140968e+02] [ 4.63310328e-02 9.98926135e-01 -1.06570925e-04 8.83753601e+00] [ 1.03700854e-02 -3.74293520e-04 9.99946159e-01 4.55223462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters 0.022033218468544054 Centerline is valid? [True, True] Translation: X:684.20, Y:8.84, Z:4.55 [[ 9.98757423e-01 -4.89234333e-02 -9.49251281e-03 6.84203153e+02] [ 4.89247192e-02 9.98802464e-01 -9.68392992e-05 8.83878698e+00] [ 9.48588289e-03 -3.67699555e-04 9.99954940e-01 4.55330046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.919254154 meters 0.0232195806232784 Centerline is valid? [True, True] Translation: X:684.26, Y:8.84, Z:4.55 [[ 9.98716601e-01 -4.97541324e-02 -9.46976309e-03 6.84264633e+02] [ 4.97554555e-02 9.98761426e-01 -9.59712042e-05 8.83933851e+00] [ 9.46280905e-03 -3.75324341e-04 9.99955156e-01 4.55342447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters 0.023613950366099406 Centerline is valid? [True, True] Translation: X:684.33, Y:8.84, Z:4.55 [[ 9.98712674e-01 -4.97176120e-02 -1.00575333e-02 6.84327930e+02] [ 4.97191100e-02 9.98763235e-01 -1.01186554e-04 8.84060916e+00] [ 1.00501252e-02 -3.98995310e-04 9.99949417e-01 4.55269893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.039254154 meters 0.023447163712787954 Centerline is valid? [True, True] Translation: X:684.39, Y:8.84, Z:4.55 [[ 9.98812621e-01 -4.76228207e-02 -1.02671845e-02 6.84390437e+02] [ 4.76242821e-02 9.98865315e-01 -1.02252791e-04 8.84357846e+00] [ 1.02604041e-02 -3.86835913e-04 9.99947286e-01 4.55274602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters 0.022446227002420032 Centerline is valid? [True, True] Translation: X:684.45, Y:8.85, Z:4.55 [[ 9.99166373e-01 -3.91859819e-02 -1.14463154e-02 6.84449567e+02] [ 3.91872517e-02 9.99231878e-01 -1.13416106e-04 8.85203474e+00] [ 1.14419675e-02 -3.35228081e-04 9.99934482e-01 4.55080828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.159254154 meters 0.016991878528784605 Centerline is valid? [True, True] Translation: X:684.51, Y:8.86, Z:4.55 [[ 9.99523223e-01 -2.83316551e-02 -1.22737238e-02 6.84509688e+02] [ 2.83322959e-02 9.99598553e-01 -1.21705991e-04 8.86450326e+00] [ 1.22722447e-02 -2.26094810e-04 9.99924668e-01 4.55198371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters 0.015360236177145761 Centerline is valid? [True, True] Translation: X:684.57, Y:8.87, Z:4.55 [[ 9.99687282e-01 -2.16200558e-02 -1.25662579e-02 6.84571368e+02] [ 2.16202012e-02 9.99766248e-01 -1.24286312e-04 8.87169539e+00] [ 1.25660076e-02 -1.47437579e-04 9.99921034e-01 4.55226975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.279254154 meters 0.014558821490113363 Centerline is valid? [True, True] Translation: X:684.63, Y:8.88, Z:4.55 [[ 9.99791425e-01 -1.63924286e-02 -1.21817144e-02 6.84631398e+02] [ 1.63921823e-02 9.99865632e-01 -1.20067331e-04 8.87753117e+00] [ 1.21820458e-02 -7.96425959e-05 9.99925793e-01 4.55315597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters 0.014562460880892771 Centerline is valid? [True, True] Translation: X:684.69, Y:8.88, Z:4.55 [[ 9.99793228e-01 -1.64805049e-02 -1.19119501e-02 6.84690926e+02] [ 1.64802750e-02 9.99864184e-01 -1.17468736e-04 8.87797076e+00] [ 1.19122682e-02 -7.88677674e-05 9.99929043e-01 4.55344420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.399254154 meters 0.014576434720040951 Centerline is valid? [True, True] Translation: X:684.75, Y:8.88, Z:4.55 [[ 9.99730524e-01 -1.97899250e-02 -1.21342064e-02 6.84751259e+02] [ 1.97899275e-02 9.99804153e-01 -1.19880976e-04 8.87619715e+00] [ 1.21342024e-02 -1.20286393e-04 9.99926371e-01 4.55340400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters 0.0149773914586751 Centerline is valid? [True, True] Translation: X:684.81, Y:8.87, Z:4.55 [[ 9.99674374e-01 -2.23515014e-02 -1.23108509e-02 6.84812182e+02] [ 2.23516994e-02 9.99750162e-01 -1.21525016e-04 8.87378784e+00] [ 1.23104914e-02 -1.53682993e-04 9.99924211e-01 4.55270483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.519254154 meters 0.015981467729115767 Centerline is valid? [True, True] Translation: X:684.87, Y:8.87, Z:4.55 [[ 9.99583437e-01 -2.64176420e-02 -1.16215930e-02 6.84872986e+02] [ 2.64180970e-02 9.99650975e-01 -1.14389864e-04 8.87063214e+00] [ 1.16205587e-02 -1.92678157e-04 9.99932460e-01 4.55338430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters 0.01619435184132931 Centerline is valid? [True, True] Translation: X:684.93, Y:8.87, Z:4.55 [[ 9.99508418e-01 -2.94923003e-02 -1.06361013e-02 6.84934750e+02] [ 2.94928606e-02 9.99564986e-01 -1.04200656e-04 8.86983375e+00] [ 1.06345475e-02 -2.09539619e-04 9.99943430e-01 4.55492962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.639254154 meters 0.016619896948187284 Centerline is valid? [True, True] Translation: X:685.00, Y:8.87, Z:4.56 [[ 9.99458930e-01 -3.11467214e-02 -1.05701689e-02 6.84996681e+02] [ 3.11473742e-02 9.99514798e-01 -1.02900642e-04 8.86822443e+00] [ 1.05682453e-02 -2.26388041e-04 9.99944129e-01 4.55518953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters 0.017975460066849587 Centerline is valid? [True, True] Translation: X:685.06, Y:8.86, Z:4.55 [[ 9.99361481e-01 -3.41224561e-02 -1.05966369e-02 6.85058045e+02] [ 3.41232868e-02 9.99417626e-01 -1.02452469e-04 8.86420019e+00] [ 1.05939617e-02 -2.59205031e-04 9.99943849e-01 4.55461970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.759254154 meters 0.01873049664884953 Centerline is valid? [True, True] Translation: X:685.12, Y:8.86, Z:4.55 [[ 9.99266631e-01 -3.64235188e-02 -1.18122001e-02 6.85119749e+02] [ 3.64247197e-02 9.99336393e-01 -1.13525040e-04 8.86228572e+00] [ 1.18084964e-02 -3.16814292e-04 9.99930227e-01 4.55358459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.819254154 meters 0.01999939182654281 Centerline is valid? [True, True] Translation: X:685.18, Y:8.86, Z:4.55 [[ 9.99125233e-01 -3.94248401e-02 -1.39445687e-02 6.85182035e+02] [ 3.94268189e-02 9.99222452e-01 -1.33082177e-04 8.85881880e+00] [ 1.39389729e-02 -4.16824225e-04 9.99902761e-01 4.55137741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.879254154 meters 0.020143542721497494 Centerline is valid? [True, True] Translation: X:685.24, Y:8.86, Z:4.55 [[ 9.99050829e-01 -4.08446053e-02 -1.51379816e-02 6.85244539e+02] [ 4.08471172e-02 9.99165398e-01 -1.43353000e-04 8.85798531e+00] [ 1.51312026e-02 -4.75125975e-04 9.99885404e-01 4.55134782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.939254154 meters 0.01988715331253656 Centerline is valid? [True, True] Translation: X:685.31, Y:8.86, Z:4.55 [[ 9.99025128e-01 -4.15787123e-02 -1.48325657e-02 6.85306312e+02] [ 4.15812203e-02 9.99135117e-01 -1.39400432e-04 8.85834735e+00] [ 1.48255333e-02 -4.77491647e-04 9.99889982e-01 4.55214852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.999254154 meters 0.018999531186432557 Centerline is valid? [True, True] Translation: X:685.37, Y:8.86, Z:4.55 [[ 9.99207028e-01 -3.70893634e-02 -1.44808270e-02 6.85368302e+02] [ 3.70912957e-02 9.99311872e-01 -1.35199899e-04 8.86208953e+00] [ 1.44758768e-02 -4.02019946e-04 9.99895138e-01 4.55208943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.059254154 meters 0.016858906857033857 Centerline is valid? [True, True] Translation: X:685.43, Y:8.87, Z:4.55 [[ 9.99429824e-01 -3.05899506e-02 -1.42927209e-02 6.85429542e+02] [ 3.05911777e-02 9.99531972e-01 -1.32810943e-04 8.86852692e+00] [ 1.42900942e-02 -3.04495948e-04 9.99897845e-01 4.55293334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.119254154 meters 0.015261918303352417 Centerline is valid? [True, True] Translation: X:685.49, Y:8.88, Z:4.55 [[ 9.99666656e-01 -2.15876831e-02 -1.41615435e-02 6.85490546e+02] [ 2.15879917e-02 9.99766944e-01 -1.31098001e-04 8.87748117e+00] [ 1.41610732e-02 -1.74664982e-04 9.99899712e-01 4.55432643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.179254154 meters 0.014755804577525547 Centerline is valid? [True, True] Translation: X:685.55, Y:8.88, Z:4.55 [[ 9.99736028e-01 -1.75615040e-02 -1.48144795e-02 6.85550893e+02] [ 1.75614031e-02 9.99845777e-01 -1.36904699e-04 8.88172375e+00] [ 1.48145990e-02 -1.23294487e-04 9.99890250e-01 4.55413675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.239254154 meters 0.016828532264262067 Centerline is valid? [True, True] Translation: X:685.61, Y:8.88, Z:4.55 [[ 9.99750613e-01 -1.52558556e-02 -1.63085910e-02 6.85609338e+02] [ 1.52553874e-02 9.99883618e-01 -1.53116121e-04 8.88490052e+00] [ 1.63090289e-02 -9.57159379e-05 9.99866994e-01 4.55221397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.299254154 meters 0.014589500027167409 Centerline is valid? [True, True] Translation: X:685.67, Y:8.88, Z:4.55 [[ 9.99678264e-01 -1.88712020e-02 -1.69483448e-02 6.85668195e+02] [ 1.88711423e-02 9.99821911e-01 -1.63466030e-04 8.88326296e+00] [ 1.69484113e-02 -1.56421189e-04 9.99856353e-01 4.55338614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters 0.015133574445380901 Centerline is valid? [True, True] Translation: X:685.73, Y:8.88, Z:4.55 [[ 9.99622858e-01 -2.21506270e-02 -1.62324174e-02 6.85727378e+02] [ 2.21509394e-02 9.99754625e-01 -1.60570621e-04 8.88173277e+00] [ 1.62319911e-02 -1.99053230e-04 9.99868233e-01 4.55407746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.419254154 meters 0.01742695058615082 Centerline is valid? [True, True] Translation: X:685.79, Y:8.88, Z:4.55 [[ 9.99511708e-01 -2.71183773e-02 -1.55222091e-02 6.85787066e+02] [ 2.71192320e-02 9.99632194e-01 -1.55459471e-04 8.87831530e+00] [ 1.55207157e-02 -2.65566827e-04 9.99879511e-01 4.55454929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters 0.018026675653874728 Centerline is valid? [True, True] Translation: X:685.85, Y:8.87, Z:4.56 [[ 9.99324154e-01 -3.36840541e-02 -1.47180369e-02 6.85848484e+02] [ 3.36855350e-02 9.99432470e-01 -1.47351089e-04 8.87338282e+00] [ 1.47146474e-02 -3.48533445e-04 9.99891673e-01 4.55606704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.539254154 meters 0.01892942280385132 Centerline is valid? [True, True] Translation: X:685.91, Y:8.87, Z:4.56 [[ 9.99176247e-01 -3.79583553e-02 -1.43523437e-02 6.85909822e+02] [ 3.79602112e-02 9.99279241e-01 -1.43189490e-04 8.87140629e+00] [ 1.43474344e-02 -4.01746462e-04 9.99896990e-01 4.55678337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters 0.02052366595164953 Centerline is valid? [True, True] Translation: X:685.97, Y:8.87, Z:4.56 [[ 9.98991228e-01 -4.28106092e-02 -1.35565167e-02 6.85970875e+02] [ 4.28127160e-02 9.99083106e-01 -1.34900748e-04 8.86847649e+00] [ 1.35498620e-02 -4.45626634e-04 9.99908097e-01 4.55765151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.659254154 meters 0.021114827913328638 Centerline is valid? [True, True] Translation: X:686.03, Y:8.87, Z:4.56 [[ 9.98951242e-01 -4.38737093e-02 -1.30963494e-02 6.86032715e+02] [ 4.38757742e-02 9.99036986e-01 -1.29747301e-04 8.86773979e+00] [ 1.30894299e-02 -4.45001239e-04 9.99914231e-01 4.55818153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters 0.019812592155854722 Centerline is valid? [True, True] Translation: X:686.10, Y:8.87, Z:4.56 [[ 9.99027453e-01 -4.20964596e-02 -1.31162683e-02 6.86095212e+02] [ 4.20983902e-02 9.99113461e-01 -1.28993810e-04 8.87112454e+00] [ 1.31100704e-02 -4.23305425e-04 9.99913970e-01 4.55903041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.779254154 meters 0.01851245244249198 Centerline is valid? [True, True] Translation: X:686.16, Y:8.87, Z:4.56 [[ 9.99209982e-01 -3.74456138e-02 -1.33130677e-02 6.86156530e+02] [ 3.74472002e-02 9.99298599e-01 -1.30188903e-04 8.87479371e+00] [ 1.33086049e-02 -3.68451059e-04 9.99911369e-01 4.55991679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters 0.017211826782143294 Centerline is valid? [True, True] Translation: X:686.22, Y:8.88, Z:4.56 [[ 9.99355654e-01 -3.34537593e-02 -1.30047381e-02 6.86218052e+02] [ 3.34549414e-02 9.99440219e-01 -1.26700520e-04 8.87735125e+00] [ 1.30016969e-02 -3.08453870e-04 9.99915427e-01 4.56079995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.899254154 meters 0.016935386646842573 Centerline is valid? [True, True] Translation: X:686.28, Y:8.88, Z:4.56 [[ 9.99429529e-01 -3.13432166e-02 -1.25785450e-02 6.86280437e+02] [ 3.13441637e-02 9.99508644e-01 -1.21881769e-04 8.87803884e+00] [ 1.25761846e-02 -2.72451734e-04 9.99920880e-01 4.56084170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters 0.01549364768264855 Centerline is valid? [True, True] Translation: X:686.34, Y:8.88, Z:4.56 [[ 9.99599676e-01 -2.47983315e-02 -1.36209295e-02 6.86342111e+02] [ 2.47988470e-02 9.99692453e-01 -1.31078099e-04 8.88120344e+00] [ 1.36199909e-02 -2.06757721e-04 9.99907222e-01 4.56033839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.019254154 meters 0.014723788888171245 Centerline is valid? [True, True] Translation: X:686.40, Y:8.88, Z:4.56 [[ 9.99720083e-01 -1.82752205e-02 -1.50256895e-02 6.86402986e+02] [ 1.82751194e-02 9.99832986e-01 -1.44045558e-04 8.88426978e+00] [ 1.50258125e-02 -1.30591033e-04 9.99887098e-01 4.55924060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters 0.014534085860909955 Centerline is valid? [True, True] Translation: X:686.46, Y:8.89, Z:4.56 [[ 9.99757979e-01 -1.55535000e-02 -1.55586885e-02 6.86462058e+02] [ 1.55530301e-02 9.99879033e-01 -1.51206562e-04 8.88536850e+00] [ 1.55591582e-02 -9.08147837e-05 9.99878945e-01 4.55932210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.139254154 meters 0.014284092610688208 Centerline is valid? [True, True] Translation: X:686.52, Y:8.88, Z:4.56 [[ 9.99758122e-01 -1.55435507e-02 -1.55593913e-02 6.86519760e+02] [ 1.55430133e-02 9.99879188e-01 -1.55473675e-04 8.88422045e+00] [ 1.55599281e-02 -8.64037556e-05 9.99878933e-01 4.56071421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters 0.014611302433561997 Centerline is valid? [True, True] Translation: X:686.58, Y:8.88, Z:4.56 [[ 9.99704982e-01 -1.91108807e-02 -1.49907858e-02 6.86577176e+02] [ 1.91107430e-02 9.99817361e-01 -1.52450461e-04 8.88050540e+00] [ 1.49909613e-02 -1.34079569e-04 9.99887620e-01 4.56114438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.259254154 meters 0.01642485072151533 Centerline is valid? [True, True] Translation: X:686.64, Y:8.87, Z:4.56 [[ 9.99478379e-01 -2.93352405e-02 -1.35060314e-02 6.86636612e+02] [ 2.93360493e-02 9.99569596e-01 -1.38265298e-04 8.87163827e+00] [ 1.35042744e-02 -2.58020428e-04 9.99908780e-01 4.56205816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.319254154 meters 0.01998494255905467 Centerline is valid? [True, True] Translation: X:686.70, Y:8.86, Z:4.56 [[ 9.99027068e-01 -4.19825499e-02 -1.35049017e-02 6.86697405e+02] [ 4.19845083e-02 9.99118252e-01 -1.38594654e-04 8.86093494e+00] [ 1.34988124e-02 -4.28536847e-04 9.99908795e-01 4.56265622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.379254154 meters 0.021775279441729013 Centerline is valid? [True, True] Translation: X:686.76, Y:8.86, Z:4.56 [[ 9.98689514e-01 -4.94454869e-02 -1.32060041e-02 6.86757584e+02] [ 4.94480115e-02 9.98776690e-01 -1.35481783e-04 8.85592262e+00] [ 1.31965481e-02 -5.17706408e-04 9.99912788e-01 4.56395354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.439254154 meters 0.026540240192412932 Centerline is valid? [True, True] Translation: X:686.82, Y:8.84, Z:4.57 [[ 9.98259921e-01 -5.78603555e-02 -1.13714093e-02 6.86817489e+02] [ 5.78627765e-02 9.98324539e-01 -1.16256146e-04 8.84393472e+00] [ 1.13590835e-02 -5.41927461e-04 9.99935337e-01 4.56531124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.499254154 meters 0.028945439157779775 Centerline is valid? [True, True] Translation: X:686.88, Y:8.84, Z:4.56 [[ 9.97951841e-01 -6.28461862e-02 -1.19364904e-02 6.86878263e+02] [ 6.28492169e-02 9.98023026e-01 -1.21412422e-04 8.83641685e+00] [ 1.19205226e-02 -6.29035323e-04 9.99928750e-01 4.56450547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.559254154 meters 0.02952642954079188 Centerline is valid? [True, True] Translation: X:686.94, Y:8.83, Z:4.56 [[ 9.97930790e-01 -6.29099611e-02 -1.32843621e-02 6.86940215e+02] [ 6.29137277e-02 9.98018960e-01 -1.34591898e-04 8.83367861e+00] [ 1.32665124e-02 -7.01455342e-04 9.99911750e-01 4.56323716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.619254154 meters 0.026381614539643907 Centerline is valid? [True, True] Translation: X:687.00, Y:8.84, Z:4.56 [[ 9.98213224e-01 -5.80548579e-02 -1.41418849e-02 6.87001379e+02] [ 5.80586503e-02 9.98313164e-01 -1.42586491e-04 8.83777483e+00] [ 1.41263077e-02 -6.78727027e-04 9.99899988e-01 4.56306919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.679254154 meters 0.02420392172225814 Centerline is valid? [True, True] Translation: X:687.06, Y:8.84, Z:4.56 [[ 9.98605088e-01 -5.06916893e-02 -1.47726659e-02 6.87061013e+02] [ 5.06950236e-02 9.98714170e-01 -1.48915675e-04 8.84223561e+00] [ 1.47612195e-02 -6.00192695e-04 9.99890867e-01 4.56321342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.739254154 meters 0.01778713168001166 Centerline is valid? [True, True] Translation: X:687.12, Y:8.86, Z:4.56 [[ 9.99290405e-01 -3.46738012e-02 -1.47110236e-02 6.87121597e+02] [ 3.46753722e-02 9.99398617e-01 -1.48339073e-04 8.85779751e+00] [ 1.47073201e-02 -3.61876406e-04 9.99891776e-01 4.56456059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.799254154 meters 0.014997308552845097 Centerline is valid? [True, True] Translation: X:687.18, Y:8.87, Z:4.57 [[ 9.99729074e-01 -1.82882218e-02 -1.43985823e-02 6.87181249e+02] [ 1.82880265e-02 9.99832750e-01 -1.45239319e-04 8.87040428e+00] [ 1.43988303e-02 -1.18121684e-04 9.99896324e-01 4.56543428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters 0.014543284248610521 Centerline is valid? [True, True] Translation: X:687.24, Y:8.88, Z:4.57 [[ 9.99846039e-01 -9.80446538e-03 -1.45523681e-02 6.87239401e+02] [ 9.80333793e-03 9.99951935e-01 -1.48810062e-04 8.87661384e+00] [ 1.45531277e-02 6.12536810e-06 9.99894098e-01 4.56568421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.919254154 meters 0.014945303235421325 Centerline is valid? [True, True] Translation: X:687.30, Y:8.88, Z:4.57 [[ 9.99893946e-01 -1.51016547e-03 -1.44850064e-02 6.87298439e+02] [ 1.50812608e-03 9.99998851e-01 -1.51715851e-04 8.88219669e+00] [ 1.44852189e-02 1.29854545e-04 9.99895075e-01 4.56721751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters 0.014944833828514834 Centerline is valid? [True, True] Translation: X:687.36, Y:8.88, Z:4.57 [[ 9.99889170e-01 -1.97000228e-04 -1.48865227e-02 6.87357348e+02] [ 1.94643317e-04 9.99999968e-01 -1.59773824e-04 8.88170673e+00] [ 1.48865537e-02 1.56858554e-04 9.99889177e-01 4.56816509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.039254154 meters 0.014711428135911534 Centerline is valid? [True, True] Translation: X:687.42, Y:8.88, Z:4.57 [[ 9.99887653e-01 -3.10284988e-03 -1.46646928e-02 6.87415437e+02] [ 3.10083950e-03 9.99995180e-01 -1.59825622e-04 8.87926161e+00] [ 1.46651181e-02 1.14334807e-04 9.99892455e-01 4.56817547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters 0.014128320570931288 Centerline is valid? [True, True] Translation: X:687.47, Y:8.87, Z:4.57 [[ 9.99830124e-01 -1.19967857e-02 -1.39928429e-02 6.87474714e+02] [ 1.19958104e-02 9.99928036e-01 -1.53632927e-04 8.86945194e+00] [ 1.39936790e-02 -1.42486614e-05 9.99902084e-01 4.56992446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.159254154 meters 0.015311997956418381 Centerline is valid? [True, True] Translation: X:687.53, Y:8.86, Z:4.57 [[ 9.99606531e-01 -2.43105779e-02 -1.39920819e-02 6.87532900e+02] [ 2.43107996e-02 9.99704437e-01 -1.54265383e-04 8.85671529e+00] [ 1.39916967e-02 -1.85954016e-04 9.99902094e-01 4.56884300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters 0.016970635939070926 Centerline is valid? [True, True] Translation: X:687.59, Y:8.85, Z:4.57 [[ 9.99352644e-01 -3.30443560e-02 -1.42254500e-02 6.87593253e+02] [ 3.30454658e-02 9.99453837e-01 -1.57101529e-04 8.84950707e+00] [ 1.42228719e-02 -3.13086792e-04 9.99898801e-01 4.56866061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.279254154 meters 0.02060679770517993 Centerline is valid? [True, True] Translation: X:687.65, Y:8.84, Z:4.57 [[ 9.98903307e-01 -4.43676771e-02 -1.49563764e-02 6.87653567e+02] [ 4.43701698e-02 9.99015145e-01 -1.65284674e-04 8.83907412e+00] [ 1.49489798e-02 -4.98513551e-04 9.99888133e-01 4.56750182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters 0.02316432548015565 Centerline is valid? [True, True] Translation: X:687.71, Y:8.83, Z:4.57 [[ 9.98606375e-01 -5.06212588e-02 -1.49263746e-02 6.87714857e+02] [ 5.06244413e-02 9.98717747e-01 -1.64791163e-04 8.83429236e+00] [ 1.49155772e-02 -5.91077871e-04 9.99888582e-01 4.56772442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.399254154 meters 0.026950885269713006 Centerline is valid? [True, True] Translation: X:687.77, Y:8.83, Z:4.57 [[ 9.98191691e-01 -5.87640316e-02 -1.26545043e-02 6.87774203e+02] [ 5.87669734e-02 9.98271718e-01 -1.39574300e-04 8.82562194e+00] [ 1.26408357e-02 -6.04345009e-04 9.99919919e-01 4.56976867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters 0.03038746333858731 Centerline is valid? [True, True] Translation: X:687.83, Y:8.82, Z:4.57 [[ 9.97889774e-01 -6.38927797e-02 -1.15633659e-02 6.87833795e+02] [ 6.38955809e-02 9.97956581e-01 -1.27402820e-04 8.81937685e+00] [ 1.15478772e-02 -6.11714008e-04 9.99933134e-01 4.57033541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.519254154 meters 0.032812540017666696 Centerline is valid? [True, True] Translation: X:687.90, Y:8.82, Z:4.57 [[ 9.97719351e-01 -6.64749930e-02 -1.17120776e-02 6.87895291e+02] [ 6.64780478e-02 9.97787880e-01 -1.28723390e-04 8.81596129e+00] [ 1.16947260e-02 -6.50166241e-04 9.99931403e-01 4.56947788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters 0.03238759453086106 Centerline is valid? [True, True] Translation: X:687.96, Y:8.82, Z:4.57 [[ 9.97433005e-01 -7.03827877e-02 -1.31781325e-02 6.87955671e+02] [ 7.03870000e-02 9.97519749e-01 -1.44469972e-04 8.81670618e+00] [ 1.31556156e-02 -7.83470095e-04 9.99913154e-01 4.56847748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.639254154 meters 0.033103569822943345 Centerline is valid? [True, True] Translation: X:688.02, Y:8.82, Z:4.57 [[ 9.97166538e-01 -7.35600502e-02 -1.57421020e-02 6.88016561e+02] [ 7.35664603e-02 9.97290302e-01 -1.72285502e-04 8.81749405e+00] [ 1.57121190e-02 -9.86293382e-04 9.99876071e-01 4.56702428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters 0.030721866251766584 Centerline is valid? [True, True] Translation: X:688.08, Y:8.82, Z:4.57 [[ 9.97130380e-01 -7.35830885e-02 -1.77914179e-02 6.88078581e+02] [ 7.35912973e-02 9.97288466e-01 -1.93756188e-04 8.82164800e+00] [ 1.77574330e-02 -1.11609334e-03 9.99841701e-01 4.56632796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.759254154 meters 0.03429049543628311 Centerline is valid? [True, True] Translation: X:688.14, Y:8.82, Z:4.56 [[ 9.97436817e-01 -6.87440140e-02 -1.98508657e-02 6.88137780e+02] [ 6.87532863e-02 9.97633670e-01 -2.15809423e-04 8.82233177e+00] [ 1.98187276e-02 -1.14955599e-03 9.99802929e-01 4.56465867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.819254154 meters 0.028805361882999522 Centerline is valid? [True, True] Translation: X:688.20, Y:8.83, Z:4.57 [[ 9.97628795e-01 -6.60475369e-02 -1.93522623e-02 6.88199641e+02] [ 6.60558549e-02 9.97815905e-01 -2.09788761e-04 8.83164816e+00] [ 1.93238512e-02 -1.06903892e-03 9.99812705e-01 4.56727520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.879254154 meters 0.02405759148203139 Centerline is valid? [True, True] Translation: X:688.26, Y:8.85, Z:4.57 [[ 9.98422914e-01 -5.28810249e-02 -1.88489043e-02 6.88260273e+02] [ 5.28865839e-02 9.98600505e-01 -2.03769982e-04 8.84624794e+00] [ 1.88333009e-02 -7.93405541e-04 9.99822323e-01 4.56877567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.939254154 meters 0.018495332564447776 Centerline is valid? [True, True] Translation: X:688.32, Y:8.86, Z:4.57 [[ 9.99118830e-01 -3.86695747e-02 -1.63164661e-02 6.88320313e+02] [ 3.86718463e-02 9.99251949e-01 -1.76391502e-04 8.86040937e+00] [ 1.63110815e-02 -4.54751798e-04 9.99866862e-01 4.57235513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.999254154 meters 0.015856732960329818 Centerline is valid? [True, True] Translation: X:688.38, Y:8.87, Z:4.57 [[ 9.99437184e-01 -3.01832576e-02 -1.46385044e-02 6.88380656e+02] [ 3.01841750e-02 9.99544341e-01 -1.58312647e-04 8.87032769e+00] [ 1.46366127e-02 -2.83627633e-04 9.99892839e-01 4.57428964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.059254154 meters 0.014880717686186333 Centerline is valid? [True, True] Translation: X:688.44, Y:8.88, Z:4.57 [[ 9.99643844e-01 -2.21460471e-02 -1.48908310e-02 6.88439955e+02] [ 2.21461026e-02 9.99754732e-01 -1.61191469e-04 8.87672591e+00] [ 1.48907485e-02 -1.68639811e-04 9.99889112e-01 4.57420317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.119254154 meters 0.014510439439630077 Centerline is valid? [True, True] Translation: X:688.50, Y:8.88, Z:4.57 [[ 9.99697851e-01 -1.87167604e-02 -1.59339342e-02 6.88499358e+02] [ 1.87163810e-02 9.99824818e-01 -1.72949141e-04 8.88047548e+00] [ 1.59343799e-02 -1.25328697e-04 9.99873032e-01 4.57361553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.179254154 meters 0.014472504255711807 Centerline is valid? [True, True] Translation: X:688.56, Y:8.88, Z:4.57 [[ 9.99707790e-01 -1.73755216e-02 -1.68055583e-02 6.88557720e+02] [ 1.73748624e-02 9.99849029e-01 -1.85248049e-04 8.88153656e+00] [ 1.68062399e-02 -1.06800345e-04 9.99858759e-01 4.57315667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.239254154 meters 0.014483310620171814 Centerline is valid? [True, True] Translation: X:688.62, Y:8.88, Z:4.57 [[ 9.99732876e-01 -1.47410185e-02 -1.78010847e-02 6.88615723e+02] [ 1.47397701e-02 9.99891343e-01 -2.01335574e-04 8.88417455e+00] [ 1.78021184e-02 -6.11021048e-05 9.99841528e-01 4.57371670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.299254154 meters 0.014350604065187903 Centerline is valid? [True, True] Translation: X:688.67, Y:8.88, Z:4.57 [[ 9.99753401e-01 -1.41017234e-02 -1.71545674e-02 6.88673264e+02] [ 1.41004207e-02 9.99900565e-01 -1.96896423e-04 8.88437426e+00] [ 1.71556382e-02 -4.50387472e-05 9.99852830e-01 4.57478101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters 0.014357817770516248 Centerline is valid? [True, True] Translation: X:688.73, Y:8.88, Z:4.58 [[ 9.99742309e-01 -1.60709319e-02 -1.60325138e-02 6.88730817e+02] [ 1.60699949e-02 9.99870852e-01 -1.87285353e-04 8.88205093e+00] [ 1.60334531e-02 -7.04053222e-05 9.99871453e-01 4.57543410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.419254154 meters 0.016530450775527287 Centerline is valid? [True, True] Translation: X:688.79, Y:8.87, Z:4.57 [[ 9.99641942e-01 -2.14051605e-02 -1.60563504e-02 6.88788212e+02] [ 2.14048613e-02 9.99770872e-01 -1.90504293e-04 8.87455280e+00] [ 1.60567492e-02 -1.53247873e-04 9.99871070e-01 4.57473461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters 0.016258457479706875 Centerline is valid? [True, True] Translation: X:688.85, Y:8.87, Z:4.58 [[ 9.99463862e-01 -2.85650840e-02 -1.60007568e-02 6.88848123e+02] [ 2.85656875e-02 9.99591899e-01 -1.90884031e-04 8.86700093e+00] [ 1.59996795e-02 -2.66290927e-04 9.99871961e-01 4.57529885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.539254154 meters 0.01653483215223058 Centerline is valid? [True, True] Translation: X:688.91, Y:8.86, Z:4.58 [[ 9.99331233e-01 -3.24640318e-02 -1.68277558e-02 6.88908347e+02] [ 3.24652476e-02 9.99472845e-01 -2.00997742e-04 8.86361846e+00] [ 1.68254102e-02 -3.45453937e-04 9.99858383e-01 4.57594540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters 0.018921359851225672 Centerline is valid? [True, True] Translation: X:688.97, Y:8.85, Z:4.57 [[ 9.99226050e-01 -3.55406912e-02 -1.68570647e-02 6.88968256e+02] [ 3.55423471e-02 9.99368151e-01 -2.01449071e-04 8.85380635e+00] [ 1.68535732e-02 -3.97846482e-04 9.99857889e-01 4.57494308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.659254154 meters 0.01757639131189368 Centerline is valid? [True, True] Translation: X:689.03, Y:8.86, Z:4.58 [[ 9.99231607e-01 -3.51145127e-02 -1.74116598e-02 6.89029855e+02] [ 3.51162202e-02 9.99383214e-01 -2.07759652e-04 8.85515728e+00] [ 1.74082159e-02 -4.03831668e-04 9.99848384e-01 4.57696597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters 0.018257563536191186 Centerline is valid? [True, True] Translation: X:689.09, Y:8.85, Z:4.58 [[ 9.99324433e-01 -3.17622133e-02 -1.84889064e-02 6.89089249e+02] [ 3.17635660e-02 9.99495386e-01 -2.20565598e-04 8.85196987e+00] [ 1.84865823e-02 -3.66857009e-04 9.99829041e-01 4.57530972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.779254154 meters 0.015443564484001554 Centerline is valid? [True, True] Translation: X:689.15, Y:8.86, Z:4.58 [[ 9.99488785e-01 -2.57684509e-02 -1.89249903e-02 6.89148555e+02] [ 2.57687832e-02 9.99667904e-01 -2.26339649e-04 8.85718031e+00] [ 1.89245378e-02 -2.61450031e-04 9.99820881e-01 4.57745858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters 0.014725773838054393 Centerline is valid? [True, True] Translation: X:689.21, Y:8.86, Z:4.58 [[ 9.99652923e-01 -1.85193391e-02 -1.87368187e-02 6.89206693e+02] [ 1.85183310e-02 9.99828495e-01 -2.27319245e-04 8.85951199e+00] [ 1.87378151e-02 -1.19734264e-04 9.99824425e-01 4.57810083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.899254154 meters 0.014518328578162898 Centerline is valid? [True, True] Translation: X:689.26, Y:8.86, Z:4.58 [[ 9.99731243e-01 -1.40303022e-02 -1.84551490e-02 6.89264377e+02] [ 1.40285098e-02 9.99901570e-01 -2.26585839e-04 8.86208814e+00] [ 1.84565116e-02 -3.23732970e-05 9.99829664e-01 4.57851413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters 0.014519776192675962 Centerline is valid? [True, True] Translation: X:689.32, Y:8.86, Z:4.58 [[ 9.99751050e-01 -1.15720199e-02 -1.90768498e-02 6.89321944e+02] [ 1.15695752e-02 9.99933042e-01 -2.38514659e-04 8.86186498e+00] [ 1.90783325e-02 1.77442338e-05 9.99817992e-01 4.57939124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.019254154 meters 0.014464053826219075 Centerline is valid? [True, True] Translation: X:689.38, Y:8.86, Z:4.58 [[ 9.99698890e-01 -1.40320528e-02 -2.01303543e-02 6.89380065e+02] [ 1.40297622e-02 9.99901546e-01 -2.55017407e-04 8.85723528e+00] [ 2.01319508e-02 -2.74834640e-05 9.99797331e-01 4.57871423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters 0.014544406260378282 Centerline is valid? [True, True] Translation: X:689.44, Y:8.85, Z:4.58 [[ 9.99626145e-01 -1.79218346e-02 -2.06489127e-02 6.89438996e+02] [ 1.79201678e-02 9.99839386e-01 -2.65772344e-04 8.85290662e+00] [ 2.06503594e-02 -1.04358997e-04 9.99786753e-01 4.57919969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.139254154 meters 0.01530643167248472 Centerline is valid? [True, True] Translation: X:689.50, Y:8.84, Z:4.58 [[ 9.99473537e-01 -2.51821499e-02 -2.04574922e-02 6.89496364e+02] [ 2.51819715e-02 9.99682848e-01 -2.66371769e-04 8.84482899e+00] [ 2.04577119e-02 -2.48928451e-04 9.99790688e-01 4.57872645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters 0.017542054976670125 Centerline is valid? [True, True] Translation: X:689.56, Y:8.83, Z:4.58 [[ 9.99204213e-01 -3.45939829e-02 -1.98544115e-02 6.89555849e+02] [ 3.45956449e-02 9.99401358e-01 -2.59859286e-04 8.83364779e+00] [ 1.98515154e-02 -4.27223676e-04 9.99802848e-01 4.57906630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.259254154 meters 0.018136058955870532 Centerline is valid? [True, True] Translation: X:689.62, Y:8.83, Z:4.58 [[ 9.98970829e-01 -4.14507818e-02 -1.84151097e-02 6.89615489e+02] [ 4.14533613e-02 9.99140411e-01 -2.41783413e-04 8.82920681e+00] [ 1.84093023e-02 -5.21833617e-04 9.99830398e-01 4.58200538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.319254154 meters 0.020305167418286904 Centerline is valid? [True, True] Translation: X:689.68, Y:8.82, Z:4.58 [[ 9.98552635e-01 -5.09857839e-02 -1.71197295e-02 6.89675935e+02] [ 5.09894079e-02 9.98699169e-01 -2.25027247e-04 8.81996711e+00] [ 1.71089328e-02 -6.48223322e-04 9.99853421e-01 4.58297972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.379254154 meters 0.027517551118460746 Centerline is valid? [True, True] Translation: X:689.74, Y:8.81, Z:4.58 [[ 9.98233728e-01 -5.68381361e-02 -1.72873201e-02 6.89735584e+02] [ 5.68427051e-02 9.98383120e-01 -2.27352261e-04 8.80682121e+00] [ 1.72722908e-02 -7.55707342e-04 9.99850537e-01 4.58087156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.439254154 meters 0.02644253596175257 Centerline is valid? [True, True] Translation: X:689.80, Y:8.81, Z:4.58 [[ 9.97762873e-01 -6.44235575e-02 -1.78564715e-02 6.89796286e+02] [ 6.44296441e-02 9.97922224e-01 -2.34811713e-04 8.80564028e+00] [ 1.78344972e-02 -9.16199694e-04 9.99840533e-01 4.58167973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.499254154 meters 0.030171989801146392 Centerline is valid? [True, True] Translation: X:689.86, Y:8.80, Z:4.58 [[ 9.97550015e-01 -6.75340018e-02 -1.82517249e-02 6.89856789e+02] [ 6.75408849e-02 9.97716478e-01 -2.39740914e-04 8.80007897e+00] [ 1.82262374e-02 -9.93584099e-04 9.99833395e-01 4.58133044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.559254154 meters 0.027373645727562793 Centerline is valid? [True, True] Translation: X:689.92, Y:8.80, Z:4.58 [[ 9.97446007e-01 -6.89312682e-02 -1.87067833e-02 6.89918020e+02] [ 6.89387545e-02 9.97620864e-01 -2.45146854e-04 8.80408957e+00] [ 1.86791756e-02 -1.04510159e-03 9.99824983e-01 4.58310842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.619254154 meters 0.029796530107384023 Centerline is valid? [True, True] Translation: X:689.98, Y:8.80, Z:4.58 [[ 9.97561489e-01 -6.69221682e-02 -1.98115841e-02 6.89978935e+02] [ 6.69301850e-02 9.97757628e-01 -2.58876634e-04 8.80220684e+00] [ 1.97844837e-02 -1.06774763e-03 9.99803698e-01 4.58171328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.679254154 meters 0.02745258535973128 Centerline is valid? [True, True] Translation: X:690.04, Y:8.81, Z:4.58 [[ 9.97639001e-01 -6.56172634e-02 -2.02681537e-02 6.90040424e+02] [ 6.56254007e-02 9.97844295e-01 -2.64096031e-04 8.80734695e+00] [ 2.02417908e-02 -1.06663321e-03 9.99794545e-01 4.58265050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.739254154 meters 0.023421861943171928 Centerline is valid? [True, True] Translation: X:690.10, Y:8.82, Z:4.58 [[ 9.98009022e-01 -5.95009237e-02 -2.09196543e-02 6.90100387e+02] [ 5.95082588e-02 9.98227776e-01 -2.72261897e-04 8.81840379e+00] [ 2.08987798e-02 -9.73172369e-04 9.99781123e-01 4.58412173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.799254154 meters 0.020463299416475463 Centerline is valid? [True, True] Translation: X:690.16, Y:8.83, Z:4.59 [[ 9.98510453e-01 -5.05677104e-02 -2.04885589e-02 6.90160447e+02] [ 5.05728685e-02 9.98720338e-01 -2.66634727e-04 8.82894649e+00] [ 2.04758236e-02 -7.69927633e-04 9.99790052e-01 4.58577430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters 0.01877665177314729 Centerline is valid? [True, True] Translation: X:690.22, Y:8.84, Z:4.59 [[ 9.98846153e-01 -4.38021497e-02 -1.96909678e-02 6.90220685e+02] [ 4.38055990e-02 9.99040041e-01 -2.56333193e-04 8.83688876e+00] [ 1.96832932e-02 -6.06537214e-04 9.99806081e-01 4.58740716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.919254154 meters 0.01593007980907197 Centerline is valid? [True, True] Translation: X:690.28, Y:8.85, Z:4.59 [[ 9.99295461e-01 -3.21386272e-02 -1.93827558e-02 6.90280940e+02] [ 3.21397744e-02 9.99483352e-01 -2.52399790e-04 8.84991779e+00] [ 1.93808536e-02 -3.70735434e-04 9.99812105e-01 4.58957099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters 0.014631162428444285 Centerline is valid? [True, True] Translation: X:690.34, Y:8.86, Z:4.59 [[ 9.99521576e-01 -2.40676354e-02 -1.94259523e-02 6.90340312e+02] [ 2.40672540e-02 9.99710310e-01 -2.53453041e-04 8.85695382e+00] [ 1.94264248e-02 -2.14197545e-04 9.99811266e-01 4.58997847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.039254154 meters 0.013988860679531211 Centerline is valid? [True, True] Translation: X:690.40, Y:8.87, Z:4.59 [[ 9.99686054e-01 -1.48236969e-02 -2.02002706e-02 6.90398640e+02] [ 1.48213217e-02 9.99890122e-01 -2.67301228e-04 8.86532943e+00] [ 2.02020135e-02 -3.21773986e-05 9.99795918e-01 4.59057404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters 0.01399904416216783 Centerline is valid? [True, True] Translation: X:690.46, Y:8.87, Z:4.59 [[ 9.99678956e-01 -1.32704041e-02 -2.15842852e-02 6.90457397e+02] [ 1.32672074e-02 9.99911944e-01 -2.91301861e-04 8.86742245e+00] [ 2.15862503e-02 4.84515139e-06 9.99766990e-01 4.59041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.159254154 meters 0.014208308497345423 Centerline is valid? [True, True] Translation: X:690.52, Y:8.86, Z:4.59 [[ 9.99578109e-01 -1.79886480e-02 -2.28037901e-02 6.90515804e+02] [ 1.79862324e-02 9.99838186e-01 -3.11047821e-04 8.86405920e+00] [ 2.28056955e-02 -9.92376762e-05 9.99739911e-01 4.58970675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters 0.0166905065058377 Centerline is valid? [True, True] Translation: X:690.57, Y:8.86, Z:4.59 [[ 9.99405319e-01 -2.63359438e-02 -2.22581726e-02 6.90574055e+02] [ 2.63356676e-02 9.99653109e-01 -3.05588552e-04 8.85719362e+00] [ 2.22584994e-02 -2.80777011e-04 9.99752209e-01 4.59074628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.279254154 meters 0.016009424304615726 Centerline is valid? [True, True] Translation: X:690.63, Y:8.85, Z:4.59 [[ 9.99313156e-01 -3.20100240e-02 -1.86701305e-02 6.90632513e+02] [ 3.20107546e-02 9.99487491e-01 -2.59794742e-04 8.85255479e+00] [ 1.86688779e-02 -3.38028661e-04 9.99825664e-01 4.59304787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters 0.018079688186982138 Centerline is valid? [True, True] Translation: X:690.69, Y:8.85, Z:4.59 [[ 9.99099170e-01 -3.89255934e-02 -1.69010954e-02 6.90692355e+02] [ 3.89271491e-02 9.99242023e-01 -2.37041095e-04 8.84565303e+00] [ 1.68975117e-02 -4.21083899e-04 9.99857138e-01 4.59422810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.399254154 meters 0.019868488331834157 Centerline is valid? [True, True] Translation: X:690.75, Y:8.84, Z:4.59 [[ 9.98792187e-01 -4.60661791e-02 -1.70901944e-02 6.90753059e+02] [ 4.60688099e-02 9.98938240e-01 -2.39930719e-04 8.83936800e+00] [ 1.70831014e-02 -5.47683991e-04 9.99853923e-01 4.59409534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters 0.02064571192733779 Centerline is valid? [True, True] Translation: X:690.81, Y:8.84, Z:4.59 [[ 9.98549947e-01 -5.10737513e-02 -1.70139447e-02 6.90813878e+02] [ 5.10770877e-02 9.98694685e-01 -2.38671192e-04 8.83711027e+00] [ 1.70039260e-02 -6.30697638e-04 9.99855224e-01 4.59482029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.519254154 meters 0.02256960458445776 Centerline is valid? [True, True] Translation: X:690.88, Y:8.83, Z:4.59 [[ 9.98238668e-01 -5.69206005e-02 -1.67214587e-02 6.90875231e+02] [ 5.69246476e-02 9.98378450e-01 -2.34224500e-04 8.83221852e+00] [ 1.67076762e-02 -7.18051190e-04 9.99860159e-01 4.59497050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters 0.02415720886213861 Centerline is valid? [True, True] Translation: X:690.94, Y:8.83, Z:4.60 [[ 9.98181759e-01 -5.77716549e-02 -1.71933584e-02 6.90936368e+02] [ 5.77760689e-02 9.98329539e-01 -2.40297070e-04 8.83156213e+00] [ 1.71785199e-02 -7.53504507e-04 9.99852154e-01 4.59517841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.639254154 meters 0.02209577100683373 Centerline is valid? [True, True] Translation: X:691.00, Y:8.84, Z:4.60 [[ 9.98379430e-01 -5.45752170e-02 -1.61263466e-02 6.90997809e+02] [ 5.45786930e-02 9.98509447e-01 -2.24806958e-04 8.83500861e+00] [ 1.61145783e-02 -6.55712280e-04 9.99869937e-01 4.59526432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters 0.020882643188997047 Centerline is valid? [True, True] Translation: X:691.06, Y:8.84, Z:4.59 [[ 9.98702683e-01 -4.81406204e-02 -1.65961345e-02 6.91057763e+02] [ 4.81434187e-02 9.98840407e-01 -2.31103356e-04 8.84067250e+00] [ 1.65880152e-02 -5.68191111e-04 9.99862248e-01 4.59420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.759254154 meters 0.018347931002815388 Centerline is valid? [True, True] Translation: X:691.12, Y:8.85, Z:4.59 [[ 9.98836960e-01 -4.50825603e-02 -1.70964712e-02 6.91118899e+02] [ 4.50850890e-02 9.98983122e-01 -2.37682500e-04 8.84720521e+00] [ 1.70898015e-02 -5.33389858e-04 9.99853816e-01 4.59477366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.819254154 meters 0.01812334452469672 Centerline is valid? [True, True] Translation: X:691.18, Y:8.85, Z:4.59 [[ 9.98840666e-01 -4.45283706e-02 -1.82906490e-02 6.91180681e+02] [ 4.45311851e-02 9.99007963e-01 -2.53582408e-04 8.84964098e+00] [ 1.82837956e-02 -5.61215855e-04 9.99832680e-01 4.59409912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.879254154 meters 0.01876974756503769 Centerline is valid? [True, True] Translation: X:691.24, Y:8.85, Z:4.59 [[ 9.98753764e-01 -4.61953954e-02 -1.88919163e-02 6.91241606e+02] [ 4.61987051e-02 9.98932236e-01 -2.61433781e-04 8.84913987e+00] [ 1.88838212e-02 -6.11674096e-04 9.99821498e-01 4.59333034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.939254154 meters 0.019418348167639706 Centerline is valid? [True, True] Translation: X:691.30, Y:8.85, Z:4.59 [[ 9.98610206e-01 -4.86573579e-02 -2.02513601e-02 6.91302563e+02] [ 4.86616747e-02 9.98815280e-01 -2.79860913e-04 8.85005970e+00] [ 2.02409852e-02 -7.05993133e-04 9.99794881e-01 4.59302502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.999254154 meters 0.020005490160224845 Centerline is valid? [True, True] Translation: X:691.36, Y:8.85, Z:4.59 [[ 9.98606089e-01 -4.89426243e-02 -1.97610498e-02 6.91363002e+02] [ 4.89467926e-02 9.98801350e-01 -2.72963173e-04 8.85205310e+00] [ 1.97507227e-02 -6.94657319e-04 9.99804694e-01 4.59353736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.059254154 meters 0.019456832789567884 Centerline is valid? [True, True] Translation: X:691.42, Y:8.86, Z:4.60 [[ 9.98683354e-01 -4.79934497e-02 -1.81159549e-02 6.91423143e+02] [ 4.79967967e-02 9.98847458e-01 -2.50239162e-04 8.85508129e+00] [ 1.81070853e-02 -6.19598119e-04 9.99835861e-01 4.59528686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.119254154 meters 0.01909527574602176 Centerline is valid? [True, True] Translation: X:691.48, Y:8.86, Z:4.60 [[ 9.98877796e-01 -4.51297954e-02 -1.43684050e-02 6.91483884e+02] [ 4.51316066e-02 9.98981030e-01 -1.98334698e-04 8.86023774e+00] [ 1.43627148e-02 -4.50357077e-04 9.99896749e-01 4.59798269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.179254154 meters 0.018193600482926064 Centerline is valid? [True, True] Translation: X:691.54, Y:8.87, Z:4.60 [[ 9.99103021e-01 -4.06845086e-02 -1.17441000e-02 6.91544835e+02] [ 4.06854149e-02 9.99171993e-01 -1.61829919e-04 8.86669155e+00] [ 1.17409598e-02 -3.16128820e-04 9.99931023e-01 4.59997536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.239254154 meters 0.017483015130532378 Centerline is valid? [True, True] Translation: X:691.61, Y:8.87, Z:4.60 [[ 9.99170568e-01 -3.91067040e-02 -1.13508272e-02 6.91606591e+02] [ 3.91074553e-02 9.99234999e-01 -1.55845030e-04 8.87046295e+00] [ 1.13482384e-02 -2.88186199e-04 9.99935565e-01 4.60050245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.299254154 meters 0.017389860265869334 Centerline is valid? [True, True] Translation: X:691.67, Y:8.87, Z:4.60 [[ 9.99099239e-01 -4.06911035e-02 -1.20393334e-02 6.91668403e+02] [ 4.06920745e-02 9.99171721e-01 -1.64395668e-04 8.87270804e+00] [ 1.20360509e-02 -3.25657866e-04 9.99927511e-01 4.59954657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters 0.018493459704280294 Centerline is valid? [True, True] Translation: X:691.73, Y:8.87, Z:4.60 [[ 9.98954092e-01 -4.35836027e-02 -1.38272195e-02 6.91730145e+02] [ 4.35851737e-02 9.99049697e-01 -1.87851982e-04 8.87133190e+00] [ 1.38222667e-02 -4.15006258e-04 9.99904382e-01 4.59783421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.419254154 meters 0.020087655638042542 Centerline is valid? [True, True] Translation: X:691.79, Y:8.87, Z:4.60 [[ 9.98737878e-01 -4.78724887e-02 -1.51945817e-02 6.91791493e+02] [ 4.78748924e-02 9.98853319e-01 -2.05717149e-04 8.86975871e+00] [ 1.51870065e-02 -5.21981453e-04 9.99884535e-01 4.59669479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters 0.019746934896040232 Centerline is valid? [True, True] Translation: X:691.85, Y:8.87, Z:4.60 [[ 9.98691278e-01 -4.87631273e-02 -1.54236251e-02 6.91853185e+02] [ 4.87657213e-02 9.98810223e-01 -2.08087030e-04 8.87156809e+00] [ 1.54154214e-02 -5.44329500e-04 9.99881027e-01 4.59711297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.539254154 meters 0.020550317489390027 Centerline is valid? [True, True] Translation: X:691.91, Y:8.87, Z:4.60 [[ 9.98821260e-01 -4.64018849e-02 -1.42462616e-02 6.91913369e+02] [ 4.64038649e-02 9.98922742e-01 -1.91721170e-04 8.87224645e+00] [ 1.42398109e-02 -4.69586418e-04 9.99898498e-01 4.59788975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters 0.01988931582531651 Centerline is valid? [True, True] Translation: X:691.97, Y:8.87, Z:4.60 [[ 9.98921390e-01 -4.45479155e-02 -1.30973325e-02 6.91974362e+02] [ 4.45494341e-02 9.99007166e-01 -1.75921616e-04 8.87420496e+00] [ 1.30921660e-02 -4.07746888e-04 9.99914211e-01 4.59900444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.659254154 meters 0.01774792188333548 Centerline is valid? [True, True] Translation: X:692.04, Y:8.88, Z:4.60 [[ 9.99209725e-01 -3.81840451e-02 -1.10410644e-02 6.92035012e+02] [ 3.81847391e-02 9.99270686e-01 -1.48025986e-04 8.88059331e+00] [ 1.10386642e-02 -2.73691156e-04 9.99939035e-01 4.60116116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters 0.01629828277661653 Centerline is valid? [True, True] Translation: X:692.10, Y:8.89, Z:4.60 [[ 9.99440627e-01 -3.20936484e-02 -9.40379427e-03 6.92096088e+02] [ 3.20938841e-02 9.99484851e-01 -1.25875305e-04 8.88764301e+00] [ 9.40298971e-03 -1.75999390e-04 9.99955775e-01 4.60256456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.779254154 meters 0.015510815167811325 Centerline is valid? [True, True] Translation: X:692.16, Y:8.89, Z:4.60 [[ 9.99547834e-01 -2.87165824e-02 -8.91543291e-03 6.92157388e+02] [ 2.87166631e-02 9.99587585e-01 -1.18983377e-04 8.88805206e+00] [ 8.91517285e-03 -1.37091907e-04 9.99960250e-01 4.60276795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters 0.014578790828235638 Centerline is valid? [True, True] Translation: X:692.22, Y:8.89, Z:4.60 [[ 9.99695756e-01 -2.30467381e-02 -8.78881459e-03 6.92218047e+02] [ 2.30466020e-02 9.99734385e-01 -1.16773605e-04 8.89097025e+00] [ 8.78917140e-03 -8.58142352e-05 9.99961371e-01 4.60289820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.899254154 meters 0.014126524139826985 Centerline is valid? [True, True] Translation: X:692.28, Y:8.89, Z:4.60 [[ 9.99769663e-01 -1.97032577e-02 -8.50891621e-03 6.92279297e+02] [ 1.97030139e-02 9.99805870e-01 -1.12489562e-04 8.89247324e+00] [ 8.50948079e-03 -5.51876427e-05 9.99963792e-01 4.60320700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters 0.014008979758561945 Centerline is valid? [True, True] Translation: X:692.34, Y:8.89, Z:4.60 [[ 9.99809510e-01 -1.80514216e-02 -7.42231166e-03 6.92340716e+02] [ 1.80511922e-02 9.99837059e-01 -9.78940381e-05 8.89122520e+00] [ 7.42286939e-03 -3.61061844e-05 9.99972449e-01 4.60357031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.019254154 meters 0.015301774994317908 Centerline is valid? [True, True] Translation: X:692.40, Y:8.89, Z:4.60 [[ 9.99782187e-01 -1.97761565e-02 -6.66956646e-03 6.92401640e+02] [ 1.97760111e-02 9.99804432e-01 -8.77445760e-05 8.88663172e+00] [ 6.66999736e-03 -4.41719567e-05 9.99977754e-01 4.60264085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters 0.015415687292472294 Centerline is valid? [True, True] Translation: X:692.46, Y:8.88, Z:4.60 [[ 9.99540139e-01 -2.94756559e-02 -7.12011167e-03 6.92463680e+02] [ 2.94757376e-02 9.99565492e-01 -9.34866176e-05 8.87619723e+00] [ 7.11977351e-03 -1.16426917e-04 9.99974647e-01 4.60207917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.139254154 meters 0.019553800589597416 Centerline is valid? [True, True] Translation: X:692.52, Y:8.86, Z:4.60 [[ 9.98980708e-01 -4.43245192e-02 -8.53706872e-03 6.92524479e+02] [ 4.43251876e-02 9.99017150e-01 -1.10985489e-04 8.86119504e+00] [ 8.53359744e-03 -2.67534810e-04 9.99963552e-01 4.60086168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters 0.0239486428805988 Centerline is valid? [True, True] Translation: X:692.59, Y:8.85, Z:4.60 [[ 9.98504801e-01 -5.40679639e-02 -8.05099032e-03 6.92585327e+02] [ 5.40688771e-02 9.98537203e-01 -1.04350634e-04 8.85089267e+00] [ 8.04485538e-03 -3.31113397e-04 9.99967585e-01 4.60105953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.259254154 meters 0.027890376931578083 Centerline is valid? [True, True] Translation: X:692.65, Y:8.84, Z:4.60 [[ 9.97752259e-01 -6.67192792e-02 -6.24244286e-03 6.92645927e+02] [ 6.67200764e-02 9.97771730e-01 -8.06940390e-05 8.84014188e+00] [ 6.23391686e-03 -3.35983605e-04 9.99980513e-01 4.60396777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.319254154 meters 0.028826190044604724 Centerline is valid? [True, True] Translation: X:692.71, Y:8.84, Z:4.60 [[ 9.97354868e-01 -7.25005189e-02 -5.19053624e-03 6.92706957e+02] [ 7.25011481e-02 9.97368327e-01 -6.70770938e-05 8.83746478e+00] [ 5.18173957e-03 -3.09420171e-04 9.99986527e-01 4.60494706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.379254154 meters 0.03514263851809596 Centerline is valid? [True, True] Translation: X:692.77, Y:8.83, Z:4.60 [[ 9.97013613e-01 -7.70121353e-02 -5.74339947e-03 6.92766404e+02] [ 7.70129805e-02 9.97030087e-01 -7.41844972e-05 8.82914652e+00] [ 5.73205518e-03 -3.68353358e-04 9.99983504e-01 4.60413792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.439254154 meters 0.032041560074988436 Centerline is valid? [True, True] Translation: X:692.83, Y:8.84, Z:4.60 [[ 9.96775191e-01 -7.99849780e-02 -6.45154993e-03 6.92827068e+02] [ 7.99861057e-02 9.96795975e-01 -8.34517940e-05 8.83507821e+00] [ 6.43755389e-03 -4.32851677e-04 9.99979185e-01 4.60371789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.499254154 meters 0.03289075434179514 Centerline is valid? [True, True] Translation: X:692.89, Y:8.84, Z:4.60 [[ 9.96674354e-01 -8.11368909e-02 -7.55233595e-03 6.92889431e+02] [ 8.11384707e-02 9.96702834e-01 -9.74792651e-05 8.83616837e+00] [ 7.53534380e-03 -5.15629906e-04 9.99971476e-01 4.60363423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.559254154 meters 0.0358257403359921 Centerline is valid? [True, True] Translation: X:692.95, Y:8.84, Z:4.60 [[ 9.96639331e-01 -8.14035017e-02 -9.13860514e-03 6.92950188e+02] [ 8.14058329e-02 9.96681031e-01 -1.17207224e-04 8.83616769e+00] [ 9.11781547e-03 -6.27122434e-04 9.99958235e-01 4.60205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.619254154 meters 0.036814497193452596 Centerline is valid? [True, True] Translation: X:693.01, Y:8.84, Z:4.60 [[ 9.96716842e-01 -8.01445305e-02 -1.15061069e-02 6.93012705e+02] [ 8.01481521e-02 9.96782951e-01 -1.46753649e-04 8.83877556e+00] [ 1.14808527e-02 -7.75921371e-04 9.99933792e-01 4.60097498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.679254154 meters 0.035310825271820376 Centerline is valid? [True, True] Translation: X:693.07, Y:8.85, Z:4.60 [[ 9.97074893e-01 -7.50662811e-02 -1.43774843e-02 6.93072436e+02] [ 7.50714171e-02 9.97178143e-01 -1.82903767e-04 8.84725603e+00] [ 1.43506430e-02 -8.96969369e-04 9.99896622e-01 4.59959664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.739254154 meters 0.031241194055416133 Centerline is valid? [True, True] Translation: X:693.13, Y:8.86, Z:4.60 [[ 9.97678623e-01 -6.61644977e-02 -1.61128956e-02 6.93132691e+02] [ 6.61697900e-02 9.97808357e-01 -2.05037473e-04 8.86200044e+00] [ 1.60911481e-02 -8.61625415e-04 9.99870158e-01 4.60021406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.799254154 meters 0.02554003775868939 Centerline is valid? [True, True] Translation: X:693.19, Y:8.88, Z:4.60 [[ 9.98113048e-01 -5.90726037e-02 -1.67561967e-02 6.93192622e+02] [ 5.90773320e-02 9.98253386e-01 -2.13104660e-04 8.87693377e+00] [ 1.67395188e-02 -7.77208854e-04 9.99859582e-01 4.60132246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters 0.0205063047162087 Centerline is valid? [True, True] Translation: X:693.25, Y:8.90, Z:4.60 [[ 9.98658126e-01 -4.89585514e-02 -1.68821956e-02 6.93253519e+02] [ 4.89619113e-02 9.98800623e-01 -2.14492134e-04 8.89648563e+00] [ 1.68724488e-02 -6.12380253e-04 9.99857463e-01 4.60440028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.919254154 meters 0.018644602843062894 Centerline is valid? [True, True] Translation: X:693.31, Y:8.91, Z:4.61 [[ 9.98934508e-01 -4.27894570e-02 -1.72890581e-02 6.93314530e+02] [ 4.27920637e-02 9.99083976e-01 -2.19314387e-04 8.90637195e+00] [ 1.72826053e-02 -5.20753768e-04 9.99850509e-01 4.60563276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters 0.01698745290960781 Centerline is valid? [True, True] Translation: X:693.37, Y:8.92, Z:4.61 [[ 9.99255668e-01 -3.46237948e-02 -1.70088808e-02 6.93374484e+02] [ 3.46251378e-02 9.99400347e-01 -2.15616907e-04 8.91843948e+00] [ 1.70061469e-02 -3.73478425e-04 9.99855315e-01 4.60709111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.039254154 meters 0.016376728528648715 Centerline is valid? [True, True] Translation: X:693.44, Y:8.93, Z:4.61 [[ 9.99394237e-01 -3.02016301e-02 -1.72922107e-02 6.93435380e+02] [ 3.02023597e-02 9.99543781e-01 -2.19016923e-04 8.92590189e+00] [ 1.72909363e-02 -3.03381318e-04 9.99850455e-01 4.60791547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters 0.01537913457774661 Centerline is valid? [True, True] Translation: X:693.50, Y:8.94, Z:4.61 [[ 9.99526634e-01 -2.51667630e-02 -1.76958127e-02 6.93496067e+02] [ 2.51667404e-02 9.99683242e-01 -2.24004410e-04 8.93511099e+00] [ 1.76958449e-02 -2.21447551e-04 9.99843392e-01 4.60961561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.159254154 meters 0.01547182005641485 Centerline is valid? [True, True] Translation: X:693.55, Y:8.94, Z:4.61 [[ 9.99553164e-01 -2.36601494e-02 -1.82666049e-02 6.93554257e+02] [ 2.36598621e-02 9.99720039e-01 -2.31866315e-04 8.93831996e+00] [ 1.82669770e-02 -2.00422645e-04 9.99833125e-01 4.60971003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters 0.015610930896540243 Centerline is valid? [True, True] Translation: X:693.61, Y:8.94, Z:4.61 [[ 9.99492503e-01 -2.55703712e-02 -1.89971495e-02 6.93612849e+02] [ 2.55703378e-02 9.99672996e-01 -2.44701359e-04 8.93902900e+00] [ 1.89971945e-02 -2.41186357e-04 9.99819508e-01 4.61015925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.279254154 meters 0.016906371443840676 Centerline is valid? [True, True] Translation: X:693.67, Y:8.93, Z:4.61 [[ 9.99339210e-01 -3.09521364e-02 -1.90553880e-02 6.93670472e+02] [ 3.09530262e-02 9.99520809e-01 -2.48312289e-04 8.93353949e+00] [ 1.90539427e-02 -3.41673718e-04 9.99818399e-01 4.60960962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters 0.017987636424840615 Centerline is valid? [True, True] Translation: X:693.73, Y:8.93, Z:4.61 [[ 9.99194239e-01 -3.49705293e-02 -1.96960436e-02 6.93729641e+02] [ 3.49722338e-02 9.99388251e-01 -2.57998951e-04 8.93087611e+00] [ 1.96930169e-02 -4.31023577e-04 9.99805981e-01 4.61034977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.399254154 meters 0.01939194694770237 Centerline is valid? [True, True] Translation: X:693.79, Y:8.92, Z:4.61 [[ 9.98909545e-01 -4.25600404e-02 -1.91928100e-02 6.93790345e+02] [ 4.25630515e-02 9.99093751e-01 -2.51764055e-04 8.92331251e+00] [ 1.91861316e-02 -5.65415043e-04 9.99815769e-01 4.61156420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters 0.022185522974842532 Centerline is valid? [True, True] Translation: X:693.85, Y:8.92, Z:4.61 [[ 9.98694241e-01 -4.74993218e-02 -1.88049672e-02 6.93850117e+02] [ 4.75031009e-02 9.98871060e-01 -2.45925287e-04 8.91635390e+00] [ 1.87954188e-02 -6.47690086e-04 9.99823141e-01 4.61209028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.519254154 meters 0.022587039107058504 Centerline is valid? [True, True] Translation: X:693.91, Y:8.91, Z:4.61 [[ 9.98471113e-01 -5.19228933e-02 -1.89591771e-02 6.93911039e+02] [ 5.19275430e-02 9.98650824e-01 -2.47301090e-04 8.91319815e+00] [ 1.89464384e-02 -7.37580487e-04 9.99820228e-01 4.61361703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters 0.024816322966103303 Centerline is valid? [True, True] Translation: X:693.97, Y:8.91, Z:4.61 [[ 9.98292266e-01 -5.50524841e-02 -1.95390792e-02 6.93971951e+02] [ 5.50580279e-02 9.98483124e-01 -2.54510627e-04 8.90775114e+00] [ 1.95234523e-02 -8.21707176e-04 9.99809062e-01 4.61316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.639254154 meters 0.02390360654415568 Centerline is valid? [True, True] Translation: X:694.03, Y:8.90, Z:4.61 [[ 9.98251153e-01 -5.57324555e-02 -1.97111453e-02 6.94033480e+02] [ 5.57382414e-02 9.98445383e-01 -2.56156055e-04 8.90473649e+00] [ 1.96947782e-02 -8.42956497e-04 9.99805684e-01 4.61413839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters 0.02426199322772652 Centerline is valid? [True, True] Translation: X:694.09, Y:8.90, Z:4.61 [[ 9.98402275e-01 -5.28652396e-02 -1.99540499e-02 6.94093862e+02] [ 5.28706071e-02 9.98601338e-01 -2.58823631e-04 8.90257580e+00] [ 1.99398237e-02 -7.96572630e-04 9.99800865e-01 4.61423780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.759254154 meters 0.018840089560054275 Centerline is valid? [True, True] Translation: X:694.15, Y:8.91, Z:4.62 [[ 9.98801889e-01 -4.45567280e-02 -2.02357408e-02 6.94154183e+02] [ 4.45605478e-02 9.99006651e-01 -2.62324290e-04 8.91027168e+00] [ 2.02273279e-02 -6.39705699e-04 9.99795202e-01 4.61601766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.819254154 meters 0.019311154794751616 Centerline is valid? [True, True] Translation: X:694.21, Y:8.91, Z:4.62 [[ 9.99198520e-01 -3.45821169e-02 -2.01592569e-02 6.94214765e+02] [ 3.45838783e-02 9.99401765e-01 -2.61351028e-04 8.91340320e+00] [ 2.01562350e-02 -4.36043725e-04 9.99796747e-01 4.61551172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.879254154 meters 0.015592270739705597 Centerline is valid? [True, True] Translation: X:694.27, Y:8.92, Z:4.62 [[ 9.99423941e-01 -2.89286112e-02 -1.77460440e-02 6.94274707e+02] [ 2.89290740e-02 9.99581440e-01 -2.30678035e-04 8.91639078e+00] [ 1.77452894e-02 -2.82831471e-04 9.99842500e-01 4.61800148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.939254154 meters 0.015848705339214626 Centerline is valid? [True, True] Translation: X:694.33, Y:8.92, Z:4.62 [[ 9.99617542e-01 -2.11228031e-02 -1.78492620e-02 6.94333214e+02] [ 2.11220098e-02 9.99776878e-01 -2.32984062e-04 8.91790704e+00] [ 1.78502008e-02 -1.44117332e-04 9.99840662e-01 4.61752991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.999254154 meters 0.014441791383188672 Centerline is valid? [True, True] Translation: X:694.39, Y:8.92, Z:4.62 [[ 9.99685544e-01 -1.75560028e-02 -1.79053301e-02 6.94392313e+02] [ 1.75545738e-02 9.99845879e-01 -2.36989164e-04 8.91765386e+00] [ 1.79067311e-02 -7.74057976e-05 9.99839659e-01 4.61846698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.059254154 meters 0.016579911008508332 Centerline is valid? [True, True] Translation: X:694.45, Y:8.91, Z:4.62 [[ 9.99736396e-01 -1.34756734e-02 -1.85888315e-02 6.94449203e+02] [ 1.34733494e-02 9.99909199e-01 -2.50256218e-04 8.91433596e+00] [ 1.85905160e-02 -2.63572619e-07 9.99827181e-01 4.61729088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.119254154 meters 0.014687722427304888 Centerline is valid? [True, True] Translation: X:694.51, Y:8.91, Z:4.62 [[ 9.99765896e-01 -1.14951038e-02 -1.83307190e-02 6.94507008e+02] [ 1.14924253e-02 9.99933928e-01 -2.51456055e-04 8.91006254e+00] [ 1.83323984e-02 4.07327686e-05 9.99831947e-01 4.61860790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.179254154 meters 0.014519383749891953 Centerline is valid? [True, True] Translation: X:694.56, Y:8.91, Z:4.62 [[ 9.99792845e-01 -1.02023425e-02 -1.76118928e-02 6.94564736e+02] [ 1.01995795e-02 9.99947953e-01 -2.46698629e-04 8.90593621e+00] [ 1.76134930e-02 6.70136229e-05 9.99844868e-01 4.61985700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.239254154 meters 0.01634285807225599 Centerline is valid? [True, True] Translation: X:694.62, Y:8.90, Z:4.62 [[ 9.99840499e-01 -7.08711126e-03 -1.63935559e-02 6.94622486e+02] [ 7.08425358e-03 9.99974879e-01 -2.32383244e-04 8.90022633e+00] [ 1.63947910e-02 1.16210072e-04 9.99865590e-01 4.61911407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.299254154 meters 0.014995989516026804 Centerline is valid? [True, True] Translation: X:694.68, Y:8.90, Z:4.62 [[ 9.99874782e-01 -4.45707985e-03 -1.51840088e-02 6.94680816e+02] [ 4.45430473e-03 9.99990056e-01 -2.16580241e-04 8.89745760e+00] [ 1.51848231e-02 1.48918919e-04 9.99884693e-01 4.62126949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters 0.015200849200969408 Centerline is valid? [True, True] Translation: X:694.74, Y:8.89, Z:4.62 [[ 9.99889946e-01 -1.94190765e-03 -1.47079834e-02 6.94739923e+02] [ 1.93899245e-03 9.99998098e-01 -2.12463175e-04 8.89020987e+00] [ 1.47083680e-02 1.83921123e-04 9.99891809e-01 4.62153298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.419254154 meters 0.015055969007220036 Centerline is valid? [True, True] Translation: X:694.80, Y:8.88, Z:4.62 [[ 9.99902701e-01 -3.85735745e-03 -1.34055717e-02 6.94798025e+02] [ 3.85507834e-03 9.99992550e-01 -1.95849127e-04 8.88020384e+00] [ 1.34062273e-02 1.44150542e-04 9.99910122e-01 4.62177566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters 0.014667738653042143 Centerline is valid? [True, True] Translation: X:694.86, Y:8.87, Z:4.62 [[ 9.99884127e-01 -7.85108497e-03 -1.30419434e-02 6.94857315e+02] [ 7.84925379e-03 9.99969176e-01 -1.91588578e-04 8.87205097e+00] [ 1.30430456e-02 8.91968544e-05 9.99914932e-01 4.62178912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.539254154 meters 0.013987754321033647 Centerline is valid? [True, True] Translation: X:694.92, Y:8.86, Z:4.62 [[ 9.99812800e-01 -1.38515060e-02 -1.35093082e-02 6.94916222e+02] [ 1.38500752e-02 9.99904063e-01 -1.99463848e-04 8.85799746e+00] [ 1.35107750e-02 1.23215730e-05 9.99908725e-01 4.62171754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters 0.01673357672374159 Centerline is valid? [True, True] Translation: X:694.97, Y:8.85, Z:4.62 [[ 9.99749467e-01 -1.68611550e-02 -1.47208897e-02 6.94974542e+02] [ 1.68597635e-02 9.99857840e-01 -2.18633737e-04 8.84912226e+00] [ 1.47224834e-02 -2.96117557e-05 9.99891618e-01 4.61891881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.659254154 meters 0.014284705287418426 Centerline is valid? [True, True] Translation: X:695.03, Y:8.84, Z:4.62 [[ 9.99679596e-01 -1.99971590e-02 -1.55183540e-02 6.95033898e+02] [ 1.99959457e-02 9.99800034e-01 -2.33360626e-04 8.83909676e+00] [ 1.55199174e-02 -7.70183068e-05 9.99879556e-01 4.61950836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters 0.014395726990719797 Centerline is valid? [True, True] Translation: X:695.09, Y:8.83, Z:4.62 [[ 9.99639005e-01 -2.17893077e-02 -1.57189883e-02 6.95092742e+02] [ 2.17882213e-02 9.99762580e-01 -2.40386906e-04 8.83346565e+00] [ 1.57204941e-02 -1.02188668e-04 9.99876420e-01 4.61948891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.779254154 meters 0.015252209052814339 Centerline is valid? [True, True] Translation: X:695.15, Y:8.82, Z:4.62 [[ 9.99578956e-01 -2.50480392e-02 -1.46460699e-02 6.95152048e+02] [ 2.50473935e-02 9.99686239e-01 -2.27546705e-04 8.82333402e+00] [ 1.46471741e-02 -1.39394978e-04 9.99892715e-01 4.61979220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters 0.016332140842083714 Centerline is valid? [True, True] Translation: X:695.21, Y:8.81, Z:4.62 [[ 9.99473655e-01 -2.96726148e-02 -1.31129019e-02 6.95210025e+02] [ 2.96724681e-02 9.99559654e-01 -2.05788900e-04 8.81304416e+00] [ 1.31132340e-02 -1.83411579e-04 9.99914001e-01 4.62078421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.899254154 meters 0.015990931093150303 Centerline is valid? [True, True] Translation: X:695.27, Y:8.81, Z:4.62 [[ 9.99404700e-01 -3.22509107e-02 -1.22525185e-02 6.95268361e+02] [ 3.22509635e-02 9.99479784e-01 -1.93322015e-04 8.80829386e+00] [ 1.22523794e-02 -2.01948597e-04 9.99924916e-01 4.62274478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters 0.016386128201793852 Centerline is valid? [True, True] Translation: X:695.33, Y:8.80, Z:4.62 [[ 9.99313893e-01 -3.48716785e-02 -1.24783749e-02 6.95327238e+02] [ 3.48719121e-02 9.99391770e-01 -1.98929456e-04 8.80399719e+00] [ 1.24777222e-02 -2.36351823e-04 9.99922122e-01 4.62371395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.019254154 meters 0.01643262432761847 Centerline is valid? [True, True] Translation: X:695.39, Y:8.80, Z:4.62 [[ 9.99300626e-01 -3.53170990e-02 -1.22866386e-02 6.95385677e+02] [ 3.53173218e-02 9.99376129e-01 -1.98910774e-04 8.80115664e+00] [ 1.22859983e-02 -2.35159509e-04 9.99924497e-01 4.62431509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters 0.01646017513799969 Centerline is valid? [True, True] Translation: X:695.44, Y:8.80, Z:4.63 [[ 9.99326485e-01 -3.47390136e-02 -1.18227048e-02 6.95444780e+02] [ 3.47391574e-02 9.99396395e-01 -1.93267487e-04 8.79863157e+00] [ 1.18222825e-02 -2.17573486e-04 9.99930091e-01 4.62592417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.139254154 meters 0.015508751005722453 Centerline is valid? [True, True] Translation: X:695.50, Y:8.80, Z:4.63 [[ 9.99354432e-01 -3.39262861e-02 -1.18205600e-02 6.95503594e+02] [ 3.39263534e-02 9.99424317e-01 -1.94883293e-04 8.79912319e+00] [ 1.18203668e-02 -2.06271015e-04 9.99930116e-01 4.62710555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters 0.015461491949637264 Centerline is valid? [True, True] Translation: X:695.56, Y:8.80, Z:4.63 [[ 9.99330089e-01 -3.45462699e-02 -1.20801098e-02 6.95562523e+02] [ 3.45463477e-02 9.99403076e-01 -2.02290902e-04 8.79885611e+00] [ 1.20798873e-02 -2.15168288e-04 9.99927012e-01 4.62747167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.259254154 meters 0.01762186629224032 Centerline is valid? [True, True] Translation: X:695.62, Y:8.79, Z:4.63 [[ 9.99200939e-01 -3.76198722e-02 -1.34992151e-02 6.95621619e+02] [ 3.76202004e-02 9.99292083e-01 -2.29714090e-04 8.79475021e+00] [ 1.34983006e-02 -2.78312644e-04 9.99908855e-01 4.62563930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.319254154 meters 0.01854876536749609 Centerline is valid? [True, True] Translation: X:695.68, Y:8.79, Z:4.63 [[ 9.98931190e-01 -4.44891991e-02 -1.25375323e-02 6.95679768e+02] [ 4.44899976e-02 9.99009807e-01 -2.15352737e-04 8.78954968e+00] [ 1.25346986e-02 -3.42672216e-04 9.99921379e-01 4.62833057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.379254154 meters 0.02148548122041242 Centerline is valid? [True, True] Translation: X:695.74, Y:8.78, Z:4.63 [[ 9.98613330e-01 -5.13351021e-02 -1.16672607e-02 6.95739635e+02] [ 5.13362540e-02 9.98681405e-01 -2.00938242e-04 8.78445809e+00] [ 1.16621915e-02 -3.98293853e-04 9.99931915e-01 4.62937471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.439254154 meters 0.023181366535308206 Centerline is valid? [True, True] Translation: X:695.80, Y:8.78, Z:4.63 [[ 9.98414916e-01 -5.51917550e-02 -1.10238715e-02 6.95799479e+02] [ 5.51930152e-02 9.98475686e-01 -1.90120298e-04 8.78218398e+00] [ 1.10175608e-02 -4.18621768e-04 9.99939217e-01 4.62987683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.499254154 meters 0.0315543715629698 Centerline is valid? [True, True] Translation: X:695.86, Y:8.77, Z:4.63 [[ 9.97654435e-01 -6.76835838e-02 -1.02255297e-02 6.95859496e+02] [ 6.76853201e-02 9.97706704e-01 -1.76568918e-04 8.77209080e+00] [ 1.02140304e-02 -5.15963489e-04 9.99947702e-01 4.62792981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.559254154 meters 0.026674147518300082 Centerline is valid? [True, True] Translation: X:695.92, Y:8.78, Z:4.63 [[ 9.97130662e-01 -7.49991206e-02 -1.02749394e-02 6.95920028e+02] [ 7.50012608e-02 9.97183423e-01 -1.77415111e-04 8.77847721e+00] [ 1.02593053e-02 -5.93727365e-04 9.99947196e-01 4.63023838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.619254154 meters 0.030780413849162223 Centerline is valid? [True, True] Translation: X:695.98, Y:8.78, Z:4.63 [[ 9.96586298e-01 -8.19348657e-02 -1.01206861e-02 6.95979066e+02] [ 8.19372986e-02 9.96637471e-01 -1.74720835e-04 8.77694026e+00] [ 1.01009707e-02 -6.55137288e-04 9.99948769e-01 4.63067451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.679254154 meters 0.033369568916017264 Centerline is valid? [True, True] Translation: X:696.04, Y:8.78, Z:4.63 [[ 9.96434419e-01 -8.36055808e-02 -1.13382093e-02 6.96039878e+02] [ 8.36087435e-02 9.96498640e-01 -1.95604013e-04 8.78062283e+00] [ 1.13148637e-02 -7.53066859e-04 9.99935701e-01 4.62924655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.739254154 meters 0.03450815848961446 Centerline is valid? [True, True] Translation: X:696.10, Y:8.78, Z:4.63 [[ 9.96496568e-01 -8.29225645e-02 -1.08829355e-02 6.96099753e+02] [ 8.29254390e-02 9.96555737e-01 -1.87630383e-04 8.78293318e+00] [ 1.08610106e-02 -7.15499174e-04 9.99940762e-01 4.63143868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.799254154 meters 0.03436839674386048 Centerline is valid? [True, True] Translation: X:696.16, Y:8.79, Z:4.63 [[ 9.96670896e-01 -8.06476822e-02 -1.19614971e-02 6.96160258e+02] [ 8.06509917e-02 9.96742381e-01 -2.06225633e-04 8.79243038e+00] [ 1.19391627e-02 -7.59167513e-04 9.99928437e-01 4.62910328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters 0.03438845599222862 Centerline is valid? [True, True] Translation: X:696.22, Y:8.80, Z:4.63 [[ 9.96759051e-01 -7.94614533e-02 -1.25408045e-02 6.96219956e+02] [ 7.94649963e-02 9.96837634e-01 -2.16316789e-04 8.79813891e+00] [ 1.25183347e-02 -7.80939261e-04 9.99921338e-01 4.63004776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.919254154 meters 0.03495096157131465 Centerline is valid? [True, True] Translation: X:696.28, Y:8.81, Z:4.63 [[ 9.96841462e-01 -7.81187174e-02 -1.43026130e-02 6.96280641e+02] [ 7.81231863e-02 9.96943683e-01 -2.46842060e-04 8.80691700e+00] [ 1.42781827e-02 -8.71303304e-04 9.99897682e-01 4.62875696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters 0.028678838252195974 Centerline is valid? [True, True] Translation: X:696.34, Y:8.83, Z:4.63 [[ 9.97016412e-01 -7.58889002e-02 -1.41120329e-02 6.96341468e+02] [ 7.58930301e-02 9.97115935e-01 -2.43415210e-04 8.82536557e+00] [ 1.40898054e-02 -8.28315976e-04 9.99900391e-01 4.63135452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.039254154 meters 0.027928268022103703 Centerline is valid? [True, True] Translation: X:696.40, Y:8.83, Z:4.63 [[ 9.97295933e-01 -7.23362066e-02 -1.29728635e-02 6.96402238e+02] [ 7.23393999e-02 9.97380049e-01 -2.23535647e-04 8.83385558e+00] [ 1.29550450e-02 -7.15517971e-04 9.99915824e-01 4.63372717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters 0.023952352083551533 Centerline is valid? [True, True] Translation: X:696.46, Y:8.85, Z:4.64 [[ 9.98093988e-01 -6.07511158e-02 -1.08486691e-02 6.96462442e+02] [ 6.07526670e-02 9.98152833e-01 -1.86808748e-04 8.85079244e+00] [ 1.08399786e-02 -4.72632891e-04 9.99941134e-01 4.63640371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.159254154 meters 0.020409847143316024 Centerline is valid? [True, True] Translation: X:696.52, Y:8.86, Z:4.64 [[ 9.98675239e-01 -5.04179975e-02 -1.02855793e-02 6.96523261e+02] [ 5.04188453e-02 9.98728146e-01 -1.77019055e-04 8.86401550e+00] [ 1.02814225e-02 -3.41802484e-04 9.99947086e-01 4.63727911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters 0.0167633659972441 Centerline is valid? [True, True] Translation: X:696.58, Y:8.88, Z:4.64 [[ 9.99241127e-01 -3.75201686e-02 -1.04598199e-02 6.96583478e+02] [ 3.75203401e-02 9.99295848e-01 -1.79903608e-04 8.88105947e+00] [ 1.04592046e-02 -2.12688918e-04 9.99945278e-01 4.63724802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.279254154 meters 0.018828887086363946 Centerline is valid? [True, True] Translation: X:696.64, Y:8.89, Z:4.63 [[ 9.99430549e-01 -3.14252871e-02 -1.22893827e-02 6.96643503e+02] [ 3.14250644e-02 9.99506088e-01 -2.11276229e-04 8.88966371e+00] [ 1.22899523e-02 -1.75038726e-04 9.99924460e-01 4.63365276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters 0.01720134123073088 Centerline is valid? [True, True] Translation: X:696.70, Y:8.89, Z:4.63 [[ 9.99393397e-01 -3.24796568e-02 -1.25662043e-02 6.96702806e+02] [ 3.24795075e-02 9.99472378e-01 -2.16015474e-04 8.89075404e+00] [ 1.25665902e-02 -1.92259687e-04 9.99921019e-01 4.63461465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.399254154 meters 0.01838626986957489 Centerline is valid? [True, True] Translation: X:696.76, Y:8.89, Z:4.63 [[ 9.99163794e-01 -3.84971463e-02 -1.37725436e-02 6.96761738e+02] [ 3.84975366e-02 9.99258667e-01 -2.36873572e-04 8.88874346e+00] [ 1.37714526e-02 -2.93533507e-04 9.99905126e-01 4.63499588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters 0.018380364423001623 Centerline is valid? [True, True] Translation: X:696.82, Y:8.89, Z:4.64 [[ 9.98923853e-01 -4.42046424e-02 -1.40387198e-02 6.96822300e+02] [ 4.42056112e-02 9.99022425e-01 -2.41445266e-04 8.89015039e+00] [ 1.40356689e-02 -3.79404752e-04 9.99901423e-01 4.63648305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.519254154 meters 0.021836607454893065 Centerline is valid? [True, True] Translation: X:696.88, Y:8.89, Z:4.64 [[ 9.98480565e-01 -5.32465767e-02 -1.41902546e-02 6.96881617e+02] [ 5.32484767e-02 9.98581264e-01 -2.44162306e-04 8.88525455e+00] [ 1.41831232e-02 -5.11818126e-04 9.99899283e-01 4.63676150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters 0.029690209457974685 Centerline is valid? [True, True] Translation: X:696.94, Y:8.88, Z:4.63 [[ 9.98238475e-01 -5.75885448e-02 -1.42656003e-02 6.96941631e+02] [ 5.75909063e-02 9.98340236e-01 -2.45558710e-04 8.87800833e+00] [ 1.42560642e-02 -5.76442699e-04 9.99898211e-01 4.63446629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.639254154 meters 0.023999501941364923 Centerline is valid? [True, True] Translation: X:697.00, Y:8.89, Z:4.64 [[ 9.97897521e-01 -6.35038914e-02 -1.29535210e-02 6.97001840e+02] [ 6.35063360e-02 9.97981410e-01 -2.22937432e-04 8.88843208e+00] [ 1.29415305e-02 -6.00161945e-04 9.99916075e-01 4.64038894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters 0.0260027021459918 Centerline is valid? [True, True] Translation: X:697.06, Y:8.89, Z:4.64 [[ 9.97714484e-01 -6.63693506e-02 -1.26853243e-02 6.97063400e+02] [ 6.63719294e-02 9.97794929e-01 -2.18058826e-04 8.88990613e+00] [ 1.26718246e-02 -6.24388998e-04 9.99919514e-01 4.63930780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.759254154 meters 0.02691461767428966 Centerline is valid? [True, True] Translation: X:697.12, Y:8.89, Z:4.64 [[ 9.97502890e-01 -6.95494979e-02 -1.22821784e-02 6.97123487e+02] [ 6.95521646e-02 9.97578294e-01 -2.10410823e-04 8.89077940e+00] [ 1.22670686e-02 -6.44366693e-04 9.99924549e-01 4.64157602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.819254154 meters 0.02543633064436387 Centerline is valid? [True, True] Translation: X:697.19, Y:8.90, Z:4.64 [[ 9.97544903e-01 -6.89857210e-02 -1.20473020e-02 6.97185378e+02] [ 6.89882572e-02 9.97617451e-01 -2.05423628e-04 8.89955146e+00] [ 1.20327700e-02 -6.26203077e-04 9.99927408e-01 4.64270783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.879254154 meters 0.02478581168609655 Centerline is valid? [True, True] Translation: X:697.25, Y:8.91, Z:4.64 [[ 9.97695250e-01 -6.66961450e-02 -1.24824510e-02 6.97246660e+02] [ 6.66986983e-02 9.97773140e-01 -2.12098146e-04 8.90556290e+00] [ 1.24688004e-02 -6.20953919e-04 9.99922069e-01 4.64317526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.939254154 meters 0.024023715462403655 Centerline is valid? [True, True] Translation: X:697.31, Y:8.91, Z:4.64 [[ 9.98025610e-01 -6.12005182e-02 -1.41201619e-02 6.97307454e+02] [ 6.12032426e-02 9.98125296e-01 -2.39502145e-04 8.91379095e+00] [ 1.41083484e-02 -6.25170419e-04 9.99900277e-01 4.64165670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.999254154 meters 0.02123911045399647 Centerline is valid? [True, True] Translation: X:697.37, Y:8.93, Z:4.64 [[ 9.98432470e-01 -5.37810016e-02 -1.54985773e-02 6.97368324e+02] [ 5.37833930e-02 9.98552591e-01 -2.62771279e-04 8.92506432e+00] [ 1.54902767e-02 -5.71206700e-04 9.99879855e-01 4.64192898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.059254154 meters 0.02017395337646007 Centerline is valid? [True, True] Translation: X:697.43, Y:8.93, Z:4.64 [[ 9.98660640e-01 -4.90115667e-02 -1.65768383e-02 6.97429315e+02] [ 4.90136518e-02 9.98798069e-01 -2.80710829e-04 8.93229939e+00] [ 1.65706721e-02 -5.32156521e-04 9.99862555e-01 4.64148332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.119254154 meters 0.018783974122629395 Centerline is valid? [True, True] Translation: X:697.49, Y:8.94, Z:4.64 [[ 9.98907111e-01 -4.33554686e-02 -1.74610314e-02 6.97489782e+02] [ 4.33569231e-02 9.99059603e-01 -2.95424926e-04 8.94119919e+00] [ 1.74574194e-02 -4.61954539e-04 9.99847501e-01 4.64074557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.179254154 meters 0.018194842864263396 Centerline is valid? [True, True] Translation: X:697.55, Y:8.95, Z:4.64 [[ 9.98999988e-01 -4.13053237e-02 -1.71141678e-02 6.97550477e+02] [ 4.13064203e-02 9.99146484e-01 -2.89556305e-04 8.94584515e+00] [ 1.71115208e-02 -4.17658262e-04 9.99853500e-01 4.64151118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.239254154 meters 0.019166743611123336 Centerline is valid? [True, True] Translation: X:697.61, Y:8.95, Z:4.64 [[ 9.99024290e-01 -4.11838604e-02 -1.59485920e-02 6.97611084e+02] [ 4.11847973e-02 9.99151510e-01 -2.69835813e-04 8.95222865e+00] [ 1.59461727e-02 -3.87266998e-04 9.99872777e-01 4.64230588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.299254154 meters 0.01858875535392856 Centerline is valid? [True, True] Translation: X:697.67, Y:8.95, Z:4.64 [[ 9.98988828e-01 -4.22729982e-02 -1.53073637e-02 6.97670975e+02] [ 4.22739913e-02 9.99106022e-01 -2.58834250e-04 8.95365116e+00] [ 1.53046210e-02 -3.88530838e-04 9.99882802e-01 4.64457012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters 0.019114328266734457 Centerline is valid? [True, True] Translation: X:697.73, Y:8.96, Z:4.65 [[ 9.98896061e-01 -4.48289374e-02 -1.40365645e-02 6.97732494e+02] [ 4.48300297e-02 9.98994601e-01 -2.36976053e-04 8.95646695e+00] [ 1.40330755e-02 -3.92545156e-04 9.99901454e-01 4.64628538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.419254154 meters 0.021915876040067242 Centerline is valid? [True, True] Translation: X:697.79, Y:8.96, Z:4.65 [[ 9.98773588e-01 -4.77089346e-02 -1.32354808e-02 6.97794119e+02] [ 4.77101644e-02 9.98861197e-01 -2.22995860e-04 8.95604737e+00] [ 1.32310471e-02 -4.08744590e-04 9.99912382e-01 4.64532332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters 0.02146129098614252 Centerline is valid? [True, True] Translation: X:697.85, Y:8.96, Z:4.65 [[ 9.98470806e-01 -5.41118785e-02 -1.13116534e-02 6.97854818e+02] [ 5.41131902e-02 9.98534790e-01 -1.90296408e-04 8.95792059e+00] [ 1.13053768e-02 -4.22104245e-04 9.99936003e-01 4.64966752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.539254154 meters 0.025120532927371125 Centerline is valid? [True, True] Translation: X:697.91, Y:8.96, Z:4.65 [[ 9.98092480e-01 -6.06802922e-02 -1.13711774e-02 6.97914276e+02] [ 6.06820456e-02 9.98157128e-01 -1.91082895e-04 8.95516438e+00] [ 1.13618168e-02 -4.99307907e-04 9.99935328e-01 4.64955865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters 0.025394769620064428 Centerline is valid? [True, True] Translation: X:697.98, Y:8.96, Z:4.65 [[ 9.97848097e-01 -6.44442722e-02 -1.20876838e-02 6.97975104e+02] [ 6.44465319e-02 9.97921141e-01 -2.02884089e-04 8.95582020e+00] [ 1.20756299e-02 -5.76561796e-04 9.99926921e-01 4.64867983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.659254154 meters 0.028082053487564547 Centerline is valid? [True, True] Translation: X:698.03, Y:8.96, Z:4.65 [[ 9.97627129e-01 -6.74899776e-02 -1.36093796e-02 6.98034930e+02] [ 6.74931345e-02 9.97719713e-01 -2.27717857e-04 8.95577794e+00] [ 1.35937150e-02 -6.91362176e-04 9.99907362e-01 4.64783942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters 0.02656531167556469 Centerline is valid? [True, True] Translation: X:698.10, Y:8.96, Z:4.65 [[ 9.97584431e-01 -6.78309124e-02 -1.49756282e-02 6.98096820e+02] [ 6.78347917e-02 9.97696536e-01 -2.49361243e-04 8.96113041e+00] [ 1.49580468e-02 -7.67109725e-04 9.99887828e-01 4.64720843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.779254154 meters 0.028517007149506543 Centerline is valid? [True, True] Translation: X:698.16, Y:8.96, Z:4.65 [[ 9.97673844e-01 -6.62001297e-02 -1.62617173e-02 6.98158130e+02] [ 6.62045171e-02 9.97806038e-01 -2.68984000e-04 8.96270013e+00] [ 1.62438465e-02 -8.08240841e-04 9.99867733e-01 4.64553374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters 0.025328638495117777 Centerline is valid? [True, True] Translation: X:698.22, Y:8.97, Z:4.65 [[ 9.97951423e-01 -6.21372512e-02 -1.52289227e-02 6.98218366e+02] [ 6.21406393e-02 9.98067371e-01 -2.51074226e-04 8.97261081e+00] [ 1.52150919e-02 -6.95775109e-04 9.99884002e-01 4.64777124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.899254154 meters 0.021405467197689317 Centerline is valid? [True, True] Translation: X:698.28, Y:8.98, Z:4.65 [[ 9.98243203e-01 -5.73459134e-02 -1.48981507e-02 6.98279328e+02] [ 5.73486255e-02 9.98354183e-01 -2.45465258e-04 8.98391056e+00] [ 1.48877075e-02 -6.09354439e-04 9.99888986e-01 4.64931681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters 0.018860579126426077 Centerline is valid? [True, True] Translation: X:698.34, Y:8.99, Z:4.65 [[ 9.98738049e-01 -4.83912775e-02 -1.34384917e-02 6.98339708e+02] [ 4.83926758e-02 9.98828364e-01 -2.21299840e-04 8.99463189e+00] [ 1.34334556e-02 -4.29304000e-04 9.99909675e-01 4.65135029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.019254154 meters 0.018834831769996792 Centerline is valid? [True, True] Translation: X:698.40, Y:9.00, Z:4.65 [[ 9.99034729e-01 -4.17417726e-02 -1.36833993e-02 6.98399770e+02] [ 4.17425989e-02 9.99128372e-01 -2.25332177e-04 9.00161669e+00] [ 1.36808783e-02 -3.46065979e-04 9.99906353e-01 4.65101992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters 0.01708998476285144 Centerline is valid? [True, True] Translation: X:698.46, Y:9.01, Z:4.65 [[ 9.99139904e-01 -3.85990575e-02 -1.51514133e-02 6.98462059e+02] [ 3.85997190e-02 9.99254722e-01 -2.48885858e-04 9.01005618e+00] [ 1.51497280e-02 -3.36168502e-04 9.99885180e-01 4.65121222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.139254154 meters 0.01695728818552435 Centerline is valid? [True, True] Translation: X:698.52, Y:9.02, Z:4.65 [[ 9.99224081e-01 -3.56482494e-02 -1.67463025e-02 6.98522869e+02] [ 3.56486616e-02 9.99364347e-01 -2.73993285e-04 9.01689586e+00] [ 1.67454250e-02 -3.23202580e-04 9.99859733e-01 4.65000448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters 0.016756807542822074 Centerline is valid? [True, True] Translation: X:698.58, Y:9.02, Z:4.65 [[ 9.99266349e-01 -3.43764644e-02 -1.68826052e-02 6.98584204e+02] [ 3.43767143e-02 9.99408908e-01 -2.75489420e-04 9.02282603e+00] [ 1.68820964e-02 -3.05081191e-04 9.99857441e-01 4.65051335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.259254154 meters 0.016637233243227165 Centerline is valid? [True, True] Translation: X:698.65, Y:9.03, Z:4.65 [[ 9.99294346e-01 -3.36162595e-02 -1.67557988e-02 6.98645446e+02] [ 3.36164088e-02 9.99434772e-01 -2.72819807e-04 9.02725080e+00] [ 1.67554991e-02 -2.90642490e-04 9.99859575e-01 4.65167045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.319254154 meters 0.016834261749231822 Centerline is valid? [True, True] Translation: X:698.71, Y:9.03, Z:4.65 [[ 9.99317469e-01 -3.33604569e-02 -1.58642977e-02 6.98705958e+02] [ 3.33605647e-02 9.99443348e-01 -2.57914586e-04 9.03069310e+00] [ 1.58640709e-02 -2.71503377e-04 9.99874121e-01 4.65256645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.379254154 meters 0.017452481026945233 Centerline is valid? [True, True] Translation: X:698.77, Y:9.03, Z:4.65 [[ 9.99248382e-01 -3.58306456e-02 -1.47930816e-02 6.98766916e+02] [ 3.58310157e-02 9.99357834e-01 -2.40106196e-04 9.03309408e+00] [ 1.47921852e-02 -2.90125413e-04 9.99890548e-01 4.65375754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.439254154 meters 0.018642856042856256 Centerline is valid? [True, True] Translation: X:698.83, Y:9.03, Z:4.65 [[ 9.99028320e-01 -4.18494934e-02 -1.38215336e-02 6.98827950e+02] [ 4.18503999e-02 9.99123863e-01 -2.23768036e-04 9.03280146e+00] [ 1.38187886e-02 -3.54886102e-04 9.99904453e-01 4.65474233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.499254154 meters 0.02013441352350623 Centerline is valid? [True, True] Translation: X:698.89, Y:9.03, Z:4.66 [[ 9.98811591e-01 -4.69974246e-02 -1.29091780e-02 6.98889173e+02] [ 4.69986517e-02 9.98894931e-01 -2.08466108e-04 9.03185775e+00] [ 1.29047098e-02 -3.98495595e-04 9.99916651e-01 4.65604802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.559254154 meters 0.021327342679637974 Centerline is valid? [True, True] Translation: X:698.95, Y:9.03, Z:4.66 [[ 9.98802773e-01 -4.73505364e-02 -1.22860305e-02 6.98951260e+02] [ 4.73516822e-02 9.98878260e-01 -1.97774835e-04 9.03290159e+00] [ 1.22816135e-02 -3.84226157e-04 9.99924504e-01 4.65583245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.619254154 meters 0.018889460101164206 Centerline is valid? [True, True] Translation: X:699.01, Y:9.04, Z:4.66 [[ 9.98961163e-01 -4.39978594e-02 -1.18651923e-02 6.99012247e+02] [ 4.39986995e-02 9.99031570e-01 -1.90346944e-04 9.03884060e+00] [ 1.18620765e-02 -3.31903826e-04 9.99929588e-01 4.65879776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.679254154 meters 0.01703234307182047 Centerline is valid? [True, True] Translation: X:699.07, Y:9.04, Z:4.66 [[ 9.99222701e-01 -3.74426645e-02 -1.23304594e-02 6.99074203e+02] [ 3.74430799e-02 9.99298743e-01 -1.97241058e-04 9.04436311e+00] [ 1.23291978e-02 -2.64602633e-04 9.99923958e-01 4.65837581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.739254154 meters 0.016948568588211404 Centerline is valid? [True, True] Translation: X:699.14, Y:9.05, Z:4.66 [[ 9.99359911e-01 -3.32946865e-02 -1.30855903e-02 6.99135229e+02] [ 3.32948087e-02 9.99445552e-01 -2.08575143e-04 9.04568234e+00] [ 1.30852795e-02 -2.27240591e-04 9.99914358e-01 4.65709885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.799254154 meters 0.01572516405295855 Centerline is valid? [True, True] Translation: X:699.20, Y:9.05, Z:4.66 [[ 9.99435771e-01 -3.03771701e-02 -1.43306394e-02 6.99197041e+02] [ 3.03770286e-02 9.99538486e-01 -2.27597220e-04 9.05009658e+00] [ 1.43309394e-02 -2.07853439e-04 9.99897285e-01 4.65759293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters 0.01592034146196274 Centerline is valid? [True, True] Translation: X:699.26, Y:9.05, Z:4.66 [[ 9.99407859e-01 -3.03119930e-02 -1.62823309e-02 6.99258862e+02] [ 3.03118143e-02 9.99540458e-01 -2.57823035e-04 9.05034954e+00] [ 1.62826636e-02 -2.35876623e-04 9.99867401e-01 4.65672955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.919254154 meters 0.016858694062770217 Centerline is valid? [True, True] Translation: X:699.32, Y:9.05, Z:4.66 [[ 9.99209794e-01 -3.57968203e-02 -1.72735294e-02 6.99319630e+02] [ 3.57974461e-02 9.99359029e-01 -2.73065817e-04 9.04614019e+00] [ 1.72722324e-02 -3.45498197e-04 9.99850764e-01 4.65664068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters 0.018674504319072364 Centerline is valid? [True, True] Translation: X:699.38, Y:9.04, Z:4.66 [[ 9.98993542e-01 -4.15779232e-02 -1.68279150e-02 6.99379956e+02] [ 4.15793444e-02 9.99135170e-01 -2.65558917e-04 9.04150163e+00] [ 1.68244031e-02 -4.34402028e-04 9.99858365e-01 4.65718941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.039254154 meters 0.02292717216788565 Centerline is valid? [True, True] Translation: X:699.44, Y:9.03, Z:4.66 [[ 9.98463444e-01 -5.29790341e-02 -1.62472675e-02 6.99440978e+02] [ 5.29818736e-02 9.98595441e-01 -2.55921611e-04 9.03149300e+00] [ 1.62380058e-02 -6.05282302e-04 9.99867972e-01 4.65773246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters 0.031845133747528606 Centerline is valid? [True, True] Translation: X:699.50, Y:9.02, Z:4.66 [[ 9.97719167e-01 -6.59651528e-02 -1.43200073e-02 6.99500863e+02] [ 6.59686960e-02 9.97821668e-01 -2.25304588e-04 9.01613091e+00] [ 1.43036758e-02 -7.19881501e-04 9.99897438e-01 4.65894088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.159254154 meters 0.03013295064761887 Centerline is valid? [True, True] Translation: X:699.56, Y:9.02, Z:4.66 [[ 9.96898062e-01 -7.75818908e-02 -1.32402426e-02 6.99561662e+02] [ 7.75859417e-02 9.96985646e-01 -2.08202662e-04 9.01614800e+00] [ 1.32164846e-02 -8.19699863e-04 9.99912322e-01 4.66166135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters 0.031218231063945417 Centerline is valid? [True, True] Translation: X:699.62, Y:9.01, Z:4.66 [[ 9.96663473e-01 -8.05463052e-02 -1.31990553e-02 6.99622648e+02] [ 8.05505917e-02 9.96750500e-01 -2.07402947e-04 9.01485943e+00] [ 1.31728705e-02 -8.56480774e-04 9.99912867e-01 4.66210983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.279254154 meters 0.036716914789821885 Centerline is valid? [True, True] Translation: X:699.68, Y:9.01, Z:4.66 [[ 9.96304131e-01 -8.48775354e-02 -1.31864551e-02 6.99682125e+02] [ 8.48821915e-02 9.96390973e-01 -2.07179001e-04 9.00717842e+00] [ 1.31564497e-02 -9.12881916e-04 9.99913033e-01 4.66268509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters 0.03399752065644226 Centerline is valid? [True, True] Translation: X:699.74, Y:9.01, Z:4.66 [[ 9.96344133e-01 -8.43228605e-02 -1.37121829e-02 6.99744121e+02] [ 8.43278488e-02 9.96438040e-01 -2.15025303e-04 9.01135617e+00] [ 1.36814722e-02 -9.42079688e-04 9.99905960e-01 4.66284609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.399254154 meters 0.03236734779100275 Centerline is valid? [True, True] Translation: X:699.80, Y:9.02, Z:4.66 [[ 9.96792642e-01 -7.85121156e-02 -1.55008631e-02 6.99804811e+02] [ 7.85177992e-02 9.96912682e-01 -2.42519463e-04 9.01502024e+00] [ 1.54720477e-02 -9.75352040e-04 9.99879825e-01 4.66109688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters 0.03071600805928006 Centerline is valid? [True, True] Translation: X:699.86, Y:9.02, Z:4.66 [[ 9.97311657e-01 -7.13032250e-02 -1.68911138e-02 6.99864183e+02] [ 7.13089398e-02 9.97454242e-01 -2.64478328e-04 9.02072656e+00] [ 1.68669713e-02 -9.40720099e-04 9.99857300e-01 4.66027992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.519254154 meters 0.024383566139244573 Centerline is valid? [True, True] Translation: X:699.92, Y:9.04, Z:4.66 [[ 9.98253497e-01 -5.64030104e-02 -1.75686323e-02 6.99924191e+02] [ 5.64068860e-02 9.98407826e-01 -2.75256172e-04 9.03604554e+00] [ 1.75561853e-02 -7.16216406e-04 9.99845622e-01 4.66040720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters 0.020506280149858454 Centerline is valid? [True, True] Translation: X:699.98, Y:9.05, Z:4.66 [[ 9.98802500e-01 -4.56695741e-02 -1.75458512e-02 6.99984989e+02] [ 4.56717860e-02 9.98956462e-01 -2.74829957e-04 9.04701987e+00] [ 1.75400928e-02 -5.26849512e-04 9.99846022e-01 4.66170936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.639254154 meters 0.016126464514023466 Centerline is valid? [True, True] Translation: X:700.05, Y:9.06, Z:4.66 [[ 9.99371273e-01 -3.12822534e-02 -1.66876715e-02 7.00045292e+02] [ 3.12822494e-02 9.99510557e-01 -2.61340469e-04 9.06110886e+00] [ 1.66876792e-02 -2.60851744e-04 9.99860717e-01 4.66342027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters 0.01479367276485044 Centerline is valid? [True, True] Translation: X:700.10, Y:9.07, Z:4.66 [[ 9.99676721e-01 -1.91931718e-02 -1.66756073e-02 7.00104449e+02] [ 1.91914826e-02 9.99815792e-01 -2.61332942e-04 9.07000772e+00] [ 1.66775514e-02 -5.87811695e-05 9.99860918e-01 4.66338120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.759254154 meters 0.01501681592262826 Centerline is valid? [True, True] Translation: X:700.16, Y:9.08, Z:4.66 [[ 9.99772173e-01 -1.26925023e-02 -1.71610999e-02 7.00163091e+02] [ 1.26897084e-02 9.99919446e-01 -2.71692907e-04 9.07505688e+00] [ 1.71631660e-02 5.38616543e-05 9.99852701e-01 4.66279142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.819254154 meters 0.015366747702286371 Centerline is valid? [True, True] Translation: X:700.22, Y:9.08, Z:4.66 [[ 9.99824935e-01 -5.32360727e-03 -1.79376359e-02 7.00221968e+02] [ 5.31928508e-03 9.99985811e-01 -2.88659440e-04 9.07908715e+00] [ 1.79389181e-02 1.93193506e-04 9.99839066e-01 4.66328297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.879254154 meters 0.015616444272146295 Centerline is valid? [True, True] Translation: X:700.28, Y:9.08, Z:4.66 [[ 9.99846054e-01 -3.55352514e-03 -1.71825671e-02 7.00280223e+02] [ 3.54922313e-03 9.99993662e-01 -2.80858982e-04 9.07986199e+00] [ 1.71834562e-02 2.19830981e-04 9.99852329e-01 4.66453302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.939254154 meters 0.01533707433332211 Centerline is valid? [True, True] Translation: X:700.34, Y:9.08, Z:4.67 [[ 9.99852146e-01 -6.19256106e-03 -1.60417437e-02 7.00337674e+02] [ 6.18911176e-03 9.99980812e-01 -2.64656999e-04 9.07650726e+00] [ 1.60430748e-02 1.65333724e-04 9.99871288e-01 4.66516781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.999254154 meters 0.014624291899375247 Centerline is valid? [True, True] Translation: X:700.40, Y:9.07, Z:4.67 [[ 9.99761952e-01 -1.52252141e-02 -1.56279384e-02 7.00396591e+02] [ 1.52230244e-02 9.99884090e-01 -2.59070041e-04 9.06694257e+00] [ 1.56300714e-02 2.11038819e-05 9.99877843e-01 4.66563693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.059254154 meters 0.01514814245735358 Centerline is valid? [True, True] Translation: X:700.46, Y:9.05, Z:4.67 [[ 9.99514846e-01 -2.73873224e-02 -1.48326334e-02 7.00455424e+02] [ 2.73866730e-02 9.99624884e-01 -2.46940613e-04 9.05472874e+00] [ 1.48338325e-02 -1.59395670e-04 9.99889960e-01 4.66583255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.119254154 meters 0.01618827052153639 Centerline is valid? [True, True] Translation: X:700.52, Y:9.05, Z:4.67 [[ 9.99293269e-01 -3.48830566e-02 -1.40048044e-02 7.00516459e+02] [ 3.48832109e-02 9.99391368e-01 -2.33337470e-04 9.04738583e+00] [ 1.40044202e-02 -2.55359983e-04 9.99901901e-01 4.66665133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.179254154 meters 0.018049940265230897 Centerline is valid? [True, True] Translation: X:700.58, Y:9.04, Z:4.67 [[ 9.99089480e-01 -4.01761635e-02 -1.43557159e-02 7.00578185e+02] [ 4.01768794e-02 9.99192555e-01 -2.38643295e-04 9.04060476e+00] [ 1.43537122e-02 -3.38341860e-04 9.99896923e-01 4.66684431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.239254154 meters 0.0194659756956932 Centerline is valid? [True, True] Translation: X:700.64, Y:9.03, Z:4.67 [[ 9.98895659e-01 -4.49535557e-02 -1.36616536e-02 7.00639839e+02] [ 4.49546570e-02 9.98989003e-01 -2.26627210e-04 9.03201894e+00] [ 1.36580294e-02 -3.87778015e-04 9.99906650e-01 4.66825195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.299254154 meters 0.018842436148809316 Centerline is valid? [True, True] Translation: X:700.70, Y:9.03, Z:4.67 [[ 9.98848805e-01 -4.61156688e-02 -1.32064243e-02 7.00702167e+02] [ 4.61168087e-02 9.98936030e-01 -2.18363223e-04 9.02851233e+00] [ 1.32024430e-02 -3.90926297e-04 9.99912768e-01 4.66987243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters 0.021190937238217168 Centerline is valid? [True, True] Translation: X:700.76, Y:9.02, Z:4.67 [[ 9.98864008e-01 -4.56896746e-02 -1.35331907e-02 7.00763649e+02] [ 4.56908446e-02 9.98955603e-01 -2.22883176e-04 9.02326036e+00] [ 1.35292402e-02 -3.95712932e-04 9.99908397e-01 4.66843914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.419254154 meters 0.019327802971298078 Centerline is valid? [True, True] Translation: X:700.83, Y:9.02, Z:4.67 [[ 9.98852115e-01 -4.56221725e-02 -1.45969121e-02 7.00825612e+02] [ 4.56235406e-02 9.98958675e-01 -2.39430373e-04 9.02311625e+00] [ 1.45926353e-02 -4.26807279e-04 9.99893431e-01 4.66890951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters 0.021960209471488447 Centerline is valid? [True, True] Translation: X:700.89, Y:9.02, Z:4.67 [[ 9.98639785e-01 -4.91299490e-02 -1.74593270e-02 7.00885923e+02] [ 4.91324556e-02 9.98792231e-01 -2.85603781e-04 9.01592525e+00] [ 1.74522719e-02 -5.72604310e-04 9.99847534e-01 4.66602345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.539254154 meters 0.022498459575015034 Centerline is valid? [True, True] Translation: X:700.95, Y:9.01, Z:4.67 [[ 9.98253615e-01 -5.60222791e-02 -1.87409848e-02 7.00946198e+02] [ 5.60263832e-02 9.98429242e-01 -3.06393455e-04 9.01268832e+00] [ 1.87287121e-02 -7.44131221e-04 9.99824325e-01 4.66702618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters 0.024098568293993143 Centerline is valid? [True, True] Translation: X:701.01, Y:9.01, Z:4.67 [[ 9.97942604e-01 -6.15011351e-02 -1.81154702e-02 7.01006953e+02] [ 6.15058746e-02 9.98106678e-01 -2.95930911e-04 9.00879454e+00] [ 1.80993718e-02 -8.18885772e-04 9.99835858e-01 4.66765821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.659254154 meters 0.02736273765826458 Centerline is valid? [True, True] Translation: X:701.07, Y:9.00, Z:4.67 [[ 9.97501345e-01 -6.85435484e-02 -1.71128384e-02 7.01067913e+02] [ 6.85488136e-02 9.97647724e-01 -2.79402334e-04 9.00220959e+00] [ 1.70917355e-02 -8.94360565e-04 9.99853526e-01 4.66845521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters 0.03151667149747414 Centerline is valid? [True, True] Translation: X:701.13, Y:9.00, Z:4.67 [[ 9.97314580e-01 -7.10921545e-02 -1.75935715e-02 7.01127791e+02] [ 7.10981154e-02 9.97469286e-01 -2.87229643e-04 8.99746342e+00] [ 1.75694670e-02 -9.64411467e-04 9.99845180e-01 4.66677916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.779254154 meters 0.029106539276681144 Centerline is valid? [True, True] Translation: X:701.19, Y:9.00, Z:4.67 [[ 9.97111245e-01 -7.39803825e-02 -1.72066292e-02 7.01188828e+02] [ 7.39865160e-02 9.97259202e-01 -2.80718526e-04 8.99899604e+00] [ 1.71802370e-02 -9.93150946e-04 9.99851916e-01 4.66922277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters 0.029165876262132302 Centerline is valid? [True, True] Translation: X:701.25, Y:9.00, Z:4.67 [[ 9.97067196e-01 -7.46164578e-02 -1.70114934e-02 7.01250614e+02] [ 7.46225602e-02 9.97211812e-01 -2.76646689e-04 8.99887081e+00] [ 1.69847046e-02 -9.93605856e-04 9.99855256e-01 4.66987511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.899254154 meters 0.03044553658200974 Centerline is valid? [True, True] Translation: X:701.31, Y:9.00, Z:4.67 [[ 9.97175935e-01 -7.33151088e-02 -1.62803349e-02 7.01312604e+02] [ 7.33205442e-02 9.97308392e-01 -2.63576268e-04 8.99987081e+00] [ 1.62558388e-02 -9.30851104e-04 9.99867432e-01 4.67021296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters 0.030364811068035225 Centerline is valid? [True, True] Translation: X:701.37, Y:9.00, Z:4.67 [[ 9.97469051e-01 -6.95478692e-02 -1.47846367e-02 7.01372435e+02] [ 6.95519455e-02 9.97578303e-01 -2.38913661e-04 9.00180462e+00] [ 1.47654487e-02 -7.89991260e-04 9.99890673e-01 4.67205536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.019254154 meters 0.026297824313444823 Centerline is valid? [True, True] Translation: X:701.43, Y:9.01, Z:4.67 [[ 9.97779620e-01 -6.49403542e-02 -1.47844801e-02 7.01433608e+02] [ 6.49439279e-02 9.97888886e-01 -2.38763855e-04 9.01088112e+00] [ 1.47687738e-02 -7.21928500e-04 9.99890675e-01 4.67297798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters 0.02569574198090768 Centerline is valid? [True, True] Translation: X:701.49, Y:9.02, Z:4.67 [[ 9.98252902e-01 -5.67742760e-02 -1.63653538e-02 7.01492909e+02] [ 5.67775587e-02 9.98386818e-01 -2.64340704e-04 9.01765146e+00] [ 1.63539613e-02 -6.65305961e-04 9.99866044e-01 4.67119193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.139254154 meters 0.024303244640937364 Centerline is valid? [True, True] Translation: X:701.55, Y:9.02, Z:4.67 [[ 9.98409480e-01 -5.39224233e-02 -1.64585049e-02 7.01554082e+02] [ 5.39253602e-02 9.98544934e-01 -2.65622808e-04 9.02281459e+00] [ 1.64488797e-02 -6.22330476e-04 9.99864514e-01 4.67178063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters 0.020452012092147587 Centerline is valid? [True, True] Translation: X:701.62, Y:9.03, Z:4.67 [[ 9.98757853e-01 -4.72157649e-02 -1.59192364e-02 7.01615163e+02] [ 4.72176688e-02 9.98884591e-01 -2.56450100e-04 9.03258303e+00] [ 1.59135884e-02 -4.95537679e-04 9.99873248e-01 4.67475359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.259254154 meters 0.018746664389845995 Centerline is valid? [True, True] Translation: X:701.68, Y:9.04, Z:4.67 [[ 9.98971037e-01 -4.20893835e-02 -1.68923336e-02 7.01676791e+02] [ 4.20908079e-02 9.99113752e-01 -2.71355151e-04 9.03932126e+00] [ 1.68887840e-02 -4.39936035e-04 9.99857278e-01 4.67474376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.319254154 meters 0.020426218413049792 Centerline is valid? [True, True] Translation: X:701.74, Y:9.04, Z:4.67 [[ 9.99074896e-01 -3.88454959e-02 -1.84494049e-02 7.01737416e+02] [ 3.88466663e-02 9.99245140e-01 -2.95070959e-04 9.04229811e+00] [ 1.84469404e-02 -4.21899888e-04 9.99829752e-01 4.67181259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.379254154 meters 0.017443994478414607 Centerline is valid? [True, True] Translation: X:701.80, Y:9.05, Z:4.68 [[ 9.99164039e-01 -3.70588625e-02 -1.72587187e-02 7.01798149e+02] [ 3.70596283e-02 9.99313018e-01 -2.75560643e-04 9.04755015e+00] [ 1.72570742e-02 -3.64271415e-04 9.99851019e-01 4.67544021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.439254154 meters 0.017313683177123423 Centerline is valid? [True, True] Translation: X:701.86, Y:9.05, Z:4.68 [[ 9.99227279e-01 -3.65874872e-02 -1.43597011e-02 7.01858421e+02] [ 3.65879686e-02 9.99330410e-01 -2.29273594e-04 9.04875040e+00] [ 1.43584745e-02 -2.96295861e-04 9.99896868e-01 4.67835657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.499254154 meters 0.017014302357374975 Centerline is valid? [True, True] Translation: X:701.92, Y:9.05, Z:4.68 [[ 9.99226778e-01 -3.69211884e-02 -1.35156021e-02 7.01921012e+02] [ 3.69216522e-02 9.99318140e-01 -2.15292366e-04 9.05004773e+00] [ 1.35143352e-02 -2.83892464e-04 9.99908637e-01 4.67986122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.559254154 meters 0.018601992244049192 Centerline is valid? [True, True] Translation: X:701.98, Y:9.05, Z:4.68 [[ 9.99145061e-01 -3.90553175e-02 -1.35583880e-02 7.01982163e+02] [ 3.90559968e-02 9.99237000e-01 -2.14777416e-04 9.04543521e+00] [ 1.35564312e-02 -3.14942566e-04 9.99908058e-01 4.67875440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.619254154 meters 0.020163142048007263 Centerline is valid? [True, True] Translation: X:702.04, Y:9.04, Z:4.68 [[ 9.99035102e-01 -4.16198170e-02 -1.40233760e-02 7.02043624e+02] [ 4.16208096e-02 9.99133454e-01 -2.21184877e-04 9.04203989e+00] [ 1.40204297e-02 -3.62692805e-04 9.99901643e-01 4.67686897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.679254154 meters 0.020001982456329573 Centerline is valid? [True, True] Translation: X:702.10, Y:9.04, Z:4.68 [[ 9.98830172e-01 -4.61791619e-02 -1.43447946e-02 7.02104420e+02] [ 4.61806756e-02 9.98933078e-01 -2.25881462e-04 9.04050763e+00] [ 1.43399209e-02 -4.36835087e-04 9.99897083e-01 4.67687144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.739254154 meters 0.019584754852593485 Centerline is valid? [True, True] Translation: X:702.17, Y:9.04, Z:4.68 [[ 9.98752854e-01 -4.78085817e-02 -1.43901238e-02 7.02166713e+02] [ 4.78102839e-02 9.98856409e-01 -2.25901024e-04 9.04115502e+00] [ 1.43844674e-02 -4.62376613e-04 9.99896431e-01 4.67775239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.799254154 meters 0.01953965453637728 Centerline is valid? [True, True] Translation: X:702.23, Y:9.04, Z:4.68 [[ 9.98758441e-01 -4.76569880e-02 -1.45047920e-02 7.02228760e+02] [ 4.76587172e-02 9.98863652e-01 -2.26616033e-04 9.03990810e+00] [ 1.44991094e-02 -4.64945105e-04 9.99894774e-01 4.67808525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters 0.021222303701031536 Centerline is valid? [True, True] Translation: X:702.29, Y:9.04, Z:4.68 [[ 9.98812388e-01 -4.65714815e-02 -1.43146719e-02 7.02290246e+02] [ 4.65730673e-02 9.98914861e-01 -2.22734358e-04 9.03839083e+00] [ 1.43095116e-02 -4.44208343e-04 9.99897515e-01 4.67726803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.919254154 meters 0.020274494217110233 Centerline is valid? [True, True] Translation: X:702.35, Y:9.04, Z:4.68 [[ 9.98835017e-01 -4.65230652e-02 -1.28145749e-02 7.02352060e+02] [ 4.65243419e-02 9.98917137e-01 -1.98623335e-04 9.03678338e+00] [ 1.28099391e-02 -3.97797723e-04 9.99917870e-01 4.67907020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters 0.01947620950034586 Centerline is valid? [True, True] Translation: X:702.41, Y:9.04, Z:4.68 [[ 9.98768317e-01 -4.78875919e-02 -1.29856502e-02 7.02413800e+02] [ 4.78890338e-02 9.98852642e-01 -2.00066076e-04 9.03609423e+00] [ 1.29803317e-02 -4.22050582e-04 9.99915663e-01 4.67922014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.039254154 meters 0.023407443732601705 Centerline is valid? [True, True] Translation: X:702.48, Y:9.03, Z:4.68 [[ 9.98608234e-01 -5.08974934e-02 -1.38217270e-02 7.02475070e+02] [ 5.08994316e-02 9.98703761e-01 -2.11740747e-04 9.03053455e+00] [ 1.38145879e-02 -4.92071997e-04 9.99904453e-01 4.67680116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters 0.022592252735796656 Centerline is valid? [True, True] Translation: X:702.54, Y:9.03, Z:4.68 [[ 9.98382530e-01 -5.49953531e-02 -1.44164812e-02 7.02536629e+02] [ 5.49978978e-02 9.98486446e-01 -2.20188541e-04 9.02989631e+00] [ 1.44067704e-02 -5.73043768e-04 9.99896053e-01 4.67844615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.159254154 meters 0.02477019720177831 Centerline is valid? [True, True] Translation: X:702.60, Y:9.03, Z:4.68 [[ 9.98025176e-01 -6.09952085e-02 -1.50110887e-02 7.02597115e+02] [ 6.09986489e-02 9.98137822e-01 -2.28984161e-04 9.02598248e+00] [ 1.49971023e-02 -6.87124173e-04 9.99887301e-01 4.67864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters 0.025114292488351043 Centerline is valid? [True, True] Translation: X:702.66, Y:9.03, Z:4.68 [[ 9.97904945e-01 -6.31800056e-02 -1.39286807e-02 7.02659428e+02] [ 6.31831877e-02 9.98001924e-01 -2.11914714e-04 9.02658320e+00] [ 1.39142389e-02 -6.68587705e-04 9.99902969e-01 4.67996658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.279254154 meters 0.02670427378537607 Centerline is valid? [True, True] Translation: X:702.72, Y:9.03, Z:4.68 [[ 9.97922440e-01 -6.31296294e-02 -1.28628492e-02 7.02720686e+02] [ 6.31323492e-02 9.98005145e-01 -1.94902307e-04 9.02705293e+00] [ 1.28494938e-02 -6.17564499e-04 9.99917251e-01 4.68095765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters 0.024757650974035515 Centerline is valid? [True, True] Translation: X:702.78, Y:9.03, Z:4.68 [[ 9.98138009e-01 -5.96027431e-02 -1.29625792e-02 7.02781690e+02] [ 5.96052161e-02 9.98222009e-01 -1.95814680e-04 9.03454122e+00] [ 1.29512030e-02 -5.77187260e-04 9.99915963e-01 4.68101661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.399254154 meters 0.025387362175893803 Centerline is valid? [True, True] Translation: X:702.84, Y:9.04, Z:4.68 [[ 9.98316351e-01 -5.65350029e-02 -1.29713671e-02 7.02843669e+02] [ 5.65372283e-02 9.98400473e-01 -1.95359947e-04 9.03877750e+00] [ 1.29616637e-02 -5.38334112e-04 9.99915849e-01 4.67994813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters 0.023454734094049787 Centerline is valid? [True, True] Translation: X:702.90, Y:9.04, Z:4.68 [[ 9.98484151e-01 -5.39249285e-02 -1.10228284e-02 7.02904852e+02] [ 5.39263818e-02 9.98544900e-01 -1.65545393e-04 9.04380347e+00] [ 1.10157161e-02 -4.29126800e-04 9.99939233e-01 4.68361502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.519254154 meters 0.022581808098368256 Centerline is valid? [True, True] Translation: X:702.97, Y:9.05, Z:4.68 [[ 9.98559887e-01 -5.23780117e-02 -1.16058514e-02 7.02966672e+02] [ 5.23795256e-02 9.98627235e-01 -1.73690403e-04 9.04970238e+00] [ 1.15990169e-02 -4.34468721e-04 9.99932635e-01 4.68374504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters 0.022272927001461405 Centerline is valid? [True, True] Translation: X:703.03, Y:9.05, Z:4.68 [[ 9.98558710e-01 -5.19972686e-02 -1.32961024e-02 7.03028896e+02] [ 5.19992359e-02 9.98647105e-01 -1.97940674e-04 9.05393197e+00] [ 1.32884065e-02 -4.93731781e-04 9.99911583e-01 4.68195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.639254154 meters 0.021602965138297063 Centerline is valid? [True, True] Translation: X:703.09, Y:9.06, Z:4.68 [[ 9.98488132e-01 -5.27200939e-02 -1.55576965e-02 7.03090742e+02] [ 5.27228944e-02 9.98609154e-01 -2.30370554e-04 9.05769600e+00] [ 1.55482033e-02 -5.90224527e-04 9.99878945e-01 4.68184947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters 0.02222538624626668 Centerline is valid? [True, True] Translation: X:703.15, Y:9.06, Z:4.68 [[ 9.98485186e-01 -5.26695534e-02 -1.59138939e-02 7.03152572e+02] [ 5.26724961e-02 9.98611813e-01 -2.34460870e-04 9.06040199e+00] [ 1.59041514e-02 -6.04118808e-04 9.99873338e-01 4.68240401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.759254154 meters 0.02310468231811326 Centerline is valid? [True, True] Translation: X:703.21, Y:9.06, Z:4.68 [[ 9.98489359e-01 -5.27625211e-02 -1.53335361e-02 7.03213697e+02] [ 5.27652783e-02 9.98606917e-01 -2.24970260e-04 9.06315318e+00] [ 1.53240452e-02 -5.84447892e-04 9.99882409e-01 4.68327317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.819254154 meters 0.025434060980400786 Centerline is valid? [True, True] Translation: X:703.27, Y:9.06, Z:4.68 [[ 9.98486944e-01 -5.31124061e-02 -1.42440875e-02 7.03274459e+02] [ 5.31148380e-02 9.98588389e-01 -2.07791010e-04 9.06425250e+00] [ 1.42350167e-02 -5.49095790e-04 9.99898526e-01 4.68315900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.879254154 meters 0.02527872615606283 Centerline is valid? [True, True] Translation: X:703.34, Y:9.07, Z:4.69 [[ 9.98421776e-01 -5.47100451e-02 -1.26794008e-02 7.03336319e+02] [ 5.47121145e-02 9.98502154e-01 -1.83868047e-04 9.06538073e+00] [ 1.26704684e-02 -5.10138964e-04 9.99919596e-01 4.68572002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.939254154 meters 0.023971334458630505 Centerline is valid? [True, True] Translation: X:703.40, Y:9.07, Z:4.69 [[ 9.98333097e-01 -5.61417910e-02 -1.33838457e-02 7.03398212e+02] [ 5.61442383e-02 9.98422650e-01 -1.93103638e-04 9.07024167e+00] [ 1.33735759e-02 -5.58644069e-04 9.99910414e-01 4.68555700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.999254154 meters 0.0248561476464803 Centerline is valid? [True, True] Translation: X:703.46, Y:9.07, Z:4.68 [[ 9.98331068e-01 -5.60668303e-02 -1.38415978e-02 7.03460290e+02] [ 5.60694547e-02 9.98426851e-01 -1.98693798e-04 9.07140608e+00] [ 1.38309630e-02 -5.77728648e-04 9.99904181e-01 4.68488992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.059254154 meters 0.024406718207011947 Centerline is valid? [True, True] Translation: X:703.52, Y:9.07, Z:4.69 [[ 9.98349810e-01 -5.56188831e-02 -1.42897580e-02 7.03522017e+02] [ 5.56216493e-02 9.98451897e-01 -2.04089360e-04 9.07376072e+00] [ 1.42789872e-02 -5.91067332e-04 9.99897875e-01 4.68544857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.119254154 meters 0.02353336195711792 Centerline is valid? [True, True] Translation: X:703.58, Y:9.08, Z:4.69 [[ 9.98443882e-01 -5.39182829e-02 -1.42349449e-02 7.03584281e+02] [ 5.39208698e-02 9.98545191e-01 -2.02287537e-04 9.07729109e+00] [ 1.42251428e-02 -5.65587855e-04 9.99898658e-01 4.68579796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.179254154 meters 0.022390633270744895 Centerline is valid? [True, True] Translation: X:703.64, Y:9.08, Z:4.69 [[ 9.98725636e-01 -4.86523029e-02 -1.34185348e-02 7.03643601e+02] [ 4.86541313e-02 9.98815668e-01 -1.90349446e-04 9.08358388e+00] [ 1.34119037e-02 -4.62760283e-04 9.99909949e-01 4.68666593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.239254154 meters 0.019973008188799133 Centerline is valid? [True, True] Translation: X:703.70, Y:9.09, Z:4.69 [[ 9.99079705e-01 -4.05999029e-02 -1.38343935e-02 7.03702779e+02] [ 4.06010723e-02 9.99175417e-01 -1.96434666e-04 9.09228541e+00] [ 1.38309612e-02 -3.65437324e-04 9.99904281e-01 4.68647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.299254154 meters 0.018452924070637602 Centerline is valid? [True, True] Translation: X:703.76, Y:9.10, Z:4.69 [[ 9.99276638e-01 -3.53094305e-02 -1.41224621e-02 7.03764261e+02] [ 3.53101237e-02 9.99376383e-01 -2.00333102e-04 9.09871284e+00] [ 1.41207288e-02 -2.98477696e-04 9.99900253e-01 4.68674073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters 0.01709979997746223 Centerline is valid? [True, True] Translation: X:703.82, Y:9.11, Z:4.69 [[ 9.99436195e-01 -3.03665091e-02 -1.43236856e-02 7.03824952e+02] [ 3.03667218e-02 9.99538804e-01 -2.02698903e-04 9.10562576e+00] [ 1.43232348e-02 -2.32378754e-04 9.99897390e-01 4.68733217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.419254154 meters 0.016115522194209843 Centerline is valid? [True, True] Translation: X:703.89, Y:9.11, Z:4.69 [[ 9.99404710e-01 -3.15310633e-02 -1.40006250e-02 7.03886419e+02] [ 3.15313875e-02 9.99502743e-01 -1.97635134e-04 9.10900284e+00] [ 1.39998947e-02 -2.43941648e-04 9.99901967e-01 4.68878403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters 0.02040424368380315 Centerline is valid? [True, True] Translation: X:703.95, Y:9.10, Z:4.68 [[ 9.99302492e-01 -3.41258891e-02 -1.51642279e-02 7.03947226e+02] [ 3.41265770e-02 9.99417496e-01 -2.13478133e-04 9.10454788e+00] [ 1.51626798e-02 -3.04173960e-04 9.99884994e-01 4.68472699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.539254154 meters 0.01882101759581015 Centerline is valid? [True, True] Translation: X:704.01, Y:9.10, Z:4.69 [[ 9.99060460e-01 -4.09714638e-02 -1.41257570e-02 7.04008826e+02] [ 4.09727514e-02 9.99160245e-01 -1.98360495e-04 9.10310377e+00] [ 1.41220220e-02 -3.80597003e-04 9.99900207e-01 4.68798850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters 0.020087914846311148 Centerline is valid? [True, True] Translation: X:704.07, Y:9.10, Z:4.69 [[ 9.98904095e-01 -4.48076805e-02 -1.35233754e-02 7.04071105e+02] [ 4.48092216e-02 9.98995544e-01 -1.89177587e-04 9.10071964e+00] [ 1.35182684e-02 -4.17001660e-04 9.99908537e-01 4.68887251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.659254154 meters 0.020318994056780382 Centerline is valid? [True, True] Translation: X:704.13, Y:9.10, Z:4.69 [[ 9.98655730e-01 -5.03018821e-02 -1.25081230e-02 7.04132418e+02] [ 5.03036391e-02 9.98733955e-01 -1.74309000e-04 9.09934983e+00] [ 1.25010552e-02 -4.55129422e-04 9.99921755e-01 4.69080433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters 0.02212788563792156 Centerline is valid? [True, True] Translation: X:704.19, Y:9.10, Z:4.69 [[ 9.98420170e-01 -5.49386416e-02 -1.17860184e-02 7.04193763e+02] [ 5.49405291e-02 9.98489615e-01 -1.63819228e-04 9.09609191e+00] [ 1.17772170e-02 -4.83969667e-04 9.99930529e-01 4.69206886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.779254154 meters 0.023594382034632513 Centerline is valid? [True, True] Translation: X:704.25, Y:9.09, Z:4.69 [[ 9.98053454e-01 -6.13675361e-02 -1.11053479e-02 7.04254617e+02] [ 6.13696118e-02 9.98115097e-01 -1.54090767e-04 9.09158012e+00] [ 1.10938715e-02 -5.27740065e-04 9.99938322e-01 4.69220918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters 0.026255400997581682 Centerline is valid? [True, True] Translation: X:704.31, Y:9.08, Z:4.69 [[ 9.97786582e-01 -6.55793498e-02 -1.10130131e-02 7.04314409e+02] [ 6.55816508e-02 9.97847195e-01 -1.52461280e-04 9.08346142e+00] [ 1.09993026e-02 -5.70127762e-04 9.99939343e-01 4.69164526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.899254154 meters 0.02925961562943387 Centerline is valid? [True, True] Translation: X:704.38, Y:9.08, Z:4.69 [[ 9.97739895e-01 -6.61697051e-02 -1.16906850e-02 7.04375233e+02] [ 6.61723464e-02 9.97808195e-01 -1.61162968e-04 9.07850294e+00] [ 1.16757254e-02 -6.12801335e-04 9.99931649e-01 4.69114084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters 0.026621204172224962 Centerline is valid? [True, True] Translation: X:704.44, Y:9.08, Z:4.69 [[ 9.97917155e-01 -6.29970018e-02 -1.38827239e-02 7.04437135e+02] [ 6.30004323e-02 9.98013482e-01 -1.90522178e-04 9.08241731e+00] [ 1.38671480e-02 -6.84492259e-04 9.99903612e-01 4.68864578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.019254154 meters 0.023234603043306077 Centerline is valid? [True, True] Translation: X:704.50, Y:9.08, Z:4.69 [[ 9.98188771e-01 -5.85534914e-02 -1.38082063e-02 7.04497555e+02] [ 5.85564681e-02 9.98284080e-01 -1.88972527e-04 9.08478483e+00] [ 1.37955776e-02 -6.19929540e-04 9.99904644e-01 4.69093385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters 0.020673687306905813 Centerline is valid? [True, True] Translation: X:704.56, Y:9.09, Z:4.69 [[ 9.98618256e-01 -5.08179938e-02 -1.33832457e-02 7.04558216e+02] [ 5.08200964e-02 9.98707807e-01 -1.83153085e-04 9.08879904e+00] [ 1.33752594e-02 -4.97237820e-04 9.99910424e-01 4.69168969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.139254154 meters 0.018503505276127367 Centerline is valid? [True, True] Translation: X:704.62, Y:9.09, Z:4.69 [[ 9.98961158e-01 -4.37422558e-02 -1.27757696e-02 7.04619168e+02] [ 4.37435951e-02 9.99042776e-01 -1.74722230e-04 9.09367579e+00] [ 1.27711831e-02 -3.84317371e-04 9.99918371e-01 4.69293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters 0.016235016040025925 Centerline is valid? [True, True] Translation: X:704.68, Y:9.10, Z:4.69 [[ 9.99413376e-01 -3.18163217e-02 -1.26738307e-02 7.04680101e+02] [ 3.18166828e-02 9.99493706e-01 -1.73185789e-04 9.10085322e+00] [ 1.26729242e-02 -2.30155057e-04 9.99919669e-01 4.69294147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.259254154 meters 0.015289066939256456 Centerline is valid? [True, True] Translation: X:704.74, Y:9.11, Z:4.69 [[ 9.99580035e-01 -2.54282152e-02 -1.38982178e-02 7.04741877e+02] [ 2.54280379e-02 9.99676637e-01 -1.89499781e-04 9.10535062e+00] [ 1.38985423e-02 -1.63984210e-04 9.99903397e-01 4.69252071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.319254154 meters 0.014919950375019532 Centerline is valid? [True, True] Translation: X:704.80, Y:9.11, Z:4.69 [[ 9.99642492e-01 -2.15551819e-02 -1.58196971e-02 7.04802421e+02] [ 2.15544739e-02 9.99767652e-01 -2.15278301e-04 9.10717995e+00] [ 1.58206618e-02 -1.25783911e-04 9.99874838e-01 4.69155512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.379254154 meters 0.01544671331806706 Centerline is valid? [True, True] Translation: X:704.86, Y:9.10, Z:4.69 [[ 9.99548386e-01 -2.49856029e-02 -1.66956184e-02 7.04861172e+02] [ 2.49852836e-02 9.99687793e-01 -2.27739424e-04 9.10310979e+00] [ 1.66960961e-02 -1.89508188e-04 9.99860593e-01 4.69058997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.439254154 meters 0.016428188200320253 Centerline is valid? [True, True] Translation: X:704.92, Y:9.10, Z:4.69 [[ 9.99430693e-01 -2.97490944e-02 -1.59148029e-02 7.04920797e+02] [ 2.97493975e-02 9.99557365e-01 -2.17754263e-04 9.09927633e+00] [ 1.59142365e-02 -2.55825504e-04 9.99873328e-01 4.69169928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.499254154 meters 0.01831397204594796 Centerline is valid? [True, True] Translation: X:704.98, Y:9.09, Z:4.69 [[ 9.99174693e-01 -3.78213988e-02 -1.48146969e-02 7.04980839e+02] [ 3.78225427e-02 9.99284451e-01 -2.03062101e-04 9.09384138e+00] [ 1.48117764e-02 -3.57434995e-04 9.99890236e-01 4.69336968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.559254154 meters 0.02215858079429312 Centerline is valid? [True, True] Translation: X:705.04, Y:9.09, Z:4.69 [[ 9.98924328e-01 -4.35634303e-02 -1.58875428e-02 7.05041984e+02] [ 4.35654719e-02 9.99050550e-01 -2.17733772e-04 9.08803301e+00] [ 1.58819436e-02 -4.74648739e-04 9.99873761e-01 4.69162917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.619254154 meters 0.019719341970026255 Centerline is valid? [True, True] Translation: X:705.10, Y:9.09, Z:4.69 [[ 9.98734156e-01 -4.78541404e-02 -1.54940730e-02 7.05102651e+02] [ 4.78566021e-02 9.98854194e-01 -2.12061762e-04 9.08934620e+00] [ 1.54864678e-02 -5.29700361e-04 9.99879937e-01 4.69465819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.679254154 meters 0.021254883254090966 Centerline is valid? [True, True] Translation: X:705.16, Y:9.09, Z:4.70 [[ 9.98579445e-01 -5.11499048e-02 -1.49257796e-02 7.05164332e+02] [ 5.11525654e-02 9.98690830e-01 -2.03704996e-04 9.08530199e+00] [ 1.49166587e-02 -5.60076296e-04 9.99888584e-01 4.69565872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.739254154 meters 0.02146172550844516 Centerline is valid? [True, True] Translation: X:705.23, Y:9.08, Z:4.70 [[ 9.98601387e-01 -5.04688903e-02 -1.57531447e-02 7.05226370e+02] [ 5.04717862e-02 9.98725464e-01 -2.13940008e-04 9.08489571e+00] [ 1.57438641e-02 -5.81448563e-04 9.99875889e-01 4.69566648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.799254154 meters 0.02006399633366855 Centerline is valid? [True, True] Translation: X:705.29, Y:9.09, Z:4.69 [[ 9.98812518e-01 -4.54553882e-02 -1.75317244e-02 7.05287842e+02] [ 4.54582202e-02 9.98966213e-01 -2.37151511e-04 9.08913305e+00] [ 1.75243801e-02 -5.60091090e-04 9.99846279e-01 4.69483001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters 0.019057283879410348 Centerline is valid? [True, True] Translation: X:705.35, Y:9.09, Z:4.69 [[ 9.99051781e-01 -3.98099564e-02 -1.76268505e-02 7.05347394e+02] [ 3.98119420e-02 9.99207162e-01 -2.38386516e-04 9.09310164e+00] [ 1.76223654e-02 -4.63598675e-04 9.99844607e-01 4.69481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.919254154 meters 0.016793505353619516 Centerline is valid? [True, True] Translation: X:705.41, Y:9.10, Z:4.70 [[ 9.99283744e-01 -3.34327485e-02 -1.77271142e-02 7.05407693e+02] [ 3.34337516e-02 9.99440907e-01 -2.39863118e-04 9.09977344e+00] [ 1.77252224e-02 -3.52992617e-04 9.99842834e-01 4.69666662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters 0.015675415643398513 Centerline is valid? [True, True] Translation: X:705.47, Y:9.10, Z:4.70 [[ 9.99455418e-01 -2.79104532e-02 -1.76032616e-02 7.05468340e+02] [ 2.79105859e-02 9.99610395e-01 -2.38187286e-04 9.10308384e+00] [ 1.76030512e-02 -2.53259771e-04 9.99845022e-01 4.69686401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.039254154 meters 0.015165571303080268 Centerline is valid? [True, True] Translation: X:705.53, Y:9.11, Z:4.70 [[ 9.99543114e-01 -2.40432646e-02 -1.83162267e-02 7.05527162e+02] [ 2.40427477e-02 9.99710901e-01 -2.48454992e-04 9.10599279e+00] [ 1.83169052e-02 -1.92030942e-04 9.99832213e-01 4.69638726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters 0.01568658729556669 Centerline is valid? [True, True] Translation: X:705.58, Y:9.10, Z:4.69 [[ 9.99487947e-01 -2.50973701e-02 -1.98485921e-02 7.05584819e+02] [ 2.50969285e-02 9.99684986e-01 -2.71383633e-04 9.10445122e+00] [ 1.98491505e-02 -2.26894026e-04 9.99802960e-01 4.69430900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.159254154 meters 0.016809435381251563 Centerline is valid? [True, True] Translation: X:705.64, Y:9.10, Z:4.69 [[ 9.99406529e-01 -2.74622984e-02 -2.07945321e-02 7.05643090e+02] [ 2.74622643e-02 9.99622800e-01 -2.87257482e-04 9.10401514e+00] [ 2.07945771e-02 -2.83977933e-04 9.99783729e-01 4.69496497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters 0.01702553835730438 Centerline is valid? [True, True] Translation: X:705.70, Y:9.10, Z:4.70 [[ 9.99302778e-01 -3.16302752e-02 -1.98364247e-02 7.05702187e+02] [ 3.16309788e-02 9.99499577e-01 -2.78359747e-04 9.10178748e+00] [ 1.98353026e-02 -3.49279859e-04 9.99803200e-01 4.69680662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.279254154 meters 0.016829100646831685 Centerline is valid? [True, True] Translation: X:705.76, Y:9.10, Z:4.70 [[ 9.99194364e-01 -3.59871605e-02 -1.77636434e-02 7.05761338e+02] [ 3.59883341e-02 9.99352178e-01 -2.53697396e-04 9.09866690e+00] [ 1.77612656e-02 -3.85790926e-04 9.99842182e-01 4.69900314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters 0.017331922661780803 Centerline is valid? [True, True] Translation: X:705.82, Y:9.10, Z:4.70 [[ 9.99115988e-01 -3.85496304e-02 -1.67680941e-02 7.05821876e+02] [ 3.85510093e-02 9.99256604e-01 -2.41115373e-04 9.09733037e+00] [ 1.67649237e-02 -4.05524727e-04 9.99859377e-01 4.69978870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.399254154 meters 0.01782602241018847 Centerline is valid? [True, True] Translation: X:705.88, Y:9.10, Z:4.70 [[ 9.99068605e-01 -4.01717380e-02 -1.57528884e-02 7.05883262e+02] [ 4.01731617e-02 9.99192707e-01 -2.26182616e-04 9.09573187e+00] [ 1.57492573e-02 -4.06871382e-04 9.99875890e-01 4.70088526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters 0.017141868583877277 Centerline is valid? [True, True] Translation: X:705.94, Y:9.10, Z:4.70 [[ 9.99139067e-01 -3.80774073e-02 -1.64692652e-02 7.05944966e+02] [ 3.80786894e-02 9.99274716e-01 -2.35844307e-04 9.09789045e+00] [ 1.64663007e-02 -3.91486775e-04 9.99864345e-01 4.70141460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.519254154 meters 0.0168563752684844 Centerline is valid? [True, True] Translation: X:706.01, Y:9.10, Z:4.70 [[ 9.99226850e-01 -3.52241276e-02 -1.74631750e-02 7.06006269e+02] [ 3.52251451e-02 9.99379371e-01 -2.49416567e-04 9.09966598e+00] [ 1.74611223e-02 -3.65919144e-04 9.99847476e-01 4.70151546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters 0.015988875552515557 Centerline is valid? [True, True] Translation: X:706.07, Y:9.10, Z:4.70 [[ 9.99348931e-01 -3.13941867e-02 -1.77797534e-02 7.06066559e+02] [ 3.13946400e-02 9.99507035e-01 -2.53687087e-04 9.10208216e+00] [ 1.77789529e-02 -3.04667039e-04 9.99841896e-01 4.70171605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.639254154 meters 0.015531331572768793 Centerline is valid? [True, True] Translation: X:706.13, Y:9.10, Z:4.70 [[ 9.99374844e-01 -2.99461580e-02 -1.87922690e-02 7.06126411e+02] [ 2.99464001e-02 9.99551470e-01 -2.68586307e-04 9.10299961e+00] [ 1.87918832e-02 -2.94342408e-04 9.99823374e-01 4.70130592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.699254154 meters 0.015634758860823623 Centerline is valid? [True, True] Translation: X:706.18, Y:9.10, Z:4.70 [[ 9.99321066e-01 -3.07366084e-02 -2.03142234e-02 7.06184803e+02] [ 3.07369768e-02 9.99527464e-01 -2.94167939e-04 9.10258968e+00] [ 2.03136660e-02 -3.30429596e-04 9.99793602e-01 4.70047825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.759254154 meters 0.01653486909004338 Centerline is valid? [True, True] Translation: X:706.24, Y:9.10, Z:4.70 [[ 9.99211263e-01 -3.34081536e-02 -2.14650237e-02 7.06243145e+02] [ 3.34091118e-02 9.99441710e-01 -3.14063243e-04 9.10154363e+00] [ 2.14635323e-02 -4.03311848e-04 9.99769551e-01 4.69984367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.819254154 meters 0.016932184881063655 Centerline is valid? [True, True] Translation: X:706.30, Y:9.10, Z:4.70 [[ 9.99048632e-01 -3.82329958e-02 -2.09778235e-02 7.06302654e+02] [ 3.82349499e-02 9.99268729e-01 -3.08074941e-04 9.09868057e+00] [ 2.09742617e-02 -4.94304181e-04 9.99779894e-01 4.70148689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.879254154 meters 0.01805002896316385 Centerline is valid? [True, True] Translation: X:706.36, Y:9.10, Z:4.70 [[ 9.98900890e-01 -4.26100688e-02 -1.95292942e-02 7.06362657e+02] [ 4.26125888e-02 9.99091630e-01 -2.87270447e-04 9.09585495e+00] [ 1.95237950e-02 -5.45239078e-04 9.99809244e-01 4.70288665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.939254154 meters 0.021038574864048996 Centerline is valid? [True, True] Translation: X:706.42, Y:9.09, Z:4.70 [[ 9.98594218e-01 -5.01267737e-02 -1.72306427e-02 7.06423385e+02] [ 5.01298525e-02 9.98742676e-01 -2.53461256e-04 9.08937947e+00] [ 1.72216834e-02 -6.10664631e-04 9.99851509e-01 4.70432561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.999254154 meters 0.023499358750215693 Centerline is valid? [True, True] Translation: X:706.48, Y:9.08, Z:4.71 [[ 9.98334974e-01 -5.54537990e-02 -1.58794188e-02 7.06483908e+02] [ 5.54570899e-02 9.98461044e-01 -2.33358103e-04 9.08423159e+00] [ 1.58679216e-02 -6.47656800e-04 9.99873887e-01 4.70543228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.059254154 meters 0.028007998512476512 Centerline is valid? [True, True] Translation: X:706.55, Y:9.08, Z:4.70 [[ 9.97998321e-01 -6.09986568e-02 -1.66888024e-02 7.06545110e+02] [ 6.10030712e-02 9.98137548e-01 -2.44907675e-04 9.07863201e+00] [ 1.66726593e-02 -7.73650751e-04 9.99860702e-01 4.70380192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.119254154 meters 0.029999561368796644 Centerline is valid? [True, True] Translation: X:706.61, Y:9.07, Z:4.71 [[ 9.97594250e-01 -6.74155008e-02 -1.61512699e-02 7.06605333e+02] [ 6.74204766e-02 9.97724623e-01 -2.36851173e-04 9.07450750e+00] [ 1.61304871e-02 -8.52644946e-04 9.99869532e-01 4.70636621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.179254154 meters 0.029560833090509366 Centerline is valid? [True, True] Translation: X:706.67, Y:9.08, Z:4.71 [[ 9.97436005e-01 -6.96164495e-02 -1.65821027e-02 7.06666540e+02] [ 6.96220037e-02 9.97573415e-01 -2.42793276e-04 9.07598939e+00] [ 1.65587672e-02 -9.12308460e-04 9.99862478e-01 4.70615231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.239254154 meters 0.030954493249223027 Centerline is valid? [True, True] Translation: X:706.73, Y:9.08, Z:4.70 [[ 9.97340614e-01 -7.07014084e-02 -1.76921052e-02 7.06728974e+02] [ 7.07079202e-02 9.97497029e-01 -2.57986696e-04 9.07597979e+00] [ 1.76660624e-02 -9.93671355e-04 9.99843449e-01 4.70406659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.299254154 meters 0.02821089649002083 Centerline is valid? [True, True] Translation: X:706.79, Y:9.08, Z:4.71 [[ 9.97506017e-01 -6.85185840e-02 -1.69396148e-02 7.06790380e+02] [ 6.85242541e-02 9.97649420e-01 -2.46164026e-04 9.08255499e+00] [ 1.69166637e-02 -9.15224370e-04 9.99856484e-01 4.70620230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters 0.025709167085245323 Centerline is valid? [True, True] Translation: X:706.85, Y:9.09, Z:4.71 [[ 9.97741255e-01 -6.51013059e-02 -1.65592449e-02 7.06851121e+02] [ 6.51062617e-02 9.97878308e-01 -2.40209562e-04 9.08795093e+00] [ 1.65397493e-02 -8.38443544e-04 9.99862857e-01 4.70887968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.419254154 meters 0.022906811096682914 Centerline is valid? [True, True] Translation: X:706.91, Y:9.10, Z:4.71 [[ 9.98256077e-01 -5.68371966e-02 -1.59479951e-02 7.06911724e+02] [ 5.68407422e-02 9.98383231e-01 -2.31235193e-04 9.09863777e+00] [ 1.59353537e-02 -6.75663943e-04 9.99872796e-01 4.70979200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters 0.02054579720835809 Centerline is valid? [True, True] Translation: X:706.97, Y:9.11, Z:4.71 [[ 9.98563636e-01 -5.15675039e-02 -1.45415548e-02 7.06972380e+02] [ 5.15698956e-02 9.98669365e-01 -2.10704223e-04 9.10523596e+00] [ 1.45330708e-02 -5.39504886e-04 9.99894244e-01 4.71343613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.539254154 meters 0.018450777902061496 Centerline is valid? [True, True] Translation: X:707.03, Y:9.11, Z:4.72 [[ 9.98967276e-01 -4.32083179e-02 -1.40507465e-02 7.07032532e+02] [ 4.32097268e-02 9.99066003e-01 -2.03436594e-04 9.11310433e+00] [ 1.40464133e-02 -4.03902417e-04 9.99901263e-01 4.71532505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters 0.018505518322950745 Centerline is valid? [True, True] Translation: X:707.09, Y:9.12, Z:4.71 [[ 9.99271518e-01 -3.51740366e-02 -1.48060945e-02 7.07092889e+02] [ 3.51747200e-02 9.99381155e-01 -2.14339725e-04 9.11867647e+00] [ 1.48044710e-02 -3.06616646e-04 9.99890361e-01 4.71466067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.659254154 meters 0.018200363422683975 Centerline is valid? [True, True] Translation: X:707.15, Y:9.12, Z:4.71 [[ 9.99420774e-01 -3.03896144e-02 -1.53162331e-02 7.07154294e+02] [ 3.03897889e-02 9.99538099e-01 -2.21405357e-04 9.12246404e+00] [ 1.53158869e-02 -2.44179975e-04 9.99882675e-01 4.71488728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters 0.015486568519747744 Centerline is valid? [True, True] Translation: X:707.22, Y:9.13, Z:4.72 [[ 9.99568139e-01 -2.47700994e-02 -1.58107059e-02 7.07215315e+02] [ 2.47695891e-02 9.99693161e-01 -2.28127777e-04 9.12695419e+00] [ 1.58115053e-02 -1.63595432e-04 9.99874977e-01 4.71695490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.779254154 meters 0.015158178667695199 Centerline is valid? [True, True] Translation: X:707.28, Y:9.13, Z:4.72 [[ 9.99655916e-01 -2.03602830e-02 -1.65380899e-02 7.07275356e+02] [ 2.03591174e-02 9.99792703e-01 -2.38857362e-04 9.12772044e+00] [ 1.65395248e-02 -9.79257386e-05 9.99863208e-01 4.71667184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters 0.014995948023972952 Centerline is valid? [True, True] Translation: X:707.33, Y:9.13, Z:4.72 [[ 9.99670484e-01 -1.99063664e-02 -1.62068049e-02 7.07334012e+02] [ 1.99051436e-02 9.99801845e-01 -2.36773594e-04 9.12795013e+00] [ 1.62083068e-02 -8.59032069e-05 9.99868633e-01 4.71743931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.899254154 meters 0.01676977413922544 Centerline is valid? [True, True] Translation: X:707.39, Y:9.12, Z:4.72 [[ 9.99662961e-01 -2.11283442e-02 -1.50850007e-02 7.07392235e+02] [ 2.11273618e-02 9.99776767e-01 -2.24499209e-04 9.12478410e+00] [ 1.50863765e-02 -9.42827233e-05 9.99886190e-01 4.71734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters 0.01758352222397202 Centerline is valid? [True, True] Translation: X:707.45, Y:9.12, Z:4.72 [[ 9.99577105e-01 -2.48966261e-02 -1.50256327e-02 7.07450670e+02] [ 2.48960147e-02 9.99690020e-01 -2.27766486e-04 9.11982528e+00] [ 1.50266457e-02 -1.46408207e-04 9.99887083e-01 4.71680716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.019254154 meters 0.017546614653708666 Centerline is valid? [True, True] Translation: X:707.51, Y:9.11, Z:4.72 [[ 9.99284984e-01 -3.41695900e-02 -1.61852055e-02 7.07510544e+02] [ 3.41700602e-02 9.99416002e-01 -2.47572668e-04 9.11138207e+00] [ 1.61842129e-02 -3.05653799e-04 9.99868980e-01 4.71708245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters 0.018696891249696347 Centerline is valid? [True, True] Translation: X:707.57, Y:9.10, Z:4.72 [[ 9.98999178e-01 -4.15882515e-02 -1.64638876e-02 7.07570792e+02] [ 4.15897501e-02 9.99134740e-01 -2.51503128e-04 9.10335882e+00] [ 1.64601017e-02 -4.33477555e-04 9.99864429e-01 4.71778958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.139254154 meters 0.02154896046838253 Centerline is valid? [True, True] Translation: X:707.63, Y:9.09, Z:4.72 [[ 9.98537861e-01 -5.14433805e-02 -1.66047615e-02 7.07631041e+02] [ 5.14462696e-02 9.98675732e-01 -2.53397044e-04 9.09302632e+00] [ 1.65958080e-02 -6.01226495e-04 9.99862099e-01 4.71834117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.199254154 meters 0.02244399791512877 Centerline is valid? [True, True] Translation: X:707.69, Y:9.09, Z:4.72 [[ 9.98288498e-01 -5.61834445e-02 -1.62325246e-02 7.07692397e+02] [ 5.61868351e-02 9.98420241e-01 -2.47464268e-04 9.08729129e+00] [ 1.62207845e-02 -6.65013448e-04 9.99868213e-01 4.71900353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.259254154 meters 0.02371226783511724 Centerline is valid? [True, True] Translation: X:707.75, Y:9.09, Z:4.72 [[ 9.98277659e-01 -5.61288616e-02 -1.70665207e-02 7.07754251e+02] [ 5.61326192e-02 9.98423288e-01 -2.59153867e-04 9.08625631e+00] [ 1.70541577e-02 -6.99280992e-04 9.99854323e-01 4.71790959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.319254154 meters 0.021766252810727953 Centerline is valid? [True, True] Translation: X:707.81, Y:9.09, Z:4.72 [[ 9.98568777e-01 -5.07676138e-02 -1.68239779e-02 7.07814826e+02] [ 5.07705166e-02 9.98710313e-01 -2.54799560e-04 9.08714111e+00] [ 1.68152158e-02 -5.99727166e-04 9.99858434e-01 4.71830048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.379254154 meters 0.020637715998658 Centerline is valid? [True, True] Translation: X:707.87, Y:9.09, Z:4.72 [[ 9.98890171e-01 -4.41972451e-02 -1.62797302e-02 7.07874862e+02] [ 4.41990932e-02 9.99022712e-01 -2.46439351e-04 9.09029058e+00] [ 1.62747121e-02 -4.73383466e-04 9.99867446e-01 4.71879814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.439254154 meters 0.01752986380917431 Centerline is valid? [True, True] Translation: X:707.94, Y:9.10, Z:4.72 [[ 9.99295908e-01 -3.40407142e-02 -1.57771302e-02 7.07935164e+02] [ 3.40411856e-02 9.99420402e-01 -2.38751322e-04 9.09822125e+00] [ 1.57761131e-02 -2.98488997e-04 9.99875505e-01 4.72052002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.499254154 meters 0.018034760331584482 Centerline is valid? [True, True] Translation: X:708.00, Y:9.10, Z:4.72 [[ 9.99452302e-01 -2.79965484e-02 -1.76434162e-02 7.07995789e+02] [ 2.79961975e-02 9.99607994e-01 -2.66927337e-04 9.09966029e+00] [ 1.76439729e-02 -2.27167425e-04 9.99844307e-01 4.71866923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.559254154 meters 0.015634330808264617 Centerline is valid? [True, True] Translation: X:708.05, Y:9.10, Z:4.72 [[ 9.99470055e-01 -2.74813026e-02 -1.74466776e-02 7.08053876e+02] [ 2.74808642e-02 9.99622295e-01 -2.64917534e-04 9.09781585e+00] [ 1.74473682e-02 -2.14672636e-04 9.99847760e-01 4.71918150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.619254154 meters 0.017134610118458002 Centerline is valid? [True, True] Translation: X:708.11, Y:9.10, Z:4.72 [[ 9.99335401e-01 -3.06453674e-02 -1.97387165e-02 7.08112154e+02] [ 3.06453864e-02 9.99530274e-01 -3.01587237e-04 9.09537667e+00] [ 1.97386870e-02 -3.03513793e-04 9.99805127e-01 4.71864606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.679254154 meters 0.01710297434794494 Centerline is valid? [True, True] Translation: X:708.17, Y:9.09, Z:4.72 [[ 9.99089886e-01 -3.76446390e-02 -2.00569299e-02 7.08171709e+02] [ 3.76460458e-02 9.99291089e-01 -3.07557886e-04 9.08939837e+00] [ 2.00542892e-02 -4.47786128e-04 9.99798792e-01 4.71949128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.739254154 meters 0.02191665452817467 Centerline is valid? [True, True] Translation: X:708.23, Y:9.08, Z:4.72 [[ 9.98856387e-01 -4.30158655e-02 -2.08699049e-02 7.08231616e+02] [ 4.30185439e-02 9.99074222e-01 -3.20797884e-04 9.08464512e+00] [ 2.08643834e-02 -5.77361906e-04 9.99782148e-01 4.71860158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.799254154 meters 0.022911195327741576 Centerline is valid? [True, True] Translation: X:708.29, Y:9.08, Z:4.72 [[ 9.98487466e-01 -5.16773228e-02 -1.87679286e-02 7.08292141e+02] [ 5.16810084e-02 9.98663602e-01 -2.88906092e-04 9.07883646e+00] [ 1.87577770e-02 -6.81476362e-04 9.99823825e-01 4.72226208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters 0.023332624408600115 Centerline is valid? [True, True] Translation: X:708.35, Y:9.08, Z:4.72 [[ 9.98270097e-01 -5.66384915e-02 -1.57763930e-02 7.08352273e+02] [ 5.66417099e-02 9.98394540e-01 -2.43112194e-04 9.07529364e+00] [ 1.57648342e-02 -6.50910243e-04 9.99875515e-01 4.72474713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.919254154 meters 0.024860330401035077 Centerline is valid? [True, True] Translation: X:708.41, Y:9.07, Z:4.73 [[ 9.97844048e-01 -6.35097217e-02 -1.65460499e-02 7.08412784e+02] [ 6.35142026e-02 9.97980902e-01 -2.55068999e-04 9.07295183e+00] [ 1.65288412e-02 -7.96390083e-04 9.99863072e-01 4.72507543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters 0.03014730997726306 Centerline is valid? [True, True] Translation: X:708.47, Y:9.07, Z:4.72 [[ 9.97342578e-01 -7.05591413e-02 -1.81435625e-02 7.08472468e+02] [ 7.05656909e-02 9.97507095e-01 -2.79766332e-04 9.06817339e+00] [ 1.81180724e-02 -1.00129015e-03 9.99835353e-01 4.72302194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.039254154 meters 0.03281239868896935 Centerline is valid? [True, True] Translation: X:708.53, Y:9.07, Z:4.72 [[ 9.97020759e-01 -7.49082051e-02 -1.83947769e-02 7.08532016e+02] [ 7.49156788e-02 9.97189832e-01 -2.83428385e-04 9.06626669e+00] [ 1.83643156e-02 -1.09547322e-03 9.99830762e-01 4.72281278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters 0.03591522999120316 Centerline is valid? [True, True] Translation: X:708.59, Y:9.07, Z:4.72 [[ 9.96827417e-01 -7.73265289e-02 -1.88602669e-02 7.08593031e+02] [ 7.73348238e-02 9.97005136e-01 -2.90230426e-04 9.06702261e+00] [ 1.88262255e-02 -1.16924577e-03 9.99822087e-01 4.72170366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.159254154 meters 0.03126816011586437 Centerline is valid? [True, True] Translation: X:708.65, Y:9.08, Z:4.72 [[ 9.97110208e-01 -7.35276178e-02 -1.91029473e-02 7.08653359e+02] [ 7.35354394e-02 9.97292561e-01 -2.93620069e-04 9.08080060e+00] [ 1.90728165e-02 -1.11197206e-03 9.99817479e-01 4.72306173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters 0.027314744897048354 Centerline is valid? [True, True] Translation: X:708.71, Y:9.09, Z:4.72 [[ 9.97458442e-01 -6.89292776e-02 -1.80391774e-02 7.08714304e+02] [ 6.89355061e-02 9.97621080e-01 -2.77057045e-04 9.09164416e+00] [ 1.80153610e-02 -9.67186937e-04 9.99837242e-01 4.72488586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.279254154 meters 0.024674584609788063 Centerline is valid? [True, True] Translation: X:708.77, Y:9.10, Z:4.73 [[ 9.97991628e-01 -6.05694888e-02 -1.85485121e-02 7.08774985e+02] [ 6.05746366e-02 9.98163630e-01 -2.84691157e-04 9.10434462e+00] [ 1.85316937e-02 -8.39449987e-04 9.99827921e-01 4.72535870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters 0.023717334218215588 Centerline is valid? [True, True] Translation: X:708.84, Y:9.11, Z:4.73 [[ 9.98274124e-01 -5.59190539e-02 -1.79396935e-02 7.08835129e+02] [ 5.59231209e-02 9.98435040e-01 -2.75275745e-04 9.11123036e+00] [ 1.79270118e-02 -7.28442995e-04 9.99839033e-01 4.72639053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.399254154 meters 0.02060656145924994 Centerline is valid? [True, True] Translation: X:708.90, Y:9.13, Z:4.73 [[ 9.98580010e-01 -5.07702455e-02 -1.61352580e-02 7.08895733e+02] [ 5.07728667e-02 9.98710196e-01 -2.47413707e-04 9.12504787e+00] [ 1.61270079e-02 -5.72170920e-04 9.99869788e-01 4.72894444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters 0.01961921988009836 Centerline is valid? [True, True] Translation: X:708.96, Y:9.13, Z:4.73 [[ 9.98794606e-01 -4.61343997e-02 -1.67616313e-02 7.08957071e+02] [ 4.61365846e-02 9.98935108e-01 -2.56521277e-04 9.13399270e+00] [ 1.67556164e-02 -5.17112352e-04 9.99859481e-01 4.72824518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.519254154 meters 0.019220392920864998 Centerline is valid? [True, True] Translation: X:709.02, Y:9.14, Z:4.73 [[ 9.98913629e-01 -4.34024818e-02 -1.69642676e-02 7.09018112e+02] [ 4.34043367e-02 9.99057554e-01 -2.59002198e-04 9.13905006e+00] [ 1.69595210e-02 -4.77601955e-04 9.99856063e-01 4.72829391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters 0.01835857772895504 Centerline is valid? [True, True] Translation: X:709.08, Y:9.15, Z:4.73 [[ 9.99012233e-01 -4.15364108e-02 -1.57887896e-02 7.09079926e+02] [ 4.15377960e-02 9.99136904e-01 -2.40333098e-04 9.14630662e+00] [ 1.57851449e-02 -4.15735816e-04 9.99875320e-01 4.73000073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.639254154 meters 0.019341336066633758 Centerline is valid? [True, True] Translation: X:709.14, Y:9.15, Z:4.73 [[ 9.99035277e-01 -4.15199806e-02 -1.43040631e-02 7.09141023e+02] [ 4.15211338e-02 9.99137602e-01 -2.16472596e-04 9.14733540e+00] [ 1.43007153e-02 -3.77657159e-04 9.99897668e-01 4.73069476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.699254154 meters 0.019258251393153993 Centerline is valid? [True, True] Translation: X:709.20, Y:9.15, Z:4.73 [[ 9.99029235e-01 -4.22682833e-02 -1.24088234e-02 7.09202683e+02] [ 4.22692226e-02 9.99106240e-01 -1.86673847e-04 9.15121461e+00] [ 1.24056232e-02 -3.38018687e-04 9.99922990e-01 4.73171231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.759254154 meters 0.020150034388497676 Centerline is valid? [True, True] Translation: X:709.27, Y:9.15, Z:4.73 [[ 9.99057671e-01 -4.15965828e-02 -1.23893015e-02 7.09265047e+02] [ 4.15974784e-02 9.99134433e-01 -1.85502727e-04 9.15227684e+00] [ 1.23862940e-02 -3.30035781e-04 9.99923232e-01 4.73159637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.819254154 meters 0.019289997518698452 Centerline is valid? [True, True] Translation: X:709.33, Y:9.16, Z:4.73 [[ 9.99096768e-01 -4.10601867e-02 -1.09411313e-02 7.09327440e+02] [ 4.10608609e-02 9.99156634e-01 -1.63103846e-04 9.15500854e+00] [ 1.09386010e-02 -2.86295745e-04 9.99940131e-01 4.73269284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.879254154 meters 0.019826111360633267 Centerline is valid? [True, True] Translation: X:709.39, Y:9.16, Z:4.73 [[ 9.99162326e-01 -3.93509466e-02 -1.12316649e-02 7.09390075e+02] [ 3.93515592e-02 9.99225414e-01 -1.66538984e-04 9.15764198e+00] [ 1.12295185e-02 -2.75584047e-04 9.99936909e-01 4.73170482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.939254154 meters 0.01768485026697437 Centerline is valid? [True, True] Translation: X:709.45, Y:9.16, Z:4.73 [[ 9.99112772e-01 -4.05637637e-02 -1.13247697e-02 7.09452245e+02] [ 4.05644752e-02 9.99176909e-01 -1.66959653e-04 9.15880691e+00] [ 1.13222209e-02 -2.92571818e-04 9.99935859e-01 4.73305394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.999254154 meters 0.018932178661354875 Centerline is valid? [True, True] Translation: X:709.51, Y:9.16, Z:4.73 [[ 9.99048403e-01 -4.18375444e-02 -1.23250875e-02 7.09514762e+02] [ 4.18384958e-02 9.99124370e-01 -1.80748015e-04 9.15617282e+00] [ 1.23218574e-02 -3.35087106e-04 9.99924027e-01 4.73198910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.059254154 meters 0.021821050902057933 Centerline is valid? [True, True] Translation: X:709.58, Y:9.15, Z:4.73 [[ 9.98985522e-01 -4.32049121e-02 -1.26988861e-02 7.09575789e+02] [ 4.32060432e-02 9.99066166e-01 -1.85392221e-04 9.14913089e+00] [ 1.26950373e-02 -3.63464476e-04 9.99919349e-01 4.73107956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.119254154 meters 0.019387127456453292 Centerline is valid? [True, True] Translation: X:709.64, Y:9.15, Z:4.73 [[ 9.99016892e-01 -4.23297963e-02 -1.31695782e-02 7.09637547e+02] [ 4.23309479e-02 9.99103625e-01 -1.91420431e-04 9.15312369e+00] [ 1.31658762e-02 -3.66248487e-04 9.99913259e-01 4.73145920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.179254154 meters 0.019040496093296697 Centerline is valid? [True, True] Translation: X:709.70, Y:9.15, Z:4.73 [[ 9.99062664e-01 -4.10973733e-02 -1.35940607e-02 7.09699317e+02] [ 4.10984998e-02 9.99155080e-01 -1.96602846e-04 9.15290680e+00] [ 1.35906547e-02 -3.62276938e-04 9.99907577e-01 4.73149601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.239254154 meters 0.01826591639832812 Centerline is valid? [True, True] Translation: X:709.76, Y:9.15, Z:4.73 [[ 9.99084194e-01 -4.06594904e-02 -1.33258740e-02 7.09761549e+02] [ 4.06605466e-02 9.99173000e-01 -1.91770707e-04 9.15444817e+00] [ 1.33226508e-02 -3.50242238e-04 9.99911188e-01 4.73245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.299254154 meters 0.017764214632726486 Centerline is valid? [True, True] Translation: X:709.82, Y:9.15, Z:4.73 [[ 9.99155973e-01 -3.91441774e-02 -1.24529003e-02 7.09823679e+02] [ 3.91449931e-02 9.99233525e-01 -1.78327842e-04 9.15394052e+00] [ 1.24503360e-02 -3.09291370e-04 9.99922444e-01 4.73342286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters 0.017277752634765945 Centerline is valid? [True, True] Translation: X:709.89, Y:9.16, Z:4.73 [[ 9.99342748e-01 -3.40977221e-02 -1.23051514e-02 7.09885233e+02] [ 3.40981446e-02 9.99418474e-01 -1.75519987e-04 9.15734208e+00] [ 1.23039804e-02 -2.44178205e-04 9.99924273e-01 4.73384954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.419254154 meters 0.01661186718652436 Centerline is valid? [True, True] Translation: X:709.95, Y:9.16, Z:4.73 [[ 9.99493965e-01 -2.93420657e-02 -1.22823958e-02 7.09946743e+02] [ 2.93421332e-02 9.99569412e-01 -1.74741269e-04 9.16090716e+00] [ 1.22822344e-02 -1.85738850e-04 9.99924553e-01 4.73437580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters 0.014703243381605915 Centerline is valid? [True, True] Translation: X:710.01, Y:9.16, Z:4.74 [[ 9.99647629e-01 -2.35501097e-02 -1.22478392e-02 7.10008529e+02] [ 2.35497490e-02 9.99722651e-01 -1.73692488e-04 9.16391056e+00] [ 1.22485328e-02 -1.14802256e-04 9.99924977e-01 4.73537675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.539254154 meters 0.015267818787978385 Centerline is valid? [True, True] Translation: X:710.07, Y:9.16, Z:4.73 [[ 9.99705292e-01 -2.00583576e-02 -1.36744858e-02 7.10068834e+02] [ 2.00575888e-02 9.99798808e-01 -1.93380090e-04 9.16379686e+00] [ 1.36756135e-02 -8.09541141e-05 9.99906481e-01 4.73383296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters 0.014496066400262717 Centerline is valid? [True, True] Translation: X:710.13, Y:9.16, Z:4.73 [[ 9.99700056e-01 -2.00393030e-02 -1.40792253e-02 7.10128331e+02] [ 2.00384840e-02 9.99799190e-01 -1.99247826e-04 9.16415900e+00] [ 1.40803909e-02 -8.29382693e-05 9.99900863e-01 4.73476327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.659254154 meters 0.014555420131225197 Centerline is valid? [True, True] Translation: X:710.19, Y:9.16, Z:4.74 [[ 9.99641591e-01 -2.26963405e-02 -1.41973904e-02 7.10187542e+02] [ 2.26957663e-02 9.99742398e-01 -2.01582670e-04 9.16044023e+00] [ 1.41983083e-02 -1.20710235e-04 9.99899192e-01 4.73510112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters 0.015576337604061923 Centerline is valid? [True, True] Translation: X:710.25, Y:9.16, Z:4.73 [[ 9.99539404e-01 -2.69380395e-02 -1.39757277e-02 7.10246444e+02] [ 2.69378870e-02 9.99637089e-01 -1.99197381e-04 9.15519793e+00] [ 1.39760217e-02 -1.77370941e-04 9.99902315e-01 4.73438158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.779254154 meters 0.018139000062064183 Centerline is valid? [True, True] Translation: X:710.31, Y:9.15, Z:4.73 [[ 9.99289653e-01 -3.50126879e-02 -1.39391995e-02 7.10306492e+02] [ 3.50133144e-02 9.99386826e-01 -1.99171350e-04 9.14823444e+00] [ 1.39376258e-02 -2.89027704e-04 9.99902825e-01 4.73488899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters 0.020082773058314143 Centerline is valid? [True, True] Translation: X:710.37, Y:9.14, Z:4.74 [[ 9.98855170e-01 -4.61510665e-02 -1.25868336e-02 7.10366879e+02] [ 4.61524595e-02 9.98934391e-01 -1.79930706e-04 9.13923041e+00] [ 1.25817249e-02 -4.01188609e-04 9.99920766e-01 4.73626107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.899254154 meters 0.02544335782201511 Centerline is valid? [True, True] Translation: X:710.43, Y:9.13, Z:4.74 [[ 9.98475426e-01 -5.37452908e-02 -1.25804744e-02 7.10426505e+02] [ 5.37472834e-02 9.98554554e-01 -1.79896326e-04 9.13099546e+00] [ 1.25719586e-02 -4.96544261e-04 9.99920847e-01 4.73628517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters 0.028970774333481535 Centerline is valid? [True, True] Translation: X:710.49, Y:9.12, Z:4.74 [[ 9.97701050e-01 -6.69090881e-02 -1.07604902e-02 7.10486983e+02] [ 6.69113084e-02 9.97758915e-01 -1.53948956e-04 9.12294213e+00] [ 1.07466756e-02 -5.66403444e-04 9.99942092e-01 4.73852997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.019254154 meters 0.03639705571947005 Centerline is valid? [True, True] Translation: X:710.55, Y:9.11, Z:4.74 [[ 9.96910966e-01 -7.76846263e-02 -1.15596425e-02 7.10546821e+02] [ 7.76879102e-02 9.96977714e-01 -1.65363739e-04 9.11268799e+00] [ 1.15375522e-02 -7.33191546e-04 9.99933171e-01 4.73814229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters 0.037917374000554206 Centerline is valid? [True, True] Translation: X:710.61, Y:9.11, Z:4.74 [[ 9.96398984e-01 -8.39011452e-02 -1.22336313e-02 7.10607940e+02] [ 8.39052917e-02 9.96473718e-01 -1.74828927e-04 9.11172854e+00] [ 1.22051605e-02 -8.52267040e-04 9.99925151e-01 4.73779196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.139254154 meters 0.03898701193311442 Centerline is valid? [True, True] Translation: X:710.67, Y:9.11, Z:4.74 [[ 9.96341923e-01 -8.45672112e-02 -1.22947026e-02 7.10669785e+02] [ 8.45714569e-02 9.96417402e-01 -1.75104307e-04 9.11316267e+00] [ 1.22654637e-02 -8.65317146e-04 9.99924402e-01 4.73819260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.199254154 meters 0.038047146463495364 Centerline is valid? [True, True] Translation: X:710.73, Y:9.12, Z:4.74 [[ 9.96654419e-01 -8.06965621e-02 -1.29627789e-02 7.10730456e+02] [ 8.07009627e-02 9.96738341e-01 -1.84094337e-04 9.11924473e+00] [ 1.29353545e-02 -8.62630300e-04 9.99915963e-01 4.73740742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.259254154 meters 0.03064728955390799 Centerline is valid? [True, True] Translation: X:710.79, Y:9.13, Z:4.74 [[ 9.97139534e-01 -7.43195077e-02 -1.37608624e-02 7.10790900e+02] [ 7.43238621e-02 9.97234138e-01 -1.95409059e-04 9.13352353e+00] [ 1.37373245e-02 -8.27910345e-04 9.99905296e-01 4.73812898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.319254154 meters 0.02683033390214202 Centerline is valid? [True, True] Translation: X:710.85, Y:9.15, Z:4.74 [[ 9.97998780e-01 -6.16935399e-02 -1.38687516e-02 7.10849950e+02] [ 6.16967442e-02 9.98094922e-01 -1.97095139e-04 9.14691273e+00] [ 1.38544901e-02 -6.58956113e-04 9.99903805e-01 4.73873972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.379254154 meters 0.020559544585498763 Centerline is valid? [True, True] Translation: X:710.91, Y:9.16, Z:4.74 [[ 9.98754395e-01 -4.80184767e-02 -1.35603761e-02 7.10909974e+02] [ 4.80202796e-02 9.98846342e-01 -1.92804428e-04 9.16389075e+00] [ 1.35539903e-02 -4.58608781e-04 9.99908035e-01 4.73945555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.439254154 meters 0.01754599974653856 Centerline is valid? [True, True] Translation: X:710.97, Y:9.17, Z:4.74 [[ 9.99105280e-01 -4.01798427e-02 -1.31992334e-02 7.10970897e+02] [ 4.01808693e-02 9.99192405e-01 -1.87510557e-04 9.17390240e+00] [ 1.31961079e-02 -3.43013884e-04 9.99912869e-01 4.74054340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.499254154 meters 0.01585818684928083 Centerline is valid? [True, True] Translation: X:711.03, Y:9.19, Z:4.74 [[ 9.99419575e-01 -3.15239550e-02 -1.29133209e-02 7.11031772e+02] [ 3.15242186e-02 9.99502972e-01 -1.83193107e-04 9.18525619e+00] [ 1.29126776e-02 -2.23995573e-04 9.99916603e-01 4.74208726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.559254154 meters 0.01495305023356933 Centerline is valid? [True, True] Translation: X:711.09, Y:9.19, Z:4.74 [[ 9.99528636e-01 -2.73340123e-02 -1.39770443e-02 7.11093111e+02] [ 2.73339174e-02 9.99626339e-01 -1.97856495e-04 9.19156422e+00] [ 1.39772299e-02 -1.84284144e-04 9.99902297e-01 4.74142296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.619254154 meters 0.015303356184121037 Centerline is valid? [True, True] Translation: X:711.15, Y:9.19, Z:4.74 [[ 9.99496042e-01 -2.77576610e-02 -1.54004837e-02 7.11154080e+02] [ 2.77576052e-02 9.99614660e-01 -2.17414787e-04 9.19289489e+00] [ 1.54005842e-02 -2.10175328e-04 9.99881382e-01 4.74015503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.679254154 meters 0.015151167219851533 Centerline is valid? [True, True] Translation: X:711.22, Y:9.19, Z:4.74 [[ 9.99473381e-01 -2.84758973e-02 -1.55590472e-02 7.11215044e+02] [ 2.84759312e-02 9.99594454e-01 -2.19405939e-04 9.19423213e+00] [ 1.55589851e-02 -2.23767962e-04 9.99878927e-01 4.74072742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.739254154 meters 0.015602133568067852 Centerline is valid? [True, True] Translation: X:711.28, Y:9.20, Z:4.74 [[ 9.99378111e-01 -3.16861282e-02 -1.54719325e-02 7.11275383e+02] [ 3.16865463e-02 9.99497832e-01 -2.18177491e-04 9.19519440e+00] [ 1.54710762e-02 -2.72210298e-04 9.99880279e-01 4.74196626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.799254154 meters 0.01603365629838253 Centerline is valid? [True, True] Translation: X:711.34, Y:9.19, Z:4.74 [[ 9.99341815e-01 -3.32806699e-02 -1.44337664e-02 7.11336959e+02] [ 3.32812041e-02 9.99446007e-01 -2.03253504e-04 9.19437662e+00] [ 1.44325346e-02 -2.77253400e-04 9.99895807e-01 4.74261143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters 0.017521748057826556 Centerline is valid? [True, True] Translation: X:711.40, Y:9.19, Z:4.74 [[ 9.99351207e-01 -3.34258027e-02 -1.34119428e-02 7.11397940e+02] [ 3.34262834e-02 9.99441168e-01 -1.88385277e-04 9.19386634e+00] [ 1.34107447e-02 -2.60048346e-04 9.99910038e-01 4.74279342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.919254154 meters 0.01582367009280557 Centerline is valid? [True, True] Translation: X:711.46, Y:9.19, Z:4.74 [[ 9.99403244e-01 -3.22880497e-02 -1.22734409e-02 7.11459086e+02] [ 3.22883730e-02 9.99478580e-01 -1.71857878e-04 9.19414847e+00] [ 1.22725903e-02 -2.24534118e-04 9.99924664e-01 4.74451993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters 0.015946651226132553 Centerline is valid? [True, True] Translation: X:711.52, Y:9.19, Z:4.74 [[ 9.99440340e-01 -3.09408202e-02 -1.27150407e-02 7.11520029e+02] [ 3.09410727e-02 9.99521195e-01 -1.76905623e-04 9.19249563e+00] [ 1.27144263e-02 -2.16610384e-04 9.99919145e-01 4.74372093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.039254154 meters 0.015514491191944967 Centerline is valid? [True, True] Translation: X:711.58, Y:9.19, Z:4.74 [[ 9.99385190e-01 -3.24978709e-02 -1.31578677e-02 7.11581724e+02] [ 3.24982909e-02 9.99471774e-01 -1.81955155e-04 9.19153551e+00] [ 1.31568305e-02 -2.45764924e-04 9.99913415e-01 4.74315607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters 0.017131974772945625 Centerline is valid? [True, True] Translation: X:711.64, Y:9.19, Z:4.74 [[ 9.99263321e-01 -3.55301636e-02 -1.45059477e-02 7.11642440e+02] [ 3.55310016e-02 9.99368555e-01 -2.00029123e-04 9.18737402e+00] [ 1.45038951e-02 -3.15529086e-04 9.99894763e-01 4.74124443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.159254154 meters 0.018589612632864284 Centerline is valid? [True, True] Translation: X:711.70, Y:9.18, Z:4.74 [[ 9.98985748e-01 -4.22428663e-02 -1.55889253e-02 7.11703689e+02] [ 4.22446574e-02 9.99107273e-01 -2.14533623e-04 9.18166282e+00] [ 1.55840711e-02 -4.44232774e-04 9.99878462e-01 4.73983152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters 0.02226721615276252 Centerline is valid? [True, True] Translation: X:711.76, Y:9.17, Z:4.74 [[ 9.98769507e-01 -4.70815746e-02 -1.55819690e-02 7.11764046e+02] [ 4.70839565e-02 9.98890913e-01 -2.14158375e-04 9.17364583e+00] [ 1.55747702e-02 -5.19765897e-04 9.99878571e-01 4.73875931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.279254154 meters 0.02264390065201789 Centerline is valid? [True, True] Translation: X:711.82, Y:9.17, Z:4.74 [[ 9.98452880e-01 -5.35803894e-02 -1.48656856e-02 7.11824716e+02] [ 5.35832801e-02 9.98563363e-01 -2.04057860e-04 9.17184081e+00] [ 1.48552625e-02 -5.92810038e-04 9.99889479e-01 4.74066749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters 0.024301176985320784 Centerline is valid? [True, True] Translation: X:711.89, Y:9.17, Z:4.74 [[ 9.98156280e-01 -5.89694942e-02 -1.43749578e-02 7.11885801e+02] [ 5.89727584e-02 9.98259573e-01 -1.97070558e-04 9.16919217e+00] [ 1.43615603e-02 -6.51023696e-04 9.99896656e-01 4.74185336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.399254154 meters 0.0254146085524776 Centerline is valid? [True, True] Translation: X:711.95, Y:9.17, Z:4.74 [[ 9.98005496e-01 -6.15636082e-02 -1.39625500e-02 7.11947795e+02] [ 6.15669501e-02 9.98102938e-01 -1.90767819e-04 9.16675701e+00] [ 1.39478066e-02 -6.69244291e-04 9.99902501e-01 4.74226888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters 0.028108283786578765 Centerline is valid? [True, True] Translation: X:712.01, Y:9.16, Z:4.74 [[ 9.97884534e-01 -6.36398596e-02 -1.32825379e-02 7.12008832e+02] [ 6.36430783e-02 9.97972708e-01 -1.80653553e-04 9.16204958e+00] [ 1.32671071e-02 -6.65070212e-04 9.99911767e-01 4.74230693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.519254154 meters 0.028202953584943947 Centerline is valid? [True, True] Translation: X:712.07, Y:9.16, Z:4.74 [[ 9.97940022e-01 -6.29519021e-02 -1.23600728e-02 7.12071233e+02] [ 6.29546456e-02 9.98016375e-01 -1.67369209e-04 9.16149055e+00] [ 1.23460913e-02 -6.11099571e-04 9.99923597e-01 4.74336840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters 0.02558938256869627 Centerline is valid? [True, True] Translation: X:712.13, Y:9.17, Z:4.74 [[ 9.98073615e-01 -6.08015600e-02 -1.23381658e-02 7.12132946e+02] [ 6.08041396e-02 9.98149703e-01 -1.66280912e-04 9.16762102e+00] [ 1.23254467e-02 -5.84250965e-04 9.99923868e-01 4.74296405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.639254154 meters 0.024141788516387427 Centerline is valid? [True, True] Translation: X:712.19, Y:9.17, Z:4.74 [[ 9.98267786e-01 -5.76115066e-02 -1.19306721e-02 7.12193171e+02] [ 5.76137025e-02 9.98338938e-01 -1.59845610e-04 9.16808238e+00] [ 1.19200635e-02 -5.27801471e-04 9.99928814e-01 4.74372380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.699254154 meters 0.02163388324072195 Centerline is valid? [True, True] Translation: X:712.25, Y:9.17, Z:4.74 [[ 9.98418702e-01 -5.48764811e-02 -1.21929022e-02 7.12254924e+02] [ 5.48785840e-02 9.98493022e-01 -1.62290438e-04 9.17352985e+00] [ 1.21834337e-02 -5.07095402e-04 9.99925651e-01 4.74383496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.759254154 meters 0.021522175650921224 Centerline is valid? [True, True] Translation: X:712.32, Y:9.18, Z:4.74 [[ 9.98632846e-01 -5.09289821e-02 -1.17761372e-02 7.12316602e+02] [ 5.09306774e-02 9.98702179e-01 -1.56088858e-04 9.17840925e+00] [ 1.17688033e-02 -4.43891184e-04 9.99930647e-01 4.74315444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.819254154 meters 0.020679538094812062 Centerline is valid? [True, True] Translation: X:712.38, Y:9.18, Z:4.74 [[ 9.98764440e-01 -4.85333766e-02 -1.06819506e-02 7.12376647e+02] [ 4.85346390e-02 9.98821490e-01 -1.41165681e-04 9.17970907e+00] [ 1.06762131e-02 -3.77453354e-04 9.99942936e-01 4.74439596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.879254154 meters 0.0191547966080086 Centerline is valid? [True, True] Translation: X:712.44, Y:9.18, Z:4.75 [[ 9.98836290e-01 -4.72020378e-02 -9.90116412e-03 7.12438511e+02] [ 4.72030606e-02 9.98885306e-01 -1.30491625e-04 9.18479750e+00] [ 9.89628682e-03 -3.37025479e-04 9.99950974e-01 4.74529765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.939254154 meters 0.019003376482842248 Centerline is valid? [True, True] Translation: X:712.50, Y:9.19, Z:4.75 [[ 9.98908793e-01 -4.57637426e-02 -9.32221725e-03 7.12500790e+02] [ 4.57645930e-02 9.98952245e-01 -1.22189466e-04 9.18710001e+00] [ 9.31804170e-03 -3.04571346e-04 9.99956540e-01 4.74579927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.999254154 meters 0.018539517522241374 Centerline is valid? [True, True] Translation: X:712.56, Y:9.19, Z:4.75 [[ 9.99110051e-01 -4.13540243e-02 -8.30365024e-03 7.12561666e+02] [ 4.13545510e-02 9.99144529e-01 -1.08331008e-04 9.19050162e+00] [ 8.30102662e-03 -2.35159128e-04 9.99965518e-01 4.74723213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.059254154 meters 0.01739172133941129 Centerline is valid? [True, True] Translation: X:712.62, Y:9.19, Z:4.75 [[ 9.99298457e-01 -3.65801475e-02 -8.03033750e-03 7.12623513e+02] [ 3.65804886e-02 9.99330705e-01 -1.04453363e-04 9.19494033e+00] [ 8.02878375e-03 -1.89373585e-04 9.99967751e-01 4.74809284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.119254154 meters 0.01481236552902506 Centerline is valid? [True, True] Translation: X:712.68, Y:9.20, Z:4.75 [[ 9.99588460e-01 -2.73322163e-02 -8.70984743e-03 7.12683800e+02] [ 2.73322699e-02 9.99626397e-01 -1.12897947e-04 9.20332021e+00] [ 8.70967916e-03 -1.25208416e-04 9.99962062e-01 4.74814498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.179254154 meters 0.013811077573585264 Centerline is valid? [True, True] Translation: X:712.75, Y:9.21, Z:4.75 [[ 9.99768751e-01 -1.97974019e-02 -8.39688126e-03 7.12745219e+02] [ 1.97971865e-02 9.99804011e-01 -1.08777842e-04 9.20961350e+00] [ 8.39738908e-03 -5.74819374e-05 9.99964740e-01 4.74815233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.239254154 meters 0.015128739929561087 Centerline is valid? [True, True] Translation: X:712.81, Y:9.21, Z:4.75 [[ 9.99822188e-01 -1.66756715e-02 -8.80423862e-03 7.12805294e+02] [ 1.66753164e-02 9.99860951e-01 -1.13752020e-04 9.21159315e+00] [ 8.80491129e-03 -3.30816706e-05 9.99961235e-01 4.74690484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.299254154 meters 0.01445348032300042 Centerline is valid? [True, True] Translation: X:712.87, Y:9.21, Z:4.75 [[ 9.99800396e-01 -1.75797332e-02 -9.49325065e-03 7.12865918e+02] [ 1.75793623e-02 9.99845464e-01 -1.22521579e-04 9.21202644e+00] [ 9.49393749e-03 -4.43881698e-05 9.99954931e-01 4.74753164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters 0.015383748389145517 Centerline is valid? [True, True] Translation: X:712.93, Y:9.21, Z:4.75 [[ 9.99673356e-01 -2.36971635e-02 -9.57216891e-03 7.12925901e+02] [ 2.36970692e-02 9.99719177e-01 -1.23282634e-04 9.20589126e+00] [ 9.57240227e-03 -1.03589984e-04 9.99954178e-01 4.74711505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.419254154 meters 0.015211416177987396 Centerline is valid? [True, True] Translation: X:712.99, Y:9.20, Z:4.75 [[ 9.99504986e-01 -2.97896988e-02 -1.01171133e-02 7.12987586e+02] [ 2.97899152e-02 9.99556174e-01 -1.29338215e-04 9.20251761e+00] [ 1.01164760e-02 -1.72113755e-04 9.99948812e-01 4.74863138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters 0.017800681346796004 Centerline is valid? [True, True] Translation: X:713.05, Y:9.20, Z:4.75 [[ 9.99183463e-01 -3.92107596e-02 -9.74291672e-03 7.13048333e+02] [ 3.92114150e-02 9.99230929e-01 -1.23822362e-04 9.19597897e+00] [ 9.74027889e-03 -2.58312294e-04 9.99952529e-01 4.75048369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.539254154 meters 0.01846325741636308 Centerline is valid? [True, True] Translation: X:713.11, Y:9.19, Z:4.75 [[ 9.99076372e-01 -4.19134801e-02 -9.46901262e-03 7.13110054e+02] [ 4.19142256e-02 9.99121206e-01 -1.19796823e-04 9.19489859e+00] [ 9.46571241e-03 -2.77200155e-04 9.99955161e-01 4.75080450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters 0.02085263119454838 Centerline is valid? [True, True] Translation: X:713.17, Y:9.19, Z:4.75 [[ 9.98759900e-01 -4.89462954e-02 -9.10617280e-03 7.13171604e+02] [ 4.89472838e-02 9.98801357e-01 -1.14430153e-04 9.18780844e+00] [ 9.10085868e-03 -3.31434176e-04 9.99958531e-01 4.75180565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.659254154 meters 0.022531946262343405 Centerline is valid? [True, True] Translation: X:713.23, Y:9.18, Z:4.75 [[ 9.98470845e-01 -5.44801069e-02 -9.37493548e-03 7.13232696e+02] [ 5.44814007e-02 9.98514779e-01 -1.17508870e-04 9.18394246e+00] [ 9.36741352e-03 -3.93430436e-04 9.99956047e-01 4.75265864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters 0.024386600706410258 Centerline is valid? [True, True] Translation: X:713.29, Y:9.18, Z:4.75 [[ 9.98291642e-01 -5.75526453e-02 -1.00742496e-02 7.13294026e+02] [ 5.75542981e-02 9.98342370e-01 -1.26019343e-04 9.18093476e+00] [ 1.00648030e-02 -4.54012309e-04 9.99949246e-01 4.75284147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.779254154 meters 0.023678970363223625 Centerline is valid? [True, True] Translation: X:713.35, Y:9.18, Z:4.75 [[ 9.98078761e-01 -6.10527205e-02 -1.05523412e-02 7.13354944e+02] [ 6.10547324e-02 9.98134411e-01 -1.31671560e-04 9.18128601e+00] [ 1.05406938e-02 -5.12851781e-04 9.99944314e-01 4.75253802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters 0.025784660881583887 Centerline is valid? [True, True] Translation: X:713.42, Y:9.18, Z:4.75 [[ 9.97957703e-01 -6.27331682e-02 -1.20404423e-02 7.13415738e+02] [ 6.27359198e-02 9.98030151e-01 -1.49400317e-04 9.17922529e+00] [ 1.20260968e-02 -6.06273027e-04 9.99927500e-01 4.75203666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.899254154 meters 0.026148137529931694 Centerline is valid? [True, True] Translation: X:713.48, Y:9.18, Z:4.75 [[ 9.98023240e-01 -6.15937678e-02 -1.24828300e-02 7.13477852e+02] [ 6.15966530e-02 9.98101112e-01 -1.53560081e-04 9.18047295e+00] [ 1.24685848e-02 -6.15644018e-04 9.99922075e-01 4.75217662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters 0.022901722957938637 Centerline is valid? [True, True] Translation: X:713.54, Y:9.19, Z:4.75 [[ 9.98317998e-01 -5.65584971e-02 -1.27401321e-02 7.13538924e+02] [ 5.65611012e-02 9.98399127e-01 -1.56111500e-04 9.18777318e+00] [ 1.27285662e-02 -5.64746980e-04 9.99918829e-01 4.75323828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.019254154 meters 0.02046761248861129 Centerline is valid? [True, True] Translation: X:713.60, Y:9.20, Z:4.75 [[ 9.98782866e-01 -4.74202153e-02 -1.35687347e-02 7.13599018e+02] [ 4.74223286e-02 9.98874915e-01 -1.66136193e-04 9.19596889e+00] [ 1.35613470e-02 -4.77527014e-04 9.99907927e-01 4.75358561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters 0.018203949927567666 Centerline is valid? [True, True] Translation: X:713.66, Y:9.20, Z:4.76 [[ 9.99108367e-01 -4.00835866e-02 -1.32581011e-02 7.13660242e+02] [ 4.00849603e-02 9.99196262e-01 -1.62216594e-04 9.20352010e+00] [ 1.32539473e-02 -3.69378499e-04 9.99912094e-01 4.75575271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.139254154 meters 0.01588522975341549 Centerline is valid? [True, True] Translation: X:713.72, Y:9.21, Z:4.76 [[ 9.99488123e-01 -2.93849029e-02 -1.26498713e-02 7.13721276e+02] [ 2.93852996e-02 9.99568147e-01 -1.54548269e-04 9.21250613e+00] [ 1.26489498e-02 -2.17251100e-04 9.99919975e-01 4.75786241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.199254154 meters 0.01746501485924497 Centerline is valid? [True, True] Translation: X:713.78, Y:9.22, Z:4.76 [[ 9.99720449e-01 -2.00025455e-02 -1.26064460e-02 7.13781936e+02] [ 2.00021950e-02 9.99799924e-01 -1.53895826e-04 9.21819186e+00] [ 1.26070020e-02 -9.83037864e-05 9.99920524e-01 4.75666465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.259254154 meters 0.01440642792423634 Centerline is valid? [True, True] Translation: X:713.84, Y:9.22, Z:4.76 [[ 9.99777502e-01 -1.69183513e-02 -1.25982819e-02 7.13841451e+02] [ 1.69177537e-02 9.99856873e-01 -1.54013345e-04 9.22102732e+00] [ 1.25990844e-02 -5.91555543e-05 9.99920627e-01 4.75887935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.319254154 meters 0.014342520594015617 Centerline is valid? [True, True] Translation: X:713.90, Y:9.22, Z:4.76 [[ 9.99793455e-01 -1.49714777e-02 -1.37441955e-02 7.13899890e+02] [ 1.49705538e-02 9.99887921e-01 -1.70111089e-04 9.21950684e+00] [ 1.37452019e-02 -3.56822648e-05 9.99905530e-01 4.75809133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.379254154 meters 0.014390837171930486 Centerline is valid? [True, True] Translation: X:713.96, Y:9.22, Z:4.76 [[ 9.99762629e-01 -1.63039851e-02 -1.44522188e-02 7.13959126e+02] [ 1.63030479e-02 9.99867080e-01 -1.82671035e-04 9.21627141e+00] [ 1.44532760e-02 -5.29875403e-05 9.99895545e-01 4.75790459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.439254154 meters 0.014850631826505686 Centerline is valid? [True, True] Translation: X:714.02, Y:9.21, Z:4.76 [[ 9.99675818e-01 -2.14510569e-02 -1.37153825e-02 7.14017983e+02] [ 2.14506677e-02 9.99769893e-01 -1.75501076e-04 9.20885774e+00] [ 1.37159912e-02 -1.18759932e-04 9.99905924e-01 4.75909035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.499254154 meters 0.01634776594684878 Centerline is valid? [True, True] Translation: X:714.08, Y:9.20, Z:4.76 [[ 9.99482728e-01 -2.93430199e-02 -1.31629949e-02 7.14077322e+02] [ 2.93433362e-02 9.99569377e-01 -1.69148241e-04 9.19604438e+00] [ 1.31622899e-02 -2.17185439e-04 9.99913350e-01 4.75899106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.559254154 meters 0.017511423491190566 Centerline is valid? [True, True] Translation: X:714.14, Y:9.19, Z:4.76 [[ 9.99235959e-01 -3.68988842e-02 -1.28829730e-02 7.14138142e+02] [ 3.68998116e-02 9.99318956e-01 -1.65790360e-04 9.18532416e+00] [ 1.28803166e-02 -3.09715587e-04 9.99916997e-01 4.75959028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.619254154 meters 0.01860525800172547 Centerline is valid? [True, True] Translation: X:714.20, Y:9.18, Z:4.76 [[ 9.99082388e-01 -4.07591822e-02 -1.31556801e-02 7.14198956e+02] [ 4.07604852e-02 9.99168932e-01 -1.69181565e-04 9.17883655e+00] [ 1.31516425e-02 -3.67205582e-04 9.99913446e-01 4.76023601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.679254154 meters 0.020413822315581136 Centerline is valid? [True, True] Translation: X:714.26, Y:9.17, Z:4.76 [[ 9.98927239e-01 -4.45084982e-02 -1.27814322e-02 7.14259038e+02] [ 4.45100362e-02 9.99008924e-01 -1.64249130e-04 9.16835468e+00] [ 1.27760753e-02 -4.04829079e-04 9.99918301e-01 4.76022377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.739254154 meters 0.02035387697804686 Centerline is valid? [True, True] Translation: X:714.32, Y:9.16, Z:4.76 [[ 9.98842493e-01 -4.63423931e-02 -1.28863389e-02 7.14320215e+02] [ 4.63441118e-02 9.98925521e-01 -1.65369956e-04 9.16158928e+00] [ 1.28801564e-02 -4.32027391e-04 9.99916954e-01 4.76018192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.799254154 meters 0.01995984781921291 Centerline is valid? [True, True] Translation: X:714.38, Y:9.16, Z:4.76 [[ 9.98824300e-01 -4.66622580e-02 -1.31396594e-02 7.14382019e+02] [ 4.66640821e-02 9.98910624e-01 -1.67890954e-04 9.15666284e+00] [ 1.31331796e-02 -4.45456582e-04 9.99913657e-01 4.75985967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters 0.02054129292438509 Centerline is valid? [True, True] Translation: X:714.44, Y:9.15, Z:4.76 [[ 9.98781580e-01 -4.73935197e-02 -1.37553486e-02 7.14444608e+02] [ 4.73956025e-02 9.98876182e-01 -1.74715925e-04 9.15312127e+00] [ 1.37481705e-02 -4.77439987e-04 9.99905375e-01 4.75970485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.919254154 meters 0.02125502099301662 Centerline is valid? [True, True] Translation: X:714.51, Y:9.15, Z:4.76 [[ 9.98707288e-01 -4.83625557e-02 -1.56465847e-02 7.14506316e+02] [ 4.83653833e-02 9.98829690e-01 -1.97850107e-04 9.14727668e+00] [ 1.56378419e-02 -5.59158724e-04 9.99877565e-01 4.75835357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters 0.022489071521089334 Centerline is valid? [True, True] Translation: X:714.57, Y:9.14, Z:4.76 [[ 9.98649816e-01 -4.88511748e-02 -1.76665438e-02 7.14565796e+02] [ 4.88548577e-02 9.98805864e-01 -2.23313271e-04 9.14257548e+00] [ 1.76563567e-02 -6.40084726e-04 9.99843909e-01 4.75665896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.039254154 meters 0.023292548365837377 Centerline is valid? [True, True] Translation: X:714.63, Y:9.14, Z:4.76 [[ 9.98667919e-01 -4.83335318e-02 -1.80625785e-02 7.14626000e+02] [ 4.83372787e-02 9.98831044e-01 -2.29339580e-04 9.14033392e+00] [ 1.80525489e-02 -6.44061807e-04 9.99836832e-01 4.75664164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters 0.02173171854275536 Centerline is valid? [True, True] Translation: X:714.69, Y:9.14, Z:4.76 [[ 9.98732210e-01 -4.70457374e-02 -1.79072875e-02 7.14686222e+02] [ 4.70492040e-02 9.98892547e-01 -2.27893756e-04 9.14183556e+00] [ 1.78981775e-02 -6.14918789e-04 9.99839626e-01 4.75782403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.159254154 meters 0.018880117179425383 Centerline is valid? [True, True] Translation: X:714.75, Y:9.14, Z:4.76 [[ 9.98928661e-01 -4.29454223e-02 -1.72401091e-02 7.14746072e+02] [ 4.29480148e-02 9.99077284e-01 -2.20006907e-04 9.14487471e+00] [ 1.72336497e-02 -5.20657257e-04 9.99851354e-01 4.75956710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters 0.01808520583507896 Centerline is valid? [True, True] Translation: X:714.81, Y:9.15, Z:4.76 [[ 9.99093523e-01 -3.88890069e-02 -1.73141001e-02 7.14806294e+02] [ 3.88910029e-02 9.99243434e-01 -2.21533806e-04 9.14676441e+00] [ 1.73096160e-02 -4.52029726e-04 9.99850075e-01 4.76012468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.279254154 meters 0.01779123033277548 Centerline is valid? [True, True] Translation: X:714.87, Y:9.15, Z:4.76 [[ 9.99264960e-01 -3.41645233e-02 -1.73874935e-02 7.14865690e+02] [ 3.41657952e-02 9.99416154e-01 -2.23980760e-04 9.14901728e+00] [ 1.73849941e-02 -3.70241417e-04 9.99848801e-01 4.76076889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters 0.017155812069604905 Centerline is valid? [True, True] Translation: X:714.92, Y:9.15, Z:4.76 [[ 9.99291750e-01 -3.35362109e-02 -1.70681213e-02 7.14923367e+02] [ 3.35373142e-02 9.99437441e-01 -2.21662523e-04 9.14828973e+00] [ 1.70659533e-02 -3.50913419e-04 9.99854304e-01 4.76102644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.399254154 meters 0.017336758456888195 Centerline is valid? [True, True] Translation: X:714.98, Y:9.15, Z:4.76 [[ 9.99221773e-01 -3.54895292e-02 -1.72145556e-02 7.14982424e+02] [ 3.54908845e-02 9.99369974e-01 -2.26863181e-04 9.14694080e+00] [ 1.72117612e-02 -3.84273173e-04 9.99851793e-01 4.76094889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters 0.020528767058056306 Centerline is valid? [True, True] Translation: X:715.04, Y:9.15, Z:4.76 [[ 9.99121576e-01 -3.70981600e-02 -1.94885359e-02 7.15040863e+02] [ 3.71001009e-02 9.99311520e-01 -2.62072274e-04 9.14718403e+00] [ 1.94848408e-02 -4.61184584e-04 9.99810046e-01 4.75978481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.519254154 meters 0.018732092618992297 Centerline is valid? [True, True] Translation: X:715.10, Y:9.15, Z:4.76 [[ 9.98982242e-01 -4.12773771e-02 -1.81839896e-02 7.15099450e+02] [ 4.12796754e-02 9.99147600e-01 -2.49097355e-04 9.14554854e+00] [ 1.81787716e-02 -5.01785353e-04 9.99834627e-01 4.76020167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters 0.02276542910854644 Centerline is valid? [True, True] Translation: X:715.16, Y:9.14, Z:4.76 [[ 9.98734953e-01 -4.61262380e-02 -2.00215998e-02 7.15159372e+02] [ 4.61299548e-02 9.98935409e-01 -2.76412360e-04 9.14246707e+00] [ 2.00130349e-02 -6.47532810e-04 9.99799509e-01 4.75957810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.639254154 meters 0.02152825140752312 Centerline is valid? [True, True] Translation: X:715.22, Y:9.14, Z:4.76 [[ 9.98682948e-01 -4.84915881e-02 -1.67611448e-02 7.15218265e+02] [ 4.84944807e-02 9.98823423e-01 -2.34053550e-04 9.14257664e+00] [ 1.67527736e-02 -5.79077722e-04 9.99859495e-01 4.76117063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.699254154 meters 0.02353280062622231 Centerline is valid? [True, True] Translation: X:715.28, Y:9.14, Z:4.76 [[ 9.98627825e-01 -5.03167418e-02 -1.45152665e-02 7.15277722e+02] [ 5.03190801e-02 9.98733172e-01 -2.04306553e-04 9.14021492e+00] [ 1.45071582e-02 -5.26368649e-04 9.99894627e-01 4.76211774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.759254154 meters 0.023348800513915708 Centerline is valid? [True, True] Translation: X:715.34, Y:9.14, Z:4.76 [[ 9.98659599e-01 -5.00199799e-02 -1.33044238e-02 7.15338553e+02] [ 5.00219165e-02 9.98748103e-01 -1.87373194e-04 9.14192624e+00] [ 1.32971405e-02 -4.78390740e-04 9.99911475e-01 4.76264058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.819254154 meters 0.02237410024694926 Centerline is valid? [True, True] Translation: X:715.40, Y:9.15, Z:4.76 [[ 9.98764904e-01 -4.74807415e-02 -1.46371518e-02 7.15399890e+02] [ 4.74828176e-02 9.98872034e-01 -2.05854112e-04 9.14895723e+00] [ 1.46304157e-02 -4.89413347e-04 9.99892850e-01 4.76281959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.879254154 meters 0.024195557882237713 Centerline is valid? [True, True] Translation: X:715.46, Y:9.15, Z:4.76 [[ 9.98831737e-01 -4.55030530e-02 -1.62675452e-02 7.15460135e+02] [ 4.55053599e-02 9.98964068e-01 -2.28512129e-04 9.15236187e+00] [ 1.62610911e-02 -5.12015332e-04 9.99867649e-01 4.76240460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.939254154 meters 0.020427890833307122 Centerline is valid? [True, True] Translation: X:715.52, Y:9.16, Z:4.76 [[ 9.98955526e-01 -4.35369127e-02 -1.38706522e-02 7.15519854e+02] [ 4.35383968e-02 9.99051735e-01 -1.95102190e-04 9.15582760e+00] [ 1.38659933e-02 -4.09007550e-04 9.99903779e-01 4.76386116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.999254154 meters 0.019397416632747157 Centerline is valid? [True, True] Translation: X:715.58, Y:9.16, Z:4.76 [[ 9.99076242e-01 -4.04659811e-02 -1.44626277e-02 7.15579827e+02] [ 4.04672782e-02 9.99180844e-01 -2.03068757e-04 9.16057115e+00] [ 1.44589979e-02 -3.82382010e-04 9.99895390e-01 4.76293733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.059254154 meters 0.018820935389420403 Centerline is valid? [True, True] Translation: X:715.64, Y:9.17, Z:4.76 [[ 9.99185072e-01 -3.72772584e-02 -1.54789405e-02 7.15639291e+02] [ 3.72783731e-02 9.99304896e-01 -2.16615096e-04 9.16655157e+00] [ 1.54762558e-02 -3.60591148e-04 9.99880171e-01 4.76172514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.119254154 meters 0.01809759024471206 Centerline is valid? [True, True] Translation: X:715.70, Y:9.17, Z:4.76 [[ 9.99204198e-01 -3.65093505e-02 -1.60635712e-02 7.15700161e+02] [ 3.65104538e-02 9.99333246e-01 -2.24673325e-04 9.17238685e+00] [ 1.60610635e-02 -3.61993747e-04 9.99870947e-01 4.76252517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.179254154 meters 0.017582136839806018 Centerline is valid? [True, True] Translation: X:715.76, Y:9.18, Z:4.76 [[ 9.99209498e-01 -3.69140289e-02 -1.47557858e-02 7.15759609e+02] [ 3.69149995e-02 9.99318388e-01 -2.06676686e-04 9.17623438e+00] [ 1.47533573e-02 -3.38196518e-04 9.99891106e-01 4.76397678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.239254154 meters 0.018896174483995158 Centerline is valid? [True, True] Translation: X:715.82, Y:9.18, Z:4.76 [[ 9.99168115e-01 -3.83961272e-02 -1.37409969e-02 7.15819141e+02] [ 3.83971041e-02 9.99262541e-01 -1.92818684e-04 9.17638251e+00] [ 1.37382670e-02 -3.34956208e-04 9.99905569e-01 4.76443777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.299254154 meters 0.019524398590246187 Centerline is valid? [True, True] Translation: X:715.88, Y:9.18, Z:4.77 [[ 9.99009803e-01 -4.26846550e-02 -1.25472563e-02 7.15880113e+02] [ 4.26858087e-02 9.99088530e-01 -1.75967193e-04 9.17743680e+00] [ 1.25433310e-02 -3.59796832e-04 9.99921265e-01 4.76564664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters 0.02187459517045564 Centerline is valid? [True, True] Translation: X:715.94, Y:9.18, Z:4.77 [[ 9.98766804e-01 -4.79633993e-02 -1.28211789e-02 7.15940984e+02] [ 4.79650429e-02 9.98848999e-01 -1.79447694e-04 9.17788786e+00] [ 1.28150287e-02 -4.35741998e-04 9.99917789e-01 4.76548650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.419254154 meters 0.02168126199179344 Centerline is valid? [True, True] Translation: X:716.00, Y:9.18, Z:4.77 [[ 9.98617556e-01 -5.09726192e-02 -1.28362132e-02 7.16001833e+02] [ 5.09745180e-02 9.98699938e-01 -1.79421527e-04 9.17823005e+00] [ 1.28286709e-02 -4.75146293e-04 9.99917596e-01 4.76597421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters 0.021800606757459477 Centerline is valid? [True, True] Translation: X:716.06, Y:9.18, Z:4.77 [[ 9.98605461e-01 -5.12067090e-02 -1.28455092e-02 7.16063798e+02] [ 5.12086372e-02 9.98687961e-01 -1.78978811e-04 9.18123519e+00] [ 1.28378203e-02 -4.79071802e-04 9.99917477e-01 4.76690129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.539254154 meters 0.020379120704703338 Centerline is valid? [True, True] Translation: X:716.13, Y:9.19, Z:4.77 [[ 9.98653337e-01 -5.02847381e-02 -1.27655030e-02 7.16126283e+02] [ 5.02865792e-02 9.98734814e-01 -1.76915738e-04 9.18660469e+00] [ 1.27582484e-02 -4.65255986e-04 9.99918502e-01 4.76741726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters 0.02167101702935598 Centerline is valid? [True, True] Translation: X:716.19, Y:9.19, Z:4.77 [[ 9.98686673e-01 -4.96404212e-02 -1.26790248e-02 7.16187250e+02] [ 4.96422016e-02 9.98767051e-01 -1.74453451e-04 9.18614369e+00] [ 1.26720521e-02 -4.55190367e-04 9.99919603e-01 4.76747816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.659254154 meters 0.020930154342074087 Centerline is valid? [True, True] Translation: X:716.25, Y:9.19, Z:4.77 [[ 9.98696027e-01 -4.93173557e-02 -1.31926144e-02 7.16249246e+02] [ 4.93192731e-02 9.98783048e-01 -1.80155184e-04 9.19023312e+00] [ 1.31854444e-02 -4.70729885e-04 9.99912957e-01 4.76765815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters 0.021059415193509116 Centerline is valid? [True, True] Translation: X:716.31, Y:9.19, Z:4.77 [[ 9.98634942e-01 -4.99475212e-02 -1.52806589e-02 7.16310835e+02] [ 4.99501810e-02 9.98751689e-01 -2.07781692e-04 9.19157229e+00] [ 1.52719621e-02 -5.55773620e-04 9.99883222e-01 4.76606115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.779254154 meters 0.020572151141787776 Centerline is valid? [True, True] Translation: X:716.37, Y:9.19, Z:4.77 [[ 9.98585549e-01 -5.06975753e-02 -1.60204938e-02 7.16372183e+02] [ 5.07006051e-02 9.98713874e-01 -2.17236181e-04 9.19371389e+00] [ 1.60109028e-02 -5.95319818e-04 9.99871640e-01 4.76638734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters 0.021410591399466234 Centerline is valid? [True, True] Translation: X:716.43, Y:9.20, Z:4.77 [[ 9.98565688e-01 -5.11811253e-02 -1.57180963e-02 7.16434461e+02] [ 5.11841161e-02 9.98689212e-01 -2.12210116e-04 9.19557681e+00] [ 1.57083543e-02 -5.92611123e-04 9.99876441e-01 4.76739530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.899254154 meters 0.023927063117466812 Centerline is valid? [True, True] Translation: X:716.50, Y:9.19, Z:4.77 [[ 9.98535833e-01 -5.20162576e-02 -1.48492199e-02 7.16495530e+02] [ 5.20190329e-02 9.98646074e-01 -1.99547719e-04 9.19194083e+00] [ 1.48394948e-02 -5.73186509e-04 9.99889724e-01 4.76767303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters 0.02300270975108451 Centerline is valid? [True, True] Translation: X:716.56, Y:9.20, Z:4.77 [[ 9.98524372e-01 -5.23381952e-02 -1.44841793e-02 7.16557197e+02] [ 5.23408830e-02 9.98629258e-01 -1.93704234e-04 9.19653059e+00] [ 1.44744633e-02 -5.64696335e-04 9.99895080e-01 4.76766826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.019254154 meters 0.022162666194750387 Centerline is valid? [True, True] Translation: X:716.62, Y:9.20, Z:4.77 [[ 9.98638909e-01 -5.01690514e-02 -1.42616921e-02 7.16617385e+02] [ 5.01714453e-02 9.98740602e-01 -1.90104756e-04 9.19934199e+00] [ 1.42532684e-02 -5.25683701e-04 9.99898279e-01 4.76822335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters 0.020296529804976496 Centerline is valid? [True, True] Translation: X:716.68, Y:9.21, Z:4.77 [[ 9.98961476e-01 -4.37420816e-02 -1.27514346e-02 7.16677728e+02] [ 4.37434735e-02 9.99042782e-01 -1.69864841e-04 9.20612864e+00] [ 1.27466590e-02 -3.88103610e-04 9.99918683e-01 4.76999937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.139254154 meters 0.020341944891452 Centerline is valid? [True, True] Translation: X:716.74, Y:9.21, Z:4.77 [[ 9.99222965e-01 -3.76199368e-02 -1.17561676e-02 7.16738548e+02] [ 3.76206974e-02 9.99292079e-01 -1.56519020e-04 9.21108099e+00] [ 1.17537334e-02 -2.85877826e-04 9.99930882e-01 4.77057184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.199254154 meters 0.018029619385735204 Centerline is valid? [True, True] Translation: X:716.80, Y:9.22, Z:4.77 [[ 9.99488248e-01 -2.99908802e-02 -1.11260201e-02 7.16797950e+02] [ 2.99910893e-02 9.99550155e-01 -1.48094523e-04 9.21753022e+00] [ 1.11254566e-02 -1.85662727e-04 9.99938093e-01 4.77137658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.259254154 meters 0.01642551295326897 Centerline is valid? [True, True] Translation: X:716.86, Y:9.22, Z:4.77 [[ 9.99541876e-01 -2.82067853e-02 -1.09734208e-02 7.16858422e+02] [ 2.82068807e-02 9.99602096e-01 -1.46104911e-04 9.21970956e+00] [ 1.09731756e-02 -1.63487996e-04 9.99939780e-01 4.77135882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.319254154 meters 0.017270526832848382 Centerline is valid? [True, True] Translation: X:716.92, Y:9.22, Z:4.77 [[ 9.99489308e-01 -2.94271982e-02 -1.24564475e-02 7.16918708e+02] [ 2.94274187e-02 9.99566906e-01 -1.65627794e-04 9.21726285e+00] [ 1.24559267e-02 -2.01017887e-04 9.99922402e-01 4.76916527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.379254154 meters 0.016734915865461785 Centerline is valid? [True, True] Translation: X:716.98, Y:9.22, Z:4.77 [[ 9.99337303e-01 -3.40180557e-02 -1.29509572e-02 7.16979009e+02] [ 3.40186808e-02 9.99421182e-01 -1.72087771e-04 9.21721905e+00] [ 1.29493151e-02 -2.68600751e-04 9.99916118e-01 4.76999937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.439254154 meters 0.017798620407526024 Centerline is valid? [True, True] Translation: X:717.04, Y:9.21, Z:4.77 [[ 9.99102166e-01 -4.02826625e-02 -1.31213081e-02 7.17039712e+02] [ 4.02838455e-02 9.99188261e-01 -1.74232315e-04 9.21323841e+00] [ 1.31176756e-02 -3.54500866e-04 9.99913897e-01 4.77052020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.499254154 meters 0.02071872217016272 Centerline is valid? [True, True] Translation: X:717.10, Y:9.21, Z:4.77 [[ 9.98654933e-01 -5.04266007e-02 -1.20616069e-02 7.17099861e+02] [ 5.04283394e-02 9.98727669e-01 -1.60129741e-04 9.20558416e+00] [ 1.20543353e-02 -4.48332448e-04 9.99927243e-01 4.77182604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.559254154 meters 0.02394743263622035 Centerline is valid? [True, True] Translation: X:717.16, Y:9.20, Z:4.77 [[ 9.98201344e-01 -5.88995147e-02 -1.11769242e-02 7.17160505e+02] [ 5.89015368e-02 9.98263786e-01 -1.48466326e-04 9.19740057e+00] [ 1.11662633e-02 -5.10138728e-04 9.99937525e-01 4.77231106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.619254154 meters 0.026096956389426457 Centerline is valid? [True, True] Translation: X:717.22, Y:9.19, Z:4.77 [[ 9.97937094e-01 -6.32940750e-02 -1.07431792e-02 7.17221266e+02] [ 6.32961981e-02 9.97994775e-01 -1.42608919e-04 9.19294463e+00] [ 1.07306630e-02 -5.37687669e-04 9.99942280e-01 4.77293305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.679254154 meters 0.031067507198621617 Centerline is valid? [True, True] Translation: X:717.28, Y:9.18, Z:4.77 [[ 9.97572064e-01 -6.89905968e-02 -9.50132501e-03 7.17280547e+02] [ 6.89925164e-02 9.97617169e-01 -1.25981179e-04 9.18492473e+00] [ 9.48737648e-03 -5.29845017e-04 9.99954853e-01 4.77357958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.739254154 meters 0.029146824848098246 Centerline is valid? [True, True] Translation: X:717.34, Y:9.19, Z:4.77 [[ 9.97325579e-01 -7.25080721e-02 -9.17977437e-03 7.17341513e+02] [ 7.25100135e-02 9.97367677e-01 -1.21592675e-04 9.18827315e+00] [ 9.16442669e-03 -5.44358079e-04 9.99957858e-01 4.77447016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.799254154 meters 0.0308297571977166 Centerline is valid? [True, True] Translation: X:717.40, Y:9.19, Z:4.77 [[ 9.97122722e-01 -7.51919594e-02 -9.61486140e-03 7.17402807e+02] [ 7.51942158e-02 9.97168899e-01 -1.27118256e-04 9.18745419e+00] [ 9.59719903e-03 -5.96229462e-04 9.99953768e-01 4.77448381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters 0.03273883478873557 Centerline is valid? [True, True] Translation: X:717.46, Y:9.19, Z:4.77 [[ 9.97239107e-01 -7.34809493e-02 -1.07104704e-02 7.17463323e+02] [ 7.34836547e-02 9.97296412e-01 -1.41255198e-04 9.18944062e+00] [ 1.06918932e-02 -6.46179300e-04 9.99942631e-01 4.77243695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.919254154 meters 0.03200430946251015 Centerline is valid? [True, True] Translation: X:717.52, Y:9.19, Z:4.77 [[ 9.97369769e-01 -7.15795469e-02 -1.13978883e-02 7.17524801e+02] [ 7.15824904e-02 9.97434672e-01 -1.50022413e-04 9.19290332e+00] [ 1.13793875e-02 -6.66261407e-04 9.99935031e-01 4.77268283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters 0.027355843902305277 Centerline is valid? [True, True] Translation: X:717.59, Y:9.20, Z:4.77 [[ 9.97541558e-01 -6.88490124e-02 -1.30634775e-02 7.17586667e+02] [ 6.88526540e-02 9.97626825e-01 -1.71310759e-04 9.20361311e+00] [ 1.30442702e-02 -7.28565497e-04 9.99914654e-01 4.77195756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.039254154 meters 0.028722730777443927 Centerline is valid? [True, True] Translation: X:717.65, Y:9.21, Z:4.77 [[ 9.97849024e-01 -6.39303501e-02 -1.44995077e-02 7.17646228e+02] [ 6.39343239e-02 9.97954090e-01 -1.89773364e-04 9.20772863e+00] [ 1.44819753e-02 -7.37651054e-04 9.99894859e-01 4.77101751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters 0.026955386444632554 Centerline is valid? [True, True] Translation: X:717.71, Y:9.21, Z:4.77 [[ 9.98228952e-01 -5.79843788e-02 -1.32955346e-02 7.17706485e+02] [ 5.79871935e-02 9.98317312e-01 -1.74025922e-04 9.21489379e+00] [ 1.32832532e-02 -5.97253026e-04 9.99911595e-01 4.77287189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.159254154 meters 0.021558008293105398 Centerline is valid? [True, True] Translation: X:717.77, Y:9.23, Z:4.77 [[ 9.98892042e-01 -4.56099055e-02 -1.15941470e-02 7.17766653e+02] [ 4.56112142e-02 9.98959256e-01 -1.51661687e-04 9.23382341e+00] [ 1.15889977e-02 -3.77329468e-04 9.99932774e-01 4.77460685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters 0.01649074810981308 Centerline is valid? [True, True] Translation: X:717.83, Y:9.25, Z:4.78 [[ 9.99383813e-01 -3.36856892e-02 -9.86247538e-03 7.17826965e+02] [ 3.36860565e-02 9.99432455e-01 -1.28928226e-04 9.24567975e+00] [ 9.86122102e-03 -2.03379120e-04 9.99951356e-01 4.77761892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.279254154 meters 0.014956662931377162 Centerline is valid? [True, True] Translation: X:717.89, Y:9.25, Z:4.78 [[ 9.99574642e-01 -2.72470824e-02 -1.03986576e-02 7.17888150e+02] [ 2.72471437e-02 9.99628718e-01 -1.35797121e-04 9.25273309e+00] [ 1.03984968e-02 -1.47594358e-04 9.99945923e-01 4.77776418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters 0.014742911860520437 Centerline is valid? [True, True] Translation: X:717.95, Y:9.26, Z:4.78 [[ 9.99634549e-01 -2.43406972e-02 -1.17600737e-02 7.17949280e+02] [ 2.43405801e-02 9.99703712e-01 -1.53104547e-04 9.25689828e+00] [ 1.17603160e-02 -1.33198422e-04 9.99930836e-01 4.77692548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.399254154 meters 0.015254379618426166 Centerline is valid? [True, True] Translation: X:718.01, Y:9.26, Z:4.78 [[ 9.99539214e-01 -2.73981261e-02 -1.30653284e-02 7.18009743e+02] [ 2.73982463e-02 9.99624583e-01 -1.69823015e-04 9.25612092e+00] [ 1.30650763e-02 -1.88222323e-04 9.99914631e-01 4.77606505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters 0.015602042305821453 Centerline is valid? [True, True] Translation: X:718.07, Y:9.26, Z:4.78 [[ 9.99462458e-01 -3.01660205e-02 -1.28376943e-02 7.18070671e+02] [ 3.01663649e-02 9.99544878e-01 -1.66864229e-04 9.25566536e+00] [ 1.28368852e-02 -2.20492038e-04 9.99917579e-01 4.77650889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.519254154 meters 0.016318623881916027 Centerline is valid? [True, True] Translation: X:718.13, Y:9.25, Z:4.78 [[ 9.99351925e-01 -3.36552966e-02 -1.27691809e-02 7.18131459e+02] [ 3.36559233e-02 9.99433465e-01 -1.65862004e-04 9.25450545e+00] [ 1.27675288e-02 -2.64004059e-04 9.99918457e-01 4.77608932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters 0.016813859415200725 Centerline is valid? [True, True] Translation: X:718.19, Y:9.25, Z:4.78 [[ 9.99261179e-01 -3.62884355e-02 -1.26588494e-02 7.18192420e+02] [ 3.62892655e-02 9.99341314e-01 -1.64197200e-04 9.25300534e+00] [ 1.26564696e-02 -2.95304459e-04 9.99919860e-01 4.77615676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.639254154 meters 0.01832137848894633 Centerline is valid? [True, True] Translation: X:718.25, Y:9.25, Z:4.78 [[ 9.99106706e-01 -4.08721987e-02 -1.07356329e-02 7.18253700e+02] [ 4.08730628e-02 9.99164338e-01 -1.39000709e-04 9.24955079e+00] [ 1.07323428e-02 -2.99921656e-04 9.99942362e-01 4.77701835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.699254154 meters 0.02097147702135272 Centerline is valid? [True, True] Translation: X:718.31, Y:9.25, Z:4.78 [[ 9.98927554e-01 -4.54031526e-02 -9.07164985e-03 7.18314666e+02] [ 4.54039585e-02 9.98968702e-01 -1.17206471e-04 9.24693231e+00] [ 9.06761581e-03 -2.94808039e-04 9.99958845e-01 4.77664268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.759254154 meters 0.021306429730781843 Centerline is valid? [True, True] Translation: X:718.38, Y:9.24, Z:4.78 [[ 9.98754451e-01 -4.90922339e-02 -8.91622251e-03 7.18375119e+02] [ 4.90931606e-02 9.98794197e-01 -1.15036357e-04 9.24319863e+00] [ 8.91111869e-03 -3.22832469e-04 9.99960243e-01 4.77865441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.819254154 meters 0.021861376553692302 Centerline is valid? [True, True] Translation: X:718.44, Y:9.24, Z:4.78 [[ 9.98731344e-01 -4.93653665e-02 -9.93794888e-03 7.18437297e+02] [ 4.93665349e-02 9.98780721e-01 -1.27850407e-04 9.24197616e+00] [ 9.93214313e-03 -3.62913891e-04 9.99950609e-01 4.77782222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.879254154 meters 0.020391254672598887 Centerline is valid? [True, True] Translation: X:718.50, Y:9.25, Z:4.78 [[ 9.98839396e-01 -4.68605629e-02 -1.11331896e-02 7.18499745e+02] [ 4.68618835e-02 9.98901368e-01 -1.42362874e-04 9.24613105e+00] [ 1.11276296e-02 -3.79524588e-04 9.99938014e-01 4.77740231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.939254154 meters 0.019156681191447287 Centerline is valid? [True, True] Translation: X:718.56, Y:9.25, Z:4.78 [[ 9.98974997e-01 -4.34488595e-02 -1.26945780e-02 7.18561174e+02] [ 4.34503113e-02 9.99055576e-01 -1.61548430e-04 9.24920228e+00] [ 1.26896081e-02 -3.90200525e-04 9.99919408e-01 4.77713110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.999254154 meters 0.01818219564551222 Centerline is valid? [True, True] Translation: X:718.62, Y:9.25, Z:4.78 [[ 9.99168993e-01 -3.84694997e-02 -1.34692282e-02 7.18622294e+02] [ 3.84706888e-02 9.99259714e-01 -1.70897986e-04 9.25373760e+00] [ 1.34658315e-02 -3.47414517e-04 9.99909271e-01 4.77686302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.059254154 meters 0.01753766002240986 Centerline is valid? [True, True] Translation: X:718.68, Y:9.26, Z:4.78 [[ 9.99261792e-01 -3.56200538e-02 -1.43903475e-02 7.18683523e+02] [ 3.56211237e-02 9.99365350e-01 -1.82040530e-04 9.25899533e+00] [ 1.43876990e-02 -3.30694202e-04 9.99896437e-01 4.77707141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.119254154 meters 0.019427885982177876 Centerline is valid? [True, True] Translation: X:718.74, Y:9.26, Z:4.78 [[ 9.99218392e-01 -3.66736083e-02 -1.47530475e-02 7.18744166e+02] [ 3.66748579e-02 9.99327234e-01 -1.85931344e-04 9.25809625e+00] [ 1.47499410e-02 -3.55279903e-04 9.99891151e-01 4.77687493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.179254154 meters 0.018466432111797774 Centerline is valid? [True, True] Translation: X:718.81, Y:9.26, Z:4.78 [[ 9.99086009e-01 -4.04931691e-02 -1.36912501e-02 7.18805811e+02] [ 4.04946118e-02 9.99179742e-01 -1.71949274e-04 9.25892219e+00] [ 1.36869825e-02 -3.82629743e-04 9.99906256e-01 4.77944771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.239254154 meters 0.02055587495936112 Centerline is valid? [True, True] Translation: X:718.87, Y:9.25, Z:4.78 [[ 9.98751688e-01 -4.82201522e-02 -1.30339228e-02 7.18866378e+02] [ 4.82221205e-02 9.98836623e-01 -1.63400421e-04 9.25443753e+00] [ 1.30266387e-02 -4.65326953e-04 9.99915041e-01 4.78044338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.299254154 meters 0.023034187227190226 Centerline is valid? [True, True] Translation: X:718.93, Y:9.25, Z:4.78 [[ 9.98641317e-01 -5.05322468e-02 -1.27284271e-02 7.18927334e+02] [ 5.05343164e-02 9.98722313e-01 -1.59178970e-04 9.25081507e+00] [ 1.27202078e-02 -4.84259665e-04 9.99918978e-01 4.78090301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters 0.022427157031701884 Centerline is valid? [True, True] Translation: X:718.99, Y:9.25, Z:4.78 [[ 9.98350273e-01 -5.61614962e-02 -1.19422844e-02 7.18988206e+02] [ 5.61637253e-02 9.98421561e-01 -1.48901934e-04 9.25173308e+00] [ 1.19317968e-02 -5.22066897e-04 9.99928677e-01 4.78237969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.419254154 meters 0.02448554637423494 Centerline is valid? [True, True] Translation: X:719.05, Y:9.25, Z:4.78 [[ 9.98271005e-01 -5.78079977e-02 -1.06412832e-02 7.19049044e+02] [ 5.78098675e-02 9.98327602e-01 -1.32055856e-04 9.24904286e+00] [ 1.06311206e-02 -4.83343639e-04 9.99943371e-01 4.78379094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters 0.022952391780715967 Centerline is valid? [True, True] Translation: X:719.11, Y:9.25, Z:4.79 [[ 9.98306600e-01 -5.72716959e-02 -1.01924484e-02 7.19110929e+02] [ 5.72733945e-02 9.98358524e-01 -1.25385766e-04 9.25262381e+00] [ 1.01828988e-02 -4.58582680e-04 9.99948048e-01 4.78534568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.539254154 meters 0.026065481243978943 Centerline is valid? [True, True] Translation: X:719.17, Y:9.25, Z:4.79 [[ 9.98444633e-01 -5.48048493e-02 -1.02343921e-02 7.19171567e+02] [ 5.48064386e-02 9.98496990e-01 -1.25326498e-04 9.24926935e+00] [ 1.02258782e-02 -4.35779012e-04 9.99947619e-01 4.78525875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters 0.02256979497518949 Centerline is valid? [True, True] Translation: X:719.23, Y:9.26, Z:4.79 [[ 9.98521439e-01 -5.32742811e-02 -1.08068008e-02 7.19233314e+02] [ 5.32759683e-02 9.98579818e-01 -1.31900040e-04 9.25547432e+00] [ 1.07984801e-02 -4.44037762e-04 9.99941596e-01 4.78563974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.659254154 meters 0.021421340076222425 Centerline is valid? [True, True] Translation: X:719.30, Y:9.26, Z:4.78 [[ 9.98597135e-01 -5.13231687e-02 -1.30267089e-02 7.19295358e+02] [ 5.13254687e-02 9.98681967e-01 -1.57917100e-04 9.25951672e+00] [ 1.30176441e-02 -5.10906378e-04 9.99915136e-01 4.78483324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters 0.021411315024475016 Centerline is valid? [True, True] Translation: X:719.36, Y:9.26, Z:4.78 [[ 9.98680159e-01 -4.92416180e-02 -1.46014850e-02 7.19356326e+02] [ 4.92443002e-02 9.98786748e-01 -1.76002212e-04 9.26097004e+00] [ 1.45924364e-02 -5.43269996e-04 9.99893377e-01 4.78430532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.779254154 meters 0.021693821734315555 Centerline is valid? [True, True] Translation: X:719.42, Y:9.26, Z:4.78 [[ 9.98714352e-01 -4.84749131e-02 -1.48265134e-02 7.19419021e+02] [ 4.84776109e-02 9.98824254e-01 -1.77597005e-04 9.26190947e+00] [ 1.48176901e-02 -5.41385268e-04 9.99890065e-01 4.78465891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters 0.020532792452914776 Centerline is valid? [True, True] Translation: X:719.48, Y:9.27, Z:4.79 [[ 9.98734721e-01 -4.81812655e-02 -1.44056679e-02 7.19480735e+02] [ 4.81837986e-02 9.98838472e-01 -1.71384242e-04 9.26648518e+00] [ 1.43971928e-02 -5.22952408e-04 9.99896218e-01 4.78621597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.899254154 meters 0.020148897447153046 Centerline is valid? [True, True] Translation: X:719.54, Y:9.27, Z:4.79 [[ 9.98924323e-01 -4.42370940e-02 -1.39024065e-02 7.19540828e+02] [ 4.42390803e-02 9.99020959e-01 -1.64776123e-04 9.27047015e+00] [ 1.38960847e-02 -4.50430802e-04 9.99903343e-01 4.78718330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters 0.01905906871041989 Centerline is valid? [True, True] Translation: X:719.60, Y:9.28, Z:4.79 [[ 9.99191105e-01 -3.83104870e-02 -1.22246262e-02 7.19600340e+02] [ 3.83115795e-02 9.99265831e-01 -1.44879481e-04 9.27505895e+00] [ 1.22212016e-02 -3.23582450e-04 9.99925266e-01 4.78892395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.019254154 meters 0.017055769322052532 Centerline is valid? [True, True] Translation: X:719.66, Y:9.28, Z:4.79 [[ 9.99327167e-01 -3.47056081e-02 -1.18631747e-02 7.19661994e+02] [ 3.47063852e-02 9.99397542e-01 -1.40421479e-04 9.28144278e+00] [ 1.18609011e-02 -2.71400913e-04 9.99929620e-01 4.79110265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters 0.016332316335485042 Centerline is valid? [True, True] Translation: X:719.72, Y:9.29, Z:4.79 [[ 9.99426470e-01 -3.08421983e-02 -1.39817975e-02 7.19723314e+02] [ 3.08429099e-02 9.99524231e-01 -1.64782946e-04 9.28516608e+00] [ 1.39802276e-02 -2.66550883e-04 9.99902236e-01 4.79084960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.139254154 meters 0.016811119211394648 Centerline is valid? [True, True] Translation: X:719.78, Y:9.28, Z:4.79 [[ 9.99413838e-01 -3.05282659e-02 -1.54921206e-02 7.19784048e+02] [ 3.05291086e-02 9.99533862e-01 -1.82148335e-04 9.28381047e+00] [ 1.54904598e-02 -2.90919066e-04 9.99879973e-01 4.78910465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.199254154 meters 0.016858451577998406 Centerline is valid? [True, True] Translation: X:719.84, Y:9.28, Z:4.79 [[ 9.99308950e-01 -3.24905852e-02 -1.80550135e-02 7.19844151e+02] [ 3.24920489e-02 9.99471971e-01 -2.12348995e-04 9.28217446e+00] [ 1.80523793e-02 -3.74442129e-04 9.99836972e-01 4.78802679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.259254154 meters 0.01753139253660527 Centerline is valid? [True, True] Translation: X:719.90, Y:9.28, Z:4.79 [[ 9.99182235e-01 -3.57120041e-02 -1.89608795e-02 7.19903640e+02] [ 3.57141871e-02 9.99362020e-01 -2.23581230e-04 9.27925056e+00] [ 1.89567674e-02 -4.53774005e-04 9.99820201e-01 4.78838563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.319254154 meters 0.019092142878904043 Centerline is valid? [True, True] Translation: X:719.96, Y:9.28, Z:4.79 [[ 9.99050685e-01 -3.94037165e-02 -1.85762193e-02 7.19963238e+02] [ 3.94064410e-02 9.99223240e-01 -2.19499172e-04 9.27533965e+00] [ 1.85704391e-02 -5.12731891e-04 9.99827423e-01 4.78938910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.379254154 meters 0.019202236737527717 Centerline is valid? [True, True] Translation: X:720.02, Y:9.27, Z:4.79 [[ 9.98982977e-01 -4.09306290e-02 -1.89128384e-02 7.20023582e+02] [ 4.09337242e-02 9.99161839e-01 -2.23599562e-04 9.27446136e+00] [ 1.89061385e-02 -5.50800755e-04 9.99821111e-01 4.79039121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.439254154 meters 0.019097872289988358 Centerline is valid? [True, True] Translation: X:720.08, Y:9.27, Z:4.79 [[ 9.99004673e-01 -4.04134048e-02 -1.88791050e-02 7.20083802e+02] [ 4.04163967e-02 9.99182899e-01 -2.23200744e-04 9.27465496e+00] [ 1.88726991e-02 -5.40046810e-04 9.99821749e-01 4.79165262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.499254154 meters 0.019483462844707217 Centerline is valid? [True, True] Translation: X:720.14, Y:9.28, Z:4.79 [[ 9.99108948e-01 -3.74125280e-02 -1.95349204e-02 7.20144255e+02] [ 3.74151582e-02 9.99299781e-01 -2.30954209e-04 9.27734529e+00] [ 1.95298823e-02 -5.00153720e-04 9.99809149e-01 4.79264425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.559254154 meters 0.017172010559990125 Centerline is valid? [True, True] Translation: X:720.20, Y:9.28, Z:4.80 [[ 9.99197474e-01 -3.55808303e-02 -1.83960093e-02 7.20204309e+02] [ 3.55828484e-02 9.99366706e-01 -2.17704960e-04 9.27847080e+00] [ 1.83921053e-02 -4.37052163e-04 9.99830755e-01 4.79519413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.619254154 meters 0.01672322069338978 Centerline is valid? [True, True] Translation: X:720.27, Y:9.28, Z:4.80 [[ 9.99236867e-01 -3.44494864e-02 -1.84097029e-02 7.20265098e+02] [ 3.44513134e-02 9.99406354e-01 -2.17990961e-04 9.27789553e+00] [ 1.84062837e-02 -4.16413839e-04 9.99830503e-01 4.79636588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.679254154 meters 0.017354196994008385 Centerline is valid? [True, True] Translation: X:720.33, Y:9.27, Z:4.80 [[ 9.99194406e-01 -3.51540733e-02 -1.93579487e-02 7.20325061e+02] [ 3.51562211e-02 9.99381803e-01 -2.29451539e-04 9.27466977e+00] [ 1.93540478e-02 -4.51285630e-04 9.99812591e-01 4.79623172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.739254154 meters 0.018351909666841786 Centerline is valid? [True, True] Translation: X:720.38, Y:9.27, Z:4.80 [[ 9.99132105e-01 -3.59346432e-02 -2.10651003e-02 7.20384189e+02] [ 3.59373347e-02 9.99354014e-01 -2.50893039e-04 9.27150863e+00] [ 2.10605083e-02 -5.06348270e-04 9.99778075e-01 4.79522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.799254154 meters 0.017680847752812756 Centerline is valid? [True, True] Translation: X:720.44, Y:9.27, Z:4.80 [[ 9.99080062e-01 -3.59491985e-02 -2.33813012e-02 7.20443400e+02] [ 3.59524073e-02 9.99353463e-01 -2.83251439e-04 9.27093865e+00] [ 2.33763670e-02 -5.57623198e-04 9.99726580e-01 4.79541150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters 0.018004257549821122 Centerline is valid? [True, True] Translation: X:720.50, Y:9.27, Z:4.80 [[ 9.98977722e-01 -3.68731870e-02 -2.61510917e-02 7.20502519e+02] [ 3.68773400e-02 9.99319747e-01 -3.23612316e-04 9.26988653e+00] [ 2.61452349e-02 -6.41101204e-04 9.99657949e-01 4.79541938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.919254154 meters 0.01747784179797275 Centerline is valid? [True, True] Translation: X:720.56, Y:9.27, Z:4.80 [[ 9.98905318e-01 -3.88408079e-02 -2.60683361e-02 7.20560945e+02] [ 3.88454283e-02 9.99245177e-01 -3.29332175e-04 9.26916779e+00] [ 2.60614507e-02 -6.83664020e-04 9.99660109e-01 4.79764541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters 0.018178832604567735 Centerline is valid? [True, True] Translation: X:720.62, Y:9.27, Z:4.80 [[ 9.98867046e-01 -4.13271559e-02 -2.35942997e-02 7.20619940e+02] [ 4.13314922e-02 9.99145443e-01 -3.04055835e-04 9.26612654e+00] [ 2.35867027e-02 -6.71476260e-04 9.99721570e-01 4.80056068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.039254154 meters 0.018309099847755445 Centerline is valid? [True, True] Translation: X:720.68, Y:9.27, Z:4.80 [[ 9.98980578e-01 -3.94453898e-02 -2.19514590e-02 7.20678097e+02] [ 3.94486289e-02 9.99221559e-01 -2.85621780e-04 9.26507865e+00] [ 2.19456376e-02 -5.80624350e-04 9.99758997e-01 4.80231646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters 0.017767209949685465 Centerline is valid? [True, True] Translation: X:720.74, Y:9.27, Z:4.80 [[ 9.99077554e-01 -3.70846428e-02 -2.16511029e-02 7.20737142e+02] [ 3.70871485e-02 9.99311994e-01 -2.85934243e-04 9.26602286e+00] [ 2.16468106e-02 -5.17307183e-04 9.99765547e-01 4.80295907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.159254154 meters 0.018530165030467415 Centerline is valid? [True, True] Translation: X:720.80, Y:9.26, Z:4.80 [[ 9.99125193e-01 -3.54620161e-02 -2.21651699e-02 7.20795161e+02] [ 3.54641749e-02 9.99370905e-01 -2.95799394e-04 9.26357004e+00] [ 2.21617156e-02 -4.90528838e-04 9.99754279e-01 4.80197122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters 0.01740631414656857 Centerline is valid? [True, True] Translation: X:720.85, Y:9.26, Z:4.80 [[ 9.99091592e-01 -3.64260329e-02 -2.21163886e-02 7.20853769e+02] [ 3.64283202e-02 9.99336224e-01 -2.99581724e-04 9.26362914e+00] [ 2.21126209e-02 -5.06353306e-04 9.99755358e-01 4.80359176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.279254154 meters 0.01938346825461654 Centerline is valid? [True, True] Translation: X:720.91, Y:9.26, Z:4.80 [[ 9.98837867e-01 -4.16194399e-02 -2.43050992e-02 7.20914146e+02] [ 4.16236864e-02 9.99133304e-01 -3.31386959e-04 9.25765935e+00] [ 2.42978262e-02 -6.80665981e-04 9.99704533e-01 4.80275652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters 0.019902472127368898 Centerline is valid? [True, True] Translation: X:720.97, Y:9.25, Z:4.80 [[ 9.98520996e-01 -4.83948806e-02 -2.47741170e-02 7.20974451e+02] [ 4.84013638e-02 9.98827910e-01 -3.38237658e-04 9.25085893e+00] [ 2.47614485e-02 -8.61363645e-04 9.99693017e-01 4.80140924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.399254154 meters 0.021671490544553702 Centerline is valid? [True, True] Translation: X:721.03, Y:9.25, Z:4.80 [[ 9.98339902e-01 -5.17248915e-02 -2.53372486e-02 7.21034011e+02] [ 5.17327232e-02 9.98660906e-01 -3.46728461e-04 9.24663435e+00] [ 2.53212541e-02 -9.64612011e-04 9.99678900e-01 4.80049313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters 0.02109785281822558 Centerline is valid? [True, True] Translation: X:721.09, Y:9.25, Z:4.80 [[ 9.98302681e-01 -5.27447057e-02 -2.46931805e-02 7.21092340e+02] [ 5.27523350e-02 9.98607567e-01 -3.42800774e-04 9.24543475e+00] [ 2.46768778e-02 -9.60403998e-04 9.99695018e-01 4.80200480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.519254154 meters 0.02073318137416895 Centerline is valid? [True, True] Translation: X:721.15, Y:9.25, Z:4.80 [[ 9.98539996e-01 -4.91501677e-02 -2.24084225e-02 7.21151398e+02] [ 4.91554978e-02 9.98791089e-01 -3.13226286e-04 9.24507428e+00] [ 2.23967279e-02 -7.88728191e-04 9.99748851e-01 4.80336594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters 0.020542464840150414 Centerline is valid? [True, True] Translation: X:721.21, Y:9.25, Z:4.81 [[ 9.98746310e-01 -4.51249464e-02 -2.16690536e-02 7.21211105e+02] [ 4.51289670e-02 9.98981123e-01 -3.03675001e-04 9.24760741e+00] [ 2.16606788e-02 -6.74607719e-04 9.99765152e-01 4.80527510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.639254154 meters 0.017548856598095918 Centerline is valid? [True, True] Translation: X:721.27, Y:9.25, Z:4.81 [[ 9.99109285e-01 -3.84943247e-02 -1.72865212e-02 7.21270710e+02] [ 3.84958832e-02 9.99258729e-01 -2.42713999e-04 9.25049820e+00] [ 1.72830503e-02 -4.22962092e-04 9.99850547e-01 4.80626567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.699254154 meters 0.015741319473611026 Centerline is valid? [True, True] Translation: X:721.33, Y:9.25, Z:4.81 [[ 9.99395101e-01 -3.04082725e-02 -1.68750955e-02 7.21330258e+02] [ 3.04085964e-02 9.99537524e-01 -2.37459623e-04 9.25436699e+00] [ 1.68745119e-02 -2.75831982e-04 9.99857577e-01 4.80511437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.759254154 meters 0.014705224636112518 Centerline is valid? [True, True] Translation: X:721.39, Y:9.26, Z:4.81 [[ 9.99524364e-01 -2.59923066e-02 -1.65965348e-02 7.21388970e+02] [ 2.59919668e-02 9.99662124e-01 -2.36216645e-04 9.25646776e+00] [ 1.65970671e-02 -1.95272290e-04 9.99862240e-01 4.80523034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.819254154 meters 0.014398715267587445 Centerline is valid? [True, True] Translation: X:721.45, Y:9.26, Z:4.80 [[ 9.99593424e-01 -2.22899382e-02 -1.77804791e-02 7.21446718e+02] [ 2.22889139e-02 9.99751539e-01 -2.55803060e-04 9.25765821e+00] [ 1.77817631e-02 -1.40608510e-04 9.99841882e-01 4.80346903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.879254154 meters 0.014611677463170105 Centerline is valid? [True, True] Translation: X:721.50, Y:9.26, Z:4.80 [[ 9.99577938e-01 -2.27634631e-02 -1.80491339e-02 7.21504608e+02] [ 2.27624567e-02 9.99740868e-01 -2.61219017e-04 9.25562003e+00] [ 1.80504030e-02 -1.49733863e-04 9.99837067e-01 4.80194354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.939254154 meters 0.014791358625078707 Centerline is valid? [True, True] Translation: X:721.56, Y:9.25, Z:4.80 [[ 9.99566252e-01 -2.39960704e-02 -1.70732621e-02 7.21561394e+02] [ 2.39953200e-02 9.99712040e-01 -2.48839501e-04 9.25403683e+00] [ 1.70743168e-02 -1.60946818e-04 9.99854210e-01 4.80190723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.999254154 meters 0.01723499579625048 Centerline is valid? [True, True] Translation: X:721.62, Y:9.25, Z:4.80 [[ 9.99511300e-01 -2.63923843e-02 -1.67511916e-02 7.21620325e+02] [ 2.63919462e-02 9.99651641e-01 -2.47254062e-04 9.25207406e+00] [ 1.67518818e-02 -1.94963318e-04 9.99859658e-01 4.80229574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.059254154 meters 0.016186467196760774 Centerline is valid? [True, True] Translation: X:721.68, Y:9.25, Z:4.80 [[ 9.99406927e-01 -3.12263962e-02 -1.45157091e-02 7.21679116e+02] [ 3.12265303e-02 9.99512309e-01 -2.17468638e-04 9.24910740e+00] [ 1.45154207e-02 -2.35935566e-04 9.99894618e-01 4.80370916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.119254154 meters 0.018628132898992213 Centerline is valid? [True, True] Translation: X:721.74, Y:9.24, Z:4.81 [[ 9.99234983e-01 -3.72875580e-02 -1.17934658e-02 7.21738074e+02] [ 3.72880537e-02 9.99304543e-01 -1.77927071e-04 9.24273089e+00] [ 1.17918984e-02 -2.61964431e-04 9.99930439e-01 4.80558580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.179254154 meters 0.020549265902981045 Centerline is valid? [True, True] Translation: X:721.80, Y:9.24, Z:4.81 [[ 9.99095655e-01 -4.12769236e-02 -1.02023615e-02 7.21799018e+02] [ 4.12775036e-02 9.99147709e-01 -1.53803389e-04 9.23836040e+00] [ 1.02000146e-02 -2.67463713e-04 9.99947943e-01 4.80685381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.239254154 meters 0.023038627541544423 Centerline is valid? [True, True] Translation: X:721.86, Y:9.23, Z:4.81 [[ 9.98936457e-01 -4.52452717e-02 -8.87809559e-03 7.21858844e+02] [ 4.52458696e-02 9.98975872e-01 -1.33597701e-04 9.23213321e+00] [ 8.87504795e-03 -2.68241541e-04 9.99960580e-01 4.80771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.299254154 meters 0.024013135817204132 Centerline is valid? [True, True] Translation: X:721.92, Y:9.23, Z:4.81 [[ 9.98913044e-01 -4.55059213e-02 -1.00966566e-02 7.21919700e+02] [ 4.55067164e-02 9.98964021e-01 -1.51092222e-04 9.22939449e+00] [ 1.00930722e-02 -3.08537696e-04 9.99949016e-01 4.80583500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters 0.023422009752118687 Centerline is valid? [True, True] Translation: X:721.98, Y:9.23, Z:4.80 [[ 9.98976047e-01 -4.37375299e-02 -1.15709449e-02 7.21981178e+02] [ 4.37384661e-02 9.99043001e-01 -1.72250139e-04 9.23109696e+00] [ 1.15674053e-02 -3.34021617e-04 9.99933040e-01 4.80465855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.419254154 meters 0.017440103637019488 Centerline is valid? [True, True] Translation: X:722.04, Y:9.24, Z:4.81 [[ 9.99134834e-01 -3.98271992e-02 -1.19740243e-02 7.22042101e+02] [ 3.98279262e-02 9.99206538e-01 -1.77832729e-04 9.24285961e+00] [ 1.19716059e-02 -2.99221680e-04 9.99928293e-01 4.80653210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters 0.016529192329574335 Centerline is valid? [True, True] Translation: X:722.10, Y:9.25, Z:4.81 [[ 9.99281544e-01 -3.63334047e-02 -1.07833441e-02 7.22103060e+02] [ 3.63337951e-02 9.99339697e-01 -1.59769976e-04 9.24561199e+00] [ 1.07820288e-02 -2.32144626e-04 9.99941845e-01 4.80793728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.539254154 meters 0.017435110861189505 Centerline is valid? [True, True] Translation: X:722.16, Y:9.25, Z:4.81 [[ 9.99337059e-01 -3.45264177e-02 -1.15485791e-02 7.22164427e+02] [ 3.45267500e-02 9.99403759e-01 -1.70661634e-04 9.24751091e+00] [ 1.15475857e-02 -2.28186408e-04 9.99933298e-01 4.80838948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters 0.01650508558190361 Centerline is valid? [True, True] Translation: X:722.23, Y:9.25, Z:4.81 [[ 9.99309724e-01 -3.51747934e-02 -1.19502903e-02 7.22225825e+02] [ 3.51752008e-02 9.99381146e-01 -1.76150960e-04 9.24829576e+00] [ 1.19490909e-02 -2.44324494e-04 9.99928577e-01 4.80864239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.659254154 meters 0.017824847933563093 Centerline is valid? [True, True] Translation: X:722.29, Y:9.25, Z:4.81 [[ 9.99146338e-01 -3.94139692e-02 -1.23747769e-02 7.22286353e+02] [ 3.94147342e-02 9.99222921e-01 -1.82154133e-04 9.24508483e+00] [ 1.23723401e-02 -3.05749906e-04 9.99923413e-01 4.80837136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters 0.019844085350091946 Centerline is valid? [True, True] Translation: X:722.35, Y:9.24, Z:4.81 [[ 9.98942994e-01 -4.41977210e-02 -1.26275921e-02 7.22346252e+02] [ 4.41989047e-02 9.99022734e-01 -1.85459885e-04 9.24132774e+00] [ 1.26234485e-02 -3.72861889e-04 9.99920252e-01 4.80881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.779254154 meters 0.02351089393252534 Centerline is valid? [True, True] Translation: X:722.41, Y:9.24, Z:4.81 [[ 9.98569525e-01 -5.21193820e-02 -1.19362116e-02 7.22407214e+02] [ 5.21210103e-02 9.98640761e-01 -1.74830447e-04 9.23589191e+00] [ 1.19290995e-02 -4.47547052e-04 9.99928746e-01 4.80983841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters 0.02407157404608756 Centerline is valid? [True, True] Translation: X:722.47, Y:9.23, Z:4.81 [[ 9.98133590e-01 -5.98376434e-02 -1.21980709e-02 7.22468209e+02] [ 5.98399197e-02 9.98207970e-01 -1.78609771e-04 9.23488854e+00] [ 1.21868991e-02 -5.51655169e-04 9.99925585e-01 4.81009207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.899254154 meters 0.02584620710910706 Centerline is valid? [True, True] Translation: X:722.53, Y:9.23, Z:4.81 [[ 9.97743647e-01 -6.56888066e-02 -1.38778860e-02 7.22528799e+02] [ 6.56923182e-02 9.97839906e-01 -2.03159628e-04 9.23479863e+00] [ 1.38612537e-02 -7.08969273e-04 9.99903677e-01 4.80957580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters 0.028589584536985024 Centerline is valid? [True, True] Translation: X:722.59, Y:9.23, Z:4.81 [[ 9.97540233e-01 -6.85015822e-02 -1.48666505e-02 7.22590034e+02] [ 6.85059284e-02 9.97650686e-01 -2.17311434e-04 9.23415267e+00] [ 1.48466103e-02 -8.01676798e-04 9.99889462e-01 4.80974070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.019254154 meters 0.030617471999066413 Centerline is valid? [True, True] Translation: X:722.65, Y:9.23, Z:4.81 [[ 9.97255136e-01 -7.26686752e-02 -1.41935997e-02 7.22650120e+02] [ 7.26730606e-02 9.97355796e-01 -2.07241502e-04 9.23405992e+00] [ 1.41711289e-02 -8.24819678e-04 9.99899244e-01 4.81038073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters 0.029362237815115315 Centerline is valid? [True, True] Translation: X:722.71, Y:9.24, Z:4.81 [[ 9.97182770e-01 -7.35364199e-02 -1.47958840e-02 7.22712401e+02] [ 7.35412894e-02 9.97292150e-01 -2.15441050e-04 9.23843365e+00] [ 1.47716617e-02 -8.73274281e-04 9.99890512e-01 4.81099139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.139254154 meters 0.030701611549322824 Centerline is valid? [True, True] Translation: X:722.77, Y:9.24, Z:4.81 [[ 9.97170887e-01 -7.35820046e-02 -1.53593546e-02 7.22774280e+02] [ 7.35872751e-02 9.97288756e-01 -2.22500360e-04 9.24317314e+00] [ 1.53340837e-02 -9.08382170e-04 9.99882013e-01 4.81069202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.199254154 meters 0.03000624593515275 Centerline is valid? [True, True] Translation: X:722.84, Y:9.25, Z:4.81 [[ 9.97344961e-01 -7.11053779e-02 -1.57179647e-02 7.22835829e+02] [ 7.11106064e-02 9.97468411e-01 -2.26704230e-04 9.25151995e+00] [ 1.56942932e-02 -8.91611682e-04 9.99876439e-01 4.81080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.259254154 meters 0.029336002613846186 Centerline is valid? [True, True] Translation: X:722.90, Y:9.26, Z:4.81 [[ 9.97525554e-01 -6.81805640e-02 -1.71516779e-02 7.22897177e+02] [ 6.81863723e-02 9.97672570e-01 -2.46608272e-04 9.25827641e+00] [ 1.71285725e-02 -9.23512645e-04 9.99852869e-01 4.81054720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.319254154 meters 0.027639716555776125 Centerline is valid? [True, True] Translation: X:722.96, Y:9.27, Z:4.81 [[ 9.97855115e-01 -6.27524162e-02 -1.86360791e-02 7.22957660e+02] [ 6.27583352e-02 9.98028717e-01 -2.67629018e-04 9.27047422e+00] [ 1.86161365e-02 -9.02514313e-04 9.99826297e-01 4.81112111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.379254154 meters 0.022573499307202042 Centerline is valid? [True, True] Translation: X:723.02, Y:9.29, Z:4.81 [[ 9.98226059e-01 -5.66014850e-02 -1.84664020e-02 7.23018154e+02] [ 5.66062476e-02 9.98396546e-01 -2.65114560e-04 9.28758239e+00] [ 1.84517978e-02 -7.80669461e-04 9.99829446e-01 4.81379795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.439254154 meters 0.02315630261922208 Centerline is valid? [True, True] Translation: X:723.08, Y:9.29, Z:4.81 [[ 9.98489798e-01 -5.19580399e-02 -1.78461830e-02 7.23078056e+02] [ 5.19617477e-02 9.98649043e-01 -2.56185801e-04 9.29277241e+00] [ 1.78353845e-02 -6.71519951e-04 9.99840711e-01 4.81400022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.499254154 meters 0.01835840469927657 Centerline is valid? [True, True] Translation: X:723.14, Y:9.31, Z:4.82 [[ 9.98897390e-01 -4.38481223e-02 -1.67733699e-02 7.23138508e+02] [ 4.38502558e-02 9.99038086e-01 -2.40744805e-04 9.30944495e+00] [ 1.67677915e-02 -4.95037202e-04 9.99859288e-01 4.81585327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.559254154 meters 0.0167254152491544 Centerline is valid? [True, True] Translation: X:723.20, Y:9.32, Z:4.82 [[ 9.99290951e-01 -3.43145048e-02 -1.54954791e-02 7.23198202e+02] [ 3.43151800e-02 9.99411036e-01 -2.22384418e-04 9.32054487e+00] [ 1.54939839e-02 -3.09503419e-04 9.99879913e-01 4.81601352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.619254154 meters 0.015296143423113548 Centerline is valid? [True, True] Translation: X:723.26, Y:9.33, Z:4.82 [[ 9.99521171e-01 -2.72861557e-02 -1.45909337e-02 7.23258571e+02] [ 2.72860055e-02 9.99627646e-01 -2.09407009e-04 9.32990807e+00] [ 1.45912146e-02 -1.88821559e-04 9.99893525e-01 4.81734016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.679254154 meters 0.015055725433466276 Centerline is valid? [True, True] Translation: X:723.32, Y:9.33, Z:4.82 [[ 9.99577235e-01 -2.54031174e-02 -1.41432830e-02 7.23319263e+02] [ 2.54027877e-02 9.99677277e-01 -2.02982390e-04 9.33275391e+00] [ 1.41438750e-02 -1.56382240e-04 9.99899958e-01 4.81748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.739254154 meters 0.015372040764721914 Centerline is valid? [True, True] Translation: X:723.38, Y:9.33, Z:4.82 [[ 9.99576907e-01 -2.59521178e-02 -1.31337265e-02 7.23378309e+02] [ 2.59518794e-02 9.99663175e-01 -1.88608559e-04 9.33338924e+00] [ 1.31341975e-02 -1.52316126e-04 9.99913731e-01 4.81756927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.799254154 meters 0.015889998082311632 Centerline is valid? [True, True] Translation: X:723.44, Y:9.33, Z:4.82 [[ 9.99464303e-01 -2.98126962e-02 -1.35022002e-02 7.23439232e+02] [ 2.98127964e-02 9.99555481e-01 -1.93900993e-04 9.33020343e+00] [ 1.35019789e-02 -2.08741225e-04 9.99908822e-01 4.81643283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters 0.01702168216250121 Centerline is valid? [True, True] Translation: X:723.50, Y:9.33, Z:4.82 [[ 9.99344511e-01 -3.38466445e-02 -1.28434245e-02 7.23499742e+02] [ 3.38470711e-02 9.99427007e-01 -1.84215999e-04 9.32668445e+00] [ 1.28423004e-02 -2.50617054e-04 9.99917503e-01 4.81641077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.919254154 meters 0.019021674771770837 Centerline is valid? [True, True] Translation: X:723.56, Y:9.32, Z:4.82 [[ 9.99094943e-01 -4.09742770e-02 -1.14194084e-02 7.23561335e+02] [ 4.09750824e-02 9.99160155e-01 -1.63518423e-04 9.32044259e+00] [ 1.14165179e-02 -3.04540772e-04 9.99934783e-01 4.81743971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters 0.02113423141826155 Centerline is valid? [True, True] Translation: X:723.62, Y:9.31, Z:4.82 [[ 9.98787234e-01 -4.79361726e-02 -1.12331549e-02 7.23622687e+02] [ 4.79373962e-02 9.98850329e-01 -1.60449344e-04 9.31484144e+00] [ 1.12279318e-02 -3.78233439e-04 9.99936893e-01 4.81778090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.039254154 meters 0.022499831603348917 Centerline is valid? [True, True] Translation: X:723.68, Y:9.31, Z:4.82 [[ 9.98518583e-01 -5.31471718e-02 -1.16626220e-02 7.23683753e+02] [ 5.31488498e-02 9.98586587e-01 -1.66234281e-04 9.30928275e+00] [ 1.16549728e-02 -4.53866928e-04 9.99931975e-01 4.81749508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters 0.025641596467452957 Centerline is valid? [True, True] Translation: X:723.74, Y:9.30, Z:4.82 [[ 9.98085286e-01 -6.08356610e-02 -1.11707149e-02 7.23744656e+02] [ 6.08376823e-02 9.98147660e-01 -1.59092553e-04 9.30216222e+00] [ 1.11597014e-02 -5.20812467e-04 9.99937593e-01 4.81682820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.159254154 meters 0.029771789410393327 Centerline is valid? [True, True] Translation: X:723.80, Y:9.29, Z:4.82 [[ 9.97600211e-01 -6.81566908e-02 -1.21854508e-02 7.23804990e+02] [ 6.81596415e-02 9.97674412e-01 -1.73464514e-04 9.29492396e+00] [ 1.21689352e-02 -6.57507722e-04 9.99925740e-01 4.81559897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters 0.03295843058498122 Centerline is valid? [True, True] Translation: X:723.87, Y:9.29, Z:4.82 [[ 9.97310566e-01 -7.23205332e-02 -1.18901713e-02 7.23865980e+02] [ 7.23236386e-02 9.97381202e-01 -1.69163373e-04 9.29052899e+00] [ 1.18712673e-02 -6.91232031e-04 9.99929295e-01 4.81513244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.279254154 meters 0.03654923847404003 Centerline is valid? [True, True] Translation: X:723.93, Y:9.29, Z:4.82 [[ 9.97008805e-01 -7.64664243e-02 -1.12396106e-02 7.23926133e+02] [ 7.64694625e-02 9.97071911e-01 -1.59835011e-04 9.28711563e+00] [ 1.12189220e-02 -7.00130069e-04 9.99936821e-01 4.81595249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters 0.03149993804007816 Centerline is valid? [True, True] Translation: X:723.99, Y:9.30, Z:4.82 [[ 9.96899996e-01 -7.78944585e-02 -1.10838752e-02 7.23988083e+02] [ 7.78975051e-02 9.96961360e-01 -1.57243350e-04 9.29573176e+00] [ 1.10624437e-02 -7.06650332e-04 9.99938560e-01 4.81672514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.399254154 meters 0.031780373103970104 Centerline is valid? [True, True] Translation: X:724.05, Y:9.30, Z:4.82 [[ 9.96969430e-01 -7.68783113e-02 -1.19030011e-02 7.24050306e+02] [ 7.68817636e-02 9.97040203e-01 -1.67948068e-04 9.29871306e+00] [ 1.18806822e-02 -7.47684625e-04 9.99929143e-01 4.81623653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters 0.03219228289640711 Centerline is valid? [True, True] Translation: X:724.11, Y:9.30, Z:4.82 [[ 9.97045440e-01 -7.57201625e-02 -1.29169350e-02 7.24112540e+02] [ 7.57241440e-02 9.97128789e-01 -1.81268906e-04 9.30163533e+00] [ 1.28935734e-02 -7.97390506e-04 9.99916556e-01 4.81606229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.519254154 meters 0.03393862890920611 Centerline is valid? [True, True] Translation: X:724.17, Y:9.30, Z:4.82 [[ 9.97185176e-01 -7.36445959e-02 -1.40783172e-02 7.24173272e+02] [ 7.36491307e-02 9.97284196e-01 -1.96772111e-04 9.30482422e+00] [ 1.40545745e-02 -8.40637592e-04 9.99900876e-01 4.81509319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters 0.03150833789595465 Centerline is valid? [True, True] Translation: X:724.23, Y:9.31, Z:4.82 [[ 9.97458315e-01 -6.99792007e-02 -1.34097563e-02 7.24233869e+02] [ 6.99829894e-02 9.97548167e-01 -1.87080439e-04 9.31301603e+00] [ 1.33899695e-02 -7.51849890e-04 9.99910068e-01 4.81682097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.639254154 meters 0.028879885622936856 Centerline is valid? [True, True] Translation: X:724.29, Y:9.32, Z:4.82 [[ 9.97976396e-01 -6.22411818e-02 -1.30057254e-02 7.24294251e+02] [ 6.22440914e-02 9.98060940e-01 -1.81338987e-04 9.32381865e+00] [ 1.29917933e-02 -6.28557531e-04 9.99915406e-01 4.81835470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.699254154 meters 0.025828503115207277 Centerline is valid? [True, True] Translation: X:724.35, Y:9.33, Z:4.82 [[ 9.98405704e-01 -5.49403731e-02 -1.29462608e-02 7.24354336e+02] [ 5.49426432e-02 9.98489496e-01 -1.80523226e-04 9.33311580e+00] [ 1.29366234e-02 -5.31066368e-04 9.99916177e-01 4.81899678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.759254154 meters 0.019392457573118256 Centerline is valid? [True, True] Translation: X:724.41, Y:9.35, Z:4.82 [[ 9.98969364e-01 -4.35539576e-02 -1.27773878e-02 7.24414772e+02] [ 4.35552380e-02 9.99051004e-01 -1.78180357e-04 9.34965219e+00] [ 1.27730225e-02 -3.78525447e-04 9.99918350e-01 4.81983398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.819254154 meters 0.017190859784530638 Centerline is valid? [True, True] Translation: X:724.48, Y:9.36, Z:4.82 [[ 9.99302094e-01 -3.50941463e-02 -1.27955294e-02 7.24475563e+02] [ 3.50947384e-02 9.99383974e-01 -1.78333983e-04 9.35994537e+00] [ 1.27939055e-02 -2.70846235e-04 9.99918118e-01 4.82031132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.879254154 meters 0.01587736723207237 Centerline is valid? [True, True] Translation: X:724.54, Y:9.37, Z:4.82 [[ 9.99424638e-01 -3.09806540e-02 -1.38054758e-02 7.24537382e+02] [ 3.09809581e-02 9.99519957e-01 -1.91884597e-04 9.36585698e+00] [ 1.38047933e-02 -2.35932673e-04 9.99904681e-01 4.82052134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.939254154 meters 0.015706939894040997 Centerline is valid? [True, True] Translation: X:724.60, Y:9.37, Z:4.82 [[ 9.99511087e-01 -2.73122216e-02 -1.52194029e-02 7.24598036e+02] [ 2.73121747e-02 9.99626931e-01 -2.10970420e-04 9.36923866e+00] [ 1.52194871e-02 -2.04807716e-04 9.99884156e-01 4.81948618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.999254154 meters 0.01508758151668729 Centerline is valid? [True, True] Translation: X:724.66, Y:9.37, Z:4.82 [[ 9.99529614e-01 -2.68186671e-02 -1.48765134e-02 7.24658392e+02] [ 2.68185694e-02 9.99640296e-01 -2.06098064e-04 9.37240203e+00] [ 1.48766895e-02 -1.92965689e-04 9.99889317e-01 4.82099779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.059254154 meters 0.015083548824977535 Centerline is valid? [True, True] Translation: X:724.72, Y:9.37, Z:4.82 [[ 9.99531950e-01 -2.73306077e-02 -1.37447486e-02 7.24718785e+02] [ 2.73305727e-02 9.99626432e-01 -1.90418682e-04 9.37401772e+00] [ 1.37448182e-02 -1.85322294e-04 9.99905518e-01 4.82263702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.119254154 meters 0.015827679164475555 Centerline is valid? [True, True] Translation: X:724.78, Y:9.37, Z:4.82 [[ 9.99415213e-01 -3.18600635e-02 -1.24164651e-02 7.24779787e+02] [ 3.18603856e-02 9.99492314e-01 -1.71912291e-04 9.37083686e+00] [ 1.24156385e-02 -2.23781606e-04 9.99922898e-01 4.82314127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.179254154 meters 0.01753198569176667 Centerline is valid? [True, True] Translation: X:724.84, Y:9.37, Z:4.82 [[ 9.99141645e-01 -3.98143394e-02 -1.14363837e-02 7.24841337e+02] [ 3.98151365e-02 9.99207051e-01 -1.58055636e-04 9.36559473e+00] [ 1.14336082e-02 -2.97421212e-04 9.99934590e-01 4.82332911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.239254154 meters 0.01926854343925726 Centerline is valid? [True, True] Translation: X:724.90, Y:9.36, Z:4.82 [[ 9.98863352e-01 -4.64369804e-02 -1.07522634e-02 7.24902848e+02] [ 4.64380723e-02 9.98921160e-01 -1.48218553e-04 9.36192506e+00] [ 1.07475462e-02 -3.51264303e-04 9.99942182e-01 4.82369512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.299254154 meters 0.023912732108852905 Centerline is valid? [True, True] Translation: X:724.96, Y:9.35, Z:4.82 [[ 9.98367230e-01 -5.60858798e-02 -1.08281302e-02 7.24962867e+02] [ 5.60875567e-02 9.98425843e-01 -1.48978934e-04 9.35144050e+00] [ 1.08194407e-02 -4.58587683e-04 9.99941363e-01 4.82311801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters 0.027303245919230133 Centerline is valid? [True, True] Translation: X:725.02, Y:9.34, Z:4.82 [[ 9.97934933e-01 -6.32071453e-02 -1.14335750e-02 7.25023691e+02] [ 6.32094821e-02 9.98000269e-01 -1.57235819e-04 9.34486543e+00] [ 1.14206494e-02 -5.65799239e-04 9.99934622e-01 4.82230082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.419254154 meters 0.029244874419593128 Centerline is valid? [True, True] Translation: X:725.08, Y:9.34, Z:4.82 [[ 9.97678539e-01 -6.70100311e-02 -1.21320970e-02 7.25084408e+02] [ 6.70129439e-02 9.97752092e-01 -1.66723672e-04 9.34192381e+00] [ 1.21159973e-02 -6.46670904e-04 9.99926390e-01 4.82172736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters 0.02713273798987892 Centerline is valid? [True, True] Translation: X:725.15, Y:9.35, Z:4.82 [[ 9.97688312e-01 -6.67849773e-02 -1.25617819e-02 7.25147600e+02] [ 6.67880921e-02 9.97767168e-01 -1.71853921e-04 9.34644224e+00] [ 1.25452109e-02 -6.67520800e-04 9.99921083e-01 4.82210884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.539254154 meters 0.025055154185024988 Centerline is valid? [True, True] Translation: X:725.21, Y:9.35, Z:4.82 [[ 9.97810337e-01 -6.49976631e-02 -1.22407390e-02 7.25209151e+02] [ 6.50004980e-02 9.97885218e-01 -1.66524883e-04 9.35120061e+00] [ 1.22256762e-02 -6.29493883e-04 9.99925065e-01 4.82285952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters 0.024728491433854072 Centerline is valid? [True, True] Translation: X:725.27, Y:9.36, Z:4.82 [[ 9.98026544e-01 -6.12989209e-02 -1.36183937e-02 7.25271077e+02] [ 6.13020955e-02 9.98119241e-01 -1.84596373e-04 9.35599110e+00] [ 1.36040964e-02 -6.50603992e-04 9.99907248e-01 4.82191764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.659254154 meters 0.024566024444794984 Centerline is valid? [True, True] Translation: X:725.33, Y:9.36, Z:4.82 [[ 9.98086060e-01 -5.99214459e-02 -1.52851899e-02 7.25331970e+02] [ 5.99252979e-02 9.98202843e-01 -2.06288577e-04 9.35849009e+00] [ 1.52700811e-02 -7.10075803e-04 9.99883153e-01 4.82188170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters 0.02407854916554945 Centerline is valid? [True, True] Translation: X:725.39, Y:9.36, Z:4.82 [[ 9.98137774e-01 -5.85808345e-02 -1.70079437e-02 7.25393768e+02] [ 5.85854298e-02 9.98282373e-01 -2.28363753e-04 9.36289627e+00] [ 1.69921081e-02 -7.68479202e-04 9.99855328e-01 4.82163508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.779254154 meters 0.024285014258877104 Centerline is valid? [True, True] Translation: X:725.46, Y:9.37, Z:4.82 [[ 9.98219510e-01 -5.71203639e-02 -1.71777399e-02 7.25455847e+02] [ 5.71248572e-02 9.98367016e-01 -2.29386242e-04 9.36549470e+00] [ 1.71627916e-02 -7.52298119e-04 9.99852425e-01 4.82157762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters 0.021630737960921444 Centerline is valid? [True, True] Translation: X:725.52, Y:9.37, Z:4.82 [[ 9.98474466e-01 -5.26316194e-02 -1.66929034e-02 7.25516772e+02] [ 5.26352471e-02 9.98613780e-01 -2.22254478e-04 9.37421027e+00] [ 1.66814609e-02 -6.56719672e-04 9.99860639e-01 4.82351403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.899254154 meters 0.02070717612459791 Centerline is valid? [True, True] Translation: X:725.58, Y:9.38, Z:4.83 [[ 9.98812713e-01 -4.62507710e-02 -1.52980590e-02 7.25576517e+02] [ 4.62530717e-02 9.98929733e-01 -2.03573744e-04 9.38063829e+00] [ 1.52911014e-02 -5.04250175e-04 9.99882957e-01 4.82581030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters 0.018639543983505348 Centerline is valid? [True, True] Translation: X:725.64, Y:9.39, Z:4.83 [[ 9.99114108e-01 -4.00974734e-02 -1.27746741e-02 7.25637098e+02] [ 4.00985764e-02 9.99195714e-01 -1.69887962e-04 9.38761317e+00] [ 1.27712117e-02 -3.42508786e-04 9.99918386e-01 4.82867751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.019254154 meters 0.017372283889437064 Centerline is valid? [True, True] Translation: X:725.70, Y:9.39, Z:4.83 [[ 9.99300460e-01 -3.54338591e-02 -1.19595853e-02 7.25698852e+02] [ 3.54344967e-02 9.99371988e-01 -1.58649722e-04 9.39201760e+00] [ 1.19576961e-02 -2.65243145e-04 9.99928469e-01 4.82989840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters 0.015909172653187666 Centerline is valid? [True, True] Translation: X:725.76, Y:9.40, Z:4.83 [[ 9.99475271e-01 -2.98670294e-02 -1.25357086e-02 7.25759945e+02] [ 2.98672996e-02 9.99553859e-01 -1.65692515e-04 9.39818157e+00] [ 1.25350647e-02 -2.08802196e-04 9.99921411e-01 4.83039434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.139254154 meters 0.016262175890038224 Centerline is valid? [True, True] Translation: X:725.82, Y:9.40, Z:4.83 [[ 9.99484130e-01 -2.87557986e-02 -1.43030446e-02 7.25821190e+02] [ 2.87560543e-02 9.99586442e-01 -1.87826928e-04 9.39696971e+00] [ 1.43025306e-02 -2.23569094e-04 9.99897689e-01 4.82873158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.199254154 meters 0.017357290562736095 Centerline is valid? [True, True] Translation: X:725.88, Y:9.39, Z:4.83 [[ 9.99363824e-01 -3.18830255e-02 -1.59818430e-02 7.25881150e+02] [ 3.18837721e-02 9.99491562e-01 -2.08142939e-04 9.39271824e+00] [ 1.59803535e-02 -3.01550917e-04 9.99872261e-01 4.82681628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.259254154 meters 0.01791830342225678 Centerline is valid? [True, True] Translation: X:725.94, Y:9.39, Z:4.83 [[ 9.99241511e-01 -3.52399839e-02 -1.65694672e-02 7.25942897e+02] [ 3.52412635e-02 9.99378811e-01 -2.14847536e-04 9.39040451e+00] [ 1.65667456e-02 -3.69244382e-04 9.99862694e-01 4.82758689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.319254154 meters 0.018238602988035445 Centerline is valid? [True, True] Translation: X:726.00, Y:9.39, Z:4.83 [[ 9.99093677e-01 -3.93952973e-02 -1.61194139e-02 7.26003724e+02] [ 3.93970550e-02 9.99223613e-01 -2.08610624e-04 9.38753493e+00] [ 1.61151173e-02 -4.26635880e-04 9.99870052e-01 4.82871316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.379254154 meters 0.018938385723524374 Centerline is valid? [True, True] Translation: X:726.06, Y:9.38, Z:4.83 [[ 9.98955070e-01 -4.27629366e-02 -1.61276254e-02 7.26064612e+02] [ 4.27651436e-02 9.99085131e-01 -2.08163233e-04 9.38483926e+00] [ 1.61217724e-02 -4.81754500e-04 9.99869920e-01 4.82986622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.439254154 meters 0.020170193350934045 Centerline is valid? [True, True] Translation: X:726.13, Y:9.38, Z:4.83 [[ 9.98815139e-01 -4.59138029e-02 -1.61319664e-02 7.26126306e+02] [ 4.59164348e-02 9.98945263e-01 -2.07393517e-04 9.38178022e+00] [ 1.61244737e-02 -5.33574600e-04 9.99869850e-01 4.83102166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.499254154 meters 0.021043474081206662 Centerline is valid? [True, True] Translation: X:726.19, Y:9.38, Z:4.83 [[ 9.98745685e-01 -4.75967609e-02 -1.55436229e-02 7.26188528e+02] [ 4.75994234e-02 9.98866485e-01 -1.98833980e-04 9.37959640e+00] [ 1.55354678e-02 -5.41282908e-04 9.99879171e-01 4.83181509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.559254154 meters 0.019527570760821112 Centerline is valid? [True, True] Translation: X:726.25, Y:9.38, Z:4.83 [[ 9.98755653e-01 -4.74219680e-02 -1.54370481e-02 7.26251147e+02] [ 4.74245908e-02 9.98874802e-01 -1.96331228e-04 9.38181369e+00] [ 1.54289888e-02 -5.36008765e-04 9.99880822e-01 4.83349877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.619254154 meters 0.01799902691027597 Centerline is valid? [True, True] Translation: X:726.31, Y:9.39, Z:4.83 [[ 9.98980525e-01 -4.17755059e-02 -1.71089771e-02 7.26312327e+02] [ 4.17779166e-02 9.99126898e-01 -2.16644564e-04 9.38551426e+00] [ 1.71030897e-02 -4.98353719e-04 9.99853607e-01 4.83278416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.679254154 meters 0.017377757576708945 Centerline is valid? [True, True] Translation: X:726.37, Y:9.39, Z:4.83 [[ 9.99296038e-01 -3.20736381e-02 -1.94604854e-02 7.26372715e+02] [ 3.20749238e-02 9.99485437e-01 -2.46133900e-04 9.39175901e+00] [ 1.94583662e-02 -3.78232957e-04 9.99810597e-01 4.83152859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.739254154 meters 0.014715080625236703 Centerline is valid? [True, True] Translation: X:726.43, Y:9.40, Z:4.83 [[ 9.99552528e-01 -2.35802892e-02 -1.84042038e-02 7.26432923e+02] [ 2.35799956e-02 9.99721926e-01 -2.32987491e-04 9.39693341e+00] [ 1.84045800e-02 -2.01087808e-04 9.99830601e-01 4.83363131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.799254154 meters 0.014209378183159522 Centerline is valid? [True, True] Translation: X:726.49, Y:9.40, Z:4.84 [[ 9.99655816e-01 -1.91820581e-02 -1.78968688e-02 7.26491600e+02] [ 1.91810222e-02 9.99816001e-01 -2.29549943e-04 9.40050434e+00] [ 1.78979791e-02 -1.13809303e-04 9.99839812e-01 4.83522452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters 0.01400723014614627 Centerline is valid? [True, True] Translation: X:726.55, Y:9.40, Z:4.84 [[ 9.99687028e-01 -1.66905934e-02 -1.86352084e-02 7.26549679e+02] [ 1.66889395e-02 9.99860700e-01 -2.44273182e-04 9.40195123e+00] [ 1.86366896e-02 -6.68051349e-05 9.99826320e-01 4.83533099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.919254154 meters 0.014294329100304233 Centerline is valid? [True, True] Translation: X:726.61, Y:9.40, Z:4.83 [[ 9.99632605e-01 -1.86510725e-02 -1.96670564e-02 7.26608865e+02] [ 1.86495044e-02 9.99826048e-01 -2.63150431e-04 9.40071351e+00] [ 1.96685433e-02 -1.03727104e-04 9.99806550e-01 4.83470330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters 0.014812155005879653 Centerline is valid? [True, True] Translation: X:726.67, Y:9.40, Z:4.83 [[ 9.99517246e-01 -2.35092997e-02 -2.03122653e-02 7.26667839e+02] [ 2.35085248e-02 9.99723598e-01 -2.76963274e-04 9.39710331e+00] [ 2.03131621e-02 -2.00681823e-04 9.99793646e-01 4.83395119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.039254154 meters 0.01681540776886706 Centerline is valid? [True, True] Translation: X:726.73, Y:9.39, Z:4.83 [[ 9.99197669e-01 -3.44702511e-02 -2.03916475e-02 7.26728452e+02] [ 3.44717166e-02 9.99405635e-01 -2.79738063e-04 9.39004096e+00] [ 2.03891700e-02 -4.23421471e-04 9.99792030e-01 4.83451068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters 0.021242062464360965 Centerline is valid? [True, True] Translation: X:726.79, Y:9.38, Z:4.84 [[ 9.98688025e-01 -4.72206007e-02 -1.98102043e-02 7.26788397e+02] [ 4.72244878e-02 9.98884265e-01 -2.71810727e-04 9.38107044e+00] [ 1.98009364e-02 -6.64072631e-04 9.99803722e-01 4.83530866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.159254154 meters 0.023915406173680428 Centerline is valid? [True, True] Translation: X:726.85, Y:9.38, Z:4.84 [[ 9.98288147e-01 -5.52782799e-02 -1.91072543e-02 7.26848814e+02] [ 5.52833693e-02 9.98470671e-01 -2.62150565e-04 9.37648740e+00] [ 1.90925242e-02 -7.94611591e-04 9.99817405e-01 4.83693226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters 0.028847099918681826 Centerline is valid? [True, True] Translation: X:726.91, Y:9.37, Z:4.84 [[ 9.97691113e-01 -6.56171969e-02 -1.75164368e-02 7.26908967e+02] [ 6.56230632e-02 9.97844455e-01 -2.40295401e-04 9.36946097e+00] [ 1.74944468e-02 -9.09741650e-04 9.99846547e-01 4.83826067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.279254154 meters 0.03138874867591865 Centerline is valid? [True, True] Translation: X:726.97, Y:9.37, Z:4.84 [[ 9.97179899e-01 -7.33400155e-02 -1.59213800e-02 7.26970104e+02] [ 7.33458470e-02 9.97306542e-01 -2.18127635e-04 9.36696748e+00] [ 1.58944939e-02 -9.50254610e-04 9.99873223e-01 4.84005565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters 0.034849112977887245 Centerline is valid? [True, True] Translation: X:727.03, Y:9.36, Z:4.84 [[ 9.96775839e-01 -7.86998807e-02 -1.56286749e-02 7.27030824e+02] [ 7.87061593e-02 9.96897836e-01 -2.13888874e-04 9.36397229e+00] [ 1.55970252e-02 -1.01687371e-03 9.99877842e-01 4.83969891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.399254154 meters 0.03607570371980936 Centerline is valid? [True, True] Translation: X:727.09, Y:9.36, Z:4.84 [[ 9.96631739e-01 -8.04314330e-02 -1.59987902e-02 7.27091913e+02] [ 8.04382376e-02 9.96759571e-01 -2.18767360e-04 9.36406549e+00] [ 1.59645431e-02 -1.06888400e-03 9.99871987e-01 4.83932356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters 0.031964770991565236 Centerline is valid? [True, True] Translation: X:727.16, Y:9.37, Z:4.84 [[ 9.96641236e-01 -8.02130705e-02 -1.64957846e-02 7.27155126e+02] [ 8.02202948e-02 9.96777134e-01 -2.24341729e-04 9.37215783e+00] [ 1.64606160e-02 -1.09970849e-03 9.99863910e-01 4.83929115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.519254154 meters 0.03666403420943849 Centerline is valid? [True, True] Translation: X:727.22, Y:9.37, Z:4.84 [[ 9.96847664e-01 -7.71151469e-02 -1.86544633e-02 7.27215244e+02] [ 7.71238620e-02 9.97021487e-01 -2.52847898e-04 9.36964908e+00] [ 1.86183992e-02 -1.18665342e-03 9.99825958e-01 4.83597986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters 0.030548098548983396 Centerline is valid? [True, True] Translation: X:727.28, Y:9.38, Z:4.84 [[ 9.97403629e-01 -6.92701006e-02 -1.96889217e-02 7.27275847e+02] [ 6.92782898e-02 9.97597337e-01 -2.66659775e-04 9.38429594e+00] [ 1.96600874e-02 -1.09804740e-03 9.99806119e-01 4.83628883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.639254154 meters 0.025385246108036812 Centerline is valid? [True, True] Translation: X:727.34, Y:9.40, Z:4.84 [[ 9.98138774e-01 -5.79753269e-02 -1.89169003e-02 7.27335982e+02] [ 5.79808640e-02 9.98317662e-01 -2.56081620e-04 9.39963617e+00] [ 1.88999221e-02 -8.41213233e-04 9.99821027e-01 4.83818539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.699254154 meters 0.022886285067273793 Centerline is valid? [True, True] Translation: X:727.40, Y:9.41, Z:4.84 [[ 9.98606622e-01 -4.96954465e-02 -1.77532461e-02 7.27396306e+02] [ 4.96990179e-02 9.98764211e-01 -2.40241728e-04 9.40838457e+00] [ 1.77432458e-02 -6.42411916e-04 9.99842370e-01 4.83950556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.759254154 meters 0.01904867135904221 Centerline is valid? [True, True] Translation: X:727.46, Y:9.42, Z:4.84 [[ 9.99251940e-01 -3.62998359e-02 -1.33372682e-02 7.27456923e+02] [ 3.63006602e-02 9.99340898e-01 -1.80356359e-04 9.42154868e+00] [ 1.33350245e-02 -3.03930201e-04 9.99911038e-01 4.84343347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.819254154 meters 0.01849825102373985 Centerline is valid? [True, True] Translation: X:727.52, Y:9.43, Z:4.84 [[ 9.99633878e-01 -2.38577228e-02 -1.27640031e-02 7.27517712e+02] [ 2.38574660e-02 9.99715355e-01 -1.72405531e-04 9.43214995e+00] [ 1.27644831e-02 -1.32174359e-04 9.99918522e-01 4.84364809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.879254154 meters 0.015992725088351208 Centerline is valid? [True, True] Translation: X:727.58, Y:9.44, Z:4.84 [[ 9.99747713e-01 -1.76087633e-02 -1.39442418e-02 7.27578438e+02] [ 1.76078508e-02 9.99844952e-01 -1.88214047e-04 9.43772296e+00] [ 1.39453940e-02 -5.73615679e-05 9.99902757e-01 4.84355173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.939254154 meters 0.01597542592890007 Centerline is valid? [True, True] Translation: X:727.64, Y:9.44, Z:4.84 [[ 9.99763878e-01 -1.58253853e-02 -1.48910974e-02 7.27637452e+02] [ 1.58241536e-02 9.99874770e-01 -2.00545819e-04 9.43899582e+00] [ 1.48924063e-02 -3.51405467e-05 9.99889101e-01 4.84258299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.999254154 meters 0.018055597551322487 Centerline is valid? [True, True] Translation: X:727.70, Y:9.43, Z:4.84 [[ 9.99710691e-01 -1.81047309e-02 -1.58351814e-02 7.27696351e+02] [ 1.81035930e-02 9.99836093e-01 -2.15213406e-04 9.43496778e+00] [ 1.58364823e-02 -7.15225366e-05 9.99874592e-01 4.84052241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.059254154 meters 0.01612532033478201 Centerline is valid? [True, True] Translation: X:727.76, Y:9.43, Z:4.84 [[ 9.99624341e-01 -2.27246556e-02 -1.53221250e-02 7.27755045e+02] [ 2.27240730e-02 9.99741752e-01 -2.12148569e-04 9.43246998e+00] [ 1.53229891e-02 -1.36112214e-04 9.99882587e-01 4.84206027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.119254154 meters 0.01829253948721597 Centerline is valid? [True, True] Translation: X:727.81, Y:9.43, Z:4.84 [[ 9.99459743e-01 -2.98291431e-02 -1.38001340e-02 7.27814098e+02] [ 2.98293221e-02 9.99554988e-01 -1.92906190e-04 9.42538514e+00] [ 1.37997470e-02 -2.18846671e-04 9.99904755e-01 4.84191172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.179254154 meters 0.019050256376256257 Centerline is valid? [True, True] Translation: X:727.88, Y:9.42, Z:4.84 [[ 9.99315035e-01 -3.44588589e-02 -1.34924803e-02 7.27875834e+02] [ 3.44594519e-02 9.99406079e-01 -1.88598910e-04 9.41994446e+00] [ 1.34909658e-02 -2.76473751e-04 9.99908955e-01 4.84236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.239254154 meters 0.018266621404869808 Centerline is valid? [True, True] Translation: X:727.94, Y:9.42, Z:4.84 [[ 9.99261271e-01 -3.58638244e-02 -1.38093547e-02 7.27938217e+02] [ 3.58645902e-02 9.99356640e-01 -1.92267295e-04 9.41823176e+00] [ 1.38073658e-02 -3.03141587e-04 9.99904628e-01 4.84310750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.299254154 meters 0.01812918571771531 Centerline is valid? [True, True] Translation: X:728.00, Y:9.42, Z:4.84 [[ 9.99227370e-01 -3.66126888e-02 -1.42889270e-02 7.28000245e+02] [ 3.66136004e-02 9.99329478e-01 -1.97889109e-04 9.41608263e+00] [ 1.42865912e-02 -3.25432848e-04 9.99897888e-01 4.84293409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters 0.018720054657579175 Centerline is valid? [True, True] Translation: X:728.06, Y:9.41, Z:4.84 [[ 9.99172139e-01 -3.84426573e-02 -1.33116147e-02 7.28062076e+02] [ 3.84436267e-02 9.99260754e-01 -1.83150221e-04 9.41117286e+00] [ 1.33088149e-02 -3.28748149e-04 9.99911380e-01 4.84271967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.419254154 meters 0.018996900120319717 Centerline is valid? [True, True] Translation: X:728.12, Y:9.41, Z:4.84 [[ 9.99178016e-01 -3.85319635e-02 -1.25928793e-02 7.28123845e+02] [ 3.85328524e-02 9.99257319e-01 -1.72122455e-04 9.40832807e+00] [ 1.25901590e-02 -3.13258584e-04 9.99920692e-01 4.84244180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters 0.018776651462356794 Centerline is valid? [True, True] Translation: X:728.19, Y:9.41, Z:4.84 [[ 9.99264238e-01 -3.61446807e-02 -1.28274681e-02 7.28185398e+02] [ 3.61454169e-02 9.99346526e-01 -1.74515182e-04 9.40827525e+00] [ 1.28253935e-02 -2.89267402e-04 9.99917709e-01 4.84161152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.539254154 meters 0.018407696757178044 Centerline is valid? [True, True] Translation: X:728.25, Y:9.41, Z:4.84 [[ 9.99325535e-01 -3.45085482e-02 -1.25552649e-02 7.28247061e+02] [ 3.45091313e-02 9.99404368e-01 -1.70261240e-04 9.40865567e+00] [ 1.25536621e-02 -2.63124881e-04 9.99921165e-01 4.84183935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters 0.018797646439070753 Centerline is valid? [True, True] Translation: X:728.31, Y:9.41, Z:4.84 [[ 9.99314184e-01 -3.46330137e-02 -1.31040212e-02 7.28308427e+02] [ 3.46336672e-02 9.99400059e-01 -1.77131146e-04 9.40682541e+00] [ 1.31022942e-02 -2.76830643e-04 9.99914123e-01 4.84115104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.659254154 meters 0.020516738089132083 Centerline is valid? [True, True] Translation: X:728.37, Y:9.40, Z:4.84 [[ 9.99158043e-01 -3.84062405e-02 -1.44279673e-02 7.28368249e+02] [ 3.84074313e-02 9.99262143e-01 -1.94647430e-04 9.40170359e+00] [ 1.44247972e-02 -3.59657618e-04 9.99895893e-01 4.83964154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters 0.024421122592611217 Centerline is valid? [True, True] Translation: X:728.43, Y:9.39, Z:4.84 [[ 9.98944878e-01 -4.35073366e-02 -1.47051746e-02 7.28428265e+02] [ 4.35091257e-02 9.99053010e-01 -1.98387227e-04 9.39484054e+00] [ 1.46998802e-02 -4.41631384e-04 9.99891853e-01 4.83813208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.779254154 meters 0.024246333439340784 Centerline is valid? [True, True] Translation: X:728.49, Y:9.39, Z:4.84 [[ 9.98865847e-01 -4.52499065e-02 -1.48143811e-02 7.28489254e+02] [ 4.52519176e-02 9.98975587e-01 -1.99594183e-04 9.39412896e+00] [ 1.48082367e-02 -4.71011340e-04 9.99890241e-01 4.84005335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters 0.026816262072199188 Centerline is valid? [True, True] Translation: X:728.55, Y:9.39, Z:4.84 [[ 9.98837744e-01 -4.60448468e-02 -1.42489489e-02 7.28550683e+02] [ 4.60467964e-02 9.98939265e-01 -1.91395656e-04 9.39177175e+00] [ 1.42426473e-02 -4.64945243e-04 9.99898460e-01 4.84044729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.899254154 meters 0.020167292418663423 Centerline is valid? [True, True] Translation: X:728.61, Y:9.40, Z:4.85 [[ 9.98878543e-01 -4.56845503e-02 -1.24329468e-02 7.28613177e+02] [ 4.56860168e-02 9.98955835e-01 -1.66185689e-04 9.40176711e+00] [ 1.24275569e-02 -4.02012498e-04 9.99922694e-01 4.84665202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters 0.020154449620182008 Centerline is valid? [True, True] Translation: X:728.68, Y:9.40, Z:4.85 [[ 9.99007032e-01 -4.31804632e-02 -1.09725698e-02 7.28675063e+02] [ 4.31814631e-02 9.99067235e-01 -1.45881656e-04 9.40386688e+00] [ 1.09686342e-02 -3.28074816e-04 9.99939789e-01 4.84797546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.019254154 meters 0.018693003969212925 Centerline is valid? [True, True] Translation: X:728.74, Y:9.41, Z:4.85 [[ 9.99196227e-01 -3.83434459e-02 -1.16910559e-02 7.28736824e+02] [ 3.83442584e-02 9.99264577e-01 -1.54727206e-04 9.40818593e+00] [ 1.16883908e-02 -2.93682029e-04 9.99931645e-01 4.84850332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters 0.01771330554633169 Centerline is valid? [True, True] Translation: X:728.80, Y:9.41, Z:4.85 [[ 9.99338966e-01 -3.43687737e-02 -1.18497955e-02 7.28798078e+02] [ 3.43693365e-02 9.99409188e-01 -1.56212061e-04 9.41318801e+00] [ 1.18481633e-02 -2.51160809e-04 9.99929777e-01 4.84907899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.139254154 meters 0.016674229717841507 Centerline is valid? [True, True] Translation: X:728.86, Y:9.42, Z:4.85 [[ 9.99465009e-01 -3.01475508e-02 -1.26815555e-02 7.28859867e+02] [ 3.01478630e-02 9.99545436e-01 -1.66586994e-04 9.41760535e+00] [ 1.26808132e-02 -2.15823929e-04 9.99919572e-01 4.84898484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.199254154 meters 0.016802967363208993 Centerline is valid? [True, True] Translation: X:728.92, Y:9.42, Z:4.85 [[ 9.99451754e-01 -3.00335689e-02 -1.39347176e-02 7.28920801e+02] [ 3.00339442e-02 9.99548863e-01 -1.82382348e-04 9.41750709e+00] [ 1.39339087e-02 -2.36232173e-04 9.99902890e-01 4.84875878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.259254154 meters 0.017724304188902404 Centerline is valid? [True, True] Translation: X:728.98, Y:9.41, Z:4.85 [[ 9.99352467e-01 -3.28321002e-02 -1.47207536e-02 7.28982218e+02] [ 3.28328305e-02 9.99460839e-01 -1.92126830e-04 9.41430974e+00] [ 1.47191246e-02 -2.91321586e-04 9.99891625e-01 4.84809641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.319254154 meters 0.01920343803605535 Centerline is valid? [True, True] Translation: X:729.04, Y:9.41, Z:4.85 [[ 9.99199447e-01 -3.71460663e-02 -1.48537721e-02 7.29042365e+02] [ 3.71472993e-02 9.99309782e-01 -1.92983550e-04 9.40885226e+00] [ 1.48506883e-02 -3.58948460e-04 9.99889658e-01 4.84835419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.379254154 meters 0.02024866734392651 Centerline is valid? [True, True] Translation: X:729.10, Y:9.41, Z:4.85 [[ 9.99099928e-01 -3.96921891e-02 -1.49620850e-02 7.29103217e+02] [ 3.96937355e-02 9.99211874e-01 -1.93718031e-04 9.40522683e+00] [ 1.49579820e-02 -4.00357372e-04 9.99888043e-01 4.84857973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.439254154 meters 0.019345584343275508 Centerline is valid? [True, True] Translation: X:729.16, Y:9.40, Z:4.85 [[ 9.98962102e-01 -4.27250871e-02 -1.57888137e-02 7.29164303e+02] [ 4.27271948e-02 9.99086756e-01 -2.03962689e-04 9.40442206e+00] [ 1.57831089e-02 -4.70860721e-04 9.99875328e-01 4.85004160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.499254154 meters 0.020931923760671996 Centerline is valid? [True, True] Translation: X:729.23, Y:9.40, Z:4.85 [[ 9.98915499e-01 -4.36832070e-02 -1.61121803e-02 7.29225833e+02] [ 4.36855389e-02 9.99045310e-01 -2.07370825e-04 9.39862761e+00] [ 1.61058568e-02 -4.96723347e-04 9.99870169e-01 4.84950734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.559254154 meters 0.01879076719288526 Centerline is valid? [True, True] Translation: X:729.29, Y:9.40, Z:4.85 [[ 9.99036657e-01 -4.09814360e-02 -1.56932941e-02 7.29287759e+02] [ 4.09833287e-02 9.99159810e-01 -2.01116111e-04 9.40110425e+00] [ 1.56883508e-02 -4.42241063e-04 9.99876832e-01 4.85089654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.619254154 meters 0.017855200670475798 Centerline is valid? [True, True] Translation: X:729.35, Y:9.40, Z:4.85 [[ 9.99222316e-01 -3.60559072e-02 -1.59604230e-02 7.29349235e+02] [ 3.60572485e-02 9.99349705e-01 -2.03810547e-04 9.40342377e+00] [ 1.59573926e-02 -3.71836892e-04 9.99872604e-01 4.85128396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.679254154 meters 0.016094680267340695 Centerline is valid? [True, True] Translation: X:729.41, Y:9.41, Z:4.85 [[ 9.99530924e-01 -2.53852465e-02 -1.71324752e-02 7.29409350e+02] [ 2.53852294e-02 9.99677719e-01 -2.18508412e-04 9.40804749e+00] [ 1.71325007e-02 -2.16505899e-04 9.99853205e-01 4.85048975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.739254154 meters 0.015272916433647914 Centerline is valid? [True, True] Translation: X:729.47, Y:9.41, Z:4.85 [[ 9.99720814e-01 -1.60464694e-02 -1.73437072e-02 7.29468659e+02] [ 1.60450033e-02 9.99871246e-01 -2.23685579e-04 9.41171662e+00] [ 1.73450635e-02 -5.46567096e-05 9.99849562e-01 4.85112036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.799254154 meters 0.015180451249340345 Centerline is valid? [True, True] Translation: X:729.53, Y:9.41, Z:4.85 [[ 9.99790396e-01 -1.09027847e-02 -1.73289572e-02 7.29526165e+02] [ 1.09004675e-02 9.99940562e-01 -2.28168553e-04 9.41098273e+00] [ 1.73304149e-02 3.92269922e-05 9.99849816e-01 4.85244815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters 0.01522799603200016 Centerline is valid? [True, True] Translation: X:729.58, Y:9.41, Z:4.85 [[ 9.99754550e-01 -1.21884331e-02 -1.85008648e-02 7.29584093e+02] [ 1.21859536e-02 9.99925718e-01 -2.46752228e-04 9.40594515e+00] [ 1.85024980e-02 2.12409832e-05 9.99828814e-01 4.85124604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.919254154 meters 0.015045181683786272 Centerline is valid? [True, True] Translation: X:729.64, Y:9.40, Z:4.85 [[ 9.99675878e-01 -1.59350496e-02 -1.98548038e-02 7.29642994e+02] [ 1.59329008e-02 9.99873028e-01 -2.66417280e-04 9.40092983e+00] [ 1.98565281e-02 -5.00136913e-05 9.99802838e-01 4.85117865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters 0.016212723922129482 Centerline is valid? [True, True] Translation: X:729.70, Y:9.39, Z:4.85 [[ 9.99466419e-01 -2.44873673e-02 -2.16158943e-02 7.29700473e+02] [ 2.44867735e-02 9.99700111e-01 -2.92193582e-04 9.38931590e+00] [ 2.16165670e-02 -2.37265833e-04 9.99766307e-01 4.84865996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.039254154 meters 0.018392802728285043 Centerline is valid? [True, True] Translation: X:729.76, Y:9.38, Z:4.85 [[ 9.99148343e-01 -3.49910036e-02 -2.18682199e-02 7.29761209e+02] [ 3.49928938e-02 9.99387517e-01 -2.96338075e-04 9.37843594e+00] [ 2.18651952e-02 -4.69146600e-04 9.99760818e-01 4.85102263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters 0.02039722626562699 Centerline is valid? [True, True] Translation: X:729.82, Y:9.37, Z:4.85 [[ 9.98715970e-01 -4.64596268e-02 -2.01968845e-02 7.29822235e+02] [ 4.64635803e-02 9.98919947e-01 -2.73720033e-04 9.36737041e+00] [ 2.01877877e-02 -6.65050998e-04 9.99795985e-01 4.85372830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.159254154 meters 0.02495474348437966 Centerline is valid? [True, True] Translation: X:729.88, Y:9.36, Z:4.86 [[ 9.98210497e-01 -5.70930877e-02 -1.77815359e-02 7.29882459e+02] [ 5.70978335e-02 9.98368559e-01 -2.41089691e-04 9.35517582e+00] [ 1.77662909e-02 -7.74628916e-04 9.99841867e-01 4.85534260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters 0.03017100775960495 Centerline is valid? [True, True] Translation: X:729.94, Y:9.34, Z:4.86 [[ 9.97689381e-01 -6.57991308e-02 -1.69225508e-02 7.29942025e+02] [ 6.58046743e-02 9.97832497e-01 -2.29644470e-04 9.34352336e+00] [ 1.69009815e-02 -8.84469096e-04 9.99856777e-01 4.85599314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.279254154 meters 0.03027548116254628 Centerline is valid? [True, True] Translation: X:730.00, Y:9.34, Z:4.86 [[ 9.97346437e-01 -7.08502656e-02 -1.67429155e-02 7.30002848e+02] [ 7.08564003e-02 9.97486501e-01 -2.27269178e-04 9.34192122e+00] [ 1.67169343e-02 -9.59676618e-04 9.99859802e-01 4.85706306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters 0.03391871180136556 Centerline is valid? [True, True] Translation: X:730.06, Y:9.34, Z:4.86 [[ 9.96977181e-01 -7.57491400e-02 -1.72791093e-02 7.30061978e+02] [ 7.57564013e-02 9.97126327e-01 -2.34869359e-04 9.33600182e+00] [ 1.72472459e-02 -1.07484374e-03 9.99850677e-01 4.85710930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.399254154 meters 0.035217017817956664 Centerline is valid? [True, True] Translation: X:730.12, Y:9.33, Z:4.86 [[ 9.96906814e-01 -7.61546453e-02 -1.94235272e-02 7.30123078e+02] [ 7.61639019e-02 9.97095277e-01 -2.63818055e-04 9.33446406e+00] [ 1.93871981e-02 -1.21636960e-03 9.99811311e-01 4.85568339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters 0.02863212829844687 Centerline is valid? [True, True] Translation: X:730.18, Y:9.35, Z:4.86 [[ 9.97073020e-01 -7.36375219e-02 -2.05647346e-02 7.30183347e+02] [ 7.36473703e-02 9.97284306e-01 -2.79068943e-04 9.34584173e+00] [ 2.05294370e-02 -1.23628651e-03 9.99788485e-01 4.85653761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.519254154 meters 0.02678293867873148 Centerline is valid? [True, True] Translation: X:730.24, Y:9.35, Z:4.86 [[ 9.97397013e-01 -6.85403717e-02 -2.23923234e-02 7.30243410e+02] [ 6.85507647e-02 9.97647583e-01 -3.04044302e-04 9.35302091e+00] [ 2.23604866e-02 -1.23175801e-03 9.99749214e-01 4.85667509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters 0.02533697860925309 Centerline is valid? [True, True] Translation: X:730.30, Y:9.36, Z:4.86 [[ 9.97732895e-01 -6.35760006e-02 -2.20717673e-02 7.30304031e+02] [ 6.35848840e-02 9.97976389e-01 -2.99797354e-04 9.35898856e+00] [ 2.20461625e-02 -1.10431308e-03 9.99756344e-01 4.85790057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.639254154 meters 0.020848304573225656 Centerline is valid? [True, True] Translation: X:730.36, Y:9.37, Z:4.86 [[ 9.98507361e-01 -5.10714417e-02 -1.93586877e-02 7.30364695e+02] [ 5.10759272e-02 9.98694738e-01 -2.62974810e-04 9.37390474e+00] [ 1.93468501e-02 -7.26180642e-04 9.99812568e-01 4.86216425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.699254154 meters 0.020887939361732614 Centerline is valid? [True, True] Translation: X:730.42, Y:9.38, Z:4.86 [[ 9.98687675e-01 -4.77295179e-02 -1.85693285e-02 7.30424503e+02] [ 4.77330678e-02 9.98860096e-01 -2.52260308e-04 9.37644170e+00] [ 1.85602015e-02 -6.34441754e-04 9.99827543e-01 4.86230202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.759254154 meters 0.018751870672805166 Centerline is valid? [True, True] Translation: X:730.49, Y:9.38, Z:4.86 [[ 9.98946131e-01 -4.22455224e-02 -1.79427508e-02 7.30485144e+02] [ 4.22479565e-02 9.99107127e-01 -2.43543124e-04 9.38333360e+00] [ 1.79370188e-02 -5.14758095e-04 9.99838986e-01 4.86349409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.819254154 meters 0.017315042913379604 Centerline is valid? [True, True] Translation: X:730.54, Y:9.39, Z:4.86 [[ 9.99202599e-01 -3.54808970e-02 -1.83104599e-02 7.30543908e+02] [ 3.54822912e-02 9.99370274e-01 -2.48826153e-04 9.39013108e+00] [ 1.83077579e-02 -4.01069332e-04 9.99832319e-01 4.86302313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.879254154 meters 0.016826216604605836 Centerline is valid? [True, True] Translation: X:730.60, Y:9.39, Z:4.86 [[ 9.99250475e-01 -3.39850658e-02 -1.85338230e-02 7.30603107e+02] [ 3.39862246e-02 9.99422270e-01 -2.52541478e-04 9.39406335e+00] [ 1.85316981e-02 -3.77542479e-04 9.99828202e-01 4.86374540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.939254154 meters 0.01642961888499978 Centerline is valid? [True, True] Translation: X:730.66, Y:9.39, Z:4.86 [[ 9.99273467e-01 -3.34717830e-02 -1.82257514e-02 7.30661572e+02] [ 3.34728023e-02 9.99439598e-01 -2.49212689e-04 9.39487753e+00] [ 1.82238792e-02 -3.61035345e-04 9.99833866e-01 4.86402481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.999254154 meters 0.016020419854963535 Centerline is valid? [True, True] Translation: X:730.72, Y:9.40, Z:4.87 [[ 9.99233004e-01 -3.47393306e-02 -1.80715980e-02 7.30720164e+02] [ 3.47404793e-02 9.99396336e-01 -2.50461033e-04 9.39612895e+00] [ 1.80693897e-02 -3.77547046e-04 9.99836664e-01 4.86500695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.059254154 meters 0.017646530732302105 Centerline is valid? [True, True] Translation: X:730.78, Y:9.39, Z:4.86 [[ 9.99113546e-01 -3.79313566e-02 -1.82574499e-02 7.30778926e+02] [ 3.79330173e-02 9.99280251e-01 -2.55464810e-04 9.39114599e+00] [ 1.82539993e-02 -4.37321811e-04 9.99833286e-01 4.86413048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.119254154 meters 0.019356847457422673 Centerline is valid? [True, True] Translation: X:730.84, Y:9.39, Z:4.86 [[ 9.98911307e-01 -4.29528148e-02 -1.82004330e-02 7.30838608e+02] [ 4.29552835e-02 9.99076963e-01 -2.55451053e-04 9.38684372e+00] [ 1.81946057e-02 -5.26631815e-04 9.99834326e-01 4.86452778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.179254154 meters 0.020793212589427425 Centerline is valid? [True, True] Translation: X:730.90, Y:9.38, Z:4.86 [[ 9.98704161e-01 -4.75107103e-02 -1.82409280e-02 7.30899075e+02] [ 4.75139450e-02 9.98870542e-01 -2.56260940e-04 9.38218002e+00] [ 1.82325008e-02 -6.10769583e-04 9.99833588e-01 4.86482716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.239254154 meters 0.021220072378544112 Centerline is valid? [True, True] Translation: X:730.96, Y:9.38, Z:4.87 [[ 9.98351641e-01 -5.45854756e-02 -1.77320905e-02 7.30959574e+02] [ 5.45896455e-02 9.98508843e-01 -2.49149933e-04 9.37775648e+00] [ 1.77192492e-02 -7.19249292e-04 9.99842743e-01 4.86639483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.299254154 meters 0.023607662392656856 Centerline is valid? [True, True] Translation: X:731.02, Y:9.37, Z:4.87 [[ 9.98016359e-01 -6.04696165e-02 -1.75149013e-02 7.31020820e+02] [ 6.04745929e-02 9.98169707e-01 -2.45865960e-04 9.37185521e+00] [ 1.74977114e-02 -8.13828279e-04 9.99846572e-01 4.86706679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters 0.024023138417864673 Centerline is valid? [True, True] Translation: X:731.08, Y:9.37, Z:4.87 [[ 9.97761320e-01 -6.44622841e-02 -1.78034393e-02 7.31082119e+02] [ 6.44680701e-02 9.97919739e-01 -2.49335958e-04 9.36981306e+00] [ 1.77824762e-02 -8.98975596e-04 9.99841475e-01 4.86712008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.419254154 meters 0.026051311450607337 Centerline is valid? [True, True] Translation: X:731.14, Y:9.37, Z:4.87 [[ 9.97490131e-01 -6.85367699e-02 -1.77806075e-02 7.31143662e+02] [ 6.85431983e-02 9.97648118e-01 -2.48348302e-04 9.36797995e+00] [ 1.77558106e-02 -9.71014726e-04 9.99841882e-01 4.86717352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters 0.030151509990305518 Centerline is valid? [True, True] Translation: X:731.20, Y:9.36, Z:4.87 [[ 9.97267831e-01 -7.19986751e-02 -1.65246471e-02 7.31203711e+02] [ 7.20047046e-02 9.97404266e-01 -2.30572351e-04 9.36438431e+00] [ 1.64983544e-02 -9.59909944e-04 9.99863432e-01 4.86747962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.539254154 meters 0.02894371373924059 Centerline is valid? [True, True] Translation: X:731.27, Y:9.37, Z:4.87 [[ 9.97178398e-01 -7.35393987e-02 -1.50731373e-02 7.31265248e+02] [ 7.35445953e-02 9.97291907e-01 -2.10008513e-04 9.36889545e+00] [ 1.50477617e-02 -8.99131826e-04 9.99886372e-01 4.86924452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters 0.029570226689792953 Centerline is valid? [True, True] Translation: X:731.33, Y:9.37, Z:4.87 [[ 9.97174232e-01 -7.34641328e-02 -1.57026360e-02 7.31327217e+02] [ 7.34697778e-02 9.97297420e-01 -2.17854328e-04 9.37407407e+00] [ 1.56762028e-02 -9.36430456e-04 9.99876682e-01 4.86904982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.659254154 meters 0.030181435764514042 Centerline is valid? [True, True] Translation: X:731.39, Y:9.38, Z:4.87 [[ 9.97250976e-01 -7.21976676e-02 -1.66729756e-02 7.31388179e+02] [ 7.22038704e-02 9.97389868e-01 -2.30427447e-04 9.37743554e+00] [ 1.66460933e-02 -9.74059376e-04 9.99860970e-01 4.86808961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters 0.02914219190682516 Centerline is valid? [True, True] Translation: X:731.45, Y:9.39, Z:4.87 [[ 9.97476870e-01 -6.84831416e-02 -1.87070174e-02 7.31448509e+02] [ 6.84903045e-02 9.97651749e-01 -2.58265108e-04 9.38647413e+00] [ 1.86807754e-02 -1.02363584e-03 9.99824975e-01 4.86695848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.779254154 meters 0.025998641630546233 Centerline is valid? [True, True] Translation: X:731.51, Y:9.40, Z:4.87 [[ 9.97823147e-01 -6.37373806e-02 -1.69267330e-02 7.31509029e+02] [ 6.37425646e-02 9.97966348e-01 -2.33627071e-04 9.39570237e+00] [ 1.69072007e-02 -8.45834870e-04 9.99856705e-01 4.87006416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters 0.024928733340549743 Centerline is valid? [True, True] Translation: X:731.57, Y:9.40, Z:4.87 [[ 9.98172233e-01 -5.83201283e-02 -1.58415847e-02 7.31568299e+02] [ 5.83239864e-02 9.98297683e-01 -2.18739692e-04 9.40223345e+00] [ 1.58273742e-02 -7.05604483e-04 9.99874490e-01 4.87156644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.899254154 meters 0.017983789989644047 Centerline is valid? [True, True] Translation: X:731.63, Y:9.42, Z:4.87 [[ 9.98945041e-01 -4.37277316e-02 -1.40246563e-02 7.31629024e+02] [ 4.37293179e-02 9.99043397e-01 -1.93677528e-04 9.42421680e+00] [ 1.40197093e-02 -4.19815447e-04 9.99901631e-01 4.87427223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters 0.016646635175675172 Centerline is valid? [True, True] Translation: X:731.69, Y:9.43, Z:4.87 [[ 9.99259592e-01 -3.61707201e-02 -1.31128812e-02 7.31689693e+02] [ 3.61714586e-02 9.99345582e-01 -1.80919063e-04 9.43222674e+00] [ 1.31108439e-02 -2.93526931e-04 9.99914006e-01 4.87484474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.019254154 meters 0.015426684444523333 Centerline is valid? [True, True] Translation: X:731.75, Y:9.44, Z:4.88 [[ 9.99542931e-01 -2.82215202e-02 -1.08385713e-02 7.31750630e+02] [ 2.82215594e-02 9.99601681e-01 -1.49361555e-04 9.44148175e+00] [ 1.08384693e-02 -1.56588097e-04 9.99941250e-01 4.87641345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters 0.015084754871396117 Centerline is valid? [True, True] Translation: X:731.81, Y:9.44, Z:4.88 [[ 9.99577384e-01 -2.68477958e-02 -1.11467081e-02 7.31811922e+02] [ 2.68477551e-02 9.99639522e-01 -1.53316045e-04 9.44487739e+00] [ 1.11468061e-02 -1.46012837e-04 9.99937862e-01 4.87606588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.139254154 meters 0.015946678453373372 Centerline is valid? [True, True] Translation: X:731.87, Y:9.44, Z:4.87 [[ 9.99405622e-01 -3.19274067e-02 -1.30016576e-02 7.31872377e+02] [ 3.19277863e-02 9.99490162e-01 -1.78424611e-04 9.44144291e+00] [ 1.30007255e-02 -2.36795587e-04 9.99915459e-01 4.87380403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.199254154 meters 0.017826017701865694 Centerline is valid? [True, True] Translation: X:731.93, Y:9.44, Z:4.87 [[ 9.99123949e-01 -3.95626736e-02 -1.36429462e-02 7.31933709e+02] [ 3.95638080e-02 9.99217029e-01 -1.86842550e-04 9.43607380e+00] [ 1.36396562e-02 -3.53088037e-04 9.99906913e-01 4.87374339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.259254154 meters 0.019674666566849953 Centerline is valid? [True, True] Translation: X:731.99, Y:9.43, Z:4.88 [[ 9.98856123e-01 -4.62276472e-02 -1.22250093e-02 7.31994579e+02] [ 4.62290605e-02 9.98930851e-01 -1.67101427e-04 9.43107793e+00] [ 1.22196636e-02 -3.98240410e-04 9.99925258e-01 4.87512157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.319254154 meters 0.02075671854143538 Centerline is valid? [True, True] Translation: X:732.06, Y:9.43, Z:4.88 [[ 9.98717601e-01 -4.93489998e-02 -1.13062045e-02 7.32056526e+02] [ 4.93504135e-02 9.98781514e-01 -1.54084807e-04 9.42838192e+00] [ 1.13000319e-02 -4.04078656e-04 9.99936071e-01 4.87569777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.379254154 meters 0.022460576787560207 Centerline is valid? [True, True] Translation: X:732.12, Y:9.42, Z:4.88 [[ 9.98744942e-01 -4.89474866e-02 -1.06153052e-02 7.32117671e+02] [ 4.89487175e-02 9.98801283e-01 -1.43983185e-04 9.42427165e+00] [ 1.06096280e-02 -3.75803096e-04 9.99943646e-01 4.87564890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.439254154 meters 0.019609262618174597 Centerline is valid? [True, True] Translation: X:732.18, Y:9.43, Z:4.88 [[ 9.98935743e-01 -4.50241877e-02 -1.00102317e-02 7.32179522e+02] [ 4.50250907e-02 9.98985847e-01 -1.35244171e-04 9.43002588e+00] [ 1.00061690e-02 -3.15611354e-04 9.99949887e-01 4.87673967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.499254154 meters 0.018154129919379654 Centerline is valid? [True, True] Translation: X:732.24, Y:9.43, Z:4.88 [[ 9.99199216e-01 -3.87519516e-02 -9.96060322e-03 7.32240147e+02] [ 3.87525386e-02 9.99248829e-01 -1.34134915e-04 9.43423973e+00] [ 9.95831910e-03 -2.51971159e-04 9.99950383e-01 4.87672763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.559254154 meters 0.01660979097306813 Centerline is valid? [True, True] Translation: X:732.30, Y:9.44, Z:4.88 [[ 9.99413343e-01 -3.24897805e-02 -1.08343949e-02 7.32301848e+02] [ 3.24901113e-02 9.99472046e-01 -1.45523114e-04 9.43786087e+00] [ 1.08334028e-02 -2.06572953e-04 9.99941296e-01 4.87517655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.619254154 meters 0.016296049057569265 Centerline is valid? [True, True] Translation: X:732.36, Y:9.44, Z:4.88 [[ 9.99481151e-01 -3.03068472e-02 -1.09052631e-02 7.32362880e+02] [ 3.03070581e-02 9.99540625e-01 -1.45959737e-04 9.43955466e+00] [ 1.09046770e-02 -1.84622435e-04 9.99940525e-01 4.87514474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.679254154 meters 0.014549258358775114 Centerline is valid? [True, True] Translation: X:732.42, Y:9.45, Z:4.88 [[ 9.99691587e-01 -2.22761855e-02 -1.09773262e-02 7.32424012e+02] [ 2.22759194e-02 9.99751850e-01 -1.46524404e-04 9.44598702e+00] [ 1.09778662e-02 -9.80508195e-05 9.99939737e-01 4.87577850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.739254154 meters 0.016810240361974513 Centerline is valid? [True, True] Translation: X:732.48, Y:9.45, Z:4.87 [[ 9.99750212e-01 -1.94441167e-02 -1.10199518e-02 7.32484463e+02] [ 1.94436793e-02 9.99810943e-01 -1.46841088e-04 9.44661304e+00] [ 1.10207236e-02 -6.74639992e-05 9.99939268e-01 4.87445658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.799254154 meters 0.014384432940435038 Centerline is valid? [True, True] Translation: X:732.54, Y:9.44, Z:4.88 [[ 9.99716950e-01 -2.04360502e-02 -1.21814623e-02 7.32544196e+02] [ 2.04355881e-02 9.99791158e-01 -1.62417797e-04 9.44460034e+00] [ 1.21822375e-02 -8.65635206e-05 9.99925790e-01 4.87504609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters 0.014953026176757532 Centerline is valid? [True, True] Translation: X:732.60, Y:9.44, Z:4.87 [[ 9.99554464e-01 -2.63192031e-02 -1.40773691e-02 7.32603747e+02] [ 2.63191635e-02 9.99653573e-01 -1.88106146e-04 9.43852201e+00] [ 1.40774431e-02 -1.82482240e-04 9.99900891e-01 4.87436071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.919254154 meters 0.017022612895087306 Centerline is valid? [True, True] Translation: X:732.66, Y:9.43, Z:4.87 [[ 9.99296506e-01 -3.48749385e-02 -1.37924895e-02 7.32663567e+02] [ 3.48757099e-02 9.99391640e-01 -1.84666671e-04 9.42770716e+00] [ 1.37905389e-02 -2.96486101e-04 9.99904862e-01 4.87441320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters 0.020660628661115107 Centerline is valid? [True, True] Translation: X:732.72, Y:9.42, Z:4.88 [[ 9.98997236e-01 -4.29443737e-02 -1.26610929e-02 7.32724320e+02] [ 4.29456697e-02 9.99077395e-01 -1.69629245e-04 9.41939764e+00] [ 1.26566963e-02 -3.74279967e-04 9.99919831e-01 4.87539680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.039254154 meters 0.021298534690818965 Centerline is valid? [True, True] Translation: X:732.79, Y:9.41, Z:4.88 [[ 9.98807714e-01 -4.73507895e-02 -1.18765795e-02 7.32785549e+02] [ 4.73522431e-02 9.98878241e-01 -1.58934991e-04 9.41423108e+00] [ 1.18707826e-02 -4.03637187e-04 9.99929458e-01 4.87776368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters 0.021676277419125655 Centerline is valid? [True, True] Translation: X:732.85, Y:9.41, Z:4.88 [[ 9.98765614e-01 -4.82300231e-02 -1.18791330e-02 7.32847400e+02] [ 4.82315466e-02 9.98836169e-01 -1.58362860e-04 9.41188499e+00] [ 1.18729456e-02 -4.14781580e-04 9.99929428e-01 4.87865177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.159254154 meters 0.022755469677764727 Centerline is valid? [True, True] Translation: X:732.91, Y:9.41, Z:4.88 [[ 9.98778039e-01 -4.82609750e-02 -1.06446182e-02 7.32908359e+02] [ 4.82622094e-02 9.98834691e-01 -1.41036372e-04 9.40908114e+00] [ 1.06390205e-02 -3.72868764e-04 9.99943335e-01 4.88000899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters 0.023125578245152136 Centerline is valid? [True, True] Translation: X:732.97, Y:9.41, Z:4.88 [[ 9.98790518e-01 -4.78777978e-02 -1.11900777e-02 7.32970084e+02] [ 4.78791502e-02 9.98853125e-01 -1.47163823e-04 9.40888614e+00] [ 1.11842900e-02 -3.88785582e-04 9.99937378e-01 4.88029519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.279254154 meters 0.020956379158011768 Centerline is valid? [True, True] Translation: X:733.03, Y:9.41, Z:4.88 [[ 9.98730776e-01 -4.87803630e-02 -1.25424231e-02 7.33031942e+02] [ 4.87821450e-02 9.98809429e-01 -1.64003236e-04 9.41224699e+00] [ 1.25354906e-02 -4.48051221e-04 9.99921327e-01 4.87933108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters 0.021266363805727072 Centerline is valid? [True, True] Translation: X:733.09, Y:9.41, Z:4.88 [[ 9.98618143e-01 -5.07151663e-02 -1.37759022e-02 7.33094374e+02] [ 5.07175145e-02 9.98713023e-01 -1.79070970e-04 9.41343472e+00] [ 1.37672546e-02 -5.19856003e-04 9.99905092e-01 4.87922330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.399254154 meters 0.021867654460467286 Centerline is valid? [True, True] Translation: X:733.16, Y:9.42, Z:4.88 [[ 9.98438797e-01 -5.37064912e-02 -1.53486874e-02 7.33155544e+02] [ 5.37097725e-02 9.98556569e-01 -1.98643005e-04 9.41502702e+00] [ 1.53372011e-02 -6.26041627e-04 9.99882182e-01 4.87926141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters 0.02247855859145034 Centerline is valid? [True, True] Translation: X:733.22, Y:9.42, Z:4.88 [[ 9.98312802e-01 -5.59197495e-02 -1.56374842e-02 7.33217320e+02] [ 5.59234383e-02 9.98435040e-01 -2.01625082e-04 9.41641219e+00] [ 1.56242870e-02 -6.73216984e-04 9.99877707e-01 4.87952597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.519254154 meters 0.02281745961185979 Centerline is valid? [True, True] Translation: X:733.28, Y:9.42, Z:4.88 [[ 9.98397350e-01 -5.43494870e-02 -1.57754266e-02 7.33279194e+02] [ 5.43530594e-02 9.98521759e-01 -2.02523462e-04 9.42008702e+00] [ 1.57631137e-02 -6.55243810e-04 9.99875540e-01 4.88047832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters 0.02163378072009878 Centerline is valid? [True, True] Translation: X:733.34, Y:9.43, Z:4.88 [[ 9.98673609e-01 -4.90768966e-02 -1.55717810e-02 7.33340008e+02] [ 4.90797454e-02 9.98794843e-01 -1.99384118e-04 9.42728168e+00] [ 1.55627997e-02 -5.65139389e-04 9.99878733e-01 4.88169805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.639254154 meters 0.017984242827451948 Centerline is valid? [True, True] Translation: X:733.40, Y:9.44, Z:4.88 [[ 9.99049647e-01 -4.11465099e-02 -1.43794276e-02 7.33400181e+02] [ 4.11481207e-02 9.99153041e-01 -1.83945805e-04 9.43858237e+00] [ 1.43748175e-02 -4.07915430e-04 9.99896594e-01 4.88393909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.699254154 meters 0.016995800669137518 Centerline is valid? [True, True] Translation: X:733.46, Y:9.44, Z:4.89 [[ 9.99257200e-01 -3.60725908e-02 -1.35578878e-02 7.33461557e+02] [ 3.60735601e-02 9.99349122e-01 -1.73133449e-04 9.44496368e+00] [ 1.35553086e-02 -3.16076432e-04 9.99908073e-01 4.88535949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.759254154 meters 0.015804787899998708 Centerline is valid? [True, True] Translation: X:733.52, Y:9.45, Z:4.89 [[ 9.99471628e-01 -2.97306708e-02 -1.31358913e-02 7.33521488e+02] [ 2.97310362e-02 9.99557921e-01 -1.67503546e-04 9.45252694e+00] [ 1.31350642e-02 -2.23128619e-04 9.99913706e-01 4.88613128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.819254154 meters 0.015391272885919493 Centerline is valid? [True, True] Translation: X:733.58, Y:9.46, Z:4.89 [[ 9.99516713e-01 -2.83461430e-02 -1.27607189e-02 7.33582396e+02] [ 2.83463779e-02 9.99598148e-01 -1.62495577e-04 9.45571008e+00] [ 1.27601971e-02 -1.99303115e-04 9.99918566e-01 4.88648672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.879254154 meters 0.016661478356716296 Centerline is valid? [True, True] Translation: X:733.64, Y:9.46, Z:4.89 [[ 9.99505381e-01 -2.74960566e-02 -1.52630431e-02 7.33642947e+02] [ 2.74963005e-02 9.99621886e-01 -1.93907519e-04 9.45745027e+00] [ 1.52626036e-02 -2.25865611e-04 9.99883494e-01 4.88504822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.939254154 meters 0.01585577525952508 Centerline is valid? [True, True] Translation: X:733.70, Y:9.46, Z:4.89 [[ 9.99429523e-01 -3.01110419e-02 -1.52955684e-02 7.33702853e+02] [ 3.01115902e-02 9.99546524e-01 -1.94510172e-04 9.45674226e+00] [ 1.52944891e-02 -2.66174677e-04 9.99882997e-01 4.88553377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.999254154 meters 0.016188102002927352 Centerline is valid? [True, True] Translation: X:733.76, Y:9.46, Z:4.89 [[ 9.99345792e-01 -3.30157188e-02 -1.47631363e-02 7.33763429e+02] [ 3.30165428e-02 9.99454788e-01 -1.87974639e-04 9.45506054e+00] [ 1.47612934e-02 -2.99576058e-04 9.99891001e-01 4.88686507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.059254154 meters 0.016592513860779395 Centerline is valid? [True, True] Translation: X:733.82, Y:9.45, Z:4.89 [[ 9.99299031e-01 -3.45590331e-02 -1.43916450e-02 7.33824754e+02] [ 3.45599802e-02 9.99402609e-01 -1.82959953e-04 9.45351781e+00] [ 1.43893705e-02 -3.14543262e-04 9.99896418e-01 4.88821694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.119254154 meters 0.016864827497586964 Centerline is valid? [True, True] Translation: X:733.89, Y:9.45, Z:4.89 [[ 9.99234060e-01 -3.62930422e-02 -1.46324313e-02 7.33885986e+02] [ 3.62942151e-02 9.99341131e-01 -1.85473772e-04 9.45112887e+00] [ 1.46295219e-02 -3.45740899e-04 9.99892923e-01 4.88822593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.179254154 meters 0.017992743638568273 Centerline is valid? [True, True] Translation: X:733.95, Y:9.45, Z:4.89 [[ 9.99087553e-01 -3.98959738e-02 -1.52437937e-02 7.33946121e+02] [ 3.98976811e-02 9.99203752e-01 -1.92219592e-04 9.44540929e+00] [ 1.52393246e-02 -4.16147816e-04 9.99883788e-01 4.88782249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.239254154 meters 0.01987232726470763 Centerline is valid? [True, True] Translation: X:734.01, Y:9.44, Z:4.89 [[ 9.98951472e-01 -4.33825648e-02 -1.46256436e-02 7.34007482e+02] [ 4.33845221e-02 9.99058432e-01 -1.83579017e-04 9.44016993e+00] [ 1.46198366e-02 -4.51140026e-04 9.99893023e-01 4.88822080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.299254154 meters 0.018525166038134498 Centerline is valid? [True, True] Translation: X:734.07, Y:9.44, Z:4.89 [[ 9.98967888e-01 -4.32045580e-02 -1.40187571e-02 7.34068999e+02] [ 4.32063457e-02 9.99066154e-01 -1.75457968e-04 9.44007620e+00] [ 1.40132463e-02 -4.30422390e-04 9.99901717e-01 4.88965398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters 0.01837769355346012 Centerline is valid? [True, True] Translation: X:734.13, Y:9.44, Z:4.89 [[ 9.99014550e-01 -4.22254916e-02 -1.36725140e-02 7.34130106e+02] [ 4.22271074e-02 9.99108023e-01 -1.70622369e-04 9.43909359e+00] [ 1.36675230e-02 -4.06896487e-04 9.99906512e-01 4.89016691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.419254154 meters 0.018325028367550858 Centerline is valid? [True, True] Translation: X:734.19, Y:9.44, Z:4.89 [[ 9.98995536e-01 -4.24789298e-02 -1.42639345e-02 7.34191220e+02] [ 4.24807219e-02 9.99097271e-01 -1.77461563e-04 9.43862438e+00] [ 1.42585964e-02 -4.28658924e-04 9.99898249e-01 4.89019976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters 0.019829272225335377 Centerline is valid? [True, True] Translation: X:734.25, Y:9.43, Z:4.89 [[ 9.98851803e-01 -4.54831789e-02 -1.50451210e-02 7.34251005e+02] [ 4.54855171e-02 9.98964981e-01 -1.86916800e-04 9.43288687e+00] [ 1.50380506e-02 -4.97632927e-04 9.99886798e-01 4.88952426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.539254154 meters 0.020413140937493312 Centerline is valid? [True, True] Translation: X:734.31, Y:9.43, Z:4.89 [[ 9.98789146e-01 -4.67499185e-02 -1.53195111e-02 7.34312336e+02] [ 4.67524964e-02 9.98906486e-01 -1.90011700e-04 9.43172289e+00] [ 1.53116420e-02 -5.26443763e-04 9.99882631e-01 4.88959300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters 0.02219033162931923 Centerline is valid? [True, True] Translation: X:734.37, Y:9.43, Z:4.89 [[ 9.98547653e-01 -5.10419969e-02 -1.72423745e-02 7.34373100e+02] [ 5.10459096e-02 9.98696285e-01 -2.13395019e-04 9.42757258e+00] [ 1.72307874e-02 -6.67067594e-04 9.99851316e-01 4.88887163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.659254154 meters 0.022313876403819623 Centerline is valid? [True, True] Translation: X:734.43, Y:9.43, Z:4.89 [[ 9.98407631e-01 -5.35595240e-02 -1.77081971e-02 7.34434677e+02] [ 5.35640558e-02 9.98564392e-01 -2.18628698e-04 9.42691433e+00] [ 1.76944847e-02 -7.30242297e-04 9.99843174e-01 4.88910819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters 0.024447504674570516 Centerline is valid? [True, True] Translation: X:734.50, Y:9.42, Z:4.89 [[ 9.98256477e-01 -5.65457324e-02 -1.69288487e-02 7.34495286e+02] [ 5.65503096e-02 9.98399729e-01 -2.08583841e-04 9.42211348e+00] [ 1.69135525e-02 -7.49111465e-04 9.99856675e-01 4.88930932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.779254154 meters 0.024114682660510346 Centerline is valid? [True, True] Translation: X:734.56, Y:9.42, Z:4.89 [[ 9.98073856e-01 -6.02570856e-02 -1.47533746e-02 7.34556539e+02] [ 6.02609723e-02 9.98182640e-01 -1.81372517e-04 9.42321930e+00] [ 1.47374914e-02 -7.08029532e-04 9.99891147e-01 4.89176513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters 0.02465648789834015 Centerline is valid? [True, True] Translation: X:734.62, Y:9.42, Z:4.89 [[ 9.98003393e-01 -6.15366224e-02 -1.42292354e-02 7.34618902e+02] [ 6.15403789e-02 9.98104579e-01 -1.74122939e-04 9.42333434e+00] [ 1.42129800e-02 -7.01897256e-04 9.99898744e-01 4.89235296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.899254154 meters 0.025942101431088195 Centerline is valid? [True, True] Translation: X:734.68, Y:9.42, Z:4.89 [[ 9.97891396e-01 -6.33120767e-02 -1.42948721e-02 7.34680769e+02] [ 6.33160629e-02 9.97993510e-01 -1.73996722e-04 9.42305597e+00] [ 1.42772057e-02 -7.31465191e-04 9.99897808e-01 4.89271856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters 0.02701801957911642 Centerline is valid? [True, True] Translation: X:734.74, Y:9.42, Z:4.89 [[ 9.97858778e-01 -6.36963258e-02 -1.48538822e-02 7.34743020e+02] [ 6.37006870e-02 9.97969033e-01 -1.79814286e-04 9.42451443e+00] [ 1.48351680e-02 -7.66773238e-04 9.99889659e-01 4.89316776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.019254154 meters 0.02736083143251834 Centerline is valid? [True, True] Translation: X:734.81, Y:9.43, Z:4.89 [[ 9.97895947e-01 -6.28461207e-02 -1.59387842e-02 7.34805241e+02] [ 6.28510533e-02 9.98022900e-01 -1.91751079e-04 9.42559466e+00] [ 1.59193224e-02 -8.10421751e-04 9.99872951e-01 4.89279203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters 0.026639139838337874 Centerline is valid? [True, True] Translation: X:734.87, Y:9.43, Z:4.89 [[ 9.98078927e-01 -5.97756482e-02 -1.62889026e-02 7.34867282e+02] [ 5.97804085e-02 9.98211533e-01 -1.94949565e-04 9.42845476e+00] [ 1.62714236e-02 -7.79182196e-04 9.99867308e-01 4.89262058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.139254154 meters 0.025762263577899916 Centerline is valid? [True, True] Translation: X:734.93, Y:9.43, Z:4.89 [[ 9.98279411e-01 -5.62429900e-02 -1.65814482e-02 7.34928456e+02] [ 5.62474455e-02 9.98416840e-01 -1.97907271e-04 9.43302820e+00] [ 1.65663280e-02 -7.35097348e-04 9.99862499e-01 4.89319819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.199254154 meters 0.019924666179931716 Centerline is valid? [True, True] Translation: X:734.99, Y:9.45, Z:4.90 [[ 9.98762062e-01 -4.70245962e-02 -1.62182035e-02 7.34988584e+02] [ 4.70276464e-02 9.98893569e-01 -1.93463544e-04 9.44783530e+00] [ 1.62093567e-02 -5.69479892e-04 9.99868458e-01 4.89577735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.259254154 meters 0.01961132120489438 Centerline is valid? [True, True] Translation: X:735.05, Y:9.45, Z:4.90 [[ 9.98952683e-01 -4.28024234e-02 -1.61706377e-02 7.35049459e+02] [ 4.28049087e-02 9.99083431e-01 -1.92549941e-04 9.45078291e+00] [ 1.61640578e-02 -4.99834390e-04 9.99869228e-01 4.89605100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.319254154 meters 0.018380196632881932 Centerline is valid? [True, True] Translation: X:735.11, Y:9.46, Z:4.90 [[ 9.99157234e-01 -3.79962933e-02 -1.55274834e-02 7.35110524e+02] [ 3.79980110e-02 9.99277798e-01 -1.84492504e-04 9.45778294e+00] [ 1.55232795e-02 -4.05676466e-04 9.99879424e-01 4.89725002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.379254154 meters 0.016945025022567402 Centerline is valid? [True, True] Translation: X:735.17, Y:9.46, Z:4.90 [[ 9.99291456e-01 -3.42759736e-02 -1.55480897e-02 7.35171462e+02] [ 3.42772502e-02 9.99412345e-01 -1.84452492e-04 9.46421976e+00] [ 1.55452750e-02 -3.48623959e-04 9.99879104e-01 4.89725089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.439254154 meters 0.016237482565501858 Centerline is valid? [True, True] Translation: X:735.23, Y:9.47, Z:4.90 [[ 9.99401908e-01 -3.09930312e-02 -1.53381282e-02 7.35232132e+02] [ 3.09938889e-02 9.99519557e-01 -1.81839311e-04 9.46784227e+00] [ 1.53363949e-02 -2.93657688e-04 9.99882347e-01 4.89791408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.499254154 meters 0.0160662397574197 Centerline is valid? [True, True] Translation: X:735.29, Y:9.47, Z:4.90 [[ 9.99436824e-01 -2.97847690e-02 -1.54564464e-02 7.35292700e+02] [ 2.97854957e-02 9.99556297e-01 -1.83242018e-04 9.47041237e+00] [ 1.54550462e-02 -2.77239097e-04 9.99880525e-01 4.89836888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.559254154 meters 0.016316531659412273 Centerline is valid? [True, True] Translation: X:735.35, Y:9.47, Z:4.90 [[ 9.99406259e-01 -3.04411778e-02 -1.61389162e-02 7.35352760e+02] [ 3.04420500e-02 9.99536515e-01 -1.91674348e-04 9.46914468e+00] [ 1.61372708e-02 -2.99741150e-04 9.99869741e-01 4.89772652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.619254154 meters 0.01729158808509449 Centerline is valid? [True, True] Translation: X:735.41, Y:9.46, Z:4.90 [[ 9.99312332e-01 -3.35011860e-02 -1.58912851e-02 7.35411452e+02] [ 3.35024067e-02 9.99438619e-01 -1.89463766e-04 9.46362915e+00] [ 1.58887113e-02 -3.43062819e-04 9.99873708e-01 4.89673902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.679254154 meters 0.018706865497107705 Centerline is valid? [True, True] Translation: X:735.47, Y:9.46, Z:4.90 [[ 9.99195143e-01 -3.68068402e-02 -1.59475243e-02 7.35471323e+02] [ 3.68084820e-02 9.99322320e-01 -1.90656415e-04 9.45927023e+00] [ 1.59437344e-02 -3.96501196e-04 9.99872812e-01 4.89635632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.739254154 meters 0.0172102348105303 Centerline is valid? [True, True] Translation: X:735.53, Y:9.46, Z:4.90 [[ 9.99094416e-01 -3.79769220e-02 -1.91859461e-02 7.35531593e+02] [ 3.79795115e-02 9.99278492e-01 -2.29513979e-04 9.46143347e+00] [ 1.91808195e-02 -4.99366725e-04 9.99815906e-01 4.89684413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.799254154 meters 0.01714597092668802 Centerline is valid? [True, True] Translation: X:735.59, Y:9.46, Z:4.90 [[ 9.99116191e-01 -3.67588864e-02 -2.03868025e-02 7.35590897e+02] [ 3.67614896e-02 9.99324037e-01 -2.47185062e-04 9.45970550e+00] [ 2.03821081e-02 -5.02482632e-04 9.99792137e-01 4.89617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters 0.016908716944404715 Centerline is valid? [True, True] Translation: X:735.65, Y:9.46, Z:4.90 [[ 9.99203104e-01 -3.46171098e-02 -1.98699145e-02 7.35649307e+02] [ 3.46190609e-02 9.99400550e-01 -2.45876517e-04 9.46132613e+00] [ 1.98665150e-02 -4.42197201e-04 9.99802544e-01 4.89730008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.919254154 meters 0.015422149172087524 Centerline is valid? [True, True] Translation: X:735.71, Y:9.47, Z:4.90 [[ 9.99401909e-01 -2.90868386e-02 -1.87024365e-02 7.35708822e+02] [ 2.90875603e-02 9.99576840e-01 -2.33497111e-04 9.46510814e+00] [ 1.87013141e-02 -3.10650791e-04 9.99825067e-01 4.89951505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters 0.01442464396217995 Centerline is valid? [True, True] Translation: X:735.77, Y:9.47, Z:4.90 [[ 9.99612134e-01 -2.16847565e-02 -1.74743629e-02 7.35766567e+02] [ 2.16842343e-02 9.99764845e-01 -2.19381569e-04 9.46692915e+00] [ 1.74750110e-02 -1.59621701e-04 9.99847288e-01 4.90028477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.039254154 meters 0.013954219729665112 Centerline is valid? [True, True] Translation: X:735.83, Y:9.47, Z:4.90 [[ 9.99706271e-01 -1.66561330e-02 -1.76052461e-02 7.35825339e+02] [ 1.66547636e-02 9.99861275e-01 -2.24408003e-04 9.46915204e+00] [ 1.76065416e-02 -6.88691241e-05 9.99844990e-01 4.90147188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters 0.013952751327516971 Centerline is valid? [True, True] Translation: X:735.88, Y:9.47, Z:4.90 [[ 9.99694981e-01 -1.81171129e-02 -1.67844006e-02 7.35883134e+02] [ 1.81159971e-02 9.99835868e-01 -2.18532072e-04 9.46557075e+00] [ 1.67856049e-02 -8.56007371e-05 9.99859108e-01 4.90202946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.159254154 meters 0.01426875628438474 Centerline is valid? [True, True] Translation: X:735.94, Y:9.46, Z:4.90 [[ 9.99602395e-01 -2.27492808e-02 -1.66590030e-02 7.35942403e+02] [ 2.27487500e-02 9.99741189e-01 -2.21389084e-04 9.46005979e+00] [ 1.66597279e-02 -1.57670435e-04 9.99861205e-01 4.90166227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters 0.01619173976450559 Centerline is valid? [True, True] Translation: X:736.00, Y:9.45, Z:4.90 [[ 9.99302514e-01 -3.29860426e-02 -1.75044741e-02 7.36001527e+02] [ 3.29869822e-02 9.99455754e-01 -2.35127503e-04 9.44992986e+00] [ 1.75027033e-02 -3.42456272e-04 9.99846757e-01 4.90065243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.279254154 meters 0.019431281605126263 Centerline is valid? [True, True] Translation: X:736.06, Y:9.44, Z:4.90 [[ 9.98816253e-01 -4.49752689e-02 -1.85288534e-02 7.36062478e+02] [ 4.49783725e-02 9.98987930e-01 -2.49407435e-04 9.43956022e+00] [ 1.85213181e-02 -5.84285470e-04 9.99828295e-01 4.90008509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters 0.024069328279520706 Centerline is valid? [True, True] Translation: X:736.12, Y:9.43, Z:4.90 [[ 9.98307383e-01 -5.53540466e-02 -1.78409188e-02 7.36122128e+02] [ 5.53585742e-02 9.98466509e-01 -2.40365414e-04 9.42903241e+00] [ 1.78268651e-02 -7.47689260e-04 9.99840809e-01 4.90079182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.399254154 meters 0.02494161154648006 Centerline is valid? [True, True] Translation: X:736.18, Y:9.43, Z:4.90 [[ 9.98069226e-01 -5.99336844e-02 -1.63025542e-02 7.36182854e+02] [ 5.99380725e-02 9.98202073e-01 -2.19743425e-04 9.42706782e+00] [ 1.62864134e-02 -7.57824524e-04 9.99867080e-01 4.90266558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters 0.027755336722918997 Centerline is valid? [True, True] Translation: X:736.24, Y:9.42, Z:4.90 [[ 9.97912187e-01 -6.28596819e-02 -1.48299206e-02 7.36243228e+02] [ 6.28636374e-02 9.98022106e-01 -1.99748434e-04 9.42220348e+00] [ 1.48131447e-02 -7.32931353e-04 9.99890011e-01 4.90399659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.519254154 meters 0.02914008514908551 Centerline is valid? [True, True] Translation: X:736.30, Y:9.42, Z:4.90 [[ 9.97804756e-01 -6.49223391e-02 -1.30674525e-02 7.36304884e+02] [ 6.49255925e-02 9.97890092e-01 -1.75553229e-04 9.42222988e+00] [ 1.30512787e-02 -6.73244247e-04 9.99914602e-01 4.90467288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.579254154 meters 0.028580527612091164 Centerline is valid? [True, True] Translation: X:736.37, Y:9.42, Z:4.91 [[ 9.97791629e-01 -6.53497159e-02 -1.18861325e-02 7.36367448e+02] [ 6.53524464e-02 9.97862231e-01 -1.58963207e-04 9.42397699e+00] [ 1.18711109e-02 -6.18175680e-04 9.99929345e-01 4.90549878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.639254154 meters 0.027977899605401205 Centerline is valid? [True, True] Translation: X:736.43, Y:9.43, Z:4.91 [[ 9.97773334e-01 -6.53611946e-02 -1.32773626e-02 7.36429078e+02] [ 6.53646149e-02 9.97861431e-01 -1.76654383e-04 9.42606371e+00] [ 1.32605144e-02 -6.91608658e-04 9.99911836e-01 4.90587602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.699254154 meters 0.025221887844564184 Centerline is valid? [True, True] Translation: X:736.49, Y:9.43, Z:4.91 [[ 9.97876006e-01 -6.37444219e-02 -1.34211132e-02 7.36490795e+02] [ 6.37477825e-02 9.97966026e-01 -1.77692941e-04 9.43340076e+00] [ 1.34051420e-02 -6.78250685e-04 9.99909917e-01 4.90581416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.759254154 meters 0.02535224390620642 Centerline is valid? [True, True] Translation: X:736.55, Y:9.44, Z:4.91 [[ 9.98018996e-01 -6.14854193e-02 -1.33276601e-02 7.36551748e+02] [ 6.14885423e-02 9.98107774e-01 -1.75705915e-04 9.43877514e+00] [ 1.33132445e-02 -6.44140548e-04 9.99911167e-01 4.90538569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.819254154 meters 0.025343224629348217 Centerline is valid? [True, True] Translation: X:736.61, Y:9.44, Z:4.91 [[ 9.98282064e-01 -5.72553177e-02 -1.24398240e-02 7.36611068e+02] [ 5.72577122e-02 9.98359418e-01 -1.63869715e-04 9.44414217e+00] [ 1.24287978e-02 -5.48687664e-04 9.99922609e-01 4.90681472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.879254154 meters 0.02194599342391458 Centerline is valid? [True, True] Translation: X:736.67, Y:9.46, Z:4.91 [[ 9.98685631e-01 -4.97354613e-02 -1.23852822e-02 7.36671139e+02] [ 4.97372559e-02 9.98762323e-01 -1.63265176e-04 9.45641745e+00] [ 1.23780733e-02 -4.52959366e-04 9.99923286e-01 4.90706438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.939254154 meters 0.019159370989597926 Centerline is valid? [True, True] Translation: X:736.73, Y:9.47, Z:4.91 [[ 9.99040863e-01 -4.21870603e-02 -1.17305894e-02 7.36730965e+02] [ 4.21881500e-02 9.99109672e-01 -1.54650873e-04 9.46558025e+00] [ 1.17266696e-02 -3.40389324e-04 9.99931182e-01 4.90954927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.999254154 meters 0.018400635551072422 Centerline is valid? [True, True] Translation: X:736.79, Y:9.47, Z:4.91 [[ 9.99267813e-01 -3.73404801e-02 -8.33830759e-03 7.36792925e+02] [ 3.73408626e-02 9.99302581e-01 -1.09863637e-04 9.47205124e+00] [ 8.33659466e-03 -2.01576402e-04 9.99965230e-01 4.91150001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.059254154 meters 0.017426504135095746 Centerline is valid? [True, True] Translation: X:736.85, Y:9.47, Z:4.91 [[ 9.99286065e-01 -3.70886840e-02 -7.19654850e-03 7.36854599e+02] [ 3.70889649e-02 9.99311963e-01 -9.44625760e-05 9.47387209e+00] [ 7.19510050e-03 -1.72517399e-04 9.99974100e-01 4.91254790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.119254154 meters 0.01848579197172353 Centerline is valid? [True, True] Translation: X:736.92, Y:9.47, Z:4.91 [[ 9.99208712e-01 -3.91881256e-02 -6.79998341e-03 7.36915420e+02] [ 3.91884283e-02 9.99231835e-01 -8.87706818e-05 9.47260168e+00] [ 6.79823865e-03 -1.77780223e-04 9.99976876e-01 4.91160185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.179254154 meters 0.019437985877744358 Centerline is valid? [True, True] Translation: X:736.98, Y:9.47, Z:4.91 [[ 9.99068796e-01 -4.24371030e-02 -7.78675090e-03 7.36977150e+02] [ 4.24376071e-02 9.99099114e-01 -1.00562468e-04 9.47131584e+00] [ 7.78400351e-03 -2.29982251e-04 9.99969678e-01 4.91066900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.239254154 meters 0.02140249116935456 Centerline is valid? [True, True] Translation: X:737.04, Y:9.47, Z:4.91 [[ 9.98936764e-01 -4.54222709e-02 -7.88415259e-03 7.37038290e+02] [ 4.54228860e-02 9.98967843e-01 -1.01119095e-04 9.46797800e+00] [ 7.88060796e-03 -2.57109383e-04 9.99968914e-01 4.91008631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.299254154 meters 0.022076717374711074 Centerline is valid? [True, True] Translation: X:737.10, Y:9.47, Z:4.91 [[ 9.98819510e-01 -4.80108724e-02 -7.38526232e-03 7.37100040e+02] [ 4.80114855e-02 9.98846779e-01 -9.43437986e-05 9.46711424e+00] [ 7.38127501e-03 -2.60344988e-04 9.99972724e-01 4.91146391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters 0.024182440486871827 Centerline is valid? [True, True] Translation: X:737.16, Y:9.46, Z:4.91 [[ 9.98731594e-01 -4.98774744e-02 -6.88776673e-03 7.37161329e+02] [ 4.98780545e-02 9.98755311e-01 -8.76334418e-05 9.46388216e+00] [ 6.88356454e-03 -2.56026118e-04 9.99976275e-01 4.91132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.419254154 meters 0.022915236819185263 Centerline is valid? [True, True] Translation: X:737.22, Y:9.47, Z:4.91 [[ 9.98634028e-01 -5.16929935e-02 -7.61002717e-03 7.37223015e+02] [ 5.16937601e-02 9.98662979e-01 -9.60648566e-05 9.46605451e+00] [ 7.60481829e-03 -2.97457284e-04 9.99971039e-01 4.91128754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters 0.022892011461718806 Centerline is valid? [True, True] Translation: X:737.28, Y:9.47, Z:4.91 [[ 9.98399673e-01 -5.58469270e-02 -8.90015672e-03 7.37283844e+02] [ 5.58481450e-02 9.98439268e-01 -1.11812256e-04 9.46617522e+00] [ 8.89251033e-03 -3.85423923e-04 9.99960387e-01 4.91135770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.539254154 meters 0.02916697430331474 Centerline is valid? [True, True] Translation: X:737.34, Y:9.46, Z:4.91 [[ 9.98143086e-01 -6.00941288e-02 -9.95365407e-03 7.37343708e+02] [ 6.00958665e-02 9.98192602e-01 -1.24698187e-04 9.45716771e+00] [ 9.94315748e-03 -4.73706833e-04 9.99950453e-01 4.91019246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters 0.027750044933363752 Centerline is valid? [True, True] Translation: X:737.40, Y:9.46, Z:4.91 [[ 9.97982058e-01 -6.24917172e-02 -1.12515861e-02 7.37404435e+02] [ 6.24940905e-02 9.98045324e-01 -1.40876284e-04 9.46163350e+00] [ 1.12383964e-02 -5.62565633e-04 9.99936689e-01 4.90997389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.659254154 meters 0.024790293042837804 Centerline is valid? [True, True] Translation: X:737.47, Y:9.47, Z:4.91 [[ 9.98016355e-01 -6.17549169e-02 -1.22346297e-02 7.37466422e+02] [ 6.17576746e-02 9.98091161e-01 -1.52636952e-04 9.46835153e+00] [ 1.22207018e-02 -6.03248102e-04 9.99925142e-01 4.91111427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters 0.023378403041318552 Centerline is valid? [True, True] Translation: X:737.53, Y:9.47, Z:4.91 [[ 9.98258395e-01 -5.75619477e-02 -1.29151067e-02 7.37527270e+02] [ 5.75646789e-02 9.98341766e-01 -1.60477440e-04 9.47450973e+00] [ 1.29029278e-02 -5.83256018e-04 9.99916584e-01 4.91165256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.779254154 meters 0.022266792291501896 Centerline is valid? [True, True] Translation: X:737.59, Y:9.48, Z:4.91 [[ 9.98480694e-01 -5.35686897e-02 -1.29111773e-02 7.37588230e+02] [ 5.35710891e-02 9.98564025e-01 -1.60187257e-04 9.48040063e+00] [ 1.29012182e-02 -5.31721946e-04 9.99916634e-01 4.91297841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters 0.01950365302472209 Centerline is valid? [True, True] Translation: X:737.65, Y:9.49, Z:4.91 [[ 9.98908456e-01 -4.48632046e-02 -1.30073185e-02 7.37648453e+02] [ 4.48649042e-02 9.98993050e-01 -1.61249656e-04 9.49057475e+00] [ 1.30014550e-02 -4.22498456e-04 9.99915388e-01 4.91456335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.899254154 meters 0.018418531763125467 Centerline is valid? [True, True] Translation: X:737.71, Y:9.50, Z:4.92 [[ 9.99268314e-01 -3.58430517e-02 -1.33458607e-02 7.37709638e+02] [ 3.58440386e-02 9.99357382e-01 -1.65321822e-04 9.49964439e+00] [ 1.33432100e-02 -3.13168686e-04 9.99910926e-01 4.91564992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters 0.016965319513083867 Centerline is valid? [True, True] Translation: X:737.77, Y:9.50, Z:4.92 [[ 9.99369756e-01 -3.26806182e-02 -1.38588899e-02 7.37770060e+02] [ 3.26813820e-02 9.99465806e-01 -1.71420284e-04 9.50428190e+00] [ 1.38570887e-02 -2.81615429e-04 9.99903946e-01 4.91682081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.019254154 meters 0.017233857952173193 Centerline is valid? [True, True] Translation: X:737.83, Y:9.51, Z:4.92 [[ 9.99248495e-01 -3.50628001e-02 -1.65240922e-02 7.37831244e+02] [ 3.50642200e-02 9.99385040e-01 -2.03878986e-04 9.50588146e+00] [ 1.65210791e-02 -3.75678633e-04 9.99863447e-01 4.91567661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.079254154 meters 0.018846827497404704 Centerline is valid? [True, True] Translation: X:737.89, Y:9.50, Z:4.92 [[ 9.98975087e-01 -4.16101369e-02 -1.78149407e-02 7.37891696e+02] [ 4.16128331e-02 9.99133787e-01 -2.19483966e-04 9.50482192e+00] [ 1.78086420e-02 -5.22071142e-04 9.99841277e-01 4.91574746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.139254154 meters 0.021820494476389573 Centerline is valid? [True, True] Translation: X:737.95, Y:9.50, Z:4.92 [[ 9.98597407e-01 -4.96661905e-02 -1.83436352e-02 7.37952521e+02] [ 4.96704076e-02 9.98765638e-01 -2.25922269e-04 9.50237302e+00] [ 1.83322132e-02 -6.85530445e-04 9.99831716e-01 4.91637774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.199254154 meters 0.024525824262414748 Centerline is valid? [True, True] Translation: X:738.01, Y:9.50, Z:4.92 [[ 9.98299098e-01 -5.52605518e-02 -1.85790838e-02 7.38013979e+02] [ 5.52658533e-02 9.98471649e-01 -2.28361304e-04 9.49981181e+00] [ 1.85633078e-02 -7.98816035e-04 9.99827368e-01 4.91642324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.259254154 meters 0.027074246263602244 Centerline is valid? [True, True] Translation: X:738.07, Y:9.50, Z:4.92 [[ 9.97813621e-01 -6.36670927e-02 -1.77335623e-02 7.38074246e+02] [ 6.36732583e-02 9.97970776e-01 -2.17298107e-04 9.49709702e+00] [ 1.77114117e-02 -9.12330682e-04 9.99842724e-01 4.91908532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.319254154 meters 0.02787571533154661 Centerline is valid? [True, True] Translation: X:738.13, Y:9.50, Z:4.92 [[ 9.97537961e-01 -6.77500568e-02 -1.81092605e-02 7.38134845e+02] [ 6.77571695e-02 9.97701818e-01 -2.21214398e-04 9.49766052e+00] [ 1.80826294e-02 -1.00636247e-03 9.99835989e-01 4.91955783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.379254154 meters 0.03201531974604376 Centerline is valid? [True, True] Translation: X:738.20, Y:9.49, Z:4.92 [[ 9.97320198e-01 -7.07522126e-02 -1.86157624e-02 7.38195264e+02] [ 7.07602588e-02 9.97493325e-01 -2.26932604e-04 9.49397449e+00] [ 1.85851547e-02 -1.09093169e-03 9.99826686e-01 4.91871803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.439254154 meters 0.029145497106805487 Centerline is valid? [True, True] Translation: X:738.26, Y:9.50, Z:4.92 [[ 9.97304864e-01 -7.07900233e-02 -1.92816355e-02 7.38257656e+02] [ 7.07986830e-02 9.97490597e-01 -2.33992516e-04 9.50434411e+00] [ 1.92498144e-02 -1.13175252e-03 9.99814065e-01 4.92034454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.499254154 meters 0.03134842223350532 Centerline is valid? [True, True] Translation: X:738.32, Y:9.51, Z:4.92 [[ 9.97479552e-01 -6.82274173e-02 -1.94823942e-02 7.38317824e+02] [ 6.82357854e-02 9.97669195e-01 -2.35692046e-04 9.50600009e+00] [ 1.94530652e-02 -1.09429847e-03 9.99810172e-01 4.91990123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.559254154 meters 0.025127787607745318 Centerline is valid? [True, True] Translation: X:738.38, Y:9.52, Z:4.92 [[ 9.97929383e-01 -6.11047874e-02 -2.00786264e-02 7.38378644e+02] [ 6.11122412e-02 9.98130871e-01 -2.42721058e-04 9.52322285e+00] [ 2.00559283e-02 -9.84831384e-04 9.99798375e-01 4.92111038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.619254154 meters 0.02379577406033922 Centerline is valid? [True, True] Translation: X:738.44, Y:9.53, Z:4.92 [[ 9.98430839e-01 -5.23518962e-02 -1.98780928e-02 7.38438374e+02] [ 5.23574702e-02 9.98628378e-01 -2.40283148e-04 9.53365447e+00] [ 1.98634068e-02 -8.00860545e-04 9.99802382e-01 4.92135267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.679254154 meters 0.01999885463990404 Centerline is valid? [True, True] Translation: X:738.50, Y:9.55, Z:4.92 [[ 9.98843017e-01 -4.36969213e-02 -2.00799910e-02 7.38498444e+02] [ 4.37008619e-02 9.99044632e-01 -2.42720201e-04 9.54799216e+00] [ 2.00714134e-02 -6.35073539e-04 9.99798347e-01 4.92278286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.739254154 meters 0.018500043204308692 Centerline is valid? [True, True] Translation: X:738.56, Y:9.56, Z:4.92 [[ 9.99118296e-01 -3.69955877e-02 -1.98483507e-02 7.38559145e+02] [ 3.69981212e-02 9.99315306e-01 -2.39679851e-04 9.55890094e+00] [ 1.98436278e-02 -4.94883161e-04 9.99802973e-01 4.92369693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.799254154 meters 0.01786127678897299 Centerline is valid? [True, True] Translation: X:738.62, Y:9.57, Z:4.92 [[ 9.99285788e-01 -3.31438762e-02 -1.81492905e-02 7.38618306e+02] [ 3.31453577e-02 9.99450518e-01 -2.19254204e-04 9.56635528e+00] [ 1.81465847e-02 -3.82467117e-04 9.99835264e-01 4.92462244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters 0.017477705715560683 Centerline is valid? [True, True] Translation: X:738.68, Y:9.57, Z:4.93 [[ 9.99348607e-01 -3.16766979e-02 -1.72901291e-02 7.38679312e+02] [ 3.16778241e-02 9.99498110e-01 -2.08803860e-04 9.57054739e+00] [ 1.72880656e-02 -3.39045821e-04 9.99850493e-01 4.92572483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.919254154 meters 0.0165881339959669 Centerline is valid? [True, True] Translation: X:738.74, Y:9.58, Z:4.93 [[ 9.99386061e-01 -3.13898367e-02 -1.55621231e-02 7.38740268e+02] [ 3.13907209e-02 9.99507172e-01 -1.87502865e-04 9.57708126e+00] [ 1.55603393e-02 -3.01118513e-04 9.99878885e-01 4.92767552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters 0.018114752222970834 Centerline is valid? [True, True] Translation: X:738.80, Y:9.58, Z:4.93 [[ 9.99388121e-01 -3.21426722e-02 -1.37924641e-02 7.38801054e+02] [ 3.21434432e-02 9.99483252e-01 -1.65831264e-04 9.57581794e+00] [ 1.37906672e-02 -2.77607493e-04 9.99904866e-01 4.92722916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.039254154 meters 0.017076891441856572 Centerline is valid? [True, True] Translation: X:738.86, Y:9.58, Z:4.93 [[ 9.99387399e-01 -3.24119859e-02 -1.32018604e-02 7.38863598e+02] [ 3.24127235e-02 9.99474557e-01 -1.58145432e-04 9.57888807e+00] [ 1.32000494e-02 -2.69859699e-04 9.99912839e-01 4.92801348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters 0.019003295706539216 Centerline is valid? [True, True] Translation: X:738.93, Y:9.58, Z:4.93 [[ 9.99417095e-01 -3.13305975e-02 -1.35596624e-02 7.38925671e+02] [ 3.13312897e-02 9.99509042e-01 -1.61432848e-04 9.57908765e+00] [ 1.35580630e-02 -2.63502963e-04 9.99908051e-01 4.92621404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.159254154 meters 0.01693991468412217 Centerline is valid? [True, True] Translation: X:738.99, Y:9.58, Z:4.93 [[ 9.99420666e-01 -3.14300763e-02 -1.30569116e-02 7.38988248e+02] [ 3.14307387e-02 9.99505920e-01 -1.54515628e-04 9.57812660e+00] [ 1.30553168e-02 -2.55962264e-04 9.99914743e-01 4.92682431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters 0.0177100632630858 Centerline is valid? [True, True] Translation: X:739.05, Y:9.57, Z:4.92 [[ 9.99317317e-01 -3.35416374e-02 -1.54873957e-02 7.39050073e+02] [ 3.35428454e-02 9.99437264e-01 -1.81824640e-04 9.57240456e+00] [ 1.54847791e-02 -3.37790810e-04 9.99880047e-01 4.92376501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.279254154 meters 0.017940321561024968 Centerline is valid? [True, True] Translation: X:739.11, Y:9.57, Z:4.92 [[ 9.99256662e-01 -3.49685601e-02 -1.62272597e-02 7.39111302e+02] [ 3.49700914e-02 9.99388341e-01 -1.89465036e-04 9.57071929e+00] [ 1.62239595e-02 -3.78144555e-04 9.99868311e-01 4.92317100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters 0.017719494315783752 Centerline is valid? [True, True] Translation: X:739.17, Y:9.57, Z:4.92 [[ 9.99213053e-01 -3.60685971e-02 -1.65024646e-02 7.39172372e+02] [ 3.60703407e-02 9.99349235e-01 -1.92072551e-04 9.56892130e+00] [ 1.64986532e-02 -4.03328121e-04 9.99863807e-01 4.92367342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.399254154 meters 0.01731628351091775 Centerline is valid? [True, True] Translation: X:739.23, Y:9.57, Z:4.93 [[ 9.99256784e-01 -3.54224868e-02 -1.52028823e-02 7.39234142e+02] [ 3.54239001e-02 9.99372361e-01 -1.76402959e-04 9.56781812e+00] [ 1.51995890e-02 -3.62273530e-04 9.99884414e-01 4.92507806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters 0.017380019265785397 Centerline is valid? [True, True] Translation: X:739.30, Y:9.57, Z:4.93 [[ 9.99419136e-01 -3.08439503e-02 -1.44928205e-02 7.39295498e+02] [ 3.08447610e-02 9.99524173e-01 -1.67632969e-04 9.57010589e+00] [ 1.44910948e-02 -2.79491986e-04 9.99894960e-01 4.92619711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.519254154 meters 0.015540711085574978 Centerline is valid? [True, True] Translation: X:739.36, Y:9.57, Z:4.93 [[ 9.99612179e-01 -2.43635243e-02 -1.34873979e-02 7.39356031e+02] [ 2.43636416e-02 9.99703150e-01 -1.55642363e-04 9.57162441e+00] [ 1.34871862e-02 -1.73020127e-04 9.99909029e-01 4.92713934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.579254154 meters 0.014883493760240972 Centerline is valid? [True, True] Translation: X:739.42, Y:9.57, Z:4.93 [[ 9.99730201e-01 -1.93905602e-02 -1.27879070e-02 7.39416206e+02] [ 1.93902603e-02 9.99811980e-01 -1.47451869e-04 9.57352912e+00] [ 1.27883618e-02 -1.00548759e-04 9.99918221e-01 4.92861299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.639254154 meters 0.01480683257380522 Centerline is valid? [True, True] Translation: X:739.48, Y:9.57, Z:4.93 [[ 9.99757642e-01 -1.74180758e-02 -1.34635521e-02 7.39476186e+02] [ 1.74175628e-02 9.99848291e-01 -1.55365443e-04 9.57126772e+00] [ 1.34642158e-02 -7.91744754e-05 9.99909350e-01 4.92835048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.699254154 meters 0.014809134889257827 Centerline is valid? [True, True] Translation: X:739.54, Y:9.56, Z:4.93 [[ 9.99700713e-01 -1.93956471e-02 -1.49095277e-02 7.39535098e+02] [ 1.93952293e-02 9.99811880e-01 -1.72626581e-04 9.56478047e+00] [ 1.49100712e-02 -1.16598793e-04 9.99888832e-01 4.92714269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.759254154 meters 0.015314434056235617 Centerline is valid? [True, True] Translation: X:739.59, Y:9.56, Z:4.93 [[ 9.99634965e-01 -2.26660264e-02 -1.47033048e-02 7.39594018e+02] [ 2.26659395e-02 9.99743080e-01 -1.72572279e-04 9.55918118e+00] [ 1.47034388e-02 -1.60754933e-04 9.99891886e-01 4.92696239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.819254154 meters 0.01753435877983864 Centerline is valid? [True, True] Translation: X:739.65, Y:9.54, Z:4.93 [[ 9.99376858e-01 -3.20638365e-02 -1.47582590e-02 7.39652857e+02] [ 3.20647426e-02 9.99485779e-01 -1.75282542e-04 9.54447918e+00] [ 1.47562902e-02 -2.98046458e-04 9.99891076e-01 4.92637107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.879254154 meters 0.01915067888015255 Centerline is valid? [True, True] Translation: X:739.71, Y:9.54, Z:4.93 [[ 9.99155851e-01 -3.81815172e-02 -1.51577113e-02 7.39713972e+02] [ 3.81831735e-02 9.99270740e-01 -1.80220134e-04 9.53693182e+00] [ 1.51535384e-02 -3.98701518e-04 9.99885099e-01 4.92683685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.939254154 meters 0.02437847350306082 Centerline is valid? [True, True] Translation: X:739.77, Y:9.52, Z:4.93 [[ 9.98686916e-01 -4.93279016e-02 -1.38275588e-02 7.39774397e+02] [ 4.93303490e-02 9.98782504e-01 -1.64237478e-04 9.52287005e+00] [ 1.38188253e-02 -5.18096481e-04 9.99904381e-01 4.92802205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.999254154 meters 0.030315460291451008 Centerline is valid? [True, True] Translation: X:739.83, Y:9.51, Z:4.93 [[ 9.98121401e-01 -6.01269180e-02 -1.17653567e-02 7.39834316e+02] [ 6.01294401e-02 9.98190578e-01 -1.39574312e-04 9.50900323e+00] [ 1.17524604e-02 -5.68132204e-04 9.99930776e-01 4.92979349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.059254154 meters 0.0347445260372638 Centerline is valid? [True, True] Translation: X:739.90, Y:9.50, Z:4.93 [[ 9.97735792e-01 -6.63583751e-02 -1.09478674e-02 7.39895161e+02] [ 6.63609344e-02 9.97795675e-01 -1.29730637e-04 9.50113004e+00] [ 1.09323434e-02 -5.97073809e-04 9.99940062e-01 4.93101845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.119254154 meters 0.0404605869671837 Centerline is valid? [True, True] Translation: X:739.95, Y:9.49, Z:4.93 [[ 9.97226219e-01 -7.35134304e-02 -1.16466105e-02 7.39954831e+02] [ 7.35168117e-02 9.97293968e-01 -1.38115603e-04 9.49136173e+00] [ 1.16252477e-02 -7.18489168e-04 9.99932166e-01 4.93058738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.179254154 meters 0.04214775009888281 Centerline is valid? [True, True] Translation: X:740.02, Y:9.49, Z:4.93 [[ 9.97122010e-01 -7.47985694e-02 -1.23641446e-02 7.40016535e+02] [ 7.48024802e-02 9.97198359e-01 -1.46490593e-04 9.48879728e+00] [ 1.23404620e-02 -7.78799691e-04 9.99923550e-01 4.93027563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.239254154 meters 0.043027719456081574 Centerline is valid? [True, True] Translation: X:740.08, Y:9.49, Z:4.93 [[ 9.97118802e-01 -7.48250355e-02 -1.24623253e-02 7.40078970e+02] [ 7.48290196e-02 9.97196368e-01 -1.46947270e-04 9.48810734e+00] [ 1.24383809e-02 -7.86019701e-04 9.99922331e-01 4.93037140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.299254154 meters 0.031090045811728993 Centerline is valid? [True, True] Translation: X:740.14, Y:9.51, Z:4.93 [[ 9.97320480e-01 -7.18149103e-02 -1.39455808e-02 7.40139100e+02] [ 7.18196129e-02 9.97417624e-01 -1.63948258e-04 9.50512645e+00] [ 1.39213420e-02 -8.38057262e-04 9.99902742e-01 4.93134881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters 0.03859818021209983 Centerline is valid? [True, True] Translation: X:740.20, Y:9.50, Z:4.93 [[ 9.97807042e-01 -6.43788972e-02 -1.53773895e-02 7.40199279e+02] [ 6.43837344e-02 9.97925199e-01 -1.80794774e-04 9.49906691e+00] [ 1.53571239e-02 -8.09655464e-04 9.99881745e-01 4.92836137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.419254154 meters 0.03206841400648655 Centerline is valid? [True, True] Translation: X:740.26, Y:9.51, Z:4.93 [[ 9.98474958e-01 -5.28175990e-02 -1.60642252e-02 7.40259372e+02] [ 5.28213839e-02 9.98603958e-01 -1.88889216e-04 9.51307760e+00] [ 1.60517756e-02 -6.59933455e-04 9.99870944e-01 4.92840945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters 0.023516145036271672 Centerline is valid? [True, True] Translation: X:740.32, Y:9.53, Z:4.93 [[ 9.99145888e-01 -3.81309338e-02 -1.59225319e-02 7.40319587e+02] [ 3.81327889e-02 9.99272663e-01 -1.87192336e-04 9.53165911e+00] [ 1.59180887e-02 -4.20138095e-04 9.99873211e-01 4.92955086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.539254154 meters 0.01872492056662296 Centerline is valid? [True, True] Translation: X:740.38, Y:9.54, Z:4.93 [[ 9.99475127e-01 -2.84465649e-02 -1.55004030e-02 7.40380057e+02] [ 2.84471586e-02 9.99595281e-01 -1.82228038e-04 9.54401850e+00] [ 1.54993135e-02 -2.58810030e-04 9.99879845e-01 4.93075926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters 0.016405661049105166 Centerline is valid? [True, True] Translation: X:740.44, Y:9.56, Z:4.93 [[ 9.99755662e-01 -1.66454411e-02 -1.45446306e-02 7.40439965e+02] [ 1.66447124e-02 9.99861453e-01 -1.71157015e-04 9.55953259e+00] [ 1.45454645e-02 -7.09759988e-05 9.99894207e-01 4.93466283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.659254154 meters 0.014479604450360022 Centerline is valid? [True, True] Translation: X:740.50, Y:9.56, Z:4.94 [[ 9.99826972e-01 -1.11495142e-02 -1.48900871e-02 7.40497816e+02] [ 1.11481278e-02 9.99937842e-01 -1.76110242e-04 9.56310708e+00] [ 1.48911251e-02 1.00831760e-05 9.99889121e-01 4.93550084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters 0.015144957758493817 Centerline is valid? [True, True] Translation: X:740.56, Y:9.56, Z:4.93 [[ 9.99801876e-01 -1.11608294e-02 -1.64816727e-02 7.40556486e+02] [ 1.11590799e-02 9.99937716e-01 -1.98115392e-04 9.56221635e+00] [ 1.64828572e-02 1.41558391e-05 9.99864148e-01 4.93428167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.779254154 meters 0.014452226390336137 Centerline is valid? [True, True] Translation: X:740.62, Y:9.56, Z:4.94 [[ 9.99770963e-01 -1.49974286e-02 -1.52675672e-02 7.40615626e+02] [ 1.49963408e-02 9.99887531e-01 -1.85736277e-04 9.55731998e+00] [ 1.52686357e-02 -4.32639053e-05 9.99883427e-01 4.93553817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters 0.014678806581552305 Centerline is valid? [True, True] Translation: X:740.67, Y:9.55, Z:4.94 [[ 9.99678643e-01 -2.06569969e-02 -1.46934944e-02 7.40673312e+02] [ 2.06565830e-02 9.99786614e-01 -1.79949045e-04 9.54993420e+00] [ 1.46940762e-02 -1.23626169e-04 9.99892029e-01 4.93564646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.899254154 meters 0.016055647959650216 Centerline is valid? [True, True] Translation: X:740.73, Y:9.54, Z:4.94 [[ 9.99490438e-01 -2.85353229e-02 -1.43038469e-02 7.40733116e+02] [ 2.85357249e-02 9.99592758e-01 -1.76036866e-04 9.53972069e+00] [ 1.43030450e-02 -2.32223475e-04 9.99897679e-01 4.93531688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters 0.01854360545049524 Centerline is valid? [True, True] Translation: X:740.79, Y:9.53, Z:4.93 [[ 9.99219602e-01 -3.66617386e-02 -1.47004486e-02 7.40792876e+02] [ 3.66630363e-02 9.99327668e-01 -1.81301983e-04 9.52815855e+00] [ 1.46972118e-02 -3.57802584e-04 9.99891926e-01 4.93484754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.019254154 meters 0.019090341083647596 Centerline is valid? [True, True] Translation: X:740.85, Y:9.52, Z:4.94 [[ 9.99024757e-01 -4.16033394e-02 -1.47884308e-02 7.40854568e+02] [ 4.16051961e-02 9.99134112e-01 -1.82212664e-04 9.52187469e+00] [ 1.47832063e-02 -4.33240599e-04 9.99890629e-01 4.93564962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.079254154 meters 0.018336067984789407 Centerline is valid? [True, True] Translation: X:740.92, Y:9.52, Z:4.94 [[ 9.99000485e-01 -4.20099477e-02 -1.52707567e-02 7.40915756e+02] [ 4.20119837e-02 9.99117089e-01 -1.87582862e-04 9.52088548e+00] [ 1.52651544e-02 -4.54159413e-04 9.99883378e-01 4.93636395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.139254154 meters 0.018433026266040122 Centerline is valid? [True, True] Translation: X:740.98, Y:9.52, Z:4.94 [[ 9.99181127e-01 -3.78348531e-02 -1.43387372e-02 7.40975992e+02] [ 3.78362219e-02 9.99283938e-01 -1.75897206e-04 9.51651565e+00] [ 1.43351248e-02 -3.66770474e-04 9.99897180e-01 4.93623252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.199254154 meters 0.016218867016379805 Centerline is valid? [True, True] Translation: X:741.04, Y:9.52, Z:4.94 [[ 9.99379374e-01 -3.23830354e-02 -1.38638159e-02 7.41036345e+02] [ 3.23837906e-02 9.99475493e-01 -1.70071217e-04 9.51930283e+00] [ 1.38620517e-02 -2.78997246e-04 9.99903878e-01 4.93701583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.259254154 meters 0.014891013219138256 Centerline is valid? [True, True] Translation: X:741.10, Y:9.52, Z:4.94 [[ 9.99621184e-01 -2.31999642e-02 -1.48070899e-02 7.41096608e+02] [ 2.31998183e-02 9.99730832e-01 -1.81642617e-04 9.52174950e+00] [ 1.48073184e-02 -1.61947989e-04 9.99890353e-01 4.93646776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.319254154 meters 0.014394177985565595 Centerline is valid? [True, True] Translation: X:741.16, Y:9.52, Z:4.94 [[ 9.99728966e-01 -1.75091577e-02 -1.53435217e-02 7.41155730e+02] [ 1.75082972e-02 9.99846700e-01 -1.90419078e-04 9.52120838e+00] [ 1.53445036e-02 -7.82714700e-05 9.99882263e-01 4.93613528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.379254154 meters 0.01443068761003792 Centerline is valid? [True, True] Translation: X:741.21, Y:9.52, Z:4.94 [[ 9.99699870e-01 -1.84652232e-02 -1.60998825e-02 7.41214483e+02] [ 1.84643326e-02 9.99829499e-01 -2.03974218e-04 9.51642256e+00] [ 1.61009039e-02 -9.33605869e-05 9.99870368e-01 4.93518275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.439254154 meters 0.01652914558910878 Centerline is valid? [True, True] Translation: X:741.27, Y:9.51, Z:4.93 [[ 9.99534880e-01 -2.56229049e-02 -1.65375416e-02 7.41273634e+02] [ 2.56229037e-02 9.99671657e-01 -2.11991800e-04 9.50815977e+00] [ 1.65375435e-02 -2.11846637e-04 9.99863223e-01 4.93441789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.499254154 meters 0.016666957671607762 Centerline is valid? [True, True] Translation: X:741.33, Y:9.50, Z:4.94 [[ 9.99304968e-01 -3.38871493e-02 -1.55319946e-02 7.41333109e+02] [ 3.38881311e-02 9.99425612e-01 -2.00051166e-04 9.50056814e+00] [ 1.55298524e-02 -3.26438146e-04 9.99879351e-01 4.93579374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.559254154 meters 0.02268189575908157 Centerline is valid? [True, True] Translation: X:741.39, Y:9.49, Z:4.94 [[ 9.98740065e-01 -4.79067681e-02 -1.49406932e-02 7.41393764e+02] [ 4.79092378e-02 9.98851675e-01 -1.92777130e-04 9.48762202e+00] [ 1.49327718e-02 -5.23262981e-04 9.99888363e-01 4.93506263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.619254154 meters 0.02725058624638358 Centerline is valid? [True, True] Translation: X:741.45, Y:9.47, Z:4.94 [[ 9.98023043e-01 -6.18210672e-02 -1.13207946e-02 7.41452973e+02] [ 6.18233762e-02 9.98087095e-01 -1.46214125e-04 9.47395553e+00] [ 1.13081781e-02 -5.53964679e-04 9.99935907e-01 4.93933061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.679254154 meters 0.029276153038623395 Centerline is valid? [True, True] Translation: X:741.51, Y:9.47, Z:4.94 [[ 9.97314630e-01 -7.27061208e-02 -8.79480550e-03 7.41513947e+02] [ 7.27079346e-02 9.97353269e-01 -1.13751612e-04 9.46890096e+00] [ 8.77979846e-03 -5.26005996e-04 9.99961318e-01 4.94126651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.739254154 meters 0.03165799009500222 Centerline is valid? [True, True] Translation: X:741.57, Y:9.47, Z:4.94 [[ 9.96736168e-01 -8.03171976e-02 -8.13382947e-03 7.41574357e+02] [ 8.03190013e-02 9.96769204e-01 -1.05182713e-04 9.46587832e+00] [ 8.11599871e-03 -5.48461645e-04 9.99966914e-01 4.94023712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.799254154 meters 0.03449168263422496 Centerline is valid? [True, True] Translation: X:741.63, Y:9.46, Z:4.94 [[ 9.96397479e-01 -8.42978814e-02 -9.26986340e-03 7.41634090e+02] [ 8.43003950e-02 9.96440379e-01 -1.19944927e-04 9.46265147e+00] [ 9.24697730e-03 -6.61940323e-04 9.99957027e-01 4.94016116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters 0.03293228666963434 Centerline is valid? [True, True] Translation: X:741.70, Y:9.47, Z:4.94 [[ 9.96428044e-01 -8.37835793e-02 -1.05576569e-02 7.41696162e+02] [ 8.37868129e-02 9.96483693e-01 -1.36434605e-04 9.46862197e+00] [ 1.05319640e-02 -7.48645161e-04 9.99944257e-01 4.93920454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.919254154 meters 0.03190916189122372 Centerline is valid? [True, True] Translation: X:741.76, Y:9.47, Z:4.94 [[ 9.96660372e-01 -8.08378091e-02 -1.15478188e-02 7.41756950e+02] [ 8.08414884e-02 9.96726959e-01 -1.48583163e-04 9.47373812e+00] [ 1.15220335e-02 -7.85455911e-04 9.99933311e-01 4.93892391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters 0.02858467083121473 Centerline is valid? [True, True] Translation: X:741.82, Y:9.49, Z:4.94 [[ 9.97235681e-01 -7.32989536e-02 -1.21761926e-02 7.41817166e+02] [ 7.33024858e-02 9.97309742e-01 -1.56545842e-04 9.48611521e+00] [ 1.21549101e-02 -7.36432084e-04 9.99925855e-01 4.93948403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.039254154 meters 0.02633381299604744 Centerline is valid? [True, True] Translation: X:741.88, Y:9.50, Z:4.94 [[ 9.97968099e-01 -6.27009030e-02 -1.13256321e-02 7.41876091e+02] [ 6.27032770e-02 9.98032203e-01 -1.45702962e-04 9.49819600e+00] [ 1.13124812e-02 -5.64747336e-04 9.99935852e-01 4.94096400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters 0.020790338874083932 Centerline is valid? [True, True] Translation: X:741.94, Y:9.52, Z:4.94 [[ 9.98663998e-01 -5.08858161e-02 -8.99180012e-03 7.41936972e+02] [ 5.08868336e-02 9.98704419e-01 -1.15740672e-04 9.51520300e+00] [ 8.98604008e-03 -3.41978195e-04 9.99959566e-01 4.94295294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.159254154 meters 0.02008476173736472 Centerline is valid? [True, True] Translation: X:742.00, Y:9.52, Z:4.94 [[ 9.99025143e-01 -4.32548220e-02 -8.81956586e-03 7.41996830e+02] [ 4.32555043e-02 9.99064036e-01 -1.13457004e-04 9.52291398e+00] [ 8.81621863e-03 -2.68148370e-04 9.99961100e-01 4.94384898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters 0.01702472001702751 Centerline is valid? [True, True] Translation: X:742.06, Y:9.54, Z:4.94 [[ 9.99285724e-01 -3.66185471e-02 -9.33403858e-03 7.42057654e+02] [ 3.66190219e-02 9.99329292e-01 -1.20098713e-04 9.53526591e+00] [ 9.33217600e-03 -2.21790433e-04 9.99956430e-01 4.94458524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.279254154 meters 0.016111793974949346 Centerline is valid? [True, True] Translation: X:742.12, Y:9.54, Z:4.94 [[ 9.99499162e-01 -2.99146665e-02 -1.03216742e-02 7.42118109e+02] [ 2.99148918e-02 9.99552441e-01 -1.32601180e-04 9.54187764e+00] [ 1.03210214e-02 -1.76236999e-04 9.99946721e-01 4.94355816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters 0.015281359171788765 Centerline is valid? [True, True] Translation: X:742.18, Y:9.55, Z:4.94 [[ 9.99599576e-01 -2.58372961e-02 -1.15378411e-02 7.42179747e+02] [ 2.58373106e-02 9.99666150e-01 -1.47819896e-04 9.54936874e+00] [ 1.15378084e-02 -1.50346078e-04 9.99933426e-01 4.94451598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.399254154 meters 0.014824208550461402 Centerline is valid? [True, True] Translation: X:742.24, Y:9.56, Z:4.94 [[ 9.99680814e-01 -2.15824027e-02 -1.31327511e-02 7.42240477e+02] [ 2.15820600e-02 9.99767066e-01 -1.67832380e-04 9.55640705e+00] [ 1.31333143e-02 -1.15653012e-04 9.99913748e-01 4.94483597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters 0.014238111099373786 Centerline is valid? [True, True] Translation: X:742.30, Y:9.56, Z:4.95 [[ 9.99759450e-01 -1.73071874e-02 -1.34723025e-02 7.42299665e+02] [ 1.73064352e-02 9.99850218e-01 -1.72425096e-04 9.56177480e+00] [ 1.34732687e-02 -6.07739109e-05 9.99909230e-01 4.94585083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.519254154 meters 0.014453425605492239 Centerline is valid? [True, True] Translation: X:742.36, Y:9.56, Z:4.95 [[ 9.99776909e-01 -1.60003741e-02 -1.37884429e-02 7.42357589e+02] [ 1.59994494e-02 9.99871985e-01 -1.77380107e-04 9.56372443e+00] [ 1.37895159e-02 -4.32669588e-05 9.99904919e-01 4.94617101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.579254154 meters 0.014485779499430697 Centerline is valid? [True, True] Translation: X:742.42, Y:9.56, Z:4.95 [[ 9.99730181e-01 -1.81818553e-02 -1.44563462e-02 7.42416617e+02] [ 1.81810287e-02 9.99834694e-01 -1.88612811e-04 9.56389600e+00] [ 1.44573858e-02 -7.42693255e-05 9.99895484e-01 4.94782920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.639254154 meters 0.015094301569222228 Centerline is valid? [True, True] Translation: X:742.48, Y:9.56, Z:4.95 [[ 9.99579025e-01 -2.47858361e-02 -1.50809706e-02 7.42475729e+02] [ 2.47856514e-02 9.99692769e-01 -1.99182774e-04 9.55929760e+00] [ 1.50812741e-02 -1.74692756e-04 9.99886256e-01 4.94819777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.699254154 meters 0.018080350408634593 Centerline is valid? [True, True] Translation: X:742.53, Y:9.55, Z:4.95 [[ 9.99306998e-01 -3.28413949e-02 -1.75204367e-02 7.42534394e+02] [ 3.28423626e-02 9.99460517e-01 -2.32569973e-04 9.55037714e+00] [ 1.75186226e-02 -3.43003732e-04 9.99846478e-01 4.94591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.759254154 meters 0.020035642855716983 Centerline is valid? [True, True] Translation: X:742.59, Y:9.54, Z:4.95 [[ 9.99032891e-01 -3.96160892e-02 -1.90747872e-02 7.42594917e+02] [ 3.96184625e-02 9.99214848e-01 -2.53602148e-04 9.54468190e+00] [ 1.90698573e-02 -5.02356855e-04 9.99818028e-01 4.94510236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.819254154 meters 0.021093716567449215 Centerline is valid? [True, True] Translation: X:742.65, Y:9.54, Z:4.95 [[ 9.98830998e-01 -4.41996506e-02 -1.95710889e-02 7.42654772e+02] [ 4.42030193e-02 9.99022535e-01 -2.60647474e-04 9.54108506e+00] [ 1.95634794e-02 -6.04758443e-04 9.99808434e-01 4.94534575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.879254154 meters 0.019618335290899517 Centerline is valid? [True, True] Translation: X:742.72, Y:9.54, Z:4.95 [[ 9.98733768e-01 -4.62808059e-02 -1.97217650e-02 7.42715420e+02] [ 4.62846272e-02 9.98928258e-01 -2.62889153e-04 9.54372018e+00] [ 1.97127951e-02 -6.50258267e-04 9.99805473e-01 4.94741947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.939254154 meters 0.02092586001552802 Centerline is valid? [True, True] Translation: X:742.78, Y:9.54, Z:4.95 [[ 9.98567808e-01 -4.99512978e-02 -1.91625014e-02 7.42775662e+02] [ 4.99555762e-02 9.98751408e-01 -2.55646760e-04 9.54239967e+00] [ 1.91513451e-02 -7.01993173e-04 9.99816350e-01 4.94868088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.999254154 meters 0.024033979025429808 Centerline is valid? [True, True] Translation: X:742.84, Y:9.54, Z:4.95 [[ 9.98229687e-01 -5.63252154e-02 -1.91039581e-02 7.42835042e+02] [ 5.63306269e-02 9.98412137e-01 -2.55159849e-04 9.53812978e+00] [ 1.90879956e-02 -8.21429800e-04 9.99817470e-01 4.94819107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.059254154 meters 0.027550818220205407 Centerline is valid? [True, True] Translation: X:742.90, Y:9.53, Z:4.95 [[ 9.97586314e-01 -6.62934534e-02 -2.06573210e-02 7.42895626e+02] [ 6.63019118e-02 9.97799569e-01 -2.75903324e-04 9.53411407e+00] [ 2.06301566e-02 -1.09438250e-03 9.99786577e-01 4.94746416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.119254154 meters 0.029867785178666575 Centerline is valid? [True, True] Translation: X:742.96, Y:9.53, Z:4.95 [[ 9.96883373e-01 -7.57225389e-02 -2.21277619e-02 7.42956420e+02] [ 7.57345614e-02 9.97127970e-01 -2.95396548e-04 9.53281345e+00] [ 2.20865785e-02 -1.38136043e-03 9.99755107e-01 4.94781921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.179254154 meters 0.03325099043946651 Centerline is valid? [True, True] Translation: X:743.02, Y:9.53, Z:4.95 [[ 9.96515744e-01 -8.00029472e-02 -2.35775358e-02 7.43017322e+02] [ 8.00177923e-02 9.96793386e-01 -3.14654913e-04 9.53329438e+00] [ 2.35271051e-02 -1.57306379e-03 9.99721962e-01 4.94761887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.239254154 meters 0.032694300359647606 Centerline is valid? [True, True] Translation: X:743.08, Y:9.54, Z:4.95 [[ 9.96572123e-01 -8.00920196e-02 -2.07189030e-02 7.43079119e+02] [ 8.01035229e-02 9.96786512e-01 -2.75448341e-04 9.53602244e+00] [ 2.06743842e-02 -1.38515298e-03 9.99785303e-01 4.95031086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.299254154 meters 0.02966956759080464 Centerline is valid? [True, True] Translation: X:743.14, Y:9.55, Z:4.95 [[ 9.96968360e-01 -7.56850257e-02 -1.80517624e-02 7.43140014e+02] [ 7.56930451e-02 9.97131138e-01 -2.39570857e-04 9.54624087e+00] [ 1.80181063e-02 -1.12754830e-03 9.99837025e-01 4.95329494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters 0.02922783249865762 Centerline is valid? [True, True] Translation: X:743.20, Y:9.55, Z:4.95 [[ 9.97481118e-01 -6.86348285e-02 -1.79075055e-02 7.43199720e+02] [ 6.86415871e-02 9.97641356e-01 -2.37681640e-04 9.55316742e+00] [ 1.78815813e-02 -9.92116648e-04 9.99839620e-01 4.95327534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.419254154 meters 0.026012122810321756 Centerline is valid? [True, True] Translation: X:743.26, Y:9.57, Z:4.95 [[ 9.98000756e-01 -6.05074389e-02 -1.82576464e-02 7.43260695e+02] [ 6.05131107e-02 9.98167373e-01 -2.42148497e-04 9.56529120e+00] [ 1.82388388e-02 -8.63162598e-04 9.99833286e-01 4.95343080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters 0.02146765033019689 Centerline is valid? [True, True] Translation: X:743.32, Y:9.58, Z:4.95 [[ 9.98492261e-01 -5.16828771e-02 -1.84955230e-02 7.43320671e+02] [ 5.16871898e-02 9.98663294e-01 -2.45103484e-04 9.57937825e+00] [ 1.84834676e-02 -7.11247676e-04 9.99828913e-01 4.95469041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.539254154 meters 0.020876036097605213 Centerline is valid? [True, True] Translation: X:743.38, Y:9.59, Z:4.95 [[ 9.98795929e-01 -4.53497760e-02 -1.87106681e-02 7.43380394e+02] [ 4.53530804e-02 9.98970989e-01 -2.47904156e-04 9.58504704e+00] [ 1.87026570e-02 -6.00980771e-04 9.99824909e-01 4.95437049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters 0.016949944074167774 Centerline is valid? [True, True] Translation: X:743.44, Y:9.60, Z:4.96 [[ 9.99232318e-01 -3.39300760e-02 -1.95837785e-02 7.43440958e+02] [ 3.39315042e-02 9.99424127e-01 -2.59449626e-04 9.59914391e+00] [ 1.95813039e-02 -4.05256613e-04 9.99808186e-01 4.95551060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.659254154 meters 0.015414996252654177 Centerline is valid? [True, True] Translation: X:743.50, Y:9.61, Z:4.96 [[ 9.99567443e-01 -2.05521186e-02 -2.10365939e-02 7.43500342e+02] [ 2.05507931e-02 9.99788771e-01 -2.79214096e-04 9.61271140e+00] [ 2.10378888e-02 -1.53225369e-04 9.99778667e-01 4.95612958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters 0.015189779299472517 Centerline is valid? [True, True] Translation: X:743.56, Y:9.62, Z:4.96 [[ 9.99777646e-01 -8.93841399e-03 -1.90987763e-02 7.43558754e+02] [ 8.93513630e-03 9.99960048e-01 -2.56945137e-04 9.62235019e+00] [ 1.91003099e-02 8.62378352e-05 9.99817569e-01 4.95867515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.779254154 meters 0.01554566949626474 Centerline is valid? [True, True] Translation: X:743.62, Y:9.63, Z:4.96 [[ 9.99848252e-01 -3.45758684e-03 -1.70739213e-02 7.43616037e+02] [ 3.45412553e-03 9.99994008e-01 -2.32210661e-04 9.62690885e+00] [ 1.70746219e-02 1.73199956e-04 9.99854203e-01 4.96064801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters 0.014965572402650394 Centerline is valid? [True, True] Translation: X:743.68, Y:9.62, Z:4.96 [[ 9.99828686e-01 -7.06289772e-03 -1.71089096e-02 7.43675356e+02] [ 7.05992650e-03 9.99975051e-01 -2.34058224e-04 9.62101262e+00] [ 1.71101359e-02 1.13230482e-04 9.99853604e-01 4.96186737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.899254154 meters 0.014930104704963703 Centerline is valid? [True, True] Translation: X:743.73, Y:9.61, Z:4.96 [[ 9.99652934e-01 -1.84186479e-02 -1.88352245e-02 7.43732959e+02] [ 1.84170312e-02 9.99830358e-01 -2.59302215e-04 9.60835893e+00] [ 1.88368052e-02 -8.76766978e-05 9.99822568e-01 4.95978961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters 0.01725396788124471 Centerline is valid? [True, True] Translation: X:743.79, Y:9.59, Z:4.96 [[ 9.99267454e-01 -3.27675326e-02 -1.97697585e-02 7.43792231e+02] [ 3.27685363e-02 9.99462930e-01 -2.73261763e-04 9.59282236e+00] [ 1.97680949e-02 -3.74764463e-04 9.99804522e-01 4.95894951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.019254154 meters 0.01847537406936945 Centerline is valid? [True, True] Translation: X:743.85, Y:9.59, Z:4.96 [[ 9.99111818e-01 -3.72019567e-02 -1.97886417e-02 7.43851693e+02] [ 3.72038178e-02 9.99307661e-01 -2.74214969e-04 9.58787127e+00] [ 1.97851425e-02 -4.62241602e-04 9.99804148e-01 4.95896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.079254154 meters 0.019791488561695075 Centerline is valid? [True, True] Translation: X:743.91, Y:9.58, Z:4.96 [[ 9.98712594e-01 -4.69845642e-02 -1.91208049e-02 7.43912413e+02] [ 4.69880863e-02 9.98895415e-01 -2.65270659e-04 9.57826591e+00] [ 1.91121479e-02 -6.33520881e-04 9.99817146e-01 4.96112702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.139254154 meters 0.021814317946165993 Centerline is valid? [True, True] Translation: X:743.97, Y:9.57, Z:4.96 [[ 9.98534448e-01 -5.05225231e-02 -1.94018015e-02 7.43973331e+02] [ 5.05268201e-02 9.98722668e-01 -2.68978280e-04 9.57241243e+00] [ 1.93906084e-02 -7.11727255e-04 9.99811731e-01 4.96152329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.199254154 meters 0.021334866029665722 Centerline is valid? [True, True] Translation: X:744.03, Y:9.57, Z:4.96 [[ 9.98548985e-01 -5.08971507e-02 -1.75899142e-02 7.44034378e+02] [ 5.09007495e-02 9.98703687e-01 -2.43342455e-04 9.56963252e+00] [ 1.75794976e-02 -6.52350454e-04 9.99845256e-01 4.96242139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.259254154 meters 0.02204125045686609 Centerline is valid? [True, True] Translation: X:744.10, Y:9.56, Z:4.96 [[ 9.98514578e-01 -5.17003044e-02 -1.71964074e-02 7.44095187e+02] [ 5.17038702e-02 9.98662432e-01 -2.37464601e-04 9.56484618e+00] [ 1.71856830e-02 -6.52008951e-04 9.99852103e-01 4.96188916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.319254154 meters 0.021990353895308512 Centerline is valid? [True, True] Translation: X:744.16, Y:9.56, Z:4.96 [[ 9.98334292e-01 -5.45894477e-02 -1.86717097e-02 7.44156117e+02] [ 5.45941629e-02 9.98508593e-01 -2.57481758e-04 9.56332309e+00] [ 1.86579184e-02 -7.62313494e-04 9.99825635e-01 4.96108626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.379254154 meters 0.02417033295794238 Centerline is valid? [True, True] Translation: X:744.22, Y:9.56, Z:4.96 [[ 9.98197829e-01 -5.64787740e-02 -2.02791159e-02 7.44215931e+02] [ 5.64847282e-02 9.98403424e-01 -2.79512234e-04 9.55912703e+00] [ 2.02625252e-02 -8.66451843e-04 9.99794319e-01 4.95958884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.439254154 meters 0.022844690651468234 Centerline is valid? [True, True] Translation: X:744.28, Y:9.56, Z:4.96 [[ 9.98253547e-01 -5.52072951e-02 -2.10240520e-02 7.44276967e+02] [ 5.52134246e-02 9.98474534e-01 -2.89253512e-04 9.56164894e+00] [ 2.10079494e-02 -8.72061566e-04 9.99778928e-01 4.95920609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.499254154 meters 0.020063501271017237 Centerline is valid? [True, True] Translation: X:744.34, Y:9.57, Z:4.96 [[ 9.98626761e-01 -4.74785787e-02 -2.21444338e-02 7.44337125e+02] [ 4.74834887e-02 9.98871977e-01 -3.04331954e-04 9.56933186e+00] [ 2.21339036e-02 -7.47580937e-04 9.99754736e-01 4.95975741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.559254154 meters 0.01729416630798218 Centerline is valid? [True, True] Translation: X:744.40, Y:9.58, Z:4.96 [[ 9.99155362e-01 -3.52274852e-02 -2.11562303e-02 7.44396987e+02] [ 3.52292210e-02 9.99379216e-01 -2.90763016e-04 9.57976750e+00] [ 2.11533397e-02 -4.54800088e-04 9.99776140e-01 4.96101242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.619254154 meters 0.0154609870055747 Centerline is valid? [True, True] Translation: X:744.46, Y:9.59, Z:4.96 [[ 9.99514763e-01 -2.43014043e-02 -1.94854129e-02 7.44456418e+02] [ 2.43007912e-02 9.99704656e-01 -2.68280127e-04 9.58973032e+00] [ 1.94861776e-02 -2.05361002e-04 9.99810105e-01 4.96287825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.679254154 meters 0.015019246638424508 Centerline is valid? [True, True] Translation: X:744.51, Y:9.59, Z:4.96 [[ 9.99650517e-01 -1.95059870e-02 -1.78426831e-02 7.44514396e+02] [ 1.95046874e-02 9.99809735e-01 -2.46870671e-04 9.59390330e+00] [ 1.78441037e-02 -1.01231563e-04 9.99840776e-01 4.96475711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.739254154 meters 0.015317773047830326 Centerline is valid? [True, True] Translation: X:744.57, Y:9.59, Z:4.97 [[ 9.99643791e-01 -2.04353483e-02 -1.71664822e-02 7.44572417e+02] [ 2.04342224e-02 9.99791170e-01 -2.41010403e-04 9.59368493e+00] [ 1.71678225e-02 -1.09859163e-04 9.99852616e-01 4.96508438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.799254154 meters 0.017008043208341837 Centerline is valid? [True, True] Translation: X:744.63, Y:9.59, Z:4.96 [[ 9.99559154e-01 -2.38017748e-02 -1.77475112e-02 7.44631260e+02] [ 2.38010176e-02 9.99716683e-01 -2.53917246e-04 9.58994654e+00] [ 1.77485268e-02 -1.68603520e-04 9.99842468e-01 4.96486128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters 0.016968655141774786 Centerline is valid? [True, True] Translation: X:744.69, Y:9.58, Z:4.96 [[ 9.99388722e-01 -3.01894195e-02 -1.76289721e-02 7.44689252e+02] [ 3.01896186e-02 9.99544157e-01 -2.54893914e-04 9.58262922e+00] [ 1.76286312e-02 -2.77473842e-04 9.99844565e-01 4.96395847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.919254154 meters 0.01632036736366811 Centerline is valid? [True, True] Translation: X:744.75, Y:9.58, Z:4.97 [[ 9.99289656e-01 -3.33188734e-02 -1.76078268e-02 7.44748332e+02] [ 3.33194967e-02 9.99444718e-01 -2.58041205e-04 9.58256941e+00] [ 1.76066471e-02 -3.28826019e-04 9.99844937e-01 4.96673871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters 0.017029860589917227 Centerline is valid? [True, True] Translation: X:744.81, Y:9.58, Z:4.97 [[ 9.99355341e-01 -3.14146086e-02 -1.73788378e-02 7.44808265e+02] [ 3.14148945e-02 9.99506397e-01 -2.56616331e-04 9.58052403e+00] [ 1.73783211e-02 -2.89503455e-04 9.99848944e-01 4.96655834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.039254154 meters 0.0164260396376709 Centerline is valid? [True, True] Translation: X:744.87, Y:9.58, Z:4.97 [[ 9.99447537e-01 -2.89575332e-02 -1.63120195e-02 7.44867309e+02] [ 2.89574475e-02 9.99580616e-01 -2.41495253e-04 9.58020183e+00] [ 1.63121716e-02 -2.30992612e-04 9.99866921e-01 4.96702988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters 0.015203302835699888 Centerline is valid? [True, True] Translation: X:744.93, Y:9.58, Z:4.97 [[ 9.99592824e-01 -2.42599760e-02 -1.50212813e-02 7.44927113e+02] [ 2.42593634e-02 9.99705673e-01 -2.23018991e-04 9.58203245e+00] [ 1.50222705e-02 -1.41478537e-04 9.99887149e-01 4.96883075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.159254154 meters 0.015948245520611696 Centerline is valid? [True, True] Translation: X:744.99, Y:9.58, Z:4.97 [[ 9.99634131e-01 -2.20521855e-02 -1.56622280e-02 7.44986235e+02] [ 2.20512089e-02 9.99756815e-01 -2.35067200e-04 9.57948886e+00] [ 1.56636029e-02 -1.10389865e-04 9.99877312e-01 4.96801120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters 0.017304673940162586 Centerline is valid? [True, True] Translation: X:745.04, Y:9.57, Z:4.97 [[ 9.99610617e-01 -2.35231352e-02 -1.50091903e-02 7.45043827e+02] [ 2.35223431e-02 9.99723285e-01 -2.29327800e-04 9.57410678e+00] [ 1.50104315e-02 -1.23812820e-04 9.99887329e-01 4.96808998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.279254154 meters 0.01534041933356864 Centerline is valid? [True, True] Translation: X:745.10, Y:9.57, Z:4.97 [[ 9.99504312e-01 -2.81207525e-02 -1.41546052e-02 7.45102185e+02] [ 2.81204733e-02 9.99604517e-01 -2.18790999e-04 9.56722949e+00] [ 1.41551599e-02 -1.79351652e-04 9.99899795e-01 4.96880047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters 0.015463172375673313 Centerline is valid? [True, True] Translation: X:745.16, Y:9.56, Z:4.97 [[ 9.99424972e-01 -3.07030038e-02 -1.43892519e-02 7.45162191e+02] [ 3.07029698e-02 9.99528528e-01 -2.23321661e-04 9.56413020e+00] [ 1.43893244e-02 -2.18599521e-04 9.99896444e-01 4.96908696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.399254154 meters 0.01830464580820819 Centerline is valid? [True, True] Translation: X:745.22, Y:9.56, Z:4.97 [[ 9.99358199e-01 -3.25784896e-02 -1.48939981e-02 7.45221898e+02] [ 3.25786553e-02 9.99469148e-01 -2.31567311e-04 9.55772940e+00] [ 1.48936357e-02 -2.53807737e-04 9.99889051e-01 4.96722976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters 0.016162346973881067 Centerline is valid? [True, True] Translation: X:745.28, Y:9.55, Z:4.97 [[ 9.99328106e-01 -3.39478516e-02 -1.38159026e-02 7.45281868e+02] [ 3.39481197e-02 9.99423573e-01 -2.15184544e-04 9.55436769e+00] [ 1.38152438e-02 -2.53983951e-04 9.99904533e-01 4.96895466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.519254154 meters 0.016624581852639066 Centerline is valid? [True, True] Translation: X:745.34, Y:9.55, Z:4.97 [[ 9.99331160e-01 -3.43955305e-02 -1.24168956e-02 7.45341437e+02] [ 3.43957775e-02 9.99408271e-01 -1.93723401e-04 9.54998894e+00] [ 1.24162114e-02 -2.33494948e-04 9.99922889e-01 4.96951270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.579254154 meters 0.017053813823164798 Centerline is valid? [True, True] Translation: X:745.40, Y:9.55, Z:4.97 [[ 9.99283914e-01 -3.61741446e-02 -1.10945743e-02 7.45402396e+02] [ 3.61744510e-02 9.99345475e-01 -1.73122986e-04 9.54619119e+00] [ 1.10935753e-02 -2.28341122e-04 9.99938438e-01 4.97035994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.639254154 meters 0.018295994386278044 Centerline is valid? [True, True] Translation: X:745.46, Y:9.54, Z:4.97 [[ 9.99245551e-01 -3.71643825e-02 -1.12755699e-02 7.45463494e+02] [ 3.71647653e-02 9.99309136e-01 -1.75656345e-04 9.54470260e+00] [ 1.12743082e-02 -2.43530088e-04 9.99936413e-01 4.96990192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.699254154 meters 0.018689303047356016 Centerline is valid? [True, True] Translation: X:745.52, Y:9.54, Z:4.97 [[ 9.99160904e-01 -3.92636283e-02 -1.16556782e-02 7.45524776e+02] [ 3.92641852e-02 9.99228848e-01 -1.81143229e-04 9.54131517e+00] [ 1.16538023e-02 -2.76659477e-04 9.99932054e-01 4.96969902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.759254154 meters 0.018991086991063725 Centerline is valid? [True, True] Translation: X:745.59, Y:9.54, Z:4.97 [[ 9.99207150e-01 -3.80431336e-02 -1.17384216e-02 7.45585774e+02] [ 3.80436181e-02 9.99276063e-01 -1.82090727e-04 9.54034484e+00] [ 1.17368510e-02 -2.64625672e-04 9.99931086e-01 4.96980537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.819254154 meters 0.01635001412345218 Centerline is valid? [True, True] Translation: X:745.65, Y:9.54, Z:4.97 [[ 9.99414215e-01 -3.24673365e-02 -1.08212426e-02 7.45646127e+02] [ 3.24674227e-02 9.99472780e-01 -1.67751210e-04 9.54352462e+00] [ 1.08209839e-02 -1.83684915e-04 9.99941435e-01 4.97163626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.879254154 meters 0.017153509148274546 Centerline is valid? [True, True] Translation: X:745.71, Y:9.55, Z:4.97 [[ 9.99644585e-01 -2.43583112e-02 -1.08340098e-02 7.45706460e+02] [ 2.43579214e-02 9.99703288e-01 -1.67949128e-04 9.54791509e+00] [ 1.08348862e-02 -9.60045241e-05 9.99941296e-01 4.97102058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.939254154 meters 0.014881219250792785 Centerline is valid? [True, True] Translation: X:745.77, Y:9.55, Z:4.97 [[ 9.99702855e-01 -2.19577860e-02 -1.05857300e-02 7.45766549e+02] [ 2.19572760e-02 9.99758896e-01 -1.64409101e-04 9.54963906e+00] [ 1.05867878e-02 -6.80735463e-05 9.99943956e-01 4.97268126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.999254154 meters 0.016468199028720355 Centerline is valid? [True, True] Translation: X:745.83, Y:9.55, Z:4.97 [[ 9.99805830e-01 -1.61161711e-02 -1.13389726e-02 7.45826066e+02] [ 1.61152019e-02 9.99870126e-01 -1.76844874e-04 9.55318810e+00] [ 1.13403501e-02 -5.91929779e-06 9.99935696e-01 4.97185653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.059254154 meters 0.014992756759381262 Centerline is valid? [True, True] Translation: X:745.88, Y:9.55, Z:4.97 [[ 9.99807425e-01 -1.57371480e-02 -1.17241335e-02 7.45884602e+02] [ 1.57360678e-02 9.99876163e-01 -1.84380912e-04 9.55229919e+00] [ 1.17255832e-02 -1.46354481e-07 9.99931253e-01 4.97366741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.119254154 meters 0.018738848664273968 Centerline is valid? [True, True] Translation: X:745.94, Y:9.55, Z:4.97 [[ 9.99724622e-01 -2.02673491e-02 -1.18285580e-02 7.45943556e+02] [ 2.02665417e-02 9.99794595e-01 -1.88132551e-04 9.54803972e+00] [ 1.18299413e-02 -5.16432207e-05 9.99930022e-01 4.97295125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.179254154 meters 0.017599841967868835 Centerline is valid? [True, True] Translation: X:746.00, Y:9.54, Z:4.97 [[ 9.99497918e-01 -2.95712249e-02 -1.13777894e-02 7.46003273e+02] [ 2.95710731e-02 9.99562664e-01 -1.81608815e-04 9.54069441e+00] [ 1.13781838e-02 -1.54935808e-04 9.99935254e-01 4.97483215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.239254154 meters 0.017011308116288447 Centerline is valid? [True, True] Translation: X:746.06, Y:9.54, Z:4.98 [[ 9.99300134e-01 -3.57659462e-02 -1.09562242e-02 7.46063283e+02] [ 3.57661733e-02 9.99360170e-01 -1.75269608e-04 9.53682186e+00] [ 1.09554828e-02 -2.16715271e-04 9.99939963e-01 4.97710705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.299254154 meters 0.019574804509438524 Centerline is valid? [True, True] Translation: X:746.12, Y:9.53, Z:4.98 [[ 9.99094707e-01 -4.07936880e-02 -1.20682187e-02 7.46124150e+02] [ 4.07943281e-02 9.99167546e-01 -1.93228536e-04 9.53308207e+00] [ 1.20660550e-02 -2.99261266e-04 9.99927158e-01 4.97682042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters 0.018268378400165035 Centerline is valid? [True, True] Translation: X:746.18, Y:9.53, Z:4.98 [[ 9.99057369e-01 -4.17296631e-02 -1.19585977e-02 7.46184790e+02] [ 4.17303600e-02 9.99128891e-01 -1.91351291e-04 9.53190029e+00] [ 1.19561655e-02 -3.07865669e-04 9.99928475e-01 4.97897452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.419254154 meters 0.019199696858991862 Centerline is valid? [True, True] Translation: X:746.24, Y:9.53, Z:4.98 [[ 9.99157309e-01 -3.91620933e-02 -1.22882861e-02 7.46244896e+02] [ 3.91626351e-02 9.99232830e-01 -1.96626685e-04 9.53338859e+00] [ 1.22865592e-02 -2.84780677e-04 9.99924477e-01 4.97758247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters 0.017096602590941007 Centerline is valid? [True, True] Translation: X:746.31, Y:9.54, Z:4.98 [[ 9.99195790e-01 -3.79787529e-02 -1.28603073e-02 7.46305479e+02] [ 3.79792483e-02 9.99278507e-01 -2.05779680e-04 9.53559552e+00] [ 1.28588439e-02 -2.82810614e-04 9.99917282e-01 4.97920461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.539254154 meters 0.017421041404063635 Centerline is valid? [True, True] Translation: X:746.37, Y:9.54, Z:4.98 [[ 9.99279157e-01 -3.55021725e-02 -1.34447473e-02 7.46365327e+02] [ 3.55024884e-02 9.99369565e-01 -2.15254124e-04 9.53588373e+00] [ 1.34439133e-02 -2.62223025e-04 9.99909592e-01 4.97837520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters 0.01879783202497435 Centerline is valid? [True, True] Translation: X:746.43, Y:9.54, Z:4.98 [[ 9.99336754e-01 -3.32049857e-02 -1.49493052e-02 7.46425301e+02] [ 3.32051127e-02 9.99448529e-01 -2.39777971e-04 9.53846944e+00] [ 1.49490229e-02 -2.56774426e-04 9.99888224e-01 4.97672198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.659254154 meters 0.018455361692088782 Centerline is valid? [True, True] Translation: X:746.48, Y:9.54, Z:4.98 [[ 9.99275930e-01 -3.46341251e-02 -1.57509833e-02 7.46483748e+02] [ 3.46344028e-02 9.99400017e-01 -2.55228406e-04 9.53973330e+00] [ 1.57503726e-02 -2.90482297e-04 9.99875913e-01 4.97727274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters 0.01964064821230764 Centerline is valid? [True, True] Translation: X:746.54, Y:9.54, Z:4.98 [[ 9.99138134e-01 -3.84430560e-02 -1.56563192e-02 7.46541312e+02] [ 3.84437581e-02 9.99260733e-01 -2.56228200e-04 9.53674456e+00] [ 1.56545952e-02 -3.45880382e-04 9.99877399e-01 4.97684785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.779254154 meters 0.019442261502686412 Centerline is valid? [True, True] Translation: X:746.60, Y:9.54, Z:4.98 [[ 9.98990377e-01 -4.20655217e-02 -1.57708336e-02 7.46600577e+02] [ 4.20666676e-02 9.99114772e-01 -2.59216799e-04 9.53717211e+00] [ 1.57677769e-02 -4.04471327e-04 9.99875599e-01 4.97839524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters 0.021029520672873944 Centerline is valid? [True, True] Translation: X:746.66, Y:9.53, Z:4.98 [[ 9.98769350e-01 -4.71350212e-02 -1.54296972e-02 7.46659233e+02] [ 4.71367093e-02 9.98888415e-01 -2.54448882e-04 9.53421749e+00] [ 1.54245392e-02 -4.73169406e-04 9.99880923e-01 4.97933001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.899254154 meters 0.020730911013300598 Centerline is valid? [True, True] Translation: X:746.72, Y:9.53, Z:4.98 [[ 9.98674917e-01 -4.95604522e-02 -1.38625941e-02 7.46719246e+02] [ 4.95620400e-02 9.98771021e-01 -2.29193521e-04 9.53364569e+00] [ 1.38569162e-02 -4.58168625e-04 9.99903883e-01 4.98182125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters 0.01949292658335063 Centerline is valid? [True, True] Translation: X:746.78, Y:9.54, Z:4.98 [[ 9.98714127e-01 -4.89582197e-02 -1.31600180e-02 7.46779300e+02] [ 4.89595954e-02 9.98800736e-01 -2.17808012e-04 9.53715261e+00] [ 1.31548992e-02 -4.26781220e-04 9.99913379e-01 4.98287735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.019254154 meters 0.019076628166167772 Centerline is valid? [True, True] Translation: X:746.84, Y:9.54, Z:4.98 [[ 9.98788859e-01 -4.74155166e-02 -1.31371016e-02 7.46839406e+02] [ 4.74167542e-02 9.98875169e-01 -2.17428728e-04 9.53946205e+00] [ 1.31326341e-02 -4.05753327e-04 9.99913681e-01 4.98296740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.079254154 meters 0.01937198072674046 Centerline is valid? [True, True] Translation: X:746.90, Y:9.54, Z:4.98 [[ 9.98862186e-01 -4.56867182e-02 -1.36768598e-02 7.46898769e+02] [ 4.56878959e-02 9.98955737e-01 -2.26489323e-04 9.54065974e+00] [ 1.36729251e-02 -3.98635326e-04 9.99906442e-01 4.98233313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.139254154 meters 0.018929155533670798 Centerline is valid? [True, True] Translation: X:746.96, Y:9.54, Z:4.98 [[ 9.98863781e-01 -4.55415178e-02 -1.40398163e-02 7.46959191e+02] [ 4.55427428e-02 9.98962364e-01 -2.32625666e-04 9.54365618e+00] [ 1.40358422e-02 -4.07050391e-04 9.99901410e-01 4.98248718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.199254154 meters 0.019283152899332218 Centerline is valid? [True, True] Translation: X:747.02, Y:9.55, Z:4.98 [[ 9.98887766e-01 -4.48859124e-02 -1.44390536e-02 7.47018702e+02] [ 4.48871404e-02 9.98992036e-01 -2.39188077e-04 9.54671303e+00] [ 1.44352357e-02 -4.09205782e-04 9.99895723e-01 4.98223476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.259254154 meters 0.01887873568031533 Centerline is valid? [True, True] Translation: X:747.08, Y:9.55, Z:4.98 [[ 9.98910194e-01 -4.41616167e-02 -1.51054865e-02 7.47079091e+02] [ 4.41628787e-02 9.99024313e-01 -2.50180047e-04 9.55005345e+00] [ 1.51017967e-02 -4.17194370e-04 9.99885874e-01 4.98207232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.319254154 meters 0.019436259082429092 Centerline is valid? [True, True] Translation: X:747.14, Y:9.55, Z:4.98 [[ 9.98936999e-01 -4.35150972e-02 -1.52087949e-02 7.47138504e+02] [ 4.35162994e-02 9.99052685e-01 -2.52041220e-04 9.55271103e+00] [ 1.52053549e-02 -4.10057170e-04 9.99884308e-01 4.98218445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.379254154 meters 0.019882492095521266 Centerline is valid? [True, True] Translation: X:747.20, Y:9.56, Z:4.98 [[ 9.98898632e-01 -4.42161515e-02 -1.56988529e-02 7.47198182e+02] [ 4.42175120e-02 9.99021894e-01 -2.60595366e-04 9.55571447e+00] [ 1.56950203e-02 -4.33855862e-04 9.99876731e-01 4.98245110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.439254154 meters 0.021235317682467975 Centerline is valid? [True, True] Translation: X:747.26, Y:9.56, Z:4.98 [[ 9.98853863e-01 -4.54975247e-02 -1.48638855e-02 7.47257729e+02] [ 4.54988807e-02 9.98964359e-01 -2.47093480e-04 9.55581642e+00] [ 1.48597340e-02 -4.29479875e-04 9.99889496e-01 4.98252884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.499254154 meters 0.018181480248674452 Centerline is valid? [True, True] Translation: X:747.32, Y:9.56, Z:4.98 [[ 9.98896402e-01 -4.47895603e-02 -1.41376444e-02 7.47317799e+02] [ 4.47907147e-02 9.98996365e-01 -2.35129293e-04 9.56280843e+00] [ 1.41339867e-02 -3.98365390e-04 9.99900031e-01 4.98471732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.559254154 meters 0.016790188403702663 Centerline is valid? [True, True] Translation: X:747.38, Y:9.57, Z:4.99 [[ 9.99101713e-01 -4.00424918e-02 -1.38696350e-02 7.47377976e+02] [ 4.00431456e-02 9.99197925e-01 -2.30671913e-04 9.56864393e+00] [ 1.38677472e-02 -3.24919110e-04 9.99903785e-01 4.98588546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.619254154 meters 0.01730684228729135 Centerline is valid? [True, True] Translation: X:747.44, Y:9.57, Z:4.98 [[ 9.99335249e-01 -3.33069688e-02 -1.48225098e-02 7.47437498e+02] [ 3.33069727e-02 9.99445138e-01 -2.46667783e-04 9.57056376e+00] [ 1.48225011e-02 -2.47189117e-04 9.99890110e-01 4.98384348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.679254154 meters 0.015563541026184773 Centerline is valid? [True, True] Translation: X:747.50, Y:9.58, Z:4.98 [[ 9.99495109e-01 -2.77376850e-02 -1.54967037e-02 7.47496041e+02] [ 2.77370114e-02 9.99615222e-01 -2.58435148e-04 9.57709559e+00] [ 1.54979093e-02 -1.71527580e-04 9.99879885e-01 4.98395995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.739254154 meters 0.014399495777059039 Centerline is valid? [True, True] Translation: X:747.55, Y:9.58, Z:4.99 [[ 9.99575664e-01 -2.54573746e-02 -1.41567564e-02 7.47554472e+02] [ 2.54565537e-02 9.99675901e-01 -2.38210716e-04 9.58312050e+00] [ 1.41582324e-02 -1.22272594e-04 9.99899760e-01 4.98706099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.799254154 meters 0.014148158699351095 Centerline is valid? [True, True] Translation: X:747.61, Y:9.58, Z:4.99 [[ 9.99563012e-01 -2.59727606e-02 -1.41138670e-02 7.47613364e+02] [ 2.59719463e-02 9.99662643e-01 -2.41013314e-04 9.58409447e+00] [ 1.41153654e-02 -1.25656601e-04 9.99900365e-01 4.98783388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters 0.0141195961547799 Centerline is valid? [True, True] Translation: X:747.67, Y:9.58, Z:4.99 [[ 9.99524499e-01 -2.76023857e-02 -1.37435327e-02 7.47672620e+02] [ 2.76017198e-02 9.99618972e-01 -2.38168025e-04 9.58403975e+00] [ 1.37448700e-02 -1.41290363e-04 9.99905525e-01 4.98814973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.919254154 meters 0.014679413157305057 Centerline is valid? [True, True] Translation: X:747.73, Y:9.58, Z:4.99 [[ 9.99457019e-01 -3.03269545e-02 -1.28819221e-02 7.47731482e+02] [ 3.03265692e-02 9.99540018e-01 -2.25295059e-04 9.58236871e+00] [ 1.28828292e-02 -1.65491774e-04 9.99916999e-01 4.98825535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters 0.015952696291199504 Centerline is valid? [True, True] Translation: X:747.79, Y:9.58, Z:4.99 [[ 9.99220147e-01 -3.78224819e-02 -1.13383226e-02 7.47791547e+02] [ 3.78226600e-02 9.99284447e-01 -1.98796618e-04 9.57724410e+00] [ 1.13377285e-02 -2.30203937e-04 9.99935699e-01 4.98942717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.039254154 meters 0.01842926295475287 Centerline is valid? [True, True] Translation: X:747.85, Y:9.57, Z:4.99 [[ 9.98738096e-01 -4.89307203e-02 -1.13136905e-02 7.47852513e+02] [ 4.89316083e-02 9.98802112e-01 -1.98472018e-04 9.57047653e+00] [ 1.13098494e-02 -3.55375508e-04 9.99935978e-01 4.98968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters 0.020861342483630713 Centerline is valid? [True, True] Translation: X:747.91, Y:9.57, Z:4.99 [[ 9.98355682e-01 -5.61522603e-02 -1.15262919e-02 7.47913241e+02] [ 5.61536630e-02 9.98422118e-01 -2.02156656e-04 9.56642181e+00] [ 1.15194563e-02 -4.45419263e-04 9.99933550e-01 4.98968012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.159254154 meters 0.029117332198553104 Centerline is valid? [True, True] Translation: X:747.97, Y:9.55, Z:4.99 [[ 9.97565829e-01 -6.88846962e-02 -1.08312274e-02 7.47973140e+02] [ 6.88866842e-02 9.97624473e-01 -1.89868746e-04 9.55436780e+00] [ 1.08185766e-02 -5.56720768e-04 9.99941323e-01 4.98892381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters 0.027856000435933236 Centerline is valid? [True, True] Translation: X:748.03, Y:9.56, Z:4.99 [[ 9.97234322e-01 -7.35011690e-02 -1.10129880e-02 7.48033564e+02] [ 7.35035063e-02 9.97294940e-01 -1.92922740e-04 9.55781817e+00] [ 1.09973772e-02 -6.17104054e-04 9.99939337e-01 4.98987998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.279254154 meters 0.029282287602020604 Centerline is valid? [True, True] Translation: X:748.09, Y:9.56, Z:4.99 [[ 9.96926402e-01 -7.75574136e-02 -1.10723685e-02 7.48094914e+02] [ 7.75600275e-02 9.96987665e-01 -1.93770573e-04 9.56068852e+00] [ 1.10540431e-02 -6.65598203e-04 9.99938681e-01 4.99023476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters 0.0302171671337231 Centerline is valid? [True, True] Translation: X:748.16, Y:9.56, Z:4.99 [[ 9.96875154e-01 -7.81805123e-02 -1.13019633e-02 7.48156536e+02] [ 7.81832814e-02 9.96938983e-01 -1.97283725e-04 9.56383454e+00] [ 1.12827915e-02 -6.86957331e-04 9.99936111e-01 4.99049338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.399254154 meters 0.03278224536203669 Centerline is valid? [True, True] Translation: X:748.22, Y:9.57, Z:4.99 [[ 9.97027253e-01 -7.62978535e-02 -1.07375422e-02 7.48216864e+02] [ 7.63002487e-02 9.97084870e-01 -1.87002797e-04 9.56690406e+00] [ 1.07205088e-02 -6.32830255e-04 9.99942333e-01 4.99132988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters 0.03290333480921476 Centerline is valid? [True, True] Translation: X:748.28, Y:9.58, Z:4.99 [[ 9.97222937e-01 -7.37459929e-02 -1.03895540e-02 7.48277299e+02] [ 7.37480999e-02 9.97276885e-01 -1.80694187e-04 9.57503524e+00] [ 1.03745875e-02 -5.86017475e-04 9.99946011e-01 4.99248406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.519254154 meters 0.02675329769893278 Centerline is valid? [True, True] Translation: X:748.34, Y:9.59, Z:4.99 [[ 9.97381449e-01 -7.14902605e-02 -1.09264474e-02 7.48338376e+02] [ 7.14924603e-02 9.97441122e-01 -1.89626147e-04 9.59085719e+00] [ 1.09120443e-02 -5.92029004e-04 9.99940287e-01 4.99277424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.579254154 meters 0.028669429063577646 Centerline is valid? [True, True] Translation: X:748.40, Y:9.59, Z:4.99 [[ 9.97493925e-01 -6.98003774e-02 -1.15661596e-02 7.48400093e+02] [ 6.98027363e-02 9.97560794e-01 -2.00103783e-04 9.59467373e+00] [ 1.15519147e-02 -6.07747280e-04 9.99933090e-01 4.99294064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.639254154 meters 0.024935446042370555 Centerline is valid? [True, True] Translation: X:748.46, Y:9.61, Z:4.99 [[ 9.97653521e-01 -6.75098114e-02 -1.13963501e-02 7.48461373e+02] [ 6.75119601e-02 9.97718446e-01 -1.96503042e-04 9.60553671e+00] [ 1.13836146e-02 -5.73347982e-04 9.99935040e-01 4.99444813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.699254154 meters 0.02693032856510065 Centerline is valid? [True, True] Translation: X:748.52, Y:9.61, Z:4.99 [[ 9.98045342e-01 -6.14435910e-02 -1.14096608e-02 7.48521017e+02] [ 6.14453511e-02 9.98110430e-01 -1.96553860e-04 9.60914764e+00] [ 1.14001784e-02 -5.04900950e-04 9.99934888e-01 4.99499713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.759254154 meters 0.019589798859401732 Centerline is valid? [True, True] Translation: X:748.58, Y:9.63, Z:5.00 [[ 9.98689803e-01 -4.99468721e-02 -1.11349231e-02 7.48580910e+02] [ 4.99478332e-02 9.98751810e-01 -1.91934383e-04 9.62985944e+00] [ 1.11306111e-02 -3.64482370e-04 9.99937986e-01 4.99641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.819254154 meters 0.018756640349730427 Centerline is valid? [True, True] Translation: X:748.64, Y:9.64, Z:5.00 [[ 9.99129685e-01 -4.04349662e-02 -1.02414205e-02 7.48641025e+02] [ 4.04352798e-02 9.99182144e-01 -1.76520089e-04 9.64081710e+00] [ 1.02401820e-02 -2.37748242e-04 9.99947540e-01 4.99689689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.879254154 meters 0.016273209958970164 Centerline is valid? [True, True] Translation: X:748.70, Y:9.65, Z:5.00 [[ 9.99293182e-01 -3.64045702e-02 -9.37252168e-03 7.48702786e+02] [ 3.64046575e-02 9.99337118e-01 -1.61354140e-04 9.64604669e+00] [ 9.37218283e-03 -1.79963349e-04 9.99956064e-01 4.99817532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.939254154 meters 0.015908353692818848 Centerline is valid? [True, True] Translation: X:748.76, Y:9.65, Z:5.00 [[ 9.99345246e-01 -3.44350897e-02 -1.11042275e-02 7.48764983e+02] [ 3.44350991e-02 9.99406918e-01 -1.90402643e-04 9.64884856e+00] [ 1.11041983e-02 -1.92097199e-04 9.99938328e-01 4.99700476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.999254154 meters 0.016752591297034353 Centerline is valid? [True, True] Translation: X:748.83, Y:9.65, Z:5.00 [[ 9.99236272e-01 -3.71202251e-02 -1.22049509e-02 7.48826705e+02] [ 3.71204470e-02 9.99310777e-01 -2.08435968e-04 9.64843328e+00] [ 1.22042762e-02 -2.44776453e-04 9.99925495e-01 4.99576137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.059254154 meters 0.01797777056997313 Centerline is valid? [True, True] Translation: X:748.89, Y:9.65, Z:4.99 [[ 9.99086726e-01 -4.07801797e-02 -1.27550029e-02 7.48887880e+02] [ 4.07807277e-02 9.99168097e-01 -2.17233953e-04 9.64509864e+00] [ 1.27532508e-02 -3.03122743e-04 9.99918628e-01 4.99493068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.119254154 meters 0.018930069091286163 Centerline is valid? [True, True] Translation: X:748.95, Y:9.64, Z:4.99 [[ 9.98990274e-01 -4.31918509e-02 -1.23651499e-02 7.48949205e+02] [ 4.31925558e-02 9.99066744e-01 -2.10164013e-04 9.64351136e+00] [ 1.23626874e-02 -3.24130623e-04 9.99923527e-01 4.99498488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.179254154 meters 0.01837397690830888 Centerline is valid? [True, True] Translation: X:749.01, Y:9.65, Z:5.00 [[ 9.98897723e-01 -4.53626165e-02 -1.20653115e-02 7.49011188e+02] [ 4.53634534e-02 9.98970528e-01 -2.04438994e-04 9.64548487e+00] [ 1.20621645e-02 -3.43110549e-04 9.99927191e-01 4.99591362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.239254154 meters 0.01903600333808899 Centerline is valid? [True, True] Translation: X:749.07, Y:9.64, Z:5.00 [[ 9.98783173e-01 -4.76215579e-02 -1.28202957e-02 7.49073643e+02] [ 4.76227013e-02 9.98865372e-01 -2.16250277e-04 9.64407279e+00] [ 1.28160477e-02 -3.94549977e-04 9.99917793e-01 4.99611689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.299254154 meters 0.01932808734746502 Centerline is valid? [True, True] Translation: X:749.14, Y:9.64, Z:5.00 [[ 9.98820691e-01 -4.66682742e-02 -1.33902911e-02 7.49135969e+02] [ 4.66694495e-02 9.98910362e-01 -2.24853825e-04 9.64494401e+00] [ 1.33861941e-02 -4.00328861e-04 9.99910321e-01 4.99619196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters 0.01830072608845165 Centerline is valid? [True, True] Translation: X:749.20, Y:9.65, Z:5.00 [[ 9.98958918e-01 -4.34115152e-02 -1.40185661e-02 7.49196915e+02] [ 4.34124940e-02 9.99057206e-01 -2.34616287e-04 9.64777805e+00] [ 1.40155345e-02 -3.74208885e-04 9.99901708e-01 4.99672628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.419254154 meters 0.016736517912425166 Centerline is valid? [True, True] Translation: X:749.26, Y:9.65, Z:5.00 [[ 9.99131009e-01 -3.90300672e-02 -1.46246313e-02 7.49257896e+02] [ 3.90306715e-02 9.99237983e-01 -2.44203094e-04 9.65170454e+00] [ 1.46230183e-02 -3.26818295e-04 9.99893025e-01 4.99702854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters 0.01625987932116029 Centerline is valid? [True, True] Translation: X:749.32, Y:9.65, Z:5.00 [[ 9.99227202e-01 -3.63824458e-02 -1.48767054e-02 7.49319002e+02] [ 3.63827862e-02 9.99337897e-01 -2.47852363e-04 9.65301808e+00] [ 1.48758730e-02 -2.93595169e-04 9.99889305e-01 4.99709091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.539254154 meters 0.015477354571587054 Centerline is valid? [True, True] Translation: X:749.38, Y:9.66, Z:5.00 [[ 9.99364083e-01 -3.24244252e-02 -1.48353086e-02 7.49379894e+02] [ 3.24243336e-02 9.99474163e-01 -2.46764602e-04 9.65653868e+00] [ 1.48355088e-02 -2.34417314e-04 9.99889920e-01 4.99802687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters 0.01496834665187217 Centerline is valid? [True, True] Translation: X:749.44, Y:9.66, Z:5.00 [[ 9.99467655e-01 -2.86477752e-02 -1.56112562e-02 7.49440289e+02] [ 2.86472151e-02 9.99589551e-01 -2.59540531e-04 9.65882096e+00] [ 1.56122838e-02 -1.87816649e-04 9.99878103e-01 4.99810985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.659254154 meters 0.0147884189211221 Centerline is valid? [True, True] Translation: X:749.50, Y:9.66, Z:5.00 [[ 9.99507293e-01 -2.68480607e-02 -1.62589406e-02 7.49500093e+02] [ 2.68472095e-02 9.99639512e-01 -2.70658926e-04 9.65896286e+00] [ 1.62603461e-02 -1.65981614e-04 9.99867778e-01 4.99776130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters 0.014878465863261565 Centerline is valid? [True, True] Translation: X:749.56, Y:9.66, Z:5.00 [[ 9.99477121e-01 -2.80190317e-02 -1.61374711e-02 7.49558551e+02] [ 2.80183030e-02 9.99607373e-01 -2.71286829e-04 9.65774971e+00] [ 1.61387363e-02 -1.80999577e-04 9.99869746e-01 4.99848516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.779254154 meters 0.015204903043230815 Centerline is valid? [True, True] Translation: X:749.62, Y:9.66, Z:5.00 [[ 9.99439410e-01 -2.91213982e-02 -1.65169880e-02 7.49617699e+02] [ 2.91207152e-02 9.99575862e-01 -2.81911304e-04 9.65757320e+00] [ 1.65181922e-02 -1.99233237e-04 9.99863546e-01 4.99871669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters 0.0160454306139763 Centerline is valid? [True, True] Translation: X:749.68, Y:9.65, Z:5.00 [[ 9.99299803e-01 -3.34375674e-02 -1.67878490e-02 7.49676335e+02] [ 3.34374296e-02 9.99440771e-01 -2.88976317e-04 9.65189536e+00] [ 1.67881234e-02 -2.72568542e-04 9.99859032e-01 4.99882515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.899254154 meters 0.01876868188940479 Centerline is valid? [True, True] Translation: X:749.74, Y:9.64, Z:5.00 [[ 9.99109008e-01 -3.87337772e-02 -1.67595950e-02 7.49735021e+02] [ 3.87343678e-02 9.99249501e-01 -2.89490291e-04 9.64432281e+00] [ 1.67582300e-02 -3.59939959e-04 9.99859506e-01 4.99928980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters 0.018146277614142323 Centerline is valid? [True, True] Translation: X:749.80, Y:9.64, Z:5.00 [[ 9.98822637e-01 -4.62625988e-02 -1.45983251e-02 7.49795273e+02] [ 4.62638435e-02 9.98929223e-01 -2.52612708e-04 9.64175892e+00] [ 1.45943801e-02 -4.23059339e-04 9.99893407e-01 5.00249231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.019254154 meters 0.02113436405271812 Centerline is valid? [True, True] Translation: X:749.86, Y:9.63, Z:5.00 [[ 9.98346668e-01 -5.56472115e-02 -1.43985221e-02 7.49855518e+02] [ 5.56493932e-02 9.98450341e-01 -2.49397542e-04 9.63300332e+00] [ 1.43900876e-02 -5.52283813e-04 9.99896305e-01 5.00243303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.079254154 meters 0.025220301044210747 Centerline is valid? [True, True] Translation: X:749.92, Y:9.62, Z:5.00 [[ 9.97787045e-01 -6.49233067e-02 -1.43518978e-02 7.49915554e+02] [ 6.49264390e-02 9.97890022e-01 -2.48073769e-04 9.62405131e+00] [ 1.43377214e-02 -6.84292826e-04 9.99896975e-01 5.00184398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.139254154 meters 0.02728562336679322 Centerline is valid? [True, True] Translation: X:749.98, Y:9.62, Z:5.00 [[ 9.97374772e-01 -7.10268633e-02 -1.40978634e-02 7.49975645e+02] [ 7.10304994e-02 9.97474114e-01 -2.43262715e-04 9.62108050e+00] [ 1.40795320e-02 -7.58754184e-04 9.99900591e-01 5.00176953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.199254154 meters 0.02969815508919017 Centerline is valid? [True, True] Translation: X:750.04, Y:9.62, Z:5.00 [[ 9.96896450e-01 -7.75571943e-02 -1.35036816e-02 7.50036497e+02] [ 7.75611265e-02 9.96987571e-01 -2.33050793e-04 9.61852928e+00] [ 1.34810775e-02 -8.15033248e-04 9.99908794e-01 5.00196529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.259254154 meters 0.031826744278481374 Centerline is valid? [True, True] Translation: X:750.10, Y:9.62, Z:5.00 [[ 9.96744112e-01 -7.96202841e-02 -1.27194647e-02 7.50098051e+02] [ 7.96239436e-02 9.96824949e-01 -2.19242937e-04 9.61934189e+00] [ 1.26965359e-02 -7.94244833e-04 9.99919080e-01 5.00239914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.319254154 meters 0.027447049751418835 Centerline is valid? [True, True] Translation: X:750.16, Y:9.63, Z:5.00 [[ 9.96942530e-01 -7.72428661e-02 -1.17953999e-02 7.50159701e+02] [ 7.72458535e-02 9.97012055e-01 -2.02796209e-04 9.63164084e+00] [ 1.17758204e-02 -7.08969567e-04 9.99930411e-01 5.00339290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.379254154 meters 0.02615811908144189 Centerline is valid? [True, True] Translation: X:750.22, Y:9.64, Z:5.00 [[ 9.97345153e-01 -7.17724403e-02 -1.23029864e-02 7.50219899e+02] [ 7.17752806e-02 9.97420806e-01 -2.11092062e-04 9.64079516e+00] [ 1.22864052e-02 -6.72518654e-04 9.99924293e-01 5.00320373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.439254154 meters 0.024916540908003437 Centerline is valid? [True, True] Translation: X:750.28, Y:9.65, Z:5.00 [[ 9.97589122e-01 -6.81907847e-02 -1.28825929e-02 7.50280630e+02] [ 6.81936033e-02 9.97672082e-01 -2.20865358e-04 9.64850842e+00] [ 1.28676643e-02 -6.58177552e-04 9.99916992e-01 5.00318143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.499254154 meters 0.023765175493463856 Centerline is valid? [True, True] Translation: X:750.34, Y:9.66, Z:5.00 [[ 9.97820482e-01 -6.46326604e-02 -1.33005245e-02 7.50341138e+02] [ 6.46353515e-02 9.97908923e-01 -2.27878602e-04 9.65716562e+00] [ 1.32874404e-02 -6.32302137e-04 9.99911518e-01 5.00340532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.559254154 meters 0.023507224295243247 Centerline is valid? [True, True] Translation: X:750.40, Y:9.66, Z:5.00 [[ 9.97945874e-01 -6.25456030e-02 -1.38593291e-02 7.50402921e+02] [ 6.25483297e-02 9.98041908e-01 -2.37052665e-04 9.66446216e+00] [ 1.38470179e-02 -6.30312159e-04 9.99903927e-01 5.00339786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.619254154 meters 0.023219567325202223 Centerline is valid? [True, True] Translation: X:750.46, Y:9.67, Z:5.00 [[ 9.98065432e-01 -6.06326857e-02 -1.37503334e-02 7.50464652e+02] [ 6.06352009e-02 9.98159966e-01 -2.34291879e-04 9.66996371e+00] [ 1.37392381e-02 -5.99915605e-04 9.99905432e-01 5.00369853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.679254154 meters 0.022184250185506692 Centerline is valid? [True, True] Translation: X:750.52, Y:9.68, Z:5.00 [[ 9.98322669e-01 -5.64715964e-02 -1.27595940e-02 7.50524504e+02] [ 5.64734287e-02 9.98404079e-01 -2.16947177e-04 9.67789485e+00] [ 1.27514821e-02 -5.03994738e-04 9.99918570e-01 5.00439647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.739254154 meters 0.021425534554803383 Centerline is valid? [True, True] Translation: X:750.58, Y:9.69, Z:5.01 [[ 9.98596286e-01 -5.15031630e-02 -1.23645303e-02 7.50584380e+02] [ 5.15045031e-02 9.98672740e-01 -2.10230039e-04 9.68582040e+00] [ 1.23589469e-02 -4.26894053e-04 9.99923534e-01 5.00518285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.799254154 meters 0.019177720669651482 Centerline is valid? [True, True] Translation: X:750.64, Y:9.70, Z:5.01 [[ 9.98877562e-01 -4.60984980e-02 -1.08878496e-02 7.50644698e+02] [ 4.60992163e-02 9.98936849e-01 -1.85122523e-04 9.69572263e+00] [ 1.08848081e-02 -3.17006600e-04 9.99940708e-01 5.00687702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters 0.017838622194701188 Centerline is valid? [True, True] Translation: X:750.70, Y:9.70, Z:5.01 [[ 9.99159890e-01 -3.97769784e-02 -9.86435280e-03 7.50703941e+02] [ 3.97772595e-02 9.99208558e-01 -1.67775894e-04 9.70338384e+00] [ 9.86321936e-03 -2.24741978e-04 9.99951332e-01 5.00751348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.919254154 meters 0.015637847641783754 Centerline is valid? [True, True] Translation: X:750.77, Y:9.71, Z:5.01 [[ 9.99314918e-01 -3.55458685e-02 -1.03046943e-02 7.50765681e+02] [ 3.55459519e-02 9.99368028e-01 -1.75119490e-04 9.71279502e+00] [ 1.03044068e-02 -1.91290649e-04 9.99946890e-01 5.00754329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters 0.018108434612592813 Centerline is valid? [True, True] Translation: X:750.83, Y:9.72, Z:5.01 [[ 9.99367832e-01 -3.35548174e-02 -1.17477877e-02 7.50826497e+02] [ 3.35547983e-02 9.99436859e-01 -1.98791027e-04 9.71522325e+00] [ 1.17478424e-02 -1.95529287e-04 9.99930973e-01 5.00613838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.039254154 meters 0.017822003395389505 Centerline is valid? [True, True] Translation: X:750.89, Y:9.72, Z:5.01 [[ 9.99347385e-01 -3.42028969e-02 -1.16174670e-02 7.50888400e+02] [ 3.42029304e-02 9.99414889e-01 -1.95855578e-04 9.71718354e+00] [ 1.16173683e-02 -2.01623655e-04 9.99932496e-01 5.00610975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters 0.016157741850119124 Centerline is valid? [True, True] Translation: X:750.95, Y:9.72, Z:5.01 [[ 9.99212267e-01 -3.77875893e-02 -1.21220380e-02 7.50950630e+02] [ 3.77879005e-02 9.99285762e-01 -2.03445795e-04 9.71700591e+00] [ 1.21210677e-02 -2.54780831e-04 9.99926505e-01 5.00613085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.159254154 meters 0.017482383665554317 Centerline is valid? [True, True] Translation: X:751.01, Y:9.72, Z:5.01 [[ 9.98979664e-01 -4.34655691e-02 -1.22627264e-02 7.51012081e+02] [ 4.34663237e-02 9.99054872e-01 -2.05099074e-04 9.71543747e+00] [ 1.22600513e-02 -3.28125833e-04 9.99924789e-01 5.00567672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters 0.020215135376166177 Centerline is valid? [True, True] Translation: X:751.07, Y:9.71, Z:5.01 [[ 9.98677670e-01 -5.01439200e-02 -1.13357431e-02 7.51071978e+02] [ 5.01450009e-02 9.98741930e-01 -1.89030879e-04 9.71047910e+00] [ 1.13309607e-02 -3.79649932e-04 9.99935731e-01 5.00631379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.279254154 meters 0.021282692977992363 Centerline is valid? [True, True] Translation: X:751.13, Y:9.71, Z:5.01 [[ 9.98523979e-01 -5.31872470e-02 -1.09990607e-02 7.51133638e+02] [ 5.31884567e-02 9.98584476e-01 -1.82713357e-04 9.71012222e+00] [ 1.09932093e-02 -4.02579397e-04 9.99939492e-01 5.00750236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters 0.021014521562965377 Centerline is valid? [True, True] Translation: X:751.20, Y:9.71, Z:5.01 [[ 9.98448685e-01 -5.44679322e-02 -1.15528485e-02 7.51196038e+02] [ 5.44693610e-02 9.98515424e-01 -1.91166970e-04 9.71311504e+00] [ 1.15461099e-02 -4.38405868e-04 9.99933245e-01 5.00814931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.399254154 meters 0.022986461810633338 Centerline is valid? [True, True] Translation: X:751.26, Y:9.71, Z:5.01 [[ 9.98532901e-01 -5.26299104e-02 -1.27333127e-02 7.51257075e+02] [ 5.26315082e-02 9.98613980e-01 -2.09818472e-04 9.71487058e+00] [ 1.27267068e-02 -4.60662807e-04 9.99918906e-01 5.00676699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters 0.0205411962294628 Centerline is valid? [True, True] Translation: X:751.32, Y:9.72, Z:5.01 [[ 9.98649385e-01 -5.04599472e-02 -1.23773570e-02 7.51318946e+02] [ 5.04613001e-02 9.98725996e-01 -2.03170967e-04 9.72021086e+00] [ 1.23718402e-02 -4.21680965e-04 9.99923377e-01 5.00788645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.519254154 meters 0.01960664783163655 Centerline is valid? [True, True] Translation: X:751.38, Y:9.72, Z:5.01 [[ 9.98813649e-01 -4.71053466e-02 -1.23442636e-02 7.51379039e+02] [ 4.71064438e-02 9.98889855e-01 -2.02023638e-04 9.72365976e+00] [ 1.23400760e-02 -3.79710390e-04 9.99923786e-01 5.00838617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.579254154 meters 0.017558031726131122 Centerline is valid? [True, True] Translation: X:751.44, Y:9.73, Z:5.01 [[ 9.99069651e-01 -4.12221090e-02 -1.26716039e-02 7.51440378e+02] [ 4.12227965e-02 9.99149958e-01 -2.07035373e-04 9.73104080e+00] [ 1.26693669e-02 -3.15516191e-04 9.99919691e-01 5.00917384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.639254154 meters 0.017178728060131824 Centerline is valid? [True, True] Translation: X:751.50, Y:9.73, Z:5.01 [[ 9.99165841e-01 -3.87842070e-02 -1.27830722e-02 7.51502732e+02] [ 3.87847161e-02 9.99247568e-01 -2.08169561e-04 9.73352957e+00] [ 1.27815275e-02 -2.87791910e-04 9.99918272e-01 5.00967545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.699254154 meters 0.016971970344708653 Centerline is valid? [True, True] Translation: X:751.56, Y:9.74, Z:5.01 [[ 9.99414100e-01 -3.19451615e-02 -1.22867515e-02 7.51564437e+02] [ 3.19451245e-02 9.99489604e-01 -1.99321375e-04 9.73885612e+00] [ 1.22868477e-02 -1.93297213e-04 9.99924495e-01 5.00951656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.759254154 meters 0.016390689986783898 Centerline is valid? [True, True] Translation: X:751.63, Y:9.74, Z:5.01 [[ 9.99486479e-01 -2.93255476e-02 -1.29147538e-02 7.51626454e+02] [ 2.93252989e-02 9.99569899e-01 -2.08670198e-04 9.74225253e+00] [ 1.29153186e-02 -1.70165975e-04 9.99916579e-01 5.01001310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.819254154 meters 0.01480180558496038 Centerline is valid? [True, True] Translation: X:751.69, Y:9.74, Z:5.01 [[ 9.99499347e-01 -2.86906648e-02 -1.33379397e-02 7.51688309e+02] [ 2.86903531e-02 9.99588324e-01 -2.14748988e-04 9.74153284e+00] [ 1.33386101e-02 -1.68028726e-04 9.99911023e-01 5.00982544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.879254154 meters 0.015517391553538089 Centerline is valid? [True, True] Translation: X:751.75, Y:9.74, Z:5.01 [[ 9.99477044e-01 -2.96147015e-02 -1.29849278e-02 7.51749427e+02] [ 2.96144901e-02 9.99561373e-01 -2.08597182e-04 9.73867996e+00] [ 1.29854098e-02 -1.76053919e-04 9.99915671e-01 5.00984235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.939254154 meters 0.016200335480616883 Centerline is valid? [True, True] Translation: X:751.81, Y:9.73, Z:5.01 [[ 9.99380998e-01 -3.31572224e-02 -1.17567117e-02 7.51809677e+02] [ 3.31572979e-02 9.99450128e-01 -1.88555257e-04 9.73380873e+00] [ 1.17564990e-02 -2.01382252e-04 9.99930870e-01 5.01107221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.999254154 meters 0.018987176126265257 Centerline is valid? [True, True] Translation: X:751.87, Y:9.73, Z:5.01 [[ 9.99110758e-01 -4.05528698e-02 -1.15394159e-02 7.51869488e+02] [ 4.05534367e-02 9.99177354e-01 -1.84952366e-04 9.72541483e+00] [ 1.15374234e-02 -2.83175073e-04 9.99933402e-01 5.01081142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.059254154 meters 0.02341573426959369 Centerline is valid? [True, True] Translation: X:751.93, Y:9.71, Z:5.01 [[ 9.98581059e-01 -5.19458531e-02 -1.17259439e-02 7.51930393e+02] [ 5.19472251e-02 9.98649814e-01 -1.87745222e-04 9.71473461e+00] [ 1.17198643e-02 -4.21651424e-04 9.99931231e-01 5.01035047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.119254154 meters 0.02677788781792912 Centerline is valid? [True, True] Translation: X:751.99, Y:9.71, Z:5.01 [[ 9.97830476e-01 -6.45675795e-02 -1.28595674e-02 7.51991118e+02] [ 6.45702790e-02 9.97913141e-01 -2.05587738e-04 9.70835130e+00] [ 1.28460056e-02 -6.25204145e-04 9.99917291e-01 5.00953370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.179254154 meters 0.030889076140054407 Centerline is valid? [True, True] Translation: X:752.05, Y:9.70, Z:5.01 [[ 9.97202960e-01 -7.33910964e-02 -1.41422891e-02 7.52052027e+02] [ 7.33952478e-02 9.97302906e-01 -2.25948552e-04 9.70346130e+00] [ 1.41207287e-02 -8.12660251e-04 9.99899967e-01 5.00920494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.239254154 meters 0.030925488498676507 Centerline is valid? [True, True] Translation: X:752.11, Y:9.70, Z:5.01 [[ 9.96995345e-01 -7.63307529e-02 -1.31870138e-02 7.52113160e+02] [ 7.63346214e-02 9.97082234e-01 -2.10464287e-04 9.70356495e+00] [ 1.31646020e-02 -7.96793788e-04 9.99913025e-01 5.01176567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.299254154 meters 0.03060364713256155 Centerline is valid? [True, True] Translation: X:752.18, Y:9.71, Z:5.01 [[ 9.97101912e-01 -7.49464224e-02 -1.30694278e-02 7.52175147e+02] [ 7.49501113e-02 9.97187263e-01 -2.08001751e-04 9.70749123e+00] [ 1.30482559e-02 -7.72156126e-04 9.99914570e-01 5.01238360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters 0.030497817100314854 Centerline is valid? [True, True] Translation: X:752.23, Y:9.71, Z:5.01 [[ 9.97532045e-01 -6.85810005e-02 -1.50487466e-02 7.52234710e+02] [ 6.85851755e-02 9.97645236e-01 -2.39094301e-04 9.71403478e+00] [ 1.50297077e-02 -7.93616701e-04 9.99886733e-01 5.01016278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.419254154 meters 0.02400736519350237 Centerline is valid? [True, True] Translation: X:752.30, Y:9.73, Z:5.01 [[ 9.98051220e-01 -6.04290225e-02 -1.55594197e-02 7.52295190e+02] [ 6.04324948e-02 9.98172256e-01 -2.47348701e-04 9.72847780e+00] [ 1.55459281e-02 -6.93427875e-04 9.99878914e-01 5.01165080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters 0.023875507800105618 Centerline is valid? [True, True] Translation: X:752.35, Y:9.73, Z:5.01 [[ 9.98402683e-01 -5.42342726e-02 -1.58343625e-02 7.52354428e+02] [ 5.42370892e-02 9.98528054e-01 -2.51817069e-04 9.73441314e+00] [ 1.58247123e-02 -6.07394892e-04 9.99874597e-01 5.01163234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.539254154 meters 0.01918799406947534 Centerline is valid? [True, True] Translation: X:752.41, Y:9.75, Z:5.01 [[ 9.98922095e-01 -4.35726962e-02 -1.60021538e-02 7.52414491e+02] [ 4.35742056e-02 9.99050161e-01 -2.54491228e-04 9.75137478e+00] [ 1.59980432e-02 -4.43064230e-04 9.99871925e-01 5.01338164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters 0.015740085804164375 Centerline is valid? [True, True] Translation: X:752.47, Y:9.76, Z:5.02 [[ 9.99365141e-01 -3.23979122e-02 -1.48219295e-02 7.52473822e+02] [ 3.23979776e-02 9.99475020e-01 -2.35760078e-04 9.76394422e+00] [ 1.48217865e-02 -2.44590138e-04 9.99890121e-01 5.01549868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.659254154 meters 0.015269239274084455 Centerline is valid? [True, True] Translation: X:752.53, Y:9.77, Z:5.02 [[ 9.99629129e-01 -2.30789342e-02 -1.44556897e-02 7.52533963e+02] [ 2.30780231e-02 9.99733641e-01 -2.29858851e-04 9.77408738e+00] [ 1.44571442e-02 -1.03835139e-04 9.99895485e-01 5.01539717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters 0.016017475479993788 Centerline is valid? [True, True] Translation: X:752.59, Y:9.78, Z:5.02 [[ 9.99711253e-01 -1.94077512e-02 -1.41686221e-02 7.52594002e+02] [ 1.94065089e-02 9.99811651e-01 -2.25175811e-04 9.77892711e+00] [ 1.41703236e-02 -4.98526974e-05 9.99899595e-01 5.01593610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.779254154 meters 0.01521710345077625 Centerline is valid? [True, True] Translation: X:752.65, Y:9.78, Z:5.02 [[ 9.99720094e-01 -1.94311755e-02 -1.34967966e-02 7.52653883e+02] [ 1.94300469e-02 9.99811196e-01 -2.14751061e-04 9.78131597e+00] [ 1.34984212e-02 -4.75524418e-05 9.99908891e-01 5.01685765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters 0.0141333691632982 Centerline is valid? [True, True] Translation: X:752.71, Y:9.78, Z:5.02 [[ 9.99606743e-01 -2.48682552e-02 -1.29587405e-02 7.52713343e+02] [ 2.48676671e-02 9.99690730e-01 -2.06543497e-04 9.77813251e+00] [ 1.29598691e-02 -1.15791371e-04 9.99916011e-01 5.01762742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.899254154 meters 0.017041405322717435 Centerline is valid? [True, True] Translation: X:752.77, Y:9.77, Z:5.02 [[ 9.99482744e-01 -2.93465652e-02 -1.31538243e-02 7.52774973e+02] [ 2.93463484e-02 9.99569281e-01 -2.09539816e-04 9.77490103e+00] [ 1.31543080e-02 -1.76585282e-04 9.99913463e-01 5.01652193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters 0.01934119670801664 Centerline is valid? [True, True] Translation: X:752.83, Y:9.76, Z:5.02 [[ 9.99036865e-01 -4.21149145e-02 -1.23156775e-02 7.52834916e+02] [ 4.21156956e-02 9.99112721e-01 -1.96036961e-04 9.76478858e+00] [ 1.23130061e-02 -3.22835173e-04 9.99924140e-01 5.01754971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.019254154 meters 0.019059597531193375 Centerline is valid? [True, True] Translation: X:752.90, Y:9.76, Z:5.02 [[ 9.98796276e-01 -4.76207515e-02 -1.17585268e-02 7.52896271e+02] [ 4.76218457e-02 9.98865419e-01 -1.87070241e-04 9.76374103e+00] [ 1.17540942e-02 -3.73117691e-04 9.99930849e-01 5.01882197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.079254154 meters 0.021138095524133867 Centerline is valid? [True, True] Translation: X:752.96, Y:9.76, Z:5.02 [[ 9.98466218e-01 -5.40782784e-02 -1.18638413e-02 7.52956763e+02] [ 5.40798517e-02 9.98536596e-01 -1.88395775e-04 9.75797647e+00] [ 1.18566679e-02 -4.53487963e-04 9.99929604e-01 5.01925804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.139254154 meters 0.02252230164618098 Centerline is valid? [True, True] Translation: X:753.02, Y:9.76, Z:5.02 [[ 9.98277240e-01 -5.73826120e-02 -1.22387796e-02 7.53018188e+02] [ 5.73845381e-02 9.98352131e-01 -1.94019169e-04 9.75558448e+00] [ 1.22297450e-02 -5.08631794e-04 9.99925085e-01 5.01948010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.199254154 meters 0.0236398332701509 Centerline is valid? [True, True] Translation: X:753.08, Y:9.75, Z:5.02 [[ 9.98218279e-01 -5.85255338e-02 -1.16202246e-02 7.53079954e+02] [ 5.85273533e-02 9.98285788e-01 -1.83711560e-04 9.75471943e+00] [ 1.16110568e-02 -4.96716750e-04 9.99932466e-01 5.01927387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.259254154 meters 0.022840482006425068 Centerline is valid? [True, True] Translation: X:753.14, Y:9.76, Z:5.02 [[ 9.98310398e-01 -5.70176156e-02 -1.11955521e-02 7.53142397e+02] [ 5.70192175e-02 9.98373065e-01 -1.76315713e-04 9.75749718e+00] [ 1.11873907e-02 -4.62343808e-04 9.99937312e-01 5.01917349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.319254154 meters 0.02155282447928496 Centerline is valid? [True, True] Translation: X:753.20, Y:9.76, Z:5.02 [[ 9.98385545e-01 -5.56694438e-02 -1.12790222e-02 7.53204256e+02] [ 5.56709932e-02 9.98449152e-01 -1.76791630e-04 9.76178679e+00] [ 1.12713720e-02 -4.51408159e-04 9.99936374e-01 5.01915257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.379254154 meters 0.02132961004635441 Centerline is valid? [True, True] Translation: X:753.27, Y:9.76, Z:5.02 [[ 9.98419516e-01 -5.51317297e-02 -1.09070305e-02 7.53266199e+02] [ 5.51331553e-02 9.98478996e-01 -1.70160650e-04 9.76478334e+00] [ 1.08998221e-02 -4.31447293e-04 9.99940502e-01 5.01996724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.439254154 meters 0.02394368830739226 Centerline is valid? [True, True] Translation: X:753.33, Y:9.76, Z:5.02 [[ 9.98354030e-01 -5.60238003e-02 -1.22704821e-02 7.53327158e+02] [ 5.60256826e-02 9.98429310e-01 -1.90563083e-04 9.76351969e+00] [ 1.22618850e-02 -4.97212711e-04 9.99924697e-01 5.01917537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.499254154 meters 0.022023565844119176 Centerline is valid? [True, True] Translation: X:753.39, Y:9.77, Z:5.02 [[ 9.98313928e-01 -5.62956527e-02 -1.41456905e-02 7.53388803e+02] [ 5.62982025e-02 9.98413975e-01 -2.18210149e-04 9.76965521e+00] [ 1.41355394e-02 -5.78534718e-04 9.99899921e-01 5.01900136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.559254154 meters 0.024017673979339817 Centerline is valid? [True, True] Translation: X:753.45, Y:9.77, Z:5.02 [[ 9.98354603e-01 -5.54115554e-02 -1.47528345e-02 7.53449941e+02] [ 5.54142637e-02 9.98463424e-01 -2.25448067e-04 9.76928751e+00] [ 1.47426581e-02 -5.92440348e-04 9.99891146e-01 5.01871461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.619254154 meters 0.020797962334469865 Centerline is valid? [True, True] Translation: X:753.51, Y:9.78, Z:5.02 [[ 9.98468959e-01 -5.36210450e-02 -1.35838860e-02 7.53512046e+02] [ 5.36231945e-02 9.98561220e-01 -2.06193750e-04 9.77715326e+00] [ 1.35753981e-02 -5.22533304e-04 9.99907714e-01 5.02147967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.679254154 meters 0.019451413979631654 Centerline is valid? [True, True] Translation: X:753.57, Y:9.78, Z:5.02 [[ 9.98741956e-01 -4.89155517e-02 -1.10351137e-02 7.53572431e+02] [ 4.89166877e-02 9.98802848e-01 -1.67096763e-04 9.78293899e+00] [ 1.10300767e-02 -3.72914665e-04 9.99939097e-01 5.02429687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.739254154 meters 0.018713471534184928 Centerline is valid? [True, True] Translation: X:753.63, Y:9.79, Z:5.03 [[ 9.98976403e-01 -4.41892993e-02 -9.66710162e-03 7.53633451e+02] [ 4.41899511e-02 9.99023136e-01 -1.46272424e-04 9.78740281e+00] [ 9.66412186e-03 -2.81066048e-04 9.99953262e-01 5.02647001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.799254154 meters 0.0190481241348264 Centerline is valid? [True, True] Translation: X:753.70, Y:9.79, Z:5.03 [[ 9.99019266e-01 -4.32064089e-02 -9.68051290e-03 7.53696041e+02] [ 4.32070208e-02 9.99066130e-01 -1.46010492e-04 9.78766950e+00] [ 9.67778115e-03 -2.72398828e-04 9.99953132e-01 5.02680111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters 0.01942979648931586 Centerline is valid? [True, True] Translation: X:753.76, Y:9.79, Z:5.03 [[ 9.98952383e-01 -4.46426703e-02 -1.00582635e-02 7.53758675e+02] [ 4.46434112e-02 9.99002975e-01 -1.50960709e-04 9.78529903e+00] [ 1.00549745e-02 -2.98232634e-04 9.99949403e-01 5.02660054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.919254154 meters 0.020541914706671438 Centerline is valid? [True, True] Translation: X:753.82, Y:9.78, Z:5.03 [[ 9.98790172e-01 -4.78439805e-02 -1.13642614e-02 7.53821042e+02] [ 4.78451433e-02 9.98854751e-01 -1.69683107e-04 9.78222146e+00] [ 1.13593648e-02 -3.74246897e-04 9.99935410e-01 5.02503594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters 0.02207459878407605 Centerline is valid? [True, True] Translation: X:753.88, Y:9.78, Z:5.02 [[ 9.98661563e-01 -4.99699593e-02 -1.33448691e-02 7.53881914e+02] [ 4.99717631e-02 9.98750611e-01 -1.98454430e-04 9.77878506e+00] [ 1.33381130e-02 -4.68677828e-04 9.99910934e-01 5.02331731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.039254154 meters 0.02147741635667671 Centerline is valid? [True, True] Translation: X:753.94, Y:9.78, Z:5.02 [[ 9.98698038e-01 -4.92266945e-02 -1.33776409e-02 7.53943758e+02] [ 4.92284502e-02 9.98787525e-01 -1.98227385e-04 9.78004467e+00] [ 1.33711790e-02 -4.60591229e-04 9.99910496e-01 5.02387017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters 0.022632867220772384 Centerline is valid? [True, True] Translation: X:754.01, Y:9.78, Z:5.02 [[ 9.98772734e-01 -4.77115013e-02 -1.32905461e-02 7.54005097e+02] [ 4.77131173e-02 9.98861062e-01 -1.95643131e-04 9.77932308e+00] [ 1.32847434e-02 -4.38730360e-04 9.99911658e-01 5.02461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.159254154 meters 0.022299640136381502 Centerline is valid? [True, True] Translation: X:754.07, Y:9.78, Z:5.03 [[ 9.98882509e-01 -4.56192529e-02 -1.23538285e-02 7.54066787e+02] [ 4.56205034e-02 9.98958827e-01 -1.80709785e-04 9.78079244e+00] [ 1.23492099e-02 -3.83080033e-04 9.99923672e-01 5.02645250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters 0.0224324525413583 Centerline is valid? [True, True] Translation: X:754.13, Y:9.78, Z:5.03 [[ 9.98967041e-01 -4.39492692e-02 -1.15460722e-02 7.54128746e+02] [ 4.39502585e-02 9.99033706e-01 -1.68162916e-04 9.78173349e+00] [ 1.15423059e-02 -3.39463647e-04 9.99933328e-01 5.02680606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.279254154 meters 0.019404263570470485 Centerline is valid? [True, True] Translation: X:754.19, Y:9.79, Z:5.03 [[ 9.98952767e-01 -4.39082203e-02 -1.28622480e-02 7.54190363e+02] [ 4.39094553e-02 9.99035497e-01 -1.86500685e-04 9.78714714e+00] [ 1.28580312e-02 -3.78468927e-04 9.99917260e-01 5.02755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters 0.018783402702096497 Centerline is valid? [True, True] Translation: X:754.25, Y:9.79, Z:5.03 [[ 9.98947624e-01 -4.38968035e-02 -1.32934595e-02 7.54252997e+02] [ 4.38981332e-02 9.99035994e-01 -1.91889245e-04 9.78809155e+00] [ 1.32890679e-02 -3.91870752e-04 9.99911620e-01 5.02779107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.399254154 meters 0.01921348391803777 Centerline is valid? [True, True] Translation: X:754.32, Y:9.79, Z:5.03 [[ 9.98945119e-01 -4.39108363e-02 -1.34345932e-02 7.54315226e+02] [ 4.39122090e-02 9.99035375e-01 -1.92932780e-04 9.78783395e+00] [ 1.34301057e-02 -3.97213407e-04 9.99909733e-01 5.02787992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters 0.01824986161198203 Centerline is valid? [True, True] Translation: X:754.38, Y:9.79, Z:5.03 [[ 9.98975225e-01 -4.28171274e-02 -1.46694901e-02 7.54377179e+02] [ 4.28186629e-02 9.99082839e-01 -2.09534567e-04 9.79051391e+00] [ 1.46650074e-02 -4.18808109e-04 9.99892375e-01 5.02836508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.519254154 meters 0.018181543248115793 Centerline is valid? [True, True] Translation: X:754.44, Y:9.79, Z:5.03 [[ 9.99095293e-01 -4.01150206e-02 -1.41202263e-02 7.54438782e+02] [ 4.01161881e-02 9.99195002e-01 -2.00661263e-04 9.79269717e+00] [ 1.41169091e-02 -3.65969932e-04 9.99900285e-01 5.02798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.579254154 meters 0.01715451762756216 Centerline is valid? [True, True] Translation: X:754.50, Y:9.80, Z:5.03 [[ 9.99309181e-01 -3.46838137e-02 -1.33489150e-02 7.54500578e+02] [ 3.46843837e-02 9.99398298e-01 -1.88874776e-04 9.79638280e+00] [ 1.33474339e-02 -2.74254593e-04 9.99910881e-01 5.02891092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.639254154 meters 0.01643557898261789 Centerline is valid? [True, True] Translation: X:754.56, Y:9.80, Z:5.03 [[ 9.99467165e-01 -3.02411681e-02 -1.22824540e-02 7.54561859e+02] [ 3.02413218e-02 9.99542612e-01 -1.73251707e-04 9.79947843e+00] [ 1.22820754e-02 -1.98278251e-04 9.99924553e-01 5.03135774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.699254154 meters 0.01564290598185079 Centerline is valid? [True, True] Translation: X:754.62, Y:9.80, Z:5.03 [[ 9.99530912e-01 -2.82046847e-02 -1.19353392e-02 7.54624461e+02] [ 2.82046921e-02 9.99602154e-01 -1.67738684e-04 9.80094658e+00] [ 1.19353218e-02 -1.68972569e-04 9.99928757e-01 5.03277871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.759254154 meters 0.01572167324421978 Centerline is valid? [True, True] Translation: X:754.69, Y:9.80, Z:5.03 [[ 9.99542879e-01 -2.77257225e-02 -1.20547784e-02 7.54685747e+02] [ 2.77257035e-02 9.99615555e-01 -1.68724753e-04 9.79877603e+00] [ 1.20548220e-02 -1.65579586e-04 9.99927324e-01 5.03265629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.819254154 meters 0.01599225062218961 Centerline is valid? [True, True] Translation: X:754.75, Y:9.80, Z:5.03 [[ 9.99475002e-01 -2.97209901e-02 -1.28989925e-02 7.54747290e+02] [ 2.97211408e-02 9.99558213e-01 -1.80051627e-04 9.79568234e+00] [ 1.28986452e-02 -2.03415672e-04 9.99916788e-01 5.03275642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.879254154 meters 0.01651866022958218 Centerline is valid? [True, True] Translation: X:754.81, Y:9.79, Z:5.03 [[ 9.99333190e-01 -3.37892667e-02 -1.38369355e-02 7.54808394e+02] [ 3.37898373e-02 9.99428942e-01 -1.92613334e-04 9.79259077e+00] [ 1.38355421e-02 -2.75062903e-04 9.99904246e-01 5.03296261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.939254154 meters 0.018734563660720054 Centerline is valid? [True, True] Translation: X:754.87, Y:9.79, Z:5.03 [[ 9.99178050e-01 -3.81630502e-02 -1.36676969e-02 7.54869639e+02] [ 3.81640245e-02 9.99271470e-01 -1.89622636e-04 9.78585969e+00] [ 1.36649762e-02 -3.32147543e-04 9.99906575e-01 5.03264462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.999254154 meters 0.02033117364948618 Centerline is valid? [True, True] Translation: X:754.93, Y:9.78, Z:5.03 [[ 9.99123934e-01 -3.95103518e-02 -1.37948100e-02 7.54932016e+02] [ 3.95114846e-02 9.99219098e-01 -1.90515168e-04 9.78404328e+00] [ 1.37915650e-02 -3.54705161e-04 9.99904829e-01 5.03182198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.059254154 meters 0.021042636048171658 Centerline is valid? [True, True] Translation: X:754.99, Y:9.78, Z:5.03 [[ 9.99126039e-01 -3.94345271e-02 -1.38591795e-02 7.54993898e+02] [ 3.94356767e-02 9.99222093e-01 -1.90435050e-04 9.78352253e+00] [ 1.38559081e-02 -3.56277505e-04 9.99903939e-01 5.03188448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.119254154 meters 0.01927006540984618 Centerline is valid? [True, True] Translation: X:755.05, Y:9.78, Z:5.03 [[ 9.99244879e-01 -3.68469118e-02 -1.23279122e-02 7.55054295e+02] [ 3.68476309e-02 9.99320881e-01 -1.68882112e-04 9.78296064e+00] [ 1.23257628e-02 -2.85499771e-04 9.99923994e-01 5.03487150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.179254154 meters 0.016580716513010022 Centerline is valid? [True, True] Translation: X:755.12, Y:9.79, Z:5.04 [[ 9.99433054e-01 -3.12108209e-02 -1.26275420e-02 7.55116039e+02] [ 3.12111311e-02 9.99512799e-01 -1.72547934e-04 9.78914536e+00] [ 1.26267752e-02 -2.21669760e-04 9.99920255e-01 5.03661781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.239254154 meters 0.015456514244724162 Centerline is valid? [True, True] Translation: X:755.18, Y:9.79, Z:5.04 [[ 9.99605357e-01 -2.47845189e-02 -1.32233725e-02 7.55177097e+02] [ 2.47843050e-02 9.99692806e-01 -1.80069338e-04 9.79193458e+00] [ 1.32237733e-02 -1.47733824e-04 9.99912551e-01 5.03677118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.299254154 meters 0.015119462758981978 Centerline is valid? [True, True] Translation: X:755.24, Y:9.79, Z:5.04 [[ 9.99725896e-01 -1.91452777e-02 -1.34755510e-02 7.55237290e+02] [ 1.91445467e-02 9.99816710e-01 -1.83252694e-04 9.79259036e+00] [ 1.34765894e-02 -7.47808512e-05 9.99909184e-01 5.03612872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters 0.017595386700675834 Centerline is valid? [True, True] Translation: X:755.30, Y:9.79, Z:5.03 [[ 9.99742135e-01 -1.60873062e-02 -1.60269320e-02 7.55296362e+02] [ 1.60858874e-02 9.99870590e-01 -2.17443513e-04 9.79183353e+00] [ 1.60283561e-02 -4.04199826e-05 9.99871537e-01 5.03280449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.419254154 meters 0.014808869667954314 Centerline is valid? [True, True] Translation: X:755.35, Y:9.79, Z:5.03 [[ 9.99716739e-01 -1.79824973e-02 -1.55907809e-02 7.55354430e+02] [ 1.79813508e-02 9.99838300e-01 -2.13727496e-04 9.78975938e+00] [ 1.55921032e-02 -6.66763456e-05 9.99878434e-01 5.03475748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters 0.01630404250223084 Centerline is valid? [True, True] Translation: X:755.41, Y:9.79, Z:5.03 [[ 9.99670796e-01 -1.95533553e-02 -1.66122095e-02 7.55413389e+02] [ 1.95521949e-02 9.99808811e-01 -2.32277858e-04 9.78832161e+00] [ 1.66135752e-02 -9.26037668e-05 9.99861981e-01 5.03328865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.539254154 meters 0.015694097775752473 Centerline is valid? [True, True] Translation: X:755.47, Y:9.78, Z:5.04 [[ 9.99484614e-01 -2.79185882e-02 -1.58448369e-02 7.55472617e+02] [ 2.79185475e-02 9.99610176e-01 -2.23813874e-04 9.78046356e+00] [ 1.58449088e-02 -2.18666307e-04 9.99874438e-01 5.03541700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters 0.018120900861850274 Centerline is valid? [True, True] Translation: X:755.53, Y:9.77, Z:5.04 [[ 9.99178222e-01 -3.80861005e-02 -1.38682815e-02 7.55532625e+02] [ 3.80870402e-02 9.99274406e-01 -1.96445396e-04 9.77205136e+00] [ 1.38657005e-02 -3.31917832e-04 9.99903811e-01 5.03759730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.659254154 meters 0.023368345934361302 Centerline is valid? [True, True] Translation: X:755.59, Y:9.76, Z:5.04 [[ 9.98741728e-01 -4.85852833e-02 -1.24270528e-02 7.55592391e+02] [ 4.85868470e-02 9.98818946e-01 -1.76224128e-04 9.76061354e+00] [ 1.24209377e-02 -4.27788923e-04 9.99922766e-01 5.03741672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters 0.024156170502048845 Centerline is valid? [True, True] Translation: X:755.65, Y:9.76, Z:5.04 [[ 9.98341660e-01 -5.67040069e-02 -9.92899405e-03 7.55653176e+02] [ 5.67054051e-02 9.98390944e-01 -1.40868712e-04 9.75520413e+00] [ 9.92100557e-03 -4.22392527e-04 9.99950696e-01 5.04061521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.779254154 meters 0.029129803626912792 Centerline is valid? [True, True] Translation: X:755.71, Y:9.75, Z:5.04 [[ 9.97414289e-01 -7.10249799e-02 -1.09630548e-02 7.55713947e+02] [ 7.10275469e-02 9.97474342e-01 -1.55515846e-04 9.74585180e+00] [ 1.09464114e-02 -6.23565165e-04 9.99939892e-01 5.03970797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters 0.0319093213621686 Centerline is valid? [True, True] Translation: X:755.77, Y:9.74, Z:5.04 [[ 9.96986755e-01 -7.65263985e-02 -1.26933089e-02 7.55774998e+02] [ 7.65302838e-02 9.97067241e-01 -1.80064746e-04 9.74197884e+00] [ 1.26698622e-02 -7.91900365e-04 9.99919420e-01 5.03860573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.899254154 meters 0.03334256696031914 Centerline is valid? [True, True] Translation: X:755.84, Y:9.74, Z:5.04 [[ 9.96513598e-01 -8.22013887e-02 -1.42681745e-02 7.55836162e+02] [ 8.22068802e-02 9.96615266e-01 -2.02191055e-04 9.74088004e+00] [ 1.42365009e-02 -9.71455975e-04 9.99898184e-01 5.03879982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters 0.03416714975764843 Centerline is valid? [True, True] Translation: X:755.90, Y:9.74, Z:5.04 [[ 9.96420232e-01 -8.29721564e-02 -1.61969991e-02 7.55898082e+02] [ 8.29793495e-02 9.96551241e-01 -2.28606180e-04 9.74251086e+00] [ 1.61601075e-02 -1.11622862e-03 9.99868794e-01 5.03812567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.019254154 meters 0.033975012996760215 Centerline is valid? [True, True] Translation: X:755.96, Y:9.75, Z:5.04 [[ 9.96632032e-01 -8.01029042e-02 -1.75532880e-02 7.55958500e+02] [ 8.01109191e-02 9.96785925e-01 -2.47212057e-04 9.74607010e+00] [ 1.75166728e-02 -1.15983058e-03 9.99845899e-01 5.03822753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.079254154 meters 0.03111552211652919 Centerline is valid? [True, True] Translation: X:756.02, Y:9.76, Z:5.04 [[ 9.97336112e-01 -7.03586127e-02 -1.92443474e-02 7.56018051e+02] [ 7.03664342e-02 9.97521173e-01 -2.71246093e-04 9.75768014e+00] [ 1.92157285e-02 -1.08363259e-03 9.99814774e-01 5.03945428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.139254154 meters 0.02263078479708379 Centerline is valid? [True, True] Translation: X:756.08, Y:9.78, Z:5.04 [[ 9.98224983e-01 -5.62481322e-02 -1.95711601e-02 7.56078099e+02] [ 5.62535114e-02 9.98416479e-01 -2.76000810e-04 9.77915016e+00] [ 1.95556933e-02 -8.25435576e-04 9.99808428e-01 5.04326700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.199254154 meters 0.020045444062223115 Centerline is valid? [True, True] Translation: X:756.14, Y:9.79, Z:5.05 [[ 9.98773183e-01 -4.59863484e-02 -1.83680370e-02 7.56138723e+02] [ 4.59893560e-02 9.98941896e-01 -2.58849470e-04 9.78957693e+00] [ 1.83605053e-02 -5.86202286e-04 9.99831260e-01 5.04587323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.259254154 meters 0.01585078874584696 Centerline is valid? [True, True] Translation: X:756.20, Y:9.81, Z:5.05 [[ 9.99474397e-01 -2.70874709e-02 -1.78100996e-02 7.56198913e+02] [ 2.70872997e-02 9.99633040e-01 -2.50892828e-04 9.80846074e+00] [ 1.78103601e-02 -2.31666547e-04 9.99841356e-01 5.04932102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.319254154 meters 0.015176758665466984 Centerline is valid? [True, True] Translation: X:756.26, Y:9.82, Z:5.05 [[ 9.99616282e-01 -1.99673652e-02 -1.91987566e-02 7.56258319e+02] [ 1.99658442e-02 9.99800626e-01 -2.70916653e-04 9.81592354e+00] [ 1.92003384e-02 -1.12506687e-04 9.99815650e-01 5.04979727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.379254154 meters 0.014623816850132847 Centerline is valid? [True, True] Translation: X:756.32, Y:9.82, Z:5.05 [[ 9.99672256e-01 -1.38367052e-02 -2.15389676e-02 7.56316638e+02] [ 1.38332810e-02 9.99904268e-01 -3.07973903e-04 9.82199373e+00] [ 2.15411670e-02 9.91837467e-06 9.99767962e-01 5.05051127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.439254154 meters 0.015044500439272074 Centerline is valid? [True, True] Translation: X:756.37, Y:9.82, Z:5.05 [[ 9.99684841e-01 -1.19314927e-02 -2.20875250e-02 7.56374653e+02] [ 1.19273580e-02 9.99928816e-01 -3.18930997e-04 9.82399310e+00] [ 2.20897581e-02 5.53846641e-05 9.99755990e-01 5.04988107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.499254154 meters 0.016492276506767083 Centerline is valid? [True, True] Translation: X:756.43, Y:9.82, Z:5.05 [[ 9.99706551e-01 -1.17976740e-02 -2.11571713e-02 7.56433160e+02] [ 1.17937618e-02 9.99930403e-01 -3.09683741e-04 9.82263401e+00] [ 2.11593524e-02 6.00702259e-05 9.99776114e-01 5.04989861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.559254154 meters 0.01478702373848909 Centerline is valid? [True, True] Translation: X:756.49, Y:9.82, Z:5.05 [[ 9.99728480e-01 -1.30126425e-02 -1.93296920e-02 7.56492279e+02] [ 1.30095139e-02 9.99915331e-01 -2.87595283e-04 9.82138858e+00] [ 1.93317977e-02 3.60472986e-05 9.99813123e-01 5.05211229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.619254154 meters 0.014599332119979892 Centerline is valid? [True, True] Translation: X:756.55, Y:9.82, Z:5.05 [[ 9.99712976e-01 -1.65299963e-02 -1.73413960e-02 7.56550748e+02] [ 1.65279341e-02 9.99863370e-01 -2.62242196e-04 9.81595987e+00] [ 1.73433615e-02 -2.44505235e-05 9.99849592e-01 5.05370515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.679254154 meters 0.015604673185258537 Centerline is valid? [True, True] Translation: X:756.61, Y:9.81, Z:5.05 [[ 9.99574381e-01 -2.37881388e-02 -1.68873021e-02 7.56608902e+02] [ 2.37871747e-02 9.99717012e-01 -2.57977833e-04 9.80646367e+00] [ 1.68886601e-02 -1.43833173e-04 9.99857366e-01 5.05200602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.739254154 meters 0.01790270484250247 Centerline is valid? [True, True] Translation: X:756.67, Y:9.79, Z:5.05 [[ 9.99263680e-01 -3.43855825e-02 -1.70214237e-02 7.56668106e+02] [ 3.43861296e-02 9.99408588e-01 -2.60617798e-04 9.79075106e+00] [ 1.70203185e-02 -3.24874980e-04 9.99855091e-01 5.05073147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.799254154 meters 0.017877526209966393 Centerline is valid? [True, True] Translation: X:756.73, Y:9.79, Z:5.05 [[ 9.99016895e-01 -4.08468961e-02 -1.72271587e-02 7.56728583e+02] [ 4.08484166e-02 9.99165320e-01 -2.63754570e-04 9.78588910e+00] [ 1.72235531e-02 -4.40206884e-04 9.99851567e-01 5.05182138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters 0.021370610676340027 Centerline is valid? [True, True] Translation: X:756.79, Y:9.77, Z:5.05 [[ 9.98674754e-01 -4.86722920e-02 -1.67255579e-02 7.56788339e+02] [ 4.86748212e-02 9.98814646e-01 -2.56077682e-04 9.77071510e+00] [ 1.67181960e-02 -5.58375222e-04 9.99860085e-01 5.04992339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.919254154 meters 0.0221650383979407 Centerline is valid? [True, True] Translation: X:756.85, Y:9.77, Z:5.05 [[ 9.98601512e-01 -5.01469381e-02 -1.67423098e-02 7.56849269e+02] [ 5.01496823e-02 9.98741680e-01 -2.56159093e-04 9.76736561e+00] [ 1.67340882e-02 -5.83820658e-04 9.99859805e-01 5.04968877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters 0.02359358419757898 Centerline is valid? [True, True] Translation: X:756.91, Y:9.76, Z:5.05 [[ 9.98515747e-01 -5.19405085e-02 -1.63855900e-02 7.56910035e+02] [ 5.19433827e-02 9.98650000e-01 -2.50417673e-04 9.76172198e+00] [ 1.63764763e-02 -6.01076985e-04 9.99865716e-01 5.04898712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.039254154 meters 0.021895231221274805 Centerline is valid? [True, True] Translation: X:756.97, Y:9.76, Z:5.05 [[ 9.98359511e-01 -5.48740154e-02 -1.63440607e-02 7.56971064e+02] [ 5.48772723e-02 9.98493076e-01 -2.49489019e-04 9.76302989e+00] [ 1.63331219e-02 -6.47837737e-04 9.99866396e-01 5.04927939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters 0.024994981698360914 Centerline is valid? [True, True] Translation: X:757.03, Y:9.76, Z:5.05 [[ 9.97944606e-01 -6.19286850e-02 -1.64742892e-02 7.57032172e+02] [ 6.19329556e-02 9.98080280e-01 -2.51323415e-04 9.75645992e+00] [ 1.64582273e-02 -7.69494576e-04 9.99864258e-01 5.04818343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.159254154 meters 0.028174410496072635 Centerline is valid? [True, True] Translation: X:757.09, Y:9.75, Z:5.05 [[ 9.97417405e-01 -6.97616296e-02 -1.70831814e-02 7.57093046e+02] [ 6.97673694e-02 9.97563254e-01 -2.60472467e-04 9.75013498e+00] [ 1.70597250e-02 -9.32048858e-04 9.99854038e-01 5.04731583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters 0.030862941056719956 Centerline is valid? [True, True] Translation: X:757.15, Y:9.75, Z:5.05 [[ 9.97066996e-01 -7.44448316e-02 -1.77587098e-02 7.57153666e+02] [ 7.44517767e-02 9.97224578e-01 -2.70652332e-04 9.74616574e+00] [ 1.77295705e-02 -1.05230899e-03 9.99842265e-01 5.04694061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.279254154 meters 0.03239914800907899 Centerline is valid? [True, True] Translation: X:757.22, Y:9.75, Z:5.05 [[ 9.97007927e-01 -7.52397992e-02 -1.77247098e-02 7.57215425e+02] [ 7.52468538e-02 9.97164900e-01 -2.69517364e-04 9.74562980e+00] [ 1.76947369e-02 -1.06501769e-03 9.99842869e-01 5.04743718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters 0.03050647581101504 Centerline is valid? [True, True] Translation: X:757.28, Y:9.75, Z:5.05 [[ 9.97170161e-01 -7.31801445e-02 -1.72144542e-02 7.57276929e+02] [ 7.31865054e-02 9.97318238e-01 -2.61025630e-04 9.75053654e+00] [ 1.71873910e-02 -9.99578779e-04 9.99851786e-01 5.04828709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.399254154 meters 0.03032867735706777 Centerline is valid? [True, True] Translation: X:757.34, Y:9.76, Z:5.05 [[ 9.97430586e-01 -6.94749648e-02 -1.74772929e-02 7.57338108e+02] [ 6.94809630e-02 9.97583243e-01 -2.64516802e-04 9.75596733e+00] [ 1.74534318e-02 -9.50501991e-04 9.99847225e-01 5.04728405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters 0.028606738307478202 Centerline is valid? [True, True] Translation: X:757.40, Y:9.76, Z:5.05 [[ 9.97686439e-01 -6.63664326e-02 -1.47399802e-02 7.57397580e+02] [ 6.63703707e-02 9.97795031e-01 -2.22386708e-04 9.75991433e+00] [ 1.47222380e-02 -7.56425744e-04 9.99891336e-01 5.04994198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.519254154 meters 0.026239774265664838 Centerline is valid? [True, True] Translation: X:757.46, Y:9.77, Z:5.05 [[ 9.98127024e-01 -5.96728702e-02 -1.34756193e-02 7.57457794e+02] [ 5.96755585e-02 9.98217805e-01 -2.02877587e-04 9.77029885e+00] [ 1.34637094e-02 -6.01667503e-04 9.99909179e-01 5.05094804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.579254154 meters 0.02319531844941631 Centerline is valid? [True, True] Translation: X:757.52, Y:9.78, Z:5.05 [[ 9.98627416e-01 -5.09221296e-02 -1.22564386e-02 7.57518006e+02] [ 5.09236950e-02 9.98702530e-01 -1.84532304e-04 9.78306867e+00] [ 1.22499330e-02 -4.39864124e-04 9.99924870e-01 5.05076231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.639254154 meters 0.017958099074412013 Centerline is valid? [True, True] Translation: X:757.58, Y:9.80, Z:5.05 [[ 9.99088593e-01 -4.13814246e-02 -1.04671301e-02 7.57578738e+02] [ 4.13820437e-02 9.99143384e-01 -1.57526411e-04 9.79927799e+00] [ 1.04646825e-02 -2.75768396e-04 9.99945206e-01 5.05239769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.699254154 meters 0.01579434346179756 Centerline is valid? [True, True] Translation: X:757.64, Y:9.81, Z:5.05 [[ 9.99435585e-01 -3.26154575e-02 -8.04632093e-03 7.57639488e+02] [ 3.26155403e-02 9.99467964e-01 -1.20969816e-04 9.81065244e+00] [ 8.04598549e-03 -1.41533566e-04 9.99967621e-01 5.05397600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.759254154 meters 0.014893924386603648 Centerline is valid? [True, True] Translation: X:757.70, Y:9.82, Z:5.05 [[ 9.99572386e-01 -2.80422388e-02 -8.28720194e-03 7.57701934e+02] [ 2.80421714e-02 9.99606733e-01 -1.24353367e-04 9.81723733e+00] [ 8.28743001e-03 -1.08090946e-04 9.99965653e-01 5.05406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.819254154 meters 0.014331402701006798 Centerline is valid? [True, True] Translation: X:757.76, Y:9.82, Z:5.05 [[ 9.99672507e-01 -2.44551108e-02 -7.53827193e-03 7.57764307e+02] [ 2.44549568e-02 9.99700926e-01 -1.12618196e-04 9.82434714e+00] [ 7.53877153e-03 -7.17667998e-05 9.99971580e-01 5.05317544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.879254154 meters 0.01455578241020296 Centerline is valid? [True, True] Translation: X:757.83, Y:9.83, Z:5.05 [[ 9.99632069e-01 -2.62273960e-02 -6.91737989e-03 7.57826524e+02] [ 2.62273119e-02 9.99656000e-01 -1.02878208e-04 9.82690729e+00] [ 6.91769854e-03 -7.85839243e-05 9.99976069e-01 5.05346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.939254154 meters 0.016431850814844072 Centerline is valid? [True, True] Translation: X:757.89, Y:9.83, Z:5.05 [[ 9.99546074e-01 -2.94681659e-02 -6.26682764e-03 7.57888775e+02] [ 2.94681632e-02 9.99565715e-01 -9.27903560e-05 9.82729133e+00] [ 6.26684041e-03 -9.19236636e-05 9.99980359e-01 5.05265760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.999254154 meters 0.015403430715716853 Centerline is valid? [True, True] Translation: X:757.95, Y:9.83, Z:5.05 [[ 9.99506733e-01 -3.07805416e-02 -6.23285741e-03 7.57951120e+02] [ 3.07805672e-02 9.99526162e-01 -9.18316873e-05 9.82736198e+00] [ 6.23273067e-03 -1.00064497e-04 9.99980571e-01 5.05338422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.059254154 meters 0.01542934234566584 Centerline is valid? [True, True] Translation: X:758.01, Y:9.83, Z:5.05 [[ 9.99555016e-01 -2.92160872e-02 -6.01575827e-03 7.58012265e+02] [ 2.92160854e-02 9.99573115e-01 -8.82018366e-05 9.82889602e+00] [ 6.01576715e-03 -8.75943191e-05 9.99981901e-01 5.05370292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.119254154 meters 0.014267870101281853 Centerline is valid? [True, True] Translation: X:758.07, Y:9.83, Z:5.05 [[ 9.99694769e-01 -2.39160556e-02 -6.19609527e-03 7.58074686e+02] [ 2.39159539e-02 9.99713969e-01 -9.05125702e-05 9.83339341e+00] [ 6.19648770e-03 -5.77005860e-05 9.99980800e-01 5.05422641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.179254154 meters 0.014117333374643503 Centerline is valid? [True, True] Translation: X:758.14, Y:9.84, Z:5.05 [[ 9.99793837e-01 -1.95789739e-02 -5.38027023e-03 7.58137224e+02] [ 1.95788361e-02 9.99808313e-01 -7.82804218e-05 9.83648395e+00] [ 5.38077156e-03 -2.70751457e-05 9.99985523e-01 5.05450716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.239254154 meters 0.013845746424651546 Centerline is valid? [True, True] Translation: X:758.20, Y:9.84, Z:5.06 [[ 9.99852910e-01 -1.64212779e-02 -4.94975224e-03 7.58199397e+02] [ 1.64211242e-02 9.99865162e-01 -7.17041811e-05 9.83776994e+00] [ 4.95026230e-03 -9.58686220e-06 9.99987747e-01 5.05546283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.299254154 meters 0.013955866948233569 Centerline is valid? [True, True] Translation: X:758.26, Y:9.84, Z:5.06 [[ 9.99878068e-01 -1.48243223e-02 -4.90792561e-03 7.58260423e+02] [ 1.48241539e-02 9.99890114e-01 -7.06959561e-05 9.83803249e+00] [ 4.90843431e-03 -2.06850827e-06 9.99987954e-01 5.05590575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters 0.014081727677157914 Centerline is valid? [True, True] Translation: X:758.32, Y:9.83, Z:5.05 [[ 9.99849021e-01 -1.61257317e-02 -6.47264609e-03 7.58323124e+02] [ 1.61254679e-02 9.99869972e-01 -9.29492609e-05 9.83387814e+00] [ 6.47330334e-03 -1.14392193e-05 9.99979048e-01 5.05425466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.419254154 meters 0.014694191570470867 Centerline is valid? [True, True] Translation: X:758.38, Y:9.83, Z:5.05 [[ 9.99734341e-01 -2.14676444e-02 -8.38968369e-03 7.58384764e+02] [ 2.14673951e-02 9.99769542e-01 -1.19785899e-04 9.82715459e+00] [ 8.39032173e-03 -6.03505768e-05 9.99964799e-01 5.05215348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters 0.015397621204760315 Centerline is valid? [True, True] Translation: X:758.45, Y:9.82, Z:5.05 [[ 9.99562770e-01 -2.78854109e-02 -9.83221622e-03 7.58446530e+02] [ 2.78853827e-02 9.99611117e-01 -1.39980520e-04 9.81903302e+00] [ 9.83229606e-03 -1.34255796e-04 9.99951653e-01 5.05199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.539254154 meters 0.016438949910490077 Centerline is valid? [True, True] Translation: X:758.51, Y:9.81, Z:5.05 [[ 9.99425586e-01 -3.25603488e-02 -9.39792123e-03 7.58507875e+02] [ 3.25605343e-02 9.99469756e-01 -1.33301186e-04 9.81119202e+00] [ 9.39727838e-03 -1.72776721e-04 9.99955830e-01 5.05314254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters 0.01862402759148229 Centerline is valid? [True, True] Translation: X:758.57, Y:9.81, Z:5.05 [[ 9.99399484e-01 -3.34791995e-02 -8.93389930e-03 7.58570369e+02] [ 3.34794108e-02 9.99439399e-01 -1.25936156e-04 9.80710666e+00] [ 8.93310719e-03 -1.73241155e-04 9.99960084e-01 5.05421059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.659254154 meters 0.016190085041187272 Centerline is valid? [True, True] Translation: X:758.63, Y:9.81, Z:5.06 [[ 9.99435495e-01 -3.26791425e-02 -7.79521397e-03 7.58632682e+02] [ 3.26792830e-02 9.99465884e-01 -1.09379687e-04 9.80548079e+00] [ 7.79462485e-03 -1.45424062e-04 9.99969611e-01 5.05673726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters 0.01609852652581381 Centerline is valid? [True, True] Translation: X:758.70, Y:9.80, Z:5.06 [[ 9.99462627e-01 -3.17684278e-02 -8.07611627e-03 7.58695227e+02] [ 3.17685539e-02 9.99495246e-01 -1.12709365e-04 9.80417680e+00] [ 8.07562041e-03 -1.43917737e-04 9.99967381e-01 5.05679171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.779254154 meters 0.01844317865466063 Centerline is valid? [True, True] Translation: X:758.76, Y:9.80, Z:5.05 [[ 9.99517273e-01 -2.97165092e-02 -9.06370563e-03 7.58756768e+02] [ 2.97165914e-02 9.99558357e-01 -1.25641023e-04 9.80275822e+00] [ 9.06343632e-03 -1.43762064e-04 9.99958916e-01 5.05458622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters 0.016059160357331518 Centerline is valid? [True, True] Translation: X:758.82, Y:9.80, Z:5.06 [[ 9.99522209e-01 -2.95843653e-02 -8.95094758e-03 7.58817781e+02] [ 2.95844484e-02 9.99562277e-01 -1.23150496e-04 9.80129449e+00] [ 8.95067287e-03 -1.41717191e-04 9.99959932e-01 5.05683634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.899254154 meters 0.017038666151816744 Centerline is valid? [True, True] Translation: X:758.88, Y:9.80, Z:5.06 [[ 9.99524514e-01 -2.94574432e-02 -9.11072470e-03 7.58879801e+02] [ 2.94575278e-02 9.99566025e-01 -1.24931239e-04 9.80159946e+00] [ 9.11045103e-03 -1.43507591e-04 9.99958489e-01 5.05644052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters 0.016032191472198032 Centerline is valid? [True, True] Translation: X:758.94, Y:9.80, Z:5.06 [[ 9.99469880e-01 -3.07719248e-02 -1.06324207e-02 7.58941513e+02] [ 3.07721221e-02 9.99526416e-01 -1.45081906e-04 9.79960171e+00] [ 1.06318498e-02 -1.82177153e-04 9.99943464e-01 5.05668959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.019254154 meters 0.016424015165307757 Centerline is valid? [True, True] Translation: X:759.00, Y:9.80, Z:5.06 [[ 9.99430742e-01 -3.16068498e-02 -1.17982296e-02 7.59003097e+02] [ 3.16071562e-02 9.99500356e-01 -1.60539165e-04 9.79884142e+00] [ 1.17974088e-02 -2.12460707e-04 9.99930386e-01 5.05561151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.079254154 meters 0.01618882278390785 Centerline is valid? [True, True] Translation: X:759.06, Y:9.80, Z:5.06 [[ 9.99356954e-01 -3.32707289e-02 -1.33692276e-02 7.59064543e+02] [ 3.32712781e-02 9.99446341e-01 -1.81397021e-04 9.79854028e+00] [ 1.33678608e-02 -2.63530915e-04 9.99910611e-01 5.05572213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.139254154 meters 0.018017692934390754 Centerline is valid? [True, True] Translation: X:759.13, Y:9.80, Z:5.06 [[ 9.99305549e-01 -3.49167297e-02 -1.30092596e-02 7.59125254e+02] [ 3.49173937e-02 9.99390186e-01 -1.76155635e-04 9.79509654e+00] [ 1.30074772e-02 -2.78216136e-04 9.99915360e-01 5.05600354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.199254154 meters 0.017547426961106585 Centerline is valid? [True, True] Translation: X:759.19, Y:9.79, Z:5.06 [[ 9.99189296e-01 -3.85531553e-02 -1.15932901e-02 7.59186861e+02] [ 3.85539306e-02 9.99256509e-01 -1.56693478e-04 9.79388706e+00] [ 1.15907116e-02 -2.90400456e-04 9.99932783e-01 5.05937110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.259254154 meters 0.01869886157966643 Centerline is valid? [True, True] Translation: X:759.25, Y:9.79, Z:5.06 [[ 9.99077215e-01 -4.14743874e-02 -1.11621968e-02 7.59248155e+02] [ 4.14752927e-02 9.99139519e-01 -1.50467883e-04 9.79072061e+00] [ 1.11588325e-02 -3.12626347e-04 9.99937689e-01 5.06061168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.319254154 meters 0.021139075505464136 Centerline is valid? [True, True] Translation: X:759.31, Y:9.79, Z:5.06 [[ 9.98951668e-01 -4.43758639e-02 -1.12404450e-02 7.59309600e+02] [ 4.43769700e-02 9.99014846e-01 -1.51111592e-04 9.78834636e+00] [ 1.12360771e-02 -3.47863715e-04 9.99936813e-01 5.05908961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.379254154 meters 0.02395212743810686 Centerline is valid? [True, True] Translation: X:759.37, Y:9.78, Z:5.06 [[ 9.98436387e-01 -5.47307919e-02 -1.13719671e-02 7.59370085e+02] [ 5.47325979e-02 9.98501036e-01 -1.52584852e-04 9.77817990e+00] [ 1.13632721e-02 -4.70071036e-04 9.99935325e-01 5.06017032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.439254154 meters 0.02754212217693584 Centerline is valid? [True, True] Translation: X:759.43, Y:9.77, Z:5.06 [[ 9.97908080e-01 -6.32998240e-02 -1.31376000e-02 7.59431132e+02] [ 6.33029792e-02 9.97994340e-01 -1.75958747e-04 9.77298202e+00] [ 1.31223886e-02 -6.56058567e-04 9.99913683e-01 5.05979226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.499254154 meters 0.031059402948801863 Centerline is valid? [True, True] Translation: X:759.49, Y:9.77, Z:5.06 [[ 9.97630310e-01 -6.75433119e-02 -1.31021332e-02 7.59492551e+02] [ 6.75468211e-02 9.97716090e-01 -1.75007939e-04 9.76985440e+00] [ 1.30840297e-02 -7.10414222e-04 9.99914148e-01 5.05844524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.559254154 meters 0.034137362980973834 Centerline is valid? [True, True] Translation: X:759.55, Y:9.77, Z:5.06 [[ 9.97384787e-01 -7.09172371e-02 -1.39402937e-02 7.59553263e+02] [ 7.09215434e-02 9.97481880e-01 -1.85825143e-04 9.76781092e+00] [ 1.39183686e-02 -8.03327975e-04 9.99902812e-01 5.05844163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.619254154 meters 0.028994705052277768 Centerline is valid? [True, True] Translation: X:759.62, Y:9.78, Z:5.06 [[ 9.97416406e-01 -7.06113557e-02 -1.32117125e-02 7.59615523e+02] [ 7.06152047e-02 9.97503615e-01 -1.75521060e-04 9.77599301e+00] [ 1.31911247e-02 -7.57880196e-04 9.99912706e-01 5.06211637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.679254154 meters 0.026925243824716914 Centerline is valid? [True, True] Translation: X:759.68, Y:9.78, Z:5.06 [[ 9.97607289e-01 -6.77313544e-02 -1.38622267e-02 7.59677494e+02] [ 6.77353290e-02 9.97703308e-01 -1.83123783e-04 9.78275674e+00] [ 1.38427927e-02 -7.56276866e-04 9.99903898e-01 5.06223263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.739254154 meters 0.028749034839760733 Centerline is valid? [True, True] Translation: X:759.74, Y:9.78, Z:5.06 [[ 9.97707633e-01 -6.61140711e-02 -1.44363627e-02 7.59739228e+02] [ 6.61182283e-02 9.97811778e-01 -1.89641409e-04 9.78250387e+00] [ 1.44173107e-02 -7.65300047e-04 9.99895772e-01 5.06229807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.799254154 meters 0.02796189762240022 Centerline is valid? [True, True] Translation: X:759.80, Y:9.79, Z:5.06 [[ 9.97759851e-01 -6.51258542e-02 -1.52938527e-02 7.59801247e+02] [ 6.51304217e-02 9.97876740e-01 -1.99767603e-04 9.78903125e+00] [ 1.52743899e-02 -7.96774981e-04 9.99883022e-01 5.06320689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters 0.02789052297712758 Centerline is valid? [True, True] Translation: X:759.86, Y:9.79, Z:5.07 [[ 9.97866267e-01 -6.36626464e-02 -1.44907310e-02 7.59862497e+02] [ 6.36666035e-02 9.97971206e-01 -1.88534068e-04 9.79432194e+00] [ 1.44733348e-02 -7.34443836e-04 9.99894986e-01 5.06507210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.919254154 meters 0.025809968595165978 Centerline is valid? [True, True] Translation: X:759.92, Y:9.80, Z:5.07 [[ 9.98164746e-01 -5.88904030e-02 -1.41088828e-02 7.59923089e+02] [ 5.88936838e-02 9.98264244e-01 -1.83196095e-04 9.80359277e+00] [ 1.40951817e-02 -6.48064198e-04 9.99900448e-01 5.06575349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters 0.02394009720247701 Centerline is valid? [True, True] Translation: X:759.98, Y:9.81, Z:5.07 [[ 9.98466058e-01 -5.35065514e-02 -1.42330442e-02 7.59983794e+02] [ 5.35093477e-02 9.98567332e-01 -1.84551639e-04 9.81141604e+00] [ 1.42225277e-02 -5.77332366e-04 9.99898688e-01 5.06671422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.039254154 meters 0.021431514003667464 Centerline is valid? [True, True] Translation: X:760.04, Y:9.82, Z:5.07 [[ 9.98882235e-01 -4.49139553e-02 -1.47315262e-02 7.60043800e+02] [ 4.49160194e-02 9.98990748e-01 -1.90887099e-04 9.82241690e+00] [ 1.47252319e-02 -4.71007785e-04 9.99891467e-01 5.06714567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters 0.018143685663847737 Centerline is valid? [True, True] Translation: X:760.10, Y:9.83, Z:5.07 [[ 9.99128413e-01 -3.87184695e-02 -1.55979129e-02 7.60104721e+02] [ 3.87200316e-02 9.99250078e-01 -2.01946370e-04 9.83285941e+00] [ 1.55940347e-02 -4.02181325e-04 9.99878325e-01 5.06754824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.159254154 meters 0.017899986462016897 Centerline is valid? [True, True] Translation: X:760.17, Y:9.84, Z:5.07 [[ 9.99199308e-01 -3.64756633e-02 -1.64398376e-02 7.60166115e+02] [ 3.64771032e-02 9.99334466e-01 -2.12363988e-04 9.83611869e+00] [ 1.64366424e-02 -3.87483703e-04 9.99864834e-01 5.06740525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters 0.018088057021003273 Centerline is valid? [True, True] Translation: X:760.23, Y:9.84, Z:5.07 [[ 9.99205253e-01 -3.62045033e-02 -1.66762113e-02 7.60227519e+02] [ 3.62059572e-02 9.99344326e-01 -2.14814605e-04 9.83846246e+00] [ 1.66730544e-02 -3.89134311e-04 9.99860919e-01 5.06713318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.279254154 meters 0.01898472732196308 Centerline is valid? [True, True] Translation: X:760.29, Y:9.84, Z:5.07 [[ 9.99126066e-01 -3.78333351e-02 -1.77691810e-02 7.60288202e+02] [ 3.78352514e-02 9.99283964e-01 -2.28443531e-04 9.83815576e+00] [ 1.77651004e-02 -4.44057544e-04 9.99842090e-01 5.06686546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters 0.02062204385210106 Centerline is valid? [True, True] Translation: X:760.35, Y:9.84, Z:5.07 [[ 9.98975824e-01 -4.13396587e-02 -1.83939013e-02 7.60348679e+02] [ 4.13423119e-02 9.99145013e-01 -2.36151037e-04 9.83699095e+00] [ 1.83879371e-02 -5.24537227e-04 9.99830790e-01 5.06770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.399254154 meters 0.023881743071815984 Centerline is valid? [True, True] Translation: X:760.41, Y:9.83, Z:5.07 [[ 9.98780329e-01 -4.55580896e-02 -1.90345520e-02 7.60409158e+02] [ 4.55616983e-02 9.98961497e-01 -2.44256157e-04 9.83490465e+00] [ 1.90259124e-02 -6.23288272e-04 9.99818797e-01 5.06646709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters 0.02585199907341214 Centerline is valid? [True, True] Translation: X:760.47, Y:9.83, Z:5.07 [[ 9.98667211e-01 -4.80404289e-02 -1.88658366e-02 7.60469960e+02] [ 4.80444162e-02 9.98845171e-01 -2.42091158e-04 9.83296944e+00] [ 1.88556800e-02 -6.64629604e-04 9.99821995e-01 5.06651733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.519254154 meters 0.026579223287200644 Centerline is valid? [True, True] Translation: X:760.53, Y:9.83, Z:5.07 [[ 9.98546580e-01 -5.11524001e-02 -1.69752788e-02 7.60529797e+02] [ 5.11560771e-02 9.98690647e-01 -2.17831045e-04 9.83115132e+00] [ 1.69641947e-02 -6.50874224e-04 9.99855886e-01 5.06937476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.579254154 meters 0.0277015104753173 Centerline is valid? [True, True] Translation: X:760.59, Y:9.83, Z:5.07 [[ 9.98508128e-01 -5.19211830e-02 -1.69029310e-02 7.60591423e+02] [ 5.19249443e-02 9.98650967e-01 -2.16571003e-04 9.83119658e+00] [ 1.68913730e-02 -6.61435843e-04 9.99857112e-01 5.06997100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.639254154 meters 0.02980178843586093 Centerline is valid? [True, True] Translation: X:760.65, Y:9.83, Z:5.07 [[ 9.98577040e-01 -5.02155491e-02 -1.79525189e-02 7.60652242e+02] [ 5.02195276e-02 9.98738177e-01 -2.29426228e-04 9.83161192e+00] [ 1.79413868e-02 -6.72467257e-04 9.99838814e-01 5.06687772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.699254154 meters 0.022790516662350636 Centerline is valid? [True, True] Translation: X:760.71, Y:9.84, Z:5.07 [[ 9.98689455e-01 -4.84138832e-02 -1.65972620e-02 7.60713579e+02] [ 4.84170441e-02 9.98827185e-01 -2.11560706e-04 9.84149561e+00] [ 1.65880389e-02 -5.92306918e-04 9.99862234e-01 5.07271415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.759254154 meters 0.02028136957972355 Centerline is valid? [True, True] Translation: X:760.77, Y:9.85, Z:5.07 [[ 9.98805279e-01 -4.56320210e-02 -1.74852416e-02 7.60774920e+02] [ 4.56351146e-02 9.98958151e-01 -2.22238788e-04 9.84717581e+00] [ 1.74771658e-02 -5.75967730e-04 9.99847097e-01 5.07367163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.819254154 meters 0.01996402478748816 Centerline is valid? [True, True] Translation: X:760.84, Y:9.85, Z:5.07 [[ 9.98854014e-01 -4.42306067e-02 -1.82842025e-02 7.60836635e+02] [ 4.42337674e-02 9.99021181e-01 -2.31718308e-04 9.84986106e+00] [ 1.82765546e-02 -5.77326400e-04 9.99832803e-01 5.07427296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.879254154 meters 0.019801087087401532 Centerline is valid? [True, True] Translation: X:760.90, Y:9.85, Z:5.08 [[ 9.98918123e-01 -4.25924298e-02 -1.86673017e-02 7.60897852e+02] [ 4.25954512e-02 9.99092374e-01 -2.35898552e-04 9.85233758e+00] [ 1.86604063e-02 -5.59498800e-04 9.99825723e-01 5.07502451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.939254154 meters 0.019333852961991197 Centerline is valid? [True, True] Translation: X:760.96, Y:9.85, Z:5.08 [[ 9.98915105e-01 -4.22535721e-02 -1.95767439e-02 7.60959372e+02] [ 4.22568441e-02 9.99106750e-01 -2.46678890e-04 9.85479857e+00] [ 1.95696801e-02 -5.80840148e-04 9.99808327e-01 5.07556923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.999254154 meters 0.02092551221242118 Centerline is valid? [True, True] Translation: X:761.02, Y:9.85, Z:5.08 [[ 9.98839119e-01 -4.49255514e-02 -1.73812830e-02 7.61020741e+02] [ 4.49285449e-02 9.98990179e-01 -2.18423781e-04 9.85339770e+00] [ 1.73735438e-02 -5.62745534e-04 9.99848910e-01 5.07731419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.059254154 meters 0.022664055086397503 Centerline is valid? [True, True] Translation: X:761.08, Y:9.85, Z:5.08 [[ 9.98646116e-01 -4.95618026e-02 -1.57975550e-02 7.61081698e+02] [ 4.95648622e-02 9.98770887e-01 -1.98029929e-04 9.85111193e+00] [ 1.57879527e-02 -5.85241816e-04 9.99875191e-01 5.07883532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.119254154 meters 0.023779136404338628 Centerline is valid? [True, True] Translation: X:761.14, Y:9.85, Z:5.08 [[ 9.98451024e-01 -5.34759906e-02 -1.53580844e-02 7.61142768e+02] [ 5.34793500e-02 9.98568937e-01 -1.92168425e-04 9.85021615e+00] [ 1.53463824e-02 -6.29469610e-04 9.99882039e-01 5.07957734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.179254154 meters 0.024440585294151707 Centerline is valid? [True, True] Translation: X:761.20, Y:9.85, Z:5.08 [[ 9.98253292e-01 -5.70273475e-02 -1.54352349e-02 7.61204047e+02] [ 5.70311711e-02 9.98372380e-01 -1.92697636e-04 9.84997538e+00] [ 1.54211013e-02 -6.87928473e-04 9.99880851e-01 5.07963050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.239254154 meters 0.024858089262629682 Centerline is valid? [True, True] Translation: X:761.27, Y:9.85, Z:5.08 [[ 9.97975762e-01 -6.17500509e-02 -1.52088830e-02 7.61265538e+02] [ 6.17543186e-02 9.98091363e-01 -1.89316748e-04 9.85010879e+00] [ 1.51915450e-02 -7.50280678e-04 9.99884320e-01 5.08087270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.299254154 meters 0.024415173596402266 Centerline is valid? [True, True] Translation: X:761.33, Y:9.85, Z:5.08 [[ 9.97895130e-01 -6.32361614e-02 -1.43699914e-02 7.61328015e+02] [ 6.32401366e-02 9.97998323e-01 -1.78058314e-04 9.85216579e+00] [ 1.43524870e-02 -7.31076695e-04 9.99896730e-01 5.08247057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters 0.025319291089752765 Centerline is valid? [True, True] Translation: X:761.39, Y:9.85, Z:5.08 [[ 9.97906701e-01 -6.29742551e-02 -1.47125610e-02 7.61390293e+02] [ 6.29784102e-02 9.98014873e-01 -1.81184229e-04 9.85348506e+00] [ 1.46947646e-02 -7.45768746e-04 9.99891748e-01 5.08207720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.419254154 meters 0.025832778195425243 Centerline is valid? [True, True] Translation: X:761.45, Y:9.86, Z:5.08 [[ 9.98054888e-01 -6.01396511e-02 -1.64214027e-02 7.61450803e+02] [ 6.01444571e-02 9.98189663e-01 -2.01488157e-04 9.85538151e+00] [ 1.64037918e-02 -7.86560109e-04 9.99865139e-01 5.08043525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters 0.022348344456257916 Centerline is valid? [True, True] Translation: X:761.51, Y:9.87, Z:5.08 [[ 9.98440438e-01 -5.30978139e-02 -1.72427752e-02 7.61510901e+02] [ 5.31020669e-02 9.98589068e-01 -2.11423526e-04 9.86521556e+00] [ 1.72296729e-02 -7.04533202e-04 9.99851310e-01 5.08113837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.539254154 meters 0.021451150842034118 Centerline is valid? [True, True] Translation: X:761.57, Y:9.87, Z:5.08 [[ 9.98760877e-01 -4.67665825e-02 -1.70175888e-02 7.61571049e+02] [ 4.67698072e-02 9.98905672e-01 -2.08657900e-04 9.87011310e+00] [ 1.70087242e-02 -5.87510002e-04 9.99855169e-01 5.08203098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters 0.01797493340893949 Centerline is valid? [True, True] Translation: X:761.63, Y:9.88, Z:5.08 [[ 9.99183240e-01 -3.72221408e-02 -1.57278222e-02 7.61631821e+02] [ 3.72237141e-02 9.99306939e-01 -1.92801547e-04 9.88005437e+00] [ 1.57240983e-02 -3.92803882e-04 9.99876292e-01 5.08396475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.659254154 meters 0.01665447383315103 Centerline is valid? [True, True] Translation: X:761.69, Y:9.89, Z:5.09 [[ 9.99437641e-01 -3.02631144e-02 -1.44410768e-02 7.61692246e+02] [ 3.02637149e-02 9.99541933e-01 -1.76997826e-04 9.88608376e+00] [ 1.44398183e-02 -2.60142341e-04 9.99895707e-01 5.08523109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters 0.015745204987114483 Centerline is valid? [True, True] Translation: X:761.75, Y:9.89, Z:5.09 [[ 9.99566217e-01 -2.57574448e-02 -1.42805037e-02 7.61753719e+02] [ 2.57575762e-02 9.99668203e-01 -1.74760110e-04 9.88998423e+00] [ 1.42802669e-02 -1.93146861e-04 9.99898013e-01 5.08534583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.779254154 meters 0.015522586117381125 Centerline is valid? [True, True] Translation: X:761.81, Y:9.89, Z:5.08 [[ 9.99620057e-01 -2.29837052e-02 -1.52148428e-02 7.61814696e+02] [ 2.29835356e-02 9.99735826e-01 -1.86024591e-04 9.89210563e+00] [ 1.52150990e-02 -1.63736969e-04 9.99884230e-01 5.08417796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters 0.015176039518535116 Centerline is valid? [True, True] Translation: X:761.87, Y:9.89, Z:5.09 [[ 9.99646499e-01 -2.17964948e-02 -1.52246306e-02 7.61874023e+02] [ 2.17961816e-02 9.99762418e-01 -1.86518967e-04 9.89379728e+00] [ 1.52250790e-02 -1.45385782e-04 9.99884081e-01 5.08547576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.899254154 meters 0.015100286593198826 Centerline is valid? [True, True] Translation: X:761.93, Y:9.89, Z:5.09 [[ 9.99663165e-01 -2.14690849e-02 -1.45819830e-02 7.61933629e+02] [ 2.14687552e-02 9.99769504e-01 -1.79162589e-04 9.89315656e+00] [ 1.45824684e-02 -1.33954783e-04 9.99893661e-01 5.08608111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters 0.015001624734362534 Centerline is valid? [True, True] Translation: X:761.99, Y:9.89, Z:5.09 [[ 9.99659337e-01 -2.22267219e-02 -1.36814431e-02 7.61992894e+02] [ 2.22264960e-02 9.99752947e-01 -1.68581275e-04 9.89141339e+00] [ 1.36818101e-02 -1.35566695e-04 9.99906390e-01 5.08754006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.019254154 meters 0.015678291332997148 Centerline is valid? [True, True] Translation: X:762.05, Y:9.89, Z:5.09 [[ 9.99577104e-01 -2.50821114e-02 -1.47139536e-02 7.62052593e+02] [ 2.50821534e-02 9.99685377e-01 -1.81713016e-04 9.88707390e+00] [ 1.47138820e-02 -1.87421472e-04 9.99891727e-01 5.08623688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.079254154 meters 0.01609971337684307 Centerline is valid? [True, True] Translation: X:762.11, Y:9.88, Z:5.09 [[ 9.99424338e-01 -3.01124038e-02 -1.56280487e-02 7.62113337e+02] [ 3.01130639e-02 9.99546480e-01 -1.93130630e-04 9.88224557e+00] [ 1.56267767e-02 -2.77588978e-04 9.99877856e-01 5.08621707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.139254154 meters 0.018778331880020815 Centerline is valid? [True, True] Translation: X:762.17, Y:9.88, Z:5.09 [[ 9.99190991e-01 -3.68510882e-02 -1.61047024e-02 7.62174479e+02] [ 3.68526667e-02 9.99320690e-01 -1.98845034e-04 9.87650256e+00] [ 1.61010899e-02 -3.94817062e-04 9.99870291e-01 5.08516290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.199254154 meters 0.019411705293474874 Centerline is valid? [True, True] Translation: X:762.24, Y:9.87, Z:5.09 [[ 9.98866133e-01 -4.49425625e-02 -1.57039348e-02 7.62235219e+02] [ 4.49450667e-02 9.98989441e-01 -1.93606603e-04 9.86892784e+00] [ 1.56967662e-02 -5.12427319e-04 9.99876667e-01 5.08618347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.259254154 meters 0.0204496225166756 Centerline is valid? [True, True] Translation: X:762.30, Y:9.87, Z:5.09 [[ 9.98703318e-01 -4.84144276e-02 -1.57392955e-02 7.62296787e+02] [ 4.84173809e-02 9.98827172e-01 -1.93580695e-04 9.86563470e+00] [ 1.57302082e-02 -5.68725786e-04 9.99876111e-01 5.08597243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.319254154 meters 0.022009161781240343 Centerline is valid? [True, True] Translation: X:762.36, Y:9.86, Z:5.09 [[ 9.98592700e-01 -5.05048659e-02 -1.61826487e-02 7.62357776e+02] [ 5.05082747e-02 9.98723623e-01 -1.98252587e-04 9.86204492e+00] [ 1.61720063e-02 -6.19384081e-04 9.99869033e-01 5.08566104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.379254154 meters 0.021561585516965177 Centerline is valid? [True, True] Translation: X:762.42, Y:9.86, Z:5.09 [[ 9.98591162e-01 -5.06202449e-02 -1.59148147e-02 7.62419987e+02] [ 5.06235731e-02 9.98717786e-01 -1.93925560e-04 9.86316634e+00] [ 1.59042250e-02 -6.12012432e-04 9.99873333e-01 5.08650472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.439254154 meters 0.02392567968025322 Centerline is valid? [True, True] Translation: X:762.48, Y:9.86, Z:5.09 [[ 9.98580536e-01 -5.09138414e-02 -1.56426634e-02 7.62481971e+02] [ 5.09171104e-02 9.98702865e-01 -1.89468068e-04 9.86278474e+00] [ 1.56320193e-02 -6.07280094e-04 9.99877628e-01 5.08506452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.499254154 meters 0.02410169918261986 Centerline is valid? [True, True] Translation: X:762.54, Y:9.86, Z:5.09 [[ 9.98513165e-01 -5.26125268e-02 -1.42612039e-02 7.62543519e+02] [ 5.26154290e-02 9.98614834e-01 -1.71879974e-04 9.86134254e+00] [ 1.42504928e-02 -5.78734945e-04 9.99898289e-01 5.08747321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.559254154 meters 0.024389582853713666 Centerline is valid? [True, True] Translation: X:762.61, Y:9.86, Z:5.09 [[ 9.98498697e-01 -5.28448502e-02 -1.44143400e-02 7.62605261e+02] [ 5.28478524e-02 9.98602561e-01 -1.72811162e-04 9.86188447e+00] [ 1.44033290e-02 -5.89215195e-04 9.99896093e-01 5.08770056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.619254154 meters 0.024089107906391405 Centerline is valid? [True, True] Translation: X:762.67, Y:9.86, Z:5.09 [[ 9.98577473e-01 -5.08663166e-02 -1.59890358e-02 7.62667443e+02] [ 5.08697764e-02 9.98705277e-01 -1.90506784e-04 9.86423450e+00] [ 1.59780248e-02 -6.23122894e-04 9.99872149e-01 5.08718128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.679254154 meters 0.0230233343879394 Centerline is valid? [True, True] Translation: X:762.73, Y:9.87, Z:5.09 [[ 9.98805460e-01 -4.60334086e-02 -1.63883565e-02 7.62726933e+02] [ 4.60364123e-02 9.98939743e-01 -1.94125179e-04 9.86946322e+00] [ 1.63799168e-02 -5.60567846e-04 9.99865683e-01 5.08831446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.739254154 meters 0.01852868561103228 Centerline is valid? [True, True] Translation: X:762.79, Y:9.88, Z:5.09 [[ 9.99090521e-01 -3.96694699e-02 -1.56353463e-02 7.62787791e+02] [ 3.96714345e-02 9.99212762e-01 -1.84607250e-04 9.88013787e+00] [ 1.56303608e-02 -4.35837262e-04 9.99877743e-01 5.09171115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.799254154 meters 0.019887198594966623 Centerline is valid? [True, True] Translation: X:762.85, Y:9.88, Z:5.09 [[ 9.99300778e-01 -3.36140770e-02 -1.63721966e-02 7.62848300e+02] [ 3.36154239e-02 9.99434823e-01 -1.92999417e-04 9.88139578e+00] [ 1.63694309e-02 -3.57493862e-04 9.99865948e-01 5.08942279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters 0.016679072815805083 Centerline is valid? [True, True] Translation: X:762.91, Y:9.89, Z:5.09 [[ 9.99408670e-01 -3.05117354e-02 -1.58538316e-02 7.62909100e+02] [ 3.05126127e-02 9.99534364e-01 -1.86603012e-04 9.88920114e+00] [ 1.58521431e-02 -2.97249156e-04 9.99874303e-01 5.09276690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.919254154 meters 0.016251986479581676 Centerline is valid? [True, True] Translation: X:762.97, Y:9.89, Z:5.09 [[ 9.99514775e-01 -2.66653545e-02 -1.60988725e-02 7.62968308e+02] [ 2.66657596e-02 9.99644387e-01 -1.89531248e-04 9.89403545e+00] [ 1.60982015e-02 -2.39849381e-04 9.99870387e-01 5.09409186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters 0.018463865636896476 Centerline is valid? [True, True] Translation: X:763.03, Y:9.89, Z:5.09 [[ 9.99500665e-01 -2.72934116e-02 -1.59213876e-02 7.63029052e+02] [ 2.72938856e-02 9.99627435e-01 -1.87560401e-04 9.89378627e+00] [ 1.59205750e-02 -2.47089786e-04 9.99873229e-01 5.09275984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.039254154 meters 0.0173891713350351 Centerline is valid? [True, True] Translation: X:763.09, Y:9.89, Z:5.10 [[ 9.99355960e-01 -3.29276654e-02 -1.42630261e-02 7.63089703e+02] [ 3.29286193e-02 9.99457692e-01 -1.68024230e-04 9.89202617e+00] [ 1.42608238e-02 -3.01745740e-04 9.99898264e-01 5.09598306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters 0.019436297680821522 Centerline is valid? [True, True] Translation: X:763.15, Y:9.89, Z:5.10 [[ 9.99195293e-01 -3.74792028e-02 -1.42854780e-02 7.63149983e+02] [ 3.74806264e-02 9.99297340e-01 -1.68153905e-04 9.88787485e+00] [ 1.42817425e-02 -3.67410074e-04 9.99897943e-01 5.09530157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.159254154 meters 0.021911614049820966 Centerline is valid? [True, True] Translation: X:763.21, Y:9.88, Z:5.09 [[ 9.99004609e-01 -4.18996688e-02 -1.53038838e-02 7.63210712e+02] [ 4.19018277e-02 9.99121717e-01 -1.79696834e-04 9.88398539e+00] [ 1.52979719e-02 -4.61742736e-04 9.99882873e-01 5.09365120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters 0.023830064737430295 Centerline is valid? [True, True] Translation: X:763.27, Y:9.88, Z:5.10 [[ 9.98712659e-01 -4.85003879e-02 -1.48572541e-02 7.63270557e+02] [ 4.85031554e-02 9.98823014e-01 -1.74215702e-04 9.87843816e+00] [ 1.48482168e-02 -5.46632275e-04 9.99889610e-01 5.09510295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.279254154 meters 0.025667943793567932 Centerline is valid? [True, True] Translation: X:763.33, Y:9.88, Z:5.10 [[ 9.98306619e-01 -5.64222183e-02 -1.41572673e-02 7.63331020e+02] [ 5.64255263e-02 9.98406797e-01 -1.65986721e-04 9.87554540e+00] [ 1.41440773e-02 -6.33125618e-04 9.99899767e-01 5.09575103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters 0.02473810450234588 Centerline is valid? [True, True] Translation: X:763.39, Y:9.88, Z:5.10 [[ 9.98218245e-01 -5.77438392e-02 -1.50327974e-02 7.63393377e+02] [ 5.77477282e-02 9.98331192e-01 -1.75607309e-04 9.87844818e+00] [ 1.50178508e-02 -6.92815478e-04 9.99886986e-01 5.09537392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.399254154 meters 0.02732049775417674 Centerline is valid? [True, True] Translation: X:763.45, Y:9.88, Z:5.09 [[ 9.97883079e-01 -6.30864360e-02 -1.57943686e-02 7.63452561e+02] [ 6.30914078e-02 9.98007736e-01 -1.83786068e-04 9.87508264e+00] [ 1.57744964e-02 -8.13091943e-04 9.99875244e-01 5.09462490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters 0.026359774095314335 Centerline is valid? [True, True] Translation: X:763.51, Y:9.88, Z:5.09 [[ 9.97837197e-01 -6.37213058e-02 -1.61407323e-02 7.63514449e+02] [ 6.37265946e-02 9.97967377e-01 -1.86968272e-04 9.87847527e+00] [ 1.61198382e-02 -8.42030011e-04 9.99869712e-01 5.09471582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.519254154 meters 0.02819909655948172 Centerline is valid? [True, True] Translation: X:763.58, Y:9.88, Z:5.09 [[ 9.97913378e-01 -6.22400810e-02 -1.71773981e-02 7.63575345e+02] [ 6.22458715e-02 9.98060826e-01 -1.97865080e-04 9.88145056e+00] [ 1.71564033e-02 -8.71769905e-04 9.99852438e-01 5.09478292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.579254154 meters 0.027181530778069535 Centerline is valid? [True, True] Translation: X:763.64, Y:9.89, Z:5.10 [[ 9.98051526e-01 -6.02438454e-02 -1.62428787e-02 7.63636673e+02] [ 6.02487704e-02 9.98183375e-01 -1.86406060e-04 9.88827315e+00] [ 1.62246013e-02 -7.92570614e-04 9.99868058e-01 5.09681796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.639254154 meters 0.026243097850673695 Centerline is valid? [True, True] Translation: X:763.70, Y:9.89, Z:5.10 [[ 9.98120663e-01 -5.93167647e-02 -1.53838771e-02 7.63699281e+02] [ 5.93210881e-02 9.98238938e-01 -1.75532450e-04 9.89349152e+00] [ 1.53671972e-02 -7.37385765e-04 9.99881646e-01 5.09830217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.699254154 meters 0.025269631160774454 Centerline is valid? [True, True] Translation: X:763.76, Y:9.90, Z:5.10 [[ 9.98137481e-01 -5.92192392e-02 -1.46509614e-02 7.63761742e+02] [ 5.92231670e-02 9.98244754e-01 -1.66004662e-04 9.89966847e+00] [ 1.46350761e-02 -7.01980861e-04 9.99892655e-01 5.09946388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.759254154 meters 0.026132939658348096 Centerline is valid? [True, True] Translation: X:763.82, Y:9.90, Z:5.10 [[ 9.98153137e-01 -5.87951583e-02 -1.52788902e-02 7.63824337e+02] [ 5.87993980e-02 9.98269804e-01 -1.71975939e-04 9.90241106e+00] [ 1.52625661e-02 -7.26731224e-04 9.99883256e-01 5.09881084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.819254154 meters 0.026853722477348383 Centerline is valid? [True, True] Translation: X:763.89, Y:9.91, Z:5.10 [[ 9.98138359e-01 -5.88022706e-02 -1.61897787e-02 7.63885755e+02] [ 5.88070486e-02 9.98269352e-01 -1.81194977e-04 9.90592811e+00] [ 1.61724146e-02 -7.71215445e-04 9.99868921e-01 5.09858497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.879254154 meters 0.026327661723844934 Centerline is valid? [True, True] Translation: X:763.95, Y:9.91, Z:5.10 [[ 9.98151471e-01 -5.82110908e-02 -1.74674055e-02 7.63947502e+02] [ 5.82165832e-02 9.98303958e-01 -1.94316805e-04 9.91319708e+00] [ 1.74490914e-02 -8.22935060e-04 9.99847414e-01 5.09854035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.939254154 meters 0.024343920095012413 Centerline is valid? [True, True] Translation: X:764.01, Y:9.92, Z:5.10 [[ 9.98174362e-01 -5.78740533e-02 -1.72782441e-02 7.64009742e+02] [ 5.78793988e-02 9.98323564e-01 -1.90946120e-04 9.92000663e+00] [ 1.72603290e-02 -8.09456858e-04 9.99850702e-01 5.10014785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.999254154 meters 0.023751242417341813 Centerline is valid? [True, True] Translation: X:764.07, Y:9.93, Z:5.10 [[ 9.98331279e-01 -5.53140231e-02 -1.65835887e-02 7.64071617e+02] [ 5.53186117e-02 9.98468737e-01 -1.82247374e-04 9.92575037e+00] [ 1.65682757e-02 -7.35437849e-04 9.99862466e-01 5.10075741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.059254154 meters 0.02147137094327864 Centerline is valid? [True, True] Translation: X:764.13, Y:9.93, Z:5.10 [[ 9.98595065e-01 -5.05173751e-02 -1.59966179e-02 7.64132384e+02] [ 5.05210386e-02 9.98722982e-01 -1.75266731e-04 9.93427556e+00] [ 1.59850440e-02 -6.33145259e-04 9.99872031e-01 5.10191968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.119254154 meters 0.020257899467952197 Centerline is valid? [True, True] Translation: X:764.19, Y:9.94, Z:5.10 [[ 9.98852739e-01 -4.50671007e-02 -1.61913966e-02 7.64192138e+02] [ 4.50701408e-02 9.98983809e-01 -1.77274715e-04 9.93990887e+00] [ 1.61829323e-02 -5.52677189e-04 9.99868895e-01 5.10187740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.179254154 meters 0.020600854575332655 Centerline is valid? [True, True] Translation: X:764.25, Y:9.94, Z:5.10 [[ 9.98960137e-01 -4.24072180e-02 -1.67413604e-02 7.64254039e+02] [ 4.24101042e-02 9.99100270e-01 -1.82749569e-04 9.94317189e+00] [ 1.67340476e-02 -5.27443307e-04 9.99859837e-01 5.10034033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.239254154 meters 0.01746086336847424 Centerline is valid? [True, True] Translation: X:764.32, Y:9.95, Z:5.10 [[ 9.99192105e-01 -3.72694519e-02 -1.50374488e-02 7.64315886e+02] [ 3.72712107e-02 9.99305174e-01 -1.63363276e-04 9.95098206e+00] [ 1.50330888e-02 -3.97232628e-04 9.99886918e-01 5.10279488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.299254154 meters 0.017350618521075716 Centerline is valid? [True, True] Translation: X:764.38, Y:9.96, Z:5.10 [[ 9.99391260e-01 -3.17995220e-02 -1.43492056e-02 7.64376138e+02] [ 3.18005670e-02 9.99494222e-01 -1.55394697e-04 9.95534758e+00] [ 1.43468896e-02 -3.01012773e-04 9.99897033e-01 5.10234872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters 0.014483897653135779 Centerline is valid? [True, True] Translation: X:764.44, Y:9.97, Z:5.10 [[ 9.99647844e-01 -2.26870562e-02 -1.37653656e-02 7.64437532e+02] [ 2.26871592e-02 9.99742602e-01 -1.48697112e-04 9.96544823e+00] [ 1.37651959e-02 -1.63652291e-04 9.99905242e-01 5.10481039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.419254154 meters 0.014062869861284303 Centerline is valid? [True, True] Translation: X:764.50, Y:9.97, Z:5.10 [[ 9.99772174e-01 -1.66995242e-02 -1.32938201e-02 7.64498141e+02] [ 1.66990956e-02 9.99860550e-01 -1.43249828e-04 9.96970952e+00] [ 1.32943585e-02 -7.87775810e-05 9.99911623e-01 5.10478389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters 0.0139101688840318 Centerline is valid? [True, True] Translation: X:764.56, Y:9.97, Z:5.11 [[ 9.99781980e-01 -1.61498550e-02 -1.32353324e-02 7.64558148e+02] [ 1.61493804e-02 9.99869580e-01 -1.42739200e-04 9.96936277e+00] [ 1.32359115e-02 -7.10343386e-05 9.99912399e-01 5.10539030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.539254154 meters 0.014250886968512259 Centerline is valid? [True, True] Translation: X:764.62, Y:9.97, Z:5.11 [[ 9.99739532e-01 -1.87419116e-02 -1.30234121e-02 7.64616842e+02] [ 1.87416644e-02 9.99824350e-01 -1.41035782e-04 9.96568034e+00] [ 1.30237678e-02 -1.03081372e-04 9.99915182e-01 5.10561755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters 0.014552247044674428 Centerline is valid? [True, True] Translation: X:764.68, Y:9.96, Z:5.11 [[ 9.99648664e-01 -2.31044509e-02 -1.29897188e-02 7.64677253e+02] [ 2.31045685e-02 9.99733044e-01 -1.41032129e-04 9.96109615e+00] [ 1.29895096e-02 -1.59139269e-04 9.99915620e-01 5.10624356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.659254154 meters 0.015579328804334899 Centerline is valid? [True, True] Translation: X:764.74, Y:9.96, Z:5.11 [[ 9.99522991e-01 -2.77473804e-02 -1.35600274e-02 7.64737562e+02] [ 2.77479374e-02 9.99614941e-01 -1.47098727e-04 9.95574588e+00] [ 1.35588875e-02 -2.29234231e-04 9.99908048e-01 5.10568531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters 0.017673643833336947 Centerline is valid? [True, True] Translation: X:764.80, Y:9.95, Z:5.10 [[ 9.99194654e-01 -3.70881600e-02 -1.53137966e-02 7.64799043e+02] [ 3.70899735e-02 9.99311916e-01 -1.65673186e-04 9.94628144e+00] [ 1.53094039e-02 -4.02448548e-04 9.99882723e-01 5.10483809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.779254154 meters 0.021666533049410408 Centerline is valid? [True, True] Translation: X:764.86, Y:9.94, Z:5.10 [[ 9.98817384e-01 -4.60936868e-02 -1.54662427e-02 7.64858500e+02] [ 4.60966165e-02 9.98936972e-01 -1.67205350e-04 9.93530089e+00] [ 1.54575088e-02 -5.45933848e-04 9.99880377e-01 5.10348614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters 0.023537024302304973 Centerline is valid? [True, True] Translation: X:764.92, Y:9.93, Z:5.10 [[ 9.98527112e-01 -5.20887178e-02 -1.51779905e-02 7.64919869e+02] [ 5.20922315e-02 9.98642265e-01 -1.64029716e-04 9.93076245e+00] [ 1.51659269e-02 -6.26867276e-04 9.99884794e-01 5.10258994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.899254154 meters 0.025163151823514838 Centerline is valid? [True, True] Translation: X:764.98, Y:9.92, Z:5.10 [[ 9.98162488e-01 -5.88222214e-02 -1.45462605e-02 7.64980113e+02] [ 5.88261640e-02 9.98268229e-01 -1.57056384e-04 9.92432130e+00] [ 1.45303081e-02 -6.98932916e-04 9.99894185e-01 5.10423321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters 0.02901078389071221 Centerline is valid? [True, True] Translation: X:765.04, Y:9.92, Z:5.10 [[ 9.97702028e-01 -6.62676984e-02 -1.41157608e-02 7.65041537e+02] [ 6.62721571e-02 9.97801572e-01 -1.52174574e-04 9.91586474e+00] [ 1.40948126e-02 -7.83657037e-04 9.99900356e-01 5.10464019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.019254154 meters 0.03852826238617813 Centerline is valid? [True, True] Translation: X:765.10, Y:9.90, Z:5.10 [[ 9.97542770e-01 -6.86410565e-02 -1.40295084e-02 7.65101650e+02] [ 6.86457064e-02 9.97641090e-01 -1.50416096e-04 9.90289392e+00] [ 1.40067388e-02 -8.13019025e-04 9.99901570e-01 5.10324293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.079254154 meters 0.033906653400539985 Centerline is valid? [True, True] Translation: X:765.16, Y:9.91, Z:5.11 [[ 9.97032455e-01 -7.57429100e-02 -1.37584279e-02 7.65162665e+02] [ 7.57480648e-02 9.97126977e-01 -1.46809159e-04 9.90726990e+00] [ 1.37300194e-02 -8.95800790e-04 9.99905338e-01 5.10577362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.139254154 meters 0.03345784559134013 Centerline is valid? [True, True] Translation: X:765.22, Y:9.91, Z:5.11 [[ 9.96707126e-01 -7.98364868e-02 -1.41788870e-02 7.65223590e+02] [ 7.98423758e-02 9.96807490e-01 -1.51147386e-04 9.90758782e+00] [ 1.41456878e-02 -9.81426348e-04 9.99899463e-01 5.10654752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.199254154 meters 0.039631374035848696 Centerline is valid? [True, True] Translation: X:765.28, Y:9.90, Z:5.11 [[ 9.96641038e-01 -8.04014774e-02 -1.55642129e-02 7.65284491e+02] [ 8.04086602e-02 9.96761968e-01 -1.64759050e-04 9.90019441e+00] [ 1.55270624e-02 -1.08729188e-03 9.99878857e-01 5.10532236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.259254154 meters 0.04056772869881451 Centerline is valid? [True, True] Translation: X:765.34, Y:9.90, Z:5.10 [[ 9.96728481e-01 -7.90266861e-02 -1.69445526e-02 7.65344958e+02] [ 7.90350207e-02 9.96871824e-01 -1.78261425e-04 9.90037567e+00] [ 1.69056345e-02 -1.16153483e-03 9.99856415e-01 5.10446082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.319254154 meters 0.03489987732873882 Centerline is valid? [True, True] Translation: X:765.41, Y:9.91, Z:5.10 [[ 9.97026430e-01 -7.50487941e-02 -1.74922003e-02 7.65405005e+02] [ 7.50570665e-02 9.97179223e-01 -1.84032113e-04 9.91153869e+00] [ 1.74566701e-02 -1.12942836e-03 9.99846983e-01 5.10474514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.379254154 meters 0.03146886831773301 Centerline is valid? [True, True] Translation: X:765.47, Y:9.92, Z:5.11 [[ 9.97514118e-01 -6.86800344e-02 -1.57682309e-02 7.65465266e+02] [ 6.86859619e-02 9.97638317e-01 -1.65979225e-04 9.92036440e+00] [ 1.57423908e-02 -9.17489486e-04 9.99875660e-01 5.10729067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.439254154 meters 0.02546316328657518 Centerline is valid? [True, True] Translation: X:765.53, Y:9.93, Z:5.11 [[ 9.98053894e-01 -6.07878056e-02 -1.39020789e-02 7.65526113e+02] [ 6.07916508e-02 9.98150467e-01 -1.46223488e-04 9.93218228e+00] [ 1.38852552e-02 -6.99191405e-04 9.99903351e-01 5.11160549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.499254154 meters 0.02392370510734204 Centerline is valid? [True, True] Translation: X:765.59, Y:9.94, Z:5.11 [[ 9.98589530e-01 -5.09073479e-02 -1.50795586e-02 7.65585637e+02] [ 5.09107466e-02 9.98703195e-01 -1.58655213e-04 9.93853172e+00] [ 1.50680801e-02 -6.09280153e-04 9.99886284e-01 5.10997047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.559254154 meters 0.01920904932763609 Centerline is valid? [True, True] Translation: X:765.65, Y:9.95, Z:5.11 [[ 9.99009530e-01 -4.13056578e-02 -1.65469732e-02 7.65646053e+02] [ 4.13084321e-02 9.99146427e-01 -1.74242092e-04 9.94811610e+00] [ 1.65400464e-02 -5.09460009e-04 9.99863074e-01 5.11107459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.619254154 meters 0.01620130504246933 Centerline is valid? [True, True] Translation: X:765.71, Y:9.96, Z:5.11 [[ 9.99421637e-01 -2.93022460e-02 -1.72560170e-02 7.65706957e+02] [ 2.93034749e-02 9.99570544e-01 -1.81683903e-04 9.95736859e+00] [ 1.72539301e-02 -3.24082439e-04 9.99851087e-01 5.11217239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.679254154 meters 0.014702887380208723 Centerline is valid? [True, True] Translation: X:765.77, Y:9.97, Z:5.12 [[ 9.99761237e-01 -1.51707999e-02 -1.57262723e-02 7.65767203e+02] [ 1.51700723e-02 9.99884914e-01 -1.65563726e-04 9.96695609e+00] [ 1.57269741e-02 -7.30444913e-05 9.99876321e-01 5.11502720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.739254154 meters 0.014965201288836976 Centerline is valid? [True, True] Translation: X:765.83, Y:9.97, Z:5.12 [[ 9.99887640e-01 -2.65693175e-03 -1.47529167e-02 7.65825648e+02] [ 2.65489803e-03 9.99996463e-01 -1.57434967e-04 9.97417301e+00] [ 1.47532828e-02 1.18249788e-04 9.99891157e-01 5.11695592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.799254154 meters 0.016667158897720757 Centerline is valid? [True, True] Translation: X:765.88, Y:9.98, Z:5.12 [[ 9.99884267e-01 3.10933742e-03 -1.48924544e-02 7.65882950e+02] [-3.11209549e-03 9.99995144e-01 -1.62028104e-04 9.97680596e+00] [ 1.48918783e-02 2.08356092e-04 9.99889088e-01 5.11617811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters 0.015436202921991228 Centerline is valid? [True, True] Translation: X:765.94, Y:9.97, Z:5.12 [[ 9.99877976e-01 2.57488653e-03 -1.54078994e-02 7.65940992e+02] [-2.57780766e-03 9.99996663e-01 -1.69728800e-04 9.97375611e+00] [ 1.54074109e-02 2.09426690e-04 9.99881277e-01 5.11786372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.919254154 meters 0.015132552377938643 Centerline is valid? [True, True] Translation: X:766.00, Y:9.96, Z:5.12 [[ 9.99842325e-01 -6.69607208e-03 -1.64464849e-02 7.65998763e+02] [ 6.69396995e-03 9.99977578e-01 -1.82863414e-04 9.96350077e+00] [ 1.64473406e-02 7.27423061e-05 9.99864731e-01 5.11608922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters 0.015286608004501337 Centerline is valid? [True, True] Translation: X:766.06, Y:9.95, Z:5.12 [[ 9.99640405e-01 -2.16006771e-02 -1.58893264e-02 7.66056419e+02] [ 2.16005731e-02 9.99766665e-01 -1.78185026e-04 9.94826292e+00] [ 1.58894678e-02 -1.65097605e-04 9.99873741e-01 5.11625437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.039254154 meters 0.019811400690404404 Centerline is valid? [True, True] Translation: X:766.12, Y:9.93, Z:5.11 [[ 9.99286679e-01 -3.44856073e-02 -1.53908088e-02 7.66117187e+02] [ 3.44870268e-02 9.99405131e-01 -1.73247616e-04 9.93243509e+00] [ 1.53876278e-02 -3.57659201e-04 9.99881539e-01 5.11461373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters 0.020254794974476454 Centerline is valid? [True, True] Translation: X:766.18, Y:9.92, Z:5.12 [[ 9.99019404e-01 -4.20024110e-02 -1.40010052e-02 7.66178501e+02] [ 4.20043249e-02 9.99117416e-01 -1.57469883e-04 9.92480816e+00] [ 1.39952623e-02 -4.30787305e-04 9.99901969e-01 5.11658856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.159254154 meters 0.025231768982770336 Centerline is valid? [True, True] Translation: X:766.24, Y:9.91, Z:5.12 [[ 9.98600187e-01 -5.13075842e-02 -1.28529532e-02 7.66237868e+02] [ 5.13099685e-02 9.98682766e-01 -1.44400293e-04 9.90888749e+00] [ 1.28434317e-02 -5.15286466e-04 9.99917387e-01 5.11801065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters 0.03030228185004264 Centerline is valid? [True, True] Translation: X:766.30, Y:9.90, Z:5.12 [[ 9.98121257e-01 -5.99555437e-02 -1.26210049e-02 7.66298325e+02] [ 5.99585337e-02 9.98200859e-01 -1.41679495e-04 9.89591577e+00] [ 1.26067924e-02 -6.15323632e-04 9.99920342e-01 5.11809102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.279254154 meters 0.030673868552313747 Centerline is valid? [True, True] Translation: X:766.36, Y:9.89, Z:5.12 [[ 9.97617275e-01 -6.75713240e-02 -1.39244136e-02 7.66358985e+02] [ 6.75757054e-02 9.97714137e-01 -1.56138527e-04 9.89143110e+00] [ 1.39031348e-02 -7.85185581e-04 9.99903038e-01 5.11608771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters 0.03341488707719589 Centerline is valid? [True, True] Translation: X:766.42, Y:9.89, Z:5.11 [[ 9.97339972e-01 -7.13266823e-02 -1.50161535e-02 7.66419717e+02] [ 7.13322054e-02 9.97452599e-01 -1.68147824e-04 9.88508432e+00] [ 1.49898948e-02 -9.03434802e-04 9.99887237e-01 5.11479400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.399254154 meters 0.028786531668881645 Centerline is valid? [True, True] Translation: X:766.48, Y:9.89, Z:5.12 [[ 9.97340563e-01 -7.12535814e-02 -1.53208410e-02 7.66482209e+02] [ 7.12593391e-02 9.97457807e-01 -1.70464913e-04 9.89069422e+00] [ 1.52940387e-02 -9.21741434e-04 9.99882614e-01 5.11790742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.459254154 meters 0.02859147653455402 Centerline is valid? [True, True] Translation: X:766.54, Y:9.89, Z:5.12 [[ 9.97634050e-01 -6.70364507e-02 -1.52452110e-02 7.66541881e+02] [ 6.70416723e-02 9.97750162e-01 -1.68870293e-04 9.89238349e+00] [ 1.52222322e-02 -8.53593684e-04 9.99883771e-01 5.11846411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.519254154 meters 0.02611598691389293 Centerline is valid? [True, True] Translation: X:766.60, Y:9.90, Z:5.12 [[ 9.98018108e-01 -6.12487988e-02 -1.44374957e-02 7.66602114e+02] [ 6.12528776e-02 9.98122267e-01 -1.59923797e-04 9.89809955e+00] [ 1.44201810e-02 -7.24731308e-04 9.99895761e-01 5.12009557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.579254154 meters 0.024330627173254828 Centerline is valid? [True, True] Translation: X:766.66, Y:9.90, Z:5.12 [[ 9.98413262e-01 -5.45819477e-02 -1.38481042e-02 7.66662778e+02] [ 5.45850606e-02 9.98509112e-01 -1.53357189e-04 9.90354343e+00] [ 1.38358288e-02 -6.02785757e-04 9.99904099e-01 5.12102444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.639254154 meters 0.02239019335024439 Centerline is valid? [True, True] Translation: X:766.72, Y:9.91, Z:5.12 [[ 9.98665679e-01 -4.96697216e-02 -1.41343368e-02 7.66723198e+02] [ 4.96724738e-02 9.98765549e-01 -1.56492602e-04 9.90952614e+00] [ 1.41246616e-02 -5.45803685e-04 9.99900093e-01 5.12002036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.699254154 meters 0.02109218531221059 Centerline is valid? [True, True] Translation: X:766.78, Y:9.91, Z:5.12 [[ 9.98944525e-01 -4.35469874e-02 -1.46115139e-02 7.66782802e+02] [ 4.35492744e-02 9.99051267e-01 -1.61775813e-04 9.91312115e+00] [ 1.46046964e-02 -4.74715766e-04 9.99893233e-01 5.12104908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.759254154 meters 0.01853741141191938 Centerline is valid? [True, True] Translation: X:766.84, Y:9.92, Z:5.12 [[ 9.99170078e-01 -3.80468800e-02 -1.45461556e-02 7.66844120e+02] [ 3.80485681e-02 9.99275878e-01 -1.60773490e-04 9.92132475e+00] [ 1.45417394e-02 -3.92820332e-04 9.99894186e-01 5.12260971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.819254154 meters 0.01758114160268069 Centerline is valid? [True, True] Translation: X:766.91, Y:9.93, Z:5.12 [[ 9.99393294e-01 -3.20655495e-02 -1.35957347e-02 7.66905153e+02] [ 3.20664775e-02 9.99485727e-01 -1.49790978e-04 9.92887729e+00] [ 1.35935459e-02 -2.86267221e-04 9.99907563e-01 5.12258660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.879254154 meters 0.01610525170372038 Centerline is valid? [True, True] Translation: X:766.97, Y:9.93, Z:5.12 [[ 9.99452761e-01 -3.03901801e-02 -1.30619758e-02 7.66966871e+02] [ 3.03908997e-02 9.99538080e-01 -1.43439397e-04 9.93167231e+00] [ 1.30603014e-02 -2.53604296e-04 9.99914678e-01 5.12496018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.939254154 meters 0.015754596180122492 Centerline is valid? [True, True] Translation: X:767.03, Y:9.94, Z:5.13 [[ 9.99587777e-01 -2.57264535e-02 -1.27445998e-02 7.67028335e+02] [ 2.57267656e-02 9.99669002e-01 -1.39487161e-04 9.93746415e+00] [ 1.27439699e-02 -1.88447671e-04 9.99918775e-01 5.12517695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.999254154 meters 0.015780924565930523 Centerline is valid? [True, True] Translation: X:767.09, Y:9.94, Z:5.13 [[ 9.99624302e-01 -2.44126450e-02 -1.24610429e-02 7.67089943e+02] [ 2.44128470e-02 9.99701953e-01 -1.35923485e-04 9.93891933e+00] [ 1.24606472e-02 -1.68337117e-04 9.99922349e-01 5.12591592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.059254154 meters 0.01529748775876547 Centerline is valid? [True, True] Translation: X:767.15, Y:9.94, Z:5.13 [[ 9.99609323e-01 -2.53531656e-02 -1.17651456e-02 7.67149939e+02] [ 2.53534146e-02 9.99678542e-01 -1.28006207e-04 9.93807150e+00] [ 1.17646090e-02 -1.70330417e-04 9.99930780e-01 5.12768305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.119254154 meters 0.0166127178948446 Centerline is valid? [True, True] Translation: X:767.21, Y:9.94, Z:5.13 [[ 9.99549765e-01 -2.76082183e-02 -1.17496371e-02 7.67211631e+02] [ 2.76086271e-02 9.99618801e-01 -1.27437133e-04 9.93551465e+00] [ 1.17486764e-02 -1.97011592e-04 9.99930963e-01 5.12672223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.179254154 meters 0.01770840903143429 Centerline is valid? [True, True] Translation: X:767.27, Y:9.93, Z:5.13 [[ 9.99469607e-01 -3.02248213e-02 -1.21229044e-02 7.67271671e+02] [ 3.02254548e-02 9.99543098e-01 -1.31005635e-04 9.93061662e+00] [ 1.21213251e-02 -2.35484148e-04 9.99926506e-01 5.12705069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.239254154 meters 0.017585934542105906 Centerline is valid? [True, True] Translation: X:767.33, Y:9.93, Z:5.13 [[ 9.99348022e-01 -3.36564020e-02 -1.30681561e-02 7.67333534e+02] [ 3.36574374e-02 9.99433418e-01 -1.40747607e-04 9.92986890e+00] [ 1.30654890e-02 -2.99184805e-04 9.99914598e-01 5.12684542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.299254154 meters 0.018168309199873063 Centerline is valid? [True, True] Translation: X:767.40, Y:9.93, Z:5.13 [[ 9.99215214e-01 -3.71706498e-02 -1.36857277e-02 7.67395195e+02] [ 3.71721235e-02 9.99308867e-01 -1.46766817e-04 9.92844806e+00] [ 1.36817245e-02 -3.62075925e-04 9.99906335e-01 5.12724349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters 0.018888725774493215 Centerline is valid? [True, True] Translation: X:767.46, Y:9.93, Z:5.13 [[ 9.99080162e-01 -4.05791308e-02 -1.38623177e-02 7.67457302e+02] [ 4.05809812e-02 9.99176242e-01 -1.47890889e-04 9.92667116e+00] [ 1.38568998e-02 -4.14791601e-04 9.99903903e-01 5.12774795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.419254154 meters 0.02066079041340703 Centerline is valid? [True, True] Translation: X:767.52, Y:9.92, Z:5.13 [[ 9.98919659e-01 -4.44071390e-02 -1.36938215e-02 7.67517857e+02] [ 4.44093123e-02 9.99013409e-01 -1.45482417e-04 9.92364429e+00] [ 1.36867717e-02 -4.62807948e-04 9.99906225e-01 5.12791695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters 0.023916216137611475 Centerline is valid? [True, True] Translation: X:767.58, Y:9.92, Z:5.13 [[ 9.98816527e-01 -4.68636159e-02 -1.30133190e-02 7.67580223e+02] [ 4.68657941e-02 9.98901186e-01 -1.37687064e-04 9.92125789e+00] [ 1.30054723e-02 -4.72355414e-04 9.99915314e-01 5.12653546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.539254154 meters 0.025645369854214884 Centerline is valid? [True, True] Translation: X:767.64, Y:9.92, Z:5.13 [[ 9.98758844e-01 -4.82593577e-02 -1.23209396e-02 7.67641254e+02] [ 4.82614255e-02 9.98834730e-01 -1.29610961e-04 9.91746170e+00] [ 1.23128373e-02 -4.65176015e-04 9.99924086e-01 5.12934337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters 0.024886827434710858 Centerline is valid? [True, True] Translation: X:767.70, Y:9.92, Z:5.13 [[ 9.98788957e-01 -4.73364713e-02 -1.34118715e-02 7.67703384e+02] [ 4.73388500e-02 9.98878878e-01 -1.40226006e-04 9.92308533e+00] [ 1.34034729e-02 -4.94846386e-04 9.99910047e-01 5.12665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.659254154 meters 0.021608732149451446 Centerline is valid? [True, True] Translation: X:767.76, Y:9.93, Z:5.13 [[ 9.98904523e-01 -4.51685040e-02 -1.22294509e-02 7.67764866e+02] [ 4.51703272e-02 9.98979292e-01 -1.27230598e-04 9.92875644e+00] [ 1.22227150e-02 -4.25317078e-04 9.99925209e-01 5.13076092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters 0.018912069126944712 Centerline is valid? [True, True] Translation: X:767.83, Y:9.94, Z:5.13 [[ 9.99128056e-01 -3.98325893e-02 -1.25097127e-02 7.67825284e+02] [ 3.98340822e-02 9.99206300e-01 -1.29898872e-04 9.93894185e+00] [ 1.25049580e-02 -3.68527318e-04 9.99921742e-01 5.13211537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.779254154 meters 0.018604474888168222 Centerline is valid? [True, True] Translation: X:767.89, Y:9.95, Z:5.13 [[ 9.99352587e-01 -3.38306054e-02 -1.22432496e-02 7.67885656e+02] [ 3.38315865e-02 9.99427540e-01 -1.27031590e-04 9.94663130e+00] [ 1.22405384e-02 -2.87259211e-04 9.99925041e-01 5.13132385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters 0.017015453066719834 Centerline is valid? [True, True] Translation: X:767.95, Y:9.95, Z:5.13 [[ 9.99453666e-01 -3.09597756e-02 -1.15698449e-02 7.67946819e+02] [ 3.09604628e-02 9.99520603e-01 -1.19750709e-04 9.95276351e+00] [ 1.15680058e-02 -2.38522466e-04 9.99933060e-01 5.13351799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.899254154 meters 0.017019789454035535 Centerline is valid? [True, True] Translation: X:768.01, Y:9.96, Z:5.14 [[ 9.99508519e-01 -2.94749234e-02 -1.06746791e-02 7.68008034e+02] [ 2.94754285e-02 9.99565499e-01 -1.10041411e-04 9.95769821e+00] [ 1.06732844e-02 -2.04653413e-04 9.99943018e-01 5.13533288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.959254154 meters 0.01848230860560141 Centerline is valid? [True, True] Translation: X:768.07, Y:9.96, Z:5.14 [[ 9.99434963e-01 -3.23740121e-02 -9.03764331e-03 7.68070228e+02] [ 3.23744969e-02 9.99475804e-01 -9.26857110e-05 9.95882752e+00] [ 9.03590642e-03 -1.99955815e-04 9.99959155e-01 5.13642921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.019254154 meters 0.019596923616360347 Centerline is valid? [True, True] Translation: X:768.13, Y:9.95, Z:5.14 [[ 9.99172243e-01 -3.97796543e-02 -8.50928347e-03 7.68131752e+02] [ 3.97803568e-02 9.99208445e-01 -8.67398122e-05 9.95498060e+00] [ 8.50599838e-03 -2.51834320e-04 9.99963792e-01 5.13844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.079254154 meters 0.022400054971980683 Centerline is valid? [True, True] Translation: X:768.19, Y:9.95, Z:5.14 [[ 9.98794771e-01 -4.80184154e-02 -1.01605928e-02 7.68191936e+02] [ 4.80198459e-02 9.98846376e-01 -1.03269225e-04 9.95260665e+00] [ 1.01538301e-02 -3.84765339e-04 9.99948375e-01 5.13603704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.139254154 meters 0.02334044505655884 Centerline is valid? [True, True] Translation: X:768.25, Y:9.95, Z:5.14 [[ 9.98366119e-01 -5.62589219e-02 -1.00013439e-02 7.68252627e+02] [ 5.62607207e-02 9.98416106e-01 -1.01616211e-04 9.94768461e+00] [ 9.99121962e-03 -4.61232632e-04 9.99949980e-01 5.13817298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.199254154 meters 0.02589101446427781 Centerline is valid? [True, True] Translation: X:768.31, Y:9.94, Z:5.14 [[ 9.97981949e-01 -6.27450876e-02 -9.75110689e-03 7.68312706e+02] [ 6.27471061e-02 9.98029454e-01 -9.90994246e-05 9.94366226e+00] [ 9.73810988e-03 -5.12954302e-04 9.99952452e-01 5.13788249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.259254154 meters 0.027808404520696283 Centerline is valid? [True, True] Translation: X:768.37, Y:9.94, Z:5.14 [[ 9.97781624e-01 -6.57892250e-02 -1.01788488e-02 7.68373963e+02] [ 6.57915825e-02 9.97833381e-01 -1.03428048e-04 9.94239898e+00] [ 1.01635995e-02 -5.66483962e-04 9.99948189e-01 5.13816718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.319254154 meters 0.028103332420812907 Centerline is valid? [True, True] Translation: X:768.44, Y:9.94, Z:5.14 [[ 9.97876745e-01 -6.43090629e-02 -1.03124710e-02 7.68435880e+02] [ 6.43114093e-02 9.97929873e-01 -1.04269384e-04 9.94456652e+00] [ 1.02978284e-02 -5.59161551e-04 9.99946820e-01 5.13827459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.379254154 meters 0.02978536362178325 Centerline is valid? [True, True] Translation: X:768.50, Y:9.95, Z:5.14 [[ 9.98006886e-01 -6.22054452e-02 -1.06177989e-02 7.68496575e+02] [ 6.22078207e-02 9.98063212e-01 -1.06707454e-04 9.94508965e+00] [ 1.06038723e-02 -5.54015358e-04 9.99943624e-01 5.13828198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.439254154 meters 0.028208649729158715 Centerline is valid? [True, True] Translation: X:768.56, Y:9.95, Z:5.14 [[ 9.98313138e-01 -5.72234358e-02 -9.81613039e-03 7.68557377e+02] [ 5.72252283e-02 9.98361289e-01 -9.84049818e-05 9.95157811e+00] [ 9.80567566e-03 -4.63491316e-04 9.99951816e-01 5.13893779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.499254154 meters 0.02493101383528345 Centerline is valid? [True, True] Translation: X:768.62, Y:9.96, Z:5.14 [[ 9.98592712e-01 -5.21298052e-02 -9.75089104e-03 7.68618570e+02] [ 5.21313324e-02 9.98640233e-01 -9.76522066e-05 9.96052611e+00] [ 9.74272269e-03 -4.10812161e-04 9.99952454e-01 5.13996230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.559254154 meters 0.025416578927451475 Centerline is valid? [True, True] Translation: X:768.68, Y:9.96, Z:5.14 [[ 9.98829355e-01 -4.71460338e-02 -1.08245647e-02 7.68678785e+02] [ 4.71476251e-02 9.98887927e-01 -1.08272594e-04 9.96343781e+00] [ 1.08176316e-02 -4.02206673e-04 9.99941407e-01 5.13874012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.619254154 meters 0.019427366089485074 Centerline is valid? [True, True] Translation: X:768.74, Y:9.98, Z:5.14 [[ 9.99056060e-01 -4.16857303e-02 -1.22183675e-02 7.68739584e+02] [ 4.16873511e-02 9.99130697e-01 -1.22112364e-04 9.97759231e+00] [ 1.22128364e-02 -3.87354279e-04 9.99925346e-01 5.13898481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.679254154 meters 0.01841916761311442 Centerline is valid? [True, True] Translation: X:768.80, Y:9.98, Z:5.14 [[ 9.99249049e-01 -3.68884567e-02 -1.18566700e-02 7.68801322e+02] [ 3.68896503e-02 9.99319338e-01 -1.18093946e-04 9.98277900e+00] [ 1.18529559e-02 -3.19383147e-04 9.99929700e-01 5.13951440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.739254154 meters 0.0165212109952706 Centerline is valid? [True, True] Translation: X:768.86, Y:9.99, Z:5.14 [[ 9.99501703e-01 -2.93417025e-02 -1.16365770e-02 7.68861639e+02] [ 2.93423451e-02 9.99569414e-01 -1.15539221e-04 9.99086804e+00] [ 1.16349566e-02 -2.25962809e-04 9.99932286e-01 5.13999498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.799254154 meters 0.015352114853935747 Centerline is valid? [True, True] Translation: X:768.92, Y:10.00, Z:5.14 [[ 9.99640883e-01 -2.44748265e-02 -1.09127128e-02 7.68923537e+02] [ 2.44751042e-02 9.99700434e-01 -1.08119312e-04 9.99611015e+00] [ 1.09120899e-02 -1.59009297e-04 9.99940449e-01 5.14078242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters 0.015657721450202677 Centerline is valid? [True, True] Translation: X:768.99, Y:10.00, Z:5.14 [[ 9.99746740e-01 -1.97541324e-02 -1.07809685e-02 7.68985089e+02] [ 1.97541346e-02 9.99804862e-01 -1.06294589e-04 1.00002006e+01] [ 1.07809645e-02 -1.06701034e-04 9.99941878e-01 5.13995622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.919254154 meters 0.014433970990003025 Centerline is valid? [True, True] Translation: X:769.05, Y:10.00, Z:5.14 [[ 9.99836654e-01 -1.52867327e-02 -9.64262812e-03 7.69045306e+02] [ 1.52865294e-02 9.99883150e-01 -9.47926631e-05 1.00021564e+01] [ 9.64295045e-03 -5.26251388e-05 9.99953504e-01 5.14087798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters 0.014257907310530425 Centerline is valid? [True, True] Translation: X:769.11, Y:10.00, Z:5.14 [[ 9.99864525e-01 -1.31618249e-02 -9.88419783e-03 7.69105961e+02] [ 1.31615087e-02 9.99913379e-01 -9.70409844e-05 1.00026194e+01] [ 9.88461889e-03 -3.30631180e-05 9.99951145e-01 5.14122210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.039254154 meters 0.014341735907487477 Centerline is valid? [True, True] Translation: X:769.17, Y:10.00, Z:5.14 [[ 9.99836393e-01 -1.50419542e-02 -1.00461923e-02 7.69165772e+02] [ 1.50417218e-02 9.99886862e-01 -9.86913773e-05 9.99793560e+00] [ 1.00465402e-02 -5.24367993e-05 9.99949531e-01 5.13996272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters 0.015016623755811307 Centerline is valid? [True, True] Translation: X:769.23, Y:9.99, Z:5.14 [[ 9.99722642e-01 -2.06904760e-02 -1.12491574e-02 7.69226446e+02] [ 2.06905407e-02 9.99785922e-01 -1.10644123e-04 9.98945203e+00] [ 1.12490385e-02 -1.22137714e-04 9.99936720e-01 5.13882252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.159254154 meters 0.01645631371543831 Centerline is valid? [True, True] Translation: X:769.29, Y:9.98, Z:5.14 [[ 9.99553249e-01 -2.75003805e-02 -1.17060223e-02 7.69286921e+02] [ 2.75009183e-02 9.99621772e-01 -1.15049633e-04 9.97966236e+00] [ 1.17047586e-02 -2.06928128e-04 9.99931476e-01 5.13811337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters 0.01748074151819585 Centerline is valid? [True, True] Translation: X:769.35, Y:9.97, Z:5.14 [[ 9.99422872e-01 -3.19314581e-02 -1.15889964e-02 7.69348692e+02] [ 3.19322874e-02 9.99490028e-01 -1.13520905e-04 9.97387000e+00] [ 1.15867112e-02 -2.56607775e-04 9.99932839e-01 5.13790852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.279254154 meters 0.019440395552492544 Centerline is valid? [True, True] Translation: X:769.41, Y:9.97, Z:5.14 [[ 9.99219882e-01 -3.79150975e-02 -1.10486911e-02 7.69409765e+02] [ 3.79162213e-02 9.99280916e-01 -1.07808655e-04 9.96558641e+00] [ 1.10448338e-02 -3.11200067e-04 9.99938956e-01 5.13807497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters 0.020757461348532562 Centerline is valid? [True, True] Translation: X:769.47, Y:9.96, Z:5.14 [[ 9.99014516e-01 -4.30503311e-02 -1.08011639e-02 7.69471367e+02] [ 4.30517078e-02 9.99072840e-01 -1.05130028e-04 9.95975827e+00] [ 1.07956754e-02 -3.59982127e-04 9.99941660e-01 5.13888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.399254154 meters 0.02093134224271712 Centerline is valid? [True, True] Translation: X:769.53, Y:9.96, Z:5.14 [[ 9.98871116e-01 -4.62995341e-02 -1.06229196e-02 7.69533572e+02] [ 4.63010548e-02 9.98927526e-01 -1.02868374e-04 9.95754329e+00] [ 1.06162896e-02 -3.89100136e-04 9.99943570e-01 5.13962745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.459254154 meters 0.023238383771325588 Centerline is valid? [True, True] Translation: X:769.60, Y:9.95, Z:5.14 [[ 9.98589501e-01 -5.20350847e-02 -1.05526773e-02 7.69595003e+02] [ 5.20369116e-02 9.98645157e-01 -1.01555523e-04 9.95117172e+00] [ 1.05436645e-02 -4.47716458e-04 9.99944314e-01 5.13933107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.519254154 meters 0.026247144385244142 Centerline is valid? [True, True] Translation: X:769.66, Y:9.95, Z:5.14 [[ 9.98222844e-01 -5.86424422e-02 -1.05933116e-02 7.69655348e+02] [ 5.86446571e-02 9.98278916e-01 -1.01688980e-04 9.94554411e+00] [ 1.05810429e-02 -5.19732862e-04 9.99943884e-01 5.13876873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.579254154 meters 0.03239210261856387 Centerline is valid? [True, True] Translation: X:769.72, Y:9.94, Z:5.14 [[ 9.97820086e-01 -6.49148732e-02 -1.18800517e-02 7.69715232e+02] [ 6.49181015e-02 9.97890589e-01 -1.14093573e-04 9.93966274e+00] [ 1.18623981e-02 -6.57385542e-04 9.99929423e-01 5.13606765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.639254154 meters 0.03254124826044639 Centerline is valid? [True, True] Translation: X:769.78, Y:9.94, Z:5.14 [[ 9.97419735e-01 -7.09200539e-02 -1.11453271e-02 7.69775694e+02] [ 7.09232678e-02 9.97481769e-01 -1.07118804e-04 9.93883335e+00] [ 1.11248575e-02 -6.83620613e-04 9.99937883e-01 5.13859983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.699254154 meters 0.034438755509373455 Centerline is valid? [True, True] Translation: X:769.84, Y:9.94, Z:5.14 [[ 9.97302042e-01 -7.25201790e-02 -1.13780412e-02 7.69838063e+02] [ 7.25236362e-02 9.97366688e-01 -1.09001321e-04 9.93865290e+00] [ 1.13559841e-02 -7.16469682e-04 9.99935262e-01 5.13768354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.759254154 meters 0.03204164255424248 Centerline is valid? [True, True] Translation: X:769.90, Y:9.95, Z:5.14 [[ 9.97444215e-01 -7.07846187e-02 -9.72497476e-03 7.69899623e+02] [ 7.07870677e-02 9.97491445e-01 -9.25899126e-05 9.94725682e+00] [ 9.70713306e-03 -5.96049173e-04 9.99952707e-01 5.14011699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.819254154 meters 0.03148782966876406 Centerline is valid? [True, True] Translation: X:769.96, Y:9.95, Z:5.14 [[ 9.97761289e-01 -6.61314960e-02 -9.95166153e-03 7.69958684e+02] [ 6.61338329e-02 9.97810757e-01 -9.44240960e-05 9.95187899e+00] [ 9.93611933e-03 -5.63928813e-04 9.99950477e-01 5.13977475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.879254154 meters 0.024292534704181204 Centerline is valid? [True, True] Translation: X:770.02, Y:9.97, Z:5.14 [[ 9.98440725e-01 -5.49519706e-02 -9.81834926e-03 7.70018924e+02] [ 5.49537050e-02 9.98488899e-01 -9.32423152e-05 9.96951013e+00] [ 9.80863659e-03 -4.46457744e-04 9.99951795e-01 5.14077501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.939254154 meters 0.02129544743229935 Centerline is valid? [True, True] Translation: X:770.08, Y:9.98, Z:5.14 [[ 9.99161321e-01 -3.99211457e-02 -9.10804701e-03 7.70078772e+02] [ 3.99220146e-02 9.99202795e-01 -8.64552414e-05 9.98436661e+00] [ 9.10423742e-03 -2.77228853e-04 9.99958517e-01 5.14129393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.999254154 meters 0.016859485059107747 Centerline is valid? [True, True] Translation: X:770.14, Y:10.00, Z:5.14 [[ 9.99687671e-01 -2.33526013e-02 -8.90041564e-03 7.70138780e+02] [ 2.33527747e-02 9.99727283e-01 -8.44593743e-05 1.00008651e+01] [ 8.89996069e-03 -1.23416406e-04 9.99960387e-01 5.14181822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.059254154 meters 0.014032781487624239 Centerline is valid? [True, True] Translation: X:770.20, Y:10.01, Z:5.14 [[ 9.99930363e-01 -8.29530983e-03 -8.39384542e-03 7.70200320e+02] [ 8.29493461e-03 9.99965593e-01 -7.95157046e-05 1.00141578e+01] [ 8.39421622e-03 9.88376850e-06 9.99964768e-01 5.14365540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.119254154 meters 0.014283878346173545 Centerline is valid? [True, True] Translation: X:770.26, Y:10.02, Z:5.14 [[ 9.99957486e-01 -1.31656665e-03 -9.12645538e-03 7.70258940e+02] [ 1.31583447e-03 9.99999131e-01 -8.62306061e-05 1.00206509e+01] [ 9.12656098e-03 7.42180356e-05 9.99958349e-01 5.14307684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.179254154 meters 0.014655103458742642 Centerline is valid? [True, True] Translation: X:770.32, Y:10.02, Z:5.14 [[ 9.99939673e-01 1.79965617e-03 -1.08356573e-02 7.70317612e+02] [-1.80088896e-03 9.99998373e-01 -1.04015307e-04 1.00222636e+01] [ 1.08354525e-02 1.23522847e-04 9.99941287e-01 5.14150794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.239254154 meters 0.01602522744719864 Centerline is valid? [True, True] Translation: X:770.38, Y:10.02, Z:5.14 [[ 9.99933735e-01 -2.35901881e-03 -1.12676880e-02 7.70376794e+02] [ 2.35792603e-03 9.99997214e-01 -1.10266834e-04 1.00186339e+01] [ 1.12679168e-02 8.36911521e-05 9.99936512e-01 5.14009245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.299254154 meters 0.015049428889167075 Centerline is valid? [True, True] Translation: X:770.44, Y:10.01, Z:5.14 [[ 9.99913213e-01 -8.46772997e-03 -1.00927479e-02 7.70435179e+02] [ 8.46715751e-03 9.99964148e-01 -9.94485311e-05 1.00130004e+01] [ 1.00932282e-02 1.39830139e-05 9.99949062e-01 5.14165190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters 0.013672457563744791 Centerline is valid? [True, True] Translation: X:770.49, Y:10.01, Z:5.14 [[ 9.99888166e-01 -1.19792507e-02 -8.95281776e-03 7.70494445e+02] [ 1.19789357e-02 9.99928246e-01 -8.88072763e-05 1.00087675e+01] [ 8.95323920e-03 -1.84478834e-05 9.99959919e-01 5.14346853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.419254154 meters 0.017451131138073048 Centerline is valid? [True, True] Translation: X:770.55, Y:10.00, Z:5.14 [[ 9.99839508e-01 -1.56082343e-02 -8.79437945e-03 7.70554108e+02] [ 1.56080658e-02 9.99878183e-01 -8.77959133e-05 1.00008679e+01] [ 8.79467849e-03 -4.94814307e-05 9.99961325e-01 5.14074340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters 0.014193533563317012 Centerline is valid? [True, True] Translation: X:770.61, Y:9.99, Z:5.14 [[ 9.99780867e-01 -1.99058510e-02 -6.47880021e-03 7.70614946e+02] [ 1.99058486e-02 9.99801857e-01 -6.48583158e-05 9.99386910e+00] [ 6.47880754e-03 -6.41219130e-05 9.99979010e-01 5.14389250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.539254154 meters 0.016518724048530855 Centerline is valid? [True, True] Translation: X:770.68, Y:9.99, Z:5.14 [[ 9.99726787e-01 -2.21571416e-02 -7.44394876e-03 7.70677391e+02] [ 2.21572012e-02 9.99754496e-01 -7.44655413e-05 9.98680364e+00] [ 7.44377119e-03 -9.04918743e-05 9.99972291e-01 5.14098205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters 0.014834665423269978 Centerline is valid? [True, True] Translation: X:770.74, Y:9.98, Z:5.14 [[ 9.99715594e-01 -2.25176545e-02 -7.85407604e-03 7.70739741e+02] [ 2.25177369e-02 9.99746441e-01 -7.79546587e-05 9.98093380e+00] [ 7.85383992e-03 -9.89235299e-05 9.99969153e-01 5.14124024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.659254154 meters 0.014348950598782757 Centerline is valid? [True, True] Translation: X:770.80, Y:9.98, Z:5.14 [[ 9.99756736e-01 -2.02063536e-02 -8.84147079e-03 7.70802089e+02] [ 2.02063739e-02 9.99795827e-01 -8.70348151e-05 9.97858965e+00] [ 8.84142425e-03 -9.16404223e-05 9.99960910e-01 5.14072664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters 0.01689206792352539 Centerline is valid? [True, True] Translation: X:770.86, Y:9.98, Z:5.14 [[ 9.99775188e-01 -1.84989351e-02 -1.03616381e-02 7.70863052e+02] [ 1.84988789e-02 9.99828876e-01 -1.01272914e-04 9.97810321e+00] [ 1.03617384e-02 -9.04285418e-05 9.99946312e-01 5.13888237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.779254154 meters 0.01529870779726864 Centerline is valid? [True, True] Translation: X:770.92, Y:9.97, Z:5.14 [[ 9.99805651e-01 -1.63223548e-02 -1.10562646e-02 7.70923704e+02] [ 1.63221617e-02 9.99866779e-01 -1.07711409e-04 9.97437095e+00] [ 1.10565497e-02 -7.27716618e-05 9.99938872e-01 5.13869762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters 0.014067282892149285 Centerline is valid? [True, True] Translation: X:770.98, Y:9.97, Z:5.14 [[ 9.99797682e-01 -1.66775034e-02 -1.12452675e-02 7.70983810e+02] [ 1.66773256e-02 9.99860918e-01 -1.09592928e-04 9.97070180e+00] [ 1.12455312e-02 -7.79702320e-05 9.99936764e-01 5.13983450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.899254154 meters 0.014175972732070306 Centerline is valid? [True, True] Translation: X:771.04, Y:9.97, Z:5.14 [[ 9.99763626e-01 -1.86491209e-02 -1.11759991e-02 7.71043243e+02] [ 1.86490638e-02 9.99826085e-01 -1.09328028e-04 9.96562832e+00] [ 1.11760943e-02 -9.91197352e-05 9.99937541e-01 5.13980481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.959254154 meters 0.014272125476354888 Centerline is valid? [True, True] Translation: X:771.10, Y:9.96, Z:5.14 [[ 9.99713816e-01 -2.11775942e-02 -1.11263419e-02 7.71102699e+02] [ 2.11776896e-02 9.99775722e-01 -1.09249565e-04 9.96081637e+00] [ 1.11261601e-02 -1.26411916e-04 9.99938094e-01 5.14012193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.019254154 meters 0.01553830127993885 Centerline is valid? [True, True] Translation: X:771.16, Y:9.95, Z:5.14 [[ 9.99594755e-01 -2.65690500e-02 -1.02182132e-02 7.71162949e+02] [ 2.65694099e-02 9.99646966e-01 -1.00557333e-04 9.95310871e+00] [ 1.02172776e-02 -1.70975312e-04 9.99947788e-01 5.14098634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.079254154 meters 0.01807202426251837 Centerline is valid? [True, True] Translation: X:771.22, Y:9.95, Z:5.14 [[ 9.99473628e-01 -3.13678086e-02 -8.27817473e-03 7.71224158e+02] [ 3.13682097e-02 9.99507893e-01 -8.14091001e-05 9.94570051e+00] [ 8.27665461e-03 -1.78305272e-04 9.99965732e-01 5.14169426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.139254154 meters 0.01844539850055808 Centerline is valid? [True, True] Translation: X:771.28, Y:9.94, Z:5.14 [[ 9.99323006e-01 -3.60947100e-02 -7.12053983e-03 7.71284662e+02] [ 3.60951282e-02 9.99348356e-01 -6.98099496e-05 9.93993275e+00] [ 7.11841954e-03 -1.87254109e-04 9.99974646e-01 5.14390778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.199254154 meters 0.021440700972325533 Centerline is valid? [True, True] Translation: X:771.35, Y:9.93, Z:5.14 [[ 9.99197638e-01 -3.93147058e-02 -7.64425804e-03 7.71345888e+02] [ 3.93152833e-02 9.99226853e-01 -7.47678179e-05 9.93435386e+00] [ 7.64128737e-03 -2.25828344e-04 9.99970779e-01 5.14245642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.259254154 meters 0.02174989633267329 Centerline is valid? [True, True] Translation: X:771.41, Y:9.93, Z:5.14 [[ 9.99140345e-01 -4.09602202e-02 -6.38999417e-03 7.71407392e+02] [ 4.09606592e-02 9.99160758e-01 -6.22218176e-05 9.93229735e+00] [ 6.38718004e-03 -1.99570045e-04 9.99979582e-01 5.14437045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.319254154 meters 0.022605795189082286 Centerline is valid? [True, True] Translation: X:771.47, Y:9.93, Z:5.14 [[ 9.99102050e-01 -4.17242872e-02 -7.36047467e-03 7.71469341e+02] [ 4.17248936e-02 9.99129135e-01 -7.12288989e-05 9.93119222e+00] [ 7.35703666e-03 -2.35950083e-04 9.99972909e-01 5.14326055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.379254154 meters 0.024014753463020018 Centerline is valid? [True, True] Translation: X:771.53, Y:9.93, Z:5.14 [[ 9.99008279e-01 -4.36696727e-02 -8.68438854e-03 7.71530159e+02] [ 4.36705955e-02 9.99045981e-01 -8.34374325e-05 9.92940582e+00] [ 8.67974715e-03 -2.95897733e-04 9.99962287e-01 5.14210098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.439254154 meters 0.025051329909270958 Centerline is valid? [True, True] Translation: X:771.59, Y:9.93, Z:5.14 [[ 9.98964165e-01 -4.44397663e-02 -9.78286700e-03 7.71592135e+02] [ 4.44409786e-02 9.99012007e-01 -9.35359426e-05 9.92943470e+00] [ 9.77735831e-03 -3.41321128e-04 9.99952142e-01 5.14123254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.499254154 meters 0.02142298296094881 Centerline is valid? [True, True] Translation: X:771.65, Y:9.94, Z:5.14 [[ 9.98996773e-01 -4.36129203e-02 -1.01666353e-02 7.71654441e+02] [ 4.36141940e-02 9.99048444e-01 -9.65024059e-05 9.93779479e+00] [ 1.01611699e-02 -3.47004013e-04 9.99948314e-01 5.14210880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.559254154 meters 0.02153810821445602 Centerline is valid? [True, True] Translation: X:771.72, Y:9.94, Z:5.14 [[ 9.99047406e-01 -4.21113613e-02 -1.14417271e-02 7.71717100e+02] [ 4.21128882e-02 9.99112853e-01 -1.07552359e-04 9.94459097e+00] [ 1.14361058e-02 -3.74394271e-04 9.99934536e-01 5.14123216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.619254154 meters 0.019608704765561275 Centerline is valid? [True, True] Translation: X:771.78, Y:9.95, Z:5.14 [[ 9.99080190e-01 -4.17686252e-02 -9.70343684e-03 7.71779225e+02] [ 4.17697153e-02 9.99127261e-01 -9.03695995e-05 9.94716204e+00] [ 9.69874288e-03 -3.15023318e-04 9.99952916e-01 5.14341848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.679254154 meters 0.01761483347980939 Centerline is valid? [True, True] Translation: X:771.84, Y:9.96, Z:5.14 [[ 9.99313999e-01 -3.59745374e-02 -8.79570111e-03 7.71840229e+02] [ 3.59752131e-02 9.99352679e-01 -8.14331322e-05 9.95764172e+00] [ 8.79293698e-03 -2.35049953e-04 9.99961314e-01 5.14460233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.739254154 meters 0.015675094015665948 Centerline is valid? [True, True] Translation: X:771.90, Y:9.97, Z:5.15 [[ 9.99557484e-01 -2.87241331e-02 -7.73052079e-03 7.71901260e+02] [ 2.87244394e-02 9.99587366e-01 -7.14268030e-05 9.96819257e+00] [ 7.72938258e-03 -1.50659681e-04 9.99970117e-01 5.14665257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.799254154 meters 0.014938006053657842 Centerline is valid? [True, True] Translation: X:771.96, Y:9.97, Z:5.15 [[ 9.99701922e-01 -2.31436221e-02 -7.77434151e-03 7.71961975e+02] [ 2.31437654e-02 9.99732145e-01 -7.15490582e-05 9.97448730e+00] [ 7.77391501e-03 -1.08399805e-04 9.99969777e-01 5.14642892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters 0.014243911877960844 Centerline is valid? [True, True] Translation: X:772.02, Y:9.98, Z:5.15 [[ 9.99733822e-01 -2.11668047e-02 -9.17884143e-03 7.72024397e+02] [ 2.11669254e-02 9.99775952e-01 -8.40039304e-05 9.97965436e+00] [ 9.17856302e-03 -1.10306281e-04 9.99957870e-01 5.14534202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.919254154 meters 0.014729923176252354 Centerline is valid? [True, True] Translation: X:772.09, Y:9.98, Z:5.14 [[ 9.99672964e-01 -2.26092823e-02 -1.19492702e-02 7.72085497e+02] [ 2.26096011e-02 9.99744364e-01 -1.08424002e-04 9.98103207e+00] [ 1.19486669e-02 -1.61779688e-04 9.99928599e-01 5.14297208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters 0.016194570627625002 Centerline is valid? [True, True] Translation: X:772.15, Y:9.98, Z:5.14 [[ 9.99558333e-01 -2.71115144e-02 -1.21698116e-02 7.72146311e+02] [ 2.71121844e-02 9.99632391e-01 -1.09950070e-04 9.98046068e+00] [ 1.21683188e-02 -2.20048669e-04 9.99925939e-01 5.14218920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.039254154 meters 0.01681259103492452 Centerline is valid? [True, True] Translation: X:772.21, Y:9.98, Z:5.14 [[ 9.99424600e-01 -3.20992462e-02 -1.09593519e-02 7.72207418e+02] [ 3.21000922e-02 9.99484654e-01 -9.87461071e-05 9.97990111e+00] [ 1.09568737e-02 -2.53106918e-04 9.99939940e-01 5.14415448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters 0.017293568431809417 Centerline is valid? [True, True] Translation: X:772.27, Y:9.98, Z:5.15 [[ 9.99356834e-01 -3.44496988e-02 -9.95678069e-03 7.72269538e+02] [ 3.44505183e-02 9.99406401e-01 -8.92483191e-05 9.98096254e+00] [ 9.95394493e-03 -2.53825338e-04 9.99950426e-01 5.14517291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.159254154 meters 0.01830985583221697 Centerline is valid? [True, True] Translation: X:772.33, Y:9.98, Z:5.14 [[ 9.99346830e-01 -3.49541543e-02 -9.17170472e-03 7.72331535e+02] [ 3.49548767e-02 9.99388888e-01 -8.15695684e-05 9.98153348e+00] [ 9.16895098e-03 -2.39079518e-04 9.99957936e-01 5.14450539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters 0.017958453015916944 Centerline is valid? [True, True] Translation: X:772.39, Y:9.98, Z:5.15 [[ 9.99352903e-01 -3.50469487e-02 -8.09237328e-03 7.72392567e+02] [ 3.50475183e-02 9.99385644e-01 -7.14532549e-05 9.98215837e+00] [ 8.08990590e-03 -2.12210583e-04 9.99967254e-01 5.14605568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.279254154 meters 0.017156013755914475 Centerline is valid? [True, True] Translation: X:772.45, Y:9.98, Z:5.15 [[ 9.99438699e-01 -3.27449992e-02 -7.07473813e-03 7.72454547e+02] [ 3.27453794e-02 9.99463724e-01 -6.21182869e-05 9.98412968e+00] [ 7.07297819e-03 -1.69581565e-04 9.99974972e-01 5.14696844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters 0.016036511814687324 Centerline is valid? [True, True] Translation: X:772.52, Y:9.99, Z:5.15 [[ 9.99565081e-01 -2.85210477e-02 -7.49655706e-03 7.72516407e+02] [ 2.85213600e-02 9.99593181e-01 -6.52607475e-05 9.98582573e+00] [ 7.49536862e-03 -1.48579638e-04 9.99971898e-01 5.14662831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.399254154 meters 0.015034108898271538 Centerline is valid? [True, True] Translation: X:772.58, Y:9.99, Z:5.15 [[ 9.99677025e-01 -2.41901128e-02 -7.78994673e-03 7.72577739e+02] [ 2.41903219e-02 9.99707369e-01 -6.73931811e-05 9.98782028e+00] [ 7.78929740e-03 -1.21069904e-04 9.99969656e-01 5.14660224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.459254154 meters 0.014502118450329029 Centerline is valid? [True, True] Translation: X:772.64, Y:9.99, Z:5.15 [[ 9.99752746e-01 -2.10068452e-02 -7.29106169e-03 7.72638347e+02] [ 2.10069455e-02 9.99779328e-01 -6.28375627e-05 9.98773142e+00] [ 7.29077278e-03 -9.03409099e-05 9.99973418e-01 5.14722578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.519254154 meters 0.01452606982660452 Centerline is valid? [True, True] Translation: X:772.70, Y:9.99, Z:5.15 [[ 9.99761673e-01 -2.03157549e-02 -7.99172794e-03 7.72700225e+02] [ 2.03158549e-02 9.99793609e-01 -6.86762111e-05 9.98626918e+00] [ 7.99147373e-03 -9.36989412e-05 9.99968063e-01 5.14701991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.579254154 meters 0.014855257890246639 Centerline is valid? [True, True] Translation: X:772.76, Y:9.98, Z:5.15 [[ 9.99678264e-01 -2.34137510e-02 -9.75527198e-03 7.72761795e+02] [ 2.34140528e-02 9.99725850e-01 -8.32853081e-05 9.98153496e+00] [ 9.75454760e-03 -1.45151941e-04 9.99952413e-01 5.14677472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.639254154 meters 0.01711626515163073 Centerline is valid? [True, True] Translation: X:772.82, Y:9.98, Z:5.15 [[ 9.99562892e-01 -2.75429313e-02 -1.07429882e-02 7.72823396e+02] [ 2.75435401e-02 9.99620601e-01 -9.13073648e-05 9.97612629e+00] [ 1.07414272e-02 -2.04632473e-04 9.99942288e-01 5.14510981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.699254154 meters 0.019353538863619353 Centerline is valid? [True, True] Translation: X:772.88, Y:9.97, Z:5.15 [[ 9.99401089e-01 -3.29126148e-02 -1.06875034e-02 7.72883233e+02] [ 3.29135267e-02 9.99458199e-01 -9.05964840e-05 9.96909019e+00] [ 1.06846947e-02 -2.61221204e-04 9.99942883e-01 5.14541144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.759254154 meters 0.02130647493501291 Centerline is valid? [True, True] Translation: X:772.94, Y:9.96, Z:5.15 [[ 9.99142293e-01 -4.02484159e-02 -9.73357645e-03 7.72944181e+02] [ 4.02495205e-02 9.99189656e-01 -8.24579956e-05 9.96021599e+00] [ 9.72900771e-03 -3.09384514e-04 9.99952624e-01 5.14800348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.819254154 meters 0.020424946146144724 Centerline is valid? [True, True] Translation: X:773.01, Y:9.96, Z:5.15 [[ 9.98903309e-01 -4.60487192e-02 -8.46727492e-03 7.73005504e+02] [ 4.60497646e-02 9.98939144e-01 -7.15640893e-05 9.95906668e+00] [ 8.46158780e-03 -3.18430411e-04 9.99964149e-01 5.14960419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.879254154 meters 0.02425557386185507 Centerline is valid? [True, True] Translation: X:773.07, Y:9.95, Z:5.15 [[ 9.98737909e-01 -4.94665943e-02 -8.69744691e-03 7.73065264e+02] [ 4.94678289e-02 9.98775715e-01 -7.32517998e-05 9.95328104e+00] [ 8.69042227e-03 -3.57084466e-04 9.99962174e-01 5.14769574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.939254154 meters 0.023025701251499792 Centerline is valid? [True, True] Translation: X:773.13, Y:9.95, Z:5.15 [[ 9.98645493e-01 -5.13198916e-02 -8.57015307e-03 7.73127045e+02] [ 5.13211601e-02 9.98682198e-01 -7.19853690e-05 9.95200277e+00] [ 8.56255359e-03 -3.67942333e-04 9.99963273e-01 5.15034999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.999254154 meters 0.022037558404919475 Centerline is valid? [True, True] Translation: X:773.19, Y:9.96, Z:5.15 [[ 9.98753643e-01 -4.90652758e-02 -9.15200302e-03 7.73188769e+02] [ 4.90666360e-02 9.98795504e-01 -7.59857202e-05 9.95603128e+00] [ 9.14470773e-03 -3.73166986e-04 9.99958117e-01 5.15051602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.059254154 meters 0.02146589506466881 Centerline is valid? [True, True] Translation: X:773.25, Y:9.96, Z:5.15 [[ 9.98960260e-01 -4.43322664e-02 -1.06324808e-02 7.73248720e+02] [ 4.43338392e-02 9.99016768e-01 -8.78375339e-05 9.95829617e+00] [ 1.06259206e-02 -3.83632488e-04 9.99943470e-01 5.14990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.119254154 meters 0.019669014769006506 Centerline is valid? [True, True] Translation: X:773.31, Y:9.96, Z:5.15 [[ 9.99151166e-01 -3.93032736e-02 -1.23369459e-02 7.73309843e+02] [ 3.93050108e-02 9.99227254e-01 -1.01712417e-04 9.96376294e+00] [ 1.23314102e-02 -3.83277713e-04 9.99923892e-01 5.14929406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.179254154 meters 0.018541509921257786 Centerline is valid? [True, True] Translation: X:773.37, Y:9.97, Z:5.15 [[ 9.99270694e-01 -3.57473111e-02 -1.34242555e-02 7.73371371e+02] [ 3.57490543e-02 9.99360792e-01 -1.10162452e-04 9.96836513e+00] [ 1.34196126e-02 -3.69822329e-04 9.99909885e-01 5.14959798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.239254154 meters 0.017496779550018663 Centerline is valid? [True, True] Translation: X:773.43, Y:9.97, Z:5.15 [[ 9.99481824e-01 -2.88893037e-02 -1.41947909e-02 7.73430816e+02] [ 2.88905720e-02 9.99582574e-01 -1.15747102e-04 9.97489770e+00] [ 1.41922095e-02 -2.94408504e-04 9.99899242e-01 5.15033095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.299254154 meters 0.01671609241577531 Centerline is valid? [True, True] Translation: X:773.49, Y:9.98, Z:5.15 [[ 9.99562437e-01 -2.55781854e-02 -1.48556960e-02 7.73491342e+02] [ 2.55792156e-02 9.99672791e-01 -1.20687966e-04 9.97898160e+00] [ 1.48539220e-02 -2.59361892e-04 9.99889641e-01 5.15121098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters 0.015595418777781122 Centerline is valid? [True, True] Translation: X:773.55, Y:9.99, Z:5.15 [[ 9.99655936e-01 -2.14651073e-02 -1.50751342e-02 7.73550572e+02] [ 2.14656959e-02 9.99769578e-01 -1.22780651e-04 9.98552821e+00] [ 1.50742961e-02 -2.00859841e-04 9.99886356e-01 5.15319684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.419254154 meters 0.015431728902890934 Centerline is valid? [True, True] Translation: X:773.61, Y:9.99, Z:5.15 [[ 9.99721892e-01 -1.86277673e-02 -1.44618127e-02 7.73608937e+02] [ 1.86279795e-02 9.99826477e-01 -1.20042997e-04 9.98907403e+00] [ 1.44615394e-02 -1.49384740e-04 9.99895415e-01 5.15424020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters 0.015275783563816545 Centerline is valid? [True, True] Translation: X:773.67, Y:9.99, Z:5.16 [[ 9.99781617e-01 -1.57297449e-02 -1.37584020e-02 7.73667611e+02] [ 1.57296145e-02 9.99876275e-01 -1.17693996e-04 9.99128139e+00] [ 1.37585511e-02 -9.87460669e-05 9.99905342e-01 5.15551152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.539254154 meters 0.015067189025817008 Centerline is valid? [True, True] Translation: X:773.73, Y:9.99, Z:5.16 [[ 9.99812787e-01 -1.38307493e-02 -1.35315230e-02 7.73726568e+02] [ 1.38304021e-02 9.99904348e-01 -1.19237748e-04 9.99186176e+00] [ 1.35318778e-02 -6.79309783e-05 9.99908438e-01 5.15629096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters 0.014967264990407151 Centerline is valid? [True, True] Translation: X:773.78, Y:9.99, Z:5.16 [[ 9.99807359e-01 -1.41273796e-02 -1.36258045e-02 7.73784700e+02] [ 1.41270034e-02 9.99900201e-01 -1.23868326e-04 9.99058465e+00] [ 1.36261946e-02 -6.86473223e-05 9.99907157e-01 5.15624048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.659254154 meters 0.015834002118202208 Centerline is valid? [True, True] Translation: X:773.84, Y:9.98, Z:5.15 [[ 9.99743947e-01 -1.75051446e-02 -1.43391555e-02 7.73843716e+02] [ 1.75050176e-02 9.99846766e-01 -1.34378889e-04 9.98494140e+00] [ 1.43393106e-02 -1.16662688e-04 9.99897180e-01 5.15409053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters 0.016544832508383997 Centerline is valid? [True, True] Translation: X:773.90, Y:9.98, Z:5.15 [[ 9.99602818e-01 -2.39877573e-02 -1.47917006e-02 7.73902600e+02] [ 2.39882992e-02 9.99712229e-01 -1.40812952e-04 9.97738355e+00] [ 1.47908218e-02 -2.14070716e-04 9.99890587e-01 5.15332031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.779254154 meters 0.017347798950252572 Centerline is valid? [True, True] Translation: X:773.96, Y:9.97, Z:5.15 [[ 9.99403406e-01 -3.14181203e-02 -1.43434319e-02 7.73962506e+02] [ 3.14193856e-02 9.99506280e-01 -1.37174757e-04 9.97243079e+00] [ 1.43406600e-02 -3.13568899e-04 9.99897118e-01 5.15397414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters 0.019752613349329887 Centerline is valid? [True, True] Translation: X:774.02, Y:9.97, Z:5.15 [[ 9.99106411e-01 -4.00015434e-02 -1.36475901e-02 7.74023034e+02] [ 4.00034867e-02 9.99199532e-01 -1.30679608e-04 9.96514385e+00] [ 1.36418931e-02 -4.15388356e-04 9.99906859e-01 5.15433314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.899254154 meters 0.02318420927171655 Centerline is valid? [True, True] Translation: X:774.08, Y:9.96, Z:5.15 [[ 9.98746093e-01 -4.83510184e-02 -1.29776996e-02 7.74082471e+02] [ 4.83534790e-02 9.98830279e-01 -1.24289640e-04 9.95849329e+00] [ 1.29685288e-02 -5.03383132e-04 9.99915778e-01 5.15459002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.959254154 meters 0.02526142334157402 Centerline is valid? [True, True] Translation: X:774.14, Y:9.96, Z:5.16 [[ 9.98303427e-01 -5.67860732e-02 -1.28689484e-02 7.74143483e+02] [ 5.67891927e-02 9.98386184e-01 -1.23182553e-04 9.95549358e+00] [ 1.28551754e-02 -6.07843628e-04 9.99917184e-01 5.15500764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.019254154 meters 0.029916096115781825 Centerline is valid? [True, True] Translation: X:774.20, Y:9.95, Z:5.16 [[ 9.97971238e-01 -6.24653829e-02 -1.23078808e-02 7.74202890e+02] [ 6.24686680e-02 9.98046919e-01 -1.17722338e-04 9.94912125e+00] [ 1.22911961e-02 -6.51373414e-04 9.99924248e-01 5.15505985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.079254154 meters 0.033979317402857104 Centerline is valid? [True, True] Translation: X:774.26, Y:9.95, Z:5.16 [[ 9.97468542e-01 -6.99810632e-02 -1.26158273e-02 7.74263040e+02] [ 6.99851130e-02 9.97548029e-01 -1.20718005e-04 9.94557456e+00] [ 1.25933416e-02 -7.62507687e-04 9.99920410e-01 5.15528881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.139254154 meters 0.03558552869965803 Centerline is valid? [True, True] Translation: X:774.32, Y:9.95, Z:5.16 [[ 9.97232769e-01 -7.33703185e-02 -1.19833400e-02 7.74323633e+02] [ 7.33742179e-02 9.97304473e-01 -1.14517323e-04 9.94684393e+00] [ 1.19594408e-02 -7.65067774e-04 9.99928191e-01 5.15661018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.199254154 meters 0.03051774308923736 Centerline is valid? [True, True] Translation: X:774.39, Y:9.96, Z:5.16 [[ 9.97310601e-01 -7.22302480e-02 -1.24240575e-02 7.74386148e+02] [ 7.22343596e-02 9.97387680e-01 -1.18068267e-04 9.95900569e+00] [ 1.24001300e-02 -7.79693101e-04 9.99922811e-01 5.15761681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.259254154 meters 0.038055309606699665 Centerline is valid? [True, True] Translation: X:774.45, Y:9.95, Z:5.16 [[ 9.97483818e-01 -6.97088859e-02 -1.29113739e-02 7.74446805e+02] [ 6.97131274e-02 9.97567073e-01 -1.21813217e-04 9.95193570e+00] [ 1.28884530e-02 -7.78585544e-04 9.99916637e-01 5.15690770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.319254154 meters 0.03533255622744253 Centerline is valid? [True, True] Translation: X:774.51, Y:9.96, Z:5.16 [[ 9.97882512e-01 -6.35064439e-02 -1.40507651e-02 7.74507571e+02] [ 6.35108595e-02 9.97981139e-01 -1.32178092e-04 9.96241174e+00] [ 1.40307927e-02 -7.60477959e-04 9.99901274e-01 5.15679440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.379254154 meters 0.024077641341784382 Centerline is valid? [True, True] Translation: X:774.57, Y:9.99, Z:5.16 [[ 9.98384195e-01 -5.43997755e-02 -1.64214526e-02 7.74567953e+02] [ 5.44045796e-02 9.98518962e-01 -1.54375355e-04 9.98706977e+00] [ 1.64055298e-02 -7.39276308e-04 9.99865147e-01 5.15742119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.439254154 meters 0.01975716971553783 Centerline is valid? [True, True] Translation: X:774.63, Y:10.00, Z:5.16 [[ 9.98973208e-01 -4.25093595e-02 -1.56679569e-02 7.74628169e+02] [ 4.25122713e-02 9.99095934e-01 -1.47318274e-04 1.00017671e+01] [ 1.56600544e-02 -5.18913425e-04 9.99877239e-01 5.16076277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.499254154 meters 0.017949341404742962 Centerline is valid? [True, True] Translation: X:774.69, Y:10.01, Z:5.16 [[ 9.99332976e-01 -3.37522464e-02 -1.39423200e-02 7.74689010e+02] [ 3.37537008e-02 9.99430173e-01 -1.31052756e-04 1.00113010e+01] [ 1.39387986e-02 -3.39639559e-04 9.99902793e-01 5.16223663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.559254154 meters 0.01853273471929861 Centerline is valid? [True, True] Translation: X:774.75, Y:10.02, Z:5.16 [[ 9.99585151e-01 -2.48834612e-02 -1.45030727e-02 7.74750176e+02] [ 2.48841045e-02 9.99690333e-01 -1.36132384e-04 1.00208447e+01] [ 1.45019690e-02 -2.24820067e-04 9.99894816e-01 5.16080565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.619254154 meters 0.017054597322952496 Centerline is valid? [True, True] Translation: X:774.81, Y:10.03, Z:5.16 [[ 9.99778688e-01 -1.50233277e-02 -1.47266776e-02 7.74810439e+02] [ 1.50229231e-02 9.99887140e-01 -1.38106379e-04 1.00320173e+01] [ 1.47270904e-02 -8.31619306e-05 9.99891547e-01 5.16125919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.679254154 meters 0.015301274566903838 Centerline is valid? [True, True] Translation: X:774.87, Y:10.04, Z:5.16 [[ 9.99809157e-01 -1.24312148e-02 -1.50703087e-02 7.74868418e+02] [ 1.24304597e-02 9.99922729e-01 -1.43776059e-04 1.00372712e+01] [ 1.50709315e-02 -4.35822456e-05 9.99886426e-01 5.16146809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.739254154 meters 0.014836510790477129 Centerline is valid? [True, True] Translation: X:774.93, Y:10.04, Z:5.16 [[ 9.99787587e-01 -1.39764261e-02 -1.51472776e-02 7.74926110e+02] [ 1.39757730e-02 9.99902323e-01 -1.48977367e-04 1.00386480e+01] [ 1.51478802e-02 -6.27491904e-05 9.99885262e-01 5.16175923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.799254154 meters 0.014890818460134651 Centerline is valid? [True, True] Translation: X:774.98, Y:10.04, Z:5.16 [[ 9.99733101e-01 -1.77369213e-02 -1.48030056e-02 7.74984520e+02] [ 1.77366503e-02 9.99842682e-01 -1.49604963e-04 1.00380179e+01] [ 1.48033304e-02 -1.12990701e-04 9.99890418e-01 5.16201658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters 0.015068340171797449 Centerline is valid? [True, True] Translation: X:775.04, Y:10.04, Z:5.16 [[ 9.99675184e-01 -2.12395085e-02 -1.40857940e-02 7.75043076e+02] [ 2.12395605e-02 9.99774404e-01 -1.45920033e-04 1.00361176e+01] [ 1.40857156e-02 -1.53303438e-04 9.99900780e-01 5.16267055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.919254154 meters 0.017290758875327477 Centerline is valid? [True, True] Translation: X:775.10, Y:10.04, Z:5.16 [[ 9.99654897e-01 -2.21624798e-02 -1.41036291e-02 7.75102453e+02] [ 2.21625992e-02 9.99754369e-01 -1.47850627e-04 1.00353898e+01] [ 1.41034415e-02 -1.64773475e-04 9.99900528e-01 5.16084593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters 0.015362456441386492 Centerline is valid? [True, True] Translation: X:775.16, Y:10.03, Z:5.16 [[ 9.99650027e-01 -2.35034244e-02 -1.21413977e-02 7.75161525e+02] [ 2.35036107e-02 9.99723744e-01 -1.27371503e-04 1.00339021e+01] [ 1.21410372e-02 -1.58039758e-04 9.99926282e-01 5.16297665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.039254154 meters 0.015342902564294245 Centerline is valid? [True, True] Translation: X:775.22, Y:10.03, Z:5.16 [[ 9.99643768e-01 -2.37897509e-02 -1.20989218e-02 7.75223333e+02] [ 2.37899576e-02 9.99716971e-01 -1.26854513e-04 1.00325363e+01] [ 1.20985153e-02 -1.61023513e-04 9.99926797e-01 5.16332174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters 0.01534480407573557 Centerline is valid? [True, True] Translation: X:775.28, Y:10.03, Z:5.16 [[ 9.99716278e-01 -2.07788493e-02 -1.16448550e-02 7.75284482e+02] [ 2.07788413e-02 9.99784089e-01 -1.21687725e-04 1.00321939e+01] [ 1.16448693e-02 -1.20313396e-04 9.99932189e-01 5.16347623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.159254154 meters 0.014660980645274648 Centerline is valid? [True, True] Translation: X:775.35, Y:10.03, Z:5.16 [[ 9.99771006e-01 -1.78701623e-02 -1.17725478e-02 7.75345046e+02] [ 1.78699553e-02 9.99840312e-01 -1.22779889e-04 1.00327469e+01] [ 1.17728620e-02 -8.76231311e-05 9.99930694e-01 5.16372275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters 0.01422665840475558 Centerline is valid? [True, True] Translation: X:775.41, Y:10.03, Z:5.16 [[ 9.99839413e-01 -1.29872178e-02 -1.23482862e-02 7.75405345e+02] [ 1.29866177e-02 9.99915662e-01 -1.28784459e-04 1.00338428e+01] [ 1.23489173e-02 -3.15986934e-05 9.99923749e-01 5.16367926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.279254154 meters 0.014301735578024652 Centerline is valid? [True, True] Translation: X:775.46, Y:10.03, Z:5.16 [[ 9.99862835e-01 -9.98151029e-03 -1.32167085e-02 7.75463522e+02] [ 9.98054830e-03 9.99950183e-01 -1.38743727e-04 1.00339172e+01] [ 1.32174350e-02 6.81469881e-06 9.99912646e-01 5.16218495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters 0.014994542009483202 Centerline is valid? [True, True] Translation: X:775.52, Y:10.03, Z:5.16 [[ 9.99852710e-01 -1.01220305e-02 -1.38600903e-02 7.75521194e+02] [ 1.01209435e-02 9.99948771e-01 -1.48573454e-04 1.00314136e+01] [ 1.38608841e-02 8.27438027e-06 9.99903933e-01 5.16145316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.399254154 meters 0.014394393642255851 Centerline is valid? [True, True] Translation: X:775.58, Y:10.03, Z:5.16 [[ 9.99821358e-01 -1.33373188e-02 -1.33928158e-02 7.75579073e+02] [ 1.33365569e-02 9.99911054e-01 -1.46209244e-04 1.00280470e+01] [ 1.33935746e-02 -3.24309241e-05 9.99910302e-01 5.16304405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.459254154 meters 0.014393674027369296 Centerline is valid? [True, True] Translation: X:775.64, Y:10.02, Z:5.16 [[ 9.99763637e-01 -1.71013208e-02 -1.34244206e-02 7.75637826e+02] [ 1.71008779e-02 9.99853758e-01 -1.47788066e-04 1.00240060e+01] [ 1.34249848e-02 -8.18162431e-05 9.99909877e-01 5.16342640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.519254154 meters 0.016828786052541216 Centerline is valid? [True, True] Translation: X:775.70, Y:10.02, Z:5.16 [[ 9.99609817e-01 -2.45092076e-02 -1.33981951e-02 7.75695968e+02] [ 2.45094187e-02 9.99699588e-01 -1.48466336e-04 1.00156867e+01] [ 1.33978089e-02 -1.79973566e-04 9.99910229e-01 5.16203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.579254154 meters 0.017136031788784346 Centerline is valid? [True, True] Translation: X:775.76, Y:10.01, Z:5.16 [[ 9.99391956e-01 -3.25804722e-02 -1.24190201e-02 7.75756632e+02] [ 3.25812709e-02 9.99469080e-01 -1.38061991e-04 1.00081270e+01] [ 1.24169247e-02 -2.66649415e-04 9.99922871e-01 5.16487522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.639254154 meters 0.019175660398064565 Centerline is valid? [True, True] Translation: X:775.82, Y:10.00, Z:5.17 [[ 9.99178745e-01 -3.88335986e-02 -1.15666141e-02 7.75817341e+02] [ 3.88347110e-02 9.99245640e-01 -1.28497420e-04 1.00024888e+01] [ 1.15628788e-02 -3.20794226e-04 9.99933096e-01 5.16525473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.699254154 meters 0.01982489279043036 Centerline is valid? [True, True] Translation: X:775.88, Y:10.00, Z:5.17 [[ 9.98950952e-01 -4.45552283e-02 -1.05748509e-02 7.75878787e+02] [ 4.45564809e-02 9.99006860e-01 -1.17225623e-04 9.99746887e+00] [ 1.05695716e-02 -3.54075496e-04 9.99944078e-01 5.16719950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.759254154 meters 0.021698901519123955 Centerline is valid? [True, True] Translation: X:775.94, Y:9.99, Z:5.17 [[ 9.98804840e-01 -4.78907140e-02 -9.76585566e-03 7.75939575e+02] [ 4.78919449e-02 9.98852517e-01 -1.07919412e-04 9.99292079e+00] [ 9.75981784e-03 -3.59915390e-04 9.99952307e-01 5.16746955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.819254154 meters 0.02325171292987133 Centerline is valid? [True, True] Translation: X:776.00, Y:9.99, Z:5.17 [[ 9.98765485e-01 -4.84946214e-02 -1.07599801e-02 7.76001907e+02] [ 4.84961566e-02 9.98823362e-01 -1.18343123e-04 9.99263346e+00] [ 1.07530585e-02 -4.03620655e-04 9.99942103e-01 5.16591403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.879254154 meters 0.023013179368074465 Centerline is valid? [True, True] Translation: X:776.06, Y:9.99, Z:5.17 [[ 9.98770946e-01 -4.84725006e-02 -1.03447752e-02 7.76064556e+02] [ 4.84739261e-02 9.98824442e-01 -1.13039898e-04 9.99257874e+00] [ 1.03380937e-02 -3.88550903e-04 9.99946485e-01 5.16629721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.939254154 meters 0.022821681806063 Centerline is valid? [True, True] Translation: X:776.13, Y:9.99, Z:5.17 [[ 9.98825890e-01 -4.71783548e-02 -1.10020152e-02 7.76125594e+02] [ 4.71799005e-02 9.98886401e-01 -1.19148104e-04 9.99176629e+00] [ 1.09953845e-02 -4.00065770e-04 9.99939469e-01 5.16728640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.999254154 meters 0.02184803790721086 Centerline is valid? [True, True] Translation: X:776.19, Y:9.99, Z:5.17 [[ 9.98946757e-01 -4.42283147e-02 -1.22161033e-02 7.76187435e+02] [ 4.42300154e-02 9.99021365e-01 -1.31047229e-04 9.99474792e+00] [ 1.22099442e-02 -4.09409233e-04 9.99925372e-01 5.16700279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.059254154 meters 0.020417357309512725 Centerline is valid? [True, True] Translation: X:776.25, Y:10.00, Z:5.17 [[ 9.99072407e-01 -4.16651167e-02 -1.08785809e-02 7.76249222e+02] [ 4.16663193e-02 9.99131575e-01 -1.16169733e-04 9.99918770e+00] [ 1.08739739e-02 -3.37208449e-04 9.99940820e-01 5.16944297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.119254154 meters 0.01826635523905671 Centerline is valid? [True, True] Translation: X:776.31, Y:10.01, Z:5.17 [[ 9.99227559e-01 -3.82132828e-02 -9.16683054e-03 7.76310494e+02] [ 3.82139950e-02 9.99269574e-01 -9.75071274e-05 1.00058287e+01] [ 9.16386092e-03 -2.52869408e-04 9.99957979e-01 5.17192266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.179254154 meters 0.017408621284177958 Centerline is valid? [True, True] Translation: X:776.37, Y:10.01, Z:5.17 [[ 9.99336219e-01 -3.54109255e-02 -8.55494317e-03 7.76372725e+02] [ 3.54114464e-02 9.99372814e-01 -9.06263790e-05 1.00092574e+01] [ 8.55278680e-03 -2.12376689e-04 9.99963402e-01 5.17322119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.239254154 meters 0.017994659933439506 Centerline is valid? [True, True] Translation: X:776.43, Y:10.01, Z:5.17 [[ 9.99290855e-01 -3.63861955e-02 -9.68666138e-03 7.76434482e+02] [ 3.63869162e-02 9.99337772e-01 -1.01884458e-04 1.00089048e+01] [ 9.68395379e-03 -2.50655529e-04 9.99953078e-01 5.17259615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.299254154 meters 0.020121686553791568 Centerline is valid? [True, True] Translation: X:776.50, Y:10.01, Z:5.17 [[ 9.99123009e-01 -4.00370395e-02 -1.22575684e-02 7.76496986e+02] [ 4.00384788e-02 9.99198130e-01 -1.28048082e-04 1.00078537e+01] [ 1.22528661e-02 -3.62838609e-04 9.99924865e-01 5.17073702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters 0.01981716158914294 Centerline is valid? [True, True] Translation: X:776.56, Y:10.01, Z:5.17 [[ 9.98915968e-01 -4.47533486e-02 -1.28072993e-02 7.76558450e+02] [ 4.47553166e-02 9.98997970e-01 -1.33047022e-04 1.00075329e+01] [ 1.28004203e-02 -4.40291940e-04 9.99917974e-01 5.17243810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.419254154 meters 0.020315266020160802 Centerline is valid? [True, True] Translation: X:776.62, Y:10.01, Z:5.17 [[ 9.98870105e-01 -4.56901788e-02 -1.30736424e-02 7.76620706e+02] [ 4.56923191e-02 9.98955551e-01 -1.35087759e-04 1.00074328e+01] [ 1.30661598e-02 -4.62429915e-04 9.99914527e-01 5.17264884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters 0.02122259497558253 Centerline is valid? [True, True] Translation: X:776.68, Y:10.01, Z:5.17 [[ 9.98726623e-01 -4.82951621e-02 -1.45846005e-02 7.76682933e+02] [ 4.82981199e-02 9.98832954e-01 -1.49561661e-04 1.00082881e+01] [ 1.45748027e-02 -5.55037568e-04 9.99893628e-01 5.17205473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.539254154 meters 0.02212945751138272 Centerline is valid? [True, True] Translation: X:776.74, Y:10.01, Z:5.17 [[ 9.98581289e-01 -5.11392169e-02 -1.48388167e-02 7.76744233e+02] [ 5.11426041e-02 9.98691349e-01 -1.51360834e-04 1.00090454e+01] [ 1.48271383e-02 -6.07749630e-04 9.99889887e-01 5.17217702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters 0.025233215331001035 Centerline is valid? [True, True] Translation: X:776.80, Y:10.01, Z:5.17 [[ 9.98415719e-01 -5.45315547e-02 -1.38694730e-02 7.76804031e+02] [ 5.45348436e-02 9.98511858e-01 -1.41240717e-04 1.00063109e+01] [ 1.38565353e-02 -6.15352587e-04 9.99903804e-01 5.17288565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.659254154 meters 0.02815415273122452 Centerline is valid? [True, True] Translation: X:776.86, Y:10.01, Z:5.17 [[ 9.98243073e-01 -5.78433181e-02 -1.28420274e-02 7.76863726e+02] [ 5.78464177e-02 9.98325486e-01 -1.30264203e-04 1.00051178e+01] [ 1.28280581e-02 -6.12829941e-04 9.99917529e-01 5.17411341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters 0.030053615904672086 Centerline is valid? [True, True] Translation: X:776.93, Y:10.01, Z:5.17 [[ 9.98166318e-01 -5.89634703e-02 -1.36861232e-02 7.76926288e+02] [ 5.89671107e-02 9.98259917e-01 -1.37740560e-04 1.00055206e+01] [ 1.36704298e-02 -6.69543153e-04 9.99906331e-01 5.17250252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.779254154 meters 0.027118851792894846 Centerline is valid? [True, True] Translation: X:776.99, Y:10.01, Z:5.17 [[ 9.98154559e-01 -5.89494347e-02 -1.45753580e-02 7.76988692e+02] [ 5.89535778e-02 9.98260715e-01 -1.45619156e-04 1.00144349e+01] [ 1.45585915e-02 -7.13919077e-04 9.99893763e-01 5.17307766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters 0.026337755510331327 Centerline is valid? [True, True] Translation: X:777.05, Y:10.02, Z:5.17 [[ 9.98270833e-01 -5.68815256e-02 -1.48268526e-02 7.77048662e+02] [ 5.68855948e-02 9.98380693e-01 -1.47490521e-04 1.00179125e+01] [ 1.48112329e-02 -6.96198845e-04 9.99890065e-01 5.17391657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.899254154 meters 0.02330266977736796 Centerline is valid? [True, True] Translation: X:777.11, Y:10.03, Z:5.17 [[ 9.98535429e-01 -5.15668203e-02 -1.63664213e-02 7.77109547e+02] [ 5.15710711e-02 9.98669314e-01 -1.62494756e-04 1.00299429e+01] [ 1.63530221e-02 -6.81777106e-04 9.99866048e-01 5.17287693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.959254154 meters 0.021171823172425382 Centerline is valid? [True, True] Translation: X:777.17, Y:10.04, Z:5.17 [[ 9.98881643e-01 -4.45154289e-02 -1.59323732e-02 7.77168877e+02] [ 4.45185611e-02 9.99008545e-01 -1.58195184e-04 1.00370309e+01] [ 1.59236191e-02 -5.51268064e-04 9.99873059e-01 5.17327501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.019254154 meters 0.018688481976890308 Centerline is valid? [True, True] Translation: X:777.23, Y:10.05, Z:5.17 [[ 9.99243831e-01 -3.51964237e-02 -1.65220678e-02 7.77229395e+02] [ 3.51985178e-02 9.99380327e-01 -1.64125412e-04 1.00493709e+01] [ 1.65176062e-02 -4.17550992e-04 9.99863488e-01 5.17328398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.079254154 meters 0.015871639337283725 Centerline is valid? [True, True] Translation: X:777.29, Y:10.06, Z:5.17 [[ 9.99546667e-01 -2.53979110e-02 -1.61680959e-02 7.77289862e+02] [ 2.53986377e-02 9.99677390e-01 -1.60421113e-04 1.00628066e+01] [ 1.61669543e-02 -2.50299222e-04 9.99869275e-01 5.17464789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.139254154 meters 0.015165814065558949 Centerline is valid? [True, True] Translation: X:777.35, Y:10.07, Z:5.17 [[ 9.99725196e-01 -1.79851738e-02 -1.50354818e-02 7.77349493e+02] [ 1.79849634e-02 9.99838246e-01 -1.49218824e-04 1.00703789e+01] [ 1.50357334e-02 -1.21234771e-04 9.99886950e-01 5.17476305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.199254154 meters 0.016389975142731546 Centerline is valid? [True, True] Translation: X:777.41, Y:10.08, Z:5.18 [[ 9.99783515e-01 -1.47666699e-02 -1.46583912e-02 7.77407962e+02] [ 1.47660932e-02 9.99890964e-01 -1.47579368e-04 1.00761913e+01] [ 1.46589722e-02 -6.88997511e-05 9.99892549e-01 5.17527345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.259254154 meters 0.013694550864640706 Centerline is valid? [True, True] Translation: X:777.47, Y:10.08, Z:5.18 [[ 9.99839568e-01 -1.22804280e-02 -1.30395058e-02 7.77466461e+02] [ 1.22797198e-02 9.99924592e-01 -1.34376558e-04 1.00808895e+01] [ 1.30401727e-02 -2.57664772e-05 9.99914973e-01 5.17729424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.319254154 meters 0.013625467973951588 Centerline is valid? [True, True] Translation: X:777.53, Y:10.08, Z:5.18 [[ 9.99850090e-01 -1.24366263e-02 -1.20468935e-02 7.77525425e+02] [ 1.24359979e-02 9.99922662e-01 -1.27078362e-04 1.00812054e+01] [ 1.20475423e-02 -2.27558310e-05 9.99927425e-01 5.17783291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.379254154 meters 0.013698525648464728 Centerline is valid? [True, True] Translation: X:777.58, Y:10.08, Z:5.18 [[ 9.99839413e-01 -1.43592008e-02 -1.07219997e-02 7.77584621e+02] [ 1.43587862e-02 9.99896901e-01 -1.15653859e-04 1.00796701e+01] [ 1.07225550e-02 -3.83196141e-05 9.99942511e-01 5.17843344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.439254154 meters 0.015852140678196878 Centerline is valid? [True, True] Translation: X:777.64, Y:10.07, Z:5.18 [[ 9.99786744e-01 -1.76026345e-02 -1.07987572e-02 7.77644798e+02] [ 1.76023827e-02 9.99845059e-01 -1.18364778e-04 1.00748793e+01] [ 1.07991676e-02 -7.17443217e-05 9.99941685e-01 5.17646474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.499254154 meters 0.014670486889364025 Centerline is valid? [True, True] Translation: X:777.70, Y:10.07, Z:5.18 [[ 9.99638377e-01 -2.46588356e-02 -1.07264285e-02 7.77704900e+02] [ 2.46589900e-02 9.99695914e-01 -1.17885492e-04 1.00670197e+01] [ 1.07260737e-02 -1.46660032e-04 9.99942463e-01 5.17683512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.559254154 meters 0.016850092545493026 Centerline is valid? [True, True] Translation: X:777.76, Y:10.06, Z:5.17 [[ 9.99434815e-01 -3.12582623e-02 -1.23681364e-02 7.77764870e+02] [ 3.12589709e-02 9.99511310e-01 -1.36069313e-04 1.00573623e+01] [ 1.23663455e-02 -2.50622808e-04 9.99923502e-01 5.17434735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.619254154 meters 0.01738552774215638 Centerline is valid? [True, True] Translation: X:777.83, Y:10.05, Z:5.17 [[ 9.99280726e-01 -3.54362636e-02 -1.35019119e-02 7.77826692e+02] [ 3.54374942e-02 9.99371884e-01 -1.48174806e-04 1.00538282e+01] [ 1.34986819e-02 -3.30405698e-04 9.99908834e-01 5.17380524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.679254154 meters 0.0186985770243191 Centerline is valid? [True, True] Translation: X:777.89, Y:10.05, Z:5.17 [[ 9.99275023e-01 -3.57513237e-02 -1.30870417e-02 7.77888577e+02] [ 3.57525174e-02 9.99360664e-01 -1.42807914e-04 1.00516463e+01] [ 1.30837803e-02 -3.25190306e-04 9.99914351e-01 5.17254756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.739254154 meters 0.017833297224689598 Centerline is valid? [True, True] Translation: X:777.95, Y:10.05, Z:5.17 [[ 9.99379106e-01 -3.30550493e-02 -1.21969843e-02 7.77948816e+02] [ 3.30558921e-02 9.99453496e-01 -1.32545324e-04 1.00501194e+01] [ 1.21946998e-02 -2.70719169e-04 9.99925605e-01 5.17450948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.799254154 meters 0.014976881822235524 Centerline is valid? [True, True] Translation: X:778.01, Y:10.06, Z:5.18 [[ 9.99629793e-01 -2.49396632e-02 -1.08761418e-02 7.78010600e+02] [ 2.49398567e-02 9.99688946e-01 -1.17853612e-04 1.00578857e+01] [ 1.08756980e-02 -1.53439437e-04 9.99940846e-01 5.17702881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters 0.014443856213477423 Centerline is valid? [True, True] Translation: X:778.07, Y:10.06, Z:5.18 [[ 9.99822310e-01 -1.62706393e-02 -9.51912937e-03 7.78070999e+02] [ 1.62703982e-02 9.99867623e-01 -1.02771118e-04 1.00622316e+01] [ 9.51954141e-03 -5.21271691e-05 9.99954687e-01 5.17806481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.919254154 meters 0.014199444425087377 Centerline is valid? [True, True] Translation: X:778.13, Y:10.06, Z:5.18 [[ 9.99877906e-01 -1.23977704e-02 -9.51148727e-03 7.78131789e+02] [ 1.23973556e-02 9.99923145e-01 -1.02566901e-04 1.00642641e+01] [ 9.51202786e-03 -1.53629120e-05 9.99954760e-01 5.17834672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters 0.01442193216481623 Centerline is valid? [True, True] Translation: X:778.19, Y:10.06, Z:5.18 [[ 9.99862802e-01 -1.21581606e-02 -1.12497544e-02 7.78191652e+02] [ 1.21575633e-02 9.99926087e-01 -1.21476424e-04 1.00631980e+01] [ 1.12503998e-02 -1.53098444e-05 9.99936712e-01 5.17670727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.039254154 meters 0.016740279541823756 Centerline is valid? [True, True] Translation: X:778.25, Y:10.06, Z:5.17 [[ 9.99729609e-01 -1.91724012e-02 -1.31578298e-02 7.78249966e+02] [ 1.91721802e-02 9.99816187e-01 -1.42941840e-04 1.00555565e+01] [ 1.31581518e-02 -1.09361095e-04 9.99913422e-01 5.17302138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters 0.016810740794417404 Centerline is valid? [True, True] Translation: X:778.31, Y:10.05, Z:5.17 [[ 9.99386150e-01 -3.20303358e-02 -1.41908414e-02 7.78310564e+02] [ 3.20313651e-02 9.99486852e-01 -1.54811281e-04 1.00455424e+01] [ 1.41885181e-02 -2.99835772e-04 9.99899293e-01 5.17484248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.159254154 meters 0.020995650014028394 Centerline is valid? [True, True] Translation: X:778.37, Y:10.03, Z:5.18 [[ 9.98843848e-01 -4.58573646e-02 -1.44245833e-02 7.78371886e+02] [ 4.58598711e-02 9.98947870e-01 -1.57135928e-04 1.00345488e+01] [ 1.44166126e-02 -5.04555274e-04 9.99895948e-01 5.17530336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters 0.025511840340759467 Centerline is valid? [True, True] Translation: X:778.43, Y:10.03, Z:5.18 [[ 9.98428515e-01 -5.43084267e-02 -1.38237359e-02 7.78431738e+02] [ 5.43115402e-02 9.98524028e-01 -1.50358189e-04 1.00267243e+01] [ 1.38114982e-02 -6.00666484e-04 9.99904436e-01 5.17576517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.279254154 meters 0.029157444386969756 Centerline is valid? [True, True] Translation: X:778.49, Y:10.02, Z:5.18 [[ 9.97850833e-01 -6.42825457e-02 -1.27070960e-02 7.78492488e+02] [ 6.42859837e-02 9.97931507e-01 -1.38139074e-04 1.00231220e+01] [ 1.26896914e-02 -6.79045975e-04 9.99919252e-01 5.17624874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters 0.030524740319023524 Centerline is valid? [True, True] Translation: X:778.55, Y:10.02, Z:5.18 [[ 9.97543847e-01 -6.90732480e-02 -1.16258352e-02 7.78553150e+02] [ 6.90764506e-02 9.97611361e-01 -1.26329455e-04 1.00206105e+01] [ 1.16067913e-02 -6.77052261e-04 9.99932410e-01 5.17910291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.399254154 meters 0.0316514092332962 Centerline is valid? [True, True] Translation: X:778.61, Y:10.02, Z:5.18 [[ 9.97435013e-01 -7.07364068e-02 -1.09433336e-02 7.78614820e+02] [ 7.07393499e-02 9.97494827e-01 -1.18390573e-04 1.00208066e+01] [ 1.09242932e-02 -6.56037403e-04 9.99940113e-01 5.18031555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.459254154 meters 0.03195433523659688 Centerline is valid? [True, True] Translation: X:778.68, Y:10.02, Z:5.18 [[ 9.97519501e-01 -6.95744799e-02 -1.06882021e-02 7.78676772e+02] [ 6.95772321e-02 9.97576561e-01 -1.14572920e-04 1.00237608e+01] [ 1.06702713e-02 -6.29366798e-04 9.99942873e-01 5.18038166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.519254154 meters 0.03021767560991253 Centerline is valid? [True, True] Translation: X:778.74, Y:10.03, Z:5.18 [[ 9.97784904e-01 -6.54117945e-02 -1.21070944e-02 7.78737464e+02] [ 6.54150283e-02 9.97858135e-01 -1.29138981e-04 1.00302629e+01] [ 1.20896098e-02 -6.63132994e-04 9.99926698e-01 5.18067633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.579254154 meters 0.028201002671413285 Centerline is valid? [True, True] Translation: X:778.80, Y:10.04, Z:5.18 [[ 9.98238944e-01 -5.74966711e-02 -1.45994156e-02 7.78797911e+02] [ 5.75005321e-02 9.98345464e-01 -1.55509573e-04 1.00411186e+01] [ 1.45842016e-02 -6.84238454e-04 9.99893411e-01 5.17755967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.639254154 meters 0.026013863722571764 Centerline is valid? [True, True] Translation: X:778.86, Y:10.05, Z:5.18 [[ 9.98557256e-01 -5.11842126e-02 -1.62352633e-02 7.78858859e+02] [ 5.11881562e-02 9.98689012e-01 -1.72827859e-04 1.00496307e+01] [ 1.62228251e-02 -6.58474680e-04 9.99868184e-01 5.17719793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.699254154 meters 0.021744882533928107 Centerline is valid? [True, True] Translation: X:778.92, Y:10.06, Z:5.18 [[ 9.98934832e-01 -4.27962405e-02 -1.72535049e-02 7.78918910e+02] [ 4.27994452e-02 9.99083667e-01 -1.83630920e-04 1.00622529e+01] [ 1.72455536e-02 -5.55005113e-04 9.99851130e-01 5.17827938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.759254154 meters 0.018172594859028432 Centerline is valid? [True, True] Translation: X:778.98, Y:10.08, Z:5.18 [[ 9.99309888e-01 -3.29362597e-02 -1.71741232e-02 7.78978967e+02] [ 3.29379800e-02 9.99457381e-01 -1.82761234e-04 1.00760233e+01] [ 1.71708237e-02 -3.83045818e-04 9.99852497e-01 5.17970253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.819254154 meters 0.014844234491528826 Centerline is valid? [True, True] Translation: X:779.04, Y:10.09, Z:5.18 [[ 9.99629286e-01 -2.19805227e-02 -1.60669569e-02 7.79039609e+02] [ 2.19806161e-02 9.99758383e-01 -1.70797279e-04 1.00916620e+01] [ 1.60668291e-02 -1.82427651e-04 9.99870904e-01 5.18325205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.879254154 meters 0.015990875670727895 Centerline is valid? [True, True] Translation: X:779.10, Y:10.10, Z:5.18 [[ 9.99816593e-01 -1.21740023e-02 -1.47842186e-02 7.79097917e+02] [ 1.21730045e-02 9.99925894e-01 -1.57479846e-04 1.01016018e+01] [ 1.47850401e-02 -2.25173957e-05 9.99890695e-01 5.18386609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.939254154 meters 0.014063378603922467 Centerline is valid? [True, True] Translation: X:779.16, Y:10.11, Z:5.19 [[ 9.99850030e-01 -1.01144486e-02 -1.40575658e-02 7.79156036e+02] [ 1.01133077e-02 9.99948848e-01 -1.52249097e-04 1.01057155e+01] [ 1.40583866e-02 1.00577763e-05 9.99901176e-01 5.18729452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.999254154 meters 0.014093718742508138 Centerline is valid? [True, True] Translation: X:779.21, Y:10.10, Z:5.19 [[ 9.99801829e-01 -1.39177057e-02 -1.42338028e-02 7.79213736e+02] [ 1.39168831e-02 9.99903143e-01 -1.56845315e-04 1.01035710e+01] [ 1.42346071e-02 -4.12759364e-05 9.99898682e-01 5.18704902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.059254154 meters 0.016302195153044968 Centerline is valid? [True, True] Translation: X:779.27, Y:10.10, Z:5.19 [[ 9.99707344e-01 -1.90186239e-02 -1.49505027e-02 7.79272493e+02] [ 1.90182682e-02 9.99819123e-01 -1.65977260e-04 1.00996690e+01] [ 1.49509552e-02 -1.18403984e-04 9.99888221e-01 5.18578869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.119254154 meters 0.016678342038275982 Centerline is valid? [True, True] Translation: X:779.33, Y:10.09, Z:5.19 [[ 9.99427898e-01 -3.02211929e-02 -1.51840598e-02 7.79332471e+02] [ 3.02221063e-02 9.99543193e-01 -1.69356525e-04 1.00911617e+01] [ 1.51822417e-02 -2.89634632e-04 9.99884701e-01 5.18650897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.179254154 meters 0.018398001630112903 Centerline is valid? [True, True] Translation: X:779.39, Y:10.09, Z:5.19 [[ 9.99182938e-01 -3.70863257e-02 -1.60642924e-02 7.79393571e+02] [ 3.70882355e-02 9.99311979e-01 -1.79118803e-04 1.00853811e+01] [ 1.60598827e-02 -4.16823810e-04 9.99870945e-01 5.18637423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.239254154 meters 0.021878374107817657 Centerline is valid? [True, True] Translation: X:779.45, Y:10.08, Z:5.19 [[ 9.98833568e-01 -4.54990765e-02 -1.61659299e-02 7.79453563e+02] [ 4.55021123e-02 9.98964226e-01 -1.80170615e-04 1.00770476e+01] [ 1.61573833e-02 -5.55623500e-04 9.99869307e-01 5.18623033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.299254154 meters 0.022702572004483303 Centerline is valid? [True, True] Translation: X:779.51, Y:10.08, Z:5.19 [[ 9.98641450e-01 -4.97591343e-02 -1.54687555e-02 7.79514831e+02] [ 4.97624276e-02 9.98761068e-01 -1.72171532e-04 1.00758701e+01] [ 1.54581578e-02 -5.97825195e-04 9.99880337e-01 5.18587130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters 0.022114229315760996 Centerline is valid? [True, True] Translation: X:779.58, Y:10.08, Z:5.19 [[ 9.98669733e-01 -4.93253435e-02 -1.50258249e-02 7.79576973e+02] [ 4.93284148e-02 9.98782599e-01 -1.66374977e-04 1.00775567e+01] [ 1.50157389e-02 -5.75046468e-04 9.99887092e-01 5.18660970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.419254154 meters 0.02198788715916308 Centerline is valid? [True, True] Translation: X:779.64, Y:10.08, Z:5.19 [[ 9.98909329e-01 -4.41134071e-02 -1.53022605e-02 7.79637069e+02] [ 4.41159895e-02 9.99026402e-01 -1.68920108e-04 1.00792045e+01] [ 1.52948139e-02 -5.06338494e-04 9.99882899e-01 5.18647819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters 0.01974596534956653 Centerline is valid? [True, True] Translation: X:779.70, Y:10.09, Z:5.19 [[ 9.99175977e-01 -3.72198390e-02 -1.61879513e-02 7.79698097e+02] [ 3.72218278e-02 9.99307012e-01 -1.78522612e-04 1.00867257e+01] [ 1.61833779e-02 -4.24169632e-04 9.99868951e-01 5.18664414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.539254154 meters 0.017043006581105018 Centerline is valid? [True, True] Translation: X:779.76, Y:10.09, Z:5.19 [[ 9.99297052e-01 -3.39252750e-02 -1.59523287e-02 7.79759180e+02] [ 3.39267941e-02 9.99424305e-01 -1.75463734e-04 1.00903306e+01] [ 1.59490977e-02 -3.65870980e-04 9.99872738e-01 5.18797748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters 0.01838802600851456 Centerline is valid? [True, True] Translation: X:779.82, Y:10.09, Z:5.18 [[ 9.99422768e-01 -2.88243104e-02 -1.79802868e-02 7.79820598e+02] [ 2.88254276e-02 9.99584442e-01 -1.97083543e-04 1.00946621e+01] [ 1.79784958e-02 -3.21319677e-04 9.99838322e-01 5.18492318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.659254154 meters 0.016182483228468606 Centerline is valid? [True, True] Translation: X:779.88, Y:10.10, Z:5.19 [[ 9.99419667e-01 -2.83340002e-02 -1.89080563e-02 7.79880571e+02] [ 2.83351487e-02 9.99598458e-01 -2.07213111e-04 1.00961917e+01] [ 1.89063351e-02 -3.28669729e-04 9.99821205e-01 5.18546342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters 0.017361574627635993 Centerline is valid? [True, True] Translation: X:779.94, Y:10.10, Z:5.18 [[ 9.99364597e-01 -2.91884413e-02 -2.04557496e-02 7.79940346e+02] [ 2.91899518e-02 9.99573857e-01 -2.24803236e-04 1.00980818e+01] [ 2.04535942e-02 -3.72441950e-04 9.99790734e-01 5.18424928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.779254154 meters 0.016813104400821045 Centerline is valid? [True, True] Translation: X:780.00, Y:10.10, Z:5.19 [[ 9.99264242e-01 -3.28961107e-02 -1.97185472e-02 7.80000061e+02] [ 3.28982216e-02 9.99458683e-01 -2.17409734e-04 1.00976749e+01] [ 1.97150251e-02 -4.31455361e-04 9.99805547e-01 5.18640714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters 0.018197192848549103 Centerline is valid? [True, True] Translation: X:780.06, Y:10.10, Z:5.19 [[ 9.99187637e-01 -3.58689901e-02 -1.83706647e-02 7.80060424e+02] [ 3.58713240e-02 9.99356396e-01 -2.02566896e-04 1.00960055e+01] [ 1.83661071e-02 -4.56577726e-04 9.99831225e-01 5.18815591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.899254154 meters 0.02028976542447342 Centerline is valid? [True, True] Translation: X:780.12, Y:10.09, Z:5.19 [[ 9.98971573e-01 -4.25362988e-02 -1.56990572e-02 7.80121976e+02] [ 4.25388320e-02 9.99094799e-01 -1.72685878e-04 1.00923605e+01] [ 1.56921918e-02 -4.95311272e-04 9.99876747e-01 5.19087787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.959254154 meters 0.025213561065829927 Centerline is valid? [True, True] Translation: X:780.18, Y:10.09, Z:5.19 [[ 9.98599684e-01 -5.05777419e-02 -1.55101005e-02 7.80182655e+02] [ 5.05811868e-02 9.98719938e-01 -1.70345105e-04 1.00881769e+01] [ 1.54988623e-02 -6.14412723e-04 9.99879697e-01 5.18994873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.019254154 meters 0.027791859500925737 Centerline is valid? [True, True] Translation: X:780.24, Y:10.08, Z:5.19 [[ 9.98285020e-01 -5.65385499e-02 -1.51793336e-02 7.80243783e+02] [ 5.65425401e-02 9.98400177e-01 -1.66507765e-04 1.00840958e+01] [ 1.51644635e-02 -6.92055873e-04 9.99884773e-01 5.19004158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.079254154 meters 0.029240505900851758 Centerline is valid? [True, True] Translation: X:780.30, Y:10.08, Z:5.19 [[ 9.97696843e-01 -6.62084796e-02 -1.47460552e-02 7.80303926e+02] [ 6.62133009e-02 9.97805478e-01 -1.61557247e-04 1.00809066e+01] [ 1.47243911e-02 -8.15199834e-04 9.99891258e-01 5.19262011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.139254154 meters 0.02930514175244038 Centerline is valid? [True, True] Translation: X:780.37, Y:10.08, Z:5.19 [[ 9.97244419e-01 -7.24664909e-02 -1.58800589e-02 7.80365231e+02] [ 7.24728785e-02 9.97370368e-01 -1.73622058e-04 1.00827451e+01] [ 1.58508819e-02 -9.77729947e-04 9.99873889e-01 5.19213205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.199254154 meters 0.033712741565563226 Centerline is valid? [True, True] Translation: X:780.43, Y:10.08, Z:5.19 [[ 9.97093467e-01 -7.42771363e-02 -1.69565502e-02 7.80425453e+02] [ 7.42846875e-02 9.97237059e-01 -1.84960571e-04 1.00790414e+01] [ 1.69234385e-02 -1.07518905e-03 9.99856210e-01 5.19071856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.259254154 meters 0.033267566818615986 Centerline is valid? [True, True] Translation: X:780.49, Y:10.08, Z:5.19 [[ 9.97088167e-01 -7.44257878e-02 -1.66129552e-02 7.80487984e+02] [ 7.44330705e-02 9.97225995e-01 -1.80375211e-04 1.00801339e+01] [ 1.65802953e-02 -1.05670328e-03 9.99861979e-01 5.19257363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.319254154 meters 0.030471896932039475 Centerline is valid? [True, True] Translation: X:780.55, Y:10.09, Z:5.19 [[ 9.97305276e-01 -7.13310139e-02 -1.71485502e-02 7.80549169e+02] [ 7.13383304e-02 9.97452158e-01 -1.85468963e-04 1.00868919e+01] [ 1.71180881e-02 -1.03837976e-03 9.99852936e-01 5.19305533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.379254154 meters 0.028469174263923296 Centerline is valid? [True, True] Translation: X:780.61, Y:10.09, Z:5.19 [[ 9.97531848e-01 -6.80193440e-02 -1.74235806e-02 7.80610369e+02] [ 6.80264001e-02 9.97683504e-01 -1.88072492e-04 1.00923965e+01] [ 1.73960116e-02 -9.97655167e-04 9.99848180e-01 5.19331721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.439254154 meters 0.02733369019667675 Centerline is valid? [True, True] Translation: X:780.67, Y:10.10, Z:5.19 [[ 9.97870294e-01 -6.26590764e-02 -1.81305198e-02 7.80671019e+02] [ 6.26658377e-02 9.98034546e-01 -1.95524847e-04 1.00993562e+01] [ 1.81071365e-02 -9.41055777e-04 9.99835609e-01 5.19412755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.499254154 meters 0.026054022888698618 Centerline is valid? [True, True] Translation: X:780.73, Y:10.11, Z:5.19 [[ 9.98273471e-01 -5.59081374e-02 -1.80099477e-02 7.80731447e+02] [ 5.59137128e-02 9.98435586e-01 -1.94210478e-04 1.01060668e+01] [ 1.79926306e-02 -8.13127875e-04 9.99837789e-01 5.19398865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.559254154 meters 0.0232956194835409 Centerline is valid? [True, True] Translation: X:780.79, Y:10.11, Z:5.20 [[ 9.98531146e-01 -5.11569494e-02 -1.78470251e-02 7.80792253e+02] [ 5.11616714e-02 9.98690366e-01 -1.92197098e-04 1.01131728e+01] [ 1.78334842e-02 -7.21168846e-04 9.99840711e-01 5.19562779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.619254154 meters 0.01929266808769705 Centerline is valid? [True, True] Translation: X:780.85, Y:10.13, Z:5.20 [[ 9.99009087e-01 -4.06221382e-02 -1.81847659e-02 7.80852880e+02] [ 4.06253012e-02 9.99174433e-01 -1.95593461e-04 1.01254449e+01] [ 1.81776986e-02 -5.43361948e-04 9.99834624e-01 5.19714973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.679254154 meters 0.01766993417247583 Centerline is valid? [True, True] Translation: X:780.91, Y:10.13, Z:5.20 [[ 9.99347381e-01 -3.10186865e-02 -1.85109207e-02 7.80913977e+02] [ 3.10203235e-02 9.99518734e-01 -1.98759161e-04 1.01344436e+01] [ 1.85081773e-02 -3.75585302e-04 9.99828638e-01 5.19735403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.739254154 meters 0.014666986829298326 Centerline is valid? [True, True] Translation: X:780.97, Y:10.15, Z:5.20 [[ 9.99701677e-01 -1.65685115e-02 -1.79455141e-02 7.80974915e+02] [ 1.65677283e-02 9.99862727e-01 -1.92326132e-04 1.01479426e+01] [ 1.79462372e-02 -1.05047644e-04 9.99838948e-01 5.19980397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.799254154 meters 0.016051876304781214 Centerline is valid? [True, True] Translation: X:781.03, Y:10.16, Z:5.20 [[ 9.99827862e-01 -3.78743950e-03 -1.81631881e-02 7.81033896e+02] [ 3.78447676e-03 9.99992819e-01 -1.97487182e-04 1.01578193e+01] [ 1.81638056e-02 1.28715024e-04 9.99835016e-01 5.19998475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters 0.015445368102667344 Centerline is valid? [True, True] Translation: X:781.09, Y:10.16, Z:5.20 [[ 9.99836229e-01 2.24150866e-03 -1.79580557e-02 7.81091622e+02] [-2.24542602e-03 9.99997459e-01 -1.97978829e-04 1.01625091e+01] [ 1.79575663e-02 2.38269892e-04 9.99838722e-01 5.20126798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.919254154 meters 0.015615554221882821 Centerline is valid? [True, True] Translation: X:781.15, Y:10.16, Z:5.20 [[ 9.99836274e-01 2.13746084e-03 -1.79681923e-02 7.81149868e+02] [-2.14139812e-03 9.99997687e-01 -1.99887771e-04 1.01622336e+01] [ 1.79677235e-02 2.38332097e-04 9.99838539e-01 5.20122665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters 0.014812699632322783 Centerline is valid? [True, True] Translation: X:781.21, Y:10.16, Z:5.20 [[ 9.99831907e-01 -3.14080190e-03 -1.80636032e-02 7.81207785e+02] [ 3.13764697e-03 9.99995057e-01 -2.02995448e-04 1.01566775e+01] [ 1.80641515e-02 1.46284116e-04 9.99836819e-01 5.20133081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.039254154 meters 0.014722478819463156 Centerline is valid? [True, True] Translation: X:781.27, Y:10.15, Z:5.20 [[ 9.99807558e-01 -9.09263789e-03 -1.73830934e-02 7.81266806e+02] [ 9.09058876e-03 9.99958660e-01 -1.96895899e-04 1.01499526e+01] [ 1.73841651e-02 3.88354544e-05 9.99848883e-01 5.20275734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters 0.014456226509394807 Centerline is valid? [True, True] Translation: X:781.32, Y:10.14, Z:5.20 [[ 9.99659207e-01 -2.03932216e-02 -1.62968345e-02 7.81324999e+02] [ 2.03929000e-02 9.99792026e-01 -1.85932158e-04 1.01374691e+01] [ 1.62972369e-02 -1.46470923e-04 9.99867180e-01 5.20316532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.159254154 meters 0.016841365464901756 Centerline is valid? [True, True] Translation: X:781.39, Y:10.12, Z:5.20 [[ 9.99364769e-01 -3.18689541e-02 -1.59507798e-02 7.81385430e+02] [ 3.18700946e-02 9.99492003e-01 -1.82752809e-04 1.01238147e+01] [ 1.59485010e-02 -3.25716141e-04 9.99872762e-01 5.20259739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters 0.020396516362655603 Centerline is valid? [True, True] Translation: X:781.45, Y:10.11, Z:5.20 [[ 9.99016194e-01 -4.15866912e-02 -1.54010028e-02 7.81445655e+02] [ 4.15889105e-02 9.99134791e-01 -1.76285154e-04 1.01094229e+01] [ 1.53950089e-02 -4.64399204e-04 9.99881382e-01 5.20170615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.279254154 meters 0.021792895080142875 Centerline is valid? [True, True] Translation: X:781.51, Y:10.10, Z:5.20 [[ 9.98822589e-01 -4.58888314e-02 -1.57369300e-02 7.81506874e+02] [ 4.58916907e-02 9.98946405e-01 -1.79569787e-04 1.01048764e+01] [ 1.57285899e-02 -5.42835966e-04 9.99876151e-01 5.20103258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters 0.022447380255353575 Centerline is valid? [True, True] Translation: X:781.57, Y:10.10, Z:5.20 [[ 9.98590212e-01 -5.05445343e-02 -1.62123164e-02 7.81567531e+02] [ 5.05481885e-02 9.98721606e-01 -1.84566430e-04 1.00963184e+01] [ 1.62009195e-02 -6.35196996e-04 9.99868555e-01 5.20153935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.399254154 meters 0.023222256405515587 Centerline is valid? [True, True] Translation: X:781.63, Y:10.09, Z:5.20 [[ 9.98539906e-01 -5.11847141e-02 -1.72679129e-02 7.81629857e+02] [ 5.11889707e-02 9.98688966e-01 -1.95695906e-04 1.00925923e+01] [ 1.72552907e-02 -6.88516515e-04 9.99850879e-01 5.20082138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.459254154 meters 0.02221604672099877 Centerline is valid? [True, True] Translation: X:781.69, Y:10.09, Z:5.20 [[ 9.98660937e-01 -4.82344389e-02 -1.87021835e-02 7.81691142e+02] [ 4.82389333e-02 9.98835803e-01 -2.10997955e-04 1.00921962e+01] [ 1.86905879e-02 -6.91457968e-04 9.99825077e-01 5.20033116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.519254154 meters 0.019638370122088872 Centerline is valid? [True, True] Translation: X:781.75, Y:10.10, Z:5.20 [[ 9.99043706e-01 -3.90764649e-02 -1.96138495e-02 7.81751236e+02] [ 3.90796509e-02 9.99236074e-01 -2.20969796e-04 1.00969684e+01] [ 1.96075007e-02 -5.45743908e-04 9.99807606e-01 5.20046555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.579254154 meters 0.015407703711373033 Centerline is valid? [True, True] Translation: X:781.81, Y:10.11, Z:5.20 [[ 9.99476775e-01 -2.48254924e-02 -2.07333549e-02 7.81811794e+02] [ 2.48259886e-02 9.99691760e-01 -2.33495603e-04 1.01091109e+01] [ 2.07327607e-02 -2.81352599e-04 9.99785014e-01 5.20308933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.639254154 meters 0.014625656537556184 Centerline is valid? [True, True] Translation: X:781.87, Y:10.12, Z:5.20 [[ 9.99685359e-01 -1.44253217e-02 -2.05205582e-02 7.81870343e+02] [ 1.44235963e-02 9.99895948e-01 -2.32096212e-04 1.01158249e+01] [ 2.05217710e-02 -6.39570613e-05 9.99789404e-01 5.20428202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.699254154 meters 0.01512611892831162 Centerline is valid? [True, True] Translation: X:781.93, Y:10.12, Z:5.21 [[ 9.99809865e-01 -2.09193076e-03 -1.93870644e-02 7.81929141e+02] [ 2.08800019e-03 9.99997795e-01 -2.22981580e-04 1.01230547e+01] [ 1.93874881e-02 1.82458989e-04 9.99812028e-01 5.20624039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.759254154 meters 0.015599627968404646 Centerline is valid? [True, True] Translation: X:781.99, Y:10.12, Z:5.21 [[ 9.99823126e-01 2.55488572e-03 -1.86330208e-02 7.81987684e+02] [-2.55941144e-03 9.99996701e-01 -2.19044517e-04 1.01240849e+01] [ 1.86323997e-02 2.66695341e-04 9.99826366e-01 5.20773249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.819254154 meters 0.01602005908724834 Centerline is valid? [True, True] Translation: X:782.04, Y:10.12, Z:5.21 [[ 9.99813979e-01 2.30030403e-03 -1.91498068e-02 7.82044164e+02] [-2.30511939e-03 9.99997317e-01 -2.29387728e-04 1.01222115e+01] [ 1.91492277e-02 2.73487648e-04 9.99816599e-01 5.20656233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.879254154 meters 0.014572458799768736 Centerline is valid? [True, True] Translation: X:782.10, Y:10.11, Z:5.21 [[ 9.99790015e-01 -6.64202653e-03 -1.93857965e-02 7.82103518e+02] [ 6.63873250e-03 9.99977936e-01 -2.34270184e-04 1.01112299e+01] [ 1.93869248e-02 1.05523873e-04 9.99812050e-01 5.20750403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.939254154 meters 0.015037917146388118 Centerline is valid? [True, True] Translation: X:782.16, Y:10.10, Z:5.21 [[ 9.99544078e-01 -2.32349461e-02 -1.92814440e-02 7.82162665e+02] [ 2.32347485e-02 9.99730009e-01 -2.34302558e-04 1.00956632e+01] [ 1.92816822e-02 -2.13803767e-04 9.99814068e-01 5.20693007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.999254154 meters 0.018907167449565596 Centerline is valid? [True, True] Translation: X:782.22, Y:10.08, Z:5.21 [[ 9.99189267e-01 -3.57434794e-02 -1.85259889e-02 7.82223174e+02] [ 3.57454323e-02 9.99360902e-01 -2.25816632e-04 1.00840942e+01] [ 1.85222205e-02 -4.36585927e-04 9.99828354e-01 5.20574310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.059254154 meters 0.024050523616940735 Centerline is valid? [True, True] Translation: X:782.28, Y:10.07, Z:5.21 [[ 9.98388608e-01 -5.44080862e-02 -1.61229126e-02 7.82282918e+02] [ 5.44119898e-02 9.98518551e-01 -1.96779894e-04 1.00659041e+01] [ 1.61097338e-02 -6.80816954e-04 9.99869998e-01 5.20835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.119254154 meters 0.023981659417058744 Centerline is valid? [True, True] Translation: X:782.34, Y:10.06, Z:5.21 [[ 9.98111633e-01 -5.94938394e-02 -1.52856508e-02 7.82343802e+02] [ 5.94979439e-02 9.98228411e-01 -1.86500058e-04 1.00649124e+01] [ 1.52696665e-02 -7.23316916e-04 9.99883150e-01 5.20969853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.179254154 meters 0.028668359291295454 Centerline is valid? [True, True] Translation: X:782.40, Y:10.05, Z:5.21 [[ 9.97392163e-01 -7.07618258e-02 -1.41999219e-02 7.82404680e+02] [ 7.07665078e-02 9.97492893e-01 -1.73105155e-04 1.00545658e+01] [ 1.41765704e-02 -8.32225155e-04 9.99899161e-01 5.20928108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.239254154 meters 0.0313162169716135 Centerline is valid? [True, True] Translation: X:782.47, Y:10.05, Z:5.21 [[ 9.96913627e-01 -7.74043745e-02 -1.31066317e-02 7.82465605e+02] [ 7.74089360e-02 9.96999414e-01 -1.59678868e-04 1.00473628e+01] [ 1.30796640e-02 -8.55384377e-04 9.99914092e-01 5.21092033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.299254154 meters 0.0348426023819844 Centerline is valid? [True, True] Translation: X:782.53, Y:10.04, Z:5.21 [[ 9.96805351e-01 -7.87178292e-02 -1.35127735e-02 7.82527245e+02] [ 7.87228041e-02 9.96896531e-01 -1.64172329e-04 1.00426190e+01] [ 1.34837603e-02 -9.00115567e-04 9.99908685e-01 5.20858512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters 0.033942685313690865 Centerline is valid? [True, True] Translation: X:782.59, Y:10.04, Z:5.21 [[ 9.96758618e-01 -7.91287108e-02 -1.45225650e-02 7.82589628e+02] [ 7.91345147e-02 9.96863931e-01 -1.75467926e-04 1.00428924e+01] [ 1.44909058e-02 -9.74336964e-04 9.99894527e-01 5.20949723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.419254154 meters 0.03400477179517069 Centerline is valid? [True, True] Translation: X:782.65, Y:10.04, Z:5.21 [[ 9.96870163e-01 -7.72444920e-02 -1.68275526e-02 7.82651122e+02] [ 7.72520335e-02 9.97011576e-01 -2.02378082e-04 1.00436379e+01] [ 1.67928973e-02 -1.09821798e-03 9.99858386e-01 5.20776451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters 0.03383467947293754 Centerline is valid? [True, True] Translation: X:782.71, Y:10.05, Z:5.21 [[ 9.97127076e-01 -7.33272153e-02 -1.89924595e-02 7.82711890e+02] [ 7.33361242e-02 9.97307255e-01 -2.27919126e-04 1.00473061e+01] [ 1.89580303e-02 -1.16556904e-03 9.99819601e-01 5.20619756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.539254154 meters 0.03261670039049202 Centerline is valid? [True, True] Translation: X:782.77, Y:10.05, Z:5.21 [[ 9.97340049e-01 -7.01662162e-02 -1.97364935e-02 7.82773051e+02] [ 7.01752278e-02 9.97534652e-01 -2.36462016e-04 1.00524880e+01] [ 1.97044279e-02 -1.14917989e-03 9.99805188e-01 5.20782498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters 0.032242915574877094 Centerline is valid? [True, True] Translation: X:782.83, Y:10.06, Z:5.21 [[ 9.97770798e-01 -6.35928997e-02 -2.02331056e-02 7.82833650e+02] [ 6.36010252e-02 9.97975376e-01 -2.42289527e-04 1.00601043e+01] [ 2.02075490e-02 -1.04509684e-03 9.99795260e-01 5.20659985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.659254154 meters 0.027846238687428023 Centerline is valid? [True, True] Translation: X:782.89, Y:10.07, Z:5.21 [[ 9.98082694e-01 -5.88371597e-02 -1.92126257e-02 7.82894484e+02] [ 5.88436092e-02 9.98267187e-01 -2.29949880e-04 1.00703032e+01] [ 1.91928634e-02 -9.01031241e-04 9.99815394e-01 5.21005805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters 0.027111288936917704 Centerline is valid? [True, True] Translation: X:782.96, Y:10.08, Z:5.21 [[ 9.98302077e-01 -5.49801397e-02 -1.92392148e-02 7.82955005e+02] [ 5.49858934e-02 9.98487105e-01 -2.30199926e-04 1.00766065e+01] [ 1.92227643e-02 -8.28076349e-04 9.99814883e-01 5.20989080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.779254154 meters 0.024065792032887893 Centerline is valid? [True, True] Translation: X:783.02, Y:10.08, Z:5.21 [[ 9.98571140e-01 -5.01446906e-02 -1.84713013e-02 7.83015022e+02] [ 5.01491680e-02 9.98741714e-01 -2.21011732e-04 1.00834810e+01] [ 1.84591417e-02 -7.05624453e-04 9.99829367e-01 5.21311264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters 0.023145019511925647 Centerline is valid? [True, True] Translation: X:783.08, Y:10.09, Z:5.21 [[ 9.98737758e-01 -4.68666573e-02 -1.80667282e-02 7.83076521e+02] [ 4.68704122e-02 9.98900955e-01 -2.15776028e-04 1.00873720e+01] [ 1.80569848e-02 -6.31291331e-04 9.99836760e-01 5.21397533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.899254154 meters 0.021700316935846623 Centerline is valid? [True, True] Translation: X:783.14, Y:10.09, Z:5.21 [[ 9.98945541e-01 -4.16936266e-02 -1.92210314e-02 7.83136278e+02] [ 4.16969249e-02 9.99130279e-01 -2.29313923e-04 1.00928543e+01] [ 1.92138754e-02 -5.72385780e-04 9.99815233e-01 5.21411346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.959254154 meters 0.01936733013760038 Centerline is valid? [True, True] Translation: X:783.20, Y:10.10, Z:5.21 [[ 9.99236478e-01 -3.34810850e-02 -2.01364711e-02 7.83195870e+02] [ 3.34830382e-02 9.99439257e-01 -2.40235453e-04 1.01001260e+01] [ 2.01332230e-02 -4.34178203e-04 9.99797212e-01 5.21285721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.019254154 meters 0.015680730636122134 Centerline is valid? [True, True] Translation: X:783.26, Y:10.11, Z:5.22 [[ 9.99521316e-01 -2.21360994e-02 -2.16132442e-02 7.83255478e+02] [ 2.21356860e-02 9.99754942e-01 -2.58396008e-04 1.01131902e+01] [ 2.16136676e-02 -2.20151669e-04 9.99766373e-01 5.21562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.079254154 meters 0.01492489424298877 Centerline is valid? [True, True] Translation: X:783.31, Y:10.12, Z:5.22 [[ 9.99655938e-01 -1.44569515e-02 -2.18861226e-02 7.83314643e+02] [ 1.44546016e-02 9.99895492e-01 -2.65570908e-04 1.01201515e+01] [ 2.18876747e-02 -5.08756478e-05 9.99760435e-01 5.21737394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.139254154 meters 0.015437086419930662 Centerline is valid? [True, True] Translation: X:783.37, Y:10.13, Z:5.22 [[ 9.99744124e-01 -6.05294361e-03 -2.17955960e-02 7.83372816e+02] [ 6.04855086e-03 9.99981672e-01 -2.67461498e-04 1.01263812e+01] [ 2.17968154e-02 1.35561291e-04 9.99762412e-01 5.21737074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.199254154 meters 0.015615594525163302 Centerline is valid? [True, True] Translation: X:783.43, Y:10.12, Z:5.22 [[ 9.99756361e-01 -4.84521774e-03 -2.15346921e-02 7.83430952e+02] [ 4.84054362e-03 9.99988248e-01 -2.69171336e-04 1.01247700e+01] [ 2.15357432e-02 1.64866139e-04 9.99768065e-01 5.21819372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.259254154 meters 0.014963647240424831 Centerline is valid? [True, True] Translation: X:783.49, Y:10.12, Z:5.22 [[ 9.99755577e-01 -6.92658682e-03 -2.09954461e-02 7.83490036e+02] [ 6.92254106e-03 9.99976004e-01 -2.65370584e-04 1.01220579e+01] [ 2.09967804e-02 1.19963884e-04 9.99779536e-01 5.21931179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.319254154 meters 0.014728510067876944 Centerline is valid? [True, True] Translation: X:783.55, Y:10.12, Z:5.22 [[ 9.99706494e-01 -1.16163917e-02 -2.12599592e-02 7.83549233e+02] [ 1.16132704e-02 9.99932527e-01 -2.70275918e-04 1.01161857e+01] [ 2.12616644e-02 2.32989347e-05 9.99773945e-01 5.22024022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.379254154 meters 0.01480574604296351 Centerline is valid? [True, True] Translation: X:783.61, Y:10.11, Z:5.22 [[ 9.99600871e-01 -1.78549690e-02 -2.18929054e-02 7.83608183e+02] [ 1.78531195e-02 9.99840581e-01 -2.79942654e-04 1.01073793e+01] [ 2.18944136e-02 -1.11025735e-04 9.99760282e-01 5.22065982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.439254154 meters 0.016666651432675247 Centerline is valid? [True, True] Translation: X:783.67, Y:10.10, Z:5.22 [[ 9.99499740e-01 -2.24369375e-02 -2.22901992e-02 7.83667286e+02] [ 2.24360600e-02 9.99748238e-01 -2.89479406e-04 1.01013293e+01] [ 2.22910824e-02 -2.10769657e-04 9.99751501e-01 5.21915629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.499254154 meters 0.01601595912800999 Centerline is valid? [True, True] Translation: X:783.73, Y:10.09, Z:5.22 [[ 9.99370725e-01 -2.76813452e-02 -2.21787375e-02 7.83725747e+02] [ 2.76816991e-02 9.99616746e-01 -2.91110851e-04 1.00928640e+01] [ 2.21782957e-02 -3.23017474e-04 9.99753979e-01 5.22064851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.559254154 meters 0.016260278066680685 Centerline is valid? [True, True] Translation: X:783.79, Y:10.09, Z:5.22 [[ 9.99336104e-01 -2.89950109e-02 -2.20599507e-02 7.83785027e+02] [ 2.89955832e-02 9.99579496e-01 -2.93983267e-04 1.00890412e+01] [ 2.20591985e-02 -3.45853045e-04 9.99756606e-01 5.22092666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.619254154 meters 0.015770781716769437 Centerline is valid? [True, True] Translation: X:783.84, Y:10.09, Z:5.22 [[ 9.99343986e-01 -2.83918610e-02 -2.24833240e-02 7.83842535e+02] [ 2.83921604e-02 9.99596815e-01 -3.05961604e-04 1.00855187e+01] [ 2.24829459e-02 -3.32589252e-04 9.99747171e-01 5.22270766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.679254154 meters 0.017952017378284696 Centerline is valid? [True, True] Translation: X:783.90, Y:10.08, Z:5.22 [[ 9.99393369e-01 -2.55897484e-02 -2.36232600e-02 7.83901250e+02] [ 2.55891447e-02 9.99672490e-01 -3.27897497e-04 1.00830667e+01] [ 2.36239140e-02 -2.76800433e-04 9.99720878e-01 5.22194416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.739254154 meters 0.015607712049553957 Centerline is valid? [True, True] Translation: X:783.96, Y:10.08, Z:5.22 [[ 9.99473720e-01 -2.32591839e-02 -2.26118126e-02 7.83959070e+02] [ 2.32579645e-02 9.99729447e-01 -3.16948303e-04 1.00791135e+01] [ 2.26130669e-02 -2.09123235e-04 9.99744270e-01 5.22323770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.799254154 meters 0.01777252019889855 Centerline is valid? [True, True] Translation: X:784.02, Y:10.08, Z:5.22 [[ 9.99497657e-01 -2.24042089e-02 -2.24161739e-02 7.84017516e+02] [ 2.24026938e-02 9.99748977e-01 -3.18741229e-04 1.00781163e+01] [ 2.24176881e-02 -1.83601569e-04 9.99748675e-01 5.22407066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters 0.018915618494877523 Centerline is valid? [True, True] Translation: X:784.08, Y:10.07, Z:5.23 [[ 9.99509050e-01 -2.25746201e-02 -2.17266135e-02 7.84076080e+02] [ 2.25731186e-02 9.99745145e-01 -3.14386061e-04 1.00740545e+01] [ 2.17281735e-02 -1.76205710e-04 9.99763900e-01 5.22531299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.919254154 meters 0.015091054633104407 Centerline is valid? [True, True] Translation: X:784.13, Y:10.07, Z:5.23 [[ 9.99489200e-01 -2.42589055e-02 -2.08049308e-02 7.84133865e+02] [ 2.42577744e-02 9.99705690e-01 -3.06770660e-04 1.00712891e+01] [ 2.08062496e-02 -1.98067356e-04 9.99783507e-01 5.22904205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters 0.017371556712332717 Centerline is valid? [True, True] Translation: X:784.19, Y:10.07, Z:5.23 [[ 9.99387268e-01 -2.66297410e-02 -2.27144459e-02 7.84192859e+02] [ 2.66288652e-02 9.99645331e-01 -3.41081854e-04 1.00657440e+01] [ 2.27154728e-02 -2.63987056e-04 9.99741936e-01 5.22686427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.039254154 meters 0.01834922584017399 Centerline is valid? [True, True] Translation: X:784.25, Y:10.06, Z:5.23 [[ 9.99323103e-01 -2.82994573e-02 -2.35048165e-02 7.84251567e+02] [ 2.82988404e-02 9.99599443e-01 -3.58934155e-04 1.00641166e+01] [ 2.35055592e-02 -3.06467860e-04 9.99723659e-01 5.22619079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters 0.01726436659650028 Centerline is valid? [True, True] Translation: X:784.31, Y:10.06, Z:5.23 [[ 9.99114268e-01 -3.52008931e-02 -2.30559506e-02 7.84309960e+02] [ 3.52020711e-02 9.99380152e-01 -3.54897111e-04 1.00565472e+01] [ 2.30541521e-02 -4.57034442e-04 9.99734113e-01 5.22894366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.159254154 meters 0.018047382101456243 Centerline is valid? [True, True] Translation: X:784.37, Y:10.05, Z:5.23 [[ 9.98942414e-01 -4.01973885e-02 -2.23209004e-02 7.84369236e+02] [ 4.01997092e-02 9.99191605e-01 -3.44907389e-04 1.00532511e+01] [ 2.23167207e-02 -5.52751086e-04 9.99750798e-01 5.23084763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters 0.020147496686530365 Centerline is valid? [True, True] Translation: X:784.43, Y:10.05, Z:5.23 [[ 9.98609367e-01 -4.80724026e-02 -2.16420101e-02 7.84428060e+02] [ 4.80764116e-02 9.98843605e-01 -3.35320361e-04 1.00451774e+01] [ 2.16331031e-02 -7.05616132e-04 9.99765728e-01 5.23250172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.279254154 meters 0.0230233794451136 Centerline is valid? [True, True] Translation: X:784.49, Y:10.04, Z:5.23 [[ 9.98301875e-01 -5.39686062e-02 -2.19261393e-02 7.84487854e+02] [ 5.39741293e-02 9.98542276e-01 -3.40249755e-04 1.00402250e+01] [ 2.19125399e-02 -8.43772312e-04 9.99759535e-01 5.23164485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters 0.024519778048982362 Centerline is valid? [True, True] Translation: X:784.55, Y:10.03, Z:5.23 [[ 9.97984226e-01 -5.99129697e-02 -2.09265392e-02 7.84548552e+02] [ 5.99193020e-02 9.98203172e-01 -3.24855766e-04 1.00346191e+01] [ 2.09084008e-02 -9.29702690e-04 9.99780963e-01 5.23398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.399254154 meters 0.02770938688646855 Centerline is valid? [True, True] Translation: X:784.61, Y:10.03, Z:5.23 [[ 9.97765246e-01 -6.34310864e-02 -2.10002782e-02 7.84608046e+02] [ 6.34382354e-02 9.97985713e-01 -3.26257433e-04 1.00300402e+01] [ 2.09786725e-02 -1.00669227e-03 9.99779417e-01 5.23329706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.459254154 meters 0.025923197413591094 Centerline is valid? [True, True] Translation: X:784.67, Y:10.03, Z:5.24 [[ 9.97382369e-01 -6.95766405e-02 -1.96850629e-02 7.84668090e+02] [ 6.95841131e-02 9.97576041e-01 -3.05918756e-04 1.00309978e+01] [ 1.96586319e-02 -1.06464967e-03 9.99806184e-01 5.23745496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.519254154 meters 0.034951340612230694 Centerline is valid? [True, True] Translation: X:784.73, Y:10.02, Z:5.23 [[ 9.97101276e-01 -7.26480461e-02 -2.26120742e-02 7.84727857e+02] [ 7.26586946e-02 9.97356802e-01 -3.51395277e-04 1.00202350e+01] [ 2.25778342e-02 -1.29258712e-03 9.99744253e-01 5.23180023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.579254154 meters 0.034544414784201824 Centerline is valid? [True, True] Translation: X:784.79, Y:10.02, Z:5.23 [[ 9.96990452e-01 -7.42193969e-02 -2.23946412e-02 7.84787987e+02] [ 7.42302305e-02 9.97241070e-01 -3.48286530e-04 1.00200679e+01] [ 2.23587056e-02 -1.31512103e-03 9.99749148e-01 5.23445452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.639254154 meters 0.030429863425918583 Centerline is valid? [True, True] Translation: X:784.85, Y:10.03, Z:5.24 [[ 9.97126412e-01 -7.21366193e-02 -2.31349805e-02 7.84848143e+02] [ 7.21476199e-02 9.97393900e-01 -3.59919860e-04 1.00292219e+01] [ 2.31006518e-02 -1.31024818e-03 9.99732286e-01 5.23524066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.699254154 meters 0.03503113555367356 Centerline is valid? [True, True] Translation: X:784.91, Y:10.03, Z:5.23 [[ 9.97461186e-01 -6.75171068e-02 -2.26411643e-02 7.84907230e+02] [ 6.75264477e-02 9.97717422e-01 -3.52592397e-04 1.00266247e+01] [ 2.26132901e-02 -1.17718016e-03 9.99743594e-01 5.23430980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.759254154 meters 0.023427229597431078 Centerline is valid? [True, True] Translation: X:784.97, Y:10.04, Z:5.24 [[ 9.97791933e-01 -6.29244941e-02 -2.12548227e-02 7.84967522e+02] [ 6.29316850e-02 9.98017782e-01 -3.31050291e-04 1.00446585e+01] [ 2.12335222e-02 -1.00728250e-03 9.99774036e-01 5.24167355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.819254154 meters 0.025937087984196146 Centerline is valid? [True, True] Translation: X:785.03, Y:10.05, Z:5.24 [[ 9.98218975e-01 -5.48723664e-02 -2.34073039e-02 7.85026761e+02] [ 5.48788720e-02 9.98492953e-01 -3.64832887e-04 1.00502960e+01] [ 2.33920473e-02 -9.20383327e-04 9.99725945e-01 5.23889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.879254154 meters 0.021606161856756234 Centerline is valid? [True, True] Translation: X:785.09, Y:10.06, Z:5.24 [[ 9.98400818e-01 -5.20642151e-02 -2.20255240e-02 7.85086983e+02] [ 5.20692838e-02 9.98643416e-01 -3.43692111e-04 1.00560492e+01] [ 2.20135386e-02 -8.03710776e-04 9.99757350e-01 5.24255590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.939254154 meters 0.020015958785547083 Centerline is valid? [True, True] Translation: X:785.15, Y:10.06, Z:5.24 [[ 9.98543012e-01 -4.94173972e-02 -2.16742821e-02 7.85146387e+02] [ 4.94216681e-02 9.98777945e-01 -3.38884751e-04 1.00617006e+01] [ 2.16645418e-02 -7.32788179e-04 9.99765028e-01 5.24441803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.999254154 meters 0.02201088725766666 Centerline is valid? [True, True] Translation: X:785.20, Y:10.06, Z:5.24 [[ 9.98607433e-01 -4.71951811e-02 -2.35756189e-02 7.85204781e+02] [ 4.71995881e-02 9.98885410e-01 -3.69802151e-04 1.00646327e+01] [ 2.35667947e-02 -7.43472325e-04 9.99721988e-01 5.24201548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.059254154 meters 0.022149850184728405 Centerline is valid? [True, True] Translation: X:785.26, Y:10.07, Z:5.24 [[ 9.98679801e-01 -4.50519217e-02 -2.46775054e-02 7.85263895e+02] [ 4.50559825e-02 9.98984387e-01 -3.91722030e-04 1.00684571e+01] [ 2.46700904e-02 -7.20664373e-04 9.99695387e-01 5.24206888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.119254154 meters 0.0180412003188162 Centerline is valid? [True, True] Translation: X:785.32, Y:10.07, Z:5.25 [[ 9.98917901e-01 -4.02154092e-02 -2.33612466e-02 7.85323018e+02] [ 4.02176773e-02 9.99190872e-01 -3.72926886e-04 1.00745193e+01] [ 2.33573417e-02 -5.67011733e-04 9.99727019e-01 5.24571407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.179254154 meters 0.01745493240382782 Centerline is valid? [True, True] Translation: X:785.38, Y:10.08, Z:5.25 [[ 9.99094230e-01 -3.59749149e-02 -2.27272030e-02 7.85380749e+02] [ 3.59759275e-02 9.99352590e-01 -3.64444307e-04 1.00782277e+01] [ 2.27256000e-02 -4.53518003e-04 9.99741637e-01 5.24617140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.239254154 meters 0.018459527187994026 Centerline is valid? [True, True] Translation: X:785.44, Y:10.08, Z:5.25 [[ 9.99285858e-01 -2.99510240e-02 -2.30371677e-02 7.85439056e+02] [ 2.99504247e-02 9.99551317e-01 -3.71126366e-04 1.00818144e+01] [ 2.30379470e-02 -3.19111628e-04 9.99734540e-01 5.24555925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.299254154 meters 0.017426656163955726 Centerline is valid? [True, True] Translation: X:785.50, Y:10.08, Z:5.25 [[ 9.99365115e-01 -2.79593237e-02 -2.20826329e-02 7.85497689e+02] [ 2.79581907e-02 9.99609029e-01 -3.60098785e-04 1.00844063e+01] [ 2.20840673e-02 -2.57520299e-04 9.99756084e-01 5.24930279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters 0.015466763377421928 Centerline is valid? [True, True] Translation: X:785.55, Y:10.08, Z:5.25 [[ 9.99350698e-01 -2.91146074e-02 -2.12254954e-02 7.85554626e+02] [ 2.91137252e-02 9.99576044e-01 -3.50639419e-04 1.00828307e+01] [ 2.12267055e-02 -2.67541494e-04 9.99774652e-01 5.25088042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.419254154 meters 0.015507043454538638 Centerline is valid? [True, True] Translation: X:785.61, Y:10.08, Z:5.25 [[ 9.99208199e-01 -3.35806456e-02 -2.13381088e-02 7.85613134e+02] [ 3.35806615e-02 9.99435947e-01 -3.57669903e-04 1.00795408e+01] [ 2.13380837e-02 -3.59161109e-04 9.99772253e-01 5.25277211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters 0.018207318086468895 Centerline is valid? [True, True] Translation: X:785.67, Y:10.07, Z:5.25 [[ 9.98933434e-01 -4.02821867e-02 -2.25685437e-02 7.85672132e+02] [ 4.02838519e-02 9.99188204e-01 -3.81028890e-04 1.00716015e+01] [ 2.25655713e-02 -5.28525374e-04 9.99745225e-01 5.25125917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.539254154 meters 0.025208617749285227 Centerline is valid? [True, True] Translation: X:785.73, Y:10.06, Z:5.25 [[ 9.98761025e-01 -4.38275720e-02 -2.35702886e-02 7.85730821e+02] [ 4.38303341e-02 9.99038909e-01 -3.99668736e-04 1.00612336e+01] [ 2.35651519e-02 -6.33920068e-04 9.99722102e-01 5.24591385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters 0.019654913658835933 Centerline is valid? [True, True] Translation: X:785.79, Y:10.06, Z:5.25 [[ 9.98586484e-01 -4.83902035e-02 -2.19868861e-02 7.85790372e+02] [ 4.83936882e-02 9.98828269e-01 -3.73875897e-04 1.00634487e+01] [ 2.19792153e-02 -6.90679093e-04 9.99758189e-01 5.25345569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.659254154 meters 0.023746135396123955 Centerline is valid? [True, True] Translation: X:785.85, Y:10.06, Z:5.25 [[ 9.98488962e-01 -4.99941403e-02 -2.28118040e-02 7.85849646e+02] [ 4.99982837e-02 9.98749228e-01 -3.89034412e-04 1.00607554e+01] [ 2.28027211e-02 -7.52104484e-04 9.99739701e-01 5.25167710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters 0.022639710323570213 Centerline is valid? [True, True] Translation: X:785.91, Y:10.06, Z:5.25 [[ 9.98318119e-01 -5.40363043e-02 -2.10002753e-02 7.85908825e+02] [ 5.40406845e-02 9.98538670e-01 -3.59278984e-04 1.00581567e+01] [ 2.09890011e-02 -7.76194533e-04 9.99779405e-01 5.25420844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.779254154 meters 0.025677713846143153 Centerline is valid? [True, True] Translation: X:785.97, Y:10.05, Z:5.25 [[ 9.97957280e-01 -6.01278185e-02 -2.15850044e-02 7.85968230e+02] [ 6.01338485e-02 9.98190254e-01 -3.70190474e-04 1.00507465e+01] [ 2.15681998e-02 -9.28555106e-04 9.99766948e-01 5.25305668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters 0.026845572083670062 Centerline is valid? [True, True] Translation: X:786.03, Y:10.04, Z:5.25 [[ 9.97425876e-01 -6.81851101e-02 -2.21903581e-02 7.86028318e+02] [ 6.81934603e-02 9.97672044e-01 -3.81080472e-04 1.00438499e+01] [ 2.21646840e-02 -1.13313778e-03 9.99753691e-01 5.25489153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.899254154 meters 0.029851159014867252 Centerline is valid? [True, True] Translation: X:786.09, Y:10.04, Z:5.26 [[ 9.97108139e-01 -7.28253008e-02 -2.17217523e-02 7.86088618e+02] [ 7.28343911e-02 9.97343979e-01 -3.73408867e-04 1.00386915e+01] [ 2.16912525e-02 -1.20976158e-03 9.99763985e-01 5.25547754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.959254154 meters 0.03427431187657394 Centerline is valid? [True, True] Translation: X:786.15, Y:10.03, Z:5.25 [[ 9.96871681e-01 -7.59564230e-02 -2.18511531e-02 7.86149346e+02] [ 7.59663688e-02 9.97110310e-01 -3.75751491e-04 1.00349934e+01] [ 2.18165508e-02 -1.28537674e-03 9.99761164e-01 5.25416167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.019254154 meters 0.030944175087080392 Centerline is valid? [True, True] Translation: X:786.21, Y:10.04, Z:5.26 [[ 9.96715531e-01 -7.81939246e-02 -2.10679870e-02 7.86209968e+02] [ 7.82036736e-02 9.96937337e-01 -3.62016983e-04 1.00399202e+01] [ 2.10317704e-02 -1.28676603e-03 9.99777980e-01 5.25714797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.079254154 meters 0.03327888220426055 Centerline is valid? [True, True] Translation: X:786.27, Y:10.04, Z:5.26 [[ 9.96732344e-01 -7.77628101e-02 -2.18535878e-02 7.86269922e+02] [ 7.77732056e-02 9.96971007e-01 -3.75109148e-04 1.00394321e+01] [ 2.18165630e-02 -1.32574016e-03 9.99761111e-01 5.25677500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.139254154 meters 0.029611239742592655 Centerline is valid? [True, True] Translation: X:786.33, Y:10.04, Z:5.26 [[ 9.96908313e-01 -7.58116624e-02 -2.06496319e-02 7.86330630e+02] [ 7.58205342e-02 9.97121418e-01 -3.54071409e-04 1.00440327e+01] [ 2.06170330e-02 -1.21268939e-03 9.99786711e-01 5.26078920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.199254154 meters 0.030187831828206755 Centerline is valid? [True, True] Translation: X:786.39, Y:10.05, Z:5.26 [[ 9.97226015e-01 -7.18355176e-02 -1.94918849e-02 7.86391125e+02] [ 7.18426708e-02 9.97415921e-01 -3.33917276e-04 1.00490741e+01] [ 1.94655034e-02 -1.06735808e-03 9.99809959e-01 5.26075835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.259254154 meters 0.030448715862361843 Centerline is valid? [True, True] Translation: X:786.45, Y:10.05, Z:5.26 [[ 9.97491778e-01 -6.80787100e-02 -1.93763364e-02 7.86451376e+02] [ 6.80850735e-02 9.97679464e-01 -3.31840570e-04 1.00511374e+01] [ 1.93539642e-02 -9.88231047e-04 9.99812206e-01 5.26139610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.319254154 meters 0.030510920674885887 Centerline is valid? [True, True] Translation: X:786.51, Y:10.06, Z:5.26 [[ 9.97711252e-01 -6.43218546e-02 -2.08556210e-02 7.86512360e+02] [ 6.43284108e-02 9.97928719e-01 -3.57061084e-04 1.00558571e+01] [ 2.08353900e-02 -9.85365097e-04 9.99782434e-01 5.26081453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.379254154 meters 0.029647819215615163 Centerline is valid? [True, True] Translation: X:786.57, Y:10.06, Z:5.26 [[ 9.97927576e-01 -6.09904182e-02 -2.05115184e-02 7.86572562e+02] [ 6.09960536e-02 9.98137945e-01 -3.51352351e-04 1.00597693e+01] [ 2.04947540e-02 -9.00497478e-04 9.99789555e-01 5.26170492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.439254154 meters 0.021625060633130744 Centerline is valid? [True, True] Translation: X:786.63, Y:10.07, Z:5.27 [[ 9.98260764e-01 -5.55964758e-02 -1.96081432e-02 7.86633142e+02] [ 5.56005895e-02 9.98453034e-01 -3.35727065e-04 1.00741061e+01] [ 1.95964753e-02 -7.55081167e-04 9.99807686e-01 5.26690224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.499254154 meters 0.022135314330828958 Centerline is valid? [True, True] Translation: X:786.69, Y:10.08, Z:5.27 [[ 9.98498257e-01 -5.09907328e-02 -2.00293921e-02 7.86693376e+02] [ 5.09941025e-02 9.98698896e-01 -3.42801236e-04 1.00783295e+01] [ 2.00208114e-02 -6.79094435e-04 9.99799333e-01 5.26613740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.559254154 meters 0.02161423886566856 Centerline is valid? [True, True] Translation: X:786.75, Y:10.09, Z:5.27 [[ 9.98777768e-01 -4.46165622e-02 -2.12681238e-02 7.86753124e+02] [ 4.46189178e-02 9.99004014e-01 -3.64002018e-04 1.00852829e+01] [ 2.12631815e-02 -5.85403543e-04 9.99773742e-01 5.26566038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.619254154 meters 0.017191666994307808 Centerline is valid? [True, True] Translation: X:786.81, Y:10.09, Z:5.27 [[ 9.99025908e-01 -3.95108164e-02 -1.96502061e-02 7.86813319e+02] [ 3.95118352e-02 9.99219046e-01 -3.36546934e-04 1.00917182e+01] [ 1.96481574e-02 -4.40196598e-04 9.99806859e-01 5.26939780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.679254154 meters 0.017832461273690207 Centerline is valid? [True, True] Translation: X:786.87, Y:10.10, Z:5.27 [[ 9.99216958e-01 -3.40842605e-02 -2.00931390e-02 7.86871749e+02] [ 3.40842121e-02 9.99418905e-01 -3.44975284e-04 1.00950724e+01] [ 2.00932212e-02 -3.40153656e-04 9.99798053e-01 5.26877620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.739254154 meters 0.01951690761145851 Centerline is valid? [True, True] Translation: X:786.93, Y:10.10, Z:5.27 [[ 9.99286463e-01 -3.13744177e-02 -2.10288141e-02 7.86930882e+02] [ 3.13736791e-02 9.99507658e-01 -3.65116308e-04 1.00981916e+01] [ 2.10299161e-02 -2.94895481e-04 9.99778803e-01 5.26888924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.799254154 meters 0.0164580589139084 Centerline is valid? [True, True] Translation: X:786.99, Y:10.10, Z:5.27 [[ 9.99381534e-01 -2.89524053e-02 -1.99576621e-02 7.86989196e+02] [ 2.89511549e-02 9.99580766e-01 -3.51637735e-04 1.01001445e+01] [ 1.99594759e-02 -2.26377108e-04 9.99800764e-01 5.27152339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters 0.017939430912443814 Centerline is valid? [True, True] Translation: X:787.05, Y:10.10, Z:5.27 [[ 9.99443205e-01 -2.62129885e-02 -2.06436257e-02 7.87047354e+02] [ 2.62110024e-02 9.99656365e-01 -3.66823090e-04 1.00990943e+01] [ 2.06461473e-02 -1.74471276e-04 9.99786830e-01 5.27016968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.919254154 meters 0.016114560688618756 Centerline is valid? [True, True] Translation: X:787.11, Y:10.10, Z:5.27 [[ 9.99491118e-01 -2.46362353e-02 -2.02623117e-02 7.87106496e+02] [ 2.46339151e-02 9.99696473e-01 -3.64132936e-04 1.00997677e+01] [ 2.02651324e-02 -1.35192431e-04 9.99794632e-01 5.27202553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters 0.017754706750322057 Centerline is valid? [True, True] Translation: X:787.16, Y:10.10, Z:5.27 [[ 9.99570246e-01 -2.12572799e-02 -2.01854214e-02 7.87164829e+02] [ 2.12541837e-02 9.99774037e-01 -3.67933971e-04 1.00990602e+01] [ 2.01886815e-02 -6.12488032e-05 9.99796186e-01 5.27289957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.039254154 meters 0.016312730278339856 Centerline is valid? [True, True] Translation: X:787.22, Y:10.10, Z:5.27 [[ 9.99624760e-01 -1.96626708e-02 -1.90714175e-02 7.87223676e+02] [ 1.96595248e-02 9.99806671e-01 -3.52446477e-04 1.00978644e+01] [ 1.90746605e-02 -2.26207801e-05 9.99818062e-01 5.27486799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters 0.01581483358145824 Centerline is valid? [True, True] Translation: X:787.28, Y:10.09, Z:5.28 [[ 9.99659039e-01 -1.82329549e-02 -1.86912921e-02 7.87282066e+02] [ 1.82295847e-02 9.99833766e-01 -3.50689280e-04 1.00936249e+01] [ 1.86945791e-02 9.83521680e-06 9.99825241e-01 5.27600412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.159254154 meters 0.01405981869433385 Centerline is valid? [True, True] Translation: X:787.34, Y:10.09, Z:5.28 [[ 9.99658169e-01 -1.90815868e-02 -1.78728325e-02 7.87340229e+02] [ 1.90785885e-02 9.99817930e-01 -3.38265628e-04 1.00878531e+01] [ 1.78760330e-02 -2.83841838e-06 9.99840211e-01 5.27708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters 0.017153239967897204 Centerline is valid? [True, True] Translation: X:787.40, Y:10.08, Z:5.27 [[ 9.99587882e-01 -2.15943492e-02 -1.89142660e-02 7.87397813e+02] [ 2.15914086e-02 9.99766814e-01 -3.59689118e-04 1.00795041e+01] [ 1.89176227e-02 -4.88447628e-05 9.99821045e-01 5.27491937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.279254154 meters 0.015854974697175263 Centerline is valid? [True, True] Translation: X:787.46, Y:10.07, Z:5.28 [[ 9.99535631e-01 -2.41490596e-02 -1.85834833e-02 7.87455825e+02] [ 2.41465871e-02 9.99708365e-01 -3.57454035e-04 1.00746495e+01] [ 1.85866958e-02 -9.14396532e-05 9.99827248e-01 5.27742807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters 0.017057305929190587 Centerline is valid? [True, True] Translation: X:787.52, Y:10.07, Z:5.28 [[ 9.99457332e-01 -2.77411633e-02 -1.77614414e-02 7.87515006e+02] [ 2.77393888e-02 9.99615129e-01 -3.46313519e-04 1.00661742e+01] [ 1.77642127e-02 -1.46565942e-04 9.99842193e-01 5.27755559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.399254154 meters 0.017067201077852825 Centerline is valid? [True, True] Translation: X:787.57, Y:10.06, Z:5.28 [[ 9.99353114e-01 -3.19506874e-02 -1.65077945e-02 7.87573014e+02] [ 3.19496809e-02 9.99489426e-01 -3.24764342e-04 1.00567560e+01] [ 1.65097425e-02 -2.02864511e-04 9.99863684e-01 5.27795512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.459254154 meters 0.018640464423927035 Centerline is valid? [True, True] Translation: X:787.63, Y:10.05, Z:5.28 [[ 9.99264541e-01 -3.42956387e-02 -1.71518489e-02 7.87631901e+02] [ 3.42948346e-02 9.99411701e-01 -3.41094662e-04 1.00533593e+01] [ 1.71534565e-02 -2.47376019e-04 9.99852838e-01 5.27788679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.519254154 meters 0.016184527019738305 Centerline is valid? [True, True] Translation: X:787.69, Y:10.05, Z:5.28 [[ 9.99177295e-01 -3.68265783e-02 -1.69863737e-02 7.87689620e+02] [ 3.68261006e-02 9.99321631e-01 -3.41021031e-04 1.00455880e+01] [ 1.69874093e-02 -2.84801435e-04 9.99855663e-01 5.27986039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.579254154 meters 0.01888185387008181 Centerline is valid? [True, True] Translation: X:787.75, Y:10.04, Z:5.28 [[ 9.99142179e-01 -3.74937442e-02 -1.75819510e-02 7.87748436e+02] [ 3.74932697e-02 9.99296817e-01 -3.56731008e-04 1.00422449e+01] [ 1.75829629e-02 -3.02779835e-04 9.99845362e-01 5.27881728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.639254154 meters 0.018364925139810456 Centerline is valid? [True, True] Translation: X:787.81, Y:10.04, Z:5.28 [[ 9.99147227e-01 -3.78056529e-02 -1.65997220e-02 7.87806320e+02] [ 3.78051984e-02 9.99285070e-01 -3.41289216e-04 1.00380804e+01] [ 1.66007570e-02 -2.86557608e-04 9.99862157e-01 5.28137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.699254154 meters 0.01706992375692733 Centerline is valid? [True, True] Translation: X:787.86, Y:10.03, Z:5.28 [[ 9.99155666e-01 -3.78465242e-02 -1.59873516e-02 7.87864424e+02] [ 3.78460341e-02 9.99283527e-01 -3.33306327e-04 1.00347524e+01] [ 1.59885116e-02 -2.72032950e-04 9.99872139e-01 5.28300907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.759254154 meters 0.015661116275375944 Centerline is valid? [True, True] Translation: X:787.92, Y:10.03, Z:5.28 [[ 9.99141055e-01 -3.82769533e-02 -1.58753876e-02 7.87922495e+02] [ 3.82764513e-02 9.99267132e-01 -3.35579636e-04 1.00330301e+01] [ 1.58765980e-02 -2.72362107e-04 9.99873922e-01 5.28421357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.819254154 meters 0.018775559556343975 Centerline is valid? [True, True] Translation: X:787.98, Y:10.03, Z:5.28 [[ 9.99074293e-01 -3.95728557e-02 -1.68685038e-02 7.87980036e+02] [ 3.95724235e-02 9.99216640e-01 -3.59538300e-04 1.00290047e+01] [ 1.68695176e-02 -3.08322103e-04 9.99857652e-01 5.28275953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.879254154 meters 0.020814889857459166 Centerline is valid? [True, True] Translation: X:788.04, Y:10.03, Z:5.28 [[ 9.99044161e-01 -4.03607805e-02 -1.67860524e-02 7.88038531e+02] [ 4.03604118e-02 9.99185121e-01 -3.60872063e-04 1.00284888e+01] [ 1.67869388e-02 -3.16964858e-04 9.99859039e-01 5.28262843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.939254154 meters 0.01812893654154825 Centerline is valid? [True, True] Translation: X:788.10, Y:10.02, Z:5.29 [[ 9.98917266e-01 -4.39925062e-02 -1.51312955e-02 7.88097485e+02] [ 4.39925688e-02 9.99031804e-01 -3.28873947e-04 1.00237555e+01] [ 1.51311135e-02 -3.37146696e-04 9.99885461e-01 5.28652284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.999254154 meters 0.022110901544880067 Centerline is valid? [True, True] Translation: X:788.16, Y:10.02, Z:5.28 [[ 9.98684702e-01 -4.86945430e-02 -1.60532546e-02 7.88157323e+02] [ 4.86951870e-02 9.98813624e-01 -3.50992984e-04 1.00180539e+01] [ 1.60513008e-02 -4.31184911e-04 9.99871077e-01 5.28441810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.059254154 meters 0.019028753063964617 Centerline is valid? [True, True] Translation: X:788.22, Y:10.02, Z:5.29 [[ 9.98505085e-01 -5.23806233e-02 -1.56162069e-02 7.88217227e+02] [ 5.23816745e-02 9.98627079e-01 -3.41987577e-04 1.00173193e+01] [ 1.56126806e-02 -4.76526732e-04 9.99878001e-01 5.28794648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.119254154 meters 0.022140974558784728 Centerline is valid? [True, True] Translation: X:788.28, Y:10.01, Z:5.29 [[ 9.98112742e-01 -5.91504759e-02 -1.64977662e-02 7.88276714e+02] [ 5.91525624e-02 9.98248889e-01 -3.61900479e-04 1.00105332e+01] [ 1.64902834e-02 -6.14667669e-04 9.99863837e-01 5.28731265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.179254154 meters 0.026648777360285026 Centerline is valid? [True, True] Translation: X:788.34, Y:10.01, Z:5.28 [[ 9.97819837e-01 -6.34048917e-02 -1.83137276e-02 7.88336690e+02] [ 6.34081690e-02 9.97987596e-01 -4.02246626e-04 1.00089162e+01] [ 1.83023774e-02 -7.59870274e-04 9.99832209e-01 5.28477203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.239254154 meters 0.025465330247165515 Centerline is valid? [True, True] Translation: X:788.40, Y:10.01, Z:5.29 [[ 9.97654020e-01 -6.65263830e-02 -1.61460942e-02 7.88396215e+02] [ 6.65293305e-02 9.97784407e-01 -3.55103574e-04 1.00086888e+01] [ 1.61339447e-02 -7.19918327e-04 9.99869580e-01 5.28878973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.299254154 meters 0.024043067140358955 Centerline is valid? [True, True] Translation: X:788.45, Y:10.01, Z:5.29 [[ 9.97863486e-01 -6.35616891e-02 -1.51120884e-02 7.88454626e+02] [ 6.35639214e-02 9.97977714e-01 -3.33041320e-04 1.00110499e+01] [ 1.51026961e-02 -6.28253828e-04 9.99885750e-01 5.29176333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters 0.024819181646927747 Centerline is valid? [True, True] Translation: X:788.51, Y:10.02, Z:5.29 [[ 9.98122082e-01 -5.89992704e-02 -1.64740633e-02 7.88514760e+02] [ 5.90012935e-02 9.98257840e-01 -3.63620454e-04 1.00157456e+01] [ 1.64668162e-02 -6.09053440e-04 9.99864227e-01 5.28959020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.419254154 meters 0.01997994960096523 Centerline is valid? [True, True] Translation: X:788.57, Y:10.03, Z:5.29 [[ 9.98530679e-01 -5.14576869e-02 -1.69879446e-02 7.88574621e+02] [ 5.14587426e-02 9.98675051e-01 -3.75261661e-04 1.00272544e+01] [ 1.69847465e-02 -4.99467985e-04 9.99855624e-01 5.29145512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters 0.016721798366904787 Centerline is valid? [True, True] Translation: X:788.63, Y:10.03, Z:5.30 [[ 9.98830289e-01 -4.56725759e-02 -1.58766906e-02 7.88634281e+02] [ 4.56727604e-02 9.98956393e-01 -3.51158508e-04 1.00326549e+01] [ 1.58761598e-02 -3.74384529e-04 9.99873896e-01 5.29510734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.539254154 meters 0.01956011274576431 Centerline is valid? [True, True] Translation: X:788.69, Y:10.03, Z:5.29 [[ 9.98921438e-01 -4.33554642e-02 -1.66211853e-02 7.88692348e+02] [ 4.33553267e-02 9.99059648e-01 -3.68776265e-04 1.00325098e+01] [ 1.66215440e-02 -3.52238401e-04 9.99861791e-01 5.29248638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters 0.02102263575914611 Centerline is valid? [True, True] Translation: X:788.75, Y:10.04, Z:5.29 [[ 9.98910673e-01 -4.33912226e-02 -1.71659301e-02 7.88750455e+02] [ 4.33910230e-02 9.99058092e-01 -3.84250378e-04 1.00351452e+01] [ 1.71664345e-02 -3.61015465e-04 9.99852581e-01 5.29219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.659254154 meters 0.023047799832059138 Centerline is valid? [True, True] Translation: X:788.81, Y:10.04, Z:5.29 [[ 9.98804913e-01 -4.55239242e-02 -1.77853524e-02 7.88809011e+02] [ 4.55239705e-02 9.98963166e-01 -4.02473708e-04 1.00354544e+01] [ 1.77852341e-02 -4.07667141e-04 9.99841747e-01 5.29132425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters 0.01937991864407977 Centerline is valid? [True, True] Translation: X:788.87, Y:10.04, Z:5.30 [[ 9.98532344e-01 -5.14200400e-02 -1.70040184e-02 7.88868381e+02] [ 5.14208978e-02 9.98676996e-01 -3.87055790e-04 1.00374517e+01] [ 1.70014244e-02 -4.87874164e-04 9.99855346e-01 5.29651944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.779254154 meters 0.022663260080406224 Centerline is valid? [True, True] Translation: X:788.93, Y:10.04, Z:5.30 [[ 9.98209846e-01 -5.72845190e-02 -1.71926394e-02 7.88928449e+02] [ 5.72862520e-02 9.98357717e-01 -3.92073928e-04 1.00381335e+01] [ 1.71868640e-02 -5.93529818e-04 9.99852119e-01 5.29656561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters 0.024314760075930343 Centerline is valid? [True, True] Translation: X:788.99, Y:10.04, Z:5.30 [[ 9.98060390e-01 -6.00620069e-02 -1.63711240e-02 7.88987490e+02] [ 6.00639405e-02 9.98194462e-01 -3.73995089e-04 1.00384226e+01] [ 1.63640282e-02 -6.10044532e-04 9.99865914e-01 5.29745679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.899254154 meters 0.023856195892847803 Centerline is valid? [True, True] Translation: X:789.05, Y:10.04, Z:5.30 [[ 9.98034937e-01 -6.05582805e-02 -1.60922356e-02 7.89046834e+02] [ 6.05602017e-02 9.98164479e-01 -3.68342734e-04 1.00423781e+01] [ 1.60850041e-02 -6.06930115e-04 9.99870444e-01 5.29884149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.959254154 meters 0.023317153996887736 Centerline is valid? [True, True] Translation: X:789.11, Y:10.04, Z:5.30 [[ 9.98116342e-01 -5.90049326e-02 -1.67983975e-02 7.89105159e+02] [ 5.90067927e-02 9.98257507e-01 -3.85328602e-04 1.00439024e+01] [ 1.67918627e-02 -6.06616787e-04 9.99858823e-01 5.29928802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.019254154 meters 0.01972225981590325 Centerline is valid? [True, True] Translation: X:789.17, Y:10.05, Z:5.30 [[ 9.98439618e-01 -5.35042086e-02 -1.59884095e-02 7.89165224e+02] [ 5.35051805e-02 9.98567504e-01 -3.67269840e-04 1.00505963e+01] [ 1.59851566e-02 -4.88765976e-04 9.99872110e-01 5.30274488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.079254154 meters 0.022663926938607828 Centerline is valid? [True, True] Translation: X:789.22, Y:10.06, Z:5.30 [[ 9.98666229e-01 -4.87096459e-02 -1.71211442e-02 7.89224914e+02] [ 4.87100478e-02 9.98812883e-01 -3.93789680e-04 1.00566665e+01] [ 1.71200008e-02 -4.40707297e-04 9.99853345e-01 5.30134408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.139254154 meters 0.019811886350435372 Centerline is valid? [True, True] Translation: X:789.28, Y:10.07, Z:5.30 [[ 9.98964176e-01 -4.27192579e-02 -1.56729032e-02 7.89284835e+02] [ 4.27188515e-02 9.99087068e-01 -3.60862470e-04 1.00655758e+01] [ 1.56740107e-02 -3.09039746e-04 9.99877107e-01 5.30453546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.199254154 meters 0.018385377303011586 Centerline is valid? [True, True] Translation: X:789.34, Y:10.07, Z:5.31 [[ 9.99171076e-01 -3.75158643e-02 -1.58025741e-02 7.89344581e+02] [ 3.75147932e-02 9.99296006e-01 -3.64312365e-04 1.00726203e+01] [ 1.58051167e-02 -2.28819923e-04 9.99875065e-01 5.30533086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.259254154 meters 0.01685026976026884 Centerline is valid? [True, True] Translation: X:789.40, Y:10.08, Z:5.31 [[ 9.99254158e-01 -3.54104541e-02 -1.54021699e-02 7.89403756e+02] [ 3.54091507e-02 9.99372836e-01 -3.57405903e-04 1.00754707e+01] [ 1.54051661e-02 -1.88238422e-04 9.99881316e-01 5.30589293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.319254154 meters 0.015191138862984102 Centerline is valid? [True, True] Translation: X:789.46, Y:10.08, Z:5.31 [[ 9.99275004e-01 -3.53142198e-02 -1.42257744e-02 7.89462905e+02] [ 3.53130493e-02 9.99376244e-01 -3.33542247e-04 1.00769780e+01] [ 1.42286798e-02 -1.69055042e-04 9.99898753e-01 5.30827704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.379254154 meters 0.018143794596426115 Centerline is valid? [True, True] Translation: X:789.52, Y:10.08, Z:5.31 [[ 9.99196995e-01 -3.69606111e-02 -1.54686406e-02 7.89521920e+02] [ 3.69593599e-02 9.99316702e-01 -3.66850632e-04 1.00771127e+01] [ 1.54716299e-02 -2.05155004e-04 9.99880286e-01 5.30734152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.439254154 meters 0.017358871778113624 Centerline is valid? [True, True] Translation: X:789.58, Y:10.07, Z:5.31 [[ 9.99049184e-01 -4.10174152e-02 -1.47749612e-02 7.89580318e+02] [ 4.10166814e-02 9.99158400e-01 -3.52812773e-04 1.00744964e+01] [ 1.47769981e-02 -2.53542564e-04 9.99890782e-01 5.30885270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.499254154 meters 0.015801696295071516 Centerline is valid? [True, True] Translation: X:789.64, Y:10.07, Z:5.31 [[ 9.98874898e-01 -4.47633292e-02 -1.56582852e-02 7.89639596e+02] [ 4.47629470e-02 9.98997567e-01 -3.75062302e-04 1.00705528e+01] [ 1.56593778e-02 -3.26270670e-04 9.99877331e-01 5.31037759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.559254154 meters 0.0205684338731175 Centerline is valid? [True, True] Translation: X:789.70, Y:10.07, Z:5.31 [[ 9.98799268e-01 -4.52385979e-02 -1.88013573e-02 7.89698711e+02] [ 4.52381104e-02 9.98976131e-01 -4.51452531e-04 1.00677552e+01] [ 1.88025303e-02 -3.99627419e-04 9.99823137e-01 5.30606153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.619254154 meters 0.018289332722177608 Centerline is valid? [True, True] Translation: X:789.76, Y:10.07, Z:5.31 [[ 9.98760944e-01 -4.57340432e-02 -1.96207617e-02 7.89757002e+02] [ 4.57335771e-02 9.98953561e-01 -4.72693240e-04 1.00689783e+01] [ 1.96218479e-02 -4.25220070e-04 9.99807383e-01 5.30836543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.679254154 meters 0.019263326444727995 Centerline is valid? [True, True] Translation: X:789.81, Y:10.07, Z:5.31 [[ 9.98744525e-01 -4.57117261e-02 -2.04892948e-02 7.89814897e+02] [ 4.57111180e-02 9.98954576e-01 -4.98269031e-04 1.00688503e+01] [ 2.04906516e-02 -4.38945107e-04 9.99789948e-01 5.30867385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.739254154 meters 0.01631511518882697 Centerline is valid? [True, True] Translation: X:789.87, Y:10.07, Z:5.31 [[ 9.98789299e-01 -4.55812922e-02 -1.85008723e-02 7.89873867e+02] [ 4.55806849e-02 9.98960557e-01 -4.54721068e-04 1.00695674e+01] [ 1.85023685e-02 -3.89111895e-04 9.99828741e-01 5.31196484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.799254154 meters 0.02012802192852956 Centerline is valid? [True, True] Translation: X:789.93, Y:10.07, Z:5.31 [[ 9.98815092e-01 -4.40578502e-02 -2.06716673e-02 7.89931268e+02] [ 4.40566649e-02 9.99028902e-01 -5.12965481e-04 1.00687539e+01] [ 2.06741932e-02 -3.98367056e-04 9.99786187e-01 5.30918955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters 0.017441734966902073 Centerline is valid? [True, True] Translation: X:789.99, Y:10.07, Z:5.31 [[ 9.98965590e-01 -4.00572959e-02 -2.15212422e-02 7.89990480e+02] [ 4.00549770e-02 9.99197332e-01 -5.38979699e-04 1.00714211e+01] [ 2.15255579e-02 -3.23610688e-04 9.99768246e-01 5.31037715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.919254154 meters 0.019903349023163725 Centerline is valid? [True, True] Translation: X:790.05, Y:10.07, Z:5.31 [[ 9.99045558e-01 -3.69541164e-02 -2.32887742e-02 7.90049218e+02] [ 3.69504199e-02 9.99316926e-01 -5.89177023e-04 1.00739180e+01] [ 2.32946387e-02 -2.71915296e-04 9.99728606e-01 5.30998720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters 0.014028824088067183 Centerline is valid? [True, True] Translation: X:790.11, Y:10.07, Z:5.31 [[ 9.99219108e-01 -3.37750716e-02 -2.05041031e-02 7.90107005e+02] [ 3.37714806e-02 9.99429445e-01 -5.21473778e-04 1.00737584e+01] [ 2.05100172e-02 -1.71387356e-04 9.99789633e-01 5.31312604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.039254154 meters 0.018240673468530536 Centerline is valid? [True, True] Translation: X:790.17, Y:10.07, Z:5.31 [[ 9.99302574e-01 -3.04959275e-02 -2.15491217e-02 7.90165487e+02] [ 3.04911002e-02 9.99534886e-01 -5.52622220e-04 1.00735134e+01] [ 2.15559516e-02 -1.04819623e-04 9.99767638e-01 5.31176685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters 0.013590802365444436 Centerline is valid? [True, True] Translation: X:790.22, Y:10.07, Z:5.31 [[ 9.99340194e-01 -3.03050609e-02 -2.00195096e-02 7.90224006e+02] [ 3.03007583e-02 9.99540692e-01 -5.18289158e-04 1.00722194e+01] [ 2.00260213e-02 -8.86591352e-05 9.99799455e-01 5.31436526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.159254154 meters 0.019121933770730376 Centerline is valid? [True, True] Translation: X:790.28, Y:10.07, Z:5.31 [[ 9.99246429e-01 -3.14400522e-02 -2.27617470e-02 7.90283173e+02] [ 3.14346541e-02 9.99505632e-01 -5.95004418e-04 1.00675465e+01] [ 2.27692013e-02 -1.20951605e-04 9.99740741e-01 5.31130688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters 0.01944147771965657 Centerline is valid? [True, True] Translation: X:790.34, Y:10.06, Z:5.31 [[ 9.99066620e-01 -3.68479381e-02 -2.25414580e-02 7.90341097e+02] [ 3.68439537e-02 9.99320856e-01 -5.92186068e-04 1.00582757e+01] [ 2.25479700e-02 -2.38883103e-04 9.99745734e-01 5.31133180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.279254154 meters 0.01812422853005649 Centerline is valid? [True, True] Translation: X:790.40, Y:10.05, Z:5.32 [[ 9.98768851e-01 -4.50429406e-02 -2.07825626e-02 7.90400838e+02] [ 4.50413050e-02 9.98984976e-01 -5.47021647e-04 1.00508079e+01] [ 2.07861072e-02 -3.89725557e-04 9.99783870e-01 5.31605496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters 0.023696262366022028 Centerline is valid? [True, True] Translation: X:790.46, Y:10.04, Z:5.31 [[ 9.98507997e-01 -5.05325663e-02 -2.06939370e-02 7.90459685e+02] [ 5.05321016e-02 9.98722288e-01 -5.45699510e-04 1.00392631e+01] [ 2.06950718e-02 -5.00822804e-04 9.99785709e-01 5.31351982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.399254154 meters 0.021321374096895246 Centerline is valid? [True, True] Translation: X:790.52, Y:10.03, Z:5.32 [[ 9.98157341e-01 -5.74222761e-02 -1.96113487e-02 7.90520301e+02] [ 5.74231800e-02 9.98349794e-01 -5.17498887e-04 1.00341208e+01] [ 1.96087019e-02 -6.09600693e-04 9.99807545e-01 5.31787872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.459254154 meters 0.02212488219525676 Centerline is valid? [True, True] Translation: X:790.58, Y:10.03, Z:5.32 [[ 9.97941203e-01 -6.06774714e-02 -2.07749773e-02 7.90580011e+02] [ 6.06791791e-02 9.98157170e-01 -5.48745206e-04 1.00310802e+01] [ 2.07699890e-02 -7.12993115e-04 9.99784026e-01 5.31891098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.519254154 meters 0.02370443592250748 Centerline is valid? [True, True] Translation: X:790.64, Y:10.03, Z:5.32 [[ 9.97853656e-01 -6.18061541e-02 -2.16351804e-02 7.90638250e+02] [ 6.18082349e-02 9.98087879e-01 -5.73144900e-04 1.00260363e+01] [ 2.16292352e-02 -7.65317581e-04 9.99765768e-01 5.31839636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.579254154 meters 0.02457239331505445 Centerline is valid? [True, True] Translation: X:790.70, Y:10.02, Z:5.32 [[ 9.97875716e-01 -6.18660654e-02 -2.04118716e-02 7.90696209e+02] [ 6.18678923e-02 9.98084200e-01 -5.42578658e-04 1.00199633e+01] [ 2.04063337e-02 -7.21413406e-04 9.99791509e-01 5.31915366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.639254154 meters 0.02405863520420682 Centerline is valid? [True, True] Translation: X:790.76, Y:10.02, Z:5.32 [[ 9.98111520e-01 -5.82443920e-02 -1.95188449e-02 7.90755894e+02] [ 5.82453503e-02 9.98302163e-01 -5.19879897e-04 1.00218413e+01] [ 1.95159851e-02 -6.17983843e-04 9.99809354e-01 5.32115684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.699254154 meters 0.025611574900931737 Centerline is valid? [True, True] Translation: X:790.81, Y:10.02, Z:5.32 [[ 9.98329696e-01 -5.43492460e-02 -1.95953320e-02 7.90813802e+02] [ 5.43494353e-02 9.98521840e-01 -5.23277578e-04 1.00222054e+01] [ 1.95948067e-02 -5.42591686e-04 9.99807856e-01 5.31993556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.759254154 meters 0.022184450363982193 Centerline is valid? [True, True] Translation: X:790.87, Y:10.03, Z:5.32 [[ 9.98683465e-01 -4.73626065e-02 -1.97007615e-02 7.90873770e+02] [ 4.73614228e-02 9.98877679e-01 -5.26912615e-04 1.00298959e+01] [ 1.97036069e-02 -4.06837180e-04 9.99805782e-01 5.32263680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.819254154 meters 0.016767454975713032 Centerline is valid? [True, True] Translation: X:790.93, Y:10.03, Z:5.32 [[ 9.98865004e-01 -4.40204187e-02 -1.81908242e-02 7.90932465e+02] [ 4.40188384e-02 9.99030582e-01 -4.87461603e-04 1.00326778e+01] [ 1.81946480e-02 -3.13830617e-04 9.99834414e-01 5.32492573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.879254154 meters 0.018023751810668686 Centerline is valid? [True, True] Translation: X:790.99, Y:10.04, Z:5.33 [[ 9.98961597e-01 -4.14043821e-02 -1.90106477e-02 7.90991479e+02] [ 4.14021133e-02 9.99142433e-01 -5.13075903e-04 1.00351071e+01] [ 1.90155884e-02 -2.74537868e-04 9.99819150e-01 5.32630976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.939254154 meters 0.01729306598917597 Centerline is valid? [True, True] Translation: X:791.05, Y:10.04, Z:5.33 [[ 9.98939413e-01 -4.20778133e-02 -1.86950754e-02 7.91049550e+02] [ 4.20756384e-02 9.99114298e-01 -5.09834744e-04 1.00354569e+01] [ 1.86999698e-02 -2.77313210e-04 9.99825102e-01 5.32843916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.999254154 meters 0.01979038232240285 Centerline is valid? [True, True] Translation: X:791.11, Y:10.03, Z:5.33 [[ 9.98807924e-01 -4.48932505e-02 -1.91657921e-02 7.91107131e+02] [ 4.48914097e-02 9.98991734e-01 -5.26479434e-04 1.00318595e+01] [ 1.91701033e-02 -3.34527595e-04 9.99816181e-01 5.32717037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.059254154 meters 0.018655886511280542 Centerline is valid? [True, True] Translation: X:791.17, Y:10.03, Z:5.33 [[ 9.98646956e-01 -4.82932629e-02 -1.92877444e-02 7.91166082e+02] [ 4.82919524e-02 9.98833120e-01 -5.33977650e-04 1.00315268e+01] [ 1.92910255e-02 -3.98187679e-04 9.99813832e-01 5.32847740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.119254154 meters 0.017775114278071717 Centerline is valid? [True, True] Translation: X:791.23, Y:10.03, Z:5.33 [[ 9.98358557e-01 -5.40498673e-02 -1.89420885e-02 7.91226088e+02] [ 5.40495983e-02 9.98538113e-01 -5.26526423e-04 1.00282703e+01] [ 1.89428560e-02 -4.98150116e-04 9.99820444e-01 5.32998624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.179254154 meters 0.021692499121224958 Centerline is valid? [True, True] Translation: X:791.29, Y:10.03, Z:5.33 [[ 9.98109678e-01 -5.79695006e-02 -2.04109913e-02 7.91285467e+02] [ 5.79699865e-02 9.98318165e-01 -5.68362744e-04 1.00258074e+01] [ 2.04096111e-02 -6.15936538e-04 9.99791512e-01 5.32949504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.239254154 meters 0.021520569043512155 Centerline is valid? [True, True] Translation: X:791.34, Y:10.03, Z:5.33 [[ 9.98032599e-01 -5.95037020e-02 -1.97545171e-02 7.91344127e+02] [ 5.95043837e-02 9.98227891e-01 -5.53808341e-04 1.00274338e+01] [ 1.97524636e-02 -6.22761588e-04 9.99804707e-01 5.33115320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.299254154 meters 0.02480758486545247 Centerline is valid? [True, True] Translation: X:791.40, Y:10.03, Z:5.33 [[ 9.98094979e-01 -5.84201507e-02 -1.98368067e-02 7.91402012e+02] [ 5.84205661e-02 9.98291904e-01 -5.59048295e-04 1.00277252e+01] [ 1.98355832e-02 -6.00894181e-04 9.99803075e-01 5.33004919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters 0.02173694339757483 Centerline is valid? [True, True] Translation: X:791.46, Y:10.03, Z:5.33 [[ 9.98243859e-01 -5.59266462e-02 -1.95296635e-02 7.91460459e+02] [ 5.59265424e-02 9.98434734e-01 -5.51908051e-04 1.00322659e+01] [ 1.95299607e-02 -5.41287730e-04 9.99809126e-01 5.33034718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.419254154 meters 0.024056419020030674 Centerline is valid? [True, True] Translation: X:791.52, Y:10.03, Z:5.33 [[ 9.98298909e-01 -5.41956875e-02 -2.14968708e-02 7.91518724e+02] [ 5.41950713e-02 9.98530180e-01 -6.11672757e-04 1.00338398e+01] [ 2.14984243e-02 -5.54392201e-04 9.99768728e-01 5.32784876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters 0.01809241642637672 Centerline is valid? [True, True] Translation: X:791.58, Y:10.04, Z:5.33 [[ 9.98411177e-01 -5.28211327e-02 -1.96226568e-02 7.91577886e+02] [ 5.28202655e-02 9.98603877e-01 -5.62838084e-04 1.00413396e+01] [ 1.96249909e-02 -4.74530109e-04 9.99807299e-01 5.33233698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.539254154 meters 0.021315101651638083 Centerline is valid? [True, True] Translation: X:791.64, Y:10.05, Z:5.33 [[ 9.98447735e-01 -5.21570642e-02 -1.95387060e-02 7.91636605e+02] [ 5.21559831e-02 9.98638791e-01 -5.65253828e-04 1.00461883e+01] [ 1.95415917e-02 -4.54684016e-04 9.99808941e-01 5.33287260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters 0.018427568323424244 Centerline is valid? [True, True] Translation: X:791.69, Y:10.05, Z:5.33 [[ 9.98570114e-01 -5.07222895e-02 -1.68812541e-02 7.91694556e+02] [ 5.07212370e-02 9.98712729e-01 -4.90767971e-04 1.00492319e+01] [ 1.68844163e-02 -3.66171862e-04 9.99857381e-01 5.33448208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.659254154 meters 0.020989875697906252 Centerline is valid? [True, True] Translation: X:791.75, Y:10.05, Z:5.33 [[ 9.98578395e-01 -5.01981070e-02 -1.79259397e-02 7.91752548e+02] [ 5.01967647e-02 9.98739210e-01 -5.25104050e-04 1.00538035e+01] [ 1.79296981e-02 -3.75466618e-04 9.99839180e-01 5.33423827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters 0.015570323036957235 Centerline is valid? [True, True] Translation: X:791.81, Y:10.06, Z:5.34 [[ 9.98705779e-01 -4.79739041e-02 -1.68899546e-02 7.91811713e+02] [ 4.79723221e-02 9.98848541e-01 -4.99039570e-04 1.00595188e+01] [ 1.68944474e-02 -3.11856640e-04 9.99857230e-01 5.33601203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.779254154 meters 0.020967386562410484 Centerline is valid? [True, True] Translation: X:791.87, Y:10.06, Z:5.33 [[ 9.98784548e-01 -4.58776328e-02 -1.80186056e-02 7.91870601e+02] [ 4.58754076e-02 9.98947025e-01 -5.37031679e-04 1.00642106e+01] [ 1.80242702e-02 -2.90231934e-04 9.99837508e-01 5.33467912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters 0.019916756151081676 Centerline is valid? [True, True] Translation: X:791.93, Y:10.07, Z:5.34 [[ 9.98957833e-01 -4.31811141e-02 -1.47864554e-02 7.91927992e+02] [ 4.31792880e-02 9.99067241e-01 -4.42875898e-04 1.00682647e+01] [ 1.47917870e-02 -1.96054267e-04 9.99890576e-01 5.33722793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.899254154 meters 0.019020813456870157 Centerline is valid? [True, True] Translation: X:791.99, Y:10.07, Z:5.34 [[ 9.99052991e-01 -4.16261924e-02 -1.26641677e-02 7.91986920e+02] [ 4.16247020e-02 9.99133244e-01 -3.81358133e-04 1.00714133e+01] [ 1.26690654e-02 -1.46145222e-04 9.99919733e-01 5.33913816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.959254154 meters 0.01958965573522645 Centerline is valid? [True, True] Translation: X:792.05, Y:10.07, Z:5.34 [[ 9.99006963e-01 -4.23040038e-02 -1.39806911e-02 7.92045950e+02] [ 4.23022013e-02 9.99104771e-01 -4.24758759e-04 1.00726662e+01] [ 1.39861442e-02 -1.67077050e-04 9.99902175e-01 5.33758811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.019254154 meters 0.020582971160743573 Centerline is valid? [True, True] Translation: X:792.10, Y:10.07, Z:5.34 [[ 9.98919064e-01 -4.41124917e-02 -1.46558026e-02 7.92104403e+02] [ 4.41106492e-02 9.99026551e-01 -4.49109855e-04 1.00733441e+01] [ 1.46613473e-02 -1.97852573e-04 9.99892497e-01 5.33696584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.079254154 meters 0.02088095830066337 Centerline is valid? [True, True] Translation: X:792.16, Y:10.07, Z:5.34 [[ 9.98775327e-01 -4.78174747e-02 -1.27018198e-02 7.92163324e+02] [ 4.78163520e-02 9.98856067e-01 -3.92240371e-04 1.00722526e+01] [ 1.27060457e-02 -2.15594680e-04 9.99919252e-01 5.33911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.139254154 meters 0.01988313877090988 Centerline is valid? [True, True] Translation: X:792.22, Y:10.07, Z:5.34 [[ 9.98671943e-01 -5.05298255e-02 -1.00541987e-02 7.92222096e+02] [ 5.05292375e-02 9.98722533e-01 -3.12665300e-04 1.00713233e+01] [ 1.00571537e-02 -1.95780928e-04 9.99949406e-01 5.34232516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.199254154 meters 0.02303358809328233 Centerline is valid? [True, True] Translation: X:792.28, Y:10.07, Z:5.34 [[ 9.98507246e-01 -5.39906204e-02 -8.26387661e-03 7.92280295e+02] [ 5.39903292e-02 9.98541425e-01 -2.58485427e-04 1.00691487e+01] [ 8.26577892e-03 -1.88069847e-04 9.99965820e-01 5.34204783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.259254154 meters 0.02174137149004594 Centerline is valid? [True, True] Translation: X:792.34, Y:10.07, Z:5.34 [[ 9.98349764e-01 -5.66745677e-02 -9.25965971e-03 7.92339469e+02] [ 5.66743113e-02 9.98392677e-01 -2.90297586e-04 1.00695018e+01] [ 9.26122894e-03 -2.34966310e-04 9.99957086e-01 5.34130370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.319254154 meters 0.023449452325792368 Centerline is valid? [True, True] Translation: X:792.40, Y:10.07, Z:5.34 [[ 9.98123880e-01 -6.02774030e-02 -1.07403180e-02 7.92397936e+02] [ 6.02772590e-02 9.98181616e-01 -3.37405332e-04 1.00674722e+01] [ 1.07411258e-02 -3.10624608e-04 9.99942264e-01 5.33982508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.379254154 meters 0.02243017886573095 Centerline is valid? [True, True] Translation: X:792.46, Y:10.07, Z:5.34 [[ 9.98145719e-01 -6.01950953e-02 -9.03736243e-03 7.92456386e+02] [ 6.01949810e-02 9.98186597e-01 -2.84903221e-04 1.00742517e+01] [ 9.03812383e-03 -2.59628929e-04 9.99959122e-01 5.34135373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.439254154 meters 0.020072379447893 Centerline is valid? [True, True] Translation: X:792.52, Y:10.08, Z:5.34 [[ 9.98282235e-01 -5.82107599e-02 -6.63984882e-03 7.92515869e+02] [ 5.82106458e-02 9.98304301e-01 -2.10601219e-04 1.00791256e+01] [ 6.64084889e-03 -1.76270433e-04 9.99977934e-01 5.34362242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.499254154 meters 0.02258519695214285 Centerline is valid? [True, True] Translation: X:792.58, Y:10.08, Z:5.34 [[ 9.98515046e-01 -5.41214433e-02 -6.21060553e-03 7.92575217e+02] [ 5.41212630e-02 9.98534351e-01 -1.97211934e-04 1.00832263e+01] [ 6.21217636e-03 -1.39206732e-04 9.99980695e-01 5.34134271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.559254154 meters 0.020885371492333337 Centerline is valid? [True, True] Translation: X:792.63, Y:10.09, Z:5.34 [[ 9.98602975e-01 -5.21613317e-02 -8.44356755e-03 7.92634753e+02] [ 5.21609265e-02 9.98638656e-01 -2.68347637e-04 1.00877686e+01] [ 8.44607032e-03 -1.72451558e-04 9.99964316e-01 5.33932450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.619254154 meters 0.019734964553718395 Centerline is valid? [True, True] Translation: X:792.69, Y:10.09, Z:5.34 [[ 9.98522868e-01 -5.37506332e-02 -7.93424759e-03 7.92694283e+02] [ 5.37503234e-02 9.98554375e-01 -2.52432660e-04 1.00903200e+01] [ 7.93634605e-03 -1.74408591e-04 9.99968492e-01 5.33993379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.679254154 meters 0.022906090339533256 Centerline is valid? [True, True] Translation: X:792.75, Y:10.09, Z:5.34 [[ 9.98348014e-01 -5.71521320e-02 -5.90572241e-03 7.92754265e+02] [ 5.71520187e-02 9.98365470e-01 -1.88068325e-04 1.00912651e+01] [ 5.90681784e-03 -1.49766320e-04 9.99982543e-01 5.34136648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.739254154 meters 0.02206751064025005 Centerline is valid? [True, True] Translation: X:792.81, Y:10.09, Z:5.34 [[ 9.98233417e-01 -5.92468641e-02 -4.45580589e-03 7.92813595e+02] [ 5.92468205e-02 9.98243354e-01 -1.41905748e-04 1.00919805e+01] [ 4.45638608e-03 -1.22337272e-04 9.99990063e-01 5.34330093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.799254154 meters 0.025006441540908912 Centerline is valid? [True, True] Translation: X:792.87, Y:10.09, Z:5.34 [[ 9.98068628e-01 -6.19821371e-02 -4.15066930e-03 7.92873601e+02] [ 6.19821224e-02 9.98077251e-01 -1.32300145e-04 1.00923005e+01] [ 4.15088885e-03 -1.25222669e-04 9.99991377e-01 5.34197292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters 0.025366870863814762 Centerline is valid? [True, True] Translation: X:792.93, Y:10.09, Z:5.34 [[ 9.97931392e-01 -6.41195222e-02 -4.65003614e-03 7.92933869e+02] [ 6.41195269e-02 9.97942215e-01 -1.48217169e-04 1.00935830e+01] [ 4.64997098e-03 -1.50247552e-04 9.99989178e-01 5.34089714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.919254154 meters 0.024395645669546516 Centerline is valid? [True, True] Translation: X:792.99, Y:10.10, Z:5.34 [[ 9.97608589e-01 -6.89317639e-02 -5.05123702e-03 7.92993719e+02] [ 6.89318312e-02 9.97621359e-01 -1.60975329e-04 1.00978721e+01] [ 5.05031825e-03 -1.87600646e-04 9.99987229e-01 5.34087483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters 0.024790951285558516 Centerline is valid? [True, True] Translation: X:793.05, Y:10.10, Z:5.34 [[ 9.97399928e-01 -7.19318669e-02 -4.38077350e-03 7.93053844e+02] [ 7.19319461e-02 9.97409533e-01 -1.39671351e-04 1.01004733e+01] [ 4.37947207e-03 -1.75809368e-04 9.99990395e-01 5.34241434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.039254154 meters 0.024844291517585507 Centerline is valid? [True, True] Translation: X:793.11, Y:10.10, Z:5.34 [[ 9.97243443e-01 -7.41396734e-02 -2.97055734e-03 7.93114381e+02] [ 7.41397194e-02 9.97247859e-01 -9.47922818e-05 1.01045860e+01] [ 2.96940982e-03 -1.25705306e-04 9.99995583e-01 5.34479216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters 0.024789493675481104 Centerline is valid? [True, True] Translation: X:793.18, Y:10.11, Z:5.34 [[ 9.97411845e-01 -7.18062052e-02 -3.67158160e-03 7.93175475e+02] [ 7.18062592e-02 9.97418592e-01 -1.17274839e-04 1.01139358e+01] [ 3.67052481e-03 -1.46671226e-04 9.99993253e-01 5.34259415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.159254154 meters 0.0227030972240184 Centerline is valid? [True, True] Translation: X:793.24, Y:10.12, Z:5.34 [[ 9.97644038e-01 -6.84518561e-02 -4.55157672e-03 7.93235619e+02] [ 6.84519057e-02 9.97654407e-01 -1.45074998e-04 1.01204231e+01] [ 4.55083122e-03 -1.66830893e-04 9.99989631e-01 5.34301923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters 0.022633793560179097 Centerline is valid? [True, True] Translation: X:793.30, Y:10.13, Z:5.34 [[ 9.98120390e-01 -6.10718218e-02 -5.09119671e-03 7.93295789e+02] [ 6.10717877e-02 9.98133363e-01 -1.62297317e-04 1.01319824e+01] [ 5.09160508e-03 -1.48936223e-04 9.99987027e-01 5.34212911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.279254154 meters 0.02199263311657453 Centerline is valid? [True, True] Translation: X:793.36, Y:10.14, Z:5.34 [[ 9.98579819e-01 -5.31039476e-02 -4.27980649e-03 7.93355456e+02] [ 5.31038507e-02 9.98588986e-01 -1.36352608e-04 1.01430899e+01] [ 4.28100849e-03 -9.11152425e-05 9.99990832e-01 5.34315998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters 0.019838029985433 Centerline is valid? [True, True] Translation: X:793.42, Y:10.15, Z:5.34 [[ 9.98905993e-01 -4.66085878e-02 -3.80225220e-03 7.93415952e+02] [ 4.66084638e-02 9.98913228e-01 -1.21237843e-04 1.01528162e+01] [ 3.80377074e-03 -5.61119259e-05 9.99992764e-01 5.34378213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.399254154 meters 0.01814658347852295 Centerline is valid? [True, True] Translation: X:793.48, Y:10.16, Z:5.34 [[ 9.99073973e-01 -4.28223544e-02 -4.17653773e-03 7.93477253e+02] [ 4.28221726e-02 9.99082701e-01 -1.33005190e-04 1.01596108e+01] [ 4.17840220e-03 -4.59663961e-05 9.99991269e-01 5.34311843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.459254154 meters 0.017961538803169884 Centerline is valid? [True, True] Translation: X:793.54, Y:10.17, Z:5.34 [[ 9.99331364e-01 -3.60256950e-02 -6.24289697e-03 7.93538250e+02] [ 3.60251580e-02 9.99350864e-01 -1.98485598e-04 1.01693012e+01] [ 6.24599506e-03 -2.65484662e-05 9.99980493e-01 5.34007483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.519254154 meters 0.016889746589656997 Centerline is valid? [True, True] Translation: X:793.60, Y:10.17, Z:5.34 [[ 9.99507193e-01 -3.06822284e-02 -6.63108900e-03 7.93598907e+02] [ 3.06815067e-02 9.99529190e-01 -2.10565517e-04 1.01749696e+01] [ 6.63442763e-03 7.00994754e-06 9.99977992e-01 5.34074700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.579254154 meters 0.01797449828853293 Centerline is valid? [True, True] Translation: X:793.66, Y:10.18, Z:5.34 [[ 9.99591418e-01 -2.78679185e-02 -6.35427313e-03 7.93659779e+02] [ 2.78671996e-02 9.99611614e-01 -2.01671569e-04 1.01783213e+01] [ 6.35742538e-03 2.45133722e-05 9.99979791e-01 5.34123493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.639254154 meters 0.017991189290129495 Centerline is valid? [True, True] Translation: X:793.72, Y:10.18, Z:5.34 [[ 9.99796717e-01 -1.97455251e-02 -4.07913039e-03 7.93719939e+02] [ 1.97451618e-02 9.99805037e-01 -1.29305909e-04 1.01838313e+01] [ 4.08088832e-03 4.87365335e-05 9.99991672e-01 5.34360430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.699254154 meters 0.019093323093265765 Centerline is valid? [True, True] Translation: X:793.78, Y:10.18, Z:5.34 [[ 9.99887307e-01 -1.46888754e-02 -3.10017740e-03 7.93781064e+02] [ 1.46886409e-02 9.99892111e-01 -9.84043470e-05 1.01845602e+01] [ 3.10128837e-03 5.28558650e-05 9.99995190e-01 5.34412023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.759254154 meters 0.02055750438571526 Centerline is valid? [True, True] Translation: X:793.84, Y:10.18, Z:5.34 [[ 9.99890545e-01 -1.42130893e-02 -4.10927250e-03 7.93841869e+02] [ 1.42126746e-02 9.99898986e-01 -1.30112591e-04 1.01822918e+01] [ 4.11070670e-03 7.16945963e-05 9.99991548e-01 5.34218704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.819254154 meters 0.020359574674204805 Centerline is valid? [True, True] Translation: X:793.90, Y:10.17, Z:5.34 [[ 9.99848431e-01 -1.66214686e-02 -5.18085644e-03 7.93902727e+02] [ 1.66208416e-02 9.99861851e-01 -1.64042334e-04 1.01736722e+01] [ 5.18286733e-03 7.79072762e-05 9.99986566e-01 5.34153757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.879254154 meters 0.018263106643393184 Centerline is valid? [True, True] Translation: X:793.96, Y:10.16, Z:5.34 [[ 9.99789918e-01 -1.95724862e-02 -6.08584282e-03 7.93962736e+02] [ 1.95716759e-02 9.99808438e-01 -1.92675094e-04 1.01648695e+01] [ 6.08844814e-03 7.35244733e-05 9.99981463e-01 5.34225821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.939254154 meters 0.017556311725146687 Centerline is valid? [True, True] Translation: X:794.02, Y:10.16, Z:5.34 [[ 9.99759704e-01 -2.07366569e-02 -7.10818263e-03 7.94022899e+02] [ 2.07355789e-02 9.99784969e-01 -2.25332766e-04 1.01559424e+01] [ 7.11132680e-03 7.78863375e-05 9.99974711e-01 5.34195985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.999254154 meters 0.016599185050600655 Centerline is valid? [True, True] Translation: X:794.08, Y:10.15, Z:5.34 [[ 9.99773734e-01 -2.01746594e-02 -6.74272217e-03 7.94081799e+02] [ 2.01736751e-02 9.99796468e-01 -2.13979722e-04 1.01506408e+01] [ 6.74566678e-03 7.79058195e-05 9.99977245e-01 5.34293282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.059254154 meters 0.019552656398359063 Centerline is valid? [True, True] Translation: X:794.14, Y:10.14, Z:5.34 [[ 9.99814608e-01 -1.74580610e-02 -8.12197716e-03 7.94140516e+02] [ 1.74565262e-02 9.99847589e-01 -2.59831050e-04 1.01442434e+01] [ 8.12527543e-03 1.18001373e-04 9.99966982e-01 5.34072657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.119254154 meters 0.017384277205465128 Centerline is valid? [True, True] Translation: X:794.20, Y:10.14, Z:5.34 [[ 9.99840521e-01 -1.60669034e-02 -7.79662394e-03 7.94199057e+02] [ 1.60654421e-02 9.99870911e-01 -2.50023040e-04 1.01402239e+01] [ 7.79963458e-03 1.24726956e-04 9.99969575e-01 5.34203038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.179254154 meters 0.019918108221282597 Centerline is valid? [True, True] Translation: X:794.26, Y:10.13, Z:5.34 [[ 9.99864276e-01 -1.39507224e-02 -8.76398236e-03 7.94257889e+02] [ 1.39487741e-02 9.99902671e-01 -2.83394478e-04 1.01301846e+01] [ 8.76708293e-03 1.61109205e-04 9.99961555e-01 5.34212428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.239254154 meters 0.019451707204051528 Centerline is valid? [True, True] Translation: X:794.32, Y:10.12, Z:5.34 [[ 9.99901007e-01 -1.04769975e-02 -9.39191785e-03 7.94316851e+02] [ 1.04745833e-02 9.99945093e-01 -3.06202292e-04 1.01226411e+01] [ 9.39461025e-03 2.07795554e-04 9.99955848e-01 5.34358479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.299254154 meters 0.021725832222596074 Centerline is valid? [True, True] Translation: X:794.38, Y:10.12, Z:5.34 [[ 9.99935117e-01 -7.16544098e-03 -8.85539749e-03 7.94375792e+02] [ 7.16314590e-03 9.99974302e-01 -2.90863371e-04 1.01168914e+01] [ 8.85725409e-03 2.27411995e-04 9.99960748e-01 5.34435620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters 0.022734448716570467 Centerline is valid? [True, True] Translation: X:794.43, Y:10.11, Z:5.35 [[ 9.99961899e-01 -3.74709652e-03 -7.88409565e-03 7.94434514e+02] [ 3.74515848e-03 9.99992953e-01 -2.60565736e-04 1.01113489e+01] [ 7.88501645e-03 2.31028620e-04 9.99968886e-01 5.34651570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.419254154 meters 0.02068017674481954 Centerline is valid? [True, True] Translation: X:794.49, Y:10.10, Z:5.35 [[ 9.99961239e-01 -2.01067251e-03 -8.57195383e-03 7.94493128e+02] [ 2.00831295e-03 9.99997943e-01 -2.83863717e-04 1.01006867e+01] [ 8.57250696e-03 2.66637548e-04 9.99963220e-01 5.34840032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters 0.02313925448028613 Centerline is valid? [True, True] Translation: X:794.55, Y:10.08, Z:5.35 [[ 9.99947077e-01 -4.45102611e-03 -9.27536932e-03 7.94552497e+02] [ 4.44836053e-03 9.99990059e-01 -3.07993838e-04 1.00824373e+01] [ 9.27664800e-03 2.66717351e-04 9.99956935e-01 5.34754407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.539254154 meters 0.022022037102621163 Centerline is valid? [True, True] Translation: X:794.61, Y:10.06, Z:5.35 [[ 9.99904057e-01 -1.10161608e-02 -8.39772917e-03 7.94612758e+02] [ 1.10142030e-02 9.99939303e-01 -2.79351532e-04 1.00636722e+01] [ 8.40029684e-03 1.86830436e-04 9.99964699e-01 5.34897891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters 0.019400377915609522 Centerline is valid? [True, True] Translation: X:794.67, Y:10.03, Z:5.35 [[ 9.99593614e-01 -2.57819594e-02 -1.21613397e-02 7.94672619e+02] [ 2.57789390e-02 9.99667586e-01 -4.05085464e-04 1.00326508e+01] [ 1.21677410e-02 9.14144091e-05 9.99925966e-01 5.34659325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.659254154 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:794.73, Y:10.03, Z:5.35 [[ 9.99485811e-01 -2.94968623e-02 -1.25717368e-02 7.94731437e+02] [ 2.94939075e-02 9.99564872e-01 -4.20413899e-04 1.00289088e+01] [ 1.25786674e-02 4.94080843e-05 9.99920884e-01 5.34620411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:794.79, Y:10.03, Z:5.35 [[ 9.99477643e-01 -2.97723930e-02 -1.25716280e-02 7.94788903e+02] [ 2.97694193e-02 9.99556703e-01 -4.23647961e-04 1.00309358e+01] [ 1.25786681e-02 4.91765988e-05 9.99920884e-01 5.34658993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.779254154 meters 0.01590900660887126 Centerline is valid? [True, True] Translation: X:794.85, Y:10.02, Z:5.35 [[ 9.99229375e-01 -3.73860489e-02 -1.19557301e-02 7.94847150e+02] [ 3.73838659e-02 9.99300896e-01 -4.06100667e-04 1.00217440e+01] [ 1.19625543e-02 -4.11636936e-05 9.99928445e-01 5.35041160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters 0.0253130362107468 Centerline is valid? [True, True] Translation: X:794.91, Y:9.98, Z:5.35 [[ 9.97369426e-01 -7.16734305e-02 -1.08234750e-02 7.94908154e+02] [ 7.16736363e-02 9.97428069e-01 -3.69378461e-04 9.98255499e+00] [ 1.08221124e-02 -4.07351025e-04 9.99941356e-01 5.35366322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.899254154 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:794.97, Y:9.99, Z:5.36 [[ 9.97189659e-01 -7.41839854e-02 -1.04651837e-02 7.94967452e+02] [ 7.41843133e-02 9.97244484e-01 -3.57382218e-04 9.98885023e+00] [ 1.04628588e-02 -4.19974617e-04 9.99945175e-01 5.35512695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.959254154 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:795.02, Y:9.99, Z:5.36 [[ 9.97168508e-01 -7.44677610e-02 -1.04651390e-02 7.95024976e+02] [ 7.44680909e-02 9.97223332e-01 -3.58688187e-04 9.99089806e+00] [ 1.04627914e-02 -4.21646354e-04 9.99945175e-01 5.35551324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.019254154 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:795.08, Y:9.99, Z:5.36 [[ 9.97147276e-01 -7.47515419e-02 -1.04650362e-02 7.95082499e+02] [ 7.47518562e-02 9.97202100e-01 -3.61666271e-04 9.99296299e+00] [ 1.04627912e-02 -4.21646343e-04 9.99945175e-01 5.35589934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.079254154 meters 0.02487657598119329 Centerline is valid? [True, True] Translation: X:795.14, Y:9.99, Z:5.35 [[ 9.96934348e-01 -7.75486985e-02 -1.03973210e-02 7.95142001e+02] [ 7.75491394e-02 9.96988466e-01 -3.61356389e-04 9.99380877e+00] [ 1.03940318e-02 -4.46054697e-04 9.99945881e-01 5.35399644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.139254154 meters 0.03612116810045633 Centerline is valid? [True, True] Translation: X:795.20, Y:9.98, Z:5.35 [[ 9.96590692e-01 -8.19180407e-02 -9.81977883e-03 7.95201410e+02] [ 8.19186420e-02 9.96638961e-01 -3.41649143e-04 9.98250785e+00] [ 9.81476140e-03 -4.63938591e-04 9.99951726e-01 5.35366124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.199254154 meters 0.02785093877219268 Centerline is valid? [True, True] Translation: X:795.26, Y:10.00, Z:5.36 [[ 9.96308276e-01 -8.53747507e-02 -8.99836786e-03 7.95259079e+02] [ 8.53753919e-02 9.96348806e-01 -3.13550134e-04 1.00044577e+01] [ 8.99228234e-03 -4.55846589e-04 9.99959465e-01 5.35514263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.259254154 meters 0.02463775266891911 Centerline is valid? [True, True] Translation: X:795.32, Y:10.02, Z:5.36 [[ 9.96461696e-01 -8.35505140e-02 -9.13236598e-03 7.95318024e+02] [ 8.35510872e-02 9.96503444e-01 -3.19407037e-04 1.00171150e+01] [ 9.12712077e-03 -4.44742229e-04 9.99958248e-01 5.35544830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.319254154 meters 0.025965826538109374 Centerline is valid? [True, True] Translation: X:795.38, Y:10.03, Z:5.35 [[ 9.96981006e-01 -7.70700764e-02 -9.43804488e-03 7.95376937e+02] [ 7.70703825e-02 9.97025600e-01 -3.31810734e-04 1.00320335e+01] [ 9.43554503e-03 -3.96584729e-04 9.99955406e-01 5.35314413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.379254154 meters 0.02268303866238211 Centerline is valid? [True, True] Translation: X:795.44, Y:10.05, Z:5.36 [[ 9.97331900e-01 -7.25085660e-02 -8.46102387e-03 7.95436857e+02] [ 7.25086466e-02 9.97367739e-01 -2.97621551e-04 1.00454420e+01] [ 8.46033236e-03 -3.16669923e-04 9.99964161e-01 5.35540261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.439254154 meters 0.02247245277038012 Centerline is valid? [True, True] Translation: X:795.50, Y:10.06, Z:5.36 [[ 9.97789680e-01 -6.60408323e-02 -7.37314311e-03 7.95496714e+02] [ 6.60407163e-02 9.97816895e-01 -2.59472936e-04 1.00617827e+01] [ 7.37418257e-03 -2.28028235e-04 9.99972784e-01 5.35646834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.499254154 meters 0.019804085935793362 Centerline is valid? [True, True] Translation: X:795.56, Y:10.07, Z:5.36 [[ 9.97916725e-01 -6.42226534e-02 -6.13680908e-03 7.95555413e+02] [ 6.42225389e-02 9.97935579e-01 -2.15921547e-04 1.00684146e+01] [ 6.13800717e-03 -1.78649737e-04 9.99981146e-01 5.35966733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.559254154 meters 0.01692158236668415 Centerline is valid? [True, True] Translation: X:795.62, Y:10.09, Z:5.36 [[ 9.98321470e-01 -5.76769068e-02 -5.25527899e-03 7.95615055e+02] [ 5.76767248e-02 9.98335295e-01 -1.86310050e-04 1.00867240e+01] [ 5.25727629e-03 -1.17109958e-04 9.99986174e-01 5.36114508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.619254154 meters 0.020146849533833527 Centerline is valid? [True, True] Translation: X:795.67, Y:10.10, Z:5.36 [[ 9.98647895e-01 -5.13517902e-02 -8.08549609e-03 7.95673113e+02] [ 5.13511500e-02 9.98680618e-01 -2.86904202e-04 1.01021851e+01] [ 8.08956128e-03 -1.28683245e-04 9.99967271e-01 5.35562910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.679254154 meters 0.018039777354755877 Centerline is valid? [True, True] Translation: X:795.73, Y:10.11, Z:5.36 [[ 9.98835488e-01 -4.75340837e-02 -8.25700773e-03 7.95731884e+02] [ 4.75332793e-02 9.98869612e-01 -2.93749649e-04 1.01148743e+01] [ 8.26163723e-03 -9.90750799e-05 9.99965867e-01 5.35616817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.739254154 meters 0.016377650765743636 Centerline is valid? [True, True] Translation: X:795.79, Y:10.13, Z:5.36 [[ 9.99123199e-01 -4.13720450e-02 -6.41778728e-03 7.95790191e+02] [ 4.13714238e-02 9.99143810e-01 -2.29582410e-04 1.01287370e+01] [ 6.42179073e-03 -3.61318854e-05 9.99979379e-01 5.35753089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.799254154 meters 0.013841986018682997 Centerline is valid? [True, True] Translation: X:795.85, Y:10.14, Z:5.36 [[ 9.99290169e-01 -3.72166614e-02 -5.83764726e-03 7.95849121e+02] [ 3.72160686e-02 9.99307220e-01 -2.10177504e-04 1.01378107e+01] [ 5.84142516e-03 -7.22596762e-06 9.99982939e-01 5.36068827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters 0.015872009102421605 Centerline is valid? [True, True] Translation: X:795.91, Y:10.15, Z:5.36 [[ 9.99522682e-01 -3.00645951e-02 -7.10836766e-03 7.95906907e+02] [ 3.00635201e-02 9.99547957e-01 -2.58052668e-04 1.01487444e+01] [ 7.11291262e-03 4.42269399e-05 9.99974702e-01 5.35714088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.919254154 meters 0.016599382302020377 Centerline is valid? [True, True] Translation: X:795.97, Y:10.16, Z:5.36 [[ 9.99708905e-01 -2.26418553e-02 -8.33381019e-03 7.95965353e+02] [ 2.26401105e-02 9.99743634e-01 -3.03649326e-04 1.01571558e+01] [ 8.33854887e-03 1.14882551e-04 9.99965227e-01 5.35664929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters 0.019412237250094812 Centerline is valid? [True, True] Translation: X:796.02, Y:10.16, Z:5.36 [[ 9.99804310e-01 -1.76900496e-02 -8.85458038e-03 7.96024312e+02] [ 1.76878691e-02 9.99843505e-01 -3.24516526e-04 1.01627679e+01] [ 8.85893539e-03 1.67834363e-04 9.99960745e-01 5.35575097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.039254154 meters 0.02110310895259559 Centerline is valid? [True, True] Translation: X:796.08, Y:10.17, Z:5.36 [[ 9.99914528e-01 -9.90749886e-03 -8.53102513e-03 7.96084667e+02] [ 9.90518871e-03 9.99950893e-01 -3.13003717e-04 1.01672025e+01] [ 8.53370728e-03 2.28475551e-04 9.99963561e-01 5.35666506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters 0.019989261273080455 Centerline is valid? [True, True] Translation: X:796.14, Y:10.17, Z:5.36 [[ 9.99970482e-01 -2.94747000e-03 -7.09560419e-03 7.96144844e+02] [ 2.94569676e-03 9.99995628e-01 -2.60345192e-04 1.01694124e+01] [ 7.09634053e-03 2.39436009e-04 9.99974792e-01 5.35959093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.159254154 meters 0.02499889070857141 Centerline is valid? [True, True] Translation: X:796.20, Y:10.17, Z:5.36 [[ 9.99964443e-01 1.36989685e-03 -8.32079642e-03 7.96203381e+02] [-1.37248655e-03 9.99999011e-01 -3.05530767e-04 1.01721472e+01] [ 8.32036964e-03 3.16940084e-04 9.99965335e-01 5.35620277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters 0.026446737193327685 Centerline is valid? [True, True] Translation: X:796.26, Y:10.17, Z:5.36 [[ 9.99933326e-01 6.71253477e-03 -9.39598339e-03 7.96263629e+02] [-6.71607680e-03 9.99977387e-01 -3.45469988e-04 1.01676949e+01] [ 9.39345194e-03 4.08551101e-04 9.99955797e-01 5.35520378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.279254154 meters 0.027609457416488462 Centerline is valid? [True, True] Translation: X:796.32, Y:10.16, Z:5.36 [[ 9.99916600e-01 9.97831083e-03 -8.19920168e-03 7.96323556e+02] [-9.98111885e-03 9.99950142e-01 -3.01626357e-04 1.01609453e+01] [ 8.19578317e-03 3.83438408e-04 9.99966340e-01 5.35592261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.339254154 meters 0.028497581870455417 Centerline is valid? [True, True] Translation: X:796.38, Y:10.15, Z:5.36 [[ 9.99917705e-01 1.08665207e-02 -6.81924146e-03 7.96383108e+02] [-1.08684850e-02 9.99940905e-01 -2.51071626e-04 1.01517325e+01] [ 6.81611020e-03 3.25165788e-04 9.99976717e-01 5.35667944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.399254154 meters 0.02656579628051725 Centerline is valid? [True, True] Translation: X:796.44, Y:10.14, Z:5.36 [[ 9.99925142e-01 1.03191250e-02 -6.57463189e-03 7.96442787e+02] [-1.03209422e-02 9.99946708e-01 -2.42526532e-04 1.01436578e+01] [ 6.57177886e-03 3.10364773e-04 9.99978357e-01 5.35771346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.459254154 meters 0.028221389654434062 Centerline is valid? [True, True] Translation: X:796.50, Y:10.13, Z:5.35 [[ 9.99938720e-01 7.58264037e-03 -8.06592782e-03 7.96503386e+02] [-7.58529047e-03 9.99971187e-01 -2.98013516e-04 1.01306489e+01] [ 8.06343569e-03 3.59177659e-04 9.99967425e-01 5.35496945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.519254154 meters 0.025665063115097208 Centerline is valid? [True, True] Translation: X:796.56, Y:10.11, Z:5.36 [[ 9.99959280e-01 5.07311731e-03 -7.46333656e-03 7.96563359e+02] [-5.07531760e-03 9.99987082e-01 -2.75903820e-04 1.01145425e+01] [ 7.46184046e-03 3.13771389e-04 9.99972111e-01 5.35549443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.579254154 meters 0.022342502440401934 Centerline is valid? [True, True] Translation: X:796.62, Y:10.11, Z:5.36 [[ 9.99973563e-01 4.95303955e-03 -5.32364978e-03 7.96622135e+02] [-4.95415823e-03 9.99987709e-01 -1.96968741e-04 1.01069264e+01] [ 5.32260875e-03 2.23337737e-04 9.99985810e-01 5.36086734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.639254154 meters 0.02410669923216727 Centerline is valid? [True, True] Translation: X:796.68, Y:10.10, Z:5.36 [[ 9.99969326e-01 5.99150147e-03 -5.04463514e-03 7.96681029e+02] [-5.99252106e-03 9.99982027e-01 -1.87023823e-04 1.00963249e+01] [ 5.04342392e-03 2.17248168e-04 9.99987258e-01 5.36055975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.699254154 meters 0.028638874927103704 Centerline is valid? [True, True] Translation: X:796.74, Y:10.09, Z:5.35 [[ 9.99929375e-01 8.83446680e-03 -7.94961619e-03 7.96740995e+02] [-8.83709343e-03 9.99960909e-01 -2.95342908e-04 1.00858282e+01] [ 7.94669623e-03 3.65573551e-04 9.99968358e-01 5.35445176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.759254154 meters 0.02841305480831365 Centerline is valid? [True, True] Translation: X:796.80, Y:10.08, Z:5.35 [[ 9.99905913e-01 1.11572758e-02 -7.98004873e-03 7.96800464e+02] [-1.11599988e-02 9.99937681e-01 -2.96784649e-04 1.00807282e+01] [ 7.97624012e-03 3.85814060e-04 9.99968115e-01 5.35499064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.819254154 meters 0.03022608771105218 Centerline is valid? [True, True] Translation: X:796.86, Y:10.07, Z:5.36 [[ 9.99842020e-01 1.60697881e-02 -7.59590306e-03 7.96859857e+02] [-1.60723994e-02 9.99870791e-01 -2.82862048e-04 1.00723796e+01] [ 7.59037606e-03 4.04901750e-04 9.99971111e-01 5.35858779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.879254154 meters 0.03379784994131889 Centerline is valid? [True, True] Translation: X:796.92, Y:10.07, Z:5.36 [[ 9.99801364e-01 1.84270508e-02 -7.59447120e-03 7.96919788e+02] [-1.84297305e-02 9.99830118e-01 -2.83008657e-04 1.00680292e+01] [ 7.58796603e-03 4.22916499e-04 9.99971122e-01 5.35573610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.939254154 meters 0.03587902786641375 Centerline is valid? [True, True] Translation: X:796.98, Y:10.06, Z:5.36 [[ 9.99768568e-01 2.06305149e-02 -6.09863294e-03 7.96979195e+02] [-2.06322848e-02 9.99787106e-01 -2.27432129e-04 1.00590987e+01] [ 6.09264253e-03 3.53208225e-04 9.99981377e-01 5.35830495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.999254154 meters 0.033504806570149155 Centerline is valid? [True, True] Translation: X:797.04, Y:10.05, Z:5.36 [[ 9.99778142e-01 1.99774502e-02 -6.67589434e-03 7.97040313e+02] [-1.99795582e-02 9.99800358e-01 -2.49210557e-04 1.00471469e+01] [ 6.66958296e-03 3.82536687e-04 9.99977685e-01 5.35687385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.059254154 meters 0.03350395929385043 Centerline is valid? [True, True] Translation: X:797.10, Y:10.03, Z:5.36 [[ 9.99847108e-01 1.57744458e-02 -7.54507326e-03 7.97100550e+02] [-1.57770192e-02 9.99875495e-01 -2.81657348e-04 1.00344893e+01] [ 7.53969087e-03 4.00653051e-04 9.99971496e-01 5.35656034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.119254154 meters 0.026537544479733843 Centerline is valid? [True, True] Translation: X:797.16, Y:10.01, Z:5.36 [[ 9.99946312e-01 7.89417085e-03 -6.71234629e-03 7.97162443e+02] [-7.89603038e-03 9.99968794e-01 -2.50574619e-04 1.00134524e+01] [ 6.71015875e-03 3.03562056e-04 9.99977441e-01 5.35983533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.179254154 meters 0.027050800057925838 Centerline is valid? [True, True] Translation: X:797.22, Y:10.00, Z:5.36 [[ 9.99972329e-01 2.17389803e-03 -7.11448780e-03 7.97221821e+02] [-2.17584228e-03 9.99997598e-01 -2.65552682e-04 1.00044662e+01] [ 7.11389343e-03 2.81025338e-04 9.99974656e-01 5.35748167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.239254154 meters 0.021619676516457218 Centerline is valid? [True, True] Translation: X:797.28, Y:9.99, Z:5.36 [[ 9.99968355e-01 -5.64653485e-03 -5.60401822e-03 7.97283333e+02] [ 5.64545056e-03 9.99984042e-01 -2.09285851e-04 9.98526708e+00] [ 5.60511053e-03 1.77642020e-04 9.99984275e-01 5.36041312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.299254154 meters 0.020965439596257667 Centerline is valid? [True, True] Translation: X:797.34, Y:9.97, Z:5.36 [[ 9.99901020e-01 -1.23305489e-02 -6.77555123e-03 7.97342635e+02] [ 1.23291170e-02 9.99923962e-01 -2.53063722e-04 9.96976344e+00] [ 6.77815645e-03 1.69502110e-04 9.99977014e-01 5.35739712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters 0.021213526750167317 Centerline is valid? [True, True] Translation: X:797.40, Y:9.96, Z:5.36 [[ 9.99871940e-01 -1.39304655e-02 -7.87690700e-03 7.97402238e+02] [ 1.39285744e-02 9.99902949e-01 -2.94890097e-04 9.96276329e+00] [ 7.88025049e-03 1.85138248e-04 9.99968933e-01 5.35558445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.419254154 meters 0.016678309772526902 Centerline is valid? [True, True] Translation: X:797.46, Y:9.95, Z:5.36 [[ 9.99890820e-01 -1.36915051e-02 -5.55796800e-03 7.97461834e+02] [ 1.36905548e-02 9.99906258e-01 -2.08986374e-04 9.95177486e+00] [ 5.56030833e-03 1.32871891e-04 9.99984533e-01 5.36059912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters 0.01745030944496216 Centerline is valid? [True, True] Translation: X:797.52, Y:9.95, Z:5.36 [[ 9.99919913e-01 -1.17499333e-02 -4.70174941e-03 7.97520411e+02] [ 1.17492257e-02 9.99930960e-01 -1.78077415e-04 9.94838346e+00] [ 4.70351720e-03 1.22821238e-04 9.99988931e-01 5.36146842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.539254154 meters 0.020058163498467327 Centerline is valid? [True, True] Translation: X:797.58, Y:9.94, Z:5.36 [[ 9.99949936e-01 -8.72073155e-03 -4.90659023e-03 7.97579758e+02] [ 8.71992372e-03 9.99961963e-01 -1.86011043e-04 9.94225073e+00] [ 4.90802576e-03 1.43216638e-04 9.99987945e-01 5.35902335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters 0.022984628830593948 Centerline is valid? [True, True] Translation: X:797.64, Y:9.94, Z:5.36 [[ 9.99965781e-01 -6.48249700e-03 -5.13947366e-03 7.97637718e+02] [ 6.48157253e-03 9.99978975e-01 -1.96513167e-04 9.94278856e+00] [ 5.14063950e-03 1.63194571e-04 9.99986774e-01 5.35875422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.659254154 meters 0.02222190609816813 Centerline is valid? [True, True] Translation: X:797.70, Y:9.93, Z:5.36 [[ 9.99966302e-01 -4.62908247e-03 -6.77991459e-03 7.97697163e+02] [ 4.62742550e-03 9.99989260e-01 -2.60061155e-04 9.93322089e+00] [ 6.78104562e-03 2.28678842e-04 9.99976982e-01 5.35731591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters 0.021988128417189938 Centerline is valid? [True, True] Translation: X:797.76, Y:9.93, Z:5.36 [[ 9.99971391e-01 -3.11155624e-03 -6.89466394e-03 7.97756057e+02] [ 3.10979442e-03 9.99995129e-01 -2.66240049e-04 9.92687493e+00] [ 6.89545878e-03 2.44791445e-04 9.99976196e-01 5.35805079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.779254154 meters 0.027210558844385804 Centerline is valid? [True, True] Translation: X:797.81, Y:9.93, Z:5.36 [[ 9.99960586e-01 -2.71161333e-03 -8.45417444e-03 7.97814147e+02] [ 2.70893118e-03 9.99996277e-01 -3.28692347e-04 9.92839665e+00] [ 8.45503425e-03 3.05777616e-04 9.99964209e-01 5.35632536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.839254154 meters 0.021835358770583776 Centerline is valid? [True, True] Translation: X:797.87, Y:9.91, Z:5.36 [[ 9.99966825e-01 -3.19489646e-03 -7.49277049e-03 7.97873255e+02] [ 3.19279770e-03 9.99994860e-01 -2.92049782e-04 9.91492290e+00] [ 7.49366505e-03 2.68117193e-04 9.99971886e-01 5.35977373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.899254154 meters 0.021553550174166554 Centerline is valid? [True, True] Translation: X:797.93, Y:9.91, Z:5.36 [[ 9.99956297e-01 -6.10308286e-03 -7.08217091e-03 7.97931726e+02] [ 6.10126849e-03 9.99981349e-01 -2.77764625e-04 9.90607403e+00] [ 7.08373404e-03 2.34542259e-04 9.99974883e-01 5.36057441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.959254154 meters 0.020371495734314033 Centerline is valid? [True, True] Translation: X:797.99, Y:9.90, Z:5.36 [[ 9.99937935e-01 -8.03523362e-03 -7.71757762e-03 7.97990920e+02] [ 8.03313110e-03 9.99967688e-01 -3.03393927e-04 9.89855173e+00] [ 7.71976609e-03 2.41378784e-04 9.99970173e-01 5.36024203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.019254154 meters 0.020457401102145216 Centerline is valid? [True, True] Translation: X:798.05, Y:9.89, Z:5.36 [[ 9.99914008e-01 -1.00976344e-02 -8.36749121e-03 7.98048763e+02] [ 1.00952294e-02 9.99948988e-01 -3.29609612e-04 9.89158144e+00] [ 8.37039264e-03 2.45109525e-04 9.99964938e-01 5.36065905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.079254154 meters 0.02187643782703508 Centerline is valid? [True, True] Translation: X:798.11, Y:9.89, Z:5.36 [[ 9.99888075e-01 -1.16549705e-02 -9.38077054e-03 7.98108380e+02] [ 1.16520044e-02 9.99932044e-01 -3.70782037e-04 9.88565079e+00] [ 9.38445451e-03 2.61435757e-04 9.99955931e-01 5.35905086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.139254154 meters 0.019547906187200214 Centerline is valid? [True, True] Translation: X:798.17, Y:9.88, Z:5.36 [[ 9.99882505e-01 -1.20679754e-02 -9.45201366e-03 7.98166914e+02] [ 1.20649606e-02 9.99927145e-01 -3.75910610e-04 9.87949230e+00] [ 9.45586151e-03 2.61828269e-04 9.99955258e-01 5.35951093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.199254154 meters 0.01848435207737154 Centerline is valid? [True, True] Translation: X:798.23, Y:9.87, Z:5.36 [[ 9.99879345e-01 -1.24456804e-02 -9.29523081e-03 7.98225385e+02] [ 1.24427561e-02 9.99922517e-01 -3.72365782e-04 9.87470449e+00] [ 9.29914493e-03 2.56662564e-04 9.99956729e-01 5.36047534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.259254154 meters 0.021441148942867166 Centerline is valid? [True, True] Translation: X:798.28, Y:9.88, Z:5.36 [[ 9.99881914e-01 -1.18404692e-02 -9.79603863e-03 7.98283238e+02] [ 1.18371681e-02 9.99929860e-01 -3.94900258e-04 9.87575298e+00] [ 9.80002734e-03 2.78896270e-04 9.99951940e-01 5.36015756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.319254154 meters 0.022242735357648792 Centerline is valid? [True, True] Translation: X:798.34, Y:9.88, Z:5.36 [[ 9.99891938e-01 -1.07588901e-02 -1.00179401e-02 7.98342101e+02] [ 1.07553666e-02 9.99942077e-01 -4.05527946e-04 9.87506365e+00] [ 1.00217229e-02 2.97737506e-04 9.99949737e-01 5.36019675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.379254154 meters 0.020283613487847595 Centerline is valid? [True, True] Translation: X:798.40, Y:9.87, Z:5.36 [[ 9.99922339e-01 -7.86587999e-03 -9.66659320e-03 7.98402366e+02] [ 7.86244889e-03 9.99969013e-01 -3.92895420e-04 9.86772480e+00] [ 9.66938413e-03 3.16861812e-04 9.99953200e-01 5.36059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.439254154 meters 0.02132887925955717 Centerline is valid? [True, True] Translation: X:798.46, Y:9.87, Z:5.36 [[ 9.99937343e-01 -7.04922270e-03 -8.69589011e-03 7.98461046e+02] [ 7.04640906e-03 9.99975111e-01 -3.54155596e-04 9.86586470e+00] [ 8.69817020e-03 2.92858607e-04 9.99962127e-01 5.36059088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.499254154 meters 0.020529526040886485 Centerline is valid? [True, True] Translation: X:798.52, Y:9.86, Z:5.36 [[ 9.99934789e-01 -7.72079378e-03 -8.41470900e-03 7.98520271e+02] [ 7.71816564e-03 9.99970155e-01 -3.44756649e-04 9.86321751e+00] [ 8.41711966e-03 2.79788049e-04 9.99964536e-01 5.36141123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.559254154 meters 0.019074553054908277 Centerline is valid? [True, True] Translation: X:798.58, Y:9.86, Z:5.36 [[ 9.99908515e-01 -1.02394795e-02 -8.83821549e-03 7.98579761e+02] [ 1.02366617e-02 9.99947538e-01 -3.64003268e-04 9.85722497e+00] [ 8.84147902e-03 2.73496146e-04 9.99960876e-01 5.36249699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.619254154 meters 0.019626624644631014 Centerline is valid? [True, True] Translation: X:798.64, Y:9.86, Z:5.36 [[ 9.99880323e-01 -1.27486440e-02 -8.76418844e-03 7.98638244e+02] [ 1.27459617e-02 9.99918701e-01 -3.61840037e-04 9.85678125e+00] [ 8.76808890e-03 2.50088722e-04 9.99961528e-01 5.36215323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.679254154 meters 0.019105157555106392 Centerline is valid? [True, True] Translation: X:798.70, Y:9.85, Z:5.36 [[ 9.99799805e-01 -1.77237288e-02 -9.28548125e-03 7.98698411e+02] [ 1.77209148e-02 9.99842898e-01 -3.85252583e-04 9.84854554e+00] [ 9.29085060e-03 2.20628235e-04 9.99956815e-01 5.35987493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.739254154 meters 0.017400994283607783 Centerline is valid? [True, True] Translation: X:798.76, Y:9.84, Z:5.36 [[ 9.99720339e-01 -2.20088969e-02 -8.65174016e-03 7.98756646e+02] [ 2.20066108e-02 9.99757761e-01 -3.59358111e-04 9.84475099e+00] [ 8.65755344e-03 1.68862134e-04 9.99962508e-01 5.36323041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.799254154 meters 0.01548230436565816 Centerline is valid? [True, True] Translation: X:798.82, Y:9.84, Z:5.36 [[ 9.99604558e-01 -2.66903201e-02 -8.85180572e-03 7.98815851e+02] [ 2.66881038e-02 9.99643741e-01 -3.68432554e-04 9.83794510e+00] [ 8.85848576e-03 1.32048951e-04 9.99960754e-01 5.36357551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters 0.014875888520326687 Centerline is valid? [True, True] Translation: X:798.88, Y:9.84, Z:5.36 [[ 9.99507760e-01 -2.99782708e-02 -9.24885112e-03 7.98875391e+02] [ 2.99759818e-02 9.99550545e-01 -3.86053578e-04 9.83741100e+00] [ 9.25626740e-03 1.08620154e-04 9.99957154e-01 5.36326866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.919254154 meters 0.015441535900944495 Centerline is valid? [True, True] Translation: X:798.93, Y:9.84, Z:5.36 [[ 9.99468749e-01 -3.11801970e-02 -9.48768198e-03 7.98933199e+02] [ 3.11778247e-02 9.99513774e-01 -3.97874670e-04 9.84185937e+00] [ 9.49547464e-03 1.01858013e-04 9.99954912e-01 5.36265961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters 0.015614540393495661 Centerline is valid? [True, True] Translation: X:798.99, Y:9.85, Z:5.36 [[ 9.99534791e-01 -2.90465257e-02 -9.30058851e-03 7.98991501e+02] [ 2.90441461e-02 9.99578053e-01 -3.90840913e-04 9.84591139e+00] [ 9.30801673e-03 1.20531438e-04 9.99956672e-01 5.36271079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.039254154 meters 0.01659007192607101 Centerline is valid? [True, True] Translation: X:799.05, Y:9.86, Z:5.36 [[ 9.99687963e-01 -2.27956892e-02 -1.02143948e-02 7.99050857e+02] [ 2.27924848e-02 9.99740125e-01 -4.30027372e-04 9.85580910e+00] [ 1.02215431e-02 1.97081749e-04 9.99947739e-01 5.36198834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters 0.018481081117559566 Centerline is valid? [True, True] Translation: X:799.11, Y:9.87, Z:5.36 [[ 9.99787689e-01 -1.62513855e-02 -1.26676613e-02 7.99109804e+02] [ 1.62459241e-02 9.99867884e-01 -5.33927115e-04 9.86540874e+00] [ 1.26746648e-02 3.28015893e-04 9.99919619e-01 5.36011416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.159254154 meters 0.017781998621419475 Centerline is valid? [True, True] Translation: X:799.17, Y:9.87, Z:5.36 [[ 9.99778220e-01 -1.54410179e-02 -1.43208019e-02 7.99168438e+02] [ 1.54339204e-02 9.99880706e-01 -6.05995743e-04 9.86835579e+00] [ 1.43284507e-02 3.84835228e-04 9.99897268e-01 5.35872327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters 0.01982853810077328 Centerline is valid? [True, True] Translation: X:799.23, Y:9.87, Z:5.36 [[ 9.99767247e-01 -1.62222847e-02 -1.42228108e-02 7.99225921e+02] [ 1.62153286e-02 9.99868340e-01 -6.04275519e-04 9.87311659e+00] [ 1.42307410e-02 3.73507322e-04 9.99898668e-01 5.35747920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.279254154 meters 0.018217839080556186 Centerline is valid? [True, True] Translation: X:799.28, Y:9.88, Z:5.36 [[ 9.99777829e-01 -1.65607535e-02 -1.30397317e-02 7.99283934e+02] [ 1.65549038e-02 9.99862803e-01 -5.56422610e-04 9.87581906e+00] [ 1.30471575e-02 3.40427484e-04 9.99914824e-01 5.36122368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.339254154 meters 0.018291711965685496 Centerline is valid? [True, True] Translation: X:799.34, Y:9.88, Z:5.36 [[ 9.99781369e-01 -1.79459589e-02 -1.07311428e-02 7.99342817e+02] [ 1.79420488e-02 9.99838922e-01 -4.60541148e-04 9.87840001e+00] [ 1.07376791e-02 2.67901771e-04 9.99942314e-01 5.36371043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.399254154 meters 0.018413942903242112 Centerline is valid? [True, True] Translation: X:799.40, Y:9.88, Z:5.36 [[ 9.99771470e-01 -1.85589049e-02 -1.06101622e-02 7.99400529e+02] [ 1.85550873e-02 9.99827735e-01 -4.58142472e-04 9.88178913e+00] [ 1.06168371e-02 2.61165286e-04 9.99943606e-01 5.36396038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.459254154 meters 0.020487773091940744 Centerline is valid? [True, True] Translation: X:799.46, Y:9.88, Z:5.36 [[ 9.99757277e-01 -1.83418528e-02 -1.22050225e-02 7.99459732e+02] [ 1.83367411e-02 9.99831727e-01 -5.30607100e-04 9.88445388e+00] [ 1.22127010e-02 3.06677972e-04 9.99925375e-01 5.36068565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.519254154 meters 0.019461762328971767 Centerline is valid? [True, True] Translation: X:799.52, Y:9.89, Z:5.36 [[ 9.99811143e-01 -1.48313933e-02 -1.25582012e-02 7.99519207e+02] [ 1.48256800e-02 9.99889943e-01 -5.47920872e-04 9.89164342e+00] [ 1.25649456e-02 3.61633520e-04 9.99920993e-01 5.36340775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.579254154 meters 0.020417665507548033 Centerline is valid? [True, True] Translation: X:799.58, Y:9.90, Z:5.36 [[ 9.99839659e-01 -1.21833800e-02 -1.31233253e-02 7.99578303e+02] [ 1.21769053e-02 9.99925694e-01 -5.73171927e-04 9.89774600e+00] [ 1.31293333e-02 4.13278536e-04 9.99913721e-01 5.36344514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.639254154 meters 0.021480702648403436 Centerline is valid? [True, True] Translation: X:799.64, Y:9.90, Z:5.36 [[ 9.99825529e-01 -1.09813790e-02 -1.51102870e-02 7.99637078e+02] [ 1.09726187e-02 9.99939580e-01 -6.62540179e-04 9.90210278e+00] [ 1.51166496e-02 4.96625167e-04 9.99885614e-01 5.35957719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.699254154 meters 0.02155017578599263 Centerline is valid? [True, True] Translation: X:799.69, Y:9.91, Z:5.36 [[ 9.99842204e-01 -1.01799351e-02 -1.45579961e-02 7.99694950e+02] [ 1.01716841e-02 9.99948062e-01 -6.40706023e-04 9.90821485e+00] [ 1.45637623e-02 4.92525586e-04 9.99893821e-01 5.36109943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.759254154 meters 0.02285338549928756 Centerline is valid? [True, True] Translation: X:799.75, Y:9.92, Z:5.36 [[ 9.99865190e-01 -8.04658411e-03 -1.43127371e-02 7.99753463e+02] [ 8.03835445e-03 9.99967492e-01 -6.32424486e-04 9.91503619e+00] [ 1.43173606e-02 5.17288375e-04 9.99897368e-01 5.36184782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.819254154 meters 0.02419678000627384 Centerline is valid? [True, True] Translation: X:799.81, Y:9.92, Z:5.36 [[ 9.99854132e-01 -7.34466727e-03 -1.54197893e-02 7.99812602e+02] [ 7.33496956e-03 9.99972864e-01 -6.85375139e-04 9.91947020e+00] [ 1.54244047e-02 5.72171480e-04 9.99880873e-01 5.36050114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.879254154 meters 0.0253568575088776 Centerline is valid? [True, True] Translation: X:799.87, Y:9.93, Z:5.36 [[ 9.99878896e-01 -5.37843070e-03 -1.46036492e-02 7.99871214e+02] [ 5.36947087e-03 9.99985371e-01 -6.52673651e-04 9.92720308e+00] [ 1.46069459e-02 5.74180741e-04 9.99893148e-01 5.36165843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.939254154 meters 0.025711288613353506 Centerline is valid? [True, True] Translation: X:799.93, Y:9.94, Z:5.36 [[ 9.99919869e-01 -2.65631916e-03 -1.23773428e-02 7.99929994e+02] [ 2.64965256e-03 9.99996336e-01 -5.54980861e-04 9.93500842e+00] [ 1.23787717e-02 5.22140732e-04 9.99923244e-01 5.36483324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.999254154 meters 0.03140899981513486 Centerline is valid? [True, True] Translation: X:799.99, Y:9.95, Z:5.36 [[ 9.99915090e-01 1.48620616e-03 -1.29461935e-02 7.99988985e+02] [-1.49385427e-03 9.99998715e-01 -5.81110623e-04 9.94987389e+00] [ 1.29453132e-02 6.00401007e-04 9.99916026e-01 5.36304459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.059254154 meters 0.030625212095530426 Centerline is valid? [True, True] Translation: X:800.05, Y:9.96, Z:5.36 [[ 9.99922616e-01 4.33698662e-03 -1.16598618e-02 8.00048541e+02] [-4.34338713e-03 9.99990430e-01 -5.23668824e-04 9.95733609e+00] [ 1.16574791e-02 5.74271594e-04 9.99931884e-01 5.36493589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.119254154 meters 0.03228702610634015 Centerline is valid? [True, True] Translation: X:800.11, Y:9.97, Z:5.36 [[ 9.99914090e-01 6.43864380e-03 -1.14173957e-02 8.00108108e+02] [-6.44492190e-03 9.99979100e-01 -5.13162744e-04 9.96693658e+00] [ 1.14138530e-02 5.86702882e-04 9.99934688e-01 5.36467452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.179254154 meters 0.03572286158128039 Centerline is valid? [True, True] Translation: X:800.17, Y:9.98, Z:5.36 [[ 9.99886870e-01 9.42087993e-03 -1.17257656e-02 8.00167208e+02] [-9.42771003e-03 9.99955419e-01 -5.27346074e-04 9.97951653e+00] [ 1.17202748e-02 6.37833534e-04 9.99931112e-01 5.36409440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.239254154 meters 0.02999332232892921 Centerline is valid? [True, True] Translation: X:800.23, Y:9.98, Z:5.36 [[ 9.99867593e-01 1.07679536e-02 -1.22002933e-02 8.00226621e+02] [-1.07754528e-02 9.99941792e-01 -5.49102681e-04 9.97819675e+00] [ 1.21936705e-02 6.80493661e-04 9.99925423e-01 5.36399522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.299254154 meters 0.032011867783916556 Centerline is valid? [True, True] Translation: X:800.29, Y:9.99, Z:5.36 [[ 9.99839771e-01 1.04702057e-02 -1.45191926e-02 8.00285072e+02] [-1.04808099e-02 9.99944861e-01 -6.54452658e-04 9.98561199e+00] [ 1.45115398e-02 8.06520692e-04 9.99894377e-01 5.36112854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters 0.031457071938188995 Centerline is valid? [True, True] Translation: X:800.34, Y:9.99, Z:5.36 [[ 9.99872348e-01 1.00511453e-02 -1.24202095e-02 8.00342313e+02] [-1.00588840e-02 9.99949251e-01 -5.60758943e-04 9.99443280e+00] [ 1.24139430e-02 6.85620809e-04 9.99922709e-01 5.36294194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.419254154 meters 0.028914251128972952 Centerline is valid? [True, True] Translation: X:800.40, Y:10.00, Z:5.36 [[ 9.99914866e-01 6.25711214e-03 -1.14502847e-02 8.00402246e+02] [-6.26344923e-03 9.99980250e-01 -5.17667009e-04 9.99847956e+00] [ 1.14468194e-02 5.89341214e-04 9.99934309e-01 5.36312050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters 0.027017101985320143 Centerline is valid? [True, True] Translation: X:800.46, Y:10.00, Z:5.36 [[ 9.99919834e-01 1.38509192e-03 -1.25859835e-02 8.00462535e+02] [-1.39236901e-03 9.99998869e-01 -5.69445987e-04 1.00002819e+01] [ 1.25851805e-02 5.86924670e-04 9.99920631e-01 5.36141624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.539254154 meters 0.024469208916985823 Centerline is valid? [True, True] Translation: X:800.52, Y:10.01, Z:5.36 [[ 9.99948156e-01 -7.28834513e-04 -1.01564804e-02 8.00521768e+02] [ 7.24198802e-04 9.99999632e-01 -4.60099179e-04 1.00050822e+01] [ 1.01568120e-02 4.52720015e-04 9.99948316e-01 5.36400965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters 0.02460945543503847 Centerline is valid? [True, True] Translation: X:800.58, Y:10.01, Z:5.36 [[ 9.99930438e-01 -4.64883355e-03 -1.08401049e-02 8.00580419e+02] [ 4.64377224e-03 9.99989097e-01 -4.92029595e-04 1.00115988e+01] [ 1.08422741e-02 4.41656390e-04 9.99941123e-01 5.36235464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.659254154 meters 0.021443793262179437 Centerline is valid? [True, True] Translation: X:800.64, Y:10.01, Z:5.36 [[ 9.99928434e-01 -6.72944278e-03 -9.89153436e-03 8.00639127e+02] [ 6.72532570e-03 9.99977284e-01 -4.49426635e-04 1.00131580e+01] [ 9.89433406e-03 3.82870681e-04 9.99950977e-01 5.36361809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters 0.020911762245464413 Centerline is valid? [True, True] Translation: X:800.70, Y:10.02, Z:5.36 [[ 9.99902323e-01 -8.95400737e-03 -1.07317051e-02 8.00697515e+02] [ 8.94928018e-03 9.99959835e-01 -4.88429916e-04 1.00183729e+01] [ 1.07356475e-02 3.92341172e-04 9.99942294e-01 5.36302386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.779254154 meters 0.023403078510071344 Centerline is valid? [True, True] Translation: X:800.76, Y:10.02, Z:5.36 [[ 9.99877819e-01 -8.67954772e-03 -1.30004733e-02 8.00756621e+02] [ 8.67255881e-03 9.99962216e-01 -5.93869949e-04 1.00249628e+01] [ 1.30051367e-02 4.81050020e-04 9.99915314e-01 5.36081934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.839254154 meters 0.023845233295946046 Centerline is valid? [True, True] Translation: X:800.81, Y:10.03, Z:5.36 [[ 9.99875255e-01 -8.99353639e-03 -1.29842502e-02 8.00814213e+02] [ 8.98656218e-03 9.99959443e-01 -5.95373603e-04 1.00327613e+01] [ 1.29890781e-02 4.78615562e-04 9.99915524e-01 5.36009876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.899254154 meters 0.021589333295142572 Centerline is valid? [True, True] Translation: X:800.87, Y:10.04, Z:5.36 [[ 9.99901019e-01 -7.92936317e-03 -1.16223057e-02 8.00872543e+02] [ 7.92368284e-03 9.99968464e-01 -5.34710269e-04 1.00374155e+01] [ 1.16261791e-02 4.42565879e-04 9.99932316e-01 5.36258443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.959254154 meters 0.022748855405450245 Centerline is valid? [True, True] Translation: X:800.93, Y:10.04, Z:5.36 [[ 9.99903704e-01 -7.44004753e-03 -1.17144912e-02 8.00931113e+02] [ 7.43420807e-03 9.99972219e-01 -5.41949338e-04 1.00434281e+01] [ 1.17181979e-02 4.54809185e-04 9.99931236e-01 5.36201311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.019254154 meters 0.025059099195866335 Centerline is valid? [True, True] Translation: X:800.99, Y:10.05, Z:5.36 [[ 9.99899009e-01 -6.82059758e-03 -1.24680277e-02 8.00990126e+02] [ 6.81389388e-03 9.99976617e-01 -5.80071702e-04 1.00488033e+01] [ 1.24716926e-02 4.95057302e-04 9.99922103e-01 5.36114668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.079254154 meters 0.02556937574191048 Centerline is valid? [True, True] Translation: X:801.05, Y:10.05, Z:5.36 [[ 9.99922004e-01 -4.94147298e-03 -1.14703387e-02 8.01049132e+02] [ 4.93564434e-03 9.99987676e-01 -5.36400891e-04 1.00547095e+01] [ 1.14728479e-02 4.79745542e-04 9.99934070e-01 5.36171015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.139254154 meters 0.02600235854564356 Centerline is valid? [True, True] Translation: X:801.11, Y:10.06, Z:5.36 [[ 9.99946888e-01 -2.57136729e-03 -9.98047204e-03 8.01107382e+02] [ 2.56682035e-03 9.99996596e-01 -4.68366276e-04 1.00623847e+01] [ 9.98164241e-03 4.42723322e-04 9.99950084e-01 5.36341182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.199254154 meters 0.027960821037504753 Centerline is valid? [True, True] Translation: X:801.17, Y:10.07, Z:5.36 [[ 9.99940862e-01 -3.00903314e-03 -1.04507818e-02 8.01165819e+02] [ 3.00405659e-03 9.99995367e-01 -4.91854864e-04 1.00655754e+01] [ 1.04522134e-02 4.60431037e-04 9.99945268e-01 5.36138150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.259254154 meters 0.026687739746505054 Centerline is valid? [True, True] Translation: X:801.22, Y:10.07, Z:5.36 [[ 9.99952353e-01 -2.14027573e-03 -9.52426227e-03 8.01224846e+02] [ 2.13608033e-03 9.99997617e-01 -4.50646376e-04 1.00686076e+01] [ 9.52520408e-03 4.30280315e-04 9.99954542e-01 5.36393904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.319254154 meters 0.02789902986151866 Centerline is valid? [True, True] Translation: X:801.28, Y:10.07, Z:5.36 [[ 9.99951811e-01 -2.77005684e-03 -9.41820396e-03 8.01282427e+02] [ 2.76596471e-03 9.99996075e-01 -4.47488909e-04 1.00719041e+01] [ 9.41940656e-03 4.21416926e-04 9.99955548e-01 5.36370930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.379254154 meters 0.02400630331214515 Centerline is valid? [True, True] Translation: X:801.34, Y:10.07, Z:5.36 [[ 9.99955196e-01 -3.68291061e-03 -8.72018374e-03 8.01341259e+02] [ 3.67943130e-03 9.99993145e-01 -4.15004965e-04 1.00691462e+01] [ 8.72165239e-03 3.82901054e-04 9.99961892e-01 5.36481306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.439254154 meters 0.023247288865406567 Centerline is valid? [True, True] Translation: X:801.40, Y:10.07, Z:5.36 [[ 9.99943685e-01 -5.32906180e-03 -9.17755809e-03 8.01400314e+02] [ 5.32527075e-03 9.99985725e-01 -4.37465492e-04 1.00692644e+01] [ 9.17975836e-03 3.88567874e-04 9.99957790e-01 5.36419381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.499254154 meters 0.024375144212458538 Centerline is valid? [True, True] Translation: X:801.46, Y:10.07, Z:5.36 [[ 9.99922319e-01 -6.87186044e-03 -1.03987444e-02 8.01458948e+02] [ 6.86706801e-03 9.99976298e-01 -4.96502646e-04 1.00698488e+01] [ 1.04019098e-02 4.25055192e-04 9.99945808e-01 5.36166169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.559254154 meters 0.025496454651495193 Centerline is valid? [True, True] Translation: X:801.52, Y:10.07, Z:5.36 [[ 9.99906331e-01 -8.43278588e-03 -1.07804184e-02 8.01517205e+02] [ 8.42770909e-03 9.99964353e-01 -5.16269736e-04 1.00730649e+01] [ 1.07843877e-02 4.25367147e-04 9.99941756e-01 5.36121996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.619254154 meters 0.022333232253132912 Centerline is valid? [True, True] Translation: X:801.58, Y:10.07, Z:5.36 [[ 9.99878596e-01 -1.11179512e-02 -1.09171791e-02 8.01576637e+02] [ 1.11128825e-02 9.99938112e-01 -5.24843297e-04 1.00673707e+01] [ 1.09223386e-02 4.03458251e-04 9.99940268e-01 5.36163907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.679254154 meters 0.02315838054616347 Centerline is valid? [True, True] Translation: X:801.63, Y:10.07, Z:5.36 [[ 9.99863327e-01 -1.26255974e-02 -1.06734340e-02 8.01634251e+02] [ 1.26208277e-02 9.99920222e-01 -5.14116968e-04 1.00698681e+01] [ 1.06790735e-02 3.79339131e-04 9.99942905e-01 5.36317345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.739254154 meters 0.02125031432103708 Centerline is valid? [True, True] Translation: X:801.69, Y:10.06, Z:5.36 [[ 9.99835147e-01 -1.55335550e-02 -9.40143797e-03 8.01693686e+02] [ 1.55299739e-02 9.99879300e-01 -4.53808323e-04 1.00630922e+01] [ 9.40735247e-03 3.07729426e-04 9.99955703e-01 5.36405223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.799254154 meters 0.02093388949194869 Centerline is valid? [True, True] Translation: X:801.75, Y:10.06, Z:5.36 [[ 9.99811995e-01 -1.73513512e-02 -8.65472983e-03 8.01752839e+02] [ 1.73483765e-02 9.99849418e-01 -4.18669190e-04 1.00622282e+01] [ 8.66069106e-03 2.68444966e-04 9.99962459e-01 5.36487418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters 0.02174695475428597 Centerline is valid? [True, True] Translation: X:801.81, Y:10.06, Z:5.36 [[ 9.99769894e-01 -1.95560457e-02 -8.81593551e-03 8.01811009e+02] [ 1.95530278e-02 9.99808730e-01 -4.28382637e-04 1.00588433e+01] [ 8.82262675e-03 2.55905831e-04 9.99961047e-01 5.36385449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.919254154 meters 0.021541861582752744 Centerline is valid? [True, True] Translation: X:801.87, Y:10.06, Z:5.37 [[ 9.99779634e-01 -1.95769178e-02 -7.57813269e-03 8.01868246e+02] [ 1.95746823e-02 9.99808329e-01 -3.69054408e-04 1.00568947e+01] [ 7.58390513e-03 2.20633541e-04 9.99971217e-01 5.36609127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters 0.019545083919198247 Centerline is valid? [True, True] Translation: X:801.93, Y:10.05, Z:5.36 [[ 9.99766356e-01 -2.00825655e-02 -7.99530956e-03 8.01926723e+02] [ 2.00800836e-02 9.99798299e-01 -3.90580357e-04 1.00497551e+01] [ 8.00154075e-03 2.29942615e-04 9.99967961e-01 5.36475631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.039254154 meters 0.020359266951295668 Centerline is valid? [True, True] Translation: X:801.98, Y:10.05, Z:5.36 [[ 9.99785734e-01 -1.90358072e-02 -8.13166760e-03 8.01984274e+02] [ 1.90331878e-02 9.99818773e-01 -3.99396839e-04 1.00516155e+01] [ 8.13779676e-03 2.44539706e-04 9.99966858e-01 5.36474021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters 0.019908033847580796 Centerline is valid? [True, True] Translation: X:802.04, Y:10.05, Z:5.36 [[ 9.99780027e-01 -1.91073613e-02 -8.64901125e-03 8.02042558e+02] [ 1.91043903e-02 9.99817404e-01 -4.26007649e-04 1.00480887e+01] [ 8.65557185e-03 2.60679853e-04 9.99962506e-01 5.36375897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.159254154 meters 0.02033965050677564 Centerline is valid? [True, True] Translation: X:802.10, Y:10.04, Z:5.36 [[ 9.99731639e-01 -2.10086745e-02 -9.76146952e-03 8.02101929e+02] [ 2.10049520e-02 9.99779255e-01 -4.83718923e-04 1.00445346e+01] [ 9.76947702e-03 2.78549912e-04 9.99952239e-01 5.36171526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters 0.01807050005302976 Centerline is valid? [True, True] Translation: X:802.16, Y:10.04, Z:5.36 [[ 9.99665081e-01 -2.39894632e-02 -9.70724330e-03 8.02161670e+02] [ 2.39858992e-02 9.99712180e-01 -4.83418782e-04 1.00396770e+01] [ 9.71604632e-03 2.50419916e-04 9.99952767e-01 5.36411177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.279254154 meters 0.01616002716340719 Centerline is valid? [True, True] Translation: X:802.22, Y:10.03, Z:5.36 [[ 9.99531670e-01 -2.90943972e-02 -9.48455041e-03 8.02220778e+02] [ 2.90912081e-02 9.99576649e-01 -4.74054004e-04 1.00324648e+01] [ 9.49432743e-03 1.97914960e-04 9.99954908e-01 5.36491881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.339254154 meters 0.014820963551296586 Centerline is valid? [True, True] Translation: X:802.28, Y:10.03, Z:5.37 [[ 9.99413539e-01 -3.28316601e-02 -9.72934453e-03 8.02279722e+02] [ 3.28284687e-02 9.99460882e-01 -4.87580647e-04 1.00280131e+01] [ 9.74010734e-03 1.67895217e-04 9.99952550e-01 5.36546160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.399254154 meters 0.014418389998186537 Centerline is valid? [True, True] Translation: X:802.34, Y:10.02, Z:5.37 [[ 9.99250743e-01 -3.73904674e-02 -9.99526483e-03 8.02337584e+02] [ 3.73873059e-02 9.99300724e-01 -5.03029004e-04 1.00244088e+01] [ 1.00070839e-02 1.28956082e-04 9.99949920e-01 5.36500388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.459254154 meters 0.015626319777261897 Centerline is valid? [True, True] Translation: X:802.40, Y:10.02, Z:5.36 [[ 9.99147138e-01 -3.99953107e-02 -1.02650555e-02 8.02397180e+02] [ 3.99920983e-02 9.99199862e-01 -5.18096876e-04 1.00223906e+01] [ 1.02775635e-02 1.07133903e-04 9.99947179e-01 5.36315611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.519254154 meters 0.014742928917622343 Centerline is valid? [True, True] Translation: X:802.45, Y:10.02, Z:5.36 [[ 9.99101670e-01 -4.09780218e-02 -1.08006770e-02 8.02454237e+02] [ 4.09744958e-02 9.99160043e-01 -5.47635232e-04 1.00216589e+01] [ 1.08140459e-02 1.04590981e-04 9.99941521e-01 5.36428864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.579254154 meters 0.014555857318533545 Centerline is valid? [True, True] Translation: X:802.51, Y:10.03, Z:5.37 [[ 9.99229281e-01 -3.78327954e-02 -1.04653623e-02 8.02513073e+02] [ 3.78292889e-02 9.99284074e-01 -5.32875468e-04 1.00266297e+01] [ 1.04780301e-02 1.36567556e-04 9.99945095e-01 5.36579664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.639254154 meters 0.015616188941002432 Centerline is valid? [True, True] Translation: X:802.57, Y:10.03, Z:5.36 [[ 9.99341766e-01 -3.44129240e-02 -1.14797693e-02 8.02570252e+02] [ 3.44084492e-02 9.99407682e-01 -5.87132275e-04 1.00329735e+01] [ 1.14931745e-02 1.91744746e-04 9.99933933e-01 5.36475773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.699254154 meters 0.01551009971970075 Centerline is valid? [True, True] Translation: X:802.63, Y:10.04, Z:5.36 [[ 9.99385605e-01 -3.27473705e-02 -1.24908654e-02 8.02629137e+02] [ 3.27419098e-02 9.99463634e-01 -6.41475786e-04 1.00359292e+01] [ 1.25051723e-02 2.32106880e-04 9.99921780e-01 5.36477360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.759254154 meters 0.01649014976152284 Centerline is valid? [True, True] Translation: X:802.69, Y:10.04, Z:5.36 [[ 9.99463777e-01 -2.98945961e-02 -1.33593255e-02 8.02687920e+02] [ 2.98880475e-02 9.99553015e-01 -6.89618115e-04 1.00430893e+01] [ 1.33739699e-02 2.89964172e-04 9.99910522e-01 5.36387037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.819254154 meters 0.017166299275872147 Centerline is valid? [True, True] Translation: X:802.75, Y:10.05, Z:5.36 [[ 9.99528358e-01 -2.68046709e-02 -1.49857083e-02 8.02746861e+02] [ 2.67960480e-02 9.99640620e-01 -7.75940799e-04 1.00502490e+01] [ 1.50011216e-02 3.74017073e-04 9.99887407e-01 5.36396670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.879254154 meters 0.018836295068471627 Centerline is valid? [True, True] Translation: X:802.80, Y:10.06, Z:5.36 [[ 9.99566413e-01 -2.47117373e-02 -1.60098825e-02 8.02804174e+02] [ 2.47016074e-02 9.99694524e-01 -8.30198818e-04 1.00570685e+01] [ 1.60255075e-02 4.34369021e-04 9.99871489e-01 5.36288243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.939254154 meters 0.01867977292388742 Centerline is valid? [True, True] Translation: X:802.86, Y:10.06, Z:5.36 [[ 9.99614193e-01 -2.23674765e-02 -1.64669850e-02 8.02862941e+02] [ 2.23563908e-02 9.99749697e-01 -8.57004173e-04 1.00631252e+01] [ 1.64820323e-02 4.88531182e-04 9.99864043e-01 5.36369903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.999254154 meters 0.02113423661645117 Centerline is valid? [True, True] Translation: X:802.92, Y:10.07, Z:5.36 [[ 9.99605465e-01 -2.22011510e-02 -1.72053219e-02 8.02920974e+02] [ 2.21889773e-02 9.99753391e-01 -8.98150684e-04 1.00698893e+01] [ 1.72210189e-02 5.16027834e-04 9.99851574e-01 5.36197862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.059254154 meters 0.018612865193534604 Centerline is valid? [True, True] Translation: X:802.98, Y:10.07, Z:5.36 [[ 9.99582549e-01 -2.26241893e-02 -1.79686710e-02 8.02979420e+02] [ 2.26109080e-02 9.99743897e-01 -9.41980598e-04 1.00696969e+01] [ 1.79853808e-02 5.35299401e-04 9.99838107e-01 5.36394158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.119254154 meters 0.018076782976834793 Centerline is valid? [True, True] Translation: X:803.04, Y:10.07, Z:5.36 [[ 9.99576996e-01 -2.29784174e-02 -1.78275616e-02 8.03037290e+02] [ 2.29653057e-02 9.99735821e-01 -9.39873283e-04 1.00731710e+01] [ 1.78444487e-02 5.30060310e-04 9.99840635e-01 5.36498218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.179254154 meters 0.018036844748205737 Centerline is valid? [True, True] Translation: X:803.10, Y:10.08, Z:5.37 [[ 9.99530195e-01 -2.49872427e-02 -1.77490144e-02 8.03095301e+02] [ 2.49745096e-02 9.99687648e-01 -9.38725447e-04 1.00761454e+01] [ 1.77669266e-02 4.95011500e-04 9.99842033e-01 5.36603832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.239254154 meters 0.016943656792816866 Centerline is valid? [True, True] Translation: X:803.15, Y:10.08, Z:5.37 [[ 9.99432099e-01 -2.88992378e-02 -1.73295336e-02 8.03154300e+02] [ 2.88876633e-02 9.99582243e-01 -9.17909256e-04 1.00765996e+01] [ 1.73488209e-02 4.16778243e-04 9.99849411e-01 5.36713355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.299254154 meters 0.016764851451052935 Centerline is valid? [True, True] Translation: X:803.21, Y:10.08, Z:5.37 [[ 9.99386198e-01 -3.08401611e-02 -1.66165846e-02 8.03213678e+02] [ 3.08297415e-02 9.99524261e-01 -8.82917623e-04 1.00797736e+01] [ 1.66359088e-02 3.70090678e-04 9.99861545e-01 5.36740109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters 0.01698156739820422 Centerline is valid? [True, True] Translation: X:803.27, Y:10.08, Z:5.37 [[ 9.99383438e-01 -3.10380722e-02 -1.64128821e-02 8.03271226e+02] [ 3.10278627e-02 9.99518136e-01 -8.76388429e-04 1.00835109e+01] [ 1.64321747e-02 3.66591431e-04 9.99864916e-01 5.36704248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.419254154 meters 0.016677442152661336 Centerline is valid? [True, True] Translation: X:803.33, Y:10.09, Z:5.37 [[ 9.99380372e-01 -3.06017437e-02 -1.73898347e-02 8.03330292e+02] [ 3.05901338e-02 9.99531577e-01 -9.33293967e-04 1.00863967e+01] [ 1.74102493e-02 4.00758301e-04 9.99848350e-01 5.36743650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters 0.01888510449770129 Centerline is valid? [True, True] Translation: X:803.39, Y:10.09, Z:5.37 [[ 9.99443287e-01 -2.82097230e-02 -1.78136692e-02 8.03387722e+02] [ 2.81971115e-02 9.99601923e-01 -9.58785742e-04 1.00927450e+01] [ 1.78336250e-02 4.55957958e-04 9.99840864e-01 5.36639201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.539254154 meters 0.018198531983161455 Centerline is valid? [True, True] Translation: X:803.45, Y:10.10, Z:5.37 [[ 9.99550187e-01 -2.51185099e-02 -1.63854643e-02 8.03446512e+02] [ 2.51073749e-02 9.99684368e-01 -8.84953528e-04 1.00974834e+01] [ 1.64025212e-02 4.73159471e-04 9.99865358e-01 5.36855284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters 0.019979572813713112 Centerline is valid? [True, True] Translation: X:803.51, Y:10.11, Z:5.37 [[ 9.99641953e-01 -2.10938595e-02 -1.64625498e-02 8.03506100e+02] [ 2.10820400e-02 9.99777352e-01 -8.91198238e-04 1.01062451e+01] [ 1.64776832e-02 5.43815015e-04 9.99864086e-01 5.36816339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.659254154 meters 0.020298051483517248 Centerline is valid? [True, True] Translation: X:803.56, Y:10.11, Z:5.37 [[ 9.99657455e-01 -1.98718717e-02 -1.70317625e-02 8.03564231e+02] [ 1.98590152e-02 9.99802364e-01 -9.23668122e-04 1.01116867e+01] [ 1.70467514e-02 5.85117694e-04 9.99854522e-01 5.36737081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters 0.02057527884410118 Centerline is valid? [True, True] Translation: X:803.62, Y:10.12, Z:5.37 [[ 9.99685873e-01 -1.83366180e-02 -1.70857559e-02 8.03623010e+02] [ 1.83233947e-02 9.99831680e-01 -9.30174833e-04 1.01172998e+01] [ 1.70999362e-02 6.16813592e-04 9.99853595e-01 5.36751003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.779254154 meters 0.02204196448427612 Centerline is valid? [True, True] Translation: X:803.68, Y:10.13, Z:5.37 [[ 9.99726344e-01 -1.68430927e-02 -1.62341384e-02 8.03680605e+02] [ 1.68309177e-02 9.99857957e-01 -8.86304580e-04 1.01251425e+01] [ 1.62467606e-02 6.12826590e-04 9.99867825e-01 5.36782478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.839254154 meters 0.022233264992148474 Centerline is valid? [True, True] Translation: X:803.74, Y:10.13, Z:5.37 [[ 9.99752791e-01 -1.46623985e-02 -1.67143749e-02 8.03740378e+02] [ 1.46491717e-02 9.99892278e-01 -9.13509306e-04 1.01304587e+01] [ 1.67259686e-02 6.68431731e-04 9.99859888e-01 5.36809414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.899254154 meters 0.02346582291458706 Centerline is valid? [True, True] Translation: X:803.80, Y:10.14, Z:5.37 [[ 9.99771971e-01 -1.37105224e-02 -1.63715233e-02 8.03798756e+02] [ 1.36976616e-02 9.99905780e-01 -8.97437802e-04 1.01373941e+01] [ 1.63822851e-02 6.72981574e-04 9.99865575e-01 5.36798788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.959254154 meters 0.023771170739315242 Centerline is valid? [True, True] Translation: X:803.86, Y:10.14, Z:5.37 [[ 9.99777074e-01 -1.40655074e-02 -1.57468526e-02 8.03856752e+02] [ 1.40535872e-02 9.99900867e-01 -8.67392058e-04 1.01424268e+01] [ 1.57574918e-02 6.45898928e-04 9.99875634e-01 5.36864120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.019254154 meters 0.02414494779659029 Centerline is valid? [True, True] Translation: X:803.92, Y:10.15, Z:5.37 [[ 9.99785958e-01 -1.44744419e-02 -1.47827229e-02 8.03915509e+02] [ 1.44639254e-02 9.99895057e-01 -8.18078614e-04 1.01479748e+01] [ 1.47930128e-02 6.04087310e-04 9.99890395e-01 5.36958605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.079254154 meters 0.021963964130140158 Centerline is valid? [True, True] Translation: X:803.97, Y:10.15, Z:5.37 [[ 9.99785766e-01 -1.48997409e-02 -1.43673272e-02 8.03973779e+02] [ 1.48897951e-02 9.99888822e-01 -7.98981265e-04 1.01496072e+01] [ 1.43776344e-02 5.84883539e-04 9.99896465e-01 5.37043564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.139254154 meters 0.02558286009684246 Centerline is valid? [True, True] Translation: X:804.03, Y:10.16, Z:5.37 [[ 9.99760365e-01 -1.57776903e-02 -1.51748895e-02 8.04031207e+02] [ 1.57666463e-02 9.99875340e-01 -8.47149602e-04 1.01590131e+01] [ 1.51863639e-02 6.07689480e-04 9.99884496e-01 5.36768498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.199254154 meters 0.022847570277436276 Centerline is valid? [True, True] Translation: X:804.09, Y:10.16, Z:5.37 [[ 9.99772638e-01 -1.56416223e-02 -1.44917821e-02 8.04089839e+02] [ 1.56314946e-02 9.99877491e-01 -8.11870984e-04 1.01626249e+01] [ 1.45027057e-02 5.85158182e-04 9.99894659e-01 5.37050479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.259254154 meters 0.026479204145556604 Centerline is valid? [True, True] Translation: X:804.15, Y:10.17, Z:5.37 [[ 9.99781175e-01 -1.57585116e-02 -1.37575878e-02 8.04147481e+02] [ 1.57493642e-02 9.99875672e-01 -7.72994321e-04 1.01730163e+01] [ 1.37680586e-02 5.56151909e-04 9.99905061e-01 5.36982833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.319254154 meters 0.022425756157659443 Centerline is valid? [True, True] Translation: X:804.21, Y:10.17, Z:5.37 [[ 9.99754195e-01 -1.72577514e-02 -1.39183309e-02 8.04206610e+02] [ 1.72485000e-02 9.99850926e-01 -7.84470255e-04 1.01735087e+01] [ 1.39297943e-02 5.44207098e-04 9.99902828e-01 5.37006577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.379254154 meters 0.021307199740708486 Centerline is valid? [True, True] Translation: X:804.26, Y:10.18, Z:5.37 [[ 9.99725625e-01 -1.80170416e-02 -1.49686594e-02 8.04264716e+02] [ 1.80063621e-02 9.99837513e-01 -8.47933393e-04 1.01776141e+01] [ 1.49815044e-02 5.78169640e-04 9.99887604e-01 5.36995415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.439254154 meters 0.022318210735960426 Centerline is valid? [True, True] Translation: X:804.32, Y:10.18, Z:5.37 [[ 9.99726431e-01 -1.75808396e-02 -1.54264957e-02 8.04322644e+02] [ 1.75694014e-02 9.99845262e-01 -8.76688705e-04 1.01848532e+01] [ 1.54395215e-02 6.05414575e-04 9.99880620e-01 5.37002105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.499254154 meters 0.024024246873067548 Centerline is valid? [True, True] Translation: X:804.38, Y:10.19, Z:5.37 [[ 9.99720643e-01 -1.71922337e-02 -1.62192146e-02 8.04380927e+02] [ 1.71794897e-02 9.99851994e-01 -9.24748467e-04 1.01944669e+01] [ 1.62327125e-02 6.45852303e-04 9.99868032e-01 5.36849629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.559254154 meters 0.0240968328210218 Centerline is valid? [True, True] Translation: X:804.44, Y:10.20, Z:5.37 [[ 9.99692490e-01 -1.83215455e-02 -1.67106604e-02 8.04439211e+02] [ 1.83081036e-02 9.99831935e-01 -9.57031646e-04 1.01991923e+01] [ 1.67253862e-02 6.50796847e-04 9.99859909e-01 5.36811474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.619254154 meters 0.023402815506036637 Centerline is valid? [True, True] Translation: X:804.50, Y:10.20, Z:5.37 [[ 9.99683393e-01 -1.95881883e-02 -1.57929067e-02 8.04497771e+02] [ 1.95762789e-02 9.99807954e-01 -9.08355588e-04 1.02046462e+01] [ 1.58076668e-02 5.98901650e-04 9.99874872e-01 5.36981499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.679254154 meters 0.022192450156710036 Centerline is valid? [True, True] Translation: X:804.56, Y:10.21, Z:5.37 [[ 9.99662134e-01 -2.10579283e-02 -1.52375186e-02 8.04556809e+02] [ 2.10469577e-02 9.99778101e-01 -8.79994076e-04 1.02111902e+01] [ 1.52526683e-02 5.58993345e-04 9.99883515e-01 5.37203586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.739254154 meters 0.02238232522249391 Centerline is valid? [True, True] Translation: X:804.62, Y:10.22, Z:5.37 [[ 9.99638777e-01 -2.19215742e-02 -1.55486504e-02 8.04615898e+02] [ 2.19101995e-02 9.99759536e-01 -9.01548014e-04 1.02179799e+01] [ 1.55646748e-02 5.60548324e-04 9.99878706e-01 5.37227019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.799254154 meters 0.023618650200624862 Centerline is valid? [True, True] Translation: X:804.67, Y:10.23, Z:5.37 [[ 9.99592864e-01 -2.36165872e-02 -1.60113653e-02 8.04673125e+02] [ 2.36046984e-02 9.99720937e-01 -9.31125135e-04 1.02250227e+01] [ 1.60288871e-02 5.52802590e-04 9.99871376e-01 5.37051146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters 0.02284542435563535 Centerline is valid? [True, True] Translation: X:804.73, Y:10.23, Z:5.37 [[ 9.99533054e-01 -2.56218654e-02 -1.66491726e-02 8.04732232e+02] [ 2.56092335e-02 9.99671558e-01 -9.71502389e-04 1.02282072e+01] [ 1.66685960e-02 5.44676199e-04 9.99860921e-01 5.37006640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.919254154 meters 0.018449713127682985 Centerline is valid? [True, True] Translation: X:804.79, Y:10.23, Z:5.37 [[ 9.99487125e-01 -2.78263412e-02 -1.58487121e-02 8.04791199e+02] [ 2.78151098e-02 9.99612654e-01 -9.28698329e-04 1.02275856e+01] [ 1.58684155e-02 4.87388355e-04 9.99873970e-01 5.37367823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters 0.01893403296212401 Centerline is valid? [True, True] Translation: X:804.85, Y:10.23, Z:5.37 [[ 9.99420871e-01 -3.03707630e-02 -1.53472814e-02 8.04848988e+02] [ 3.03604930e-02 9.99538607e-01 -9.01773290e-04 1.02323444e+01] [ 1.53675879e-02 4.35300016e-04 9.99881817e-01 5.37365647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.039254154 meters 0.017390019968365845 Centerline is valid? [True, True] Translation: X:804.91, Y:10.23, Z:5.37 [[ 9.99345914e-01 -3.28309160e-02 -1.51616470e-02 8.04907914e+02] [ 3.28211340e-02 9.99460842e-01 -8.93623618e-04 1.02332248e+01] [ 1.51828110e-02 3.95416664e-04 9.99884656e-01 5.37440928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters 0.01715439911131899 Centerline is valid? [True, True] Translation: X:804.97, Y:10.23, Z:5.37 [[ 9.99234005e-01 -3.60899374e-02 -1.51300717e-02 8.04966805e+02] [ 3.60805111e-02 9.99348485e-01 -8.95610608e-04 1.02338510e+01] [ 1.51525367e-02 3.49023858e-04 9.99885133e-01 5.37346199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.159254154 meters 0.018496937645507347 Centerline is valid? [True, True] Translation: X:805.02, Y:10.24, Z:5.37 [[ 9.99166781e-01 -3.79657411e-02 -1.49781908e-02 8.05024331e+02] [ 3.79566774e-02 9.99278990e-01 -8.89043072e-04 1.02362314e+01] [ 1.50011445e-02 3.19779949e-04 9.99887425e-01 5.37252961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters 0.017740452811593064 Centerline is valid? [True, True] Translation: X:805.08, Y:10.24, Z:5.37 [[ 9.99167036e-01 -3.80208243e-02 -1.48206148e-02 8.05082284e+02] [ 3.80119119e-02 9.99276896e-01 -8.82682179e-04 1.02380095e+01] [ 1.48434583e-02 3.18587032e-04 9.99889779e-01 5.37317459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.279254154 meters 0.019231601260182963 Centerline is valid? [True, True] Translation: X:805.14, Y:10.24, Z:5.37 [[ 9.99257293e-01 -3.54294412e-02 -1.51530902e-02 8.05139956e+02] [ 3.54197842e-02 9.99372113e-01 -9.05276665e-04 1.02431069e+01] [ 1.51756492e-02 3.67885126e-04 9.99884776e-01 5.37245614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.339254154 meters 0.019882020596705498 Centerline is valid? [True, True] Translation: X:805.20, Y:10.25, Z:5.37 [[ 9.99430045e-01 -3.00811702e-02 -1.53201750e-02 8.05198743e+02] [ 3.00706545e-02 9.99547356e-01 -9.16338761e-04 1.02496844e+01] [ 1.53408049e-02 4.55128800e-04 9.99882219e-01 5.37305767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.399254154 meters 0.021809300052067594 Centerline is valid? [True, True] Translation: X:805.26, Y:10.26, Z:5.37 [[ 9.99540503e-01 -2.56421973e-02 -1.61635340e-02 8.05256488e+02] [ 2.56298929e-02 9.99671032e-01 -9.67965701e-04 1.02565287e+01] [ 1.61830374e-02 5.53251279e-04 9.99868893e-01 5.37245781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.459254154 meters 0.02053884079713772 Centerline is valid? [True, True] Translation: X:805.32, Y:10.26, Z:5.37 [[ 9.99552804e-01 -2.49388471e-02 -1.64998732e-02 8.05315275e+02] [ 2.49258783e-02 9.99688811e-01 -9.91215139e-04 1.02565908e+01] [ 1.65194584e-02 5.79498040e-04 9.99863377e-01 5.37329993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.519254154 meters 0.021779680955836666 Centerline is valid? [True, True] Translation: X:805.37, Y:10.26, Z:5.37 [[ 9.99523574e-01 -2.58942465e-02 -1.67962327e-02 8.05372713e+02] [ 2.58808972e-02 9.99664522e-01 -1.01169110e-03 1.02597648e+01] [ 1.68167949e-02 5.76507530e-04 9.99858422e-01 5.37330648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.579254154 meters 0.01765351358678659 Centerline is valid? [True, True] Translation: X:805.43, Y:10.25, Z:5.38 [[ 9.99337056e-01 -3.33025444e-02 -1.47101463e-02 8.05433960e+02] [ 3.32930985e-02 9.99445238e-01 -8.86621270e-04 1.02518984e+01] [ 1.47315124e-02 3.96287139e-04 9.99891407e-01 5.37720658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.639254154 meters 0.016319527835010207 Centerline is valid? [True, True] Translation: X:805.49, Y:10.25, Z:5.38 [[ 9.99174380e-01 -3.81465726e-02 -1.39784404e-02 8.05494027e+02] [ 3.81385126e-02 9.99272107e-01 -8.42820910e-04 1.02492488e+01] [ 1.40004163e-02 3.09008135e-04 9.99901942e-01 5.37805253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.699254154 meters 0.015432184602467465 Centerline is valid? [True, True] Translation: X:805.55, Y:10.24, Z:5.38 [[ 9.98914484e-01 -4.47644518e-02 -1.28839693e-02 8.05553951e+02] [ 4.47581489e-02 9.98997550e-01 -7.77273946e-04 1.02435347e+01] [ 1.29058480e-02 1.99767585e-04 9.99916696e-01 5.37835651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.759254154 meters 0.014039332567436055 Centerline is valid? [True, True] Translation: X:805.61, Y:10.24, Z:5.38 [[ 9.98779399e-01 -4.76339171e-02 -1.30660323e-02 8.05613341e+02] [ 4.76276558e-02 9.98864847e-01 -7.90127862e-04 1.02396883e+01] [ 1.30888373e-02 1.66858942e-04 9.99914324e-01 5.37993361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.819254154 meters 0.014432710631357005 Centerline is valid? [True, True] Translation: X:805.67, Y:10.24, Z:5.38 [[ 9.98822808e-01 -4.63136164e-02 -1.44238223e-02 8.05671818e+02] [ 4.63058062e-02 9.98926927e-01 -8.75161999e-04 1.02402698e+01] [ 1.44488765e-02 2.06225044e-04 9.99895588e-01 5.37921174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.879254154 meters 0.015234257265626532 Centerline is valid? [True, True] Translation: X:805.73, Y:10.24, Z:5.38 [[ 9.98921192e-01 -4.37925971e-02 -1.54486677e-02 8.05729884e+02] [ 4.37833091e-02 9.99040610e-01 -9.39080279e-04 1.02436160e+01] [ 1.54749712e-02 2.61673398e-04 9.99880221e-01 5.37814060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.939254154 meters 0.015862432893617537 Centerline is valid? [True, True] Translation: X:805.79, Y:10.25, Z:5.38 [[ 9.99068974e-01 -3.98555787e-02 -1.65141740e-02 8.05788954e+02] [ 3.98444083e-02 9.99205391e-01 -1.00501324e-03 1.02452293e+01] [ 1.65411071e-02 3.46080053e-04 9.99863127e-01 5.37810477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.999254154 meters 0.01738040931572652 Centerline is valid? [True, True] Translation: X:805.85, Y:10.25, Z:5.38 [[ 9.99213929e-01 -3.67834939e-02 -1.47816881e-02 8.05846661e+02] [ 3.67741931e-02 9.99323195e-01 -9.00620704e-04 1.02480220e+01] [ 1.48048117e-02 3.56328102e-04 9.99890339e-01 5.37962449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.059254154 meters 0.017556820564596676 Centerline is valid? [True, True] Translation: X:805.91, Y:10.25, Z:5.38 [[ 9.99304368e-01 -3.47617328e-02 -1.35055974e-02 8.05905895e+02] [ 3.47537536e-02 9.99395565e-01 -8.25131782e-04 1.02493834e+01] [ 1.35261171e-02 3.55187591e-04 9.99908455e-01 5.38145237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.119254154 meters 0.018545441714800454 Centerline is valid? [True, True] Translation: X:805.96, Y:10.25, Z:5.38 [[ 9.99373337e-01 -3.24018452e-02 -1.42497078e-02 8.05964736e+02] [ 3.23926701e-02 9.99474837e-01 -8.74272461e-04 1.02509902e+01] [ 1.42705524e-02 4.12138503e-04 9.99898086e-01 5.38198561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.179254154 meters 0.01762707834511175 Centerline is valid? [True, True] Translation: X:806.02, Y:10.25, Z:5.38 [[ 9.99237970e-01 -3.46602700e-02 -1.79483930e-02 8.06023651e+02] [ 3.46459877e-02 9.99399035e-01 -1.10617025e-03 1.02510730e+01] [ 1.79759468e-02 4.83487509e-04 9.99838303e-01 5.37894118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters 0.016877653380047743 Centerline is valid? [True, True] Translation: X:806.08, Y:10.25, Z:5.38 [[ 9.99088239e-01 -3.82148642e-02 -1.90345566e-02 8.06082958e+02] [ 3.81993522e-02 9.99269444e-01 -1.17799140e-03 1.02505783e+01] [ 1.90656676e-02 4.49809624e-04 9.99818132e-01 5.37839244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.299254154 meters 0.015702098230118474 Centerline is valid? [True, True] Translation: X:806.14, Y:10.25, Z:5.38 [[ 9.99000406e-01 -4.06258058e-02 -1.86475850e-02 8.06141804e+02] [ 4.06112503e-02 9.99174351e-01 -1.15873109e-03 1.02497735e+01] [ 1.86792630e-02 4.00271091e-04 9.99825447e-01 5.38047306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters 0.015026689698042587 Centerline is valid? [True, True] Translation: X:806.20, Y:10.25, Z:5.38 [[ 9.98914998e-01 -4.38816809e-02 -1.55956870e-02 8.06200735e+02] [ 4.38718645e-02 9.99036694e-01 -9.71161385e-04 1.02511278e+01] [ 1.56232798e-02 2.85895805e-04 9.99877908e-01 5.38307788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.419254154 meters 0.015714986943933636 Centerline is valid? [True, True] Translation: X:806.26, Y:10.25, Z:5.38 [[ 9.98833897e-01 -4.63083080e-02 -1.36523452e-02 8.06259523e+02] [ 4.63009828e-02 9.98927171e-01 -8.52303555e-04 1.02539627e+01] [ 1.36771673e-02 2.19192679e-04 9.99906439e-01 5.38350642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters 0.014941757947761218 Centerline is valid? [True, True] Translation: X:806.32, Y:10.26, Z:5.39 [[ 9.98867727e-01 -4.56731765e-02 -1.33125487e-02 8.06317833e+02] [ 4.56661116e-02 9.98956411e-01 -8.34344803e-04 1.02590105e+01] [ 1.33367631e-02 2.25467761e-04 9.99911036e-01 5.38524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.539254154 meters 0.01620718204492996 Centerline is valid? [True, True] Translation: X:806.38, Y:10.27, Z:5.38 [[ 9.99045238e-01 -4.12356209e-02 -1.44303791e-02 8.06377076e+02] [ 4.12268272e-02 9.99149402e-01 -9.06458908e-04 1.02681083e+01] [ 1.44554831e-02 3.10674710e-04 9.99895466e-01 5.38440297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters 0.016540566401670106 Centerline is valid? [True, True] Translation: X:806.44, Y:10.28, Z:5.38 [[ 9.99214052e-01 -3.64723267e-02 -1.55257108e-02 8.06436337e+02] [ 3.64615636e-02 9.99334580e-01 -9.75840411e-04 1.02754769e+01] [ 1.55509709e-02 4.08981758e-04 9.99878993e-01 5.38433452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.659254154 meters 0.022028853326720797 Centerline is valid? [True, True] Translation: X:806.50, Y:10.29, Z:5.38 [[ 9.99477554e-01 -2.62385996e-02 -1.88720860e-02 8.06495598e+02] [ 2.62208666e-02 9.99655470e-01 -1.18651425e-03 1.02895260e+01] [ 1.88967165e-02 6.91051910e-04 9.99821202e-01 5.38156157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters 0.02279432737874645 Centerline is valid? [True, True] Translation: X:806.55, Y:10.30, Z:5.38 [[ 9.99598430e-01 -2.15253649e-02 -1.84292674e-02 8.06554366e+02] [ 2.15076519e-02 9.99768012e-01 -1.15882313e-03 1.02995358e+01] [ 1.84499361e-02 7.61987513e-04 9.99829495e-01 5.38350428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.779254154 meters 0.028936681093531227 Centerline is valid? [True, True] Translation: X:806.61, Y:10.31, Z:5.38 [[ 9.99655209e-01 -1.93088171e-02 -1.77941710e-02 8.06612488e+02] [ 1.92919417e-02 9.99813266e-01 -1.11955215e-03 1.03136892e+01] [ 1.78124655e-02 7.75882027e-04 9.99841044e-01 5.38210986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.839254154 meters 0.02430548230449464 Centerline is valid? [True, True] Translation: X:806.67, Y:10.31, Z:5.38 [[ 9.99649291e-01 -1.99199710e-02 -1.74496267e-02 8.06671589e+02] [ 1.99037819e-02 9.99801294e-01 -1.10095712e-03 1.03107147e+01] [ 1.74680903e-02 7.53257442e-04 9.99847138e-01 5.38498522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.899254154 meters 0.023614216906216477 Centerline is valid? [True, True] Translation: X:806.73, Y:10.31, Z:5.39 [[ 9.99604719e-01 -2.22005981e-02 -1.72493076e-02 8.06730525e+02] [ 2.21850753e-02 9.99753286e-01 -1.09076455e-03 1.03128151e+01] [ 1.72692676e-02 7.07656203e-04 9.99850625e-01 5.38597349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.959254154 meters 0.021397729156984544 Centerline is valid? [True, True] Translation: X:806.79, Y:10.31, Z:5.39 [[ 9.99532360e-01 -2.54159752e-02 -1.70026482e-02 8.06789863e+02] [ 2.54013080e-02 9.99676753e-01 -1.07807933e-03 1.03128215e+01] [ 1.70245526e-02 6.45685669e-04 9.99854863e-01 5.38780758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.019254154 meters 0.02081029841346299 Centerline is valid? [True, True] Translation: X:806.85, Y:10.31, Z:5.39 [[ 9.99324762e-01 -3.17900851e-02 -1.84230821e-02 8.06850114e+02] [ 3.17739106e-02 9.99494397e-01 -1.17006965e-03 1.03102679e+01] [ 1.84509639e-02 5.83906207e-04 9.99829596e-01 5.38661758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.079254154 meters 0.019344854663915743 Centerline is valid? [True, True] Translation: X:806.91, Y:10.31, Z:5.39 [[ 9.99080209e-01 -3.83290597e-02 -1.92254825e-02 8.06910006e+02] [ 3.83126434e-02 9.99265054e-01 -1.22161731e-03 1.03059683e+01] [ 1.92581762e-02 4.83914619e-04 9.99814427e-01 5.38657811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.139254154 meters 0.016186826080105535 Centerline is valid? [True, True] Translation: X:806.97, Y:10.31, Z:5.39 [[ 9.98947958e-01 -4.18888583e-02 -1.86628369e-02 8.06969481e+02] [ 4.18739525e-02 9.99122194e-01 -1.18892206e-03 1.03056023e+01] [ 1.86962572e-02 4.06184519e-04 9.99825127e-01 5.38734353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.199254154 meters 0.017552861787571213 Centerline is valid? [True, True] Translation: X:807.03, Y:10.30, Z:5.39 [[ 9.98654832e-01 -4.80388268e-02 -1.95140192e-02 8.07029042e+02] [ 4.80236116e-02 9.98845421e-01 -1.24784093e-03 1.03020340e+01] [ 1.95514335e-02 3.09028699e-04 9.99808805e-01 5.38668444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.259254154 meters 0.016912555641346475 Centerline is valid? [True, True] Translation: X:807.09, Y:10.31, Z:5.39 [[ 9.98681547e-01 -4.80091440e-02 -1.81738512e-02 8.07088332e+02] [ 4.79958619e-02 9.98846853e-01 -1.16655209e-03 1.03053156e+01] [ 1.82088993e-02 2.92744393e-04 9.99834161e-01 5.38856753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.319254154 meters 0.016539288915155017 Centerline is valid? [True, True] Translation: X:807.15, Y:10.31, Z:5.39 [[ 9.98923594e-01 -4.28609133e-02 -1.77368174e-02 8.07147309e+02] [ 4.28474107e-02 9.99080977e-01 -1.14077183e-03 1.03123581e+01] [ 1.77694114e-02 3.79567198e-04 9.99842039e-01 5.39011904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.379254154 meters 0.018299906358761258 Centerline is valid? [True, True] Translation: X:807.21, Y:10.32, Z:5.39 [[ 9.99151561e-01 -3.64618457e-02 -1.91491801e-02 8.07207204e+02] [ 3.64449245e-02 9.99334904e-01 -1.23200650e-03 1.03235480e+01] [ 1.91813653e-02 5.33070789e-04 9.99815879e-01 5.38925769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.439254154 meters 0.022099243950839204 Centerline is valid? [True, True] Translation: X:807.27, Y:10.33, Z:5.39 [[ 9.99203648e-01 -3.38528158e-02 -2.11200614e-02 8.07266481e+02] [ 3.38316381e-02 9.99426622e-01 -1.35932958e-03 1.03319796e+01] [ 2.11539688e-02 6.43720795e-04 9.99776023e-01 5.38698430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.499254154 meters 0.022256700080693456 Centerline is valid? [True, True] Translation: X:807.32, Y:10.34, Z:5.39 [[ 9.99294736e-01 -3.07185512e-02 -2.15963124e-02 8.07323900e+02] [ 3.06956443e-02 9.99527809e-01 -1.39145775e-03 1.03435000e+01] [ 2.16288584e-02 7.27563685e-04 9.99765804e-01 5.38733643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.559254154 meters 0.02212468163897572 Centerline is valid? [True, True] Translation: X:807.38, Y:10.35, Z:5.39 [[ 9.99312842e-01 -3.02969281e-02 -2.13527593e-02 8.07382570e+02] [ 3.02743504e-02 9.99540674e-01 -1.37990534e-03 1.03506366e+01] [ 2.13847583e-02 7.32516214e-04 9.99771052e-01 5.38813579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.619254154 meters 0.020222901120915893 Centerline is valid? [True, True] Translation: X:807.44, Y:10.35, Z:5.39 [[ 9.99340721e-01 -3.04049320e-02 -1.98409372e-02 8.07441155e+02] [ 3.03853638e-02 9.99537430e-01 -1.28704577e-03 1.03537097e+01] [ 1.98708919e-02 6.83323151e-04 9.99802321e-01 5.39147194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.679254154 meters 0.020168103078260644 Centerline is valid? [True, True] Translation: X:807.50, Y:10.36, Z:5.39 [[ 9.99232963e-01 -3.40714797e-02 -1.93033777e-02 8.07500686e+02] [ 3.40535519e-02 9.99419219e-01 -1.25678174e-03 1.03564355e+01] [ 1.93349870e-02 5.98469169e-04 9.99812883e-01 5.39196845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters 0.018249291287401832 Centerline is valid? [True, True] Translation: X:807.56, Y:10.36, Z:5.39 [[ 9.99055949e-01 -3.95165967e-02 -1.80457784e-02 8.07560316e+02] [ 3.95017822e-02 9.99218807e-01 -1.17679283e-03 1.03557104e+01] [ 1.80781840e-02 4.62841473e-04 9.99836469e-01 5.39468179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.799254154 meters 0.018306747684568525 Centerline is valid? [True, True] Translation: X:807.62, Y:10.36, Z:5.40 [[ 9.98880553e-01 -4.38864447e-02 -1.76528138e-02 8.07618664e+02] [ 4.38729320e-02 9.99036455e-01 -1.15220126e-03 1.03571944e+01] [ 1.76863706e-02 3.76430736e-04 9.99843513e-01 5.39524209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters 0.018624311625305544 Centerline is valid? [True, True] Translation: X:807.68, Y:10.36, Z:5.40 [[ 9.98559196e-01 -5.06408049e-02 -1.77493928e-02 8.07678037e+02] [ 5.06281945e-02 9.98716898e-01 -1.15938361e-03 1.03566642e+01] [ 1.77853306e-02 2.59093451e-04 9.99841795e-01 5.39559316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.919254154 meters 0.013306068186589975 Centerline is valid? [True, True] Translation: X:807.74, Y:10.36, Z:5.40 [[ 9.98305189e-01 -5.52069769e-02 -1.84103133e-02 8.07737358e+02] [ 5.51941263e-02 9.98474914e-01 -1.20578207e-03 1.03553925e+01] [ 1.84488036e-02 1.87597335e-04 9.99829789e-01 5.39946613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters 0.015999726751687954 Centerline is valid? [True, True] Translation: X:807.80, Y:10.36, Z:5.40 [[ 9.98047749e-01 -5.92923135e-02 -1.96242767e-02 8.07796821e+02] [ 5.92784060e-02 9.98240655e-01 -1.29014657e-03 1.03568159e+01] [ 1.96662466e-02 1.24332035e-04 9.99806593e-01 5.39654606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.039254154 meters 0.014273172967402676 Centerline is valid? [True, True] Translation: X:807.85, Y:10.36, Z:5.40 [[ 9.97816868e-01 -6.29783960e-02 -1.98801329e-02 8.07854783e+02] [ 6.29647997e-02 9.98014889e-01 -1.30973236e-03 1.03566982e+01] [ 1.99231535e-02 5.51244572e-05 9.99801513e-01 5.39691962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters 0.01576269079897633 Centerline is valid? [True, True] Translation: X:807.91, Y:10.36, Z:5.40 [[ 9.97586691e-01 -6.67604922e-02 -1.90743457e-02 8.07913468e+02] [ 6.67485969e-02 9.97769030e-01 -1.26031011e-03 1.03565970e+01] [ 1.91159303e-02 -1.59172266e-05 9.99817274e-01 5.39758144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.159254154 meters 0.013279384793987197 Centerline is valid? [True, True] Translation: X:807.97, Y:10.36, Z:5.40 [[ 9.97554043e-01 -6.75596934e-02 -1.79337551e-02 8.07972397e+02] [ 6.75492290e-02 9.97715234e-01 -1.18931319e-03 1.03587930e+01] [ 1.79731303e-02 -2.50071556e-05 9.99838470e-01 5.40033174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters 0.01685008320193312 Centerline is valid? [True, True] Translation: X:808.03, Y:10.36, Z:5.40 [[ 9.97499879e-01 -6.84585863e-02 -1.75332028e-02 8.08029621e+02] [ 6.84486711e-02 9.97653958e-01 -1.16570159e-03 1.03612461e+01] [ 1.75718715e-02 -3.73372342e-05 9.99845602e-01 5.39891759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.279254154 meters 0.014934358098757696 Centerline is valid? [True, True] Translation: X:808.09, Y:10.37, Z:5.40 [[ 9.97557030e-01 -6.80636438e-02 -1.57261436e-02 8.08087912e+02] [ 6.80555714e-02 9.97680981e-01 -1.04852185e-03 1.03654172e+01] [ 1.57610406e-02 -2.42913512e-05 9.99875787e-01 5.40113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.339254154 meters 0.012991564029333432 Centerline is valid? [True, True] Translation: X:808.15, Y:10.37, Z:5.40 [[ 9.97663024e-01 -6.66935693e-02 -1.48478468e-02 8.08146156e+02] [ 6.66861639e-02 9.97773505e-01 -9.93846827e-04 1.03707247e+01] [ 1.48810713e-02 1.37828612e-06 9.99889271e-01 5.40296669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.399254154 meters 0.015254134665941346 Centerline is valid? [True, True] Translation: X:808.20, Y:10.38, Z:5.40 [[ 9.97721579e-01 -6.57640625e-02 -1.50578354e-02 8.08203386e+02] [ 6.57562956e-02 9.97835201e-01 -1.01086133e-03 1.03756725e+01] [ 1.50917166e-02 1.84106863e-05 9.99886113e-01 5.40107867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.459254154 meters 0.014242072866775906 Centerline is valid? [True, True] Translation: X:808.26, Y:10.38, Z:5.40 [[ 9.97817675e-01 -6.41532425e-02 -1.56284967e-02 8.08261885e+02] [ 6.41446299e-02 9.97940058e-01 -1.05224957e-03 1.03819972e+01] [ 1.56638082e-02 4.74690851e-05 9.99877314e-01 5.40137159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.519254154 meters 0.016014171111694633 Centerline is valid? [True, True] Translation: X:808.32, Y:10.39, Z:5.40 [[ 9.97895771e-01 -6.26943202e-02 -1.65364045e-02 8.08319922e+02] [ 6.26844266e-02 9.98032773e-01 -1.11645230e-03 1.03893513e+01] [ 1.65738688e-02 7.75279993e-05 9.99862641e-01 5.39974682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.579254154 meters 0.01552344944126059 Centerline is valid? [True, True] Translation: X:808.38, Y:10.39, Z:5.40 [[ 9.97927352e-01 -6.23600372e-02 -1.58815973e-02 8.08377312e+02] [ 6.23508145e-02 9.98053715e-01 -1.07568599e-03 1.03948403e+01] [ 1.59177670e-02 8.32259496e-05 9.99873301e-01 5.40085912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.639254154 meters 0.01394188147861818 Centerline is valid? [True, True] Translation: X:808.44, Y:10.40, Z:5.40 [[ 9.97956273e-01 -6.24527320e-02 -1.35252919e-02 8.08435744e+02] [ 6.24460066e-02 9.98047920e-01 -9.19415891e-04 1.03996716e+01] [ 1.35563095e-02 7.29363890e-05 9.99908106e-01 5.40409687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.699254154 meters 0.01752933784268874 Centerline is valid? [True, True] Translation: X:808.49, Y:10.41, Z:5.40 [[ 9.98051700e-01 -6.07449209e-02 -1.42428221e-02 8.08494312e+02] [ 6.07372363e-02 9.98153317e-01 -9.71884824e-04 1.04069703e+01] [ 1.42755572e-02 1.04921649e-04 9.99898094e-01 5.40342687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.759254154 meters 0.017859388164627923 Centerline is valid? [True, True] Translation: X:808.55, Y:10.42, Z:5.40 [[ 9.98195602e-01 -5.80140287e-02 -1.54890944e-02 8.08552871e+02] [ 5.80045481e-02 9.98315755e-01 -1.06100548e-03 1.04153404e+01] [ 1.55245602e-02 1.60653089e-04 9.99879474e-01 5.40300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.819254154 meters 0.018966106467046263 Centerline is valid? [True, True] Translation: X:808.61, Y:10.42, Z:5.40 [[ 9.98339442e-01 -5.49399545e-02 -1.73193783e-02 8.08611319e+02] [ 5.49275588e-02 9.98489632e-01 -1.19095683e-03 1.04245266e+01] [ 1.73586508e-02 2.37668005e-04 9.99849299e-01 5.40094563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.879254154 meters 0.016762369651304527 Centerline is valid? [True, True] Translation: X:808.67, Y:10.43, Z:5.40 [[ 9.98458244e-01 -5.23655822e-02 -1.84114487e-02 8.08669959e+02] [ 5.23510485e-02 9.98627935e-01 -1.27080444e-03 1.04332746e+01] [ 1.84527334e-02 3.04986529e-04 9.99829687e-01 5.40129254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.939254154 meters 0.017941723028547615 Centerline is valid? [True, True] Translation: X:808.73, Y:10.44, Z:5.40 [[ 9.98553524e-01 -5.00995116e-02 -1.95166040e-02 8.08728631e+02] [ 5.00826477e-02 9.98744161e-01 -1.35219727e-03 1.04399920e+01] [ 1.95598388e-02 3.72798143e-04 9.99808619e-01 5.40191134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.999254154 meters 0.018922400471832215 Centerline is valid? [True, True] Translation: X:808.79, Y:10.45, Z:5.40 [[ 9.98577255e-01 -4.98667217e-02 -1.88885363e-02 8.08785384e+02] [ 4.98508231e-02 9.98755813e-01 -1.31191288e-03 1.04467458e+01] [ 1.89304563e-02 3.68437281e-04 9.99820735e-01 5.40238535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.059254154 meters 0.020472825751948767 Centerline is valid? [True, True] Translation: X:808.84, Y:10.45, Z:5.40 [[ 9.98575177e-01 -4.98824100e-02 -1.89568255e-02 8.08842546e+02] [ 4.98663540e-02 9.98755028e-01 -1.31902818e-03 1.04536979e+01] [ 1.89990211e-02 3.71841030e-04 9.99819433e-01 5.40310252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.119254154 meters 0.019953867262326216 Centerline is valid? [True, True] Translation: X:808.90, Y:10.46, Z:5.40 [[ 9.98597849e-01 -4.91368008e-02 -1.96954303e-02 8.08900968e+02] [ 4.91192422e-02 9.98791976e-01 -1.37456791e-03 1.04600368e+01] [ 1.97391796e-02 4.05215943e-04 9.99805081e-01 5.40429442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.179254154 meters 0.020934881824054716 Centerline is valid? [True, True] Translation: X:808.96, Y:10.47, Z:5.40 [[ 9.98635160e-01 -4.80242982e-02 -2.05300770e-02 8.08959190e+02] [ 4.80048768e-02 9.98846066e-01 -1.43805961e-03 1.04671453e+01] [ 2.05754485e-02 4.50553070e-04 9.99788202e-01 5.40415229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters 0.01837890910729464 Centerline is valid? [True, True] Translation: X:809.02, Y:10.48, Z:5.40 [[ 9.98695220e-01 -4.72176301e-02 -1.94512919e-02 8.09017773e+02] [ 4.71999504e-02 9.98884526e-01 -1.36727277e-03 1.04762761e+01] [ 1.94941538e-02 4.47388767e-04 9.99809871e-01 5.40495500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.299254154 meters 0.018204796199289115 Centerline is valid? [True, True] Translation: X:809.08, Y:10.48, Z:5.41 [[ 9.98716070e-01 -4.69104864e-02 -1.91211276e-02 8.09076026e+02] [ 4.68932546e-02 9.98898996e-01 -1.34881335e-03 1.04827406e+01] [ 1.91633486e-02 4.50429668e-04 9.99816265e-01 5.40531823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters 0.01998377835975738 Centerline is valid? [True, True] Translation: X:809.13, Y:10.49, Z:5.40 [[ 9.98671252e-01 -4.72328329e-02 -2.06104432e-02 8.09134826e+02] [ 4.72127716e-02 9.98883790e-01 -1.45913859e-03 1.04892982e+01] [ 2.06563569e-02 4.84123617e-04 9.99786517e-01 5.40431546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.419254154 meters 0.02045218771738518 Centerline is valid? [True, True] Translation: X:809.19, Y:10.50, Z:5.41 [[ 9.98716830e-01 -4.68843189e-02 -1.91456257e-02 8.09192971e+02] [ 4.68668458e-02 9.98900219e-01 -1.36056239e-03 1.04959806e+01] [ 1.91883588e-02 4.61521474e-04 9.99815780e-01 5.40568961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters 0.019969455636411663 Centerline is valid? [True, True] Translation: X:809.25, Y:10.50, Z:5.41 [[ 9.98809554e-01 -4.52723219e-02 -1.81629071e-02 8.09250313e+02] [ 4.52562787e-02 9.98974572e-01 -1.29356400e-03 1.05045911e+01] [ 1.82028450e-02 4.70038494e-04 9.99834204e-01 5.40653189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.539254154 meters 0.022016804031772017 Centerline is valid? [True, True] Translation: X:809.31, Y:10.52, Z:5.40 [[ 9.98856797e-01 -4.37885374e-02 -1.91745567e-02 8.09307532e+02] [ 4.37703512e-02 9.99040683e-01 -1.36731242e-03 1.05152102e+01] [ 1.92160348e-02 5.26472224e-04 9.99815216e-01 5.40497897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters 0.021073630665972416 Centerline is valid? [True, True] Translation: X:809.37, Y:10.52, Z:5.41 [[ 9.98775727e-01 -4.50710503e-02 -2.03874530e-02 8.09366640e+02] [ 4.50506725e-02 9.98983639e-01 -1.45794371e-03 1.05155913e+01] [ 2.04324431e-02 5.37690321e-04 9.99791091e-01 5.40611301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.659254154 meters 0.017994358843891813 Centerline is valid? [True, True] Translation: X:809.42, Y:10.52, Z:5.41 [[ 9.98683779e-01 -4.75292089e-02 -1.92791231e-02 8.09424823e+02] [ 4.75113512e-02 9.98869740e-01 -1.38350880e-03 1.05205924e+01] [ 1.93230897e-02 4.65710611e-04 9.99813183e-01 5.40728004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters 0.019100318460216353 Centerline is valid? [True, True] Translation: X:809.48, Y:10.52, Z:5.41 [[ 9.98411569e-01 -5.31018888e-02 -1.88289269e-02 8.09484655e+02] [ 5.30858060e-02 9.98589038e-01 -1.35329692e-03 1.05218763e+01] [ 1.88742226e-02 3.51598536e-04 9.99821804e-01 5.40809117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.779254154 meters 0.018256974229327077 Centerline is valid? [True, True] Translation: X:809.54, Y:10.52, Z:5.41 [[ 9.98198857e-01 -5.71924807e-02 -1.81124712e-02 8.09542599e+02] [ 5.71782406e-02 9.98363135e-01 -1.30352060e-03 1.05242945e+01] [ 1.81573752e-02 2.65533531e-04 9.99835106e-01 5.40869534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.839254154 meters 0.015120625671596149 Centerline is valid? [True, True] Translation: X:809.60, Y:10.53, Z:5.41 [[ 9.97933998e-01 -6.17214594e-02 -1.78380672e-02 8.09601864e+02] [ 6.17083060e-02 9.98093396e-01 -1.28738740e-03 1.05257043e+01] [ 1.78835165e-02 1.83970740e-04 9.99840060e-01 5.40928667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.899254154 meters 0.014970359239205167 Centerline is valid? [True, True] Translation: X:809.66, Y:10.53, Z:5.41 [[ 9.97756330e-01 -6.39923555e-02 -1.96795355e-02 8.09660228e+02] [ 6.39766797e-02 9.97950375e-01 -1.42574783e-03 1.05275319e+01] [ 1.97304368e-02 1.63517580e-04 9.99805323e-01 5.40877996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.959254154 meters 0.014999953506084327 Centerline is valid? [True, True] Translation: X:809.72, Y:10.53, Z:5.41 [[ 9.97725243e-01 -6.42607405e-02 -2.03690167e-02 8.09718907e+02] [ 6.42438951e-02 9.97933128e-01 -1.48097226e-03 1.05309669e+01] [ 2.04220849e-02 1.69018438e-04 9.99791433e-01 5.40835457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.019254154 meters 0.015708852727782285 Centerline is valid? [True, True] Translation: X:809.78, Y:10.54, Z:5.41 [[ 9.97824034e-01 -6.22293400e-02 -2.17877792e-02 8.09776544e+02] [ 6.22095152e-02 9.98061850e-01 -1.58716514e-03 1.05364440e+01] [ 2.18443194e-02 2.28304345e-04 9.99761358e-01 5.40603914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.079254154 meters 0.016324480175485608 Centerline is valid? [True, True] Translation: X:809.84, Y:10.54, Z:5.41 [[ 9.98023563e-01 -5.85886671e-02 -2.27230229e-02 8.09835080e+02] [ 5.85660591e-02 9.98282156e-01 -1.65972096e-03 1.05420671e+01] [ 2.27812291e-02 3.25642723e-04 9.99740421e-01 5.40618320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.139254154 meters 0.01729191032365387 Centerline is valid? [True, True] Translation: X:809.89, Y:10.55, Z:5.41 [[ 9.98268040e-01 -5.47902086e-02 -2.14231977e-02 8.09893828e+02] [ 5.47691314e-02 9.98497811e-01 -1.56979149e-03 1.05490359e+01] [ 2.14770252e-02 3.93742743e-04 9.99769265e-01 5.40722054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.199254154 meters 0.02016363119393719 Centerline is valid? [True, True] Translation: X:809.95, Y:10.56, Z:5.41 [[ 9.98670698e-01 -4.75439585e-02 -1.99100387e-02 8.09952700e+02] [ 4.75242714e-02 9.98869015e-01 -1.46105823e-03 1.05596276e+01] [ 1.99569852e-02 5.12905956e-04 9.99800708e-01 5.40844339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.259254154 meters 0.02287997051334659 Centerline is valid? [True, True] Translation: X:810.01, Y:10.57, Z:5.41 [[ 9.98943932e-01 -4.10920212e-02 -2.05539930e-02 8.10012809e+02] [ 4.10696614e-02 9.99155146e-01 -1.50897522e-03 1.05653780e+01] [ 2.05986347e-02 6.63236110e-04 9.99787606e-01 5.40811542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.319254154 meters 0.0243527944711984 Centerline is valid? [True, True] Translation: X:810.07, Y:10.57, Z:5.41 [[ 9.99055567e-01 -3.78833083e-02 -2.12798034e-02 8.10070896e+02] [ 3.78585853e-02 9.99281883e-01 -1.56361036e-03 1.05725667e+01] [ 2.13237567e-02 7.56510386e-04 9.99772337e-01 5.40724670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.379254154 meters 0.025769148392177234 Centerline is valid? [True, True] Translation: X:810.13, Y:10.58, Z:5.41 [[ 9.99165704e-01 -3.50829213e-02 -2.09065486e-02 8.10130585e+02] [ 3.50584244e-02 9.99384082e-01 -1.53721424e-03 1.05785072e+01] [ 2.09476019e-02 8.02981100e-04 9.99780252e-01 5.40703884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.439254154 meters 0.022743164594577984 Centerline is valid? [True, True] Translation: X:810.19, Y:10.58, Z:5.41 [[ 9.99216507e-01 -3.45071724e-02 -1.93811138e-02 8.10189110e+02] [ 3.44859737e-02 9.99404163e-01 -1.42703611e-03 1.05781660e+01] [ 1.94188088e-02 7.57541451e-04 9.99811150e-01 5.40980847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.499254154 meters 0.024259853186237607 Centerline is valid? [True, True] Translation: X:810.25, Y:10.58, Z:5.41 [[ 9.99183416e-01 -3.68159617e-02 -1.66459245e-02 8.10246681e+02] [ 3.68006102e-02 9.99321874e-01 -1.22771490e-03 1.05800504e+01] [ 1.66798359e-02 6.14132192e-04 9.99860693e-01 5.41074514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.559254154 meters 0.0210206794235323 Centerline is valid? [True, True] Translation: X:810.31, Y:10.58, Z:5.41 [[ 9.99067503e-01 -4.10547952e-02 -1.33652143e-02 8.10306638e+02] [ 4.10452654e-02 9.99156801e-01 -9.86670757e-04 1.05792097e+01] [ 1.33944523e-02 4.37171920e-04 9.99910195e-01 5.41343333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.619254154 meters 0.020053399953241506 Centerline is valid? [True, True] Translation: X:810.37, Y:10.58, Z:5.41 [[ 9.98829143e-01 -4.64688846e-02 -1.34530653e-02 8.10365698e+02] [ 4.64597115e-02 9.98919670e-01 -9.93752080e-04 1.05776340e+01] [ 1.34847101e-02 3.67563008e-04 9.99909010e-01 5.41234586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.679254154 meters 0.01816486037150903 Centerline is valid? [True, True] Translation: X:810.43, Y:10.58, Z:5.41 [[ 9.98596321e-01 -5.08595426e-02 -1.47883127e-02 8.10425368e+02] [ 5.08489064e-02 9.98705758e-01 -1.09459118e-03 1.05764475e+01] [ 1.48248435e-02 3.41085192e-04 9.99890048e-01 5.41080293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters 0.01797508180418875 Centerline is valid? [True, True] Translation: X:810.48, Y:10.58, Z:5.41 [[ 9.98443572e-01 -5.36068976e-02 -1.53861911e-02 8.10483804e+02] [ 5.35956538e-02 9.98562067e-01 -1.14247848e-03 1.05784773e+01] [ 1.54253115e-02 3.16067321e-04 9.99880973e-01 5.40946255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.799254154 meters 0.015437594261783235 Centerline is valid? [True, True] Translation: X:810.54, Y:10.57, Z:5.41 [[ 9.97982624e-01 -6.14980790e-02 -1.57692484e-02 8.10543846e+02] [ 6.14872219e-02 9.98107182e-01 -1.17286611e-03 1.05718398e+01] [ 1.58115290e-02 2.00892725e-04 9.99874970e-01 5.40941537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters 0.014052267964423028 Centerline is valid? [True, True] Translation: X:810.60, Y:10.57, Z:5.41 [[ 9.97432775e-01 -7.02056887e-02 -1.41074682e-02 8.10603243e+02] [ 7.01978592e-02 9.97532535e-01 -1.05001402e-03 1.05650990e+01] [ 1.41463754e-02 5.70043322e-05 9.99899933e-01 5.41235875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.919254154 meters 0.01403250148524296 Centerline is valid? [True, True] Translation: X:810.66, Y:10.56, Z:5.41 [[ 9.97037489e-01 -7.59228357e-02 -1.23275224e-02 8.10662907e+02] [ 7.59172725e-02 9.97113696e-01 -9.19289355e-04 1.05637004e+01] [ 1.23617365e-02 -1.93059258e-05 9.99923591e-01 5.41342793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters 0.014252028989034183 Centerline is valid? [True, True] Translation: X:810.72, Y:10.56, Z:5.41 [[ 9.96642966e-01 -8.08890543e-02 -1.26396201e-02 8.10721339e+02] [ 8.08835778e-02 9.96723108e-01 -9.44713687e-04 1.05617883e+01] [ 1.26746184e-02 -8.07954441e-05 9.99919671e-01 5.41391184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.039254154 meters 0.016845807422989006 Centerline is valid? [True, True] Translation: X:810.78, Y:10.56, Z:5.41 [[ 9.96593392e-01 -8.11662881e-02 -1.46166145e-02 8.10779241e+02] [ 8.11589738e-02 9.96700569e-01 -1.09386352e-03 1.05630737e+01] [ 1.46571728e-02 -9.61322732e-05 9.99892573e-01 5.41274616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters 0.014006981439757031 Centerline is valid? [True, True] Translation: X:810.84, Y:10.57, Z:5.41 [[ 9.96957396e-01 -7.63525784e-02 -1.56918659e-02 8.10836349e+02] [ 7.63435007e-02 9.97080881e-01 -1.17758301e-03 1.05722651e+01] [ 1.57359710e-02 -2.39718893e-05 9.99876182e-01 5.41290775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.159254154 meters 0.013990934351966173 Centerline is valid? [True, True] Translation: X:810.89, Y:10.58, Z:5.41 [[ 9.97204253e-01 -7.28984587e-02 -1.64162055e-02 8.10893466e+02] [ 7.28880075e-02 9.97339367e-01 -1.23485039e-03 1.05786941e+01] [ 1.64625467e-02 3.48535562e-05 9.99864482e-01 5.41270016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters 0.014074535146635847 Centerline is valid? [True, True] Translation: X:810.95, Y:10.59, Z:5.41 [[ 9.97436757e-01 -6.97268590e-02 -1.60648990e-02 8.10951881e+02] [ 6.97163915e-02 9.97566117e-01 -1.21136794e-03 1.05855575e+01] [ 1.61102637e-02 8.82761260e-05 9.99870217e-01 5.41371624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.279254154 meters 0.016815567910229427 Centerline is valid? [True, True] Translation: X:811.01, Y:10.59, Z:5.41 [[ 9.97436781e-01 -6.97654368e-02 -1.58950498e-02 8.11008946e+02] [ 6.97551497e-02 9.97563419e-01 -1.20136241e-03 1.05905480e+01] [ 1.59401338e-02 8.95214728e-05 9.99872944e-01 5.41385998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.339254154 meters 0.014010416823161898 Centerline is valid? [True, True] Translation: X:811.07, Y:10.60, Z:5.42 [[ 9.97496632e-01 -6.96098421e-02 -1.24474916e-02 8.11067350e+02] [ 6.96034959e-02 9.97574290e-01 -9.42857550e-04 1.05955196e+01] [ 1.24829298e-02 7.41083011e-05 9.99922082e-01 5.41713998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.399254154 meters 0.014021287859994385 Centerline is valid? [True, True] Translation: X:811.12, Y:10.60, Z:5.42 [[ 9.97468850e-01 -6.99910028e-02 -1.25360859e-02 8.11124977e+02] [ 6.99845541e-02 9.97547620e-01 -9.52898510e-04 1.06002102e+01] [ 1.25720370e-02 7.31541984e-05 9.99920966e-01 5.41755689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.459254154 meters 0.014019220786162254 Centerline is valid? [True, True] Translation: X:811.18, Y:10.61, Z:5.42 [[ 9.97484153e-01 -6.95595165e-02 -1.36688776e-02 8.11183339e+02] [ 6.95517562e-02 9.97577799e-01 -1.04286326e-03 1.06056655e+01] [ 1.37083099e-02 8.95451359e-05 9.99906033e-01 5.41633931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.519254154 meters 0.017403124119573097 Centerline is valid? [True, True] Translation: X:811.24, Y:10.61, Z:5.41 [[ 9.97458469e-01 -6.90085692e-02 -1.77319162e-02 8.11241262e+02] [ 6.89953655e-02 9.97616059e-01 -1.35604137e-03 1.06117525e+01] [ 1.77832229e-02 1.29174907e-04 9.99841858e-01 5.41250160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.579254154 meters 0.016502092264090173 Centerline is valid? [True, True] Translation: X:811.30, Y:10.62, Z:5.41 [[ 9.97438209e-01 -6.92893137e-02 -1.77767031e-02 8.11299506e+02] [ 6.92760198e-02 9.97596599e-01 -1.36328192e-03 1.06162321e+01] [ 1.78284395e-02 1.28290241e-04 9.99841053e-01 5.41279355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.639254154 meters 0.014111789074440965 Centerline is valid? [True, True] Translation: X:811.36, Y:10.62, Z:5.41 [[ 9.97422106e-01 -6.99771784e-02 -1.58851465e-02 8.11358077e+02] [ 6.99665857e-02 9.97548587e-01 -1.22228328e-03 1.06210171e+01] [ 1.59317373e-02 1.07702902e-04 9.99873076e-01 5.41426366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.699254154 meters 0.01662039384514214 Centerline is valid? [True, True] Translation: X:811.42, Y:10.62, Z:5.42 [[ 9.97240159e-01 -7.28881357e-02 -1.41203668e-02 8.11416664e+02] [ 7.28800099e-02 9.97340121e-01 -1.08987500e-03 1.06229807e+01] [ 1.41622472e-02 5.77746461e-05 9.99899709e-01 5.41547083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.759254154 meters 0.013930185622313239 Centerline is valid? [True, True] Translation: X:811.47, Y:10.63, Z:5.42 [[ 9.97190621e-01 -7.38629869e-02 -1.24548858e-02 8.11474207e+02] [ 7.38567160e-02 9.97268398e-01 -9.63328349e-04 1.06264404e+01] [ 1.24920183e-02 4.07450301e-05 9.99921971e-01 5.41619699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.819254154 meters 0.017579421027733 Centerline is valid? [True, True] Translation: X:811.53, Y:10.63, Z:5.41 [[ 9.97206089e-01 -7.34629608e-02 -1.35354614e-02 8.11533394e+02] [ 7.34554862e-02 9.97297945e-01 -1.04922134e-03 1.06308461e+01] [ 1.35759668e-02 5.20360132e-05 9.99907841e-01 5.41487992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.879254154 meters 0.016655427964098073 Centerline is valid? [True, True] Translation: X:811.59, Y:10.64, Z:5.42 [[ 9.97396192e-01 -7.08472235e-02 -1.34724802e-02 8.11591842e+02] [ 7.08395339e-02 9.97487174e-01 -1.04772143e-03 1.06384186e+01] [ 1.35128543e-02 9.06091433e-05 9.99908693e-01 5.41533514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.939254154 meters 0.015749050075318825 Centerline is valid? [True, True] Translation: X:811.65, Y:10.65, Z:5.41 [[ 9.97796701e-01 -6.47618493e-02 -1.44099647e-02 8.11648748e+02] [ 6.47523754e-02 9.97900730e-01 -1.12353990e-03 1.06509933e+01] [ 1.44524768e-02 1.87984963e-04 9.99895540e-01 5.41401381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.999254154 meters 0.01891440058125274 Centerline is valid? [True, True] Translation: X:811.71, Y:10.66, Z:5.41 [[ 9.97960224e-01 -6.16354980e-02 -1.66270177e-02 8.11706863e+02] [ 6.16224183e-02 9.98098688e-01 -1.29832847e-03 1.06577629e+01] [ 1.66754277e-02 2.71083135e-04 9.99860919e-01 5.41292611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.059254154 meters 0.01689987842660858 Centerline is valid? [True, True] Translation: X:811.76, Y:10.67, Z:5.41 [[ 9.98170619e-01 -5.84864136e-02 -1.53217175e-02 8.11764715e+02] [ 5.84749161e-02 9.98288160e-01 -1.19771091e-03 1.06660604e+01] [ 1.53655390e-02 2.99583691e-04 9.99881898e-01 5.41421056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.119254154 meters 0.018908510356372588 Centerline is valid? [True, True] Translation: X:811.82, Y:10.67, Z:5.41 [[ 9.98130026e-01 -5.92045138e-02 -1.52077986e-02 8.11822705e+02] [ 5.91932232e-02 9.98245832e-01 -1.19187378e-03 1.06692538e+01] [ 1.52516859e-02 2.89446389e-04 9.99883644e-01 5.41467450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.179254154 meters 0.01903695067130156 Centerline is valid? [True, True] Translation: X:811.88, Y:10.68, Z:5.41 [[ 9.98052993e-01 -6.05218012e-02 -1.50776434e-02 8.11880597e+02] [ 6.05108128e-02 9.98166839e-01 -1.18435013e-03 1.06755723e+01] [ 1.51216827e-02 2.69683736e-04 9.99885624e-01 5.41356531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters 0.01720049356124131 Centerline is valid? [True, True] Translation: X:811.94, Y:10.67, Z:5.41 [[ 9.97945875e-01 -6.19047478e-02 -1.64873233e-02 8.11939246e+02] [ 6.18917395e-02 9.98082024e-01 -1.29856417e-03 1.06747711e+01] [ 1.65360883e-02 2.75467638e-04 9.99863232e-01 5.41464115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.299254154 meters 0.01605791984508325 Centerline is valid? [True, True] Translation: X:812.00, Y:10.68, Z:5.41 [[ 9.97925927e-01 -6.19358617e-02 -1.75440229e-02 8.11997520e+02] [ 6.19210835e-02 9.98080088e-01 -1.38483872e-03 1.06785035e+01] [ 1.75961111e-02 2.95621551e-04 9.99845133e-01 5.41450558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters 0.0161795614053126 Centerline is valid? [True, True] Translation: X:812.06, Y:10.68, Z:5.41 [[ 9.97915562e-01 -6.18362099e-02 -1.84611772e-02 8.12056304e+02] [ 6.18197614e-02 9.98086260e-01 -1.46088083e-03 1.06838722e+01] [ 1.85161826e-02 3.16570152e-04 9.99828511e-01 5.41403971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.419254154 meters 0.0164662224008733 Centerline is valid? [True, True] Translation: X:812.12, Y:10.69, Z:5.42 [[ 9.98045892e-01 -5.99521931e-02 -1.76105479e-02 8.12115150e+02] [ 5.99368540e-02 9.98201192e-01 -1.39800617e-03 1.06897438e+01] [ 1.76626834e-02 3.39753481e-04 9.99843945e-01 5.41656833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters 0.019406093627912086 Centerline is valid? [True, True] Translation: X:812.17, Y:10.70, Z:5.42 [[ 9.98163164e-01 -5.80919232e-02 -1.71937855e-02 8.12172501e+02] [ 5.80769804e-02 9.98311171e-01 -1.36754899e-03 1.06974849e+01] [ 1.72441917e-02 3.66473887e-04 9.99851241e-01 5.41656709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.539254154 meters 0.02084498194398856 Centerline is valid? [True, True] Translation: X:812.23, Y:10.71, Z:5.42 [[ 9.98406476e-01 -5.34807455e-02 -1.80088476e-02 8.12231906e+02] [ 5.34635835e-02 9.98568771e-01 -1.43342671e-03 1.07056440e+01] [ 1.80597336e-02 4.68324978e-04 9.99836800e-01 5.41685579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters 0.018866635138952672 Centerline is valid? [True, True] Translation: X:812.29, Y:10.71, Z:5.42 [[ 9.98489681e-01 -5.17791095e-02 -1.83651940e-02 8.12288863e+02] [ 5.17609457e-02 9.98658432e-01 -1.46331916e-03 1.07131553e+01] [ 1.84163252e-02 5.10509277e-04 9.99830275e-01 5.41726911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.659254154 meters 0.021313378731667255 Centerline is valid? [True, True] Translation: X:812.35, Y:10.72, Z:5.42 [[ 9.98598098e-01 -4.89297732e-02 -2.01919707e-02 8.12348374e+02] [ 4.89072074e-02 9.98802029e-01 -1.61016689e-03 1.07219194e+01] [ 2.02465664e-02 6.20376698e-04 9.99794825e-01 5.41518993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters 0.020976161709893196 Centerline is valid? [True, True] Translation: X:812.41, Y:10.73, Z:5.42 [[ 9.98651704e-01 -4.74787649e-02 -2.09890682e-02 8.12406397e+02] [ 4.74540289e-02 9.98872018e-01 -1.67529254e-03 1.07280290e+01] [ 2.10449337e-02 6.77017905e-04 9.99778302e-01 5.41527609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.779254154 meters 0.019675783412958912 Centerline is valid? [True, True] Translation: X:812.46, Y:10.73, Z:5.42 [[ 9.98727059e-01 -4.61880926e-02 -2.02712261e-02 8.12464685e+02] [ 4.61646703e-02 9.98932526e-01 -1.62213822e-03 1.07334213e+01] [ 2.03245106e-02 6.84258861e-04 9.99793202e-01 5.41744936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.839254154 meters 0.020554395769029322 Centerline is valid? [True, True] Translation: X:812.52, Y:10.74, Z:5.42 [[ 9.98691340e-01 -4.73504060e-02 -1.93273439e-02 8.12521799e+02] [ 4.73292769e-02 9.98878140e-01 -1.54943426e-03 1.07404280e+01] [ 1.93790277e-02 6.32657368e-04 9.99812009e-01 5.41778310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.899254154 meters 0.02002205342939956 Centerline is valid? [True, True] Translation: X:812.58, Y:10.75, Z:5.42 [[ 9.98602974e-01 -4.92695877e-02 -1.90947350e-02 8.12580877e+02] [ 4.92492478e-02 9.98785341e-01 -1.53428339e-03 1.07457458e+01] [ 1.91471349e-02 5.91738627e-04 9.99816502e-01 5.41809998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.959254154 meters 0.020385027258436102 Centerline is valid? [True, True] Translation: X:812.64, Y:10.75, Z:5.42 [[ 9.98552899e-01 -5.05892628e-02 -1.82437364e-02 8.12638757e+02] [ 5.05708698e-02 9.98719395e-01 -1.46841066e-03 1.07516663e+01] [ 1.82946592e-02 5.43684106e-04 9.99832491e-01 5.41793341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.019254154 meters 0.019074695338036463 Centerline is valid? [True, True] Translation: X:812.70, Y:10.76, Z:5.42 [[ 9.98471425e-01 -5.21882814e-02 -1.81988316e-02 8.12698012e+02] [ 5.21702056e-02 9.98637130e-01 -1.46690974e-03 1.07555069e+01] [ 1.82505844e-02 5.15230672e-04 9.99833311e-01 5.41918715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.079254154 meters 0.018956970695847408 Centerline is valid? [True, True] Translation: X:812.76, Y:10.76, Z:5.42 [[ 9.98491898e-01 -5.17394427e-02 -1.83564612e-02 8.12756481e+02] [ 5.17209056e-02 9.98660476e-01 -1.48347269e-03 1.07608833e+01] [ 1.84086263e-02 5.31822669e-04 9.99830405e-01 5.42036260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.139254154 meters 0.019392795639957976 Centerline is valid? [True, True] Translation: X:812.82, Y:10.77, Z:5.42 [[ 9.98549148e-01 -5.04556432e-02 -1.88103016e-02 8.12815145e+02] [ 5.04358594e-02 9.98726138e-01 -1.52497045e-03 1.07679580e+01] [ 1.88632832e-02 5.74044213e-04 9.99821908e-01 5.42100961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.199254154 meters 0.022056936487225565 Centerline is valid? [True, True] Translation: X:812.87, Y:10.78, Z:5.42 [[ 9.98669845e-01 -4.76208204e-02 -1.97686252e-02 8.12872530e+02] [ 4.75983604e-02 9.98865266e-01 -1.60538306e-03 1.07797231e+01] [ 1.98226427e-02 6.62293502e-04 9.99803293e-01 5.42006379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.259254154 meters 0.02105791631863623 Centerline is valid? [True, True] Translation: X:812.93, Y:10.79, Z:5.42 [[ 9.98749202e-01 -4.59722239e-02 -1.96618057e-02 8.12931161e+02] [ 4.59496128e-02 9.98942477e-01 -1.60047120e-03 1.07850893e+01] [ 1.97145901e-02 6.95016974e-04 9.99805407e-01 5.42132959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.319254154 meters 0.021315163287417026 Centerline is valid? [True, True] Translation: X:812.99, Y:10.79, Z:5.42 [[ 9.98717782e-01 -4.65059252e-02 -1.99997704e-02 8.12988666e+02] [ 4.64825256e-02 9.98917768e-01 -1.63352520e-03 1.07911559e+01] [ 2.00540946e-02 7.01790822e-04 9.99798650e-01 5.42192356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.379254154 meters 0.020969385748501795 Centerline is valid? [True, True] Translation: X:813.05, Y:10.80, Z:5.42 [[ 9.98680614e-01 -4.72765274e-02 -2.00489821e-02 8.13047599e+02] [ 4.72530606e-02 9.98881599e-01 -1.64286179e-03 1.07971389e+01] [ 2.01042281e-02 6.93318455e-04 9.99797649e-01 5.42307002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.439254154 meters 0.0207770859155638 Centerline is valid? [True, True] Translation: X:813.11, Y:10.80, Z:5.42 [[ 9.98615138e-01 -4.86666677e-02 -1.99840186e-02 8.13106577e+02] [ 4.86435340e-02 9.98814852e-01 -1.64236990e-03 1.08038158e+01] [ 2.00402633e-02 6.68002154e-04 9.99798951e-01 5.42403132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.499254154 meters 0.019843543554923383 Centerline is valid? [True, True] Translation: X:813.17, Y:10.81, Z:5.43 [[ 9.98581486e-01 -4.95609131e-02 -1.94610426e-02 8.13165266e+02] [ 4.95390507e-02 9.98770899e-01 -1.60417110e-03 1.08096367e+01] [ 1.95166272e-02 6.37813988e-04 9.99809329e-01 5.42527738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.559254154 meters 0.01862533622130547 Centerline is valid? [True, True] Translation: X:813.22, Y:10.81, Z:5.43 [[ 9.98420671e-01 -5.22067811e-02 -2.07512976e-02 8.13224053e+02] [ 5.21823811e-02 9.98636097e-01 -1.71594665e-03 1.08147413e+01] [ 2.08125789e-02 6.30384485e-04 9.99783196e-01 5.42549579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.619254154 meters 0.018339658077958867 Centerline is valid? [True, True] Translation: X:813.28, Y:10.82, Z:5.42 [[ 9.98195983e-01 -5.62652419e-02 -2.09523734e-02 8.13281702e+02] [ 5.62411964e-02 9.98415703e-01 -1.73558999e-03 1.08208961e+01] [ 2.10168320e-02 5.54072411e-04 9.99778968e-01 5.42453071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.679254154 meters 0.01905215392809311 Centerline is valid? [True, True] Translation: X:813.34, Y:10.82, Z:5.42 [[ 9.97980455e-01 -5.96457067e-02 -2.18495170e-02 8.13340355e+02] [ 5.96202698e-02 9.98219481e-01 -1.81433495e-03 1.08246113e+01] [ 2.19188308e-02 5.07996719e-04 9.99759625e-01 5.42476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters 0.016237230199984947 Centerline is valid? [True, True] Translation: X:813.40, Y:10.83, Z:5.43 [[ 9.97844895e-01 -6.20118830e-02 -2.14497426e-02 8.13399200e+02] [ 6.19877993e-02 9.98075308e-01 -1.78650785e-03 1.08292132e+01] [ 2.15192431e-02 4.53035399e-04 9.99768332e-01 5.42608903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.799254154 meters 0.015849070528437013 Centerline is valid? [True, True] Translation: X:813.46, Y:10.84, Z:5.43 [[ 9.97732292e-01 -6.35212736e-02 -2.22558351e-02 8.13457657e+02] [ 6.34955942e-02 9.97980387e-01 -1.85930933e-03 1.08358541e+01] [ 2.23289927e-02 4.41945481e-04 9.99750579e-01 5.42538814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters 0.015701452995583717 Centerline is valid? [True, True] Translation: X:813.52, Y:10.84, Z:5.43 [[ 9.97755222e-01 -6.32144428e-02 -2.21009231e-02 8.13516286e+02] [ 6.31889204e-02 9.97999865e-01 -1.85196099e-03 1.08432313e+01] [ 2.21737890e-02 4.51270277e-04 9.99754029e-01 5.42562723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.919254154 meters 0.016863998246036505 Centerline is valid? [True, True] Translation: X:813.57, Y:10.85, Z:5.42 [[ 9.97766146e-01 -6.26785271e-02 -2.31110231e-02 8.13574943e+02] [ 6.26503370e-02 9.98033648e-01 -1.94252458e-03 1.08505611e+01] [ 2.31873333e-02 4.90271872e-04 9.99731017e-01 5.42495068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters 0.016708849136263478 Centerline is valid? [True, True] Translation: X:813.63, Y:10.86, Z:5.43 [[ 9.97885269e-01 -6.07916388e-02 -2.30079563e-02 8.13633268e+02] [ 6.07630636e-02 9.98150333e-01 -1.93969748e-03 1.08589506e+01] [ 2.30833166e-02 5.37561635e-04 9.99733400e-01 5.42517773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.039254154 meters 0.01842101489289833 Centerline is valid? [True, True] Translation: X:813.69, Y:10.87, Z:5.42 [[ 9.97942461e-01 -6.00773169e-02 -2.23955442e-02 8.13690343e+02] [ 6.00499943e-02 9.98193579e-01 -1.89112852e-03 1.08680448e+01] [ 2.24687023e-02 5.42385153e-04 9.99747400e-01 5.42484471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters 0.018763767723980414 Centerline is valid? [True, True] Translation: X:813.75, Y:10.87, Z:5.43 [[ 9.97911754e-01 -6.06639217e-02 -2.21815235e-02 8.13749332e+02] [ 6.06371665e-02 9.98158108e-01 -1.87742849e-03 1.08739860e+01] [ 2.22545597e-02 5.28483222e-04 9.99752197e-01 5.42564064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.159254154 meters 0.01721267714623581 Centerline is valid? [True, True] Translation: X:813.81, Y:10.88, Z:5.43 [[ 9.97722272e-01 -6.37863520e-02 -2.19447082e-02 8.13808527e+02] [ 6.37607977e-02 9.97963471e-01 -1.86292178e-03 1.08752159e+01] [ 2.20188461e-02 4.59466450e-04 9.99757450e-01 5.42829296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters 0.01444074186611527 Centerline is valid? [True, True] Translation: X:813.87, Y:10.88, Z:5.43 [[ 9.97408198e-01 -6.86090324e-02 -2.16722538e-02 8.13867241e+02] [ 6.85851859e-02 9.97643562e-01 -1.84257747e-03 1.08765734e+01] [ 2.17476020e-02 3.51406320e-04 9.99763431e-01 5.42824084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.279254154 meters 0.013732506663189115 Centerline is valid? [True, True] Translation: X:813.93, Y:10.88, Z:5.43 [[ 9.97039556e-01 -7.36142817e-02 -2.22049806e-02 8.13926384e+02] [ 7.35903905e-02 9.97286756e-01 -1.89227539e-03 1.08771273e+01] [ 2.22840316e-02 2.52600219e-04 9.99751648e-01 5.42866879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.339254154 meters 0.012873770261901079 Centerline is valid? [True, True] Translation: X:813.99, Y:10.87, Z:5.43 [[ 9.96447976e-01 -8.15714160e-02 -2.09173453e-02 8.13985961e+02] [ 8.15518606e-02 9.96667496e-01 -1.78763146e-03 1.08744169e+01] [ 2.09934578e-02 7.54333230e-05 9.99779610e-01 5.43116392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.399254154 meters 0.012859349292397298 Centerline is valid? [True, True] Translation: X:814.05, Y:10.87, Z:5.43 [[ 9.95878971e-01 -8.85484412e-02 -1.96022419e-02 8.14045325e+02] [ 8.85325223e-02 9.96071870e-01 -1.68012379e-03 1.08731344e+01] [ 1.96740141e-02 -6.22359638e-05 9.99806446e-01 5.43364518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.459254154 meters 0.01320670036416507 Centerline is valid? [True, True] Translation: X:814.10, Y:10.87, Z:5.43 [[ 9.95577810e-01 -9.20052274e-02 -1.89700163e-02 8.14103529e+02] [ 9.19908931e-02 9.95758516e-01 -1.62872147e-03 1.08741056e+01] [ 1.90394062e-02 -1.23549793e-04 9.99818726e-01 5.43360588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.519254154 meters 0.013408843730135046 Centerline is valid? [True, True] Translation: X:814.16, Y:10.88, Z:5.43 [[ 9.95335888e-01 -9.45244199e-02 -1.92770391e-02 8.14162121e+02] [ 9.45100158e-02 9.95522529e-01 -1.65892037e-03 1.08764271e+01] [ 1.93475352e-02 -1.70690290e-04 9.99812804e-01 5.43440709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.579254154 meters 0.01386458091934112 Centerline is valid? [True, True] Translation: X:814.22, Y:10.88, Z:5.43 [[ 9.95232104e-01 -9.55343046e-02 -1.96533920e-02 8.14220491e+02] [ 9.55194720e-02 9.95426120e-01 -1.69421709e-03 1.08782421e+01] [ 1.97253556e-02 -1.91142385e-04 9.99805418e-01 5.43378549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.639254154 meters 0.013420694802258624 Centerline is valid? [True, True] Translation: X:814.28, Y:10.88, Z:5.44 [[ 9.95247761e-01 -9.54073715e-02 -1.94763495e-02 8.14278399e+02] [ 9.53926961e-02 9.95438296e-01 -1.68327241e-03 1.08830927e+01] [ 1.95481007e-02 -1.82628389e-04 9.99808901e-01 5.43548203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.699254154 meters 0.013176815828004031 Centerline is valid? [True, True] Translation: X:814.34, Y:10.89, Z:5.44 [[ 9.95339964e-01 -9.45521673e-02 -1.89273475e-02 8.14336701e+02] [ 9.45380578e-02 9.95519896e-01 -1.64084391e-03 1.08879030e+01] [ 1.89976964e-02 -1.56157155e-04 9.99819515e-01 5.43621311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.759254154 meters 0.012919515620194388 Centerline is valid? [True, True] Translation: X:814.40, Y:10.89, Z:5.44 [[ 9.95442219e-01 -9.35717370e-02 -1.84151652e-02 8.14395612e+02] [ 9.35581255e-02 9.95612532e-01 -1.60117693e-03 1.08918947e+01] [ 1.84841941e-02 -1.29009217e-04 9.99829144e-01 5.43710115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.819254154 meters 0.012875739336031195 Centerline is valid? [True, True] Translation: X:814.45, Y:10.89, Z:5.44 [[ 9.95522348e-01 -9.29141933e-02 -1.73841376e-02 8.14453930e+02] [ 9.29019171e-02 9.95674114e-01 -1.51416609e-03 1.08943725e+01] [ 1.74496233e-02 -1.07633530e-04 9.99847738e-01 5.43766643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.879254154 meters 0.013599445283092638 Centerline is valid? [True, True] Translation: X:814.51, Y:10.90, Z:5.44 [[ 9.95535104e-01 -9.29832947e-02 -1.62469496e-02 8.14512064e+02] [ 9.29725509e-02 9.95667664e-01 -1.41698481e-03 1.08969394e+01] [ 1.63083183e-02 -9.98622237e-05 9.99867006e-01 5.43842439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.939254154 meters 0.015539022878665605 Centerline is valid? [True, True] Translation: X:814.57, Y:10.90, Z:5.44 [[ 9.95618778e-01 -9.21999133e-02 -1.55699958e-02 8.14571178e+02] [ 9.21899016e-02 9.95740513e-01 -1.36106216e-03 1.09012695e+01] [ 1.56291654e-02 -8.02973373e-05 9.99877854e-01 5.43908601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.999254154 meters 0.012475245117788534 Centerline is valid? [True, True] Translation: X:814.63, Y:10.91, Z:5.44 [[ 9.96034712e-01 -8.77528597e-02 -1.46386093e-02 8.14629219e+02] [ 8.77434958e-02 9.96142277e-01 -1.28194361e-03 1.09069293e+01] [ 1.46946318e-02 -7.58241217e-06 9.99892028e-01 5.43838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.059254154 meters 0.01255864658276729 Centerline is valid? [True, True] Translation: X:814.69, Y:10.91, Z:5.44 [[ 9.96306447e-01 -8.44557893e-02 -1.55139899e-02 8.14687939e+02] [ 8.44448272e-02 9.96427226e-01 -1.36148455e-03 1.09122632e+01] [ 1.55735472e-02 4.63796357e-05 9.99878724e-01 5.43765369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.119254154 meters 0.014858856582974098 Centerline is valid? [True, True] Translation: X:814.75, Y:10.92, Z:5.44 [[ 9.96308661e-01 -8.44156728e-02 -1.55899465e-02 8.14746295e+02] [ 8.44045310e-02 9.96430626e-01 -1.37245136e-03 1.09163123e+01] [ 1.56501566e-02 5.15230511e-05 9.99877527e-01 5.43708179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.179254154 meters 0.01270812735800959 Centerline is valid? [True, True] Translation: X:814.80, Y:10.92, Z:5.44 [[ 9.96153235e-01 -8.63741721e-02 -1.47727940e-02 8.14803929e+02] [ 8.63643451e-02 9.96262768e-01 -1.30307548e-03 1.09169403e+01] [ 1.48301367e-02 2.22201753e-05 9.99890027e-01 5.43793938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters 0.013024147533985769 Centerline is valid? [True, True] Translation: X:814.86, Y:10.91, Z:5.44 [[ 9.95515375e-01 -9.34977387e-02 -1.43983011e-02 8.14863698e+02] [ 9.34891121e-02 9.95619489e-01 -1.27253543e-03 1.09139617e+01] [ 1.44542084e-02 -7.92558011e-05 9.99895529e-01 5.43840579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.299254154 meters 0.014132656988141448 Centerline is valid? [True, True] Translation: X:814.92, Y:10.91, Z:5.44 [[ 9.94882231e-01 -9.99206207e-02 -1.50071753e-02 8.14922649e+02] [ 9.99119226e-02 9.94995396e-01 -1.33010487e-03 1.09125903e+01] [ 1.50649752e-02 -1.76098032e-04 9.99886501e-01 5.43808909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters 0.016393454734404934 Centerline is valid? [True, True] Translation: X:814.98, Y:10.91, Z:5.44 [[ 9.94026744e-01 -1.08256712e-01 -1.38317425e-02 8.14982899e+02] [ 1.08250105e-01 9.94122934e-01 -1.22767221e-03 1.09084356e+01] [ 1.38833561e-02 -2.76948565e-04 9.99903583e-01 5.43867189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.419254154 meters 0.01776847659958978 Centerline is valid? [True, True] Translation: X:815.04, Y:10.91, Z:5.44 [[ 9.93575188e-01 -1.12515055e-01 -1.21946345e-02 8.15041196e+02] [ 1.12510231e-01 9.93649976e-01 -1.08306468e-03 1.09108291e+01] [ 1.22390594e-02 -2.95914953e-04 9.99925056e-01 5.44038416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters 0.017479888847426628 Centerline is valid? [True, True] Translation: X:815.10, Y:10.91, Z:5.44 [[ 9.93850824e-01 -1.10087810e-01 -1.18833701e-02 8.15099717e+02] [ 1.10083033e-01 9.93921832e-01 -1.05730101e-03 1.09130458e+01] [ 1.19275369e-02 -2.57357947e-04 9.99928831e-01 5.44058550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.539254154 meters 0.015388070050237054 Centerline is valid? [True, True] Translation: X:815.16, Y:10.92, Z:5.44 [[ 9.94174853e-01 -1.07043945e-01 -1.25680076e-02 8.15158371e+02] [ 1.07038318e-01 9.94254264e-01 -1.12144879e-03 1.09225700e+01] [ 1.26158394e-02 -2.30342208e-04 9.99920391e-01 5.44085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters 0.014283971691865953 Centerline is valid? [True, True] Translation: X:815.22, Y:10.93, Z:5.44 [[ 9.94831079e-01 -1.00660563e-01 -1.33632129e-02 8.15216497e+02] [ 1.00653595e-01 9.94920814e-01 -1.19465592e-03 1.09313562e+01] [ 1.34155934e-02 -1.56574585e-04 9.99909995e-01 5.43970091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.659254154 meters 0.014558218903183618 Centerline is valid? [True, True] Translation: X:815.28, Y:10.94, Z:5.44 [[ 9.95149122e-01 -9.74414123e-02 -1.35424073e-02 8.15275342e+02] [ 9.74339292e-02 9.95241256e-01 -1.21282648e-03 1.09389247e+01] [ 1.35961420e-02 -1.12546754e-04 9.99907562e-01 5.43914008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters 0.01548149955671589 Centerline is valid? [True, True] Translation: X:815.33, Y:10.95, Z:5.44 [[ 9.95459967e-01 -9.42522989e-02 -1.32649311e-02 8.15334085e+02] [ 9.42447930e-02 9.95548341e-01 -1.19121224e-03 1.09462996e+01] [ 1.33181547e-02 -6.43465888e-05 9.99911307e-01 5.43904629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.779254154 meters 0.015959891663109488 Centerline is valid? [True, True] Translation: X:815.39, Y:10.95, Z:5.44 [[ 9.95645430e-01 -9.23816841e-02 -1.24821077e-02 8.15392873e+02] [ 9.23748529e-02 9.95723668e-01 -1.12394415e-03 1.09518610e+01] [ 1.25325619e-02 -3.39830029e-05 9.99921464e-01 5.43953151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.839254154 meters 0.013153489912024982 Centerline is valid? [True, True] Translation: X:815.45, Y:10.96, Z:5.44 [[ 9.95737952e-01 -9.13075617e-02 -1.29946053e-02 8.15450896e+02] [ 9.13000201e-02 9.95822740e-01 -1.17366108e-03 1.09567328e+01] [ 1.30474876e-02 -1.77488510e-05 9.99914878e-01 5.44058781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.899254154 meters 0.01572268888117327 Centerline is valid? [True, True] Translation: X:815.51, Y:10.96, Z:5.44 [[ 9.95548041e-01 -9.32514277e-02 -1.37211124e-02 8.15510027e+02] [ 9.32431510e-02 9.95642591e-01 -1.24310798e-03 1.09612319e+01] [ 1.37772455e-02 -4.18260436e-05 9.99905088e-01 5.43893429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.959254154 meters 0.015408091480956718 Centerline is valid? [True, True] Translation: X:815.57, Y:10.96, Z:5.44 [[ 9.95166134e-01 -9.72239503e-02 -1.38516809e-02 8.15567559e+02] [ 9.72158602e-02 9.95262525e-01 -1.25779728e-03 1.09621769e+01] [ 1.39083469e-02 -9.48858190e-05 9.99903270e-01 5.43900964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.019254154 meters 0.016116363168238192 Centerline is valid? [True, True] Translation: X:815.63, Y:10.96, Z:5.44 [[ 9.94519517e-01 -1.03754799e-01 -1.28791263e-02 8.15626728e+02] [ 1.03748320e-01 9.94602892e-01 -1.17203919e-03 1.09626424e+01] [ 1.29312209e-02 -1.70571866e-04 9.99916374e-01 5.44068381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.079254154 meters 0.015208727589808551 Centerline is valid? [True, True] Translation: X:815.69, Y:10.96, Z:5.44 [[ 9.93986760e-01 -1.08773823e-01 -1.25926739e-02 8.15685896e+02] [ 1.08767991e-01 9.94066499e-01 -1.14913882e-03 1.09641343e+01] [ 1.26429515e-02 -2.27451068e-04 9.99920049e-01 5.44301030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.139254154 meters 0.01649294535581714 Centerline is valid? [True, True] Translation: X:815.74, Y:10.97, Z:5.44 [[ 9.93685264e-01 -1.11617744e-01 -1.14488522e-02 8.15744767e+02] [ 1.11613080e-01 9.93751188e-01 -1.04751774e-03 1.09690290e+01] [ 1.14942321e-02 -2.36938713e-04 9.99933911e-01 5.44305284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.199254154 meters 0.016212429388780817 Centerline is valid? [True, True] Translation: X:815.80, Y:10.97, Z:5.44 [[ 9.93389422e-01 -1.14217741e-01 -1.14788135e-02 8.15803415e+02] [ 1.14213193e-01 9.93455705e-01 -1.05318161e-03 1.09745509e+01] [ 1.15239848e-02 -2.64812469e-04 9.99933562e-01 5.44481716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.259254154 meters 0.016835070160733906 Centerline is valid? [True, True] Translation: X:815.86, Y:10.98, Z:5.44 [[ 9.93181697e-01 -1.15956801e-01 -1.20056951e-02 8.15862334e+02] [ 1.15951914e-01 9.93254214e-01 -1.10465537e-03 1.09801595e+01] [ 1.20527996e-02 -2.94959833e-04 9.99927319e-01 5.44443148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.319254154 meters 0.01744231335151843 Centerline is valid? [True, True] Translation: X:815.92, Y:10.99, Z:5.44 [[ 9.93047923e-01 -1.16905167e-01 -1.37479215e-02 8.15920952e+02] [ 1.16898799e-01 9.93143022e-01 -1.26865394e-03 1.09878535e+01] [ 1.38019645e-02 -3.47281343e-04 9.99904688e-01 5.44299832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.379254154 meters 0.016928540426903987 Centerline is valid? [True, True] Translation: X:815.98, Y:11.00, Z:5.44 [[ 9.93179903e-01 -1.15674862e-01 -1.45947327e-02 8.15979560e+02] [ 1.15667499e-01 9.93287071e-01 -1.35040191e-03 1.09992348e+01] [ 1.46529669e-02 -3.46944198e-04 9.99892579e-01 5.44225405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.439254154 meters 0.016606404209377344 Centerline is valid? [True, True] Translation: X:816.04, Y:11.01, Z:5.44 [[ 9.93296590e-01 -1.14704553e-01 -1.43090949e-02 8.16038115e+02] [ 1.14697326e-01 9.93399598e-01 -1.32743237e-03 1.10074693e+01] [ 1.43669117e-02 -3.22680878e-04 9.99896739e-01 5.44243633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.499254154 meters 0.015185569115833136 Centerline is valid? [True, True] Translation: X:816.10, Y:11.02, Z:5.44 [[ 9.93978057e-01 -1.08755722e-01 -1.34095288e-02 8.16096108e+02] [ 1.08748809e-01 9.94068481e-01 -1.24581220e-03 1.10201699e+01] [ 1.34654791e-02 -2.19960295e-04 9.99909312e-01 5.44406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.559254154 meters 0.013929232694483498 Centerline is valid? [True, True] Translation: X:816.15, Y:11.03, Z:5.45 [[ 9.94745505e-01 -1.01693458e-01 -1.18245670e-02 8.16153736e+02] [ 1.01687577e-01 9.94815776e-01 -1.09913447e-03 1.10347534e+01] [ 1.18750406e-02 -1.09052490e-04 9.99929483e-01 5.44514241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.619254154 meters 0.013291040610376602 Centerline is valid? [True, True] Translation: X:816.21, Y:11.05, Z:5.45 [[ 9.95222295e-01 -9.70406473e-02 -1.07562526e-02 8.16211965e+02] [ 9.70354926e-02 9.95280418e-01 -1.00131664e-03 1.10463133e+01] [ 1.08026560e-02 -4.72056294e-05 9.99941648e-01 5.44671252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.679254154 meters 0.013097279265483631 Centerline is valid? [True, True] Translation: X:816.27, Y:11.06, Z:5.45 [[ 9.95892264e-01 -8.98766643e-02 -1.09901383e-02 8.16269440e+02] [ 8.98708129e-02 9.95952903e-01 -1.02612813e-03 1.10604252e+01] [ 1.10378851e-02 3.42204055e-05 9.99939080e-01 5.44648436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters 0.013315914753547386 Centerline is valid? [True, True] Translation: X:816.33, Y:11.07, Z:5.45 [[ 9.96271390e-01 -8.54843956e-02 -1.16505558e-02 8.16327937e+02] [ 8.54774797e-02 9.96339505e-01 -1.09118392e-03 1.10709793e+01] [ 1.17011882e-02 9.12551796e-05 9.99931535e-01 5.44628385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.799254154 meters 0.01403020583385326 Centerline is valid? [True, True] Translation: X:816.38, Y:11.08, Z:5.45 [[ 9.96693260e-01 -8.03841144e-02 -1.18718351e-02 8.16384468e+02] [ 8.03765400e-02 9.96763949e-01 -1.11454557e-03 1.10824724e+01] [ 1.19230090e-02 1.56643031e-04 9.99928906e-01 5.44578403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters 0.01553667393825803 Centerline is valid? [True, True] Translation: X:816.44, Y:11.09, Z:5.44 [[ 9.96831434e-01 -7.84569307e-02 -1.30996889e-02 8.16442780e+02] [ 7.84475037e-02 9.96917484e-01 -1.23272959e-03 1.10906581e+01] [ 1.31560251e-02 2.01185709e-04 9.99913436e-01 5.44456836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.919254154 meters 0.01468589524146753 Centerline is valid? [True, True] Translation: X:816.50, Y:11.10, Z:5.45 [[ 9.96931873e-01 -7.71978715e-02 -1.29356061e-02 8.16500054e+02] [ 7.71885427e-02 9.97015768e-01 -1.21963628e-03 1.10974332e+01] [ 1.29911566e-02 2.17413700e-04 9.99915588e-01 5.44546096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters 0.014674123831111507 Centerline is valid? [True, True] Translation: X:816.56, Y:11.10, Z:5.45 [[ 9.96880451e-01 -7.78735891e-02 -1.28479772e-02 8.16558025e+02] [ 7.78644107e-02 9.96963219e-01 -1.21382893e-03 1.11017416e+01] [ 1.29034859e-02 2.09642163e-04 9.99916725e-01 5.44571463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.039254154 meters 0.014424158763475336 Centerline is valid? [True, True] Translation: X:816.62, Y:11.10, Z:5.45 [[ 9.96738499e-01 -7.94587742e-02 -1.40949462e-02 8.16616986e+02] [ 7.94478280e-02 9.96838131e-01 -1.33573050e-03 1.11048677e+01] [ 1.41565154e-02 2.11561148e-04 9.99899769e-01 5.44538453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters 0.014332341517919907 Centerline is valid? [True, True] Translation: X:816.67, Y:11.11, Z:5.44 [[ 9.96500042e-01 -8.18860458e-02 -1.68030361e-02 8.16674829e+02] [ 8.18707766e-02 9.96641676e-01 -1.59576002e-03 1.11068674e+01] [ 1.68772765e-02 2.14497315e-04 9.99857546e-01 5.44391727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.159254154 meters 0.01735250958010452 Centerline is valid? [True, True] Translation: X:816.73, Y:11.11, Z:5.44 [[ 9.96288339e-01 -8.39628500e-02 -1.89680209e-02 8.16732516e+02] [ 8.39436821e-02 9.96468864e-01 -1.80589017e-03 1.11094626e+01] [ 1.90526699e-02 2.06941797e-04 9.99818460e-01 5.44154708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters 0.013884111624735067 Centerline is valid? [True, True] Translation: X:816.79, Y:11.11, Z:5.45 [[ 9.96199217e-01 -8.52657128e-02 -1.78010534e-02 8.16791588e+02] [ 8.52489573e-02 9.96358233e-01 -1.69936195e-03 1.11105077e+01] [ 1.78811234e-02 1.75381801e-04 9.99840105e-01 5.44516565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.279254154 meters 0.01340976779018354 Centerline is valid? [True, True] Translation: X:816.85, Y:11.11, Z:5.45 [[ 9.95921584e-01 -8.86280876e-02 -1.68896642e-02 8.16851115e+02] [ 8.86134161e-02 9.96064782e-01 -1.61655168e-03 1.11106785e+01] [ 1.69664716e-02 1.13307862e-04 9.99856053e-01 5.44691982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.339254154 meters 0.014612797851345082 Centerline is valid? [True, True] Translation: X:816.91, Y:11.11, Z:5.45 [[ 9.95710560e-01 -9.09177059e-02 -1.71595754e-02 8.16908939e+02] [ 9.09028187e-02 9.95858406e-01 -1.64719142e-03 1.11124789e+01] [ 1.72382662e-02 8.02721199e-05 9.99851407e-01 5.44708102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.399254154 meters 0.013273994929209533 Centerline is valid? [True, True] Translation: X:816.97, Y:11.11, Z:5.45 [[ 9.95522726e-01 -9.29013487e-02 -1.74310319e-02 8.16967645e+02] [ 9.28862014e-02 9.95675317e-01 -1.67835150e-03 1.11137060e+01] [ 1.75115693e-02 5.17347214e-05 9.99846659e-01 5.44886159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.459254154 meters 0.014199673199119715 Centerline is valid? [True, True] Translation: X:817.03, Y:11.12, Z:5.45 [[ 9.95310170e-01 -9.48822195e-02 -1.88422496e-02 8.17026876e+02] [ 9.48647762e-02 9.95488505e-01 -1.81943661e-03 1.11155803e+01] [ 1.89298750e-02 2.34379717e-05 9.99820814e-01 5.44916190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.519254154 meters 0.014686011027740318 Centerline is valid? [True, True] Translation: X:817.08, Y:11.12, Z:5.45 [[ 9.94997744e-01 -9.80230959e-02 -1.92603974e-02 8.17084933e+02] [ 9.80053540e-02 9.95184140e-01 -1.86518594e-03 1.11165802e+01] [ 1.93504734e-02 -3.17662661e-05 9.99812762e-01 5.44996803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.579254154 meters 0.014865166469700616 Centerline is valid? [True, True] Translation: X:817.14, Y:11.12, Z:5.45 [[ 9.94731631e-01 -1.00763664e-01 -1.88591027e-02 8.17143567e+02] [ 1.00747045e-01 9.94910387e-01 -1.83168199e-03 1.11185654e+01] [ 1.89476842e-02 -7.79668465e-05 9.99820473e-01 5.45104587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.639254154 meters 0.015702586957850883 Centerline is valid? [True, True] Translation: X:817.20, Y:11.12, Z:5.45 [[ 9.94489013e-01 -1.03205999e-01 -1.84424781e-02 8.17201825e+02] [ 1.03190428e-01 9.94659996e-01 -1.79646954e-03 1.11210050e+01] [ 1.85294017e-02 -1.16517991e-04 9.99828309e-01 5.45233214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.699254154 meters 0.015606177502351257 Centerline is valid? [True, True] Translation: X:817.26, Y:11.13, Z:5.45 [[ 9.94510354e-01 -1.02989170e-01 -1.85037045e-02 8.17259491e+02] [ 1.02973359e-01 9.94682472e-01 -1.80777750e-03 1.11256843e+01] [ 1.85914920e-02 -1.07535156e-04 9.99827157e-01 5.45283580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.759254154 meters 0.013995588770614393 Centerline is valid? [True, True] Translation: X:817.32, Y:11.13, Z:5.45 [[ 9.94842313e-01 -9.99401892e-02 -1.73415817e-02 8.17318487e+02] [ 9.99257607e-02 9.94993446e-01 -1.69871268e-03 1.11305470e+01] [ 1.74245298e-02 -4.29194864e-05 9.99848180e-01 5.45364428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.819254154 meters 0.013569829864387465 Centerline is valid? [True, True] Translation: X:817.38, Y:11.14, Z:5.45 [[ 9.95205704e-01 -9.62089932e-02 -1.75908269e-02 8.17376535e+02] [ 9.61934782e-02 9.95361155e-01 -1.72797148e-03 1.11370407e+01] [ 1.76754722e-02 2.75642495e-05 9.99843776e-01 5.45373384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.879254154 meters 0.01430459538416205 Centerline is valid? [True, True] Translation: X:817.43, Y:11.15, Z:5.45 [[ 9.95701927e-01 -9.10044405e-02 -1.72007215e-02 8.17434689e+02] [ 9.09887504e-02 9.95850479e-01 -1.69421147e-03 1.11458074e+01] [ 1.72835275e-02 1.21857471e-04 9.99850621e-01 5.45356614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.939254154 meters 0.014155796285480065 Centerline is valid? [True, True] Translation: X:817.49, Y:11.15, Z:5.45 [[ 9.96002128e-01 -8.76388221e-02 -1.72973288e-02 8.17493214e+02] [ 8.76223708e-02 9.96152299e-01 -1.70814714e-03 1.11533522e+01] [ 1.73804739e-02 1.85685228e-04 9.99848931e-01 5.45366083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.999254154 meters 0.01718021912924212 Centerline is valid? [True, True] Translation: X:817.55, Y:11.16, Z:5.45 [[ 9.96257570e-01 -8.44573472e-02 -1.83796363e-02 8.17551263e+02] [ 8.44381676e-02 9.96427062e-01 -1.81846011e-03 1.11606043e+01] [ 1.84675493e-02 2.59711841e-04 9.99829427e-01 5.45341110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.059254154 meters 0.015092738955083552 Centerline is valid? [True, True] Translation: X:817.61, Y:11.17, Z:5.46 [[ 9.96456764e-01 -8.25878753e-02 -1.59110055e-02 8.17608502e+02] [ 8.25732079e-02 9.96583753e-01 -1.57772548e-03 1.11673461e+01] [ 1.59869506e-02 2.58312458e-04 9.99872167e-01 5.45536040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.119254154 meters 0.016659872117797528 Centerline is valid? [True, True] Translation: X:817.67, Y:11.18, Z:5.46 [[ 9.96726802e-01 -7.93815887e-02 -1.53050532e-02 8.17666803e+02] [ 7.93675766e-02 9.96844257e-01 -1.52171398e-03 1.11765533e+01] [ 1.53775504e-02 3.02008128e-04 9.99881713e-01 5.45524347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.179254154 meters 0.02040481919760911 Centerline is valid? [True, True] Translation: X:817.73, Y:11.19, Z:5.45 [[ 9.96995697e-01 -7.53470832e-02 -1.79554341e-02 8.17726005e+02] [ 7.53271002e-02 9.97157276e-01 -1.78762132e-03 1.11870995e+01] [ 1.80390838e-02 4.29719982e-04 9.99837190e-01 5.45231678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters 0.01955144719382991 Centerline is valid? [True, True] Translation: X:817.79, Y:11.19, Z:5.45 [[ 9.97198529e-01 -7.19681633e-02 -2.03881704e-02 8.17785507e+02] [ 7.19416759e-02 9.97406774e-01 -2.03059917e-03 1.11945024e+01] [ 2.04814378e-02 5.58151360e-04 9.99790078e-01 5.45092549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.299254154 meters 0.019911900074535388 Centerline is valid? [True, True] Translation: X:817.84, Y:11.20, Z:5.45 [[ 9.97199946e-01 -7.16318389e-02 -2.14743625e-02 8.17843850e+02] [ 7.16022882e-02 9.97430960e-01 -2.14283413e-03 1.12015085e+01] [ 2.15726892e-02 5.99220590e-04 9.99767103e-01 5.45021719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters 0.01821535312045483 Centerline is valid? [True, True] Translation: X:817.90, Y:11.21, Z:5.45 [[ 9.97200508e-01 -7.18599165e-02 -2.06712201e-02 8.17901339e+02] [ 7.18324635e-02 9.97414567e-01 -2.06850029e-03 1.12059027e+01] [ 2.07664183e-02 5.77844882e-04 9.99784188e-01 5.45173425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.419254154 meters 0.019459193805997473 Centerline is valid? [True, True] Translation: X:817.96, Y:11.21, Z:5.45 [[ 9.96928840e-01 -7.56429512e-02 -2.02739465e-02 8.17960639e+02] [ 7.56172511e-02 9.97134846e-01 -2.03236723e-03 1.12074476e+01] [ 2.03695927e-02 4.93065405e-04 9.99792397e-01 5.45291315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters 0.018655658667834047 Centerline is valid? [True, True] Translation: X:818.02, Y:11.21, Z:5.46 [[ 9.96580205e-01 -8.07613957e-02 -1.74783416e-02 8.18020457e+02] [ 8.07430622e-02 9.96733407e-01 -1.75322944e-03 1.12083058e+01] [ 1.75628402e-02 3.35978924e-04 9.99845705e-01 5.45548863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.539254154 meters 0.015098403773388553 Centerline is valid? [True, True] Translation: X:818.08, Y:11.21, Z:5.46 [[ 9.96313363e-01 -8.44858144e-02 -1.48939829e-02 8.18079794e+02] [ 8.44728856e-02 9.96424655e-01 -1.49615941e-03 1.12105840e+01] [ 1.49671360e-02 2.32505900e-04 9.99887959e-01 5.45945357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters 0.015484347707019442 Centerline is valid? [True, True] Translation: X:818.14, Y:11.22, Z:5.46 [[ 9.96246157e-01 -8.53659680e-02 -1.43612963e-02 8.18137596e+02] [ 8.53540069e-02 9.96349640e-01 -1.44486921e-03 1.12170572e+01] [ 1.44322151e-02 2.13651211e-04 9.99895827e-01 5.45954348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.659254154 meters 0.016062231652823417 Centerline is valid? [True, True] Translation: X:818.20, Y:11.22, Z:5.46 [[ 9.96390528e-01 -8.33774064e-02 -1.59412384e-02 8.18196515e+02] [ 8.33623646e-02 9.96518005e-01 -1.60691234e-03 1.12216448e+01] [ 1.60197113e-02 2.72212899e-04 9.99871639e-01 5.46103217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters 0.018105981415777156 Centerline is valid? [True, True] Translation: X:818.25, Y:11.23, Z:5.46 [[ 9.96718731e-01 -7.87661815e-02 -1.86456305e-02 8.18254673e+02] [ 7.87447452e-02 9.96893035e-01 -1.88222052e-03 1.12328323e+01] [ 1.87359545e-02 4.07799029e-04 9.99824383e-01 5.45922296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.779254154 meters 0.017328090611316037 Centerline is valid? [True, True] Translation: X:818.31, Y:11.24, Z:5.46 [[ 9.97003524e-01 -7.47953772e-02 -1.97389113e-02 8.18313256e+02] [ 7.47705530e-02 9.97198771e-01 -1.99369696e-03 1.12420395e+01] [ 1.98327375e-02 5.11833576e-04 9.99803181e-01 5.46000169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.839254154 meters 0.0191451883108103 Centerline is valid? [True, True] Translation: X:818.37, Y:11.25, Z:5.46 [[ 9.97417752e-01 -6.86874831e-02 -2.09727932e-02 8.18372928e+02] [ 6.86581001e-02 9.97637999e-01 -2.11871677e-03 1.12546349e+01] [ 2.10687847e-02 6.73293591e-04 9.99777802e-01 5.46065495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.899254154 meters 0.021072415938172984 Centerline is valid? [True, True] Translation: X:818.43, Y:11.27, Z:5.46 [[ 9.97581957e-01 -6.59378989e-02 -2.19643401e-02 8.18431307e+02] [ 6.59049867e-02 9.97823434e-01 -2.21973902e-03 1.12651664e+01] [ 2.20628981e-02 7.66812061e-04 9.99756291e-01 5.46003620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.959254154 meters 0.01983320677561684 Centerline is valid? [True, True] Translation: X:818.49, Y:11.27, Z:5.46 [[ 9.97524463e-01 -6.68861511e-02 -2.17068998e-02 8.18489278e+02] [ 6.68541376e-02 9.97760339e-01 -2.19796925e-03 1.12730703e+01] [ 2.18052974e-02 7.41332029e-04 9.99761961e-01 5.46144778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.019254154 meters 0.021423524603052958 Centerline is valid? [True, True] Translation: X:818.55, Y:11.28, Z:5.46 [[ 9.97481953e-01 -6.75127682e-02 -2.17204717e-02 8.18548097e+02] [ 6.74807404e-02 9.97718140e-01 -2.20496093e-03 1.12804826e+01] [ 2.18197716e-02 7.33695223e-04 9.99761651e-01 5.46176939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.079254154 meters 0.019650058239856757 Centerline is valid? [True, True] Translation: X:818.61, Y:11.29, Z:5.46 [[ 9.97367658e-01 -6.90586653e-02 -2.21055487e-02 8.18605416e+02] [ 6.90258006e-02 9.97612344e-01 -2.24721069e-03 1.12880384e+01] [ 2.22079576e-02 7.15442071e-04 9.99753117e-01 5.46157165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.139254154 meters 0.018392519017411412 Centerline is valid? [True, True] Translation: X:818.66, Y:11.29, Z:5.46 [[ 9.97103459e-01 -7.29132807e-02 -2.16412778e-02 8.18664775e+02] [ 7.28825971e-02 9.97338091e-01 -2.20423677e-03 1.12910475e+01] [ 2.17443888e-02 6.20579582e-04 9.99763370e-01 5.46290873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.199254154 meters 0.016930694942892843 Centerline is valid? [True, True] Translation: X:818.72, Y:11.29, Z:5.47 [[ 9.96874897e-01 -7.63785265e-02 -2.01683108e-02 8.18723485e+02] [ 7.63525358e-02 9.97078763e-01 -2.05671554e-03 1.12944754e+01] [ 2.02664833e-02 5.10386414e-04 9.99794483e-01 5.46517748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.259254154 meters 0.01678404410720272 Centerline is valid? [True, True] Translation: X:818.78, Y:11.30, Z:5.47 [[ 9.96507082e-01 -8.14955332e-02 -1.82239766e-02 8.18783946e+02] [ 8.14751484e-02 9.96673639e-01 -1.85948767e-03 1.12962058e+01] [ 1.83148970e-02 3.68191431e-04 9.99832200e-01 5.46710033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.319254154 meters 0.014964001068776338 Centerline is valid? [True, True] Translation: X:818.84, Y:11.30, Z:5.47 [[ 9.96154791e-01 -8.59410028e-02 -1.70228486e-02 8.18842030e+02] [ 8.59238436e-02 9.96300192e-01 -1.73820257e-03 1.12995313e+01] [ 1.71092502e-02 2.68850231e-04 9.99853590e-01 5.46829224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.379254154 meters 0.015992905657119093 Centerline is valid? [True, True] Translation: X:818.90, Y:11.30, Z:5.47 [[ 9.95945507e-01 -8.83528377e-02 -1.69210731e-02 8.18900741e+02] [ 8.83361760e-02 9.96089215e-01 -1.73104098e-03 1.13039264e+01] [ 1.70078408e-02 2.29279589e-04 9.99855330e-01 5.46811117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.439254154 meters 0.016269594276893593 Centerline is valid? [True, True] Translation: X:818.96, Y:11.31, Z:5.47 [[ 9.95747962e-01 -9.05026669e-02 -1.71832529e-02 8.18959201e+02] [ 9.04857281e-02 9.95896193e-01 -1.76230108e-03 1.13084449e+01] [ 1.72722291e-02 1.99968555e-04 9.99850804e-01 5.46748861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.499254154 meters 0.014122477852305693 Centerline is valid? [True, True] Translation: X:819.02, Y:11.31, Z:5.47 [[ 9.95696964e-01 -9.11613315e-02 -1.66483749e-02 8.19017194e+02] [ 9.11454454e-02 9.95836119e-01 -1.71208006e-03 1.13136879e+01] [ 1.67351286e-02 1.87289368e-04 9.99859940e-01 5.46783721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.559254154 meters 0.014481064975248146 Centerline is valid? [True, True] Translation: X:819.07, Y:11.32, Z:5.47 [[ 9.95720906e-01 -9.08646895e-02 -1.68370141e-02 8.19075000e+02] [ 9.08483411e-02 9.95863228e-01 -1.73489677e-03 1.13213202e+01] [ 1.69250041e-02 1.97858183e-04 9.99856742e-01 5.46690600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.619254154 meters 0.017415947433936284 Centerline is valid? [True, True] Translation: X:819.13, Y:11.33, Z:5.47 [[ 9.95798921e-01 -8.96652778e-02 -1.85646676e-02 8.19133050e+02] [ 8.96451539e-02 9.95971927e-01 -1.91503358e-03 1.13278036e+01] [ 1.86615997e-02 2.42755893e-04 9.99825828e-01 5.46573124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.679254154 meters 0.014693291582168836 Centerline is valid? [True, True] Translation: X:819.19, Y:11.33, Z:5.46 [[ 9.95769253e-01 -8.98393716e-02 -1.92997867e-02 8.19190537e+02] [ 8.98176201e-02 9.95956236e-01 -1.99265755e-03 1.13346327e+01] [ 1.94007620e-02 2.50766207e-04 9.99811756e-01 5.46433992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters 0.013899844430347 Centerline is valid? [True, True] Translation: X:819.25, Y:11.34, Z:5.46 [[ 9.95447909e-01 -9.30760937e-02 -2.05012728e-02 8.19249697e+02] [ 9.30521490e-02 9.95658977e-01 -2.12090103e-03 1.13376459e+01] [ 2.06096815e-02 2.03559006e-04 9.99787577e-01 5.46456770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.799254154 meters 0.015315263036132955 Centerline is valid? [True, True] Translation: X:819.31, Y:11.34, Z:5.46 [[ 9.95153772e-01 -9.62043740e-02 -2.03393454e-02 8.19308663e+02] [ 9.61813534e-02 9.95361592e-01 -2.10932276e-03 1.13414676e+01] [ 2.04479293e-02 1.42834735e-04 9.99790909e-01 5.46471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters 0.015355024690210876 Centerline is valid? [True, True] Translation: X:819.37, Y:11.34, Z:5.47 [[ 9.94707893e-01 -1.01172213e-01 -1.78994645e-02 8.19367555e+02] [ 1.01155111e-01 9.94868927e-01 -1.86062319e-03 1.13432323e+01] [ 1.79958644e-02 4.01542663e-05 9.99838061e-01 5.46745322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.919254154 meters 0.01309454337491741 Centerline is valid? [True, True] Translation: X:819.43, Y:11.35, Z:5.47 [[ 9.94338337e-01 -1.05259643e-01 -1.45492048e-02 8.19425950e+02] [ 1.05248733e-01 9.94444773e-01 -1.51569609e-03 1.13457629e+01] [ 1.46279223e-02 -2.41706401e-05 9.99893006e-01 5.47017213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters 0.0132120693740412 Centerline is valid? [True, True] Translation: X:819.48, Y:11.35, Z:5.47 [[ 9.94148432e-01 -1.07202198e-01 -1.32884616e-02 8.19483911e+02] [ 1.07193226e-01 9.94237239e-01 -1.38770753e-03 1.13501029e+01] [ 1.33606486e-02 -4.48457932e-05 9.99910742e-01 5.47105047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.039254154 meters 0.016064307857291158 Centerline is valid? [True, True] Translation: X:819.54, Y:11.36, Z:5.47 [[ 9.94041689e-01 -1.08065884e-01 -1.42437615e-02 8.19542336e+02] [ 1.08055608e-01 9.94143733e-01 -1.49136570e-03 1.13565860e+01] [ 1.43215120e-02 -5.66386332e-05 9.99897440e-01 5.47057809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters 0.013371438817543418 Centerline is valid? [True, True] Translation: X:819.60, Y:11.36, Z:5.47 [[ 9.94009059e-01 -1.08317874e-01 -1.46023295e-02 8.19599915e+02] [ 1.08307066e-01 9.94116308e-01 -1.53133483e-03 1.13616749e+01] [ 1.46822849e-02 -5.93747729e-05 9.99892208e-01 5.47106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.159254154 meters 0.013550608220413606 Centerline is valid? [True, True] Translation: X:819.66, Y:11.37, Z:5.47 [[ 9.93785883e-01 -1.10205818e-01 -1.56299807e-02 8.19658666e+02] [ 1.10193623e-01 9.93908783e-01 -1.64195255e-03 1.13660626e+01] [ 1.57157278e-02 -9.05749331e-05 9.99876496e-01 5.47045062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters 0.014596257596822157 Centerline is valid? [True, True] Translation: X:819.72, Y:11.37, Z:5.47 [[ 9.93733870e-01 -1.10601767e-01 -1.61321080e-02 8.19715946e+02] [ 1.10588786e-01 9.93864800e-01 -1.69722952e-03 1.13717045e+01] [ 1.62208509e-02 -9.74357964e-05 9.99868429e-01 5.46989835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.279254154 meters 0.016457089196883923 Centerline is valid? [True, True] Translation: X:819.77, Y:11.38, Z:5.47 [[ 9.93783983e-01 -1.09956464e-01 -1.74060823e-02 8.19773294e+02] [ 1.09941189e-01 9.93936400e-01 -1.83496768e-03 1.13810585e+01] [ 1.75023053e-02 -9.00838872e-05 9.99846819e-01 5.47040248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.339254154 meters 0.013351250406454917 Centerline is valid? [True, True] Translation: X:819.83, Y:11.39, Z:5.47 [[ 9.93820391e-01 -1.09790126e-01 -1.63449817e-02 8.19832193e+02] [ 1.09776564e-01 9.93954789e-01 -1.72736738e-03 1.13885299e+01] [ 1.64358208e-02 -7.76030012e-05 9.99864920e-01 5.47222694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.399254154 meters 0.014543550869963721 Centerline is valid? [True, True] Translation: X:819.89, Y:11.39, Z:5.47 [[ 9.93512330e-01 -1.12396868e-01 -1.73261345e-02 8.19889978e+02] [ 1.12381977e-01 9.93663388e-01 -1.83381346e-03 1.13932944e+01] [ 1.74224603e-02 -1.25228957e-04 9.99848210e-01 5.47323226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.459254154 meters 0.017132193097781332 Centerline is valid? [True, True] Translation: X:819.95, Y:11.40, Z:5.47 [[ 9.93197847e-01 -1.15105178e-01 -1.75736887e-02 8.19947112e+02] [ 1.15090242e-01 9.93353295e-01 -1.86228625e-03 1.13989045e+01] [ 1.76712404e-02 -1.72941399e-04 9.99843836e-01 5.47362757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.519254154 meters 0.014616506738778394 Centerline is valid? [True, True] Translation: X:820.00, Y:11.41, Z:5.47 [[ 9.93301972e-01 -1.14198740e-01 -1.76022605e-02 8.20004051e+02] [ 1.14183539e-01 9.93457913e-01 -1.86953891e-03 1.14109197e+01] [ 1.77006040e-02 -1.52871711e-04 9.99843320e-01 5.47474838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.579254154 meters 0.01368210921422883 Centerline is valid? [True, True] Translation: X:820.06, Y:11.42, Z:5.48 [[ 9.93502779e-01 -1.12478685e-01 -1.73428029e-02 8.20062773e+02] [ 1.12463588e-01 9.93654131e-01 -1.84645554e-03 1.14206440e+01] [ 1.74404346e-02 -1.15975136e-04 9.99847897e-01 5.47502210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.639254154 meters 0.013646520182595373 Centerline is valid? [True, True] Translation: X:820.12, Y:11.43, Z:5.48 [[ 9.93632145e-01 -1.11429283e-01 -1.66935877e-02 8.20120130e+02] [ 1.11415106e-01 9.93772362e-01 -1.77977128e-03 1.14288510e+01] [ 1.67879447e-02 -9.14798816e-05 9.99859068e-01 5.47639336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.699254154 meters 0.015310171856129515 Centerline is valid? [True, True] Translation: X:820.18, Y:11.44, Z:5.48 [[ 9.93370613e-01 -1.13805173e-01 -1.62236700e-02 8.20178923e+02] [ 1.13792050e-01 9.93503079e-01 -1.73268533e-03 1.14364403e+01] [ 1.63154546e-02 -1.24925988e-04 9.99866886e-01 5.47775988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.759254154 meters 0.015315337715949251 Centerline is valid? [True, True] Translation: X:820.24, Y:11.45, Z:5.48 [[ 9.93417286e-01 -1.13653334e-01 -1.43183610e-02 8.20237049e+02] [ 1.13643048e-01 9.93520462e-01 -1.53261573e-03 1.14463681e+01] [ 1.43997716e-02 -1.04655228e-04 9.99896312e-01 5.47875486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.819254154 meters 0.015914875990301534 Centerline is valid? [True, True] Translation: X:820.29, Y:11.46, Z:5.48 [[ 9.93490699e-01 -1.12890087e-01 -1.52334765e-02 8.20293963e+02] [ 1.12878289e-01 9.93607477e-01 -1.63483491e-03 1.14558780e+01] [ 1.53206528e-02 -9.53354814e-05 9.99882627e-01 5.47821586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.879254154 meters 0.013657056095580688 Centerline is valid? [True, True] Translation: X:820.35, Y:11.47, Z:5.48 [[ 9.93766701e-01 -1.10277417e-01 -1.63289845e-02 8.20350199e+02] [ 1.10263454e-01 9.93900844e-01 -1.75568372e-03 1.14670468e+01] [ 1.64230038e-02 -5.57502261e-05 9.99865132e-01 5.47600583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.939254154 meters 0.01636968800738107 Centerline is valid? [True, True] Translation: X:820.41, Y:11.48, Z:5.47 [[ 9.93767962e-01 -1.10044455e-01 -1.77610736e-02 8.20407693e+02] [ 1.10027833e-01 9.93926665e-01 -1.91332992e-03 1.14794303e+01] [ 1.78637559e-02 -5.28064668e-05 9.99840429e-01 5.47443383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.999254154 meters 0.013548749166086657 Centerline is valid? [True, True] Translation: X:820.47, Y:11.49, Z:5.48 [[ 9.93840519e-01 -1.09624013e-01 -1.62357152e-02 8.20465834e+02] [ 1.09610004e-01 9.93973126e-01 -1.75291249e-03 1.14878274e+01] [ 1.63300259e-02 -3.74813473e-05 9.99866656e-01 5.47640237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.059254154 meters 0.013493372193442385 Centerline is valid? [True, True] Translation: X:820.52, Y:11.50, Z:5.48 [[ 9.93869706e-01 -1.09585593e-01 -1.46289316e-02 8.20524027e+02] [ 1.09574165e-01 9.93977362e-01 -1.58289969e-03 1.14973305e+01] [ 1.47142898e-02 -2.97569132e-05 9.99891739e-01 5.47776756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.119254154 meters 0.013603926491400728 Centerline is valid? [True, True] Translation: X:820.58, Y:11.51, Z:5.48 [[ 9.94047232e-01 -1.07916320e-01 -1.49722423e-02 8.20581519e+02] [ 1.07904098e-01 9.94159981e-01 -1.62408097e-03 1.15074823e+01] [ 1.50600690e-02 -1.15311323e-06 9.99886591e-01 5.47688930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.179254154 meters 0.016103052055252524 Centerline is valid? [True, True] Translation: X:820.64, Y:11.52, Z:5.48 [[ 9.93993897e-01 -1.08284944e-01 -1.58272818e-02 8.20638600e+02] [ 1.08271259e-01 9.94119898e-01 -1.72148186e-03 1.15159185e+01] [ 1.59206264e-02 -2.49727893e-06 9.99873259e-01 5.47589483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters 0.016719442984464393 Centerline is valid? [True, True] Translation: X:820.70, Y:11.52, Z:5.48 [[ 9.94003699e-01 -1.08354972e-01 -1.46916819e-02 8.20695624e+02] [ 1.08343152e-01 9.94112267e-01 -1.60048017e-03 1.15238353e+01] [ 1.47786012e-02 -8.59913103e-07 9.99890791e-01 5.47586200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.299254154 meters 0.014852624049052821 Centerline is valid? [True, True] Translation: X:820.75, Y:11.53, Z:5.48 [[ 9.93987283e-01 -1.08676217e-01 -1.33701497e-02 8.20752875e+02] [ 1.08666424e-01 9.94077200e-01 -1.45897968e-03 1.15312295e+01] [ 1.34495174e-02 -2.67910754e-06 9.99909551e-01 5.47672699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters 0.013463819946168715 Centerline is valid? [True, True] Translation: X:820.81, Y:11.54, Z:5.48 [[ 9.93965583e-01 -1.08906984e-01 -1.31029691e-02 8.20810804e+02] [ 1.08897549e-01 9.94051945e-01 -1.43355234e-03 1.15386768e+01] [ 1.31811558e-02 -1.97952942e-06 9.99913125e-01 5.47726016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.419254154 meters 0.014806851475879082 Centerline is valid? [True, True] Translation: X:820.87, Y:11.55, Z:5.48 [[ 9.93888794e-01 -1.09796703e-01 -1.13907174e-02 8.20868448e+02] [ 1.09789607e-01 9.93954065e-01 -1.24830606e-03 1.15466076e+01] [ 1.14589097e-02 -9.90497897e-06 9.99934344e-01 5.47682142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters 0.013861271453951537 Centerline is valid? [True, True] Translation: X:820.93, Y:11.55, Z:5.48 [[ 9.93989484e-01 -1.09111555e-01 -8.92045998e-03 8.20926094e+02] [ 1.09107166e-01 9.94029511e-01 -9.78701653e-04 1.15548625e+01] [ 8.97398813e-03 -4.66952707e-07 9.99959733e-01 5.47840652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.539254154 meters 0.017045063907518244 Centerline is valid? [True, True] Translation: X:820.98, Y:11.57, Z:5.48 [[ 9.94289616e-01 -1.06446882e-01 -7.56450655e-03 8.20983228e+02] [ 1.06443634e-01 9.94318390e-01 -8.31824409e-04 1.15660529e+01] [ 7.61007309e-03 2.18808052e-05 9.99971043e-01 5.47692045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters 0.016484380048822536 Centerline is valid? [True, True] Translation: X:821.04, Y:11.58, Z:5.48 [[ 9.94732846e-01 -1.02091412e-01 -9.16020233e-03 8.21041550e+02] [ 1.02086437e-01 9.94775019e-01 -1.01024976e-03 1.15763346e+01] [ 9.21547828e-03 6.97962001e-05 9.99957534e-01 5.47532269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.659254154 meters 0.01564778587843472 Centerline is valid? [True, True] Translation: X:821.10, Y:11.58, Z:5.47 [[ 9.94840055e-01 -1.00884797e-01 -1.07481629e-02 8.21099181e+02] [ 1.00877850e-01 9.94898109e-01 -1.18791835e-03 1.15840105e+01] [ 1.08131699e-02 9.75371860e-05 9.99941531e-01 5.47436942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters 0.01517484050318162 Centerline is valid? [True, True] Translation: X:821.16, Y:11.59, Z:5.47 [[ 9.94679644e-01 -1.02498247e-01 -1.03205825e-02 8.21157504e+02] [ 1.02491910e-01 9.94733182e-01 -1.14243731e-03 1.15896673e+01] [ 1.03833237e-02 7.85829221e-05 9.99946089e-01 5.47405043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.779254154 meters 0.013405770752372757 Centerline is valid? [True, True] Translation: X:821.22, Y:11.59, Z:5.48 [[ 9.94196055e-01 -1.07207787e-01 -8.98304361e-03 8.21216373e+02] [ 1.07203159e-01 9.94236637e-01 -9.96430169e-04 1.15915075e+01] [ 9.03809614e-03 2.76362870e-05 9.99959155e-01 5.47587949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.839254154 meters 0.01722811994143523 Centerline is valid? [True, True] Translation: X:821.27, Y:11.59, Z:5.47 [[ 9.93561981e-01 -1.13005557e-01 -8.02083317e-03 8.21273922e+02] [ 1.13002043e-01 9.93594356e-01 -8.91381974e-04 1.15932502e+01] [ 8.07018569e-03 -2.07272949e-05 9.99967435e-01 5.47433356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.899254154 meters 0.013466876416587312 Centerline is valid? [True, True] Translation: X:821.33, Y:11.60, Z:5.48 [[ 9.93507757e-01 -1.13593126e-01 -6.23999039e-03 8.21331346e+02] [ 1.13591008e-01 9.93527353e-01 -6.93996873e-04 1.15977002e+01] [ 6.27843441e-03 -1.93155212e-05 9.99980290e-01 5.47863561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.959254154 meters 0.013567220210915892 Centerline is valid? [True, True] Translation: X:821.39, Y:11.61, Z:5.48 [[ 9.93747935e-01 -1.11553361e-01 -4.57054100e-03 8.21389068e+02] [ 1.11552200e-01 9.93758445e-01 -5.09085616e-04 1.16055430e+01] [ 4.59880393e-03 -3.95112314e-06 9.99989425e-01 5.47909259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.019254154 meters 0.015325577887689004 Centerline is valid? [True, True] Translation: X:821.45, Y:11.62, Z:5.47 [[ 9.94417461e-01 -1.05254511e-01 -7.44324484e-03 8.21447145e+02] [ 1.05251228e-01 9.94445316e-01 -8.32504418e-04 1.16163539e+01] [ 7.48952481e-03 4.44462687e-05 9.99971952e-01 5.47408627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.079254154 meters 0.01435899416096639 Centerline is valid? [True, True] Translation: X:821.50, Y:11.63, Z:5.47 [[ 9.95000926e-01 -9.93055694e-02 -1.05622743e-02 8.21504175e+02] [ 9.92985935e-02 9.95056977e-01 -1.18414494e-03 1.16262716e+01] [ 1.06276570e-02 1.29406326e-04 9.99943516e-01 5.47327652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.139254154 meters 0.017525370302410904 Centerline is valid? [True, True] Translation: X:821.56, Y:11.63, Z:5.47 [[ 9.95293748e-01 -9.61451795e-02 -1.21020679e-02 8.21562501e+02] [ 9.61357624e-02 9.95367303e-01 -1.35884291e-03 1.16349287e+01] [ 1.21766489e-02 1.89006330e-04 9.99925844e-01 5.47033707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.199254154 meters 0.018069976159247814 Centerline is valid? [True, True] Translation: X:821.62, Y:11.64, Z:5.47 [[ 9.95503902e-01 -9.40255530e-02 -1.14532005e-02 8.21620634e+02] [ 9.40169462e-02 9.95569763e-01 -1.28878954e-03 1.16423578e+01] [ 1.15236392e-02 2.06200085e-04 9.99933579e-01 5.47094507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.259254154 meters 0.016513185498643987 Centerline is valid? [True, True] Translation: X:821.68, Y:11.64, Z:5.47 [[ 9.95500459e-01 -9.42093085e-02 -1.01706985e-02 8.21678725e+02] [ 9.42025048e-02 9.95552396e-01 -1.14702178e-03 1.16443228e+01] [ 1.02335234e-02 1.83755429e-04 9.99947619e-01 5.47317895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.319254154 meters 0.016142830058977434 Centerline is valid? [True, True] Translation: X:821.74, Y:11.65, Z:5.47 [[ 9.95358730e-01 -9.57114798e-02 -1.00156008e-02 8.21736804e+02] [ 9.57049348e-02 9.95409104e-01 -1.13183369e-03 1.16472026e+01] [ 1.00779496e-02 1.68038129e-04 9.99949202e-01 5.47390620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.379254154 meters 0.01637093495350745 Centerline is valid? [True, True] Translation: X:821.80, Y:11.65, Z:5.47 [[ 9.95334418e-01 -9.59550819e-02 -1.01004163e-02 8.21795220e+02] [ 9.59484214e-02 9.95385651e-01 -1.14307129e-03 1.16510657e+01] [ 1.01634930e-02 1.68619200e-04 9.99948336e-01 5.47400499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.439254154 meters 0.01703437421181621 Centerline is valid? [True, True] Translation: X:821.85, Y:11.66, Z:5.47 [[ 9.95466007e-01 -9.44688046e-02 -1.10939066e-02 8.21852547e+02] [ 9.44606446e-02 9.95527801e-01 -1.25840793e-03 1.16553134e+01] [ 1.11631727e-02 2.04764744e-04 9.99937669e-01 5.47342620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.499254154 meters 0.018681127376920535 Centerline is valid? [True, True] Translation: X:821.91, Y:11.66, Z:5.47 [[ 9.95735426e-01 -9.12821793e-02 -1.33613009e-02 8.21909905e+02] [ 9.12700244e-02 9.95825024e-01 -1.51794646e-03 1.16594354e+01] [ 1.34440793e-02 2.91986806e-04 9.99909582e-01 5.47245115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.559254154 meters 0.017654075440276435 Centerline is valid? [True, True] Translation: X:821.97, Y:11.66, Z:5.47 [[ 9.95978469e-01 -8.83739183e-02 -1.47289125e-02 8.21968909e+02] [ 8.83587826e-02 9.96087303e-01 -1.67649484e-03 1.16648134e+01] [ 1.48194411e-02 3.68323988e-04 9.99890118e-01 5.47334160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.619254154 meters 0.017596429962334795 Centerline is valid? [True, True] Translation: X:822.03, Y:11.67, Z:5.47 [[ 9.96147791e-01 -8.62860683e-02 -1.56299021e-02 8.22027764e+02] [ 8.62687028e-02 9.96270310e-01 -1.78314394e-03 1.16655000e+01] [ 1.57254679e-02 4.27903515e-04 9.99876256e-01 5.47361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.679254154 meters 0.01987919927719145 Centerline is valid? [True, True] Translation: X:822.09, Y:11.67, Z:5.47 [[ 9.96127463e-01 -8.65821994e-02 -1.52839906e-02 8.22086319e+02] [ 8.65655639e-02 9.96244623e-01 -1.74790816e-03 1.16682867e+01] [ 1.53779312e-02 4.18072059e-04 9.99881665e-01 5.47242367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters 0.017894075960072593 Centerline is valid? [True, True] Translation: X:822.15, Y:11.67, Z:5.48 [[ 9.96295822e-01 -8.49333163e-02 -1.34524040e-02 8.22145729e+02] [ 8.49202317e-02 9.96386560e-01 -1.54194530e-03 1.16694453e+01] [ 1.35347571e-02 3.93852391e-04 9.99908323e-01 5.47741722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.799254154 meters 0.021034972957131647 Centerline is valid? [True, True] Translation: X:822.20, Y:11.68, Z:5.48 [[ 9.96601287e-01 -8.14297046e-02 -1.24529988e-02 8.22203714e+02] [ 8.14181931e-02 9.96679003e-01 -1.42943317e-03 1.16752308e+01] [ 1.25280408e-02 4.10674271e-04 9.99921437e-01 5.47737169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters 0.019990382766605065 Centerline is valid? [True, True] Translation: X:822.26, Y:11.68, Z:5.48 [[ 9.96711949e-01 -7.96650426e-02 -1.47909452e-02 8.22262495e+02] [ 7.96485684e-02 9.96821556e-01 -1.70048798e-03 1.16812502e+01] [ 1.48794024e-02 5.16819080e-04 9.99889162e-01 5.47818721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.919254154 meters 0.019536253276994056 Centerline is valid? [True, True] Translation: X:822.32, Y:11.69, Z:5.48 [[ 9.96739274e-01 -7.90368084e-02 -1.62481528e-02 8.22320880e+02] [ 7.90167722e-02 9.96871528e-01 -1.87244339e-03 1.16884449e+01] [ 1.63453128e-02 5.82461280e-04 9.99866237e-01 5.47737118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters 0.0236008975593214 Centerline is valid? [True, True] Translation: X:822.38, Y:11.70, Z:5.47 [[ 9.96809055e-01 -7.80086183e-02 -1.69222632e-02 8.22377384e+02] [ 7.79866815e-02 9.96952487e-01 -1.95338389e-03 1.17007896e+01] [ 1.70230731e-02 6.27439602e-04 9.99854900e-01 5.47366767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.039254154 meters 0.022629103528592577 Centerline is valid? [True, True] Translation: X:822.44, Y:11.71, Z:5.47 [[ 9.96762147e-01 -7.85999313e-02 -1.69491278e-02 8.22435057e+02] [ 7.85779417e-02 9.96906045e-01 -1.96050392e-03 1.17052227e+01] [ 1.70507834e-02 6.22328527e-04 9.99854431e-01 5.47477718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters 0.022160701185189747 Centerline is valid? [True, True] Translation: X:822.49, Y:11.71, Z:5.48 [[ 9.96706480e-01 -7.93355464e-02 -1.67947339e-02 8.22493983e+02] [ 7.93139814e-02 9.96847782e-01 -1.94729075e-03 1.17118154e+01] [ 1.68962826e-02 6.08820104e-04 9.99857062e-01 5.47605311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.159254154 meters 0.020306585573668184 Centerline is valid? [True, True] Translation: X:822.55, Y:11.72, Z:5.48 [[ 9.96701936e-01 -7.96275117e-02 -1.56432267e-02 8.22552602e+02] [ 7.96087763e-02 9.96824527e-01 -1.81773668e-03 1.17201633e+01] [ 1.57382940e-02 5.66403529e-04 9.99875985e-01 5.47960735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters 0.020534327556157986 Centerline is valid? [True, True] Translation: X:822.61, Y:11.73, Z:5.48 [[ 9.96610764e-01 -8.09470711e-02 -1.46477641e-02 8.22610172e+02] [ 8.09307522e-02 9.96718269e-01 -1.70441031e-03 1.17284721e+01] [ 1.47376611e-02 5.13179095e-04 9.99891263e-01 5.48002470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.279254154 meters 0.020032533203044958 Centerline is valid? [True, True] Translation: X:822.67, Y:11.74, Z:5.48 [[ 9.96464732e-01 -8.29693275e-02 -1.31957455e-02 8.22669189e+02] [ 8.29562330e-02 9.96552005e-01 -1.53755637e-03 1.17353050e+01] [ 1.32778166e-02 4.37451364e-04 9.99911750e-01 5.48105654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.339254154 meters 0.021032640403121194 Centerline is valid? [True, True] Translation: X:822.73, Y:11.74, Z:5.48 [[ 9.96473541e-01 -8.29535998e-02 -1.26167117e-02 8.22726335e+02] [ 8.29415869e-02 9.96553321e-01 -1.47333062e-03 1.17446536e+01] [ 1.26954441e-02 4.21684889e-04 9.99919321e-01 5.48088168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.399254154 meters 0.023056006646424612 Centerline is valid? [True, True] Translation: X:822.78, Y:11.75, Z:5.48 [[ 9.96522634e-01 -8.21506980e-02 -1.39249217e-02 8.22784676e+02] [ 8.21359304e-02 9.96619803e-01 -1.63008322e-03 1.17539633e+01] [ 1.40117652e-02 4.80678425e-04 9.99901715e-01 5.47820534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.459254154 meters 0.022788105853239808 Centerline is valid? [True, True] Translation: X:822.84, Y:11.77, Z:5.48 [[ 9.96894415e-01 -7.72880585e-02 -1.51023356e-02 8.22843247e+02] [ 7.72701000e-02 9.97008625e-01 -1.76991130e-03 1.17684735e+01] [ 1.51939519e-02 5.97455704e-04 9.99884387e-01 5.47978718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.519254154 meters 0.024974380751920402 Centerline is valid? [True, True] Translation: X:822.90, Y:11.78, Z:5.48 [[ 9.97187207e-01 -7.32163426e-02 -1.60325380e-02 8.22902650e+02] [ 7.31955760e-02 9.97315836e-01 -1.87905298e-03 1.17821533e+01] [ 1.61270814e-02 7.00256734e-04 9.99869705e-01 5.47908891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.579254154 meters 0.028613609960975922 Centerline is valid? [True, True] Translation: X:822.96, Y:11.80, Z:5.47 [[ 9.97293967e-01 -7.13025468e-02 -1.79078489e-02 8.22961010e+02] [ 7.12763223e-02 9.97454400e-01 -2.09924006e-03 1.17959100e+01] [ 1.80119439e-02 8.17153837e-04 9.99837438e-01 5.47429086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.639254154 meters 0.026102354688282876 Centerline is valid? [True, True] Translation: X:823.02, Y:11.80, Z:5.48 [[ 9.97397476e-01 -6.98674569e-02 -1.77992605e-02 8.23019407e+02] [ 6.98412668e-02 9.97555929e-01 -2.08955951e-03 1.18035876e+01] [ 1.79017500e-02 8.40998484e-04 9.99839397e-01 5.47729201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.699254154 meters 0.025005072718394382 Centerline is valid? [True, True] Translation: X:823.08, Y:11.81, Z:5.48 [[ 9.97453787e-01 -6.86693731e-02 -1.92473541e-02 8.23077306e+02] [ 6.86384557e-02 9.97639033e-01 -2.26313934e-03 1.18111683e+01] [ 1.93573201e-02 9.36268247e-04 9.99812191e-01 5.47842155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.759254154 meters 0.024729469435906457 Centerline is valid? [True, True] Translation: X:823.14, Y:11.82, Z:5.48 [[ 9.97475501e-01 -6.85245525e-02 -1.86282228e-02 8.23135795e+02] [ 6.84954917e-02 9.97649013e-01 -2.19437199e-03 1.18194321e+01] [ 1.87347964e-02 9.12883023e-04 9.99824072e-01 5.47941401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.819254154 meters 0.02587707454377226 Centerline is valid? [True, True] Translation: X:823.19, Y:11.83, Z:5.48 [[ 9.97475872e-01 -6.85062308e-02 -1.86756702e-02 8.23194290e+02] [ 6.84769277e-02 9.97650264e-01 -2.20479473e-03 1.18303259e+01] [ 1.87828295e-02 9.20377026e-04 9.99823163e-01 5.48033928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.879254154 meters 0.02490147226641562 Centerline is valid? [True, True] Translation: X:823.25, Y:11.84, Z:5.48 [[ 9.97113217e-01 -7.33571726e-02 -1.95948469e-02 8.23253187e+02] [ 7.33258033e-02 9.97305352e-01 -2.31557285e-03 1.18355317e+01] [ 1.97119095e-02 8.72080410e-04 9.99805321e-01 5.47975141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.939254154 meters 0.02392739325071035 Centerline is valid? [True, True] Translation: X:823.31, Y:11.84, Z:5.48 [[ 9.96674072e-01 -7.90473598e-02 -1.98068006e-02 8.23313392e+02] [ 7.90164211e-02 9.96870566e-01 -2.34102273e-03 1.18391075e+01] [ 1.99298681e-02 7.68174167e-04 9.99801085e-01 5.47865741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.999254154 meters 0.020220841225095456 Centerline is valid? [True, True] Translation: X:823.37, Y:11.84, Z:5.48 [[ 9.96000114e-01 -8.74707412e-02 -1.82384770e-02 8.23372857e+02] [ 8.74459104e-02 9.96166936e-01 -2.15607777e-03 1.18386379e+01] [ 1.83571615e-02 5.52573486e-04 9.99831340e-01 5.48249700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.059254154 meters 0.018293915003386237 Centerline is valid? [True, True] Translation: X:823.43, Y:11.84, Z:5.48 [[ 9.95466426e-01 -9.33693106e-02 -1.81319152e-02 8.23433595e+02] [ 9.33457388e-02 9.95631446e-01 -2.14388909e-03 1.18382820e+01] [ 1.82528784e-02 4.41632590e-04 9.99833305e-01 5.48283625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.119254154 meters 0.018137804963165412 Centerline is valid? [True, True] Translation: X:823.49, Y:11.84, Z:5.48 [[ 9.94992239e-01 -9.82750353e-02 -1.82335566e-02 8.23492648e+02] [ 9.82520035e-02 9.95159229e-01 -2.15687236e-03 1.18409810e+01] [ 1.83572589e-02 3.54587785e-04 9.99831428e-01 5.48289202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.179254154 meters 0.01756756924672383 Centerline is valid? [True, True] Translation: X:823.55, Y:11.85, Z:5.48 [[ 9.94724393e-01 -1.00851487e-01 -1.87712401e-02 8.23550237e+02] [ 1.00827496e-01 9.94901440e-01 -2.22257749e-03 1.18462216e+01] [ 1.88996840e-02 3.18194918e-04 9.99821334e-01 5.48221932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters 0.01785951346059593 Centerline is valid? [True, True] Translation: X:823.61, Y:11.85, Z:5.48 [[ 9.94696415e-01 -1.00885553e-01 -2.00286501e-02 8.23609223e+02] [ 1.00858159e-01 9.94897978e-01 -2.37576749e-03 1.18498939e+01] [ 2.01661441e-02 3.43114628e-04 9.99796584e-01 5.48190104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.299254154 meters 0.02067798014424421 Centerline is valid? [True, True] Translation: X:823.67, Y:11.86, Z:5.48 [[ 9.94966381e-01 -9.77426937e-02 -2.20967578e-02 8.23666949e+02] [ 9.77085080e-02 9.95211617e-01 -2.62408096e-03 1.18589594e+01] [ 2.22474348e-02 4.51831097e-04 9.99752393e-01 5.47896872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters 0.018277835140336294 Centerline is valid? [True, True] Translation: X:823.73, Y:11.87, Z:5.48 [[ 9.95375608e-01 -9.32927236e-02 -2.28881301e-02 8.23726504e+02] [ 9.32548438e-02 9.95638559e-01 -2.71914153e-03 1.18657321e+01] [ 2.30419810e-02 5.72138161e-04 9.99734335e-01 5.48240001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.419254154 meters 0.018859776865771512 Centerline is valid? [True, True] Translation: X:823.78, Y:11.87, Z:5.48 [[ 9.95338472e-01 -9.34653433e-02 -2.37813994e-02 8.23783964e+02] [ 9.34244564e-02 9.95622358e-01 -2.82698679e-03 1.18699519e+01] [ 2.39415182e-02 5.92044401e-04 9.99713185e-01 5.48172063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters 0.019250516907535962 Centerline is valid? [True, True] Translation: X:823.84, Y:11.87, Z:5.48 [[ 9.94968505e-01 -9.71799056e-02 -2.43667924e-02 8.23843244e+02] [ 9.71379725e-02 9.95266696e-01 -2.90150270e-03 1.18715414e+01] [ 2.45334248e-02 5.19962994e-04 9.99698875e-01 5.48135443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.539254154 meters 0.015557957235058975 Centerline is valid? [True, True] Translation: X:823.90, Y:11.87, Z:5.49 [[ 9.94338788e-01 -1.04126530e-01 -2.11669556e-02 8.23903701e+02] [ 1.04096420e-01 9.94564011e-01 -2.52239614e-03 1.18687410e+01] [ 2.13145406e-02 3.04712029e-04 9.99772773e-01 5.48696053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters 0.01493880498172511 Centerline is valid? [True, True] Translation: X:823.96, Y:11.87, Z:5.49 [[ 9.93745058e-01 -1.09923273e-01 -1.96883911e-02 8.23961862e+02] [ 1.09898334e-01 9.93940061e-01 -2.34751612e-03 1.18689831e+01] [ 1.98271273e-02 1.69111163e-04 9.99803409e-01 5.48806858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.659254154 meters 0.015729434907012087 Centerline is valid? [True, True] Translation: X:824.02, Y:11.87, Z:5.49 [[ 9.92988543e-01 -1.16737903e-01 -1.86014854e-02 8.24021091e+02] [ 1.16716769e-01 9.93162756e-01 -2.22152205e-03 1.18673013e+01] [ 1.87336384e-02 3.48406637e-05 9.99824509e-01 5.49092270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters 0.014516203318887996 Centerline is valid? [True, True] Translation: X:824.08, Y:11.87, Z:5.49 [[ 9.92817759e-01 -1.18298695e-01 -1.78414406e-02 8.24079418e+02] [ 1.18279417e-01 9.92978055e-01 -2.13563673e-03 1.18716748e+01] [ 1.79688020e-02 1.00228842e-05 9.99838548e-01 5.49276834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.779254154 meters 0.016590830226717507 Centerline is valid? [True, True] Translation: X:824.14, Y:11.88, Z:5.49 [[ 9.92877143e-01 -1.17612834e-01 -1.90315671e-02 8.24137309e+02] [ 1.17590671e-01 9.93059525e-01 -2.28332691e-03 1.18801065e+01] [ 1.91680275e-02 2.91283515e-05 9.99816276e-01 5.49142043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.839254154 meters 0.01379789192883316 Centerline is valid? [True, True] Translation: X:824.20, Y:11.89, Z:5.49 [[ 9.93078891e-01 -1.16018587e-01 -1.82757869e-02 8.24195103e+02] [ 1.15997787e-01 9.93247041e-01 -2.19766208e-03 1.18887306e+01] [ 1.84073409e-02 6.25009822e-05 9.99830569e-01 5.49333049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.899254154 meters 0.013736424266909419 Centerline is valid? [True, True] Translation: X:824.25, Y:11.90, Z:5.49 [[ 9.93044264e-01 -1.16381981e-01 -1.78416542e-02 8.24253060e+02] [ 1.16362124e-01 9.93204526e-01 -2.15059078e-03 1.18968308e+01] [ 1.79707017e-02 5.95390632e-05 9.99838512e-01 5.49409320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.959254154 meters 0.015471547018757333 Centerline is valid? [True, True] Translation: X:824.31, Y:11.90, Z:5.49 [[ 9.92796901e-01 -1.18670802e-01 -1.64789124e-02 8.24311681e+02] [ 1.18654108e-01 9.92933654e-01 -1.99058055e-03 1.19043717e+01] [ 1.65986904e-02 2.09515574e-05 9.99862232e-01 5.49461887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.019254154 meters 0.015630899195092002 Centerline is valid? [True, True] Translation: X:824.37, Y:11.91, Z:5.49 [[ 9.92754050e-01 -1.19061163e-01 -1.62430340e-02 8.24368962e+02] [ 1.19044923e-01 9.92886922e-01 -1.96650368e-03 1.19135864e+01] [ 1.63616303e-02 1.86037561e-05 9.99866139e-01 5.49469276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.079254154 meters 0.013683727599024358 Centerline is valid? [True, True] Translation: X:824.43, Y:11.92, Z:5.49 [[ 9.92913836e-01 -1.17645306e-01 -1.67838232e-02 8.24426075e+02] [ 1.17627716e-01 9.93055678e-01 -2.03486018e-03 1.19233199e+01] [ 1.69066627e-02 4.61980370e-05 9.99857071e-01 5.49473173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.139254154 meters 0.01656141319202885 Centerline is valid? [True, True] Translation: X:824.48, Y:11.94, Z:5.49 [[ 9.93125044e-01 -1.15304024e-01 -2.01898311e-02 8.24484288e+02] [ 1.15278002e-01 9.93330242e-01 -2.45192975e-03 1.19359659e+01] [ 2.03378872e-02 1.07629461e-04 9.99793158e-01 5.49148436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.199254154 meters 0.016057495750380436 Centerline is valid? [True, True] Translation: X:824.54, Y:11.95, Z:5.49 [[ 9.93383102e-01 -1.12946087e-01 -2.08133212e-02 8.24540982e+02] [ 1.12917852e-01 9.93601104e-01 -2.53063630e-03 1.19470567e+01] [ 2.09659644e-02 1.63695814e-04 9.99780177e-01 5.49112880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.259254154 meters 0.01421205105791768 Centerline is valid? [True, True] Translation: X:824.60, Y:11.96, Z:5.49 [[ 9.93699769e-01 -1.10243167e-01 -2.01795345e-02 8.24599338e+02] [ 1.10215985e-01 9.93904622e-01 -2.45764126e-03 1.19577620e+01] [ 2.03274708e-02 2.18050281e-04 9.99793352e-01 5.49481016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.319254154 meters 0.016179162943043775 Centerline is valid? [True, True] Translation: X:824.66, Y:11.97, Z:5.49 [[ 9.93793727e-01 -1.09610570e-01 -1.89618227e-02 8.24656783e+02] [ 1.09586355e-01 9.93974584e-01 -2.31453930e-03 1.19686691e+01] [ 1.91012678e-02 2.22217601e-04 9.99817529e-01 5.49393140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.379254154 meters 0.014735105318545555 Centerline is valid? [True, True] Translation: X:824.71, Y:11.98, Z:5.50 [[ 9.93941760e-01 -1.08621091e-01 -1.67701167e-02 8.24714518e+02] [ 1.08601932e-01 9.94083201e-01 -2.05163405e-03 1.19780981e+01] [ 1.68937421e-02 2.17937678e-04 9.99857267e-01 5.49731916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.439254154 meters 0.014885936232820066 Centerline is valid? [True, True] Translation: X:824.77, Y:11.99, Z:5.50 [[ 9.94045807e-01 -1.07760513e-01 -1.61432858e-02 8.24773151e+02] [ 1.07742577e-01 9.94176855e-01 -1.97917633e-03 1.19874733e+01] [ 1.62625582e-02 2.28072716e-04 9.99867730e-01 5.49806862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.499254154 meters 0.015595809866393182 Centerline is valid? [True, True] Translation: X:824.83, Y:12.00, Z:5.50 [[ 9.94272851e-01 -1.05470911e-01 -1.72448628e-02 8.24831573e+02] [ 1.05450023e-01 9.94422347e-01 -2.11865646e-03 1.19976478e+01] [ 1.73721335e-02 2.88051424e-04 9.99849052e-01 5.49741906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.559254154 meters 0.01804366799654527 Centerline is valid? [True, True] Translation: X:824.89, Y:12.01, Z:5.49 [[ 9.94334709e-01 -1.04489412e-01 -1.95051060e-02 8.24889601e+02] [ 1.04462399e-01 9.94525937e-01 -2.40149166e-03 1.20053330e+01] [ 1.96492643e-02 3.50336341e-04 9.99806873e-01 5.49467038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.619254154 meters 0.016009480096563243 Centerline is valid? [True, True] Translation: X:824.95, Y:12.01, Z:5.50 [[ 9.94396153e-01 -1.03738867e-01 -2.03602374e-02 8.24948335e+02] [ 1.03709166e-01 9.94604493e-01 -2.51211338e-03 1.20121579e+01] [ 2.05109874e-02 3.86492642e-04 9.99789553e-01 5.49582219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.679254154 meters 0.015334414907047355 Centerline is valid? [True, True] Translation: X:825.01, Y:12.02, Z:5.50 [[ 9.94313735e-01 -1.04424251e-01 -2.08751781e-02 8.25005974e+02] [ 1.04393052e-01 9.94532767e-01 -2.58171978e-03 1.20178242e+01] [ 2.10306428e-02 3.87815886e-04 9.99778756e-01 5.49710810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters 0.015170918783057532 Centerline is valid? [True, True] Translation: X:825.06, Y:12.02, Z:5.50 [[ 9.94202715e-01 -1.05851716e-01 -1.88779205e-02 8.25064871e+02] [ 1.05826364e-01 9.94381872e-01 -2.33970180e-03 1.20235131e+01] [ 1.90195234e-02 3.28356194e-04 9.99819059e-01 5.49862545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.799254154 meters 0.014983934730765005 Centerline is valid? [True, True] Translation: X:825.12, Y:12.03, Z:5.50 [[ 9.94098049e-01 -1.07039881e-01 -1.76503190e-02 8.25123866e+02] [ 1.07017827e-01 9.94254686e-01 -2.19203329e-03 1.20289160e+01] [ 1.77835473e-02 2.90197229e-04 9.99841818e-01 5.50005753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters 0.016872574752345278 Centerline is valid? [True, True] Translation: X:825.18, Y:12.03, Z:5.50 [[ 9.93979691e-01 -1.08054571e-01 -1.81268962e-02 8.25182073e+02] [ 1.08031384e-01 9.94144923e-01 -2.25642326e-03 1.20345725e+01] [ 1.82645787e-02 2.84565210e-04 9.99833148e-01 5.49883027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.919254154 meters 0.016198700052510864 Centerline is valid? [True, True] Translation: X:825.24, Y:12.04, Z:5.50 [[ 9.94186182e-01 -1.06111819e-01 -1.82788831e-02 8.25239272e+02] [ 1.06087857e-01 9.94354150e-01 -2.27840940e-03 1.20424783e+01] [ 1.84174494e-02 3.25995618e-04 9.99830331e-01 5.49926856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters 0.01577573450639911 Centerline is valid? [True, True] Translation: X:825.30, Y:12.05, Z:5.50 [[ 9.94300660e-01 -1.05057779e-01 -1.81400470e-02 8.25297826e+02] [ 1.05033940e-01 9.94466059e-01 -2.26462137e-03 1.20506109e+01] [ 1.82775772e-02 3.46393914e-04 9.99832891e-01 5.50009637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.039254154 meters 0.01763865399687403 Centerline is valid? [True, True] Translation: X:825.36, Y:12.06, Z:5.50 [[ 9.94600417e-01 -1.01989722e-01 -1.91861061e-02 8.25355843e+02] [ 1.01962387e-01 9.94785359e-01 -2.40014775e-03 1.20604743e+01] [ 1.93308478e-02 4.30926774e-04 9.99813049e-01 5.49834299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters 0.019308168807286023 Centerline is valid? [True, True] Translation: X:825.41, Y:12.07, Z:5.50 [[ 9.94724679e-01 -1.00601477e-01 -2.00538088e-02 8.25414136e+02] [ 1.00571227e-01 9.94926685e-01 -2.51385325e-03 1.20682894e+01] [ 2.02049669e-02 4.83755715e-04 9.99795742e-01 5.49740190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.159254154 meters 0.01700482176625309 Centerline is valid? [True, True] Translation: X:825.47, Y:12.07, Z:5.50 [[ 9.94995864e-01 -9.81567158e-02 -1.86678793e-02 8.25472439e+02] [ 9.81299840e-02 9.95170844e-01 -2.34485382e-03 1.20739328e+01] [ 1.88078924e-02 5.01241147e-04 9.99822990e-01 5.50159905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539999 meters 0.019846333931191326 Centerline is valid? [True, True] Translation: X:825.53, Y:12.08, Z:5.50 [[ 9.95166408e-01 -9.65896875e-02 -1.77271821e-02 8.25530712e+02] [ 9.65652528e-02 9.95324155e-01 -2.23123033e-03 1.20832171e+01] [ 1.78598064e-02 5.08615657e-04 9.99840372e-01 5.50117421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.279254154 meters 0.020946155490554348 Centerline is valid? [True, True] Translation: X:825.59, Y:12.10, Z:5.50 [[ 9.95488177e-01 -9.33451794e-02 -1.70284346e-02 8.25587883e+02] [ 9.33221173e-02 9.95633657e-01 -2.14569995e-03 1.20957581e+01] [ 1.71543734e-02 5.46889360e-04 9.99852703e-01 5.50137280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.339254154 meters 0.021716478304081986 Centerline is valid? [True, True] Translation: X:825.65, Y:12.11, Z:5.50 [[ 9.95757232e-01 -9.03238342e-02 -1.75823767e-02 8.25645114e+02] [ 9.02987518e-02 9.95912256e-01 -2.21689924e-03 1.21074516e+01] [ 1.77107432e-02 6.19826786e-04 9.99842960e-01 5.50113688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.399254154 meters 0.023130697379441116 Centerline is valid? [True, True] Translation: X:825.70, Y:12.12, Z:5.50 [[ 9.95972310e-01 -8.75229587e-02 -1.94650629e-02 8.25703530e+02] [ 8.74916567e-02 9.96162226e-01 -2.45557190e-03 1.21178251e+01] [ 1.96052793e-02 7.42651018e-04 9.99807522e-01 5.49955817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.459254154 meters 0.023222053617564103 Centerline is valid? [True, True] Translation: X:825.76, Y:12.13, Z:5.50 [[ 9.96301697e-01 -8.37695201e-02 -1.91205831e-02 8.25762280e+02] [ 8.37386107e-02 9.96484833e-01 -2.41291705e-03 1.21285631e+01] [ 1.92555000e-02 8.02862287e-04 9.99814273e-01 5.50112594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.519254154 meters 0.025406101486473674 Centerline is valid? [True, True] Translation: X:825.82, Y:12.14, Z:5.50 [[ 9.96477969e-01 -8.18944680e-02 -1.80264715e-02 8.25819218e+02] [ 8.18666663e-02 9.96640692e-01 -2.27608804e-03 1.21418132e+01] [ 1.81523141e-02 7.92304457e-04 9.99834919e-01 5.50091051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.579254154 meters 0.02630740990948539 Centerline is valid? [True, True] Translation: X:825.88, Y:12.15, Z:5.50 [[ 9.96469802e-01 -8.21223193e-02 -1.74315438e-02 8.25876957e+02] [ 8.20962931e-02 9.96621964e-01 -2.20463532e-03 1.21498132e+01] [ 1.75537092e-02 7.65787389e-04 9.99845629e-01 5.50069858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.639254154 meters 0.023249428163922788 Centerline is valid? [True, True] Translation: X:825.94, Y:12.16, Z:5.50 [[ 9.96499114e-01 -8.22780771e-02 -1.48268256e-02 8.25935700e+02] [ 8.22592096e-02 9.96609197e-01 -1.87895563e-03 1.21556299e+01] [ 1.49311477e-02 6.52734665e-04 9.99888311e-01 5.50488056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.699254154 meters 0.02377678578174156 Centerline is valid? [True, True] Translation: X:825.99, Y:12.17, Z:5.51 [[ 9.96454453e-01 -8.29409033e-02 -1.41184104e-02 8.25993848e+02] [ 8.29238116e-02 9.96554277e-01 -1.79274150e-03 1.21654013e+01] [ 1.42184539e-02 6.15632850e-04 9.99898723e-01 5.50520474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.759254154 meters 0.021918657725097636 Centerline is valid? [True, True] Translation: X:826.05, Y:12.17, Z:5.51 [[ 9.96396789e-01 -8.37533559e-02 -1.33721163e-02 8.26052159e+02] [ 8.37380508e-02 9.96486349e-01 -1.70136995e-03 1.21727891e+01] [ 1.34676268e-02 5.75484601e-04 9.99909142e-01 5.50546537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.819254154 meters 0.024241725732476224 Centerline is valid? [True, True] Translation: X:826.11, Y:12.18, Z:5.50 [[ 9.96276376e-01 -8.49572669e-02 -1.46848978e-02 8.26109047e+02] [ 8.49388998e-02 9.96384405e-01 -1.87107603e-03 1.21824662e+01] [ 1.47907647e-02 6.16789784e-04 9.99890420e-01 5.50283022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.879254154 meters 0.024907971068101258 Centerline is valid? [True, True] Translation: X:826.17, Y:12.19, Z:5.50 [[ 9.96213463e-01 -8.56377985e-02 -1.49967612e-02 8.26166483e+02] [ 8.56186782e-02 9.96326141e-01 -1.91356932e-03 1.21936030e+01] [ 1.51055391e-02 6.22320647e-04 9.99885711e-01 5.50257979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.939254154 meters 0.02462851961606652 Centerline is valid? [True, True] Translation: X:826.22, Y:12.20, Z:5.50 [[ 9.96109998e-01 -8.68042839e-02 -1.51620703e-02 8.26224307e+02] [ 8.67848157e-02 9.96225194e-01 -1.93851858e-03 1.22035149e+01] [ 1.52731081e-02 6.15140265e-04 9.99883170e-01 5.50182067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.999254154 meters 0.022027815366408413 Centerline is valid? [True, True] Translation: X:826.28, Y:12.21, Z:5.50 [[ 9.95911648e-01 -8.86978632e-02 -1.71078349e-02 8.26283289e+02] [ 8.86732807e-02 9.96058355e-01 -2.19165950e-03 1.22103743e+01] [ 1.72347974e-02 6.65691376e-04 9.99851248e-01 5.50198883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.059254154 meters 0.021967117903939206 Centerline is valid? [True, True] Translation: X:826.34, Y:12.22, Z:5.50 [[ 9.95734865e-01 -9.04944444e-02 -1.79675616e-02 8.26341325e+02] [ 9.04675391e-02 9.95896734e-01 -2.30631133e-03 1.22190692e+01] [ 1.81025443e-02 6.70993515e-04 9.99835910e-01 5.50185863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.119254154 meters 0.021082589683728965 Centerline is valid? [True, True] Translation: X:826.40, Y:12.23, Z:5.50 [[ 9.95575481e-01 -9.24560712e-02 -1.67730795e-02 8.26400050e+02] [ 9.24328545e-02 9.95716586e-01 -2.15583109e-03 1.22275258e+01] [ 1.69005531e-02 5.95908960e-04 9.99856998e-01 5.50350171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.179254154 meters 0.019299884706885095 Centerline is valid? [True, True] Translation: X:826.46, Y:12.23, Z:5.51 [[ 9.95397815e-01 -9.44663145e-02 -1.61029555e-02 8.26458651e+02] [ 9.44451258e-02 9.95527911e-01 -2.07296414e-03 1.22331232e+01] [ 1.62267669e-02 5.42578317e-04 9.99868190e-01 5.50510080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters 0.018410449696534683 Centerline is valid? [True, True] Translation: X:826.52, Y:12.24, Z:5.51 [[ 9.95178394e-01 -9.68353509e-02 -1.55845816e-02 8.26517741e+02] [ 9.68157342e-02 9.95300293e-01 -2.01008224e-03 1.22398198e+01] [ 1.57059857e-02 4.91557697e-04 9.99876533e-01 5.50646920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.299254154 meters 0.018720582930971005 Centerline is valid? [True, True] Translation: X:826.58, Y:12.25, Z:5.51 [[ 9.95133670e-01 -9.72706503e-02 -1.57289354e-02 8.26575105e+02] [ 9.72506542e-02 9.95257845e-01 -2.03302530e-03 1.22501836e+01] [ 1.58521000e-02 4.93482666e-04 9.99874226e-01 5.50682420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters 0.02016037980878911 Centerline is valid? [True, True] Translation: X:826.63, Y:12.26, Z:5.51 [[ 9.95157218e-01 -9.69696152e-02 -1.60936127e-02 8.26631931e+02] [ 9.69485882e-02 9.95287210e-01 -2.08346229e-03 1.22618943e+01] [ 1.62197995e-02 5.13119506e-04 9.99868319e-01 5.50635034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.419254154 meters 0.02174238994189063 Centerline is valid? [True, True] Translation: X:826.69, Y:12.27, Z:5.50 [[ 9.95233779e-01 -9.59270522e-02 -1.75421154e-02 8.26689677e+02] [ 9.59018417e-02 9.95388197e-01 -2.27470767e-03 1.22724432e+01] [ 1.76794207e-02 5.81544737e-04 9.99843538e-01 5.50497377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters 0.01977270038648211 Centerline is valid? [True, True] Translation: X:826.75, Y:12.28, Z:5.51 [[ 9.95331071e-01 -9.49810395e-02 -1.71656789e-02 8.26747687e+02] [ 9.49566830e-02 9.95478907e-01 -2.23028325e-03 1.22803390e+01] [ 1.72999059e-02 5.89874287e-04 9.99850171e-01 5.50708642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.539254154 meters 0.021546866477337744 Centerline is valid? [True, True] Translation: X:826.81, Y:12.29, Z:5.51 [[ 9.95317866e-01 -9.49500963e-02 -1.80783029e-02 8.26806142e+02] [ 9.49229879e-02 9.95481836e-01 -2.35367608e-03 1.22904890e+01] [ 1.82201039e-02 6.26609325e-04 9.99833804e-01 5.50543139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters 0.02057502416700058 Centerline is valid? [True, True] Translation: X:826.86, Y:12.30, Z:5.51 [[ 9.95465159e-01 -9.36078330e-02 -1.69319339e-02 8.26863682e+02] [ 9.35838159e-02 9.95608959e-01 -2.20700586e-03 1.23006322e+01] [ 1.70641781e-02 6.12442453e-04 9.99854209e-01 5.50827845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.659254154 meters 0.024415728254130485 Centerline is valid? [True, True] Translation: X:826.92, Y:12.31, Z:5.51 [[ 9.95644079e-01 -9.16271578e-02 -1.72433086e-02 8.26920142e+02] [ 9.16019249e-02 9.95793166e-01 -2.24918356e-03 1.23146685e+01] [ 1.73768551e-02 6.59866044e-04 9.99848793e-01 5.50646747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539999 meters 0.02395545401841549 Centerline is valid? [True, True] Translation: X:826.98, Y:12.32, Z:5.51 [[ 9.95979822e-01 -8.77698760e-02 -1.79065338e-02 8.26978774e+02] [ 8.77420190e-02 9.96140490e-01 -2.33695943e-03 1.23231499e+01] [ 1.80425380e-02 7.56409006e-04 9.99836934e-01 5.50635244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.779254154 meters 0.025116996435395136 Centerline is valid? [True, True] Translation: X:827.04, Y:12.34, Z:5.51 [[ 9.96356859e-01 -8.34630519e-02 -1.75194035e-02 8.27036969e+02] [ 8.34357118e-02 9.96510538e-01 -2.28700623e-03 1.23374371e+01] [ 1.76491508e-02 8.16930438e-04 9.99843908e-01 5.50823624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.839254154 meters 0.027733805969740774 Centerline is valid? [True, True] Translation: X:827.09, Y:12.35, Z:5.51 [[ 9.96420327e-01 -8.27692857e-02 -1.71981648e-02 8.27093839e+02] [ 8.27428091e-02 9.96568402e-01 -2.24662978e-03 1.23500142e+01] [ 1.73250995e-02 8.15563111e-04 9.99849577e-01 5.50814106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.899254154 meters 0.026631493451543854 Centerline is valid? [True, True] Translation: X:827.15, Y:12.36, Z:5.51 [[ 9.96517763e-01 -8.15805492e-02 -1.72325945e-02 8.27152384e+02] [ 8.15537267e-02 9.96666397e-01 -2.25472213e-03 1.23589260e+01] [ 1.73590893e-02 8.41488354e-04 9.99848966e-01 5.51000940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.959254154 meters 0.02538383624885614 Centerline is valid? [True, True] Translation: X:827.21, Y:12.36, Z:5.51 [[ 9.96506912e-01 -8.16472713e-02 -1.75413333e-02 8.27210673e+02] [ 8.16194082e-02 9.96660917e-01 -2.29970651e-03 1.23644382e+01] [ 1.76705261e-02 8.59960186e-04 9.99843494e-01 5.50965768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.019254154 meters 0.02949575418724845 Centerline is valid? [True, True] Translation: X:827.27, Y:12.38, Z:5.51 [[ 9.96355312e-01 -8.34235864e-02 -1.77931912e-02 8.27267147e+02] [ 8.33951495e-02 9.96513820e-01 -2.33553276e-03 1.23763206e+01] [ 1.79259995e-02 8.43154628e-04 9.99838961e-01 5.50725593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.079254154 meters 0.02601479634487595 Centerline is valid? [True, True] Translation: X:827.33, Y:12.38, Z:5.51 [[ 9.96087332e-01 -8.68069347e-02 -1.65705317e-02 8.27326602e+02] [ 8.67827235e-02 9.96224886e-01 -2.17597750e-03 1.23808632e+01] [ 1.66968660e-02 7.29427759e-04 9.99860332e-01 5.51000302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.139254154 meters 0.024077954228874775 Centerline is valid? [True, True] Translation: X:827.39, Y:12.39, Z:5.51 [[ 9.95775135e-01 -9.03756033e-02 -1.62521182e-02 8.27386647e+02] [ 9.03527813e-02 9.95907535e-01 -2.13457173e-03 1.23871913e+01] [ 1.63785202e-02 6.57129363e-04 9.99865647e-01 5.51245465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.199254154 meters 0.021570868130493907 Centerline is valid? [True, True] Translation: X:827.45, Y:12.39, Z:5.51 [[ 9.95146802e-01 -9.69190283e-02 -1.70159860e-02 8.27446552e+02] [ 9.68949578e-02 9.95292103e-01 -2.23531792e-03 1.23902838e+01] [ 1.71525214e-02 5.75706226e-04 9.99852719e-01 5.51281495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.259254154 meters 0.01796073557855627 Centerline is valid? [True, True] Translation: X:827.51, Y:12.39, Z:5.51 [[ 9.94582133e-01 -1.02508722e-01 -1.72725725e-02 8.27506915e+02] [ 1.02484755e-01 9.94731986e-01 -2.26941180e-03 1.23902386e+01] [ 1.74142148e-02 4.86941070e-04 9.99848242e-01 5.51444230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.319254154 meters 0.01758078747151147 Centerline is valid? [True, True] Translation: X:827.56, Y:12.40, Z:5.51 [[ 9.94215531e-01 -1.05936177e-01 -1.76919147e-02 8.27564910e+02] [ 1.05911557e-01 9.94372835e-01 -2.32543049e-03 1.23963608e+01] [ 1.78387065e-02 4.38200885e-04 9.99840782e-01 5.51447037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.379254154 meters 0.017712627930959568 Centerline is valid? [True, True] Translation: X:827.62, Y:12.40, Z:5.51 [[ 9.94069216e-01 -1.07142139e-01 -1.86267354e-02 8.27623339e+02] [ 1.07114992e-01 9.94243615e-01 -2.45193174e-03 1.24019186e+01] [ 1.87822180e-02 4.42187248e-04 9.99823501e-01 5.51385633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.439254154 meters 0.017869215717402437 Centerline is valid? [True, True] Translation: X:827.68, Y:12.41, Z:5.51 [[ 9.94240561e-01 -1.05420984e-01 -1.92905075e-02 8.27680105e+02] [ 1.05391475e-01 9.94427559e-01 -2.54283658e-03 1.24117101e+01] [ 1.94510807e-02 4.95136230e-04 9.99810687e-01 5.51439194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.499254154 meters 0.019624699750410524 Centerline is valid? [True, True] Translation: X:827.74, Y:12.42, Z:5.51 [[ 9.94334791e-01 -1.04097616e-01 -2.14944171e-02 8.27738599e+02] [ 1.04060564e-01 9.94566913e-01 -2.83818687e-03 1.24201557e+01] [ 2.16730846e-02 5.85386770e-04 9.99764940e-01 5.51185272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.559254154 meters 0.018336061680440694 Centerline is valid? [True, True] Translation: X:827.80, Y:12.43, Z:5.51 [[ 9.94528184e-01 -1.02299599e-01 -2.11774028e-02 8.27796362e+02] [ 1.02263146e-01 9.94753441e-01 -2.80000885e-03 1.24282705e+01] [ 2.13527341e-02 6.19019878e-04 9.99771813e-01 5.51482093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.619254154 meters 0.01703990251577991 Centerline is valid? [True, True] Translation: X:827.86, Y:12.43, Z:5.52 [[ 9.94396978e-01 -1.03713865e-01 -2.04471156e-02 8.27855685e+02] [ 1.03680094e-01 9.94607011e-01 -2.70773322e-03 1.24329400e+01] [ 2.06176741e-02 5.72602862e-04 9.99787269e-01 5.51699080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.679254154 meters 0.02047590853740349 Centerline is valid? [True, True] Translation: X:827.91, Y:12.44, Z:5.51 [[ 9.93763660e-01 -1.09310918e-01 -2.20207093e-02 8.27913102e+02] [ 1.09273049e-01 9.94007484e-01 -2.91931490e-03 1.24390816e+01] [ 2.22078628e-02 4.94839002e-04 9.99753253e-01 5.51257526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters 0.01517649029446309 Centerline is valid? [True, True] Translation: X:827.97, Y:12.44, Z:5.52 [[ 9.93251597e-01 -1.14258540e-01 -1.99060520e-02 8.27973609e+02] [ 1.14228573e-01 9.93450988e-01 -2.63977460e-03 1.24405600e+01] [ 2.00773038e-02 3.48120439e-04 9.99798370e-01 5.51839864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.799254154 meters 0.014061023642063936 Centerline is valid? [True, True] Translation: X:828.03, Y:12.44, Z:5.52 [[ 9.92654202e-01 -1.19615108e-01 -1.81620935e-02 8.28032933e+02] [ 1.19591040e-01 9.92820315e-01 -2.40947884e-03 1.24419439e+01] [ 1.83199055e-02 2.19755637e-04 9.99832152e-01 5.52155852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters 0.014250663734293349 Centerline is valid? [True, True] Translation: X:828.09, Y:12.45, Z:5.52 [[ 9.92307686e-01 -1.22486549e-01 -1.79583247e-02 8.28091897e+02] [ 1.22463425e-01 9.92470159e-01 -2.38588519e-03 1.24472639e+01] [ 1.81153402e-02 1.68294263e-04 9.99835890e-01 5.52191114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.919254154 meters 0.016597203205991434 Centerline is valid? [True, True] Translation: X:828.15, Y:12.45, Z:5.52 [[ 9.92069193e-01 -1.24138121e-01 -1.97089706e-02 8.28150553e+02] [ 1.24110490e-01 9.92264936e-01 -2.62375579e-03 1.24526145e+01] [ 1.98822286e-02 1.56857291e-04 9.99802317e-01 5.52005641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters 0.016545477573433397 Centerline is valid? [True, True] Translation: X:828.21, Y:12.46, Z:5.52 [[ 9.92132149e-01 -1.23288903e-01 -2.17633839e-02 8.28208557e+02] [ 1.23254918e-01 9.92370802e-01 -2.90123991e-03 1.24594436e+01] [ 2.19550374e-02 1.95969282e-04 9.99758940e-01 5.51947847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.039254154 meters 0.014179072734479324 Centerline is valid? [True, True] Translation: X:828.27, Y:12.47, Z:5.52 [[ 9.92462224e-01 -1.20777335e-01 -2.07742260e-02 8.28267079e+02] [ 1.20745724e-01 9.92679594e-01 -2.77390465e-03 1.24678547e+01] [ 2.09571750e-02 2.44596621e-04 9.99780344e-01 5.52195288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters 0.015041485804205806 Centerline is valid? [True, True] Translation: X:828.32, Y:12.48, Z:5.52 [[ 9.92632705e-01 -1.19417253e-01 -2.04898164e-02 8.28324059e+02] [ 1.19386151e-01 9.92844119e-01 -2.73888139e-03 1.24773005e+01] [ 2.06702634e-02 2.72502927e-04 9.99786310e-01 5.52078491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.159254154 meters 0.014688031310093864 Centerline is valid? [True, True] Translation: X:828.38, Y:12.48, Z:5.52 [[ 9.92687446e-01 -1.19025874e-01 -2.01115799e-02 8.28381748e+02] [ 1.18995739e-01 9.92891113e-01 -2.69281877e-03 1.24829071e+01] [ 2.02891241e-02 2.79935078e-04 9.99794115e-01 5.52289945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539999 meters 0.016858038145940793 Centerline is valid? [True, True] Translation: X:828.44, Y:12.49, Z:5.52 [[ 9.92518860e-01 -1.20299553e-01 -2.08406026e-02 8.28439075e+02] [ 1.20267345e-01 9.92737601e-01 -2.79657265e-03 1.24891293e+01] [ 2.10256763e-02 2.69207159e-04 9.99778900e-01 5.52206792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.279254154 meters 0.0172281745407289 Centerline is valid? [True, True] Translation: X:828.50, Y:12.49, Z:5.52 [[ 9.92233121e-01 -1.22628514e-01 -2.08729631e-02 8.28497388e+02] [ 1.22596603e-01 9.92452617e-01 -2.80646340e-03 1.24944425e+01] [ 2.10595793e-02 2.25711571e-04 9.99778197e-01 5.52304300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.339254154 meters 0.015361235007039429 Centerline is valid? [True, True] Translation: X:828.56, Y:12.50, Z:5.52 [[ 9.92050689e-01 -1.24089197e-01 -2.09117545e-02 8.28555909e+02] [ 1.24057379e-01 9.92271047e-01 -2.81702694e-03 1.24991429e+01] [ 2.10996911e-02 2.00376075e-04 9.99777357e-01 5.52448587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.399254154 meters 0.014190121759886522 Centerline is valid? [True, True] Translation: X:828.61, Y:12.51, Z:5.52 [[ 9.92063736e-01 -1.23982879e-01 -2.09233973e-02 8.28611988e+02] [ 1.23950928e-01 9.92284336e-01 -2.82210247e-03 1.25064022e+01] [ 2.11118518e-02 2.06231011e-04 9.99777099e-01 5.52422450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.459254154 meters 0.0156023195510728 Centerline is valid? [True, True] Translation: X:828.67, Y:12.51, Z:5.52 [[ 9.91943163e-01 -1.24617716e-01 -2.27856411e-02 8.28670273e+02] [ 1.24579876e-01 9.92204807e-01 -3.07827314e-03 1.25129535e+01] [ 2.29916300e-02 2.14839651e-04 9.99735634e-01 5.52384275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.519254154 meters 0.013933100802400369 Centerline is valid? [True, True] Translation: X:828.73, Y:12.52, Z:5.53 [[ 9.92006318e-01 -1.24478307e-01 -2.07030709e-02 8.28729249e+02] [ 1.24446930e-01 9.92222309e-01 -2.80209636e-03 1.25185722e+01] [ 2.08908491e-02 2.03263663e-04 9.99781742e-01 5.52779579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.579254154 meters 0.015252427791447441 Centerline is valid? [True, True] Translation: X:828.79, Y:12.53, Z:5.53 [[ 9.92002092e-01 -1.24622423e-01 -2.00275251e-02 8.28786508e+02] [ 1.24592977e-01 9.92204219e-01 -2.71629684e-03 1.25254116e+01] [ 2.02099064e-02 1.99283175e-04 9.99795739e-01 5.52812521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.639254154 meters 0.014561062038107059 Centerline is valid? [True, True] Translation: X:828.84, Y:12.53, Z:5.53 [[ 9.92231303e-01 -1.22951478e-01 -1.89730374e-02 8.28844253e+02] [ 1.22924639e-01 9.92412658e-01 -2.57880213e-03 1.25331875e+01] [ 1.91461500e-02 2.26514414e-04 9.99816670e-01 5.52946233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.699254154 meters 0.014971468946758128 Centerline is valid? [True, True] Translation: X:828.90, Y:12.54, Z:5.53 [[ 9.92796016e-01 -1.18338655e-01 -1.87625520e-02 8.28901827e+02] [ 1.18311516e-01 9.92973244e-01 -2.55382472e-03 1.25432802e+01] [ 1.89329283e-02 3.15601032e-04 9.99820706e-01 5.52967139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.759254154 meters 0.01724489267766715 Centerline is valid? [True, True] Translation: X:828.96, Y:12.55, Z:5.53 [[ 9.92896144e-01 -1.17204148e-01 -2.05045158e-02 8.28959769e+02] [ 1.17171399e-01 9.93107773e-01 -2.79549051e-03 1.25525722e+01] [ 2.06908371e-02 3.73088945e-04 9.99785852e-01 5.52830000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.819254154 meters 0.01685330233016936 Centerline is valid? [True, True] Translation: X:829.02, Y:12.56, Z:5.53 [[ 9.93649919e-01 -1.10679580e-01 -2.02452003e-02 8.29018481e+02] [ 1.10646255e-01 9.93856014e-01 -2.76231923e-03 1.25647884e+01] [ 2.04265464e-02 5.04722681e-04 9.99791229e-01 5.52833120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.879254154 meters 0.017585240373256355 Centerline is valid? [True, True] Translation: X:829.08, Y:12.57, Z:5.53 [[ 9.94102457e-01 -1.06262925e-01 -2.16447742e-02 8.29077301e+02] [ 1.06223768e-01 9.94337862e-01 -2.95410533e-03 1.25744791e+01] [ 2.18361304e-02 6.37493898e-04 9.99761360e-01 5.52769541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.939254154 meters 0.021498351971667645 Centerline is valid? [True, True] Translation: X:829.13, Y:12.59, Z:5.53 [[ 9.94180471e-01 -1.05616676e-01 -2.12204802e-02 8.29133775e+02] [ 1.05578859e-01 9.94406711e-01 -2.89779115e-03 1.25880941e+01] [ 2.14078430e-02 6.40493301e-04 9.99770621e-01 5.52522184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.999254154 meters 0.01740187343160689 Centerline is valid? [True, True] Translation: X:829.19, Y:12.59, Z:5.53 [[ 9.93944883e-01 -1.08056931e-01 -1.99316302e-02 8.29193583e+02] [ 1.08023982e-01 9.94144552e-01 -2.72557712e-03 1.25877546e+01] [ 2.01094391e-02 5.55979377e-04 9.99797630e-01 5.52932875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.059254154 meters 0.01671422594618406 Centerline is valid? [True, True] Translation: X:829.25, Y:12.59, Z:5.53 [[ 9.93495004e-01 -1.12436431e-01 -1.80479053e-02 8.29252190e+02] [ 1.12410100e-01 9.93658829e-01 -2.47006261e-03 1.25927421e+01] [ 1.82111855e-02 4.25228021e-04 9.99834072e-01 5.53003172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.119254154 meters 0.015621173957732963 Centerline is valid? [True, True] Translation: X:829.31, Y:12.59, Z:5.53 [[ 9.92961838e-01 -1.17145202e-01 -1.74295871e-02 8.29311573e+02] [ 1.17121349e-01 9.93114744e-01 -2.38657768e-03 1.25945943e+01] [ 1.75891561e-02 3.28403806e-04 9.99845245e-01 5.53103004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.179254154 meters 0.015170913715953574 Centerline is valid? [True, True] Translation: X:829.37, Y:12.60, Z:5.53 [[ 9.92531567e-01 -1.20602893e-01 -1.83311524e-02 8.29370209e+02] [ 1.20577032e-01 9.92700791e-01 -2.51356682e-03 1.25979571e+01] [ 1.85004930e-02 2.84478449e-04 9.99828811e-01 5.53116350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters 0.013919126651526515 Centerline is valid? [True, True] Translation: X:829.43, Y:12.60, Z:5.53 [[ 9.92288160e-01 -1.22652716e-01 -1.79030218e-02 8.29428889e+02] [ 1.22628299e-01 9.92449621e-01 -2.45948091e-03 1.26035644e+01] [ 1.80695093e-02 2.45096670e-04 9.99836703e-01 5.53235234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.299254154 meters 0.013903007503091187 Centerline is valid? [True, True] Translation: X:829.49, Y:12.61, Z:5.53 [[ 9.91788478e-01 -1.26589004e-01 -1.81889933e-02 8.29488316e+02] [ 1.26564379e-01 9.91955237e-01 -2.50333662e-03 1.26069420e+01] [ 1.83595620e-02 1.80701782e-04 9.99831433e-01 5.53234561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters 0.013227864125408259 Centerline is valid? [True, True] Translation: X:829.55, Y:12.61, Z:5.53 [[ 9.91347447e-01 -1.30168047e-01 -1.69268698e-02 8.29547754e+02] [ 1.30147174e-01 9.91491940e-01 -2.33360499e-03 1.26103096e+01] [ 1.70866157e-02 1.10429084e-04 9.99854007e-01 5.53434563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.419254154 meters 0.013177806184246302 Centerline is valid? [True, True] Translation: X:829.61, Y:12.61, Z:5.54 [[ 9.91092378e-01 -1.32271133e-01 -1.54998513e-02 8.29605397e+02] [ 1.32253853e-01 9.91213571e-01 -2.13913662e-03 1.26149027e+01] [ 1.56466090e-02 7.01669372e-05 9.99877582e-01 5.53620004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters 0.013140295324295405 Centerline is valid? [True, True] Translation: X:829.66, Y:12.62, Z:5.54 [[ 9.91076073e-01 -1.32499003e-01 -1.45681659e-02 8.29663330e+02] [ 1.32483720e-01 9.91183137e-01 -2.01342489e-03 1.26216187e+01] [ 1.47064972e-02 6.54124154e-05 9.99891851e-01 5.53776413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.539254154 meters 0.016751813442235888 Centerline is valid? [True, True] Translation: X:829.72, Y:12.63, Z:5.54 [[ 9.91095800e-01 -1.32235654e-01 -1.55835400e-02 8.29721642e+02] [ 1.32218066e-01 9.91218304e-01 -2.15810775e-03 1.26290012e+01] [ 1.57320689e-02 7.84660155e-05 9.99876240e-01 5.53534028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters 0.01569904274696434 Centerline is valid? [True, True] Translation: X:829.78, Y:12.64, Z:5.53 [[ 9.91402014e-01 -1.29674395e-01 -1.75099643e-02 8.29780117e+02] [ 1.29651707e-01 9.91556621e-01 -2.42955835e-03 1.26388943e+01] [ 1.76771726e-02 1.38472273e-04 9.99843737e-01 5.53416152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.659254154 meters 0.01709220589779398 Centerline is valid? [True, True] Translation: X:829.84, Y:12.65, Z:5.53 [[ 9.91608766e-01 -1.27859812e-01 -1.90767576e-02 8.29837929e+02] [ 1.27832449e-01 9.91792232e-01 -2.65198355e-03 1.26484465e+01] [ 1.92592621e-02 1.91101487e-04 9.99814505e-01 5.53290271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539999 meters 0.016359481049314124 Centerline is valid? [True, True] Translation: X:829.90, Y:12.66, Z:5.53 [[ 9.91570626e-01 -1.28194720e-01 -1.88097711e-02 8.29895708e+02] [ 1.28168079e-01 9.91749000e-01 -2.62010517e-03 1.26563328e+01] [ 1.89904553e-02 1.87207101e-04 9.99819648e-01 5.53453451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.779254154 meters 0.014909156909474907 Centerline is valid? [True, True] Translation: X:829.95, Y:12.66, Z:5.54 [[ 9.91192360e-01 -1.31227169e-01 -1.78082830e-02 8.29952901e+02] [ 1.31203727e-01 9.91352316e-01 -2.48344393e-03 1.26621756e+01] [ 1.79801779e-02 1.25057552e-04 9.99838336e-01 5.53642434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.839254154 meters 0.016128083801617493 Centerline is valid? [True, True] Translation: X:830.01, Y:12.67, Z:5.54 [[ 9.90591382e-01 -1.35723131e-01 -1.75484055e-02 8.30011954e+02] [ 1.35701014e-01 9.90746804e-01 -2.45056137e-03 1.26663500e+01] [ 1.77186245e-02 4.61685543e-05 9.99843012e-01 5.53666297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.899254154 meters 0.013142832761478004 Centerline is valid? [True, True] Translation: X:830.07, Y:12.67, Z:5.54 [[ 9.90356481e-01 -1.37504838e-01 -1.69251348e-02 8.30069247e+02] [ 1.37484445e-01 9.90501095e-01 -2.36815963e-03 1.26729624e+01] [ 1.70899979e-02 1.83794886e-05 9.99853955e-01 5.53998110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.959254154 meters 0.013153585182191764 Centerline is valid? [True, True] Translation: X:830.13, Y:12.68, Z:5.54 [[ 9.90249329e-01 -1.38239072e-01 -1.72111752e-02 8.30126670e+02] [ 1.38218007e-01 9.90398889e-01 -2.41322951e-03 1.26799180e+01] [ 1.73795314e-02 1.08045636e-05 9.99848964e-01 5.54081484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.019254154 meters 0.01665901810547504 Centerline is valid? [True, True] Translation: X:830.18, Y:12.69, Z:5.54 [[ 9.90649000e-01 -1.35211520e-01 -1.82319492e-02 8.30184106e+02] [ 1.35187313e-01 9.90816754e-01 -2.55943452e-03 1.26894991e+01] [ 1.84105857e-02 7.07730384e-05 9.99830508e-01 5.53850190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.079254154 meters 0.015642472146066354 Centerline is valid? [True, True] Translation: X:830.24, Y:12.70, Z:5.54 [[ 9.91435384e-01 -1.29374160e-01 -1.78383347e-02 8.30240583e+02] [ 1.29350013e-01 9.91595833e-01 -2.50573832e-03 1.27021152e+01] [ 1.80125962e-02 1.76888812e-04 9.99837744e-01 5.53870576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.139254154 meters 0.01750645119462124 Centerline is valid? [True, True] Translation: X:830.30, Y:12.71, Z:5.54 [[ 9.91967679e-01 -1.25114505e-01 -1.86140729e-02 8.30298388e+02] [ 1.25087429e-01 9.92142273e-01 -2.61642546e-03 1.27109906e+01] [ 1.87951613e-02 2.67022964e-04 9.99823320e-01 5.53953365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.199254154 meters 0.0165203395340601 Centerline is valid? [True, True] Translation: X:830.36, Y:12.72, Z:5.54 [[ 9.92785155e-01 -1.18482813e-01 -1.84244049e-02 8.30355977e+02] [ 1.18455120e-01 9.92956027e-01 -2.59102343e-03 1.27236008e+01] [ 1.86016156e-02 3.89864500e-04 9.99826899e-01 5.54023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.259254154 meters 0.019631783319052985 Centerline is valid? [True, True] Translation: X:830.41, Y:12.74, Z:5.54 [[ 9.93372698e-01 -1.13335910e-01 -1.91221081e-02 8.30412652e+02] [ 1.13305102e-01 9.93556599e-01 -2.69041705e-03 1.27370531e+01] [ 1.93038176e-02 5.05954442e-04 9.99813536e-01 5.53860337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.319254154 meters 0.021467748947857187 Centerline is valid? [True, True] Translation: X:830.47, Y:12.75, Z:5.54 [[ 9.93684995e-01 -1.10477177e-01 -1.96194594e-02 8.30471742e+02] [ 1.10444170e-01 9.93878494e-01 -2.76131947e-03 1.27461261e+01] [ 1.98044215e-02 5.77026822e-04 9.99803707e-01 5.53863437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.379254154 meters 0.018871926225423365 Centerline is valid? [True, True] Translation: X:830.53, Y:12.75, Z:5.54 [[ 9.93792005e-01 -1.09484643e-01 -1.97626822e-02 8.30531296e+02] [ 1.09450884e-01 9.93988303e-01 -2.78509850e-03 1.27485299e+01] [ 1.99488004e-02 6.04765586e-04 9.99800820e-01 5.54107803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.439254154 meters 0.018699732923004128 Centerline is valid? [True, True] Translation: X:830.59, Y:12.75, Z:5.54 [[ 9.93819676e-01 -1.09359815e-01 -1.90494905e-02 8.30589296e+02] [ 1.09328323e-01 9.94002053e-01 -2.68994029e-03 1.27540515e+01] [ 1.92294040e-02 5.90666738e-04 9.99814923e-01 5.54232149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.499254154 meters 0.020200329447469856 Centerline is valid? [True, True] Translation: X:830.65, Y:12.76, Z:5.54 [[ 9.93783020e-01 -1.09914126e-01 -1.77255066e-02 8.30646876e+02] [ 1.09886897e-01 9.93940939e-01 -2.50583376e-03 1.27616661e+01] [ 1.78935332e-02 5.42454138e-04 9.99839751e-01 5.54214615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.559254154 meters 0.02119430651306374 Centerline is valid? [True, True] Translation: X:830.71, Y:12.77, Z:5.54 [[ 9.93657077e-01 -1.10905256e-01 -1.85913521e-02 8.30705658e+02] [ 1.10875406e-01 9.93830829e-01 -2.63187825e-03 1.27685448e+01] [ 1.87685480e-02 5.53860730e-04 9.99823702e-01 5.54149876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.619254154 meters 0.02090501287337562 Centerline is valid? [True, True] Translation: X:830.76, Y:12.77, Z:5.54 [[ 9.93552747e-01 -1.11731988e-01 -1.92068367e-02 8.30763828e+02] [ 1.11700179e-01 9.93738219e-01 -2.72442800e-03 1.27745257e+01] [ 1.93909734e-02 5.61455825e-04 9.99811820e-01 5.54167871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.679254154 meters 0.018538226510870472 Centerline is valid? [True, True] Translation: X:830.82, Y:12.78, Z:5.54 [[ 9.93560034e-01 -1.11829322e-01 -1.82390362e-02 8.30821104e+02] [ 1.11800558e-01 9.93727284e-01 -2.59240444e-03 1.27827569e+01] [ 1.84145348e-02 5.36575016e-04 9.99830294e-01 5.54423725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters 0.020720919338077303 Centerline is valid? [True, True] Translation: X:830.88, Y:12.79, Z:5.54 [[ 9.93409889e-01 -1.13036460e-01 -1.89618453e-02 8.30879623e+02] [ 1.13005491e-01 9.93590694e-01 -2.70029056e-03 1.27912450e+01] [ 1.91455443e-02 5.39702714e-04 9.99816562e-01 5.54202888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.799254154 meters 0.018488409265201913 Centerline is valid? [True, True] Translation: X:830.94, Y:12.80, Z:5.54 [[ 9.93496871e-01 -1.12465351e-01 -1.77626528e-02 8.30937629e+02] [ 1.12438005e-01 9.93655511e-01 -2.53394877e-03 1.27989972e+01] [ 1.79349393e-02 5.20272929e-04 9.99839021e-01 5.54490617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters 0.01774257825538835 Centerline is valid? [True, True] Translation: X:831.00, Y:12.81, Z:5.54 [[ 9.93419575e-01 -1.12977873e-01 -1.88028804e-02 8.30995258e+02] [ 1.12947218e-01 9.93597354e-01 -2.68779704e-03 1.28055242e+01] [ 1.89861538e-02 5.46377163e-04 9.99819597e-01 5.54482095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.919254154 meters 0.017472394158636776 Centerline is valid? [True, True] Translation: X:831.05, Y:12.81, Z:5.54 [[ 9.93206995e-01 -1.14653117e-01 -1.98627309e-02 8.31053834e+02] [ 1.14619131e-01 9.93405437e-01 -2.84484827e-03 1.28132210e+01] [ 2.00579156e-02 5.48874237e-04 9.99798669e-01 5.54436978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters 0.01840663653201332 Centerline is valid? [True, True] Translation: X:831.11, Y:12.82, Z:5.54 [[ 9.92632308e-01 -1.19399286e-01 -2.06133979e-02 8.31112502e+02] [ 1.19363646e-01 9.92846205e-01 -2.95519222e-03 1.28180755e+01] [ 2.08187817e-02 4.72928935e-04 9.99783154e-01 5.54268287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.039254154 meters 0.01565236334952602 Centerline is valid? [True, True] Translation: X:831.17, Y:12.82, Z:5.55 [[ 9.92130880e-01 -1.23817295e-01 -1.85901712e-02 8.31171390e+02] [ 1.23789059e-01 9.92304973e-01 -2.66643976e-03 1.28231306e+01] [ 1.87772707e-02 3.44197418e-04 9.99823632e-01 5.54580296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters 0.014495945501878578 Centerline is valid? [True, True] Translation: X:831.23, Y:12.83, Z:5.55 [[ 9.91546861e-01 -1.28460251e-01 -1.82424215e-02 8.31229680e+02] [ 1.28433786e-01 9.91714626e-01 -2.61984738e-03 1.28282531e+01] [ 1.84278225e-02 2.54758176e-04 9.99830161e-01 5.54666415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.159254154 meters 0.015713228552503497 Centerline is valid? [True, True] Translation: X:831.29, Y:12.83, Z:5.55 [[ 9.91102388e-01 -1.31784764e-01 -1.86770368e-02 8.31288771e+02] [ 1.31757523e-01 9.91278334e-01 -2.68701446e-03 1.28342432e+01] [ 1.88682495e-02 2.02266337e-04 9.99821958e-01 5.54573132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539999 meters 0.013386777928855028 Centerline is valid? [True, True] Translation: X:831.35, Y:12.84, Z:5.55 [[ 9.90857678e-01 -1.33894306e-01 -1.65341063e-02 8.31345837e+02] [ 1.33873211e-01 9.90995607e-01 -2.38112517e-03 1.28411949e+01] [ 1.67040458e-02 1.45882260e-04 9.99860467e-01 5.54893772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.279254154 meters 0.013526481374767647 Centerline is valid? [True, True] Translation: X:831.40, Y:12.85, Z:5.55 [[ 9.90939263e-01 -1.33427760e-01 -1.53756275e-02 8.31402622e+02] [ 1.33409414e-01 9.91058531e-01 -2.21734257e-03 1.28513231e+01] [ 1.55340018e-02 1.45998359e-04 9.99879329e-01 5.54980937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.339254154 meters 0.014068030768955665 Centerline is valid? [True, True] Translation: X:831.46, Y:12.86, Z:5.55 [[ 9.91165941e-01 -1.31492188e-01 -1.73170974e-02 8.31460324e+02] [ 1.31468538e-01 9.91317186e-01 -2.50210188e-03 1.28631980e+01] [ 1.74957431e-02 2.03344691e-04 9.99846917e-01 5.54780926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.399254154 meters 0.014934980109629938 Centerline is valid? [True, True] Translation: X:831.52, Y:12.88, Z:5.55 [[ 9.91497049e-01 -1.28741021e-01 -1.89565575e-02 8.31517743e+02] [ 1.28712085e-01 9.91678209e-01 -2.74379331e-03 1.28753301e+01] [ 1.91520437e-02 2.80524924e-04 9.99816543e-01 5.54665865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.459254154 meters 0.016671228047972546 Centerline is valid? [True, True] Translation: X:831.58, Y:12.89, Z:5.55 [[ 9.91714102e-01 -1.27159244e-01 -1.82665397e-02 8.31575335e+02] [ 1.27132027e-01 9.91882268e-01 -2.64830269e-03 1.28865887e+01] [ 1.84550130e-02 3.04096899e-04 9.99829646e-01 5.54623221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.519254154 meters 0.015335039527310525 Centerline is valid? [True, True] Translation: X:831.63, Y:12.90, Z:5.55 [[ 9.92051144e-01 -1.24878778e-01 -1.54860616e-02 8.31633513e+02] [ 1.24858882e-01 9.92171962e-01 -2.24881878e-03 1.28977152e+01] [ 1.56456659e-02 2.97370902e-04 9.99877555e-01 5.55108113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.579254154 meters 0.01583507617301987 Centerline is valid? [True, True] Translation: X:831.69, Y:12.91, Z:5.55 [[ 9.92214770e-01 -1.23641093e-01 -1.49241619e-02 8.31691083e+02] [ 1.23622418e-01 9.92326955e-01 -2.17097110e-03 1.29089558e+01] [ 1.50780694e-02 3.09108608e-04 9.99886272e-01 5.55137025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.639254154 meters 0.017334553892861867 Centerline is valid? [True, True] Translation: X:831.75, Y:12.92, Z:5.55 [[ 9.92727605e-01 -1.19243769e-01 -1.65174384e-02 8.31749167e+02] [ 1.19220248e-01 9.92864920e-01 -2.40497143e-03 1.29226681e+01] [ 1.66863630e-02 4.18268423e-04 9.99860685e-01 5.55006429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.699254154 meters 0.01802993460054371 Centerline is valid? [True, True] Translation: X:831.81, Y:12.94, Z:5.55 [[ 9.93116621e-01 -1.15494940e-01 -1.95011737e-02 8.31807237e+02] [ 1.15461415e-01 9.93307905e-01 -2.84017054e-03 1.29367014e+01] [ 1.96986953e-02 5.68987460e-04 9.99805800e-01 5.54944513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.759254154 meters 0.019771233699976354 Centerline is valid? [True, True] Translation: X:831.87, Y:12.95, Z:5.55 [[ 9.93082940e-01 -1.15980567e-01 -1.82970513e-02 8.31865278e+02] [ 1.15951078e-01 9.93251342e-01 -2.66800822e-03 1.29493272e+01] [ 1.84830078e-02 5.27990636e-04 9.99829035e-01 5.54737097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.819254154 meters 0.018342404564318186 Centerline is valid? [True, True] Translation: X:831.93, Y:12.95, Z:5.55 [[ 9.92507257e-01 -1.21118440e-01 -1.61142138e-02 8.31925367e+02] [ 1.21096217e-01 9.92637989e-01 -2.35138647e-03 1.29539613e+01] [ 1.62803771e-02 3.82397798e-04 9.99867393e-01 5.55073713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.879254154 meters 0.015049425877756312 Centerline is valid? [True, True] Translation: X:831.98, Y:12.96, Z:5.56 [[ 9.91857807e-01 -1.26556522e-01 -1.41964061e-02 8.31984655e+02] [ 1.26539803e-01 9.91959364e-01 -2.07347037e-03 1.29596836e+01] [ 1.43446692e-02 2.60177342e-04 9.99897076e-01 5.55536395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.939254154 meters 0.015903546193960384 Centerline is valid? [True, True] Translation: X:832.04, Y:12.96, Z:5.55 [[ 9.90543026e-01 -1.36553385e-01 -1.33299530e-02 8.32044155e+02] [ 1.36539524e-01 9.90632707e-01 -1.94866652e-03 1.29630470e+01] [ 1.34711844e-02 1.10172596e-04 9.99909253e-01 5.55405506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.999254154 meters 0.013144990073318716 Centerline is valid? [True, True] Translation: X:832.10, Y:12.97, Z:5.56 [[ 9.89421250e-01 -1.44514167e-01 -1.26982767e-02 8.32101817e+02] [ 1.44502234e-01 9.89502731e-01 -1.85709596e-03 1.29666560e+01] [ 1.28333561e-02 2.52084867e-06 9.99917649e-01 5.55769123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.059254154 meters 0.016272794473575297 Centerline is valid? [True, True] Translation: X:832.16, Y:12.97, Z:5.56 [[ 9.88538251e-01 -1.50322910e-01 -1.39695407e-02 8.32160862e+02] [ 1.50309012e-01 9.88636949e-01 -2.04555017e-03 1.29728096e+01] [ 1.41182971e-02 -7.76432723e-05 9.99900329e-01 5.55512148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.119254154 meters 0.01672879468435995 Centerline is valid? [True, True] Translation: X:832.22, Y:12.98, Z:5.55 [[ 9.87762824e-01 -1.55004516e-01 -1.72685974e-02 8.32219201e+02] [ 1.54983908e-01 9.87913746e-01 -2.53351753e-03 1.29810980e+01] [ 1.74525914e-02 -1.73840271e-04 9.99847677e-01 5.55443861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.179254154 meters 0.014289463116996857 Centerline is valid? [True, True] Translation: X:832.27, Y:12.99, Z:5.56 [[ 9.87658353e-01 -1.55705041e-01 -1.69386549e-02 8.32274914e+02] [ 1.55685264e-01 9.87803578e-01 -2.48813688e-03 1.29925576e+01] [ 1.71194793e-02 -1.79669782e-04 9.99853435e-01 5.55753439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters 0.016134010440775923 Centerline is valid? [True, True] Translation: X:832.33, Y:13.01, Z:5.56 [[ 9.87660930e-01 -1.55949611e-01 -1.43389513e-02 8.32332681e+02] [ 1.55935424e-01 9.87765000e-01 -2.10899804e-03 1.30063652e+01] [ 1.44924116e-02 -1.52975484e-04 9.99894968e-01 5.55918177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.299254154 meters 0.015562345969046392 Centerline is valid? [True, True] Translation: X:832.39, Y:13.02, Z:5.56 [[ 9.87925124e-01 -1.54381523e-01 -1.30497119e-02 8.32389225e+02] [ 1.54369604e-01 9.88011302e-01 -1.92182793e-03 1.30183892e+01] [ 1.31899575e-02 -1.15856754e-04 9.99913002e-01 5.56160803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters 0.015433660068834499 Centerline is valid? [True, True] Translation: X:832.45, Y:13.04, Z:5.56 [[ 9.88642129e-01 -1.49736669e-01 -1.28713315e-02 8.32446044e+02] [ 1.49724647e-01 9.88725911e-01 -1.89807612e-03 1.30363205e+01] [ 1.30104306e-02 -5.06375387e-05 9.99915359e-01 5.56212602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.419254154 meters 0.01622359945030141 Centerline is valid? [True, True] Translation: X:832.50, Y:13.06, Z:5.56 [[ 9.89702768e-01 -1.42255481e-01 -1.58684904e-02 8.32501697e+02] [ 1.42236198e-01 9.89829972e-01 -2.34303582e-03 1.30568684e+01] [ 1.60404171e-02 6.18352920e-05 9.99871342e-01 5.55970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters 0.01734853451523844 Centerline is valid? [True, True] Translation: X:832.56, Y:13.08, Z:5.56 [[ 9.90559107e-01 -1.35739038e-01 -1.91720799e-02 8.32558487e+02] [ 1.35709589e-01 9.90744604e-01 -2.83483569e-03 1.30766524e+01] [ 1.93794326e-02 2.06237226e-04 9.99812180e-01 5.55737758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.539254154 meters 0.015015412287563173 Centerline is valid? [True, True] Translation: X:832.62, Y:13.10, Z:5.56 [[ 9.91140675e-01 -1.31385245e-01 -1.94442649e-02 8.32615589e+02] [ 1.31354016e-01 9.91331341e-01 -2.88015541e-03 1.30952693e+01] [ 1.96541191e-02 3.00556892e-04 9.99806794e-01 5.55936003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters 0.018411740544622697 Centerline is valid? [True, True] Translation: X:832.67, Y:13.11, Z:5.56 [[ 9.91131784e-01 -1.31277324e-01 -2.05925134e-02 8.32673361e+02] [ 1.31242161e-01 9.91345630e-01 -3.05567150e-03 1.31057984e+01] [ 2.08154385e-02 3.25967195e-04 9.99783282e-01 5.55632985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.659254154 meters 0.015643878698747952 Centerline is valid? [True, True] Translation: X:832.73, Y:13.12, Z:5.56 [[ 9.91275103e-01 -1.30483893e-01 -1.86446896e-02 8.32729918e+02] [ 1.30454878e-01 9.91450380e-01 -2.76928771e-03 1.31196287e+01] [ 1.88466320e-02 3.12835258e-04 9.99822338e-01 5.56077635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539999 meters 0.015654442680391407 Centerline is valid? [True, True] Translation: X:832.79, Y:13.13, Z:5.56 [[ 9.91283102e-01 -1.30583256e-01 -1.74878771e-02 8.32787712e+02] [ 1.30557688e-01 9.91437303e-01 -2.60076146e-03 1.31318597e+01] [ 1.76777496e-02 2.94914084e-04 9.99843693e-01 5.56216791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.779254154 meters 0.018399886077365795 Centerline is valid? [True, True] Translation: X:832.85, Y:13.14, Z:5.56 [[ 9.91320802e-01 -1.30179451e-01 -1.83406203e-02 8.32845296e+02] [ 1.30151171e-01 9.91490397e-01 -2.73229378e-03 1.31428388e+01] [ 1.85402374e-02 3.21526449e-04 9.99828063e-01 5.56001873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.839254154 meters 0.016939456769142186 Centerline is valid? [True, True] Translation: X:832.90, Y:13.16, Z:5.56 [[ 9.91689813e-01 -1.27427109e-01 -1.77100576e-02 8.32901706e+02] [ 1.27400255e-01 9.91847872e-01 -2.64096295e-03 1.31572678e+01] [ 1.79022132e-02 3.62750203e-04 9.99839677e-01 5.56257388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.899254154 meters 0.020704126946499195 Centerline is valid? [True, True] Translation: X:832.96, Y:13.17, Z:5.56 [[ 9.91921450e-01 -1.25407730e-01 -1.90981377e-02 8.32959416e+02] [ 1.25376055e-01 9.92105192e-01 -2.85168102e-03 1.31696288e+01] [ 1.93049844e-02 4.34194406e-04 9.99813547e-01 5.55968513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.959254154 meters 0.02013666983167194 Centerline is valid? [True, True] Translation: X:833.02, Y:13.18, Z:5.56 [[ 9.91939735e-01 -1.25439973e-01 -1.78990296e-02 8.33016620e+02] [ 1.25412070e-01 9.92101126e-01 -2.67741730e-03 1.31805884e+01] [ 1.80935026e-02 4.11082257e-04 9.99836215e-01 5.56112051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.019254154 meters 0.017837643583323015 Centerline is valid? [True, True] Translation: X:833.08, Y:13.19, Z:5.56 [[ 9.91890780e-01 -1.25963476e-01 -1.69080597e-02 8.33075136e+02] [ 1.25938577e-01 9.92034806e-01 -2.53365993e-03 1.31889043e+01] [ 1.70925323e-02 3.83736957e-04 9.99853838e-01 5.56401230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.079254154 meters 0.01853548595542339 Centerline is valid? [True, True] Translation: X:833.13, Y:13.20, Z:5.56 [[ 9.91642549e-01 -1.27759980e-01 -1.79567092e-02 8.33133773e+02] [ 1.27732102e-01 9.91805043e-01 -2.69562623e-03 1.31973152e+01] [ 1.81539479e-02 3.79449450e-04 9.99835132e-01 5.56263723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.139254154 meters 0.020059970664707008 Centerline is valid? [True, True] Translation: X:833.19, Y:13.21, Z:5.56 [[ 9.91496717e-01 -1.28910504e-01 -1.77859903e-02 8.33190672e+02] [ 1.28883289e-01 9.91656167e-01 -2.67277104e-03 1.32060719e+01] [ 1.79821353e-02 3.57726773e-04 9.99838244e-01 5.56173363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.199254154 meters 0.020000788178491144 Centerline is valid? [True, True] Translation: X:833.25, Y:13.22, Z:5.56 [[ 9.91733701e-01 -1.27102192e-01 -1.75869017e-02 8.33247954e+02] [ 1.27075271e-01 9.91889552e-01 -2.64445052e-03 1.32171066e+01] [ 1.77803795e-02 3.87730407e-04 9.99841841e-01 5.56219755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.259254154 meters 0.01993982973672041 Centerline is valid? [True, True] Translation: X:833.31, Y:13.23, Z:5.56 [[ 9.92011270e-01 -1.24894476e-01 -1.77485008e-02 8.33305821e+02] [ 1.24866642e-01 9.92169936e-01 -2.67221234e-03 1.32262748e+01] [ 1.79432734e-02 4.34669066e-04 9.99838912e-01 5.56257082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.319254154 meters 0.02277735908192455 Centerline is valid? [True, True] Translation: X:833.36, Y:13.24, Z:5.56 [[ 9.92378797e-01 -1.21692711e-01 -1.93702503e-02 8.33363876e+02] [ 1.21658898e-01 9.92567676e-01 -2.91893996e-03 1.32372741e+01] [ 1.95814980e-02 5.40130814e-04 9.99808118e-01 5.56051112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.379254154 meters 0.01915707286197701 Centerline is valid? [True, True] Translation: X:833.42, Y:13.25, Z:5.57 [[ 9.92755448e-01 -1.18837023e-01 -1.77308576e-02 8.33422396e+02] [ 1.18808179e-01 9.92913622e-01 -2.67511313e-03 1.32463848e+01] [ 1.79231125e-02 5.49162230e-04 9.99839217e-01 5.56558111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.439254154 meters 0.021970872367935428 Centerline is valid? [True, True] Translation: X:833.48, Y:13.26, Z:5.56 [[ 9.92900136e-01 -1.17540538e-01 -1.82631319e-02 8.33480927e+02] [ 1.17509628e-01 9.93067907e-01 -2.76022409e-03 1.32554821e+01] [ 1.84609684e-02 5.94533033e-04 9.99829405e-01 5.56363193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.499254154 meters 0.021517208129568987 Centerline is valid? [True, True] Translation: X:833.54, Y:13.27, Z:5.57 [[ 9.93667671e-01 -1.11314399e-01 -1.52860946e-02 8.33539907e+02] [ 1.11291987e-01 9.93785062e-01 -2.31173146e-03 1.32692271e+01] [ 1.54484215e-02 5.95872977e-04 9.99880488e-01 5.56896963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.559254154 meters 0.025960239869085692 Centerline is valid? [True, True] Translation: X:833.60, Y:13.28, Z:5.57 [[ 9.93939584e-01 -1.08724463e-01 -1.62201627e-02 8.33597760e+02] [ 1.08698875e-01 9.94071695e-01 -2.45352178e-03 1.32818764e+01] [ 1.63907625e-02 6.75538984e-04 9.99865434e-01 5.56525278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.619254154 meters 0.02822036192483795 Centerline is valid? [True, True] Translation: X:833.66, Y:13.30, Z:5.57 [[ 9.94493463e-01 -1.03625848e-01 -1.56344278e-02 8.33656024e+02] [ 1.03601438e-01 9.94616080e-01 -2.36543896e-03 1.32969806e+01] [ 1.57953739e-02 7.32664384e-04 9.99874977e-01 5.56592931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.679254154 meters 0.029869266968880735 Centerline is valid? [True, True] Translation: X:833.71, Y:13.31, Z:5.57 [[ 9.95004682e-01 -9.86799109e-02 -1.50982573e-02 8.33714082e+02] [ 9.86565739e-02 9.95118918e-01 -2.28458146e-03 1.33125309e+01] [ 1.52500038e-02 7.83626914e-04 9.99883405e-01 5.56659205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters 0.03171213447508357 Centerline is valid? [True, True] Translation: X:833.77, Y:13.33, Z:5.57 [[ 9.95282691e-01 -9.56439753e-02 -1.62663889e-02 8.33773107e+02] [ 9.56164807e-02 9.95415205e-01 -2.46146040e-03 1.33261186e+01] [ 1.64272347e-02 8.94514066e-04 9.99864664e-01 5.56593899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.799254154 meters 0.03289433445895611 Centerline is valid? [True, True] Translation: X:833.83, Y:13.34, Z:5.57 [[ 9.95313391e-01 -9.51757632e-02 -1.71121921e-02 8.33831464e+02] [ 9.51452203e-02 9.95460028e-01 -2.59207670e-03 1.33360705e+01] [ 1.72812061e-02 9.51785363e-04 9.99850216e-01 5.56529751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters 0.033080868907118165 Centerline is valid? [True, True] Translation: X:833.89, Y:13.35, Z:5.57 [[ 9.95236653e-01 -9.63086874e-02 -1.51208891e-02 8.33887976e+02] [ 9.62849363e-02 9.95351172e-01 -2.29266232e-03 1.33473177e+01] [ 1.52713980e-02 8.25827728e-04 9.99883044e-01 5.56786856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.919254154 meters 0.03465791733290841 Centerline is valid? [True, True] Translation: X:833.95, Y:13.35, Z:5.56 [[ 9.94720012e-01 -1.01301778e-01 -1.64331080e-02 8.33946844e+02] [ 1.01274389e-01 9.94855409e-01 -2.49250873e-03 1.33541791e+01] [ 1.66010620e-02 8.15095333e-04 9.99861861e-01 5.56377784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters 0.03073448233145091 Centerline is valid? [True, True] Translation: X:834.01, Y:13.36, Z:5.56 [[ 9.94070783e-01 -1.07470090e-01 -1.65365974e-02 8.34007318e+02] [ 1.07443203e-01 9.94208060e-01 -2.50847225e-03 1.33561384e+01] [ 1.67104042e-02 7.16853990e-04 9.99860114e-01 5.56484912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.039254154 meters 0.02667273618562519 Centerline is valid? [True, True] Translation: X:834.07, Y:13.36, Z:5.57 [[ 9.93423773e-01 -1.13225447e-01 -1.70060152e-02 8.34068018e+02] [ 1.13197849e-01 9.93569118e-01 -2.57987424e-03 1.33560621e+01] [ 1.71887590e-02 6.37864061e-04 9.99852059e-01 5.56612129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters 0.024452978279445745 Centerline is valid? [True, True] Translation: X:834.13, Y:13.36, Z:5.57 [[ 9.93071910e-01 -1.16109002e-01 -1.80798501e-02 8.34127673e+02] [ 1.16078235e-01 9.93236279e-01 -2.74554828e-03 1.33585253e+01] [ 1.82763459e-02 6.27849792e-04 9.99832777e-01 5.56692702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.159254154 meters 0.020111425335510493 Centerline is valid? [True, True] Translation: X:834.19, Y:13.36, Z:5.57 [[ 9.92562504e-01 -1.20614700e-01 -1.64854325e-02 8.34187461e+02] [ 1.20589711e-01 9.92699273e-01 -2.50520563e-03 1.33609700e+01] [ 1.66672415e-02 4.98599629e-04 9.99860968e-01 5.57082977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539999 meters 0.021380955139854333 Centerline is valid? [True, True] Translation: X:834.25, Y:13.37, Z:5.57 [[ 9.92175607e-01 -1.23627583e-01 -1.74294694e-02 8.34245848e+02] [ 1.23600061e-01 9.92328571e-01 -2.65166163e-03 1.33676372e+01] [ 1.76235790e-02 4.76630503e-04 9.99844579e-01 5.56939942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.279254154 meters 0.02055002753974232 Centerline is valid? [True, True] Translation: X:834.30, Y:13.37, Z:5.57 [[ 9.91928992e-01 -1.25329795e-01 -1.92176186e-02 8.34304639e+02] [ 1.25296556e-01 9.92115011e-01 -2.92877846e-03 1.33725019e+01] [ 1.94331511e-02 4.97238829e-04 9.99811035e-01 5.57039438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.339254154 meters 0.02070403199798087 Centerline is valid? [True, True] Translation: X:834.36, Y:13.38, Z:5.57 [[ 9.92021038e-01 -1.24616644e-01 -1.91036983e-02 8.34362018e+02] [ 1.24583612e-01 9.92204833e-01 -2.91422224e-03 1.33817908e+01] [ 1.93179424e-02 5.10962029e-04 9.99813261e-01 5.57106367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.399254154 meters 0.019012066799837808 Centerline is valid? [True, True] Translation: X:834.42, Y:13.39, Z:5.58 [[ 9.92309256e-01 -1.22407672e-01 -1.84038607e-02 8.34419912e+02] [ 1.22376570e-01 9.92479760e-01 -2.81102544e-03 1.33910694e+01] [ 1.86095503e-02 5.37205220e-04 9.99826683e-01 5.57546229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.459254154 meters 0.019495135124631496 Centerline is valid? [True, True] Translation: X:834.48, Y:13.40, Z:5.57 [[ 9.92346794e-01 -1.22091699e-01 -1.84785422e-02 8.34477587e+02] [ 1.22060238e-01 9.92518673e-01 -2.82519998e-03 1.34000952e+01] [ 1.86852317e-02 5.48082876e-04 9.99825266e-01 5.57489413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.519254154 meters 0.022230968765292663 Centerline is valid? [True, True] Translation: X:834.54, Y:13.41, Z:5.57 [[ 9.92491773e-01 -1.20600963e-01 -2.03835336e-02 8.34536223e+02] [ 1.20562277e-01 9.92700860e-01 -3.12074314e-03 1.34072080e+01] [ 2.06111160e-02 6.39826658e-04 9.99787364e-01 5.57222776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.579254154 meters 0.02208675631423888 Centerline is valid? [True, True] Translation: X:834.59, Y:13.42, Z:5.57 [[ 9.92488745e-01 -1.20647541e-01 -2.02549408e-02 8.34592398e+02] [ 1.20609280e-01 9.92695202e-01 -3.10455308e-03 1.34150495e+01] [ 2.04815392e-02 6.38300175e-04 9.99790028e-01 5.57240675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.639254154 meters 0.020658666329288693 Centerline is valid? [True, True] Translation: X:834.65, Y:13.42, Z:5.58 [[ 9.92293651e-01 -1.22597143e-01 -1.79791662e-02 8.34651664e+02] [ 1.22567255e-01 9.92456374e-01 -2.75914062e-03 1.34191822e+01] [ 1.81818008e-02 5.34220668e-04 9.99834555e-01 5.57650681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.699254154 meters 0.018516147365695276 Centerline is valid? [True, True] Translation: X:834.71, Y:13.42, Z:5.58 [[ 9.92259784e-01 -1.23214688e-01 -1.54487117e-02 8.34710368e+02] [ 1.23192640e-01 9.92379935e-01 -2.37441743e-03 1.34221294e+01] [ 1.56235546e-02 4.52871345e-04 9.99877842e-01 5.58097331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.759254154 meters 0.021269434649494098 Centerline is valid? [True, True] Translation: X:834.77, Y:13.43, Z:5.58 [[ 9.92235085e-01 -1.23057087e-01 -1.80689945e-02 8.34768302e+02] [ 1.23026843e-01 9.92399449e-01 -2.78019090e-03 1.34288314e+01] [ 1.82737823e-02 5.35631609e-04 9.99832877e-01 5.57564083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.819254154 meters 0.023150382913811326 Centerline is valid? [True, True] Translation: X:834.83, Y:13.43, Z:5.57 [[ 9.92369833e-01 -1.21531277e-01 -2.07909331e-02 8.34827438e+02] [ 1.21490869e-01 9.92587390e-01 -3.20045682e-03 1.34341425e+01] [ 2.10257736e-02 6.50128277e-04 9.99778723e-01 5.57300058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.879254154 meters 0.02190973188303008 Centerline is valid? [True, True] Translation: X:834.89, Y:13.44, Z:5.57 [[ 9.92629644e-01 -1.19306955e-01 -2.12659285e-02 8.34886480e+02] [ 1.19264081e-01 9.92857158e-01 -3.27761987e-03 1.34387698e+01] [ 2.15050722e-02 7.17201231e-04 9.99768482e-01 5.57463778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.939254154 meters 0.021249735546753013 Centerline is valid? [True, True] Translation: X:834.95, Y:13.44, Z:5.58 [[ 9.92794555e-01 -1.17898799e-01 -2.14206569e-02 8.34945085e+02] [ 1.17854851e-01 9.93025326e-01 -3.30700862e-03 1.34428935e+01] [ 2.16611471e-02 7.58651824e-04 9.99765082e-01 5.57589489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.999254154 meters 0.025604007279750752 Centerline is valid? [True, True] Translation: X:835.00, Y:13.45, Z:5.57 [[ 9.93044736e-01 -1.15654097e-01 -2.20518015e-02 8.35003236e+02] [ 1.15606910e-01 9.93289200e-01 -3.40707802e-03 1.34519356e+01] [ 2.22978588e-02 8.34040256e-04 9.99751024e-01 5.57369300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.059254154 meters 0.02478046349804089 Centerline is valid? [True, True] Translation: X:835.06, Y:13.46, Z:5.58 [[ 9.93277609e-01 -1.13883230e-01 -2.07412841e-02 8.35061972e+02] [ 1.13841019e-01 9.93493799e-01 -3.20845107e-03 1.34560713e+01] [ 2.09717259e-02 8.25673692e-04 9.99779728e-01 5.57672875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.119254154 meters 0.024110051051458734 Centerline is valid? [True, True] Translation: X:835.12, Y:13.46, Z:5.58 [[ 9.93479551e-01 -1.12454933e-01 -1.87688318e-02 8.35121415e+02] [ 1.12420029e-01 9.93656521e-01 -2.90789192e-03 1.34592425e+01] [ 1.89767789e-02 7.78938543e-04 9.99819621e-01 5.58055766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.179254154 meters 0.02303387425890052 Centerline is valid? [True, True] Translation: X:835.18, Y:13.46, Z:5.58 [[ 9.93713176e-01 -1.10500806e-01 -1.79915606e-02 8.35180110e+02] [ 1.10468365e-01 9.93875724e-01 -2.79013495e-03 1.34611682e+01] [ 1.81896875e-02 7.85095575e-04 9.99834246e-01 5.58306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters 0.025955081665718208 Centerline is valid? [True, True] Translation: X:835.24, Y:13.47, Z:5.58 [[ 9.94113701e-01 -1.06744983e-01 -1.85326061e-02 8.35238284e+02] [ 1.06709895e-01 9.94286042e-01 -2.87480657e-03 1.34703646e+01] [ 1.87335827e-02 8.80272151e-04 9.99824124e-01 5.58262063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.299254154 meters 0.026256415559561423 Centerline is valid? [True, True] Translation: X:835.30, Y:13.48, Z:5.58 [[ 9.94390470e-01 -1.03988258e-01 -1.93399783e-02 8.35297534e+02] [ 1.03949515e-01 9.94578049e-01 -3.00059136e-03 1.34779427e+01] [ 1.95471442e-02 9.73378084e-04 9.99808463e-01 5.58230143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters 0.02951814086799799 Centerline is valid? [True, True] Translation: X:835.36, Y:13.49, Z:5.58 [[ 9.94430499e-01 -1.03199133e-01 -2.13991216e-02 8.35355103e+02] [ 1.03151483e-01 9.94660112e-01 -3.32168153e-03 1.34860327e+01] [ 2.16276474e-02 1.09583030e-03 9.99765495e-01 5.57864977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.419254154 meters 0.027078730691880812 Centerline is valid? [True, True] Translation: X:835.42, Y:13.49, Z:5.58 [[ 9.94061357e-01 -1.07107722e-01 -1.92342206e-02 8.35415214e+02] [ 1.07069941e-01 9.94247006e-01 -2.98639746e-03 1.34903845e+01] [ 1.94434325e-02 9.09255445e-04 9.99810545e-01 5.58214542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters 0.026761201375616803 Centerline is valid? [True, True] Translation: X:835.47, Y:13.50, Z:5.58 [[ 9.93669197e-01 -1.10723391e-01 -1.90225795e-02 8.35474703e+02] [ 1.10687087e-01 9.93850915e-01 -2.95409716e-03 1.34950426e+01] [ 1.92326957e-02 8.29841442e-04 9.99814690e-01 5.58288628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.539254154 meters 0.024894943103678676 Centerline is valid? [True, True] Translation: X:835.53, Y:13.50, Z:5.58 [[ 9.93609386e-01 -1.11269247e-01 -1.89616005e-02 8.35533813e+02] [ 1.11233209e-01 9.93789959e-01 -2.94806634e-03 1.35011197e+01] [ 1.91718773e-02 8.20066723e-04 9.99815866e-01 5.58412296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters 0.023607795360949986 Centerline is valid? [True, True] Translation: X:835.59, Y:13.51, Z:5.58 [[ 9.93763051e-01 -1.09803193e-01 -1.94488539e-02 8.35591690e+02] [ 1.09764897e-01 9.93952963e-01 -3.02894583e-03 1.35112421e+01] [ 1.96638339e-02 8.75253001e-04 9.99806265e-01 5.58451937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.659254154 meters 0.025044024837786196 Centerline is valid? [True, True] Translation: X:835.65, Y:13.52, Z:5.58 [[ 9.93729212e-01 -1.09822447e-01 -2.10067270e-02 8.35649728e+02] [ 1.09777654e-01 9.93950767e-01 -3.27719306e-03 1.35210286e+01] [ 2.12395618e-02 9.50573254e-04 9.99773963e-01 5.58365726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539999 meters 0.026876925549630285 Centerline is valid? [True, True] Translation: X:835.71, Y:13.53, Z:5.58 [[ 9.93769223e-01 -1.09466169e-01 -2.09735310e-02 8.35707798e+02] [ 1.09421324e-01 9.93990056e-01 -3.27743077e-03 1.35325441e+01] [ 2.12062491e-02 9.62058293e-04 9.99774659e-01 5.58397155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.779254154 meters 0.026328831585441408 Centerline is valid? [True, True] Translation: X:835.76, Y:13.54, Z:5.59 [[ 9.93900760e-01 -1.08599104e-01 -1.91706747e-02 8.35764274e+02] [ 1.08561414e-01 9.94085220e-01 -2.99896158e-03 1.35447688e+01] [ 1.93829689e-02 8.99474639e-04 9.99811728e-01 5.58645223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.839254154 meters 0.027159370328667956 Centerline is valid? [True, True] Translation: X:835.82, Y:13.56, Z:5.59 [[ 9.93880828e-01 -1.08792213e-01 -1.91089857e-02 8.35821249e+02] [ 1.08754714e-01 9.94064107e-01 -2.99378462e-03 1.35560666e+01] [ 1.93212573e-02 8.97272850e-04 9.99812924e-01 5.58587337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.899254154 meters 0.028657285700461322 Centerline is valid? [True, True] Translation: X:835.88, Y:13.57, Z:5.59 [[ 9.94004225e-01 -1.07821691e-01 -1.81681871e-02 8.35878821e+02] [ 1.07787547e-01 9.94169863e-01 -2.85106082e-03 1.35694783e+01] [ 1.83696703e-02 8.75662185e-04 9.99830880e-01 5.58657828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.959254154 meters 0.03267999770069818 Centerline is valid? [True, True] Translation: X:835.94, Y:13.58, Z:5.59 [[ 9.94235232e-01 -1.05623863e-01 -1.84364618e-02 8.35936811e+02] [ 1.05588287e-01 9.94405718e-01 -2.89523941e-03 1.35849255e+01] [ 1.86391294e-02 9.31874601e-04 9.99825842e-01 5.58537004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.019254154 meters 0.034492967104558486 Centerline is valid? [True, True] Translation: X:835.99, Y:13.60, Z:5.59 [[ 9.94612590e-01 -1.02132588e-01 -1.77406599e-02 8.35994839e+02] [ 1.02099086e-01 9.94770332e-01 -2.78638486e-03 1.36019942e+01] [ 1.79324628e-02 9.60068313e-04 9.99838740e-01 5.58591804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.079254154 meters 0.03757093590960007 Centerline is valid? [True, True] Translation: X:836.05, Y:13.62, Z:5.58 [[ 9.94950640e-01 -9.84881835e-02 -1.93209932e-02 8.36052825e+02] [ 9.84477541e-02 9.95137593e-01 -3.03492929e-03 1.36205448e+01] [ 1.95259513e-02 1.11749645e-03 9.99808726e-01 5.58379172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.139254154 meters 0.030896890770549284 Centerline is valid? [True, True] Translation: X:836.11, Y:13.63, Z:5.58 [[ 9.94998703e-01 -9.77733273e-02 -2.04440300e-02 8.36111179e+02] [ 9.77278812e-02 9.95207988e-01 -3.21273944e-03 1.36252158e+01] [ 2.06601822e-02 1.19871984e-03 9.99785837e-01 5.58408554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.199254154 meters 0.031450343501984016 Centerline is valid? [True, True] Translation: X:836.17, Y:13.64, Z:5.59 [[ 9.94950463e-01 -9.85685193e-02 -1.89162373e-02 8.36167435e+02] [ 9.85297236e-02 9.95129663e-01 -2.97434544e-03 1.36390479e+01] [ 1.91172857e-02 1.09551474e-03 9.99816648e-01 5.58627949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.259254154 meters 0.03692576280371339 Centerline is valid? [True, True] Translation: X:836.22, Y:13.66, Z:5.59 [[ 9.94794736e-01 -1.00208665e-01 -1.84839775e-02 8.36223744e+02] [ 1.00171877e-01 9.94965899e-01 -2.90781896e-03 1.36571496e+01] [ 1.86823159e-02 1.04110827e-03 9.99824928e-01 5.58573395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.319254154 meters 0.029549825037097015 Centerline is valid? [True, True] Translation: X:836.28, Y:13.66, Z:5.59 [[ 9.94680657e-01 -1.01349070e-01 -1.84053351e-02 8.36282317e+02] [ 1.01312725e-01 9.94850405e-01 -2.89893060e-03 1.36616216e+01] [ 1.86043590e-02 1.01881554e-03 9.99826405e-01 5.58900191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.379254154 meters 0.028359410154996385 Centerline is valid? [True, True] Translation: X:836.34, Y:13.67, Z:5.59 [[ 9.94466855e-01 -1.03264221e-01 -1.92918368e-02 8.36340560e+02] [ 1.03224595e-01 9.94653424e-01 -3.04128659e-03 1.36704339e+01] [ 1.95027476e-02 1.03306666e-03 9.99809270e-01 5.58729643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.439254154 meters 0.027524847744972245 Centerline is valid? [True, True] Translation: X:836.40, Y:13.68, Z:5.59 [[ 9.94372301e-01 -1.04212155e-01 -1.90670779e-02 8.36398557e+02] [ 1.04173549e-01 9.94554581e-01 -3.00962332e-03 1.36821877e+01] [ 1.92768890e-02 1.00640089e-03 9.99813677e-01 5.58817995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.499254154 meters 0.029026781037447325 Centerline is valid? [True, True] Translation: X:836.45, Y:13.70, Z:5.59 [[ 9.94268868e-01 -1.05462828e-01 -1.75217248e-02 8.36454091e+02] [ 1.05430374e-01 9.94422834e-01 -2.76830991e-03 1.37001493e+01] [ 1.77159570e-02 9.05122355e-04 9.99842650e-01 5.59009277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.559254154 meters 0.02777315338963147 Centerline is valid? [True, True] Translation: X:836.51, Y:13.71, Z:5.59 [[ 9.93943889e-01 -1.08131057e-01 -1.95760259e-02 8.36512837e+02] [ 1.08090986e-01 9.94136182e-01 -3.09669170e-03 1.37093975e+01] [ 1.97960842e-02 9.61945842e-04 9.99803576e-01 5.58850532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.619254154 meters 0.024626878443195544 Centerline is valid? [True, True] Translation: X:836.57, Y:13.72, Z:5.59 [[ 9.93713220e-01 -1.10243977e-01 -1.95013208e-02 8.36571130e+02] [ 1.10204523e-01 9.93904129e-01 -3.08963527e-03 1.37202516e+01] [ 1.97230569e-02 9.21077649e-04 9.99805057e-01 5.59090530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.679254154 meters 0.024216121723213115 Centerline is valid? [True, True] Translation: X:836.63, Y:13.73, Z:5.59 [[ 9.93533819e-01 -1.11978703e-01 -1.87435643e-02 8.36627810e+02] [ 1.11942517e-01 9.93710239e-01 -2.97204800e-03 1.37349754e+01] [ 1.89584778e-02 8.54628424e-04 9.99819907e-01 5.59228286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters 0.0244862076350323 Centerline is valid? [True, True] Translation: X:836.69, Y:13.75, Z:5.59 [[ 9.93048905e-01 -1.15831431e-01 -2.09034108e-02 8.36686844e+02] [ 1.15787258e-01 9.93268503e-01 -3.31533801e-03 1.37464907e+01] [ 2.11467199e-02 8.71944158e-04 9.99776003e-01 5.58954134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.799254154 meters 0.023089394446296024 Centerline is valid? [True, True] Translation: X:836.74, Y:13.76, Z:5.59 [[ 9.92790161e-01 -1.18054904e-01 -2.07541986e-02 8.36744821e+02] [ 1.18011820e-01 9.93006731e-01 -3.29284886e-03 1.37562396e+01] [ 2.09977958e-02 8.19867202e-04 9.99779186e-01 5.59098191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters 0.021626709497609913 Centerline is valid? [True, True] Translation: X:836.80, Y:13.77, Z:5.59 [[ 9.92396649e-01 -1.21574744e-01 -1.91956494e-02 8.36802270e+02] [ 1.21538524e-01 9.92582039e-01 -3.04671684e-03 1.37677254e+01] [ 1.94236606e-02 6.90540697e-04 9.99811104e-01 5.59340395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.919254154 meters 0.022892987715543225 Centerline is valid? [True, True] Translation: X:836.86, Y:13.78, Z:5.59 [[ 9.92039352e-01 -1.24326033e-01 -2.00240071e-02 8.36860344e+02] [ 1.24287151e-01 9.92241198e-01 -3.17954884e-03 1.37757644e+01] [ 2.02639455e-02 6.65510783e-04 9.99794444e-01 5.59151145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters 0.019688900730657894 Centerline is valid? [True, True] Translation: X:836.92, Y:13.78, Z:5.60 [[ 9.91884841e-01 -1.25851393e-01 -1.80524123e-02 8.36918207e+02] [ 1.25819982e-01 9.92048938e-01 -2.86984126e-03 1.37843231e+01] [ 1.82700500e-02 5.75197844e-04 9.99832923e-01 5.59558996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.039254154 meters 0.02383472090118758 Centerline is valid? [True, True] Translation: X:836.97, Y:13.80, Z:5.59 [[ 9.91698856e-01 -1.26968685e-01 -2.03059405e-02 8.36973718e+02] [ 1.26929101e-01 9.91906528e-01 -3.23171441e-03 1.37960622e+01] [ 2.05519215e-02 6.27472704e-04 9.99788590e-01 5.59066812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters 0.022251130780938072 Centerline is valid? [True, True] Translation: X:837.03, Y:13.80, Z:5.59 [[ 9.91629306e-01 -1.27551100e-01 -2.00508434e-02 8.37032062e+02] [ 1.27512540e-01 9.91831812e-01 -3.19523938e-03 1.38029554e+01] [ 2.02946206e-02 6.11759032e-04 9.99793856e-01 5.59211704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.159254154 meters 0.022782986179795035 Centerline is valid? [True, True] Translation: X:837.09, Y:13.81, Z:5.59 [[ 9.91579999e-01 -1.28067982e-01 -1.91754366e-02 8.37090745e+02] [ 1.28032721e-01 9.91765222e-01 -3.06045429e-03 1.38087467e+01] [ 1.94094774e-02 5.79601929e-04 9.99811450e-01 5.59378381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539999 meters 0.022335198459978247 Centerline is valid? [True, True] Translation: X:837.15, Y:13.82, Z:5.59 [[ 9.91456516e-01 -1.29212043e-01 -1.78388448e-02 8.37147953e+02] [ 1.29181665e-01 9.91616850e-01 -2.84967328e-03 1.38183014e+01] [ 1.80575112e-02 5.20875461e-04 9.99836814e-01 5.59497723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.279254154 meters 0.020334220103528724 Centerline is valid? [True, True] Translation: X:837.21, Y:13.82, Z:5.60 [[ 9.91080978e-01 -1.31954936e-01 -1.86115568e-02 8.37207856e+02] [ 1.31922289e-01 9.91255593e-01 -2.97652878e-03 1.38201226e+01] [ 1.88415774e-02 4.94701883e-04 9.99822359e-01 5.59502412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.339254154 meters 0.017590510833769474 Centerline is valid? [True, True] Translation: X:837.27, Y:13.82, Z:5.60 [[ 9.90593677e-01 -1.35614914e-01 -1.82417814e-02 8.37267205e+02] [ 1.35584127e-01 9.90761535e-01 -2.91978565e-03 1.38214610e+01] [ 1.84692219e-02 4.19025195e-04 9.99829342e-01 5.59729632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.399254154 meters 0.01793010377619441 Centerline is valid? [True, True] Translation: X:837.33, Y:13.83, Z:5.60 [[ 9.90171707e-01 -1.38795253e-01 -1.72007975e-02 8.37325247e+02] [ 1.38768303e-01 9.90321039e-01 -2.75637526e-03 1.38274635e+01] [ 1.74168834e-02 3.42359323e-04 9.99848256e-01 5.59787349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.459254154 meters 0.014424411422787617 Centerline is valid? [True, True] Translation: X:837.38, Y:13.83, Z:5.60 [[ 9.89610115e-01 -1.42977051e-01 -1.51454067e-02 8.37384196e+02] [ 1.42956614e-01 9.89725975e-01 -2.42914941e-03 1.38311737e+01] [ 1.53371150e-02 2.38774776e-04 9.99882351e-01 5.60118759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.519254154 meters 0.016792974333500153 Centerline is valid? [True, True] Translation: X:837.44, Y:13.84, Z:5.60 [[ 9.88933096e-01 -1.47434146e-01 -1.65681807e-02 8.37441809e+02] [ 1.47410282e-01 9.89071857e-01 -2.65922232e-03 1.38353057e+01] [ 1.67791814e-02 1.87472776e-04 9.99859202e-01 5.59789888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.579254154 meters 0.01473561314263143 Centerline is valid? [True, True] Translation: X:837.50, Y:13.84, Z:5.60 [[ 9.88395946e-01 -1.51141719e-01 -1.51536713e-02 8.37500053e+02] [ 1.51122167e-01 9.88512098e-01 -2.43377074e-03 1.38397711e+01] [ 1.53474317e-02 1.15473491e-04 9.99882215e-01 5.59926912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.639254154 meters 0.016946288572804884 Centerline is valid? [True, True] Translation: X:837.56, Y:13.84, Z:5.60 [[ 9.87757653e-01 -1.55326922e-01 -1.44348942e-02 8.37558319e+02] [ 1.55309609e-01 9.87863121e-01 -2.31957890e-03 1.38433039e+01] [ 1.46199927e-02 4.93040373e-05 9.99893121e-01 5.59929959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.699254154 meters 0.01437276705748191 Centerline is valid? [True, True] Translation: X:837.62, Y:13.85, Z:5.60 [[ 9.87555219e-01 -1.56650941e-01 -1.39704045e-02 8.37616164e+02] [ 1.56634840e-01 9.87654029e-01 -2.24613086e-03 1.38493651e+01] [ 1.41497848e-02 2.99261790e-05 9.99899886e-01 5.60073873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.759254154 meters 0.015708403144009772 Centerline is valid? [True, True] Translation: X:837.67, Y:13.86, Z:5.60 [[ 9.87836635e-01 -1.54826917e-01 -1.44017008e-02 8.37674206e+02] [ 1.54809575e-01 9.87941609e-01 -2.31805786e-03 1.38588918e+01] [ 1.45869372e-02 6.03412910e-05 9.99893603e-01 5.59999356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.819254154 meters 0.016635499611560745 Centerline is valid? [True, True] Translation: X:837.73, Y:13.87, Z:5.60 [[ 9.88065677e-01 -1.53340427e-01 -1.45921570e-02 8.37732313e+02] [ 1.53322404e-01 9.88173419e-01 -2.35254528e-03 1.38682349e+01] [ 1.47803219e-02 8.71646641e-05 9.99890761e-01 5.59990248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.879254154 meters 0.01666952597948537 Centerline is valid? [True, True] Translation: X:837.79, Y:13.88, Z:5.60 [[ 9.88226100e-01 -1.52275851e-01 -1.48741364e-02 8.37789814e+02] [ 1.52256960e-01 9.88338026e-01 -2.40094281e-03 1.38764305e+01] [ 1.50662802e-02 1.07983554e-04 9.99886491e-01 5.60047659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.939254154 meters 0.01563669163176326 Centerline is valid? [True, True] Translation: X:837.85, Y:13.88, Z:5.60 [[ 9.88046823e-01 -1.53422347e-01 -1.50019793e-02 8.37847421e+02] [ 1.53403211e-01 9.88160703e-01 -2.42496915e-03 1.38832959e+01] [ 1.51964109e-02 9.46312660e-05 9.99884523e-01 5.60207696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.999254154 meters 0.016765821745323817 Centerline is valid? [True, True] Translation: X:837.90, Y:13.89, Z:5.60 [[ 9.87956862e-01 -1.53971835e-01 -1.52942424e-02 8.37903567e+02] [ 1.53951964e-01 9.88075233e-01 -2.47528726e-03 1.38919848e+01] [ 1.54929867e-02 9.08983827e-05 9.99879972e-01 5.60017015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.059254154 meters 0.017893560047013493 Centerline is valid? [True, True] Translation: X:837.96, Y:13.90, Z:5.60 [[ 9.87769004e-01 -1.55214016e-01 -1.48661723e-02 8.37961047e+02] [ 1.55195333e-01 9.87880865e-01 -2.40928168e-03 1.38995602e+01] [ 1.50599615e-02 7.26531986e-05 9.99886590e-01 5.60054323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.119254154 meters 0.01633990650965602 Centerline is valid? [True, True] Translation: X:838.02, Y:13.91, Z:5.60 [[ 9.87534789e-01 -1.56810136e-01 -1.36242955e-02 8.38019028e+02] [ 1.56794546e-01 9.87628766e-01 -2.21166963e-03 1.39074299e+01] [ 1.38025584e-02 4.78854684e-05 9.99904739e-01 5.60265716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.179254154 meters 0.012934520384470483 Centerline is valid? [True, True] Translation: X:838.08, Y:13.92, Z:5.61 [[ 9.87575514e-01 -1.56577513e-01 -1.33449382e-02 8.38076141e+02] [ 1.56562483e-01 9.87665672e-01 -2.17006457e-03 1.39160050e+01] [ 1.35201207e-02 5.37859678e-05 9.99908598e-01 5.60586485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters 0.01307541369965285 Centerline is valid? [True, True] Translation: X:838.13, Y:13.93, Z:5.61 [[ 9.87818973e-01 -1.55010547e-01 -1.36164297e-02 8.38132673e+02] [ 1.54994714e-01 9.87912812e-01 -2.21691609e-03 1.39263824e+01] [ 1.37954907e-02 7.94371511e-05 9.99904835e-01 5.60549752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.299254154 meters 0.013048439226777158 Centerline is valid? [True, True] Translation: X:838.19, Y:13.94, Z:5.61 [[ 9.87927328e-01 -1.54306202e-01 -1.37546964e-02 8.38190002e+02] [ 1.54289939e-01 9.88023070e-01 -2.24217998e-03 1.39361627e+01] [ 1.39359397e-02 9.28996085e-05 9.99902886e-01 5.60609242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters 0.013786154765003823 Centerline is valid? [True, True] Translation: X:838.25, Y:13.95, Z:5.61 [[ 9.88185359e-01 -1.52594863e-01 -1.43004633e-02 8.38246519e+02] [ 1.52577065e-01 9.88288820e-01 -2.33390527e-03 1.39463531e+01] [ 1.44891300e-02 1.24408296e-04 9.99895019e-01 5.60504588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.419254154 meters 0.016963266756516698 Centerline is valid? [True, True] Translation: X:838.30, Y:13.96, Z:5.60 [[ 9.88227100e-01 -1.52252346e-01 -1.50473016e-02 8.38304899e+02] [ 1.52232557e-01 9.88341643e-01 -2.45858760e-03 1.39550821e+01] [ 1.52462005e-02 1.38953698e-04 9.99883760e-01 5.60313244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters 0.01633497131013248 Centerline is valid? [True, True] Translation: X:838.36, Y:13.96, Z:5.60 [[ 9.88305867e-01 -1.51668579e-01 -1.57529483e-02 8.38363556e+02] [ 1.51646750e-01 9.88431392e-01 -2.57805132e-03 1.39633752e+01] [ 1.59617180e-02 1.59019834e-04 9.99872591e-01 5.60407181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.539254154 meters 0.013675607610116268 Centerline is valid? [True, True] Translation: X:838.42, Y:13.97, Z:5.61 [[ 9.88398449e-01 -1.51088397e-01 -1.55178340e-02 8.38420818e+02] [ 1.51067075e-01 9.88520241e-01 -2.54391411e-03 1.39716750e+01] [ 1.57240489e-02 1.70166961e-04 9.99876355e-01 5.60636581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters 0.018006849510210716 Centerline is valid? [True, True] Translation: X:838.48, Y:13.98, Z:5.60 [[ 9.88020567e-01 -1.53475714e-01 -1.61420058e-02 8.38479783e+02] [ 1.53452886e-01 9.88152410e-01 -2.65076845e-03 1.39775992e+01] [ 1.63575906e-02 1.41976358e-04 9.99866196e-01 5.60381671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.659254154 meters 0.014686943940015436 Centerline is valid? [True, True] Translation: X:838.54, Y:13.98, Z:5.61 [[ 9.87797701e-01 -1.54981452e-01 -1.53769493e-02 8.38537663e+02] [ 1.54960882e-01 9.87917373e-01 -2.52759040e-03 1.39815929e+01] [ 1.55828850e-02 1.13922372e-04 9.99878573e-01 5.60597811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539999 meters 0.014683334601297922 Centerline is valid? [True, True] Translation: X:838.60, Y:13.99, Z:5.61 [[ 9.87757304e-01 -1.55312635e-01 -1.46114520e-02 8.38595632e+02] [ 1.55294055e-01 9.87865362e-01 -2.40468347e-03 1.39870500e+01] [ 1.48076250e-02 1.06172042e-04 9.99890355e-01 5.60768359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.779254154 meters 0.014676190933440037 Centerline is valid? [True, True] Translation: X:838.65, Y:14.00, Z:5.61 [[ 9.87898563e-01 -1.54514385e-01 -1.34808989e-02 8.38653621e+02] [ 1.54498443e-01 9.87990532e-01 -2.22241577e-03 1.39952718e+01] [ 1.36623957e-02 1.12743456e-04 9.99906659e-01 5.60896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.839254154 meters 0.013806640837413526 Centerline is valid? [True, True] Translation: X:838.71, Y:14.00, Z:5.61 [[ 9.88200941e-01 -1.52659125e-01 -1.24133687e-02 8.38711237e+02] [ 1.52645432e-01 9.88278895e-01 -2.04872590e-03 1.40044883e+01] [ 1.25806270e-02 1.29708835e-04 9.99920852e-01 5.61134381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.899254154 meters 0.013944111587838209 Centerline is valid? [True, True] Translation: X:838.77, Y:14.01, Z:5.61 [[ 9.88504021e-01 -1.50803759e-01 -1.08640392e-02 8.38769341e+02] [ 1.50793141e-01 9.88563710e-01 -1.79465909e-03 1.40134397e+01] [ 1.10104363e-02 1.35805131e-04 9.99939374e-01 5.61174897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.959254154 meters 0.016039600305676215 Centerline is valid? [True, True] Translation: X:838.83, Y:14.02, Z:5.61 [[ 9.88495011e-01 -1.50767806e-01 -1.21112540e-02 8.38826276e+02] [ 1.50754575e-01 9.88569191e-01 -2.00339733e-03 1.40221044e+01] [ 1.22748604e-02 1.54521326e-04 9.99924649e-01 5.60862764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.019254154 meters 0.015265711233182745 Centerline is valid? [True, True] Translation: X:838.88, Y:14.03, Z:5.61 [[ 9.88271792e-01 -1.52156625e-01 -1.29316117e-02 8.38884077e+02] [ 1.52141622e-01 9.88356383e-01 -2.14189571e-03 1.40289518e+01] [ 1.31069445e-02 1.49338741e-04 9.99914089e-01 5.60852604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.079254154 meters 0.0148907573149408 Centerline is valid? [True, True] Translation: X:838.94, Y:14.04, Z:5.61 [[ 9.87850058e-01 -1.54832879e-01 -1.33806615e-02 8.38942877e+02] [ 1.54817011e-01 9.87940669e-01 -2.21997716e-03 1.40354147e+01] [ 1.35630252e-02 1.21450537e-04 9.99908011e-01 5.60848587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.139254154 meters 0.01608251315229333 Centerline is valid? [True, True] Translation: X:839.00, Y:14.04, Z:5.61 [[ 9.87210306e-01 -1.58797314e-01 -1.41147157e-02 8.39001963e+02] [ 1.58780009e-01 9.87311201e-01 -2.34546585e-03 1.40411527e+01] [ 1.43080706e-02 7.43333797e-05 9.99897632e-01 5.60699330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.199254154 meters 0.013487891214983904 Centerline is valid? [True, True] Translation: X:839.06, Y:14.04, Z:5.61 [[ 9.86437307e-01 -1.63563832e-01 -1.37226586e-02 8.39061324e+02] [ 1.63547887e-01 9.86532753e-01 -2.28380987e-03 1.40449645e+01] [ 1.39114009e-02 8.52343662e-06 9.99903232e-01 5.61087763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.259254154 meters 0.013670791420541721 Centerline is valid? [True, True] Translation: X:839.12, Y:14.05, Z:5.61 [[ 9.85471578e-01 -1.69372506e-01 -1.25985112e-02 8.39119664e+02] [ 1.69359498e-01 9.85552104e-01 -2.10008954e-03 1.40485256e+01] [ 1.27721867e-02 -6.40989848e-05 9.99918430e-01 5.61338130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.319254154 meters 0.016529026087386847 Centerline is valid? [True, True] Translation: X:839.18, Y:14.05, Z:5.61 [[ 9.84746462e-01 -1.73612981e-01 -1.15298704e-02 8.39177467e+02] [ 1.73602351e-01 9.84813953e-01 -1.92420652e-03 1.40530499e+01] [ 1.16888445e-02 -1.06757041e-04 9.99931677e-01 5.61285183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.379254154 meters 0.01486161957833792 Centerline is valid? [True, True] Translation: X:839.23, Y:14.06, Z:5.62 [[ 9.84636142e-01 -1.74260717e-01 -1.11745071e-02 8.39234481e+02] [ 1.74250751e-01 9.84699543e-01 -1.86685639e-03 1.40630022e+01] [ 1.13288518e-02 -1.08991984e-04 9.99935821e-01 5.61515214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.439254154 meters 0.015276399933939925 Centerline is valid? [True, True] Translation: X:839.29, Y:14.07, Z:5.61 [[ 9.84892038e-01 -1.72778901e-01 -1.16243489e-02 8.39292643e+02] [ 1.72767973e-01 9.84960630e-01 -1.94537686e-03 1.40736408e+01] [ 1.17856461e-02 -9.23290264e-05 9.99930543e-01 5.61463824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.499254154 meters 0.013753054601260912 Centerline is valid? [True, True] Translation: X:839.35, Y:14.08, Z:5.62 [[ 9.85164383e-01 -1.71179119e-01 -1.22003289e-02 8.39349262e+02] [ 1.71166916e-01 9.85239922e-01 -2.04520770e-03 1.40847481e+01] [ 1.23703479e-02 -7.34268896e-05 9.99923482e-01 5.61653414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.559254154 meters 0.017165768419157092 Centerline is valid? [True, True] Translation: X:839.41, Y:14.10, Z:5.61 [[ 9.85294262e-01 -1.70208898e-01 -1.49715575e-02 8.39407060e+02] [ 1.70190341e-01 9.85408000e-01 -2.51426328e-03 1.40966023e+01] [ 1.51810426e-02 -7.07253081e-05 9.99884759e-01 5.61210280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.619254154 meters 0.013777438713154148 Centerline is valid? [True, True] Translation: X:839.46, Y:14.11, Z:5.62 [[ 9.85193817e-01 -1.70834442e-01 -1.44476911e-02 8.39463949e+02] [ 1.70817172e-01 9.85299745e-01 -2.43014833e-03 1.41075357e+01] [ 1.46504594e-02 -7.37466194e-05 9.99892674e-01 5.61500258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.679254154 meters 0.017766670464260167 Centerline is valid? [True, True] Translation: X:839.52, Y:14.12, Z:5.61 [[ 9.84337838e-01 -1.75577197e-01 -1.58640380e-02 8.39522390e+02] [ 1.75556919e-01 9.84465654e-01 -2.67285334e-03 1.41167281e+01] [ 1.60868927e-02 -1.54050951e-04 9.99870586e-01 5.61174576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters 0.01634445832357323 Centerline is valid? [True, True] Translation: X:839.58, Y:14.12, Z:5.62 [[ 9.83311697e-01 -1.81331989e-01 -1.47246622e-02 8.39580956e+02] [ 1.81315109e-01 9.83421913e-01 -2.48453479e-03 1.41246255e+01] [ 1.49310811e-02 -2.26731616e-04 9.99888499e-01 5.61501205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.799254154 meters 0.016796853895344726 Centerline is valid? [True, True] Translation: X:839.64, Y:14.13, Z:5.62 [[ 9.82345592e-01 -1.86655311e-01 -1.25272855e-02 8.39639236e+02] [ 1.86643488e-01 9.82425431e-01 -2.11670958e-03 1.41348061e+01] [ 1.27022190e-02 -2.58795932e-04 9.99919290e-01 5.61864579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters 0.017639970362287417 Centerline is valid? [True, True] Translation: X:839.70, Y:14.15, Z:5.62 [[ 9.81744399e-01 -1.89856460e-01 -1.15090814e-02 8.39696830e+02] [ 1.89846668e-01 9.81811820e-01 -1.94748277e-03 1.41484212e+01] [ 1.16694943e-02 -2.73030440e-04 9.99931872e-01 5.61931026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.919254154 meters 0.01771744852044555 Centerline is valid? [True, True] Translation: X:839.75, Y:14.17, Z:5.62 [[ 9.81917089e-01 -1.88826282e-01 -1.35449643e-02 8.39753680e+02] [ 1.88812568e-01 9.82010460e-01 -2.29582715e-03 1.41668766e+01] [ 1.37348092e-02 -3.03147585e-04 9.99905627e-01 5.61701104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters 0.01594931717047286 Centerline is valid? [True, True] Translation: X:839.81, Y:14.18, Z:5.62 [[ 9.82411114e-01 -1.86148562e-01 -1.47348428e-02 8.39809398e+02] [ 1.86131986e-01 9.82521568e-01 -2.50053122e-03 1.41846390e+01] [ 1.49427712e-02 -2.86075907e-04 9.99888310e-01 5.61676955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.039254154 meters 0.015784662233400134 Centerline is valid? [True, True] Translation: X:839.87, Y:14.20, Z:5.62 [[ 9.82431286e-01 -1.85877595e-01 -1.66819555e-02 8.39865137e+02] [ 1.85856243e-01 9.82572857e-01 -2.83495279e-03 1.42019059e+01] [ 1.69181909e-02 -3.15299264e-04 9.99856827e-01 5.61615288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters 0.019165768649301484 Centerline is valid? [True, True] Translation: X:839.92, Y:14.22, Z:5.61 [[ 9.82419348e-01 -1.85938295e-01 -1.67085253e-02 8.39919705e+02] [ 1.85916828e-01 9.82561373e-01 -2.84269790e-03 1.42184462e+01] [ 1.69457180e-02 -3.13674608e-04 9.99856362e-01 5.61441261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.159254154 meters 0.01649092551716748 Centerline is valid? [True, True] Translation: X:839.98, Y:14.24, Z:5.62 [[ 9.83038244e-01 -1.82801973e-01 -1.48070718e-02 8.39975832e+02] [ 1.82784714e-01 9.83149728e-01 -2.52211256e-03 1.42376508e+01] [ 1.50186158e-02 -2.27173291e-04 9.99887188e-01 5.61697926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539999 meters 0.017613719483760542 Centerline is valid? [True, True] Translation: X:840.03, Y:14.26, Z:5.62 [[ 9.84151854e-01 -1.76634006e-01 -1.56702189e-02 8.40032969e+02] [ 1.76613827e-01 9.84276592e-01 -2.67336250e-03 1.42550494e+01] [ 1.58960363e-02 -1.36582654e-04 9.99873641e-01 5.61551314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.279254154 meters 0.016608032135024407 Centerline is valid? [True, True] Translation: X:840.09, Y:14.27, Z:5.62 [[ 9.85126499e-01 -1.71143050e-01 -1.53570132e-02 8.40090151e+02] [ 1.71122940e-01 9.85246190e-01 -2.62390899e-03 1.42706532e+01] [ 1.55795025e-02 -4.30549668e-05 9.99878631e-01 5.61613922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.339254154 meters 0.016502977129006235 Centerline is valid? [True, True] Translation: X:840.15, Y:14.28, Z:5.62 [[ 9.85560165e-01 -1.68610887e-01 -1.55412420e-02 8.40147314e+02] [ 1.68589907e-01 9.85682692e-01 -2.65979738e-03 1.42835932e+01] [ 1.57672041e-02 1.29380074e-06 9.99875690e-01 5.61633001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.399254154 meters 0.01790569923422854 Centerline is valid? [True, True] Translation: X:840.20, Y:14.30, Z:5.62 [[ 9.86746440e-01 -1.61450431e-01 -1.62856033e-02 8.40203990e+02] [ 1.61426341e-01 9.86880815e-01 -2.79179580e-03 1.43002405e+01] [ 1.65226861e-02 1.25869216e-04 9.99863483e-01 5.61575390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.459254154 meters 0.01425968644814025 Centerline is valid? [True, True] Translation: X:840.26, Y:14.31, Z:5.62 [[ 9.87187123e-01 -1.58798916e-01 -1.56361222e-02 8.40261441e+02] [ 1.58776312e-01 9.87310932e-01 -2.68448779e-03 1.43115528e+01] [ 1.58640081e-02 1.67445970e-04 9.99874145e-01 5.61839442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.519254154 meters 0.013964324726296854 Centerline is valid? [True, True] Translation: X:840.32, Y:14.32, Z:5.62 [[ 9.86512242e-01 -1.62828860e-01 -1.67439116e-02 8.40320014e+02] [ 1.62803442e-01 9.86654321e-01 -2.87921893e-03 1.43172345e+01] [ 1.69892727e-02 1.14418277e-04 9.99855665e-01 5.61813070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.579254154 meters 0.015245716399816044 Centerline is valid? [True, True] Translation: X:840.38, Y:14.32, Z:5.62 [[ 9.85102922e-01 -1.70946751e-01 -1.86933530e-02 8.40377565e+02] [ 1.70916462e-01 9.85280269e-01 -3.21796370e-03 1.43189987e+01] [ 1.89682923e-02 -2.49763089e-05 9.99820085e-01 5.61540478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.639254154 meters 0.014237892572185495 Centerline is valid? [True, True] Translation: X:840.44, Y:14.32, Z:5.62 [[ 9.83961334e-01 -1.77531401e-01 -1.73981253e-02 8.40436719e+02] [ 1.77506129e-01 9.84115127e-01 -2.99859074e-03 1.43212345e+01] [ 1.76541023e-02 -1.37776529e-04 9.99844145e-01 5.61901701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.699254154 meters 0.01467126436787005 Centerline is valid? [True, True] Translation: X:840.50, Y:14.33, Z:5.62 [[ 9.82931891e-01 -1.83150590e-01 -1.73423873e-02 8.40495812e+02] [ 1.83126273e-01 9.83084842e-01 -2.99355565e-03 1.43270694e+01] [ 1.75973096e-02 -2.33385432e-04 9.99845128e-01 5.62077780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.759254154 meters 0.015512315318945978 Centerline is valid? [True, True] Translation: X:840.55, Y:14.33, Z:5.62 [[ 9.82063147e-01 -1.87684689e-01 -1.80674456e-02 8.40554347e+02] [ 1.87659009e-01 9.82229277e-01 -3.12162765e-03 1.43318438e+01] [ 1.83322557e-02 -3.24883445e-04 9.99831897e-01 5.62040130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.819254154 meters 0.016229470368856976 Centerline is valid? [True, True] Translation: X:840.61, Y:14.34, Z:5.62 [[ 9.81090743e-01 -1.92808330e-01 -1.69086310e-02 8.40613253e+02] [ 1.92786578e-01 9.81236360e-01 -2.92257974e-03 1.43384599e+01] [ 1.71548613e-02 -3.92441181e-04 9.99852768e-01 5.62197056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.879254154 meters 0.019332407177962113 Centerline is valid? [True, True] Translation: X:840.67, Y:14.35, Z:5.62 [[ 9.80599426e-01 -1.95255803e-01 -1.73187160e-02 8.40670211e+02] [ 1.95233327e-01 9.80752249e-01 -2.99559787e-03 1.43456614e+01] [ 1.75702775e-02 -4.43708988e-04 9.99845532e-01 5.62095588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.939254154 meters 0.01664701794091514 Centerline is valid? [True, True] Translation: X:840.73, Y:14.36, Z:5.62 [[ 9.81284446e-01 -1.91865905e-01 -1.63802055e-02 8.40728286e+02] [ 1.91845271e-01 9.81421085e-01 -2.83661092e-03 1.43586699e+01] [ 1.66201280e-02 -3.58942792e-04 9.99861812e-01 5.62421912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.999254154 meters 0.01687703962789751 Centerline is valid? [True, True] Translation: X:840.79, Y:14.37, Z:5.62 [[ 9.81737712e-01 -1.89491786e-01 -1.68501787e-02 8.40785529e+02] [ 1.89469529e-01 9.81882253e-01 -2.92224570e-03 1.43721275e+01] [ 1.70986330e-02 -3.23716613e-04 9.99853755e-01 5.62262430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.059254154 meters 0.017838909536300525 Centerline is valid? [True, True] Translation: X:840.84, Y:14.38, Z:5.62 [[ 9.81740325e-01 -1.89434168e-01 -1.73386875e-02 8.40841904e+02] [ 1.89410506e-01 9.81893369e-01 -3.01187726e-03 1.43841008e+01] [ 1.75952947e-02 -3.27248200e-04 9.99845137e-01 5.62217267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.119254154 meters 0.017851025615152744 Centerline is valid? [True, True] Translation: X:840.90, Y:14.39, Z:5.62 [[ 9.81292319e-01 -1.91781748e-01 -1.68862743e-02 8.40899925e+02] [ 1.91759574e-01 9.81437535e-01 -2.93780736e-03 1.43939557e+01] [ 1.71362412e-02 -3.55256968e-04 9.99853101e-01 5.62338969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.179254154 meters 0.017354131423107207 Centerline is valid? [True, True] Translation: X:840.96, Y:14.40, Z:5.62 [[ 9.80819499e-01 -1.94171273e-01 -1.70478154e-02 8.40957913e+02] [ 1.94148958e-01 9.80967563e-01 -2.97024959e-03 1.44036939e+01] [ 1.73000910e-02 -3.96536887e-04 9.99850264e-01 5.62491425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters 0.022740987601652985 Centerline is valid? [True, True] Translation: X:841.02, Y:14.41, Z:5.62 [[ 9.79623612e-01 -1.99808983e-01 -2.03457206e-02 8.41016306e+02] [ 1.99778362e-01 9.79834692e-01 -3.54732590e-03 1.44136352e+01] [ 2.06442304e-02 -5.89590510e-04 9.99786711e-01 5.62035120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.299254154 meters 0.023765985760800287 Centerline is valid? [True, True] Translation: X:841.07, Y:14.42, Z:5.62 [[ 9.79272878e-01 -2.01496461e-01 -2.05865824e-02 8.41074128e+02] [ 2.01465406e-01 9.79489041e-01 -3.59297854e-03 1.44244678e+01] [ 2.08883043e-02 -6.28977764e-04 9.99781618e-01 5.62093566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters 0.02102977403956775 Centerline is valid? [True, True] Translation: X:841.13, Y:14.44, Z:5.63 [[ 9.79312893e-01 -2.01452796e-01 -1.90532875e-02 8.41131597e+02] [ 2.01426101e-01 9.79498054e-01 -3.32983396e-03 1.44405335e+01] [ 1.93334624e-02 -5.76880075e-04 9.99812925e-01 5.62566331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.419254154 meters 0.018064865869311157 Centerline is valid? [True, True] Translation: X:841.19, Y:14.46, Z:5.63 [[ 9.79835454e-01 -1.99130243e-01 -1.64204289e-02 8.41189006e+02] [ 1.99110047e-01 9.79972928e-01 -2.87227504e-03 1.44570966e+01] [ 1.66635326e-02 -4.55115448e-04 9.99861050e-01 5.62956688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters 0.02057555828270503 Centerline is valid? [True, True] Translation: X:841.25, Y:14.47, Z:5.63 [[ 9.80579958e-01 -1.95255759e-01 -1.83884611e-02 8.41245485e+02] [ 1.95229717e-01 9.80752262e-01 -3.21832047e-03 1.44740311e+01] [ 1.86629205e-02 -4.34153509e-04 9.99825738e-01 5.62594714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.539254154 meters 0.015650956694754515 Centerline is valid? [True, True] Translation: X:841.30, Y:14.49, Z:5.63 [[ 9.81867278e-01 -1.88653395e-01 -1.86157189e-02 8.41303547e+02] [ 1.88625496e-01 9.82043685e-01 -3.25923513e-03 1.44910374e+01] [ 1.88963149e-02 -3.11262887e-04 9.99821400e-01 5.62814545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters 0.014798760910378649 Centerline is valid? [True, True] Translation: X:841.36, Y:14.51, Z:5.63 [[ 9.82911666e-01 -1.83110879e-01 -1.88431285e-02 8.41360642e+02] [ 1.83081210e-01 9.83092246e-01 -3.30245636e-03 1.45068073e+01] [ 1.91292492e-02 -2.03799891e-04 9.99816998e-01 5.62788088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.659254154 meters 0.014327973274052736 Centerline is valid? [True, True] Translation: X:841.42, Y:14.52, Z:5.63 [[ 9.83728335e-01 -1.78584550e-01 -1.96499778e-02 8.41417638e+02] [ 1.78551282e-01 9.83924563e-01 -3.44889632e-03 1.45211737e+01] [ 1.99500154e-02 -1.15751680e-04 9.99800972e-01 5.62698770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539999 meters 0.013987207274401533 Centerline is valid? [True, True] Translation: X:841.47, Y:14.54, Z:5.63 [[ 9.84780444e-01 -1.72810891e-01 -1.85437980e-02 8.41474582e+02] [ 1.72780150e-01 9.84955022e-01 -3.25944190e-03 1.45354047e+01] [ 1.88280740e-02 5.83445759e-06 9.99822736e-01 5.62838237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.779254154 meters 0.01766188566253955 Centerline is valid? [True, True] Translation: X:841.53, Y:14.55, Z:5.63 [[ 9.85819917e-01 -1.66809199e-01 -1.82696956e-02 8.41531547e+02] [ 1.66778277e-01 9.85989187e-01 -3.21405014e-03 1.45484902e+01] [ 1.85498554e-02 1.21486307e-04 9.99827929e-01 5.62725765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.839254154 meters 0.014699467727018712 Centerline is valid? [True, True] Translation: X:841.59, Y:14.56, Z:5.63 [[ 9.86565555e-01 -1.62515399e-01 -1.66478788e-02 8.41589192e+02] [ 1.62489057e-01 9.86705990e-01 -2.93194384e-03 1.45608958e+01] [ 1.69030477e-02 1.87456682e-04 9.99857116e-01 5.63068410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.899254154 meters 0.018958272323709176 Centerline is valid? [True, True] Translation: X:841.65, Y:14.57, Z:5.63 [[ 9.86940940e-01 -1.60073429e-01 -1.80021509e-02 8.41647379e+02] [ 1.60042132e-01 9.87105077e-01 -3.17529289e-03 1.45707485e+01] [ 1.82782945e-02 2.52723934e-04 9.99832906e-01 5.62799932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.959254154 meters 0.01702032804311842 Centerline is valid? [True, True] Translation: X:841.71, Y:14.58, Z:5.63 [[ 9.87284986e-01 -1.58026886e-01 -1.72005667e-02 8.41705144e+02] [ 1.57997926e-01 9.87434769e-01 -3.03836299e-03 1.45803868e+01] [ 1.74645807e-02 2.82076298e-04 9.99847443e-01 5.63006846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.019254154 meters 0.015484689376340349 Centerline is valid? [True, True] Translation: X:841.76, Y:14.59, Z:5.63 [[ 9.87451565e-01 -1.57034471e-01 -1.67207125e-02 8.41762918e+02] [ 1.57006888e-01 9.87593078e-01 -2.95799475e-03 1.45894423e+01] [ 1.69777671e-02 2.95609517e-04 9.99855824e-01 5.63167394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.079254154 meters 0.018100868920661563 Centerline is valid? [True, True] Translation: X:841.82, Y:14.60, Z:5.63 [[ 9.87235771e-01 -1.58177730e-01 -1.85832670e-02 8.41820586e+02] [ 1.58143756e-01 9.87410608e-01 -3.29304776e-03 1.45972211e+01] [ 1.88702018e-02 3.12186905e-04 9.99821893e-01 5.62856611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.139254154 meters 0.01940640434372494 Centerline is valid? [True, True] Translation: X:841.88, Y:14.60, Z:5.63 [[ 9.86927779e-01 -1.59809516e-01 -2.08441140e-02 8.41878093e+02] [ 1.59767060e-01 9.87147819e-01 -3.69722960e-03 1.46021342e+01] [ 2.11670742e-02 3.18695788e-04 9.99775902e-01 5.62598225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.199254154 meters 0.018669743497718605 Centerline is valid? [True, True] Translation: X:841.94, Y:14.61, Z:5.63 [[ 9.86758479e-01 -1.60633175e-01 -2.24652262e-02 8.41935753e+02] [ 1.60584023e-01 9.87014122e-01 -3.98687306e-03 1.46063232e+01] [ 2.28139196e-02 3.26524396e-04 9.99739675e-01 5.62512494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.259254154 meters 0.01586180411418832 Centerline is valid? [True, True] Translation: X:841.99, Y:14.61, Z:5.63 [[ 9.87033172e-01 -1.59132351e-01 -2.10335983e-02 8.41993859e+02] [ 1.59088822e-01 9.87257199e-01 -3.73754931e-03 1.46112164e+01] [ 2.13603364e-02 3.42874772e-04 9.99771783e-01 5.62846353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.319254154 meters 0.016244678177345782 Centerline is valid? [True, True] Translation: X:842.05, Y:14.62, Z:5.63 [[ 9.87602579e-01 -1.55607828e-01 -2.06724172e-02 8.42052707e+02] [ 1.55564893e-01 9.87818824e-01 -3.67893891e-03 1.46165797e+01] [ 2.09930746e-02 4.17427191e-04 9.99779534e-01 5.63014776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.379254154 meters 0.01905571366300955 Centerline is valid? [True, True] Translation: X:842.11, Y:14.62, Z:5.63 [[ 9.88206007e-01 -1.51739451e-01 -2.05919203e-02 8.42110879e+02] [ 1.51695952e-01 9.88420401e-01 -3.66736725e-03 1.46227916e+01] [ 2.09099584e-02 5.00403406e-04 9.99781238e-01 5.62908929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.439254154 meters 0.021488621856546323 Centerline is valid? [True, True] Translation: X:842.17, Y:14.63, Z:5.63 [[ 9.88783402e-01 -1.48227235e-01 -1.83322242e-02 8.42168296e+02] [ 1.48192129e-01 9.88953196e-01 -3.26641303e-03 1.46306402e+01] [ 1.86138831e-02 5.13083652e-04 9.99826615e-01 5.63062198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.499254154 meters 0.024826379054213234 Centerline is valid? [True, True] Translation: X:842.23, Y:14.64, Z:5.63 [[ 9.89162571e-01 -1.45761484e-01 -1.76351523e-02 8.42227023e+02] [ 1.45728548e-01 9.89319613e-01 -3.14540861e-03 1.46376272e+01] [ 1.79052815e-02 5.41375322e-04 9.99839541e-01 5.62999482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.559254154 meters 0.02141532253250464 Centerline is valid? [True, True] Translation: X:842.29, Y:14.64, Z:5.63 [[ 9.89577170e-01 -1.42963845e-01 -1.72732071e-02 8.42286546e+02] [ 1.42931784e-01 9.89727740e-01 -3.08298701e-03 1.46402743e+01] [ 1.75365280e-02 5.81963246e-04 9.99846054e-01 5.63303808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.619254154 meters 0.025845069030118194 Centerline is valid? [True, True] Translation: X:842.34, Y:14.65, Z:5.63 [[ 9.89941336e-01 -1.40002187e-01 -2.03847881e-02 8.42344903e+02] [ 1.39956881e-01 9.90150910e-01 -3.63954488e-03 1.46471529e+01] [ 2.06935607e-02 7.49944570e-04 9.99785584e-01 5.62804693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.679254154 meters 0.023492942420596866 Centerline is valid? [True, True] Translation: X:842.40, Y:14.65, Z:5.63 [[ 9.89792671e-01 -1.41221436e-01 -1.91565988e-02 8.42404078e+02] [ 1.41181586e-01 9.89977797e-01 -3.42370567e-03 1.46500051e+01] [ 1.94481081e-02 6.84199767e-04 9.99810634e-01 5.63097361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters 0.019127977059649765 Centerline is valid? [True, True] Translation: X:842.47, Y:14.65, Z:5.63 [[ 9.88590024e-01 -1.49414217e-01 -1.91090839e-02 8.42466031e+02] [ 1.49376057e-01 9.88774554e-01 -3.41702578e-03 1.46453096e+01] [ 1.94051282e-02 5.23597994e-04 9.99811566e-01 5.63234444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.799254154 meters 0.01918518961150362 Centerline is valid? [True, True] Translation: X:842.53, Y:14.65, Z:5.63 [[ 9.87595580e-01 -1.55778213e-01 -1.97007149e-02 8.42526506e+02] [ 1.55738910e-01 9.87791972e-01 -3.52316084e-03 1.46491346e+01] [ 2.00090397e-02 4.11290206e-04 9.99799715e-01 5.63130417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters 0.017467323845523235 Centerline is valid? [True, True] Translation: X:842.58, Y:14.66, Z:5.63 [[ 9.87272329e-01 -1.58020367e-01 -1.79697552e-02 8.42584980e+02] [ 1.57988010e-01 9.87435796e-01 -3.21521049e-03 1.46587803e+01] [ 1.82520483e-02 3.35282487e-04 9.99833361e-01 5.63432695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.919254154 meters 0.018620042563037037 Centerline is valid? [True, True] Translation: X:842.64, Y:14.68, Z:5.63 [[ 9.88137693e-01 -1.52602509e-01 -1.72154851e-02 8.42641569e+02] [ 1.52571960e-01 9.88287559e-01 -3.08191341e-03 1.46794187e+01] [ 1.74841575e-02 4.18754497e-04 9.99847053e-01 5.63441027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters 0.019815449852088655 Centerline is valid? [True, True] Translation: X:842.70, Y:14.69, Z:5.63 [[ 9.88713653e-01 -1.48818614e-01 -1.72722781e-02 8.42699242e+02] [ 1.48787263e-01 9.88864390e-01 -3.09337732e-03 1.46935872e+01] [ 1.75402929e-02 4.88569408e-04 9.99846038e-01 5.63467662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.039254154 meters 0.02363923685125778 Centerline is valid? [True, True] Translation: X:842.76, Y:14.71, Z:5.63 [[ 9.89148893e-01 -1.45778820e-01 -1.82483559e-02 8.42755938e+02] [ 1.45743281e-01 9.89317040e-01 -3.26959368e-03 1.47093572e+01] [ 1.85300469e-02 5.74539706e-04 9.99828139e-01 5.63177714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters 0.02487681009327306 Centerline is valid? [True, True] Translation: X:842.81, Y:14.72, Z:5.63 [[ 9.89438312e-01 -1.43738427e-01 -1.87374482e-02 8.42812999e+02] [ 1.43700525e-01 9.89615513e-01 -3.36076894e-03 1.47247091e+01] [ 1.90259411e-02 6.32692396e-04 9.99818790e-01 5.63023878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.159254154 meters 0.023661166095469782 Centerline is valid? [True, True] Translation: X:842.87, Y:14.74, Z:5.63 [[ 9.89506553e-01 -1.43257619e-01 -1.88158303e-02 8.42870800e+02] [ 1.43219224e-01 9.89685219e-01 -3.37946254e-03 1.47366509e+01] [ 1.91058829e-02 6.49211719e-04 9.99817255e-01 5.63230491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539999 meters 0.01969075621435038 Centerline is valid? [True, True] Translation: X:842.93, Y:14.74, Z:5.64 [[ 9.89006127e-01 -1.46949068e-01 -1.65182381e-02 8.42931193e+02] [ 1.46919965e-01 9.89143929e-01 -2.96839943e-03 1.47400689e+01] [ 1.67751184e-02 5.08906269e-04 9.99859158e-01 5.63658075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.279254154 meters 0.018446472490618985 Centerline is valid? [True, True] Translation: X:842.99, Y:14.75, Z:5.64 [[ 9.87804820e-01 -1.55018330e-01 -1.45243080e-02 8.42991200e+02] [ 1.54996697e-01 9.87911540e-01 -2.61033256e-03 1.47452065e+01] [ 1.47533808e-02 3.27279332e-04 9.99891109e-01 5.63775591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.339254154 meters 0.015553318459460744 Centerline is valid? [True, True] Translation: X:843.05, Y:14.75, Z:5.64 [[ 9.86735644e-01 -1.61806028e-01 -1.30987925e-02 8.43051543e+02] [ 1.61789027e-01 9.86822561e-01 -2.35436588e-03 1.47503600e+01] [ 1.33071345e-02 2.03895837e-04 9.99911435e-01 5.64130094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.399254154 meters 0.016423490763666233 Centerline is valid? [True, True] Translation: X:843.11, Y:14.76, Z:5.64 [[ 9.85509654e-01 -1.69093459e-01 -1.33462809e-02 8.43108883e+02] [ 1.69076467e-01 9.85600015e-01 -2.39959865e-03 1.47569268e+01] [ 1.35598511e-02 1.08285614e-04 9.99908055e-01 5.63976484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.459254154 meters 0.016772367989750216 Centerline is valid? [True, True] Translation: X:843.17, Y:14.76, Z:5.64 [[ 9.84440595e-01 -1.75137792e-01 -1.42642244e-02 8.43166922e+02] [ 1.75118978e-01 9.84543931e-01 -2.56724223e-03 1.47640633e+01] [ 1.44933767e-02 2.93610634e-05 9.99894965e-01 5.63853065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.519254154 meters 0.01645110541398506 Centerline is valid? [True, True] Translation: X:843.22, Y:14.77, Z:5.64 [[ 9.83583032e-01 -1.79823600e-01 -1.50961297e-02 8.43224975e+02] [ 1.79803013e-01 9.83698872e-01 -2.72116872e-03 1.47705581e+01] [ 1.53393761e-02 -3.78342278e-05 9.99882344e-01 5.63825074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.579254154 meters 0.014607380738626276 Centerline is valid? [True, True] Translation: X:843.28, Y:14.78, Z:5.64 [[ 9.83184374e-01 -1.81914023e-01 -1.59929683e-02 8.43283187e+02] [ 1.81891125e-01 9.83314438e-01 -2.88714209e-03 1.47793357e+01] [ 1.62513282e-02 -7.03859992e-05 9.99867936e-01 5.63961363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.639254154 meters 0.018207107328966514 Centerline is valid? [True, True] Translation: X:843.34, Y:14.79, Z:5.64 [[ 9.82506420e-01 -1.85509437e-01 -1.63518587e-02 8.43341170e+02] [ 1.85485927e-01 9.82642474e-01 -2.95614165e-03 1.47888025e+01] [ 1.66164231e-02 -1.28611521e-04 9.99861929e-01 5.63758110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.699254154 meters 0.016847607285171838 Centerline is valid? [True, True] Translation: X:843.40, Y:14.80, Z:5.64 [[ 9.82569578e-01 -1.85349794e-01 -1.42294880e-02 8.43398976e+02] [ 1.85331925e-01 9.82672602e-01 -2.57591637e-03 1.47986192e+01] [ 1.44603735e-02 -1.06161324e-04 9.99895438e-01 5.64032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.759254154 meters 0.01633056324431298 Centerline is valid? [True, True] Translation: X:843.46, Y:14.81, Z:5.64 [[ 9.82922065e-01 -1.83433557e-01 -1.47086595e-02 8.43455964e+02] [ 1.83414186e-01 9.83032108e-01 -2.66680766e-03 1.48107803e+01] [ 1.49482665e-02 -7.65127127e-05 9.99888265e-01 5.64076269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.819254154 meters 0.014646102957395112 Centerline is valid? [True, True] Translation: X:843.51, Y:14.83, Z:5.64 [[ 9.84050761e-01 -1.77050387e-01 -1.72412305e-02 8.43512554e+02] [ 1.77022702e-01 9.84201788e-01 -3.13100276e-03 1.48277267e+01] [ 1.75231952e-02 2.89764271e-05 9.99846457e-01 5.63956258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.879254154 meters 0.016396174756552792 Centerline is valid? [True, True] Translation: X:843.57, Y:14.84, Z:5.64 [[ 9.84642986e-01 -1.73548340e-01 -1.89516210e-02 8.43569857e+02] [ 1.73514143e-01 9.84825346e-01 -3.44667798e-03 1.48408373e+01] [ 1.92622020e-02 1.05373013e-04 9.99814461e-01 5.63741969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.939254154 meters 0.017385482692499725 Centerline is valid? [True, True] Translation: X:843.63, Y:14.85, Z:5.64 [[ 9.85408322e-01 -1.69116819e-01 -1.92338394e-02 8.43627171e+02] [ 1.69080653e-01 9.85595993e-01 -3.50302110e-03 1.48546805e+01] [ 1.95492148e-02 1.99836036e-04 9.99808876e-01 5.63727512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.999254154 meters 0.0185981453878746 Centerline is valid? [True, True] Translation: X:843.68, Y:14.87, Z:5.64 [[ 9.85688061e-01 -1.67654816e-01 -1.76326391e-02 8.43684191e+02] [ 1.67624100e-01 9.85845737e-01 -3.21626800e-03 1.48657044e+01] [ 1.79222849e-02 2.14581708e-04 9.99839360e-01 5.63873763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.059254154 meters 0.017977731252858432 Centerline is valid? [True, True] Translation: X:843.74, Y:14.88, Z:5.64 [[ 9.85907157e-01 -1.66643312e-01 -1.47338096e-02 8.43742424e+02] [ 1.66621697e-01 9.86017225e-01 -2.69126954e-03 1.48764134e+01] [ 1.49762721e-02 1.98369543e-04 9.99887830e-01 5.64184051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.119254154 meters 0.01747645261305083 Centerline is valid? [True, True] Translation: X:843.80, Y:14.89, Z:5.65 [[ 9.86250369e-01 -1.64799332e-01 -1.23040386e-02 8.43800697e+02] [ 1.64784079e-01 9.86327098e-01 -2.25033759e-03 1.48873351e+01] [ 1.25066609e-02 1.91886604e-04 9.99921770e-01 5.64560161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.179254154 meters 0.01647355831314476 Centerline is valid? [True, True] Translation: X:843.86, Y:14.90, Z:5.65 [[ 9.86851173e-01 -1.61130498e-01 -1.27171029e-02 8.43856712e+02] [ 1.61113869e-01 9.86933078e-01 -2.32817758e-03 1.49013771e+01] [ 1.29260699e-02 2.48663126e-04 9.99916424e-01 5.64779556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters 0.018913886611376603 Centerline is valid? [True, True] Translation: X:843.91, Y:14.92, Z:5.64 [[ 9.87294095e-01 -1.58219689e-01 -1.47275185e-02 8.43913524e+02] [ 1.58197036e-01 9.87403878e-01 -2.69799972e-03 1.49158013e+01] [ 1.49688856e-02 3.33869412e-04 9.99887904e-01 5.64361387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.299254154 meters 0.020107085093612007 Centerline is valid? [True, True] Translation: X:843.97, Y:14.93, Z:5.64 [[ 9.87713876e-01 -1.55302890e-01 -1.73871397e-02 8.43971936e+02] [ 1.55270838e-01 9.87866799e-01 -3.18666651e-03 1.49270728e+01] [ 1.76710765e-02 4.47798977e-04 9.99843754e-01 5.64202470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters 0.018126249078029056 Centerline is valid? [True, True] Translation: X:844.03, Y:14.94, Z:5.65 [[ 9.87942563e-01 -1.53848825e-01 -1.73214098e-02 8.44029451e+02] [ 1.53816739e-01 9.88094284e-01 -3.17763276e-03 1.49392345e+01] [ 1.76040611e-02 4.74995884e-04 9.99844924e-01 5.64549639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.419254154 meters 0.01837510145816676 Centerline is valid? [True, True] Translation: X:844.09, Y:14.95, Z:5.64 [[ 9.87410562e-01 -1.57342678e-01 -1.62377196e-02 8.44087912e+02] [ 1.57314915e-01 9.87543989e-01 -2.98115106e-03 1.49462808e+01] [ 1.65045246e-02 3.89184563e-04 9.99863715e-01 5.64485086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters 0.01641947387290518 Centerline is valid? [True, True] Translation: X:844.15, Y:14.95, Z:5.65 [[ 9.86806618e-01 -1.61258948e-01 -1.44309218e-02 8.44146047e+02] [ 1.61237423e-01 9.86912088e-01 -2.65045369e-03 1.49532609e+01] [ 1.46694605e-02 2.88680592e-04 9.99892356e-01 5.64875011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.539254154 meters 0.01569549342703352 Centerline is valid? [True, True] Translation: X:844.21, Y:14.96, Z:5.65 [[ 9.86143432e-01 -1.65315256e-01 -1.38563459e-02 8.44205106e+02] [ 1.65295778e-01 9.86240750e-01 -2.54731694e-03 1.49592452e+01] [ 1.40868033e-02 2.21624402e-04 9.99900752e-01 5.64996825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters 0.014569220847755986 Centerline is valid? [True, True] Translation: X:844.26, Y:14.97, Z:5.65 [[ 9.85918441e-01 -1.66569126e-01 -1.48173759e-02 8.44262439e+02] [ 1.66546928e-01 9.86029755e-01 -2.72839399e-03 1.49683746e+01] [ 1.50648398e-02 2.22185508e-04 9.99886494e-01 5.65172043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.659254154 meters 0.015084777128903814 Centerline is valid? [True, True] Translation: X:844.32, Y:14.98, Z:5.65 [[ 9.86022486e-01 -1.65793692e-01 -1.64957047e-02 8.44318539e+02] [ 1.65766017e-01 9.86160424e-01 -3.04063229e-03 1.49813512e+01] [ 1.67715288e-02 2.63704550e-04 9.99859313e-01 5.64971254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539999 meters 0.01840080206882657 Centerline is valid? [True, True] Translation: X:844.37, Y:14.99, Z:5.64 [[ 9.85913720e-01 -1.66297538e-01 -1.78680290e-02 8.44374650e+02] [ 1.66265118e-01 9.86075581e-01 -3.29529198e-03 1.49946698e+01] [ 1.81672260e-02 2.78043630e-04 9.99834924e-01 5.64408941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.779254154 meters 0.016179865903627622 Centerline is valid? [True, True] Translation: X:844.43, Y:15.00, Z:5.65 [[ 9.85776740e-01 -1.67192917e-01 -1.70513060e-02 8.44432746e+02] [ 1.67163469e-01 9.85924168e-01 -3.14799731e-03 1.50023716e+01] [ 1.73376176e-02 2.52867054e-04 9.99849660e-01 5.64748699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.839254154 meters 0.014493228707405886 Centerline is valid? [True, True] Translation: X:844.49, Y:15.01, Z:5.65 [[ 9.85316421e-01 -1.70043217e-01 -1.53900782e-02 8.44490532e+02] [ 1.70019515e-01 9.85436588e-01 -2.84515123e-03 1.50106831e+01] [ 1.56497448e-02 1.86760594e-04 9.99877518e-01 5.65127179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.899254154 meters 0.016452700819571255 Centerline is valid? [True, True] Translation: X:844.55, Y:15.02, Z:5.65 [[ 9.84590429e-01 -1.74265311e-01 -1.46043690e-02 8.44549042e+02] [ 1.74244377e-01 9.84698729e-01 -2.70357212e-03 1.50187232e+01] [ 1.48520424e-02 1.17182060e-04 9.99889695e-01 5.64949539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.959254154 meters 0.015365488844540375 Centerline is valid? [True, True] Translation: X:844.61, Y:15.03, Z:5.65 [[ 9.84519277e-01 -1.74677064e-01 -1.44816322e-02 8.44606425e+02] [ 1.74656466e-01 9.84625772e-01 -2.68485293e-03 1.50283007e+01] [ 1.47279705e-02 1.13978770e-04 9.99891531e-01 5.65126979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.019254154 meters 0.016730363849363203 Centerline is valid? [True, True] Translation: X:844.66, Y:15.04, Z:5.65 [[ 9.84992107e-01 -1.71878727e-01 -1.57560109e-02 8.44663492e+02] [ 1.71853914e-01 9.85118101e-01 -2.92560585e-03 1.50415362e+01] [ 1.60243809e-02 1.73966522e-04 9.99871586e-01 5.64911657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.079254154 meters 0.01502811662789337 Centerline is valid? [True, True] Translation: X:844.72, Y:15.05, Z:5.65 [[ 9.85605843e-01 -1.68334243e-01 -1.56430646e-02 8.44720683e+02] [ 1.68309274e-01 9.85729947e-01 -2.90866533e-03 1.50544397e+01] [ 1.59094652e-02 2.33924688e-04 9.99873409e-01 5.65170572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.139254154 meters 0.01783483068900978 Centerline is valid? [True, True] Translation: X:844.78, Y:15.07, Z:5.65 [[ 9.86311731e-01 -1.64101960e-01 -1.61157145e-02 8.44777776e+02] [ 1.64074825e-01 9.86443332e-01 -3.00075528e-03 1.50692665e+01] [ 1.63896689e-02 3.15497096e-04 9.99865631e-01 5.64958082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.199254154 meters 0.020494577907526283 Centerline is valid? [True, True] Translation: X:844.84, Y:15.08, Z:5.65 [[ 9.87053356e-01 -1.59593325e-01 -1.59888499e-02 8.44835274e+02] [ 1.59565989e-01 9.87182769e-01 -2.97932869e-03 1.50849613e+01] [ 1.62593981e-02 3.89479737e-04 9.99867731e-01 5.64835821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.259254154 meters 0.020775676907467608 Centerline is valid? [True, True] Translation: X:844.89, Y:15.10, Z:5.65 [[ 9.87301805e-01 -1.58104028e-01 -1.54357242e-02 8.44892791e+02] [ 1.58078328e-01 9.87422379e-01 -2.87888142e-03 1.50970205e+01] [ 1.56967422e-02 4.02271355e-04 9.99876718e-01 5.64903510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.319254154 meters 0.02164354274653835 Centerline is valid? [True, True] Translation: X:844.95, Y:15.11, Z:5.65 [[ 9.87560263e-01 -1.56479082e-01 -1.54603629e-02 8.44950758e+02] [ 1.56453038e-01 9.87681178e-01 -2.88745361e-03 1.51091303e+01] [ 1.57217355e-02 4.32713702e-04 9.99876312e-01 5.64909394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.379254154 meters 0.021091642602782793 Centerline is valid? [True, True] Translation: X:845.01, Y:15.12, Z:5.65 [[ 9.87696057e-01 -1.55440505e-01 -1.71682343e-02 8.45008570e+02] [ 1.55408171e-01 9.87845128e-01 -3.20984157e-03 1.51176512e+01] [ 1.74584960e-02 5.02263964e-04 9.99847463e-01 5.64920704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.439254154 meters 0.02047399852682128 Centerline is valid? [True, True] Translation: X:845.06, Y:15.13, Z:5.65 [[ 9.87824681e-01 -1.54641852e-01 -1.69793324e-02 8.45064936e+02] [ 1.54610074e-01 9.87970463e-01 -3.17646161e-03 1.51324854e+01] [ 1.72662927e-02 5.12611339e-04 9.99850795e-01 5.64981558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.499254154 meters 0.02360412562573616 Centerline is valid? [True, True] Translation: X:845.12, Y:15.14, Z:5.65 [[ 9.87583550e-01 -1.56184360e-01 -1.68871998e-02 8.45121915e+02] [ 1.56153118e-01 9.87727802e-01 -3.16121843e-03 1.51442853e+01] [ 1.71736896e-02 4.84978417e-04 9.99852404e-01 5.64721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.559254154 meters 0.020906538944233905 Centerline is valid? [True, True] Translation: X:845.18, Y:15.15, Z:5.65 [[ 9.87367467e-01 -1.57783568e-01 -1.44855538e-02 8.45180469e+02] [ 1.57760727e-01 9.87473640e-01 -2.71336977e-03 1.51545635e+01] [ 1.47322277e-02 3.93841536e-04 9.99891397e-01 5.65095196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.619254154 meters 0.017211709257139853 Centerline is valid? [True, True] Translation: X:845.24, Y:15.16, Z:5.65 [[ 9.86962069e-01 -1.60397870e-01 -1.33565776e-02 8.45238591e+02] [ 1.60378656e-01 9.87052387e-01 -2.50439038e-03 1.51624043e+01] [ 1.35853407e-02 3.29628338e-04 9.99907661e-01 5.65495399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.679254154 meters 0.019100244345921287 Centerline is valid? [True, True] Translation: X:845.30, Y:15.17, Z:5.65 [[ 9.86760001e-01 -1.61546400e-01 -1.44035359e-02 8.45296222e+02] [ 1.61524121e-01 9.86865058e-01 -2.70456736e-03 1.51735443e+01] [ 1.46512595e-02 3.42240404e-04 9.99892606e-01 5.65175938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters 0.016364831257515578 Centerline is valid? [True, True] Translation: X:845.35, Y:15.19, Z:5.66 [[ 9.86830044e-01 -1.61184219e-01 -1.36423079e-02 8.45353294e+02] [ 1.61164150e-01 9.86924281e-01 -2.56512325e-03 1.51866144e+01] [ 1.38773823e-02 3.32689739e-04 9.99903649e-01 5.65571145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.799254154 meters 0.016225682805828413 Centerline is valid? [True, True] Translation: X:845.41, Y:15.20, Z:5.66 [[ 9.86612118e-01 -1.62485929e-01 -1.39589033e-02 8.45411242e+02] [ 1.62464997e-01 9.86710807e-01 -2.62822503e-03 1.52000996e+01] [ 1.42004503e-02 3.25205482e-04 9.99899116e-01 5.65571298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters 0.015856592763337177 Centerline is valid? [True, True] Translation: X:845.47, Y:15.21, Z:5.66 [[ 9.86205563e-01 -1.64941897e-01 -1.38837591e-02 8.45469258e+02] [ 1.64921386e-01 9.86303242e-01 -2.61741608e-03 1.52131075e+01] [ 1.41253182e-02 2.91581504e-04 9.99900190e-01 5.65580139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.919254154 meters 0.01784040728595482 Centerline is valid? [True, True] Translation: X:845.53, Y:15.22, Z:5.65 [[ 9.85880764e-01 -1.66816575e-01 -1.45378855e-02 8.45527610e+02] [ 1.66794233e-01 9.85987906e-01 -2.74450454e-03 1.52236820e+01] [ 1.47920081e-02 2.80918776e-04 9.99890553e-01 5.65317202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters 0.01853177257651919 Centerline is valid? [True, True] Translation: X:845.58, Y:15.24, Z:5.65 [[ 9.85195509e-01 -1.70815573e-01 -1.45550451e-02 8.45584059e+02] [ 1.70793578e-01 9.85302994e-01 -2.75024701e-03 1.52376100e+01] [ 1.48109145e-02 2.23622776e-04 9.99890287e-01 5.65231961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.039254154 meters 0.013690102672250022 Centerline is valid? [True, True] Translation: X:845.64, Y:15.25, Z:5.66 [[ 9.84331608e-01 -1.75854076e-01 -1.29085254e-02 8.45642697e+02] [ 1.75837180e-01 9.84416236e-01 -2.44133150e-03 1.52452530e+01] [ 1.31366801e-02 1.33281055e-04 9.99913701e-01 5.65821411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters 0.013141824437959476 Centerline is valid? [True, True] Translation: X:845.70, Y:15.26, Z:5.66 [[ 9.83321196e-01 -1.81372298e-01 -1.35467405e-02 8.45700472e+02] [ 1.81354162e-01 9.83414503e-01 -2.56565257e-03 1.52560449e+01] [ 1.37873993e-02 6.61027887e-05 9.99904947e-01 5.65841390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.159254154 meters 0.014657212130354712 Centerline is valid? [True, True] Translation: X:845.76, Y:15.27, Z:5.66 [[ 9.82504462e-01 -1.85667341e-01 -1.45814972e-02 8.45757608e+02] [ 1.85646740e-01 9.82612659e-01 -2.76581948e-03 1.52673003e+01] [ 1.48414861e-02 1.04225647e-05 9.99889859e-01 5.65689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539999 meters 0.015156185892501596 Centerline is valid? [True, True] Translation: X:845.81, Y:15.28, Z:5.66 [[ 9.82133447e-01 -1.87643487e-01 -1.42763772e-02 8.45814371e+02] [ 1.87623887e-01 9.82237202e-01 -2.71208977e-03 1.52796684e+01] [ 1.45316948e-02 -1.49553157e-05 9.99894409e-01 5.65818724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.279254154 meters 0.014949805429497521 Centerline is valid? [True, True] Translation: X:845.87, Y:15.29, Z:5.66 [[ 9.82357812e-01 -1.86508465e-01 -1.37011659e-02 8.45870222e+02] [ 1.86490248e-01 9.82453354e-01 -2.60670588e-03 1.52947863e+01] [ 1.39469291e-02 5.58406346e-06 9.99902737e-01 5.65889695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.339254154 meters 0.017357264828359028 Centerline is valid? [True, True] Translation: X:845.93, Y:15.31, Z:5.66 [[ 9.82723846e-01 -1.84412444e-01 -1.56809873e-02 8.45927270e+02] [ 1.84388244e-01 9.82848945e-01 -2.98779708e-03 1.53103820e+01] [ 1.59630288e-02 4.47897166e-05 9.99872582e-01 5.65636373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.399254154 meters 0.01565634703313371 Centerline is valid? [True, True] Translation: X:845.98, Y:15.33, Z:5.66 [[ 9.84073162e-01 -1.76799770e-01 -1.84892951e-02 8.45983771e+02] [ 1.76764684e-01 9.84246819e-01 -3.52795938e-03 1.53303983e+01] [ 1.88217722e-02 2.03515734e-04 9.99822834e-01 5.65710554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.459254154 meters 0.014701878871969776 Centerline is valid? [True, True] Translation: X:846.04, Y:15.35, Z:5.66 [[ 9.84941083e-01 -1.71893188e-01 -1.85416969e-02 8.46040435e+02] [ 1.71856940e-01 9.85115547e-01 -3.54284965e-03 1.53483499e+01] [ 1.88747056e-02 3.02978868e-04 9.99821811e-01 5.65873424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.519254154 meters 0.015144668949363322 Centerline is valid? [True, True] Translation: X:846.10, Y:15.36, Z:5.66 [[ 9.85282536e-01 -1.69907981e-01 -1.86976481e-02 8.46097804e+02] [ 1.69870670e-01 9.85459871e-01 -3.57757486e-03 1.53623974e+01] [ 1.90336404e-02 3.48740014e-04 9.99818783e-01 5.65973002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.579254154 meters 0.017680775043054653 Centerline is valid? [True, True] Translation: X:846.16, Y:15.38, Z:5.66 [[ 9.85460027e-01 -1.68886692e-01 -1.85962481e-02 8.46155430e+02] [ 1.68849509e-01 9.85635403e-01 -3.56309771e-03 1.53768334e+01] [ 1.89308803e-02 3.71322995e-04 9.99820726e-01 5.65846828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.639254154 meters 0.015153465964393197 Centerline is valid? [True, True] Translation: X:846.21, Y:15.39, Z:5.66 [[ 9.85488545e-01 -1.68924047e-01 -1.66431718e-02 8.46212818e+02] [ 1.68894198e-01 9.85629014e-01 -3.19313847e-03 1.53903190e+01] [ 1.69433909e-02 3.35866225e-04 9.99856394e-01 5.66170889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.699254154 meters 0.015618272933085584 Centerline is valid? [True, True] Translation: X:846.27, Y:15.40, Z:5.66 [[ 9.85227862e-01 -1.70456135e-01 -1.64549730e-02 8.46270329e+02] [ 1.70427098e-01 9.85365217e-01 -3.16137643e-03 1.54021720e+01] [ 1.67530341e-02 3.10302836e-04 9.99859610e-01 5.66109931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.759254154 meters 0.017959081411379994 Centerline is valid? [True, True] Translation: X:846.33, Y:15.41, Z:5.66 [[ 9.85040706e-01 -1.71486190e-01 -1.69497418e-02 8.46327690e+02] [ 1.71455453e-01 9.85186476e-01 -3.26113076e-03 1.54140509e+01] [ 1.72578953e-02 3.06220881e-04 9.99851025e-01 5.65864354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.819254154 meters 0.017338114736049067 Centerline is valid? [True, True] Translation: X:846.38, Y:15.43, Z:5.66 [[ 9.85102971e-01 -1.71133793e-01 -1.68926374e-02 8.46384810e+02] [ 1.71103133e-01 9.85247748e-01 -3.25465065e-03 1.54266017e+01] [ 1.72004136e-02 3.15782847e-04 9.99852012e-01 5.65908646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.879254154 meters 0.01664865878884576 Centerline is valid? [True, True] Translation: X:846.44, Y:15.44, Z:5.66 [[ 9.85283202e-01 -1.70101823e-01 -1.68041960e-02 8.46442722e+02] [ 1.70071260e-01 9.85426434e-01 -3.24192935e-03 1.54391932e+01] [ 1.71107571e-02 3.36307751e-04 9.99853544e-01 5.66003631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.939254154 meters 0.01824133005611552 Centerline is valid? [True, True] Translation: X:846.50, Y:15.45, Z:5.66 [[ 9.85392133e-01 -1.69401953e-01 -1.74734536e-02 8.46499983e+02] [ 1.69368738e-01 9.85546977e-01 -3.37430873e-03 1.54505139e+01] [ 1.77925239e-02 3.65560479e-04 9.99841634e-01 5.65866113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.999254154 meters 0.01584460764573972 Centerline is valid? [True, True] Translation: X:846.56, Y:15.46, Z:5.66 [[ 9.85540246e-01 -1.68581716e-01 -1.70478346e-02 8.46557858e+02] [ 1.68549914e-01 9.85687610e-01 -3.29574053e-03 1.54614393e+01] [ 1.73594410e-02 3.74673881e-04 9.99849243e-01 5.66153417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.059254154 meters 0.016459545999464142 Centerline is valid? [True, True] Translation: X:846.62, Y:15.47, Z:5.66 [[ 9.85916587e-01 -1.66437613e-01 -1.63402930e-02 8.46615381e+02] [ 1.66408031e-01 9.86051906e-01 -3.16317413e-03 1.54727765e+01] [ 1.66388482e-02 3.99469861e-04 9.99861485e-01 5.66238913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.119254154 meters 0.018066310868927328 Centerline is valid? [True, True] Translation: X:846.67, Y:15.48, Z:5.66 [[ 9.86414186e-01 -1.63457091e-01 -1.63961086e-02 8.46672410e+02] [ 1.63426851e-01 9.86550340e-01 -3.17664136e-03 1.54846444e+01] [ 1.66948311e-02 4.53919696e-04 9.99860529e-01 5.66203437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.179254154 meters 0.02023125096284472 Centerline is valid? [True, True] Translation: X:846.73, Y:15.50, Z:5.66 [[ 9.86714160e-01 -1.61629944e-01 -1.64598578e-02 8.46730239e+02] [ 1.61599160e-01 9.86851317e-01 -3.19220680e-03 1.54968969e+01] [ 1.67593885e-02 4.89896449e-04 9.99859432e-01 5.66110923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters 0.022015256570589045 Centerline is valid? [True, True] Translation: X:846.79, Y:15.51, Z:5.66 [[ 9.87235409e-01 -1.58470235e-01 -1.59195409e-02 8.46787527e+02] [ 1.58440993e-01 9.87363614e-01 -3.08960901e-03 1.55092855e+01] [ 1.62079865e-02 5.27863544e-04 9.99868503e-01 5.66143199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.299254154 meters 0.020860381267751606 Centerline is valid? [True, True] Translation: X:846.85, Y:15.52, Z:5.66 [[ 9.87719715e-01 -1.55498308e-01 -1.51671275e-02 8.46845888e+02] [ 1.55471403e-01 9.87836005e-01 -2.94440870e-03 1.55188308e+01] [ 1.54404852e-02 5.50195936e-04 9.99880637e-01 5.66475459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters 0.02353833316381578 Centerline is valid? [True, True] Translation: X:846.90, Y:15.53, Z:5.66 [[ 9.87836669e-01 -1.54690383e-01 -1.57987438e-02 8.46902394e+02] [ 1.54661061e-01 9.87962823e-01 -3.06866704e-03 1.55297909e+01] [ 1.60832648e-02 5.87891369e-04 9.99870483e-01 5.66283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.419254154 meters 0.021503760548447146 Centerline is valid? [True, True] Translation: X:846.96, Y:15.54, Z:5.67 [[ 9.88026656e-01 -1.53642225e-01 -1.40496874e-02 8.46961003e+02] [ 1.53618890e-01 9.88126396e-01 -2.73172590e-03 1.55364562e+01] [ 1.43025754e-02 5.40720616e-04 9.99897567e-01 5.66551841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters 0.02285693012344512 Centerline is valid? [True, True] Translation: X:847.02, Y:15.55, Z:5.67 [[ 9.88291480e-01 -1.52012312e-01 -1.31227635e-02 8.47017769e+02] [ 1.51991781e-01 9.88378458e-01 -2.55374942e-03 1.55482596e+01] [ 1.33584581e-02 5.29296599e-04 9.99910632e-01 5.66715740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.539254154 meters 0.024261602034830344 Centerline is valid? [True, True] Translation: X:847.07, Y:15.56, Z:5.67 [[ 9.88549060e-01 -1.50317108e-01 -1.32484837e-02 8.47074901e+02] [ 1.50296013e-01 9.88637676e-01 -2.57944248e-03 1.55601063e+01] [ 1.34856845e-02 5.58711164e-04 9.99908908e-01 5.66792783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters 0.025968663262295633 Centerline is valid? [True, True] Translation: X:847.13, Y:15.57, Z:5.67 [[ 9.89279731e-01 -1.45476349e-01 -1.27375619e-02 8.47133595e+02] [ 1.45456441e-01 9.89361547e-01 -2.48065579e-03 1.55738526e+01] [ 1.29629307e-02 6.01302075e-04 9.99915797e-01 5.66807047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.659254154 meters 0.02996158704300634 Centerline is valid? [True, True] Translation: X:847.19, Y:15.59, Z:5.67 [[ 9.89660657e-01 -1.42815263e-01 -1.32508449e-02 8.47191654e+02] [ 1.42793474e-01 9.89749141e-01 -2.58098647e-03 1.55883949e+01] [ 1.34836166e-02 6.62166591e-04 9.99908873e-01 5.66563154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539999 meters 0.03141126642117656 Centerline is valid? [True, True] Translation: X:847.25, Y:15.60, Z:5.67 [[ 9.90408154e-01 -1.37491321e-01 -1.37049536e-02 8.47250271e+02] [ 1.37467500e-01 9.90502680e-01 -2.66976356e-03 1.56046054e+01] [ 1.39418625e-02 7.60169906e-04 9.99902519e-01 5.66774975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.779254154 meters 0.035022122550028935 Centerline is valid? [True, True] Translation: X:847.31, Y:15.62, Z:5.66 [[ 9.90609767e-01 -1.35819495e-01 -1.56637768e-02 8.47307437e+02] [ 1.35788161e-01 9.90733194e-01 -3.05191151e-03 1.56198688e+01] [ 1.59331327e-02 8.96297912e-04 9.99872658e-01 5.66363150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.839254154 meters 0.03409518719190875 Centerline is valid? [True, True] Translation: X:847.37, Y:15.63, Z:5.67 [[ 9.90663381e-01 -1.35493322e-01 -1.50872488e-02 8.47365256e+02] [ 1.35464176e-01 9.90777877e-01 -2.94201539e-03 1.56308724e+01] [ 1.53467358e-02 8.70765183e-04 9.99881853e-01 5.66673221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.899254154 meters 0.0328356948914012 Centerline is valid? [True, True] Translation: X:847.42, Y:15.64, Z:5.67 [[ 9.90428531e-01 -1.37223295e-01 -1.48691790e-02 8.47423610e+02] [ 1.37195147e-01 9.90539788e-01 -2.90168057e-03 1.56380858e+01] [ 1.51266916e-02 8.33928033e-04 9.99885237e-01 5.66815932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.959254154 meters 0.033729375955198634 Centerline is valid? [True, True] Translation: X:847.48, Y:15.65, Z:5.67 [[ 9.90196798e-01 -1.38943054e-01 -1.43223023e-02 8.47481850e+02] [ 1.38917085e-01 9.90300065e-01 -2.79718388e-03 1.56493493e+01] [ 1.45720261e-02 7.80150040e-04 9.99893518e-01 5.66680602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.019254154 meters 0.033262400351862315 Centerline is valid? [True, True] Translation: X:847.54, Y:15.66, Z:5.67 [[ 9.90157813e-01 -1.39346708e-01 -1.30384451e-02 8.47539485e+02] [ 1.39325182e-01 9.90243401e-01 -2.54939346e-03 1.56617032e+01] [ 1.32664838e-02 7.07718106e-04 9.99911746e-01 5.67026872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.079254154 meters 0.029401873294747867 Centerline is valid? [True, True] Translation: X:847.60, Y:15.67, Z:5.67 [[ 9.90122153e-01 -1.39438733e-01 -1.46616022e-02 8.47598482e+02] [ 1.39411465e-01 9.90230379e-01 -2.87071547e-03 1.56666980e+01] [ 1.49186528e-02 7.98363544e-04 9.99888392e-01 5.66729227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.139254154 meters 0.029633115972594177 Centerline is valid? [True, True] Translation: X:847.66, Y:15.68, Z:5.67 [[ 9.90500301e-01 -1.36711483e-01 -1.48028589e-02 8.47656210e+02] [ 1.36683352e-01 9.90610543e-01 -2.90044213e-03 1.56832210e+01] [ 1.50603918e-02 8.49584432e-04 9.99886225e-01 5.67000682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.199254154 meters 0.03298663771397888 Centerline is valid? [True, True] Translation: X:847.71, Y:15.70, Z:5.67 [[ 9.90781073e-01 -1.34588407e-01 -1.54539693e-02 8.47712845e+02] [ 1.34557478e-01 9.90901161e-01 -3.02876358e-03 1.57007928e+01] [ 1.57209926e-02 9.21394497e-04 9.99875993e-01 5.66956403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.259254154 meters 0.03189661456661026 Centerline is valid? [True, True] Translation: X:847.77, Y:15.71, Z:5.67 [[ 9.90735467e-01 -1.34888804e-01 -1.57558219e-02 8.47770261e+02] [ 1.34856642e-01 9.90860299e-01 -3.09107571e-03 1.57098841e+01] [ 1.60287699e-02 9.37661117e-04 9.99871091e-01 5.66720680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.319254154 meters 0.031083646594360744 Centerline is valid? [True, True] Translation: X:847.83, Y:15.72, Z:5.67 [[ 9.90659932e-01 -1.35528290e-01 -1.49993782e-02 8.47828007e+02] [ 1.35499153e-01 9.90773080e-01 -2.94680413e-03 1.57231967e+01] [ 1.52603555e-02 8.86877734e-04 9.99883161e-01 5.66920007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.379254154 meters 0.030394996800699164 Centerline is valid? [True, True] Translation: X:847.89, Y:15.73, Z:5.67 [[ 9.90480790e-01 -1.36808520e-01 -1.52063594e-02 8.47885542e+02] [ 1.36778660e-01 9.90597117e-01 -2.99152218e-03 1.57349558e+01] [ 1.54726415e-02 8.83139790e-04 9.99879902e-01 5.66964455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.439254154 meters 0.03104061781212855 Centerline is valid? [True, True] Translation: X:847.94, Y:15.75, Z:5.67 [[ 9.89919329e-01 -1.40720290e-01 -1.60474881e-02 8.47943413e+02] [ 1.40687511e-01 9.90049011e-01 -3.15918950e-03 1.57473617e+01] [ 1.63323618e-02 8.69661576e-04 9.99866240e-01 5.66828769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.499254154 meters 0.02707844246275272 Centerline is valid? [True, True] Translation: X:848.00, Y:15.75, Z:5.67 [[ 9.89098835e-01 -1.46372965e-01 -1.60763586e-02 8.48003942e+02] [ 1.46340806e-01 9.89229169e-01 -3.16524757e-03 1.57527371e+01] [ 1.63665096e-02 7.78115399e-04 9.99865757e-01 5.66907631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.559254154 meters 0.023844070454388532 Centerline is valid? [True, True] Translation: X:848.06, Y:15.76, Z:5.67 [[ 9.87865141e-01 -1.54487319e-01 -1.60041070e-02 8.48064255e+02] [ 1.54456502e-01 9.87994563e-01 -3.15151065e-03 1.57597157e+01] [ 1.62988391e-02 6.41329135e-04 9.99866959e-01 5.66910996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.619254154 meters 0.019385868453998832 Centerline is valid? [True, True] Translation: X:848.12, Y:15.76, Z:5.67 [[ 9.86404133e-01 -1.63621707e-01 -1.53239633e-02 8.48124795e+02] [ 1.63594546e-01 9.86523044e-01 -3.01806145e-03 1.57632001e+01] [ 1.56112633e-02 4.70111467e-04 9.99878026e-01 5.67126126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.679254154 meters 0.016960527644718563 Centerline is valid? [True, True] Translation: X:848.19, Y:15.76, Z:5.67 [[ 9.84738367e-01 -1.73255152e-01 -1.65227239e-02 8.48185946e+02] [ 1.73224921e-01 9.84876914e-01 -3.25450235e-03 1.57643454e+01] [ 1.68367086e-02 3.42685787e-04 9.99858194e-01 5.67132230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters 0.014901962956655017 Centerline is valid? [True, True] Translation: X:848.25, Y:15.77, Z:5.67 [[ 9.83683811e-01 -1.79144622e-01 -1.65337178e-02 8.48245535e+02] [ 1.79115139e-01 9.83822720e-01 -3.25919500e-03 1.57699354e+01] [ 1.68501145e-02 2.44578205e-04 9.99857997e-01 5.67230743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.799254154 meters 0.014037903727860275 Centerline is valid? [True, True] Translation: X:848.30, Y:15.78, Z:5.67 [[ 9.82522465e-01 -1.85375300e-01 -1.68998357e-02 8.48304453e+02] [ 1.85345343e-01 9.82667786e-01 -3.33571410e-03 1.57750208e+01] [ 1.72252831e-02 1.45108195e-04 9.99851623e-01 5.67247832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters 0.016404222396248107 Centerline is valid? [True, True] Translation: X:848.36, Y:15.78, Z:5.67 [[ 9.81920731e-01 -1.88441965e-01 -1.79249283e-02 8.48361916e+02] [ 1.88408676e-01 9.82084322e-01 -3.54336135e-03 1.57824873e+01] [ 1.82715090e-02 1.02087971e-04 9.99833057e-01 5.67194347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.919254154 meters 0.015184493674883445 Centerline is valid? [True, True] Translation: X:848.42, Y:15.79, Z:5.67 [[ 9.81996481e-01 -1.88110819e-01 -1.72403699e-02 8.48418082e+02] [ 1.88079915e-01 9.82147804e-01 -3.41138310e-03 1.57927776e+01] [ 1.75743095e-02 1.07398899e-04 9.99845554e-01 5.67293250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters 0.015301871201456967 Centerline is valid? [True, True] Translation: X:848.48, Y:15.80, Z:5.67 [[ 9.82406173e-01 -1.85967254e-01 -1.71549222e-02 8.48476087e+02] [ 1.85936264e-01 9.82555931e-01 -3.39815627e-03 1.58041717e+01] [ 1.74876164e-02 1.48647555e-04 9.99847069e-01 5.67404519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.039254154 meters 0.014557145834825818 Centerline is valid? [True, True] Translation: X:848.53, Y:15.82, Z:5.68 [[ 9.83139681e-01 -1.82104911e-01 -1.65580286e-02 8.48532395e+02] [ 1.82075448e-01 9.83279084e-01 -3.28254684e-03 1.58164077e+01] [ 1.68789310e-02 2.12391585e-04 9.99857518e-01 5.67535892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters 0.016335086914821183 Centerline is valid? [True, True] Translation: X:848.59, Y:15.83, Z:5.67 [[ 9.83645852e-01 -1.79180677e-01 -1.83063653e-02 8.48590296e+02] [ 1.79144084e-01 9.83816141e-01 -3.63301655e-03 1.58277962e+01] [ 1.86610640e-02 2.94124635e-04 9.99825824e-01 5.67376057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.159254154 meters 0.01606688698414724 Centerline is valid? [True, True] Translation: X:848.65, Y:15.84, Z:5.67 [[ 9.83794128e-01 -1.78406961e-01 -1.78904876e-02 8.48647686e+02] [ 1.78371823e-01 9.83956738e-01 -3.55385703e-03 1.58377793e+01] [ 1.82374987e-02 3.05104791e-04 9.99833636e-01 5.67479307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539999 meters 0.016922220241254792 Centerline is valid? [True, True] Translation: X:848.71, Y:15.84, Z:5.68 [[ 9.83062553e-01 -1.82524640e-01 -1.65158347e-02 8.48706267e+02] [ 1.82495216e-01 9.83201256e-01 -3.28427631e-03 1.58448169e+01] [ 1.68378507e-02 2.14588245e-04 9.99858210e-01 5.67511023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.279254154 meters 0.015180748942088653 Centerline is valid? [True, True] Translation: X:848.77, Y:15.85, Z:5.68 [[ 9.81817675e-01 -1.89148029e-01 -1.60335703e-02 8.48765131e+02] [ 1.89121113e-01 9.81948579e-01 -3.19252022e-03 1.58493690e+01] [ 1.63480005e-02 1.02186128e-04 9.99866357e-01 5.67661745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.339254154 meters 0.016909841562363578 Centerline is valid? [True, True] Translation: X:848.82, Y:15.86, Z:5.68 [[ 9.80896658e-01 -1.93815584e-01 -1.66513120e-02 8.48824081e+02] [ 1.93787151e-01 9.81037980e-01 -3.31988929e-03 1.58565585e+01] [ 1.69790157e-02 2.96579935e-05 9.99855846e-01 5.67595476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.399254154 meters 0.01650458495765391 Centerline is valid? [True, True] Translation: X:848.88, Y:15.86, Z:5.68 [[ 9.79825145e-01 -1.99192690e-01 -1.62775195e-02 8.48881769e+02] [ 1.99166184e-01 9.79960341e-01 -3.24992664e-03 1.58618982e+01] [ 1.65986852e-02 -5.75716126e-05 9.99862231e-01 5.67699022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.459254154 meters 0.014515094452664929 Centerline is valid? [True, True] Translation: X:848.94, Y:15.87, Z:5.68 [[ 9.79224323e-01 -2.02211596e-01 -1.51721822e-02 8.48939335e+02] [ 2.02188863e-01 9.79341851e-01 -3.03361779e-03 1.58688755e+01] [ 1.54721857e-02 -9.70539476e-05 9.99880294e-01 5.67823381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.519254154 meters 0.015741401531089067 Centerline is valid? [True, True] Translation: X:849.00, Y:15.88, Z:5.68 [[ 9.78695792e-01 -2.04710141e-01 -1.57577074e-02 8.48997432e+02] [ 2.04685871e-01 9.78822629e-01 -3.15514055e-03 1.58773365e+01] [ 1.60698899e-02 -1.37457282e-04 9.99870862e-01 5.67754751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.579254154 meters 0.014678083181960518 Centerline is valid? [True, True] Translation: X:849.05, Y:15.88, Z:5.68 [[ 9.78248502e-01 -2.06885229e-01 -1.51119650e-02 8.49054643e+02] [ 2.06863129e-01 9.78365206e-01 -3.02830781e-03 1.58842296e+01] [ 1.54115328e-02 -1.63670777e-04 9.99881222e-01 5.67873301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.639254154 meters 0.014558088845805854 Centerline is valid? [True, True] Translation: X:849.11, Y:15.90, Z:5.68 [[ 9.78167906e-01 -2.07330024e-01 -1.42059192e-02 8.49112029e+02] [ 2.07310501e-01 9.78271044e-01 -2.84959759e-03 1.58950062e+01] [ 1.44880465e-02 -1.57651305e-04 9.99895030e-01 5.67944765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.699254154 meters 0.015350015521244296 Centerline is valid? [True, True] Translation: X:849.17, Y:15.91, Z:5.68 [[ 9.78193238e-01 -2.07234780e-01 -1.38468687e-02 8.49168100e+02] [ 2.07216181e-01 9.78291226e-01 -2.78042443e-03 1.59065677e+01] [ 1.41224708e-02 -1.49502871e-04 9.99900262e-01 5.67887307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.759254154 meters 0.014009381721226117 Centerline is valid? [True, True] Translation: X:849.23, Y:15.92, Z:5.68 [[ 9.78915830e-01 -2.03899477e-01 -1.21984013e-02 8.49225131e+02] [ 2.03884756e-01 9.78991826e-01 -2.45164329e-03 1.59214271e+01] [ 1.24420239e-02 -8.71156330e-05 9.99922591e-01 5.68001964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.819254154 meters 0.014492492670977887 Centerline is valid? [True, True] Translation: X:849.28, Y:15.94, Z:5.68 [[ 9.79988595e-01 -1.98675332e-01 -1.22664740e-02 8.49282299e+02] [ 1.98659995e-01 9.80065361e-01 -2.46858086e-03 1.59365241e+01] [ 1.25123924e-02 -1.76765761e-05 9.99921717e-01 5.67951775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.879254154 meters 0.013781413163237527 Centerline is valid? [True, True] Translation: X:849.34, Y:15.95, Z:5.68 [[ 9.81219615e-01 -1.92500896e-01 -1.23073839e-02 8.49337643e+02] [ 1.92484938e-01 9.81296795e-01 -2.47950858e-03 1.59524067e+01] [ 1.25545040e-02 6.39564370e-05 9.99921187e-01 5.68049892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.939254154 meters 0.016185922712939973 Centerline is valid? [True, True] Translation: X:849.39, Y:15.97, Z:5.68 [[ 9.82438641e-01 -1.86088185e-01 -1.36200010e-02 8.49394581e+02] [ 1.86067982e-01 9.82533033e-01 -2.74697203e-03 1.59699409e+01] [ 1.38932800e-02 1.64485360e-04 9.99903470e-01 5.67741964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.999254154 meters 0.016288717014888633 Centerline is valid? [True, True] Translation: X:849.45, Y:15.99, Z:5.68 [[ 9.83511692e-01 -1.80370815e-01 -1.30812960e-02 8.49451244e+02] [ 1.80351629e-01 9.83598654e-01 -2.64160766e-03 1.59859295e+01] [ 1.33432141e-02 2.38818981e-04 9.99910947e-01 5.67787485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.059254154 meters 0.016032263236776575 Centerline is valid? [True, True] Translation: X:849.51, Y:16.00, Z:5.68 [[ 9.83963249e-01 -1.77900152e-01 -1.29560874e-02 8.49508408e+02] [ 1.77881087e-01 9.84048506e-01 -2.61858148e-03 1.59975676e+01] [ 1.32152645e-02 2.71945031e-04 9.99912638e-01 5.67903898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.119254154 meters 0.017154594114892337 Centerline is valid? [True, True] Translation: X:849.56, Y:16.01, Z:5.68 [[ 9.83947221e-01 -1.77988668e-01 -1.29576771e-02 8.49564404e+02] [ 1.77969587e-01 9.84032499e-01 -2.62035153e-03 1.60081466e+01] [ 1.32171682e-02 2.72215174e-04 9.99912612e-01 5.67853698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.179254154 meters 0.016105413261480513 Centerline is valid? [True, True] Translation: X:849.62, Y:16.01, Z:5.68 [[ 9.83103218e-01 -1.82653016e-01 -1.20804885e-02 8.49622868e+02] [ 1.82636768e-01 9.83177419e-01 -2.44414433e-03 1.60140486e+01] [ 1.23236939e-02 1.96504783e-04 9.99924041e-01 5.67915033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters 0.0167112158854201 Centerline is valid? [True, True] Translation: X:849.68, Y:16.02, Z:5.68 [[ 9.81719892e-01 -1.89997062e-01 -1.12769574e-02 8.49682239e+02] [ 1.89983379e-01 9.81784654e-01 -2.28232607e-03 1.60177606e+01] [ 1.15051790e-02 9.81704203e-05 9.99933808e-01 5.67741065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.299254154 meters 0.01375822598739685 Centerline is valid? [True, True] Translation: X:849.74, Y:16.02, Z:5.68 [[ 9.80884333e-01 -1.94280213e-01 -1.10055985e-02 8.49740880e+02] [ 1.94267432e-01 9.80946072e-01 -2.22897938e-03 1.60230017e+01] [ 1.12289452e-02 4.83415858e-05 9.99936952e-01 5.68031217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters 0.013631292347683082 Centerline is valid? [True, True] Translation: X:849.80, Y:16.03, Z:5.68 [[ 9.79688662e-01 -2.00231040e-01 -1.08469154e-02 8.49799588e+02] [ 2.00218957e-01 9.79748708e-01 -2.19973099e-03 1.60278713e+01] [ 1.10677058e-02 -1.67065861e-05 9.99938751e-01 5.68054617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.419254154 meters 0.015183777300949126 Centerline is valid? [True, True] Translation: X:849.86, Y:16.04, Z:5.68 [[ 9.78726330e-01 -2.04906831e-01 -1.03905030e-02 8.49857747e+02] [ 2.04895977e-01 9.78781481e-01 -2.10999497e-03 1.60353452e+01] [ 1.06023843e-02 -6.38646315e-05 9.99943791e-01 5.67992122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters 0.015589160993361648 Centerline is valid? [True, True] Translation: X:849.91, Y:16.05, Z:5.68 [[ 9.78414343e-01 -2.06389696e-01 -1.04243823e-02 8.49914791e+02] [ 2.06378824e-01 9.78469870e-01 -2.11978495e-03 1.60462773e+01] [ 1.06374458e-02 -7.73437760e-05 9.99943418e-01 5.67941742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.539254154 meters 0.016451790148758215 Centerline is valid? [True, True] Translation: X:849.97, Y:16.06, Z:5.68 [[ 9.78242405e-01 -2.07125251e-01 -1.18713160e-02 8.49971882e+02] [ 2.07111172e-01 9.78314429e-01 -2.41681152e-03 1.60580245e+01] [ 1.21144624e-02 -9.44546637e-05 9.99926613e-01 5.67708840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters 0.014872599509620095 Centerline is valid? [True, True] Translation: X:850.03, Y:16.07, Z:5.68 [[ 9.77981916e-01 -2.08318699e-01 -1.24375128e-02 8.50029242e+02] [ 2.08303313e-01 9.78060994e-01 -2.53426642e-03 1.60702615e+01] [ 1.26925812e-02 -1.12308388e-04 9.99919440e-01 5.67867185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.659254154 meters 0.016082001561689593 Centerline is valid? [True, True] Translation: X:850.09, Y:16.08, Z:5.68 [[ 9.77569735e-01 -2.10315300e-01 -1.11752856e-02 8.50087324e+02] [ 2.10302978e-01 9.77633602e-01 -2.27983001e-03 1.60825314e+01] [ 1.14048179e-02 -1.21503027e-04 9.99934956e-01 5.67992732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539999 meters 0.013691708779282904 Centerline is valid? [True, True] Translation: X:850.14, Y:16.10, Z:5.68 [[ 9.77911467e-01 -2.08775280e-01 -1.01017246e-02 8.50143564e+02] [ 2.08765110e-01 9.77963636e-01 -2.06269768e-03 1.60973789e+01] [ 1.03097596e-02 -9.17519385e-05 9.99946849e-01 5.68362794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.779254154 meters 0.015097633842550095 Centerline is valid? [True, True] Translation: X:850.20, Y:16.12, Z:5.68 [[ 9.78397587e-01 -2.06388708e-01 -1.19106652e-02 8.50200509e+02] [ 2.06374367e-01 9.78470079e-01 -2.43414156e-03 1.61150899e+01] [ 1.21566089e-02 -7.64977686e-05 9.99926103e-01 5.68053278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.839254154 meters 0.014994346094953283 Centerline is valid? [True, True] Translation: X:850.26, Y:16.13, Z:5.68 [[ 9.79291087e-01 -2.01936821e-01 -1.45081756e-02 8.50255810e+02] [ 2.01914990e-01 9.79398550e-01 -2.96931254e-03 1.61331023e+01] [ 1.48088997e-02 -2.15968218e-05 9.99890342e-01 5.67863485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.899254154 meters 0.013015285266174289 Centerline is valid? [True, True] Translation: X:850.31, Y:16.15, Z:5.68 [[ 9.80413967e-01 -1.96347340e-01 -1.53680085e-02 8.50311883e+02] [ 1.96322089e-01 9.80534404e-01 -3.14961469e-03 1.61514241e+01] [ 1.56872795e-02 7.08466933e-05 9.99876945e-01 5.68149437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.959254154 meters 0.013360306723051305 Centerline is valid? [True, True] Translation: X:850.37, Y:16.17, Z:5.68 [[ 9.81097364e-01 -1.92949833e-01 -1.47757835e-02 8.50368932e+02] [ 1.92926048e-01 9.81208615e-01 -3.03205369e-03 1.61679330e+01] [ 1.50831604e-02 1.24106351e-04 9.99886235e-01 5.68188252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.019254154 meters 0.017452037568471305 Centerline is valid? [True, True] Translation: X:850.42, Y:16.18, Z:5.68 [[ 9.81793427e-01 -1.89338992e-01 -1.52451123e-02 8.50424566e+02] [ 1.89313197e-01 9.81911763e-01 -3.13093639e-03 1.61841236e+01] [ 1.55621635e-02 1.87831813e-04 9.99878885e-01 5.67935265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.079254154 meters 0.015514417137317025 Centerline is valid? [True, True] Translation: X:850.48, Y:16.20, Z:5.68 [[ 9.82557552e-01 -1.85435168e-01 -1.39447592e-02 8.50479945e+02] [ 1.85413175e-01 9.82656474e-01 -2.86509608e-03 1.62004097e+01] [ 1.42341975e-02 2.29579703e-04 9.99898662e-01 5.68295703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.139254154 meters 0.01603254048856607 Centerline is valid? [True, True] Translation: X:850.54, Y:16.21, Z:5.68 [[ 9.82639587e-01 -1.85084666e-01 -1.27713700e-02 8.50537493e+02] [ 1.85066157e-01 9.82722555e-01 -2.62646134e-03 1.62101962e+01] [ 1.30368311e-02 2.17316522e-04 9.99914993e-01 5.68431733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.199254154 meters 0.014654182147958479 Centerline is valid? [True, True] Translation: X:850.59, Y:16.22, Z:5.69 [[ 9.82802291e-01 -1.84312001e-01 -1.13464892e-02 8.50594928e+02] [ 1.84297304e-01 9.82867765e-01 -2.33650536e-03 1.62221784e+01] [ 1.15827445e-02 2.05195446e-04 9.99932897e-01 5.68693337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.259254154 meters 0.015221800122719177 Centerline is valid? [True, True] Translation: X:850.65, Y:16.24, Z:5.68 [[ 9.82999972e-01 -1.83082526e-01 -1.38507916e-02 8.50651687e+02] [ 1.83060465e-01 9.83097510e-01 -2.85502880e-03 1.62353095e+01] [ 1.41393846e-02 2.70960886e-04 9.99899997e-01 5.68462103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.319254154 meters 0.018235202956704687 Centerline is valid? [True, True] Translation: X:850.71, Y:16.25, Z:5.68 [[ 9.82805759e-01 -1.83865710e-01 -1.69186487e-02 8.50709228e+02] [ 1.83832848e-01 9.82951320e-01 -3.49086522e-03 1.62465973e+01] [ 1.72720584e-02 3.20639064e-04 9.99850775e-01 5.67974799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.379254154 meters 0.014899958359018852 Centerline is valid? [True, True] Translation: X:850.77, Y:16.26, Z:5.68 [[ 9.82577512e-01 -1.85221850e-01 -1.53068111e-02 8.50767993e+02] [ 1.85195059e-01 9.82696694e-01 -3.16196888e-03 1.62553637e+01] [ 1.56276184e-02 2.72133722e-04 9.99877844e-01 5.68369286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.439254154 meters 0.017706920592836656 Centerline is valid? [True, True] Translation: X:850.83, Y:16.26, Z:5.68 [[ 9.81989113e-01 -1.88269989e-01 -1.58679818e-02 8.50826635e+02] [ 1.88241528e-01 9.82117282e-01 -3.28202391e-03 1.62630154e+01] [ 1.62021258e-02 2.35898602e-04 9.99868709e-01 5.68189382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.499254154 meters 0.015953204032742595 Centerline is valid? [True, True] Translation: X:850.88, Y:16.27, Z:5.68 [[ 9.81813041e-01 -1.89295523e-01 -1.45037183e-02 8.50883295e+02] [ 1.89271817e-01 9.81920141e-01 -3.00255531e-03 1.62734165e+01] [ 1.48098634e-02 2.02802844e-04 9.99890307e-01 5.68318024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.559254154 meters 0.015528057653155285 Centerline is valid? [True, True] Translation: X:850.94, Y:16.28, Z:5.68 [[ 9.81922425e-01 -1.88699442e-01 -1.48617882e-02 8.50941195e+02] [ 1.88674435e-01 9.82034863e-01 -3.07981323e-03 1.62831082e+01] [ 1.51759532e-02 2.20098172e-04 9.99884814e-01 5.68395822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.619254154 meters 0.01487505129743569 Centerline is valid? [True, True] Translation: X:851.00, Y:16.30, Z:5.68 [[ 9.82366068e-01 -1.86337195e-01 -1.53413980e-02 8.50998195e+02] [ 1.86310196e-01 9.82485815e-01 -3.18330138e-03 1.62965027e+01] [ 1.56658734e-02 2.68908387e-04 9.99877247e-01 5.68485482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.679254154 meters 0.015623264549841245 Centerline is valid? [True, True] Translation: X:851.06, Y:16.31, Z:5.68 [[ 9.82931159e-01 -1.83307242e-01 -1.56458528e-02 8.51055781e+02] [ 1.83278710e-01 9.83055618e-01 -3.25063324e-03 1.63105041e+01] [ 1.59766081e-02 3.27596984e-04 9.99872312e-01 5.68480552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters 0.017901035526617416 Centerline is valid? [True, True] Translation: X:851.11, Y:16.33, Z:5.68 [[ 9.83875969e-01 -1.78183686e-01 -1.54483478e-02 8.51111894e+02] [ 1.78155201e-01 9.83997158e-01 -3.21197218e-03 1.63272096e+01] [ 1.57734514e-02 4.07978731e-04 9.99875508e-01 5.68487635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.799254154 meters 0.01940152687604964 Centerline is valid? [True, True] Translation: X:851.17, Y:16.34, Z:5.68 [[ 9.83989929e-01 -1.77373370e-01 -1.73927267e-02 8.51169264e+02] [ 1.77337075e-01 9.84143516e-01 -3.61968430e-03 1.63400384e+01] [ 1.77589748e-02 4.77357607e-04 9.99842183e-01 5.68267284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters 0.01985991285194295 Centerline is valid? [True, True] Translation: X:851.23, Y:16.35, Z:5.68 [[ 9.83757102e-01 -1.78636555e-01 -1.76336670e-02 8.51225548e+02] [ 1.78599399e-01 9.83915020e-01 -3.67265057e-03 1.63521594e+01] [ 1.80060995e-02 4.63633756e-04 9.99837770e-01 5.68147548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.919254154 meters 0.017610251202133918 Centerline is valid? [True, True] Translation: X:851.28, Y:16.36, Z:5.68 [[ 9.83314196e-01 -1.81076668e-01 -1.74479977e-02 8.51284104e+02] [ 1.81040637e-01 9.83468895e-01 -3.63603702e-03 1.63625394e+01] [ 1.78179644e-02 4.16570202e-04 9.99841161e-01 5.68298133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters 0.01656363984319158 Centerline is valid? [True, True] Translation: X:851.34, Y:16.37, Z:5.69 [[ 9.82867456e-01 -1.83525842e-01 -1.70243696e-02 8.51341437e+02] [ 1.83491876e-01 9.83014818e-01 -3.54955527e-03 1.63719570e+01] [ 1.73866427e-02 3.64908841e-04 9.99848774e-01 5.68500752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.039254154 meters 0.01656809289982004 Centerline is valid? [True, True] Translation: X:851.40, Y:16.38, Z:5.69 [[ 9.82700864e-01 -1.84513003e-01 -1.59362563e-02 8.51399710e+02] [ 1.84483326e-01 9.82830018e-01 -3.32542056e-03 1.63832185e+01] [ 1.62762144e-02 3.27920101e-04 9.99867480e-01 5.68664501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters 0.017674580881402627 Centerline is valid? [True, True] Translation: X:851.46, Y:16.40, Z:5.69 [[ 9.82655899e-01 -1.84787471e-01 -1.55233941e-02 8.51455880e+02] [ 1.84759309e-01 9.82778454e-01 -3.24154432e-03 1.63960295e+01] [ 1.58550540e-02 3.17231087e-04 9.99874250e-01 5.68644671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.159254154 meters 0.01666288932199022 Centerline is valid? [True, True] Translation: X:851.51, Y:16.41, Z:5.69 [[ 9.82737870e-01 -1.84329216e-01 -1.57803626e-02 8.51514473e+02] [ 1.84300005e-01 9.82864502e-01 -3.29830793e-03 1.64051580e+01] [ 1.61179327e-02 3.33051204e-04 9.99870042e-01 5.68761697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539999 meters 0.018281460206073755 Centerline is valid? [True, True] Translation: X:851.57, Y:16.42, Z:5.69 [[ 9.82885498e-01 -1.83503461e-01 -1.62042622e-02 8.51570604e+02] [ 1.83472502e-01 9.83018998e-01 -3.38967685e-03 1.64186748e+01] [ 1.65511151e-02 3.58627684e-04 9.99862957e-01 5.68652372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.279254154 meters 0.01819257774392563 Centerline is valid? [True, True] Translation: X:851.63, Y:16.43, Z:5.69 [[ 9.83288088e-01 -1.81323747e-01 -1.63167273e-02 8.51627631e+02] [ 1.81292003e-01 9.83423377e-01 -3.41643177e-03 1.64326927e+01] [ 1.66657313e-02 4.01244490e-04 9.99861037e-01 5.68744058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.339254154 meters 0.017953175912092657 Centerline is valid? [True, True] Translation: X:851.68, Y:16.45, Z:5.69 [[ 9.83921316e-01 -1.77746718e-01 -1.74627735e-02 8.51684620e+02] [ 1.77709749e-01 9.84076144e-01 -3.65888364e-03 1.64497896e+01] [ 1.78350533e-02 4.96748515e-04 9.99840819e-01 5.68815643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.399254154 meters 0.019564031770901567 Centerline is valid? [True, True] Translation: X:851.74, Y:16.47, Z:5.69 [[ 9.84378811e-01 -1.75024465e-01 -1.90995361e-02 8.51742236e+02] [ 1.74979712e-01 9.84563903e-01 -4.00271146e-03 1.64660643e+01] [ 1.95052862e-02 5.98153037e-04 9.99809575e-01 5.68624452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.459254154 meters 0.019986995360803585 Centerline is valid? [True, True] Translation: X:851.80, Y:16.48, Z:5.69 [[ 9.84558138e-01 -1.73916961e-01 -1.99540554e-02 8.51799633e+02] [ 1.73867807e-01 9.84760106e-01 -4.18568492e-03 1.64791751e+01] [ 2.03779193e-02 6.51682307e-04 9.99792136e-01 5.68597477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.519254154 meters 0.021270540180508266 Centerline is valid? [True, True] Translation: X:851.86, Y:16.49, Z:5.69 [[ 9.84407285e-01 -1.74673452e-01 -2.07721758e-02 8.51855814e+02] [ 1.74620219e-01 9.84626192e-01 -4.36353919e-03 1.64919567e+01] [ 2.12150229e-02 6.68257862e-04 9.99774713e-01 5.68547556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.579254154 meters 0.020249062804600433 Centerline is valid? [True, True] Translation: X:851.91, Y:16.50, Z:5.69 [[ 9.84187326e-01 -1.76074293e-01 -1.93171102e-02 8.51912818e+02] [ 1.76028423e-01 9.84376699e-01 -4.06314585e-03 1.65049550e+01] [ 1.97307287e-02 5.98536206e-04 9.99805151e-01 5.68803906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.639254154 meters 0.01857858342145121 Centerline is valid? [True, True] Translation: X:851.97, Y:16.52, Z:5.69 [[ 9.83931390e-01 -1.77680966e-01 -1.75639980e-02 8.51970565e+02] [ 1.77643220e-01 9.84088007e-01 -3.69889458e-03 1.65153452e+01] [ 1.79417429e-02 5.19333326e-04 9.99838899e-01 5.69166848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.699254154 meters 0.019035628482304043 Centerline is valid? [True, True] Translation: X:852.03, Y:16.52, Z:5.69 [[ 9.83271341e-01 -1.81513602e-01 -1.51750344e-02 8.52029795e+02] [ 1.81485854e-01 9.83388357e-01 -3.19762772e-03 1.65241086e+01] [ 1.55033650e-02 3.90081637e-04 9.99879740e-01 5.69339550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.759254154 meters 0.019610643578998267 Centerline is valid? [True, True] Translation: X:852.09, Y:16.54, Z:5.69 [[ 9.83074022e-01 -1.82602918e-01 -1.48876665e-02 8.52086074e+02] [ 1.82576319e-01 9.83186676e-01 -3.13811851e-03 1.65379719e+01] [ 1.52103849e-02 3.66867435e-04 9.99884248e-01 5.69332983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.819254154 meters 0.016753568054698412 Centerline is valid? [True, True] Translation: X:852.14, Y:16.55, Z:5.70 [[ 9.82990519e-01 -1.83044438e-01 -1.49790941e-02 8.52143822e+02] [ 1.83017517e-01 9.83104572e-01 -3.16042596e-03 1.65479724e+01] [ 1.53045143e-02 3.65232156e-04 9.99882812e-01 5.69519237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.879254154 meters 0.018765046384145556 Centerline is valid? [True, True] Translation: X:852.20, Y:16.56, Z:5.69 [[ 9.83063360e-01 -1.82480238e-01 -1.69526702e-02 8.52201237e+02] [ 1.82445586e-01 9.83209428e-01 -3.58172007e-03 1.65613198e+01] [ 1.73216183e-02 4.28117920e-04 9.99849878e-01 5.69295365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.939254154 meters 0.019720483317089314 Centerline is valid? [True, True] Translation: X:852.26, Y:16.58, Z:5.69 [[ 9.83526510e-01 -1.79704182e-01 -1.95451215e-02 8.52258844e+02] [ 1.79657522e-01 9.83720541e-01 -4.13195836e-03 1.65762027e+01] [ 1.99694677e-02 5.52462495e-04 9.99800438e-01 5.69154107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.999254154 meters 0.019835613511831513 Centerline is valid? [True, True] Translation: X:852.31, Y:16.59, Z:5.69 [[ 9.83968347e-01 -1.77310849e-01 -1.91613000e-02 8.52314503e+02] [ 1.77265522e-01 9.84154721e-01 -4.05224470e-03 1.65928796e+01] [ 1.95761908e-02 5.90642680e-04 9.99808194e-01 5.69130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.059254154 meters 0.01942611154199163 Centerline is valid? [True, True] Translation: X:852.37, Y:16.60, Z:5.69 [[ 9.83890473e-01 -1.77798626e-01 -1.86329235e-02 8.52372204e+02] [ 1.77755781e-01 9.84066728e-01 -3.94425326e-03 1.66042272e+01] [ 1.90373228e-02 5.68603356e-04 9.99818612e-01 5.69245495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.119254154 meters 0.020118483995745087 Centerline is valid? [True, True] Translation: X:852.43, Y:16.62, Z:5.70 [[ 9.83863419e-01 -1.78125289e-01 -1.68568723e-02 8.52429266e+02] [ 1.78090198e-01 9.84007682e-01 -3.57249869e-03 1.66171663e+01] [ 1.72236442e-02 5.12807047e-04 9.99851531e-01 5.69516565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.179254154 meters 0.020840126547402672 Centerline is valid? [True, True] Translation: X:852.48, Y:16.63, Z:5.70 [[ 9.83891595e-01 -1.78121770e-01 -1.51646103e-02 8.52484602e+02] [ 1.78093335e-01 9.84008344e-01 -3.21615666e-03 1.66327925e+01] [ 1.54949706e-02 4.63633483e-04 9.99879838e-01 5.69658135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters 0.020651206940554473 Centerline is valid? [True, True] Translation: X:852.54, Y:16.64, Z:5.70 [[ 9.84072780e-01 -1.76985857e-01 -1.66364428e-02 8.52542149e+02] [ 1.76951415e-01 9.84213251e-01 -3.53166540e-03 1.66445598e+01] [ 1.69988623e-02 5.31573679e-04 9.99855368e-01 5.69530675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.299254154 meters 0.024460181079641454 Centerline is valid? [True, True] Translation: X:852.60, Y:16.66, Z:5.69 [[ 9.84142798e-01 -1.76541843e-01 -1.72026419e-02 8.52597100e+02] [ 1.76504900e-01 9.84292977e-01 -3.65468668e-03 1.66626957e+01] [ 1.75776447e-02 5.60382984e-04 9.99845344e-01 5.69264123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters 0.023311942282665317 Centerline is valid? [True, True] Translation: X:852.65, Y:16.68, Z:5.69 [[ 9.84245290e-01 -1.76050145e-01 -1.63571435e-02 8.52652513e+02] [ 1.76016652e-01 9.84381050e-01 -3.47649570e-03 1.66782455e+01] [ 1.67136997e-02 5.42594879e-04 9.99860169e-01 5.69402023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.419254154 meters 0.02007930259634829 Centerline is valid? [True, True] Translation: X:852.71, Y:16.68, Z:5.69 [[ 9.83278384e-01 -1.81216377e-01 -1.80067621e-02 8.52713040e+02] [ 1.81176632e-01 9.83443121e-01 -3.82816307e-03 1.66804828e+01] [ 1.84023521e-02 5.01745484e-04 9.99830536e-01 5.69343280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters 0.015994072736608928 Centerline is valid? [True, True] Translation: X:852.77, Y:16.69, Z:5.70 [[ 9.81967338e-01 -1.88466181e-01 -1.48541417e-02 8.52771606e+02] [ 1.88439958e-01 9.82079634e-01 -3.15829696e-03 1.66870071e+01] [ 1.51831822e-02 3.02230631e-04 9.99884683e-01 5.69739387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.539254154 meters 0.015023013422857492 Centerline is valid? [True, True] Translation: X:852.83, Y:16.70, Z:5.70 [[ 9.81394197e-01 -1.91512890e-01 -1.37201863e-02 8.52829661e+02] [ 1.91490787e-01 9.81490070e-01 -2.91922733e-03 1.66961483e+01] [ 1.40252963e-02 2.37623482e-04 9.99901612e-01 5.69857254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters 0.017153425490762705 Centerline is valid? [True, True] Translation: X:852.89, Y:16.70, Z:5.70 [[ 9.79795417e-01 -1.99563465e-01 -1.32425489e-02 8.52887482e+02] [ 1.99543576e-01 9.79884896e-01 -2.81992368e-03 1.67037085e+01] [ 1.35389274e-02 1.20482731e-04 9.99908337e-01 5.69614120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.659254154 meters 0.015716576135502387 Centerline is valid? [True, True] Translation: X:852.95, Y:16.71, Z:5.70 [[ 9.78814833e-01 -2.04280863e-01 -1.38149318e-02 8.52945435e+02] [ 2.04259652e-01 9.78912318e-01 -2.94438457e-03 1.67123214e+01] [ 1.41250883e-02 6.01741474e-05 9.99900234e-01 5.69635628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539999 meters 0.013393325044247282 Centerline is valid? [True, True] Translation: X:853.00, Y:16.72, Z:5.70 [[ 9.78220444e-01 -2.07031082e-01 -1.49296607e-02 8.53001777e+02] [ 2.07006583e-01 9.78334365e-01 -3.18495016e-03 1.67226208e+01] [ 1.52655839e-02 2.50453020e-05 9.99883474e-01 5.69734172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.779254154 meters 0.017038544121018514 Centerline is valid? [True, True] Translation: X:853.06, Y:16.73, Z:5.69 [[ 9.77512241e-01 -2.10222792e-01 -1.66191854e-02 8.53060130e+02] [ 2.10192836e-01 9.77653506e-01 -3.54890515e-03 1.67335791e+01] [ 1.69938656e-02 -2.41354895e-05 9.99855594e-01 5.69462183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.839254154 meters 0.018219281453391713 Centerline is valid? [True, True] Translation: X:853.12, Y:16.74, Z:5.70 [[ 9.76713085e-01 -2.13960304e-01 -1.58914421e-02 8.53116944e+02] [ 2.13933337e-01 9.76842352e-01 -3.39790544e-03 1.67442640e+01] [ 1.62504505e-02 -8.09305230e-05 9.99867949e-01 5.69582900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.899254154 meters 0.013536278680602807 Centerline is valid? [True, True] Translation: X:853.17, Y:16.76, Z:5.70 [[ 9.76350148e-01 -2.15733519e-01 -1.41222364e-02 8.53174131e+02] [ 2.15712349e-01 9.76452272e-01 -3.02364389e-03 1.67560618e+01] [ 1.44419912e-02 -9.42056287e-05 9.99895705e-01 5.70038423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.959254154 meters 0.015421783022603587 Centerline is valid? [True, True] Translation: X:853.23, Y:16.77, Z:5.70 [[ 9.75655397e-01 -2.18904457e-01 -1.33186208e-02 8.53231763e+02] [ 2.18885874e-01 9.75746290e-01 -2.85525108e-03 1.67667541e+01] [ 1.36206220e-02 -1.29516831e-04 9.99907227e-01 5.70043890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.019254154 meters 0.014561856957592335 Centerline is valid? [True, True] Translation: X:853.29, Y:16.78, Z:5.70 [[ 9.75722868e-01 -2.18655815e-01 -1.24305611e-02 8.53288338e+02] [ 2.18639564e-01 9.75802040e-01 -2.66825686e-03 1.67807625e+01] [ 1.27131968e-02 -1.14333224e-04 9.99919178e-01 5.70185323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.079254154 meters 0.014550123652773774 Centerline is valid? [True, True] Translation: X:853.35, Y:16.80, Z:5.70 [[ 9.76623637e-01 -2.14678795e-01 -1.09218430e-02 8.53345058e+02] [ 2.14665968e-01 9.76684705e-01 -2.34730000e-03 1.67986229e+01] [ 1.11711125e-02 -5.21193320e-05 9.99937600e-01 5.70308916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.139254154 meters 0.016074677026874686 Centerline is valid? [True, True] Translation: X:853.40, Y:16.82, Z:5.70 [[ 9.78046863e-01 -2.08011724e-01 -1.24681950e-02 8.53399686e+02] [ 2.07994417e-01 9.78126332e-01 -2.68342652e-03 1.68187228e+01] [ 1.27536540e-02 3.12019504e-05 9.99918668e-01 5.70037706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.199254154 meters 0.01574230540837432 Centerline is valid? [True, True] Translation: X:853.46, Y:16.84, Z:5.70 [[ 9.79249437e-01 -2.02199735e-01 -1.36311448e-02 8.53455396e+02] [ 2.02178429e-01 9.79344297e-01 -2.93777783e-03 1.68388567e+01] [ 1.39436018e-02 1.20893852e-04 9.99902776e-01 5.69935547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.259254154 meters 0.013932475592968958 Centerline is valid? [True, True] Translation: X:853.51, Y:16.85, Z:5.70 [[ 9.79747400e-01 -1.99804807e-01 -1.31556366e-02 8.53512718e+02] [ 1.99784699e-01 9.79835709e-01 -2.83876532e-03 1.68545251e+01] [ 1.34575614e-02 1.52978054e-04 9.99909431e-01 5.70149615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.319254154 meters 0.014832295164136224 Centerline is valid? [True, True] Translation: X:853.57, Y:16.87, Z:5.70 [[ 9.79588626e-01 -2.00613420e-01 -1.26641348e-02 8.53568797e+02] [ 2.00594824e-01 9.79670474e-01 -2.73498104e-03 1.68680028e+01] [ 1.29553528e-02 1.38796441e-04 9.99916066e-01 5.70131700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.379254154 meters 0.013513554559260456 Centerline is valid? [True, True] Translation: X:853.63, Y:16.88, Z:5.70 [[ 9.78931246e-01 -2.03810072e-01 -1.24526878e-02 8.53627167e+02] [ 2.03792324e-01 9.79010442e-01 -2.69135304e-03 1.68791728e+01] [ 1.27398362e-02 9.68874066e-05 9.99918840e-01 5.70280140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.439254154 meters 0.014490783277198669 Centerline is valid? [True, True] Translation: X:853.69, Y:16.89, Z:5.70 [[ 9.77857917e-01 -2.08908328e-01 -1.22965724e-02 8.53685853e+02] [ 2.08891388e-01 9.77935228e-01 -2.66058350e-03 1.68886459e+01] [ 1.25810694e-02 3.30245729e-05 9.99920855e-01 5.70196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.499254154 meters 0.013152652945531619 Centerline is valid? [True, True] Translation: X:853.74, Y:16.90, Z:5.70 [[ 9.76976316e-01 -2.13076830e-01 -1.07490890e-02 8.53744028e+02] [ 2.13064110e-01 9.77035447e-01 -2.32825923e-03 1.68978918e+01] [ 1.09983391e-02 -1.55909493e-05 9.99939516e-01 5.70399762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.559254154 meters 0.01698504233336224 Centerline is valid? [True, True] Translation: X:853.80, Y:16.91, Z:5.70 [[ 9.76316372e-01 -2.16049857e-01 -1.13490580e-02 8.53801983e+02] [ 2.16035842e-01 9.76382331e-01 -2.46129039e-03 1.69079582e+01] [ 1.16127811e-02 -4.88051953e-05 9.99932568e-01 5.70174582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.619254154 meters 0.013597024327980045 Centerline is valid? [True, True] Translation: X:853.86, Y:16.92, Z:5.70 [[ 9.76031501e-01 -2.17412695e-01 -9.70712966e-03 8.53858787e+02] [ 2.17402486e-01 9.76079770e-01 -2.10762563e-03 1.69196413e+01] [ 9.93315745e-03 -5.32451056e-05 9.99950664e-01 5.70442359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.679254154 meters 0.016969973903389994 Centerline is valid? [True, True] Translation: X:853.92, Y:16.93, Z:5.70 [[ 9.75377191e-01 -2.20340845e-01 -9.44709062e-03 8.53916433e+02] [ 2.20331286e-01 9.75422937e-01 -2.05384010e-03 1.69303428e+01] [ 9.66745374e-03 -7.82208379e-05 9.99953266e-01 5.70311433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters 0.014214889215130833 Centerline is valid? [True, True] Translation: X:853.97, Y:16.94, Z:5.71 [[ 9.75105020e-01 -2.21563314e-01 -8.93860930e-03 8.53972626e+02] [ 2.21554786e-01 9.75145985e-01 -1.94562966e-03 1.69432201e+01] [ 9.14752912e-03 -8.31984231e-05 9.99958157e-01 5.70525364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.799254154 meters 0.016542866597464595 Centerline is valid? [True, True] Translation: X:854.03, Y:16.96, Z:5.70 [[ 9.74500973e-01 -2.24180761e-01 -9.53104325e-03 8.54030137e+02] [ 2.24171163e-01 9.74547574e-01 -2.07749292e-03 1.69553305e+01] [ 9.75418902e-03 -1.12066175e-04 9.99952420e-01 5.70318452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters 0.015987808401118218 Centerline is valid? [True, True] Translation: X:854.09, Y:16.97, Z:5.70 [[ 9.73944672e-01 -2.26574236e-01 -9.79245104e-03 8.54087165e+02] [ 2.26564204e-01 9.73993889e-01 -2.13653995e-03 1.69666731e+01] [ 1.00218724e-02 -1.37747182e-04 9.99949770e-01 5.70364318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.919254154 meters 0.016054852437380328 Centerline is valid? [True, True] Translation: X:854.15, Y:16.98, Z:5.70 [[ 9.73200503e-01 -2.29723915e-01 -1.03780151e-02 8.54145170e+02] [ 2.29712809e-01 9.73255820e-01 -2.26594185e-03 1.69789288e+01] [ 1.06210046e-02 -1.78747255e-04 9.99943580e-01 5.70376584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters 0.015316108640136121 Centerline is valid? [True, True] Translation: X:854.20, Y:16.99, Z:5.71 [[ 9.72687952e-01 -2.31922011e-01 -9.50416602e-03 8.54202565e+02] [ 2.31912778e-01 9.72734366e-01 -2.07749088e-03 1.69913322e+01] [ 9.72684477e-03 -1.83387199e-04 9.99952676e-01 5.70530322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.039254154 meters 0.017176909732389955 Centerline is valid? [True, True] Translation: X:854.26, Y:17.01, Z:5.70 [[ 9.72498863e-01 -2.32710039e-01 -9.59160246e-03 8.54260271e+02] [ 2.32700649e-01 9.72546144e-01 -2.09911534e-03 1.70051681e+01] [ 9.81676120e-03 -1.90584840e-04 9.99951796e-01 5.70355107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539999 meters 0.017018857978411905 Centerline is valid? [True, True] Translation: X:854.32, Y:17.02, Z:5.70 [[ 9.73089005e-01 -2.30195281e-01 -1.03884985e-02 8.54316930e+02] [ 2.30184093e-01 9.73144440e-01 -2.27633090e-03 1.70213189e+01] [ 1.06335102e-02 -1.76194538e-04 9.99943447e-01 5.70355523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.159254154 meters 0.018301811173521792 Centerline is valid? [True, True] Translation: X:854.37, Y:17.04, Z:5.70 [[ 9.73841748e-01 -2.26958285e-01 -1.10538198e-02 8.54373658e+02] [ 2.26945377e-01 9.73904469e-01 -2.42506147e-03 1.70389114e+01] [ 1.13157523e-02 -1.46987186e-04 9.99935964e-01 5.70307327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539999 meters 0.016750054416989613 Centerline is valid? [True, True] Translation: X:854.43, Y:17.06, Z:5.70 [[ 9.74379105e-01 -2.24652623e-01 -1.07962358e-02 8.54430379e+02] [ 2.24640137e-01 9.74438908e-01 -2.37132723e-03 1.70557764e+01] [ 1.10529971e-02 -1.14696189e-04 9.99938907e-01 5.70456121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.279254154 meters 0.016406256152480425 Centerline is valid? [True, True] Translation: X:854.49, Y:17.07, Z:5.70 [[ 9.75036459e-01 -2.21735037e-01 -1.17250346e-02 8.54486604e+02] [ 2.21720059e-01 9.75106951e-01 -2.57858997e-03 1.70720697e+01] [ 1.20049265e-02 -8.54561407e-05 9.99927935e-01 5.70403506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.339254154 meters 0.013058428775141484 Centerline is valid? [True, True] Translation: X:854.54, Y:17.09, Z:5.71 [[ 9.75547407e-01 -2.19492713e-01 -1.14107348e-02 8.54543348e+02] [ 2.19478339e-01 9.75614138e-01 -2.51245476e-03 1.70881721e+01] [ 1.16839397e-02 -5.33903987e-05 9.99931739e-01 5.70646238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.399254154 meters 0.016071925375744728 Centerline is valid? [True, True] Translation: X:854.60, Y:17.10, Z:5.70 [[ 9.75404503e-01 -2.20012749e-01 -1.34330455e-02 8.54600180e+02] [ 2.19992824e-01 9.75496994e-01 -2.96165693e-03 1.71020222e+01] [ 1.37554978e-02 -6.63601197e-05 9.99905386e-01 5.70373575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.459254154 meters 0.0130750797831551 Centerline is valid? [True, True] Translation: X:854.66, Y:17.11, Z:5.71 [[ 9.75369726e-01 -2.20247932e-01 -1.20310838e-02 8.54656573e+02] [ 2.20231927e-01 9.75443922e-01 -2.65578549e-03 1.71144350e+01] [ 1.23205788e-02 -5.92560096e-05 9.99924097e-01 5.70669672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.519254154 meters 0.018088928825008916 Centerline is valid? [True, True] Translation: X:854.71, Y:17.13, Z:5.70 [[ 9.74829011e-01 -2.22612712e-01 -1.23279817e-02 8.54713321e+02] [ 2.22596064e-01 9.74906956e-01 -2.72389216e-03 1.71257949e+01] [ 1.26250081e-02 -8.88311039e-05 9.99920297e-01 5.70460997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.579254154 meters 0.016636098525278004 Centerline is valid? [True, True] Translation: X:854.77, Y:17.14, Z:5.71 [[ 9.74691998e-01 -2.23212531e-01 -1.23156810e-02 8.54770084e+02] [ 2.23195935e-01 9.74769797e-01 -2.72347789e-03 1.71386406e+01] [ 1.26128683e-02 -9.42578440e-05 9.99920450e-01 5.70511380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.639254154 meters 0.017705722185810242 Centerline is valid? [True, True] Translation: X:854.83, Y:17.15, Z:5.70 [[ 9.74677723e-01 -2.23218153e-01 -1.33038550e-02 8.54826998e+02] [ 2.23198732e-01 9.74768509e-01 -2.94606051e-03 1.71519282e+01] [ 1.36257931e-02 -9.79440224e-05 9.99907160e-01 5.70398857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.699254154 meters 0.013249140281402942 Centerline is valid? [True, True] Translation: X:854.88, Y:17.17, Z:5.71 [[ 9.74504015e-01 -2.24029361e-01 -1.23600540e-02 8.54883617e+02] [ 2.24012618e-01 9.74582391e-01 -2.74060072e-03 1.71651166e+01] [ 1.26598660e-02 -9.80816453e-05 9.99919856e-01 5.70810347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.759254154 meters 0.019088645088001236 Centerline is valid? [True, True] Translation: X:854.94, Y:17.18, Z:5.70 [[ 9.73734199e-01 -2.27260144e-01 -1.39476294e-02 8.54941207e+02] [ 2.27239095e-01 9.73834074e-01 -3.09679035e-03 1.71763072e+01] [ 1.42864537e-02 -1.53996008e-04 9.99897932e-01 5.70427534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.819254154 meters 0.017706162183102583 Centerline is valid? [True, True] Translation: X:855.00, Y:17.19, Z:5.70 [[ 9.72360743e-01 -2.33002637e-01 -1.49785669e-02 8.54999389e+02] [ 2.32978980e-01 9.72476071e-01 -3.32973189e-03 1.71853716e+01] [ 1.53421342e-02 -2.51990653e-04 9.99882271e-01 5.70455903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.879254154 meters 0.016028588702007223 Centerline is valid? [True, True] Translation: X:855.06, Y:17.19, Z:5.71 [[ 9.71013875e-01 -2.38628238e-01 -1.37338265e-02 8.55058397e+02] [ 2.38608885e-01 9.71110945e-01 -3.05486233e-03 1.71937613e+01] [ 1.40660456e-02 -3.10699319e-04 9.99901020e-01 5.70836516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.939254154 meters 0.018922764235227152 Centerline is valid? [True, True] Translation: X:855.12, Y:17.21, Z:5.71 [[ 9.70115217e-01 -2.42254250e-01 -1.37602174e-02 8.55116484e+02] [ 2.42235157e-01 9.70212733e-01 -3.06291297e-03 1.72055328e+01] [ 1.40923418e-02 -3.61829946e-04 9.99900633e-01 5.70700362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.999254154 meters 0.017041433758304702 Centerline is valid? [True, True] Translation: X:855.17, Y:17.22, Z:5.71 [[ 9.69615934e-01 -2.44343849e-01 -1.18753543e-02 8.55174694e+02] [ 2.44329749e-01 9.69688595e-01 -2.64628462e-03 1.72155637e+01] [ 1.21619990e-02 -3.35622609e-04 9.99925984e-01 5.71124591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.059254154 meters 0.017743470162363092 Centerline is valid? [True, True] Translation: X:855.23, Y:17.23, Z:5.71 [[ 9.69530005e-01 -2.44682637e-01 -1.19154152e-02 8.55231583e+02] [ 2.44668440e-01 9.69603162e-01 -2.65744956e-03 1.72275497e+01] [ 1.22034561e-02 -3.38848974e-04 9.99925478e-01 5.71211538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.119254154 meters 0.01872044776828807 Centerline is valid? [True, True] Translation: X:855.29, Y:17.24, Z:5.71 [[ 9.69456386e-01 -2.44947777e-01 -1.24459912e-02 8.55288104e+02] [ 2.44932279e-01 9.69536209e-01 -2.77814943e-03 1.72424345e+01] [ 1.27473407e-02 -3.55130291e-04 9.99918686e-01 5.71134690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.179254154 meters 0.01972618835629108 Centerline is valid? [True, True] Translation: X:855.34, Y:17.26, Z:5.71 [[ 9.69869323e-01 -2.43356411e-01 -1.14522277e-02 8.55343935e+02] [ 2.43343153e-01 9.69936887e-01 -2.55853782e-03 1.72592082e+01] [ 1.17305746e-02 -3.05373853e-04 9.99931148e-01 5.71029377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters 0.017577517212158764 Centerline is valid? [True, True] Translation: X:855.40, Y:17.28, Z:5.71 [[ 9.71186330e-01 -2.38079565e-01 -1.07346904e-02 8.55400858e+02] [ 2.38067587e-01 9.71245628e-01 -2.39886116e-03 1.72798598e+01] [ 1.09971410e-02 -2.25840675e-04 9.99939504e-01 5.71137707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.299254154 meters 0.018146295538295745 Centerline is valid? [True, True] Translation: X:855.46, Y:17.30, Z:5.71 [[ 9.73227252e-01 -2.29514826e-01 -1.23150917e-02 8.55456576e+02] [ 2.29498369e-01 9.73305154e-01 -2.75236852e-03 1.73030036e+01] [ 1.26180516e-02 -1.47613422e-04 9.99920378e-01 5.70845810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters 0.01639930098172776 Centerline is valid? [True, True] Translation: X:855.51, Y:17.32, Z:5.71 [[ 9.74720051e-01 -2.23073987e-01 -1.26022885e-02 8.55512482e+02] [ 2.23056192e-01 9.74801514e-01 -2.81837862e-03 1.73239344e+01] [ 1.29134368e-02 -6.38883136e-05 9.99916616e-01 5.70940408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.419254154 meters 0.0146048692876065 Centerline is valid? [True, True] Translation: X:855.57, Y:17.35, Z:5.71 [[ 9.76547111e-01 -2.14955920e-01 -1.22348986e-02 8.55566740e+02] [ 2.14938467e-01 9.76623751e-01 -2.73955929e-03 1.73450965e+01] [ 1.25377770e-02 4.55583742e-05 9.99921398e-01 5.70993638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters 0.013583718719934067 Centerline is valid? [True, True] Translation: X:855.62, Y:17.36, Z:5.71 [[ 9.77695539e-01 -2.09629803e-01 -1.29142960e-02 8.55623322e+02] [ 2.09609843e-01 9.77780819e-01 -2.89541328e-03 1.73621259e+01] [ 1.32343159e-02 1.23869084e-04 9.99912415e-01 5.71233341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.539254154 meters 0.014024595621697878 Centerline is valid? [True, True] Translation: X:855.68, Y:17.38, Z:5.71 [[ 9.78401577e-01 -2.06245934e-01 -1.38913049e-02 8.55679823e+02] [ 2.06222462e-01 9.78500169e-01 -3.11702891e-03 1.73773142e+01] [ 1.42355187e-02 1.85006911e-04 9.99898653e-01 5.71166457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539999 meters 0.016264941926059092 Centerline is valid? [True, True] Translation: X:855.74, Y:17.39, Z:5.71 [[ 9.78729580e-01 -2.04702374e-01 -1.36142551e-02 8.55736831e+02] [ 2.04679644e-01 9.78824242e-01 -3.05735068e-03 1.73909312e+01] [ 1.39518099e-02 2.05758652e-04 9.99902648e-01 5.71015560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.659254154 meters 0.017150659429266277 Centerline is valid? [True, True] Translation: X:855.79, Y:17.40, Z:5.71 [[ 9.78937791e-01 -2.03746762e-01 -1.29637624e-02 8.55794504e+02] [ 2.03726024e-01 9.79023601e-01 -2.91462241e-03 1.74032431e+01] [ 1.32856742e-02 2.12178255e-04 9.99911719e-01 5.71107149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539999 meters 0.018661511006731406 Centerline is valid? [True, True] Translation: X:855.85, Y:17.41, Z:5.71 [[ 9.79533745e-01 -2.00855619e-01 -1.30638226e-02 8.55851793e+02] [ 2.00834271e-01 9.79620822e-01 -2.93948038e-03 1.74146684e+01] [ 1.33880038e-02 2.55656924e-04 9.99910344e-01 5.71045299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.779254154 meters 0.019117940352085683 Centerline is valid? [True, True] Translation: X:855.91, Y:17.43, Z:5.71 [[ 9.80050848e-01 -1.98232168e-01 -1.42948424e-02 8.55908948e+02] [ 1.98206308e-01 9.80155041e-01 -3.21787884e-03 1.74268419e+01] [ 1.46490490e-02 3.20356945e-04 9.99892646e-01 5.70988417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.839254154 meters 0.020917657744349345 Centerline is valid? [True, True] Translation: X:855.97, Y:17.44, Z:5.71 [[ 9.81082518e-01 -1.92847405e-01 -1.69402521e-02 8.55966570e+02] [ 1.92810256e-01 9.81228644e-01 -3.81495878e-03 1.74398159e+01] [ 1.73579655e-02 4.76535023e-04 9.99849226e-01 5.70751266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.899254154 meters 0.02260061274178622 Centerline is valid? [True, True] Translation: X:856.02, Y:17.45, Z:5.71 [[ 9.81913238e-01 -1.88585963e-01 -1.67847550e-02 8.56023685e+02] [ 1.88548846e-01 9.82056533e-01 -3.78135685e-03 1.74511228e+01] [ 1.71966891e-02 5.48218169e-04 9.99851976e-01 5.70837534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.959254154 meters 0.01878439398356554 Centerline is valid? [True, True] Translation: X:856.08, Y:17.45, Z:5.71 [[ 9.82195399e-01 -1.87297193e-01 -1.45588650e-02 8.56083008e+02] [ 1.87269087e-01 9.82303168e-01 -3.28257756e-03 1.74542631e+01] [ 1.49160368e-02 4.97707222e-04 9.99888626e-01 5.71475432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.019254154 meters 0.02322740711165875 Centerline is valid? [True, True] Translation: X:856.14, Y:17.46, Z:5.71 [[ 9.81869830e-01 -1.89119755e-01 -1.28590871e-02 8.56140943e+02] [ 1.89097942e-01 9.81953941e-01 -2.90260264e-03 1.74626677e+01] [ 1.31759707e-02 4.18351057e-04 9.99913106e-01 5.71254580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.079254154 meters 0.01959162140728861 Centerline is valid? [True, True] Translation: X:856.20, Y:17.47, Z:5.72 [[ 9.81879946e-01 -1.89157493e-01 -1.14549279e-02 8.56199260e+02] [ 1.89140150e-01 9.81946690e-01 -2.58869615e-03 1.74680437e+01] [ 1.17377998e-02 3.75202060e-04 9.99931039e-01 5.71696767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.139254154 meters 0.02420408519189166 Centerline is valid? [True, True] Translation: X:856.26, Y:17.48, Z:5.71 [[ 9.81964268e-01 -1.88646030e-01 -1.26036414e-02 8.56255789e+02] [ 1.88624958e-01 9.82045059e-01 -2.85102844e-03 1.74822949e+01] [ 1.29151790e-02 4.22246730e-04 9.99916506e-01 5.71340801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.199254154 meters 0.02258907716915151 Centerline is valid? [True, True] Translation: X:856.32, Y:17.49, Z:5.71 [[ 9.82561395e-01 -1.85431277e-01 -1.37239634e-02 8.56315763e+02] [ 1.85405965e-01 9.82657104e-01 -3.10538010e-03 1.74890324e+01] [ 1.40617848e-02 5.06721917e-04 9.99901000e-01 5.71365013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.259254154 meters 0.024222900818103858 Centerline is valid? [True, True] Translation: X:856.37, Y:17.50, Z:5.71 [[ 9.83124835e-01 -1.82264111e-01 -1.56637448e-02 8.56374299e+02] [ 1.82230726e-01 9.83249407e-01 -3.54491790e-03 1.74999101e+01] [ 1.60474791e-02 6.30681250e-04 9.99871032e-01 5.71211765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.319254154 meters 0.023776460405480676 Centerline is valid? [True, True] Translation: X:856.43, Y:17.51, Z:5.71 [[ 9.83208737e-01 -1.81697509e-01 -1.69291035e-02 8.56432943e+02] [ 1.81658376e-01 9.83354225e-01 -3.83429782e-03 1.75089056e+01] [ 1.73439878e-02 6.94601675e-04 9.99849340e-01 5.71126982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.379254154 meters 0.025024206620696564 Centerline is valid? [True, True] Translation: X:856.49, Y:17.52, Z:5.71 [[ 9.82669726e-01 -1.84601585e-01 -1.68066483e-02 8.56491295e+02] [ 1.84563397e-01 9.82813229e-01 -3.80904358e-03 1.75157797e+01] [ 1.72209518e-02 6.41139709e-04 9.99851503e-01 5.71050152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.439254154 meters 0.021750423580079083 Centerline is valid? [True, True] Translation: X:856.55, Y:17.52, Z:5.71 [[ 9.81493912e-01 -1.90836906e-01 -1.58422431e-02 8.56552941e+02] [ 1.90803772e-01 9.81621629e-01 -3.59127733e-03 1.75162545e+01] [ 1.62364367e-02 5.02057104e-04 9.99868054e-01 5.71276603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.499254154 meters 0.01984991805218389 Centerline is valid? [True, True] Translation: X:856.61, Y:17.52, Z:5.71 [[ 9.79933983e-01 -1.98800447e-01 -1.44142749e-02 8.56613935e+02] [ 1.98773871e-01 9.80039932e-01 -3.26793732e-03 1.75203380e+01] [ 1.47762324e-02 3.37181615e-04 9.99890769e-01 5.71412160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.559254154 meters 0.015219677376985203 Centerline is valid? [True, True] Translation: X:856.67, Y:17.53, Z:5.72 [[ 9.78962005e-01 -2.03623259e-01 -1.30752245e-02 8.56672589e+02] [ 2.03601813e-01 9.79049289e-01 -2.96496198e-03 1.75270219e+01] [ 1.34050244e-02 2.40445715e-04 9.99910120e-01 5.71927918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.619254154 meters 0.017044788613518023 Centerline is valid? [True, True] Translation: X:856.73, Y:17.54, Z:5.72 [[ 9.77554306e-01 -2.10232533e-01 -1.37790231e-02 8.56731755e+02] [ 2.10209339e-01 9.77651398e-01 -3.12686854e-03 1.75353960e+01] [ 1.41284507e-02 1.60204467e-04 9.99900176e-01 5.71718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.679254154 meters 0.016879808297508972 Centerline is valid? [True, True] Translation: X:856.79, Y:17.55, Z:5.72 [[ 9.76880010e-01 -2.13347906e-01 -1.37155999e-02 8.56789659e+02] [ 2.13325184e-01 9.76976283e-01 -3.11585447e-03 1.75488575e+01] [ 1.40645768e-02 1.17933073e-04 9.99901082e-01 5.71751167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters 0.016174333561922143 Centerline is valid? [True, True] Translation: X:856.85, Y:17.56, Z:5.72 [[ 9.76231183e-01 -2.16307272e-01 -1.35587732e-02 8.56847448e+02] [ 2.16285317e-01 9.76325334e-01 -3.08283187e-03 1.75626363e+01] [ 1.39046127e-02 7.69930468e-05 9.99903323e-01 5.71791367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.799254154 meters 0.016541559271498987 Centerline is valid? [True, True] Translation: X:856.90, Y:17.58, Z:5.72 [[ 9.75368754e-01 -2.20192519e-01 -1.30785629e-02 8.56904342e+02] [ 2.20172420e-01 9.75456434e-01 -2.97515675e-03 1.75750586e+01] [ 1.34126756e-02 2.23360812e-05 9.99910046e-01 5.71756288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters 0.016733436179384678 Centerline is valid? [True, True] Translation: X:856.96, Y:17.59, Z:5.72 [[ 9.74715686e-01 -2.23054904e-01 -1.32605456e-02 8.56961118e+02] [ 2.23034470e-01 9.74805883e-01 -3.01918134e-03 1.75883502e+01] [ 1.35999011e-02 -1.47153626e-05 9.99907517e-01 5.71752247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.919254154 meters 0.0160827802895184 Centerline is valid? [True, True] Translation: X:857.02, Y:17.60, Z:5.72 [[ 9.73780056e-01 -2.27085613e-01 -1.35841060e-02 8.57017964e+02] [ 2.27064507e-01 9.73874797e-01 -3.09673384e-03 1.76023312e+01] [ 1.39324422e-02 -6.89306952e-05 9.99902936e-01 5.71727587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters 0.015030139955900995 Centerline is valid? [True, True] Translation: X:857.07, Y:17.62, Z:5.72 [[ 9.73109999e-01 -2.29950752e-01 -1.34008179e-02 8.57074978e+02] [ 2.29930436e-01 9.73202261e-01 -3.05847940e-03 1.76153708e+01] [ 1.37450059e-02 -1.05019000e-04 9.99905527e-01 5.71872752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.039254154 meters 0.01628486617316753 Centerline is valid? [True, True] Translation: X:857.13, Y:17.63, Z:5.72 [[ 9.72769004e-01 -2.31393877e-01 -1.33168640e-02 8.57131681e+02] [ 2.31373901e-01 9.72860144e-01 -3.04283560e-03 1.76297329e+01] [ 1.36595398e-02 -1.21198621e-04 9.99906697e-01 5.71804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539999 meters 0.01613742513177944 Centerline is valid? [True, True] Translation: X:857.19, Y:17.65, Z:5.72 [[ 9.73231863e-01 -2.29455163e-01 -1.30410486e-02 8.57187712e+02] [ 2.29435787e-01 9.73319228e-01 -2.98320901e-03 1.76468578e+01] [ 1.33776161e-02 -8.87291874e-05 9.99910512e-01 5.71809283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.159254154 meters 0.016574222331217196 Centerline is valid? [True, True] Translation: X:857.24, Y:17.66, Z:5.72 [[ 9.74074468e-01 -2.25896146e-01 -1.22418367e-02 8.57244488e+02] [ 2.25878751e-01 9.74151390e-01 -2.80349251e-03 1.76645733e+01] [ 1.25587003e-02 -3.43603046e-05 9.99921136e-01 5.71930954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539999 meters 0.017532968127676966 Centerline is valid? [True, True] Translation: X:857.30, Y:17.68, Z:5.72 [[ 9.74609664e-01 -2.23595559e-01 -1.18755566e-02 8.57300072e+02] [ 2.23578978e-01 9.74682013e-01 -2.72291633e-03 1.76805266e+01] [ 1.21837234e-02 -1.34423866e-06 9.99925776e-01 5.71936202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.279254154 meters 0.013741768829752452 Centerline is valid? [True, True] Translation: X:857.36, Y:17.70, Z:5.72 [[ 9.75639625e-01 -2.19090715e-01 -1.12508115e-02 8.57355358e+02] [ 2.19075507e-01 9.75704492e-01 -2.58200070e-03 1.76981346e+01] [ 1.15431597e-02 5.43249523e-05 9.99933374e-01 5.72469923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.339254154 meters 0.01784093777924011 Centerline is valid? [True, True] Translation: X:857.41, Y:17.72, Z:5.72 [[ 9.76250201e-01 -2.16317557e-01 -1.19272775e-02 8.57411857e+02] [ 2.16300232e-01 9.76323054e-01 -2.73931880e-03 1.77162331e+01] [ 1.22374387e-02 9.43876354e-05 9.99925115e-01 5.71985139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.399254154 meters 0.014537003932226426 Centerline is valid? [True, True] Translation: X:857.47, Y:17.73, Z:5.73 [[ 9.76878335e-01 -2.13440674e-01 -1.23206150e-02 8.57468402e+02] [ 2.13421917e-01 9.76956017e-01 -2.83295430e-03 1.77322337e+01] [ 1.26413666e-02 1.37962417e-04 9.99920085e-01 5.72507379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.459254154 meters 0.015885697142515663 Centerline is valid? [True, True] Translation: X:857.52, Y:17.75, Z:5.72 [[ 9.76567037e-01 -2.14756758e-01 -1.40127277e-02 8.57524411e+02] [ 2.14732569e-01 9.76667556e-01 -3.22626898e-03 1.77462606e+01] [ 1.43786396e-02 1.41678922e-04 9.99896612e-01 5.72185626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.519254154 meters 0.017783439310828562 Centerline is valid? [True, True] Translation: X:857.58, Y:17.76, Z:5.72 [[ 9.75608644e-01 -2.18943064e-01 -1.58653209e-02 8.57580954e+02] [ 2.18912558e-01 9.75737632e-01 -3.65595445e-03 1.77579253e+01] [ 1.62808366e-02 9.36627725e-05 9.99867454e-01 5.71905946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.579254154 meters 0.013882019217470534 Centerline is valid? [True, True] Translation: X:857.64, Y:17.77, Z:5.72 [[ 9.73950648e-01 -2.26142071e-01 -1.67301697e-02 8.57638992e+02] [ 2.26109146e-01 9.74094330e-01 -3.85888574e-03 1.77653745e+01] [ 1.71694199e-02 -2.44801356e-05 9.99852594e-01 5.72419283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.639254154 meters 0.017402952756484548 Centerline is valid? [True, True] Translation: X:857.70, Y:17.77, Z:5.72 [[ 9.71597270e-01 -2.35998007e-01 -1.74265511e-02 8.57697789e+02] [ 2.35963779e-01 9.71753518e-01 -4.02431655e-03 1.77711135e+01] [ 1.78840430e-02 -2.02019873e-04 9.99840047e-01 5.72244016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.699254154 meters 0.018753674090812866 Centerline is valid? [True, True] Translation: X:857.75, Y:17.78, Z:5.72 [[ 9.70229837e-01 -2.41597359e-01 -1.68753952e-02 8.57754732e+02] [ 2.41566060e-01 9.70376541e-01 -3.89979414e-03 1.77792595e+01] [ 1.73176676e-02 -2.92826084e-04 9.99849995e-01 5.72325576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.759254154 meters 0.02110633984142233 Centerline is valid? [True, True] Translation: X:857.81, Y:17.79, Z:5.72 [[ 9.68731776e-01 -2.47541503e-01 -1.67914085e-02 8.57814013e+02] [ 2.47511387e-01 9.68877210e-01 -3.88145634e-03 1.77872378e+01] [ 1.72296346e-02 -3.95974723e-04 9.99851480e-01 5.72384051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.819254154 meters 0.021214351765304916 Centerline is valid? [True, True] Translation: X:857.87, Y:17.80, Z:5.73 [[ 9.68093929e-01 -2.50060204e-01 -1.62492512e-02 8.57871987e+02] [ 2.50032312e-01 9.68230197e-01 -3.75874584e-03 1.77976174e+01] [ 1.66729285e-02 -4.24018830e-04 9.99860907e-01 5.72572462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.879254154 meters 0.021521615462536368 Centerline is valid? [True, True] Translation: X:857.93, Y:17.81, Z:5.72 [[ 9.68351778e-01 -2.49000472e-01 -1.71347548e-02 8.57929220e+02] [ 2.48969216e-01 9.68503271e-01 -3.96784294e-03 1.78117357e+01] [ 1.75830608e-02 -4.23758704e-04 9.99845316e-01 5.72457684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.939254154 meters 0.01936548305307003 Centerline is valid? [True, True] Translation: X:857.98, Y:17.83, Z:5.72 [[ 9.69519907e-01 -2.44335609e-01 -1.82005375e-02 8.57984811e+02] [ 2.44299472e-01 9.69690663e-01 -4.21731964e-03 1.78293534e+01] [ 1.86793326e-02 -3.57606356e-04 9.99825462e-01 5.72453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.999254154 meters 0.017727696208709228 Centerline is valid? [True, True] Translation: X:858.04, Y:17.85, Z:5.73 [[ 9.71416291e-01 -2.36641118e-01 -1.87448872e-02 8.58039568e+02] [ 2.36601324e-01 9.71597105e-01 -4.34492339e-03 1.78526272e+01] [ 1.92406657e-02 -2.14335764e-04 9.99814858e-01 5.72507973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.059254154 meters 0.017134308114932148 Centerline is valid? [True, True] Translation: X:858.10, Y:17.87, Z:5.73 [[ 9.73547842e-01 -2.27743747e-01 -1.83680368e-02 8.58095332e+02] [ 2.27703883e-01 9.73721102e-01 -4.26111075e-03 1.78737420e+01] [ 1.88557863e-02 -3.40781158e-05 9.99822213e-01 5.72579210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.119254154 meters 0.017277560235424153 Centerline is valid? [True, True] Translation: X:858.15, Y:17.89, Z:5.73 [[ 9.75119553e-01 -2.20975712e-01 -1.76519530e-02 8.58150508e+02] [ 2.20937696e-01 9.75279306e-01 -4.09993102e-03 1.78939540e+01] [ 1.81215696e-02 9.79410853e-05 9.99835786e-01 5.72659946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.179254154 meters 0.014197913780341421 Centerline is valid? [True, True] Translation: X:858.21, Y:17.91, Z:5.73 [[ 9.76238345e-01 -2.16137184e-01 -1.56016307e-02 8.58206672e+02] [ 2.16106803e-01 9.76362990e-01 -3.62784062e-03 1.79117123e+01] [ 1.60169661e-02 1.70018598e-04 9.99871706e-01 5.73139186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters 0.017984569953083323 Centerline is valid? [True, True] Translation: X:858.26, Y:17.93, Z:5.73 [[ 9.76547704e-01 -2.14648936e-01 -1.67456312e-02 8.58263532e+02] [ 2.14613638e-01 9.76691245e-01 -3.89842277e-03 1.79274839e+01] [ 1.71921037e-02 2.13154964e-04 9.99852182e-01 5.72747858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.299254154 meters 0.0178227014189841 Centerline is valid? [True, True] Translation: X:858.32, Y:17.94, Z:5.73 [[ 9.76768098e-01 -2.13600068e-01 -1.72943536e-02 8.58320831e+02] [ 2.13562171e-01 9.76921159e-01 -4.03082329e-03 1.79419350e+01] [ 1.77562041e-02 2.43759889e-04 9.99842316e-01 5.72787999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters 0.015096273686063741 Centerline is valid? [True, True] Translation: X:858.38, Y:17.95, Z:5.73 [[ 9.76672820e-01 -2.14015867e-01 -1.75331307e-02 8.58376936e+02] [ 2.13976891e-01 9.76830154e-01 -4.09156043e-03 1.79548902e+01] [ 1.80025496e-02 2.44431060e-04 9.99837911e-01 5.73043537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.419254154 meters 0.015937444518694308 Centerline is valid? [True, True] Translation: X:858.44, Y:17.96, Z:5.73 [[ 9.75553608e-01 -2.18945600e-01 -1.89204124e-02 8.58435000e+02] [ 2.18901033e-01 9.75737052e-01 -4.42072605e-03 1.79642965e+01] [ 1.94292459e-02 1.70957448e-04 9.99811220e-01 5.72910333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters 0.016495707633317733 Centerline is valid? [True, True] Translation: X:858.49, Y:17.97, Z:5.73 [[ 9.73029542e-01 -2.29854754e-01 -1.95013447e-02 8.58494086e+02] [ 2.29809488e-01 9.73224943e-01 -4.56165207e-03 1.79689091e+01] [ 2.00277125e-02 -4.29718205e-05 9.99799424e-01 5.72929559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.539254154 meters 0.014682341861727321 Centerline is valid? [True, True] Translation: X:858.55, Y:17.98, Z:5.73 [[ 9.71644332e-01 -2.35728942e-01 -1.84162666e-02 8.58551581e+02] [ 2.35689576e-01 9.71818832e-01 -4.31054549e-03 1.79766708e+01] [ 1.89133950e-02 -1.52204978e-04 9.99821114e-01 5.73178722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539999 meters 0.016842530803585113 Centerline is valid? [True, True] Translation: X:858.61, Y:17.99, Z:5.73 [[ 9.70067319e-01 -2.42102677e-01 -1.88597499e-02 8.58609693e+02] [ 2.42062520e-01 9.70250594e-01 -4.41821486e-03 1.79866688e+01] [ 1.93683452e-02 -2.79272750e-04 9.99812377e-01 5.73201006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.659254154 meters 0.01784653654409019 Centerline is valid? [True, True] Translation: X:858.67, Y:18.00, Z:5.73 [[ 9.68558599e-01 -2.48138764e-01 -1.79274818e-02 8.58667793e+02] [ 2.48103469e-01 9.68724425e-01 -4.20208659e-03 1.79957340e+01] [ 1.84094901e-02 -3.77903332e-04 9.99830460e-01 5.73360580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539999 meters 0.01814029269878133 Centerline is valid? [True, True] Translation: X:858.72, Y:18.01, Z:5.74 [[ 9.67713210e-01 -2.51424541e-01 -1.78000793e-02 8.58724339e+02] [ 2.51390261e-01 9.67876806e-01 -4.17438266e-03 1.80059779e+01] [ 1.82778261e-02 -4.35161329e-04 9.99832852e-01 5.73541966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.779254154 meters 0.021040664446824994 Centerline is valid? [True, True] Translation: X:858.78, Y:18.02, Z:5.73 [[ 9.66871857e-01 -2.54513470e-01 -1.95372746e-02 8.58782419e+02] [ 2.54472770e-01 9.67069078e-01 -4.58339008e-03 1.80188762e+01] [ 2.00604286e-02 -5.40153500e-04 9.99798623e-01 5.73192893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.839254154 meters 0.022455413894682166 Centerline is valid? [True, True] Translation: X:858.84, Y:18.03, Z:5.73 [[ 9.66379893e-01 -2.56340078e-01 -1.99916721e-02 8.58839321e+02] [ 2.56297824e-01 9.66586476e-01 -4.69142071e-03 1.80317530e+01] [ 2.05262790e-02 -5.90127402e-04 9.99789140e-01 5.73117559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.899254154 meters 0.020155437126156677 Centerline is valid? [True, True] Translation: X:858.90, Y:18.05, Z:5.73 [[ 9.65826615e-01 -2.58438920e-01 -1.97046565e-02 8.58895790e+02] [ 2.58398226e-01 9.66027400e-01 -4.62808168e-03 1.80488300e+01] [ 2.02313145e-02 -6.21723813e-04 9.99795133e-01 5.73433472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.959254154 meters 0.02184942014422495 Centerline is valid? [True, True] Translation: X:858.95, Y:18.06, Z:5.73 [[ 9.65978488e-01 -2.57917603e-01 -1.90806535e-02 8.58952238e+02] [ 2.57879248e-01 9.66166738e-01 -4.48640004e-03 1.80639344e+01] [ 1.95922143e-02 -5.86738652e-04 9.99807882e-01 5.73355485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.019254154 meters 0.019085391258694805 Centerline is valid? [True, True] Translation: X:859.01, Y:18.08, Z:5.74 [[ 9.67324657e-01 -2.52969347e-01 -1.70152324e-02 8.59009530e+02] [ 2.52938030e-01 9.67474198e-01 -4.00360526e-03 1.80828838e+01] [ 1.74745877e-02 -4.31013275e-04 9.99847215e-01 5.73689512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.079254154 meters 0.01708173133426595 Centerline is valid? [True, True] Translation: X:859.07, Y:18.11, Z:5.74 [[ 9.69449350e-01 -2.44689779e-01 -1.71717716e-02 8.59065177e+02] [ 2.44656561e-01 9.69601378e-01 -4.04168165e-03 1.81058708e+01] [ 1.76387316e-02 -2.82980941e-04 9.99844385e-01 5.73617701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.139254154 meters 0.017150798542828243 Centerline is valid? [True, True] Translation: X:859.12, Y:18.13, Z:5.73 [[ 9.71808183e-01 -2.34983012e-01 -1.92831572e-02 8.59120327e+02] [ 2.34939143e-01 9.71999470e-01 -4.54188652e-03 1.81312817e+01] [ 1.98104847e-02 -1.16525939e-04 9.99803746e-01 5.73307681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.199254154 meters 0.016727355743656594 Centerline is valid? [True, True] Translation: X:859.18, Y:18.15, Z:5.73 [[ 9.73796388e-01 -2.26449747e-01 -2.10025535e-02 8.59175670e+02] [ 2.26395597e-01 9.74022848e-01 -4.95239280e-03 1.81548458e+01] [ 2.15784350e-02 6.77365888e-05 9.99767156e-01 5.73245372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.259254154 meters 0.015888864048953365 Centerline is valid? [True, True] Translation: X:859.23, Y:18.17, Z:5.73 [[ 9.74643673e-01 -2.22784922e-01 -2.08946961e-02 8.59231015e+02] [ 2.22730418e-01 9.74867609e-01 -4.93004493e-03 1.81729715e+01] [ 2.14679021e-02 1.51152713e-04 9.99769527e-01 5.73293871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.319254154 meters 0.013753549093967598 Centerline is valid? [True, True] Translation: X:859.29, Y:18.19, Z:5.74 [[ 9.74356792e-01 -2.24115514e-01 -2.00269672e-02 8.59288241e+02] [ 2.24065639e-01 9.74562580e-01 -4.72944006e-03 1.81860542e+01] [ 2.05774737e-02 1.20806843e-04 9.99788254e-01 5.73626714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.379254154 meters 0.018073400466198115 Centerline is valid? [True, True] Translation: X:859.35, Y:18.19, Z:5.73 [[ 9.72033292e-01 -2.33996314e-01 -1.99249587e-02 8.59346455e+02] [ 2.33948908e-01 9.72237480e-01 -4.71061856e-03 1.81938839e+01] [ 2.04740590e-02 -8.25442717e-05 9.99790381e-01 5.73481599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.439254154 meters 0.016913666301420122 Centerline is valid? [True, True] Translation: X:859.41, Y:18.20, Z:5.74 [[ 9.70607391e-01 -2.39821673e-01 -2.01707411e-02 8.59405179e+02] [ 2.39774236e-01 9.70816937e-01 -4.77404901e-03 1.82032454e+01] [ 2.07270175e-02 -2.02696770e-04 9.99785152e-01 5.73619022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.499254154 meters 0.01763324530940021 Centerline is valid? [True, True] Translation: X:859.46, Y:18.21, Z:5.74 [[ 9.68735265e-01 -2.47168001e-01 -2.14468108e-02 8.59463966e+02] [ 2.47116115e-01 9.68972567e-01 -5.07846396e-03 1.82129310e+01] [ 2.20366051e-02 -3.80165445e-04 9.99757092e-01 5.73706533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.559254154 meters 0.017040329498638228 Centerline is valid? [True, True] Translation: X:859.52, Y:18.22, Z:5.74 [[ 9.67731598e-01 -2.50997370e-01 -2.22682251e-02 8.59522050e+02] [ 2.50942418e-01 9.67987648e-01 -5.27414341e-03 1.82248495e+01] [ 2.28791630e-02 -4.84087039e-04 9.99738120e-01 5.73906253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.619254154 meters 0.01996193329653746 Centerline is valid? [True, True] Translation: X:859.58, Y:18.24, Z:5.74 [[ 9.67264106e-01 -2.52742051e-01 -2.28386773e-02 8.59578568e+02] [ 2.52684688e-01 9.67533548e-01 -5.41118830e-03 1.82368830e+01] [ 2.34648213e-02 -5.36935843e-04 9.99724519e-01 5.73711174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.679254154 meters 0.019542560407880757 Centerline is valid? [True, True] Translation: X:859.63, Y:18.25, Z:5.74 [[ 9.67144888e-01 -2.53219796e-01 -2.25942709e-02 8.59634796e+02] [ 2.53163737e-01 9.67408622e-01 -5.35536843e-03 1.82495638e+01] [ 2.32139778e-02 -5.40632859e-04 9.99730373e-01 5.73773913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters 0.019933971470158823 Centerline is valid? [True, True] Translation: X:859.69, Y:18.27, Z:5.74 [[ 9.66968395e-01 -2.53902793e-01 -2.24831877e-02 8.59691380e+02] [ 2.53847359e-01 9.67229585e-01 -5.33378213e-03 1.82651497e+01] [ 2.31006665e-02 -5.49699056e-04 9.99732993e-01 5.73896553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.799254154 meters 0.01756301723743796 Centerline is valid? [True, True] Translation: X:859.75, Y:18.28, Z:5.74 [[ 9.67255360e-01 -2.53049516e-01 -1.95706830e-02 8.59748407e+02] [ 2.53007246e-01 9.67453221e-01 -4.64749384e-03 1.82816740e+01] [ 2.01097663e-02 -4.56211268e-04 9.99797674e-01 5.74352277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters 0.016128421185499273 Centerline is valid? [True, True] Translation: X:859.80, Y:18.30, Z:5.75 [[ 9.67918273e-01 -2.50567126e-01 -1.87171621e-02 8.59804941e+02] [ 2.50527938e-01 9.68099152e-01 -4.44797149e-03 1.82999726e+01] [ 1.92345841e-02 -3.83899118e-04 9.99814925e-01 5.74566727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.919254154 meters 0.017451421622332215 Centerline is valid? [True, True] Translation: X:859.86, Y:18.32, Z:5.74 [[ 9.69005318e-01 -2.46230708e-01 -1.99782904e-02 8.59860191e+02] [ 2.46185093e-01 9.69211194e-01 -4.74986522e-03 1.83188027e+01] [ 2.05327454e-02 -3.15712624e-04 9.99789131e-01 5.74272546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters 0.016289827112620364 Centerline is valid? [True, True] Translation: X:859.92, Y:18.34, Z:5.74 [[ 9.70085397e-01 -2.41932549e-01 -2.00739574e-02 8.59916235e+02] [ 2.41885490e-01 9.70293045e-01 -4.77675131e-03 1.83382098e+01] [ 2.06332729e-02 -2.21742333e-04 9.99787087e-01 5.74291726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.039254154 meters 0.017649347879655927 Centerline is valid? [True, True] Translation: X:859.97, Y:18.36, Z:5.74 [[ 9.70254832e-01 -2.41236355e-01 -2.02628383e-02 8.59972083e+02] [ 2.41188130e-01 9.70466372e-01 -4.82760967e-03 1.83559844e+01] [ 2.08289981e-02 -2.03144471e-04 9.99783032e-01 5.74284107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539999 meters 0.015291220106010025 Centerline is valid? [True, True] Translation: X:860.03, Y:18.37, Z:5.75 [[ 9.68979069e-01 -2.46428825e-01 -1.87722523e-02 8.60029352e+02] [ 2.46388351e-01 9.69160849e-01 -4.47547330e-03 1.83660719e+01] [ 1.92962176e-02 -2.88624324e-04 9.99813769e-01 5.74607670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.159254154 meters 0.018085802828586947 Centerline is valid? [True, True] Translation: X:860.09, Y:18.38, Z:5.74 [[ 9.68225595e-01 -2.49305405e-01 -1.96471735e-02 8.60086815e+02] [ 2.49261580e-01 9.68424848e-01 -4.68807670e-03 1.83785767e+01] [ 2.01955739e-02 -3.58169652e-04 9.99795984e-01 5.74371624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539999 meters 0.016395652723767216 Centerline is valid? [True, True] Translation: X:860.14, Y:18.39, Z:5.75 [[ 9.67769815e-01 -2.51112802e-01 -1.90773596e-02 8.60144541e+02] [ 2.51071737e-01 9.67957756e-01 -4.55699663e-03 1.83912359e+01] [ 1.96103983e-02 -3.79662011e-04 9.99807626e-01 5.74662493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.279254154 meters 0.021555725696642995 Centerline is valid? [True, True] Translation: X:860.20, Y:18.40, Z:5.74 [[ 9.65515424e-01 -2.59496991e-01 -2.10066079e-02 8.60204063e+02] [ 2.59449136e-01 9.65743728e-01 -5.01979426e-03 1.84021037e+01] [ 2.15896214e-02 -6.03457501e-04 9.99766735e-01 5.74392724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.339254154 meters 0.022007705616460867 Centerline is valid? [True, True] Translation: X:860.26, Y:18.41, Z:5.75 [[ 9.63743163e-01 -2.66014061e-01 -2.08718515e-02 8.60262849e+02] [ 2.65968328e-01 9.63968862e-01 -4.98824564e-03 1.84107265e+01] [ 2.14467584e-02 -7.43863805e-04 9.99769715e-01 5.74519737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.399254154 meters 0.02243111705873241 Centerline is valid? [True, True] Translation: X:860.32, Y:18.42, Z:5.75 [[ 9.62695761e-01 -2.69755576e-01 -2.11849137e-02 8.60321259e+02] [ 2.69709346e-01 9.62928463e-01 -5.06389564e-03 1.84241441e+01] [ 2.17655704e-02 -8.38778338e-04 9.99762750e-01 5.74586473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.459254154 meters 0.022175144705631426 Centerline is valid? [True, True] Translation: X:860.38, Y:18.44, Z:5.75 [[ 9.62486085e-01 -2.70580800e-01 -2.01635297e-02 8.60378013e+02] [ 2.70539021e-01 9.62696926e-01 -4.82360805e-03 1.84395707e+01] [ 2.07165438e-02 -8.12365973e-04 9.99785059e-01 5.74723072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.519254154 meters 0.021075199020651452 Centerline is valid? [True, True] Translation: X:860.43, Y:18.46, Z:5.75 [[ 9.62834507e-01 -2.69464993e-01 -1.83937489e-02 8.60434625e+02] [ 2.69429936e-01 9.63009920e-01 -4.40488392e-03 1.84556443e+01] [ 1.89003246e-02 -7.14652346e-04 9.99821118e-01 5.74960966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.579254154 meters 0.020505828050308653 Centerline is valid? [True, True] Translation: X:860.49, Y:18.48, Z:5.75 [[ 9.64086514e-01 -2.64930809e-01 -1.86778101e-02 8.60491447e+02] [ 2.64893772e-01 9.64267217e-01 -4.47485738e-03 1.84760412e+01] [ 1.91959275e-02 -6.33485919e-04 9.99815541e-01 5.74971452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.639254154 meters 0.019895102181854057 Centerline is valid? [True, True] Translation: X:860.55, Y:18.50, Z:5.75 [[ 9.66237178e-01 -2.56995035e-01 -1.84192425e-02 8.60548059e+02] [ 2.56957562e-01 9.66412610e-01 -4.41349238e-03 1.84970686e+01] [ 1.89348338e-02 -4.68483223e-04 9.99820610e-01 5.74931415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.699254154 meters 0.01740347495389857 Centerline is valid? [True, True] Translation: X:860.60, Y:18.52, Z:5.75 [[ 9.68755082e-01 -2.47305123e-01 -1.88086803e-02 8.60603919e+02] [ 2.47264204e-01 9.68937612e-01 -4.50752409e-03 1.85200816e+01] [ 1.93391716e-02 -2.84026496e-04 9.99812940e-01 5.75025932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.759254154 meters 0.01921537645848174 Centerline is valid? [True, True] Translation: X:860.66, Y:18.54, Z:5.75 [[ 9.70392426e-01 -2.40728523e-01 -1.97057844e-02 8.60659134e+02] [ 2.40682174e-01 9.70592476e-01 -4.72624243e-03 1.85412250e+01] [ 2.02640274e-02 -1.56521171e-04 9.99794651e-01 5.74849852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.819254154 meters 0.018282271712736664 Centerline is valid? [True, True] Translation: X:860.72, Y:18.56, Z:5.75 [[ 9.71000483e-01 -2.38246077e-01 -1.99215565e-02 8.60715329e+02] [ 2.38198075e-01 9.71204817e-01 -4.78332196e-03 1.85575745e+01] [ 2.04875194e-02 -1.00668492e-04 9.99790104e-01 5.74946717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.879254154 meters 0.01738176026280466 Centerline is valid? [True, True] Translation: X:860.77, Y:18.57, Z:5.75 [[ 9.71058730e-01 -2.38008120e-01 -1.99268064e-02 8.60771102e+02] [ 2.37959921e-01 9.71263161e-01 -4.79053589e-03 1.85725504e+01] [ 2.04943594e-02 -8.98895780e-05 9.99789965e-01 5.75140321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.939254154 meters 0.01741073369669471 Centerline is valid? [True, True] Translation: X:860.83, Y:18.58, Z:5.75 [[ 9.70432842e-01 -2.40651051e-01 -1.86325346e-02 8.60827077e+02] [ 2.40609329e-01 9.70611691e-01 -4.48292803e-03 1.85846335e+01] [ 1.91637772e-02 -1.32781048e-04 9.99816349e-01 5.75216229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.999254154 meters 0.018540129814251693 Centerline is valid? [True, True] Translation: X:860.88, Y:18.60, Z:5.75 [[ 9.69476478e-01 -2.44447814e-01 -1.89901119e-02 8.60884832e+02] [ 2.44405120e-01 9.69662427e-01 -4.57320861e-03 1.85965717e+01] [ 1.95319088e-02 -2.07662396e-04 9.99809213e-01 5.75268361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.059254154 meters 0.018553243947480473 Centerline is valid? [True, True] Translation: X:860.94, Y:18.61, Z:5.75 [[ 9.68815880e-01 -2.46896075e-01 -2.09312871e-02 8.60941839e+02] [ 2.46844706e-01 9.69041924e-01 -5.04399274e-03 1.86090822e+01] [ 2.15286367e-02 -2.80077143e-04 9.99768193e-01 5.75225745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.119254154 meters 0.017157562714084387 Centerline is valid? [True, True] Translation: X:861.00, Y:18.62, Z:5.75 [[ 9.68077648e-01 -2.49675615e-01 -2.20851897e-02 8.60999071e+02] [ 2.49619038e-01 9.68329469e-01 -5.32686775e-03 1.86214843e+01] [ 2.27157290e-02 -3.56062206e-04 9.99741901e-01 5.75319468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.179254154 meters 0.020922926928431985 Centerline is valid? [True, True] Translation: X:861.06, Y:18.63, Z:5.75 [[ 9.67053605e-01 -2.53498200e-01 -2.33663555e-02 8.61056963e+02] [ 2.53435831e-01 9.67335746e-01 -5.64214397e-03 1.86329997e+01] [ 2.40333843e-02 -4.65616078e-04 9.99711048e-01 5.75186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters 0.021686637698695256 Centerline is valid? [True, True] Translation: X:861.11, Y:18.64, Z:5.75 [[ 9.66314535e-01 -2.56354990e-01 -2.27670625e-02 8.61114185e+02] [ 2.56296497e-01 9.66582562e-01 -5.50060411e-03 1.86442282e+01] [ 2.34163529e-02 -5.19804681e-04 9.99725664e-01 5.75328184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.299254154 meters 0.020963245374852873 Centerline is valid? [True, True] Translation: X:861.17, Y:18.66, Z:5.76 [[ 9.65060200e-01 -2.61220925e-01 -2.05533091e-02 8.61171545e+02] [ 2.61174264e-01 9.65278872e-01 -4.97013504e-03 1.86587829e+01] [ 2.11379783e-02 -5.71515862e-04 9.99776405e-01 5.75713785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters 0.02161062434028196 Centerline is valid? [True, True] Translation: X:861.23, Y:18.67, Z:5.76 [[ 9.64059084e-01 -2.64954031e-01 -1.97343277e-02 8.61229155e+02] [ 2.64911739e-01 9.64260842e-01 -4.77483697e-03 1.86719306e+01] [ 2.02941517e-02 -6.24630107e-04 9.99793857e-01 5.75784433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.419254154 meters 0.017998122872064877 Centerline is valid? [True, True] Translation: X:861.29, Y:18.69, Z:5.76 [[ 9.64253700e-01 -2.64376996e-01 -1.78775287e-02 8.61286184e+02] [ 2.64342129e-01 9.64419255e-01 -4.32888872e-03 1.86885765e+01] [ 1.83858915e-02 -5.51637030e-04 9.99830813e-01 5.76173637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters 0.02024945161515334 Centerline is valid? [True, True] Translation: X:861.34, Y:18.71, Z:5.76 [[ 9.65748953e-01 -2.58707787e-01 -1.99810117e-02 8.61342672e+02] [ 2.58662969e-01 9.65955505e-01 -4.84057821e-03 1.87086555e+01] [ 2.05530635e-02 -4.93564469e-04 9.99788642e-01 5.75872584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.539254154 meters 0.019206644230952027 Centerline is valid? [True, True] Translation: X:861.40, Y:18.73, Z:5.76 [[ 9.68129376e-01 -2.49639483e-01 -2.01405231e-02 8.61399255e+02] [ 2.49591970e-01 9.68338803e-01 -4.87973510e-03 1.87314899e+01] [ 2.07210246e-02 -3.02697952e-04 9.99785251e-01 5.75829708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539999 meters 0.014674013510835646 Centerline is valid? [True, True] Translation: X:861.45, Y:18.75, Z:5.76 [[ 9.70266606e-01 -2.41344741e-01 -1.83147348e-02 8.61453556e+02] [ 2.41303940e-01 9.70439438e-01 -4.43905547e-03 1.87535004e+01] [ 1.88446836e-02 -1.12350381e-04 9.99822417e-01 5.76001724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.659254154 meters 0.01871715217685851 Centerline is valid? [True, True] Translation: X:861.51, Y:18.77, Z:5.76 [[ 9.70780576e-01 -2.39168884e-01 -1.95785266e-02 8.61509047e+02] [ 2.39121715e-01 9.70977981e-01 -4.75030533e-03 1.87701563e+01] [ 2.01464434e-02 -7.01466956e-05 9.99797037e-01 5.75905421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539999 meters 0.017937820228068502 Centerline is valid? [True, True] Translation: X:861.57, Y:18.79, Z:5.76 [[ 9.71050785e-01 -2.38203470e-01 -1.78740168e-02 8.61565617e+02] [ 2.38163905e-01 9.71215272e-01 -4.34157447e-03 1.87859736e+01] [ 1.83936962e-02 -4.10563411e-05 9.99830821e-01 5.76048103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.779254154 meters 0.01779717581796154 Centerline is valid? [True, True] Translation: X:861.62, Y:18.80, Z:5.76 [[ 9.70946434e-01 -2.38652306e-01 -1.75527850e-02 8.61621868e+02] [ 2.38614131e-01 9.71105079e-01 -4.26865678e-03 1.88011186e+01] [ 1.80643234e-02 -4.37054593e-05 9.99836826e-01 5.76107143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.839254154 meters 0.016661774969752078 Centerline is valid? [True, True] Translation: X:861.68, Y:18.82, Z:5.76 [[ 9.70744057e-01 -2.39459365e-01 -1.77535367e-02 8.61677809e+02] [ 2.39420347e-01 9.70906386e-01 -4.32295687e-03 1.88154100e+01] [ 1.82721947e-02 -5.40732311e-05 9.99833048e-01 5.76111890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.899254154 meters 0.017388842240162006 Centerline is valid? [True, True] Translation: X:861.73, Y:18.83, Z:5.76 [[ 9.70473823e-01 -2.40533999e-01 -1.79987063e-02 8.61733892e+02] [ 2.40494023e-01 9.70640711e-01 -4.38575500e-03 1.88283386e+01] [ 1.85252003e-02 -7.23208730e-05 9.99828391e-01 5.76085249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.959254154 meters 0.017790198800105145 Centerline is valid? [True, True] Translation: X:861.79, Y:18.84, Z:5.76 [[ 9.69974968e-01 -2.42463779e-01 -1.89704498e-02 8.61791719e+02] [ 2.42419662e-01 9.70160452e-01 -4.62645207e-03 1.88405371e+01] [ 1.95261272e-02 -1.11267325e-04 9.99809341e-01 5.76104588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.019254154 meters 0.016767279173255673 Centerline is valid? [True, True] Translation: X:861.85, Y:18.85, Z:5.76 [[ 9.69645069e-01 -2.43711563e-01 -1.98270959e-02 8.61848457e+02] [ 2.43663570e-01 9.69847748e-01 -4.83838389e-03 1.88517637e+01] [ 2.04084344e-02 -1.39625893e-04 9.99791716e-01 5.76120704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.079254154 meters 0.018173557451662235 Centerline is valid? [True, True] Translation: X:861.91, Y:18.86, Z:5.76 [[ 9.69455215e-01 -2.44409375e-01 -2.05095935e-02 8.61905042e+02] [ 2.44358137e-01 9.69672126e-01 -5.00682335e-03 1.88634872e+01] [ 2.11112957e-02 -1.57795062e-04 9.99777119e-01 5.76017419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.139254154 meters 0.019064055044234834 Centerline is valid? [True, True] Translation: X:861.96, Y:18.88, Z:5.76 [[ 9.69373121e-01 -2.44700757e-01 -2.09115361e-02 8.61961477e+02] [ 2.44647457e-01 9.69598635e-01 -5.10970686e-03 1.88757078e+01] [ 2.15261460e-02 -1.62741627e-04 9.99768272e-01 5.76036693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.199254154 meters 0.02003104191499015 Centerline is valid? [True, True] Translation: X:862.02, Y:18.89, Z:5.76 [[ 9.69315248e-01 -2.44919496e-01 -2.10330669e-02 8.62018527e+02] [ 2.44865495e-01 9.69543405e-01 -5.14543644e-03 1.88882729e+01] [ 2.16526890e-02 -1.62722320e-04 9.99765540e-01 5.76063061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.259254154 meters 0.017534964776139528 Centerline is valid? [True, True] Translation: X:862.08, Y:18.90, Z:5.76 [[ 9.69657436e-01 -2.43654905e-01 -1.99184482e-02 8.62075485e+02] [ 2.43606149e-01 9.69861986e-01 -4.87569653e-03 1.88990198e+01] [ 2.05061331e-02 -1.24501060e-04 9.99789719e-01 5.76305573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.319254154 meters 0.017243989220380777 Centerline is valid? [True, True] Translation: X:862.13, Y:18.91, Z:5.76 [[ 9.70039333e-01 -2.42136762e-01 -1.98363770e-02 8.62132714e+02] [ 2.42088012e-01 9.70242125e-01 -4.85938567e-03 1.89131722e+01] [ 2.04227245e-02 -8.83538483e-05 9.99791431e-01 5.76309185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.379254154 meters 0.016085288066372265 Centerline is valid? [True, True] Translation: X:862.19, Y:18.93, Z:5.76 [[ 9.70924773e-01 -2.38593245e-01 -1.94511815e-02 8.62188571e+02] [ 2.38545606e-01 9.71119593e-01 -4.76766103e-03 1.89279884e+01] [ 2.00269552e-02 -1.09536694e-05 9.99799440e-01 5.76325463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.439254154 meters 0.01621840950748247 Centerline is valid? [True, True] Translation: X:862.25, Y:18.94, Z:5.77 [[ 9.71094242e-01 -2.37890926e-01 -1.95928929e-02 8.62245415e+02] [ 2.37842353e-01 9.71291875e-01 -4.80703183e-03 1.89411177e+01] [ 2.01739669e-02 8.06117404e-06 9.99796485e-01 5.76698836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.499254154 meters 0.01384511578319049 Centerline is valid? [True, True] Translation: X:862.30, Y:18.95, Z:5.77 [[ 9.71446963e-01 -2.36545533e-01 -1.83577953e-02 8.62303156e+02] [ 2.36502554e-01 9.71620404e-01 -4.50914428e-03 1.89536720e+01] [ 1.89034264e-02 3.87290529e-05 9.99821314e-01 5.76898889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.559254154 meters 0.01654646716478256 Centerline is valid? [True, True] Translation: X:862.36, Y:18.97, Z:5.77 [[ 9.71713998e-01 -2.35404298e-01 -1.88871032e-02 8.62361092e+02] [ 2.35358488e-01 9.71897532e-01 -4.64435189e-03 1.89656926e+01] [ 1.94496293e-02 6.77416971e-05 9.99810836e-01 5.76838245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.619254154 meters 0.015425945907473123 Centerline is valid? [True, True] Translation: X:862.42, Y:18.98, Z:5.77 [[ 9.71882340e-01 -2.34838594e-01 -1.71916522e-02 8.62419219e+02] [ 2.34800471e-01 9.72034376e-01 -4.23198940e-03 1.89774199e+01] [ 1.77047114e-02 7.63877094e-05 9.99843256e-01 5.77038045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.679254154 meters 0.013880665441979528 Centerline is valid? [True, True] Translation: X:862.48, Y:18.99, Z:5.77 [[ 9.72157124e-01 -2.33728372e-01 -1.67801652e-02 8.62476397e+02] [ 2.33691802e-01 9.72301928e-01 -4.13564172e-03 1.89898743e+01] [ 1.72820037e-02 9.91065413e-05 9.99850650e-01 5.77115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters 0.01394991654537429 Centerline is valid? [True, True] Translation: X:862.53, Y:19.00, Z:5.77 [[ 9.72322438e-01 -2.33056973e-01 -1.65385357e-02 8.62532027e+02] [ 2.33021295e-01 9.72463076e-01 -4.07943048e-03 1.90010880e+01] [ 1.70338550e-02 1.12690792e-04 9.99854907e-01 5.77105361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.799254154 meters 0.015080238831604167 Centerline is valid? [True, True] Translation: X:862.59, Y:19.01, Z:5.77 [[ 9.72415339e-01 -2.32626031e-01 -1.71329265e-02 8.62589728e+02] [ 2.32587609e-01 9.72566251e-01 -4.22976433e-03 1.90127277e+01] [ 1.76468594e-02 1.28181290e-04 9.99844274e-01 5.76978144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters 0.017040717420372962 Centerline is valid? [True, True] Translation: X:862.65, Y:19.02, Z:5.77 [[ 9.72172257e-01 -2.33621281e-01 -1.73839047e-02 8.62647159e+02] [ 2.33581793e-01 9.72327663e-01 -4.29675559e-03 1.90218378e+01] [ 1.79066650e-02 1.16622951e-04 9.99839656e-01 5.76941007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.919254154 meters 0.013814602297078768 Centerline is valid? [True, True] Translation: X:862.70, Y:19.03, Z:5.77 [[ 9.71778165e-01 -2.35442542e-01 -1.46289851e-02 8.62704818e+02] [ 2.35414727e-01 9.71888267e-01 -3.61969656e-03 1.90323064e+01] [ 1.50699696e-02 7.36635388e-05 9.99886439e-01 5.77386948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters 0.013708361813083202 Centerline is valid? [True, True] Translation: X:862.76, Y:19.04, Z:5.77 [[ 9.71114448e-01 -2.38222953e-01 -1.36584646e-02 8.62762629e+02] [ 2.38198948e-01 9.71210494e-01 -3.38190565e-03 1.90407494e+01] [ 1.40708917e-02 3.07855400e-05 9.99901000e-01 5.77406136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.039254154 meters 0.014519165028349395 Centerline is valid? [True, True] Translation: X:862.82, Y:19.05, Z:5.77 [[ 9.70578710e-01 -2.40346710e-01 -1.45060590e-02 8.62820682e+02] [ 2.40319824e-01 9.70687107e-01 -3.59488739e-03 1.90493475e+01] [ 1.49448638e-02 3.02761791e-06 9.99888319e-01 5.77318955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539999 meters 0.01704036229265517 Centerline is valid? [True, True] Translation: X:862.88, Y:19.06, Z:5.77 [[ 9.70334539e-01 -2.41277713e-01 -1.53605604e-02 8.62877756e+02] [ 2.41247606e-01 9.70456112e-01 -3.81145091e-03 1.90586787e+01] [ 1.58263679e-02 -7.31595921e-06 9.99874755e-01 5.77232817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.159254154 meters 0.014176487197976161 Centerline is valid? [True, True] Translation: X:862.93, Y:19.07, Z:5.77 [[ 9.70145284e-01 -2.42112396e-01 -1.41320666e-02 8.62934532e+02] [ 2.42086940e-01 9.70248209e-01 -3.51081172e-03 1.90691711e+01] [ 1.45616234e-02 -1.51913302e-05 9.99893974e-01 5.77498187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539999 meters 0.013879169456436264 Centerline is valid? [True, True] Translation: X:862.99, Y:19.08, Z:5.78 [[ 9.69281839e-01 -2.45595104e-01 -1.32575274e-02 8.62991222e+02] [ 2.45572989e-01 9.69372499e-01 -3.29635276e-03 1.90768551e+01] [ 1.36610506e-02 -6.05957750e-05 9.99906682e-01 5.77579084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.279254154 meters 0.018061488839115087 Centerline is valid? [True, True] Translation: X:863.05, Y:19.08, Z:5.77 [[ 9.67820911e-01 -2.51262765e-01 -1.37733896e-02 8.63049685e+02] [ 2.51239445e-01 9.67918903e-01 -3.42622315e-03 1.90836854e+01] [ 1.41924064e-02 -1.44448345e-04 9.99899272e-01 5.77460743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.339254154 meters 0.017825125935902946 Centerline is valid? [True, True] Translation: X:863.11, Y:19.09, Z:5.78 [[ 9.66776571e-01 -2.55288998e-01 -1.30609962e-02 8.63106887e+02] [ 2.55268377e-01 9.66864774e-01 -3.25035478e-03 1.90911830e+01] [ 1.34579969e-02 -1.91692451e-04 9.99909419e-01 5.77514229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.399254154 meters 0.01564592228685187 Centerline is valid? [True, True] Translation: X:863.17, Y:19.10, Z:5.78 [[ 9.66426074e-01 -2.56650614e-01 -1.22925249e-02 8.63165136e+02] [ 2.56632431e-01 9.66504229e-01 -3.06131271e-03 1.91018857e+01] [ 1.26664651e-02 -1.96128118e-04 9.99919758e-01 5.77635040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.459254154 meters 0.015380279877677736 Centerline is valid? [True, True] Translation: X:863.22, Y:19.12, Z:5.78 [[ 9.66484348e-01 -2.56362378e-01 -1.36505356e-02 8.63221469e+02] [ 2.56339869e-01 9.66580720e-01 -3.40354386e-03 1.91151440e+01] [ 1.40668851e-02 -2.09704640e-04 9.99901034e-01 5.77552210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.519254154 meters 0.01920317954969808 Centerline is valid? [True, True] Translation: X:863.28, Y:19.13, Z:5.77 [[ 9.66445911e-01 -2.56325423e-01 -1.67206290e-02 8.63279222e+02] [ 2.56291558e-01 9.66590510e-01 -4.17408828e-03 1.91261195e+01] [ 1.72319262e-02 -2.51325491e-04 9.99851488e-01 5.77185335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.579254154 meters 0.018623815528525836 Centerline is valid? [True, True] Translation: X:863.34, Y:19.14, Z:5.77 [[ 9.66453840e-01 -2.56306399e-01 -1.65530743e-02 8.63335979e+02] [ 2.56273127e-01 9.66595557e-01 -4.13692903e-03 1.91385532e+01] [ 1.70604494e-02 -2.43957162e-04 9.99854430e-01 5.77266331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.639254154 meters 0.018462044539368526 Centerline is valid? [True, True] Translation: X:863.39, Y:19.15, Z:5.77 [[ 9.66455247e-01 -2.56307975e-01 -1.64462237e-02 8.63392552e+02] [ 2.56275049e-01 9.66595140e-01 -4.11508380e-03 1.91498512e+01] [ 1.69515687e-02 -2.37712450e-04 9.99856284e-01 5.77305112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.699254154 meters 0.01716792624708348 Centerline is valid? [True, True] Translation: X:863.45, Y:19.16, Z:5.77 [[ 9.66509528e-01 -2.56142337e-01 -1.58251486e-02 8.63449534e+02] [ 2.56111759e-01 9.66639051e-01 -3.96394651e-03 1.91632478e+01] [ 1.63125411e-02 -2.21814579e-04 9.99866917e-01 5.77429813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.759254154 meters 0.01501097787702945 Centerline is valid? [True, True] Translation: X:863.51, Y:19.18, Z:5.78 [[ 9.67137275e-01 -2.53836331e-01 -1.45810774e-02 8.63506294e+02] [ 2.53810055e-01 9.67247171e-01 -3.65599977e-03 1.91778999e+01] [ 1.50315314e-02 -1.64970387e-04 9.99887007e-01 5.77615891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.819254154 meters 0.018212876589985338 Centerline is valid? [True, True] Translation: X:863.56, Y:19.19, Z:5.77 [[ 9.68074205e-01 -2.50179731e-01 -1.55703802e-02 8.63562919e+02] [ 2.50149226e-01 9.68199406e-01 -3.90829135e-03 1.91929555e+01] [ 1.60530081e-02 -1.11402522e-04 9.99871136e-01 5.77487001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.879254154 meters 0.014165822837153452 Centerline is valid? [True, True] Translation: X:863.62, Y:19.21, Z:5.78 [[ 9.69788711e-01 -2.43502520e-01 -1.47097879e-02 8.63618849e+02] [ 2.43474468e-01 9.69900264e-01 -3.69606599e-03 1.92100321e+01] [ 1.51670285e-02 2.94529167e-06 9.99884974e-01 5.77602882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.939254154 meters 0.016305633195756543 Centerline is valid? [True, True] Translation: X:863.68, Y:19.22, Z:5.77 [[ 9.69944848e-01 -2.42804935e-01 -1.58982796e-02 8.63676304e+02] [ 2.42772002e-01 9.70075133e-01 -3.99892781e-03 1.92247462e+01] [ 1.63934851e-02 1.90822478e-05 9.99865618e-01 5.77398339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.999254154 meters 0.014726039106221236 Centerline is valid? [True, True] Translation: X:863.73, Y:19.24, Z:5.78 [[ 9.70722962e-01 -2.39608877e-01 -1.68676465e-02 8.63733329e+02] [ 2.39571246e-01 9.70869497e-01 -4.24719999e-03 1.92391787e+01] [ 1.73939502e-02 8.18514783e-05 9.99848710e-01 5.77509129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.059254154 meters 0.014875035996100313 Centerline is valid? [True, True] Translation: X:863.79, Y:19.25, Z:5.78 [[ 9.70526234e-01 -2.40447820e-01 -1.62380381e-02 8.63790031e+02] [ 2.40412987e-01 9.70662063e-01 -4.09325686e-03 1.92499894e+01] [ 1.67458623e-02 6.87779211e-05 9.99859776e-01 5.77666808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.119254154 meters 0.016453171334167013 Centerline is valid? [True, True] Translation: X:863.85, Y:19.26, Z:5.78 [[ 9.69611141e-01 -2.44175604e-01 -1.52482802e-02 8.63847757e+02] [ 2.44145299e-01 9.69731032e-01 -3.84684294e-03 1.92591256e+01] [ 1.57260357e-02 7.14582775e-06 9.99876338e-01 5.77679026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.179254154 meters 0.015403074571373548 Centerline is valid? [True, True] Translation: X:863.91, Y:19.27, Z:5.78 [[ 9.68480836e-01 -2.48608719e-01 -1.54458538e-02 8.63906217e+02] [ 2.48578136e-01 9.68603996e-01 -3.89992386e-03 1.92680135e+01] [ 1.59304708e-02 -6.25000245e-05 9.99873100e-01 5.77741156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters 0.014584634519189192 Centerline is valid? [True, True] Translation: X:863.96, Y:19.28, Z:5.78 [[ 9.67684033e-01 -2.51590354e-01 -1.70266255e-02 8.63964236e+02] [ 2.51553572e-01 9.67833808e-01 -4.30359573e-03 1.92774335e+01] [ 1.75616870e-02 -1.18587595e-04 9.99845775e-01 5.77742414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.299254154 meters 0.01522674341997577 Centerline is valid? [True, True] Translation: X:864.02, Y:19.29, Z:5.78 [[ 9.67022130e-01 -2.54102367e-01 -1.73259312e-02 8.64021669e+02] [ 2.54064636e-01 9.67177316e-01 -4.38190632e-03 1.92877018e+01] [ 1.78707004e-02 -1.64506015e-04 9.99840293e-01 5.77775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters 0.015939249386146215 Centerline is valid? [True, True] Translation: X:864.08, Y:19.30, Z:5.78 [[ 9.66436322e-01 -2.56319937e-01 -1.73472138e-02 8.64079913e+02] [ 2.56282411e-01 9.66591976e-01 -4.39057808e-03 1.92992748e+01] [ 1.78930704e-02 -2.02571646e-04 9.99839886e-01 5.77833778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.419254154 meters 0.018715797113415967 Centerline is valid? [True, True] Translation: X:864.14, Y:19.31, Z:5.78 [[ 9.65216848e-01 -2.60851118e-01 -1.76955140e-02 8.64137645e+02] [ 2.60812781e-01 9.65378998e-01 -4.48143778e-03 1.93091089e+01] [ 1.82518656e-02 -2.89656954e-04 9.99833379e-01 5.77926691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters 0.020287227801840033 Centerline is valid? [True, True] Translation: X:864.20, Y:19.32, Z:5.78 [[ 9.63813679e-01 -2.66032307e-01 -1.70295197e-02 8.64196627e+02] [ 2.65997584e-01 9.63964042e-01 -4.31414996e-03 1.93174790e+01] [ 1.75635479e-02 -3.71774357e-04 9.99845680e-01 5.78097364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.539254154 meters 0.017776948673710682 Centerline is valid? [True, True] Translation: X:864.25, Y:19.33, Z:5.78 [[ 9.63036655e-01 -2.68972298e-01 -1.46391210e-02 8.64254205e+02] [ 2.68946939e-01 9.63147845e-01 -3.71113160e-03 1.93307206e+01] [ 1.50978295e-02 -3.63191041e-04 9.99885955e-01 5.78487333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539999 meters 0.018790872851701154 Centerline is valid? [True, True] Translation: X:864.31, Y:19.34, Z:5.79 [[ 9.62665183e-01 -2.70276489e-01 -1.50454457e-02 8.64310393e+02] [ 2.70249823e-01 9.62782668e-01 -3.81667594e-03 1.93441941e+01] [ 1.55170521e-02 -3.91848007e-04 9.99879527e-01 5.78547612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.659254154 meters 0.016946692047435038 Centerline is valid? [True, True] Translation: X:864.37, Y:19.36, Z:5.79 [[ 9.63299930e-01 -2.67964833e-01 -1.57509503e-02 8.64365980e+02] [ 2.67935249e-01 9.63428624e-01 -3.99874780e-03 1.93645644e+01] [ 1.62464402e-02 -3.68241304e-04 9.99867950e-01 5.78598806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539999 meters 0.01651659190130074 Centerline is valid? [True, True] Translation: X:864.42, Y:19.39, Z:5.78 [[ 9.64793273e-01 -2.62502268e-01 -1.63248378e-02 8.64420408e+02] [ 2.62469653e-01 9.64931334e-01 -4.14754794e-03 1.93857556e+01] [ 1.68410883e-02 -2.83248166e-04 9.99858139e-01 5.78437648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.779254154 meters 0.017502502033556962 Centerline is valid? [True, True] Translation: X:864.48, Y:19.41, Z:5.78 [[ 9.65864327e-01 -2.58480157e-01 -1.71496251e-02 8.64476013e+02] [ 2.58443462e-01 9.66016542e-01 -4.36084340e-03 1.94055823e+01] [ 1.76940130e-02 -2.20225397e-04 9.99843424e-01 5.78414250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.839254154 meters 0.017376695485566283 Centerline is valid? [True, True] Translation: X:864.53, Y:19.43, Z:5.78 [[ 9.68381233e-01 -2.48882722e-01 -1.71807738e-02 8.64531286e+02] [ 2.48844302e-01 9.68533628e-01 -4.37313906e-03 1.94296873e+01] [ 1.77285560e-02 -4.04718719e-05 9.99842836e-01 5.78492240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.899254154 meters 0.01750645208131087 Centerline is valid? [True, True] Translation: X:864.59, Y:19.45, Z:5.79 [[ 9.69425186e-01 -2.44816524e-01 -1.67235867e-02 8.64586477e+02] [ 2.44779435e-01 9.69569424e-01 -4.26148659e-03 1.94491689e+01] [ 1.72579607e-02 3.76023206e-05 9.99851070e-01 5.78513450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.959254154 meters 0.01452474842369785 Centerline is valid? [True, True] Translation: X:864.64, Y:19.47, Z:5.79 [[ 9.70687051e-01 -2.39873228e-01 -1.50825723e-02 8.64640632e+02] [ 2.39842416e-01 9.70804214e-01 -3.84636038e-03 1.94697634e+01] [ 1.55648636e-02 1.16171629e-04 9.99878853e-01 5.78698206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.019254154 meters 0.01453736523470922 Centerline is valid? [True, True] Translation: X:864.70, Y:19.49, Z:5.79 [[ 9.71172552e-01 -2.37922601e-01 -1.47210947e-02 8.64696866e+02] [ 2.37892976e-01 9.71284106e-01 -3.75733916e-03 1.94874704e+01] [ 1.51923212e-02 1.46979622e-04 9.99884579e-01 5.78788452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.079254154 meters 0.018246240939858438 Centerline is valid? [True, True] Translation: X:864.75, Y:19.51, Z:5.78 [[ 9.71296121e-01 -2.37315445e-01 -1.62857397e-02 8.64751581e+02] [ 2.37279053e-01 9.71432627e-01 -4.15961218e-03 1.95063586e+01] [ 1.68076391e-02 1.75950286e-04 9.99858726e-01 5.78425491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.139254154 meters 0.016620381417504975 Centerline is valid? [True, True] Translation: X:864.81, Y:19.52, Z:5.78 [[ 9.71129268e-01 -2.37989891e-01 -1.63937669e-02 8.64807540e+02] [ 2.37953051e-01 9.71267617e-01 -4.19072957e-03 1.95214786e+01] [ 1.69200861e-02 1.68793295e-04 9.99856831e-01 5.78416028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.199254154 meters 0.014428817057689877 Centerline is valid? [True, True] Translation: X:864.86, Y:19.53, Z:5.79 [[ 9.70778666e-01 -2.39398296e-01 -1.66504360e-02 8.64864517e+02] [ 2.39360414e-01 9.70921435e-01 -4.26140245e-03 1.95344542e+01] [ 1.71864377e-02 1.51423348e-04 9.99852291e-01 5.78602569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.259254154 meters 0.015919861712329002 Centerline is valid? [True, True] Translation: X:864.92, Y:19.55, Z:5.79 [[ 9.69794457e-01 -2.43263217e-01 -1.79365177e-02 8.64922245e+02] [ 2.43219819e-01 9.69960308e-01 -4.59580155e-03 1.95452401e+01] [ 1.85156996e-02 9.44662916e-05 9.99828565e-01 5.78532294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.319254154 meters 0.016436355366390997 Centerline is valid? [True, True] Translation: X:864.98, Y:19.56, Z:5.79 [[ 9.68768469e-01 -2.47297972e-01 -1.82034918e-02 8.64979317e+02] [ 2.47253929e-01 9.68939478e-01 -4.66709766e-03 1.95561120e+01] [ 1.87922457e-02 2.04521772e-05 9.99823410e-01 5.78525578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.379254154 meters 0.01751059213701437 Centerline is valid? [True, True] Translation: X:865.04, Y:19.57, Z:5.79 [[ 9.67549204e-01 -2.51972243e-01 -1.89347841e-02 8.65037770e+02] [ 2.51925407e-01 9.67734459e-01 -4.85851204e-03 1.95660608e+01] [ 1.95480532e-02 -6.93037465e-05 9.99808916e-01 5.78519702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.439254154 meters 0.01570319333946705 Centerline is valid? [True, True] Translation: X:865.09, Y:19.58, Z:5.79 [[ 9.66411948e-01 -2.56453748e-01 -1.67159364e-02 8.65094685e+02] [ 2.56417837e-01 9.66556494e-01 -4.29375874e-03 1.95761578e+01] [ 1.72580474e-02 -1.36724502e-04 9.99851059e-01 5.78811813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.499254154 meters 0.01788002275742914 Centerline is valid? [True, True] Translation: X:865.15, Y:19.59, Z:5.79 [[ 9.65037400e-01 -2.61589871e-01 -1.65395498e-02 8.65152032e+02] [ 2.61555418e-01 9.65179097e-01 -4.25135332e-03 1.95872458e+01] [ 1.70757387e-02 -2.23293897e-04 9.99854174e-01 5.79012543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.559254154 meters 0.018286435583641663 Centerline is valid? [True, True] Translation: X:865.21, Y:19.60, Z:5.79 [[ 9.63474553e-01 -2.67281268e-01 -1.66585979e-02 8.65211096e+02] [ 2.67247149e-01 9.63618502e-01 -4.28297278e-03 1.95984000e+01] [ 1.71972915e-02 -3.25427502e-04 9.99852063e-01 5.79043206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.619254154 meters 0.020630637402587276 Centerline is valid? [True, True] Translation: X:865.27, Y:19.61, Z:5.79 [[ 9.61842189e-01 -2.73049839e-01 -1.74180435e-02 8.65269304e+02] [ 2.73013465e-01 9.61999785e-01 -4.47910421e-03 1.96092677e+01] [ 1.79791727e-02 -4.47168990e-04 9.99838262e-01 5.79024044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.679254154 meters 0.021183114604070317 Centerline is valid? [True, True] Translation: X:865.33, Y:19.62, Z:5.79 [[ 9.60976219e-01 -2.76102852e-01 -1.70857278e-02 8.65326157e+02] [ 2.76068311e-01 9.61127969e-01 -4.39499241e-03 1.96224561e+01] [ 1.76350408e-02 -4.93344836e-04 9.99844369e-01 5.79062721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters 0.01939188022893978 Centerline is valid? [True, True] Translation: X:865.38, Y:19.64, Z:5.79 [[ 9.60793310e-01 -2.76893693e-01 -1.43561292e-02 8.65381641e+02] [ 2.76869378e-01 9.60900464e-01 -3.69407893e-03 1.96373403e+01] [ 1.48176784e-02 -4.25526236e-04 9.99890122e-01 5.79366150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.799254154 meters 0.017199492263837237 Centerline is valid? [True, True] Translation: X:865.44, Y:19.66, Z:5.79 [[ 9.61825733e-01 -2.73330078e-01 -1.34880237e-02 8.65437240e+02] [ 2.73308232e-01 9.61920240e-01 -3.47298624e-03 1.96592629e+01] [ 1.39236746e-02 -3.45980394e-04 9.99903001e-01 5.79474034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters 0.015796143419902407 Centerline is valid? [True, True] Translation: X:865.49, Y:19.68, Z:5.79 [[ 9.63374820e-01 -2.67764496e-01 -1.45303313e-02 8.65493230e+02] [ 2.67738468e-01 9.63484351e-01 -3.74407635e-03 1.96801807e+01] [ 1.50022776e-02 -2.83379774e-04 9.99887419e-01 5.79409998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.919254154 meters 0.01714329904002844 Centerline is valid? [True, True] Translation: X:865.55, Y:19.70, Z:5.79 [[ 9.65202215e-01 -2.61025459e-01 -1.58238345e-02 8.65548294e+02] [ 2.60993659e-01 9.65331898e-01 -4.07895523e-03 1.97014997e+01] [ 1.63399633e-02 -1.92903833e-04 9.99866475e-01 5.79188627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters 0.017880921806969794 Centerline is valid? [True, True] Translation: X:865.60, Y:19.73, Z:5.79 [[ 9.68448935e-01 -2.48652118e-01 -1.66968411e-02 8.65602643e+02] [ 2.48614814e-01 9.68592858e-01 -4.30703033e-03 1.97286904e+01] [ 1.72433933e-02 2.00568988e-05 9.99851321e-01 5.79051974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.039254154 meters 0.017823119346362028 Centerline is valid? [True, True] Translation: X:865.66, Y:19.75, Z:5.79 [[ 9.69387711e-01 -2.44973954e-01 -1.65900164e-02 8.65658830e+02] [ 2.44936513e-01 9.69529656e-01 -4.28373882e-03 1.97478990e+01] [ 1.71339174e-02 8.91029841e-05 9.99853200e-01 5.79112221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539999 meters 0.01747459407756199 Centerline is valid? [True, True] Translation: X:865.72, Y:19.77, Z:5.79 [[ 9.69483382e-01 -2.44705892e-01 -1.48660500e-02 8.65715389e+02] [ 2.44675740e-01 9.69597349e-01 -3.84232740e-03 1.97659600e+01] [ 1.53543229e-02 8.77107630e-05 9.99882112e-01 5.79205455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.159254154 meters 0.01734521615003596 Centerline is valid? [True, True] Translation: X:865.77, Y:19.78, Z:5.79 [[ 9.68075412e-01 -2.50306011e-01 -1.33003106e-02 8.65773298e+02] [ 2.50282359e-01 9.68166773e-01 -3.44093194e-03 1.97787394e+01] [ 1.37382047e-02 2.24850100e-06 9.99905626e-01 5.79326119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539999 meters 0.017765030484528686 Centerline is valid? [True, True] Translation: X:865.83, Y:19.79, Z:5.79 [[ 9.65753661e-01 -2.59125612e-01 -1.31826800e-02 8.65830261e+02] [ 2.59103165e-01 9.65843622e-01 -3.41278119e-03 1.97882052e+01] [ 1.36167464e-02 -1.19768184e-04 9.99907281e-01 5.79286157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.279254154 meters 0.01935668702791511 Centerline is valid? [True, True] Translation: X:865.89, Y:19.80, Z:5.79 [[ 9.63250727e-01 -2.68200031e-01 -1.47234677e-02 8.65888303e+02] [ 2.68173067e-01 9.63363206e-01 -3.81296419e-03 1.97978642e+01] [ 1.52066842e-02 -2.75596970e-04 9.99884334e-01 5.79181573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.339254154 meters 0.01656379393359569 Centerline is valid? [True, True] Translation: X:865.95, Y:19.82, Z:5.79 [[ 9.61988314e-01 -2.72683169e-01 -1.49122041e-02 8.65945220e+02] [ 2.72656034e-01 9.62103823e-01 -3.86267651e-03 1.98150345e+01] [ 1.54003755e-02 -3.50052772e-04 9.99881346e-01 5.79427958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.399254154 meters 0.021667353319345592 Centerline is valid? [True, True] Translation: X:866.00, Y:19.83, Z:5.79 [[ 9.60026961e-01 -2.79339225e-01 -1.78278366e-02 8.66003553e+02] [ 2.79301569e-01 9.60192325e-01 -4.61877454e-03 1.98294382e+01] [ 1.84083567e-02 -5.45194650e-04 9.99830403e-01 5.79100978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.459254154 meters 0.0211625163891911 Centerline is valid? [True, True] Translation: X:866.06, Y:19.84, Z:5.79 [[ 9.58470099e-01 -2.84713336e-01 -1.65343598e-02 8.66061652e+02] [ 2.84681733e-01 9.58612516e-01 -4.28429949e-03 1.98434098e+01] [ 1.70698415e-02 -6.00657248e-04 9.99854119e-01 5.79296042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.519254154 meters 0.024241250283671998 Centerline is valid? [True, True] Translation: X:866.12, Y:19.86, Z:5.79 [[ 9.56659796e-01 -2.90828333e-01 -1.48632359e-02 8.66120264e+02] [ 2.90803527e-01 9.56775038e-01 -3.85159138e-03 1.98574319e+01] [ 1.53409250e-02 -6.37618804e-04 9.99882118e-01 5.79436806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.579254154 meters 0.02257791067528143 Centerline is valid? [True, True] Translation: X:866.18, Y:19.87, Z:5.80 [[ 9.55924495e-01 -2.93361350e-01 -1.21440342e-02 8.66177752e+02] [ 2.93344990e-01 9.56001471e-01 -3.14723485e-03 1.98745199e+01] [ 1.25329916e-02 -5.53872715e-04 9.99921306e-01 5.79864651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.639254154 meters 0.02188122620011494 Centerline is valid? [True, True] Translation: X:866.23, Y:19.90, Z:5.80 [[ 9.56534549e-01 -2.91383772e-01 -1.17113082e-02 8.66233591e+02] [ 2.91368391e-01 9.56606105e-01 -3.03661665e-03 1.98950487e+01] [ 1.20879297e-02 -5.07676272e-04 9.99926809e-01 5.79963616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.699254154 meters 0.02149393687679986 Centerline is valid? [True, True] Translation: X:866.29, Y:19.92, Z:5.80 [[ 9.58589946e-01 -2.84521447e-01 -1.23637098e-02 8.66288187e+02] [ 2.84503708e-01 9.58669573e-01 -3.20774963e-03 1.99181000e+01] [ 1.27653860e-02 -4.42604734e-04 9.99918421e-01 5.79855277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.759254154 meters 0.019672273858458992 Centerline is valid? [True, True] Translation: X:866.34, Y:19.94, Z:5.80 [[ 9.61398588e-01 -2.74816384e-01 -1.37372207e-02 8.66342975e+02] [ 2.74793484e-01 9.61496664e-01 -3.56466646e-03 1.99439089e+01] [ 1.41879206e-02 -3.47833438e-04 9.99899286e-01 5.79690745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.819254154 meters 0.01739557934406543 Centerline is valid? [True, True] Translation: X:866.40, Y:19.97, Z:5.80 [[ 9.62976995e-01 -2.69166574e-01 -1.49887454e-02 8.66397316e+02] [ 2.69138613e-01 9.63093595e-01 -3.89029608e-03 1.99685609e+01] [ 1.54827024e-02 -2.87784524e-04 9.99880094e-01 5.79683573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.879254154 meters 0.0189988405629531 Centerline is valid? [True, True] Translation: X:866.45, Y:19.99, Z:5.80 [[ 9.64420990e-01 -2.63867042e-01 -1.63198910e-02 8.66451075e+02] [ 2.63833102e-01 9.64559037e-01 -4.23772065e-03 1.99912520e+01] [ 1.68596931e-02 -2.18780715e-04 9.99857841e-01 5.79510480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.939254154 meters 0.014766538039976051 Centerline is valid? [True, True] Translation: X:866.51, Y:20.01, Z:5.80 [[ 9.64757143e-01 -2.62773393e-01 -1.39211686e-02 8.66506903e+02] [ 2.62748545e-01 9.64857562e-01 -3.61748937e-03 2.00122260e+01] [ 1.43825248e-02 -1.67768090e-04 9.99896552e-01 5.79814486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.999254154 meters 0.018744980331957338 Centerline is valid? [True, True] Translation: X:866.56, Y:20.03, Z:5.80 [[ 9.63735119e-01 -2.66433258e-01 -1.50976832e-02 8.66563399e+02] [ 2.66404418e-01 9.63853341e-01 -3.92726963e-03 2.00283566e+01] [ 1.55983077e-02 -2.37241847e-04 9.99878311e-01 5.79616235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.059254154 meters 0.01859469434585376 Centerline is valid? [True, True] Translation: X:866.62, Y:20.04, Z:5.80 [[ 9.62735366e-01 -2.69959903e-01 -1.61946524e-02 8.66618767e+02] [ 2.69927171e-01 9.62871514e-01 -4.21538528e-03 2.00440223e+01] [ 1.67313544e-02 -3.13076211e-04 9.99859972e-01 5.79566709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.119254154 meters 0.01963120006349155 Centerline is valid? [True, True] Translation: X:866.68, Y:20.06, Z:5.80 [[ 9.61850825e-01 -2.73064800e-01 -1.66914975e-02 8.66675820e+02] [ 2.73030439e-01 9.61995569e-01 -4.34798630e-03 2.00586139e+01] [ 1.72444287e-02 -3.75172692e-04 9.99851233e-01 5.79593847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.179254154 meters 0.0182287890165246 Centerline is valid? [True, True] Translation: X:866.73, Y:20.07, Z:5.80 [[ 9.60611287e-01 -2.77457742e-01 -1.55934985e-02 8.66733164e+02] [ 2.77428297e-01 9.60737749e-01 -4.06405550e-03 2.00736028e+01] [ 1.61088663e-02 -4.22100170e-04 9.99870155e-01 5.79885934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters 0.02162383609830894 Centerline is valid? [True, True] Translation: X:866.79, Y:20.09, Z:5.80 [[ 9.59122873e-01 -2.82457410e-01 -1.73529694e-02 8.66790787e+02] [ 2.82421746e-01 9.59279675e-01 -4.52349446e-03 2.00876395e+01] [ 1.79240454e-02 -5.62268906e-04 9.99839193e-01 5.79767274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.299254154 meters 0.020327189425435356 Centerline is valid? [True, True] Translation: X:866.85, Y:20.10, Z:5.80 [[ 9.58313505e-01 -2.85245566e-01 -1.64375732e-02 8.66847894e+02] [ 2.85213925e-01 9.58454293e-01 -4.28784770e-03 2.01026510e+01] [ 1.69777522e-02 -5.79122413e-04 9.99855700e-01 5.79936452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters 0.019326926714941232 Centerline is valid? [True, True] Translation: X:866.91, Y:20.12, Z:5.80 [[ 9.58619551e-01 -2.84245146e-01 -1.59139270e-02 8.66905132e+02] [ 2.84215281e-01 9.58751483e-01 -4.15548956e-03 2.01179114e+01] [ 1.64386789e-02 -5.39447714e-04 9.99864730e-01 5.80056489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.419254154 meters 0.020067219327174174 Centerline is valid? [True, True] Translation: X:866.96, Y:20.14, Z:5.80 [[ 9.60274454e-01 -2.78573923e-01 -1.64177655e-02 8.66961962e+02] [ 2.78541270e-01 9.60414683e-01 -4.28922277e-03 2.01351831e+01] [ 1.69627287e-02 -4.54194206e-04 9.99856019e-01 5.79958820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters 0.016808840193193144 Centerline is valid? [True, True] Translation: X:867.02, Y:20.15, Z:5.80 [[ 9.62151574e-01 -2.72101989e-01 -1.49951854e-02 8.67018840e+02] [ 2.72073957e-01 9.62268368e-01 -3.91794854e-03 2.01549595e+01] [ 1.54954742e-02 -3.10139081e-04 9.99879890e-01 5.80109805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.539254154 meters 0.015523107971141117 Centerline is valid? [True, True] Translation: X:867.07, Y:20.18, Z:5.80 [[ 9.64817987e-01 -2.62495177e-01 -1.49175833e-02 8.67074497e+02] [ 2.62466277e-01 9.64933292e-01 -3.89812350e-03 2.01781739e+01] [ 1.54177114e-02 -1.54382872e-04 9.99881128e-01 5.80201137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539999 meters 0.014087842086876167 Centerline is valid? [True, True] Translation: X:867.13, Y:20.20, Z:5.80 [[ 9.66666129e-01 -2.55630399e-01 -1.44808129e-02 8.67129704e+02] [ 2.55602358e-01 9.66774585e-01 -3.78639822e-03 2.01977339e+01] [ 1.49676004e-02 -4.11470168e-05 9.99887978e-01 5.80054963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.659254154 meters 0.014063417036727139 Centerline is valid? [True, True] Translation: X:867.19, Y:20.21, Z:5.80 [[ 9.66589036e-01 -2.55900843e-01 -1.48456883e-02 8.67185758e+02] [ 2.55871337e-01 9.66703034e-01 -3.88619362e-03 2.02116589e+01] [ 1.53458522e-02 -4.22339691e-05 9.99882245e-01 5.80149753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539999 meters 0.01635544086136674 Centerline is valid? [True, True] Translation: X:867.24, Y:20.22, Z:5.80 [[ 9.65736513e-01 -2.59078110e-01 -1.52158110e-02 8.67242809e+02] [ 2.59047462e-01 9.65856368e-01 -3.98597334e-03 2.02224768e+01] [ 1.57289664e-02 -9.22172186e-05 9.99876288e-01 5.79904851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.779254154 meters 0.017556857213424492 Centerline is valid? [True, True] Translation: X:867.30, Y:20.24, Z:5.80 [[ 9.64960890e-01 -2.61977697e-01 -1.47704837e-02 8.67300541e+02] [ 2.61949113e-01 9.65073919e-01 -3.87211987e-03 2.02360100e+01] [ 1.52690176e-02 -1.32670872e-04 9.99883413e-01 5.80065998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.839254154 meters 0.01496123065552686 Centerline is valid? [True, True] Translation: X:867.36, Y:20.25, Z:5.80 [[ 9.64297302e-01 -2.64521406e-01 -1.26150572e-02 8.67356913e+02] [ 2.64500730e-01 9.64379803e-01 -3.31038996e-03 2.02482692e+01] [ 1.30413754e-02 -1.44491730e-04 9.99914947e-01 5.80250056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.899254154 meters 0.01643155813172841 Centerline is valid? [True, True] Translation: X:867.42, Y:20.26, Z:5.80 [[ 9.62997535e-01 -2.69162066e-01 -1.36941658e-02 8.67415332e+02] [ 2.69138112e-01 9.63094873e-01 -3.59763087e-03 2.02585059e+01] [ 1.41571266e-02 -2.21112279e-04 9.99899758e-01 5.80191823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.959254154 meters 0.01883583056308533 Centerline is valid? [True, True] Translation: X:867.47, Y:20.27, Z:5.80 [[ 9.61975889e-01 -2.72678881e-01 -1.57675998e-02 8.67472201e+02] [ 2.72647539e-01 9.62105052e-01 -4.14591174e-03 2.02684486e+01] [ 1.63005900e-02 -3.10730141e-04 9.99867088e-01 5.79986256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.019254154 meters 0.019870821032062412 Centerline is valid? [True, True] Translation: X:867.53, Y:20.28, Z:5.80 [[ 9.61251733e-01 -2.75170080e-01 -1.66292764e-02 8.67529466e+02] [ 2.75135524e-01 9.61395492e-01 -4.37632917e-03 2.02807869e+01] [ 1.71915462e-02 -3.68550666e-04 9.99852147e-01 5.79965337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.079254154 meters 0.018027874539773253 Centerline is valid? [True, True] Translation: X:867.59, Y:20.29, Z:5.80 [[ 9.60391039e-01 -2.78313432e-01 -1.38088985e-02 8.67586619e+02] [ 2.78289898e-01 9.60490245e-01 -3.63621607e-03 2.02909464e+01] [ 1.42753201e-02 -3.50687621e-04 9.99898041e-01 5.80258321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.139254154 meters 0.02071583934249409 Centerline is valid? [True, True] Translation: X:867.64, Y:20.30, Z:5.80 [[ 9.59128074e-01 -2.82618215e-01 -1.41521418e-02 8.67644854e+02] [ 2.82593948e-01 9.59232383e-01 -3.72766286e-03 2.03023051e+01] [ 1.46286981e-02 -4.24003522e-04 9.99892905e-01 5.80286839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.199254154 meters 0.021297984719608833 Centerline is valid? [True, True] Translation: X:867.70, Y:20.31, Z:5.80 [[ 9.58442004e-01 -2.84978396e-01 -1.32754735e-02 8.67702080e+02] [ 2.84957255e-01 9.58533843e-01 -3.49773700e-03 2.03139230e+01] [ 1.37217701e-02 -4.30564425e-04 9.99905759e-01 5.80321409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.259254154 meters 0.02135870709001395 Centerline is valid? [True, True] Translation: X:867.76, Y:20.33, Z:5.80 [[ 9.58416053e-01 -2.85042529e-01 -1.37631810e-02 8.67757811e+02] [ 2.85019773e-01 9.58514767e-01 -3.62909166e-03 2.03293141e+01] [ 1.42266577e-02 -4.44599007e-04 9.99898697e-01 5.80367073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.319254154 meters 0.018588909786836978 Centerline is valid? [True, True] Translation: X:867.81, Y:20.35, Z:5.80 [[ 9.59600609e-01 -2.81079975e-01 -1.26775233e-02 8.67813915e+02] [ 2.81060293e-01 9.59684283e-01 -3.34499888e-03 2.03463286e+01] [ 1.31066320e-02 -3.53285449e-04 9.99914042e-01 5.80492119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.379254154 meters 0.017122054674228376 Centerline is valid? [True, True] Translation: X:867.87, Y:20.37, Z:5.80 [[ 9.61164059e-01 -2.75648493e-01 -1.34743996e-02 8.67870978e+02] [ 2.75625713e-01 9.61258457e-01 -3.55601121e-03 2.03654174e+01] [ 1.39325897e-02 -2.95980837e-04 9.99902893e-01 5.80454175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.439254154 meters 0.019006970550937013 Centerline is valid? [True, True] Translation: X:867.93, Y:20.38, Z:5.80 [[ 9.61928242e-01 -2.72878151e-01 -1.52174692e-02 8.67927311e+02] [ 2.72848708e-01 9.62048560e-01 -4.01865537e-03 2.03812216e+01] [ 1.57365476e-02 -2.86408726e-04 9.99876132e-01 5.80294125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.499254154 meters 0.019120514544603156 Centerline is valid? [True, True] Translation: X:867.98, Y:20.39, Z:5.80 [[ 9.61957515e-01 -2.72764035e-01 -1.54116969e-02 8.67982656e+02] [ 2.72733776e-01 9.62080922e-01 -4.07277020e-03 2.03941581e+01] [ 1.59382048e-02 -2.85458397e-04 9.99872938e-01 5.80293664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.559254154 meters 0.016131907237663824 Centerline is valid? [True, True] Translation: X:868.04, Y:20.41, Z:5.81 [[ 9.61918945e-01 -2.72955053e-01 -1.44042330e-02 8.68038509e+02] [ 2.72928595e-01 9.62026750e-01 -3.80968408e-03 2.04085715e+01] [ 1.48971299e-02 -2.66719776e-04 9.99888996e-01 5.80593999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.619254154 meters 0.020148740159646412 Centerline is valid? [True, True] Translation: X:868.10, Y:20.42, Z:5.80 [[ 9.61594200e-01 -2.74021513e-01 -1.57735409e-02 8.68095954e+02] [ 2.73989854e-01 9.61723514e-01 -4.17647863e-03 2.04226004e+01] [ 1.63142302e-02 -3.05712537e-04 9.99866867e-01 5.80478716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.679254154 meters 0.01623641658577261 Centerline is valid? [True, True] Translation: X:868.15, Y:20.44, Z:5.81 [[ 9.62142121e-01 -2.72140893e-01 -1.48954065e-02 8.68152996e+02] [ 2.72112375e-01 9.62257382e-01 -3.94786165e-03 2.04382342e+01] [ 1.54075894e-02 -2.54820443e-04 9.99881264e-01 5.80692189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters 0.014875541260740647 Centerline is valid? [True, True] Translation: X:868.21, Y:20.45, Z:5.81 [[ 9.63553141e-01 -2.67047027e-01 -1.58502210e-02 8.68209731e+02] [ 2.67013974e-01 9.63683482e-01 -4.20530917e-03 2.04548998e+01] [ 1.63976115e-02 -1.80191647e-04 9.99865534e-01 5.80735882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.799254154 meters 0.016084508667996267 Centerline is valid? [True, True] Translation: X:868.27, Y:20.47, Z:5.81 [[ 9.64918023e-01 -2.61997720e-01 -1.70412360e-02 8.68265796e+02] [ 2.61958642e-01 9.65068487e-01 -4.52603283e-03 2.04721682e+01] [ 1.76317701e-02 -9.68483818e-05 9.99844544e-01 5.80599974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters 0.014081201969248303 Centerline is valid? [True, True] Translation: X:868.32, Y:20.49, Z:5.81 [[ 9.66191264e-01 -2.57197982e-01 -1.79900096e-02 8.68321258e+02] [ 2.57153497e-01 9.66358732e-01 -4.78340281e-03 2.04883333e+01] [ 1.86150844e-02 -4.51186021e-06 9.99826724e-01 5.80672777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.919254154 meters 0.01686234616227602 Centerline is valid? [True, True] Translation: X:868.38, Y:20.50, Z:5.80 [[ 9.66186272e-01 -2.57083554e-01 -1.98023918e-02 8.68378800e+02] [ 2.57029511e-01 9.66389180e-01 -5.27106566e-03 2.05017036e+01] [ 2.04919215e-02 3.03218382e-06 9.99790019e-01 5.80476728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters 0.014117939669308138 Centerline is valid? [True, True] Translation: X:868.44, Y:20.51, Z:5.81 [[ 9.66076594e-01 -2.57519234e-01 -1.94899781e-02 8.68436335e+02] [ 2.57466857e-01 9.66273173e-01 -5.19355606e-03 2.05127636e+01] [ 2.01700836e-02 -6.50477273e-07 9.99796563e-01 5.80705065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.039254154 meters 0.015880059767192634 Centerline is valid? [True, True] Translation: X:868.49, Y:20.52, Z:5.81 [[ 9.65193071e-01 -2.60800721e-01 -1.96295418e-02 8.68493998e+02] [ 2.60748148e-01 9.65392656e-01 -5.23675164e-03 2.05234281e+01] [ 2.03159641e-02 -6.38902692e-05 9.99793607e-01 5.80732708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539999 meters 0.015073744174768781 Centerline is valid? [True, True] Translation: X:868.55, Y:20.53, Z:5.81 [[ 9.63691201e-01 -2.66250335e-01 -2.02491476e-02 8.68552814e+02] [ 2.66195471e-01 9.63903899e-01 -5.40777589e-03 2.05303101e+01] [ 2.09580545e-02 -1.78805336e-04 9.99780340e-01 5.80896437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.159254154 meters 0.015962377703311294 Centerline is valid? [True, True] Translation: X:868.61, Y:20.54, Z:5.81 [[ 9.61738152e-01 -2.73217818e-01 -2.02916662e-02 8.68613515e+02] [ 2.73164223e-01 9.61952138e-01 -5.42138690e-03 2.05355420e+01] [ 2.10008312e-02 -3.29002632e-04 9.99779404e-01 5.81019667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539999 meters 0.019245925124077325 Centerline is valid? [True, True] Translation: X:868.67, Y:20.54, Z:5.81 [[ 9.59936393e-01 -2.79441409e-01 -2.08475668e-02 8.68673040e+02] [ 2.79386278e-01 9.60162628e-01 -5.57095954e-03 2.05409586e+01] [ 2.15738113e-02 -4.76757311e-04 9.99767145e-01 5.81027557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.279254154 meters 0.020739808523654844 Centerline is valid? [True, True] Translation: X:868.73, Y:20.55, Z:5.81 [[ 9.58658938e-01 -2.83689753e-01 -2.22073107e-02 8.68731714e+02] [ 2.83628311e-01 9.58915926e-01 -5.93531267e-03 2.05518828e+01] [ 2.29787313e-02 -6.08681470e-04 9.99735769e-01 5.81120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.339254154 meters 0.019418473881066156 Centerline is valid? [True, True] Translation: X:868.79, Y:20.56, Z:5.81 [[ 9.58154410e-01 -2.85428024e-01 -2.17018380e-02 8.68790252e+02] [ 2.85369693e-01 9.58399940e-01 -5.80461979e-03 2.05619974e+01] [ 2.24558414e-02 -6.31324814e-04 9.99747636e-01 5.81318223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.399254154 meters 0.01793387039917468 Centerline is valid? [True, True] Translation: X:868.85, Y:20.58, Z:5.81 [[ 9.58619427e-01 -2.83993467e-01 -1.99124496e-02 8.68847975e+02] [ 2.83943942e-01 9.58826061e-01 -5.33126019e-03 2.05751053e+01] [ 2.06066186e-02 -5.43369846e-04 9.99787513e-01 5.81487773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.459254154 meters 0.01957846374609884 Centerline is valid? [True, True] Translation: X:868.90, Y:20.59, Z:5.81 [[ 9.59843649e-01 -2.79741389e-01 -2.10932551e-02 8.68904750e+02] [ 2.79684724e-01 9.60075272e-01 -5.65037711e-03 2.05916572e+01] [ 2.18317570e-02 -4.75982651e-04 9.99761545e-01 5.81397469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.519254154 meters 0.01813111772725046 Centerline is valid? [True, True] Translation: X:868.96, Y:20.61, Z:5.81 [[ 9.62011371e-01 -2.72172017e-01 -2.13662327e-02 8.68961653e+02] [ 2.72111987e-01 9.62248564e-01 -5.72428571e-03 2.06111974e+01] [ 2.21176171e-02 -3.07180101e-04 9.99755328e-01 5.81349555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.579254154 meters 0.017171701974227307 Centerline is valid? [True, True] Translation: X:869.02, Y:20.63, Z:5.81 [[ 9.64037295e-01 -2.64879141e-01 -2.17056532e-02 8.69017764e+02] [ 2.64815250e-01 9.64281609e-01 -5.81906403e-03 2.06313064e+01] [ 2.24717109e-02 -1.38193254e-04 9.99747470e-01 5.81260353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.639254154 meters 0.01770003968859959 Centerline is valid? [True, True] Translation: X:869.07, Y:20.65, Z:5.81 [[ 9.64985233e-01 -2.61338112e-01 -2.24920401e-02 8.69073688e+02] [ 2.61268396e-01 9.65247320e-01 -6.03629984e-03 2.06486348e+01] [ 2.32878966e-02 -5.15190246e-05 9.99728799e-01 5.81232433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.699254154 meters 0.01622617113276078 Centerline is valid? [True, True] Translation: X:869.13, Y:20.67, Z:5.81 [[ 9.65761897e-01 -2.58499176e-01 -2.19575527e-02 8.69129457e+02] [ 2.58431849e-01 9.66011478e-01 -5.89948947e-03 2.06650854e+01] [ 2.27362611e-02 2.29711833e-05 9.99741498e-01 5.81406312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.759254154 meters 0.014211286713638102 Centerline is valid? [True, True] Translation: X:869.19, Y:20.68, Z:5.82 [[ 9.66230649e-01 -2.56901063e-01 -2.00044002e-02 8.69186529e+02] [ 2.56844727e-01 9.66437706e-01 -5.38015013e-03 2.06802241e+01] [ 2.07151730e-02 6.04412379e-05 9.99785416e-01 5.81560301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.819254154 meters 0.016159289289107856 Centerline is valid? [True, True] Translation: X:869.24, Y:20.69, Z:5.82 [[ 9.65708282e-01 -2.58865591e-01 -1.99027913e-02 8.69243229e+02] [ 2.58810120e-01 9.65913353e-01 -5.35874414e-03 2.06931360e+01] [ 2.06115663e-02 2.39397812e-05 9.99787559e-01 5.81595108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.879254154 meters 0.016624400629326793 Centerline is valid? [True, True] Translation: X:869.30, Y:20.70, Z:5.82 [[ 9.64803996e-01 -2.62239510e-01 -1.95879489e-02 8.69299330e+02] [ 2.62186400e-01 9.65002817e-01 -5.27772662e-03 2.07024486e+01] [ 2.02864544e-02 -4.37220846e-05 9.99794208e-01 5.81534128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.939254154 meters 0.015288024525528012 Centerline is valid? [True, True] Translation: X:869.36, Y:20.71, Z:5.82 [[ 9.63915418e-01 -2.65500807e-01 -1.94007445e-02 8.69358050e+02] [ 2.65449282e-01 9.64110632e-01 -5.23154082e-03 2.07120553e+01] [ 2.00934424e-02 -1.07150849e-04 9.99798101e-01 5.81540965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.999254154 meters 0.0174745700977998 Centerline is valid? [True, True] Translation: X:869.42, Y:20.72, Z:5.82 [[ 9.63402615e-01 -2.67248058e-01 -2.08296846e-02 8.69415836e+02] [ 2.67188946e-01 9.63627757e-01 -5.62261654e-03 2.07228325e+01] [ 2.15746956e-02 -1.48617996e-04 9.99767228e-01 5.81503975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.059254154 meters 0.014328485959969484 Centerline is valid? [True, True] Translation: X:869.47, Y:20.73, Z:5.82 [[ 9.63636474e-01 -2.66482575e-01 -1.97935340e-02 8.69473395e+02] [ 2.66428928e-01 9.63839729e-01 -5.34821054e-03 2.07349332e+01] [ 2.05029993e-02 -1.19839297e-04 9.99789784e-01 5.81588946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.119254154 meters 0.018366756794334648 Centerline is valid? [True, True] Translation: X:869.53, Y:20.74, Z:5.81 [[ 9.63160910e-01 -2.68050996e-01 -2.16731294e-02 8.69530447e+02] [ 2.67986997e-01 9.63404711e-01 -5.85943759e-03 2.07444408e+01] [ 2.24506231e-02 -1.64535626e-04 9.99747939e-01 5.81402344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.179254154 meters 0.01828303927319296 Centerline is valid? [True, True] Translation: X:869.59, Y:20.75, Z:5.82 [[ 9.62337855e-01 -2.71098128e-01 -2.02893440e-02 8.69588518e+02] [ 2.71042620e-01 9.62551691e-01 -5.49001078e-03 2.07532879e+01] [ 2.10178740e-02 -2.16031742e-04 9.99779077e-01 5.81511145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters 0.016546403678594807 Centerline is valid? [True, True] Translation: X:869.65, Y:20.76, Z:5.82 [[ 9.61437599e-01 -2.74372180e-01 -1.89116233e-02 8.69646842e+02] [ 2.74324486e-01 9.61623543e-01 -5.12234417e-03 2.07624615e+01] [ 1.95912910e-02 -2.63107072e-04 9.99808038e-01 5.81775839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.299254154 meters 0.017792156895095338 Centerline is valid? [True, True] Translation: X:869.71, Y:20.77, Z:5.82 [[ 9.60936941e-01 -2.76080728e-01 -1.94840073e-02 8.69705015e+02] [ 2.76030349e-01 9.61134403e-01 -5.28262674e-03 2.07741360e+01] [ 2.01851812e-02 -3.01906149e-04 9.99796213e-01 5.81757279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters 0.01613529427838527 Centerline is valid? [True, True] Translation: X:869.76, Y:20.79, Z:5.82 [[ 9.61392231e-01 -2.74590524e-01 -1.80283597e-02 8.69762199e+02] [ 2.74547046e-01 9.61561222e-01 -4.89248143e-03 2.07902125e+01] [ 1.86788006e-02 -2.46039258e-04 9.99825506e-01 5.81990035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.419254154 meters 0.014965695117831614 Centerline is valid? [True, True] Translation: X:869.82, Y:20.81, Z:5.82 [[ 9.62295701e-01 -2.71399016e-01 -1.81537179e-02 8.69819053e+02] [ 2.71354276e-01 9.62466904e-01 -4.93107439e-03 2.08074570e+01] [ 1.88106414e-02 -1.80937287e-04 9.99823048e-01 5.81973819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters 0.014542177807385153 Centerline is valid? [True, True] Translation: X:869.88, Y:20.82, Z:5.82 [[ 9.62737307e-01 -2.69813988e-01 -1.83654396e-02 8.69875726e+02] [ 2.69767818e-01 9.62912452e-01 -4.99340805e-03 2.08243211e+01] [ 1.90316018e-02 -1.47064343e-04 9.99818872e-01 5.81969388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.539254154 meters 0.014533228086690764 Centerline is valid? [True, True] Translation: X:869.93, Y:20.84, Z:5.82 [[ 9.62565941e-01 -2.70450713e-01 -1.79783366e-02 8.69932080e+02] [ 2.70406482e-01 9.62733810e-01 -4.89338679e-03 2.08403452e+01] [ 1.86317724e-02 -1.51251295e-04 9.99826402e-01 5.82033050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539999 meters 0.01502357557699911 Centerline is valid? [True, True] Translation: X:869.99, Y:20.86, Z:5.82 [[ 9.62081897e-01 -2.72186605e-01 -1.76882874e-02 8.69987822e+02] [ 2.72144028e-01 9.62244470e-01 -4.81745198e-03 2.08552888e+01] [ 1.83317026e-02 -1.78978450e-04 9.99831944e-01 5.82078995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.659254154 meters 0.015054929544957798 Centerline is valid? [True, True] Translation: X:870.04, Y:20.87, Z:5.82 [[ 9.61771789e-01 -2.73315855e-01 -1.71309458e-02 8.70044122e+02] [ 2.73276031e-01 9.61924325e-01 -4.66942540e-03 2.08713559e+01] [ 1.77549015e-02 -1.90555256e-04 9.99842351e-01 5.82195073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539999 meters 0.016923059996923836 Centerline is valid? [True, True] Translation: X:870.10, Y:20.89, Z:5.82 [[ 9.61245045e-01 -2.75108490e-01 -1.79800616e-02 8.70100346e+02] [ 2.75064837e-01 9.61413161e-01 -4.90603282e-03 2.08880994e+01] [ 1.86359591e-02 -2.29782981e-04 9.99826309e-01 5.82255177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.779254154 meters 0.01602008825055189 Centerline is valid? [True, True] Translation: X:870.16, Y:20.90, Z:5.82 [[ 9.60611945e-01 -2.77341199e-01 -1.75086052e-02 8.70156300e+02] [ 2.77300116e-01 9.60771456e-01 -4.78071169e-03 2.09048131e+01] [ 1.81476564e-02 -2.62729484e-04 9.99835283e-01 5.82274584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.839254154 meters 0.01905266589837912 Centerline is valid? [True, True] Translation: X:870.21, Y:20.92, Z:5.82 [[ 9.59139847e-01 -2.82309615e-01 -1.87625819e-02 8.70214247e+02] [ 2.82263356e-01 9.59323270e-01 -5.12459742e-03 2.09192212e+01] [ 1.94461045e-02 -3.80783737e-04 9.99810834e-01 5.82233477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.899254154 meters 0.02020038776714625 Centerline is valid? [True, True] Translation: X:870.27, Y:20.93, Z:5.82 [[ 9.57520000e-01 -2.87768552e-01 -1.85663500e-02 8.70271962e+02] [ 2.87724261e-01 9.57699862e-01 -5.07195839e-03 2.09331353e+01] [ 1.92405410e-02 -4.85487732e-04 9.99814766e-01 5.82376787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.959254154 meters 0.02204831755103821 Centerline is valid? [True, True] Translation: X:870.33, Y:20.94, Z:5.82 [[ 9.56293016e-01 -2.91894047e-01 -1.73646956e-02 8.70329320e+02] [ 2.91855962e-01 9.56450513e-01 -4.74487739e-03 2.09441202e+01] [ 1.79934734e-02 -5.30496815e-04 9.99837964e-01 5.82329436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.019254154 meters 0.019204609564667345 Centerline is valid? [True, True] Translation: X:870.38, Y:20.96, Z:5.83 [[ 9.55884895e-01 -2.93273329e-01 -1.65777437e-02 8.70384938e+02] [ 2.93238792e-01 9.56028490e-01 -4.53175749e-03 2.09621259e+01] [ 1.71778389e-02 -5.29398984e-04 9.99852310e-01 5.82648397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.079254154 meters 0.019058687803965368 Centerline is valid? [True, True] Translation: X:870.44, Y:20.98, Z:5.83 [[ 9.56394342e-01 -2.91587688e-01 -1.69257788e-02 8.70441668e+02] [ 2.91551357e-01 9.56543969e-01 -4.63058991e-03 2.09793942e+01] [ 1.75404746e-02 -5.06063781e-04 9.99846026e-01 5.82648465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.139254154 meters 0.01803444306787724 Centerline is valid? [True, True] Translation: X:870.50, Y:21.00, Z:5.83 [[ 9.57486386e-01 -2.88034438e-01 -1.59994944e-02 8.70497943e+02] [ 2.88001413e-01 9.57619962e-01 -4.38110272e-03 2.09991458e+01] [ 1.65833436e-02 -4.13030769e-04 9.99862402e-01 5.82754285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.199254154 meters 0.017150181538550715 Centerline is valid? [True, True] Translation: X:870.55, Y:21.02, Z:5.83 [[ 9.58286483e-01 -2.85387132e-01 -1.55306312e-02 8.70554238e+02] [ 2.85355605e-01 9.58412260e-01 -4.25654420e-03 2.10175542e+01] [ 1.60995103e-02 -3.52763882e-04 9.99870332e-01 5.82859164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.259254154 meters 0.017126232878865562 Centerline is valid? [True, True] Translation: X:870.61, Y:21.04, Z:5.83 [[ 9.59352732e-01 -2.81805919e-01 -1.50916840e-02 8.70610095e+02] [ 2.81775648e-01 9.59471388e-01 -4.13995490e-03 2.10385486e+01] [ 1.56467028e-02 -2.80792003e-04 9.99877543e-01 5.82891716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.319254154 meters 0.016192269710837447 Centerline is valid? [True, True] Translation: X:870.67, Y:21.06, Z:5.83 [[ 9.60139808e-01 -2.79150085e-01 -1.43797941e-02 8.70665835e+02] [ 2.79122251e-01 9.60247458e-01 -3.94819956e-03 2.10596091e+01] [ 1.49103010e-02 -2.22896939e-04 9.99888810e-01 5.83010754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.379254154 meters 0.015177697410059789 Centerline is valid? [True, True] Translation: X:870.72, Y:21.08, Z:5.83 [[ 9.60075793e-01 -2.79375608e-01 -1.42738287e-02 8.70721487e+02] [ 2.79348147e-01 9.60181869e-01 -3.92320912e-03 2.10781790e+01] [ 1.48015204e-02 -2.20789483e-04 9.99890427e-01 5.83084161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.439254154 meters 0.015228259023109416 Centerline is valid? [True, True] Translation: X:870.78, Y:21.10, Z:5.83 [[ 9.59257923e-01 -2.82130455e-01 -1.50546985e-02 8.70777849e+02] [ 2.82100176e-01 9.59376012e-01 -4.14234211e-03 2.10950042e+01] [ 1.56117975e-02 -2.73358606e-04 9.99878091e-01 5.83090597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.499254154 meters 0.015882196377738703 Centerline is valid? [True, True] Translation: X:870.83, Y:21.11, Z:5.83 [[ 9.58453628e-01 -2.84833874e-01 -1.53723140e-02 8.70834491e+02] [ 2.84802583e-01 9.58576842e-01 -4.23401128e-03 2.11118846e+01] [ 1.59415341e-02 -3.19971255e-04 9.99872874e-01 5.83088664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.559254154 meters 0.016463920536120957 Centerline is valid? [True, True] Translation: X:870.89, Y:21.13, Z:5.83 [[ 9.57806111e-01 -2.87018577e-01 -1.50927239e-02 8.70890398e+02] [ 2.86988637e-01 9.57924953e-01 -4.16001867e-03 2.11273820e+01] [ 1.56516994e-02 -3.46948949e-04 9.99877444e-01 5.83106846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.619254154 meters 0.017204044575147095 Centerline is valid? [True, True] Translation: X:870.95, Y:21.14, Z:5.83 [[ 9.56859847e-01 -2.90211873e-01 -1.40107706e-02 8.70946258e+02] [ 2.90186391e-01 9.56962347e-01 -3.86339580e-03 2.11446727e+01] [ 1.45289832e-02 -3.69006638e-04 9.99894381e-01 5.83273659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.679254154 meters 0.017464770613462136 Centerline is valid? [True, True] Translation: X:871.00, Y:21.16, Z:5.83 [[ 9.55889797e-01 -2.93380977e-01 -1.42231425e-02 8.71002445e+02] [ 2.93355026e-01 9.55995515e-01 -3.92470102e-03 2.11628841e+01] [ 1.47486931e-02 -4.20848676e-04 9.99891144e-01 5.83370457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters 0.01783853783503603 Centerline is valid? [True, True] Translation: X:871.06, Y:21.18, Z:5.83 [[ 9.55515508e-01 -2.94570757e-01 -1.47710211e-02 8.71058406e+02] [ 2.94542848e-01 9.55629565e-01 -4.07996127e-03 2.11821899e+01] [ 1.53174617e-02 -4.52232349e-04 9.99882579e-01 5.83349729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.799254154 meters 0.01896200998500174 Centerline is valid? [True, True] Translation: X:871.11, Y:21.20, Z:5.83 [[ 9.55359386e-01 -2.95035166e-01 -1.55786537e-02 8.71113216e+02] [ 2.95004132e-01 9.55486273e-01 -4.30620723e-03 2.12030711e+01] [ 1.61556724e-02 -4.81791727e-04 9.99869373e-01 5.83181821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters 0.0188929663116355 Centerline is valid? [True, True] Translation: X:871.17, Y:21.22, Z:5.83 [[ 9.55337576e-01 -2.95094245e-01 -1.57956377e-02 8.71168103e+02] [ 2.95062312e-01 9.55468026e-01 -4.36837889e-03 2.12200849e+01] [ 1.63813103e-02 -4.87420885e-04 9.99865699e-01 5.83294170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.919254154 meters 0.020414491126835535 Centerline is valid? [True, True] Translation: X:871.22, Y:21.24, Z:5.83 [[ 9.54262179e-01 -2.98608571e-01 -1.47178258e-02 8.71224257e+02] [ 2.98581247e-01 9.54375535e-01 -4.07143166e-03 2.12418755e+01] [ 1.52620973e-02 -5.09253550e-04 9.99883398e-01 5.83264023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters 0.019149112687023222 Centerline is valid? [True, True] Translation: X:871.28, Y:21.26, Z:5.84 [[ 9.53800432e-01 -3.00130663e-01 -1.36499545e-02 8.71278722e+02] [ 3.00107296e-01 9.53897972e-01 -3.77747816e-03 2.12599841e+01] [ 1.41544010e-02 -4.93490635e-04 9.99899700e-01 5.83615693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.039254154 meters 0.02105916385232662 Centerline is valid? [True, True] Translation: X:871.33, Y:21.28, Z:5.84 [[ 9.53297190e-01 -3.01700335e-01 -1.41907068e-02 8.71334383e+02] [ 3.01675206e-01 9.53402655e-01 -3.93035361e-03 2.12804515e+01] [ 1.47152465e-02 -5.34189331e-04 9.99891582e-01 5.83525840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539999 meters 0.02152002375026252 Centerline is valid? [True, True] Translation: X:871.39, Y:21.30, Z:5.83 [[ 9.53455248e-01 -3.01150248e-01 -1.52190040e-02 8.71388952e+02] [ 3.01121208e-01 9.53576538e-01 -4.21938520e-03 2.13032638e+01] [ 1.57831540e-02 -5.59769903e-04 9.99875282e-01 5.83464692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.159254154 meters 0.023087600370660308 Centerline is valid? [True, True] Translation: X:871.44, Y:21.33, Z:5.83 [[ 9.53620172e-01 -3.00568789e-01 -1.63392592e-02 8.71443414e+02] [ 3.00535155e-01 9.53759959e-01 -4.53449086e-03 2.13272088e+01] [ 1.69466577e-02 -5.86339856e-04 9.99856223e-01 5.83356968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539999 meters 0.019369175372422942 Centerline is valid? [True, True] Translation: X:871.50, Y:21.35, Z:5.84 [[ 9.53752567e-01 -3.00134726e-01 -1.65887817e-02 8.71497878e+02] [ 3.00099912e-01 9.53896643e-01 -4.60830414e-03 2.13514865e+01] [ 1.72070953e-02 -5.83110035e-04 9.99851777e-01 5.83689787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.279254154 meters 0.021828446745592495 Centerline is valid? [True, True] Translation: X:871.55, Y:21.37, Z:5.84 [[ 9.53421602e-01 -3.01234512e-01 -1.56530461e-02 8.71552787e+02] [ 3.01203622e-01 9.53549919e-01 -4.35094010e-03 2.13715843e+01] [ 1.62366142e-02 -5.66473893e-04 9.99868017e-01 5.83611279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.339254154 meters 0.018931348325261405 Centerline is valid? [True, True] Translation: X:871.61, Y:21.39, Z:5.84 [[ 9.53490071e-01 -3.01062012e-01 -1.47766297e-02 8.71608043e+02] [ 3.01034419e-01 9.53604417e-01 -4.11017983e-03 2.13934759e+01] [ 1.53284783e-02 -5.29258463e-04 9.99882372e-01 5.83979675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.399254154 meters 0.021632987250758913 Centerline is valid? [True, True] Translation: X:871.66, Y:21.42, Z:5.84 [[ 9.53168332e-01 -3.02103371e-01 -1.42717782e-02 8.71662374e+02] [ 3.02077691e-01 9.53275028e-01 -3.97356684e-03 2.14187227e+01] [ 1.48053577e-02 -5.23707723e-04 9.99890258e-01 5.83689216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.459254154 meters 0.020716074819193343 Centerline is valid? [True, True] Translation: X:871.72, Y:21.44, Z:5.84 [[ 9.53382515e-01 -3.01437328e-01 -1.40469933e-02 8.71717216e+02] [ 3.01412324e-01 9.53485860e-01 -3.91477246e-03 2.14404102e+01] [ 1.45736681e-02 -5.01661295e-04 9.99893673e-01 5.83732485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.519254154 meters 0.018090805233545136 Centerline is valid? [True, True] Translation: X:871.77, Y:21.46, Z:5.84 [[ 9.54339078e-01 -2.98406287e-01 -1.38062472e-02 8.71771974e+02] [ 2.98381782e-01 9.54438835e-01 -3.84997575e-03 2.14638877e+01] [ 1.43260754e-02 -4.45350330e-04 9.99897277e-01 5.83985174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.579254154 meters 0.020482425181995535 Centerline is valid? [True, True] Translation: X:871.83, Y:21.49, Z:5.84 [[ 9.54820494e-01 -2.96878864e-01 -1.34448455e-02 8.71825569e+02] [ 2.96855458e-01 9.54915060e-01 -3.75034698e-03 2.14856711e+01] [ 1.39520842e-02 -4.10267594e-04 9.99902581e-01 5.83749167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.639254154 meters 0.021782104835028876 Centerline is valid? [True, True] Translation: X:871.88, Y:21.51, Z:5.84 [[ 9.55814216e-01 -2.93722978e-01 -1.20828936e-02 8.71879976e+02] [ 2.93703810e-01 9.55890530e-01 -3.37140825e-03 2.15105581e+01] [ 1.25401837e-02 -3.26351956e-04 9.99921316e-01 5.83648178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.699254154 meters 0.01787850466946188 Centerline is valid? [True, True] Translation: X:871.93, Y:21.54, Z:5.84 [[ 9.56917350e-01 -2.90137238e-01 -1.13827892e-02 8.71933579e+02] [ 2.90119963e-01 9.56985013e-01 -3.17689499e-03 2.15367054e+01] [ 1.18148942e-02 -2.62348438e-04 9.99930167e-01 5.83880678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.759254154 meters 0.017122186914832874 Centerline is valid? [True, True] Translation: X:871.99, Y:21.56, Z:5.84 [[ 9.57511483e-01 -2.88186844e-01 -1.09591815e-02 8.71987996e+02] [ 2.88170684e-01 9.57574170e-01 -3.06038821e-03 2.15600110e+01] [ 1.13761928e-02 -2.27757976e-04 9.99935263e-01 5.83966813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.819254154 meters 0.015273729780156203 Centerline is valid? [True, True] Translation: X:872.04, Y:21.58, Z:5.84 [[ 9.57768337e-01 -2.87387212e-01 -9.40227659e-03 8.72042081e+02] [ 2.87375261e-01 9.57814469e-01 -2.62742810e-03 2.15803200e+01] [ 9.76072579e-03 -1.85514244e-04 9.99952346e-01 5.84263365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.879254154 meters 0.018879658929088185 Centerline is valid? [True, True] Translation: X:872.10, Y:21.60, Z:5.84 [[ 9.57649870e-01 -2.87774295e-01 -9.62710203e-03 8.72096793e+02] [ 2.87761776e-01 9.57698239e-01 -2.69119279e-03 2.16001292e+01] [ 9.99431477e-03 -1.93091549e-04 9.99950037e-01 5.83949321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.939254154 meters 0.017351037052943028 Centerline is valid? [True, True] Translation: X:872.15, Y:21.62, Z:5.84 [[ 9.58211739e-01 -2.85894058e-01 -9.73914273e-03 8.72151223e+02] [ 2.85881133e-01 9.58261216e-01 -2.72401324e-03 2.16229379e+01] [ 1.01114219e-02 -1.74055698e-04 9.99948863e-01 5.84016041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.999254154 meters 0.017509135309591313 Centerline is valid? [True, True] Translation: X:872.21, Y:21.64, Z:5.84 [[ 9.58811431e-01 -2.83847097e-01 -1.05577328e-02 8.72207074e+02] [ 2.83831751e-01 9.58869542e-01 -2.95596042e-03 2.16432351e+01] [ 1.09625292e-02 -1.62411156e-04 9.99939896e-01 5.83938508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.059254154 meters 0.016093216756685978 Centerline is valid? [True, True] Translation: X:872.26, Y:21.66, Z:5.84 [[ 9.59905944e-01 -2.80126037e-01 -1.04872342e-02 8.72261987e+02] [ 2.80110642e-01 9.59963223e-01 -2.93902894e-03 2.16649517e+01] [ 1.08906577e-02 -1.16394562e-04 9.99940688e-01 5.84023921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.119254154 meters 0.015621716081030716 Centerline is valid? [True, True] Translation: X:872.32, Y:21.69, Z:5.84 [[ 9.60544910e-01 -2.77928623e-01 -1.04477807e-02 8.72316890e+02] [ 2.77913184e-01 9.60601724e-01 -2.93080813e-03 2.16854820e+01] [ 1.08507116e-02 -8.84031712e-05 9.99941125e-01 5.84086561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.179254154 meters 0.017672438463216533 Centerline is valid? [True, True] Translation: X:872.37, Y:21.70, Z:5.84 [[ 9.60671724e-01 -2.77457769e-01 -1.12705743e-02 8.72370597e+02] [ 2.77439740e-01 9.60737830e-01 -3.16418595e-03 2.17034627e+01] [ 1.17059951e-02 -8.71612278e-05 9.99931479e-01 5.83940430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters 0.016669326004702802 Centerline is valid? [True, True] Translation: X:872.43, Y:21.72, Z:5.84 [[ 9.60248046e-01 -2.78961040e-01 -1.02190060e-02 8.72425881e+02] [ 2.78946282e-01 9.60302416e-01 -2.87095784e-03 2.17204459e+01] [ 1.06142215e-02 -9.37220610e-05 9.99943663e-01 5.84144252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.299254154 meters 0.014420130197004385 Centerline is valid? [True, True] Translation: X:872.48, Y:21.74, Z:5.84 [[ 9.59693602e-01 -2.80893361e-01 -9.33331068e-03 8.72482540e+02] [ 2.80881116e-01 9.59738980e-01 -2.62482750e-03 2.17371610e+01] [ 9.69483869e-03 -1.02520559e-04 9.99952999e-01 5.84344321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters 0.020050866158773342 Centerline is valid? [True, True] Translation: X:872.54, Y:21.75, Z:5.84 [[ 9.59218139e-01 -2.82450801e-01 -1.10501762e-02 8.72538269e+02] [ 2.82433707e-01 9.59281776e-01 -3.11049144e-03 2.17514133e+01] [ 1.14787934e-02 -1.37302404e-04 9.99934107e-01 5.83944648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.419254154 meters 0.014603326485899022 Centerline is valid? [True, True] Translation: X:872.59, Y:21.77, Z:5.84 [[ 9.59218254e-01 -2.82497133e-01 -9.78315335e-03 8.72593106e+02] [ 2.82483718e-01 9.59268135e-01 -2.75574610e-03 2.17698645e+01] [ 1.01631576e-02 -1.20219568e-04 9.99948347e-01 5.84310535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters 0.018177719534448855 Centerline is valid? [True, True] Translation: X:872.65, Y:21.79, Z:5.84 [[ 9.59070619e-01 -2.82956081e-01 -1.09271879e-02 8.72648480e+02] [ 2.82939331e-01 9.59132857e-01 -3.08174747e-03 2.17863713e+01] [ 1.13526242e-02 -1.36117788e-04 9.99935548e-01 5.84086836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.539254154 meters 0.019136084696491515 Centerline is valid? [True, True] Translation: X:872.71, Y:21.80, Z:5.84 [[ 9.58721359e-01 -2.84155458e-01 -1.04418364e-02 8.72705344e+02] [ 2.84140200e-01 9.58778210e-01 -2.94795278e-03 2.18019867e+01] [ 1.08490820e-02 -1.40680178e-04 9.99941137e-01 5.84070728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539999 meters 0.01636074627865679 Centerline is valid? [True, True] Translation: X:872.76, Y:21.82, Z:5.84 [[ 9.57843285e-01 -2.87143735e-01 -9.20411026e-03 8.72760933e+02] [ 2.87131999e-01 9.57887495e-01 -2.60055944e-03 2.18160338e+01] [ 9.56323647e-03 -1.51866179e-04 9.99954260e-01 5.84299490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.659254154 meters 0.014699599840965284 Centerline is valid? [True, True] Translation: X:872.82, Y:21.83, Z:5.85 [[ 9.57420966e-01 -2.88575013e-01 -8.33999267e-03 8.72817541e+02] [ 2.88565418e-01 9.57457278e-01 -2.35791560e-03 2.18322202e+01] [ 8.66562221e-03 -1.49115638e-04 9.99962442e-01 5.84573628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539999 meters 0.016370931385550746 Centerline is valid? [True, True] Translation: X:872.87, Y:21.85, Z:5.84 [[ 9.57208048e-01 -2.89275670e-01 -8.50529278e-03 8.72873913e+02] [ 2.89265698e-01 9.57245821e-01 -2.40700412e-03 2.18495020e+01] [ 8.83794371e-03 -1.56285740e-04 9.99960932e-01 5.84424567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.779254154 meters 0.016619079896854707 Centerline is valid? [True, True] Translation: X:872.93, Y:21.87, Z:5.84 [[ 9.57707691e-01 -2.87606437e-01 -8.86094523e-03 8.72930662e+02] [ 2.87595519e-01 9.57748671e-01 -2.51018381e-03 2.18662623e+01] [ 9.20850354e-03 -1.44345805e-04 9.99957590e-01 5.84463042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.839254154 meters 0.017590334652483403 Centerline is valid? [True, True] Translation: X:872.99, Y:21.89, Z:5.84 [[ 9.58300211e-01 -2.85611455e-01 -9.31683201e-03 8.72986669e+02] [ 2.85599264e-01 9.58345491e-01 -2.64198339e-03 2.18854053e+01] [ 9.68332467e-03 -1.29067128e-04 9.99953107e-01 5.84431887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.899254154 meters 0.01780740276347909 Centerline is valid? [True, True] Translation: X:873.04, Y:21.90, Z:5.84 [[ 9.58806881e-01 -2.83893271e-01 -9.69411402e-03 8.73042708e+02] [ 2.83879957e-01 9.58855880e-01 -2.75173849e-03 2.19034714e+01] [ 1.00764583e-02 -1.13578869e-04 9.99949225e-01 5.84398829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.959254154 meters 0.013553696901688072 Centerline is valid? [True, True] Translation: X:873.10, Y:21.92, Z:5.85 [[ 9.59575961e-01 -2.81309947e-01 -8.87071252e-03 8.73098213e+02] [ 2.81298671e-01 9.59616959e-01 -2.51989735e-03 2.19194928e+01] [ 9.22135836e-03 -7.72867290e-05 9.99957479e-01 5.84740495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.019254154 meters 0.01470553620484705 Centerline is valid? [True, True] Translation: X:873.15, Y:21.94, Z:5.85 [[ 9.60324653e-01 -2.78730293e-01 -9.27278801e-03 8.73153558e+02] [ 2.78717838e-01 9.60369419e-01 -2.63556392e-03 2.19386854e+01] [ 9.63991354e-03 -5.34944154e-05 9.99953534e-01 5.84572189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.079254154 meters 0.015191949412292979 Centerline is valid? [True, True] Translation: X:873.21, Y:21.96, Z:5.85 [[ 9.61115139e-01 -2.75998270e-01 -9.09094124e-03 8.73209360e+02] [ 2.75986153e-01 9.61158132e-01 -2.58638079e-03 2.19574296e+01] [ 9.45166872e-03 -2.31641641e-05 9.99955332e-01 5.84520984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.139254154 meters 0.012916089417559177 Centerline is valid? [True, True] Translation: X:873.26, Y:21.97, Z:5.85 [[ 9.61505091e-01 -2.74630015e-01 -9.29059540e-03 8.73264390e+02] [ 2.74617273e-01 9.61549975e-01 -2.64540667e-03 2.19734756e+01] [ 9.65987985e-03 -7.78599957e-06 9.99953342e-01 5.84765777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.199254154 meters 0.016670482411457896 Centerline is valid? [True, True] Translation: X:873.32, Y:21.99, Z:5.84 [[ 9.60185641e-01 -2.79140251e-01 -1.11469814e-02 8.73320881e+02] [ 2.79122195e-01 9.60250341e-01 -3.17550231e-03 2.19856992e+01] [ 1.15903032e-02 -6.22981991e-05 9.99932828e-01 5.84383773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.259254154 meters 0.01404252702872614 Centerline is valid? [True, True] Translation: X:873.38, Y:22.00, Z:5.85 [[ 9.58087867e-01 -2.86305579e-01 -9.83642787e-03 8.73379040e+02] [ 2.86291881e-01 9.58138350e-01 -2.80361974e-03 2.19961695e+01] [ 1.02273508e-02 -1.29975382e-04 9.99947691e-01 5.84830128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.319254154 meters 0.01857260996825274 Centerline is valid? [True, True] Translation: X:873.44, Y:22.01, Z:5.85 [[ 9.55956577e-01 -2.93306664e-01 -1.08730488e-02 8.73437293e+02] [ 2.93290354e-01 9.56018384e-01 -3.10119390e-03 2.20088190e+01] [ 1.13044354e-02 -2.24353629e-04 9.99936078e-01 5.84528065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.379254154 meters 0.01596182784159558 Centerline is valid? [True, True] Translation: X:873.50, Y:22.02, Z:5.85 [[ 9.54469850e-01 -2.98141738e-01 -9.94031494e-03 8.73495161e+02] [ 2.98128364e-01 9.54521576e-01 -2.83560419e-03 2.20219045e+01] [ 1.03336570e-02 -2.56991121e-04 9.99946573e-01 5.84886576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.439254154 meters 0.02109191776668539 Centerline is valid? [True, True] Translation: X:873.55, Y:22.04, Z:5.84 [[ 9.53888602e-01 -2.99921092e-01 -1.19947529e-02 8.73550884e+02] [ 2.99901741e-01 9.53963955e-01 -3.42307695e-03 2.20355376e+01] [ 1.24692149e-02 -3.32013195e-04 9.99922201e-01 5.84419215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.499254154 meters 0.017698007828777222 Centerline is valid? [True, True] Translation: X:873.61, Y:22.05, Z:5.85 [[ 9.54059381e-01 -2.99441285e-01 -1.02769225e-02 8.73606181e+02] [ 2.99427030e-01 9.54114689e-01 -2.93484643e-03 2.20549014e+01] [ 1.06841769e-02 -2.77170620e-04 9.99942884e-01 5.84704014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.559254154 meters 0.019548255905231002 Centerline is valid? [True, True] Translation: X:873.66, Y:22.07, Z:5.85 [[ 9.53648822e-01 -3.00767283e-01 -9.64187710e-03 8.73661910e+02] [ 3.00754784e-01 9.53697524e-01 -2.75547449e-03 2.20700616e+01] [ 1.00241909e-02 -2.72085664e-04 9.99949720e-01 5.84730518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.619254154 meters 0.018496413288578654 Centerline is valid? [True, True] Translation: X:873.72, Y:22.09, Z:5.85 [[ 9.53289590e-01 -3.01920470e-01 -9.10972667e-03 8.73717665e+02] [ 3.01909353e-01 9.53333078e-01 -2.60471214e-03 2.20875919e+01] [ 9.47101968e-03 -2.67266719e-04 9.99955113e-01 5.84835167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.679254154 meters 0.019263706019625695 Centerline is valid? [True, True] Translation: X:873.77, Y:22.11, Z:5.85 [[ 9.53598590e-01 -3.00900864e-01 -1.04114423e-02 8.73773944e+02] [ 3.00886249e-01 9.53655381e-01 -2.97991270e-03 2.21066678e+01] [ 1.08255863e-02 -2.91019283e-04 9.99941359e-01 5.84657218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters 0.01941758678052863 Centerline is valid? [True, True] Translation: X:873.83, Y:22.12, Z:5.85 [[ 9.54151876e-01 -2.99135856e-01 -1.05800001e-02 8.73829052e+02] [ 2.99120633e-01 9.54210493e-01 -3.03019493e-03 2.21241738e+01] [ 1.10019871e-02 -2.73430153e-04 9.99939439e-01 5.84697905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.799254154 meters 0.017859280513721966 Centerline is valid? [True, True] Translation: X:873.89, Y:22.14, Z:5.85 [[ 9.55164393e-01 -2.95912131e-01 -9.84856072e-03 8.73885165e+02] [ 2.95898758e-01 9.55215140e-01 -2.82170625e-03 2.21441090e+01] [ 1.02424714e-02 -2.18983543e-04 9.99947521e-01 5.84870657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters 0.01905759530344489 Centerline is valid? [True, True] Translation: X:873.94, Y:22.16, Z:5.85 [[ 9.55489192e-01 -2.94839401e-01 -1.04943712e-02 8.73940509e+02] [ 2.94824131e-01 9.55546796e-01 -3.00866955e-03 2.21627962e+01] [ 1.09149371e-02 -2.19242641e-04 9.99940406e-01 5.84797528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.919254154 meters 0.019251204735059927 Centerline is valid? [True, True] Translation: X:874.00, Y:22.18, Z:5.85 [[ 9.55342122e-01 -2.95309603e-01 -1.06615761e-02 8.73996077e+02] [ 2.95293839e-01 9.55401585e-01 -3.05956491e-03 2.21794602e+01] [ 1.10896056e-02 -2.25366517e-04 9.99938483e-01 5.84797662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters 0.018086702152387082 Centerline is valid? [True, True] Translation: X:874.05, Y:22.20, Z:5.85 [[ 9.54463006e-01 -2.98149600e-01 -1.03531243e-02 8.74052160e+02] [ 2.98134870e-01 9.54519122e-01 -2.97396566e-03 2.21986850e+01] [ 1.07689418e-02 -2.48087155e-04 9.99941982e-01 5.84997441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.039254154 meters 0.017648100506951255 Centerline is valid? [True, True] Translation: X:874.11, Y:22.21, Z:5.85 [[ 9.52724485e-01 -3.03678790e-01 -9.75951642e-03 8.74110110e+02] [ 3.03665971e-01 9.52774427e-01 -2.80531180e-03 2.22116037e+01] [ 1.01505314e-02 -2.90943788e-04 9.99948440e-01 5.85374824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539999 meters 0.02244789296048501 Centerline is valid? [True, True] Translation: X:874.17, Y:22.23, Z:5.85 [[ 9.49869005e-01 -3.12394156e-01 -1.26002001e-02 8.74168831e+02] [ 3.12373545e-01 9.49952444e-01 -3.62247997e-03 2.22250931e+01] [ 1.31012325e-02 -4.95087722e-04 9.99914053e-01 5.85081070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.159254154 meters 0.022239883036086903 Centerline is valid? [True, True] Translation: X:874.23, Y:22.24, Z:5.85 [[ 9.47616929e-01 -3.19176520e-01 -1.21862955e-02 8.74227059e+02] [ 3.19157795e-01 9.47695112e-01 -3.50377107e-03 2.22410040e+01] [ 1.26672141e-02 -5.69118405e-04 9.99919606e-01 5.85398337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539999 meters 0.024614374319660695 Centerline is valid? [True, True] Translation: X:874.28, Y:22.26, Z:5.85 [[ 9.46578621e-01 -3.22134624e-01 -1.47715473e-02 8.74283727e+02] [ 3.22107464e-01 9.46693583e-01 -4.24754341e-03 2.22605552e+01] [ 1.53524098e-02 -7.37391843e-04 9.99881873e-01 5.85268199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.279254154 meters 0.023506266315628303 Centerline is valid? [True, True] Translation: X:874.34, Y:22.28, Z:5.85 [[ 9.47219415e-01 -3.20212446e-01 -1.54715603e-02 8.74338888e+02] [ 3.20182379e-01 9.47345472e-01 -4.44976354e-03 2.22817612e+01] [ 1.60817822e-02 -7.38818566e-04 9.99870407e-01 5.85433567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.339254154 meters 0.024915589585446943 Centerline is valid? [True, True] Translation: X:874.39, Y:22.31, Z:5.85 [[ 9.48585725e-01 -3.16123695e-01 -1.58408588e-02 8.74393667e+02] [ 3.16091591e-01 9.48717735e-01 -4.55685082e-03 2.23058196e+01] [ 1.64690322e-02 -6.84598644e-04 9.99864142e-01 5.85443892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.399254154 meters 0.020584692351517313 Centerline is valid? [True, True] Translation: X:874.45, Y:22.33, Z:5.86 [[ 9.49850526e-01 -3.12414059e-01 -1.34697870e-02 8.74449019e+02] [ 3.12390467e-01 9.49945882e-01 -3.87525867e-03 2.23287103e+01] [ 1.40062540e-02 -5.26916578e-04 9.99901769e-01 5.86023862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.459254154 meters 0.022891256343769536 Centerline is valid? [True, True] Translation: X:874.50, Y:22.36, Z:5.86 [[ 9.51464338e-01 -3.07377540e-01 -1.53186605e-02 8.74503169e+02] [ 3.07346365e-01 9.51587507e-01 -4.40780747e-03 2.23566263e+01] [ 1.59319069e-02 -5.14262995e-04 9.99872947e-01 5.85872015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.519254154 meters 0.023206180039060224 Centerline is valid? [True, True] Translation: X:874.56, Y:22.38, Z:5.86 [[ 9.52668660e-01 -3.03563241e-01 -1.64858235e-02 8.74555810e+02] [ 3.03526541e-01 9.52811170e-01 -4.74488063e-03 2.23820208e+01] [ 1.71482482e-02 -4.83585924e-04 9.99852841e-01 5.85880125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.579254154 meters 0.01969559870697454 Centerline is valid? [True, True] Translation: X:874.61, Y:22.40, Z:5.86 [[ 9.52672124e-01 -3.03605551e-01 -1.54755574e-02 8.74610860e+02] [ 3.03573169e-01 9.52797704e-01 -4.45715340e-03 2.24034300e+01] [ 1.60982921e-02 -4.51758209e-04 9.99870312e-01 5.86241513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.639254154 meters 0.022176560690789417 Centerline is valid? [True, True] Translation: X:874.67, Y:22.42, Z:5.86 [[ 9.51044072e-01 -3.08585298e-01 -1.70378311e-02 8.74667176e+02] [ 3.08546802e-01 9.51196493e-01 -4.90941987e-03 2.24241006e+01] [ 1.77213000e-02 -5.87893638e-04 9.99842793e-01 5.86296794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.699254154 meters 0.024338025111731918 Centerline is valid? [True, True] Translation: X:874.72, Y:22.44, Z:5.86 [[ 9.50033799e-01 -3.11470874e-01 -2.05347536e-02 8.74722563e+02] [ 3.11415592e-01 9.50255386e-01 -5.91863705e-03 2.24422274e+01] [ 2.13567433e-02 -7.71937209e-04 9.99771621e-01 5.86042687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.759254154 meters 0.020677210840126015 Centerline is valid? [True, True] Translation: X:874.78, Y:22.46, Z:5.86 [[ 9.50220690e-01 -3.10977138e-01 -1.93354480e-02 8.74777621e+02] [ 3.10927941e-01 9.50417125e-01 -5.57703139e-03 2.24624559e+01] [ 2.01110702e-02 -7.12520424e-04 9.99797498e-01 5.86290468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.819254154 meters 0.022666973906363613 Centerline is valid? [True, True] Translation: X:874.83, Y:22.48, Z:5.86 [[ 9.50296390e-01 -3.10614859e-01 -2.13349438e-02 8.74831990e+02] [ 3.10554724e-01 9.50535541e-01 -6.16029275e-03 2.24835111e+01] [ 2.21931008e-02 -7.71563625e-04 9.99753405e-01 5.86229682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.879254154 meters 0.02106078766501364 Centerline is valid? [True, True] Translation: X:874.89, Y:22.50, Z:5.86 [[ 9.50871522e-01 -3.09023493e-01 -1.86501570e-02 8.74887238e+02] [ 3.08977184e-01 9.51054190e-01 -5.38775191e-03 2.25025708e+01] [ 1.94022518e-02 -6.39413119e-04 9.99811554e-01 5.86416133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.939254154 meters 0.02289186706032071 Centerline is valid? [True, True] Translation: X:874.94, Y:22.52, Z:5.86 [[ 9.51376706e-01 -3.07376751e-01 -2.00473316e-02 8.74941490e+02] [ 3.07322840e-01 9.51587679e-01 -5.79316627e-03 2.25224026e+01] [ 2.08574784e-02 -6.49519441e-04 9.99782248e-01 5.86266775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.999254154 meters 0.02044193506423908 Centerline is valid? [True, True] Translation: X:875.00, Y:22.55, Z:5.86 [[ 9.52466815e-01 -3.04064957e-01 -1.87475000e-02 8.74997282e+02] [ 3.04017145e-01 9.52651149e-01 -5.41880547e-03 2.25455529e+01] [ 1.95074963e-02 -5.38329038e-04 9.99809566e-01 5.86401909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.059254154 meters 0.020740905738226945 Centerline is valid? [True, True] Translation: X:875.05, Y:22.57, Z:5.86 [[ 9.54017645e-01 -2.99194726e-01 -1.82441618e-02 8.75053072e+02] [ 2.99148541e-01 9.54191980e-01 -5.27413179e-03 2.25678101e+01] [ 1.89864253e-02 -4.26099601e-04 9.99819651e-01 5.86421454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.119254154 meters 0.016914374243058226 Centerline is valid? [True, True] Translation: X:875.11, Y:22.59, Z:5.87 [[ 9.54973156e-01 -2.96414295e-01 -1.28388974e-02 8.75109446e+02] [ 2.96391148e-01 9.55059421e-01 -3.71334249e-03 2.25856542e+01] [ 1.33625977e-02 -2.59193147e-04 9.99910683e-01 5.86770781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.179254154 meters 0.018069047203794854 Centerline is valid? [True, True] Translation: X:875.17, Y:22.61, Z:5.87 [[ 9.55626939e-01 -2.94248026e-01 -1.39732697e-02 8.75165365e+02] [ 2.94220320e-01 9.55729061e-01 -4.04528019e-03 2.26050060e+01] [ 1.45449756e-02 -2.45441159e-04 9.99894186e-01 5.86624223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters 0.01665103310270809 Centerline is valid? [True, True] Translation: X:875.22, Y:22.62, Z:5.86 [[ 9.56306260e-01 -2.92068091e-01 -1.32124024e-02 8.75221512e+02] [ 2.92043080e-01 9.56397507e-01 -3.82733614e-03 2.26178954e+01] [ 1.37541514e-02 -1.98485180e-04 9.99905387e-01 5.86473862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.299254154 meters 0.016243055564014855 Centerline is valid? [True, True] Translation: X:875.28, Y:22.63, Z:5.87 [[ 9.55902063e-01 -2.93413016e-01 -1.26509916e-02 8.75278009e+02] [ 2.93390174e-01 9.55985753e-01 -3.66698937e-03 2.26331887e+01] [ 1.31701101e-02 -2.06393924e-04 9.99913249e-01 5.86617775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters 0.020820651133069596 Centerline is valid? [True, True] Translation: X:875.34, Y:22.65, Z:5.86 [[ 9.54981542e-01 -2.96300245e-01 -1.47112320e-02 8.75335242e+02] [ 2.96269633e-01 9.55094804e-01 -4.26842023e-03 2.26470946e+01] [ 1.53153552e-02 -2.82228763e-04 9.99882673e-01 5.86347205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.419254154 meters 0.020817295482050663 Centerline is valid? [True, True] Translation: X:875.39, Y:22.66, Z:5.86 [[ 9.53855099e-01 -2.99973007e-01 -1.32907744e-02 8.75392881e+02] [ 2.99948330e-01 9.53947641e-01 -3.85969950e-03 2.26595896e+01] [ 1.38365085e-02 -3.04951538e-04 9.99904224e-01 5.86374373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters 0.022137966026477905 Centerline is valid? [True, True] Translation: X:875.45, Y:22.67, Z:5.86 [[ 9.52691691e-01 -3.03700691e-01 -1.20179885e-02 8.75451085e+02] [ 3.03680787e-01 9.52767435e-01 -3.49197715e-03 2.26704262e+01] [ 1.25108640e-02 -3.22854589e-04 9.99921684e-01 5.86361984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.539254154 meters 0.022420471139191447 Centerline is valid? [True, True] Translation: X:875.51, Y:22.69, Z:5.86 [[ 9.52332602e-01 -3.04850044e-01 -1.13607344e-02 8.75507207e+02] [ 3.04832319e-01 9.52400310e-01 -3.30269045e-03 2.26889415e+01] [ 1.18267923e-02 -3.17859233e-04 9.99930011e-01 5.86363624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539999 meters 0.017560208911204356 Centerline is valid? [True, True] Translation: X:875.56, Y:22.70, Z:5.87 [[ 9.52460900e-01 -3.04543222e-01 -8.46517944e-03 8.75564201e+02] [ 3.04533353e-01 9.52498489e-01 -2.46278884e-03 2.27049698e+01] [ 8.81309628e-03 -2.32219398e-04 9.99961137e-01 5.86703142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.659254154 meters 0.02033238290477125 Centerline is valid? [True, True] Translation: X:875.62, Y:22.72, Z:5.87 [[ 9.52126153e-01 -3.05611376e-01 -7.58123763e-03 8.75620242e+02] [ 3.05603480e-01 9.52156311e-01 -2.20733357e-03 2.27193067e+01] [ 7.89310951e-03 -2.15192585e-04 9.99968826e-01 5.86651403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539999 meters 0.018070150104094778 Centerline is valid? [True, True] Translation: X:875.68, Y:22.74, Z:5.87 [[ 9.52023061e-01 -3.05945774e-01 -7.01964735e-03 8.75675120e+02] [ 3.05939009e-01 9.52048918e-01 -2.04458672e-03 2.27371340e+01] [ 7.30858034e-03 -2.01090242e-04 9.99973272e-01 5.86711278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.779254154 meters 0.018497475435850345 Centerline is valid? [True, True] Translation: X:875.73, Y:22.76, Z:5.86 [[ 9.53449498e-01 -3.01425529e-01 -8.75817580e-03 8.75731058e+02] [ 3.01414777e-01 9.53489700e-01 -2.55410015e-03 2.27572280e+01] [ 9.12070141e-03 -2.04638100e-04 9.99958385e-01 5.86480701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.839254154 meters 0.020924802740264946 Centerline is valid? [True, True] Translation: X:875.79, Y:22.78, Z:5.86 [[ 9.55153194e-01 -2.95978892e-01 -8.88093388e-03 8.75785593e+02] [ 2.95967584e-01 9.55194468e-01 -2.59178309e-03 2.27772063e+01] [ 9.25013200e-03 -1.52918647e-04 9.99957205e-01 5.86302980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.899254154 meters 0.01565079913047195 Centerline is valid? [True, True] Translation: X:875.84, Y:22.79, Z:5.86 [[ 9.55722168e-01 -2.94146212e-01 -8.55242216e-03 8.75841451e+02] [ 2.94135641e-01 9.55760425e-01 -2.49708113e-03 2.27947982e+01] [ 8.90857360e-03 -1.29056387e-04 9.99960310e-01 5.86470446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.959254154 meters 0.019751877527417812 Centerline is valid? [True, True] Translation: X:875.90, Y:22.81, Z:5.86 [[ 9.55401170e-01 -2.95191658e-01 -8.39586837e-03 8.75898032e+02] [ 2.95181491e-01 9.55438050e-01 -2.45363469e-03 2.28098638e+01] [ 8.74602459e-03 -1.34099486e-04 9.99961744e-01 5.86316147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.019254154 meters 0.02060893032182204 Centerline is valid? [True, True] Translation: X:875.96, Y:22.82, Z:5.86 [[ 9.53834814e-01 -3.00228100e-01 -7.88894748e-03 8.75956272e+02] [ 3.00219281e-01 9.53867422e-01 -2.30725416e-03 2.28218935e+01] [ 8.21771253e-03 -1.67674801e-04 9.99966220e-01 5.86259545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.079254154 meters 0.018230023978295033 Centerline is valid? [True, True] Translation: X:876.01, Y:22.83, Z:5.86 [[ 9.53268597e-01 -3.02047444e-01 -6.80620714e-03 8.76013717e+02] [ 3.02040922e-01 9.53292881e-01 -1.99113364e-03 2.28349125e+01] [ 7.08972564e-03 -1.57667907e-04 9.99974855e-01 5.86475325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.139254154 meters 0.017412592856451758 Centerline is valid? [True, True] Translation: X:876.07, Y:22.85, Z:5.87 [[ 9.53173714e-01 -3.02379073e-01 -5.17371219e-03 8.76069951e+02] [ 3.02375304e-01 9.53187747e-01 -1.51449744e-03 2.28480625e+01] [ 5.38947140e-03 -1.20823648e-04 9.99985469e-01 5.86670081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.199254154 meters 0.019971272913416934 Centerline is valid? [True, True] Translation: X:876.13, Y:22.86, Z:5.86 [[ 9.54217389e-01 -2.99060623e-01 -5.64958807e-03 8.76126634e+02] [ 2.99056059e-01 9.54234108e-01 -1.65577960e-03 2.28648721e+01] [ 5.88620811e-03 -1.09569852e-04 9.99982670e-01 5.86490826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.259254154 meters 0.01834000896886083 Centerline is valid? [True, True] Translation: X:876.18, Y:22.88, Z:5.86 [[ 9.55586230e-01 -2.94666223e-01 -5.17432103e-03 8.76183113e+02] [ 2.94662323e-01 9.55600236e-01 -1.51773494e-03 2.28821140e+01] [ 5.39180762e-03 -7.43508469e-05 9.99985461e-01 5.86480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.319254154 meters 0.018812867983571 Centerline is valid? [True, True] Translation: X:876.24, Y:22.90, Z:5.86 [[ 9.56014681e-01 -2.93267858e-01 -5.46739987e-03 8.76239180e+02] [ 2.93263472e-01 9.56030313e-01 -1.60545418e-03 2.28972424e+01] [ 5.69782811e-03 -6.85509046e-05 9.99983765e-01 5.86471964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.379254154 meters 0.017279088428207537 Centerline is valid? [True, True] Translation: X:876.30, Y:22.91, Z:5.86 [[ 9.57198549e-01 -2.89346835e-01 -7.02477399e-03 8.76295476e+02] [ 2.89339481e-01 9.57224324e-01 -2.06372443e-03 2.29144639e+01] [ 7.32141666e-03 -5.71504276e-05 9.99973196e-01 5.86392519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.439254154 meters 0.018800843538856592 Centerline is valid? [True, True] Translation: X:876.35, Y:22.93, Z:5.86 [[ 9.58264758e-01 -2.85784782e-01 -7.46408692e-03 8.76352452e+02] [ 2.85776354e-01 9.58293826e-01 -2.19494197e-03 2.29283867e+01] [ 7.78006943e-03 -2.97240066e-05 9.99969734e-01 5.86388827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.499254154 meters 0.019163630313274074 Centerline is valid? [True, True] Translation: X:876.41, Y:22.94, Z:5.86 [[ 9.59245211e-01 -2.82480972e-01 -7.28869461e-03 8.76409102e+02] [ 2.82472825e-01 9.59272902e-01 -2.14534715e-03 2.29412581e+01] [ 7.59786698e-03 -9.44181962e-07 9.99971136e-01 5.86424065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.559254154 meters 0.016156759489556097 Centerline is valid? [True, True] Translation: X:876.47, Y:22.95, Z:5.87 [[ 9.60802602e-01 -2.77168152e-01 -6.01458099e-03 8.76467042e+02] [ 2.77162491e-01 9.60821427e-01 -1.77187491e-03 2.29541566e+01] [ 6.27004558e-03 3.54057812e-05 9.99980342e-01 5.86624611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.619254154 meters 0.019096712213464057 Centerline is valid? [True, True] Translation: X:876.52, Y:22.97, Z:5.87 [[ 9.62637667e-01 -2.70704703e-01 -6.90548041e-03 8.76523340e+02] [ 2.70697059e-01 9.62662431e-01 -2.03646903e-03 2.29663871e+01] [ 7.19892830e-03 9.10885569e-05 9.99974083e-01 5.86589003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.679254154 meters 0.02101034730702345 Centerline is valid? [True, True] Translation: X:876.58, Y:22.98, Z:5.87 [[ 9.63651059e-01 -2.67083247e-01 -6.57074721e-03 8.76581714e+02] [ 2.67076236e-01 9.63673454e-01 -1.93851842e-03 2.29767546e+01] [ 6.84980046e-03 1.13164893e-04 9.99976533e-01 5.86661062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters 0.017728475757043755 Centerline is valid? [True, True] Translation: X:876.64, Y:22.99, Z:5.87 [[ 9.64111964e-01 -2.65432398e-01 -5.81065645e-03 8.76640943e+02] [ 2.65426877e-01 9.64129467e-01 -1.71566542e-03 2.29853573e+01] [ 6.05761829e-03 1.11789165e-04 9.99981646e-01 5.86926780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.799254154 meters 0.015563878435662131 Centerline is valid? [True, True] Translation: X:876.70, Y:22.99, Z:5.87 [[ 9.64353984e-01 -2.64516059e-01 -7.25594922e-03 8.76700887e+02] [ 2.64507405e-01 9.64381269e-01 -2.14480643e-03 2.29906124e+01] [ 7.56483726e-03 1.49100326e-04 9.99971375e-01 5.86931846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters 0.015703820869915536 Centerline is valid? [True, True] Translation: X:876.76, Y:23.00, Z:5.87 [[ 9.64165277e-01 -2.65126486e-01 -9.65740658e-03 8.76759911e+02] [ 2.65111153e-01 9.64213622e-01 -2.85804901e-03 2.29957553e+01] [ 1.00695475e-02 1.95345417e-04 9.99949282e-01 5.86748695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.919254154 meters 0.015185909515786106 Centerline is valid? [True, True] Translation: X:876.82, Y:23.00, Z:5.87 [[ 9.63544413e-01 -2.67356496e-01 -1.01325484e-02 8.76819477e+02] [ 2.67339707e-01 9.63597670e-01 -3.00178537e-03 2.30031303e+01] [ 1.05662469e-02 1.83520997e-04 9.99944159e-01 5.86734530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters 0.019222207107319055 Centerline is valid? [True, True] Translation: X:876.88, Y:23.00, Z:5.87 [[ 9.62097290e-01 -2.72439540e-01 -1.20624080e-02 8.76881861e+02] [ 2.72416109e-01 9.62172891e-01 -3.57640727e-03 2.30015564e+01] [ 1.25804767e-02 1.54857494e-04 9.99920851e-01 5.86505727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.039254154 meters 0.015989627277614774 Centerline is valid? [True, True] Translation: X:876.94, Y:23.00, Z:5.87 [[ 9.60055793e-01 -2.79543625e-01 -1.21752454e-02 8.76944056e+02] [ 2.79520304e-01 9.60132990e-01 -3.61136555e-03 2.29952331e+01] [ 1.26993890e-02 6.38841082e-05 9.99919357e-01 5.86663160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539999 meters 0.014999284996675242 Centerline is valid? [True, True] Translation: X:877.00, Y:23.00, Z:5.87 [[ 9.58147239e-01 -2.86065072e-01 -1.09837112e-02 8.77004176e+02] [ 2.86046509e-01 9.58210193e-01 -3.25895465e-03 2.29950029e+01] [ 1.14569771e-02 -1.92938313e-05 9.99934366e-01 5.86918193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.159254154 meters 0.013203376691331262 Centerline is valid? [True, True] Translation: X:877.06, Y:23.00, Z:5.87 [[ 9.56701094e-01 -2.90890625e-01 -1.02791077e-02 8.77064711e+02] [ 2.90874628e-01 9.56756311e-01 -3.05151048e-03 2.29977942e+01] [ 1.07222570e-02 -7.05482196e-05 9.99942512e-01 5.87277537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539999 meters 0.016814718271469964 Centerline is valid? [True, True] Translation: X:877.12, Y:23.00, Z:5.87 [[ 9.55697479e-01 -2.94139098e-01 -1.11588704e-02 8.77124569e+02] [ 2.94120430e-01 9.55762616e-01 -3.31582634e-03 2.30040896e+01] [ 1.16405454e-02 -1.13124893e-04 9.99932240e-01 5.87021744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.279254154 meters 0.01610496074397492 Centerline is valid? [True, True] Translation: X:877.18, Y:23.01, Z:5.87 [[ 9.55102682e-01 -2.96057670e-01 -1.13456108e-02 8.77183144e+02] [ 2.96038470e-01 9.55170057e-01 -3.37437408e-03 2.30144558e+01] [ 1.18359971e-02 -1.35863544e-04 9.99929943e-01 5.87075924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.339254154 meters 0.020210795513140013 Centerline is valid? [True, True] Translation: X:877.24, Y:23.02, Z:5.87 [[ 9.53986841e-01 -2.99570198e-01 -1.29152449e-02 8.77240855e+02] [ 2.99545600e-01 9.54074240e-01 -3.84420691e-03 2.30215173e+01] [ 1.34737123e-02 -2.01381988e-04 9.99909205e-01 5.86810434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.399254154 meters 0.020480336833973004 Centerline is valid? [True, True] Translation: X:877.30, Y:23.03, Z:5.87 [[ 9.53367754e-01 -3.01465676e-01 -1.44350848e-02 8.77299810e+02] [ 3.01435115e-01 9.53476996e-01 -4.29981902e-03 2.30308671e+01] [ 1.50597692e-02 -2.51932657e-04 9.99886564e-01 5.86724198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.459254154 meters 0.015977275827876343 Centerline is valid? [True, True] Translation: X:877.36, Y:23.04, Z:5.87 [[ 9.53408288e-01 -3.01332966e-01 -1.45285563e-02 8.77356698e+02] [ 3.01301930e-01 9.53518947e-01 -4.33185151e-03 2.30444026e+01] [ 1.51585833e-02 -2.47458905e-04 9.99885071e-01 5.86984701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.519254154 meters 0.016071744687560525 Centerline is valid? [True, True] Translation: X:877.41, Y:23.06, Z:5.87 [[ 9.54279580e-01 -2.98586216e-01 -1.40269663e-02 8.77413194e+02] [ 2.98556949e-01 9.54382646e-01 -4.18495778e-03 2.30574920e+01] [ 1.46366639e-02 -1.94228514e-04 9.99892859e-01 5.86907098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.579254154 meters 0.01777851663688554 Centerline is valid? [True, True] Translation: X:877.47, Y:23.08, Z:5.87 [[ 9.55496461e-01 -2.94731804e-01 -1.26362898e-02 8.77469604e+02] [ 2.94707689e-01 9.55580007e-01 -3.77212391e-03 2.30750579e+01] [ 1.31867508e-02 -1.19760710e-04 9.99913044e-01 5.86894423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.639254154 meters 0.013310563247583583 Centerline is valid? [True, True] Translation: X:877.53, Y:23.09, Z:5.87 [[ 9.57025442e-01 -2.89775249e-01 -1.15155993e-02 8.77525010e+02] [ 2.89754828e-01 9.57094720e-01 -3.44042768e-03 2.30944899e+01] [ 1.20184701e-02 -4.41236852e-05 9.99927775e-01 5.87464287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.699254154 meters 0.013658022381882025 Centerline is valid? [True, True] Translation: X:877.58, Y:23.11, Z:5.87 [[ 9.58127107e-01 -2.86091404e-01 -1.20064585e-02 8.77579423e+02] [ 2.86068882e-01 9.58202332e-01 -3.58969901e-03 2.31119795e+01] [ 1.25315985e-02 4.71377502e-06 9.99921476e-01 5.87342918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.759254154 meters 0.014645923958020664 Centerline is valid? [True, True] Translation: X:877.64, Y:23.13, Z:5.87 [[ 9.58397807e-01 -2.85138348e-01 -1.30294324e-02 8.77635647e+02] [ 2.85111700e-01 9.58486370e-01 -3.89830292e-03 2.31279374e+01] [ 1.36000890e-02 2.12813435e-05 9.99907514e-01 5.87209121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.819254154 meters 0.01546120051918466 Centerline is valid? [True, True] Translation: X:877.69, Y:23.14, Z:5.87 [[ 9.57941692e-01 -2.86605581e-01 -1.43162581e-02 8.77692817e+02] [ 2.86573512e-01 9.58048663e-01 -4.28737697e-03 2.31408199e+01] [ 1.49444581e-02 4.39680222e-06 9.99888325e-01 5.87019469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.879254154 meters 0.014675790355998261 Centerline is valid? [True, True] Translation: X:877.75, Y:23.15, Z:5.87 [[ 9.56307824e-01 -2.91958294e-01 -1.53525336e-02 8.77750865e+02] [ 2.91922052e-01 9.56431047e-01 -4.60085595e-03 2.31501723e+01] [ 1.60268979e-02 -8.19085694e-05 9.99871558e-01 5.86975721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.939254154 meters 0.016944821088542235 Centerline is valid? [True, True] Translation: X:877.81, Y:23.16, Z:5.87 [[ 9.54042190e-01 -2.99249206e-01 -1.59189224e-02 8.77809837e+02] [ 2.99211222e-01 9.54174967e-01 -4.77242491e-03 2.31568113e+01] [ 1.66175816e-02 -2.10025496e-04 9.99861896e-01 5.86937906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.999254154 meters 0.015484317836503461 Centerline is valid? [True, True] Translation: X:877.87, Y:23.17, Z:5.87 [[ 9.52439931e-01 -3.04371090e-01 -1.47111128e-02 8.77869026e+02] [ 3.04339219e-01 9.52553497e-01 -4.41307869e-03 2.31654688e+01] [ 1.53563355e-02 -2.73976203e-04 9.99882047e-01 5.87453413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.059254154 meters 0.015157140357207865 Centerline is valid? [True, True] Translation: X:877.93, Y:23.18, Z:5.88 [[ 9.52056494e-01 -3.05572735e-01 -1.46196826e-02 8.77926311e+02] [ 3.05541340e-01 9.52168693e-01 -4.38958454e-03 2.31790815e+01] [ 1.52617414e-02 -2.87784945e-04 9.99883491e-01 5.87578120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.119254154 meters 0.016002782193304206 Centerline is valid? [True, True] Translation: X:877.98, Y:23.19, Z:5.87 [[ 9.53040274e-01 -3.02431401e-01 -1.57950479e-02 8.77983500e+02] [ 3.02394250e-01 9.53171120e-01 -4.74691204e-03 2.31944192e+01] [ 1.64909987e-02 -2.52333313e-04 9.99863982e-01 5.87367496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.179254154 meters 0.0164548347639715 Centerline is valid? [True, True] Translation: X:878.04, Y:23.21, Z:5.87 [[ 9.53360842e-01 -3.01391084e-01 -1.63253964e-02 8.78039775e+02] [ 3.01351168e-01 9.53500581e-01 -4.91078462e-03 2.32112177e+01] [ 1.70463416e-02 -2.37927510e-04 9.99854672e-01 5.87321116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters 0.013708267924616336 Centerline is valid? [True, True] Translation: X:878.10, Y:23.23, Z:5.88 [[ 9.54616594e-01 -2.97343703e-01 -1.71429450e-02 8.78096453e+02] [ 2.97298950e-01 9.54770493e-01 -5.16148889e-03 2.32273573e+01] [ 1.79023142e-02 -1.69336602e-04 9.99839726e-01 5.87607560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.299254154 meters 0.0132184975421587 Centerline is valid? [True, True] Translation: X:878.15, Y:23.24, Z:5.88 [[ 9.55272670e-01 -2.95282470e-01 -1.61984382e-02 8.78153790e+02] [ 2.95242144e-01 9.55409990e-01 -4.88134202e-03 2.32427828e+01] [ 1.69175245e-02 -1.19449015e-04 9.99856881e-01 5.87878093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters 0.015064840184716473 Centerline is valid? [True, True] Translation: X:878.21, Y:23.25, Z:5.88 [[ 9.54978520e-01 -2.96307013e-01 -1.47709379e-02 8.78210962e+02] [ 2.96273568e-01 9.55092738e-01 -4.45353387e-03 2.32542895e+01] [ 1.54272289e-02 -1.23209305e-04 9.99880986e-01 5.87805807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.419254154 meters 0.013661831757314653 Centerline is valid? [True, True] Translation: X:878.27, Y:23.26, Z:5.88 [[ 9.53804870e-01 -3.00105849e-01 -1.38834190e-02 8.78269298e+02] [ 3.00076666e-01 9.53905892e-01 -4.18858360e-03 2.32647525e+01] [ 1.45004936e-02 -1.70998642e-04 9.99894848e-01 5.88082333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters 0.015985919835365486 Centerline is valid? [True, True] Translation: X:878.33, Y:23.27, Z:5.88 [[ 9.52241331e-01 -3.05013186e-01 -1.42619928e-02 8.78326480e+02] [ 3.04982902e-01 9.52348095e-01 -4.30536084e-03 2.32745343e+01] [ 1.48955735e-02 -2.49921428e-04 9.99889024e-01 5.87963523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.539254154 meters 0.01560155867493865 Centerline is valid? [True, True] Translation: X:878.38, Y:23.29, Z:5.88 [[ 9.50816659e-01 -3.09392008e-01 -1.49755594e-02 8.78384722e+02] [ 3.09359140e-01 9.50934527e-01 -4.52191948e-03 2.32865112e+01] [ 1.56398222e-02 -3.33309806e-04 9.99877635e-01 5.88070111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539999 meters 0.019098554908464786 Centerline is valid? [True, True] Translation: X:878.44, Y:23.30, Z:5.88 [[ 9.49465163e-01 -3.13412510e-01 -1.69854048e-02 8.78442889e+02] [ 3.13370855e-01 9.49616972e-01 -5.12963599e-03 2.32999679e+01] [ 1.77373207e-02 -4.52320142e-04 9.99842579e-01 5.87721262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.659254154 meters 0.021559814046015566 Centerline is valid? [True, True] Translation: X:878.50, Y:23.31, Z:5.88 [[ 9.46965900e-01 -3.20816412e-01 -1.82322238e-02 8.78502231e+02] [ 3.20769770e-01 9.47141187e-01 -5.50688674e-03 2.33105457e+01] [ 1.90351897e-02 -6.33512289e-04 9.99818614e-01 5.87613365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539999 meters 0.024503535101608243 Centerline is valid? [True, True] Translation: X:878.56, Y:23.32, Z:5.88 [[ 9.42212520e-01 -3.34553713e-01 -1.75892276e-02 8.78562717e+02] [ 3.34512664e-01 9.42376275e-01 -5.31354926e-03 2.33185110e+01] [ 1.83533385e-02 -8.77326764e-04 9.99831178e-01 5.87897002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.779254154 meters 0.028376438117555882 Centerline is valid? [True, True] Translation: X:878.62, Y:23.33, Z:5.88 [[ 9.39657635e-01 -3.41738539e-01 -1.60717198e-02 8.78620775e+02] [ 3.41705296e-01 9.39794610e-01 -4.85614207e-03 2.33294311e+01] [ 1.67636465e-02 -9.28680791e-04 9.99859049e-01 5.88062001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.839254154 meters 0.03377162395011338 Centerline is valid? [True, True] Translation: X:878.68, Y:23.34, Z:5.88 [[ 9.36291197e-01 -3.50883236e-01 -1.54838134e-02 8.78678351e+02] [ 3.50853604e-01 9.36418630e-01 -4.67956510e-03 2.33414309e+01] [ 1.61413123e-02 -1.05111612e-03 9.99869168e-01 5.88049686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.899254154 meters 0.03104604377353951 Centerline is valid? [True, True] Translation: X:878.73, Y:23.37, Z:5.88 [[ 9.34364666e-01 -3.55994859e-01 -1.51766643e-02 8.78733691e+02] [ 3.55967045e-01 9.34487247e-01 -4.58770823e-03 2.33651410e+01] [ 1.58155998e-02 -1.11579988e-03 9.99874303e-01 5.88315282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.959254154 meters 0.03200355636399913 Centerline is valid? [True, True] Translation: X:878.79, Y:23.39, Z:5.88 [[ 9.34000047e-01 -3.56918670e-01 -1.59051571e-02 8.78787952e+02] [ 3.56888207e-01 9.34134714e-01 -4.81088685e-03 2.33892734e+01] [ 1.65746547e-02 -1.18299445e-03 9.99861931e-01 5.88120012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.019254154 meters 0.030129746024722057 Centerline is valid? [True, True] Translation: X:878.84, Y:23.42, Z:5.88 [[ 9.34140992e-01 -3.56514192e-01 -1.66804741e-02 8.78840686e+02] [ 3.56480541e-01 9.34289099e-01 -5.05002568e-03 2.34169827e+01] [ 1.73847910e-02 -1.22882844e-03 9.99848118e-01 5.88084124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.079254154 meters 0.031658758503251866 Centerline is valid? [True, True] Translation: X:878.90, Y:23.44, Z:5.88 [[ 9.34299649e-01 -3.56047813e-01 -1.77234617e-02 8.78895231e+02] [ 3.56009648e-01 9.34466846e-01 -5.37071484e-03 2.34412367e+01] [ 1.84742186e-02 -1.29186638e-03 9.99828502e-01 5.87997447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.139254154 meters 0.0346126835023009 Centerline is valid? [True, True] Translation: X:878.95, Y:23.46, Z:5.88 [[ 9.34553138e-01 -3.55430550e-01 -1.67199431e-02 8.78950049e+02] [ 3.55396441e-01 9.34701917e-01 -5.06923343e-03 2.34591244e+01] [ 1.74299233e-02 -1.20474025e-03 9.99847362e-01 5.88063218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.199254154 meters 0.0317714995499677 Centerline is valid? [True, True] Translation: X:879.00, Y:23.49, Z:5.88 [[ 9.35024782e-01 -3.54160391e-01 -1.72937816e-02 8.79002630e+02] [ 3.54123624e-01 9.35183903e-01 -5.24656605e-03 2.34899162e+01] [ 1.80309921e-02 -1.21846733e-03 9.99836686e-01 5.87991606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.259254154 meters 0.03272427314786388 Centerline is valid? [True, True] Translation: X:879.06, Y:23.52, Z:5.88 [[ 9.36612178e-01 -3.49935111e-01 -1.74082334e-02 8.79056717e+02] [ 3.49897087e-01 9.36773245e-01 -5.28352278e-03 2.35150026e+01] [ 1.81564574e-02 -1.14247838e-03 9.99834505e-01 5.87923946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.319254154 meters 0.03012529706235055 Centerline is valid? [True, True] Translation: X:879.11, Y:23.54, Z:5.88 [[ 9.39043896e-01 -3.43352488e-01 -1.74822898e-02 8.79109756e+02] [ 3.43312985e-01 9.39206065e-01 -5.30686165e-03 2.35442670e+01] [ 1.82415967e-02 -1.01852104e-03 9.99833089e-01 5.87940579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.379254154 meters 0.025012013733769718 Centerline is valid? [True, True] Translation: X:879.16, Y:23.58, Z:5.88 [[ 9.41035791e-01 -3.37814888e-01 -1.82411915e-02 8.79162356e+02] [ 3.37770827e-01 9.41212090e-01 -5.53796215e-03 2.35755229e+01] [ 1.90396360e-02 -9.49921743e-04 9.99818278e-01 5.88010519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.439254154 meters 0.021322362741705028 Centerline is valid? [True, True] Translation: X:879.22, Y:23.61, Z:5.88 [[ 9.45468882e-01 -3.25222819e-01 -1.78524979e-02 8.79215421e+02] [ 3.25178354e-01 9.45637169e-01 -5.42058202e-03 2.36076503e+01] [ 1.86448826e-02 -6.80254271e-04 9.99825938e-01 5.88117162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.499254154 meters 0.021147608800323892 Centerline is valid? [True, True] Translation: X:879.27, Y:23.63, Z:5.88 [[ 9.47594835e-01 -3.18949342e-01 -1.83124321e-02 8.79270210e+02] [ 3.18901374e-01 9.47771593e-01 -5.56077840e-03 2.36325770e+01] [ 1.91296096e-02 -5.70494874e-04 9.99816850e-01 5.88035739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.559254154 meters 0.019133718374795355 Centerline is valid? [True, True] Translation: X:879.32, Y:23.66, Z:5.88 [[ 9.50319894e-01 -3.10758210e-01 -1.79285952e-02 8.79324458e+02] [ 3.10710758e-01 9.50488915e-01 -5.44490272e-03 2.36584647e+01] [ 1.87329792e-02 -3.96208031e-04 9.99824444e-01 5.88102237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.619254154 meters 0.017527588105369418 Centerline is valid? [True, True] Translation: X:879.38, Y:23.68, Z:5.88 [[ 9.52536925e-01 -3.03968903e-01 -1.66226491e-02 8.79379907e+02] [ 3.03927053e-01 9.52681923e-01 -5.04969629e-03 2.36833624e+01] [ 1.73710479e-02 -2.42050567e-04 9.99849083e-01 5.88276776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.679254154 meters 0.01374732916876814 Centerline is valid? [True, True] Translation: X:879.43, Y:23.71, Z:5.89 [[ 9.54517650e-01 -2.97791358e-01 -1.47092775e-02 8.79434385e+02] [ 2.97757833e-01 9.54630973e-01 -4.46974142e-03 2.37064323e+01] [ 1.53729823e-02 -1.13355525e-04 9.99881822e-01 5.88653560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters 0.013471808032524533 Centerline is valid? [True, True] Translation: X:879.49, Y:23.73, Z:5.89 [[ 9.55906416e-01 -2.93322987e-01 -1.43020567e-02 8.79490072e+02] [ 2.93290754e-01 9.56013401e-01 -4.34857741e-03 2.37275128e+01] [ 1.49484956e-02 -3.78279506e-05 9.99888264e-01 5.88744527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.799254154 meters 0.013437071558876799 Centerline is valid? [True, True] Translation: X:879.54, Y:23.75, Z:5.89 [[ 9.56616894e-01 -2.91015972e-01 -1.39220231e-02 8.79544861e+02] [ 2.90985137e-01 9.56718195e-01 -4.23632508e-03 2.37450692e+01] [ 1.45522911e-02 1.43834586e-06 9.99894110e-01 5.88782946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters 0.0156711534963711 Centerline is valid? [True, True] Translation: X:879.60, Y:23.76, Z:5.89 [[ 9.56751487e-01 -2.90489100e-01 -1.55780270e-02 8.79601830e+02] [ 2.90450355e-01 9.56878301e-01 -4.74436926e-03 2.37613070e+01] [ 1.62844635e-02 1.45388876e-05 9.99867399e-01 5.88504768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.919254154 meters 0.01666248646841643 Centerline is valid? [True, True] Translation: X:879.66, Y:23.77, Z:5.88 [[ 9.55745085e-01 -2.93623229e-01 -1.83502517e-02 8.79659200e+02] [ 2.93569936e-01 9.55921230e-01 -5.59418750e-03 2.37748238e+01] [ 1.91839786e-02 -4.04649917e-05 9.99815970e-01 5.88451641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters 0.017945922078045053 Centerline is valid? [True, True] Translation: X:879.72, Y:23.78, Z:5.88 [[ 9.53404870e-01 -3.01032721e-01 -1.99613533e-02 8.79717407e+02] [ 3.00971193e-01 9.53613790e-01 -6.08937486e-03 2.37828044e+01] [ 2.08685228e-02 -2.02152666e-04 9.99782208e-01 5.88250508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.039254154 meters 0.01574771131115801 Centerline is valid? [True, True] Translation: X:879.78, Y:23.79, Z:5.89 [[ 9.51277994e-01 -3.07839090e-01 -1.74720487e-02 8.79776625e+02] [ 3.07793026e-01 9.51438386e-01 -5.33388362e-03 2.37918566e+01] [ 1.82655557e-02 -3.03768628e-04 9.99833125e-01 5.88643755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539999 meters 0.015811404950526752 Centerline is valid? [True, True] Translation: X:879.83, Y:23.80, Z:5.89 [[ 9.50228646e-01 -3.11137917e-01 -1.60847047e-02 8.79834543e+02] [ 3.11099278e-01 9.50364712e-01 -4.91464350e-03 2.38044157e+01] [ 1.68154677e-02 -3.33904993e-04 9.99858554e-01 5.88835219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.159254154 meters 0.01950798065280082 Centerline is valid? [True, True] Translation: X:879.89, Y:23.81, Z:5.89 [[ 9.49049733e-01 -3.14714971e-01 -1.60963244e-02 8.79891986e+02] [ 3.14676745e-01 9.49186141e-01 -4.92089687e-03 2.38145460e+01] [ 1.68270880e-02 -3.94963116e-04 9.99858337e-01 5.88728425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539999 meters 0.01722551836378354 Centerline is valid? [True, True] Translation: X:879.95, Y:23.83, Z:5.89 [[ 9.48768277e-01 -3.15631884e-01 -1.46720826e-02 8.79947848e+02] [ 3.15600185e-01 9.48881645e-01 -4.48862888e-03 2.38303444e+01] [ 1.53388243e-02 -3.71843286e-04 9.99882284e-01 5.89061432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.279254154 meters 0.01967535082484133 Centerline is valid? [True, True] Translation: X:880.00, Y:23.84, Z:5.89 [[ 9.47887897e-01 -3.18278140e-01 -1.44069603e-02 8.80004687e+02] [ 3.18247840e-01 9.47997290e-01 -4.41026315e-03 2.38444097e+01] [ 1.50614497e-02 -4.04548923e-04 9.99886488e-01 5.89047234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.339254154 meters 0.020667851861302752 Centerline is valid? [True, True] Translation: X:880.06, Y:23.86, Z:5.89 [[ 9.47476609e-01 -3.19500012e-01 -1.44158767e-02 8.80061439e+02] [ 3.19469774e-01 9.47586178e-01 -4.41577402e-03 2.38604747e+01] [ 1.50711253e-02 -4.21594269e-04 9.99886335e-01 5.89031663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.399254154 meters 0.018782961060065714 Centerline is valid? [True, True] Translation: X:880.12, Y:23.88, Z:5.89 [[ 9.47152486e-01 -3.20402858e-01 -1.56261420e-02 8.80117483e+02] [ 3.20367380e-01 9.47281262e-01 -4.79085719e-03 2.38772303e+01] [ 1.63373558e-02 -4.68433877e-04 9.99866427e-01 5.89041319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.459254154 meters 0.01974570264240564 Centerline is valid? [True, True] Translation: X:880.17, Y:23.89, Z:5.89 [[ 9.45995571e-01 -3.23713889e-01 -1.73694424e-02 8.80174619e+02] [ 3.23670559e-01 9.46154839e-01 -5.32816001e-03 2.38922535e+01] [ 1.81589814e-02 -5.81561355e-04 9.99834943e-01 5.88981970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.519254154 meters 0.023043091607018232 Centerline is valid? [True, True] Translation: X:880.23, Y:23.91, Z:5.89 [[ 9.44354102e-01 -3.28431655e-01 -1.81101575e-02 8.80232242e+02] [ 3.28385395e-01 9.44527479e-01 -5.55645408e-03 2.39069196e+01] [ 1.89304568e-02 -6.99851027e-04 9.99820558e-01 5.88857979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.579254154 meters 0.025093030660855855 Centerline is valid? [True, True] Translation: X:880.29, Y:23.92, Z:5.89 [[ 9.42870211e-01 -3.32720398e-01 -1.71143754e-02 8.80289576e+02] [ 3.32679772e-01 9.43025231e-01 -5.25193602e-03 2.39200985e+01] [ 1.78867141e-02 -7.41712502e-04 9.99839745e-01 5.89077239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.639254154 meters 0.021861892342106233 Centerline is valid? [True, True] Translation: X:880.34, Y:23.95, Z:5.89 [[ 9.43095105e-01 -3.32122050e-01 -1.63268950e-02 8.80343728e+02] [ 3.32084933e-01 9.43236165e-01 -5.01348798e-03 2.39457415e+01] [ 1.70652077e-02 -6.93719852e-04 9.99854138e-01 5.89265147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.699254154 meters 0.020780705377047886 Centerline is valid? [True, True] Translation: X:880.40, Y:23.97, Z:5.89 [[ 9.44957163e-01 -3.26830647e-01 -1.54171509e-02 8.80399696e+02] [ 3.26796813e-01 9.45082754e-01 -4.73623946e-03 2.39657870e+01] [ 1.61184316e-02 -5.62732365e-04 9.99869931e-01 5.89484094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.759254154 meters 0.0216429298114073 Centerline is valid? [True, True] Translation: X:880.45, Y:23.99, Z:5.89 [[ 9.46130286e-01 -3.23367726e-01 -1.64558486e-02 8.80454037e+02] [ 3.23328604e-01 9.46273231e-01 -5.05824622e-03 2.39907170e+01] [ 1.72074026e-02 -5.34886626e-04 9.99851799e-01 5.89334354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.819254154 meters 0.020365269673765337 Centerline is valid? [True, True] Translation: X:880.51, Y:24.01, Z:5.89 [[ 9.47645136e-01 -3.18963845e-01 -1.51908857e-02 8.80510215e+02] [ 3.18929908e-01 9.47766792e-01 -4.67146099e-03 2.40132071e+01] [ 1.58874441e-02 -4.17940486e-04 9.99873699e-01 5.89447923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.879254154 meters 0.0180860874256186 Centerline is valid? [True, True] Translation: X:880.57, Y:24.04, Z:5.90 [[ 9.48917180e-01 -3.15231325e-01 -1.36160795e-02 8.80565059e+02] [ 3.15203663e-01 9.49014811e-01 -4.18807849e-03 2.40356999e+01] [ 1.42420747e-02 -3.17698511e-04 9.99898526e-01 5.89607499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.939254154 meters 0.017938866804715597 Centerline is valid? [True, True] Translation: X:880.62, Y:24.05, Z:5.90 [[ 9.48746294e-01 -3.15716030e-01 -1.42778868e-02 8.80619526e+02] [ 3.15685649e-01 9.48853663e-01 -4.39293229e-03 2.40538933e+01] [ 1.49345443e-02 -3.39545731e-04 9.99888416e-01 5.89572963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.999254154 meters 0.016205189601443026 Centerline is valid? [True, True] Translation: X:880.68, Y:24.07, Z:5.90 [[ 9.48149456e-01 -3.17512111e-01 -1.40950033e-02 8.80675400e+02] [ 3.17482661e-01 9.48254148e-01 -4.33944639e-03 2.40730932e+01] [ 1.47434722e-02 -3.60475431e-04 9.99891244e-01 5.89745449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.059254154 meters 0.021078032226243475 Centerline is valid? [True, True] Translation: X:880.73, Y:24.09, Z:5.89 [[ 9.46430253e-01 -3.22550611e-01 -1.51947206e-02 8.80732871e+02] [ 3.22516994e-01 9.46552102e-01 -4.68049169e-03 2.40853118e+01] [ 1.58922902e-02 -4.70796691e-04 9.99873599e-01 5.89459153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.119254154 meters 0.021772076436459176 Centerline is valid? [True, True] Translation: X:880.79, Y:24.10, Z:5.89 [[ 9.44630388e-01 -3.27728381e-01 -1.63565946e-02 8.80790272e+02] [ 3.27690189e-01 9.44771797e-01 -5.03901748e-03 2.41027721e+01] [ 1.71046783e-02 -5.99886532e-04 9.99853524e-01 5.89466143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.179254154 meters 0.02227061247556466 Centerline is valid? [True, True] Translation: X:880.85, Y:24.12, Z:5.90 [[ 9.43277268e-01 -3.31677046e-01 -1.47761022e-02 8.80847407e+02] [ 3.31646352e-01 9.43392797e-01 -4.55272793e-03 2.41165955e+01] [ 1.54497038e-02 -6.05955640e-04 9.99880463e-01 5.89712156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters 0.021855174310188862 Centerline is valid? [True, True] Translation: X:880.90, Y:24.14, Z:5.90 [[ 9.41994680e-01 -3.35358720e-01 -1.34369765e-02 8.80902942e+02] [ 3.35333700e-01 9.42090315e-01 -4.14088626e-03 2.41374811e+01] [ 1.40475277e-02 -6.05178226e-04 9.99901145e-01 5.89870426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.299254154 meters 0.022456618336901896 Centerline is valid? [True, True] Translation: X:880.96, Y:24.16, Z:5.90 [[ 9.42260321e-01 -3.34669863e-01 -1.18983596e-02 8.80958700e+02] [ 3.34650167e-01 9.42335294e-01 -3.66858890e-03 2.41576331e+01] [ 1.24400103e-02 -5.25022257e-04 9.99922482e-01 5.90048623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters 0.02139596296676853 Centerline is valid? [True, True] Translation: X:881.01, Y:24.18, Z:5.90 [[ 9.45170094e-01 -3.26364158e-01 -1.18292350e-02 8.81012966e+02] [ 3.26344014e-01 9.45244025e-01 -3.64930804e-03 2.41846217e+01] [ 1.23725170e-02 -4.11183194e-04 9.99923373e-01 5.90004756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.419254154 meters 0.016893257829938484 Centerline is valid? [True, True] Translation: X:881.07, Y:24.21, Z:5.90 [[ 9.48836009e-01 -3.15595474e-01 -1.04749304e-02 8.81066468e+02] [ 3.15579015e-01 9.48893798e-01 -3.23197954e-03 2.42132842e+01] [ 1.09595946e-02 -2.39049639e-04 9.99939913e-01 5.90159830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters 0.014885087481218886 Centerline is valid? [True, True] Translation: X:881.12, Y:24.24, Z:5.90 [[ 9.50564961e-01 -3.10346668e-01 -1.05451923e-02 8.81121195e+02] [ 3.10329649e-01 9.50623434e-01 -3.25502693e-03 2.42370019e+01] [ 1.10346937e-02 -1.78371268e-04 9.99939100e-01 5.90218303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.539254154 meters 0.016842505061902102 Centerline is valid? [True, True] Translation: X:881.18, Y:24.26, Z:5.90 [[ 9.52436529e-01 -3.04467274e-01 -1.28194516e-02 8.81175215e+02] [ 3.04441537e-01 9.52522788e-01 -3.96081384e-03 2.42615269e+01] [ 1.34167580e-02 -1.30349777e-04 9.99909983e-01 5.89804096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539999 meters 0.015581855406769977 Centerline is valid? [True, True] Translation: X:881.23, Y:24.28, Z:5.90 [[ 9.53197050e-01 -3.02049712e-01 -1.34668565e-02 8.81230333e+02] [ 3.02021015e-01 9.53292170e-01 -4.16466472e-03 2.42813230e+01] [ 1.40957846e-02 -9.75275366e-05 9.99900645e-01 5.89843124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.659254154 meters 0.015386951469765016 Centerline is valid? [True, True] Translation: X:881.29, Y:24.30, Z:5.90 [[ 9.54419529e-01 -2.98179864e-01 -1.31198934e-02 8.81285350e+02] [ 2.98152211e-01 9.54509700e-01 -4.06096836e-03 2.43015610e+01] [ 1.37339645e-02 -3.58577142e-05 9.99905684e-01 5.89958566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539999 meters 0.017534705870931967 Centerline is valid? [True, True] Translation: X:881.34, Y:24.32, Z:5.90 [[ 9.55492754e-01 -2.94769244e-01 -1.20286743e-02 8.81340963e+02] [ 2.94745686e-01 9.55568466e-01 -3.72665533e-03 2.43194572e+01] [ 1.25927253e-02 1.53922977e-05 9.99920708e-01 5.90010207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.779254154 meters 0.01343525113011752 Centerline is valid? [True, True] Translation: X:881.40, Y:24.34, Z:5.90 [[ 9.56964258e-01 -2.89999701e-01 -1.09354115e-02 8.81397213e+02] [ 2.89979883e-01 9.57026733e-01 -3.39111851e-03 2.43367226e+01] [ 1.14489045e-02 7.41298484e-05 9.99934456e-01 5.90404236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.839254154 meters 0.018128458193135074 Centerline is valid? [True, True] Translation: X:881.45, Y:24.35, Z:5.90 [[ 9.58107018e-01 -2.86130955e-01 -1.26498844e-02 8.81452394e+02] [ 2.86104057e-01 9.58190512e-01 -3.92586001e-03 2.43530997e+01] [ 1.32443093e-02 1.42210778e-04 9.99912280e-01 5.89957360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.899254154 meters 0.017675187309477685 Centerline is valid? [True, True] Translation: X:881.51, Y:24.37, Z:5.90 [[ 9.59329338e-01 -2.82045731e-01 -1.17229080e-02 8.81509436e+02] [ 2.82022305e-01 9.59400944e-01 -3.63986758e-03 2.43662940e+01] [ 1.22735781e-02 1.85710230e-04 9.99924660e-01 5.90158713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.959254154 meters 0.0153320957599259 Centerline is valid? [True, True] Translation: X:881.57, Y:24.38, Z:5.91 [[ 9.59973874e-01 -2.79906174e-01 -1.01338756e-02 8.81566586e+02] [ 2.79888530e-01 9.60027343e-01 -3.14833757e-03 2.43814015e+01] [ 1.06100368e-02 1.85966267e-04 9.99943695e-01 5.90527877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.019254154 meters 0.01846882484101604 Centerline is valid? [True, True] Translation: X:881.62, Y:24.39, Z:5.90 [[ 9.59924287e-01 -2.79989305e-01 -1.23025239e-02 8.81624398e+02] [ 2.79963258e-01 9.60003092e-01 -3.82583915e-03 2.43939221e+01] [ 1.28816550e-02 2.28261239e-04 9.99917002e-01 5.90198649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.079254154 meters 0.017965398032204247 Centerline is valid? [True, True] Translation: X:881.68, Y:24.40, Z:5.90 [[ 9.59342330e-01 -2.81875744e-01 -1.44346408e-02 8.81684105e+02] [ 2.81840033e-01 9.59450888e-01 -4.49323917e-03 2.44016476e+01] [ 1.51158640e-02 2.42294893e-04 9.99885719e-01 5.90078375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.139254154 meters 0.014204241143144471 Centerline is valid? [True, True] Translation: X:881.74, Y:24.41, Z:5.90 [[ 9.57695212e-01 -2.87421021e-01 -1.44581173e-02 8.81743368e+02] [ 2.87385763e-01 9.57804328e-01 -4.50463596e-03 2.44077934e+01] [ 1.51427744e-02 1.59011211e-04 9.99885329e-01 5.90252611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.199254154 meters 0.01571445401590538 Centerline is valid? [True, True] Translation: X:881.81, Y:24.41, Z:5.90 [[ 9.54468915e-01 -2.97945808e-01 -1.47439981e-02 8.81805300e+02] [ 2.97910331e-01 9.54582786e-01 -4.59771277e-03 2.44083391e+01] [ 1.54442360e-02 -4.01542678e-06 9.99880731e-01 5.90257229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.259254154 meters 0.016739845055797568 Centerline is valid? [True, True] Translation: X:881.87, Y:24.41, Z:5.90 [[ 9.50945513e-01 -3.09051241e-01 -1.37826720e-02 8.81867145e+02] [ 3.09021350e-01 9.51045373e-01 -4.30153314e-03 2.44091464e+01] [ 1.44373406e-02 -1.68616282e-04 9.99895762e-01 5.90395273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.319254154 meters 0.018994843554155438 Centerline is valid? [True, True] Translation: X:881.93, Y:24.41, Z:5.91 [[ 9.47674625e-01 -3.18975974e-01 -1.29279767e-02 8.81928446e+02] [ 3.18950567e-01 9.47762755e-01 -4.03688034e-03 2.44098578e+01] [ 1.35403227e-02 -2.97736436e-04 9.99908281e-01 5.90506838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.379254154 meters 0.01953605316487524 Centerline is valid? [True, True] Translation: X:881.99, Y:24.42, Z:5.91 [[ 9.45435962e-01 -3.25614960e-01 -1.12133448e-02 8.81989433e+02] [ 3.25596305e-01 9.45502397e-01 -3.50199592e-03 2.44153496e+01] [ 1.17425467e-02 -3.40110759e-04 9.99930996e-01 5.90816954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.439254154 meters 0.024824286597284462 Centerline is valid? [True, True] Translation: X:882.05, Y:24.42, Z:5.91 [[ 9.43060349e-01 -3.32452491e-01 -1.06075529e-02 8.82050136e+02] [ 3.32436225e-01 9.43119918e-01 -3.31307473e-03 2.44229607e+01] [ 1.11056344e-02 -4.01905446e-04 9.99938250e-01 5.90731545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.499254154 meters 0.023966237161834655 Centerline is valid? [True, True] Translation: X:882.11, Y:24.43, Z:5.91 [[ 9.41451355e-01 -3.37001142e-01 -9.97882272e-03 8.82108691e+02] [ 3.36986998e-01 9.41504141e-01 -3.11703385e-03 2.44345766e+01] [ 1.04455469e-02 -4.28197768e-04 9.99945352e-01 5.91184054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.559254154 meters 0.030575410740210522 Centerline is valid? [True, True] Translation: X:882.17, Y:24.44, Z:5.91 [[ 9.37919681e-01 -3.46661940e-01 -1.14965819e-02 8.82167977e+02] [ 3.46643878e-01 9.37989936e-01 -3.59193743e-03 2.44421671e+01] [ 1.20288662e-02 -6.16270942e-04 9.99927461e-01 5.90888243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.619254154 meters 0.027637914642021814 Centerline is valid? [True, True] Translation: X:882.22, Y:24.46, Z:5.91 [[ 9.34773523e-01 -3.55015569e-01 -1.27438433e-02 8.82223905e+02] [ 3.54994137e-01 9.34860045e-01 -3.98239213e-03 2.44635716e+01] [ 1.33275211e-02 -8.01354913e-04 9.99910864e-01 5.90931687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.679254154 meters 0.02816019784969891 Centerline is valid? [True, True] Translation: X:882.28, Y:24.48, Z:5.91 [[ 9.33603296e-01 -3.58024819e-01 -1.42518655e-02 8.82281015e+02] [ 3.57998350e-01 9.33711593e-01 -4.45443633e-03 2.44810875e+01] [ 1.49019308e-02 -9.43467911e-04 9.99888515e-01 5.90912933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters 0.028523993738378908 Centerline is valid? [True, True] Translation: X:882.34, Y:24.50, Z:5.91 [[ 9.34205459e-01 -3.56397232e-01 -1.55297666e-02 8.82336435e+02] [ 3.56365561e-01 9.34333996e-01 -4.85500022e-03 2.45012006e+01] [ 1.62402976e-02 -9.98706295e-04 9.99867619e-01 5.90845287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.799254154 meters 0.027687885371015974 Centerline is valid? [True, True] Translation: X:882.39, Y:24.52, Z:5.91 [[ 9.35215631e-01 -3.53686587e-01 -1.66589819e-02 8.82391230e+02] [ 3.53649695e-01 9.35363436e-01 -5.20911343e-03 2.45243779e+01] [ 1.74245961e-02 -1.01979956e-03 9.99847660e-01 5.90792268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters 0.025333868891886442 Centerline is valid? [True, True] Translation: X:882.45, Y:24.54, Z:5.91 [[ 9.35725437e-01 -3.52396535e-01 -1.53163253e-02 8.82447092e+02] [ 3.52365154e-01 9.35850334e-01 -4.79075796e-03 2.45441639e+01] [ 1.60220346e-02 -9.14105231e-04 9.99871221e-01 5.91210314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.919254154 meters 0.02572386005018412 Centerline is valid? [True, True] Translation: X:882.50, Y:24.57, Z:5.91 [[ 9.34567095e-01 -3.55506558e-01 -1.41220639e-02 8.82502985e+02] [ 3.55480216e-01 9.34673362e-01 -4.41836119e-03 2.45656646e+01] [ 1.47702733e-02 -8.90859337e-04 9.99890517e-01 5.91288823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539999 meters 0.029253709644704824 Centerline is valid? [True, True] Translation: X:882.56, Y:24.58, Z:5.91 [[ 9.32817805e-01 -3.60091022e-01 -1.36161307e-02 8.82559460e+02] [ 3.60067008e-01 9.32916714e-01 -4.26088257e-03 2.45832729e+01] [ 1.42370215e-02 -9.28092334e-04 9.99898218e-01 5.91222047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.039254154 meters 0.029502895458919872 Centerline is valid? [True, True] Translation: X:882.61, Y:24.61, Z:5.91 [[ 9.34018503e-01 -3.56954537e-01 -1.38886854e-02 8.82613433e+02] [ 3.56929192e-01 9.34121327e-01 -4.34716002e-03 2.46061697e+01] [ 1.45254557e-02 -8.96949362e-04 9.99894098e-01 5.91345510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539999 meters 0.026945259209016303 Centerline is valid? [True, True] Translation: X:882.67, Y:24.64, Z:5.91 [[ 9.37629668e-01 -3.47344925e-01 -1.42164772e-02 8.82666071e+02] [ 3.47317253e-01 9.37737126e-01 -4.45053700e-03 2.46373246e+01] [ 1.48771899e-02 -7.64672272e-04 9.99889036e-01 5.91232417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.159254154 meters 0.023781702876825916 Centerline is valid? [True, True] Translation: X:882.72, Y:24.67, Z:5.91 [[ 9.41640803e-01 -3.36351243e-01 -1.34327352e-02 8.82717718e+02] [ 3.36325411e-01 9.41736444e-01 -4.20567895e-03 2.46716956e+01] [ 1.40646816e-02 -5.57531285e-04 9.99900932e-01 5.91111290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539999 meters 0.019284756790624802 Centerline is valid? [True, True] Translation: X:882.77, Y:24.70, Z:5.91 [[ 9.44534889e-01 -3.28177807e-01 -1.23762262e-02 8.82770347e+02] [ 3.28155170e-01 9.44615883e-01 -3.87531755e-03 2.47021471e+01] [ 1.29625731e-02 -4.00949984e-04 9.99915902e-01 5.91334388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.279254154 meters 0.018023617099373838 Centerline is valid? [True, True] Translation: X:882.82, Y:24.73, Z:5.91 [[ 9.45093637e-01 -3.26556274e-01 -1.26102355e-02 8.82824536e+02] [ 3.26532603e-01 9.45177683e-01 -3.95051591e-03 2.47250984e+01] [ 1.32089789e-02 -3.84045575e-04 9.99912684e-01 5.91470394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.339254154 meters 0.02017355475713631 Centerline is valid? [True, True] Translation: X:882.88, Y:24.75, Z:5.91 [[ 9.45372271e-01 -3.25725591e-01 -1.31950390e-02 8.82877045e+02] [ 3.25699541e-01 9.45464272e-01 -4.13744863e-03 2.47539552e+01] [ 1.38231108e-02 -3.86188936e-04 9.99904382e-01 5.91086556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.399254154 meters 0.019689886955390645 Centerline is valid? [True, True] Translation: X:882.93, Y:24.78, Z:5.91 [[ 9.45112997e-01 -3.26560360e-01 -1.09432200e-02 8.82931528e+02] [ 3.26542466e-01 9.45176292e-01 -3.43430586e-03 2.47755052e+01] [ 1.14647802e-02 -3.27618931e-04 9.99934224e-01 5.91297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.459254154 meters 0.021645303474592488 Centerline is valid? [True, True] Translation: X:882.99, Y:24.79, Z:5.91 [[ 9.44221320e-01 -3.29094537e-01 -1.19534024e-02 8.82987449e+02] [ 3.29073341e-01 9.44296900e-01 -3.75510895e-03 2.47945342e+01] [ 1.25233467e-02 -3.87892153e-04 9.99921505e-01 5.91110739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.519254154 meters 0.023030174126769214 Centerline is valid? [True, True] Translation: X:883.04, Y:24.81, Z:5.91 [[ 9.42276166e-01 -3.34537063e-01 -1.41626497e-02 8.83044196e+02] [ 3.34507883e-01 9.42382438e-01 -4.45163611e-03 2.48139592e+01] [ 1.48358696e-02 -5.42847373e-04 9.99889795e-01 5.90942412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.579254154 meters 0.022624019000586356 Centerline is valid? [True, True] Translation: X:883.10, Y:24.83, Z:5.91 [[ 9.41244946e-01 -3.37443641e-01 -1.37746375e-02 8.83100164e+02] [ 3.37416338e-01 9.41345559e-01 -4.33043652e-03 2.48327604e+01] [ 1.44279721e-02 -5.71786262e-04 9.99895748e-01 5.91178983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.639254154 meters 0.02164850968663706 Centerline is valid? [True, True] Translation: X:883.15, Y:24.86, Z:5.91 [[ 9.41607692e-01 -3.36430753e-01 -1.37587485e-02 8.83154274e+02] [ 3.36403370e-01 9.41708045e-01 -4.32786966e-03 2.48567934e+01] [ 1.44127526e-02 -5.53334002e-04 9.99895978e-01 5.91286433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.699254154 meters 0.019049020395059495 Centerline is valid? [True, True] Translation: X:883.21, Y:24.88, Z:5.91 [[ 9.43680927e-01 -3.30510282e-01 -1.51414055e-02 8.83208390e+02] [ 3.30476319e-01 9.43802255e-01 -4.76512884e-03 2.48808441e+01] [ 1.58654168e-02 -5.07114768e-04 9.99874008e-01 5.91473015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.759254154 meters 0.02049274428902788 Centerline is valid? [True, True] Translation: X:883.26, Y:24.91, Z:5.91 [[ 9.45961977e-01 -3.23809404e-01 -1.74186121e-02 8.83262671e+02] [ 3.23763304e-01 9.46122225e-01 -5.48254880e-03 2.49072290e+01] [ 1.82554369e-02 -4.53224720e-04 9.99833253e-01 5.91187120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.819254154 meters 0.020531153254046447 Centerline is valid? [True, True] Translation: X:883.32, Y:24.93, Z:5.91 [[ 9.47214823e-01 -3.20197124e-01 -1.60586789e-02 8.83316424e+02] [ 3.20157405e-01 9.47350874e-01 -5.05552039e-03 2.49322211e+01] [ 1.68319666e-02 -3.52641114e-04 9.99858270e-01 5.91358558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.879254154 meters 0.01780913186892997 Centerline is valid? [True, True] Translation: X:883.37, Y:24.95, Z:5.92 [[ 9.47169723e-01 -3.20432472e-01 -1.38761351e-02 8.83372472e+02] [ 3.20402807e-01 9.47271311e-01 -4.37083236e-03 2.49517734e+01] [ 1.45450213e-02 -3.06032572e-04 9.99894169e-01 5.91736076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.939254154 meters 0.015496772139054553 Centerline is valid? [True, True] Translation: X:883.43, Y:24.97, Z:5.92 [[ 9.46595041e-01 -3.22216582e-01 -1.15888727e-02 8.83428777e+02] [ 3.22195990e-01 9.46665938e-01 -3.65326195e-03 2.49703256e+01] [ 1.21479327e-02 -2.75728679e-04 9.99926173e-01 5.92143539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.999254154 meters 0.02016884563228797 Centerline is valid? [True, True] Translation: X:883.49, Y:24.99, Z:5.92 [[ 9.45317316e-01 -3.25857439e-01 -1.38600860e-02 8.83485141e+02] [ 3.25828336e-01 9.45418840e-01 -4.37187988e-03 2.49890074e+01] [ 1.45281960e-02 -3.83195003e-04 9.99894387e-01 5.91763238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.059254154 meters 0.01681621806874761 Centerline is valid? [True, True] Translation: X:883.54, Y:25.01, Z:5.92 [[ 9.45212842e-01 -3.26229729e-01 -1.21180754e-02 8.83539538e+02] [ 3.26207485e-01 9.45290458e-01 -3.82455548e-03 2.50099914e+01] [ 1.27027847e-02 -3.37987940e-04 9.99919259e-01 5.92077748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.119254154 meters 0.020946432850631747 Centerline is valid? [True, True] Translation: X:883.59, Y:25.03, Z:5.92 [[ 9.45481026e-01 -3.25327558e-01 -1.50867335e-02 8.83594771e+02] [ 3.25292882e-01 9.45601300e-01 -4.76674897e-03 2.50292637e+01] [ 1.58167896e-02 -4.00736318e-04 9.99874826e-01 5.91665138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.179254154 meters 0.019275640368295936 Centerline is valid? [True, True] Translation: X:883.65, Y:25.05, Z:5.91 [[ 9.47135528e-01 -3.20370739e-01 -1.72302613e-02 8.83648884e+02] [ 3.20324596e-01 9.47292173e-01 -5.44902620e-03 2.50548188e+01] [ 1.80678002e-02 -3.58310195e-04 9.99836700e-01 5.91438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters 0.016677623653937358 Centerline is valid? [True, True] Translation: X:883.70, Y:25.08, Z:5.92 [[ 9.47214786e-01 -3.20218742e-01 -1.56239008e-02 8.83703684e+02] [ 3.20180715e-01 9.47343579e-01 -4.94507023e-03 2.50766618e+01] [ 1.63847062e-02 -3.18428082e-04 9.99865711e-01 5.91731986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.299254154 meters 0.017959681606290447 Centerline is valid? [True, True] Translation: X:883.76, Y:25.09, Z:5.92 [[ 9.46332462e-01 -3.22880891e-01 -1.42408362e-02 8.83759474e+02] [ 3.22849559e-01 9.46439550e-01 -4.51012017e-03 2.50934589e+01] [ 1.49343222e-02 -3.29574568e-04 9.99888422e-01 5.91842333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters 0.019784647622004676 Centerline is valid? [True, True] Translation: X:883.82, Y:25.11, Z:5.92 [[ 9.45538391e-01 -3.25208649e-01 -1.40173471e-02 8.83815078e+02] [ 3.25178502e-01 9.45642219e-01 -4.44242436e-03 2.51138157e+01] [ 1.47001100e-02 -3.57657143e-04 9.99891884e-01 5.91830198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.419254154 meters 0.018820559780723046 Centerline is valid? [True, True] Translation: X:883.87, Y:25.14, Z:5.92 [[ 9.46309489e-01 -3.22993197e-01 -1.31812710e-02 8.83869822e+02] [ 3.22966275e-01 9.46401239e-01 -4.18103975e-03 2.51356735e+01] [ 1.38252186e-02 -3.00548385e-04 9.99904382e-01 5.91879912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539999 meters 0.018680343948474055 Centerline is valid? [True, True] Translation: X:883.92, Y:25.16, Z:5.92 [[ 9.47921752e-01 -3.18241391e-01 -1.29139329e-02 8.83924080e+02] [ 3.18215077e-01 9.48009687e-01 -4.09849448e-03 2.51573506e+01] [ 1.35468441e-02 -2.24356086e-04 9.99908212e-01 5.91902058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.539254154 meters 0.014990542874997704 Centerline is valid? [True, True] Translation: X:883.98, Y:25.18, Z:5.92 [[ 9.49204469e-01 -3.14432654e-01 -1.19575168e-02 8.83977980e+02] [ 3.14409779e-01 9.49279770e-01 -3.79595352e-03 2.51792311e+01] [ 1.25446006e-02 -1.56424179e-04 9.99921301e-01 5.92111044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539999 meters 0.01665092090841001 Centerline is valid? [True, True] Translation: X:884.03, Y:25.20, Z:5.92 [[ 9.49176187e-01 -3.14425763e-01 -1.41776672e-02 8.84033565e+02] [ 3.14393561e-01 9.49282048e-01 -4.50363599e-03 2.51988548e+01] [ 1.48746641e-02 -1.82623247e-04 9.99889349e-01 5.91806875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.659254154 meters 0.01702913547385671 Centerline is valid? [True, True] Translation: X:884.09, Y:25.21, Z:5.92 [[ 9.47997500e-01 -3.17944176e-01 -1.45684843e-02 8.84089077e+02] [ 3.17910540e-01 9.48109404e-01 -4.63100382e-03 2.52134679e+01] [ 1.52849176e-02 -2.41294654e-04 9.99883150e-01 5.91678004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539999 meters 0.017622573612148373 Centerline is valid? [True, True] Translation: X:884.15, Y:25.23, Z:5.92 [[ 9.46910840e-01 -3.21187814e-01 -1.40800743e-02 8.84145620e+02] [ 3.21156705e-01 9.47015475e-01 -4.47900428e-03 2.52310466e+01] [ 1.47726499e-02 -2.80692566e-04 9.99890839e-01 5.91771678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.779254154 meters 0.018096736385882103 Centerline is valid? [True, True] Translation: X:884.20, Y:25.25, Z:5.92 [[ 9.45362027e-01 -3.25854997e-01 -1.04479328e-02 8.84202626e+02] [ 3.25838126e-01 9.45419723e-01 -3.32608533e-03 2.52457097e+01] [ 1.09615033e-02 -2.59980086e-04 9.99939887e-01 5.92005027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.839254154 meters 0.019433393492571033 Centerline is valid? [True, True] Translation: X:884.26, Y:25.26, Z:5.92 [[ 9.44619041e-01 -3.28019188e-01 -9.91364911e-03 8.84258210e+02] [ 3.28004095e-01 9.44671022e-01 -3.15805390e-03 2.52616355e+01] [ 1.04010393e-02 -2.68559666e-04 9.99945872e-01 5.92052663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.899254154 meters 0.019012283141393173 Centerline is valid? [True, True] Translation: X:884.31, Y:25.28, Z:5.92 [[ 9.43348650e-01 -3.31684808e-01 -8.86073379e-03 8.84314608e+02] [ 3.31672906e-01 9.43390223e-01 -2.82340339e-03 2.52800608e+01] [ 9.29560963e-03 -2.75411547e-04 9.99956757e-01 5.92164296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.959254154 meters 0.017916127836369814 Centerline is valid? [True, True] Translation: X:884.37, Y:25.30, Z:5.92 [[ 9.42511254e-01 -3.34046561e-01 -9.24289039e-03 8.84370612e+02] [ 3.34033710e-01 9.42556523e-01 -2.94650955e-03 2.52991828e+01] [ 9.69621801e-03 -3.10318554e-04 9.99952942e-01 5.92239494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.019254154 meters 0.019938646338382143 Centerline is valid? [True, True] Translation: X:884.42, Y:25.32, Z:5.92 [[ 9.42577123e-01 -3.33803523e-01 -1.11164175e-02 8.84424396e+02] [ 3.33784884e-01 9.42642601e-01 -3.54657577e-03 2.53181996e+01] [ 1.16626681e-02 -3.67570928e-04 9.99931921e-01 5.91980081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.079254154 meters 0.019918343771991705 Centerline is valid? [True, True] Translation: X:884.48, Y:25.34, Z:5.92 [[ 9.43734173e-01 -3.30476078e-01 -1.23033445e-02 8.84478877e+02] [ 3.30452945e-01 9.43814300e-01 -3.92668498e-03 2.53407415e+01] [ 1.29097479e-02 -3.59929626e-04 9.99916601e-01 5.91897080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.139254154 meters 0.016834248837032627 Centerline is valid? [True, True] Translation: X:884.53, Y:25.36, Z:5.92 [[ 9.44967120e-01 -3.26961741e-01 -1.15395931e-02 8.84533141e+02] [ 3.26941118e-01 9.45037531e-01 -3.68379507e-03 2.53636921e+01] [ 1.21098087e-02 -2.91702265e-04 9.99926631e-01 5.92160630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.199254154 meters 0.019918220797761572 Centerline is valid? [True, True] Translation: X:884.59, Y:25.39, Z:5.92 [[ 9.45343893e-01 -3.25834273e-01 -1.25279760e-02 8.84588326e+02] [ 3.25809838e-01 9.45426855e-01 -4.00153807e-03 2.53853924e+01] [ 1.31481232e-02 -2.98908256e-04 9.99913515e-01 5.91888975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.259254154 meters 0.01934031415574025 Centerline is valid? [True, True] Translation: X:884.64, Y:25.41, Z:5.92 [[ 9.45848779e-01 -3.24402959e-01 -1.15242163e-02 8.84643795e+02] [ 3.24382140e-01 9.45918948e-01 -3.68393908e-03 2.54059578e+01] [ 1.20960553e-02 -2.53800646e-04 9.99926808e-01 5.92015514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.319254154 meters 0.018227137078495454 Centerline is valid? [True, True] Translation: X:884.70, Y:25.43, Z:5.92 [[ 9.46553636e-01 -3.22411478e-01 -9.33025027e-03 8.84699146e+02] [ 3.22397714e-01 9.46599601e-01 -2.98474491e-03 2.54276073e+01] [ 9.79432721e-03 -1.82830210e-04 9.99952018e-01 5.92198675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.379254154 meters 0.017193890100564983 Centerline is valid? [True, True] Translation: X:884.75, Y:25.45, Z:5.92 [[ 9.46636876e-01 -3.22169044e-01 -9.25913901e-03 8.84753667e+02] [ 3.22155453e-01 9.46682141e-01 -2.96446127e-03 2.54493303e+01] [ 9.72051919e-03 -1.76613763e-04 9.99952739e-01 5.92224450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.439254154 meters 0.018327002737097177 Centerline is valid? [True, True] Translation: X:884.81, Y:25.47, Z:5.92 [[ 9.45827345e-01 -3.24512283e-01 -1.01198792e-02 8.84809832e+02] [ 3.24496147e-01 9.45881458e-01 -3.24325193e-03 2.54670707e+01] [ 1.06246812e-02 -2.16305453e-04 9.99943533e-01 5.92163792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.499254154 meters 0.015448371186075706 Centerline is valid? [True, True] Translation: X:884.86, Y:25.48, Z:5.93 [[ 9.45378840e-01 -3.25838317e-01 -9.39367884e-03 8.84864891e+02] [ 3.25824459e-01 9.45425484e-01 -3.01260642e-03 2.54830482e+01] [ 9.86264596e-03 -2.12635964e-04 9.99951340e-01 5.92565222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.559254154 meters 0.016696122782983804 Centerline is valid? [True, True] Translation: X:884.92, Y:25.50, Z:5.92 [[ 9.44459112e-01 -3.28472173e-01 -1.01497576e-02 8.84921339e+02] [ 3.28456126e-01 9.44513613e-01 -3.25700449e-03 2.54998219e+01] [ 1.06564195e-02 -2.57642480e-04 9.99943186e-01 5.92442485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.619254154 meters 0.020619726067787628 Centerline is valid? [True, True] Translation: X:884.98, Y:25.52, Z:5.92 [[ 9.45084402e-01 -3.26584127e-01 -1.25809735e-02 8.84977307e+02] [ 3.26559262e-01 9.45168093e-01 -4.04035324e-03 2.55150143e+01] [ 1.32106500e-02 -2.89958597e-04 9.99912694e-01 5.92046642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.679254154 meters 0.015178211920745192 Centerline is valid? [True, True] Translation: X:885.03, Y:25.54, Z:5.92 [[ 9.47281130e-01 -3.20177486e-01 -1.20348930e-02 8.85032903e+02] [ 3.20154202e-01 9.47357557e-01 -3.86599433e-03 2.55377203e+01] [ 1.26391512e-02 -1.90838092e-04 9.99920105e-01 5.92474737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters 0.01511385866258339 Centerline is valid? [True, True] Translation: X:885.09, Y:25.56, Z:5.93 [[ 9.49281717e-01 -3.14199289e-01 -1.19594588e-02 8.85087549e+02] [ 3.14175800e-01 9.49357043e-01 -3.84343810e-03 2.55601316e+01] [ 1.25614019e-02 -1.08866995e-04 9.99921097e-01 5.92512625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.799254154 meters 0.015756358456452922 Centerline is valid? [True, True] Translation: X:885.14, Y:25.58, Z:5.92 [[ 9.49988731e-01 -3.12046645e-01 -1.21779235e-02 8.85142935e+02] [ 3.12022082e-01 9.50066779e-01 -3.91604019e-03 2.55780060e+01] [ 1.27918277e-02 -7.95869898e-05 9.99918178e-01 5.92415744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters 0.013105655535894205 Centerline is valid? [True, True] Translation: X:885.20, Y:25.60, Z:5.93 [[ 9.52207526e-01 -3.05254745e-01 -1.09712082e-02 8.85197798e+02] [ 3.05234335e-01 9.52270729e-01 -3.52989764e-03 2.55993398e+01] [ 1.15250784e-02 1.24056692e-05 9.99933584e-01 5.92838531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.919254154 meters 0.01572704125967456 Centerline is valid? [True, True] Translation: X:885.25, Y:25.62, Z:5.93 [[ 9.53305247e-01 -3.01830071e-01 -1.03785604e-02 8.85253001e+02] [ 3.01811580e-01 9.53361739e-01 -3.34137375e-03 2.56176441e+01] [ 1.09030495e-02 5.29794136e-05 9.99940559e-01 5.92534915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539999 meters 0.015243651821786105 Centerline is valid? [True, True] Translation: X:885.31, Y:25.63, Z:5.93 [[ 9.53254751e-01 -3.01938746e-01 -1.17632287e-02 8.85309888e+02] [ 3.01914969e-01 9.53327326e-01 -3.78967824e-03 2.56307889e+01] [ 1.23584581e-02 6.10339479e-05 9.99923629e-01 5.92543261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.039254154 meters 0.015583346233923543 Centerline is valid? [True, True] Translation: X:885.37, Y:25.64, Z:5.93 [[ 9.51549588e-01 -3.07258122e-01 -1.20759637e-02 8.85367415e+02] [ 3.07233456e-01 9.51626212e-01 -3.89317105e-03 2.56395475e+01] [ 1.26880121e-02 -5.59476677e-06 9.99919504e-01 5.92502782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539999 meters 0.014872574895478578 Centerline is valid? [True, True] Translation: X:885.43, Y:25.65, Z:5.93 [[ 9.49471368e-01 -3.13646862e-01 -1.13915109e-02 8.85425878e+02] [ 3.13625348e-01 9.49539698e-01 -3.67455152e-03 2.56492449e+01] [ 1.19692034e-02 -8.37851035e-05 9.99928363e-01 5.92691867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.159254154 meters 0.017633079924704323 Centerline is valid? [True, True] Translation: X:885.49, Y:25.66, Z:5.93 [[ 9.45637847e-01 -3.25021387e-01 -1.14088043e-02 8.85486182e+02] [ 3.25000605e-01 9.45706639e-01 -3.68239821e-03 2.56553744e+01] [ 1.19862402e-02 -2.25653200e-04 9.99928137e-01 5.92642655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539999 meters 0.018128471912684314 Centerline is valid? [True, True] Translation: X:885.55, Y:25.66, Z:5.93 [[ 9.42387697e-01 -3.34326200e-01 -1.14638610e-02 8.85546706e+02] [ 3.34305893e-01 9.42457359e-01 -3.70086928e-03 2.56640055e+01] [ 1.20414977e-02 -3.44782607e-04 9.99927439e-01 5.92840027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.279254154 meters 0.01882640510204017 Centerline is valid? [True, True] Translation: X:885.60, Y:25.67, Z:5.93 [[ 9.41387202e-01 -3.37132938e-01 -1.14681561e-02 8.85604452e+02] [ 3.37112817e-01 9.41456976e-01 -3.70283790e-03 2.56742998e+01] [ 1.20451242e-02 -3.80258218e-04 9.99927383e-01 5.92997422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.339254154 meters 0.020234433998766097 Centerline is valid? [True, True] Translation: X:885.66, Y:25.69, Z:5.93 [[ 9.42842349e-01 -3.33027154e-01 -1.18836232e-02 8.85660033e+02] [ 3.33005211e-01 9.42917176e-01 -3.83782833e-03 2.56922500e+01] [ 1.24833735e-02 -3.38841385e-04 9.99922022e-01 5.92755055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.399254154 meters 0.01846826313079638 Centerline is valid? [True, True] Translation: X:885.72, Y:25.72, Z:5.93 [[ 9.45880993e-01 -3.24308689e-01 -1.15335001e-02 8.85715669e+02] [ 3.24287366e-01 9.45951282e-01 -3.72524449e-03 2.57150614e+01] [ 1.21182583e-02 -2.16530390e-04 9.99926548e-01 5.92758382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.459254154 meters 0.016718449812350697 Centerline is valid? [True, True] Translation: X:885.77, Y:25.74, Z:5.93 [[ 9.49337348e-01 -3.14045900e-01 -1.15660282e-02 8.85770259e+02] [ 3.14023687e-01 9.49407797e-01 -3.73612322e-03 2.57408042e+01] [ 1.21541915e-02 -8.51655138e-05 9.99926131e-01 5.92799076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.519254154 meters 0.017184393058254883 Centerline is valid? [True, True] Translation: X:885.83, Y:25.76, Z:5.93 [[ 9.51588474e-01 -3.07144606e-01 -1.18982293e-02 8.85825242e+02] [ 3.07120535e-01 9.51662856e-01 -3.84524580e-03 2.57623336e+01] [ 1.25041493e-02 4.90104835e-06 9.99921820e-01 5.92749969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.579254154 meters 0.016692618723224414 Centerline is valid? [True, True] Translation: X:885.88, Y:25.78, Z:5.93 [[ 9.54494345e-01 -2.98018873e-01 -1.11935861e-02 8.85879068e+02] [ 2.97996911e-01 9.54559970e-01 -3.61992282e-03 2.57837134e+01] [ 1.17637546e-02 1.19541770e-04 9.99930798e-01 5.92857690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.639254154 meters 0.018062192125243393 Centerline is valid? [True, True] Translation: X:885.93, Y:25.80, Z:5.93 [[ 9.57294151e-01 -2.88928428e-01 -1.04053859e-02 8.85934880e+02] [ 2.88908900e-01 9.57350676e-01 -3.36614393e-03 2.58031233e+01] [ 1.09341779e-02 2.16181307e-04 9.99940197e-01 5.92970877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.699254154 meters 0.022325871826055353 Centerline is valid? [True, True] Translation: X:885.99, Y:25.82, Z:5.93 [[ 9.59528144e-01 -2.81411816e-01 -1.06362597e-02 8.85991105e+02] [ 2.81390944e-01 9.59587043e-01 -3.44135222e-03 2.58216973e+01] [ 1.11748542e-02 3.09127159e-04 9.99937512e-01 5.92821617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.759254154 meters 0.01945327948972315 Centerline is valid? [True, True] Translation: X:886.05, Y:25.83, Z:5.93 [[ 9.61266721e-01 -2.75452359e-01 -9.60671531e-03 8.86050370e+02] [ 2.75435031e-01 9.61314663e-01 -3.10847296e-03 2.58341688e+01] [ 1.00913125e-02 3.42045681e-04 9.99949023e-01 5.93205719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.819254154 meters 0.024085820711691273 Centerline is valid? [True, True] Translation: X:886.11, Y:25.85, Z:5.93 [[ 9.61613937e-01 -2.74144740e-01 -1.19707064e-02 8.86107225e+02] [ 2.74117722e-01 9.61688340e-01 -3.87435530e-03 2.58472654e+01] [ 1.25742229e-02 4.44251291e-04 9.99920843e-01 5.92691726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.879254154 meters 0.022433596363414247 Centerline is valid? [True, True] Translation: X:886.16, Y:25.86, Z:5.93 [[ 9.61496472e-01 -2.74505063e-01 -1.30959680e-02 8.86164768e+02] [ 2.74472717e-01 9.61585532e-01 -4.24163648e-03 2.58568136e+01] [ 1.37572440e-02 4.83832608e-04 9.99905248e-01 5.92908737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.939254154 meters 0.019583195792573355 Centerline is valid? [True, True] Translation: X:886.23, Y:25.85, Z:5.93 [[ 9.60381442e-01 -2.78258702e-01 -1.54783929e-02 8.86228435e+02] [ 2.78213952e-01 9.60506030e-01 -5.01632373e-03 2.58514172e+01] [ 1.62629255e-02 5.11279349e-04 9.99867619e-01 5.92723110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.999254154 meters 0.020528719568324534 Centerline is valid? [True, True] Translation: X:886.29, Y:25.86, Z:5.93 [[ 9.59523412e-01 -2.81218081e-01 -1.52056913e-02 8.86288254e+02] [ 2.81175237e-01 9.59643780e-01 -4.92966241e-03 2.58594318e+01] [ 1.59783573e-02 4.54662630e-04 9.99872235e-01 5.92662429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.059254154 meters 0.015895218978367046 Centerline is valid? [True, True] Translation: X:886.35, Y:25.86, Z:5.93 [[ 9.57787925e-01 -2.87170639e-01 -1.32406274e-02 8.86350609e+02] [ 2.87138708e-01 9.57879391e-01 -4.29362531e-03 2.58600151e+01] [ 1.39159272e-02 3.10485833e-04 9.99903121e-01 5.93194249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.119254154 meters 0.014024080256424655 Centerline is valid? [True, True] Translation: X:886.41, Y:25.86, Z:5.93 [[ 9.55235557e-01 -2.95533738e-01 -1.35956074e-02 8.86413276e+02] [ 2.95500907e-01 9.55332284e-01 -4.40928909e-03 2.58599468e+01] [ 1.42914163e-02 1.94395407e-04 9.99897854e-01 5.93210946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.179254154 meters 0.012989040996403592 Centerline is valid? [True, True] Translation: X:886.48, Y:25.86, Z:5.93 [[ 9.52288931e-01 -3.04896009e-01 -1.35725812e-02 8.86476009e+02] [ 3.04864207e-01 9.52385647e-01 -4.40391599e-03 2.58590215e+01] [ 1.42690679e-02 5.60062453e-05 9.99898190e-01 5.93333053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters 0.01319581224707236 Centerline is valid? [True, True] Translation: X:886.54, Y:25.86, Z:5.93 [[ 9.49295822e-01 -3.14127661e-01 -1.26986445e-02 8.86536579e+02] [ 3.14100600e-01 9.49380749e-01 -4.12384038e-03 2.58598294e+01] [ 1.33512609e-02 -7.39074083e-05 9.99910865e-01 5.93408570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.299254154 meters 0.014623730729734653 Centerline is valid? [True, True] Translation: X:886.60, Y:25.86, Z:5.93 [[ 9.46118828e-01 -3.23586118e-01 -1.22958585e-02 8.86597848e+02] [ 3.23561513e-01 9.46198703e-01 -3.99531442e-03 2.58634457e+01] [ 1.29271537e-02 -1.98424388e-04 9.99916421e-01 5.93431925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters 0.01517776558973939 Centerline is valid? [True, True] Translation: X:886.66, Y:25.87, Z:5.94 [[ 9.44461097e-01 -3.28387362e-01 -1.24489920e-02 8.86657105e+02] [ 3.28362529e-01 9.44543101e-01 -4.04717407e-03 2.58728221e+01] [ 1.30876504e-02 -2.65384059e-04 9.99914318e-01 5.93504129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.419254154 meters 0.01692444326746983 Centerline is valid? [True, True] Translation: X:886.72, Y:25.88, Z:5.93 [[ 9.42950110e-01 -3.32681139e-01 -1.29749926e-02 8.86716841e+02] [ 3.32654538e-01 9.43039313e-01 -4.22044663e-03 2.58793093e+01] [ 1.36399911e-02 -3.36519550e-04 9.99906914e-01 5.93464866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539999 meters 0.01577951304256809 Centerline is valid? [True, True] Translation: X:886.77, Y:25.90, Z:5.94 [[ 9.43437606e-01 -3.31295348e-01 -1.29952597e-02 8.86773626e+02] [ 3.31268501e-01 9.43527050e-01 -4.22928656e-03 2.58957804e+01] [ 1.36625220e-02 -3.14852212e-04 9.99906614e-01 5.93528276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.539254154 meters 0.015695076719211158 Centerline is valid? [True, True] Translation: X:886.83, Y:25.92, Z:5.93 [[ 9.46135591e-01 -3.23524453e-01 -1.26242255e-02 8.86829139e+02] [ 3.23498396e-01 9.46219790e-01 -4.11061984e-03 2.59160958e+01] [ 1.32751781e-02 -1.94712985e-04 9.99911862e-01 5.93343228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539999 meters 0.01338467374483788 Centerline is valid? [True, True] Translation: X:886.88, Y:25.94, Z:5.93 [[ 9.48419005e-01 -3.16734048e-01 -1.34511360e-02 8.86883636e+02] [ 3.16703749e-01 9.48514382e-01 -4.38215295e-03 2.59386701e+01] [ 1.41465729e-02 -1.03908048e-04 9.99899927e-01 5.93444511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.659254154 meters 0.014065674908150612 Centerline is valid? [True, True] Translation: X:886.94, Y:25.96, Z:5.93 [[ 9.49662975e-01 -3.12959517e-01 -1.40204826e-02 8.86937893e+02] [ 3.12926129e-01 9.49766465e-01 -4.57152552e-03 2.59618195e+01] [ 1.47468866e-02 -4.59668200e-05 9.99891258e-01 5.93250739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539999 meters 0.01310473828980619 Centerline is valid? [True, True] Translation: X:886.99, Y:25.98, Z:5.93 [[ 9.50043159e-01 -3.11817761e-01 -1.36996082e-02 8.86992282e+02] [ 3.11785708e-01 9.50141928e-01 -4.47090804e-03 2.59819301e+01] [ 1.44106807e-02 -2.37864495e-05 9.99896160e-01 5.93418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.779254154 meters 0.01300944575143644 Centerline is valid? [True, True] Translation: X:887.05, Y:26.00, Z:5.93 [[ 9.50938228e-01 -3.09091616e-01 -1.33738541e-02 8.87046222e+02] [ 3.09060740e-01 9.51032267e-01 -4.36878807e-03 2.60039849e+01] [ 1.40693226e-02 2.11143319e-05 9.99901022e-01 5.93461355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.839254154 meters 0.015566309256300186 Centerline is valid? [True, True] Translation: X:887.10, Y:26.02, Z:5.93 [[ 9.51144812e-01 -3.08420017e-01 -1.41647577e-02 8.87101430e+02] [ 3.08385243e-01 9.51250278e-01 -4.63144536e-03 2.60239828e+01] [ 1.49026602e-02 3.69729637e-05 9.99888949e-01 5.93183859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.899254154 meters 0.013994618065429785 Centerline is valid? [True, True] Translation: X:887.16, Y:26.04, Z:5.93 [[ 9.51869346e-01 -3.06173525e-01 -1.42310048e-02 8.87156861e+02] [ 3.06138115e-01 9.51975717e-01 -4.65704948e-03 2.60447625e+01] [ 1.49734362e-02 7.62496625e-05 9.99887889e-01 5.93344376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.959254154 meters 0.01699185272616286 Centerline is valid? [True, True] Translation: X:887.21, Y:26.07, Z:5.93 [[ 9.52792785e-01 -3.03228520e-01 -1.54393540e-02 8.87211784e+02] [ 3.03186382e-01 9.52917859e-01 -5.05687886e-03 2.60666057e+01] [ 1.62458260e-02 1.37155826e-04 9.99868018e-01 5.92944388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.019254154 meters 0.014290953220448281 Centerline is valid? [True, True] Translation: X:887.27, Y:26.09, Z:5.93 [[ 9.53750753e-01 -3.00225639e-01 -1.49688613e-02 8.87267297e+02] [ 3.00185597e-01 9.53868194e-01 -4.90680054e-03 2.60861238e+01] [ 1.57514681e-02 1.86428137e-04 9.99875921e-01 5.93340053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.079254154 meters 0.015518407661181764 Centerline is valid? [True, True] Translation: X:887.32, Y:26.10, Z:5.93 [[ 9.54838143e-01 -2.96741378e-01 -1.51219743e-02 8.87322784e+02] [ 2.96700033e-01 9.54957849e-01 -4.95961762e-03 2.61040699e+01] [ 1.59125718e-02 2.48941799e-04 9.99873356e-01 5.93352776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.139254154 meters 0.015596891223144402 Centerline is valid? [True, True] Translation: X:887.38, Y:26.12, Z:5.93 [[ 9.55801629e-01 -2.93606204e-01 -1.54480631e-02 8.87377526e+02] [ 2.93562621e-01 9.55926410e-01 -5.06811778e-03 2.61227904e+01] [ 1.62552424e-02 3.09141318e-04 9.99867827e-01 5.93439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.199254154 meters 0.015422276887037437 Centerline is valid? [True, True] Translation: X:887.43, Y:26.14, Z:5.93 [[ 9.55334960e-01 -2.95089571e-01 -1.60393357e-02 8.87434237e+02] [ 2.95042741e-01 9.55469548e-01 -5.26541549e-03 2.61381942e+01] [ 1.68788661e-02 2.97945912e-04 9.99857497e-01 5.93375820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.259254154 meters 0.01610648500206722 Centerline is valid? [True, True] Translation: X:887.49, Y:26.15, Z:5.93 [[ 9.53286261e-01 -3.01629319e-01 -1.62806507e-02 8.87492488e+02] [ 3.01581976e-01 9.53425256e-01 -5.34720851e-03 2.61490825e+01] [ 1.71352584e-02 1.87469601e-04 9.99853163e-01 5.93234948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.319254154 meters 0.013562906864643945 Centerline is valid? [True, True] Translation: X:887.55, Y:26.16, Z:5.94 [[ 9.51852441e-01 -3.06265945e-01 -1.33454687e-02 8.87548244e+02] [ 3.06234575e-01 9.51945988e-01 -4.38428079e-03 2.61637497e+01] [ 1.40469213e-02 8.63444294e-05 9.99901333e-01 5.93755766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.379254154 meters 0.016111630772279235 Centerline is valid? [True, True] Translation: X:887.61, Y:26.18, Z:5.94 [[ 9.49389949e-01 -3.13827441e-01 -1.30790492e-02 8.87605385e+02] [ 3.13797992e-01 9.49480035e-01 -4.29919952e-03 2.61784314e+01] [ 1.37675029e-02 -2.25625664e-05 9.99905223e-01 5.93585436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.439254154 meters 0.015238280178120327 Centerline is valid? [True, True] Translation: X:887.66, Y:26.19, Z:5.94 [[ 9.46467785e-01 -3.22570416e-01 -1.21267803e-02 8.87663475e+02] [ 3.22545774e-01 9.46545460e-01 -3.98938407e-03 2.61917027e+01] [ 1.27654061e-02 -1.35618221e-04 9.99918510e-01 5.93855033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.499254154 meters 0.015510970722771605 Centerline is valid? [True, True] Translation: X:887.72, Y:26.21, Z:5.94 [[ 9.44047550e-01 -3.29552731e-01 -1.30084719e-02 8.87720226e+02] [ 3.29525005e-01 9.44137139e-01 -4.28171405e-03 2.62081358e+01] [ 1.36928320e-02 -2.44475101e-04 9.99906219e-01 5.93912063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.559254154 meters 0.01639984699202786 Centerline is valid? [True, True] Translation: X:887.78, Y:26.23, Z:5.94 [[ 9.41768814e-01 -3.35892509e-01 -1.57392498e-02 8.87776758e+02] [ 3.35852790e-01 9.41900237e-01 -5.18135678e-03 2.62273882e+01] [ 1.65651821e-02 -4.06430737e-04 9.99862705e-01 5.93745475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.619254154 meters 0.020941693228781116 Centerline is valid? [True, True] Translation: X:887.83, Y:26.24, Z:5.93 [[ 9.40371911e-01 -3.39744183e-01 -1.65698341e-02 8.87832978e+02] [ 3.39700743e-01 9.40517752e-01 -5.45564957e-03 2.62443392e+01] [ 1.74377483e-02 -4.98445325e-04 9.99847827e-01 5.93449345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.679254154 meters 0.019221219593940124 Centerline is valid? [True, True] Translation: X:887.89, Y:26.27, Z:5.94 [[ 9.40334841e-01 -3.39933646e-01 -1.46800101e-02 8.87887356e+02] [ 3.39899532e-01 9.40449318e-01 -4.83606214e-03 2.62665152e+01] [ 1.54497457e-02 -4.42210844e-04 9.99880548e-01 5.93734436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters 0.018226163306350587 Centerline is valid? [True, True] Translation: X:887.94, Y:26.29, Z:5.94 [[ 9.41693984e-01 -3.36210222e-01 -1.32335606e-02 8.87941537e+02] [ 3.36182102e-01 9.41786903e-01 -4.36165680e-03 2.62912139e+01] [ 1.39296277e-02 -3.41540264e-04 9.99902920e-01 5.93869650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.799254154 meters 0.014635498619975184 Centerline is valid? [True, True] Translation: X:888.00, Y:26.32, Z:5.94 [[ 9.44487399e-01 -3.28341607e-01 -1.16336596e-02 8.87995500e+02] [ 3.28319258e-01 9.44559024e-01 -3.83595012e-03 2.63186790e+01] [ 1.22481802e-02 -1.96547924e-04 9.99924969e-01 5.94194254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters 0.014538597034011013 Centerline is valid? [True, True] Translation: X:888.05, Y:26.35, Z:5.94 [[ 9.47207745e-01 -3.20390824e-01 -1.21329419e-02 8.88048114e+02] [ 3.20365836e-01 9.47285443e-01 -4.00253106e-03 2.63456461e+01] [ 1.27757334e-02 -9.57516507e-05 9.99918382e-01 5.94042579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.919254154 meters 0.013855893795784627 Centerline is valid? [True, True] Translation: X:888.10, Y:26.37, Z:5.94 [[ 9.49120519e-01 -3.14648924e-01 -1.28955234e-02 8.88102129e+02] [ 3.14620145e-01 9.49208120e-01 -4.25557694e-03 2.63714349e+01] [ 1.35795482e-02 -1.81360548e-05 9.99907794e-01 5.93978698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539999 meters 0.016371955914826614 Centerline is valid? [True, True] Translation: X:888.16, Y:26.39, Z:5.94 [[ 9.50138254e-01 -3.11519709e-01 -1.38841654e-02 8.88156336e+02] [ 3.11485968e-01 9.50239691e-01 -4.58492392e-03 2.63942772e+01] [ 1.46215792e-02 3.15889053e-05 9.99893099e-01 5.93792554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.039254154 meters 0.012971643611946337 Centerline is valid? [True, True] Translation: X:888.21, Y:26.41, Z:5.94 [[ 9.50293779e-01 -3.11074467e-01 -1.32064208e-02 8.88209541e+02] [ 3.11043861e-01 9.50385540e-01 -4.36373323e-03 2.64147266e+01] [ 1.39086374e-02 3.90524236e-05 9.99903269e-01 5.94096622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539999 meters 0.012937311205291239 Centerline is valid? [True, True] Translation: X:888.26, Y:26.43, Z:5.94 [[ 9.49797174e-01 -3.12596058e-01 -1.30012823e-02 8.88264894e+02] [ 3.12566497e-01 9.49886153e-01 -4.29887477e-03 2.64323328e+01] [ 1.36935494e-02 1.92938229e-05 9.99906239e-01 5.94180272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.159254154 meters 0.015983503406942642 Centerline is valid? [True, True] Translation: X:888.32, Y:26.45, Z:5.94 [[ 9.49392930e-01 -3.13702724e-01 -1.56098097e-02 8.88321295e+02] [ 3.13660178e-01 9.49521248e-01 -5.16638523e-03 2.64507857e+01] [ 1.64425551e-02 8.75391928e-06 9.99864812e-01 5.93837169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539999 meters 0.015722701604151804 Centerline is valid? [True, True] Translation: X:888.38, Y:26.47, Z:5.94 [[ 9.49855026e-01 -3.12217001e-01 -1.72038699e-02 8.88376980e+02] [ 3.12164987e-01 9.50010812e-01 -5.69898536e-03 2.64702010e+01] [ 1.81231825e-02 4.27640554e-05 9.99835761e-01 5.93803011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.279254154 meters 0.01355557474359652 Centerline is valid? [True, True] Translation: X:888.43, Y:26.49, Z:5.94 [[ 9.51603730e-01 -3.06874068e-01 -1.66927129e-02 8.88431881e+02] [ 3.06824196e-01 9.51750117e-01 -5.53422470e-03 2.64909955e+01] [ 1.75856015e-02 1.44660656e-04 9.99845351e-01 5.94068745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.339254154 meters 0.013587199884349652 Centerline is valid? [True, True] Translation: X:888.49, Y:26.51, Z:5.94 [[ 9.52022623e-01 -3.05632395e-01 -1.55488005e-02 8.88486712e+02] [ 3.05588883e-01 9.52149575e-01 -5.15958870e-03 2.65093971e+01] [ 1.63817212e-02 1.60504601e-04 9.99865798e-01 5.94221505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.399254154 meters 0.014451788233797412 Centerline is valid? [True, True] Translation: X:888.54, Y:26.53, Z:5.94 [[ 9.51706100e-01 -3.06671298e-01 -1.44296253e-02 8.88542363e+02] [ 3.06633903e-01 9.51815474e-01 -4.79093251e-03 2.65250439e+01] [ 1.52035822e-02 1.34947358e-04 9.99884410e-01 5.94238280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.459254154 meters 0.014924643710956368 Centerline is valid? [True, True] Translation: X:888.60, Y:26.54, Z:5.94 [[ 9.50313484e-01 -3.11021104e-01 -1.30443179e-02 8.88600074e+02] [ 3.10990920e-01 9.50403004e-01 -4.33339861e-03 2.65380600e+01] [ 1.37451373e-02 6.14227163e-05 9.99905529e-01 5.94398849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.519254154 meters 0.014316742469994488 Centerline is valid? [True, True] Translation: X:888.66, Y:26.55, Z:5.95 [[ 9.49277535e-01 -3.14225235e-01 -1.16044751e-02 8.88656778e+02] [ 3.14201549e-01 9.49348462e-01 -3.85806502e-03 2.65530249e+01] [ 1.22289920e-02 1.62303941e-05 9.99925223e-01 5.94552794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.579254154 meters 0.016935762369606644 Centerline is valid? [True, True] Translation: X:888.71, Y:26.57, Z:5.94 [[ 9.49133295e-01 -3.14610752e-01 -1.28865235e-02 8.88712650e+02] [ 3.14581529e-01 9.49220772e-01 -4.28803351e-03 2.65704720e+01] [ 1.35812172e-02 1.60531031e-05 9.99907771e-01 5.94320587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.639254154 meters 0.01298681930180234 Centerline is valid? [True, True] Translation: X:888.77, Y:26.59, Z:5.95 [[ 9.49533326e-01 -3.13439158e-01 -1.19313985e-02 8.88767915e+02] [ 3.13413970e-01 9.49608284e-01 -3.97363418e-03 2.65890670e+01] [ 1.25756474e-02 3.36310859e-05 9.99920923e-01 5.94658591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.699254154 meters 0.016142976536646998 Centerline is valid? [True, True] Translation: X:888.82, Y:26.61, Z:5.94 [[ 9.50042717e-01 -3.11747304e-01 -1.52464182e-02 8.88823255e+02] [ 3.11705876e-01 9.50165045e-01 -5.08274027e-03 2.66086556e+01] [ 1.60711442e-02 7.64222429e-05 9.99870848e-01 5.94121559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.759254154 meters 0.015037676727981071 Centerline is valid? [True, True] Translation: X:888.88, Y:26.63, Z:5.94 [[ 9.50513925e-01 -3.10277864e-01 -1.58406555e-02 8.88879477e+02] [ 3.10232865e-01 9.50645904e-01 -5.28527167e-03 2.66271417e+01] [ 1.66987571e-02 1.09432363e-04 9.99860560e-01 5.94041987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.819254154 meters 0.014116469294708512 Centerline is valid? [True, True] Translation: X:888.93, Y:26.64, Z:5.94 [[ 9.50570913e-01 -3.10126458e-01 -1.53791933e-02 8.88934939e+02] [ 3.10083949e-01 9.50695307e-01 -5.13586396e-03 2.66429592e+01] [ 1.62136942e-02 1.13161907e-04 9.99868543e-01 5.94198772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.879254154 meters 0.013090208228442068 Centerline is valid? [True, True] Translation: X:888.99, Y:26.66, Z:5.94 [[ 9.50395227e-01 -3.10755597e-01 -1.34115970e-02 8.88991706e+02] [ 3.10723280e-01 9.50489847e-01 -4.48253056e-03 2.66584488e+01] [ 1.41405582e-02 9.28802399e-05 9.99900013e-01 5.94436526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.939254154 meters 0.014641975724185845 Centerline is valid? [True, True] Translation: X:889.05, Y:26.67, Z:5.94 [[ 9.49606035e-01 -3.13156314e-01 -1.34722669e-02 8.89049035e+02] [ 3.13123891e-01 9.49701595e-01 -4.50660417e-03 2.66733114e+01] [ 1.42059049e-02 6.10098822e-05 9.99899089e-01 5.94379558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.999254154 meters 0.013265265170976513 Centerline is valid? [True, True] Translation: X:889.11, Y:26.69, Z:5.95 [[ 9.48795172e-01 -3.15609854e-01 -1.33469956e-02 8.89105597e+02] [ 3.15578217e-01 9.48889045e-01 -4.46871841e-03 2.66878183e+01] [ 1.40751895e-02 2.78773723e-05 9.99900939e-01 5.94547315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.059254154 meters 0.012793402731009937 Centerline is valid? [True, True] Translation: X:889.16, Y:26.70, Z:5.95 [[ 9.48275851e-01 -3.17155124e-01 -1.36212301e-02 8.89161301e+02] [ 3.17122288e-01 9.48373675e-01 -4.56362261e-03 2.67024489e+01] [ 1.43653924e-02 7.97744723e-06 9.99896812e-01 5.94586544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.119254154 meters 0.01455255141636037 Centerline is valid? [True, True] Translation: X:889.22, Y:26.72, Z:5.94 [[ 9.48020079e-01 -3.17882273e-01 -1.44495720e-02 8.89217073e+02] [ 3.17845381e-01 9.48130192e-01 -4.84286193e-03 2.67197899e+01] [ 1.52395354e-02 -1.59936417e-06 9.99883872e-01 5.94387012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.179254154 meters 0.012816995702147458 Centerline is valid? [True, True] Translation: X:889.27, Y:26.74, Z:5.95 [[ 9.48919247e-01 -3.15227678e-01 -1.35563274e-02 8.89270622e+02] [ 3.15194913e-01 9.49016074e-01 -4.54502561e-03 2.67409379e+01] [ 1.42978905e-02 3.99768364e-05 9.99897779e-01 5.94521926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters 0.01503317684201371 Centerline is valid? [True, True] Translation: X:889.33, Y:26.76, Z:5.94 [[ 9.49403177e-01 -3.13670935e-01 -1.56253443e-02 8.89325712e+02] [ 3.13627136e-01 9.49531747e-01 -5.24223126e-03 2.67611128e+01] [ 1.64810960e-02 7.64590480e-05 9.99864175e-01 5.94248340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.299254154 meters 0.014269080109292504 Centerline is valid? [True, True] Translation: X:889.38, Y:26.78, Z:5.94 [[ 9.50136828e-01 -3.11465934e-01 -1.51320998e-02 8.89381240e+02] [ 3.11424511e-01 9.50257312e-01 -5.08085149e-03 2.67820033e+01] [ 1.59619007e-02 1.14997320e-04 9.99872594e-01 5.94386591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters 0.013158883306411143 Centerline is valid? [True, True] Translation: X:889.44, Y:26.80, Z:5.95 [[ 9.50717931e-01 -3.09749393e-01 -1.38104517e-02 8.89435812e+02] [ 3.09714651e-01 9.50818224e-01 -4.64110154e-03 2.68028667e+01] [ 1.45688076e-02 1.35079220e-04 9.99893860e-01 5.94613690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.419254154 meters 0.01448884283808531 Centerline is valid? [True, True] Translation: X:889.49, Y:26.82, Z:5.95 [[ 9.50640943e-01 -3.09982660e-01 -1.38761992e-02 8.89490246e+02] [ 3.09947544e-01 9.50742201e-01 -4.66774174e-03 2.68226586e+01] [ 1.46396072e-02 1.36452541e-04 9.99892826e-01 5.94535619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539999 meters 0.013313103156712422 Centerline is valid? [True, True] Translation: X:889.55, Y:26.84, Z:5.95 [[ 9.50244450e-01 -3.11209163e-01 -1.35772377e-02 8.89545424e+02] [ 3.11175611e-01 9.50341435e-01 -4.57125771e-03 2.68417506e+01] [ 1.43256288e-02 1.18907032e-04 9.99897376e-01 5.94673363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.539254154 meters 0.015466323482751065 Centerline is valid? [True, True] Translation: X:889.60, Y:26.86, Z:5.95 [[ 9.49371839e-01 -3.13870242e-01 -1.33634724e-02 8.89601380e+02] [ 3.13837948e-01 9.49465884e-01 -4.50305941e-03 2.68589764e+01] [ 1.41015375e-02 8.11130273e-05 9.99900565e-01 5.94611396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539999 meters 0.012841123682998607 Centerline is valid? [True, True] Translation: X:889.66, Y:26.88, Z:5.95 [[ 9.48559936e-01 -3.16372428e-01 -1.19387812e-02 8.89656345e+02] [ 3.16346824e-01 9.48635064e-01 -4.02517156e-03 2.68766239e+01] [ 1.25989998e-02 4.13209635e-05 9.99920629e-01 5.94928083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.659254154 meters 0.016016798598337777 Centerline is valid? [True, True] Translation: X:889.71, Y:26.89, Z:5.95 [[ 9.47259487e-01 -3.20190619e-01 -1.33203585e-02 8.89712274e+02] [ 3.20159082e-01 9.47353138e-01 -4.49389814e-03 2.68939497e+01] [ 1.40579875e-02 -7.74611252e-06 9.99901182e-01 5.94632404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539999 meters 0.014160572329484793 Centerline is valid? [True, True] Translation: X:889.77, Y:26.91, Z:5.95 [[ 9.46003076e-01 -3.23870453e-01 -1.36422355e-02 8.89768820e+02] [ 3.23837696e-01 9.46101436e-01 -4.60655829e-03 2.69110626e+01] [ 1.43988667e-02 -6.00517850e-05 9.99896329e-01 5.94782587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.779254154 meters 0.01623119160083713 Centerline is valid? [True, True] Translation: X:889.83, Y:26.93, Z:5.95 [[ 9.44627095e-01 -3.27805057e-01 -1.49497784e-02 8.89825280e+02] [ 3.27766144e-01 9.44745378e-01 -5.05236767e-03 2.69290490e+01] [ 1.57799257e-02 -1.27427804e-04 9.99875481e-01 5.94593218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.839254154 meters 0.013655791185227747 Centerline is valid? [True, True] Translation: X:889.88, Y:26.95, Z:5.95 [[ 9.43747431e-01 -3.30365676e-01 -1.41176290e-02 8.89881442e+02] [ 3.30331204e-01 9.43853005e-01 -4.77495366e-03 2.69474797e+01] [ 1.49024474e-02 -1.57143148e-04 9.99888940e-01 5.94913257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.899254154 meters 0.01642989254996292 Centerline is valid? [True, True] Translation: X:889.94, Y:26.96, Z:5.95 [[ 9.42205703e-01 -3.34731016e-01 -1.42674583e-02 8.89937370e+02] [ 3.34696264e-01 9.42313693e-01 -4.82857107e-03 2.69644638e+01] [ 1.50606938e-02 -2.25757775e-04 9.99886556e-01 5.94787907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.959254154 meters 0.01797989308540403 Centerline is valid? [True, True] Translation: X:889.99, Y:26.98, Z:5.95 [[ 9.40524031e-01 -3.39423597e-01 -1.43585971e-02 8.89993871e+02] [ 3.39388897e-01 9.40633580e-01 -4.86253486e-03 2.69817495e+01] [ 1.51566377e-02 -2.99817550e-04 9.99885087e-01 5.94810698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.019254154 meters 0.016578091633649962 Centerline is valid? [True, True] Translation: X:890.05, Y:27.00, Z:5.95 [[ 9.39663621e-01 -3.41829038e-01 -1.36083772e-02 8.90049565e+02] [ 3.41798071e-01 9.39762102e-01 -4.61206803e-03 2.69999372e+01] [ 1.43651759e-02 -3.17524523e-04 9.99896765e-01 5.95095630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.079254154 meters 0.02051803824838058 Centerline is valid? [True, True] Translation: X:890.10, Y:27.02, Z:5.95 [[ 9.38380479e-01 -3.45341078e-01 -1.34765417e-02 8.90104427e+02] [ 3.45311039e-01 9.38477174e-01 -4.56948557e-03 2.70208338e+01] [ 1.42254579e-02 -3.65682566e-04 9.99898746e-01 5.94890256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.139254154 meters 0.02046035668164078 Centerline is valid? [True, True] Translation: X:890.16, Y:27.04, Z:5.95 [[ 9.38136914e-01 -3.46007420e-01 -1.33415026e-02 8.90159273e+02] [ 3.45978016e-01 9.38231703e-01 -4.52588448e-03 2.70419174e+01] [ 1.40834103e-02 -3.69967305e-04 9.99900755e-01 5.94989336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.199254154 meters 0.017362987504284597 Centerline is valid? [True, True] Translation: X:890.21, Y:27.07, Z:5.95 [[ 9.38523442e-01 -3.45009939e-01 -1.19118357e-02 8.90212377e+02] [ 3.44986381e-01 9.38598979e-01 -4.04393461e-03 2.70685599e+01] [ 1.25756345e-02 -3.14093661e-04 9.99920874e-01 5.95212184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.259254154 meters 0.01670042147790801 Centerline is valid? [True, True] Translation: X:890.27, Y:27.09, Z:5.95 [[ 9.39736935e-01 -3.41661662e-01 -1.27201395e-02 8.90266369e+02] [ 3.41634455e-01 9.39822977e-01 -4.32113301e-03 2.70944660e+01] [ 1.34310448e-02 -2.84909623e-04 9.99909759e-01 5.95130223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.319254154 meters 0.015787648329185097 Centerline is valid? [True, True] Translation: X:890.32, Y:27.12, Z:5.95 [[ 9.42042203e-01 -3.35201134e-01 -1.40245385e-02 8.90319971e+02] [ 3.35167319e-01 9.42146568e-01 -4.76582731e-03 2.71180134e+01] [ 1.48106816e-02 -2.10956513e-04 9.99890294e-01 5.94923385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.379254154 meters 0.017656564879643847 Centerline is valid? [True, True] Translation: X:890.37, Y:27.15, Z:5.95 [[ 9.44386276e-01 -3.28444455e-01 -1.60873082e-02 8.90372098e+02] [ 3.28398923e-01 9.44523280e-01 -5.47003708e-03 2.71477493e+01] [ 1.69914404e-02 -1.17226732e-04 9.99855628e-01 5.94690783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.439254154 meters 0.015205001359400231 Centerline is valid? [True, True] Translation: X:890.43, Y:27.17, Z:5.95 [[ 9.46997769e-01 -3.20895373e-01 -1.48790026e-02 8.90425033e+02] [ 3.20855428e-01 9.47114650e-01 -5.06310519e-03 2.71745765e+01] [ 1.57168484e-02 2.07405616e-05 9.99876482e-01 5.94861097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.499254154 meters 0.013814884350432747 Centerline is valid? [True, True] Translation: X:890.48, Y:27.20, Z:5.95 [[ 9.49586606e-01 -3.13252010e-01 -1.25879489e-02 8.90477002e+02] [ 3.13222719e-01 9.49670028e-01 -4.28554197e-03 2.72010072e+01] [ 1.32968524e-02 1.26661661e-04 9.99911585e-01 5.95209841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.559254154 meters 0.0154855741692394 Centerline is valid? [True, True] Translation: X:890.53, Y:27.22, Z:5.95 [[ 9.50196244e-01 -3.11387991e-01 -1.28302955e-02 8.90532088e+02] [ 3.11357359e-01 9.50282850e-01 -4.37049033e-03 2.72208035e+01] [ 1.35533279e-02 1.58016595e-04 9.99908137e-01 5.95193013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.619254154 meters 0.015956898106738227 Centerline is valid? [True, True] Translation: X:890.59, Y:27.24, Z:5.95 [[ 9.51972357e-01 -3.05933878e-01 -1.23731192e-02 8.90586364e+02] [ 3.05904883e-01 9.52052734e-01 -4.21820866e-03 2.72442521e+01] [ 1.30703549e-02 2.30620463e-04 9.99914553e-01 5.95258945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.679254154 meters 0.01940222669933796 Centerline is valid? [True, True] Translation: X:890.64, Y:27.27, Z:5.95 [[ 9.52672315e-01 -3.03651110e-01 -1.45417765e-02 8.90638997e+02] [ 3.03610748e-01 9.52783242e-01 -4.96050255e-03 2.72690244e+01] [ 1.53614231e-02 3.10693801e-04 9.99881958e-01 5.94826428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters 0.015084571630769213 Centerline is valid? [True, True] Translation: X:890.70, Y:27.28, Z:5.95 [[ 9.52163019e-01 -3.05138819e-01 -1.66098537e-02 8.90695978e+02] [ 3.05086314e-01 9.52307824e-01 -5.67009568e-03 2.72808959e+01] [ 1.75478599e-02 3.31416380e-04 9.99845970e-01 5.95052968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.799254154 meters 0.01588516603343576 Centerline is valid? [True, True] Translation: X:890.75, Y:27.30, Z:5.95 [[ 9.51103321e-01 -3.08334317e-01 -1.82324587e-02 8.90751424e+02] [ 3.08271569e-01 9.51278013e-01 -6.22751924e-03 2.72967767e+01] [ 1.92642949e-02 3.02465581e-04 9.99814381e-01 5.94746784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters 0.014190761877587162 Centerline is valid? [True, True] Translation: X:890.81, Y:27.30, Z:5.95 [[ 9.48172873e-01 -3.17142753e-01 -1.97148989e-02 8.90810838e+02] [ 3.17071246e-01 9.48377802e-01 -6.73563601e-03 2.73037721e+01] [ 2.08333306e-02 1.35519787e-04 9.99782953e-01 5.94859022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.919254154 meters 0.01748144543876931 Centerline is valid? [True, True] Translation: X:890.87, Y:27.31, Z:5.95 [[ 9.43462167e-01 -3.30889285e-01 -1.97843271e-02 8.90871735e+02] [ 3.30820191e-01 9.43669568e-01 -6.76363818e-03 2.73068444e+01] [ 2.09078828e-02 -1.63818146e-04 9.99781393e-01 5.94909313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539999 meters 0.01959996383202618 Centerline is valid? [True, True] Translation: X:890.93, Y:27.31, Z:5.95 [[ 9.38641467e-01 -3.44434332e-01 -1.78097342e-02 8.90932867e+02] [ 3.44380727e-01 9.38810320e-01 -6.09074630e-03 2.73113671e+01] [ 1.88178244e-02 -4.16302167e-04 9.99822842e-01 5.95225066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.039254154 meters 0.020670205819392117 Centerline is valid? [True, True] Translation: X:890.99, Y:27.32, Z:5.95 [[ 9.35079272e-01 -3.54043151e-01 -1.67392546e-02 8.90993365e+02] [ 3.53997285e-01 9.35228914e-01 -5.72715404e-03 2.73191433e+01] [ 1.76826945e-02 -5.70307639e-04 9.99843486e-01 5.95419347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539999 meters 0.020572531473133312 Centerline is valid? [True, True] Translation: X:891.05, Y:27.33, Z:5.96 [[ 9.34496602e-01 -3.55620531e-01 -1.58157850e-02 8.91049669e+02] [ 3.55579767e-01 9.34630258e-01 -5.41387027e-03 2.73339742e+01] [ 1.67071946e-02 -5.64529763e-04 9.99860266e-01 5.95593109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.159254154 meters 0.01913749732849769 Centerline is valid? [True, True] Translation: X:891.10, Y:27.36, Z:5.96 [[ 9.35535989e-01 -3.52866286e-01 -1.60560889e-02 8.91104433e+02] [ 3.52823839e-01 9.35673614e-01 -5.49784351e-03 2.73554822e+01] [ 1.69632623e-02 -5.21540463e-04 9.99855977e-01 5.95638805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539999 meters 0.02080327975722796 Centerline is valid? [True, True] Translation: X:891.16, Y:27.38, Z:5.95 [[ 9.36710405e-01 -3.49649930e-01 -1.78477687e-02 8.91159111e+02] [ 3.49596869e-01 9.36880282e-01 -6.11279180e-03 2.73755446e+01] [ 1.88585598e-02 -5.13608383e-04 9.99822030e-01 5.95356643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.279254154 meters 0.018873885993171455 Centerline is valid? [True, True] Translation: X:891.21, Y:27.40, Z:5.96 [[ 9.37249984e-01 -3.48238495e-01 -1.71002258e-02 8.91213082e+02] [ 3.48189525e-01 9.37405854e-01 -5.85825811e-03 2.73953942e+01] [ 1.80699228e-02 -4.63467171e-04 9.99836618e-01 5.95516159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.339254154 meters 0.01716284564662909 Centerline is valid? [True, True] Translation: X:891.27, Y:27.42, Z:5.96 [[ 9.35975873e-01 -3.51657841e-01 -1.69094404e-02 8.91267503e+02] [ 3.51610449e-01 9.36128459e-01 -5.79654579e-03 2.74191652e+01] [ 1.78678091e-02 -5.20108905e-04 9.99840223e-01 5.95740958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.399254154 meters 0.021027510185223686 Centerline is valid? [True, True] Translation: X:891.33, Y:27.43, Z:5.96 [[ 9.33606744e-01 -3.57912754e-01 -1.66405423e-02 8.91325206e+02] [ 3.57867802e-01 9.33754822e-01 -5.70693858e-03 2.74328706e+01] [ 1.75807727e-02 -6.27077949e-04 9.99845250e-01 5.95799479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.459254154 meters 0.02293325613341684 Centerline is valid? [True, True] Translation: X:891.38, Y:27.45, Z:5.96 [[ 9.31641428e-01 -3.62970065e-01 -1.72331660e-02 8.91381504e+02] [ 3.62922682e-01 9.31800502e-01 -5.91203763e-03 2.74533939e+01] [ 1.82037654e-02 -7.46407649e-04 9.99834019e-01 5.95742172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.519254154 meters 0.024058613268647777 Centerline is valid? [True, True] Translation: X:891.43, Y:27.47, Z:5.96 [[ 9.31713465e-01 -3.62741685e-01 -1.81242705e-02 8.91434493e+02] [ 3.62689185e-01 9.31889406e-01 -6.22019708e-03 2.74746111e+01] [ 1.91461405e-02 -7.78035529e-04 9.99816393e-01 5.95654949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.579254154 meters 0.022043029707580698 Centerline is valid? [True, True] Translation: X:891.49, Y:27.50, Z:5.96 [[ 9.32933854e-01 -3.59611495e-01 -1.77199713e-02 8.91488836e+02] [ 3.59560719e-01 9.33101863e-01 -6.08287769e-03 2.74984646e+01] [ 1.87220110e-02 -6.96483101e-04 9.99824485e-01 5.95857163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.639254154 meters 0.02118660943894449 Centerline is valid? [True, True] Translation: X:891.54, Y:27.52, Z:5.96 [[ 9.35801791e-01 -3.52079804e-01 -1.77431571e-02 8.91541681e+02] [ 3.52027521e-01 9.35969825e-01 -6.09183935e-03 2.75239512e+01] [ 1.87518733e-02 -5.45325439e-04 9.99824019e-01 5.95866255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.699254154 meters 0.01739298907229822 Centerline is valid? [True, True] Translation: X:891.59, Y:27.56, Z:5.96 [[ 9.39706590e-01 -3.41440008e-01 -1.92417531e-02 8.91593457e+02] [ 3.41376258e-01 9.39903501e-01 -6.60748271e-03 2.75558686e+01] [ 2.03414500e-02 -3.59582624e-04 9.99793027e-01 5.95977402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.759254154 meters 0.014464543759971917 Centerline is valid? [True, True] Translation: X:891.65, Y:27.59, Z:5.96 [[ 9.44141814e-01 -3.28908003e-01 -2.03902048e-02 8.91646236e+02] [ 3.28833458e-01 9.44361963e-01 -7.00283869e-03 2.75859638e+01] [ 2.15590235e-02 -9.33087181e-05 9.99767573e-01 5.95960299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.819254154 meters 0.014315751863996353 Centerline is valid? [True, True] Translation: X:891.70, Y:27.61, Z:5.96 [[ 9.47537414e-01 -3.18852819e-01 -2.24884384e-02 8.91698618e+02] [ 3.18759185e-01 9.47804229e-01 -7.72825164e-03 2.76139455e+01] [ 2.37788119e-02 1.54411265e-04 9.99717232e-01 5.95954162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.879254154 meters 0.016499655594761638 Centerline is valid? [True, True] Translation: X:891.75, Y:27.64, Z:5.96 [[ 9.49462319e-01 -3.12954621e-01 -2.40979180e-02 8.91753284e+02] [ 3.12845133e-01 9.49768024e-01 -8.28395638e-03 2.76384260e+01] [ 2.54799344e-02 3.26388070e-04 9.99675280e-01 5.96022527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.939254154 meters 0.0158088212340908 Centerline is valid? [True, True] Translation: X:891.81, Y:27.66, Z:5.96 [[ 9.50340044e-01 -3.10434681e-01 -2.20024683e-02 8.91807181e+02] [ 3.10342610e-01 9.50594643e-01 -7.56891513e-03 2.76596503e+01] [ 2.32650822e-02 3.64739704e-04 9.99729265e-01 5.96268851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.999254154 meters 0.015199854859835117 Centerline is valid? [True, True] Translation: X:891.86, Y:27.68, Z:5.97 [[ 9.50555748e-01 -3.09895690e-01 -2.02096660e-02 8.91862679e+02] [ 3.09817766e-01 9.50770497e-01 -6.95805259e-03 2.76779315e+01] [ 2.13710247e-02 3.52703310e-04 9.99771551e-01 5.96590080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.059254154 meters 0.01479282059716759 Centerline is valid? [True, True] Translation: X:891.92, Y:27.69, Z:5.97 [[ 9.49668916e-01 -3.12601973e-01 -2.02226588e-02 8.91919368e+02] [ 3.12524437e-01 9.49884160e-01 -6.96834497e-03 2.76945038e+01] [ 2.13875016e-02 2.97545558e-04 9.99771217e-01 5.96709921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.119254154 meters 0.014493385678303872 Centerline is valid? [True, True] Translation: X:891.98, Y:27.71, Z:5.97 [[ 9.48848606e-01 -3.15015128e-01 -2.12553952e-02 8.91975975e+02] [ 3.14929935e-01 9.49086614e-01 -7.33045981e-03 2.77118930e+01] [ 2.24824168e-02 2.61536334e-04 9.99747204e-01 5.96719667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.179254154 meters 0.01741121924819451 Centerline is valid? [True, True] Translation: X:892.03, Y:27.73, Z:5.97 [[ 9.46283494e-01 -3.22275683e-01 -2.61903325e-02 8.92032469e+02] [ 3.22148983e-01 9.46645853e-01 -9.03669178e-03 2.77253545e+01] [ 2.77052757e-02 1.14083294e-04 9.99616129e-01 5.96515531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters 0.01439337889605834 Centerline is valid? [True, True] Translation: X:892.09, Y:27.74, Z:5.97 [[ 9.43247578e-01 -3.31196557e-01 -2.43484614e-02 8.92091636e+02] [ 3.31089879e-01 9.43561775e-01 -8.40649080e-03 2.77358633e+01] [ 2.57584783e-02 -1.32127055e-04 9.99668187e-01 5.96750034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.299254154 meters 0.015988954484401366 Centerline is valid? [True, True] Translation: X:892.15, Y:27.75, Z:5.97 [[ 9.39161279e-01 -3.42666523e-01 -2.35742697e-02 8.92150759e+02] [ 3.42570052e-01 9.39457008e-01 -8.14184976e-03 2.77462310e+01] [ 2.49369522e-02 -4.29328781e-04 9.99688934e-01 5.96898062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters 0.01853318778329408 Centerline is valid? [True, True] Translation: X:892.21, Y:27.76, Z:5.97 [[ 9.36565457e-01 -3.49764959e-01 -2.25747384e-02 8.92208896e+02] [ 3.49678519e-01 9.36837299e-01 -7.79797940e-03 2.77584505e+01] [ 2.38763169e-02 -5.90582977e-04 9.99714746e-01 5.96873525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.419254154 meters 0.021568967598528152 Centerline is valid? [True, True] Translation: X:892.27, Y:27.77, Z:5.97 [[ 9.34138179e-01 -3.56136075e-01 -2.35150924e-02 8.92266648e+02] [ 3.56044253e-01 9.34433777e-01 -8.12443783e-03 2.77730771e+01] [ 2.48667020e-02 -7.83065964e-04 9.99690469e-01 5.97016972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539999 meters 0.02008736592076867 Centerline is valid? [True, True] Translation: X:892.32, Y:27.79, Z:5.97 [[ 9.32497876e-01 -3.60603615e-01 -2.03161192e-02 8.92324051e+02] [ 3.60536065e-01 9.32718838e-01 -7.02251712e-03 2.77898933e+01] [ 2.14815722e-02 -7.76211384e-04 9.99768943e-01 5.97370596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.539254154 meters 0.020727945271441332 Centerline is valid? [True, True] Translation: X:892.38, Y:27.81, Z:5.97 [[ 9.31945539e-01 -3.62051586e-01 -1.99037960e-02 8.92379674e+02] [ 3.61986973e-01 9.32157727e-01 -6.88509114e-03 2.78081072e+01] [ 2.10462354e-02 -7.88384880e-04 9.99778193e-01 5.97407525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539999 meters 0.01930347187666957 Centerline is valid? [True, True] Translation: X:892.43, Y:27.83, Z:5.97 [[ 9.32017044e-01 -3.61858801e-01 -2.00608324e-02 8.92434690e+02] [ 3.61792997e-01 9.32232585e-01 -6.94516417e-03 2.78305046e+01] [ 2.12145304e-02 -7.84857308e-04 9.99774638e-01 5.97480305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.659254154 meters 0.020877578391150446 Centerline is valid? [True, True] Translation: X:892.49, Y:27.85, Z:5.97 [[ 9.32430913e-01 -3.60769711e-01 -2.04403375e-02 8.92489204e+02] [ 3.60701061e-01 9.32654610e-01 -7.07984573e-03 2.78486318e+01] [ 2.16179689e-02 -7.71384407e-04 9.99766007e-01 5.97331138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539999 meters 0.01910401994017844 Centerline is valid? [True, True] Translation: X:892.54, Y:27.87, Z:5.97 [[ 9.33609912e-01 -3.57670082e-01 -2.10865839e-02 8.92543083e+02] [ 3.57596173e-01 9.33847737e-01 -7.30629813e-03 2.78739182e+01] [ 2.23049029e-02 -7.19249329e-04 9.99750956e-01 5.97385650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.779254154 meters 0.018201892249597933 Centerline is valid? [True, True] Translation: X:892.60, Y:27.90, Z:5.97 [[ 9.35041375e-01 -3.53939843e-01 -2.05964534e-02 8.92598175e+02] [ 3.53868334e-01 9.35267990e-01 -7.14063122e-03 2.78978705e+01] [ 2.17905574e-02 -6.11646993e-04 9.99762371e-01 5.97458939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.839254154 meters 0.017653448766744937 Centerline is valid? [True, True] Translation: X:892.65, Y:27.92, Z:5.97 [[ 9.36501467e-01 -3.50046907e-01 -2.07885865e-02 8.92651386e+02] [ 3.49973021e-01 9.36732027e-01 -7.21074719e-03 2.79203643e+01] [ 2.19974345e-02 -5.22569079e-04 9.99757891e-01 5.97469996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.899254154 meters 0.01661982030678339 Centerline is valid? [True, True] Translation: X:892.71, Y:27.94, Z:5.98 [[ 9.37241224e-01 -3.48109981e-01 -1.99581787e-02 8.92705876e+02] [ 3.48041349e-01 9.37453591e-01 -6.92709055e-03 2.79442014e+01] [ 2.11212557e-02 -4.53916617e-04 9.99776818e-01 5.97607270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.959254154 meters 0.01640210732868019 Centerline is valid? [True, True] Translation: X:892.76, Y:27.97, Z:5.98 [[ 9.37955711e-01 -3.46299909e-01 -1.77611272e-02 8.92758831e+02] [ 3.46245173e-01 9.38123787e-01 -6.16764681e-03 2.79678571e+01] [ 1.87979915e-02 -3.64725025e-04 9.99823236e-01 5.97704021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.019254154 meters 0.0174369924460729 Centerline is valid? [True, True] Translation: X:892.81, Y:27.99, Z:5.98 [[ 9.38593237e-01 -3.44515605e-01 -1.87545589e-02 8.92812107e+02] [ 3.44454131e-01 9.38780528e-01 -6.51703732e-03 2.79937306e+01] [ 1.98516358e-02 -3.43238128e-04 9.99802878e-01 5.97602908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.079254154 meters 0.015021846266835464 Centerline is valid? [True, True] Translation: X:892.87, Y:28.02, Z:5.98 [[ 9.39439305e-01 -3.42150628e-01 -1.96657278e-02 8.92865791e+02] [ 3.42082398e-01 9.39645069e-01 -6.83931360e-03 2.80173690e+01] [ 2.08188796e-02 -3.02179310e-04 9.99783218e-01 5.97686596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.139254154 meters 0.015155296592934572 Centerline is valid? [True, True] Translation: X:892.92, Y:28.04, Z:5.98 [[ 9.39943974e-01 -3.40660026e-01 -2.13558543e-02 8.92919097e+02] [ 3.40579100e-01 9.40186504e-01 -7.43057347e-03 2.80401305e+01] [ 2.26097853e-02 -2.89034870e-04 9.99744324e-01 5.97555713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.199254154 meters 0.01897930625654771 Centerline is valid? [True, True] Translation: X:892.98, Y:28.06, Z:5.98 [[ 9.38182152e-01 -3.45473219e-01 -2.15059306e-02 8.92975009e+02] [ 3.45392303e-01 9.38428523e-01 -7.48761095e-03 2.80589298e+01] [ 2.27685478e-02 -4.03239958e-04 9.99740682e-01 5.97562498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.259254154 meters 0.01888219411948532 Centerline is valid? [True, True] Translation: X:893.03, Y:28.08, Z:5.98 [[ 9.36677893e-01 -3.49611645e-01 -2.01549647e-02 8.93031408e+02] [ 3.49541418e-01 9.36894594e-01 -7.02263293e-03 2.80755428e+01] [ 2.13382717e-02 -4.67049943e-04 9.99772204e-01 5.97843181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.319254154 meters 0.01948737893636111 Centerline is valid? [True, True] Translation: X:893.09, Y:28.09, Z:5.98 [[ 9.34884039e-01 -3.54463100e-01 -1.86479114e-02 8.93088613e+02] [ 3.54403893e-01 9.35069852e-01 -6.50024816e-03 2.80931609e+01] [ 1.97411979e-02 -5.31914147e-04 9.99804982e-01 5.98085290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.379254154 meters 0.020735506379326054 Centerline is valid? [True, True] Translation: X:893.14, Y:28.11, Z:5.98 [[ 9.34140417e-01 -3.56364255e-01 -1.96519405e-02 8.93144154e+02] [ 3.56298833e-01 9.34346916e-01 -6.85435153e-03 2.81133119e+01] [ 2.08043759e-02 -5.99036680e-04 9.99783386e-01 5.98080088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.439254154 meters 0.022760187524966922 Centerline is valid? [True, True] Translation: X:893.20, Y:28.14, Z:5.98 [[ 9.34878982e-01 -3.54279141e-01 -2.20811856e-02 8.93197759e+02] [ 3.54195823e-01 9.35139514e-01 -7.70762281e-03 2.81387572e+01] [ 2.33796392e-02 -6.15369145e-04 9.99726469e-01 5.97875007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.499254154 meters 0.019117980975388183 Centerline is valid? [True, True] Translation: X:893.25, Y:28.16, Z:5.98 [[ 9.36722262e-01 -3.49412222e-01 -2.15058938e-02 8.93252211e+02] [ 3.49331791e-01 9.36968981e-01 -7.51184507e-03 2.81635023e+01] [ 2.27750859e-02 -4.76179899e-04 9.99740501e-01 5.97937940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.559254154 meters 0.016157674629421106 Centerline is valid? [True, True] Translation: X:893.30, Y:28.19, Z:5.98 [[ 9.38668914e-01 -3.44064768e-01 -2.28058119e-02 8.93304180e+02] [ 3.43972594e-01 9.38945848e-01 -7.97178915e-03 2.81944059e+01] [ 2.41562342e-02 -3.61703618e-04 9.99708130e-01 5.98228260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.619254154 meters 0.018386956022280663 Centerline is valid? [True, True] Translation: X:893.36, Y:28.22, Z:5.98 [[ 9.39798847e-01 -3.40861884e-01 -2.43167478e-02 8.93357837e+02] [ 3.40755840e-01 9.40113340e-01 -8.50681972e-03 2.82192669e+01] [ 2.57601496e-02 -2.91374473e-04 9.99668110e-01 5.98076430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.679254154 meters 0.01543064836356399 Centerline is valid? [True, True] Translation: X:893.41, Y:28.24, Z:5.98 [[ 9.40479835e-01 -3.39119036e-01 -2.22701229e-02 8.93412660e+02] [ 3.39029529e-01 9.40743446e-01 -7.79406622e-03 2.82386665e+01] [ 2.35935884e-02 -2.20067172e-04 9.99721608e-01 5.98252390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters 0.014491680989971148 Centerline is valid? [True, True] Translation: X:893.47, Y:28.26, Z:5.99 [[ 9.40312800e-01 -3.39666320e-01 -2.09434741e-02 8.93468038e+02] [ 3.39587189e-01 9.40545982e-01 -7.33460048e-03 2.82588269e+01] [ 2.21896172e-02 -2.15316801e-04 9.99753757e-01 5.98635558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.799254154 meters 0.016004037969377483 Centerline is valid? [True, True] Translation: X:893.52, Y:28.28, Z:5.99 [[ 9.39871137e-01 -3.40918744e-01 -2.04121788e-02 8.93523274e+02] [ 3.40843802e-01 9.40092737e-01 -7.15176242e-03 2.82773568e+01] [ 2.16275109e-02 -2.35629556e-04 9.99766070e-01 5.98623104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters 0.017507190468207805 Centerline is valid? [True, True] Translation: X:893.58, Y:28.30, Z:5.99 [[ 9.39689965e-01 -3.41336239e-01 -2.17334059e-02 8.93578780e+02] [ 3.41251276e-01 9.39941225e-01 -7.61970830e-03 2.82974720e+01] [ 2.30290067e-02 -2.56389077e-04 9.99734764e-01 5.98642922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.919254154 meters 0.017894158963058612 Centerline is valid? [True, True] Translation: X:893.63, Y:28.32, Z:5.99 [[ 9.39536272e-01 -3.41691712e-01 -2.27676695e-02 8.93634301e+02] [ 3.41598418e-01 9.39812056e-01 -7.98879715e-03 2.83176619e+01] [ 2.41270361e-02 -2.71635184e-04 9.99708864e-01 5.98609712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539999 meters 0.016812486010685065 Centerline is valid? [True, True] Translation: X:893.69, Y:28.34, Z:5.99 [[ 9.39358581e-01 -3.42120932e-01 -2.36373664e-02 8.93689382e+02] [ 3.42020420e-01 9.39655886e-01 -8.29751068e-03 2.83369737e+01] [ 2.50497426e-02 -2.90124140e-04 9.99686164e-01 5.98542636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.039254154 meters 0.016678819823105415 Centerline is valid? [True, True] Translation: X:893.75, Y:28.35, Z:5.99 [[ 9.38943246e-01 -3.43202498e-01 -2.44463837e-02 8.93746014e+02] [ 3.43095208e-01 9.39261380e-01 -8.58711043e-03 2.83546113e+01] [ 2.59086618e-02 -3.24627742e-04 9.99664262e-01 5.98600248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539999 meters 0.01612282099315598 Centerline is valid? [True, True] Translation: X:893.80, Y:28.37, Z:5.99 [[ 9.38974289e-01 -3.43104700e-01 -2.46262099e-02 8.93800298e+02] [ 3.42995591e-01 9.39297112e-01 -8.65795507e-03 2.83740240e+01] [ 2.61019129e-02 -3.17084230e-04 9.99659237e-01 5.98814803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.159254154 meters 0.014383562511707334 Centerline is valid? [True, True] Translation: X:893.86, Y:28.39, Z:5.99 [[ 9.39790577e-01 -3.40937013e-01 -2.35717085e-02 8.93856074e+02] [ 3.40836194e-01 9.40086111e-01 -8.29413870e-03 2.83940334e+01] [ 2.49872146e-02 -2.39338012e-04 9.99687742e-01 5.99034300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539999 meters 0.01725754905439117 Centerline is valid? [True, True] Translation: X:893.91, Y:28.41, Z:5.99 [[ 9.40530022e-01 -3.38754436e-01 -2.54697934e-02 8.93910800e+02] [ 3.38635818e-01 9.40874803e-01 -8.96591072e-03 2.84136150e+01] [ 2.70011288e-02 -1.92276120e-04 9.99635385e-01 5.98909797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.279254154 meters 0.013944108225383885 Centerline is valid? [True, True] Translation: X:893.97, Y:28.43, Z:5.99 [[ 9.41635681e-01 -3.35776879e-01 -2.40027581e-02 8.93965934e+02] [ 3.35670426e-01 9.41941547e-01 -8.45497838e-03 2.84338452e+01] [ 2.54481813e-02 -9.55066974e-05 9.99676138e-01 5.99077279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.339254154 meters 0.013672048237635116 Centerline is valid? [True, True] Translation: X:894.02, Y:28.45, Z:5.99 [[ 9.42489845e-01 -3.33366361e-01 -2.40782349e-02 8.94020628e+02] [ 3.33258265e-01 9.42797364e-01 -8.48883096e-03 2.84548323e+01] [ 2.55307870e-02 -2.36337878e-05 9.99674036e-01 5.99313630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.399254154 meters 0.013523116129152156 Centerline is valid? [True, True] Translation: X:894.07, Y:28.48, Z:6.00 [[ 9.43674391e-01 -3.30011403e-01 -2.38980646e-02 8.94074786e+02] [ 3.29903643e-01 9.43976943e-01 -8.43315070e-03 2.84752526e+01] [ 2.53422579e-02 7.40897866e-05 9.99678831e-01 5.99516182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.459254154 meters 0.017955360547442158 Centerline is valid? [True, True] Translation: X:894.13, Y:28.50, Z:6.00 [[ 9.45332739e-01 -3.25231704e-01 -2.38820472e-02 8.94129415e+02] [ 3.25122377e-01 9.45634335e-01 -8.43472351e-03 2.84974440e+01] [ 2.53269233e-02 2.09032332e-04 9.99679200e-01 5.99542898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.519254154 meters 0.016304489073407268 Centerline is valid? [True, True] Translation: X:894.18, Y:28.52, Z:5.99 [[ 9.46295376e-01 -3.22503885e-01 -2.27223685e-02 8.94183445e+02] [ 3.22404050e-01 9.46568101e-01 -8.02856906e-03 2.85186343e+01] [ 2.40975139e-02 2.71614129e-04 9.99709576e-01 5.99375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.579254154 meters 0.017296849028419933 Centerline is valid? [True, True] Translation: X:894.24, Y:28.54, Z:5.99 [[ 9.46071781e-01 -3.23075062e-01 -2.38891167e-02 8.94238796e+02] [ 3.22964810e-01 9.46373304e-01 -8.44405311e-03 2.85368595e+01] [ 2.53360853e-02 2.73336348e-04 9.99678953e-01 5.99196764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.639254154 meters 0.01769989335490971 Centerline is valid? [True, True] Translation: X:894.30, Y:28.55, Z:5.99 [[ 9.45566224e-01 -3.24469179e-01 -2.49853527e-02 8.94295741e+02] [ 3.24348894e-01 9.45896235e-01 -8.83783211e-03 2.85519752e+01] [ 2.65011552e-02 2.52784038e-04 9.99648751e-01 5.99260829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.699254154 meters 0.01617975196609368 Centerline is valid? [True, True] Translation: X:894.35, Y:28.57, Z:5.99 [[ 9.44854041e-01 -3.26612412e-01 -2.39827823e-02 8.94353073e+02] [ 3.26502116e-01 9.45158344e-01 -8.48956914e-03 2.85681103e+01] [ 2.54403254e-02 1.90974556e-04 9.99676324e-01 5.99245220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.759254154 meters 0.01530653639723419 Centerline is valid? [True, True] Translation: X:894.41, Y:28.58, Z:5.99 [[ 9.44117810e-01 -3.28885269e-01 -2.18183618e-02 8.94410604e+02] [ 3.28794453e-01 9.44369877e-01 -7.72937075e-03 2.85823568e+01] [ 2.31466798e-02 1.23680263e-04 9.99732072e-01 5.99426815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.819254154 meters 0.01455064907937157 Centerline is valid? [True, True] Translation: X:894.47, Y:28.60, Z:5.99 [[ 9.43416551e-01 -3.30984959e-01 -2.03511354e-02 8.94467554e+02] [ 3.30906313e-01 9.43636027e-01 -7.21529936e-03 2.85981149e+01] [ 2.15922201e-02 7.27136619e-05 9.99766858e-01 5.99491577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.879254154 meters 0.01502793208115663 Centerline is valid? [True, True] Translation: X:894.53, Y:28.61, Z:6.00 [[ 9.42291938e-01 -3.34239348e-01 -1.92343998e-02 8.94525385e+02] [ 3.34169663e-01 9.42488227e-01 -6.82480518e-03 2.86113566e+01] [ 2.04093138e-02 3.40599762e-06 9.99791708e-01 5.99541265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.939254154 meters 0.01711776442850052 Centerline is valid? [True, True] Translation: X:894.58, Y:28.62, Z:6.00 [[ 9.41393759e-01 -3.36882367e-01 -1.69723806e-02 8.94582781e+02] [ 3.36828490e-01 9.41546743e-01 -6.02487651e-03 2.86235197e+01] [ 1.80099643e-02 -4.50001855e-05 9.99837806e-01 5.99539813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.999254154 meters 0.01504040917519004 Centerline is valid? [True, True] Translation: X:894.64, Y:28.64, Z:6.00 [[ 9.41122069e-01 -3.37751914e-01 -1.45909520e-02 8.94640348e+02] [ 3.37712157e-01 9.41235168e-01 -5.18233288e-03 2.86382253e+01] [ 1.54838600e-02 -5.03340249e-05 9.99880117e-01 5.99734873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.059254154 meters 0.01497990195507258 Centerline is valid? [True, True] Translation: X:894.70, Y:28.66, Z:6.00 [[ 9.41340001e-01 -3.37194733e-01 -1.33684432e-02 8.94696687e+02] [ 3.37161253e-01 9.41434921e-01 -4.75169491e-03 2.86563393e+01] [ 1.41877658e-02 -3.43605804e-05 9.99899348e-01 5.99798039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.119254154 meters 0.015053466924644657 Centerline is valid? [True, True] Translation: X:894.75, Y:28.67, Z:6.00 [[ 9.42233099e-01 -3.34721998e-01 -1.25686825e-02 8.94752238e+02] [ 3.34692134e-01 9.42316923e-01 -4.47114849e-03 2.86732313e+01] [ 1.33402739e-02 6.22493483e-06 9.99911015e-01 5.99854539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.179254154 meters 0.01522191315794017 Centerline is valid? [True, True] Translation: X:894.81, Y:28.69, Z:6.00 [[ 9.43199320e-01 -3.31977294e-01 -1.28886832e-02 8.94807427e+02] [ 3.31945596e-01 9.43287376e-01 -4.58777883e-03 2.86913109e+01] [ 1.36807705e-02 4.88482594e-05 9.99906413e-01 5.99766778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters 0.015255624368077928 Centerline is valid? [True, True] Translation: X:894.86, Y:28.71, Z:6.00 [[ 9.43822833e-01 -3.30248265e-01 -1.15993339e-02 8.94862956e+02] [ 3.30222433e-01 9.43894104e-01 -4.13111138e-03 2.87090626e+01] [ 1.23128352e-02 6.86770032e-05 9.99924192e-01 5.99821177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.299254154 meters 0.015285857693931036 Centerline is valid? [True, True] Translation: X:894.92, Y:28.73, Z:6.00 [[ 9.44441409e-01 -3.28511926e-01 -1.05042124e-02 8.94919227e+02] [ 3.28490601e-01 9.44499818e-01 -3.74412976e-03 2.87265133e+01] [ 1.11512180e-02 8.55761553e-05 9.99937820e-01 5.99938486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters 0.017640415397761223 Centerline is valid? [True, True] Translation: X:894.97, Y:28.75, Z:6.00 [[ 9.45005050e-01 -3.26927167e-01 -9.16964602e-03 8.94973831e+02] [ 3.26910823e-01 9.45049533e-01 -3.27029531e-03 2.87450236e+01] [ 9.73491807e-03 9.27890590e-05 9.99952610e-01 5.99758532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.419254154 meters 0.01576703022478693 Centerline is valid? [True, True] Translation: X:895.03, Y:28.76, Z:6.00 [[ 9.45887288e-01 -3.24326176e-01 -1.04770932e-02 8.95029987e+02] [ 3.24304658e-01 9.45945301e-01 -3.73850558e-03 2.87640689e+01] [ 1.11232523e-02 1.38434797e-04 9.99938125e-01 5.99881606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539999 meters 0.01587413709769756 Centerline is valid? [True, True] Translation: X:895.09, Y:28.78, Z:6.00 [[ 9.46277645e-01 -3.23236048e-01 -8.77926808e-03 8.95086735e+02] [ 3.23220871e-01 9.46318361e-01 -3.13490777e-03 2.87817083e+01] [ 9.32129777e-03 1.28850464e-04 9.99956547e-01 6.00008882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.539254154 meters 0.01695167396712442 Centerline is valid? [True, True] Translation: X:895.14, Y:28.80, Z:6.00 [[ 9.46395436e-01 -3.22956521e-01 -5.89618015e-03 8.95142188e+02] [ 3.22949664e-01 9.46413798e-01 -2.10649671e-03 2.87989110e+01] [ 6.26053310e-03 8.94094703e-05 9.99980399e-01 6.00017517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539999 meters 0.016067155650207533 Centerline is valid? [True, True] Translation: X:895.20, Y:28.82, Z:6.00 [[ 9.46681735e-01 -3.22088779e-01 -7.24641983e-03 8.95198245e+02] [ 3.22078373e-01 9.46709461e-01 -2.59172521e-03 2.88184578e+01] [ 7.69501983e-03 1.19623809e-04 9.99970386e-01 6.00038682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.659254154 meters 0.016350889561638823 Centerline is valid? [True, True] Translation: X:895.25, Y:28.84, Z:6.00 [[ 9.47105366e-01 -3.20830957e-01 -7.67610824e-03 8.95254191e+02] [ 3.20819221e-01 9.47136462e-01 -2.74771235e-03 2.88377039e+01] [ 8.15187318e-03 1.39730046e-04 9.99966763e-01 5.99871324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539999 meters 0.016433360050838536 Centerline is valid? [True, True] Translation: X:895.31, Y:28.86, Z:6.00 [[ 9.47092773e-01 -3.20859884e-01 -8.01332735e-03 8.95309238e+02] [ 3.20847075e-01 9.47126661e-01 -2.87084601e-03 2.88562876e+01] [ 8.51077530e-03 1.47904865e-04 9.99963772e-01 5.99795022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.779254154 meters 0.018356996502735156 Centerline is valid? [True, True] Translation: X:895.36, Y:28.88, Z:6.00 [[ 9.47170722e-01 -3.20651970e-01 -7.06668624e-03 8.95364060e+02] [ 3.20641988e-01 9.47197073e-01 -2.53375613e-03 2.88758974e+01] [ 7.50599842e-03 1.34023297e-04 9.99971821e-01 5.99574939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.839254154 meters 0.01657604813073205 Centerline is valid? [True, True] Translation: X:895.42, Y:28.90, Z:6.00 [[ 9.47626649e-01 -3.19247447e-01 -9.20878053e-03 8.95419282e+02] [ 3.19230394e-01 9.47671373e-01 -3.30534420e-03 2.88970667e+01] [ 9.78212038e-03 1.92509614e-04 9.99952135e-01 5.99730990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.899254154 meters 0.018433554066567263 Centerline is valid? [True, True] Translation: X:895.48, Y:28.92, Z:6.00 [[ 9.47417131e-01 -3.19895513e-01 -8.22432984e-03 8.95475252e+02] [ 3.19881917e-01 9.47452813e-01 -2.95415954e-03 2.89168745e+01] [ 8.73718682e-03 1.68006964e-04 9.99961816e-01 5.99582444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.959254154 meters 0.018245774990320266 Centerline is valid? [True, True] Translation: X:895.53, Y:28.94, Z:6.00 [[ 9.46751397e-01 -3.21862822e-01 -8.13117580e-03 8.95530965e+02] [ 3.21849584e-01 9.46786302e-01 -2.92301955e-03 2.89362384e+01] [ 8.63929718e-03 1.50357291e-04 9.99962669e-01 5.99677875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.019254154 meters 0.015817896156808006 Centerline is valid? [True, True] Translation: X:895.59, Y:28.95, Z:6.00 [[ 9.45518293e-01 -3.25457725e-01 -8.51042766e-03 8.95586745e+02] [ 3.25443346e-01 9.45556584e-01 -3.06186371e-03 2.89539196e+01] [ 9.04359811e-03 1.25386092e-04 9.99959098e-01 5.99947943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.079254154 meters 0.014602279231750705 Centerline is valid? [True, True] Translation: X:895.64, Y:28.97, Z:6.00 [[ 9.43580824e-01 -3.30996229e-01 -9.83484096e-03 8.95644302e+02] [ 3.30977296e-01 9.43632073e-01 -3.54132600e-03 2.89693023e+01] [ 1.04526369e-02 8.64182427e-05 9.99945366e-01 6.00076509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.139254154 meters 0.01504023598484173 Centerline is valid? [True, True] Translation: X:895.70, Y:28.99, Z:6.00 [[ 9.41959919e-01 -3.35585636e-01 -9.68461005e-03 8.95700987e+02] [ 3.35567492e-01 9.42009703e-01 -3.48980137e-03 2.89852821e+01] [ 1.02941238e-02 3.74127149e-05 9.99947013e-01 6.00076533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.199254154 meters 0.015339595392154994 Centerline is valid? [True, True] Translation: X:895.76, Y:29.00, Z:6.00 [[ 9.39548985e-01 -3.42256903e-01 -1.03883149e-02 8.95755998e+02] [ 3.42236406e-01 9.39606413e-01 -3.74586539e-03 2.89995555e+01] [ 1.10429756e-02 -3.58355425e-05 9.99939024e-01 6.00098867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.259254154 meters 0.014784622559395874 Centerline is valid? [True, True] Translation: X:895.81, Y:29.02, Z:6.00 [[ 9.38849654e-01 -3.44148759e-01 -1.10886654e-02 8.95811837e+02] [ 3.44125510e-01 9.38915134e-01 -4.00065313e-03 2.90185383e+01] [ 1.17881356e-02 -5.98808379e-05 9.99930516e-01 6.00183401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.319254154 meters 0.014745073153882824 Centerline is valid? [True, True] Translation: X:895.87, Y:29.04, Z:6.00 [[ 9.37509767e-01 -3.47709423e-01 -1.31755077e-02 8.95867183e+02] [ 3.47676908e-01 9.37602337e-01 -4.75661195e-03 2.90351792e+01] [ 1.40073056e-02 -1.21449622e-04 9.99901886e-01 6.00153533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.379254154 meters 0.01724175751762996 Centerline is valid? [True, True] Translation: X:895.92, Y:29.06, Z:6.00 [[ 9.36851349e-01 -3.49474130e-01 -1.33184689e-02 8.95922364e+02] [ 3.49441042e-01 9.36946002e-01 -4.81114817e-03 2.90556866e+01] [ 1.41600580e-02 -1.46688993e-04 9.99899731e-01 6.00003065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.439254154 meters 0.014416173513762216 Centerline is valid? [True, True] Translation: X:895.98, Y:29.08, Z:6.00 [[ 9.37772140e-01 -3.46955796e-01 -1.43209305e-02 8.95975857e+02] [ 3.46917204e-01 9.37881476e-01 -5.17602026e-03 2.90781330e+01] [ 1.52271857e-02 -1.14249591e-04 9.99884053e-01 6.00255852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.499254154 meters 0.014086310705596128 Centerline is valid? [True, True] Translation: X:896.03, Y:29.10, Z:6.00 [[ 9.38831721e-01 -3.44082492e-01 -1.42210787e-02 8.96029909e+02] [ 3.44044063e-01 9.38939420e-01 -5.14276431e-03 2.91010780e+01] [ 1.51222666e-02 -6.44874476e-05 9.99885650e-01 6.00288898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.559254154 meters 0.014053642442636618 Centerline is valid? [True, True] Translation: X:896.08, Y:29.13, Z:6.00 [[ 9.41114563e-01 -3.37744398e-01 -1.52348655e-02 8.96082754e+02] [ 3.37699385e-01 9.41237866e-01 -5.51415086e-03 2.91263552e+01] [ 1.62020059e-02 4.46429659e-05 9.99868738e-01 6.00358617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.619254154 meters 0.014305892087478806 Centerline is valid? [True, True] Translation: X:896.14, Y:29.15, Z:6.00 [[ 9.42662487e-01 -3.33412229e-01 -1.49573037e-02 8.96136693e+02] [ 3.33368224e-01 9.42781136e-01 -5.41813035e-03 2.91510712e+01] [ 1.59079347e-02 1.21178436e-04 9.99873453e-01 6.00415935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.679254154 meters 0.016133812548561218 Centerline is valid? [True, True] Translation: X:896.19, Y:29.18, Z:6.00 [[ 9.44149819e-01 -3.29251583e-01 -1.32103683e-02 8.96189601e+02] [ 3.29216818e-01 9.44242218e-01 -4.78758562e-03 2.91764984e+01] [ 1.40501076e-02 1.71122670e-04 9.99901278e-01 6.00428440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters 0.015196206810831664 Centerline is valid? [True, True] Translation: X:896.24, Y:29.20, Z:6.01 [[ 9.44734351e-01 -3.27588978e-01 -1.27462508e-02 8.96243922e+02] [ 3.27556429e-01 9.44820314e-01 -4.62182027e-03 2.91985485e+01] [ 1.35569741e-02 1.91275968e-04 9.99908082e-01 6.00764282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.799254154 meters 0.017483811102472845 Centerline is valid? [True, True] Translation: X:896.30, Y:29.22, Z:6.00 [[ 9.44106838e-01 -3.29382301e-01 -1.30222099e-02 8.96299730e+02] [ 3.29348447e-01 9.44196627e-01 -4.72549768e-03 2.92190349e+01] [ 1.38520219e-02 1.72530069e-04 9.99904041e-01 6.00445775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters 0.015220203178276288 Centerline is valid? [True, True] Translation: X:896.36, Y:29.24, Z:6.01 [[ 9.42888590e-01 -3.32817135e-01 -1.39234466e-02 8.96355357e+02] [ 3.32778748e-01 9.42991377e-01 -5.05648848e-03 2.92392670e+01] [ 1.48125761e-02 1.34278163e-04 9.99890279e-01 6.00557038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.919254154 meters 0.01594975081724667 Centerline is valid? [True, True] Translation: X:896.41, Y:29.26, Z:6.00 [[ 9.39627137e-01 -3.41879537e-01 -1.48062938e-02 8.96412532e+02] [ 3.41837183e-01 9.39743786e-01 -5.38127086e-03 2.92558427e+01] [ 1.57538689e-02 -4.95362578e-06 9.99875900e-01 6.00456364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539999 meters 0.018313819715513966 Centerline is valid? [True, True] Translation: X:896.47, Y:29.27, Z:6.00 [[ 9.34744179e-01 -3.54990291e-01 -1.53366479e-02 8.96470042e+02] [ 3.54946566e-01 9.34869959e-01 -5.57631613e-03 2.92686576e+01] [ 1.63173095e-02 -2.31261469e-04 9.99866837e-01 6.00328185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.039254154 meters 0.017239434857559285 Centerline is valid? [True, True] Translation: X:896.53, Y:29.29, Z:6.01 [[ 9.31242815e-01 -3.64075854e-01 -1.53489959e-02 8.96527709e+02] [ 3.64033263e-01 9.31369219e-01 -5.58227671e-03 2.92851783e+01] [ 1.63279545e-02 -3.89089985e-04 9.99866614e-01 6.00772555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539999 meters 0.02422609455429496 Centerline is valid? [True, True] Translation: X:896.59, Y:29.30, Z:6.01 [[ 9.26500000e-01 -3.76006694e-01 -1.47212974e-02 8.96586355e+02] [ 3.75968994e-01 9.26616770e-01 -5.35516881e-03 2.92952662e+01] [ 1.56545803e-02 -5.73187467e-04 9.99877295e-01 6.00714784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.159254154 meters 0.021153986742942905 Centerline is valid? [True, True] Translation: X:896.64, Y:29.32, Z:6.01 [[ 9.24364667e-01 -3.81243768e-01 -1.42531544e-02 8.96639708e+02] [ 3.81209037e-01 9.24474326e-01 -5.18559221e-03 2.93223395e+01] [ 1.51536501e-02 -6.40053069e-04 9.99884972e-01 6.01002985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539999 meters 0.022189505593004755 Centerline is valid? [True, True] Translation: X:896.69, Y:29.34, Z:6.01 [[ 9.24641037e-01 -3.80559052e-01 -1.46205867e-02 8.96693214e+02] [ 3.80522403e-01 9.24756397e-01 -5.32042776e-03 2.93436075e+01] [ 1.55452180e-02 -6.43974941e-04 9.99878958e-01 6.01026837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.279254154 meters 0.023719400307982006 Centerline is valid? [True, True] Translation: X:896.75, Y:29.37, Z:6.01 [[ 9.25724381e-01 -3.77857090e-01 -1.60745239e-02 8.96746853e+02] [ 3.77812357e-01 9.25863699e-01 -5.85099583e-03 2.93690530e+01] [ 1.70936584e-02 -6.56744266e-04 9.99853677e-01 6.00656771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.339254154 meters 0.020883526117457734 Centerline is valid? [True, True] Translation: X:896.80, Y:29.40, Z:6.01 [[ 9.29813968e-01 -3.67681959e-01 -1.59988251e-02 8.96797931e+02] [ 3.67636116e-01 9.29951483e-01 -5.82460004e-03 2.93998897e+01] [ 1.70197314e-02 -4.65951436e-04 9.99855045e-01 6.00786650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.399254154 meters 0.015519706869942322 Centerline is valid? [True, True] Translation: X:896.85, Y:29.44, Z:6.01 [[ 9.35232525e-01 -3.53711221e-01 -1.51160839e-02 8.96847615e+02] [ 3.53668449e-01 9.35354656e-01 -5.50417102e-03 2.94370884e+01] [ 1.60857865e-02 -1.98402192e-04 9.99870596e-01 6.01091604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.459254154 meters 0.01670376640894787 Centerline is valid? [True, True] Translation: X:896.90, Y:29.47, Z:6.01 [[ 9.40138551e-01 -3.40400659e-01 -1.63369778e-02 8.96897573e+02] [ 3.40348620e-01 9.40280485e-01 -5.95199608e-03 2.94727092e+01] [ 1.73874048e-02 3.54331141e-05 9.99848827e-01 6.00836528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.519254154 meters 0.014398690720524007 Centerline is valid? [True, True] Translation: X:896.95, Y:29.50, Z:6.01 [[ 9.43105498e-01 -3.32096213e-01 -1.62519169e-02 8.96949829e+02] [ 3.32043398e-01 9.43245498e-01 -5.92565184e-03 2.95018008e+01] [ 1.72974340e-02 1.92173110e-04 9.99850370e-01 6.01206606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.579254154 meters 0.01739963580246144 Centerline is valid? [True, True] Translation: X:897.00, Y:29.54, Z:6.01 [[ 9.46410598e-01 -3.22508165e-01 -1.71890784e-02 8.97000133e+02] [ 3.22447451e-01 9.46566601e-01 -6.26982970e-03 2.95357460e+01] [ 1.82926788e-02 3.91258756e-04 9.99832598e-01 6.01107479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.639254154 meters 0.019585098693087128 Centerline is valid? [True, True] Translation: X:897.05, Y:29.56, Z:6.01 [[ 9.47752010e-01 -3.18405444e-01 -1.95985100e-02 8.97053823e+02] [ 3.18325612e-01 9.47954474e-01 -7.14985932e-03 2.95619651e+01] [ 2.08550494e-02 5.37585839e-04 9.99782365e-01 6.00951608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.699254154 meters 0.01935766819474317 Centerline is valid? [True, True] Translation: X:897.11, Y:29.58, Z:6.01 [[ 9.47680842e-01 -3.18622524e-01 -1.95117726e-02 8.97107040e+02] [ 3.18543348e-01 9.47881533e-01 -7.12282654e-03 2.95841622e+01] [ 2.07643419e-02 5.34820880e-04 9.99784255e-01 6.01053121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.759254154 meters 0.01980314531920881 Centerline is valid? [True, True] Translation: X:897.16, Y:29.60, Z:6.01 [[ 9.46348608e-01 -3.22479033e-01 -2.07746438e-02 8.97162793e+02] [ 3.22390110e-01 9.46576484e-01 -7.58800670e-03 2.96046298e+01] [ 2.21117624e-02 4.83359879e-04 9.99755388e-01 6.00950562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.819254154 meters 0.018569993842285092 Centerline is valid? [True, True] Translation: X:897.22, Y:29.62, Z:6.01 [[ 9.44084102e-01 -3.28972197e-01 -2.19659334e-02 8.97218890e+02] [ 3.28874483e-01 9.44339541e-01 -8.02528548e-03 2.96217247e+01] [ 2.33833953e-02 3.52509447e-04 9.99726509e-01 6.00919580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.879254154 meters 0.014827621116392648 Centerline is valid? [True, True] Translation: X:897.27, Y:29.64, Z:6.01 [[ 9.42168828e-01 -3.34478201e-01 -2.10293199e-02 8.97274546e+02] [ 3.34389956e-01 9.42403464e-01 -7.68555360e-03 2.96378568e+01] [ 2.23887541e-02 2.09095661e-04 9.99749319e-01 6.01218441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.939254154 meters 0.01806964094927471 Centerline is valid? [True, True] Translation: X:897.33, Y:29.65, Z:6.01 [[ 9.38070073e-01 -3.45624190e-01 -2.38423361e-02 8.97333386e+02] [ 3.45514195e-01 9.38373015e-01 -8.71924869e-03 2.96491245e+01] [ 2.53865881e-02 -5.85993299e-05 9.99677707e-01 6.01015013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.999254154 meters 0.014735113060225928 Centerline is valid? [True, True] Translation: X:897.39, Y:29.66, Z:6.02 [[ 9.35435252e-01 -3.52829880e-01 -2.17247352e-02 8.97389657e+02] [ 3.52740346e-01 9.35687461e-01 -7.95134339e-03 2.96643621e+01] [ 2.31330338e-02 -2.25223679e-04 9.99732370e-01 6.01643660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.059254154 meters 0.022154077011740794 Centerline is valid? [True, True] Translation: X:897.45, Y:29.67, Z:6.01 [[ 9.30919702e-01 -3.64384615e-01 -2.47459349e-02 8.97448386e+02] [ 3.64272413e-01 9.31248365e-01 -9.06049952e-03 2.96735526e+01] [ 2.63461181e-02 -5.79663907e-04 9.99652713e-01 6.01185086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.119254154 meters 0.021405179751520717 Centerline is valid? [True, True] Translation: X:897.51, Y:29.69, Z:6.02 [[ 9.27518467e-01 -3.73015546e-01 -2.38515302e-02 8.97505177e+02] [ 3.72914101e-01 9.27824754e-01 -8.73492813e-03 2.96928781e+01] [ 2.53883041e-02 -7.92764791e-04 9.99677351e-01 6.01663105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.179254154 meters 0.02160296155690435 Centerline is valid? [True, True] Translation: X:897.56, Y:29.71, Z:6.02 [[ 9.26542736e-01 -3.75435641e-01 -2.38041677e-02 8.97560425e+02] [ 3.75335256e-01 9.26848074e-01 -8.72311838e-03 2.97130829e+01] [ 2.53378165e-02 -8.52201391e-04 9.99678583e-01 6.01770168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters 0.021744476173346853 Centerline is valid? [True, True] Translation: X:897.62, Y:29.73, Z:6.02 [[ 9.24803048e-01 -3.79871273e-01 -2.09078552e-02 8.97616203e+02] [ 3.79794907e-01 9.25038966e-01 -7.66420305e-03 2.97312987e+01] [ 2.22519913e-02 -8.52818582e-04 9.99752030e-01 6.02079450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.299254154 meters 0.02471202467633346 Centerline is valid? [True, True] Translation: X:897.67, Y:29.75, Z:6.02 [[ 9.23219294e-01 -3.83640327e-01 -2.20507363e-02 8.97672064e+02] [ 3.83556427e-01 9.23482058e-01 -8.08434957e-03 2.97514918e+01] [ 2.34649418e-02 -9.94074098e-04 9.99724166e-01 6.02029105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters 0.026083610942049733 Centerline is valid? [True, True] Translation: X:897.73, Y:29.77, Z:6.02 [[ 9.22514568e-01 -3.85254667e-01 -2.33605313e-02 8.97727131e+02] [ 3.85160922e-01 9.22809648e-01 -8.56839138e-03 2.97742460e+01] [ 2.48583364e-02 -1.09309790e-03 9.99690386e-01 6.02043413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.419254154 meters 0.023931339767653537 Centerline is valid? [True, True] Translation: X:897.78, Y:29.80, Z:6.02 [[ 9.23138264e-01 -3.83963310e-01 -1.96957491e-02 8.97780165e+02] [ 3.83896337e-01 9.23347921e-01 -7.22624043e-03 2.97996773e+01] [ 2.09606402e-02 -8.90306888e-04 9.99779905e-01 6.02300572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539999 meters 0.023597365632065978 Centerline is valid? [True, True] Translation: X:897.83, Y:29.83, Z:6.02 [[ 9.24596288e-01 -3.80436435e-01 -1.97439360e-02 8.97833898e+02] [ 3.80368297e-01 9.24806716e-01 -7.24552421e-03 2.98271099e+01] [ 2.10157860e-02 -8.10782504e-04 9.99778815e-01 6.02275472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.539254154 meters 0.02018906765110419 Centerline is valid? [True, True] Translation: X:897.89, Y:29.86, Z:6.02 [[ 9.27356981e-01 -3.73606840e-01 -2.06629763e-02 8.97885157e+02] [ 3.73530430e-01 9.27586903e-01 -7.58650426e-03 2.98612562e+01] [ 2.20010761e-02 -6.82852722e-04 9.99757714e-01 6.02302388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539999 meters 0.017467795596986354 Centerline is valid? [True, True] Translation: X:897.94, Y:29.89, Z:6.02 [[ 9.29936627e-01 -3.67182183e-01 -1.98775071e-02 8.97937660e+02] [ 3.67109958e-01 9.30148905e-01 -7.30018711e-03 2.98906262e+01] [ 2.11695401e-02 -5.08519407e-04 9.99775771e-01 6.02444968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.659254154 meters 0.01865407243835897 Centerline is valid? [True, True] Translation: X:897.99, Y:29.92, Z:6.02 [[ 9.33463649e-01 -3.58076369e-01 -2.06622762e-02 8.97988495e+02] [ 3.57996065e-01 9.33692249e-01 -7.58953641e-03 2.99233416e+01] [ 2.20098408e-02 -3.12457216e-04 9.99757705e-01 6.02228059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539999 meters 0.017484269244166645 Centerline is valid? [True, True] Translation: X:898.04, Y:29.96, Z:6.02 [[ 9.36815152e-01 -3.49288413e-01 -1.93643078e-02 8.98039101e+02] [ 3.49215955e-01 9.37015259e-01 -7.11486387e-03 2.99570396e+01] [ 2.06297914e-02 -9.70129661e-05 9.99787179e-01 6.02439490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.779254154 meters 0.015187831856069192 Centerline is valid? [True, True] Translation: X:898.09, Y:29.99, Z:6.02 [[ 9.38993480e-01 -3.43486160e-01 -1.75642492e-02 8.98090885e+02] [ 3.43425495e-01 9.39157738e-01 -6.45540348e-03 2.99850685e+01] [ 1.87129423e-02 2.95707851e-05 9.99824897e-01 6.02499225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.839254154 meters 0.019129291852685762 Centerline is valid? [True, True] Translation: X:898.14, Y:30.01, Z:6.02 [[ 9.41475999e-01 -3.36480902e-01 -2.00884513e-02 8.98141998e+02] [ 3.36399901e-01 9.41690270e-01 -7.38524858e-03 3.00149385e+01] [ 2.14020942e-02 1.95281250e-04 9.99770930e-01 6.02177190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.899254154 meters 0.015083269924045111 Centerline is valid? [True, True] Translation: X:898.19, Y:30.04, Z:6.02 [[ 9.43500711e-01 -3.30897055e-01 -1.77072579e-02 8.98194015e+02] [ 3.30833104e-01 9.43666815e-01 -6.51152768e-03 3.00418632e+01] [ 1.88643970e-02 2.85483906e-04 9.99822011e-01 6.02360682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.959254154 meters 0.018816903422994257 Centerline is valid? [True, True] Translation: X:898.25, Y:30.06, Z:6.02 [[ 9.43920993e-01 -3.29588887e-01 -1.96041926e-02 8.98247954e+02] [ 3.29510173e-01 9.44124486e-01 -7.21112435e-03 3.00643889e+01] [ 2.08855047e-02 3.46950749e-04 9.99781814e-01 6.02121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.019254154 meters 0.016997813582881865 Centerline is valid? [True, True] Translation: X:898.30, Y:30.09, Z:6.02 [[ 9.44540606e-01 -3.27868132e-01 -1.85884947e-02 8.98300734e+02] [ 3.27796996e-01 9.44723427e-01 -6.83933493e-03 3.00872380e+01] [ 1.98033864e-02 3.66776848e-04 9.99803826e-01 6.02170915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.079254154 meters 0.017259979993712114 Centerline is valid? [True, True] Translation: X:898.36, Y:30.11, Z:6.02 [[ 9.44181040e-01 -3.28936376e-01 -1.79728633e-02 8.98355563e+02] [ 3.28869994e-01 9.44352025e-01 -6.61660498e-03 3.01071629e+01] [ 1.91491520e-02 3.36537518e-04 9.99816582e-01 6.02195842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.139254154 meters 0.018877684545316544 Centerline is valid? [True, True] Translation: X:898.41, Y:30.12, Z:6.02 [[ 9.43293473e-01 -3.31483431e-01 -1.77808779e-02 8.98411611e+02] [ 3.31418823e-01 9.43460997e-01 -6.55064876e-03 3.01243612e+01] [ 1.89469963e-02 2.86266603e-04 9.99820449e-01 6.02226287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.199254154 meters 0.014858423629527223 Centerline is valid? [True, True] Translation: X:898.47, Y:30.14, Z:6.03 [[ 9.43011364e-01 -3.32347280e-01 -1.65786556e-02 8.98468723e+02] [ 3.32291173e-01 9.43157050e-01 -6.11196728e-03 3.01408802e+01] [ 1.76675716e-02 2.54713691e-04 9.99843884e-01 6.02755337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.259254154 meters 0.01776795105569278 Centerline is valid? [True, True] Translation: X:898.53, Y:30.16, Z:6.03 [[ 9.42127011e-01 -3.34805114e-01 -1.73847792e-02 8.98525071e+02] [ 3.34743746e-01 9.42287369e-01 -6.41394918e-03 3.01585045e+01] [ 1.85288809e-02 2.23308647e-04 9.99828301e-01 6.02604616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.319254154 meters 0.01648847914978676 Centerline is valid? [True, True] Translation: X:898.58, Y:30.17, Z:6.03 [[ 9.41451381e-01 -3.36716360e-01 -1.70701808e-02 8.98582286e+02] [ 3.36657446e-01 9.41606106e-01 -6.30124491e-03 3.01749642e+01] [ 1.81951187e-02 1.85512248e-04 9.99834438e-01 6.02750915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.379254154 meters 0.013665987794281435 Centerline is valid? [True, True] Translation: X:898.64, Y:30.19, Z:6.03 [[ 9.40469960e-01 -3.39477531e-01 -1.64699702e-02 8.98639720e+02] [ 3.39423043e-01 9.40614155e-01 -6.08350710e-03 3.01898470e+01] [ 1.75571010e-02 1.31068283e-04 9.99845854e-01 6.03035067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.439254154 meters 0.017009346480857484 Centerline is valid? [True, True] Translation: X:898.70, Y:30.21, Z:6.03 [[ 9.39076506e-01 -3.43330419e-01 -1.61102210e-02 8.98695612e+02] [ 3.43278805e-01 9.39214683e-01 -5.95335503e-03 3.02055310e+01] [ 1.71749239e-02 6.03584490e-05 9.99852498e-01 6.02792987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.499254154 meters 0.01688358315779147 Centerline is valid? [True, True] Translation: X:898.75, Y:30.22, Z:6.03 [[ 9.37672887e-01 -3.47197912e-01 -1.49387791e-02 8.98752388e+02] [ 3.47153999e-01 9.37791880e-01 -5.52187855e-03 3.02189140e+01] [ 1.59266504e-02 -8.34110683e-06 9.99873163e-01 6.02841384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.559254154 meters 0.01667788721985653 Centerline is valid? [True, True] Translation: X:898.81, Y:30.23, Z:6.03 [[ 9.36469533e-01 -3.50489506e-01 -1.34877627e-02 8.98808886e+02] [ 3.50454009e-01 9.36566657e-01 -4.98843590e-03 3.02341715e+01] [ 1.43805832e-02 -5.53222670e-05 9.99896593e-01 6.03131047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.619254154 meters 0.013762814377284518 Centerline is valid? [True, True] Translation: X:898.86, Y:30.25, Z:6.03 [[ 9.35951415e-01 -3.51883385e-01 -1.31541968e-02 8.98864031e+02] [ 3.51849700e-01 9.36043844e-01 -4.86929490e-03 3.02512311e+01] [ 1.40263289e-02 -7.08767498e-05 9.99901624e-01 6.03403805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.679254154 meters 0.017716074653192478 Centerline is valid? [True, True] Translation: X:898.92, Y:30.27, Z:6.03 [[ 9.34836423e-01 -3.54833956e-01 -1.31804964e-02 8.98920046e+02] [ 3.54800374e-01 9.34929329e-01 -4.88301952e-03 3.02683598e+01] [ 1.40554938e-02 -1.11620540e-04 9.99901210e-01 6.03130205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters 0.01808783817319019 Centerline is valid? [True, True] Translation: X:898.98, Y:30.29, Z:6.03 [[ 9.34451489e-01 -3.55837091e-01 -1.34305228e-02 8.98976454e+02] [ 3.55802271e-01 9.34547992e-01 -4.97945721e-03 3.02866992e+01] [ 1.43233437e-02 -1.25549319e-04 9.99897408e-01 6.03144887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.799254154 meters 0.01794996133534791 Centerline is valid? [True, True] Translation: X:899.03, Y:30.31, Z:6.03 [[ 9.34292738e-01 -3.56268066e-01 -1.30439609e-02 8.99031063e+02] [ 3.56235209e-01 9.34383781e-01 -4.84008721e-03 3.03061029e+01] [ 1.39124340e-02 -1.24659811e-04 9.99903210e-01 6.03252557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters 0.01383018998437063 Centerline is valid? [True, True] Translation: X:899.08, Y:30.32, Z:6.04 [[ 9.34317355e-01 -3.56183207e-01 -1.35868702e-02 8.99084756e+02] [ 3.56147501e-01 9.34416132e-01 -5.04475633e-03 3.03242018e+01] [ 1.44926482e-02 -1.25526470e-04 9.99894968e-01 6.03580093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.919254154 meters 0.014331853145065986 Centerline is valid? [True, True] Translation: X:899.14, Y:30.34, Z:6.04 [[ 9.32697739e-01 -3.60407557e-01 -1.34655532e-02 8.99140847e+02] [ 3.60372883e-01 9.32794918e-01 -5.00267460e-03 3.03421017e+01] [ 1.43636013e-02 -1.86636961e-04 9.99896821e-01 6.03697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539999 meters 0.018042406444446258 Centerline is valid? [True, True] Translation: X:899.20, Y:30.36, Z:6.03 [[ 9.30603923e-01 -3.65804470e-01 -1.27838874e-02 8.99196950e+02] [ 3.65773695e-01 9.30691692e-01 -4.75167703e-03 3.03583684e+01] [ 1.36360425e-02 -2.54080441e-04 9.99906993e-01 6.03497103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.039254154 meters 0.01787339084536115 Centerline is valid? [True, True] Translation: X:899.25, Y:30.38, Z:6.04 [[ 9.28465323e-01 -3.71229544e-01 -1.18646224e-02 8.99253939e+02] [ 3.71203466e-01 9.28541076e-01 -4.41094278e-03 3.03752304e+01] [ 1.26542616e-02 -3.08781562e-04 9.99919884e-01 6.03833391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539999 meters 0.02219560947413709 Centerline is valid? [True, True] Translation: X:899.31, Y:30.39, Z:6.04 [[ 9.26306449e-01 -3.76599082e-01 -1.13795484e-02 8.99311130e+02] [ 3.76575488e-01 9.26376272e-01 -4.23132247e-03 3.03931709e+01] [ 1.21352557e-02 -3.65757683e-04 9.99926298e-01 6.03721967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.159254154 meters 0.02054161231426663 Centerline is valid? [True, True] Translation: X:899.37, Y:30.41, Z:6.04 [[ 9.25157368e-01 -3.79437492e-01 -1.05372648e-02 8.99366940e+02] [ 3.79417430e-01 9.25217299e-01 -3.91952139e-03 3.04115386e+01] [ 1.12364730e-02 -3.71847823e-04 9.99936800e-01 6.04198632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539999 meters 0.02178458250459008 Centerline is valid? [True, True] Translation: X:899.42, Y:30.44, Z:6.04 [[ 9.25591261e-01 -3.78358165e-01 -1.12212032e-02 8.99419559e+02] [ 3.78335296e-01 9.25659200e-01 -4.17715975e-03 3.04386577e+01] [ 1.19674724e-02 -3.79034665e-04 9.99928315e-01 6.03869122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.279254154 meters 0.019731403774620793 Centerline is valid? [True, True] Translation: X:899.47, Y:30.47, Z:6.04 [[ 9.27266130e-01 -3.74202546e-01 -1.22465864e-02 8.99472768e+02] [ 3.74174913e-01 9.27346931e-01 -4.56118517e-03 3.04652366e+01] [ 1.30636414e-02 -3.52932897e-04 9.99914605e-01 6.03876953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.339254154 meters 0.01832581689490372 Centerline is valid? [True, True] Translation: X:899.53, Y:30.49, Z:6.04 [[ 9.30418822e-01 -3.66265169e-01 -1.30629983e-02 8.99525939e+02] [ 3.66232916e-01 9.30510484e-01 -4.86727168e-03 3.04935109e+01] [ 1.39379690e-02 -2.55498785e-04 9.99902829e-01 6.03849339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.399254154 meters 0.01905633179543648 Centerline is valid? [True, True] Translation: X:899.58, Y:30.52, Z:6.04 [[ 9.33707426e-01 -3.57747240e-01 -1.43998146e-02 8.99578398e+02] [ 3.57706973e-01 9.33818448e-01 -5.36920046e-03 3.05224132e+01] [ 1.53676292e-02 -1.37651760e-04 9.99881902e-01 6.03753974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.459254154 meters 0.017871397564631998 Centerline is valid? [True, True] Translation: X:899.63, Y:30.55, Z:6.04 [[ 9.36134747e-01 -3.51386007e-01 -1.34018254e-02 8.99630966e+02] [ 3.51350422e-01 9.36230673e-01 -5.00074411e-03 3.05496077e+01] [ 1.43043915e-02 -2.73666829e-05 9.99897687e-01 6.03892539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.519254154 meters 0.015136957293233914 Centerline is valid? [True, True] Translation: X:899.68, Y:30.57, Z:6.04 [[ 9.36795999e-01 -3.49648663e-01 -1.26122536e-02 8.99683960e+02] [ 3.49616959e-01 9.36880895e-01 -4.70850885e-03 3.05718766e+01] [ 1.34625033e-02 1.45450959e-06 9.99909376e-01 6.04131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.579254154 meters 0.013784361864723125 Centerline is valid? [True, True] Translation: X:899.74, Y:30.59, Z:6.04 [[ 9.36153764e-01 -3.51350707e-01 -1.29927503e-02 8.99738254e+02] [ 3.51317185e-01 9.36243921e-01 -4.85341705e-03 3.05924831e+01] [ 1.38696350e-02 -2.10318232e-05 9.99903812e-01 6.04337665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.639254154 meters 0.01947617761226999 Centerline is valid? [True, True] Translation: X:899.79, Y:30.61, Z:6.04 [[ 9.33660934e-01 -3.57849017e-01 -1.48775828e-02 8.99793670e+02] [ 3.57805809e-01 9.33779452e-01 -5.56228972e-03 3.06114371e+01] [ 1.58828410e-02 -1.29992921e-04 9.99873851e-01 6.03875011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.699254154 meters 0.018706580390323677 Centerline is valid? [True, True] Translation: X:899.85, Y:30.63, Z:6.04 [[ 9.31904540e-01 -3.62386986e-01 -1.51525978e-02 8.99849015e+02] [ 3.62342693e-01 9.32027698e-01 -5.66947574e-03 3.06309044e+01] [ 1.61771850e-02 -2.07022903e-04 9.99869119e-01 6.03987929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.759254154 meters 0.01810132393276041 Centerline is valid? [True, True] Translation: X:899.91, Y:30.65, Z:6.04 [[ 9.29587327e-01 -3.68312538e-01 -1.46039432e-02 8.99905434e+02] [ 3.68272089e-01 9.29701988e-01 -5.46643229e-03 3.06484805e+01] [ 1.55906706e-02 -2.96698508e-04 9.99878414e-01 6.04123504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.819254154 meters 0.020434068420378912 Centerline is valid? [True, True] Translation: X:899.96, Y:30.67, Z:6.04 [[ 9.27918209e-01 -3.72453785e-01 -1.56836262e-02 8.99960669e+02] [ 3.72407705e-01 9.28050658e-01 -5.87171180e-03 3.06668488e+01] [ 1.67421409e-02 -3.92234953e-04 9.99859764e-01 6.03978246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.879254154 meters 0.017219563739033283 Centerline is valid? [True, True] Translation: X:900.01, Y:30.69, Z:6.04 [[ 9.27692020e-01 -3.73022360e-01 -1.55510306e-02 9.00013760e+02] [ 3.72977076e-01 9.27822269e-01 -5.82568763e-03 3.06912493e+01] [ 1.66017042e-02 -3.95733995e-04 9.99862104e-01 6.04295107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.939254154 meters 0.019153456048085243 Centerline is valid? [True, True] Translation: X:900.07, Y:30.71, Z:6.04 [[ 9.28168655e-01 -3.71808192e-01 -1.61745557e-02 9.00067437e+02] [ 3.71758963e-01 9.28309496e-01 -6.06250499e-03 3.07128596e+01] [ 1.72690826e-02 -3.86008939e-04 9.99850804e-01 6.04125167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.999254154 meters 0.01578602579188551 Centerline is valid? [True, True] Translation: X:900.12, Y:30.74, Z:6.04 [[ 9.30633328e-01 -3.65675400e-01 -1.42516838e-02 9.00121882e+02] [ 3.65636446e-01 9.30742416e-01 -5.34273597e-03 3.07374268e+01] [ 1.52183537e-02 -2.38806855e-04 9.99884166e-01 6.04478355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.059254154 meters 0.017320373733529057 Centerline is valid? [True, True] Translation: X:900.17, Y:30.76, Z:6.04 [[ 9.33374406e-01 -3.58610251e-01 -1.45225924e-02 9.00174793e+02] [ 3.58568929e-01 9.33487371e-01 -5.44528256e-03 3.07641754e+01] [ 1.55093907e-02 -1.24863017e-04 9.99879714e-01 6.04331602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.119254154 meters 0.01722146689699378 Centerline is valid? [True, True] Translation: X:900.23, Y:30.79, Z:6.04 [[ 9.35319345e-01 -3.53524575e-01 -1.40747172e-02 9.00228206e+02] [ 3.53485144e-01 9.35425237e-01 -5.28009093e-03 3.07891354e+01] [ 1.50324876e-02 -3.66322455e-05 9.99887005e-01 6.04324399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.179254154 meters 0.01542280779055961 Centerline is valid? [True, True] Translation: X:900.28, Y:30.82, Z:6.04 [[ 9.38338449e-01 -3.45443342e-01 -1.37787118e-02 9.00281255e+02] [ 3.45404620e-01 9.38439603e-01 -5.17301388e-03 3.08150769e+01] [ 1.47174720e-02 9.48071218e-05 9.99891688e-01 6.04468950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters 0.0170041621044837 Centerline is valid? [True, True] Translation: X:900.34, Y:30.84, Z:6.04 [[ 9.40605897e-01 -3.39152042e-01 -1.53766052e-02 9.00335318e+02] [ 3.39102897e-01 9.40731547e-01 -5.77765213e-03 3.08391197e+01] [ 1.64247602e-02 2.20242281e-04 9.99865080e-01 6.04340455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.299254154 meters 0.015354052690272211 Centerline is valid? [True, True] Translation: X:900.39, Y:30.86, Z:6.05 [[ 9.41510091e-01 -3.36704171e-01 -1.37495288e-02 9.00389182e+02] [ 3.36664580e-01 9.41610453e-01 -5.16871197e-03 3.08591546e+01] [ 1.46870269e-02 2.37415137e-04 9.99892112e-01 6.04593045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters 0.01661961756099869 Centerline is valid? [True, True] Translation: X:900.45, Y:30.88, Z:6.05 [[ 9.41286267e-01 -3.37368452e-01 -1.27550278e-02 9.00446468e+02] [ 3.37334409e-01 9.41372658e-01 -4.79736244e-03 3.08753235e+01] [ 1.36257131e-02 2.12981638e-04 9.99907143e-01 6.04660065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.419254154 meters 0.017403624387678056 Centerline is valid? [True, True] Translation: X:900.50, Y:30.89, Z:6.05 [[ 9.40440767e-01 -3.39729133e-01 -1.24611158e-02 9.00503960e+02] [ 3.39696799e-01 9.40523303e-01 -4.69043289e-03 3.08899775e+01] [ 1.33134465e-02 1.78073169e-04 9.99911356e-01 6.04537831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539999 meters 0.01639460536496232 Centerline is valid? [True, True] Translation: X:900.56, Y:30.91, Z:6.05 [[ 9.39898419e-01 -3.41218533e-01 -1.26836414e-02 9.00559372e+02] [ 3.41185135e-01 9.39983982e-01 -4.77672736e-03 3.09059499e+01] [ 1.35523276e-02 1.62168605e-04 9.99908150e-01 6.04540166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.539254154 meters 0.018870938536321075 Centerline is valid? [True, True] Translation: X:900.62, Y:30.92, Z:6.05 [[ 9.39009134e-01 -3.43632615e-01 -1.33593566e-02 9.00617886e+02] [ 3.43595770e-01 9.39104151e-01 -5.03383812e-03 3.09191595e+01] [ 1.42756182e-02 1.36601557e-04 9.99898089e-01 6.04501621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539999 meters 0.017450071908148734 Centerline is valid? [True, True] Translation: X:900.67, Y:30.94, Z:6.05 [[ 9.38607749e-01 -3.44776804e-01 -1.20186653e-02 9.00674600e+02] [ 3.44747035e-01 9.38684688e-01 -4.53192544e-03 3.09354106e+01] [ 1.28442399e-02 1.10301100e-04 9.99917503e-01 6.04660996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.659254154 meters 0.016097958687199324 Centerline is valid? [True, True] Translation: X:900.73, Y:30.95, Z:6.05 [[ 9.37825838e-01 -3.46909619e-01 -1.16796133e-02 9.00731340e+02] [ 3.46881642e-01 9.37898561e-01 -4.40645379e-03 3.09491367e+01] [ 1.24829337e-02 8.10427694e-05 9.99922082e-01 6.04786608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539999 meters 0.016296845928949883 Centerline is valid? [True, True] Translation: X:900.79, Y:30.96, Z:6.05 [[ 9.35714402e-01 -3.52527567e-01 -1.27621348e-02 9.00789429e+02] [ 3.52494648e-01 9.35801429e-01 -4.81752082e-03 3.09610902e+01] [ 1.36411329e-02 9.23939545e-06 9.99906955e-01 6.04728299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.779254154 meters 0.01708170855310088 Centerline is valid? [True, True] Translation: X:900.85, Y:30.98, Z:6.05 [[ 9.33899433e-01 -3.57266566e-01 -1.38726189e-02 9.00846958e+02] [ 3.57228126e-01 9.34002461e-01 -5.24102521e-03 3.09761437e+01] [ 1.48295033e-02 -6.10991796e-05 9.99890035e-01 6.04643782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.839254154 meters 0.017963494693516158 Centerline is valid? [True, True] Translation: X:900.90, Y:30.99, Z:6.05 [[ 9.31405638e-01 -3.63729926e-01 -1.35675854e-02 9.00904774e+02] [ 3.63693805e-01 9.31504437e-01 -5.12838364e-03 3.09873513e+01] [ 1.45036126e-02 -1.57841332e-04 9.99894805e-01 6.04635294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.899254154 meters 0.016590615803694298 Centerline is valid? [True, True] Translation: X:900.96, Y:31.00, Z:6.05 [[ 9.29363006e-01 -3.68948335e-01 -1.27094188e-02 9.00962833e+02] [ 3.68917108e-01 9.29449879e-01 -4.80528085e-03 3.09979788e+01] [ 1.35856681e-02 -2.22871755e-04 9.99907686e-01 6.04935044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.959254154 meters 0.01872546708641195 Centerline is valid? [True, True] Translation: X:901.02, Y:31.02, Z:6.05 [[ 9.28564816e-01 -3.70946153e-01 -1.28970848e-02 9.01017536e+02] [ 3.70914171e-01 9.28654342e-01 -4.87757038e-03 3.10184285e+01] [ 1.37862497e-02 -2.54571267e-04 9.99904933e-01 6.04753479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.019254154 meters 0.019412615469451035 Centerline is valid? [True, True] Translation: X:901.07, Y:31.04, Z:6.05 [[ 9.27331639e-01 -3.73988044e-01 -1.37468054e-02 9.01074363e+02] [ 3.73952001e-01 9.27433471e-01 -5.20178427e-03 3.10353660e+01] [ 1.46946525e-02 -3.16866246e-04 9.99891978e-01 6.04684678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.079254154 meters 0.019892775980779993 Centerline is valid? [True, True] Translation: X:901.13, Y:31.05, Z:6.05 [[ 9.27488271e-01 -3.73619504e-01 -1.31898941e-02 9.01130279e+02] [ 3.73586232e-01 9.27582007e-01 -4.99477661e-03 3.10549705e+01] [ 1.41008544e-02 -2.94966099e-04 9.99900535e-01 6.04703849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.139254154 meters 0.016836678044019834 Centerline is valid? [True, True] Translation: X:901.19, Y:31.08, Z:6.05 [[ 9.28561663e-01 -3.71003555e-01 -1.13841685e-02 9.01185618e+02] [ 3.70978537e-01 9.28631420e-01 -4.31399607e-03 3.10759823e+01] [ 1.21722044e-02 -2.17470799e-04 9.99925892e-01 6.05087139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.199254154 meters 0.017717423884362312 Centerline is valid? [True, True] Translation: X:901.24, Y:31.10, Z:6.05 [[ 9.29462232e-01 -3.68738892e-01 -1.14712085e-02 9.01240897e+02] [ 3.68713278e-01 9.29532998e-01 -4.35016804e-03 3.10975372e+01] [ 1.22669430e-02 -1.86270003e-04 9.99924741e-01 6.05046619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.259254154 meters 0.0153636855959341 Centerline is valid? [True, True] Translation: X:901.30, Y:31.12, Z:6.05 [[ 9.30276208e-01 -3.66688965e-01 -1.11973227e-02 9.01295160e+02] [ 3.66664374e-01 9.30343582e-01 -4.24938428e-03 3.11204290e+01] [ 1.19755596e-02 -1.52558221e-04 9.99928279e-01 6.05295663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.319254154 meters 0.015338601337398386 Centerline is valid? [True, True] Translation: X:901.35, Y:31.14, Z:6.05 [[ 9.32056631e-01 -3.62146455e-01 -1.09718565e-02 9.01347463e+02] [ 3.62122502e-01 9.32121203e-01 -4.16612689e-03 3.11445009e+01] [ 1.17358482e-02 -9.00899391e-05 9.99931129e-01 6.05229503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.379254154 meters 0.01607372360521819 Centerline is valid? [True, True] Translation: X:901.40, Y:31.17, Z:6.05 [[ 9.33146592e-01 -3.59302458e-01 -1.17975540e-02 9.01401150e+02] [ 3.59274520e-01 9.33221164e-01 -4.48091082e-03 3.11669144e+01] [ 1.26197293e-02 -5.72138883e-05 9.99920366e-01 6.05086012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.439254154 meters 0.017484953284984023 Centerline is valid? [True, True] Translation: X:901.46, Y:31.19, Z:6.05 [[ 9.33983288e-01 -3.57039798e-01 -1.40641252e-02 9.01455787e+02] [ 3.56999793e-01 9.34089172e-01 -5.34475953e-03 3.11895434e+01] [ 1.50454389e-02 -2.89736988e-05 9.99886811e-01 6.04854598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.499254154 meters 0.015146104155287176 Centerline is valid? [True, True] Translation: X:901.51, Y:31.21, Z:6.05 [[ 9.33957888e-01 -3.57086371e-01 -1.45597867e-02 9.01510447e+02] [ 3.57043432e-01 9.34071369e-01 -5.53762677e-03 3.12101780e+01] [ 1.55772910e-02 -2.65660047e-05 9.99878666e-01 6.04999217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.559254154 meters 0.015311322780112813 Centerline is valid? [True, True] Translation: X:901.56, Y:31.23, Z:6.05 [[ 9.33241630e-01 -3.58966662e-01 -1.42476523e-02 9.01564834e+02] [ 3.58925716e-01 9.33350380e-01 -5.42197879e-03 3.12287090e+01] [ 1.52443613e-02 -5.38324802e-05 9.99883797e-01 6.05082596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.619254154 meters 0.016095070202767518 Centerline is valid? [True, True] Translation: X:901.62, Y:31.25, Z:6.05 [[ 9.32138547e-01 -3.61880604e-01 -1.26553341e-02 9.01619267e+02] [ 3.61848545e-01 9.32224448e-01 -4.81765009e-03 3.12456902e+01] [ 1.35410260e-02 -8.85968736e-05 9.99908312e-01 6.05258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.679254154 meters 0.016978074053903544 Centerline is valid? [True, True] Translation: X:901.67, Y:31.27, Z:6.05 [[ 9.31535876e-01 -3.63434926e-01 -1.24886054e-02 9.01674773e+02] [ 3.63403811e-01 9.31619581e-01 -4.75679776e-03 3.12663931e+01] [ 1.33634158e-02 -1.07279029e-04 9.99910700e-01 6.05331774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters 0.014004081124830101 Centerline is valid? [True, True] Translation: X:901.73, Y:31.29, Z:6.06 [[ 9.31410344e-01 -3.63762497e-01 -1.23133135e-02 9.01729430e+02] [ 3.63732228e-01 9.31491725e-01 -4.69381133e-03 3.12865180e+01] [ 1.31771821e-02 -1.06884514e-04 9.99913171e-01 6.05680733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.799254154 meters 0.013967878743362002 Centerline is valid? [True, True] Translation: X:901.78, Y:31.31, Z:6.06 [[ 9.31653180e-01 -3.63143345e-01 -1.22173126e-02 9.01783947e+02] [ 3.63113441e-01 9.31733278e-01 -4.66123079e-03 3.13072715e+01] [ 1.30759717e-02 -9.36199257e-05 9.99914501e-01 6.05700676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters 0.016265838582179906 Centerline is valid? [True, True] Translation: X:901.84, Y:31.33, Z:6.05 [[ 9.32321635e-01 -3.61392017e-01 -1.31216871e-02 9.01837387e+02] [ 3.61357286e-01 9.32413967e-01 -5.01069930e-03 3.13291860e+01] [ 1.40456711e-02 -7.00338745e-05 9.99901352e-01 6.05362813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.919254154 meters 0.014375598867865307 Centerline is valid? [True, True] Translation: X:901.89, Y:31.35, Z:6.06 [[ 9.33148566e-01 -3.59266049e-01 -1.27145713e-02 9.01892553e+02] [ 3.59233189e-01 9.33235182e-01 -4.85906179e-03 3.13510110e+01] [ 1.36113812e-02 -3.32694525e-05 9.99907360e-01 6.05593661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539999 meters 0.016479906066788216 Centerline is valid? [True, True] Translation: X:901.95, Y:31.37, Z:6.05 [[ 9.33577708e-01 -3.58139563e-01 -1.29890700e-02 9.01946434e+02] [ 3.58105104e-01 9.33668064e-01 -4.96804767e-03 3.13719156e+01] [ 1.39067343e-02 -1.33937108e-05 9.99903297e-01 6.05422111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.039254154 meters 0.013824717738980911 Centerline is valid? [True, True] Translation: X:902.00, Y:31.39, Z:6.06 [[ 9.34339556e-01 -3.56189802e-01 -1.17651911e-02 9.02000546e+02] [ 3.56161330e-01 9.34413626e-01 -4.50365387e-03 3.13926120e+01] [ 1.25977104e-02 1.76358623e-05 9.99920646e-01 6.05777772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539999 meters 0.016162939103554878 Centerline is valid? [True, True] Translation: X:902.05, Y:31.41, Z:6.06 [[ 9.35279490e-01 -3.53740497e-01 -1.09515846e-02 9.02054814e+02] [ 3.53715617e-01 9.35343604e-01 -4.19571001e-03 3.14137720e+01] [ 1.17276871e-02 5.04150285e-05 9.99931227e-01 6.05666409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.159254154 meters 0.016128391075536395 Centerline is valid? [True, True] Translation: X:902.11, Y:31.44, Z:6.06 [[ 9.36849057e-01 -3.49570453e-01 -1.06931322e-02 9.02109301e+02] [ 3.49546423e-01 9.36910075e-01 -4.10004353e-03 3.14367312e+01] [ 1.14517574e-02 1.03375801e-04 9.99934421e-01 6.05730739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539999 meters 0.01702891394652291 Centerline is valid? [True, True] Translation: X:902.16, Y:31.46, Z:6.06 [[ 9.37840502e-01 -3.46898633e-01 -1.07949252e-02 9.02163897e+02] [ 3.46873929e-01 9.37902617e-01 -4.14227943e-03 3.14587180e+01] [ 1.15615397e-02 1.40319304e-04 9.99933153e-01 6.05665111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.279254154 meters 0.017508674767699628 Centerline is valid? [True, True] Translation: X:902.22, Y:31.48, Z:6.06 [[ 9.39371775e-01 -3.42727415e-01 -1.08897719e-02 9.02217923e+02] [ 3.42701957e-01 9.39434873e-01 -4.18189588e-03 3.14815111e+01] [ 1.16634818e-02 1.96408826e-04 9.99931960e-01 6.05620273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.339254154 meters 0.01774719461933125 Centerline is valid? [True, True] Translation: X:902.27, Y:31.50, Z:6.06 [[ 9.40013089e-01 -3.40950027e-01 -1.13345545e-02 9.02273554e+02] [ 3.40922276e-01 9.40081393e-01 -4.35611653e-03 3.15021666e+01] [ 1.21406219e-02 2.30604431e-04 9.99926273e-01 6.05590290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.399254154 meters 0.01819946045784481 Centerline is valid? [True, True] Translation: X:902.33, Y:31.52, Z:6.06 [[ 9.39864236e-01 -3.41342578e-01 -1.18516836e-02 9.02328036e+02] [ 3.41312233e-01 9.39938928e-01 -4.55763347e-03 3.15199226e+01] [ 1.26955731e-02 2.38432113e-04 9.99919380e-01 6.05545584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.459254154 meters 0.017444735102570264 Centerline is valid? [True, True] Translation: X:902.39, Y:31.53, Z:6.06 [[ 9.38395026e-01 -3.45360754e-01 -1.18627807e-02 9.02386044e+02] [ 3.45330650e-01 9.38469986e-01 -4.56363758e-03 3.15346432e+01] [ 1.27089650e-02 1.85913030e-04 9.99919221e-01 6.05692505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.519254154 meters 0.014558336142778985 Centerline is valid? [True, True] Translation: X:902.44, Y:31.55, Z:6.06 [[ 9.36300335e-01 -3.51025764e-01 -1.10722874e-02 9.02444063e+02] [ 3.50999908e-01 9.36365795e-01 -4.26176090e-03 3.15480623e+01] [ 1.18636991e-02 1.03916299e-04 9.99929618e-01 6.06007152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.579254154 meters 0.016390555257671673 Centerline is valid? [True, True] Translation: X:902.50, Y:31.56, Z:6.06 [[ 9.34545368e-01 -3.55640548e-01 -1.20314181e-02 9.02500683e+02] [ 3.55610354e-01 9.34622810e-01 -4.63451811e-03 3.15637674e+01] [ 1.28930604e-02 5.26705880e-05 9.99916880e-01 6.05772438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.639254154 meters 0.014961863229055697 Centerline is valid? [True, True] Translation: X:902.56, Y:31.58, Z:6.06 [[ 9.33093969e-01 -3.59381807e-01 -1.34299076e-02 9.02557026e+02] [ 3.59344528e-01 9.33190611e-01 -5.17620734e-03 3.15770510e+01] [ 1.43928984e-02 3.92403866e-06 9.99896417e-01 6.05877695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.699254154 meters 0.014670839903161417 Centerline is valid? [True, True] Translation: X:902.61, Y:31.59, Z:6.06 [[ 9.32818995e-01 -3.60092560e-01 -1.34933300e-02 9.02613469e+02] [ 3.60054957e-01 9.32916582e-01 -5.20380120e-03 3.15934433e+01] [ 1.44620013e-02 -4.13573690e-06 9.99895420e-01 6.06001253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.759254154 meters 0.013844807790113945 Centerline is valid? [True, True] Translation: X:902.67, Y:31.61, Z:6.06 [[ 9.33344191e-01 -3.58725493e-01 -1.35883198e-02 9.02668413e+02] [ 3.58687150e-01 9.33443100e-01 -5.24479506e-03 3.16134188e+01] [ 1.45653650e-02 2.12432876e-05 9.99893919e-01 6.06219124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.819254154 meters 0.01612971818719825 Centerline is valid? [True, True] Translation: X:902.72, Y:31.63, Z:6.06 [[ 9.34099432e-01 -3.56701338e-01 -1.49133313e-02 9.02723605e+02] [ 3.56654819e-01 9.34218471e-01 -5.76093529e-03 3.16333139e+01] [ 1.59872429e-02 6.23748991e-05 9.99872194e-01 6.06014697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.879254154 meters 0.015749859108490912 Centerline is valid? [True, True] Translation: X:902.78, Y:31.65, Z:6.06 [[ 9.34383858e-01 -3.55947217e-01 -1.51124108e-02 9.02777705e+02] [ 3.55899272e-01 9.34506058e-01 -5.84260014e-03 3.16537091e+01] [ 1.62022967e-02 8.07352484e-05 9.99868731e-01 6.06084424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.939254154 meters 0.014340601439042758 Centerline is valid? [True, True] Translation: X:902.83, Y:31.67, Z:6.06 [[ 9.35404728e-01 -3.53262406e-01 -1.49554899e-02 9.02833063e+02] [ 3.53215035e-01 9.35524268e-01 -5.78648908e-03 3.16737396e+01] [ 1.60353728e-02 1.30205348e-04 9.99871417e-01 6.06253417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.999254154 meters 0.015238037497171803 Centerline is valid? [True, True] Translation: X:902.89, Y:31.69, Z:6.06 [[ 9.36306394e-01 -3.50885947e-01 -1.44702633e-02 9.02889024e+02] [ 3.50841252e-01 9.36418188e-01 -5.60289957e-03 3.16930670e+01] [ 1.55161965e-02 1.69265404e-04 9.99879602e-01 6.06306602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.059254154 meters 0.015390521129331647 Centerline is valid? [True, True] Translation: X:902.94, Y:31.71, Z:6.06 [[ 9.36800313e-01 -3.49599778e-01 -1.36076777e-02 9.02944657e+02] [ 3.49560060e-01 9.36899120e-01 -5.27283465e-03 3.17126389e+01] [ 1.45924031e-02 1.82892530e-04 9.99893508e-01 6.06454125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.119254154 meters 0.016907152575193127 Centerline is valid? [True, True] Translation: X:903.00, Y:31.73, Z:6.06 [[ 9.37366897e-01 -3.48064327e-01 -1.39472297e-02 9.02999185e+02] [ 3.48022391e-01 9.37470628e-01 -5.40713512e-03 3.17317197e+01] [ 1.49571490e-02 2.14521227e-04 9.99888113e-01 6.06433565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.179254154 meters 0.015265111359240186 Centerline is valid? [True, True] Translation: X:903.05, Y:31.75, Z:6.07 [[ 9.37846900e-01 -3.46805684e-01 -1.30003801e-02 9.03054182e+02] [ 3.46769092e-01 9.37936975e-01 -5.04263863e-03 3.17518309e+01] [ 1.39423529e-02 2.21093011e-04 9.99902776e-01 6.06649536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters 0.01630648128802056 Centerline is valid? [True, True] Translation: X:903.11, Y:31.77, Z:6.06 [[ 9.37962234e-01 -3.46424520e-01 -1.47275478e-02 9.03108691e+02] [ 3.46377465e-01 9.38077814e-01 -5.71551988e-03 3.17711829e+01] [ 1.57955821e-02 2.59651122e-04 9.99875208e-01 6.06335081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.299254154 meters 0.015435088683611601 Centerline is valid? [True, True] Translation: X:903.16, Y:31.79, Z:6.06 [[ 9.37651757e-01 -3.47253506e-01 -1.49727943e-02 9.03164079e+02] [ 3.47204920e-01 9.37771261e-01 -5.81420383e-03 3.17876944e+01] [ 1.60600589e-02 2.53070577e-04 9.99870997e-01 6.06392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters 0.015341638816363594 Centerline is valid? [True, True] Translation: X:903.22, Y:31.80, Z:6.06 [[ 9.37200366e-01 -3.48495242e-01 -1.43714849e-02 9.03220184e+02] [ 3.48450577e-01 9.37310522e-01 -5.58388886e-03 3.18039653e+01] [ 1.54165027e-02 2.25470485e-04 9.99881133e-01 6.06473717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.419254154 meters 0.015991608615012195 Centerline is valid? [True, True] Translation: X:903.28, Y:31.82, Z:6.06 [[ 9.36845539e-01 -3.49432464e-01 -1.47441495e-02 9.03275568e+02] [ 3.49385509e-01 9.36961528e-01 -5.73244624e-03 3.18212059e+01] [ 1.58178036e-02 2.19024516e-04 9.99874867e-01 6.06427952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539999 meters 0.015310767849669615 Centerline is valid? [True, True] Translation: X:903.33, Y:31.84, Z:6.07 [[ 9.37321391e-01 -3.48192298e-01 -1.38106137e-02 9.03331492e+02] [ 3.48150905e-01 9.37423102e-01 -5.37360189e-03 3.18394449e+01] [ 1.48174351e-02 2.28614323e-04 9.99890190e-01 6.06553033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.539254154 meters 0.015666234926045918 Centerline is valid? [True, True] Translation: X:903.39, Y:31.86, Z:6.07 [[ 9.38193848e-01 -3.45839940e-01 -1.36762175e-02 9.03387535e+02] [ 3.45799041e-01 9.38293485e-01 -5.32527566e-03 3.18583926e+01] [ 1.46739988e-02 2.66917960e-04 9.99892295e-01 6.06558904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539999 meters 0.0165303024659176 Centerline is valid? [True, True] Translation: X:903.44, Y:31.88, Z:6.07 [[ 9.39014500e-01 -3.43589878e-01 -1.40628783e-02 9.03443238e+02] [ 3.43546319e-01 9.39119746e-01 -5.47999224e-03 3.18778585e+01] [ 1.50895966e-02 3.14542101e-04 9.99886096e-01 6.06531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.659254154 meters 0.01766244932180733 Centerline is valid? [True, True] Translation: X:903.50, Y:31.90, Z:6.06 [[ 9.39447160e-01 -3.42384881e-01 -1.45473723e-02 9.03497485e+02] [ 3.42338056e-01 9.39559722e-01 -5.67311758e-03 3.18998048e+01] [ 1.56105147e-02 3.49475053e-04 9.99878087e-01 6.06443795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539999 meters 0.017626273201727258 Centerline is valid? [True, True] Translation: X:903.55, Y:31.92, Z:6.07 [[ 9.40035896e-01 -3.40781931e-01 -1.41488537e-02 9.03550706e+02] [ 3.40737393e-01 9.40142297e-01 -5.52181240e-03 3.19244692e+01] [ 1.51836697e-02 3.69658344e-04 9.99884653e-01 6.06525494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.779254154 meters 0.020497281410983254 Centerline is valid? [True, True] Translation: X:903.60, Y:31.95, Z:6.06 [[ 9.39784982e-01 -3.41445616e-01 -1.48013161e-02 9.03603740e+02] [ 3.41396913e-01 9.39901457e-01 -5.77923741e-03 3.19481386e+01] [ 1.58850738e-02 3.78116905e-04 9.99873753e-01 6.06219031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.839254154 meters 0.019079356819522164 Centerline is valid? [True, True] Translation: X:903.66, Y:31.97, Z:6.06 [[ 9.39311512e-01 -3.42777477e-01 -1.40529461e-02 9.03658792e+02] [ 3.42733680e-01 9.39416566e-01 -5.48990124e-03 3.19683826e+01] [ 1.50833849e-02 3.40309482e-04 9.99886181e-01 6.06369305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.899254154 meters 0.01713416626684807 Centerline is valid? [True, True] Translation: X:903.71, Y:31.99, Z:6.07 [[ 9.38978182e-01 -3.43767502e-01 -1.19949414e-02 9.03712577e+02] [ 3.43735647e-01 9.39054752e-01 -4.68805246e-03 3.19889811e+01] [ 1.28755068e-02 2.78890049e-04 9.99917068e-01 6.06618953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.959254154 meters 0.01650653067585089 Centerline is valid? [True, True] Translation: X:903.77, Y:32.01, Z:6.06 [[ 9.37916392e-01 -3.46621333e-01 -1.29032029e-02 9.03768709e+02] [ 3.46584708e-01 9.38005109e-01 -5.04546128e-03 3.20086465e+01] [ 1.38521347e-02 2.60168054e-04 9.99904021e-01 6.06460671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.019254154 meters 0.016155516611498964 Centerline is valid? [True, True] Translation: X:903.82, Y:32.03, Z:6.06 [[ 9.36820892e-01 -3.49534725e-01 -1.38597239e-02 9.03824950e+02] [ 3.49492727e-01 9.36923380e-01 -5.42344153e-03 3.20277472e+01] [ 1.48811805e-02 2.36920623e-04 9.99889241e-01 6.06359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.079254154 meters 0.014714199763492166 Centerline is valid? [True, True] Translation: X:903.88, Y:32.05, Z:6.07 [[ 9.35327852e-01 -3.53586495e-01 -1.17643366e-02 9.03879928e+02] [ 3.53556518e-01 9.35401822e-01 -4.60658229e-03 3.20471469e+01] [ 1.26332072e-02 1.49306825e-04 9.99920187e-01 6.06593332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.139254154 meters 0.01394503484333269 Centerline is valid? [True, True] Translation: X:903.94, Y:32.07, Z:6.07 [[ 9.33361568e-01 -3.58804982e-01 -9.75544166e-03 9.03935999e+02] [ 3.58784628e-01 9.33412546e-01 -3.82239716e-03 3.20656464e+01] [ 1.04773468e-02 6.75761017e-05 9.99945109e-01 6.06685834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.199254154 meters 0.016989177206909317 Centerline is valid? [True, True] Translation: X:903.99, Y:32.08, Z:6.06 [[ 9.31616975e-01 -3.63310514e-01 -9.76131353e-03 9.03990806e+02] [ 3.63290360e-01 9.31668112e-01 -3.82679164e-03 3.20841480e+01] [ 1.04846182e-02 1.89129457e-05 9.99945035e-01 6.06290202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.259254154 meters 0.01656368325886313 Centerline is valid? [True, True] Translation: X:904.05, Y:32.10, Z:6.06 [[ 9.30864141e-01 -3.65248177e-01 -9.25851025e-03 9.04045249e+02] [ 3.65230126e-01 9.30910183e-01 -3.63123631e-03 3.21048226e+01] [ 9.94514391e-03 -1.29919346e-06 9.99950546e-01 6.06376271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.319254154 meters 0.013416418513303087 Centerline is valid? [True, True] Translation: X:904.10, Y:32.13, Z:6.07 [[ 9.30369456e-01 -3.66503681e-01 -9.36625439e-03 9.04098708e+02] [ 3.66485240e-01 9.30416601e-01 -3.67655330e-03 3.21271423e+01] [ 1.00619889e-02 -1.20410891e-05 9.99949377e-01 6.06550461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.379254154 meters 0.013792902687049802 Centerline is valid? [True, True] Translation: X:904.15, Y:32.15, Z:6.06 [[ 9.30006699e-01 -3.67421392e-01 -9.43721833e-03 9.04151984e+02] [ 3.67402686e-01 9.30054579e-01 -3.70749195e-03 3.21496840e+01] [ 1.01393400e-02 -1.92670141e-05 9.99948595e-01 6.06474051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.439254154 meters 0.013310014930392158 Centerline is valid? [True, True] Translation: X:904.21, Y:32.17, Z:6.07 [[ 9.29518050e-01 -3.68666298e-01 -9.01970794e-03 9.04205839e+02] [ 3.68649242e-01 9.29561811e-01 -3.54636895e-03 3.21721792e+01] [ 9.69180275e-03 -2.86945434e-05 9.99953033e-01 6.06567684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.499254154 meters 0.015396583874346807 Centerline is valid? [True, True] Translation: X:904.26, Y:32.19, Z:6.06 [[ 9.28599163e-01 -3.70976374e-01 -8.95118136e-03 9.04260168e+02] [ 3.70959656e-01 9.28642303e-01 -3.52224367e-03 3.21946201e+01] [ 9.61911486e-03 -4.97746329e-05 9.99953734e-01 6.06409382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.559254154 meters 0.014667585414523147 Centerline is valid? [True, True] Translation: X:904.31, Y:32.22, Z:6.06 [[ 9.28463403e-01 -3.71332603e-01 -8.23454971e-03 9.04313259e+02] [ 3.71318448e-01 9.28499917e-01 -3.24257122e-03 3.22172951e+01] [ 8.84985113e-03 -4.70315136e-05 9.99960838e-01 6.06430309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.619254154 meters 0.01622064215854646 Centerline is valid? [True, True] Translation: X:904.37, Y:32.24, Z:6.06 [[ 9.28594364e-01 -3.70990271e-01 -8.87282344e-03 9.04366422e+02] [ 3.70973792e-01 9.28636752e-01 -3.49699525e-03 3.22402213e+01] [ 9.53698116e-03 -4.42948718e-05 9.99954521e-01 6.06272749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.679254154 meters 0.015506551014991479 Centerline is valid? [True, True] Translation: X:904.42, Y:32.26, Z:6.06 [[ 9.29286311e-01 -3.69242498e-01 -9.32363630e-03 9.04419629e+02] [ 3.69224182e-01 9.29333082e-01 -3.67784086e-03 3.22647950e+01] [ 1.00227788e-02 -2.47448215e-05 9.99949770e-01 6.06180842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters 0.015687012417606873 Centerline is valid? [True, True] Translation: X:904.47, Y:32.29, Z:6.06 [[ 9.29966637e-01 -3.67520115e-01 -9.54046356e-03 9.04472261e+02] [ 3.67500820e-01 9.30015573e-01 -3.76591750e-03 3.22881514e+01] [ 1.02568301e-02 -3.95054753e-06 9.99947397e-01 6.06112284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.799254154 meters 0.013172040478268442 Centerline is valid? [True, True] Translation: X:904.53, Y:32.31, Z:6.06 [[ 9.30349366e-01 -3.66571157e-01 -8.69732955e-03 9.04525698e+02] [ 3.66555065e-01 9.30390019e-01 -3.43468153e-03 3.23103604e+01] [ 9.35096378e-03 7.40357842e-06 9.99956279e-01 6.06423222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters 0.013129909583443056 Centerline is valid? [True, True] Translation: X:904.58, Y:32.33, Z:6.06 [[ 9.30814006e-01 -3.65401500e-01 -8.18716821e-03 9.04578874e+02] [ 3.65387173e-01 9.30850011e-01 -3.23571139e-03 3.23331187e+01] [ 8.80335942e-03 2.03592347e-05 9.99961249e-01 6.06482631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.919254154 meters 0.014282743518636717 Centerline is valid? [True, True] Translation: X:904.63, Y:32.35, Z:6.06 [[ 9.30818028e-01 -3.65387373e-01 -8.35866055e-03 9.04632494e+02] [ 3.65372414e-01 9.30855557e-01 -3.30630242e-03 3.23549026e+01] [ 8.98878678e-03 2.35419098e-05 9.99959600e-01 6.06359148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539999 meters 0.013119696720849106 Centerline is valid? [True, True] Translation: X:904.69, Y:32.38, Z:6.07 [[ 9.31029614e-01 -3.64840408e-01 -8.67955865e-03 9.04686456e+02] [ 3.64824227e-01 9.31070070e-01 -3.43617566e-03 3.23762975e+01] [ 9.33493301e-03 3.26680168e-05 9.99956428e-01 6.06506033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.039254154 meters 0.013407115691803105 Centerline is valid? [True, True] Translation: X:904.74, Y:32.40, Z:6.06 [[ 9.30705106e-01 -3.65628400e-01 -1.01921123e-02 9.04740297e+02] [ 3.65606094e-01 9.30760910e-01 -4.03877252e-03 3.23974080e+01] [ 1.09631096e-02 3.26078479e-05 9.99939903e-01 6.06373871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539999 meters 0.012933579949133554 Centerline is valid? [True, True] Translation: X:904.79, Y:32.42, Z:6.06 [[ 9.30318036e-01 -3.66588649e-01 -1.10051741e-02 9.04794900e+02] [ 3.66562664e-01 9.30383126e-01 -4.36487006e-03 3.24184546e+01] [ 1.18391401e-02 2.66314203e-05 9.99929915e-01 6.06349419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.159254154 meters 0.015478175169851855 Centerline is valid? [True, True] Translation: X:904.85, Y:32.44, Z:6.06 [[ 9.29148189e-01 -3.69515381e-01 -1.19174880e-02 9.04849122e+02] [ 3.69485109e-01 9.29224614e-01 -4.72980854e-03 3.24375047e+01] [ 1.28217601e-02 -8.64129050e-06 9.99917798e-01 6.06139343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539999 meters 0.015125426610147093 Centerline is valid? [True, True] Translation: X:904.90, Y:32.46, Z:6.06 [[ 9.27469616e-01 -3.73733920e-01 -1.10936172e-02 9.04904094e+02] [ 3.73707961e-01 9.27535958e-01 -4.40527792e-03 3.24564874e+01] [ 1.19361307e-02 -6.00116527e-05 9.99928760e-01 6.06303546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.279254154 meters 0.017128296187010183 Centerline is valid? [True, True] Translation: X:904.96, Y:32.48, Z:6.06 [[ 9.25788095e-01 -3.77874494e-01 -1.12814237e-02 9.04960216e+02] [ 3.77847913e-01 9.25856822e-01 -4.48341370e-03 3.24758093e+01] [ 1.21391508e-02 -1.11971358e-04 9.99926312e-01 6.06228562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.339254154 meters 0.014464162174272509 Centerline is valid? [True, True] Translation: X:905.02, Y:32.49, Z:6.07 [[ 9.23525423e-01 -3.83402090e-01 -1.01799644e-02 9.05016750e+02] [ 3.83380750e-01 9.23581513e-01 -4.04843938e-03 3.24933133e+01] [ 1.09542070e-02 -1.63965697e-04 9.99939987e-01 6.06637644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.399254154 meters 0.016001776962392907 Centerline is valid? [True, True] Translation: X:905.07, Y:32.51, Z:6.07 [[ 9.22197188e-01 -3.86567209e-01 -1.08692353e-02 9.05072091e+02] [ 3.86543063e-01 9.22261215e-01 -4.32579076e-03 3.25133473e+01] [ 1.16964830e-02 -2.12195415e-04 9.99931571e-01 6.06560450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.459254154 meters 0.015884964142588994 Centerline is valid? [True, True] Translation: X:905.13, Y:32.53, Z:6.07 [[ 9.21167477e-01 -3.89024932e-01 -1.04920004e-02 9.05127431e+02] [ 3.89002559e-01 9.21227197e-01 -4.17858216e-03 3.25346394e+01] [ 1.12910888e-02 -2.32241029e-04 9.99936227e-01 6.06693836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.519254154 meters 0.01718343224699958 Centerline is valid? [True, True] Translation: X:905.18, Y:32.55, Z:6.07 [[ 9.20332757e-01 -3.90977616e-01 -1.11409372e-02 9.05181407e+02] [ 3.90952503e-01 9.20400147e-01 -4.43949820e-03 3.25541065e+01] [ 1.19898647e-02 -2.69761669e-04 9.99928083e-01 6.06712177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.579254154 meters 0.01817519250922303 Centerline is valid? [True, True] Translation: X:905.24, Y:32.58, Z:6.07 [[ 9.19642467e-01 -3.92572385e-01 -1.20272411e-02 9.05235866e+02] [ 3.92543223e-01 9.19721058e-01 -4.79508922e-03 3.25771538e+01] [ 1.29441266e-02 -3.11444324e-04 9.99916173e-01 6.06640860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.639254154 meters 0.01727300248276312 Centerline is valid? [True, True] Translation: X:905.29, Y:32.60, Z:6.07 [[ 9.19629405e-01 -3.92581337e-01 -1.27142107e-02 9.05288198e+02] [ 3.92548695e-01 9.19717232e-01 -5.07295171e-03 3.26028332e+01] [ 1.36850248e-02 -3.25711239e-04 9.99906303e-01 6.06710056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.699254154 meters 0.016120160688258348 Centerline is valid? [True, True] Translation: X:905.34, Y:32.63, Z:6.07 [[ 9.20378294e-01 -3.90821121e-01 -1.27533143e-02 9.05341841e+02] [ 3.90788056e-01 9.20466601e-01 -5.09236731e-03 3.26285570e+01] [ 1.37292045e-02 -2.96938558e-04 9.99905706e-01 6.06870664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.759254154 meters 0.015344349869421625 Centerline is valid? [True, True] Translation: X:905.40, Y:32.66, Z:6.07 [[ 9.21537970e-01 -3.88086880e-01 -1.25037216e-02 9.05395139e+02] [ 3.88054800e-01 9.21622760e-01 -4.99599938e-03 3.26553145e+01] [ 1.34625962e-02 -2.48126060e-04 9.99909344e-01 6.06997455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.819254154 meters 0.016299498173825484 Centerline is valid? [True, True] Translation: X:905.45, Y:32.68, Z:6.07 [[ 9.22384421e-01 -3.86048742e-01 -1.31662007e-02 9.05447663e+02] [ 3.86012911e-01 9.22478356e-01 -5.26447539e-03 3.26823131e+01] [ 1.41778793e-02 -2.26453397e-04 9.99899463e-01 6.06855723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.879254154 meters 0.013703816711425636 Centerline is valid? [True, True] Translation: X:905.50, Y:32.71, Z:6.07 [[ 9.24393102e-01 -3.81203123e-01 -1.34748780e-02 9.05500548e+02] [ 3.81165021e-01 9.24491296e-01 -5.39172387e-03 3.27102998e+01] [ 1.45127494e-02 -1.52079821e-04 9.99894673e-01 6.06995063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.939254154 meters 0.015063499555915192 Centerline is valid? [True, True] Translation: X:905.55, Y:32.74, Z:6.07 [[ 9.25962528e-01 -3.77311739e-01 -1.51409576e-02 9.05553174e+02] [ 3.77263038e-01 9.26086304e-01 -6.06282550e-03 3.27381146e+01] [ 1.63094087e-02 -9.81744599e-05 9.99866988e-01 6.06731418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.999254154 meters 0.01300216211635028 Centerline is valid? [True, True] Translation: X:905.61, Y:32.76, Z:6.07 [[ 9.27308015e-01 -3.74004203e-01 -1.48560105e-02 9.05606677e+02] [ 3.73956843e-01 9.27427008e-01 -5.95183819e-03 3.27642260e+01] [ 1.60038779e-02 -3.63195255e-05 9.99871929e-01 6.06915848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.059254154 meters 0.016602076770049514 Centerline is valid? [True, True] Translation: X:905.66, Y:32.79, Z:6.07 [[ 9.28602020e-01 -3.70752700e-01 -1.55152862e-02 9.05658133e+02] [ 3.70700519e-01 9.28731627e-01 -6.22016354e-03 3.27910494e+01] [ 1.67156794e-02 2.45317725e-05 9.99860283e-01 6.06674848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.119254154 meters 0.014087825700935665 Centerline is valid? [True, True] Translation: X:905.71, Y:32.82, Z:6.07 [[ 9.30168177e-01 -3.66862178e-01 -1.41175611e-02 9.05709244e+02] [ 3.66818480e-01 9.30275300e-01 -5.66290444e-03 3.28159221e+01] [ 1.52107239e-02 8.88711935e-05 9.99884306e-01 6.06930804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.179254154 meters 0.01596045543961231 Centerline is valid? [True, True] Translation: X:905.76, Y:32.84, Z:6.07 [[ 9.32302011e-01 -3.61431218e-01 -1.34326170e-02 9.05761239e+02] [ 3.61391050e-01 9.32398759e-01 -5.39111102e-03 3.28442646e+01] [ 1.44730712e-02 1.71716089e-04 9.99895245e-01 6.06911580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters 0.016745609687962924 Centerline is valid? [True, True] Translation: X:905.81, Y:32.87, Z:6.07 [[ 9.34114425e-01 -3.56713273e-01 -1.36338308e-02 9.05813655e+02] [ 3.56671330e-01 9.34213882e-01 -5.47584635e-03 3.28713388e+01] [ 1.46902211e-02 2.52270508e-04 9.99892061e-01 6.06943790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.299254154 meters 0.017551868289594267 Centerline is valid? [True, True] Translation: X:905.87, Y:32.90, Z:6.07 [[ 9.35096580e-01 -3.54071001e-01 -1.51033791e-02 9.05866025e+02] [ 3.54019137e-01 9.35218487e-01 -6.06898021e-03 3.28963625e+01] [ 1.62738093e-02 3.28197385e-04 9.99867519e-01 6.06927274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters 0.015865921139229 Centerline is valid? [True, True] Translation: X:905.92, Y:32.92, Z:6.07 [[ 9.35506084e-01 -3.52939092e-01 -1.61976875e-02 9.05920670e+02] [ 3.52879205e-01 9.35646224e-01 -6.51233960e-03 3.29185862e+01] [ 1.74537644e-02 3.76506207e-04 9.99847601e-01 6.07121919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.419254154 meters 0.020424030472658703 Centerline is valid? [True, True] Translation: X:905.97, Y:32.94, Z:6.07 [[ 9.35078378e-01 -3.53955527e-01 -1.85448715e-02 9.05973396e+02] [ 3.53877157e-01 9.35262164e-01 -7.45942572e-03 3.29428563e+01] [ 1.99846216e-02 4.12541311e-04 9.99800202e-01 6.06664082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539999 meters 0.015909215237721496 Centerline is valid? [True, True] Translation: X:906.03, Y:32.96, Z:6.07 [[ 9.33752813e-01 -3.57424992e-01 -1.87899017e-02 9.06030905e+02] [ 3.57345151e-01 9.33941784e-01 -7.56230647e-03 3.29585857e+01] [ 2.02516316e-02 3.46844698e-04 9.99794855e-01 6.07145842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.539254154 meters 0.014119899920337738 Centerline is valid? [True, True] Translation: X:906.09, Y:32.98, Z:6.07 [[ 9.32093980e-01 -3.61773108e-01 -1.79173403e-02 9.06087331e+02] [ 3.61701259e-01 9.32266142e-01 -7.21384604e-03 3.29762770e+01] [ 1.93135052e-02 2.43257900e-04 9.99813447e-01 6.07400655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539999 meters 0.01312169446673462 Centerline is valid? [True, True] Translation: X:906.15, Y:32.99, Z:6.08 [[ 9.28710655e-01 -3.70405101e-01 -1.72215093e-02 9.06145075e+02] [ 3.70340177e-01 9.28870313e-01 -6.93511947e-03 3.29902324e+01] [ 1.85653524e-02 6.29025296e-05 9.99827647e-01 6.07603944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.659254154 meters 0.013037716779881263 Centerline is valid? [True, True] Translation: X:906.20, Y:33.01, Z:6.08 [[ 9.27353157e-01 -3.73789390e-01 -1.72515068e-02 9.06199918e+02] [ 3.73724747e-01 9.27513607e-01 -6.95138863e-03 3.30089214e+01] [ 1.85993626e-02 -9.22817640e-07 9.99827017e-01 6.07673165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539999 meters 0.01657174755725177 Centerline is valid? [True, True] Translation: X:906.26, Y:33.02, Z:6.08 [[ 9.23527662e-01 -3.83033413e-01 -1.95463900e-02 9.06257413e+02] [ 3.82952354e-01 9.23734465e-01 -7.88238126e-03 3.30229917e+01] [ 2.10748895e-02 -2.05738943e-04 9.99777879e-01 6.07628778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.779254154 meters 0.01500951804906987 Centerline is valid? [True, True] Translation: X:906.31, Y:33.04, Z:6.08 [[ 9.20753115e-01 -3.89641955e-01 -1.98203911e-02 9.06314598e+02] [ 3.89560070e-01 9.20966350e-01 -7.99588123e-03 3.30392910e+01] [ 2.13694441e-02 -3.59000393e-04 9.99771583e-01 6.07832177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.839254154 meters 0.01940002091364096 Centerline is valid? [True, True] Translation: X:906.37, Y:33.06, Z:6.08 [[ 9.18601296e-01 -3.94540885e-01 -2.25643165e-02 9.06371433e+02] [ 3.94436171e-01 9.18878230e-01 -9.10519699e-03 3.30579324e+01] [ 2.43262317e-02 -5.36136836e-04 9.99703930e-01 6.07545813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.899254154 meters 0.018068702700316172 Centerline is valid? [True, True] Translation: X:906.43, Y:33.08, Z:6.08 [[ 9.16278740e-01 -3.99966462e-01 -2.14499513e-02 9.06428588e+02] [ 3.99873281e-01 9.16529549e-01 -8.65711003e-03 3.30750622e+01] [ 2.31220679e-02 -6.44936547e-04 9.99732441e-01 6.07816181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.959254154 meters 0.019360299982794628 Centerline is valid? [True, True] Translation: X:906.48, Y:33.09, Z:6.08 [[ 9.14410113e-01 -4.04249398e-01 -2.08942400e-02 9.06484888e+02] [ 4.04162063e-01 9.14648505e-01 -8.43439256e-03 3.30947726e+01] [ 2.25204835e-02 -7.32165309e-04 9.99746114e-01 6.07833711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.019254154 meters 0.021035407229494586 Centerline is valid? [True, True] Translation: X:906.54, Y:33.12, Z:6.08 [[ 9.13707812e-01 -4.05771148e-01 -2.20863935e-02 9.06539509e+02] [ 4.05673885e-01 9.13974355e-01 -8.92069405e-03 3.31160590e+01] [ 2.38061575e-02 -8.08965209e-04 9.99716266e-01 6.07709659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.079254154 meters 0.018679797051943274 Centerline is valid? [True, True] Translation: X:906.59, Y:33.14, Z:6.08 [[ 9.14620744e-01 -4.03773574e-01 -2.08756988e-02 9.06592775e+02] [ 4.03686097e-01 9.14858674e-01 -8.43459023e-03 3.31405652e+01] [ 2.25039788e-02 -7.12778174e-04 9.99746499e-01 6.07917955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.139254154 meters 0.020434899967142477 Centerline is valid? [True, True] Translation: X:906.65, Y:33.17, Z:6.08 [[ 9.16047653e-01 -4.00453857e-01 -2.22127650e-02 9.06645206e+02] [ 4.00353793e-01 9.16316681e-01 -8.97669183e-03 3.31671596e+01] [ 2.39486779e-02 -6.69887223e-04 9.99712965e-01 6.07783991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.199254154 meters 0.016718717857999357 Centerline is valid? [True, True] Translation: X:906.70, Y:33.19, Z:6.08 [[ 9.17399732e-01 -3.97493622e-01 -1.94049568e-02 9.06698089e+02] [ 3.97416567e-01 9.17604792e-01 -7.84335863e-03 3.31936865e+01] [ 2.09237664e-02 -5.16356221e-04 9.99780941e-01 6.07997710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.259254154 meters 0.016226171641000136 Centerline is valid? [True, True] Translation: X:906.75, Y:33.22, Z:6.08 [[ 9.18513630e-01 -3.94921133e-01 -1.92356266e-02 9.06750286e+02] [ 3.94844764e-01 9.18714916e-01 -7.77920514e-03 3.32220279e+01] [ 2.07442296e-02 -4.49780500e-04 9.99784714e-01 6.08098047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.319254154 meters 0.015376739808034133 Centerline is valid? [True, True] Translation: X:906.80, Y:33.25, Z:6.08 [[ 9.18894554e-01 -3.94112217e-01 -1.75601661e-02 9.06803841e+02] [ 3.94048335e-01 9.19062244e-01 -7.10639590e-03 3.32481630e+01] [ 1.89396031e-02 -3.89525708e-04 9.99820554e-01 6.08118963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.379254154 meters 0.015757278372702004 Centerline is valid? [True, True] Translation: X:906.86, Y:33.27, Z:6.08 [[ 9.18513329e-01 -3.94994271e-01 -1.76859041e-02 9.06857071e+02] [ 3.94929537e-01 9.18683494e-01 -7.16237989e-03 3.32728188e+01] [ 1.90768472e-02 -4.05944538e-04 9.99817938e-01 6.08161588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.439254154 meters 0.015834243601375964 Centerline is valid? [True, True] Translation: X:906.91, Y:33.30, Z:6.08 [[ 9.17678877e-01 -3.97000424e-01 -1.60044698e-02 9.06910688e+02] [ 3.96947640e-01 9.17818339e-01 -6.48599437e-03 3.32972728e+01] [ 1.72641384e-02 -4.00876503e-04 9.99850883e-01 6.08264282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.499254154 meters 0.016573298990426484 Centerline is valid? [True, True] Translation: X:906.96, Y:33.32, Z:6.08 [[ 9.16049944e-01 -4.00743468e-01 -1.60365856e-02 9.06964604e+02] [ 4.00691002e-01 9.16190183e-01 -6.50147739e-03 3.33214644e+01] [ 1.72979869e-02 -4.70037537e-04 9.99850268e-01 6.08257840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.559254154 meters 0.01991375227378793 Centerline is valid? [True, True] Translation: X:907.02, Y:33.34, Z:6.08 [[ 9.14337909e-01 -4.04583031e-01 -1.72846652e-02 9.07019275e+02] [ 4.04522743e-01 9.14501083e-01 -7.00858930e-03 3.33438468e+01] [ 1.86424014e-02 -5.83821312e-04 9.99826045e-01 6.08144281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.619254154 meters 0.020331391055131865 Centerline is valid? [True, True] Translation: X:907.07, Y:33.37, Z:6.08 [[ 9.12036147e-01 -4.09827803e-01 -1.52065200e-02 9.07074313e+02] [ 4.09781850e-01 9.12162707e-01 -6.16702108e-03 3.33664631e+01] [ 1.63982372e-02 -6.06809755e-04 9.99865356e-01 6.08194069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.679254154 meters 0.023057841403753564 Centerline is valid? [True, True] Translation: X:907.13, Y:33.39, Z:6.08 [[ 9.09876044e-01 -4.14604949e-01 -1.51102836e-02 9.07129094e+02] [ 4.14560211e-01 9.10001244e-01 -6.12922578e-03 3.33880072e+01] [ 1.62915842e-02 -6.87286658e-04 9.99867047e-01 6.08218286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters 0.024579400949654353 Centerline is valid? [True, True] Translation: X:907.18, Y:33.42, Z:6.08 [[ 9.08789284e-01 -4.16949742e-01 -1.59671369e-02 9.07182276e+02] [ 4.16900127e-01 9.08929216e-01 -6.47796580e-03 3.34154097e+01] [ 1.72139834e-02 -7.69595512e-04 9.99851532e-01 6.08190661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.799254154 meters 0.021807008089764855 Centerline is valid? [True, True] Translation: X:907.23, Y:33.44, Z:6.08 [[ 9.09350426e-01 -4.15799114e-01 -1.38888244e-02 9.07234517e+02] [ 4.15761426e-01 9.09456252e-01 -5.63576898e-03 3.34427222e+01] [ 1.49746259e-02 -6.49548496e-04 9.99887663e-01 6.08406444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters 0.02109112590915411 Centerline is valid? [True, True] Translation: X:907.29, Y:33.47, Z:6.08 [[ 9.10515381e-01 -4.13265805e-01 -1.31573354e-02 9.07286868e+02] [ 4.13231687e-01 9.10610260e-01 -5.34114057e-03 3.34721450e+01] [ 1.41885154e-02 -5.73837281e-04 9.99899173e-01 6.08456327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.919254154 meters 0.021333356036240664 Centerline is valid? [True, True] Translation: X:907.34, Y:33.50, Z:6.08 [[ 9.11376011e-01 -4.11357038e-01 -1.33848453e-02 9.07337792e+02] [ 4.11321493e-01 9.11474127e-01 -5.43565561e-03 3.35026409e+01] [ 1.44359353e-02 -5.51548406e-04 9.99895644e-01 6.08437649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539999 meters 0.019863373025358788 Centerline is valid? [True, True] Translation: X:907.39, Y:33.53, Z:6.09 [[ 9.12198227e-01 -4.09563365e-01 -1.23387853e-02 9.07389679e+02] [ 4.09532980e-01 9.12281546e-01 -5.01196314e-03 3.35283125e+01] [ 1.33091626e-02 -4.81235637e-04 9.99911313e-01 6.08570463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.039254154 meters 0.021390266374756408 Centerline is valid? [True, True] Translation: X:907.44, Y:33.56, Z:6.09 [[ 9.12692673e-01 -4.08468780e-01 -1.20556913e-02 9.07441425e+02] [ 4.08439648e-01 9.12772179e-01 -4.89926376e-03 3.35559840e+01] [ 1.30052959e-02 -4.52500182e-04 9.99915325e-01 6.08533717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539999 meters 0.02270681154040482 Centerline is valid? [True, True] Translation: X:907.49, Y:33.58, Z:6.09 [[ 9.13046982e-01 -4.07672267e-01 -1.21873593e-02 9.07493337e+02] [ 4.07642379e-01 9.13128209e-01 -4.95623063e-03 3.35839389e+01] [ 1.31491393e-02 -4.42812709e-04 9.99913448e-01 6.08506503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.159254154 meters 0.01866204216562489 Centerline is valid? [True, True] Translation: X:907.55, Y:33.61, Z:6.09 [[ 9.13405226e-01 -4.06870532e-01 -1.21352098e-02 9.07545154e+02] [ 4.06840785e-01 9.13485735e-01 -4.93834948e-03 3.36141251e+01] [ 1.30946099e-02 -4.26384040e-04 9.99914171e-01 6.08627646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539999 meters 0.019727432165989836 Centerline is valid? [True, True] Translation: X:907.60, Y:33.64, Z:6.08 [[ 9.12827231e-01 -4.08151614e-01 -1.25978395e-02 9.07596528e+02] [ 4.08119627e-01 9.12914043e-01 -5.13027722e-03 3.36442177e+01] [ 1.35946756e-02 -4.58368827e-04 9.99907483e-01 6.08472420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.279254154 meters 0.020524833270275312 Centerline is valid? [True, True] Translation: X:907.65, Y:33.67, Z:6.09 [[ 9.12899448e-01 -4.07995758e-01 -1.24120402e-02 9.07648386e+02] [ 4.07964660e-01 9.12983714e-01 -5.05711420e-03 3.36704994e+01] [ 1.33952717e-02 -4.47036993e-04 9.99910179e-01 6.08522592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.339254154 meters 0.02112772895057598 Centerline is valid? [True, True] Translation: X:907.70, Y:33.70, Z:6.08 [[ 9.13345701e-01 -4.06998369e-01 -1.23271423e-02 9.07699120e+02] [ 4.06967571e-01 9.13428785e-01 -5.02498091e-03 3.37009632e+01] [ 1.33051257e-02 -4.27202455e-04 9.99911392e-01 6.08499957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.399254154 meters 0.01915258371128234 Centerline is valid? [True, True] Translation: X:907.75, Y:33.73, Z:6.09 [[ 9.14128661e-01 -4.05255689e-01 -1.16883462e-02 9.07751546e+02] [ 4.05227816e-01 9.14203305e-01 -4.76793213e-03 3.37280832e+01] [ 1.26177564e-02 -3.77939599e-04 9.99920322e-01 6.08622975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.459254154 meters 0.018356919068561656 Centerline is valid? [True, True] Translation: X:907.80, Y:33.76, Z:6.09 [[ 9.15631215e-01 -4.01846128e-01 -1.17968946e-02 9.07802906e+02] [ 4.01817423e-01 9.15707147e-01 -4.81451895e-03 3.37579763e+01] [ 1.27371965e-02 -3.31873940e-04 9.99918824e-01 6.08640591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.519254154 meters 0.016454775055215084 Centerline is valid? [True, True] Translation: X:907.85, Y:33.79, Z:6.09 [[ 9.17239549e-01 -3.98156740e-01 -1.19507658e-02 9.07853848e+02] [ 3.98126953e-01 9.17317355e-01 -4.87843042e-03 3.37859430e+01] [ 1.29050248e-02 -2.83232663e-04 9.99916687e-01 6.08791472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.579254154 meters 0.016543955198299595 Centerline is valid? [True, True] Translation: X:907.91, Y:33.81, Z:6.09 [[ 9.17409621e-01 -3.97766815e-01 -1.18805945e-02 9.07907003e+02] [ 3.97737314e-01 9.17486505e-01 -4.85209563e-03 3.38114819e+01] [ 1.28302877e-02 -2.73996521e-04 9.99917651e-01 6.08830076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.639254154 meters 0.019527754584696824 Centerline is valid? [True, True] Translation: X:907.96, Y:33.84, Z:6.09 [[ 9.17188883e-01 -3.98285990e-01 -1.15248475e-02 9.07959173e+02] [ 3.98258242e-01 9.17261248e-01 -4.70914055e-03 3.38367583e+01] [ 1.24468807e-02 -2.70694134e-04 9.99922498e-01 6.08785685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.699254154 meters 0.02030145054938838 Centerline is valid? [True, True] Translation: X:908.01, Y:33.86, Z:6.09 [[ 9.16415134e-01 -4.00067903e-01 -1.13567409e-02 9.08012578e+02] [ 4.00041068e-01 9.16485455e-01 -4.64258881e-03 3.38610901e+01] [ 1.22656386e-02 -2.88624114e-04 9.99924733e-01 6.08832007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.759254154 meters 0.018466076933160575 Centerline is valid? [True, True] Translation: X:908.07, Y:33.89, Z:6.09 [[ 9.14962868e-01 -4.03396164e-01 -1.06997518e-02 9.08066157e+02] [ 4.03372537e-01 9.15025375e-01 -4.37703394e-03 3.38850930e+01] [ 1.15562231e-02 -3.11162491e-04 9.99933176e-01 6.08993796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.819254154 meters 0.0191831487927603 Centerline is valid? [True, True] Translation: X:908.12, Y:33.91, Z:6.09 [[ 9.13612545e-01 -4.06450188e-01 -1.05053095e-02 9.08119977e+02] [ 4.06427590e-01 9.13672878e-01 -4.29954564e-03 3.39099528e+01] [ 1.13459675e-02 -3.41528810e-04 9.99935574e-01 6.09013442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.879254154 meters 0.021939908997724723 Centerline is valid? [True, True] Translation: X:908.17, Y:33.93, Z:6.09 [[ 9.13443589e-01 -4.06819753e-01 -1.08856617e-02 9.08172878e+02] [ 4.06795505e-01 9.13508380e-01 -4.45611001e-03 3.39330391e+01] [ 1.17569768e-02 -3.57833129e-04 9.99930820e-01 6.08908620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.939254154 meters 0.019309297250733718 Centerline is valid? [True, True] Translation: X:908.23, Y:33.96, Z:6.09 [[ 9.14279036e-01 -4.04938615e-01 -1.08886387e-02 9.08225088e+02] [ 4.04914196e-01 9.14343813e-01 -4.45933666e-03 3.39602687e+01] [ 1.17617170e-02 -3.31886352e-04 9.99930774e-01 6.09007691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.999254154 meters 0.016479778039103325 Centerline is valid? [True, True] Translation: X:908.28, Y:33.99, Z:6.09 [[ 9.15453798e-01 -4.02282264e-01 -1.06453443e-02 9.08276922e+02] [ 4.02258720e-01 9.15515645e-01 -4.36184214e-03 3.39886979e+01] [ 1.15006710e-02 -2.89117614e-04 9.99933823e-01 6.09213138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.059254154 meters 0.01855825605590068 Centerline is valid? [True, True] Translation: X:908.33, Y:34.01, Z:6.09 [[ 9.14780807e-01 -4.03814769e-01 -1.04741565e-02 9.08330574e+02] [ 4.03792056e-01 9.14840719e-01 -4.29348434e-03 3.40139204e+01] [ 1.13159572e-02 -3.01784112e-04 9.99935927e-01 6.09134454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.119254154 meters 0.022304298552314257 Centerline is valid? [True, True] Translation: X:908.38, Y:34.04, Z:6.09 [[ 9.13950785e-01 -4.05689058e-01 -1.05047860e-02 9.08384987e+02] [ 4.05666300e-01 9.14011096e-01 -4.30914217e-03 3.40375039e+01] [ 1.13496628e-02 -3.23093809e-04 9.99935538e-01 6.09015818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.179254154 meters 0.019863892144618582 Centerline is valid? [True, True] Translation: X:908.44, Y:34.06, Z:6.09 [[ 9.13898008e-01 -4.05821786e-01 -9.95534805e-03 9.08436238e+02] [ 4.05801323e-01 9.13952179e-01 -4.08674186e-03 3.40643003e+01] [ 1.07572009e-02 -3.05028160e-04 9.99942093e-01 6.09262396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters 0.01975175451165273 Centerline is valid? [True, True] Translation: X:908.49, Y:34.09, Z:6.09 [[ 9.15384269e-01 -4.02465170e-01 -9.66575084e-03 9.08487827e+02] [ 4.02445661e-01 9.15435264e-01 -3.97086213e-03 3.40946013e+01] [ 1.04465029e-02 -2.55074761e-04 9.99945401e-01 6.09314916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.299254154 meters 0.018443094361171364 Centerline is valid? [True, True] Translation: X:908.54, Y:34.12, Z:6.09 [[ 9.16886416e-01 -3.99037254e-01 -9.41117158e-03 9.08540100e+02] [ 3.99018559e-01 9.16934690e-01 -3.86824427e-03 3.41219717e+01] [ 1.01730033e-02 -2.08491494e-04 9.99948232e-01 6.09368043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters 0.01863499733005674 Centerline is valid? [True, True] Translation: X:908.59, Y:34.15, Z:6.09 [[ 9.19386220e-01 -3.93225227e-01 -1.01439586e-02 9.08590889e+02] [ 3.93203143e-01 9.19442166e-01 -4.17034263e-03 3.41525912e+01] [ 1.09666672e-02 -1.54480851e-04 9.99939852e-01 6.09313578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.419254154 meters 0.013546374333393943 Centerline is valid? [True, True] Translation: X:908.64, Y:34.18, Z:6.10 [[ 9.22182906e-01 -3.86609526e-01 -1.05717553e-02 9.08642132e+02] [ 3.86585083e-01 9.22243497e-01 -4.34805523e-03 3.41825996e+01] [ 1.14307321e-02 -7.71806824e-05 9.99934664e-01 6.09612900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539999 meters 0.01784240058642966 Centerline is valid? [True, True] Translation: X:908.69, Y:34.21, Z:6.09 [[ 9.23491269e-01 -3.83465929e-01 -1.08515939e-02 9.08693477e+02] [ 3.83439927e-01 9.23555023e-01 -4.46575772e-03 3.42095360e+01] [ 1.17345100e-02 -3.68461097e-05 9.99931148e-01 6.09317961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.539254154 meters 0.013125954286133256 Centerline is valid? [True, True] Translation: X:908.75, Y:34.23, Z:6.10 [[ 9.23811957e-01 -3.82744699e-01 -8.82970058e-03 9.08747112e+02] [ 3.82727435e-01 9.23854153e-01 -3.63525315e-03 3.42330514e+01] [ 9.54872942e-03 -2.10783352e-05 9.99954410e-01 6.09807313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539999 meters 0.014914943502922261 Centerline is valid? [True, True] Translation: X:908.80, Y:34.25, Z:6.10 [[ 9.22402358e-01 -3.86128308e-01 -8.87802350e-03 9.08802154e+02] [ 3.86110986e-01 9.22445081e-01 -3.65779855e-03 3.42544038e+01] [ 9.60186867e-03 -5.39403942e-05 9.99953900e-01 6.09702191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.659254154 meters 0.014908240639477835 Centerline is valid? [True, True] Translation: X:908.86, Y:34.27, Z:6.10 [[ 9.20142622e-01 -3.91484303e-01 -8.80886882e-03 9.08857797e+02] [ 3.91467470e-01 9.20184780e-01 -3.63192435e-03 3.42736053e+01] [ 9.52762839e-03 -1.06497199e-04 9.99954605e-01 6.09774595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539999 meters 0.018091954806980653 Centerline is valid? [True, True] Translation: X:908.91, Y:34.29, Z:6.10 [[ 9.18316726e-01 -3.95724443e-01 -9.82634711e-03 9.08912927e+02] [ 3.95703705e-01 9.18369282e-01 -4.05455523e-03 3.42944973e+01] [ 1.06287019e-02 -1.64956080e-04 9.99943500e-01 6.09560038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.779254154 meters 0.017555282721367985 Centerline is valid? [True, True] Translation: X:908.97, Y:34.32, Z:6.10 [[ 9.16241309e-01 -4.00476347e-01 -1.09799055e-02 9.08969033e+02] [ 4.00450768e-01 9.16307064e-01 -4.53280305e-03 3.43152425e+01] [ 1.18762454e-02 -2.43770185e-04 9.99929445e-01 6.09657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.839254154 meters 0.02088424059604508 Centerline is valid? [True, True] Translation: X:909.02, Y:34.33, Z:6.10 [[ 9.14921270e-01 -4.03449370e-01 -1.21521983e-02 9.09023485e+02] [ 4.03418287e-01 9.15001917e-01 -5.01767371e-03 3.43342478e+01] [ 1.31436620e-02 -3.11642596e-04 9.99913570e-01 6.09514129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.899254154 meters 0.020640095477780045 Centerline is valid? [True, True] Translation: X:909.08, Y:34.36, Z:6.10 [[ 9.14425094e-01 -4.04556539e-01 -1.26788594e-02 9.09077429e+02] [ 4.04522775e-01 9.14512926e-01 -5.23767426e-03 3.43581442e+01] [ 1.37139161e-02 -3.39426594e-04 9.99905902e-01 6.09531362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.959254154 meters 0.017181181295590504 Centerline is valid? [True, True] Translation: X:909.13, Y:34.38, Z:6.10 [[ 9.13898213e-01 -4.05769396e-01 -1.18850203e-02 9.09130948e+02] [ 4.05739787e-01 9.13975430e-01 -4.91308186e-03 3.43817032e+01] [ 1.28561948e-02 -3.32168878e-04 9.99917301e-01 6.09867505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.019254154 meters 0.018743007485993307 Centerline is valid? [True, True] Translation: X:909.19, Y:34.41, Z:6.10 [[ 9.14525916e-01 -4.04321518e-01 -1.29019148e-02 9.09185107e+02] [ 4.04286428e-01 9.14616858e-01 -5.33725104e-03 3.44059224e+01] [ 1.39582742e-02 -3.35014669e-04 9.99902522e-01 6.09749459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.079254154 meters 0.019395969558834217 Centerline is valid? [True, True] Translation: X:909.24, Y:34.43, Z:6.10 [[ 9.16428256e-01 -3.99993914e-01 -1.28109699e-02 9.09237902e+02] [ 3.99958862e-01 9.16517757e-01 -5.30184405e-03 3.44311973e+01] [ 1.38621868e-02 -2.65101263e-04 9.99903880e-01 6.09791399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.139254154 meters 0.014557082611855347 Centerline is valid? [True, True] Translation: X:909.29, Y:34.46, Z:6.10 [[ 9.17691461e-01 -3.97159302e-01 -1.03378304e-02 9.09290771e+02] [ 3.97136280e-01 9.17749670e-01 -4.27996376e-03 3.44569546e+01] [ 1.11873679e-02 -1.77841329e-04 9.99937404e-01 6.10368859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.199254154 meters 0.017481901483936087 Centerline is valid? [True, True] Translation: X:909.34, Y:34.48, Z:6.10 [[ 9.18458583e-01 -3.95372496e-01 -1.06967562e-02 9.09343314e+02] [ 3.95347699e-01 9.18520857e-01 -4.43092462e-03 3.44819093e+01] [ 1.15770594e-02 -1.59317208e-04 9.99932971e-01 6.10100608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.259254154 meters 0.01854450932425931 Centerline is valid? [True, True] Translation: X:909.40, Y:34.51, Z:6.10 [[ 9.18214500e-01 -3.95889145e-01 -1.24063137e-02 9.09396714e+02] [ 3.95855801e-01 9.18298290e-01 -5.14162181e-03 3.45063010e+01] [ 1.34282089e-02 -1.89999528e-04 9.99909819e-01 6.10013433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.319254154 meters 0.015821836179838483 Centerline is valid? [True, True] Translation: X:909.45, Y:34.53, Z:6.10 [[ 9.17005544e-01 -3.98705587e-01 -1.16055130e-02 9.09450365e+02] [ 3.98676591e-01 9.17078955e-01 -4.81308274e-03 3.45295928e+01] [ 1.25621747e-02 -2.13222808e-04 9.99921070e-01 6.10305872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.379254154 meters 0.015206960051166698 Centerline is valid? [True, True] Translation: X:909.50, Y:34.55, Z:6.11 [[ 9.15832231e-01 -4.01420510e-01 -1.06253640e-02 9.09504809e+02] [ 4.01396363e-01 9.15893838e-01 -4.40881066e-03 3.45498635e+01] [ 1.15014925e-02 -2.27251577e-04 9.99933830e-01 6.10562595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.439254154 meters 0.019717205753241877 Centerline is valid? [True, True] Translation: X:909.56, Y:34.57, Z:6.10 [[ 9.14836106e-01 -4.03611242e-01 -1.31478166e-02 9.09558377e+02] [ 4.03574471e-01 9.14930526e-01 -5.45703798e-03 3.45729539e+01] [ 1.42318606e-02 -3.13827750e-04 9.99898673e-01 6.10193433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.499254154 meters 0.01882199004354621 Centerline is valid? [True, True] Translation: X:909.61, Y:34.59, Z:6.10 [[ 9.15141379e-01 -4.02916973e-01 -1.31973108e-02 9.09612374e+02] [ 4.02879832e-01 9.15236484e-01 -5.47900135e-03 3.45940497e+01] [ 1.42862430e-02 -3.02869503e-04 9.99897901e-01 6.10215831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.559254154 meters 0.014788136986641793 Centerline is valid? [True, True] Translation: X:909.67, Y:34.62, Z:6.11 [[ 9.16808281e-01 -3.99162657e-01 -1.14782315e-02 9.09665378e+02] [ 3.99134255e-01 9.16880106e-01 -4.76632647e-03 3.46195452e+01] [ 1.24267017e-02 -2.11547807e-04 9.99922763e-01 6.10571366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.619254154 meters 0.01839214833994535 Centerline is valid? [True, True] Translation: X:909.72, Y:34.64, Z:6.10 [[ 9.17142373e-01 -3.98380891e-01 -1.19387432e-02 9.09718881e+02] [ 3.98350084e-01 9.17220051e-01 -4.95869058e-03 3.46415660e+01] [ 1.29259023e-02 -2.07974122e-04 9.99916435e-01 6.10320523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.679254154 meters 0.016037481525873566 Centerline is valid? [True, True] Translation: X:909.77, Y:34.67, Z:6.11 [[ 9.17303122e-01 -3.98006126e-01 -1.20874216e-02 9.09771375e+02] [ 3.97974479e-01 9.17382735e-01 -5.02309577e-03 3.46654302e+01] [ 1.30880148e-02 -2.02783884e-04 9.99914328e-01 6.10514930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters 0.019064330491917417 Centerline is valid? [True, True] Translation: X:909.82, Y:34.69, Z:6.10 [[ 9.17359088e-01 -3.97808278e-01 -1.41731087e-02 9.09824770e+02] [ 3.97764692e-01 9.17468539e-01 -5.89313465e-03 3.46868235e+01] [ 1.53477191e-02 -2.31441588e-04 9.99882190e-01 6.10239040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.799254154 meters 0.020105396492011447 Centerline is valid? [True, True] Translation: X:909.88, Y:34.71, Z:6.10 [[ 9.17608547e-01 -3.97237789e-01 -1.40247681e-02 9.09879437e+02] [ 3.97195003e-01 9.17715692e-01 -5.83418047e-03 3.47099902e+01] [ 1.51883067e-02 -2.17073938e-04 9.99884627e-01 6.10232581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539999 meters 0.01697336579299858 Centerline is valid? [True, True] Translation: X:909.93, Y:34.73, Z:6.10 [[ 9.18629985e-01 -3.94916371e-01 -1.26495070e-02 9.09932987e+02] [ 3.94881298e-01 9.18717059e-01 -5.26549482e-03 3.47342879e+01] [ 1.37007480e-02 -1.58012314e-04 9.99906128e-01 6.10448467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.919254154 meters 0.015988226934964676 Centerline is valid? [True, True] Translation: X:909.99, Y:34.76, Z:6.10 [[ 9.19413994e-01 -3.93078081e-01 -1.29433552e-02 9.09986295e+02] [ 3.93041136e-01 9.19505087e-01 -5.39075355e-03 3.47556171e+01] [ 1.40204680e-02 -1.30936787e-04 9.99901700e-01 6.10420453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539999 meters 0.015709170469629972 Centerline is valid? [True, True] Translation: X:910.04, Y:34.78, Z:6.10 [[ 9.20484131e-01 -3.90555328e-01 -1.32476892e-02 9.10040572e+02] [ 3.90516320e-01 9.20579452e-01 -5.52056602e-03 3.47783259e+01] [ 1.43516369e-02 -9.18454181e-05 9.99897006e-01 6.10394545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.039254154 meters 0.019124010071021543 Centerline is valid? [True, True] Translation: X:910.10, Y:34.80, Z:6.10 [[ 9.21608646e-01 -3.87902782e-01 -1.29975137e-02 9.10095098e+02] [ 3.87864916e-01 9.21700293e-01 -5.42010908e-03 3.48000657e+01] [ 1.40822876e-02 -4.60601856e-05 9.99900839e-01 6.10328866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539999 meters 0.01778085083233551 Centerline is valid? [True, True] Translation: X:910.15, Y:34.82, Z:6.11 [[ 9.22340588e-01 -3.86208545e-01 -1.14367644e-02 9.10149761e+02] [ 3.86179058e-01 9.22411491e-01 -4.77242839e-03 3.48212270e+01] [ 1.23925555e-02 -1.48344939e-05 9.99923209e-01 6.10540523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.159254154 meters 0.01592984389898467 Centerline is valid? [True, True] Translation: X:910.20, Y:34.84, Z:6.11 [[ 9.23423446e-01 -3.83635506e-01 -1.06272200e-02 9.10204565e+02] [ 3.83609837e-01 9.23484596e-01 -4.43785849e-03 3.48404725e+01] [ 1.15165940e-02 2.13164513e-05 9.99933682e-01 6.10734950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539999 meters 0.01836948238612422 Centerline is valid? [True, True] Translation: X:910.26, Y:34.86, Z:6.11 [[ 9.24882621e-01 -3.80072450e-01 -1.17076878e-02 9.10259310e+02] [ 3.80040959e-01 9.24956716e-01 -4.89307098e-03 3.48615371e+01] [ 1.26888260e-02 7.61153897e-05 9.99919491e-01 6.10542830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.279254154 meters 0.01811343169799982 Centerline is valid? [True, True] Translation: X:910.31, Y:34.88, Z:6.11 [[ 9.26050161e-01 -3.77188496e-01 -1.26466805e-02 9.10313214e+02] [ 3.77151445e-01 9.26136503e-01 -5.28820066e-03 3.48828603e+01] [ 1.37072009e-02 1.27425229e-04 9.99906044e-01 6.10507239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.339254154 meters 0.018224891512572932 Centerline is valid? [True, True] Translation: X:910.37, Y:34.90, Z:6.11 [[ 9.27369894e-01 -3.73934427e-01 -1.25747160e-02 9.10368983e+02] [ 3.73897464e-01 9.27455127e-01 -5.26057768e-03 3.49017050e+01] [ 1.36295959e-02 1.76846947e-04 9.99907097e-01 6.10535928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.399254154 meters 0.017758196715159637 Centerline is valid? [True, True] Translation: X:910.43, Y:34.92, Z:6.11 [[ 9.28221374e-01 -3.71786743e-01 -1.34051684e-02 9.10426130e+02] [ 3.71744453e-01 9.28318139e-01 -5.61201726e-03 3.49169586e+01] [ 1.45307346e-02 2.25897379e-04 9.99894398e-01 6.10566894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.459254154 meters 0.017324023317918012 Centerline is valid? [True, True] Translation: X:910.48, Y:34.93, Z:6.11 [[ 9.28531376e-01 -3.70987403e-01 -1.40652132e-02 9.10482477e+02] [ 3.70940689e-01 9.28637864e-01 -5.89260623e-03 3.49349690e+01] [ 1.52475722e-02 2.54109898e-04 9.99883717e-01 6.10559024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.519254154 meters 0.02002092026482226 Centerline is valid? [True, True] Translation: X:910.54, Y:34.95, Z:6.10 [[ 9.28563089e-01 -3.70880731e-01 -1.47673078e-02 9.10540302e+02] [ 3.70829151e-01 9.28680467e-01 -6.19124452e-03 3.49481643e+01] [ 1.60103236e-02 2.72812919e-04 9.99871789e-01 6.10444769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.579254154 meters 0.01551798409905255 Centerline is valid? [True, True] Translation: X:910.60, Y:34.96, Z:6.11 [[ 9.28653665e-01 -3.70751670e-01 -1.20652093e-02 9.10597395e+02] [ 3.70717186e-01 9.28732011e-01 -5.06164810e-03 3.49642568e+01] [ 1.30819606e-02 2.27737614e-04 9.99914402e-01 6.10894382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.639254154 meters 0.015448812629505865 Centerline is valid? [True, True] Translation: X:910.66, Y:34.97, Z:6.11 [[ 9.28052096e-01 -3.72271936e-01 -1.15288046e-02 9.10657049e+02] [ 3.72240525e-01 9.28123680e-01 -4.83999312e-03 3.49748657e+01] [ 1.25019502e-02 2.00277464e-04 9.99921828e-01 6.10972813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.699254154 meters 0.01568768122997698 Centerline is valid? [True, True] Translation: X:910.72, Y:34.99, Z:6.11 [[ 9.27229474e-01 -3.74305559e-01 -1.18680994e-02 9.10715601e+02] [ 3.74272406e-01 9.27305406e-01 -4.98496531e-03 3.49859077e+01] [ 1.28712530e-02 1.80304629e-04 9.99917146e-01 6.10933257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.759254154 meters 0.01782724287325938 Centerline is valid? [True, True] Translation: X:910.78, Y:35.00, Z:6.11 [[ 9.26211751e-01 -3.76769602e-01 -1.32837877e-02 9.10775170e+02] [ 3.76728279e-01 9.26306990e-01 -5.58251484e-03 3.49964341e+01] [ 1.44081873e-02 1.66212378e-04 9.99896183e-01 6.10768183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.819254154 meters 0.017945303466156318 Centerline is valid? [True, True] Translation: X:910.83, Y:35.01, Z:6.11 [[ 9.25561315e-01 -3.78318136e-01 -1.45478507e-02 9.10832226e+02] [ 3.78268718e-01 9.25675625e-01 -6.11672126e-03 3.50093050e+01] [ 1.57806573e-02 1.58403756e-04 9.99875465e-01 6.10581455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.879254154 meters 0.01819841849806397 Centerline is valid? [True, True] Translation: X:910.89, Y:35.02, Z:6.11 [[ 9.25081632e-01 -3.79466579e-01 -1.51357032e-02 9.10889188e+02] [ 3.79413179e-01 9.25205433e-01 -6.36759194e-03 3.50244167e+01] [ 1.64199232e-02 1.47857062e-04 9.99865173e-01 6.10644188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.939254154 meters 0.01424958188201849 Centerline is valid? [True, True] Translation: X:910.95, Y:35.04, Z:6.11 [[ 9.25160855e-01 -3.79328120e-01 -1.36956083e-02 9.10947149e+02] [ 3.79284317e-01 9.25262210e-01 -5.76625956e-03 3.50365804e+01] [ 1.48593332e-02 1.40188188e-04 9.99889584e-01 6.10992734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.999254154 meters 0.018105759982789675 Centerline is valid? [True, True] Translation: X:911.00, Y:35.05, Z:6.11 [[ 9.25176863e-01 -3.79218221e-01 -1.55342495e-02 9.11002502e+02] [ 3.79161792e-01 9.25307254e-01 -6.54384602e-03 3.50534265e+01] [ 1.68554994e-02 1.64221059e-04 9.99857922e-01 6.10725166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.059254154 meters 0.017237192599501194 Centerline is valid? [True, True] Translation: X:911.06, Y:35.07, Z:6.11 [[ 9.26085261e-01 -3.77031922e-01 -1.45952114e-02 9.11060409e+02] [ 3.76981786e-01 9.26200244e-01 -6.15147860e-03 3.50673443e+01] [ 1.58373921e-02 1.94664812e-04 9.99874562e-01 6.10887334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.119254154 meters 0.017280535717123062 Centerline is valid? [True, True] Translation: X:911.12, Y:35.08, Z:6.11 [[ 9.27244774e-01 -3.74212459e-01 -1.34968367e-02 9.11118243e+02] [ 3.74169229e-01 9.27342970e-01 -5.69252278e-03 3.50828793e+01] [ 1.46464095e-02 2.28261035e-04 9.99892710e-01 6.10959551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.179254154 meters 0.01901247141536856 Centerline is valid? [True, True] Translation: X:911.17, Y:35.10, Z:6.11 [[ 9.28062289e-01 -3.72194948e-01 -1.30884615e-02 9.11173549e+02] [ 3.72154058e-01 9.28154543e-01 -5.52284465e-03 3.51011742e+01] [ 1.42036899e-02 2.54619789e-04 9.99899090e-01 6.10944474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters 0.017835486070013187 Centerline is valid? [True, True] Translation: X:911.23, Y:35.12, Z:6.11 [[ 9.29622416e-01 -3.68358790e-01 -1.06754765e-02 9.11230771e+02] [ 3.68331313e-01 9.29683675e-01 -4.50653896e-03 3.51171819e+01] [ 1.15848395e-02 2.57267369e-04 9.99932860e-01 6.11195889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.299254154 meters 0.019147725225055246 Centerline is valid? [True, True] Translation: X:911.29, Y:35.13, Z:6.11 [[ 9.30628579e-01 -3.65840413e-01 -9.55197574e-03 9.11287895e+02] [ 3.65818254e-01 9.30677562e-01 -4.03492632e-03 3.51340442e+01] [ 1.03659486e-02 2.60730665e-04 9.99946238e-01 6.11219021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539999 meters 0.017913460986480743 Centerline is valid? [True, True] Translation: X:911.34, Y:35.15, Z:6.11 [[ 9.30878861e-01 -3.65235797e-01 -8.20722411e-03 9.11344509e+02] [ 3.65219395e-01 9.30915012e-01 -3.46906202e-03 3.51519727e+01] [ 8.90725376e-03 2.31839079e-04 9.99960303e-01 6.11406292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.419254154 meters 0.01844279567568262 Centerline is valid? [True, True] Translation: X:911.40, Y:35.17, Z:6.11 [[ 9.30598152e-01 -3.65943812e-01 -8.49742005e-03 9.11400018e+02] [ 3.65926236e-01 9.30636917e-01 -3.59429951e-03 3.51725817e+01] [ 9.22332446e-03 2.35419549e-04 9.99957437e-01 6.11375924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539999 meters 0.019052838686868596 Centerline is valid? [True, True] Translation: X:911.46, Y:35.18, Z:6.11 [[ 9.29682958e-01 -3.68173539e-01 -1.17406250e-02 9.11459431e+02] [ 3.68140119e-01 9.29757042e-01 -4.96954584e-03 3.51845375e+01] [ 1.27455841e-02 2.97906989e-04 9.99918727e-01 6.11013808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.539254154 meters 0.01870770484702435 Centerline is valid? [True, True] Translation: X:911.52, Y:35.20, Z:6.11 [[ 9.29083535e-01 -3.69582994e-01 -1.45669406e-02 9.11516090e+02] [ 3.69531684e-01 9.29197659e-01 -6.16801624e-03 3.52003507e+01] [ 1.58151611e-02 3.47656224e-04 9.99874872e-01 6.10764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539999 meters 0.01623105953831987 Centerline is valid? [True, True] Translation: X:911.57, Y:35.21, Z:6.11 [[ 9.28576561e-01 -3.70836662e-01 -1.50246774e-02 9.11573549e+02] [ 3.70782187e-01 9.28698043e-01 -6.36516382e-03 3.52145481e+01] [ 1.63138246e-02 3.39659174e-04 9.99866863e-01 6.10912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.659254154 meters 0.01568000249551271 Centerline is valid? [True, True] Translation: X:911.63, Y:35.23, Z:6.11 [[ 9.27085646e-01 -3.74559578e-01 -1.47420702e-02 9.11630719e+02] [ 3.74507533e-01 9.27202809e-01 -6.24976433e-03 3.52310237e+01] [ 1.60097980e-02 2.73050443e-04 9.99871798e-01 6.10989628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539999 meters 0.014120768290894833 Centerline is valid? [True, True] Translation: X:911.69, Y:35.24, Z:6.11 [[ 9.23481398e-01 -3.83420734e-01 -1.30632539e-02 9.11690483e+02] [ 3.83380705e-01 9.23573781e-01 -5.54133193e-03 3.52437985e+01] [ 1.41895403e-02 1.09117487e-04 9.99899317e-01 6.11177117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.779254154 meters 0.01485864976816758 Centerline is valid? [True, True] Translation: X:911.74, Y:35.27, Z:6.11 [[ 9.21813168e-01 -3.87488716e-01 -1.06290801e-02 9.11744916e+02] [ 3.87462456e-01 9.21874445e-01 -4.51128592e-03 3.52655622e+01] [ 1.15467498e-02 4.01932607e-05 9.99933333e-01 6.11359142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.839254154 meters 0.01394151437522442 Centerline is valid? [True, True] Translation: X:911.80, Y:35.29, Z:6.11 [[ 9.22488205e-01 -3.85869341e-01 -1.09709889e-02 9.11795901e+02] [ 3.85841223e-01 9.22553439e-01 -4.65873005e-03 3.52945278e+01] [ 1.19189846e-02 6.45637680e-05 9.99928964e-01 6.11329443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.899254154 meters 0.014225639974857186 Centerline is valid? [True, True] Translation: X:911.85, Y:35.32, Z:6.11 [[ 9.23660808e-01 -3.82994115e-01 -1.28926004e-02 9.11849151e+02] [ 3.82954965e-01 9.23750774e-01 -5.47743668e-03 3.53208553e+01] [ 1.40073756e-02 1.22008251e-04 9.99901884e-01 6.11263481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.959254154 meters 0.015449709651368434 Centerline is valid? [True, True] Translation: X:911.90, Y:35.35, Z:6.11 [[ 9.26210025e-01 -3.76745150e-01 -1.40741822e-02 9.11901090e+02] [ 3.76697733e-01 9.26316919e-01 -5.98190993e-03 3.53498843e+01] [ 1.52908086e-02 2.38792429e-04 9.99883060e-01 6.11151887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.019254154 meters 0.01760440369390085 Centerline is valid? [True, True] Translation: X:911.95, Y:35.38, Z:6.11 [[ 9.27709749e-01 -3.73012070e-01 -1.47179036e-02 9.11954120e+02] [ 3.72959698e-01 9.27826436e-01 -6.25848069e-03 3.53763717e+01] [ 1.59901489e-02 3.16868664e-04 9.99872099e-01 6.11023964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.079254154 meters 0.017510566169966428 Centerline is valid? [True, True] Translation: X:912.01, Y:35.40, Z:6.11 [[ 9.27937818e-01 -3.72483495e-01 -1.36912747e-02 9.12006616e+02] [ 3.72438080e-01 9.28038767e-01 -5.82444764e-03 3.54009952e+01] [ 1.48755443e-02 3.05573183e-04 9.99889306e-01 6.11113373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.139254154 meters 0.01598340119953136 Centerline is valid? [True, True] Translation: X:912.06, Y:35.42, Z:6.11 [[ 9.26601427e-01 -3.75868700e-01 -1.15115320e-02 9.12061454e+02] [ 3.75836843e-01 9.26672907e-01 -4.89814392e-03 3.54215226e+01] [ 1.25084838e-02 2.12169311e-04 9.99921743e-01 6.11438989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.199254154 meters 0.016674234140384096 Centerline is valid? [True, True] Translation: X:912.12, Y:35.44, Z:6.11 [[ 9.24526738e-01 -3.80960661e-01 -1.09217832e-02 9.12117218e+02] [ 3.80932329e-01 9.24591237e-01 -4.64809541e-03 3.54402494e+01] [ 1.18689265e-02 1.36828192e-04 9.99929552e-01 6.11333573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.259254154 meters 0.014440645918772622 Centerline is valid? [True, True] Translation: X:912.17, Y:35.46, Z:6.12 [[ 9.23988431e-01 -3.82288642e-01 -1.00385991e-02 9.12170268e+02] [ 3.82264774e-01 9.24042954e-01 -4.27332168e-03 3.54625750e+01] [ 1.09097391e-02 1.11096992e-04 9.99940481e-01 6.11510296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.319254154 meters 0.01576862591138301 Centerline is valid? [True, True] Translation: X:912.22, Y:35.48, Z:6.11 [[ 9.23005382e-01 -3.84636865e-01 -1.07492387e-02 9.12224430e+02] [ 3.84609639e-01 9.23067968e-01 -4.57734344e-03 3.54837459e+01] [ 1.16828930e-02 9.06518216e-05 9.99931749e-01 6.11334284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.379254154 meters 0.0144308635995373 Centerline is valid? [True, True] Translation: X:912.28, Y:35.51, Z:6.11 [[ 9.23193363e-01 -3.84179808e-01 -1.09494656e-02 9.12277431e+02] [ 3.84151512e-01 9.23258288e-01 -4.66373949e-03 3.55076060e+01] [ 1.19008994e-02 9.92795896e-05 9.99929177e-01 6.11356452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.439254154 meters 0.014568088298559411 Centerline is valid? [True, True] Translation: X:912.33, Y:35.53, Z:6.11 [[ 9.23499029e-01 -3.83396961e-01 -1.25025612e-02 9.12330707e+02] [ 3.83359962e-01 9.23583648e-01 -5.32780938e-03 3.55322349e+01] [ 1.35898270e-02 1.27245384e-04 9.99907646e-01 6.11212576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.499254154 meters 0.01501636361820181 Centerline is valid? [True, True] Translation: X:912.38, Y:35.56, Z:6.11 [[ 9.24056224e-01 -3.82043962e-01 -1.27478284e-02 9.12382978e+02] [ 3.82005331e-01 9.24144138e-01 -5.43496399e-03 3.55560119e+01] [ 1.38572260e-02 1.52473899e-04 9.99903972e-01 6.11177362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.559254154 meters 0.018042800847339162 Centerline is valid? [True, True] Translation: X:912.44, Y:35.58, Z:6.11 [[ 9.24438248e-01 -3.81128977e-01 -1.24349848e-02 9.12436313e+02] [ 3.81092118e-01 9.24521864e-01 -5.30294963e-03 3.55797038e+01] [ 1.35175231e-02 1.63374779e-04 9.99908621e-01 6.11076314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.619254154 meters 0.015422959635295351 Centerline is valid? [True, True] Translation: X:912.49, Y:35.60, Z:6.12 [[ 9.25227624e-01 -3.79276711e-01 -1.01498889e-02 9.12490018e+02] [ 3.79252025e-01 9.25283282e-01 -4.33014583e-03 3.56037892e+01] [ 1.10338460e-02 1.57004629e-04 9.99939113e-01 6.11565321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.679254154 meters 0.015721684230450717 Centerline is valid? [True, True] Translation: X:912.54, Y:35.63, Z:6.12 [[ 9.25412708e-01 -3.78838415e-01 -9.63202767e-03 9.12544295e+02] [ 3.78816130e-01 9.25462820e-01 -4.11200557e-03 3.56274321e+01] [ 1.04718692e-02 1.56534761e-04 9.99945156e-01 6.11555552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters 0.01642373390006949 Centerline is valid? [True, True] Translation: X:912.60, Y:35.65, Z:6.11 [[ 9.25358262e-01 -3.78943182e-01 -1.06841838e-02 9.12597100e+02] [ 3.78915740e-01 9.25419923e-01 -4.56373942e-03 3.56508719e+01] [ 1.16167545e-02 1.74688567e-04 9.99932508e-01 6.11418632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.799254154 meters 0.01646936769355351 Centerline is valid? [True, True] Translation: X:912.65, Y:35.67, Z:6.11 [[ 9.24236215e-01 -3.81642356e-01 -1.16846932e-02 9.12652604e+02] [ 3.81609719e-01 9.24310061e-01 -4.99345680e-03 3.56707152e+01] [ 1.27059941e-02 1.56141138e-04 9.99919263e-01 6.11347231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539999 meters 0.014852342237275384 Centerline is valid? [True, True] Translation: X:912.71, Y:35.69, Z:6.12 [[ 9.23290366e-01 -3.83980364e-01 -9.69436444e-03 9.12707449e+02] [ 3.83958001e-01 9.23341253e-01 -4.14543906e-03 3.56927683e+01] [ 1.05429738e-02 1.05215158e-04 9.99944416e-01 6.11619667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.919254154 meters 0.014250092974537155 Centerline is valid? [True, True] Translation: X:912.76, Y:35.71, Z:6.12 [[ 9.21345099e-01 -3.88639875e-01 -9.06951008e-03 9.12762407e+02] [ 3.88620502e-01 9.21389735e-01 -3.88077574e-03 3.57131585e+01] [ 9.86477769e-03 5.09361408e-05 9.99951341e-01 6.11768367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539999 meters 0.014001802005834356 Centerline is valid? [True, True] Translation: X:912.82, Y:35.73, Z:6.12 [[ 9.19122230e-01 -3.93867949e-01 -9.07550312e-03 9.12818044e+02] [ 3.93848779e-01 9.19167035e-01 -3.88595813e-03 3.57321081e+01] [ 9.87245766e-03 -2.70532507e-06 9.99951266e-01 6.11827972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.039254154 meters 0.015337484782117265 Centerline is valid? [True, True] Translation: X:912.87, Y:35.75, Z:6.12 [[ 9.17476232e-01 -3.97659119e-01 -1.02268932e-02 9.12872574e+02] [ 3.97634975e-01 9.17533227e-01 -4.38215998e-03 3.57534963e+01] [ 1.11261202e-02 -4.60427839e-05 9.99938102e-01 6.11688925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539999 meters 0.01691294883439797 Centerline is valid? [True, True] Translation: X:912.93, Y:35.78, Z:6.11 [[ 9.17227318e-01 -3.98200397e-01 -1.14232972e-02 9.12926276e+02] [ 3.98170271e-01 9.17298447e-01 -4.89841441e-03 3.57782778e+01] [ 1.24291233e-02 -5.54578268e-05 9.99922754e-01 6.11483358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.159254154 meters 0.016690098793980264 Centerline is valid? [True, True] Translation: X:912.98, Y:35.80, Z:6.11 [[ 9.18058191e-01 -3.96249498e-01 -1.24697053e-02 9.12977770e+02] [ 3.96213364e-01 9.18142873e-01 -5.35122427e-03 3.58048743e+01] [ 1.35693910e-02 -2.79286182e-05 9.99907931e-01 6.11467827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539999 meters 0.016100721157754103 Centerline is valid? [True, True] Translation: X:913.03, Y:35.83, Z:6.11 [[ 9.19567340e-01 -3.92708312e-01 -1.32698400e-02 9.13028612e+02] [ 3.92666980e-01 9.19663080e-01 -5.69752264e-03 3.58321835e+01] [ 1.44412464e-02 2.86277563e-05 9.99895719e-01 6.11491765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.279254154 meters 0.014073770931054318 Centerline is valid? [True, True] Translation: X:913.08, Y:35.86, Z:6.12 [[ 9.20259326e-01 -3.91094738e-01 -1.29490592e-02 9.13080786e+02] [ 3.91055180e-01 9.20350424e-01 -5.56273513e-03 3.58571281e+01] [ 1.40932286e-02 5.53622125e-05 9.99900684e-01 6.11721948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.339254154 meters 0.014275322857691609 Centerline is valid? [True, True] Translation: X:913.13, Y:35.88, Z:6.12 [[ 9.21674429e-01 -3.87736201e-01 -1.32998150e-02 9.13132622e+02] [ 3.87694057e-01 9.21770376e-01 -5.71771861e-03 3.58849118e+01] [ 1.44763419e-02 1.13615817e-04 9.99895206e-01 6.11673051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.399254154 meters 0.014504515796078745 Centerline is valid? [True, True] Translation: X:913.19, Y:35.91, Z:6.12 [[ 9.22672548e-01 -3.85379045e-01 -1.25841100e-02 9.13185642e+02] [ 3.85341046e-01 9.22758349e-01 -5.41370937e-03 3.59106834e+01] [ 1.36984227e-02 1.45906907e-04 9.99906162e-01 6.11796016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.459254154 meters 0.015006883994921977 Centerline is valid? [True, True] Translation: X:913.24, Y:35.93, Z:6.12 [[ 9.22918673e-01 -3.84818473e-01 -1.16561314e-02 9.13238448e+02] [ 3.84785781e-01 9.22992265e-01 -5.01810283e-03 3.59339482e+01] [ 1.26895778e-02 1.46187160e-04 9.99919473e-01 6.11866000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.519254154 meters 0.016703924785319423 Centerline is valid? [True, True] Translation: X:913.29, Y:35.96, Z:6.12 [[ 9.23020247e-01 -3.84581001e-01 -1.14489294e-02 9.13291492e+02] [ 3.84549394e-01 9.23091237e-01 -4.93277826e-03 3.59573367e+01] [ 1.24654592e-02 1.50375345e-04 9.99922292e-01 6.11791599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.579254154 meters 0.015751677068135655 Centerline is valid? [True, True] Translation: X:913.35, Y:35.98, Z:6.12 [[ 9.23389984e-01 -3.83713826e-01 -1.07068930e-02 9.13345498e+02] [ 3.83686087e-01 9.23452043e-01 -4.61635878e-03 3.59814897e+01] [ 1.16586629e-02 1.54613580e-04 9.99932024e-01 6.11896128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.639254154 meters 0.015259916302139909 Centerline is valid? [True, True] Translation: X:913.40, Y:36.00, Z:6.12 [[ 9.23311689e-01 -3.83879546e-01 -1.14899701e-02 9.13398836e+02] [ 3.83847567e-01 9.23383163e-01 -4.95775356e-03 3.60036910e+01] [ 1.25128251e-02 1.67154758e-04 9.99921698e-01 6.11846942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.699254154 meters 0.01705834057301208 Centerline is valid? [True, True] Translation: X:913.45, Y:36.03, Z:6.12 [[ 9.22790141e-01 -3.85087224e-01 -1.28912721e-02 9.13452261e+02] [ 3.85047021e-01 9.22880165e-01 -5.56706280e-03 3.60257399e+01] [ 1.40409041e-02 1.73484760e-04 9.99901407e-01 6.11558459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.759254154 meters 0.015532733270642982 Centerline is valid? [True, True] Translation: X:913.51, Y:36.05, Z:6.12 [[ 9.22922163e-01 -3.84742467e-01 -1.37082443e-02 9.13506752e+02] [ 3.84696901e-01 9.23023942e-01 -5.92433414e-03 3.60482320e+01] [ 1.49323806e-02 1.94180193e-04 9.99888487e-01 6.11592418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.819254154 meters 0.014707471768184087 Centerline is valid? [True, True] Translation: X:913.56, Y:36.07, Z:6.12 [[ 9.23168553e-01 -3.84113315e-01 -1.47235953e-02 9.13561139e+02] [ 3.84060622e-01 9.23285932e-01 -6.36601993e-03 3.60696032e+01] [ 1.60393614e-02 2.22156245e-04 9.99871336e-01 6.11621912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.879254154 meters 0.017591684162899197 Centerline is valid? [True, True] Translation: X:913.62, Y:36.09, Z:6.11 [[ 9.22181842e-01 -3.86443969e-01 -1.55470116e-02 9.13616505e+02] [ 3.86385489e-01 9.22312865e-01 -6.72555922e-03 3.60904967e+01] [ 1.69382607e-02 1.95048894e-04 9.99856518e-01 6.11371192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.939254154 meters 0.01468590155201785 Centerline is valid? [True, True] Translation: X:913.67, Y:36.11, Z:6.12 [[ 9.21849185e-01 -3.87314999e-01 -1.34600375e-02 9.13670912e+02] [ 3.87271204e-01 9.21947432e-01 -5.82652011e-03 3.61119696e+01] [ 1.46661456e-02 1.58487902e-04 9.99892434e-01 6.11720681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.999254154 meters 0.01582543219674214 Centerline is valid? [True, True] Translation: X:913.73, Y:36.13, Z:6.12 [[ 9.20186566e-01 -3.91294030e-01 -1.20692508e-02 9.13726862e+02] [ 3.91259115e-01 9.20265709e-01 -5.22787331e-03 3.61318915e+01] [ 1.31525533e-02 8.84143844e-05 9.99913498e-01 6.11750980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.059254154 meters 0.01591315699608764 Centerline is valid? [True, True] Translation: X:913.78, Y:36.15, Z:6.12 [[ 9.19046071e-01 -3.93979005e-01 -1.16130685e-02 9.13781948e+02] [ 3.93946851e-01 9.19119438e-01 -5.03362760e-03 3.61528407e+01] [ 1.26569406e-02 5.12039091e-05 9.99919896e-01 6.11776395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.119254154 meters 0.013656372324594492 Centerline is valid? [True, True] Translation: X:913.84, Y:36.18, Z:6.12 [[ 9.18857798e-01 -3.94427991e-01 -1.12652711e-02 9.13835625e+02] [ 3.94397726e-01 9.18926851e-01 -4.88632692e-03 3.61756297e+01] [ 1.22792642e-02 4.68423005e-05 9.99924606e-01 6.12006614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.179254154 meters 0.015306085227168292 Centerline is valid? [True, True] Translation: X:913.89, Y:36.20, Z:6.12 [[ 9.18315868e-01 -3.95678767e-01 -1.15879277e-02 9.13888993e+02] [ 3.95646793e-01 9.18388976e-01 -5.03024251e-03 3.61992428e+01] [ 1.26325852e-02 3.46251045e-05 9.99920205e-01 6.11890000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters 0.013889574541507863 Centerline is valid? [True, True] Translation: X:913.94, Y:36.23, Z:6.12 [[ 9.18593272e-01 -3.95037097e-01 -1.14931850e-02 9.13941512e+02] [ 3.95005543e-01 9.18665168e-01 -4.99305421e-03 3.62252596e+01] [ 1.25308304e-02 4.67142039e-05 9.99921485e-01 6.11992725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.299254154 meters 0.015225969858061902 Centerline is valid? [True, True] Translation: X:913.99, Y:36.25, Z:6.12 [[ 9.18113730e-01 -3.96123944e-01 -1.23693305e-02 9.13994210e+02] [ 3.96087436e-01 9.18197048e-01 -5.37810514e-03 3.62489057e+01] [ 1.34878790e-02 3.83757615e-05 9.99909034e-01 6.11847056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539999 meters 0.013685178729755066 Centerline is valid? [True, True] Translation: X:914.05, Y:36.27, Z:6.12 [[ 9.18126528e-01 -3.96118749e-01 -1.15592030e-02 9.14047136e+02] [ 3.96086834e-01 9.18199289e-01 -5.02840614e-03 3.62731184e+01] [ 1.26054979e-02 3.82649503e-05 9.99920547e-01 6.11973112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.419254154 meters 0.013627905263940015 Centerline is valid? [True, True] Translation: X:914.10, Y:36.30, Z:6.12 [[ 9.18118765e-01 -3.96174572e-01 -1.01804237e-02 9.14099534e+02] [ 3.96149799e-01 9.18175205e-01 -4.43055492e-03 3.62983447e+01] [ 1.11026859e-02 3.48027919e-05 9.99938363e-01 6.12182584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539999 meters 0.014499424215661 Centerline is valid? [True, True] Translation: X:914.15, Y:36.32, Z:6.12 [[ 9.18339932e-01 -3.95672191e-01 -9.76150795e-03 9.14151780e+02] [ 3.95649352e-01 9.18391809e-01 -4.25147110e-03 3.63243232e+01] [ 1.06470778e-02 4.21613870e-05 9.99943317e-01 6.12135222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.539254154 meters 0.014187280010682209 Centerline is valid? [True, True] Translation: X:914.20, Y:36.35, Z:6.12 [[ 9.18725809e-01 -3.94783047e-01 -9.44637278e-03 9.14204234e+02] [ 3.94761588e-01 9.18774370e-01 -4.11658956e-03 3.63492492e+01] [ 1.03042450e-02 5.29519547e-05 9.99946908e-01 6.12146981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539999 meters 0.013884713611895525 Centerline is valid? [True, True] Translation: X:914.26, Y:36.38, Z:6.12 [[ 9.19262191e-01 -3.93522738e-01 -9.84270034e-03 9.14257617e+02] [ 3.93499349e-01 9.19314881e-01 -4.29103643e-03 3.63752644e+01] [ 1.07371613e-02 7.14913828e-05 9.99942352e-01 6.12140226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.659254154 meters 0.014017101051268637 Centerline is valid? [True, True] Translation: X:914.31, Y:36.40, Z:6.12 [[ 9.19471049e-01 -3.93014760e-01 -1.06013779e-02 9.14311002e+02] [ 3.92987555e-01 9.19532159e-01 -4.62497440e-03 3.64002968e+01] [ 1.15659911e-02 8.63204978e-05 9.99933108e-01 6.12057005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539999 meters 0.01419064702810633 Centerline is valid? [True, True] Translation: X:914.36, Y:36.43, Z:6.12 [[ 9.19754926e-01 -3.92341803e-01 -1.08989277e-02 9.14363074e+02] [ 3.92312975e-01 9.19819493e-01 -4.75707255e-03 3.64261062e+01] [ 1.18914446e-02 9.95501369e-05 9.99929289e-01 6.11971789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.779254154 meters 0.014183823828251885 Centerline is valid? [True, True] Translation: X:914.42, Y:36.45, Z:6.12 [[ 9.19327800e-01 -3.93344786e-01 -1.07831062e-02 9.14416817e+02] [ 3.93316611e-01 9.19391033e-01 -4.70874974e-03 3.64486915e+01] [ 1.17660533e-02 8.77097702e-05 9.99930774e-01 6.12040137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.839254154 meters 0.017581265279235963 Centerline is valid? [True, True] Translation: X:914.47, Y:36.47, Z:6.12 [[ 9.18463914e-01 -3.95353141e-01 -1.09513478e-02 9.14470783e+02] [ 3.95324179e-01 9.18529199e-01 -4.78584367e-03 3.64718375e+01] [ 1.19512311e-02 6.62921224e-05 9.99928579e-01 6.11773445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.899254154 meters 0.013766936401098662 Centerline is valid? [True, True] Translation: X:914.52, Y:36.49, Z:6.12 [[ 9.18727509e-01 -3.94774049e-01 -9.65474516e-03 9.14524119e+02] [ 3.94751476e-01 9.18778235e-01 -4.22207808e-03 3.64945690e+01] [ 1.05373366e-02 6.77143693e-05 9.99944478e-01 6.12162112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.959254154 meters 0.01624090202093369 Centerline is valid? [True, True] Translation: X:914.58, Y:36.52, Z:6.12 [[ 9.18929238e-01 -3.94296563e-01 -9.96371347e-03 9.14576653e+02] [ 3.94272466e-01 9.18983250e-01 -4.35983295e-03 3.65184957e+01] [ 1.08755529e-02 7.79600883e-05 9.99940856e-01 6.11906577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.019254154 meters 0.014243665840039303 Centerline is valid? [True, True] Translation: X:914.63, Y:36.54, Z:6.12 [[ 9.20114531e-01 -3.91526836e-01 -9.79729313e-03 9.14629648e+02] [ 3.91503361e-01 9.20166683e-01 -4.28874920e-03 3.65434008e+01] [ 1.06943031e-02 1.10467263e-04 9.99942808e-01 6.12133161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.079254154 meters 0.015620975121448276 Centerline is valid? [True, True] Translation: X:914.68, Y:36.57, Z:6.12 [[ 9.21296007e-01 -3.88718561e-01 -1.05616055e-02 9.14683252e+02] [ 3.88691059e-01 9.21356530e-01 -4.62659787e-03 3.65678598e+01] [ 1.15294487e-02 1.57264515e-04 9.99933521e-01 6.11954397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.139254154 meters 0.01497952143006145 Centerline is valid? [True, True] Translation: X:914.74, Y:36.59, Z:6.12 [[ 9.21744927e-01 -3.87651063e-01 -1.06274236e-02 9.14737794e+02] [ 3.87623109e-01 9.21806174e-01 -4.65858603e-03 3.65909955e+01] [ 1.16023305e-02 1.74593053e-04 9.99932675e-01 6.12077204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.199254154 meters 0.016683239649098756 Centerline is valid? [True, True] Translation: X:914.79, Y:36.61, Z:6.12 [[ 9.21293495e-01 -3.88717725e-01 -1.08085906e-02 9.14792218e+02] [ 3.88688845e-01 9.21356881e-01 -4.74125465e-03 3.66134082e+01] [ 1.18015791e-02 1.66908464e-04 9.99930345e-01 6.11897479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.259254154 meters 0.014338820633789535 Centerline is valid? [True, True] Translation: X:914.85, Y:36.63, Z:6.12 [[ 9.20744309e-01 -3.90062292e-01 -9.01805079e-03 9.14847681e+02] [ 3.90042229e-01 9.20788462e-01 -3.95824078e-03 3.66340569e+01] [ 9.84767759e-03 1.27107048e-04 9.99951502e-01 6.12289683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.319254154 meters 0.014249828763044895 Centerline is valid? [True, True] Translation: X:914.90, Y:36.66, Z:6.12 [[ 9.19932549e-01 -3.91993475e-01 -8.07596474e-03 9.14901570e+02] [ 3.91977442e-01 9.19967992e-01 -3.54663454e-03 3.66562681e+01] [ 8.81988666e-03 9.70685535e-05 9.99961099e-01 6.12386092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.379254154 meters 0.015548373170496912 Centerline is valid? [True, True] Translation: X:914.96, Y:36.68, Z:6.12 [[ 9.19334507e-01 -3.93398426e-01 -7.85766521e-03 9.14956210e+02] [ 3.93383290e-01 9.19368083e-01 -3.45193068e-03 3.66793279e+01] [ 8.58207070e-03 8.24047991e-05 9.99963170e-01 6.12240204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.439254154 meters 0.014082445804291506 Centerline is valid? [True, True] Translation: X:915.01, Y:36.70, Z:6.12 [[ 9.19506334e-01 -3.93016372e-01 -6.79947686e-03 9.15008557e+02] [ 3.93005013e-01 9.19531471e-01 -2.98890286e-03 3.67049770e+01] [ 7.42702072e-03 7.60866185e-05 9.99972416e-01 6.12451397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.499254154 meters 0.01425713149030333 Centerline is valid? [True, True] Translation: X:915.06, Y:36.73, Z:6.12 [[ 9.19870336e-01 -3.92147265e-01 -7.68681666e-03 9.15061609e+02] [ 3.92132694e-01 9.19902448e-01 -3.38183257e-03 3.67308893e+01] [ 8.39729786e-03 9.65953377e-05 9.99964737e-01 6.12375942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.559254154 meters 0.015827987375914464 Centerline is valid? [True, True] Translation: X:915.11, Y:36.76, Z:6.12 [[ 9.20263025e-01 -3.91186404e-01 -9.44260366e-03 9.15114554e+02] [ 3.91164332e-01 9.20311458e-01 -4.15757923e-03 3.67569400e+01] [ 1.03165248e-02 1.32456680e-04 9.99946774e-01 6.11959881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.619254154 meters 0.014828802419371174 Centerline is valid? [True, True] Translation: X:915.17, Y:36.78, Z:6.12 [[ 9.20710560e-01 -3.90122036e-01 -9.84186060e-03 9.15166750e+02] [ 3.90097973e-01 9.20763147e-01 -4.33572064e-03 3.67814195e+01] [ 1.07534827e-02 1.52653911e-04 9.99942168e-01 6.12122926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.679254154 meters 0.014635031342874607 Centerline is valid? [True, True] Translation: X:915.22, Y:36.81, Z:6.12 [[ 9.20530542e-01 -3.90540739e-01 -1.00723959e-02 9.15219763e+02] [ 3.90515537e-01 9.20585633e-01 -4.43930608e-03 3.68052360e+01] [ 1.10062328e-02 1.53089749e-04 9.99939418e-01 6.12172985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters 0.017257520533866966 Centerline is valid? [True, True] Translation: X:915.27, Y:36.83, Z:6.12 [[ 9.20020594e-01 -3.91757118e-01 -9.40572440e-03 9.15272114e+02] [ 3.91735181e-01 9.20068662e-01 -4.14779631e-03 3.68292141e+01] [ 1.02788410e-02 1.31504869e-04 9.99947163e-01 6.11935593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.799254154 meters 0.01559541433127796 Centerline is valid? [True, True] Translation: X:915.32, Y:36.85, Z:6.12 [[ 9.19569790e-01 -3.92835444e-01 -8.46846168e-03 9.15324789e+02] [ 3.92817700e-01 9.19608777e-01 -3.73530217e-03 3.68533692e+01] [ 9.25503077e-03 1.08309393e-04 9.99957165e-01 6.12252628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539999 meters 0.014266148615355204 Centerline is valid? [True, True] Translation: X:915.38, Y:36.88, Z:6.12 [[ 9.19369587e-01 -3.93330599e-01 -7.11351307e-03 9.15378514e+02] [ 3.93318087e-01 9.19397102e-01 -3.13852419e-03 3.68762336e+01] [ 7.77462091e-03 8.75903312e-05 9.99969773e-01 6.12479741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.919254154 meters 0.016417767186669836 Centerline is valid? [True, True] Translation: X:915.43, Y:36.90, Z:6.12 [[ 9.18946049e-01 -3.94325420e-01 -6.75448518e-03 9.15431502e+02] [ 3.94314149e-01 9.18970869e-01 -2.98232706e-03 3.69012703e+01] [ 7.38318248e-03 7.72085916e-05 9.99972741e-01 6.12224885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539999 meters 0.015577512529231726 Centerline is valid? [True, True] Translation: X:915.48, Y:36.92, Z:6.12 [[ 9.18857334e-01 -3.94513401e-01 -7.77022580e-03 9.15484173e+02] [ 3.94498467e-01 9.18890183e-01 -3.43382174e-03 3.69249713e+01] [ 8.49467290e-03 8.98501210e-05 9.99963916e-01 6.12151669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.039254154 meters 0.0148555143403779 Centerline is valid? [True, True] Translation: X:915.54, Y:36.95, Z:6.12 [[ 9.18821484e-01 -3.94558278e-01 -9.53126706e-03 9.15536165e+02] [ 3.94535777e-01 9.18870912e-01 -4.21527033e-03 3.69493737e+01] [ 1.04211739e-02 1.12655090e-04 9.99945692e-01 6.12061034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539999 meters 0.014190924964740805 Centerline is valid? [True, True] Translation: X:915.59, Y:36.97, Z:6.12 [[ 9.18868203e-01 -3.94428962e-01 -1.03450594e-02 9.15590481e+02] [ 3.94402419e-01 9.18926427e-01 -4.57751788e-03 3.69725669e+01] [ 1.13118541e-02 1.26019185e-04 9.99936011e-01 6.12110612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.159254154 meters 0.01399082749809851 Centerline is valid? [True, True] Translation: X:915.64, Y:37.00, Z:6.12 [[ 9.18351427e-01 -3.95612394e-01 -1.10222312e-02 9.15644084e+02] [ 3.95582304e-01 9.18417562e-01 -4.88079712e-03 3.69952989e+01] [ 1.20539145e-02 1.22087411e-04 9.99927341e-01 6.12062435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539999 meters 0.013720800521789235 Centerline is valid? [True, True] Translation: X:915.70, Y:37.02, Z:6.12 [[ 9.17553255e-01 -3.97450546e-01 -1.13616690e-02 9.15697697e+02] [ 3.97418681e-01 9.17623590e-01 -5.03386186e-03 3.70176939e+01] [ 1.24264466e-02 1.03496847e-04 9.99922783e-01 6.12101141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.279254154 meters 0.0133188650410251 Centerline is valid? [True, True] Translation: X:915.75, Y:37.04, Z:6.12 [[ 9.15594430e-01 -4.01969048e-01 -1.03790074e-02 9.15752938e+02] [ 4.01942725e-01 9.15653255e-01 -4.60034402e-03 3.70379345e+01] [ 1.13527678e-02 4.02828361e-05 9.99935554e-01 6.12260396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.339254154 meters 0.013171619313211907 Centerline is valid? [True, True] Translation: X:915.81, Y:37.06, Z:6.12 [[ 9.13375397e-01 -4.07025788e-01 -8.68284480e-03 9.15808242e+02] [ 4.07007572e-01 9.13416667e-01 -3.85083792e-03 3.70595325e+01] [ 9.49844549e-03 -1.67229655e-05 9.99954889e-01 6.12459724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.399254154 meters 0.013441172735011605 Centerline is valid? [True, True] Translation: X:915.86, Y:37.08, Z:6.12 [[ 9.11585628e-01 -4.11023642e-01 -8.43847714e-03 9.15862022e+02] [ 4.11006588e-01 9.11624683e-01 -3.74462939e-03 3.70816964e+01] [ 9.23185526e-03 -5.47193620e-05 9.99957384e-01 6.12484062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.459254154 meters 0.01628116155066276 Centerline is valid? [True, True] Translation: X:915.92, Y:37.11, Z:6.12 [[ 9.10142739e-01 -4.14149490e-01 -1.09724428e-02 9.15915878e+02] [ 4.14120849e-01 9.10208871e-01 -4.87179759e-03 3.71053068e+01] [ 1.20048672e-02 -1.09886108e-04 9.99927933e-01 6.12135875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.519254154 meters 0.01419045099773711 Centerline is valid? [True, True] Translation: X:915.97, Y:37.13, Z:6.12 [[ 9.08943667e-01 -4.16731472e-01 -1.25015890e-02 9.15969725e+02] [ 4.16694481e-01 9.09029622e-01 -5.55472360e-03 3.71297472e+01] [ 1.36791428e-02 -1.60412294e-04 9.99906423e-01 6.12191317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.579254154 meters 0.014754665722024489 Centerline is valid? [True, True] Translation: X:916.02, Y:37.15, Z:6.12 [[ 9.08105011e-01 -4.18491490e-01 -1.44969697e-02 9.16022855e+02] [ 4.18441924e-01 9.08220693e-01 -6.44432191e-03 3.71539882e+01] [ 1.58633417e-02 -2.14018870e-04 9.99874146e-01 6.12042985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.639254154 meters 0.016354098045121994 Centerline is valid? [True, True] Translation: X:916.08, Y:37.18, Z:6.12 [[ 9.06954791e-01 -4.20913895e-01 -1.62634702e-02 9.16075234e+02] [ 4.20851869e-01 9.07100552e-01 -7.23135571e-03 3.71777547e+01] [ 1.77963809e-02 -2.85999112e-04 9.99841591e-01 6.11844692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.699254154 meters 0.01755692349004561 Centerline is valid? [True, True] Translation: X:916.13, Y:37.20, Z:6.12 [[ 9.05242907e-01 -4.24587869e-01 -1.61375408e-02 9.16129993e+02] [ 4.24527322e-01 9.05386667e-01 -7.17884592e-03 3.72000281e+01] [ 1.76587651e-02 -3.52227608e-04 9.99844010e-01 6.12033331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.759254154 meters 0.017905895397067828 Centerline is valid? [True, True] Translation: X:916.18, Y:37.22, Z:6.12 [[ 9.04175726e-01 -4.26962392e-01 -1.30143273e-02 9.16183503e+02] [ 4.26923230e-01 9.04269326e-01 -5.79157150e-03 3.72224562e+01] [ 1.42412402e-02 -3.19520292e-04 9.99898537e-01 6.12379186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.819254154 meters 0.01655543610435369 Centerline is valid? [True, True] Translation: X:916.24, Y:37.25, Z:6.13 [[ 9.04305948e-01 -4.26720983e-01 -1.18302937e-02 9.16235843e+02] [ 4.26688573e-01 9.04383282e-01 -5.26688759e-03 3.72500324e+01] [ 1.29466113e-02 -2.84973357e-04 9.99916149e-01 6.12617416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.879254154 meters 0.016109598773979918 Centerline is valid? [True, True] Translation: X:916.29, Y:37.28, Z:6.12 [[ 9.06747402e-01 -4.21451461e-01 -1.37045520e-02 9.16286526e+02] [ 4.21407301e-01 9.06850930e-01 -6.10554477e-03 3.72820182e+01] [ 1.50011765e-02 -2.39011393e-04 9.99887447e-01 6.12485451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.939254154 meters 0.017935287118067182 Centerline is valid? [True, True] Translation: X:916.34, Y:37.31, Z:6.12 [[ 9.10790047e-01 -4.12523825e-01 -1.68992282e-02 9.16336581e+02] [ 4.12455071e-01 9.10946805e-01 -7.53211244e-03 3.73125128e+01] [ 1.85014738e-02 -1.09999345e-04 9.99828827e-01 6.12273944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.999254154 meters 0.01665182782138768 Centerline is valid? [True, True] Translation: X:916.39, Y:37.34, Z:6.12 [[ 9.13753020e-01 -4.05903315e-01 -1.72602683e-02 9.16388333e+02] [ 4.05830330e-01 9.13916024e-01 -7.69706778e-03 3.73420324e+01] [ 1.88987011e-02 2.84785537e-05 9.99821403e-01 6.12270131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.059254154 meters 0.015409977525135735 Centerline is valid? [True, True] Translation: X:916.44, Y:37.37, Z:6.12 [[ 9.17711054e-01 -3.96911287e-01 -1.63661699e-02 9.16439104e+02] [ 3.96844146e-01 9.17856953e-01 -7.30320050e-03 3.73733853e+01] [ 1.79205255e-02 2.07409123e-04 9.99839393e-01 6.12193884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.119254154 meters 0.016574260292575024 Centerline is valid? [True, True] Translation: X:916.49, Y:37.40, Z:6.12 [[ 9.18454247e-01 -3.95165050e-01 -1.69227414e-02 9.16491812e+02] [ 3.95092872e-01 9.18610102e-01 -7.55671816e-03 3.73990584e+01] [ 1.85315521e-02 2.54445403e-04 9.99828244e-01 6.12134361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.179254154 meters 0.015221992493486079 Centerline is valid? [True, True] Translation: X:916.54, Y:37.42, Z:6.12 [[ 9.19776375e-01 -3.92193082e-01 -1.40002106e-02 9.16544637e+02] [ 3.92143296e-01 9.19882882e-01 -6.25445983e-03 3.74239780e+01] [ 1.53315100e-02 2.62615664e-04 9.99882431e-01 6.12325324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters 0.01668106067624781 Centerline is valid? [True, True] Translation: X:916.60, Y:37.45, Z:6.12 [[ 9.20113008e-01 -3.91394897e-01 -1.42157381e-02 9.16598802e+02] [ 3.91343417e-01 9.20222774e-01 -6.35415813e-03 3.74473896e+01] [ 1.55686311e-02 2.83308013e-04 9.99878761e-01 6.12358696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.299254154 meters 0.017801602232017873 Centerline is valid? [True, True] Translation: X:916.65, Y:37.47, Z:6.12 [[ 9.20120234e-01 -3.91340598e-01 -1.52082750e-02 9.16653678e+02] [ 3.91281592e-01 9.20245859e-01 -6.80252748e-03 3.74691199e+01] [ 1.66574572e-02 3.08425141e-04 9.99861207e-01 6.12343778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539999 meters 0.015157821087681489 Centerline is valid? [True, True] Translation: X:916.71, Y:37.49, Z:6.12 [[ 9.19588074e-01 -3.92671999e-01 -1.29025281e-02 9.16708290e+02] [ 3.92629609e-01 9.19678553e-01 -5.77483174e-03 3.74911100e+01] [ 1.41337931e-02 2.44551820e-04 9.99900083e-01 6.12466461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.419254154 meters 0.014341500507521497 Centerline is valid? [True, True] Translation: X:916.76, Y:37.51, Z:6.12 [[ 9.17434181e-01 -3.97640070e-01 -1.40320623e-02 9.16763787e+02] [ 3.97590468e-01 9.17541465e-01 -6.28325427e-03 3.75086324e+01] [ 1.53734727e-02 1.85458012e-04 9.99881804e-01 6.12476073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539999 meters 0.013501962306944726 Centerline is valid? [True, True] Translation: X:916.82, Y:37.53, Z:6.12 [[ 9.15192849e-01 -4.02770025e-01 -1.40838911e-02 9.16819758e+02] [ 4.02720614e-01 9.15301206e-01 -6.30950727e-03 3.75273441e+01] [ 1.54322829e-02 1.02542664e-04 9.99880910e-01 6.12493271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.539254154 meters 0.015327026067497885 Centerline is valid? [True, True] Translation: X:916.88, Y:37.55, Z:6.13 [[ 9.11844370e-01 -4.10311156e-01 -1.35867686e-02 9.16875364e+02] [ 4.10265947e-01 9.11945588e-01 -6.09084182e-03 3.75477297e+01] [ 1.48895340e-02 -2.02886578e-05 9.99889145e-01 6.12580369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539999 meters 0.013321218502231046 Centerline is valid? [True, True] Translation: X:916.93, Y:37.57, Z:6.13 [[ 9.10635604e-01 -4.13010727e-01 -1.28427494e-02 9.16928383e+02] [ 4.12970544e-01 9.10726159e-01 -5.76138798e-03 3.75712174e+01] [ 1.40757428e-02 -5.71521715e-05 9.99900930e-01 6.12720711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.659254154 meters 0.013773622605320428 Centerline is valid? [True, True] Translation: X:916.98, Y:37.59, Z:6.13 [[ 9.08454743e-01 -4.17757045e-01 -1.37488738e-02 9.16983352e+02] [ 4.17711465e-01 9.08558767e-01 -6.17246812e-03 3.75931469e+01] [ 1.50702518e-02 -1.35654264e-04 9.99886428e-01 6.12709633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539999 meters 0.013959729435214199 Centerline is valid? [True, True] Translation: X:917.04, Y:37.62, Z:6.13 [[ 9.07586663e-01 -4.19618188e-01 -1.43883630e-02 9.17036578e+02] [ 4.19568432e-01 9.07700692e-01 -6.46403576e-03 3.76173701e+01] [ 1.57727541e-02 -1.70230282e-04 9.99875588e-01 6.12722318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.779254154 meters 0.016171429653948372 Centerline is valid? [True, True] Translation: X:917.09, Y:37.64, Z:6.13 [[ 9.06722812e-01 -4.21448210e-01 -1.53345181e-02 9.17088825e+02] [ 4.21391876e-01 9.06852447e-01 -6.89387480e-03 3.76442632e+01] [ 1.68115564e-02 -2.11007786e-04 9.99858654e-01 6.12570578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.839254154 meters 0.016864855476553708 Centerline is valid? [True, True] Translation: X:917.14, Y:37.67, Z:6.13 [[ 9.07108583e-01 -4.20623536e-01 -1.51611391e-02 9.17140730e+02] [ 4.20568278e-01 9.07235254e-01 -6.82044252e-03 3.76715903e+01] [ 1.66235586e-02 -1.89412228e-04 9.99861801e-01 6.12639301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.899254154 meters 0.013732785758613322 Centerline is valid? [True, True] Translation: X:917.19, Y:37.70, Z:6.13 [[ 9.08777516e-01 -4.17084757e-01 -1.27957936e-02 9.17192048e+02] [ 4.17044996e-01 9.08867589e-01 -5.75991091e-03 3.77007190e+01] [ 1.40320531e-02 -1.01944142e-04 9.99901541e-01 6.12984311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.959254154 meters 0.0144948510453023 Centerline is valid? [True, True] Translation: X:917.24, Y:37.73, Z:6.13 [[ 9.09726147e-01 -4.15044697e-01 -1.16720343e-02 9.17244325e+02] [ 4.15011402e-01 9.09801020e-01 -5.25740864e-03 3.77281073e+01] [ 1.28012883e-02 -6.12252188e-05 9.99918058e-01 6.13005849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.019254154 meters 0.013427133238398382 Centerline is valid? [True, True] Translation: X:917.30, Y:37.76, Z:6.13 [[ 9.11272301e-01 -4.11674104e-01 -1.03550254e-02 9.17295754e+02] [ 4.11647648e-01 9.11331132e-01 -4.66711173e-03 3.77566676e+01] [ 1.13581860e-02 -9.61219699e-06 9.99935494e-01 6.13086871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.079254154 meters 0.013506216776748192 Centerline is valid? [True, True] Translation: X:917.35, Y:37.78, Z:6.13 [[ 9.12301977e-01 -4.09383450e-01 -1.05021044e-02 9.17348271e+02] [ 4.09356045e-01 9.12362423e-01 -4.73684049e-03 3.77823849e+01] [ 1.15209095e-02 2.23290315e-05 9.99933632e-01 6.13036662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.139254154 meters 0.013716223187268846 Centerline is valid? [True, True] Translation: X:917.40, Y:37.81, Z:6.13 [[ 9.13503549e-01 -4.06667901e-01 -1.15101686e-02 9.17400970e+02] [ 4.06634730e-01 9.13576058e-01 -5.19445818e-03 3.78075759e+01] [ 1.26278338e-02 6.47216928e-05 9.99920264e-01 6.12981547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.199254154 meters 0.014299705268314925 Centerline is valid? [True, True] Translation: X:917.45, Y:37.83, Z:6.13 [[ 9.13763731e-01 -4.06044691e-01 -1.27887940e-02 9.17453989e+02] [ 4.06003640e-01 9.13853217e-01 -5.77429369e-03 3.78323790e+01] [ 1.40317018e-02 8.40432377e-05 9.99901547e-01 6.12873818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.259254154 meters 0.013876896546456338 Centerline is valid? [True, True] Translation: X:917.51, Y:37.85, Z:6.13 [[ 9.12719137e-01 -4.08344882e-01 -1.40795484e-02 9.17506969e+02] [ 4.08295348e-01 9.12827724e-01 -6.36037467e-03 3.78537472e+01] [ 1.54494285e-02 5.66215810e-05 9.99880649e-01 6.12749967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.319254154 meters 0.01389434204531972 Centerline is valid? [True, True] Translation: X:917.56, Y:37.87, Z:6.13 [[ 9.10455294e-01 -4.13345594e-01 -1.47165758e-02 9.17561902e+02] [ 4.13292064e-01 9.10574225e-01 -6.65206746e-03 3.78733359e+01] [ 1.61501374e-02 -2.58339459e-05 9.99869578e-01 6.12744321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.379254154 meters 0.0146466525719861 Centerline is valid? [True, True] Translation: X:917.62, Y:37.89, Z:6.13 [[ 9.06202836e-01 -4.22582267e-01 -1.48542167e-02 9.17618869e+02] [ 4.22528917e-01 9.06324551e-01 -6.71736771e-03 3.78889903e+01] [ 1.63013817e-02 -1.89038398e-04 9.99867106e-01 6.12859872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.439254154 meters 0.01802575434554705 Centerline is valid? [True, True] Translation: X:917.68, Y:37.90, Z:6.13 [[ 9.02070297e-01 -4.31331780e-01 -1.49021760e-02 9.17676554e+02] [ 4.31279248e-01 9.02193314e-01 -6.74056973e-03 3.79044861e+01] [ 1.63520655e-02 -3.46531505e-04 9.99866236e-01 6.12788427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.499254154 meters 0.01776609082791488 Centerline is valid? [True, True] Translation: X:917.73, Y:37.93, Z:6.13 [[ 8.99736304e-01 -4.36132673e-01 -1.62134263e-02 9.17731847e+02] [ 4.36071243e-01 8.99882253e-01 -7.33496485e-03 3.79254639e+01] [ 1.77891924e-02 -4.70674794e-04 9.99841649e-01 6.12865261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.559254154 meters 0.02001187240356977 Centerline is valid? [True, True] Translation: X:917.79, Y:37.95, Z:6.13 [[ 8.99203820e-01 -4.37155419e-01 -1.81005646e-02 9.17785171e+02] [ 4.37078981e-01 8.99385815e-01 -8.19274024e-03 3.79508530e+01] [ 1.98608918e-02 -5.44432997e-04 9.99802605e-01 6.12660056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.619254154 meters 0.019978959353290433 Centerline is valid? [True, True] Translation: X:917.84, Y:37.97, Z:6.13 [[ 8.97987148e-01 -4.39586117e-01 -1.95736533e-02 9.17839777e+02] [ 4.39497189e-01 8.98200219e-01 -8.86493216e-03 3.79748547e+01] [ 2.14779608e-02 -6.41970471e-04 9.99769116e-01 6.12670475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.679254154 meters 0.020713589876226908 Centerline is valid? [True, True] Translation: X:917.89, Y:38.00, Z:6.13 [[ 8.95895735e-01 -4.43872780e-01 -1.86490504e-02 9.17893853e+02] [ 4.43792892e-01 8.96089537e-01 -8.45055779e-03 3.80002061e+01] [ 2.04621915e-02 -7.05497335e-04 9.99790379e-01 6.12840014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters 0.021727905784113242 Centerline is valid? [True, True] Translation: X:917.95, Y:38.03, Z:6.13 [[ 8.95131169e-01 -4.45480803e-01 -1.69423709e-02 9.17946308e+02] [ 4.45415071e-01 8.95291240e-01 -7.68175185e-03 3.80263931e+01] [ 1.85904292e-02 -6.70211812e-04 9.99826958e-01 6.12916463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.799254154 meters 0.022023517673969407 Centerline is valid? [True, True] Translation: X:918.00, Y:38.05, Z:6.13 [[ 8.96641309e-01 -4.42534840e-01 -1.40455909e-02 9.17997771e+02] [ 4.42489271e-01 8.96751171e-01 -6.37045924e-03 3.80544407e+01] [ 1.54145502e-02 -5.03006360e-04 9.99881062e-01 6.13140718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539999 meters 0.017138347419743027 Centerline is valid? [True, True] Translation: X:918.05, Y:38.09, Z:6.13 [[ 9.01757456e-01 -4.32052132e-01 -1.28236511e-02 9.18046968e+02] [ 4.32013056e-01 9.01848584e-01 -5.81812487e-03 3.80883165e+01] [ 1.40787249e-02 -2.93447230e-04 9.99900847e-01 6.13420952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.919254154 meters 0.016313506101331057 Centerline is valid? [True, True] Translation: X:918.09, Y:38.13, Z:6.13 [[ 9.08180717e-01 -4.18380283e-01 -1.28733478e-02 9.18094302e+02] [ 4.18339475e-01 9.08271949e-01 -5.84386786e-03 3.81282438e+01] [ 1.41374597e-02 -7.81414464e-05 9.99900058e-01 6.13361334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539999 meters 0.014286299636400936 Centerline is valid? [True, True] Translation: X:918.14, Y:38.16, Z:6.14 [[ 9.13151396e-01 -4.07431089e-01 -1.24271900e-02 9.18142951e+02] [ 4.07391989e-01 9.13235949e-01 -5.64521409e-03 3.81615191e+01] [ 1.36489924e-02 9.21974830e-05 9.99906844e-01 6.13533870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.039254154 meters 0.01560471897704466 Centerline is valid? [True, True] Translation: X:918.19, Y:38.19, Z:6.14 [[ 9.17165411e-01 -3.98318899e-01 -1.22336984e-02 9.18193719e+02] [ 3.98280156e-01 9.17246970e-01 -5.56005581e-03 3.81932402e+01] [ 1.34359981e-02 2.27051561e-04 9.99909707e-01 6.13571654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539999 meters 0.018986394443834615 Centerline is valid? [True, True] Translation: X:918.25, Y:38.22, Z:6.13 [[ 9.19682517e-01 -3.92436845e-01 -1.33187820e-02 9.18245418e+02] [ 3.92390290e-01 9.19778890e-01 -6.05432795e-03 3.82221288e+01] [ 1.46262758e-02 3.41898858e-04 9.99892972e-01 6.13362411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.159254154 meters 0.020197738351863687 Centerline is valid? [True, True] Translation: X:918.30, Y:38.25, Z:6.13 [[ 9.20988934e-01 -3.89344358e-01 -1.37968747e-02 9.18299094e+02] [ 3.89294027e-01 9.21092181e-01 -6.27337581e-03 3.82490510e+01] [ 1.51506969e-02 4.06668788e-04 9.99885139e-01 6.13321292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539999 meters 0.019085401438638114 Centerline is valid? [True, True] Translation: X:918.35, Y:38.27, Z:6.13 [[ 9.19848571e-01 -3.92045724e-01 -1.33699759e-02 9.18351720e+02] [ 3.91998718e-01 9.19945665e-01 -6.08105788e-03 3.82728566e+01] [ 1.46837041e-02 3.52639005e-04 9.99892126e-01 6.13380515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.279254154 meters 0.015919221253478753 Centerline is valid? [True, True] Translation: X:918.41, Y:38.29, Z:6.14 [[ 9.17319240e-01 -3.97928795e-01 -1.33448724e-02 9.18409108e+02] [ 3.97882546e-01 9.17416267e-01 -6.07238308e-03 3.82899356e+01] [ 1.46591791e-02 2.60622023e-04 9.99892514e-01 6.13573408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.339254154 meters 0.016896648293962806 Centerline is valid? [True, True] Translation: X:918.47, Y:38.31, Z:6.13 [[ 9.14515836e-01 -4.04231584e-01 -1.60503357e-02 9.18465116e+02] [ 4.04165555e-01 9.14656650e-01 -7.30862737e-03 3.83091287e+01] [ 1.76349243e-02 1.96862617e-04 9.99844473e-01 6.13332143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.399254154 meters 0.014271337588829737 Centerline is valid? [True, True] Translation: X:918.52, Y:38.32, Z:6.13 [[ 9.10033826e-01 -4.14159562e-01 -1.76151075e-02 9.18522808e+02] [ 4.14081774e-01 9.10204294e-01 -8.02670153e-03 3.83240461e+01] [ 1.93576817e-02 1.04749408e-05 9.99812622e-01 6.13370677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.459254154 meters 0.01462851467415658 Centerline is valid? [True, True] Translation: X:918.58, Y:38.34, Z:6.13 [[ 9.06706101e-01 -4.21316412e-01 -1.94043256e-02 9.18579962e+02] [ 4.21223518e-01 9.06913700e-01 -8.84811674e-03 3.83409062e+01] [ 2.13259055e-02 -1.50916870e-04 9.99772566e-01 6.13469261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.519254154 meters 0.016208867930467295 Centerline is valid? [True, True] Translation: X:918.64, Y:38.35, Z:6.14 [[ 9.01848762e-01 -4.31492980e-01 -2.19686054e-02 9.18638732e+02] [ 4.31376838e-01 9.02116187e-01 -1.00204387e-02 3.83548624e+01] [ 2.41419835e-02 -4.39827294e-04 9.99708443e-01 6.13667781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.579254154 meters 0.018920026501172898 Centerline is valid? [True, True] Translation: X:918.70, Y:38.37, Z:6.14 [[ 8.97322738e-01 -4.40782014e-01 -2.28718273e-02 9.18696579e+02] [ 4.40659071e-01 8.97613895e-01 -1.04345057e-02 3.83682169e+01] [ 2.51294125e-02 -7.15558932e-04 9.99683950e-01 6.13861391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.639254154 meters 0.02107232720059521 Centerline is valid? [True, True] Translation: X:918.75, Y:38.39, Z:6.14 [[ 8.94716326e-01 -4.46073460e-01 -2.23867065e-02 9.18753410e+02] [ 4.45957288e-01 8.94995953e-01 -1.02147883e-02 3.83858450e+01] [ 2.45925576e-02 -8.44177056e-04 9.99697201e-01 6.14059549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.699254154 meters 0.021530885141569377 Centerline is valid? [True, True] Translation: X:918.81, Y:38.41, Z:6.14 [[ 8.92603659e-01 -4.50296616e-01 -2.21735043e-02 9.18809323e+02] [ 4.50183846e-01 8.92878524e-01 -1.01215522e-02 3.84072534e+01] [ 2.43559465e-02 -9.47618880e-04 9.99702901e-01 6.14372411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.759254154 meters 0.021332046286519857 Centerline is valid? [True, True] Translation: X:918.86, Y:38.43, Z:6.14 [[ 8.94245993e-01 -4.47025995e-01 -2.21779830e-02 9.18862168e+02] [ 4.46912110e-01 8.94520557e-01 -1.01261995e-02 3.84323118e+01] [ 2.43653361e-02 -8.56295802e-04 9.99702754e-01 6.14478740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.819254154 meters 0.02132426613624315 Centerline is valid? [True, True] Translation: X:918.91, Y:38.46, Z:6.15 [[ 8.96862700e-01 -4.41725995e-01 -2.27033633e-02 9.18914609e+02] [ 4.41604827e-01 8.97149720e-01 -1.03709211e-02 3.84613392e+01] [ 2.49494214e-02 -7.24622538e-04 9.99688452e-01 6.14543295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.879254154 meters 0.016362014033382236 Centerline is valid? [True, True] Translation: X:918.96, Y:38.50, Z:6.15 [[ 9.01794863e-01 -4.31670129e-01 -2.06621572e-02 9.18963706e+02] [ 4.31566998e-01 9.02031451e-01 -9.44388884e-03 3.84968211e+01] [ 2.27145604e-02 -4.00654715e-04 9.99741911e-01 6.14833031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.939254154 meters 0.014535407424842741 Centerline is valid? [True, True] Translation: X:919.01, Y:38.53, Z:6.15 [[ 9.04767685e-01 -4.25429670e-01 -2.01254218e-02 9.19013724e+02] [ 4.25330218e-01 9.04991459e-01 -9.20134946e-03 3.85280750e+01] [ 2.21278619e-02 -2.34866383e-04 9.99755121e-01 6.14786901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.999254154 meters 0.013863836221979987 Centerline is valid? [True, True] Translation: X:919.07, Y:38.56, Z:6.15 [[ 9.05441485e-01 -4.23977512e-01 -2.04642776e-02 9.19065557e+02] [ 4.23874202e-01 9.05672695e-01 -9.36114560e-03 3.85560986e+01] [ 2.25028526e-02 -1.98309749e-04 9.99746759e-01 6.14842967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.059254154 meters 0.013961341243530184 Centerline is valid? [True, True] Translation: X:919.12, Y:38.58, Z:6.15 [[ 9.05166611e-01 -4.24579255e-01 -2.01460263e-02 9.19117578e+02] [ 4.24479136e-01 9.05390753e-01 -9.22218383e-03 3.85815322e+01] [ 2.21555738e-02 -2.03954932e-04 9.99754514e-01 6.14824533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.119254154 meters 0.014928943449876978 Centerline is valid? [True, True] Translation: X:919.17, Y:38.61, Z:6.15 [[ 9.04582926e-01 -4.25844056e-01 -1.96613868e-02 9.19169255e+02] [ 4.25748850e-01 9.04796547e-01 -9.00699523e-03 3.86076084e+01] [ 2.16251303e-02 -2.23238728e-04 9.99766125e-01 6.14783707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.179254154 meters 0.014465382104809812 Centerline is valid? [True, True] Translation: X:919.22, Y:38.63, Z:6.15 [[ 9.04178041e-01 -4.26777965e-01 -1.79621837e-02 9.19221604e+02] [ 4.26698628e-01 9.04356412e-01 -8.23172597e-03 3.86312662e+01] [ 1.97573353e-02 -2.21493290e-04 9.99804780e-01 6.14872987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters 0.016566208116847954 Centerline is valid? [True, True] Translation: X:919.27, Y:38.66, Z:6.15 [[ 9.04239884e-01 -4.26658880e-01 -1.76757384e-02 9.19273816e+02] [ 4.26581944e-01 9.04412603e-01 -8.10492303e-03 3.86563998e+01] [ 1.94441980e-02 -2.11356179e-04 9.99810921e-01 6.14883956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.299254154 meters 0.013872008496776137 Centerline is valid? [True, True] Translation: X:919.32, Y:38.69, Z:6.15 [[ 9.06566989e-01 -4.21737600e-01 -1.65436247e-02 9.19323910e+02] [ 4.21669329e-01 9.06717921e-01 -7.58876963e-03 3.86853843e+01] [ 1.82008705e-02 -9.62111082e-05 9.99834346e-01 6.14830964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539999 meters 0.014588917893394983 Centerline is valid? [True, True] Translation: X:919.37, Y:38.72, Z:6.15 [[ 9.09185485e-01 -4.16002134e-01 -1.79994041e-02 9.19373903e+02] [ 4.15920100e-01 9.09363637e-01 -8.26115657e-03 3.87162727e+01] [ 1.98046623e-02 2.46096995e-05 9.99803868e-01 6.14681862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.419254154 meters 0.013583138804311015 Centerline is valid? [True, True] Translation: X:919.43, Y:38.74, Z:6.15 [[ 9.11393415e-01 -4.11075742e-01 -1.94622213e-02 9.19425431e+02] [ 4.10978571e-01 9.11601181e-01 -8.93874803e-03 3.87442926e+01] [ 2.14162864e-02 1.48160169e-04 9.99770634e-01 6.14648672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539999 meters 0.017108168577993677 Centerline is valid? [True, True] Translation: X:919.48, Y:38.77, Z:6.14 [[ 9.13312712e-01 -4.06706248e-01 -2.12112598e-02 9.19477031e+02] [ 4.06589490e-01 9.13558947e-01 -9.74871493e-03 3.87728490e+01] [ 2.33425994e-02 2.79349988e-04 9.99727485e-01 6.14430929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.539254154 meters 0.01625899325684769 Centerline is valid? [True, True] Translation: X:919.53, Y:38.80, Z:6.14 [[ 9.14007234e-01 -4.05162461e-01 -2.08364217e-02 9.19530370e+02] [ 4.05049244e-01 9.14244649e-01 -9.58285901e-03 3.87984716e+01] [ 2.29322018e-02 3.19025610e-04 9.99736972e-01 6.14474162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539999 meters 0.014167762842932244 Centerline is valid? [True, True] Translation: X:919.58, Y:38.82, Z:6.14 [[ 9.13622342e-01 -4.06113294e-01 -1.91365647e-02 9.19584990e+02] [ 4.06017886e-01 9.13822694e-01 -8.80682546e-03 3.88215057e+01] [ 2.10639960e-02 2.76324949e-04 9.99778091e-01 6.14461804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.659254154 meters 0.013309333191395947 Centerline is valid? [True, True] Translation: X:919.64, Y:38.84, Z:6.15 [[ 9.10396589e-01 -4.13341093e-01 -1.80884673e-02 9.19641718e+02] [ 4.13257216e-01 9.10576263e-01 -8.32728983e-03 3.88383158e+01] [ 1.99129401e-02 1.05946608e-04 9.99801712e-01 6.14520431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539999 meters 0.013844095280044143 Centerline is valid? [True, True] Translation: X:919.70, Y:38.85, Z:6.15 [[ 9.05225729e-01 -4.24647647e-01 -1.55163172e-02 9.19700312e+02] [ 4.24587524e-01 9.05358692e-01 -7.14650680e-03 3.88526075e+01] [ 1.70825800e-02 -1.18832877e-04 9.99854075e-01 6.14848064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.779254154 meters 0.01651671034946404 Centerline is valid? [True, True] Translation: X:919.76, Y:38.87, Z:6.15 [[ 9.01811211e-01 -4.31909356e-01 -1.38147547e-02 9.19756332e+02] [ 4.31862508e-01 9.01916990e-01 -6.36529844e-03 3.88702871e+01] [ 1.52089939e-02 -2.25777108e-04 9.99884311e-01 6.14993434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.839254154 meters 0.015945321186796615 Centerline is valid? [True, True] Translation: X:919.81, Y:38.89, Z:6.15 [[ 8.99216255e-01 -4.37289922e-01 -1.36985680e-02 9.19813415e+02] [ 4.37244442e-01 8.99320536e-01 -6.31433256e-03 3.88887188e+01] [ 1.50805975e-02 -3.11672235e-04 9.99886233e-01 6.14964159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.899254154 meters 0.01636844901452462 Centerline is valid? [True, True] Translation: X:919.87, Y:38.91, Z:6.15 [[ 8.98895754e-01 -4.37942058e-01 -1.38988435e-02 9.19867570e+02] [ 4.37895257e-01 8.99003142e-01 -6.41051528e-03 3.89121873e+01] [ 1.53025382e-02 -3.23852694e-04 9.99882857e-01 6.14912194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.959254154 meters 0.01526109160369109 Centerline is valid? [True, True] Translation: X:919.92, Y:38.94, Z:6.15 [[ 8.99711356e-01 -4.36214031e-01 -1.53881373e-02 9.19920839e+02] [ 4.36156328e-01 8.99842884e-01 -7.10226356e-03 3.89373614e+01] [ 1.69450129e-02 -3.21646309e-04 9.99856371e-01 6.14880606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.019254154 meters 0.015524168936740686 Centerline is valid? [True, True] Translation: X:919.97, Y:38.96, Z:6.15 [[ 9.01782529e-01 -4.31885844e-01 -1.62138480e-02 9.19973339e+02] [ 4.31821026e-01 9.01928243e-01 -7.48642281e-03 3.89608050e+01] [ 1.78570075e-02 -2.50355202e-04 9.99840520e-01 6.14596512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.079254154 meters 0.014470914177410126 Centerline is valid? [True, True] Translation: X:920.02, Y:38.99, Z:6.15 [[ 9.04943525e-01 -4.25257458e-01 -1.52745083e-02 9.20024621e+02] [ 4.25198932e-01 9.05072419e-01 -7.05590153e-03 3.89911441e+01] [ 1.68251109e-02 -1.09512201e-04 9.99858442e-01 6.14862154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.139254154 meters 0.015226535661876522 Centerline is valid? [True, True] Translation: X:920.08, Y:39.02, Z:6.15 [[ 9.07669755e-01 -4.19429584e-01 -1.46437511e-02 9.20075943e+02] [ 4.19374983e-01 9.07787874e-01 -6.76752488e-03 3.90188426e+01] [ 1.61319198e-02 1.45478902e-06 9.99869872e-01 6.14926922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.199254154 meters 0.015814975682314717 Centerline is valid? [True, True] Translation: X:920.13, Y:39.05, Z:6.15 [[ 9.11762395e-01 -4.10495733e-01 -1.35125421e-02 9.20127488e+02] [ 4.10448210e-01 9.11862506e-01 -6.24787370e-03 3.90477918e+01] [ 1.48863060e-02 1.50377549e-04 9.99889182e-01 6.15142715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.259254154 meters 0.014344639757320785 Centerline is valid? [True, True] Translation: X:920.18, Y:39.07, Z:6.15 [[ 9.13933806e-01 -4.05656331e-01 -1.29591485e-02 9.20179752e+02] [ 4.05612079e-01 9.14025651e-01 -5.99585267e-03 3.90746514e+01] [ 1.42772497e-02 2.23425299e-04 9.99898050e-01 6.15312892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.319254154 meters 0.01590792849320176 Centerline is valid? [True, True] Translation: X:920.23, Y:39.10, Z:6.15 [[ 9.15766961e-01 -4.01501059e-01 -1.29526799e-02 9.20231796e+02] [ 4.01456401e-01 9.15858513e-01 -5.99521572e-03 3.91019661e+01] [ 1.42699076e-02 2.90284218e-04 9.99898138e-01 6.15329091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.379254154 meters 0.0160377772264951 Centerline is valid? [True, True] Translation: X:920.29, Y:39.13, Z:6.15 [[ 9.16416088e-01 -3.99970334e-01 -1.43278030e-02 9.20285031e+02] [ 3.99915455e-01 9.16528019e-01 -6.63469461e-03 3.91270038e+01] [ 1.57855139e-02 3.50231038e-04 9.99875340e-01 6.15255846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.439254154 meters 0.017691618487316946 Centerline is valid? [True, True] Translation: X:920.34, Y:39.15, Z:6.15 [[ 9.15629205e-01 -4.01690704e-01 -1.63626602e-02 9.20337278e+02] [ 4.01619336e-01 9.15775323e-01 -7.58071750e-03 3.91509932e+01] [ 1.80296242e-02 3.69565616e-04 9.99837385e-01 6.15054615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.499254154 meters 0.015586329325099447 Centerline is valid? [True, True] Translation: X:920.39, Y:39.17, Z:6.15 [[ 9.12710709e-01 -4.08236092e-01 -1.73912056e-02 9.20393845e+02] [ 4.08156615e-01 9.12876348e-01 -8.05923790e-03 3.91686986e+01] [ 1.91660920e-02 2.57417152e-04 9.99816280e-01 6.15086224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.559254154 meters 0.013208391796376853 Centerline is valid? [True, True] Translation: X:920.45, Y:39.18, Z:6.15 [[ 9.07673233e-01 -4.19357420e-01 -1.63907394e-02 9.20451733e+02] [ 4.19288602e-01 9.07821212e-01 -7.59697819e-03 3.91830327e+01] [ 1.80657101e-02 2.31235280e-05 9.99836801e-01 6.15285968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters 0.014230324903521992 Centerline is valid? [True, True] Translation: X:920.51, Y:39.20, Z:6.16 [[ 9.03308532e-01 -4.28742540e-01 -1.46127054e-02 9.20506979e+02] [ 4.28689018e-01 9.03426706e-01 -6.77587885e-03 3.92034680e+01] [ 1.61066158e-02 -1.43597149e-04 9.99870270e-01 6.15525442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.679254154 meters 0.01611598791569577 Centerline is valid? [True, True] Translation: X:920.56, Y:39.22, Z:6.15 [[ 8.99474425e-01 -4.36655579e-01 -1.66632561e-02 9.20562241e+02] [ 4.36587281e-01 8.99628702e-01 -7.72945120e-03 3.92235927e+01] [ 1.83658514e-02 -3.22521992e-04 9.99831282e-01 6.15412282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters 0.019670313336901418 Centerline is valid? [True, True] Translation: X:920.62, Y:39.25, Z:6.15 [[ 8.97240687e-01 -4.41095290e-01 -1.98518128e-02 9.20616587e+02] [ 4.40999405e-01 8.97460141e-01 -9.20980842e-03 3.92472963e+01] [ 2.18786138e-02 -4.91222799e-04 9.99760514e-01 6.15220125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.799254154 meters 0.020117644598568574 Centerline is valid? [True, True] Translation: X:920.67, Y:39.27, Z:6.15 [[ 8.94678207e-01 -4.46156689e-01 -2.22511610e-02 9.20670309e+02] [ 4.46037737e-01 8.94954600e-01 -1.03247835e-02 3.92723092e+01] [ 2.45202501e-02 -6.87498697e-04 9.99699097e-01 6.14987034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539999 meters 0.020514942880546134 Centerline is valid? [True, True] Translation: X:920.72, Y:39.30, Z:6.15 [[ 8.91019207e-01 -4.53430035e-01 -2.20448456e-02 9.20723089e+02] [ 4.53315444e-01 8.91291442e-01 -1.02310516e-02 3.92999271e+01] [ 2.42874483e-02 -8.77205511e-04 9.99704632e-01 6.15237458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.919254154 meters 0.021527725052038676 Centerline is valid? [True, True] Translation: X:920.78, Y:39.32, Z:6.15 [[ 8.89345309e-01 -4.56835380e-01 -1.91404506e-02 9.20776340e+02] [ 4.56749689e-01 8.89550860e-01 -8.88753341e-03 3.93247734e+01] [ 2.10865440e-02 -8.38308705e-04 9.99777303e-01 6.15470853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539999 meters 0.022646225551314972 Centerline is valid? [True, True] Translation: X:920.83, Y:39.36, Z:6.16 [[ 8.89039529e-01 -4.57580668e-01 -1.51211496e-02 9.20827133e+02] [ 4.57527227e-01 8.89167858e-01 -7.02542844e-03 3.93558414e+01] [ 1.66599404e-02 -6.72454046e-04 9.99860987e-01 6.15846424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.039254154 meters 0.021667362245211597 Centerline is valid? [True, True] Translation: X:920.88, Y:39.39, Z:6.16 [[ 8.92725209e-01 -4.50418226e-01 -1.28499895e-02 9.20876607e+02] [ 4.50378843e-01 8.92817571e-01 -5.97351688e-03 3.93907195e+01] [ 1.41632772e-02 -4.54654274e-04 9.99899592e-01 6.15836751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539999 meters 0.017614782547383023 Centerline is valid? [True, True] Translation: X:920.92, Y:39.43, Z:6.16 [[ 8.98759796e-01 -4.38275301e-01 -1.20660685e-02 9.20923805e+02] [ 4.38239452e-01 8.98840754e-01 -5.61090129e-03 3.94293920e+01] [ 1.33045935e-02 -2.44974747e-04 9.99911460e-01 6.15698890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.159254154 meters 0.016236022969227198 Centerline is valid? [True, True] Translation: X:920.97, Y:39.46, Z:6.16 [[ 9.03097338e-01 -4.29242199e-01 -1.28969824e-02 9.20972868e+02] [ 4.29200304e-01 9.03189416e-01 -5.99816486e-03 3.94635849e+01] [ 1.42230834e-02 -1.18462028e-04 9.99898840e-01 6.15512186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539999 meters 0.015268863278339068 Centerline is valid? [True, True] Translation: X:921.02, Y:39.50, Z:6.15 [[ 9.08558330e-01 -4.17564086e-01 -1.27277684e-02 9.21019969e+02] [ 4.17522097e-01 9.08647473e-01 -5.92185594e-03 3.95014440e+01] [ 1.40378090e-02 6.62269720e-05 9.99901463e-01 6.15341984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.279254154 meters 0.016085164066347583 Centerline is valid? [True, True] Translation: X:921.07, Y:39.54, Z:6.15 [[ 9.12042489e-01 -4.09964638e-01 -1.03679812e-02 9.21069248e+02] [ 4.09936252e-01 9.12101405e-01 -4.82663703e-03 3.95360523e+01] [ 1.14354007e-02 1.51886687e-04 9.99934602e-01 6.15390243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.339254154 meters 0.017275723856288054 Centerline is valid? [True, True] Translation: X:921.12, Y:39.56, Z:6.15 [[ 9.13281407e-01 -4.07230069e-01 -8.98574314e-03 9.21121107e+02] [ 4.07208591e-01 9.13325596e-01 -4.18561843e-03 3.95637173e+01] [ 9.91141889e-03 1.63575688e-04 9.99950867e-01 6.15440537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.399254154 meters 0.01677196333021754 Centerline is valid? [True, True] Translation: X:921.17, Y:39.59, Z:6.15 [[ 9.13729002e-01 -4.06270173e-01 -6.62242168e-03 9.21173722e+02] [ 4.06258471e-01 9.13752991e-01 -3.08632511e-03 3.95896352e+01] [ 7.30513946e-03 1.29649855e-04 9.99973309e-01 6.15497980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.459254154 meters 0.017247367947883733 Centerline is valid? [True, True] Translation: X:921.23, Y:39.61, Z:6.15 [[ 9.12664112e-01 -4.08644504e-01 -7.34083881e-03 9.21227343e+02] [ 4.08630181e-01 9.12693625e-01 -3.42359531e-03 3.96128206e+01] [ 8.09897020e-03 1.24904278e-04 9.99967195e-01 6.15336548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.519254154 meters 0.015087925869475547 Centerline is valid? [True, True] Translation: X:921.28, Y:39.64, Z:6.15 [[ 9.11374323e-01 -4.11483573e-01 -8.83817297e-03 9.21282371e+02] [ 4.11462915e-01 9.11417168e-01 -4.12497986e-03 3.96351217e+01] [ 9.75262403e-03 1.22820315e-04 9.99952434e-01 6.15131565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.579254154 meters 0.017455566653838135 Centerline is valid? [True, True] Translation: X:921.34, Y:39.66, Z:6.15 [[ 9.10535997e-01 -4.13280550e-01 -1.11078854e-02 9.21336161e+02] [ 4.13248002e-01 9.10603739e-01 -5.18841671e-03 3.96580836e+01] [ 1.22591537e-02 1.33928710e-04 9.99924845e-01 6.14951260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.639254154 meters 0.014219008430358936 Centerline is valid? [True, True] Translation: X:921.39, Y:39.68, Z:6.15 [[ 9.08337417e-01 -4.18041788e-01 -1.28140420e-02 9.21390574e+02] [ 4.17998900e-01 9.08427794e-01 -5.98855854e-03 3.96780114e+01] [ 1.41440996e-02 8.33763435e-05 9.99899964e-01 6.14783007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.699254154 meters 0.014183218039970887 Centerline is valid? [True, True] Translation: X:921.45, Y:39.69, Z:6.15 [[ 9.03703429e-01 -4.27927540e-01 -1.40760134e-02 9.21448117e+02] [ 4.27876926e-01 9.03813042e-01 -6.58183854e-03 3.96927470e+01] [ 1.55386344e-02 -7.47712702e-05 9.99879265e-01 6.14742843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.759254154 meters 0.016532261216629558 Centerline is valid? [True, True] Translation: X:921.51, Y:39.70, Z:6.15 [[ 8.97459079e-01 -4.40904472e-01 -1.30556047e-02 9.21508565e+02] [ 4.40862254e-01 8.97553994e-01 -6.10752496e-03 3.97041009e+01] [ 1.44109452e-02 -2.74469600e-04 9.99896119e-01 6.14917418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.819254154 meters 0.01919030674657074 Centerline is valid? [True, True] Translation: X:921.56, Y:39.72, Z:6.15 [[ 8.95412016e-01 -4.45060827e-01 -1.25770148e-02 9.21564385e+02] [ 4.45022041e-01 8.95500281e-01 -5.88476920e-03 3.97237635e+01] [ 1.38818005e-02 -3.27755722e-04 9.99903589e-01 6.14960271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.879254154 meters 0.022189716018782477 Centerline is valid? [True, True] Translation: X:921.62, Y:39.74, Z:6.15 [[ 8.90478415e-01 -4.54887063e-01 -1.12228292e-02 9.21622537e+02] [ 4.54856944e-01 8.90549031e-01 -5.25203910e-03 3.97363473e+01] [ 1.23835644e-02 -4.27954354e-04 9.99923229e-01 6.15204351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.939254154 meters 0.022955472370567612 Centerline is valid? [True, True] Translation: X:921.68, Y:39.76, Z:6.15 [[ 8.88820255e-01 -4.58118118e-01 -1.12403107e-02 9.21677958e+02] [ 4.58088150e-01 8.88891201e-01 -5.26119173e-03 3.97576704e+01] [ 1.24016605e-02 -4.72799368e-04 9.99922985e-01 6.15235561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.999254154 meters 0.022411573968317854 Centerline is valid? [True, True] Translation: X:921.73, Y:39.78, Z:6.15 [[ 8.89226006e-01 -4.57305574e-01 -1.21952132e-02 9.21732130e+02] [ 4.57270192e-01 8.89309487e-01 -5.71035428e-03 3.97803148e+01] [ 1.34566957e-02 -4.98711957e-04 9.99909330e-01 6.15238007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.059254154 meters 0.020554341526152594 Centerline is valid? [True, True] Translation: X:921.78, Y:39.81, Z:6.15 [[ 8.92928448e-01 -4.49971671e-01 -1.42927540e-02 9.21784000e+02] [ 4.49922086e-01 8.93042715e-01 -6.69522077e-03 3.98082268e+01] [ 1.57766996e-02 -4.52272619e-04 9.99875438e-01 6.15119317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters 0.018281345680407825 Centerline is valid? [True, True] Translation: X:921.84, Y:39.84, Z:6.15 [[ 8.96379241e-01 -4.43049411e-01 -1.45421950e-02 9.21835234e+02] [ 4.42997148e-01 8.96497132e-01 -6.81315182e-03 3.98376063e+01] [ 1.60555990e-02 -3.34983045e-04 9.99871044e-01 6.15170287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.179254154 meters 0.017300681444663464 Centerline is valid? [True, True] Translation: X:921.88, Y:39.87, Z:6.16 [[ 9.02622143e-01 -4.30221627e-01 -1.35136626e-02 9.21884437e+02] [ 4.30175013e-01 9.02723292e-01 -6.33373364e-03 3.98725860e+01] [ 1.49240072e-02 -9.62717388e-05 9.99888626e-01 6.15557242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters 0.015248946416368066 Centerline is valid? [True, True] Translation: X:921.94, Y:39.90, Z:6.16 [[ 9.04556883e-01 -4.26129594e-01 -1.37990398e-02 9.21936072e+02] [ 4.26080450e-01 9.04662129e-01 -6.47162191e-03 3.99005453e+01] [ 1.52412183e-02 -2.55509281e-05 9.99883846e-01 6.15703124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.299254154 meters 0.014574400107531775 Centerline is valid? [True, True] Translation: X:921.99, Y:39.93, Z:6.16 [[ 9.05227217e-01 -4.24659906e-01 -1.50880605e-02 9.21988289e+02] [ 4.24600887e-01 9.05352950e-01 -7.07974629e-03 3.99261134e+01] [ 1.66665044e-02 2.37517869e-06 9.99861104e-01 6.15628945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539999 meters 0.014678536436181996 Centerline is valid? [True, True] Translation: X:922.04, Y:39.95, Z:6.16 [[ 9.03429179e-01 -4.28393897e-01 -1.71577525e-02 9.22043387e+02] [ 4.28318160e-01 9.03592089e-01 -8.05544125e-03 3.99483009e+01] [ 1.89545113e-02 -7.14563134e-05 9.99820345e-01 6.15561229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.419254154 meters 0.01784139421450149 Centerline is valid? [True, True] Translation: X:922.10, Y:39.97, Z:6.16 [[ 8.99803751e-01 -4.35835428e-01 -2.00172240e-02 9.22100022e+02] [ 4.35734105e-01 9.00026339e-01 -9.40101727e-03 3.99668432e+01] [ 2.21133252e-02 -2.63116581e-04 9.99755436e-01 6.15535190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539999 meters 0.01786196789480939 Centerline is valid? [True, True] Translation: X:922.16, Y:39.99, Z:6.16 [[ 8.97332136e-01 -4.40869388e-01 -2.07176161e-02 9.22156003e+02] [ 4.40762092e-01 8.97571181e-01 -9.73414804e-03 3.99886109e+01] [ 2.28870230e-02 -3.96775950e-04 9.99737979e-01 6.15514984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.539254154 meters 0.019726029063210665 Centerline is valid? [True, True] Translation: X:922.21, Y:40.00, Z:6.16 [[ 8.91596433e-01 -4.52339938e-01 -2.10803593e-02 9.22214574e+02] [ 4.52231904e-01 8.91845331e-01 -9.91014588e-03 4.00047149e+01] [ 2.32831748e-02 -6.97360289e-04 9.99728667e-01 6.15697735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539999 meters 0.022223970015140853 Centerline is valid? [True, True] Translation: X:922.27, Y:40.02, Z:6.16 [[ 8.89024171e-01 -4.57389907e-01 -2.07483927e-02 9.22270350e+02] [ 4.57286562e-01 8.89265883e-01 -9.75655234e-03 4.00247700e+01] [ 2.29133864e-02 -8.14150315e-04 9.99737122e-01 6.15774146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.659254154 meters 0.022204841643428355 Centerline is valid? [True, True] Translation: X:922.32, Y:40.05, Z:6.16 [[ 8.87861808e-01 -4.59639058e-01 -2.08169636e-02 9.22324860e+02] [ 4.59535615e-01 8.88105384e-01 -9.79011143e-03 4.00483370e+01] [ 2.29875751e-02 -8.73870143e-04 9.99735369e-01 6.15989661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539999 meters 0.022350057457967844 Centerline is valid? [True, True] Translation: X:922.38, Y:40.08, Z:6.16 [[ 8.90085419e-01 -4.55164808e-01 -2.39362699e-02 9.22376057e+02] [ 4.55026367e-01 8.90406784e-01 -1.12590146e-02 4.00773927e+01] [ 2.64377243e-02 -8.70149259e-04 9.99650084e-01 6.15904073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.779254154 meters 0.0185083538639556 Centerline is valid? [True, True] Translation: X:922.43, Y:40.11, Z:6.16 [[ 8.93080630e-01 -4.49263215e-01 -2.38652977e-02 9.22426740e+02] [ 4.49123339e-01 8.93399178e-01 -1.12310269e-02 4.01090097e+01] [ 2.63669246e-02 -6.88249635e-04 9.99652095e-01 6.16025814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.839254154 meters 0.01658151210003335 Centerline is valid? [True, True] Translation: X:922.48, Y:40.14, Z:6.16 [[ 8.97385096e-01 -4.40557599e-01 -2.46777626e-02 9.22476607e+02] [ 4.40404629e-01 8.97724237e-01 -1.16171028e-02 4.01420954e+01] [ 2.72718285e-02 -4.43186026e-04 9.99627956e-01 6.16068888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.899254154 meters 0.01691478952205457 Centerline is valid? [True, True] Translation: X:922.53, Y:40.17, Z:6.16 [[ 9.00132542e-01 -4.34881884e-01 -2.52814924e-02 9.22526484e+02] [ 4.34718908e-01 9.00487464e-01 -1.19078727e-02 4.01743943e+01] [ 2.79441851e-02 -2.71679093e-04 9.99609448e-01 6.16259815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.959254154 meters 0.015134145348917879 Centerline is valid? [True, True] Translation: X:922.58, Y:40.20, Z:6.16 [[ 9.01721143e-01 -4.31639718e-01 -2.42101986e-02 9.22577173e+02] [ 4.31488899e-01 9.02046079e-01 -1.14105616e-02 4.02040988e+01] [ 2.67639663e-02 -1.57287326e-04 9.99641769e-01 6.16346726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.019254154 meters 0.014957473283186487 Centerline is valid? [True, True] Translation: X:922.63, Y:40.23, Z:6.16 [[ 9.02188907e-01 -4.30686196e-01 -2.37608070e-02 9.22629184e+02] [ 4.30540407e-01 9.02501737e-01 -1.12058915e-02 4.02313808e+01] [ 2.62703924e-02 -1.20156493e-04 9.99654866e-01 6.16404603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.079254154 meters 0.014762347890607047 Centerline is valid? [True, True] Translation: X:922.68, Y:40.26, Z:6.17 [[ 9.03717807e-01 -4.27536673e-01 -2.25059646e-02 9.22680786e+02] [ 4.27404744e-01 9.03998005e-01 -1.06203483e-02 4.02610913e+01] [ 2.48859354e-02 -2.13581682e-05 9.99690297e-01 6.16594434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.139254154 meters 0.01451959008941496 Centerline is valid? [True, True] Translation: X:922.73, Y:40.29, Z:6.17 [[ 9.05915583e-01 -4.22880801e-01 -2.21084735e-02 9.22731018e+02] [ 4.22751923e-01 9.06185310e-01 -1.04401219e-02 4.02914108e+01] [ 2.44493010e-02 1.11469413e-04 9.99701065e-01 6.16880183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.199254154 meters 0.014915444214753302 Centerline is valid? [True, True] Translation: X:922.78, Y:40.32, Z:6.17 [[ 9.07397134e-01 -4.19690738e-01 -2.21387885e-02 9.22781922e+02] [ 4.19560438e-01 9.07667144e-01 -1.04592253e-02 4.03189770e+01] [ 2.44842909e-02 2.02111284e-04 9.99700194e-01 6.16851891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.259254154 meters 0.01565484391943541 Centerline is valid? [True, True] Translation: X:922.83, Y:40.35, Z:6.17 [[ 9.09553483e-01 -4.14901119e-01 -2.38646956e-02 9.22834124e+02] [ 4.14747920e-01 9.09866436e-01 -1.12797286e-02 4.03490204e+01] [ 2.63936576e-02 3.61683509e-04 9.99651561e-01 6.16775915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.319254154 meters 0.017126004474681093 Centerline is valid? [True, True] Translation: X:922.88, Y:40.38, Z:6.17 [[ 9.11892005e-01 -4.09574376e-01 -2.64915224e-02 9.22884830e+02] [ 4.09383234e-01 9.12276547e-01 -1.25247652e-02 4.03800129e+01] [ 2.92974175e-02 5.76048141e-04 9.99570573e-01 6.16525955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.379254154 meters 0.017927353491955216 Centerline is valid? [True, True] Translation: X:922.94, Y:40.41, Z:6.16 [[ 9.13142649e-01 -4.06654955e-01 -2.83240271e-02 9.22937946e+02] [ 4.06434981e-01 9.13581541e-01 -1.33930640e-02 4.04072656e+01] [ 3.13226641e-02 7.17902512e-04 9.99509067e-01 6.16456816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.439254154 meters 0.017936075660608848 Centerline is valid? [True, True] Translation: X:922.99, Y:40.43, Z:6.17 [[ 9.12579820e-01 -4.07867950e-01 -2.90139212e-02 9.22990784e+02] [ 4.07637468e-01 9.13040659e-01 -1.37277025e-02 4.04308738e+01] [ 3.20899796e-02 7.00462905e-04 9.99484739e-01 6.16609897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.499254154 meters 0.01635893926100417 Centerline is valid? [True, True] Translation: X:923.05, Y:40.45, Z:6.17 [[ 9.11040469e-01 -4.11434798e-01 -2.69568267e-02 9.23046059e+02] [ 4.11237305e-01 9.11439037e-01 -1.27577670e-02 4.04530630e+01] [ 2.98184935e-02 5.37189305e-04 9.99555186e-01 6.16888249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.559254154 meters 0.015052568658109142 Centerline is valid? [True, True] Translation: X:923.10, Y:40.47, Z:6.17 [[ 9.08507979e-01 -4.17139294e-01 -2.46588817e-02 9.23102488e+02] [ 4.16975987e-01 9.08842507e-01 -1.16757243e-02 4.04728698e+01] [ 2.72814433e-02 3.25327160e-04 9.99627739e-01 6.17215870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters 0.014609802560120594 Centerline is valid? [True, True] Translation: X:923.16, Y:40.49, Z:6.17 [[ 9.06544058e-01 -4.21482241e-01 -2.30345795e-02 9.23157258e+02] [ 4.21341064e-01 9.06836637e-01 -1.09097009e-02 4.04944280e+01] [ 2.54868458e-02 1.84710278e-04 9.99675141e-01 6.17384835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.679254154 meters 0.014483014896114943 Centerline is valid? [True, True] Translation: X:923.21, Y:40.52, Z:6.17 [[ 9.05779883e-01 -4.23056187e-01 -2.42129217e-02 9.23211181e+02] [ 4.22900588e-01 9.06103437e-01 -1.14740402e-02 4.05181957e+01] [ 2.67935752e-02 1.53295957e-04 9.99640976e-01 6.17408569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters 0.016104953128707997 Centerline is valid? [True, True] Translation: X:923.26, Y:40.54, Z:6.17 [[ 9.05266264e-01 -4.24013450e-01 -2.65628401e-02 9.23264970e+02] [ 4.23826339e-01 9.05655880e-01 -1.25960954e-02 4.05424708e+01] [ 2.93977062e-02 1.44788906e-04 9.99567784e-01 6.17382784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.799254154 meters 0.016818726715266522 Centerline is valid? [True, True] Translation: X:923.32, Y:40.56, Z:6.17 [[ 9.04251485e-01 -4.25995919e-01 -2.92699135e-02 9.23319112e+02] [ 4.25769603e-01 9.04725079e-01 -1.38844204e-02 4.05645796e+01] [ 3.23959312e-02 9.27683632e-05 9.99475110e-01 6.17246046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539999 meters 0.015052845404004154 Centerline is valid? [True, True] Translation: X:923.37, Y:40.59, Z:6.17 [[ 9.03535717e-01 -4.27613063e-01 -2.77538620e-02 9.23373169e+02] [ 4.27410130e-01 9.03961872e-01 -1.31724784e-02 4.05881420e+01] [ 3.07211569e-02 3.95229956e-05 9.99527993e-01 6.17185254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.919254154 meters 0.015002930640409714 Centerline is valid? [True, True] Translation: X:923.43, Y:40.61, Z:6.17 [[ 9.03083434e-01 -4.28675147e-01 -2.60370731e-02 9.23426922e+02] [ 4.28496768e-01 9.03458698e-01 -1.23653440e-02 4.06110617e+01] [ 2.88241358e-02 1.01356677e-05 9.99584498e-01 6.17359461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539999 meters 0.015009629145003889 Centerline is valid? [True, True] Translation: X:923.48, Y:40.64, Z:6.18 [[ 9.02971827e-01 -4.28942640e-01 -2.54968859e-02 9.23481178e+02] [ 4.28771480e-01 9.03331729e-01 -1.21163411e-02 4.06350022e+01] [ 2.82293613e-02 8.37717087e-06 9.99601472e-01 6.17502468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.039254154 meters 0.014749237806528512 Centerline is valid? [True, True] Translation: X:923.53, Y:40.66, Z:6.18 [[ 9.03316743e-01 -4.28338068e-01 -2.33529705e-02 9.23534276e+02] [ 4.28194108e-01 9.03618558e-01 -1.11043937e-02 4.06600887e+01] [ 2.58586121e-02 3.11804234e-05 9.99665610e-01 6.17642589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539999 meters 0.017572738944879478 Centerline is valid? [True, True] Translation: X:923.59, Y:40.69, Z:6.18 [[ 9.04184901e-01 -4.26482106e-01 -2.37208412e-02 9.23587162e+02] [ 4.26332741e-01 9.04495995e-01 -1.12867091e-02 4.06851365e+01] [ 2.62689853e-02 9.23007248e-05 9.99654906e-01 6.17954999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.159254154 meters 0.01548213704013415 Centerline is valid? [True, True] Translation: X:923.64, Y:40.71, Z:6.18 [[ 9.05762138e-01 -4.23210663e-01 -2.20835707e-02 9.23638648e+02] [ 4.23080069e-01 9.06031292e-01 -1.05144578e-02 4.07130513e+01] [ 2.44582368e-02 1.80479113e-04 9.99700836e-01 6.17882762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539999 meters 0.015286807409590026 Centerline is valid? [True, True] Translation: X:923.69, Y:40.74, Z:6.18 [[ 9.07939510e-01 -4.18526363e-01 -2.19437843e-02 9.23689705e+02] [ 4.18395876e-01 9.08204595e-01 -1.04548340e-02 4.07419827e+01] [ 2.43050694e-02 3.11167970e-04 9.99704540e-01 6.17754128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.279254154 meters 0.015972426092554108 Centerline is valid? [True, True] Translation: X:923.74, Y:40.77, Z:6.18 [[ 9.08828103e-01 -4.16591616e-01 -2.19750781e-02 9.23741441e+02] [ 4.16460101e-01 9.09093665e-01 -1.04734479e-02 4.07686108e+01] [ 2.43405549e-02 3.66820569e-04 9.99703658e-01 6.17706059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.339254154 meters 0.01718625208488165 Centerline is valid? [True, True] Translation: X:923.79, Y:40.79, Z:6.18 [[ 9.07752269e-01 -4.18934179e-01 -2.19082723e-02 9.23794943e+02] [ 4.18804086e-01 9.08016553e-01 -1.04440103e-02 4.07915373e+01] [ 2.42684268e-02 3.05300073e-04 9.99705432e-01 6.17706835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.399254154 meters 0.01669672900450979 Centerline is valid? [True, True] Translation: X:923.85, Y:40.81, Z:6.18 [[ 9.06716802e-01 -4.21222020e-01 -2.08962094e-02 9.23849874e+02] [ 4.21104154e-01 9.06957526e-01 -9.96684983e-03 4.08131062e+01] [ 2.31502310e-02 2.37629604e-04 9.99731969e-01 6.17989836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.459254154 meters 0.014897045491281336 Centerline is valid? [True, True] Translation: X:923.90, Y:40.84, Z:6.18 [[ 9.05576553e-01 -4.23762577e-01 -1.88781678e-02 9.23904571e+02] [ 4.23666812e-01 9.05773290e-01 -9.01002897e-03 4.08360836e+01] [ 2.09174532e-02 1.61217823e-04 9.99781193e-01 6.18049749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.519254154 meters 0.016633152693795637 Centerline is valid? [True, True] Translation: X:923.96, Y:40.86, Z:6.18 [[ 9.04882415e-01 -4.25204956e-01 -1.97119619e-02 9.23958313e+02] [ 4.25100735e-01 9.05097081e-01 -9.41481454e-03 4.08574818e+01] [ 2.18444650e-02 1.39730619e-04 9.99761371e-01 6.18094919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.579254154 meters 0.016979847415822907 Centerline is valid? [True, True] Translation: X:924.01, Y:40.88, Z:6.18 [[ 9.06460558e-01 -4.21790522e-01 -2.05429601e-02 9.24010174e+02] [ 4.21676362e-01 9.06693278e-01 -9.81554943e-03 4.08824002e+01] [ 2.27662695e-02 2.34927732e-04 9.99740787e-01 6.17983114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.639254154 meters 0.01642168691865826 Centerline is valid? [True, True] Translation: X:924.06, Y:40.91, Z:6.18 [[ 9.08763920e-01 -4.16792551e-01 -2.07872066e-02 9.24061919e+02] [ 4.16674230e-01 9.09001558e-01 -9.93746325e-03 4.09100915e+01] [ 2.30374638e-02 3.69314753e-04 9.99734534e-01 6.17924804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.699254154 meters 0.016267358274318102 Centerline is valid? [True, True] Translation: X:924.12, Y:40.94, Z:6.18 [[ 9.09656839e-01 -4.14838379e-01 -2.08219851e-02 9.24115505e+02] [ 4.14718998e-01 9.09895015e-01 -9.96061149e-03 4.09355471e+01] [ 2.30778644e-02 4.25465541e-04 9.99733580e-01 6.18017025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.759254154 meters 0.016263094572469116 Centerline is valid? [True, True] Translation: X:924.17, Y:40.96, Z:6.18 [[ 9.09440375e-01 -4.15350333e-01 -2.00575775e-02 9.24169930e+02] [ 4.15239544e-01 9.09661442e-01 -9.60116891e-03 4.09572904e+01] [ 2.22334536e-02 4.02991304e-04 9.99752725e-01 6.18176985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.819254154 meters 0.016408167789438877 Centerline is valid? [True, True] Translation: X:924.22, Y:40.98, Z:6.18 [[ 9.07734492e-01 -4.19110559e-01 -1.90900819e-02 9.24224629e+02] [ 4.19010968e-01 9.07935158e-01 -9.14099971e-03 4.09784264e+01] [ 2.11636461e-02 2.98647008e-04 9.99775980e-01 6.18271919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.879254154 meters 0.015807468490969024 Centerline is valid? [True, True] Translation: X:924.28, Y:41.00, Z:6.19 [[ 9.05981512e-01 -4.22973615e-01 -1.70534728e-02 9.24280149e+02] [ 4.22894759e-01 9.06141978e-01 -8.16933527e-03 4.09997724e+01] [ 1.89082808e-02 1.89442467e-04 9.99821205e-01 6.18537628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.939254154 meters 0.014534695450120238 Centerline is valid? [True, True] Translation: X:924.34, Y:41.02, Z:6.19 [[ 9.05073260e-01 -4.24966650e-01 -1.56761091e-02 9.24335749e+02] [ 4.24900238e-01 9.05208996e-01 -7.51405178e-03 4.10208062e+01] [ 1.73833764e-02 1.39984844e-04 9.99848888e-01 6.18876259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.999254154 meters 0.01601913340396055 Centerline is valid? [True, True] Translation: X:924.39, Y:41.04, Z:6.19 [[ 9.04412373e-01 -4.26333431e-01 -1.66752815e-02 9.24388287e+02] [ 4.26258408e-01 9.04566078e-01 -7.99875195e-03 4.10445655e+01] [ 1.84940294e-02 1.26191276e-04 9.99828963e-01 6.18771274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.059254154 meters 0.015093603383976759 Centerline is valid? [True, True] Translation: X:924.44, Y:41.07, Z:6.19 [[ 9.04776760e-01 -4.25470112e-01 -1.88201280e-02 9.24441778e+02] [ 4.25374227e-01 9.04972461e-01 -9.03392666e-03 4.10701899e+01] [ 2.08753633e-02 1.68089514e-04 9.99782072e-01 6.18610610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters 0.014862303803736569 Centerline is valid? [True, True] Translation: X:924.50, Y:41.09, Z:6.18 [[ 9.04690727e-01 -4.25496030e-01 -2.20865807e-02 9.24495287e+02] [ 4.25363799e-01 9.04960268e-01 -1.06090448e-02 4.10943120e+01] [ 2.45015845e-02 2.03072611e-04 9.99699770e-01 6.18452981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.179254154 meters 0.01488306720122761 Centerline is valid? [True, True] Translation: X:924.55, Y:41.12, Z:6.19 [[ 9.03930789e-01 -4.27155732e-01 -2.11449402e-02 9.24549257e+02] [ 4.27034838e-01 9.04178055e-01 -1.01632555e-02 4.11176087e+01] [ 2.34600837e-02 1.57253477e-04 9.99724762e-01 6.18689837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters 0.014343064803507416 Centerline is valid? [True, True] Translation: X:924.60, Y:41.14, Z:6.19 [[ 9.03443135e-01 -4.28270476e-01 -1.93623603e-02 9.24602503e+02] [ 4.28169237e-01 9.03650588e-01 -9.31236002e-03 4.11421878e+01] [ 2.14850171e-02 1.22820695e-04 9.99769163e-01 6.18896533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.299254154 meters 0.015882964646696703 Centerline is valid? [True, True] Translation: X:924.66, Y:41.17, Z:6.19 [[ 9.01473704e-01 -4.32510346e-01 -1.67320649e-02 9.24656929e+02] [ 4.32435383e-01 9.01628971e-01 -8.05227667e-03 4.11656729e+01] [ 1.85688074e-02 2.33787707e-05 9.99827585e-01 6.19095779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539999 meters 0.015980818634406414 Centerline is valid? [True, True] Translation: X:924.71, Y:41.19, Z:6.19 [[ 8.99746247e-01 -4.36158854e-01 -1.49045148e-02 9.24711760e+02] [ 4.36099799e-01 8.99869686e-01 -7.17722003e-03 4.11883136e+01] [ 1.65425291e-02 -4.21791205e-05 9.99863162e-01 6.19354946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.419254154 meters 0.015890515842583018 Centerline is valid? [True, True] Translation: X:924.76, Y:41.21, Z:6.19 [[ 8.99127579e-01 -4.37445222e-01 -1.45353061e-02 9.24763173e+02] [ 4.37389175e-01 8.99245058e-01 -7.00257860e-03 4.12126676e+01] [ 1.61340467e-02 -6.13739974e-05 9.99869836e-01 6.19298130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539999 meters 0.014014361645130896 Centerline is valid? [True, True] Translation: X:924.82, Y:41.24, Z:6.19 [[ 9.00093994e-01 -4.35404271e-01 -1.59349633e-02 9.24815711e+02] [ 4.35336518e-01 9.00235036e-01 -7.68089621e-03 4.12403202e+01] [ 1.76895073e-02 -2.35428927e-05 9.99843528e-01 6.19324516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.539254154 meters 0.014042551972061303 Centerline is valid? [True, True] Translation: X:924.87, Y:41.27, Z:6.19 [[ 9.01587231e-01 -4.32194952e-01 -1.86544776e-02 9.24866685e+02] [ 4.32101320e-01 9.01780196e-01 -8.99599485e-03 4.12691814e+01] [ 2.07102620e-02 5.00497122e-05 9.99785518e-01 6.19194404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539999 meters 0.014208822420727072 Centerline is valid? [True, True] Translation: X:924.92, Y:41.30, Z:6.19 [[ 9.02400429e-01 -4.30457128e-01 -1.94968583e-02 9.24917750e+02] [ 4.30354387e-01 9.02611019e-01 -9.40476294e-03 4.12969655e+01] [ 2.16464264e-02 9.63035851e-05 9.99765684e-01 6.19042236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.659254154 meters 0.01702905408043647 Centerline is valid? [True, True] Translation: X:924.97, Y:41.32, Z:6.19 [[ 9.01369748e-01 -4.32642149e-01 -1.87975444e-02 9.24970454e+02] [ 4.32547026e-01 9.01565732e-01 -9.07204038e-03 4.13227173e+01] [ 2.08721689e-02 4.64408445e-05 9.99782151e-01 6.19006318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539999 meters 0.01574265563719398 Centerline is valid? [True, True] Translation: X:925.02, Y:41.35, Z:6.19 [[ 8.99856878e-01 -4.35889304e-01 -1.60659323e-02 9.25023929e+02] [ 4.35820253e-01 9.00000286e-01 -7.75843895e-03 4.13465081e+01] [ 1.78411643e-02 -2.03740446e-05 9.99840834e-01 6.19356422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.779254154 meters 0.013756804510313475 Centerline is valid? [True, True] Translation: X:925.08, Y:41.37, Z:6.20 [[ 8.98615678e-01 -4.38500747e-01 -1.43860666e-02 9.25077373e+02] [ 4.38445674e-01 8.98730823e-01 -6.94980403e-03 4.13695728e+01] [ 1.59766958e-02 -6.23058265e-05 9.99872363e-01 6.19700870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.839254154 meters 0.014208749181351184 Centerline is valid? [True, True] Translation: X:925.13, Y:41.40, Z:6.20 [[ 8.97867900e-01 -4.40024810e-01 -1.45396368e-02 9.25129815e+02] [ 4.39968701e-01 8.97985612e-01 -7.02732986e-03 4.13957989e+01] [ 1.61485841e-02 -8.73711908e-05 9.99869599e-01 6.19759159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.899254154 meters 0.0160834930160005 Centerline is valid? [True, True] Translation: X:925.18, Y:41.42, Z:6.20 [[ 8.97659415e-01 -4.40404529e-01 -1.58564177e-02 9.25180953e+02] [ 4.40337799e-01 8.97799444e-01 -7.66691269e-03 4.14229270e+01] [ 1.76124260e-02 -9.99036943e-05 9.99844884e-01 6.19500552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.959254154 meters 0.0138498133736932 Centerline is valid? [True, True] Translation: X:925.23, Y:41.45, Z:6.20 [[ 8.98250222e-01 -4.39168385e-01 -1.66633637e-02 9.25232343e+02] [ 4.39094396e-01 8.98404766e-01 -8.06150509e-03 4.14505871e+01] [ 1.85108036e-02 -7.55408942e-05 9.99828658e-01 6.19642474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.019254154 meters 0.015451288700454605 Centerline is valid? [True, True] Translation: X:925.28, Y:41.48, Z:6.20 [[ 8.97873525e-01 -4.39931321e-01 -1.68394142e-02 9.25283779e+02] [ 4.39855782e-01 8.98031417e-01 -8.15265885e-03 4.14766052e+01] [ 1.87089329e-02 -8.68571457e-05 9.99824969e-01 6.19608145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.079254154 meters 0.014207282073003993 Centerline is valid? [True, True] Translation: X:925.34, Y:41.50, Z:6.20 [[ 8.98045211e-01 -4.39609606e-01 -1.60683891e-02 9.25335476e+02] [ 4.39540683e-01 8.98188950e-01 -7.78450388e-03 4.15045801e+01] [ 1.78545923e-02 -7.18743177e-05 9.99840591e-01 6.19718266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.139254154 meters 0.016222723305838693 Centerline is valid? [True, True] Translation: X:925.39, Y:41.53, Z:6.20 [[ 8.97848795e-01 -4.40002873e-01 -1.62792134e-02 9.25387144e+02] [ 4.39932096e-01 8.97996362e-01 -7.89209296e-03 4.15316239e+01] [ 1.80912180e-02 -7.58423254e-05 9.99836338e-01 6.19611959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.199254154 meters 0.018255510912226474 Centerline is valid? [True, True] Translation: X:925.44, Y:41.56, Z:6.20 [[ 8.97722212e-01 -4.40261324e-01 -1.62726056e-02 9.25438690e+02] [ 4.40190543e-01 8.97869679e-01 -7.89459504e-03 4.15593265e+01] [ 1.80863640e-02 -7.58937618e-05 9.99836425e-01 6.19580265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.259254154 meters 0.013705829018145935 Centerline is valid? [True, True] Translation: X:925.49, Y:41.59, Z:6.20 [[ 8.98284896e-01 -4.39152118e-01 -1.51546512e-02 9.25490070e+02] [ 4.39090490e-01 8.98412720e-01 -7.35702243e-03 4.15878794e+01] [ 1.68459833e-02 -4.55610777e-05 9.99858095e-01 6.20042636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.319254154 meters 0.015705445438645577 Centerline is valid? [True, True] Translation: X:925.54, Y:41.62, Z:6.20 [[ 8.98493831e-01 -4.38730251e-01 -1.49867730e-02 9.25539794e+02] [ 4.38669839e-01 8.98618810e-01 -7.28051130e-03 4.16181239e+01] [ 1.66615767e-02 -3.27508398e-05 9.99861186e-01 6.19992071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.379254154 meters 0.015676624597709136 Centerline is valid? [True, True] Translation: X:925.59, Y:41.65, Z:6.20 [[ 8.98757874e-01 -4.38210961e-01 -1.43330998e-02 9.25589817e+02] [ 4.38155560e-01 8.98872156e-01 -6.96790063e-03 4.16469526e+01] [ 1.59370348e-02 -1.76718354e-05 9.99872997e-01 6.20030508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.439254154 meters 0.01747529627978115 Centerline is valid? [True, True] Translation: X:925.64, Y:41.68, Z:6.20 [[ 8.98477913e-01 -4.38762005e-01 -1.50114346e-02 9.25640498e+02] [ 4.38701223e-01 8.98603306e-01 -7.30305500e-03 4.16760551e+01] [ 1.66936278e-02 -2.39010981e-05 9.99860651e-01 6.20052052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.499254154 meters 0.015959770823782148 Centerline is valid? [True, True] Translation: X:925.69, Y:41.71, Z:6.20 [[ 8.97868078e-01 -4.40037506e-01 -1.41388766e-02 9.25691092e+02] [ 4.39983698e-01 8.97979394e-01 -6.88143912e-03 4.17053738e+01] [ 1.57245111e-02 -4.22506877e-05 9.99876361e-01 6.20194505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.559254154 meters 0.0160161864135907 Centerline is valid? [True, True] Translation: X:925.74, Y:41.73, Z:6.20 [[ 8.97489808e-01 -4.40806712e-01 -1.41946106e-02 9.25741315e+02] [ 4.40752518e-01 8.97602050e-01 -6.91214579e-03 4.17340127e+01] [ 1.57880318e-02 -5.27299511e-05 9.99875360e-01 6.20364093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters 0.01357286008103371 Centerline is valid? [True, True] Translation: X:925.79, Y:41.76, Z:6.21 [[ 8.98344244e-01 -4.39055448e-01 -1.44198639e-02 9.25790025e+02] [ 4.38999239e-01 8.98459967e-01 -7.02532270e-03 4.17640813e+01] [ 1.60401766e-02 -1.91510559e-05 9.99871348e-01 6.20611869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.679254154 meters 0.013486626420641851 Centerline is valid? [True, True] Translation: X:925.84, Y:41.80, Z:6.21 [[ 8.99790827e-01 -4.36058807e-01 -1.51388217e-02 9.25838746e+02] [ 4.35996363e-01 8.99918171e-01 -7.37946104e-03 4.17979760e+01] [ 1.68415797e-02 3.95001307e-05 9.99858170e-01 6.20647462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters 0.014038486784559859 Centerline is valid? [True, True] Translation: X:925.89, Y:41.83, Z:6.20 [[ 9.02129941e-01 -4.31141538e-01 -1.66896104e-02 9.25885433e+02] [ 4.31064729e-01 9.02284297e-01 -8.13928575e-03 4.18335451e+01] [ 1.85679576e-02 1.48390984e-04 9.99827590e-01 6.20425288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.799254154 meters 0.015778619290846237 Centerline is valid? [True, True] Translation: X:925.94, Y:41.86, Z:6.20 [[ 9.03541208e-01 -4.28151454e-01 -1.73094841e-02 9.25935385e+02] [ 4.28068238e-01 9.03706968e-01 -8.44387559e-03 4.18644454e+01] [ 1.92579590e-02 2.19749209e-04 9.99814524e-01 6.20344444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539999 meters 0.014693433425270682 Centerline is valid? [True, True] Translation: X:925.99, Y:41.89, Z:6.21 [[ 9.05055709e-01 -4.24934641e-01 -1.74560488e-02 9.25985488e+02] [ 4.24849373e-01 9.05223986e-01 -8.51733818e-03 4.18947481e+01] [ 1.94209461e-02 2.92474162e-04 9.99811353e-01 6.20717420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.919254154 meters 0.014832318098361379 Centerline is valid? [True, True] Translation: X:926.04, Y:41.92, Z:6.21 [[ 9.05255473e-01 -4.24542981e-01 -1.66067751e-02 9.26036220e+02] [ 4.24465660e-01 9.05407738e-01 -8.10744948e-03 4.19232405e+01] [ 1.84778634e-02 2.90307266e-04 9.99829228e-01 6.20866343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539999 meters 0.018249615764561987 Centerline is valid? [True, True] Translation: X:926.09, Y:41.95, Z:6.21 [[ 9.05107663e-01 -4.24837485e-01 -1.71239444e-02 9.26086806e+02] [ 4.24755259e-01 9.05269586e-01 -8.36343277e-03 4.19521786e+01] [ 1.90548858e-02 2.96321667e-04 9.99818395e-01 6.20601196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.039254154 meters 0.01862415967672136 Centerline is valid? [True, True] Translation: X:926.14, Y:41.98, Z:6.21 [[ 9.05459263e-01 -4.24089618e-01 -1.70739121e-02 9.26139833e+02] [ 4.24007661e-01 9.05620172e-01 -8.34308023e-03 4.19787241e+01] [ 1.90006930e-02 3.14849730e-04 9.99819421e-01 6.20640398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539999 meters 0.016599068804792387 Centerline is valid? [True, True] Translation: X:926.19, Y:42.01, Z:6.21 [[ 9.06751477e-01 -4.21371065e-01 -1.57539108e-02 9.26189610e+02] [ 4.21300832e-01 9.06888255e-01 -7.70084141e-03 4.20077360e+01] [ 1.75319484e-02 3.45613600e-04 9.99846244e-01 6.20870867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.159254154 meters 0.01913021427335245 Centerline is valid? [True, True] Translation: X:926.24, Y:42.03, Z:6.21 [[ 9.07601260e-01 -4.19460675e-01 -1.76831619e-02 9.26242408e+02] [ 4.19371737e-01 9.07773405e-01 -8.64826586e-03 4.20332858e+01] [ 1.96799115e-02 4.33358673e-04 9.99806238e-01 6.20674675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539999 meters 0.017074318050453695 Centerline is valid? [True, True] Translation: X:926.30, Y:42.06, Z:6.21 [[ 9.08466349e-01 -4.17586531e-01 -1.76176729e-02 9.26295038e+02] [ 4.17497790e-01 9.08637035e-01 -8.62169796e-03 4.20601008e+01] [ 1.96083750e-02 4.77182943e-04 9.99807623e-01 6.20871117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.279254154 meters 0.018754201681656726 Centerline is valid? [True, True] Translation: X:926.35, Y:42.09, Z:6.21 [[ 9.09404468e-01 -4.15490389e-01 -1.87416840e-02 9.26347369e+02] [ 4.15389394e-01 9.09597395e-01 -9.17767758e-03 4.20878331e+01] [ 2.08606238e-02 5.61124217e-04 9.99782236e-01 6.20629008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.339254154 meters 0.018665697835363815 Centerline is valid? [True, True] Translation: X:926.40, Y:42.11, Z:6.21 [[ 9.09704301e-01 -4.14853722e-01 -1.82886483e-02 9.26401108e+02] [ 4.14757308e-01 9.09887943e-01 -8.96145071e-03 4.21121301e+01] [ 2.03583118e-02 5.66919718e-04 9.99792587e-01 6.20749608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.399254154 meters 0.020915575462510057 Centerline is valid? [True, True] Translation: X:926.46, Y:42.13, Z:6.21 [[ 9.08280631e-01 -4.18013554e-01 -1.70576842e-02 9.26456651e+02] [ 4.17930146e-01 9.08440670e-01 -8.36316448e-03 4.21339899e+01] [ 1.89918101e-02 4.67179876e-04 9.99819530e-01 6.20672083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.459254154 meters 0.017077270941406333 Centerline is valid? [True, True] Translation: X:926.51, Y:42.15, Z:6.21 [[ 9.06689186e-01 -4.21538683e-01 -1.48276549e-02 9.26513432e+02] [ 4.21476062e-01 9.06810355e-01 -7.27389079e-03 4.21526740e+01] [ 1.65120973e-02 3.45656535e-04 9.99863606e-01 6.21123343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.519254154 meters 0.017558833228770946 Centerline is valid? [True, True] Translation: X:926.57, Y:42.18, Z:6.21 [[ 9.06157804e-01 -4.22667771e-01 -1.51654253e-02 9.26566090e+02] [ 4.22602375e-01 9.06284637e-01 -7.44241616e-03 4.21770401e+01] [ 1.68898614e-02 3.35058733e-04 9.99857300e-01 6.21104683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.579254154 meters 0.01659052382729322 Centerline is valid? [True, True] Translation: X:926.62, Y:42.20, Z:6.21 [[ 9.05486401e-01 -4.24093949e-01 -1.54499039e-02 9.26619292e+02] [ 4.24026255e-01 9.05618144e-01 -7.58372571e-03 4.21996449e+01] [ 1.72079255e-02 3.15795617e-04 9.99851883e-01 6.21137979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.639254154 meters 0.015022561780183661 Centerline is valid? [True, True] Translation: X:926.68, Y:42.22, Z:6.21 [[ 9.04544159e-01 -4.26083821e-01 -1.58884301e-02 9.26675423e+02] [ 4.26012469e-01 9.04683643e-01 -7.80272405e-03 4.22187159e+01] [ 1.76986173e-02 2.89239120e-04 9.99843325e-01 6.21223832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.699254154 meters 0.014468207582073418 Centerline is valid? [True, True] Translation: X:926.73, Y:42.24, Z:6.21 [[ 9.03414784e-01 -4.28459667e-01 -1.62493915e-02 9.26731161e+02] [ 4.28385327e-01 9.03560872e-01 -7.98510728e-03 4.22390276e+01] [ 1.81036107e-02 2.52863095e-04 9.99836084e-01 6.21277645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.759254154 meters 0.013857258395113176 Centerline is valid? [True, True] Translation: X:926.79, Y:42.26, Z:6.22 [[ 9.02143033e-01 -4.31182976e-01 -1.48050222e-02 9.26787397e+02] [ 4.31121557e-01 9.02264488e-01 -7.27984581e-03 4.22587154e+01] [ 1.64969914e-02 1.84697965e-04 9.99863898e-01 6.21501101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.819254154 meters 0.013799635578603312 Centerline is valid? [True, True] Translation: X:926.84, Y:42.28, Z:6.22 [[ 9.01407056e-01 -4.32727862e-01 -1.45573931e-02 9.26842378e+02] [ 4.32668606e-01 9.01524582e-01 -7.16272876e-03 4.22812117e+01] [ 1.62233600e-02 1.58007271e-04 9.99868380e-01 6.21650943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.879254154 meters 0.013843447096006926 Centerline is valid? [True, True] Translation: X:926.90, Y:42.30, Z:6.22 [[ 9.00805683e-01 -4.33986130e-01 -1.43234248e-02 9.26896105e+02] [ 4.33928877e-01 9.00919542e-01 -7.05046311e-03 4.23034534e+01] [ 1.59640565e-02 1.35749589e-04 9.99872557e-01 6.21648116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.939254154 meters 0.013728145963638031 Centerline is valid? [True, True] Translation: X:926.95, Y:42.33, Z:6.22 [[ 9.00975934e-01 -4.33638517e-01 -1.41422036e-02 9.26949991e+02] [ 4.33582604e-01 9.01086908e-01 -6.96490997e-03 4.23265645e+01] [ 1.57636078e-02 1.43402806e-04 9.99875736e-01 6.21816347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.999254154 meters 0.014618390080026742 Centerline is valid? [True, True] Translation: X:927.00, Y:42.35, Z:6.22 [[ 9.01708037e-01 -4.32100920e-01 -1.45400024e-02 9.27001592e+02] [ 4.32041564e-01 9.01825240e-01 -7.16404839e-03 4.23536914e+01] [ 1.62081330e-02 1.77994647e-04 9.99868624e-01 6.21657792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.059254154 meters 0.01746986334139071 Centerline is valid? [True, True] Translation: X:927.06, Y:42.38, Z:6.22 [[ 9.02856820e-01 -4.29601371e-01 -1.70945891e-02 9.27055153e+02] [ 4.29518794e-01 9.03018599e-01 -8.42702594e-03 4.23787415e+01] [ 1.90569938e-02 2.65950537e-04 9.99818364e-01 6.21507049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters 0.015810025333025005 Centerline is valid? [True, True] Translation: X:927.11, Y:42.41, Z:6.22 [[ 9.05249445e-01 -4.24583941e-01 -1.58719870e-02 9.27106750e+02] [ 4.24511930e-01 9.05388511e-01 -7.82720310e-03 4.24058572e+01] [ 1.76936194e-02 3.47723410e-04 9.99843395e-01 6.21777109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.179254154 meters 0.018846616337331448 Centerline is valid? [True, True] Translation: X:927.16, Y:42.43, Z:6.22 [[ 9.07032587e-01 -4.20726480e-01 -1.67665055e-02 9.27159150e+02] [ 4.20645436e-01 9.07187427e-01 -8.26976687e-03 4.24331752e+01] [ 1.86896729e-02 4.48194036e-04 9.99825232e-01 6.21638779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters 0.017910480980687718 Centerline is valid? [True, True] Translation: X:927.21, Y:42.46, Z:6.22 [[ 9.08211617e-01 -4.18226400e-01 -1.54381968e-02 9.27213280e+02] [ 4.18157271e-01 9.08342702e-01 -7.61793538e-03 4.24561407e+01] [ 1.72091951e-02 4.63103181e-04 9.99851804e-01 6.21908955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.299254154 meters 0.018333989565975466 Centerline is valid? [True, True] Translation: X:927.27, Y:42.48, Z:6.22 [[ 9.08400412e-01 -4.17813401e-01 -1.55130427e-02 9.27267177e+02] [ 4.17743455e-01 9.08532737e-01 -7.65973370e-03 4.24807023e+01] [ 1.72944465e-02 4.77633193e-04 9.99850326e-01 6.21948144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539999 meters 0.0187702916383622 Centerline is valid? [True, True] Translation: X:927.32, Y:42.51, Z:6.22 [[ 9.08896891e-01 -4.16711012e-01 -1.60739998e-02 9.27320506e+02] [ 4.16635653e-01 9.09038866e-01 -7.94181383e-03 4.25051631e+01] [ 1.79213318e-02 5.21288517e-04 9.99839264e-01 6.21922167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.419254154 meters 0.021374782962692365 Centerline is valid? [True, True] Translation: X:927.37, Y:42.53, Z:6.22 [[ 9.09492706e-01 -4.15348160e-01 -1.75762167e-02 9.27372263e+02] [ 4.15257736e-01 9.09662324e-01 -8.68735985e-03 4.25305535e+01] [ 1.95967011e-02 6.02430456e-04 9.99807785e-01 6.21775749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539999 meters 0.019759003785882266 Centerline is valid? [True, True] Translation: X:927.43, Y:42.55, Z:6.22 [[ 9.10225853e-01 -4.13680109e-01 -1.89119957e-02 9.27426817e+02] [ 4.13574955e-01 9.10422039e-01 -9.35237491e-03 4.25535446e+01] [ 2.10867892e-02 6.91245653e-04 9.99777410e-01 6.21925322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.539254154 meters 0.022564425279648213 Centerline is valid? [True, True] Translation: X:927.48, Y:42.58, Z:6.22 [[ 9.10078547e-01 -4.13872552e-01 -2.15997441e-02 9.27478587e+02] [ 4.13735341e-01 9.10334493e-01 -1.06854185e-02 4.25791863e+01] [ 2.40853936e-02 7.87992634e-04 9.99709594e-01 6.21585630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539999 meters 0.019296460388353365 Centerline is valid? [True, True] Translation: X:927.53, Y:42.60, Z:6.22 [[ 9.09286016e-01 -4.15643679e-01 -2.09588325e-02 9.27534425e+02] [ 4.15514835e-01 9.09527244e-01 -1.03737470e-02 4.25990415e+01] [ 2.33744115e-02 7.23997313e-04 9.99726519e-01 6.21927445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.659254154 meters 0.01818768393705784 Centerline is valid? [True, True] Translation: X:927.59, Y:42.62, Z:6.22 [[ 9.06820776e-01 -4.20954881e-01 -2.17501453e-02 9.27590856e+02] [ 4.20817568e-01 9.07081371e-01 -1.07685249e-02 4.26172781e+01] [ 2.42622147e-02 6.12278867e-04 9.99705442e-01 6.22052693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539999 meters 0.01655883759590115 Centerline is valid? [True, True] Translation: X:927.65, Y:42.64, Z:6.22 [[ 9.04352425e-01 -4.26226578e-01 -2.18539478e-02 9.27647732e+02] [ 4.26089443e-01 9.04616316e-01 -1.08216339e-02 4.26350348e+01] [ 2.43819057e-02 4.74834401e-04 9.99702604e-01 6.22225535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.779254154 meters 0.016252060973237233 Centerline is valid? [True, True] Translation: X:927.70, Y:42.66, Z:6.22 [[ 9.03247694e-01 -4.28538634e-01 -2.23213376e-02 9.27702229e+02] [ 4.28396136e-01 9.03523358e-01 -1.10586364e-02 4.26574439e+01] [ 2.49069028e-02 4.26313086e-04 9.99689684e-01 6.22266699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.839254154 meters 0.015446364884180386 Centerline is valid? [True, True] Translation: X:927.76, Y:42.68, Z:6.23 [[ 9.02345176e-01 -4.30409403e-01 -2.28238856e-02 9.27758020e+02] [ 4.30260825e-01 9.02633699e-01 -1.13149693e-02 4.26777230e+01] [ 2.54716775e-02 3.89784101e-04 9.99675468e-01 6.22543097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.899254154 meters 0.01580050005955829 Centerline is valid? [True, True] Translation: X:927.81, Y:42.70, Z:6.23 [[ 9.02493307e-01 -4.30067556e-01 -2.34035785e-02 9.27811765e+02] [ 4.29911022e-01 9.02796613e-01 -1.16098963e-02 4.27012751e+01] [ 2.61217112e-02 4.16397387e-04 9.99658683e-01 6.22587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.959254154 meters 0.016203774734078764 Centerline is valid? [True, True] Translation: X:927.86, Y:42.73, Z:6.23 [[ 9.02996682e-01 -4.28924676e-01 -2.49121357e-02 9.27864678e+02] [ 4.28746756e-01 9.03340130e-01 -1.23624186e-02 4.27261519e+01] [ 2.78066783e-02 4.82225564e-04 9.99613203e-01 6.22529446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.019254154 meters 0.01618459566216007 Centerline is valid? [True, True] Translation: X:927.92, Y:42.75, Z:6.23 [[ 9.02995898e-01 -4.28922559e-01 -2.49769347e-02 9.27917659e+02] [ 4.28743499e-01 9.03341131e-01 -1.24021875e-02 4.27503411e+01] [ 2.78822705e-02 4.90426018e-04 9.99611094e-01 6.22617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.079254154 meters 0.018355321962003984 Centerline is valid? [True, True] Translation: X:927.97, Y:42.77, Z:6.23 [[ 9.01793018e-01 -4.31370170e-01 -2.62512527e-02 9.27971381e+02] [ 4.31173269e-01 9.02174918e-01 -1.30395320e-02 4.27733020e+01] [ 2.93080869e-02 4.40120450e-04 9.99570329e-01 6.22657329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.139254154 meters 0.015121625175228371 Centerline is valid? [True, True] Translation: X:928.03, Y:42.79, Z:6.23 [[ 8.99623126e-01 -4.36120228e-01 -2.18489710e-02 9.28027282e+02] [ 4.35985111e-01 8.99888375e-01 -1.08579152e-02 4.27944305e+01] [ 2.43969915e-02 2.42205548e-04 9.99702320e-01 6.23094828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.199254154 meters 0.01474323792848018 Centerline is valid? [True, True] Translation: X:928.08, Y:42.82, Z:6.23 [[ 8.97789354e-01 -4.39938731e-01 -2.06927168e-02 9.28081374e+02] [ 4.39818407e-01 8.98027780e-01 -1.02895587e-02 4.28186518e+01] [ 2.31094100e-02 1.36818509e-04 9.99732933e-01 6.23269145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.259254154 meters 0.014812718153489878 Centerline is valid? [True, True] Translation: X:928.13, Y:42.84, Z:6.23 [[ 8.96973541e-01 -4.41581784e-01 -2.10712113e-02 9.28133532e+02] [ 4.41457297e-01 8.97220997e-01 -1.04850982e-02 4.28438594e+01] [ 2.35355616e-02 1.02815667e-04 9.99722995e-01 6.23245971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.319254154 meters 0.015041975922548209 Centerline is valid? [True, True] Translation: X:928.19, Y:42.87, Z:6.23 [[ 8.96481252e-01 -4.42536303e-01 -2.19769313e-02 9.28185786e+02] [ 4.42401070e-01 8.96750586e-01 -1.09397964e-02 4.28698897e+01] [ 2.45490831e-02 8.47044305e-05 9.99698622e-01 6.23177590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.379254154 meters 0.018010214279874006 Centerline is valid? [True, True] Translation: X:928.24, Y:42.90, Z:6.23 [[ 8.96514036e-01 -4.42384697e-01 -2.36296955e-02 9.28236910e+02] [ 4.42228234e-01 8.96825384e-01 -1.17651647e-02 4.28983129e+01] [ 2.63964396e-02 9.79168156e-05 9.99651548e-01 6.23250886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.439254154 meters 0.015043629752831782 Centerline is valid? [True, True] Translation: X:928.29, Y:42.93, Z:6.23 [[ 8.97061071e-01 -4.41419016e-01 -2.07529846e-02 9.28289538e+02] [ 4.41297966e-01 8.97301086e-01 -1.03376399e-02 4.29257999e+01] [ 2.31849064e-02 1.15244404e-04 9.99731187e-01 6.23365573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.499254154 meters 0.016358107156652528 Centerline is valid? [True, True] Translation: X:928.34, Y:42.96, Z:6.23 [[ 8.98546127e-01 -4.38361988e-01 -2.12984537e-02 9.28339284e+02] [ 4.38233547e-01 8.98798490e-01 -1.06128114e-02 4.29569488e+01] [ 2.37952711e-02 2.02403721e-04 9.99716832e-01 6.23384502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.559254154 meters 0.015775965745370345 Centerline is valid? [True, True] Translation: X:928.39, Y:42.99, Z:6.23 [[ 9.00463374e-01 -4.34391147e-01 -2.16804705e-02 9.28389708e+02] [ 4.34256769e-01 9.00724281e-01 -1.08087268e-02 4.29870919e+01] [ 2.42233415e-02 3.17971542e-04 9.99706521e-01 6.23251937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters 0.01629804667793236 Centerline is valid? [True, True] Translation: X:928.44, Y:43.02, Z:6.23 [[ 9.01451968e-01 -4.32345832e-01 -2.14809365e-02 9.28441030e+02] [ 4.32213176e-01 9.01707791e-01 -1.07158761e-02 4.30165845e+01] [ 2.40024922e-02 3.75503826e-04 9.99711828e-01 6.23217077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.679254154 meters 0.016479024425201844 Centerline is valid? [True, True] Translation: X:928.49, Y:43.05, Z:6.24 [[ 9.03107062e-01 -4.28994502e-01 -1.90092596e-02 9.28491431e+02] [ 4.28889755e-01 9.03307004e-01 -9.48863212e-03 4.30465493e+01] [ 2.12417684e-02 4.16373977e-04 9.99774281e-01 6.23571289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters 0.019029078860005644 Centerline is valid? [True, True] Translation: X:928.54, Y:43.07, Z:6.24 [[ 9.03160184e-01 -4.28907402e-01 -1.84424184e-02 9.28542943e+02] [ 4.28808659e-01 9.03348366e-01 -9.21212414e-03 4.30734560e+01] [ 2.06110767e-02 4.11755040e-04 9.99787484e-01 6.23746480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.799254154 meters 0.01921235645905885 Centerline is valid? [True, True] Translation: X:928.60, Y:43.10, Z:6.24 [[ 9.02967794e-01 -4.29372238e-01 -1.69895634e-02 9.28595239e+02] [ 4.29288417e-01 9.03127533e-01 -8.49197937e-03 4.31009003e+01] [ 1.89899627e-02 3.74561096e-04 9.99819604e-01 6.23881801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539999 meters 0.01838049410512225 Centerline is valid? [True, True] Translation: X:928.65, Y:43.13, Z:6.24 [[ 9.02229825e-01 -4.30972352e-01 -1.56260893e-02 9.28646808e+02] [ 4.30901602e-01 9.02365076e-01 -7.81528678e-03 4.31285885e+01] [ 1.74686098e-02 3.17877928e-04 9.99847362e-01 6.23837522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.919254154 meters 0.01677524670164908 Centerline is valid? [True, True] Translation: X:928.70, Y:43.15, Z:6.24 [[ 9.01451223e-01 -4.32609794e-01 -1.53120337e-02 9.28698933e+02] [ 4.32542045e-01 9.01581215e-01 -7.66111131e-03 4.31546571e+01] [ 1.71193137e-02 2.83019779e-04 9.99853414e-01 6.23778371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539999 meters 0.015358097437982792 Centerline is valid? [True, True] Translation: X:928.75, Y:43.18, Z:6.24 [[ 8.99399137e-01 -4.36833508e-01 -1.60523450e-02 9.28753260e+02] [ 4.36759653e-01 8.99542350e-01 -8.03531472e-03 4.31777815e+01] [ 1.79498588e-02 2.15938514e-04 9.99838865e-01 6.23727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.039254154 meters 0.016352031351006567 Centerline is valid? [True, True] Translation: X:928.81, Y:43.20, Z:6.24 [[ 8.97282039e-01 -4.41131571e-01 -1.69670374e-02 9.28807575e+02] [ 4.41049727e-01 8.97442431e-01 -8.49831115e-03 4.32018817e+01] [ 1.89758127e-02 1.42074728e-04 9.99819933e-01 6.23687316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539999 meters 0.01447692646738738 Centerline is valid? [True, True] Translation: X:928.86, Y:43.23, Z:6.24 [[ 8.95771155e-01 -4.44229157e-01 -1.59528705e-02 9.28861200e+02] [ 4.44157212e-01 8.95913193e-01 -7.99504485e-03 4.32261766e+01] [ 1.78440192e-02 7.61480830e-05 9.99840780e-01 6.23861062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.159254154 meters 0.014192984613416993 Centerline is valid? [True, True] Translation: X:928.91, Y:43.25, Z:6.24 [[ 8.93672515e-01 -4.48497776e-01 -1.41131095e-02 9.28914906e+02] [ 4.48441934e-01 8.93783947e-01 -7.07720529e-03 4.32501046e+01] [ 1.57881816e-02 -4.20629387e-06 9.99875359e-01 6.24028299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539999 meters 0.015201664392369372 Centerline is valid? [True, True] Translation: X:928.97, Y:43.27, Z:6.24 [[ 8.91831260e-01 -4.52165056e-01 -1.35560227e-02 9.28967699e+02] [ 4.52113918e-01 8.91934279e-01 -6.80049091e-03 4.32740857e+01] [ 1.51660257e-02 -6.39761482e-05 9.99884987e-01 6.24021674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.279254154 meters 0.016429121603274262 Centerline is valid? [True, True] Translation: X:929.02, Y:43.30, Z:6.24 [[ 8.88729959e-01 -4.58222475e-01 -1.38283821e-02 9.29021376e+02] [ 4.58169944e-01 8.88837519e-01 -6.94026986e-03 4.32987289e+01] [ 1.54713725e-02 -1.67723304e-04 9.99880297e-01 6.24187735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.339254154 meters 0.015524432493325638 Centerline is valid? [True, True] Translation: X:929.07, Y:43.32, Z:6.24 [[ 8.87362965e-01 -4.60875396e-01 -1.34476027e-02 9.29073326e+02] [ 4.60825975e-01 8.87464832e-01 -6.75223628e-03 4.33245698e+01] [ 1.50462140e-02 -2.05320227e-04 9.99886778e-01 6.24337990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.399254154 meters 0.016788998975777177 Centerline is valid? [True, True] Translation: X:929.12, Y:43.36, Z:6.24 [[ 8.86861623e-01 -4.61827165e-01 -1.38611733e-02 9.29123399e+02] [ 4.61774720e-01 8.86969909e-01 -6.96339960e-03 4.33562156e+01] [ 1.55103307e-02 -2.25167554e-04 9.99879682e-01 6.24282749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.459254154 meters 0.015371992132416057 Centerline is valid? [True, True] Translation: X:929.17, Y:43.38, Z:6.24 [[ 8.86660380e-01 -4.62231271e-01 -1.32522938e-02 9.29173453e+02] [ 4.62183312e-01 8.86759384e-01 -6.66196229e-03 4.33849581e+01] [ 1.48309632e-02 -2.18091030e-04 9.99889991e-01 6.24389268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.519254154 meters 0.016521111725158986 Centerline is valid? [True, True] Translation: X:929.22, Y:43.41, Z:6.25 [[ 8.85722764e-01 -4.64054202e-01 -1.22017316e-02 9.29224810e+02] [ 4.64013665e-01 8.85806777e-01 -6.13780956e-03 4.34146652e+01] [ 1.36566529e-02 -2.25372559e-04 9.99906718e-01 6.24522920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.579254154 meters 0.015723065525311778 Centerline is valid? [True, True] Translation: X:929.28, Y:43.44, Z:6.25 [[ 8.85177204e-01 -4.65119482e-01 -1.11885985e-02 9.29276029e+02] [ 4.65085440e-01 8.85247886e-01 -5.63152979e-03 4.34447550e+01] [ 1.25240174e-02 -2.18752465e-04 9.99921547e-01 6.24595894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.639254154 meters 0.017707784156567003 Centerline is valid? [True, True] Translation: X:929.33, Y:43.47, Z:6.24 [[ 8.84553212e-01 -4.66293014e-01 -1.16808071e-02 9.29326908e+02] [ 4.66255964e-01 8.84630299e-01 -5.88298009e-03 4.34741019e+01] [ 1.30763884e-02 -2.42437023e-04 9.99914471e-01 6.24443882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.699254154 meters 0.016737238613554115 Centerline is valid? [True, True] Translation: X:929.38, Y:43.50, Z:6.24 [[ 8.83590548e-01 -4.68105030e-01 -1.20591726e-02 9.29377775e+02] [ 4.68065659e-01 8.83672793e-01 -6.07732503e-03 4.35048513e+01] [ 1.35011891e-02 -2.74617606e-04 9.99908817e-01 6.24338506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.759254154 meters 0.016964156514115068 Centerline is valid? [True, True] Translation: X:929.43, Y:43.54, Z:6.24 [[ 8.81552897e-01 -4.71952419e-01 -1.11984246e-02 9.29428154e+02] [ 4.71918751e-01 8.81623967e-01 -5.64561019e-03 4.35361864e+01] [ 1.25372589e-02 -3.07842549e-04 9.99921358e-01 6.24452637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.819254154 meters 0.017389051931201202 Centerline is valid? [True, True] Translation: X:929.48, Y:43.57, Z:6.25 [[ 8.79333030e-01 -4.76113996e-01 -9.42795894e-03 9.29477914e+02] [ 4.76090363e-01 8.79383516e-01 -4.75372204e-03 4.35686348e+01] [ 1.05541053e-02 -3.08455593e-04 9.99944256e-01 6.24582853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.879254154 meters 0.02093442358318034 Centerline is valid? [True, True] Translation: X:929.53, Y:43.60, Z:6.25 [[ 8.77454338e-01 -4.79578413e-01 -8.85608815e-03 9.29528547e+02] [ 4.79557729e-01 8.77498968e-01 -4.46612229e-03 4.35981977e+01] [ 9.91306405e-03 -3.28187148e-04 9.99950811e-01 6.24586195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.939254154 meters 0.018740731360446638 Centerline is valid? [True, True] Translation: X:929.58, Y:43.63, Z:6.25 [[ 8.77003774e-01 -4.80399949e-01 -8.95931717e-03 9.29578172e+02] [ 4.80378809e-01 8.77049470e-01 -4.51953773e-03 4.36313675e+01] [ 1.00289501e-02 -3.40214466e-04 9.99949651e-01 6.24670015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.999254154 meters 0.021032914782511826 Centerline is valid? [True, True] Translation: X:929.62, Y:43.67, Z:6.24 [[ 8.77809773e-01 -4.78906408e-01 -9.93256679e-03 9.29624852e+02] [ 4.78880302e-01 8.77865893e-01 -5.01305216e-03 4.36664925e+01] [ 1.11202444e-02 -3.56004408e-04 9.99938105e-01 6.24387645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.059254154 meters 0.01795092522956176 Centerline is valid? [True, True] Translation: X:929.67, Y:43.70, Z:6.24 [[ 8.79392353e-01 -4.75978000e-01 -1.06786446e-02 9.29673272e+02] [ 4.75947595e-01 8.79457120e-01 -5.39074412e-03 4.37005569e+01] [ 1.19572856e-02 -3.41896061e-04 9.99928451e-01 6.24470509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters 0.017040111107677097 Centerline is valid? [True, True] Translation: X:929.72, Y:43.74, Z:6.25 [[ 8.81654451e-01 -4.71779260e-01 -1.04765589e-02 9.29721556e+02] [ 4.71749677e-01 8.81716651e-01 -5.29049140e-03 4.37372498e+01] [ 1.17333006e-02 -2.77928009e-04 9.99931124e-01 6.24502918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.179254154 meters 0.01717409114745903 Centerline is valid? [True, True] Translation: X:929.77, Y:43.77, Z:6.24 [[ 8.84429577e-01 -4.66580320e-01 -9.33430659e-03 9.29768641e+02] [ 4.66556528e-01 8.84478813e-01 -4.71540159e-03 4.37745653e+01] [ 1.04561100e-02 -1.84541037e-04 9.99945316e-01 6.24461371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters 0.0176922887000553 Centerline is valid? [True, True] Translation: X:929.81, Y:43.81, Z:6.24 [[ 8.88265151e-01 -4.59265473e-01 -7.76189837e-03 9.29814371e+02] [ 4.59248737e-01 8.88299059e-01 -3.92163258e-03 4.38123449e+01] [ 8.69595746e-03 -8.11924616e-05 9.99962186e-01 6.24438528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.299254154 meters 0.014659478111670142 Centerline is valid? [True, True] Translation: X:929.86, Y:43.85, Z:6.25 [[ 8.93565915e-01 -4.48881255e-01 -6.75094564e-03 9.29860351e+02] [ 4.48868290e-01 8.93591416e-01 -3.41161948e-03 4.38513462e+01] [ 7.56399910e-03 1.82214511e-05 9.99971392e-01 6.24705642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539999 meters 0.01571149449166677 Centerline is valid? [True, True] Translation: X:929.91, Y:43.88, Z:6.25 [[ 8.95442659e-01 -4.45127717e-01 -6.61506123e-03 9.29909784e+02] [ 4.45115153e-01 8.95467092e-01 -3.34483901e-03 4.38823719e+01] [ 7.41245020e-03 5.06475477e-05 9.99972526e-01 6.24703824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.419254154 meters 0.02155537330674144 Centerline is valid? [True, True] Translation: X:929.96, Y:43.92, Z:6.24 [[ 9.00811088e-01 -4.34173122e-01 -5.75185273e-03 9.29957478e+02] [ 4.34163394e-01 9.00829443e-01 -2.90890461e-03 4.39208758e+01] [ 6.44440649e-03 1.23129618e-04 9.99979227e-01 6.24420876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539999 meters 0.024728185890333078 Centerline is valid? [True, True] Translation: X:930.01, Y:43.96, Z:6.24 [[ 9.04653081e-01 -4.26101673e-01 -6.33770765e-03 9.30005714e+02] [ 4.26089659e-01 9.04675259e-01 -3.20604557e-03 4.39564515e+01] [ 7.09966869e-03 1.99927318e-04 9.99974777e-01 6.24301368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.539254154 meters 0.025105587528125195 Centerline is valid? [True, True] Translation: X:930.06, Y:43.98, Z:6.24 [[ 9.05739073e-01 -4.23786130e-01 -6.48437510e-03 9.30057708e+02] [ 4.23773490e-01 9.05762257e-01 -3.28069166e-03 4.39843326e+01] [ 7.26361385e-03 2.23544359e-04 9.99973595e-01 6.24254881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539999 meters 0.026970260411813378 Centerline is valid? [True, True] Translation: X:930.11, Y:44.01, Z:6.24 [[ 9.05658653e-01 -4.23941197e-01 -7.50101115e-03 9.30107833e+02] [ 4.23924267e-01 9.05689679e-01 -3.79752142e-03 4.40108347e+01] [ 8.40351416e-03 2.59397482e-04 9.99964656e-01 6.24086911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.659254154 meters 0.025212592692840943 Centerline is valid? [True, True] Translation: X:930.16, Y:44.03, Z:6.24 [[ 9.05147480e-01 -4.25008577e-01 -8.70344052e-03 9.30161928e+02] [ 4.24985815e-01 9.05189276e-01 -4.40822485e-03 4.40348216e+01] [ 9.75179439e-03 2.91254845e-04 9.99952408e-01 6.24008704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539999 meters 0.025507717389350815 Centerline is valid? [True, True] Translation: X:930.22, Y:44.06, Z:6.24 [[ 9.04632991e-01 -4.26090541e-01 -9.27379786e-03 9.30215427e+02] [ 4.26064723e-01 9.04680474e-01 -4.70011675e-03 4.40589812e+01] [ 1.03924991e-02 3.00642552e-04 9.99945951e-01 6.23986037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.779254154 meters 0.026507589379615473 Centerline is valid? [True, True] Translation: X:930.27, Y:44.08, Z:6.24 [[ 9.04363547e-01 -4.26683451e-01 -8.23454077e-03 9.30270444e+02] [ 4.26663099e-01 9.04400997e-01 -4.17574417e-03 4.40808761e+01] [ 9.22904782e-03 2.63016126e-04 9.99957377e-01 6.24180194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.839254154 meters 0.024876450266521345 Centerline is valid? [True, True] Translation: X:930.32, Y:44.10, Z:6.25 [[ 9.05265598e-01 -4.24799429e-01 -6.29625827e-03 9.30324806e+02] [ 4.24787474e-01 9.05287467e-01 -3.19435199e-03 4.41042168e+01] [ 7.05688260e-03 2.17165317e-04 9.99975076e-01 6.24503939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.899254154 meters 0.025725857934930162 Centerline is valid? [True, True] Translation: X:930.38, Y:44.13, Z:6.24 [[ 9.06032872e-01 -4.23149013e-01 -7.02477578e-03 9.30379910e+02] [ 4.23134064e-01 9.06060067e-01 -3.56634069e-03 4.41259293e+01] [ 7.87396236e-03 2.58799976e-04 9.99968966e-01 6.24437832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.959254154 meters 0.026174669970135823 Centerline is valid? [True, True] Translation: X:930.43, Y:44.15, Z:6.24 [[ 9.06322163e-01 -4.22502990e-01 -8.44749541e-03 9.30434178e+02] [ 4.22481314e-01 9.06361473e-01 -4.29167797e-03 4.41498536e+01] [ 9.46973117e-03 3.20733901e-04 9.99955110e-01 6.24355594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.019254154 meters 0.02517212600217963 Centerline is valid? [True, True] Translation: X:930.49, Y:44.17, Z:6.24 [[ 9.07509463e-01 -4.19893433e-01 -1.07740688e-02 9.30488045e+02] [ 4.19857956e-01 9.07573306e-01 -5.47639930e-03 4.41736016e+01] [ 1.20777614e-02 4.46305664e-04 9.99926962e-01 6.24353751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.079254154 meters 0.02487097910891444 Centerline is valid? [True, True] Translation: X:930.54, Y:44.20, Z:6.24 [[ 9.07784828e-01 -4.19228006e-01 -1.32130463e-02 9.30543383e+02] [ 4.19174536e-01 9.07880810e-01 -6.71889267e-03 4.41954377e+01] [ 1.48126191e-02 5.60736299e-04 9.99890130e-01 6.24251439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.139254154 meters 0.02899097660367961 Centerline is valid? [True, True] Translation: X:930.60, Y:44.22, Z:6.24 [[ 9.07043334e-01 -4.20720881e-01 -1.63196188e-02 9.30597360e+02] [ 4.20639487e-01 9.07189890e-01 -8.30208390e-03 4.42177665e+01] [ 1.82978533e-02 6.65673764e-04 9.99832359e-01 6.23895519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.199254154 meters 0.021484989286718874 Centerline is valid? [True, True] Translation: X:930.66, Y:44.23, Z:6.24 [[ 9.04472186e-01 -4.26233691e-01 -1.59657813e-02 9.30657629e+02] [ 4.26156582e-01 9.04612925e-01 -8.12550662e-03 4.42299647e+01] [ 1.79062168e-02 5.45371960e-04 9.99839522e-01 6.24361578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.259254154 meters 0.019820333034119866 Centerline is valid? [True, True] Translation: X:930.72, Y:44.24, Z:6.25 [[ 8.99932597e-01 -4.35741339e-01 -1.58368402e-02 9.30717441e+02] [ 4.35666857e-01 9.00071862e-01 -8.06425347e-03 4.42431721e+01] [ 1.77682228e-02 3.57698180e-04 9.99842069e-01 6.24560760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.319254154 meters 0.017121217339837583 Centerline is valid? [True, True] Translation: X:930.78, Y:44.26, Z:6.25 [[ 8.96263893e-01 -4.43283508e-01 -1.45177639e-02 9.30775675e+02] [ 4.43221840e-01 8.96381444e-01 -7.39644058e-03 4.42603969e+01] [ 1.62921743e-02 1.94572586e-04 9.99867255e-01 6.24846990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.379254154 meters 0.016646952174196535 Centerline is valid? [True, True] Translation: X:930.84, Y:44.27, Z:6.25 [[ 8.90850104e-01 -4.54054406e-01 -1.48556211e-02 9.30835037e+02] [ 4.53991247e-01 8.90973960e-01 -7.57307615e-03 4.42730564e+01] [ 1.66745601e-02 2.15374656e-06 9.99860970e-01 6.24980516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.439254154 meters 0.018957520682437137 Centerline is valid? [True, True] Translation: X:930.89, Y:44.29, Z:6.25 [[ 8.86590037e-01 -4.62230408e-01 -1.73538386e-02 9.30892482e+02] [ 4.62145663e-01 8.86759844e-01 -8.85244763e-03 4.42902143e+01] [ 1.94805577e-02 -1.71509369e-04 9.99810221e-01 6.24789744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.499254154 meters 0.01711831721088805 Centerline is valid? [True, True] Translation: X:930.95, Y:44.31, Z:6.25 [[ 8.83669422e-01 -4.67783480e-01 -1.75204990e-02 9.30948051e+02] [ 4.67698123e-01 8.83843046e-01 -8.94072465e-03 4.43095718e+01] [ 1.96676945e-02 -2.93659533e-04 9.99806529e-01 6.24912302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.559254154 meters 0.017670092512483998 Centerline is valid? [True, True] Translation: X:931.00, Y:44.33, Z:6.25 [[ 8.82283291e-01 -4.70388637e-01 -1.76273593e-02 9.31001962e+02] [ 4.70302714e-01 8.82459294e-01 -8.99728347e-03 4.43316638e+01] [ 1.97876470e-02 -3.52042053e-04 9.99804143e-01 6.24882268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters 0.019657064301783607 Centerline is valid? [True, True] Translation: X:931.06, Y:44.35, Z:6.25 [[ 8.80766519e-01 -4.73268097e-01 -1.63599416e-02 9.31055638e+02] [ 4.73194549e-01 8.80918362e-01 -8.35217172e-03 4.43530122e+01] [ 1.83645893e-02 -3.85121972e-04 9.99831283e-01 6.24875864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.679254154 meters 0.019115368680546994 Centerline is valid? [True, True] Translation: X:931.11, Y:44.38, Z:6.25 [[ 8.80203435e-01 -4.74391819e-01 -1.39397239e-02 9.31109165e+02] [ 4.74338511e-01 8.80313741e-01 -7.12000157e-03 4.43767617e+01] [ 1.56490010e-02 -3.45098043e-04 9.99877487e-01 6.25107439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters 0.01754251818752648 Centerline is valid? [True, True] Translation: X:931.16, Y:44.40, Z:6.25 [[ 8.81578405e-01 -4.71857380e-01 -1.30433605e-02 9.31161242e+02] [ 4.71810368e-01 8.81674847e-01 -6.66638443e-03 4.44043900e+01] [ 1.46455856e-02 -2.77052165e-04 9.99892709e-01 6.25282864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.799254154 meters 0.01678839969657806 Centerline is valid? [True, True] Translation: X:931.21, Y:44.43, Z:6.25 [[ 8.84022027e-01 -4.67258012e-01 -1.32289881e-02 9.31211198e+02] [ 4.67209095e-01 8.84120982e-01 -6.76396619e-03 4.44339555e+01] [ 1.48565433e-02 -2.01208441e-04 9.99889615e-01 6.25213208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539999 meters 0.015423868565467506 Centerline is valid? [True, True] Translation: X:931.26, Y:44.47, Z:6.25 [[ 8.88342475e-01 -4.58958469e-01 -1.43097999e-02 9.31259811e+02] [ 4.58900097e-01 8.88457720e-01 -7.31992263e-03 4.44675728e+01] [ 1.60731926e-02 -6.41703557e-05 9.99870816e-01 6.25132267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.919254154 meters 0.015210865880407494 Centerline is valid? [True, True] Translation: X:931.31, Y:44.50, Z:6.25 [[ 8.91477137e-01 -4.52789890e-01 -1.58060157e-02 9.31310125e+02] [ 4.52717608e-01 8.91617246e-01 -8.09043248e-03 4.44981620e+01] [ 1.77561822e-02 5.67739530e-05 9.99842345e-01 6.24968617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539999 meters 0.01582042555208626 Centerline is valid? [True, True] Translation: X:931.36, Y:44.53, Z:6.25 [[ 8.92615057e-01 -4.50515384e-01 -1.65604581e-02 9.31360292e+02] [ 4.50435587e-01 8.92768658e-01 -8.47971673e-03 4.45267421e+01] [ 1.86049008e-02 1.09703166e-04 9.99826908e-01 6.24766585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.039254154 meters 0.015186798922605082 Centerline is valid? [True, True] Translation: X:931.41, Y:44.55, Z:6.25 [[ 8.94486352e-01 -4.46807079e-01 -1.60499213e-02 9.31412653e+02] [ 4.46731496e-01 8.94630315e-01 -8.22008504e-03 4.45523760e+01] [ 1.80315383e-02 1.82748548e-04 9.99837402e-01 6.25235111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539999 meters 0.015263402436396825 Centerline is valid? [True, True] Translation: X:931.47, Y:44.58, Z:6.25 [[ 8.95392590e-01 -4.44993089e-01 -1.59141676e-02 9.31465426e+02] [ 4.44918422e-01 8.95533976e-01 -8.15449183e-03 4.45782401e+01] [ 1.78803703e-02 2.20965229e-04 9.99840109e-01 6.25457939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.159254154 meters 0.01659371056071756 Centerline is valid? [True, True] Translation: X:931.52, Y:44.61, Z:6.25 [[ 8.97109912e-01 -4.41478090e-01 -1.70558680e-02 9.31515783e+02] [ 4.41391618e-01 8.97271975e-01 -8.74313142e-03 4.46056395e+01] [ 1.91636533e-02 3.15232698e-04 9.99816311e-01 6.25383139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539999 meters 0.01665192525358559 Centerline is valid? [True, True] Translation: X:931.57, Y:44.63, Z:6.25 [[ 8.98419363e-01 -4.38754466e-01 -1.83620977e-02 9.31568495e+02] [ 4.38653572e-01 8.98606896e-01 -9.41755529e-03 4.46322785e+01] [ 2.06323021e-02 4.06314281e-04 9.99787049e-01 6.25381340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.279254154 meters 0.017065787431506024 Centerline is valid? [True, True] Translation: X:931.62, Y:44.66, Z:6.25 [[ 8.99690384e-01 -4.36064110e-01 -2.01322153e-02 9.31622433e+02] [ 4.35942013e-01 8.99915454e-01 -1.03314233e-02 4.46585827e+01] [ 2.26224546e-02 5.18603770e-04 9.99743945e-01 6.25378381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.339254154 meters 0.017197885876785255 Centerline is valid? [True, True] Translation: X:931.68, Y:44.68, Z:6.25 [[ 9.00035457e-01 -4.35288113e-01 -2.14577505e-02 9.31676187e+02] [ 4.35149021e-01 9.00291021e-01 -1.10184779e-02 4.46829453e+01] [ 2.41144326e-02 5.79701671e-04 9.99709037e-01 6.25410016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.399254154 meters 0.016254432878526112 Centerline is valid? [True, True] Translation: X:931.73, Y:44.70, Z:6.26 [[ 8.97844198e-01 -4.39813488e-01 -2.09735838e-02 9.31732549e+02] [ 4.39681757e-01 8.98089023e-01 -1.07731396e-02 4.47018439e+01] [ 2.35743174e-02 4.50898709e-04 9.99721985e-01 6.25599146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.459254154 meters 0.01444288473122297 Centerline is valid? [True, True] Translation: X:931.79, Y:44.72, Z:6.26 [[ 8.92594475e-01 -4.50446231e-01 -1.93208926e-02 9.31791193e+02] [ 4.50336885e-01 8.92803544e-01 -9.92583397e-03 4.47161129e+01] [ 2.17208159e-02 1.58833968e-04 9.99764063e-01 6.25790719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.519254154 meters 0.014558303905432233 Centerline is valid? [True, True] Translation: X:931.85, Y:44.73, Z:6.26 [[ 8.85496967e-01 -4.64296009e-01 -1.80093823e-02 9.31851238e+02] [ 4.64203762e-01 8.85680071e-01 -9.25628464e-03 4.47281005e+01] [ 2.02482070e-02 -1.63611045e-04 9.99794971e-01 6.25997468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.579254154 meters 0.018703258587858127 Centerline is valid? [True, True] Translation: X:931.91, Y:44.74, Z:6.26 [[ 8.79747877e-01 -4.75085645e-01 -1.83657876e-02 9.31909249e+02] [ 4.74991983e-01 8.79939462e-01 -9.44245366e-03 4.47420831e+01] [ 2.06467554e-02 -4.16623295e-04 9.99786746e-01 6.26037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.639254154 meters 0.01717822863510612 Centerline is valid? [True, True] Translation: X:931.96, Y:44.77, Z:6.26 [[ 8.78965866e-01 -4.76564690e-01 -1.74671612e-02 9.31961988e+02] [ 4.76480182e-01 8.79139303e-01 -8.98450435e-03 4.47692345e+01] [ 1.96377655e-02 -4.25683514e-04 9.99807070e-01 6.26205277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.699254154 meters 0.01594570026462337 Centerline is valid? [True, True] Translation: X:932.01, Y:44.80, Z:6.26 [[ 8.80632449e-01 -4.73384581e-01 -1.98375384e-02 9.32013037e+02] [ 4.73274624e-01 8.80855766e-01 -1.02102659e-02 4.47990682e+01] [ 2.23073925e-02 -3.97112095e-04 9.99751080e-01 6.26200897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.759254154 meters 0.015682067248971407 Centerline is valid? [True, True] Translation: X:932.06, Y:44.83, Z:6.26 [[ 8.82721438e-01 -4.69430178e-01 -2.09325248e-02 9.32064105e+02] [ 4.69306474e-01 8.82969543e-01 -1.07805479e-02 4.48272761e+01] [ 2.35434964e-02 -3.07548631e-04 9.99722766e-01 6.26075118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.819254154 meters 0.014629307713353383 Centerline is valid? [True, True] Translation: X:932.11, Y:44.86, Z:6.26 [[ 8.84751785e-01 -4.65617922e-01 -2.03526228e-02 9.32112950e+02] [ 4.65499822e-01 8.84985827e-01 -1.04882054e-02 4.48602745e+01] [ 2.28952791e-02 -1.94683824e-04 9.99737850e-01 6.26227267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.879254154 meters 0.014105646530749664 Centerline is valid? [True, True] Translation: X:932.16, Y:44.89, Z:6.26 [[ 8.86216959e-01 -4.62892582e-01 -1.87072151e-02 9.32162998e+02] [ 4.62792081e-01 8.86414376e-01 -9.64592170e-03 4.48915168e+01] [ 2.10473700e-02 -1.09171601e-04 9.99778474e-01 6.26322491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.939254154 meters 0.013773823885164438 Centerline is valid? [True, True] Translation: X:932.21, Y:44.92, Z:6.27 [[ 8.88561500e-01 -4.58456173e-01 -1.66252080e-02 9.32212715e+02] [ 4.58375931e-01 8.88717017e-01 -8.57724992e-03 4.49243250e+01] [ 1.87073984e-02 8.18876696e-07 9.99825001e-01 6.26527468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.999254154 meters 0.016533950256441277 Centerline is valid? [True, True] Translation: X:932.26, Y:44.96, Z:6.26 [[ 8.90873145e-01 -4.53906369e-01 -1.77213620e-02 9.32262364e+02] [ 4.53814183e-01 8.91049379e-01 -9.14828637e-03 4.49574695e+01] [ 1.99430740e-02 1.07757259e-04 9.99801111e-01 6.26453104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.059254154 meters 0.015149064249498863 Centerline is valid? [True, True] Translation: X:932.31, Y:44.99, Z:6.26 [[ 8.94246395e-01 -4.47291414e-01 -1.59303237e-02 9.32309361e+02] [ 4.47215816e-01 8.94388247e-01 -8.22661209e-03 4.49914451e+01] [ 1.79275873e-02 2.32325482e-04 9.99839261e-01 6.26469171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters 0.015502606750443728 Centerline is valid? [True, True] Translation: X:932.36, Y:45.02, Z:6.27 [[ 8.95898594e-01 -4.43957113e-01 -1.63643094e-02 9.32360164e+02] [ 4.43876746e-01 8.96047982e-01 -8.45267460e-03 4.50204333e+01] [ 1.84158314e-02 3.09002870e-04 9.99830366e-01 6.26583549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.179254154 meters 0.016947405373812428 Centerline is valid? [True, True] Translation: X:932.41, Y:45.05, Z:6.27 [[ 8.97157884e-01 -4.41427737e-01 -1.57887188e-02 9.32410334e+02] [ 4.41352468e-01 8.97296734e-01 -8.15904421e-03 4.50509699e+01] [ 1.77687943e-02 3.51560816e-04 9.99842061e-01 6.26534609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters 0.01903334151126204 Centerline is valid? [True, True] Translation: X:932.46, Y:45.08, Z:6.26 [[ 8.97707104e-01 -4.40279083e-01 -1.66218042e-02 9.32460769e+02] [ 4.40195406e-01 8.97860886e-01 -8.59265147e-03 4.50798568e+01] [ 1.87072326e-02 3.96842417e-04 9.99824926e-01 6.26387769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.299254154 meters 0.01759398873741443 Centerline is valid? [True, True] Translation: X:932.51, Y:45.11, Z:6.26 [[ 8.97989798e-01 -4.39688887e-01 -1.69706967e-02 9.32512700e+02] [ 4.39601519e-01 8.98150047e-01 -8.77485623e-03 4.51065774e+01] [ 1.91004388e-02 4.19387329e-04 9.99817482e-01 6.26305621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539999 meters 0.017147763683863355 Centerline is valid? [True, True] Translation: X:932.57, Y:45.13, Z:6.26 [[ 8.96793165e-01 -4.42064232e-01 -1.84725012e-02 9.32566317e+02] [ 4.41961125e-01 8.96983306e-01 -9.55578866e-03 4.51310255e+01] [ 2.07937976e-02 4.05438547e-04 9.99783703e-01 6.26180837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.419254154 meters 0.015949028866944607 Centerline is valid? [True, True] Translation: X:932.62, Y:45.15, Z:6.26 [[ 8.94829595e-01 -4.46045924e-01 -1.79729954e-02 9.32621448e+02] [ 4.45949052e-01 8.95010022e-01 -9.30079266e-03 4.51532523e+01] [ 2.02345916e-02 3.07584293e-04 9.99795212e-01 6.26192986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539999 meters 0.01691639540879954 Centerline is valid? [True, True] Translation: X:932.68, Y:45.18, Z:6.26 [[ 8.92266555e-01 -4.51125524e-01 -1.86052601e-02 9.32676756e+02] [ 4.51022721e-01 8.92460486e-01 -9.63249916e-03 4.51750450e+01] [ 2.09499257e-02 2.03361821e-04 9.99780506e-01 6.26133287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.539254154 meters 0.01523907734753151 Centerline is valid? [True, True] Translation: X:932.73, Y:45.19, Z:6.26 [[ 8.87143059e-01 -4.61181757e-01 -1.69876212e-02 9.32734519e+02] [ 4.61097836e-01 8.87305689e-01 -8.79769295e-03 4.51890631e+01] [ 1.91305484e-02 -2.81431229e-05 9.99816994e-01 6.26369478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539999 meters 0.01647015598525174 Centerline is valid? [True, True] Translation: X:932.79, Y:45.20, Z:6.27 [[ 8.81091517e-01 -4.72731136e-01 -1.42482449e-02 9.32793458e+02] [ 4.72673554e-01 8.81206684e-01 -7.38181848e-03 4.52026899e+01] [ 1.60452641e-02 -2.30710911e-04 9.99871240e-01 6.26707958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.659254154 meters 0.020629614532567904 Centerline is valid? [True, True] Translation: X:932.85, Y:45.22, Z:6.27 [[ 8.77436415e-01 -4.79482339e-01 -1.42135140e-02 9.32849190e+02] [ 4.79425885e-01 8.77551459e-01 -7.36596727e-03 4.52235435e+01] [ 1.60049412e-02 -3.51158628e-04 9.99871851e-01 6.26696735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539999 meters 0.020150738132941673 Centerline is valid? [True, True] Translation: X:932.90, Y:45.25, Z:6.27 [[ 8.77848237e-01 -4.78716388e-01 -1.45977284e-02 9.32900702e+02] [ 4.78656715e-01 8.77969533e-01 -7.56627789e-03 4.52497898e+01] [ 1.64384620e-02 -3.45257028e-04 9.99864820e-01 6.26699628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.779254154 meters 0.019456924766264927 Centerline is valid? [True, True] Translation: X:932.95, Y:45.28, Z:6.27 [[ 8.78938568e-01 -4.76679975e-01 -1.55947206e-02 9.32951773e+02] [ 4.76611495e-01 8.79076843e-01 -8.08623105e-03 4.52798242e+01] [ 1.75635022e-02 -3.25322766e-04 9.99845697e-01 6.26538718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.839254154 meters 0.016988766819808362 Centerline is valid? [True, True] Translation: X:933.00, Y:45.31, Z:6.26 [[ 8.81998370e-01 -4.70982524e-01 -1.59479462e-02 9.32999032e+02] [ 4.70909927e-01 8.82142514e-01 -8.27195550e-03 4.53143780e+01] [ 1.79643078e-02 -2.14194907e-04 9.99838606e-01 6.26358994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.899254154 meters 0.01604796484007181 Centerline is valid? [True, True] Translation: X:933.05, Y:45.35, Z:6.26 [[ 8.85380306e-01 -4.64614911e-01 -1.53198452e-02 9.33045587e+02] [ 4.64546915e-01 8.85512833e-01 -7.94895338e-03 4.53513279e+01] [ 1.72591218e-02 -7.89400318e-05 9.99851047e-01 6.26310322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.959254154 meters 0.016385218252870384 Centerline is valid? [True, True] Translation: X:933.09, Y:45.38, Z:6.26 [[ 8.87662195e-01 -4.60252397e-01 -1.49518694e-02 9.33094554e+02] [ 4.60186945e-01 8.87788112e-01 -7.76174603e-03 4.53843702e+01] [ 1.68464542e-02 9.15339814e-06 9.99858088e-01 6.26386485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.019254154 meters 0.01724306226209838 Centerline is valid? [True, True] Translation: X:933.14, Y:45.42, Z:6.26 [[ 8.90673858e-01 -4.54414931e-01 -1.43927038e-02 9.33141028e+02] [ 4.54353482e-01 8.90790131e-01 -7.47372759e-03 4.54197002e+01] [ 1.62170519e-02 1.17278700e-04 9.99868488e-01 6.26461045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.079254154 meters 0.015888559981150022 Centerline is valid? [True, True] Translation: X:933.19, Y:45.45, Z:6.26 [[ 8.91923058e-01 -4.51974843e-01 -1.38564142e-02 9.33189963e+02] [ 4.51917574e-01 8.92030670e-01 -7.19647968e-03 4.54511121e+01] [ 1.56129742e-02 1.56749095e-04 9.99878098e-01 6.26464660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.139254154 meters 0.013972882003155163 Centerline is valid? [True, True] Translation: X:933.24, Y:45.47, Z:6.27 [[ 8.91541119e-01 -4.52715675e-01 -1.42460515e-02 9.33243765e+02] [ 4.52655178e-01 8.91654919e-01 -7.40238896e-03 4.54740201e+01] [ 1.60537394e-02 1.50985152e-04 9.99871119e-01 6.26892789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.199254154 meters 0.014201255669353707 Centerline is valid? [True, True] Translation: X:933.30, Y:45.50, Z:6.26 [[ 8.88826829e-01 -4.58017907e-01 -1.43688697e-02 9.33296340e+02] [ 4.57956975e-01 8.88942964e-01 -7.47099990e-03 4.54995051e+01] [ 1.61949574e-02 6.01010274e-05 9.99868851e-01 6.26475396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.259254154 meters 0.01589758023629235 Centerline is valid? [True, True] Translation: X:933.35, Y:45.52, Z:6.27 [[ 8.83967849e-01 -4.67322610e-01 -1.45058900e-02 9.33352608e+02] [ 4.67261683e-01 8.84086855e-01 -7.54671880e-03 4.55199197e+01] [ 1.63512190e-02 -1.06989792e-04 9.99866304e-01 6.26988785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.319254154 meters 0.015385650715759393 Centerline is valid? [True, True] Translation: X:933.41, Y:45.54, Z:6.27 [[ 8.80747231e-01 -4.73377743e-01 -1.40651221e-02 9.33407169e+02] [ 4.73321165e-01 8.80859506e-01 -7.32161259e-03 4.55428743e+01] [ 1.58552849e-02 -2.08829954e-04 9.99874275e-01 6.27038232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.379254154 meters 0.018255096360796034 Centerline is valid? [True, True] Translation: X:933.46, Y:45.57, Z:6.27 [[ 8.76464787e-01 -4.81226534e-01 -1.51822131e-02 9.33462409e+02] [ 4.81161708e-01 8.76596191e-01 -7.90748150e-03 4.55661314e+01] [ 1.71139601e-02 -3.74470500e-04 9.99853475e-01 6.26966392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.439254154 meters 0.019009083996774846 Centerline is valid? [True, True] Translation: X:933.52, Y:45.59, Z:6.27 [[ 8.74273783e-01 -4.85146678e-01 -1.66749410e-02 9.33515748e+02] [ 4.85069133e-01 8.74432649e-01 -8.68781878e-03 4.55921745e+01] [ 1.87959793e-02 -4.92966993e-04 9.99823218e-01 6.26953135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.499254154 meters 0.01831227058148585 Centerline is valid? [True, True] Translation: X:933.57, Y:45.62, Z:6.27 [[ 8.74377876e-01 -4.84927388e-01 -1.75714944e-02 9.33567966e+02] [ 4.84841140e-01 8.74554268e-01 -9.15975612e-03 4.56184427e+01] [ 1.98090421e-02 -5.10295288e-04 9.99803651e-01 6.26848082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.559254154 meters 0.018627161590811975 Centerline is valid? [True, True] Translation: X:933.62, Y:45.64, Z:6.27 [[ 8.75456835e-01 -4.82973677e-01 -1.76566447e-02 9.33619162e+02] [ 4.82886113e-01 8.75634748e-01 -9.20816513e-03 4.56448014e+01] [ 1.99080730e-02 -4.64797436e-04 9.99801707e-01 6.26807384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters 0.016774962312089605 Centerline is valid? [True, True] Translation: X:933.67, Y:45.68, Z:6.27 [[ 8.78318034e-01 -4.77775171e-01 -1.69798926e-02 9.33669059e+02] [ 4.77693183e-01 8.78482086e-01 -8.85703369e-03 4.56762528e+01] [ 1.91482023e-02 -3.31886536e-04 9.99816601e-01 6.26938897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.679254154 meters 0.015032911744817572 Centerline is valid? [True, True] Translation: X:933.72, Y:45.71, Z:6.27 [[ 8.82414444e-01 -4.70212300e-01 -1.56570210e-02 9.33718062e+02] [ 4.70141365e-01 8.82553324e-01 -8.16866717e-03 4.57109533e+01] [ 1.76591637e-02 -1.52863320e-04 9.99844053e-01 6.27097094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters 0.013592082937005714 Centerline is valid? [True, True] Translation: X:933.77, Y:45.75, Z:6.27 [[ 8.87869575e-01 -4.59907145e-01 -1.31542968e-02 9.33766270e+02] [ 4.59855895e-01 8.87967013e-01 -6.86580657e-03 4.57456757e+01] [ 1.48382151e-02 4.68598457e-05 9.99889907e-01 6.27296697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.799254154 meters 0.01421519804902708 Centerline is valid? [True, True] Translation: X:933.82, Y:45.78, Z:6.27 [[ 8.91458671e-01 -4.52952491e-01 -1.16395500e-02 9.33815539e+02] [ 4.52911726e-01 8.91534643e-01 -6.07864101e-03 4.57788808e+01] [ 1.31303976e-02 1.47168560e-04 9.99913782e-01 6.27461162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539999 meters 0.0173694070289386 Centerline is valid? [True, True] Translation: X:933.86, Y:45.82, Z:6.27 [[ 8.96667806e-01 -4.42566502e-01 -1.10334648e-02 9.33863225e+02] [ 4.42529054e-01 8.96735641e-01 -5.76423186e-03 4.58161751e+01] [ 1.24451571e-02 2.85972384e-04 9.99922515e-01 6.27461290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.919254154 meters 0.020183139939671385 Centerline is valid? [True, True] Translation: X:933.91, Y:45.85, Z:6.27 [[ 9.00024683e-01 -4.35690064e-01 -1.13902466e-02 9.33911610e+02] [ 4.35649584e-01 9.00096668e-01 -5.95212387e-03 4.58509830e+01] [ 1.28456043e-02 3.94902199e-04 9.99917414e-01 6.27372607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539999 meters 0.022605229305722386 Centerline is valid? [True, True] Translation: X:933.96, Y:45.88, Z:6.27 [[ 9.00643395e-01 -4.34382335e-01 -1.23879707e-02 9.33961898e+02] [ 4.34334283e-01 9.00728473e-01 -6.47678531e-03 4.58816967e+01] [ 1.39715991e-02 4.52753530e-04 9.99902290e-01 6.27205967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.039254154 meters 0.019876199857627983 Centerline is valid? [True, True] Translation: X:934.02, Y:45.90, Z:6.27 [[ 8.98419481e-01 -4.38969490e-01 -1.21746906e-02 9.34015948e+02] [ 4.38923467e-01 8.98501889e-01 -6.36755040e-03 4.59047610e+01] [ 1.37341429e-02 3.76973915e-04 9.99905611e-01 6.27276563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539999 meters 0.019300309560870102 Centerline is valid? [True, True] Translation: X:934.07, Y:45.93, Z:6.27 [[ 8.95293423e-01 -4.45283646e-01 -1.31210149e-02 9.34072288e+02] [ 4.45230827e-01 8.95389514e-01 -6.86501483e-03 4.59258967e+01] [ 1.48052980e-02 3.04322323e-04 9.99890349e-01 6.27299843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.159254154 meters 0.017433723899828547 Centerline is valid? [True, True] Translation: X:934.13, Y:45.94, Z:6.27 [[ 8.89582171e-01 -4.56575908e-01 -1.34908204e-02 9.34129215e+02] [ 4.56521324e-01 8.89684453e-01 -7.06081836e-03 4.59431363e+01] [ 1.52263727e-02 1.22330939e-04 9.99884065e-01 6.27295721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539999 meters 0.013939313203491559 Centerline is valid? [True, True] Translation: X:934.19, Y:45.96, Z:6.27 [[ 8.82988436e-01 -4.69209147e-01 -1.31984496e-02 9.34187616e+02] [ 4.69158263e-01 8.83087067e-01 -6.91055733e-03 4.59584518e+01] [ 1.48978769e-02 -9.02194961e-05 9.99889016e-01 6.27452850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.279254154 meters 0.01571851509348028 Centerline is valid? [True, True] Translation: X:934.24, Y:45.98, Z:6.27 [[ 8.78525507e-01 -4.77503586e-01 -1.35373294e-02 9.34243492e+02] [ 4.77450995e-01 8.78629769e-01 -7.09063945e-03 4.59777221e+01] [ 1.52801064e-02 -2.34103781e-04 9.99883225e-01 6.27454752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.339254154 meters 0.019280280904215994 Centerline is valid? [True, True] Translation: X:934.30, Y:46.00, Z:6.28 [[ 8.71637364e-01 -4.89969899e-01 -1.33343330e-02 9.34301578e+02] [ 4.89920280e-01 8.71739240e-01 -6.98694772e-03 4.59957439e+01] [ 1.50474554e-02 -4.42675457e-04 9.99886683e-01 6.27575467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.399254154 meters 0.02212225694056074 Centerline is valid? [True, True] Translation: X:934.36, Y:46.02, Z:6.28 [[ 8.65830600e-01 -5.00154037e-01 -1.35392540e-02 9.34357611e+02] [ 5.00104058e-01 8.65936226e-01 -7.09814578e-03 4.60173402e+01] [ 1.52742968e-02 -6.25244028e-04 9.99883146e-01 6.27685750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.459254154 meters 0.02526300771917262 Centerline is valid? [True, True] Translation: X:934.41, Y:46.04, Z:6.28 [[ 8.62926555e-01 -5.05170167e-01 -1.26831737e-02 9.34410211e+02] [ 5.05126816e-01 8.63019500e-01 -6.65148856e-03 4.60415088e+01] [ 1.43059598e-02 -6.66865016e-04 9.99897442e-01 6.27738771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.519254154 meters 0.02608581229915715 Centerline is valid? [True, True] Translation: X:934.46, Y:46.07, Z:6.28 [[ 8.61925604e-01 -5.06854279e-01 -1.35274730e-02 9.34461280e+02] [ 5.06805128e-01 8.62031434e-01 -7.09703684e-03 4.60717230e+01] [ 1.52582704e-02 -7.38674921e-04 9.99883313e-01 6.27751108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.579254154 meters 0.023261883642318928 Centerline is valid? [True, True] Translation: X:934.51, Y:46.10, Z:6.28 [[ 8.62444502e-01 -5.05998665e-01 -1.24431527e-02 9.34510440e+02] [ 5.05956938e-01 8.62534007e-01 -6.53182863e-03 4.61042314e+01] [ 1.40377389e-02 -6.62359745e-04 9.99901247e-01 6.27875910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.639254154 meters 0.02230612425569448 Centerline is valid? [True, True] Translation: X:934.56, Y:46.14, Z:6.28 [[ 8.65115228e-01 -5.01428065e-01 -1.20639199e-02 9.34558875e+02] [ 5.01388348e-01 8.65199153e-01 -6.33638606e-03 4.61405014e+01] [ 1.36149351e-02 -5.67004781e-04 9.99907152e-01 6.27839962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.699254154 meters 0.019496952965036365 Centerline is valid? [True, True] Translation: X:934.61, Y:46.18, Z:6.28 [[ 8.69406595e-01 -4.93974273e-01 -1.10268093e-02 9.34605461e+02] [ 4.93940464e-01 8.69476423e-01 -5.79377651e-03 4.61787507e+01] [ 1.24495272e-02 -4.09439794e-04 9.99922418e-01 6.27971080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.759254154 meters 0.01793384542518362 Centerline is valid? [True, True] Translation: X:934.65, Y:46.21, Z:6.28 [[ 8.72383122e-01 -4.88700920e-01 -1.09132667e-02 9.34653906e+02] [ 4.88667378e-01 8.72451318e-01 -5.73514054e-03 4.62135103e+01] [ 1.23240623e-02 -3.29717607e-04 9.99924002e-01 6.28020107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.819254154 meters 0.015078400848000394 Centerline is valid? [True, True] Translation: X:934.70, Y:46.26, Z:6.28 [[ 8.78581441e-01 -4.77461794e-01 -1.11752764e-02 9.34696633e+02] [ 4.77425695e-01 8.78652494e-01 -5.87376237e-03 4.62582353e+01] [ 1.26236816e-02 -1.74785487e-04 9.99920303e-01 6.27921535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.879254154 meters 0.014651181225359433 Centerline is valid? [True, True] Translation: X:934.74, Y:46.29, Z:6.28 [[ 8.81158873e-01 -4.72686008e-01 -1.12684475e-02 9.34744139e+02] [ 4.72648885e-01 8.81230916e-01 -5.92494449e-03 4.62949573e+01] [ 1.27307427e-02 -1.05201730e-04 9.99918955e-01 6.27942250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.939254154 meters 0.01379565174877079 Centerline is valid? [True, True] Translation: X:934.79, Y:46.33, Z:6.28 [[ 8.84551317e-01 -4.66307820e-01 -1.12242991e-02 9.34791351e+02] [ 4.66270426e-01 8.84622528e-01 -5.90534283e-03 4.63325033e+01] [ 1.26829754e-02 -9.97995441e-06 9.99919568e-01 6.27959470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.999254154 meters 0.013802474976176123 Centerline is valid? [True, True] Translation: X:934.84, Y:46.37, Z:6.28 [[ 8.86380138e-01 -4.62811173e-01 -1.16648534e-02 9.34840029e+02] [ 4.62770431e-01 8.86456889e-01 -6.14095450e-03 4.63670778e+01] [ 1.31824920e-02 4.50708774e-05 9.99913106e-01 6.27948405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.059254154 meters 0.013513313824688027 Centerline is valid? [True, True] Translation: X:934.89, Y:46.40, Z:6.28 [[ 8.88215841e-01 -4.59285757e-01 -1.13672056e-02 9.34888633e+02] [ 4.59246743e-01 8.88288570e-01 -5.98707582e-03 4.64001121e+01] [ 1.28471374e-02 9.74634485e-05 9.99917467e-01 6.28026577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters 0.014308442303731872 Centerline is valid? [True, True] Translation: X:934.94, Y:46.43, Z:6.28 [[ 8.90702714e-01 -4.54425821e-01 -1.20768134e-02 9.34935602e+02] [ 4.54381311e-01 8.90784565e-01 -6.36265761e-03 4.64346853e+01] [ 1.36491949e-02 1.79758101e-04 9.99906829e-01 6.28038617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.179254154 meters 0.015514900165680787 Centerline is valid? [True, True] Translation: X:934.99, Y:46.47, Z:6.28 [[ 8.92061672e-01 -4.51732738e-01 -1.27869580e-02 9.34985339e+02] [ 4.51682520e-01 8.92153281e-01 -6.73973580e-03 4.64661661e+01] [ 1.44524858e-02 2.36614585e-04 9.99895529e-01 6.27993379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters 0.015809111254965914 Centerline is valid? [True, True] Translation: X:935.04, Y:46.50, Z:6.28 [[ 8.93782680e-01 -4.48266854e-01 -1.44688781e-02 9.35035358e+02] [ 4.48202030e-01 8.93899724e-01 -7.63049856e-03 4.64988639e+01] [ 1.63542257e-02 3.35026924e-04 9.99866205e-01 6.27928353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.299254154 meters 0.018592428068833263 Centerline is valid? [True, True] Translation: X:935.09, Y:46.53, Z:6.28 [[ 8.93101293e-01 -4.49575584e-01 -1.58705581e-02 9.35086319e+02] [ 4.49497703e-01 8.93242226e-01 -8.37497967e-03 4.65262550e+01] [ 1.79414390e-02 3.45925766e-04 9.99838980e-01 6.27710342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539999 meters 0.016237757116067442 Centerline is valid? [True, True] Translation: X:935.14, Y:46.55, Z:6.28 [[ 8.90920944e-01 -4.53917899e-01 -1.47787843e-02 9.35139914e+02] [ 4.53850913e-01 8.91043479e-01 -7.80172038e-03 4.65507130e+01] [ 1.67098799e-02 2.43351350e-04 9.99860351e-01 6.27992762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.419254154 meters 0.013958540604367416 Centerline is valid? [True, True] Translation: X:935.19, Y:46.57, Z:6.28 [[ 8.89065976e-01 -4.57575180e-01 -1.36618352e-02 9.35193382e+02] [ 4.57518321e-01 8.89170922e-01 -7.21513561e-03 4.65749185e+01] [ 1.54491736e-02 1.64191658e-04 9.99880641e-01 6.28299952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539999 meters 0.013714943919147604 Centerline is valid? [True, True] Translation: X:935.25, Y:46.60, Z:6.28 [[ 8.85661737e-01 -4.64145744e-01 -1.31154557e-02 9.35247247e+02] [ 4.64094020e-01 8.85758842e-01 -6.92927661e-03 4.65963455e+01] [ 1.48333251e-02 5.01906126e-05 9.99889979e-01 6.28408587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.539254154 meters 0.013228389686071018 Centerline is valid? [True, True] Translation: X:935.30, Y:46.62, Z:6.29 [[ 8.82789934e-01 -4.69572355e-01 -1.35549301e-02 9.35301613e+02] [ 4.69517689e-01 8.82893992e-01 -7.16504931e-03 4.66186620e+01] [ 1.53320754e-02 -3.90460426e-05 9.99882456e-01 6.28582602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539999 meters 0.016182473417957643 Centerline is valid? [True, True] Translation: X:935.36, Y:46.64, Z:6.28 [[ 8.80675639e-01 -4.73502295e-01 -1.43525474e-02 9.35355556e+02] [ 4.73441443e-01 8.80792578e-01 -7.59177087e-03 4.66433211e+01] [ 1.62363381e-02 -1.09203083e-04 9.99868176e-01 6.28305762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.659254154 meters 0.016057624970053253 Centerline is valid? [True, True] Translation: X:935.41, Y:46.67, Z:6.28 [[ 8.79941811e-01 -4.74867479e-01 -1.42578701e-02 9.35408951e+02] [ 4.74807532e-01 8.80057305e-01 -7.54631129e-03 4.66688727e+01] [ 1.61312405e-02 -1.29429278e-04 9.99869875e-01 6.28365846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539999 meters 0.013601154868611744 Centerline is valid? [True, True] Translation: X:935.46, Y:46.69, Z:6.29 [[ 8.79875277e-01 -4.74984394e-01 -1.44680137e-02 9.35462141e+02] [ 4.74922599e-01 8.79994210e-01 -7.66265203e-03 4.66935057e+01] [ 1.63714084e-02 -1.29008566e-04 9.99865971e-01 6.28620055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.779254154 meters 0.013390732644462411 Centerline is valid? [True, True] Translation: X:935.51, Y:46.72, Z:6.29 [[ 8.80429426e-01 -4.73970827e-01 -1.39885996e-02 9.35514063e+02] [ 4.73912856e-01 8.80540541e-01 -7.41351660e-03 4.67207317e+01] [ 1.58313196e-02 -1.02299005e-04 9.99874672e-01 6.28671705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.839254154 meters 0.01493406822151419 Centerline is valid? [True, True] Translation: X:935.57, Y:46.75, Z:6.29 [[ 8.81802871e-01 -4.71435215e-01 -1.31352889e-02 9.35565565e+02] [ 4.71383757e-01 8.81900695e-01 -6.96549286e-03 4.67486311e+01] [ 1.48677991e-02 -4.95702483e-05 9.99889467e-01 6.28567902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.899254154 meters 0.013455474607148852 Centerline is valid? [True, True] Translation: X:935.62, Y:46.78, Z:6.29 [[ 8.84415924e-01 -4.66518251e-01 -1.30075142e-02 9.35616391e+02] [ 4.66467189e-01 8.84511571e-01 -6.90231983e-03 4.67763889e+01] [ 1.47253550e-02 3.69429872e-05 9.99891575e-01 6.28773666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.959254154 meters 0.013828051409641648 Centerline is valid? [True, True] Translation: X:935.67, Y:46.81, Z:6.29 [[ 8.88701506e-01 -4.58292903e-01 -1.33134860e-02 9.35665647e+02] [ 4.58238436e-01 8.88801205e-01 -7.06780490e-03 4.68073171e+01] [ 1.50721672e-02 1.80417862e-04 9.99886392e-01 6.28822298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.019254154 meters 0.01541448782796537 Centerline is valid? [True, True] Translation: X:935.72, Y:46.84, Z:6.29 [[ 8.91849793e-01 -4.52128798e-01 -1.35461058e-02 9.35716376e+02] [ 4.52071658e-01 8.91952613e-01 -7.19383312e-03 4.68394221e+01] [ 1.53350236e-02 2.92008041e-04 9.99882369e-01 6.28746601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.079254154 meters 0.01803076901741302 Centerline is valid? [True, True] Translation: X:935.77, Y:46.87, Z:6.29 [[ 8.95940596e-01 -4.43968368e-01 -1.35105808e-02 9.35767113e+02] [ 4.43910550e-01 8.96042354e-01 -7.17798416e-03 4.68706292e+01] [ 1.52928506e-02 4.33558039e-04 9.99882964e-01 6.28761713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.139254154 meters 0.020723270975425763 Centerline is valid? [True, True] Translation: X:935.82, Y:46.90, Z:6.29 [[ 8.97207209e-01 -4.41419850e-01 -1.29514558e-02 9.35818062e+02] [ 4.41366418e-01 8.97300566e-01 -6.88331647e-03 4.68994607e+01] [ 1.46597811e-02 4.59423511e-04 9.99892434e-01 6.28665732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.199254154 meters 0.019066839089205003 Centerline is valid? [True, True] Translation: X:935.87, Y:46.92, Z:6.29 [[ 8.97495588e-01 -4.40847501e-01 -1.24559293e-02 9.35872269e+02] [ 4.40797980e-01 8.97581905e-01 -6.62305804e-03 4.69232171e+01] [ 1.40999753e-02 4.53616899e-04 9.99900488e-01 6.28962910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.259254154 meters 0.018704208404002158 Centerline is valid? [True, True] Translation: X:935.93, Y:46.95, Z:6.29 [[ 8.96532263e-01 -4.42786761e-01 -1.30302092e-02 9.35926328e+02] [ 4.42732710e-01 8.96626837e-01 -6.93272947e-03 4.69475177e+01] [ 1.47529561e-02 4.46515801e-04 9.99891070e-01 6.28908199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.319254154 meters 0.01886449961150643 Centerline is valid? [True, True] Translation: X:935.98, Y:46.97, Z:6.29 [[ 8.95868919e-01 -4.44089477e-01 -1.42624026e-02 9.35980569e+02] [ 4.44024810e-01 8.95982319e-01 -7.59287817e-03 4.69720943e+01] [ 1.61507778e-02 4.69362960e-04 9.99869458e-01 6.28793686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.379254154 meters 0.0193617647894802 Centerline is valid? [True, True] Translation: X:936.03, Y:47.00, Z:6.29 [[ 8.95471070e-01 -4.44877646e-01 -1.46779768e-02 9.36033809e+02] [ 4.44809184e-01 8.95591233e-01 -7.81871883e-03 4.69979829e+01] [ 1.66238406e-02 4.72537630e-04 9.99861703e-01 6.28614871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.439254154 meters 0.01791594100581145 Centerline is valid? [True, True] Translation: X:936.09, Y:47.02, Z:6.29 [[ 8.95216290e-01 -4.45370266e-01 -1.52682916e-02 9.36087783e+02] [ 4.45296164e-01 8.95346352e-01 -8.13861792e-03 4.70202295e+01] [ 1.72951076e-02 4.86911661e-04 9.99850310e-01 6.28732366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.499254154 meters 0.0172773957970831 Centerline is valid? [True, True] Translation: X:936.14, Y:47.04, Z:6.29 [[ 8.94593753e-01 -4.46612125e-01 -1.54799128e-02 9.36143156e+02] [ 4.46536046e-01 8.94727548e-01 -8.25680858e-03 4.70417006e+01] [ 1.75378952e-02 4.74150325e-04 9.99846087e-01 6.28796780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.559254154 meters 0.01731357524440364 Centerline is valid? [True, True] Translation: X:936.20, Y:47.07, Z:6.29 [[ 8.94125107e-01 -4.47561436e-01 -1.51345356e-02 9.36196863e+02] [ 4.47488766e-01 8.94253073e-01 -8.07750161e-03 4.70663657e+01] [ 1.71492832e-02 4.49762325e-04 9.99852839e-01 6.28844032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters 0.01709617319439603 Centerline is valid? [True, True] Translation: X:936.25, Y:47.09, Z:6.29 [[ 8.93698800e-01 -4.48449582e-01 -1.39794890e-02 9.36251568e+02] [ 4.48387620e-01 8.93808038e-01 -7.46545164e-03 4.70885411e+01] [ 1.58428583e-02 4.03635353e-04 9.99874413e-01 6.29004740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.679254154 meters 0.01744554464655995 Centerline is valid? [True, True] Translation: X:936.31, Y:47.11, Z:6.29 [[ 8.93226462e-01 -4.49408471e-01 -1.33609514e-02 9.36305470e+02] [ 4.49351937e-01 8.93326306e-01 -7.13783470e-03 4.71111002e+01] [ 1.51434927e-02 3.71933463e-04 9.99885262e-01 6.29081856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539999 meters 0.018113155288631857 Centerline is valid? [True, True] Translation: X:936.36, Y:47.13, Z:6.29 [[ 8.92134512e-01 -4.51563351e-01 -1.36584002e-02 9.36360972e+02] [ 4.51504474e-01 8.92238993e-01 -7.29995992e-03 4.71327219e+01] [ 1.54829516e-02 3.45717402e-04 9.99880072e-01 6.28942412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.799254154 meters 0.016233184089093414 Centerline is valid? [True, True] Translation: X:936.41, Y:47.16, Z:6.29 [[ 8.91560039e-01 -4.52704476e-01 -1.33923248e-02 9.36414924e+02] [ 4.52647933e-01 8.91660559e-01 -7.16209133e-03 4.71566186e+01] [ 1.51837186e-02 3.23426304e-04 9.99884668e-01 6.29146835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539999 meters 0.015416496047216652 Centerline is valid? [True, True] Translation: X:936.47, Y:47.18, Z:6.29 [[ 8.90424804e-01 -4.54919592e-01 -1.38504210e-02 9.36470098e+02] [ 4.54859309e-01 8.90532467e-01 -7.41172623e-03 4.71784133e+01] [ 1.57059891e-02 2.99591938e-04 9.99876608e-01 6.29180239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.919254154 meters 0.015034231737392495 Centerline is valid? [True, True] Translation: X:936.52, Y:47.20, Z:6.29 [[ 8.89539513e-01 -4.56663294e-01 -1.33450873e-02 9.36524493e+02] [ 4.56607460e-01 8.89639571e-01 -7.14571384e-03 4.72016744e+01] [ 1.51355030e-02 2.62928369e-04 9.99885417e-01 6.29322442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539999 meters 0.015397923890787504 Centerline is valid? [True, True] Translation: X:936.57, Y:47.23, Z:6.29 [[ 8.89357487e-01 -4.57017669e-01 -1.33457731e-02 9.36574395e+02] [ 4.56961810e-01 8.89457577e-01 -7.15000140e-03 4.72284097e+01] [ 1.51381760e-02 2.60398634e-04 9.99885377e-01 6.29266049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.039254154 meters 0.015509793727451414 Centerline is valid? [True, True] Translation: X:936.63, Y:47.25, Z:6.29 [[ 8.89147337e-01 -4.57398143e-01 -1.42811857e-02 9.36626786e+02] [ 4.57334150e-01 8.89261977e-01 -7.65588810e-03 4.72531130e+01] [ 1.62015044e-02 2.75938596e-04 9.99868709e-01 6.29184306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539999 meters 0.015412402841887277 Centerline is valid? [True, True] Translation: X:936.68, Y:47.28, Z:6.29 [[ 8.88943803e-01 -4.57751980e-01 -1.55576521e-02 9.36679599e+02] [ 4.57675992e-01 8.89079881e-01 -8.34572242e-03 4.72787958e+01] [ 1.76522664e-02 2.98514372e-04 9.99844142e-01 6.29124521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.159254154 meters 0.015514175306846999 Centerline is valid? [True, True] Translation: X:936.73, Y:47.31, Z:6.29 [[ 8.88909189e-01 -4.57823300e-01 -1.54363342e-02 9.36730588e+02] [ 4.57748407e-01 8.89043158e-01 -8.28610878e-03 4.73065253e+01] [ 1.75171410e-02 2.99640857e-04 9.99846518e-01 6.29127422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539999 meters 0.015487142160906232 Centerline is valid? [True, True] Translation: X:936.78, Y:47.33, Z:6.29 [[ 8.88716795e-01 -4.58199474e-01 -1.53525227e-02 9.36781954e+02] [ 4.58125349e-01 8.88849343e-01 -8.24682641e-03 4.73336146e+01] [ 1.74247712e-02 2.95713323e-04 9.99848133e-01 6.29198436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.279254154 meters 0.015568590558644553 Centerline is valid? [True, True] Translation: X:936.83, Y:47.36, Z:6.29 [[ 8.88475382e-01 -4.58701378e-01 -1.43018046e-02 9.36834003e+02] [ 4.58637039e-01 8.88590442e-01 -7.68719701e-03 4.73613660e+01] [ 1.62345747e-02 2.70547983e-04 9.99868174e-01 6.29251943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.339254154 meters 0.015618712142974434 Centerline is valid? [True, True] Translation: X:936.88, Y:47.39, Z:6.29 [[ 8.88623929e-01 -4.58420894e-01 -1.40639867e-02 9.36884392e+02] [ 4.58358565e-01 8.88735173e-01 -7.56426536e-03 4.73893118e+01] [ 1.59667769e-02 2.75438451e-04 9.99872485e-01 6.29321614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.399254154 meters 0.01594415051587937 Centerline is valid? [True, True] Translation: X:936.94, Y:47.42, Z:6.29 [[ 8.88905727e-01 -4.57873678e-01 -1.40820321e-02 9.36935440e+02] [ 4.57811044e-01 8.89017216e-01 -7.57875991e-03 4.74192564e+01] [ 1.59892836e-02 2.89893276e-04 9.99872121e-01 6.29259818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.459254154 meters 0.016090387367214593 Centerline is valid? [True, True] Translation: X:936.99, Y:47.45, Z:6.29 [[ 8.88780470e-01 -4.58118312e-01 -1.40316796e-02 9.36985897e+02] [ 4.58056079e-01 8.88891179e-01 -7.55646714e-03 4.74480980e+01] [ 1.59343922e-02 2.88744282e-04 9.99872998e-01 6.29268949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.519254154 meters 0.015504171675478967 Centerline is valid? [True, True] Translation: X:937.04, Y:47.47, Z:6.29 [[ 8.87740758e-01 -4.60144689e-01 -1.35355841e-02 9.37038649e+02] [ 4.60086945e-01 8.87843907e-01 -7.29380591e-03 4.74746264e+01] [ 1.53736920e-02 2.47463229e-04 9.99881787e-01 6.29368817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.579254154 meters 0.017568403149995804 Centerline is valid? [True, True] Translation: X:937.09, Y:47.50, Z:6.29 [[ 8.86454816e-01 -4.62598963e-01 -1.41442250e-02 9.37089795e+02] [ 4.62536173e-01 8.86567624e-01 -7.62468600e-03 4.75020080e+01] [ 1.60669838e-02 2.16723914e-04 9.99870894e-01 6.29083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.639254154 meters 0.014198213088998232 Centerline is valid? [True, True] Translation: X:937.14, Y:47.53, Z:6.29 [[ 8.84219258e-01 -4.66889853e-01 -1.30448779e-02 9.37143504e+02] [ 4.66836867e-01 8.84315468e-01 -7.03501742e-03 4.75268745e+01] [ 1.48203655e-02 1.30667965e-04 9.99890164e-01 6.29384902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.699254154 meters 0.015946942774522386 Centerline is valid? [True, True] Translation: X:937.20, Y:47.55, Z:6.29 [[ 8.80434689e-01 -4.73935164e-01 -1.48397857e-02 9.37197333e+02] [ 4.73867503e-01 8.80559743e-01 -8.00808608e-03 4.75517828e+01] [ 1.68626315e-02 1.85045674e-05 9.99857816e-01 6.29192163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.759254154 meters 0.014292066362756132 Centerline is valid? [True, True] Translation: X:937.25, Y:47.57, Z:6.29 [[ 8.76721158e-01 -4.80780964e-01 -1.44801619e-02 9.37250323e+02] [ 4.80717426e-01 8.76840723e-01 -7.81685159e-03 4.75747084e+01] [ 1.64549891e-02 -1.07666990e-04 9.99864602e-01 6.29353525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.819254154 meters 0.014761085440561384 Centerline is valid? [True, True] Translation: X:937.30, Y:47.60, Z:6.29 [[ 8.74475840e-01 -4.84838018e-01 -1.49700093e-02 9.37303330e+02] [ 4.84770640e-01 8.74603945e-01 -8.08489546e-03 4.76013414e+01] [ 1.70126939e-02 -1.86975223e-04 9.99855256e-01 6.29422947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.879254154 meters 0.015472606236142245 Centerline is valid? [True, True] Translation: X:937.36, Y:47.63, Z:6.30 [[ 8.72449113e-01 -4.88468384e-01 -1.52046960e-02 9.37355175e+02] [ 4.88399374e-01 8.72581555e-01 -8.21464562e-03 4.76283051e+01] [ 1.72799320e-02 -2.59103731e-04 9.99850657e-01 6.29500363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.939254154 meters 0.018430390930700147 Centerline is valid? [True, True] Translation: X:937.41, Y:47.66, Z:6.29 [[ 8.72060275e-01 -4.89108951e-01 -1.68318602e-02 9.37405933e+02] [ 4.89024460e-01 8.72222646e-01 -9.09574565e-03 4.76567863e+01] [ 1.91299403e-02 -2.99152892e-04 9.99816961e-01 6.29398353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.999254154 meters 0.015153780113058627 Centerline is valid? [True, True] Translation: X:937.46, Y:47.69, Z:6.30 [[ 8.73866756e-01 -4.85935271e-01 -1.49601187e-02 9.37456343e+02] [ 4.85868021e-01 8.73994778e-01 -8.08664836e-03 4.76867465e+01] [ 1.70046533e-02 -2.01990105e-04 9.99855390e-01 6.29735142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.059254154 meters 0.017202556595714118 Centerline is valid? [True, True] Translation: X:937.50, Y:47.72, Z:6.29 [[ 8.77884236e-01 -4.78550948e-01 -1.75573062e-02 9.37502905e+02] [ 4.78456783e-01 8.78059785e-01 -9.49319420e-03 4.77214449e+01] [ 1.99593416e-02 -6.64866940e-05 9.99800790e-01 6.29471849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters 0.014482093182660846 Centerline is valid? [True, True] Translation: X:937.55, Y:47.76, Z:6.30 [[ 8.83882428e-01 -4.67407663e-01 -1.67907794e-02 9.37549195e+02] [ 4.67319439e-01 8.84041879e-01 -9.08282985e-03 4.77588031e+01] [ 1.90891364e-02 1.81496093e-04 9.99817769e-01 6.29754771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.179254154 meters 0.01668573650734112 Centerline is valid? [True, True] Translation: X:937.60, Y:47.80, Z:6.30 [[ 8.88675861e-01 -4.58232051e-01 -1.66913645e-02 9.37597148e+02] [ 4.58143158e-01 8.88832517e-01 -9.03351886e-03 4.77955658e+01] [ 1.89752754e-02 3.80835702e-04 9.99819881e-01 6.29822466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539999 meters 0.02021176695987857 Centerline is valid? [True, True] Translation: X:937.65, Y:47.83, Z:6.30 [[ 8.91253779e-01 -4.53214554e-01 -1.62255803e-02 9.37645473e+02] [ 4.53129682e-01 8.91401336e-01 -8.78350190e-03 4.78300376e+01] [ 1.84443149e-02 4.76037203e-04 9.99829776e-01 6.29842721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.299254154 meters 0.0178234837162342 Centerline is valid? [True, True] Translation: X:937.70, Y:47.86, Z:6.30 [[ 8.92262755e-01 -4.51260699e-01 -1.51972873e-02 9.37697941e+02] [ 4.51185902e-01 8.92392035e-01 -8.23031238e-03 4.78568488e+01] [ 1.72759546e-02 4.86799442e-04 9.99850641e-01 6.30192086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539999 meters 0.01887089696316497 Centerline is valid? [True, True] Translation: X:937.75, Y:47.89, Z:6.30 [[ 8.92717196e-01 -4.50319632e-01 -1.63779473e-02 9.37747649e+02] [ 4.50232539e-01 8.92867252e-01 -8.87305607e-03 4.78873098e+01] [ 1.86190441e-02 5.47244927e-04 9.99826501e-01 6.30104701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.419254154 meters 0.01853255238601532 Centerline is valid? [True, True] Translation: X:937.80, Y:47.91, Z:6.30 [[ 8.92300177e-01 -4.51113912e-01 -1.72230499e-02 9.37798722e+02] [ 4.51017648e-01 8.92466202e-01 -9.33587689e-03 4.79146108e+01] [ 1.95825339e-02 5.62505144e-04 9.99808086e-01 6.30089016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539999 meters 0.01785368803319549 Centerline is valid? [True, True] Translation: X:937.85, Y:47.94, Z:6.30 [[ 8.90922530e-01 -4.53798394e-01 -1.80017483e-02 9.37851014e+02] [ 4.53693647e-01 8.91104222e-01 -9.76424185e-03 4.79414605e+01] [ 2.04724312e-02 5.31904209e-04 9.99790276e-01 6.30046396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.539254154 meters 0.017049033874674376 Centerline is valid? [True, True] Translation: X:937.90, Y:47.97, Z:6.30 [[ 8.88882952e-01 -4.57699041e-01 -1.99670944e-02 9.37904282e+02] [ 4.57570999e-01 8.89107047e-01 -1.08369356e-02 4.79675545e+01] [ 2.27129394e-02 4.96403924e-04 9.99741905e-01 6.29932922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539999 meters 0.016043842004153857 Centerline is valid? [True, True] Translation: X:937.96, Y:47.99, Z:6.30 [[ 8.86115732e-01 -4.62987856e-01 -2.10036585e-02 9.37959007e+02] [ 4.62847499e-01 8.86364539e-01 -1.14059871e-02 4.79911316e+01] [ 2.38977317e-02 3.85533811e-04 9.99714334e-01 6.29931294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.659254154 meters 0.014700002504190292 Centerline is valid? [True, True] Translation: X:938.01, Y:48.01, Z:6.30 [[ 8.82089968e-01 -4.70639510e-01 -2.03896917e-02 9.38014155e+02] [ 4.70509205e-01 8.82325575e-01 -1.10755546e-02 4.80122495e+01] [ 2.32029400e-02 1.76097919e-04 9.99730760e-01 6.30056411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539999 meters 0.01431434571114799 Centerline is valid? [True, True] Translation: X:938.07, Y:48.03, Z:6.30 [[ 8.78962053e-01 -4.76462788e-01 -2.02217950e-02 9.38067890e+02] [ 4.76336107e-01 8.79194638e-01 -1.09864451e-02 4.80336230e+01] [ 2.30135260e-02 2.42972031e-05 9.99735153e-01 6.30170157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.779254154 meters 0.01764701062611664 Centerline is valid? [True, True] Translation: X:938.12, Y:48.05, Z:6.30 [[ 8.74765882e-01 -4.84105195e-01 -2.06594463e-02 9.38123270e+02] [ 4.83975015e-01 8.75009788e-01 -1.12274592e-02 4.80538476e+01] [ 2.35124890e-02 -1.77257581e-04 9.99723528e-01 6.30478243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.839254154 meters 0.018256745706763913 Centerline is valid? [True, True] Translation: X:938.18, Y:48.08, Z:6.31 [[ 8.73073122e-01 -4.87167730e-01 -2.02713273e-02 9.38176500e+02] [ 4.87043140e-01 8.73308387e-01 -1.10200135e-02 4.80771483e+01] [ 2.30717151e-02 -2.51733359e-04 9.99733781e-01 6.30511735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.899254154 meters 0.014525382018067953 Centerline is valid? [True, True] Translation: X:938.23, Y:48.11, Z:6.31 [[ 8.73258397e-01 -4.86904666e-01 -1.85369325e-02 9.38227898e+02] [ 4.86800318e-01 8.73455092e-01 -1.00822679e-02 4.81060363e+01] [ 2.11002814e-02 -2.19359547e-04 9.99777340e-01 6.30785654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.959254154 meters 0.01440345274965558 Centerline is valid? [True, True] Translation: X:938.28, Y:48.13, Z:6.31 [[ 8.75315699e-01 -4.83145255e-01 -1.98265034e-02 9.38278017e+02] [ 4.83024832e-01 8.75540202e-01 -1.07873807e-02 4.81340958e+01] [ 2.25707726e-02 -1.34329807e-04 9.99745239e-01 6.30652074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.019254154 meters 0.014452333803280114 Centerline is valid? [True, True] Translation: X:938.33, Y:48.17, Z:6.31 [[ 8.79277411e-01 -4.75825489e-01 -2.14788000e-02 9.38327520e+02] [ 4.75681821e-01 8.79539709e-01 -1.16920864e-02 4.81665574e+01] [ 2.44548502e-02 6.35127477e-05 9.99700933e-01 6.30655293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.079254154 meters 0.015327752256065906 Centerline is valid? [True, True] Translation: X:938.38, Y:48.20, Z:6.31 [[ 8.84001899e-01 -4.66911361e-01 -2.31176213e-02 9.38376801e+02] [ 4.66741781e-01 8.84304058e-01 -1.25874122e-02 4.81999157e+01] [ 2.63202121e-02 3.37336510e-04 9.99653506e-01 6.30881854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.139254154 meters 0.01626449547385199 Centerline is valid? [True, True] Translation: X:938.43, Y:48.23, Z:6.31 [[ 8.86713537e-01 -4.61743112e-01 -2.30738252e-02 9.38427873e+02] [ 4.61572282e-01 8.87013559e-01 -1.25688288e-02 4.82311519e+01] [ 2.62703659e-02 4.94712468e-04 9.99654752e-01 6.31107200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.199254154 meters 0.01788523571591963 Centerline is valid? [True, True] Translation: X:938.48, Y:48.26, Z:6.31 [[ 8.90027561e-01 -4.55379698e-01 -2.19150938e-02 9.38477911e+02] [ 4.55223523e-01 8.90297087e-01 -1.19432147e-02 4.82637411e+01] [ 2.49496417e-02 6.53524011e-04 9.99688496e-01 6.31444902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.259254154 meters 0.021267418958915783 Centerline is valid? [True, True] Translation: X:938.53, Y:48.30, Z:6.32 [[ 8.91801944e-01 -4.51842317e-01 -2.29741749e-02 9.38526983e+02] [ 4.51669434e-01 8.92097469e-01 -1.25231183e-02 4.82962569e+01] [ 2.61536781e-02 7.91408705e-04 9.99657621e-01 6.31514328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.319254154 meters 0.02180536521686204 Centerline is valid? [True, True] Translation: X:938.58, Y:48.33, Z:6.32 [[ 8.91978447e-01 -4.51470741e-01 -2.34226349e-02 9.38577489e+02] [ 4.51290849e-01 8.92285547e-01 -1.27699844e-02 4.83254214e+01] [ 2.66649529e-02 8.20130106e-04 9.99644091e-01 6.31560613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.379254154 meters 0.019461315145374344 Centerline is valid? [True, True] Translation: X:938.63, Y:48.35, Z:6.32 [[ 8.91274230e-01 -4.52779234e-01 -2.49241161e-02 9.38629282e+02] [ 4.52575824e-01 8.91622265e-01 -1.35963670e-02 4.83516879e+01] [ 2.83790494e-02 8.38039186e-04 9.99596882e-01 6.31752951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.439254154 meters 0.01858584836062569 Centerline is valid? [True, True] Translation: X:938.68, Y:48.38, Z:6.32 [[ 8.89838192e-01 -4.55406464e-01 -2.81592667e-02 9.38681650e+02] [ 4.55147805e-01 8.90283220e-01 -1.53709010e-02 4.83778255e+01] [ 3.20697303e-02 8.60986289e-04 9.99485263e-01 6.31696179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.499254154 meters 0.01666399587146686 Centerline is valid? [True, True] Translation: X:938.74, Y:48.40, Z:6.32 [[ 8.86872150e-01 -4.60991528e-01 -3.07343584e-02 9.38736049e+02] [ 4.60686359e-01 8.87404237e-01 -1.67868847e-02 4.84004148e+01] [ 3.50124115e-02 7.28920898e-04 9.99386612e-01 6.31726199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.559254154 meters 0.016759717024124744 Centerline is valid? [True, True] Translation: X:938.79, Y:48.42, Z:6.32 [[ 8.83330880e-01 -4.67681997e-01 -3.16244523e-02 9.38790091e+02] [ 4.67362997e-01 8.83896667e-01 -1.72774695e-02 4.84239493e+01] [ 3.60331095e-02 4.81623547e-04 9.99350481e-01 6.31614107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters 0.014731641690466899 Centerline is valid? [True, True] Translation: X:938.85, Y:48.44, Z:6.32 [[ 8.77267128e-01 -4.78990992e-01 -3.11450824e-02 9.38846954e+02] [ 4.78688377e-01 8.77819816e-01 -1.70237558e-02 4.84440620e+01] [ 3.54939962e-02 2.55923945e-05 9.99369889e-01 6.31919905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.679254154 meters 0.01732010685108689 Centerline is valid? [True, True] Translation: X:938.90, Y:48.47, Z:6.32 [[ 8.72499693e-01 -4.87683052e-01 -3.01583562e-02 9.38900167e+02] [ 4.87404107e-01 8.73020702e-01 -1.64951449e-02 4.84669861e+01] [ 3.43732719e-02 -3.07297837e-04 9.99409017e-01 6.32140090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539999 meters 0.01651254251495501 Centerline is valid? [True, True] Translation: X:938.95, Y:48.49, Z:6.32 [[ 8.69370770e-01 -4.93326705e-01 -2.86919284e-02 9.38952722e+02] [ 4.93077101e-01 8.69843959e-01 -1.56990337e-02 4.84915314e+01] [ 3.27022531e-02 -4.99051892e-04 9.99465014e-01 6.32235554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.799254154 meters 0.01709759846056219 Centerline is valid? [True, True] Translation: X:939.00, Y:48.52, Z:6.32 [[ 8.67715520e-01 -4.96272759e-01 -2.79843940e-02 9.39004638e+02] [ 4.96036588e-01 8.68166461e-01 -1.53199160e-02 4.85201557e+01] [ 3.18979693e-02 -5.87954448e-04 9.99490957e-01 6.32235211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539999 meters 0.018511753354736985 Centerline is valid? [True, True] Translation: X:939.05, Y:48.55, Z:6.33 [[ 8.65874420e-01 -4.99534108e-01 -2.69659626e-02 9.39054147e+02] [ 4.99316126e-01 8.66293957e-01 -1.47711379e-02 4.85524709e+01] [ 3.07391376e-02 -6.74589484e-04 9.99527213e-01 6.32522240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.919254154 meters 0.016527899073077192 Centerline is valid? [True, True] Translation: X:939.10, Y:48.58, Z:6.33 [[ 8.65552106e-01 -5.00214258e-01 -2.46018119e-02 9.39103721e+02] [ 5.00032880e-01 8.65901437e-01 -1.34840664e-02 4.85847603e+01] [ 2.80476666e-02 -6.30552846e-04 9.99606388e-01 6.32788147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539999 meters 0.016976501255037538 Centerline is valid? [True, True] Translation: X:939.15, Y:48.62, Z:6.33 [[ 8.66086782e-01 -4.99348088e-01 -2.33489509e-02 9.39151982e+02] [ 4.99184298e-01 8.66401272e-01 -1.28012458e-02 4.86168080e+01] [ 2.66218384e-02 -5.68439912e-04 9.99645414e-01 6.32731526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.039254154 meters 0.016556910532388395 Centerline is valid? [True, True] Translation: X:939.20, Y:48.65, Z:6.33 [[ 8.66631864e-01 -4.98433829e-01 -2.26479674e-02 9.39201432e+02] [ 4.98279271e-01 8.66927591e-01 -1.24225481e-02 4.86502639e+01] [ 2.58259661e-02 -5.19236645e-04 9.99666319e-01 6.32722986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539999 meters 0.01584795793172011 Centerline is valid? [True, True] Translation: X:939.25, Y:48.69, Z:6.33 [[ 8.68182186e-01 -4.95800277e-01 -2.10185017e-02 9.39248954e+02] [ 4.95666244e-01 8.68436482e-01 -1.15348034e-02 4.86870005e+01] [ 2.39721924e-02 -4.03850985e-04 9.99712544e-01 6.32733962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.159254154 meters 0.015085337248970274 Centerline is valid? [True, True] Translation: X:939.30, Y:48.72, Z:6.33 [[ 8.69835679e-01 -4.92958553e-01 -1.94359742e-02 9.39295680e+02] [ 4.92843167e-01 8.70052743e-01 -1.06694042e-02 4.87226118e+01] [ 2.21698967e-02 -2.98258655e-04 9.99754173e-01 6.32854332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539999 meters 0.013584918309104202 Centerline is valid? [True, True] Translation: X:939.34, Y:48.76, Z:6.33 [[ 8.70549884e-01 -4.91718713e-01 -1.88575493e-02 9.39342471e+02] [ 4.91609697e-01 8.70754065e-01 -1.03568257e-02 4.87601688e+01] [ 2.15129328e-02 -2.54420658e-04 9.99768538e-01 6.33093495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.279254154 meters 0.013554906118697606 Centerline is valid? [True, True] Translation: X:939.39, Y:48.80, Z:6.33 [[ 8.71016824e-01 -4.90911543e-01 -1.83180283e-02 9.39389289e+02] [ 4.90808427e-01 8.71209393e-01 -1.00638694e-02 4.87951386e+01] [ 2.08993080e-02 -2.24843060e-04 9.99781560e-01 6.33042036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.339254154 meters 0.013413703585765196 Centerline is valid? [True, True] Translation: X:939.44, Y:48.83, Z:6.33 [[ 8.71182563e-01 -4.90635893e-01 -1.78146920e-02 9.39437812e+02] [ 4.90538217e-01 8.71364664e-01 -9.79187879e-03 4.88284497e+01] [ 2.03273403e-02 -2.08273190e-04 9.99793357e-01 6.33052009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.399254154 meters 0.015055743090469644 Centerline is valid? [True, True] Translation: X:939.49, Y:48.86, Z:6.33 [[ 8.72173159e-01 -4.88904713e-01 -1.69163185e-02 9.39485180e+02] [ 4.88816210e-01 8.72337181e-01 -9.30348637e-03 4.88642883e+01] [ 1.93052519e-02 -1.54719589e-04 9.99813624e-01 6.33074067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.459254154 meters 0.0124968359865882 Centerline is valid? [True, True] Translation: X:939.53, Y:48.90, Z:6.33 [[ 8.74127379e-01 -4.85389726e-01 -1.72667010e-02 9.39532006e+02] [ 4.85296719e-01 8.74297895e-01 -9.50190415e-03 4.89012433e+01] [ 1.97083670e-02 -7.35987853e-05 9.99805769e-01 6.33149408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.519254154 meters 0.012626876197805255 Centerline is valid? [True, True] Translation: X:939.58, Y:48.94, Z:6.33 [[ 8.75664564e-01 -4.82592952e-01 -1.77655219e-02 9.39578171e+02] [ 4.82493836e-01 8.75844760e-01 -9.78034140e-03 4.89364141e+01] [ 2.02797631e-02 -7.45640532e-06 9.99794344e-01 6.33046266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.579254154 meters 0.013515011859014742 Centerline is valid? [True, True] Translation: X:939.63, Y:48.97, Z:6.33 [[ 8.76246074e-01 -4.81543804e-01 -1.75608310e-02 9.39626652e+02] [ 4.81446641e-01 8.76422024e-01 -9.67304888e-03 4.89686401e+01] [ 2.00486958e-02 2.13679949e-05 9.99799004e-01 6.33173331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.639254154 meters 0.014209200868984582 Centerline is valid? [True, True] Translation: X:939.68, Y:49.00, Z:6.33 [[ 8.76626592e-01 -4.80835629e-01 -1.79698648e-02 9.39675639e+02] [ 4.80733608e-01 8.76810752e-01 -9.90469129e-03 4.90019533e+01] [ 2.05186991e-02 4.39978480e-05 9.99789468e-01 6.33168125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.699254154 meters 0.014353265828435586 Centerline is valid? [True, True] Translation: X:939.72, Y:49.03, Z:6.33 [[ 8.76580437e-01 -4.80950735e-01 -1.71209818e-02 9.39724544e+02] [ 4.80858085e-01 8.76747620e-01 -9.43999208e-03 4.90329912e+01] [ 1.95509512e-02 4.21498650e-05 9.99808861e-01 6.33176222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.759254154 meters 0.012898171491981261 Centerline is valid? [True, True] Translation: X:939.77, Y:49.06, Z:6.33 [[ 8.76684741e-01 -4.80763340e-01 -1.70433226e-02 9.39774969e+02] [ 4.80671398e-01 8.76850391e-01 -9.40208113e-03 4.90617338e+01] [ 1.94646200e-02 5.04233669e-05 9.99810545e-01 6.33354035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.819254154 meters 0.012790197665997968 Centerline is valid? [True, True] Translation: X:939.82, Y:49.09, Z:6.33 [[ 8.77142094e-01 -4.79983359e-01 -1.54182603e-02 9.39823421e+02] [ 4.79907940e-01 8.77277591e-01 -8.50871966e-03 4.90927970e+01] [ 1.76101380e-02 6.40106675e-05 9.99844927e-01 6.33483779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.879254154 meters 0.012795009240857452 Centerline is valid? [True, True] Translation: X:939.87, Y:49.12, Z:6.34 [[ 8.77967634e-01 -4.78520168e-01 -1.38304564e-02 9.39872975e+02] [ 4.78459244e-01 8.78076558e-01 -7.63613258e-03 4.91232605e+01] [ 1.57982430e-02 8.69675402e-05 9.99875196e-01 6.33673360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.939254154 meters 0.01632758977045533 Centerline is valid? [True, True] Translation: X:939.92, Y:49.15, Z:6.34 [[ 8.78138686e-01 -4.78209437e-01 -1.37179775e-02 9.39922080e+02] [ 4.78149407e-01 8.78245823e-01 -7.57755291e-03 4.91526613e+01] [ 1.56714137e-02 9.48995600e-05 9.99877191e-01 6.33554124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.999254154 meters 0.013411068998907181 Centerline is valid? [True, True] Translation: X:939.97, Y:49.18, Z:6.34 [[ 8.78759369e-01 -4.77103051e-01 -1.24358659e-02 9.39972919e+02] [ 4.77053559e-01 8.78847352e-01 -6.87271588e-03 4.91816999e+01] [ 1.42082215e-02 1.06889393e-04 9.99899052e-01 6.33750494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.059254154 meters 0.0130213992303771 Centerline is valid? [True, True] Translation: X:940.02, Y:49.21, Z:6.34 [[ 8.78821829e-01 -4.76978377e-01 -1.27992897e-02 9.40024466e+02] [ 4.76925865e-01 8.78915021e-01 -7.07847726e-03 4.92091748e+01] [ 1.46257686e-02 1.16408012e-04 9.99893031e-01 6.33782238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters 0.013619828578048302 Centerline is valid? [True, True] Translation: X:940.07, Y:49.24, Z:6.34 [[ 8.78651188e-01 -4.77295721e-01 -1.26840541e-02 9.40074550e+02] [ 4.77244126e-01 8.78742728e-01 -7.01866962e-03 4.92368523e+01] [ 1.44960012e-02 1.13572093e-04 9.99894921e-01 6.33708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.179254154 meters 0.014709623406765527 Centerline is valid? [True, True] Translation: X:940.13, Y:49.26, Z:6.34 [[ 8.77933970e-01 -4.78589499e-01 -1.35659755e-02 9.40126925e+02] [ 4.78530563e-01 8.78038770e-01 -7.51128187e-03 4.92614100e+01] [ 1.55062731e-02 1.02675618e-04 9.99879765e-01 6.33771160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539999 meters 0.012768420937066184 Centerline is valid? [True, True] Translation: X:940.18, Y:49.29, Z:6.34 [[ 8.77904154e-01 -4.78643630e-01 -1.35857021e-02 9.40179156e+02] [ 4.78584447e-01 8.78009262e-01 -7.52750919e-03 4.92864735e+01] [ 1.55313666e-02 1.06525850e-04 9.99879375e-01 6.33881668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.299254154 meters 0.016608486675146684 Centerline is valid? [True, True] Translation: X:940.23, Y:49.31, Z:6.34 [[ 8.77887817e-01 -4.78661212e-01 -1.40152101e-02 9.40230205e+02] [ 4.78598141e-01 8.77999676e-01 -7.77097936e-03 4.93143224e+01] [ 1.60250163e-02 1.14394590e-04 9.99871585e-01 6.33720726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539999 meters 0.013163973718850806 Centerline is valid? [True, True] Translation: X:940.28, Y:49.34, Z:6.34 [[ 8.78728666e-01 -4.77117875e-01 -1.39451012e-02 9.40281994e+02] [ 4.77055180e-01 8.78839299e-01 -7.73577863e-03 4.93396291e+01] [ 1.59463812e-02 1.45067678e-04 9.99872838e-01 6.33874348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.419254154 meters 0.013361440525555799 Centerline is valid? [True, True] Translation: X:940.34, Y:49.36, Z:6.34 [[ 8.79284964e-01 -4.76096192e-01 -1.37973695e-02 9.40335645e+02] [ 4.76034636e-01 8.79393193e-01 -7.65746731e-03 4.93646765e+01] [ 1.57790039e-02 1.65070083e-04 9.99875490e-01 6.33925939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539999 meters 0.013485446423662726 Centerline is valid? [True, True] Translation: X:940.39, Y:49.39, Z:6.34 [[ 8.79583599e-01 -4.75546378e-01 -1.37235428e-02 9.40389520e+02] [ 4.75485341e-01 8.79690634e-01 -7.62100299e-03 4.93898291e+01] [ 1.56966125e-02 1.77965792e-04 9.99876785e-01 6.34055484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.539254154 meters 0.01708092594652566 Centerline is valid? [True, True] Translation: X:940.44, Y:49.42, Z:6.34 [[ 8.80294593e-01 -4.74238992e-01 -1.33719156e-02 9.40442230e+02] [ 4.74180826e-01 8.80396126e-01 -7.43005384e-03 4.94158030e+01] [ 1.52962039e-02 1.99930249e-04 9.99882986e-01 6.33985778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539999 meters 0.01809766694354697 Centerline is valid? [True, True] Translation: X:940.49, Y:49.44, Z:6.34 [[ 8.81304873e-01 -4.72351466e-01 -1.36313338e-02 9.40494887e+02] [ 4.72290726e-01 8.81410253e-01 -7.57864612e-03 4.94431685e+01] [ 1.55945820e-02 2.41145238e-04 9.99878368e-01 6.34001141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.659254154 meters 0.01615344455012328 Centerline is valid? [True, True] Translation: X:940.55, Y:49.47, Z:6.34 [[ 8.83226845e-01 -4.68751995e-01 -1.34873001e-02 9.40547381e+02] [ 4.68692062e-01 8.83329766e-01 -7.50175597e-03 4.94689421e+01] [ 1.54301967e-02 3.04361761e-04 9.99880901e-01 6.34141126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539999 meters 0.017716489026903218 Centerline is valid? [True, True] Translation: X:940.60, Y:49.49, Z:6.34 [[ 8.84242237e-01 -4.66807457e-01 -1.43688507e-02 9.40601355e+02] [ 4.66739110e-01 8.84358901e-01 -7.99606387e-03 4.94923171e+01] [ 1.64398432e-02 3.63952838e-04 9.99864790e-01 6.34162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.779254154 meters 0.018982560719464216 Centerline is valid? [True, True] Translation: X:940.65, Y:49.52, Z:6.34 [[ 8.85023624e-01 -4.65304244e-01 -1.50048196e-02 9.40651974e+02] [ 4.65229433e-01 8.85150716e-01 -8.35370407e-03 4.95199728e+01] [ 1.71685408e-02 4.12541720e-04 9.99852525e-01 6.34003547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.839254154 meters 0.01802566384319565 Centerline is valid? [True, True] Translation: X:940.71, Y:49.55, Z:6.34 [[ 8.85325217e-01 -4.64730939e-01 -1.49804879e-02 9.40705286e+02] [ 4.64656222e-01 8.85451846e-01 -8.34406005e-03 4.95458172e+01] [ 1.71422436e-02 4.26429841e-04 9.99852970e-01 6.34086628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.899254154 meters 0.021015761707653347 Centerline is valid? [True, True] Translation: X:940.76, Y:49.57, Z:6.34 [[ 8.85160157e-01 -4.64970930e-01 -1.71327390e-02 9.40759320e+02] [ 4.64873134e-01 8.85325814e-01 -9.54842468e-03 4.95700857e+01] [ 1.96077960e-02 4.87335027e-04 9.99807630e-01 6.33862408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.959254154 meters 0.018544329146326224 Centerline is valid? [True, True] Translation: X:940.81, Y:49.59, Z:6.34 [[ 8.85018389e-01 -4.65263309e-01 -1.65077200e-02 9.40814920e+02] [ 4.65172461e-01 8.85172206e-01 -9.20581605e-03 4.95897904e+01] [ 1.88953033e-02 4.68379756e-04 9.99821358e-01 6.34130366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.019254154 meters 0.018746098598428535 Centerline is valid? [True, True] Translation: X:940.87, Y:49.62, Z:6.34 [[ 8.84662935e-01 -4.65982751e-01 -1.52173370e-02 9.40866803e+02] [ 4.65905596e-01 8.84793704e-01 -8.48983042e-03 4.96151834e+01] [ 1.74203185e-02 4.20795853e-04 9.99848166e-01 6.34184419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.079254154 meters 0.015678291214000183 Centerline is valid? [True, True] Translation: X:940.92, Y:49.63, Z:6.34 [[ 8.83426251e-01 -4.68343284e-01 -1.45817425e-02 9.40923939e+02] [ 4.68272697e-01 8.83546511e-01 -8.13901798e-03 4.96340649e+01] [ 1.66955021e-02 3.61990255e-04 9.99860555e-01 6.34423155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.139254154 meters 0.015034831089446168 Centerline is valid? [True, True] Translation: X:940.98, Y:49.66, Z:6.34 [[ 8.82341712e-01 -4.70389201e-01 -1.43910521e-02 9.40977827e+02] [ 4.70320643e-01 8.82459005e-01 -8.03722711e-03 4.96583563e+01] [ 1.64801384e-02 3.23171842e-04 9.99864141e-01 6.34430154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.199254154 meters 0.015317650102493396 Centerline is valid? [True, True] Translation: X:941.03, Y:49.68, Z:6.34 [[ 8.80049792e-01 -4.74657032e-01 -1.45967776e-02 9.41034189e+02] [ 4.74587040e-01 8.80170801e-01 -8.15485073e-03 4.96781825e+01] [ 1.67184147e-02 2.49233221e-04 9.99860206e-01 6.34308928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.259254154 meters 0.01302883876018833 Centerline is valid? [True, True] Translation: X:941.09, Y:49.70, Z:6.35 [[ 8.78737808e-01 -4.77084698e-01 -1.44932907e-02 9.41089544e+02] [ 4.77015968e-01 8.78857297e-01 -8.10044450e-03 4.97006702e+01] [ 1.66021324e-02 2.04635761e-04 9.99862154e-01 6.34516466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.319254154 meters 0.012820180232162429 Centerline is valid? [True, True] Translation: X:941.14, Y:49.72, Z:6.35 [[ 8.77516106e-01 -4.79350352e-01 -1.37376631e-02 9.41143707e+02] [ 4.79288836e-01 8.77623618e-01 -7.68088642e-03 4.97230510e+01] [ 1.57383332e-02 1.55792967e-04 9.99876133e-01 6.34586299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.379254154 meters 0.012639826161055303 Centerline is valid? [True, True] Translation: X:941.20, Y:49.75, Z:6.35 [[ 8.77462017e-01 -4.79435401e-01 -1.42163538e-02 9.41196963e+02] [ 4.79369470e-01 8.77577159e-01 -7.95243517e-03 4.97473401e+01] [ 1.62886263e-02 1.63073814e-04 9.99867318e-01 6.34658487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.439254154 meters 0.01298254647249941 Centerline is valid? [True, True] Translation: X:941.25, Y:49.78, Z:6.35 [[ 8.78177273e-01 -4.78110914e-01 -1.46503078e-02 9.41248185e+02] [ 4.78040624e-01 8.78299445e-01 -8.20041057e-03 4.97760430e+01] [ 1.67880630e-02 1.97971896e-04 9.99859051e-01 6.34545685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.499254154 meters 0.013565035749058879 Centerline is valid? [True, True] Translation: X:941.30, Y:49.81, Z:6.34 [[ 8.79606218e-01 -4.75492231e-01 -1.41435427e-02 9.41298020e+02] [ 4.75426307e-01 8.79719886e-01 -7.92137365e-03 4.98079732e+01] [ 1.62089074e-02 2.43477248e-04 9.99868597e-01 6.34448230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.559254154 meters 0.01343315555305381 Centerline is valid? [True, True] Translation: X:941.35, Y:49.84, Z:6.34 [[ 8.78476990e-01 -4.77575691e-01 -1.41292842e-02 9.41347264e+02] [ 4.77510122e-01 8.78590585e-01 -7.91628875e-03 4.98387501e+01] [ 1.61944831e-02 2.07401322e-04 9.99868839e-01 6.34273452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters 0.013050714772313617 Centerline is valid? [True, True] Translation: X:941.40, Y:49.87, Z:6.34 [[ 8.76929371e-01 -4.80502546e-01 -1.05916058e-02 9.41398197e+02] [ 4.80465902e-01 8.76993324e-01 -5.93527020e-03 4.98664843e+01] [ 1.21406800e-02 1.15907326e-04 9.99926293e-01 6.34422938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.679254154 meters 0.014662374822386377 Centerline is valid? [True, True] Translation: X:941.45, Y:49.89, Z:6.35 [[ 8.76604830e-01 -4.81094055e-01 -1.06057293e-02 9.41449529e+02] [ 4.81057326e-01 8.76668979e-01 -5.94566429e-03 4.98941932e+01] [ 1.21581376e-02 1.10034264e-04 9.99926081e-01 6.34537451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539999 meters 0.013144785489047989 Centerline is valid? [True, True] Translation: X:941.50, Y:49.92, Z:6.35 [[ 8.76524580e-01 -4.81301026e-01 -7.34725422e-03 9.41500365e+02] [ 4.81283390e-01 8.76555370e-01 -4.12097194e-03 4.99230542e+01] [ 8.42370316e-03 7.60217799e-05 9.99964517e-01 6.34529062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.799254154 meters 0.01322216935315111 Centerline is valid? [True, True] Translation: X:941.55, Y:49.95, Z:6.34 [[ 8.75748734e-01 -4.82692177e-01 -8.50979634e-03 9.41549899e+02] [ 4.82668551e-01 8.75790076e-01 -4.77627042e-03 4.99528759e+01] [ 9.75826354e-03 7.54017032e-05 9.99952384e-01 6.34167192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539999 meters 0.01320082353222849 Centerline is valid? [True, True] Translation: X:941.60, Y:49.98, Z:6.34 [[ 8.74911955e-01 -4.84193398e-01 -9.26411980e-03 9.41600618e+02] [ 4.84165444e-01 8.74960999e-01 -5.20329512e-03 4.99808222e+01] [ 1.06251447e-02 6.70584365e-05 9.99943549e-01 6.34041738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.919254154 meters 0.013446733286374742 Centerline is valid? [True, True] Translation: X:941.65, Y:50.01, Z:6.34 [[ 8.74800689e-01 -4.84389046e-01 -9.53979495e-03 9.41651978e+02] [ 4.84359375e-01 8.74852701e-01 -5.36175207e-03 5.00084650e+01] [ 1.09430893e-02 6.97752827e-05 9.99940120e-01 6.34058244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539999 meters 0.013903684479519396 Centerline is valid? [True, True] Translation: X:941.70, Y:50.04, Z:6.34 [[ 8.76050316e-01 -4.82130369e-01 -9.28170700e-03 9.41701862e+02] [ 4.82102128e-01 8.76099479e-01 -5.21924628e-03 5.00387698e+01] [ 1.06480558e-02 9.75916566e-05 9.99943303e-01 6.34095986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.039254154 meters 0.01684281580209094 Centerline is valid? [True, True] Translation: X:941.75, Y:50.07, Z:6.34 [[ 8.77005216e-01 -4.80351809e-01 -1.11351047e-02 9.41750915e+02] [ 4.80310997e-01 8.77075891e-01 -6.26319159e-03 5.00688244e+01] [ 1.27748673e-02 1.44538476e-04 9.99918388e-01 6.33958539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539999 meters 0.016129794749610602 Centerline is valid? [True, True] Translation: X:941.80, Y:50.10, Z:6.34 [[ 8.76922900e-01 -4.80522377e-01 -1.02211753e-02 9.41802378e+02] [ 4.80487971e-01 8.76982456e-01 -5.75170476e-03 5.00968112e+01] [ 1.17276142e-02 1.32649845e-04 9.99931220e-01 6.34028827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.159254154 meters 0.014693330371734988 Centerline is valid? [True, True] Translation: X:941.85, Y:50.12, Z:6.34 [[ 8.76582232e-01 -4.81188909e-01 -7.79903483e-03 9.41854648e+02] [ 4.81168883e-01 8.76616920e-01 -4.39101935e-03 5.01243979e+01] [ 8.94967570e-03 9.64366627e-05 9.99959946e-01 6.34208204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539999 meters 0.014625280672984377 Centerline is valid? [True, True] Translation: X:941.91, Y:50.15, Z:6.34 [[ 8.76179424e-01 -4.81943253e-01 -6.34965944e-03 9.41906044e+02] [ 4.81929987e-01 8.76202428e-01 -3.57673775e-03 5.01516335e+01] [ 7.28737165e-03 7.37727281e-05 9.99973444e-01 6.34329460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.279254154 meters 0.014369347736967115 Centerline is valid? [True, True] Translation: X:941.96, Y:50.18, Z:6.34 [[ 8.75485912e-01 -4.83206934e-01 -5.95631585e-03 9.41958725e+02] [ 4.83195275e-01 8.75506171e-01 -3.35722922e-03 5.01776235e+01] [ 6.83702772e-03 6.11432102e-05 9.99976625e-01 6.34285967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.339254154 meters 0.014345983215137826 Centerline is valid? [True, True] Translation: X:942.01, Y:50.20, Z:6.34 [[ 8.75206691e-01 -4.83710346e-01 -6.12775737e-03 9.42009931e+02] [ 4.83698004e-01 8.75228140e-01 -3.45598610e-03 5.02049334e+01] [ 7.03488192e-03 6.07181510e-05 9.99975253e-01 6.34267481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.399254154 meters 0.014468880694896541 Centerline is valid? [True, True] Translation: X:942.06, Y:50.23, Z:6.34 [[ 8.75515363e-01 -4.83153469e-01 -5.96441190e-03 9.42061558e+02] [ 4.83141748e-01 8.75535677e-01 -3.36607731e-03 5.02338833e+01] [ 6.84838733e-03 6.53960075e-05 9.99976547e-01 6.34176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.459254154 meters 0.016752437254646323 Centerline is valid? [True, True] Translation: X:942.11, Y:50.26, Z:6.34 [[ 8.75997774e-01 -4.82255445e-01 -7.58854714e-03 9.42112345e+02] [ 4.82236410e-01 8.76030637e-01 -4.28576445e-03 5.02634193e+01] [ 8.71463303e-03 9.48463900e-05 9.99962022e-01 6.34110968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.519254154 meters 0.015068856655631785 Centerline is valid? [True, True] Translation: X:942.16, Y:50.29, Z:6.34 [[ 8.77058889e-01 -4.80321259e-01 -7.69366856e-03 9.42161872e+02] [ 4.80301599e-01 8.77092626e-01 -4.34734379e-03 5.02932500e+01] [ 8.83618161e-03 1.17595202e-04 9.99960953e-01 6.34049254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.579254154 meters 0.017112092185438632 Centerline is valid? [True, True] Translation: X:942.21, Y:50.32, Z:6.34 [[ 8.78234230e-01 -4.78151211e-01 -8.72101775e-03 9.42211941e+02] [ 4.78125825e-01 8.78277515e-01 -4.92958899e-03 5.03248550e+01] [ 1.00165627e-02 1.59589981e-04 9.99949820e-01 6.34032373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.639254154 meters 0.015760234788320688 Centerline is valid? [True, True] Translation: X:942.26, Y:50.35, Z:6.34 [[ 8.78480151e-01 -4.77718656e-01 -7.58347268e-03 9.42262608e+02] [ 4.77699426e-01 8.78512871e-01 -4.28884437e-03 5.03544745e+01] [ 8.71103932e-03 1.45044104e-04 9.99962048e-01 6.34108821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.699254154 meters 0.018395421306366202 Centerline is valid? [True, True] Translation: X:942.32, Y:50.38, Z:6.34 [[ 8.76529882e-01 -4.81296404e-01 -7.00980131e-03 9.42315321e+02] [ 4.81280070e-01 8.76557905e-01 -3.96656606e-03 5.03807002e+01] [ 8.05359073e-03 1.03136018e-04 9.99967564e-01 6.34298822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.759254154 meters 0.015535262820814487 Centerline is valid? [True, True] Translation: X:942.37, Y:50.40, Z:6.35 [[ 8.73498804e-01 -4.86789259e-01 -6.00466731e-03 9.42369760e+02] [ 4.86777391e-01 8.73519442e-01 -3.39952106e-03 5.04042145e+01] [ 6.90004397e-03 4.65412998e-05 9.99976193e-01 6.34507222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.819254154 meters 0.016452236273664444 Centerline is valid? [True, True] Translation: X:942.42, Y:50.43, Z:6.35 [[ 8.72049963e-01 -4.89378825e-01 -6.10139827e-03 9.42421209e+02] [ 4.89366620e-01 8.72071307e-01 -3.45634096e-03 5.04333291e+01] [ 7.01231444e-03 2.82813534e-05 9.99975413e-01 6.34520652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.879254154 meters 0.015286804525111752 Centerline is valid? [True, True] Translation: X:942.47, Y:50.46, Z:6.34 [[ 8.71661253e-01 -4.90048498e-01 -7.68956614e-03 9.42470656e+02] [ 4.90029113e-01 8.71695170e-01 -4.35888091e-03 5.04622398e+01] [ 8.83902070e-03 3.13563212e-05 9.99960935e-01 6.34367276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.939254154 meters 0.015713782710844032 Centerline is valid? [True, True] Translation: X:942.52, Y:50.49, Z:6.34 [[ 8.71278368e-01 -4.90719152e-01 -8.28974374e-03 9.42521109e+02] [ 4.90696630e-01 8.71317802e-01 -4.70160455e-03 5.04905740e+01] [ 9.53016870e-03 2.86570250e-05 9.99954587e-01 6.34382834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.999254154 meters 0.01684053615801826 Centerline is valid? [True, True] Translation: X:942.57, Y:50.52, Z:6.34 [[ 8.70502220e-01 -4.92099539e-01 -7.99560150e-03 9.42570125e+02] [ 4.92078621e-01 8.70538939e-01 -4.53724452e-03 5.05190729e+01] [ 9.19325838e-03 1.52168647e-05 9.99957741e-01 6.34353789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.059254154 meters 0.017192305345020833 Centerline is valid? [True, True] Translation: X:942.62, Y:50.55, Z:6.34 [[ 8.70134192e-01 -4.92761448e-01 -7.25557891e-03 9.42620003e+02] [ 4.92744235e-01 8.70164442e-01 -4.11869755e-03 5.05489069e+01] [ 8.34308213e-03 8.67488847e-06 9.99965196e-01 6.34369056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters 0.01671755377974445 Centerline is valid? [True, True] Translation: X:942.67, Y:50.58, Z:6.34 [[ 8.71032482e-01 -4.91166894e-01 -7.58273525e-03 9.42669650e+02] [ 4.91148007e-01 8.71065486e-01 -4.30738815e-03 5.05801129e+01] [ 8.72070542e-03 2.76296828e-05 9.99961974e-01 6.34333952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.179254154 meters 0.01807374513398205 Centerline is valid? [True, True] Translation: X:942.72, Y:50.61, Z:6.34 [[ 8.72501955e-01 -4.88563826e-01 -6.76217922e-03 9.42718447e+02] [ 4.88548710e-01 8.72528157e-01 -3.84353987e-03 5.06125653e+01] [ 7.77800632e-03 4.98421196e-05 9.99969750e-01 6.34278994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539999 meters 0.016398836931298195 Centerline is valid? [True, True] Translation: X:942.77, Y:50.65, Z:6.34 [[ 8.75672419e-01 -4.82860904e-01 -6.56984378e-03 9.42765349e+02] [ 4.82846458e-01 8.75697058e-01 -3.73632560e-03 5.06489376e+01] [ 7.55731843e-03 9.95714730e-05 9.99971438e-01 6.34308731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.299254154 meters 0.017478446975812786 Centerline is valid? [True, True] Translation: X:942.81, Y:50.68, Z:6.34 [[ 8.78013588e-01 -4.78586867e-01 -6.83740324e-03 9.42813170e+02] [ 4.78571071e-01 8.78040199e-01 -3.89092356e-03 5.06840181e+01] [ 7.86565981e-03 1.44100364e-04 9.99969055e-01 6.34246070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539999 meters 0.01789890674958882 Centerline is valid? [True, True] Translation: X:942.86, Y:50.71, Z:6.34 [[ 8.78186718e-01 -4.78261216e-01 -7.36869593e-03 9.42862016e+02] [ 4.78242839e-01 8.78217617e-01 -4.19568400e-03 5.07147540e+01] [ 8.47795151e-03 1.60567899e-04 9.99964049e-01 6.34298817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.419254154 meters 0.018069774808785986 Centerline is valid? [True, True] Translation: X:942.91, Y:50.75, Z:6.34 [[ 8.77700437e-01 -4.79156839e-01 -7.11806982e-03 9.42913061e+02] [ 4.79139709e-01 8.77729287e-01 -4.05438972e-03 5.07451434e+01] [ 8.19042691e-03 1.47989724e-04 9.99966447e-01 6.34351886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539999 meters 0.017100655186346684 Centerline is valid? [True, True] Translation: X:942.96, Y:50.77, Z:6.34 [[ 8.76255948e-01 -4.81772018e-01 -8.44017896e-03 9.42964242e+02] [ 4.81748025e-01 8.76296582e-01 -4.81043146e-03 5.07747236e+01] [ 9.71363125e-03 1.49129638e-04 9.99952810e-01 6.34249145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.539254154 meters 0.015983282274928387 Centerline is valid? [True, True] Translation: X:943.02, Y:50.80, Z:6.34 [[ 8.73666370e-01 -4.86430538e-01 -9.61276040e-03 9.43017792e+02] [ 4.86399658e-01 8.73719245e-01 -5.48221039e-03 5.08003112e+01] [ 1.10655683e-02 1.13979487e-04 9.99938768e-01 6.34240235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539999 meters 0.01714183110235066 Centerline is valid? [True, True] Translation: X:943.07, Y:50.83, Z:6.34 [[ 8.72846215e-01 -4.87896692e-01 -9.81344485e-03 9.43069573e+02] [ 4.87864563e-01 8.72901374e-01 -5.60001371e-03 5.08276707e+01] [ 1.12983976e-02 1.00318790e-04 9.99936166e-01 6.34292642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.659254154 meters 0.015349009394720179 Centerline is valid? [True, True] Translation: X:943.12, Y:50.85, Z:6.34 [[ 8.70589994e-01 -4.91912170e-01 -9.77139137e-03 9.43121639e+02] [ 4.91880541e-01 8.70644827e-01 -5.57842896e-03 5.08540492e+01] [ 1.12515084e-02 5.01671693e-05 9.99936699e-01 6.34317216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539999 meters 0.015124624482381322 Centerline is valid? [True, True] Translation: X:943.17, Y:50.88, Z:6.34 [[ 8.68595900e-01 -4.95433261e-01 -9.32984877e-03 9.43174854e+02] [ 4.95404609e-01 8.68646006e-01 -5.32817837e-03 5.08797605e+01] [ 1.07440927e-02 5.98381202e-06 9.99942281e-01 6.34440498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.779254154 meters 0.01512446365844575 Centerline is valid? [True, True] Translation: X:943.23, Y:50.90, Z:6.34 [[ 8.66920314e-01 -4.98355009e-01 -9.56322671e-03 9.43227168e+02] [ 4.98325056e-01 8.66973059e-01 -5.46388691e-03 5.09043527e+01] [ 1.10140153e-02 -2.88409317e-05 9.99939343e-01 6.34492548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.839254154 meters 0.015275696186368525 Centerline is valid? [True, True] Translation: X:943.28, Y:50.93, Z:6.34 [[ 8.66073553e-01 -4.99793035e-01 -1.11140511e-02 9.43278919e+02] [ 4.99752666e-01 8.66144860e-01 -6.35248451e-03 5.09320508e+01] [ 1.28013058e-02 -5.25578377e-05 9.99918059e-01 6.34413626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.899254154 meters 0.016834545962814047 Centerline is valid? [True, True] Translation: X:943.33, Y:50.96, Z:6.34 [[ 8.65741429e-01 -5.00335920e-01 -1.24798147e-02 9.43330254e+02] [ 5.00285012e-01 8.65831371e-01 -7.13745525e-03 5.09604547e+01] [ 1.43765403e-02 -6.42735625e-05 9.99896650e-01 6.34348456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.959254154 meters 0.015314857999589503 Centerline is valid? [True, True] Translation: X:943.38, Y:50.99, Z:6.34 [[ 8.65601959e-01 -5.00582156e-01 -1.22781559e-02 9.43381404e+02] [ 5.00532846e-01 8.65689032e-01 -7.02636645e-03 5.09889094e+01] [ 1.41463386e-02 -6.35837569e-05 9.99899934e-01 6.34464659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.019254154 meters 0.01661427565802284 Centerline is valid? [True, True] Translation: X:943.43, Y:51.02, Z:6.35 [[ 8.65690991e-01 -5.00417490e-01 -1.27060681e-02 9.43431600e+02] [ 5.00364595e-01 8.65784229e-01 -7.27601003e-03 5.10176253e+01] [ 1.46417561e-02 -5.88902912e-05 9.99892802e-01 6.34505816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.079254154 meters 0.01609341577215516 Centerline is valid? [True, True] Translation: X:943.48, Y:51.05, Z:6.35 [[ 8.66429829e-01 -4.99128799e-01 -1.30305224e-02 9.43481032e+02] [ 4.99072949e-01 8.66527807e-01 -7.46664389e-03 5.10477266e+01] [ 1.50181270e-02 -3.38582311e-05 9.99887221e-01 6.34539881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.139254154 meters 0.014738396641238842 Centerline is valid? [True, True] Translation: X:943.53, Y:51.08, Z:6.35 [[ 8.67072558e-01 -4.98000360e-01 -1.34469894e-02 9.43530896e+02] [ 4.97940668e-01 8.67176823e-01 -7.71035218e-03 5.10778870e+01] [ 1.55006757e-02 -1.03681239e-05 9.99879857e-01 6.34608466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.199254154 meters 0.014644139611351779 Centerline is valid? [True, True] Translation: X:943.58, Y:51.11, Z:6.35 [[ 8.67435135e-01 -4.97378122e-01 -1.30877582e-02 9.43581154e+02] [ 4.97321433e-01 8.67533863e-01 -7.50922879e-03 5.11065629e+01] [ 1.50889996e-02 4.94621899e-06 9.99886155e-01 6.34675762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.259254154 meters 0.014581154408798126 Centerline is valid? [True, True] Translation: X:943.63, Y:51.14, Z:6.35 [[ 8.67387373e-01 -4.97457795e-01 -1.32244905e-02 9.43629983e+02] [ 4.97399872e-01 8.67488180e-01 -7.59107159e-03 5.11356937e+01] [ 1.52483269e-02 6.53975597e-06 9.99883737e-01 6.34674608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.319254154 meters 0.015933251391271077 Centerline is valid? [True, True] Translation: X:943.68, Y:51.17, Z:6.35 [[ 8.66261856e-01 -4.99403365e-01 -1.36628979e-02 9.43680208e+02] [ 4.99341719e-01 8.66369597e-01 -7.84663573e-03 5.11653049e+01] [ 1.57557556e-02 -2.52136988e-05 9.99875870e-01 6.34596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.379254154 meters 0.017577313165451015 Centerline is valid? [True, True] Translation: X:943.73, Y:51.19, Z:6.35 [[ 8.64186333e-01 -5.02991323e-01 -1.34799832e-02 9.43731663e+02] [ 5.02931705e-01 8.64291456e-01 -7.74462432e-03 5.11923699e+01] [ 1.55461131e-02 -8.67124162e-05 9.99879148e-01 6.34513225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.439254154 meters 0.014816104993618661 Centerline is valid? [True, True] Translation: X:943.78, Y:51.22, Z:6.35 [[ 8.62546006e-01 -5.05809126e-01 -1.30963713e-02 9.43782953e+02] [ 5.05753130e-01 8.62645414e-01 -7.52731399e-03 5.12211189e+01] [ 1.51049087e-02 -1.30876134e-04 9.99885906e-01 6.34759728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.499254154 meters 0.01638415409959433 Centerline is valid? [True, True] Translation: X:943.83, Y:51.25, Z:6.35 [[ 8.62057407e-01 -5.06627029e-01 -1.36411662e-02 9.43833421e+02] [ 5.06566307e-01 8.62165316e-01 -7.84507288e-03 5.12513394e+01] [ 1.57354663e-02 -1.47252011e-04 9.99876179e-01 6.34655337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.559254154 meters 0.017245857228590747 Centerline is valid? [True, True] Translation: X:943.88, Y:51.28, Z:6.34 [[ 8.62928219e-01 -5.05062329e-01 -1.63380524e-02 9.43882953e+02] [ 5.04974832e-01 8.63082861e-01 -9.40183756e-03 5.12839106e+01] [ 1.88496070e-02 -1.37194327e-04 9.99822321e-01 6.34379180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters 0.01706357367523958 Centerline is valid? [True, True] Translation: X:943.93, Y:51.32, Z:6.34 [[ 8.64521988e-01 -5.02255780e-01 -1.84624945e-02 9.43931705e+02] [ 5.02143270e-01 8.64719102e-01 -1.06306662e-02 5.13167021e+01] [ 2.13041853e-02 -8.03726739e-05 9.99773037e-01 6.34163495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.679254154 meters 0.014113708760441164 Centerline is valid? [True, True] Translation: X:943.98, Y:51.35, Z:6.34 [[ 8.65749209e-01 -5.00170025e-01 -1.75571689e-02 9.43981361e+02] [ 5.00067735e-01 8.65927218e-01 -1.01150775e-02 5.13488920e+01] [ 2.02624890e-02 -2.26532997e-05 9.99794694e-01 6.34425355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539999 meters 0.013971747188954057 Centerline is valid? [True, True] Translation: X:944.03, Y:51.38, Z:6.35 [[ 8.67100306e-01 -4.97884539e-01 -1.57494539e-02 9.44030491e+02] [ 4.97801763e-01 8.67243325e-01 -9.07856953e-03 5.13806171e+01] [ 1.81786882e-02 3.19245204e-05 9.99834753e-01 6.34594039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.799254154 meters 0.013968093178088049 Centerline is valid? [True, True] Translation: X:944.08, Y:51.41, Z:6.35 [[ 8.68350258e-01 -4.95734766e-01 -1.46584905e-02 9.44079793e+02] [ 4.95662668e-01 8.68473970e-01 -8.45477706e-03 5.14122926e+01] [ 1.69218444e-02 7.60413175e-05 9.99856812e-01 6.34785465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539999 meters 0.014509340161459758 Centerline is valid? [True, True] Translation: X:944.13, Y:51.45, Z:6.35 [[ 8.71116055e-01 -4.90882911e-01 -1.38125711e-02 9.44128033e+02] [ 4.90818209e-01 8.71225539e-01 -7.97152339e-03 5.14467767e+01] [ 1.59469493e-02 1.64660619e-04 9.99872826e-01 6.34892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.919254154 meters 0.01756577002179107 Centerline is valid? [True, True] Translation: X:944.17, Y:51.48, Z:6.35 [[ 8.73491131e-01 -4.86640448e-01 -1.39397940e-02 9.44174606e+02] [ 4.86573958e-01 8.73602320e-01 -8.04797172e-03 5.14810405e+01] [ 1.60943050e-02 2.47091163e-04 9.99870448e-01 6.34802055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539999 meters 0.01760033902389483 Centerline is valid? [True, True] Translation: X:944.22, Y:51.51, Z:6.35 [[ 8.75644887e-01 -4.82760145e-01 -1.37358906e-02 9.44223367e+02] [ 4.82695053e-01 8.75752558e-01 -7.93368622e-03 5.15145602e+01] [ 1.58593089e-02 3.16845319e-04 9.99874183e-01 6.34908911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.039254154 meters 0.01828860224191502 Centerline is valid? [True, True] Translation: X:944.27, Y:51.55, Z:6.35 [[ 8.76646373e-01 -4.80878486e-01 -1.57167980e-02 9.44272900e+02] [ 4.80792860e-01 8.76787156e-01 -9.08343087e-03 5.15463195e+01] [ 1.81483131e-02 4.06432448e-04 9.99835223e-01 6.34805288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539999 meters 0.018276483598701355 Centerline is valid? [True, True] Translation: X:944.32, Y:51.58, Z:6.35 [[ 8.76287248e-01 -4.81503595e-01 -1.65815414e-02 9.44320009e+02] [ 4.81408325e-01 8.76444016e-01 -9.58709551e-03 5.15781275e+01] [ 1.91490136e-02 4.18557487e-04 9.99816553e-01 6.34629336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.159254154 meters 0.017676471557297496 Centerline is valid? [True, True] Translation: X:944.37, Y:51.60, Z:6.35 [[ 8.72930782e-01 -4.87555957e-01 -1.67642447e-02 9.44374821e+02] [ 4.87459605e-01 8.73091692e-01 -9.69689296e-03 5.16022992e+01] [ 1.93645007e-02 2.92824265e-04 9.99812448e-01 6.34648697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539999 meters 0.016980669709921285 Centerline is valid? [True, True] Translation: X:944.43, Y:51.62, Z:6.35 [[ 8.68663476e-01 -4.95165702e-01 -1.53197047e-02 9.44430649e+02] [ 4.95086339e-01 8.68798546e-01 -8.86581981e-03 5.16240488e+01] [ 1.76997871e-02 1.16837337e-04 9.99843340e-01 6.35021961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.279254154 meters 0.013645598658775973 Centerline is valid? [True, True] Translation: X:944.48, Y:51.65, Z:6.35 [[ 8.64985711e-01 -5.01593065e-01 -1.42869469e-02 9.44484390e+02] [ 5.01524842e-01 8.65103691e-01 -8.27263648e-03 5.16479738e+01] [ 1.65091875e-02 -9.54641443e-06 9.99863714e-01 6.35350883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.339254154 meters 0.013928279922746641 Centerline is valid? [True, True] Translation: X:944.54, Y:51.67, Z:6.35 [[ 8.62021835e-01 -5.06668823e-01 -1.43199311e-02 9.44537338e+02] [ 5.06600903e-01 8.62140762e-01 -8.29647328e-03 5.16733882e+01] [ 1.65493607e-02 -1.02748919e-04 9.99863045e-01 6.35360625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.399254154 meters 0.014743490871952716 Centerline is valid? [True, True] Translation: X:944.59, Y:51.70, Z:6.35 [[ 8.60749393e-01 -5.08809912e-01 -1.49316867e-02 9.44588803e+02] [ 5.08736334e-01 8.60878883e-01 -8.65395308e-03 5.17008776e+01] [ 1.72575908e-02 -1.47406672e-04 9.99851066e-01 6.35346042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.459254154 meters 0.01394083788050105 Centerline is valid? [True, True] Translation: X:944.64, Y:51.73, Z:6.35 [[ 8.61358142e-01 -5.07772822e-01 -1.51298670e-02 9.44637548e+02] [ 5.07697043e-01 8.61491002e-01 -8.77306786e-03 5.17326276e+01] [ 1.74889697e-02 -1.24635307e-04 9.99847049e-01 6.35494564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.519254154 meters 0.01404795341833106 Centerline is valid? [True, True] Translation: X:944.69, Y:51.76, Z:6.35 [[ 8.61740577e-01 -5.07120085e-01 -1.52446144e-02 9.44686462e+02] [ 5.07042983e-01 8.61875402e-01 -8.84340395e-03 5.17619221e+01] [ 1.76236259e-02 -1.08954728e-04 9.99844686e-01 6.35447080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.579254154 meters 0.014076549654902262 Centerline is valid? [True, True] Translation: X:944.74, Y:51.79, Z:6.35 [[ 8.63599800e-01 -5.03943381e-01 -1.53771010e-02 9.44735291e+02] [ 5.03864356e-01 8.63736689e-01 -8.92429079e-03 5.17943941e+01] [ 1.77791036e-02 -4.09573649e-05 9.99841938e-01 6.35401583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.639254154 meters 0.013649614205503003 Centerline is valid? [True, True] Translation: X:944.78, Y:51.83, Z:6.35 [[ 8.65579845e-01 -5.00514909e-01 -1.60111731e-02 9.44784252e+02] [ 5.00428545e-01 8.65727916e-01 -9.29768051e-03 5.18275436e+01] [ 1.85149472e-02 3.54367990e-05 9.99828583e-01 6.35472110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.699254154 meters 0.015425888646149825 Centerline is valid? [True, True] Translation: X:944.83, Y:51.86, Z:6.35 [[ 8.66609019e-01 -4.98746059e-01 -1.55298914e-02 9.44832984e+02] [ 4.98664423e-01 8.66748155e-01 -9.02383270e-03 5.18588750e+01] [ 1.79611057e-02 7.59304461e-05 9.99838683e-01 6.35400717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.759254154 meters 0.01395258325196398 Centerline is valid? [True, True] Translation: X:944.88, Y:51.89, Z:6.36 [[ 8.67331238e-01 -4.97516840e-01 -1.46122202e-02 9.44881527e+02] [ 4.97444334e-01 8.67454313e-01 -8.49414801e-03 5.18896024e+01] [ 1.69014151e-02 9.84737538e-05 9.99857156e-01 6.35550254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.819254154 meters 0.013955754933154686 Centerline is valid? [True, True] Translation: X:944.93, Y:51.92, Z:6.36 [[ 8.67436691e-01 -4.97359160e-01 -1.36913438e-02 9.44931598e+02] [ 4.97295426e-01 8.67544729e-01 -7.96264514e-03 5.19196465e+01] [ 1.58381476e-02 9.84479216e-05 9.99874564e-01 6.35766463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.879254154 meters 0.013939449027538573 Centerline is valid? [True, True] Translation: X:944.98, Y:51.95, Z:6.36 [[ 8.66986651e-01 -4.98158418e-01 -1.31277377e-02 9.44981443e+02] [ 4.98099842e-01 8.67086030e-01 -7.63964542e-03 5.19501047e+01] [ 1.51886316e-02 8.45465143e-05 9.99884643e-01 6.35830482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.939254154 meters 0.013792731616577928 Centerline is valid? [True, True] Translation: X:945.03, Y:51.98, Z:6.36 [[ 8.65941628e-01 -4.99965372e-01 -1.34060865e-02 9.45031552e+02] [ 4.99904422e-01 8.66045393e-01 -7.80677555e-03 5.19793234e+01] [ 1.55133969e-02 5.84500181e-05 9.99879658e-01 6.35861645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.999254154 meters 0.015441552447893987 Centerline is valid? [True, True] Translation: X:945.08, Y:52.01, Z:6.36 [[ 8.63138538e-01 -5.04747225e-01 -1.49031392e-02 9.45083676e+02] [ 5.04672515e-01 8.63267188e-01 -8.68411638e-03 5.20077176e+01] [ 1.72486747e-02 -2.56092467e-05 9.99851230e-01 6.35732942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.059254154 meters 0.016496100805354283 Centerline is valid? [True, True] Translation: X:945.13, Y:52.03, Z:6.36 [[ 8.60586579e-01 -5.09053528e-01 -1.59764198e-02 9.45134750e+02] [ 5.08968348e-01 8.60734856e-01 -9.31282122e-03 5.20349077e+01] [ 1.84921859e-02 -1.17003015e-04 9.99828998e-01 6.35640807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters 0.015401519881927943 Centerline is valid? [True, True] Translation: X:945.19, Y:52.06, Z:6.36 [[ 8.59135919e-01 -5.11456209e-01 -1.72632311e-02 9.45185803e+02] [ 5.11357149e-01 8.59309324e-01 -1.00673944e-02 5.20642582e+01] [ 1.99834868e-02 -1.78416541e-04 9.99800294e-01 6.35603368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.179254154 meters 0.01601115641254209 Centerline is valid? [True, True] Translation: X:945.24, Y:52.09, Z:6.36 [[ 8.59141243e-01 -5.11408434e-01 -1.83776640e-02 9.45235979e+02] [ 5.11296029e-01 8.59337757e-01 -1.07233485e-02 5.20947368e+01] [ 2.12766314e-02 -1.83555637e-04 9.99773610e-01 6.35526782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539999 meters 0.01447588118037792 Centerline is valid? [True, True] Translation: X:945.29, Y:52.13, Z:6.36 [[ 8.60232705e-01 -5.09568801e-01 -1.84209042e-02 9.45285112e+02] [ 5.09455375e-01 8.60429903e-01 -1.07518684e-02 5.21250573e+01] [ 2.13287135e-02 -1.35519803e-04 9.99772508e-01 6.35632214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.299254154 meters 0.01599237160596775 Centerline is valid? [True, True] Translation: X:945.34, Y:52.16, Z:6.36 [[ 8.61253989e-01 -5.07853906e-01 -1.80548014e-02 9.45335242e+02] [ 5.07744474e-01 8.61443209e-01 -1.05426393e-02 5.21568909e+01] [ 2.09073066e-02 -8.73354884e-05 9.99781415e-01 6.35605880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539999 meters 0.01592058791934915 Centerline is valid? [True, True] Translation: X:945.38, Y:52.19, Z:6.36 [[ 8.63898987e-01 -5.03378609e-01 -1.69857681e-02 9.45383470e+02] [ 5.03280828e-01 8.64065956e-01 -9.92132602e-03 5.21886955e+01] [ 1.96710072e-02 2.24120764e-05 9.99806507e-01 6.35809691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.419254154 meters 0.014445122649382067 Centerline is valid? [True, True] Translation: X:945.43, Y:52.22, Z:6.36 [[ 8.67274497e-01 -4.97614627e-01 -1.46502533e-02 9.45430933e+02] [ 4.97541002e-01 8.67398216e-01 -8.56077933e-03 5.22218414e+01] [ 1.69675726e-02 1.35443897e-04 9.99856031e-01 6.36192693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539999 meters 0.016707060785601 Centerline is valid? [True, True] Translation: X:945.48, Y:52.26, Z:6.36 [[ 8.70908397e-01 -4.91221310e-01 -1.48387601e-02 9.45478153e+02] [ 4.91144800e-01 8.71034761e-01 -8.67361629e-03 5.22566932e+01] [ 1.71857410e-02 2.65945422e-04 9.99852279e-01 6.36091306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.539254154 meters 0.01850631804304187 Centerline is valid? [True, True] Translation: X:945.53, Y:52.29, Z:6.36 [[ 8.72677664e-01 -4.88042079e-01 -1.57677875e-02 9.45527767e+02] [ 4.87955109e-01 8.72820030e-01 -9.21991485e-03 5.22893184e+01] [ 1.82621472e-02 3.52041289e-04 9.99833171e-01 6.36002331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539999 meters 0.023150772263930853 Centerline is valid? [True, True] Translation: X:945.58, Y:52.32, Z:6.36 [[ 8.74751136e-01 -4.84229355e-01 -1.82313471e-02 9.45577058e+02] [ 4.84112196e-01 8.74940958e-01 -1.06631054e-02 5.23217622e+01] [ 2.11147410e-02 5.01546110e-04 9.99776933e-01 6.35660973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.659254154 meters 0.02331902026311936 Centerline is valid? [True, True] Translation: X:945.63, Y:52.35, Z:6.36 [[ 8.76262994e-01 -4.81471261e-01 -1.86705733e-02 9.45627385e+02] [ 4.81347684e-01 8.76461683e-01 -1.09235879e-02 5.23536397e+01] [ 2.16234358e-02 5.84898618e-04 9.99766015e-01 6.35639525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539999 meters 0.02577516857888089 Centerline is valid? [True, True] Translation: X:945.68, Y:52.38, Z:6.35 [[ 8.75948806e-01 -4.81911640e-01 -2.17912776e-02 9.45679866e+02] [ 4.81743270e-01 8.76219558e-01 -1.27556812e-02 5.23811345e+01] [ 2.52410549e-02 6.75522357e-04 9.99681166e-01 6.35184170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.779254154 meters 0.022989820373374024 Centerline is valid? [True, True] Translation: X:945.73, Y:52.41, Z:6.35 [[ 8.74771712e-01 -4.84108201e-01 -2.03396787e-02 9.45733467e+02] [ 4.83961997e-01 8.75007954e-01 -1.19107859e-02 5.24052625e+01] [ 2.35634898e-02 5.75586993e-04 9.99722177e-01 6.35474264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.839254154 meters 0.02105342739321145 Centerline is valid? [True, True] Translation: X:945.79, Y:52.43, Z:6.36 [[ 8.72586520e-01 -4.88061339e-01 -1.97204336e-02 9.45789060e+02] [ 4.87924837e-01 8.72809212e-01 -1.15513362e-02 5.24267586e+01] [ 2.28499367e-02 4.57450894e-04 9.99738801e-01 6.35701567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.899254154 meters 0.018755044292332455 Centerline is valid? [True, True] Translation: X:945.84, Y:52.45, Z:6.36 [[ 8.70528835e-01 -4.91778448e-01 -1.82621499e-02 9.45844635e+02] [ 4.91662123e-01 8.70720302e-01 -1.07010554e-02 5.24494204e+01] [ 2.11637731e-02 3.36769863e-04 9.99775966e-01 6.35926438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.959254154 meters 0.01471292869479003 Centerline is valid? [True, True] Translation: X:945.90, Y:52.47, Z:6.37 [[ 8.69406140e-01 -4.93755074e-01 -1.84089669e-02 9.45900891e+02] [ 4.93637189e-01 8.69600965e-01 -1.07929021e-02 5.24692861e+01] [ 2.13375055e-02 2.96064703e-04 9.99772286e-01 6.36643441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.019254154 meters 0.014345906527847802 Centerline is valid? [True, True] Translation: X:945.95, Y:52.49, Z:6.37 [[ 8.68397003e-01 -4.95491610e-01 -1.93574476e-02 9.45953348e+02] [ 4.95361525e-01 8.68612681e-01 -1.13564619e-02 5.24944035e+01] [ 2.24411560e-02 2.72982664e-04 9.99748128e-01 6.36645456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.079254154 meters 0.014381959236290246 Centerline is valid? [True, True] Translation: X:946.00, Y:52.52, Z:6.37 [[ 8.67759772e-01 -4.96564978e-01 -2.04009937e-02 9.46004632e+02] [ 4.96420685e-01 8.67999512e-01 -1.19728843e-02 5.25204311e+01] [ 2.36533676e-02 2.62112048e-04 9.99720186e-01 6.36563748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.139254154 meters 0.014554112462564335 Centerline is valid? [True, True] Translation: X:946.06, Y:52.55, Z:6.36 [[ 8.66364837e-01 -4.98985651e-01 -2.06225436e-02 9.46055188e+02] [ 4.98838832e-01 8.66610224e-01 -1.21053971e-02 5.25478917e+01] [ 2.39121266e-02 2.00364830e-04 9.99714044e-01 6.36492091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.199254154 meters 0.01605761152913773 Centerline is valid? [True, True] Translation: X:946.10, Y:52.58, Z:6.36 [[ 8.66122979e-01 -4.99405512e-01 -2.06184311e-02 9.46104661e+02] [ 4.99258719e-01 8.66368338e-01 -1.21093005e-02 5.25784025e+01] [ 2.39106073e-02 1.94211885e-04 9.99714082e-01 6.36480122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.259254154 meters 0.014051335350376044 Centerline is valid? [True, True] Translation: X:946.15, Y:52.61, Z:6.37 [[ 8.66847627e-01 -4.98200536e-01 -1.92721756e-02 9.46153647e+02] [ 4.98071829e-01 8.67061807e-01 -1.13258876e-02 5.26103300e+01] [ 2.23527307e-02 2.18891061e-04 9.99750123e-01 6.36624868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.319254154 meters 0.014161194741590187 Centerline is valid? [True, True] Translation: X:946.20, Y:52.64, Z:6.37 [[ 8.66969081e-01 -4.98025696e-01 -1.83035212e-02 9.46203745e+02] [ 4.97909431e-01 8.67162245e-01 -1.07629092e-02 5.26417784e+01] [ 2.12323279e-02 2.17613634e-04 9.99774545e-01 6.36713767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.379254154 meters 0.01752473149082016 Centerline is valid? [True, True] Translation: X:946.25, Y:52.67, Z:6.37 [[ 8.66528970e-01 -4.98795825e-01 -1.81733136e-02 9.46253189e+02] [ 4.98681238e-01 8.66719496e-01 -1.06929204e-02 5.26722612e+01] [ 2.10847493e-02 2.03034809e-04 9.99777671e-01 6.36725478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.439254154 meters 0.01631500709547352 Centerline is valid? [True, True] Translation: X:946.30, Y:52.70, Z:6.37 [[ 8.66636339e-01 -4.98655555e-01 -1.68550943e-02 9.46301700e+02] [ 4.98556899e-01 8.66800208e-01 -9.92060143e-03 5.27038436e+01] [ 1.95569623e-02 1.94330142e-04 9.99808725e-01 6.36894922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.499254154 meters 0.01389043635906998 Centerline is valid? [True, True] Translation: X:946.35, Y:52.74, Z:6.37 [[ 8.66144899e-01 -4.99550050e-01 -1.55808158e-02 9.46351875e+02] [ 4.99465823e-01 8.66285011e-01 -9.17451233e-03 5.27355331e+01] [ 1.80805553e-02 1.64372064e-04 9.99836520e-01 6.37023243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.559254154 meters 0.01368192990185079 Centerline is valid? [True, True] Translation: X:946.40, Y:52.77, Z:6.37 [[ 8.64507770e-01 -5.02401256e-01 -1.48085535e-02 9.46401740e+02] [ 5.02325530e-01 8.64634586e-01 -8.72321723e-03 5.27657239e+01] [ 1.71865428e-02 1.02574622e-04 9.99852295e-01 6.36944535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters 0.013456789215524416 Centerline is valid? [True, True] Translation: X:946.45, Y:52.79, Z:6.37 [[ 8.62325027e-01 -5.06193690e-01 -1.27865719e-02 9.46452078e+02] [ 5.06137618e-01 8.62419821e-01 -7.53419838e-03 5.27938894e+01] [ 1.48411567e-02 2.51627681e-05 9.99889864e-01 6.37041114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.679254154 meters 0.015493494443134042 Centerline is valid? [True, True] Translation: X:946.50, Y:52.82, Z:6.37 [[ 8.59905785e-01 -5.10283520e-01 -1.31442388e-02 9.46502173e+02] [ 5.10224684e-01 8.60006237e-01 -7.74881774e-03 5.28228661e+01] [ 1.52582213e-02 -4.32618835e-05 9.99883586e-01 6.36936442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539999 meters 0.01400086224704092 Centerline is valid? [True, True] Translation: X:946.55, Y:52.85, Z:6.37 [[ 8.57881001e-01 -5.13702354e-01 -1.22506984e-02 9.46552382e+02] [ 5.13651553e-01 8.57968462e-01 -7.22492505e-03 5.28508719e+01] [ 1.42221739e-02 -9.44643325e-05 9.99898855e-01 6.36809587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.799254154 meters 0.01417163535395851 Centerline is valid? [True, True] Translation: X:946.60, Y:52.88, Z:6.37 [[ 8.56699184e-01 -5.15686360e-01 -1.15795570e-02 9.46603614e+02] [ 5.15641119e-01 8.56777430e-01 -6.83170303e-03 5.28792331e+01] [ 1.34441192e-02 -1.18181329e-04 9.99909617e-01 6.36861164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539999 meters 0.01672015097237569 Centerline is valid? [True, True] Translation: X:946.65, Y:52.91, Z:6.37 [[ 8.56663958e-01 -5.15727721e-01 -1.23199793e-02 9.46653634e+02] [ 5.15676473e-01 8.56752533e-01 -7.27135643e-03 5.29090094e+01] [ 1.43052135e-02 -1.24014485e-04 9.99897668e-01 6.36623694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.919254154 meters 0.01398548517062686 Centerline is valid? [True, True] Translation: X:946.70, Y:52.94, Z:6.37 [[ 8.58289032e-01 -5.13032079e-01 -1.17483080e-02 9.46702869e+02] [ 5.12985189e-01 8.58369431e-01 -6.93652399e-03 5.29408775e+01] [ 1.36430478e-02 -7.31655564e-05 9.99906927e-01 6.36648423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539999 meters 0.013743639793070226 Centerline is valid? [True, True] Translation: X:946.75, Y:52.97, Z:6.37 [[ 8.61362508e-01 -5.07869400e-01 -1.11041874e-02 9.46751568e+02] [ 5.07827036e-01 8.61434079e-01 -6.55968685e-03 5.29734362e+01] [ 1.28969897e-02 1.12617404e-05 9.99916830e-01 6.36804510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.039254154 meters 0.014105883182575243 Centerline is valid? [True, True] Translation: X:946.80, Y:53.01, Z:6.37 [[ 8.64847762e-01 -5.01931648e-01 -1.01473763e-02 9.46799299e+02] [ 5.01895822e-01 8.64907285e-01 -5.99765915e-03 5.30078168e+01] [ 1.17869547e-02 9.41362971e-05 9.99930527e-01 6.37000342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539999 meters 0.015524427885334107 Centerline is valid? [True, True] Translation: X:946.85, Y:53.04, Z:6.37 [[ 8.67177696e-01 -4.97911507e-01 -9.32606041e-03 9.46848027e+02] [ 4.97880980e-01 8.67227832e-01 -5.51525635e-03 5.30415218e+01] [ 1.08339287e-02 1.39439198e-04 9.99941302e-01 6.37030621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.159254154 meters 0.015091608224529042 Centerline is valid? [True, True] Translation: X:946.90, Y:53.07, Z:6.37 [[ 8.68430930e-01 -4.95737106e-01 -8.51123571e-03 9.46898541e+02] [ 4.95711553e-01 8.68472624e-01 -5.03568364e-03 5.30707433e+01] [ 9.88815044e-03 1.54025559e-04 9.99951099e-01 6.37165209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539999 meters 0.01690049074576128 Centerline is valid? [True, True] Translation: X:946.95, Y:53.10, Z:6.37 [[ 8.69061664e-01 -4.94596476e-01 -1.03028725e-02 9.46949168e+02] [ 4.94558918e-01 8.69122709e-01 -6.09855036e-03 5.31008963e+01] [ 1.19707820e-02 2.04638859e-04 9.99928327e-01 6.36971861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.279254154 meters 0.015958592612707982 Centerline is valid? [True, True] Translation: X:947.00, Y:53.13, Z:6.37 [[ 8.69635276e-01 -4.93537627e-01 -1.24537976e-02 9.46998569e+02] [ 4.93482574e-01 8.69724403e-01 -7.37642519e-03 5.31329402e+01] [ 1.44719151e-02 2.69067453e-04 9.99895240e-01 6.36794741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.339254154 meters 0.018942852925144756 Centerline is valid? [True, True] Translation: X:947.05, Y:53.16, Z:6.37 [[ 8.68787473e-01 -4.94977583e-01 -1.43359715e-02 9.47048838e+02] [ 4.94904770e-01 8.68905698e-01 -8.49454918e-03 5.31610698e+01] [ 1.66612188e-02 2.85017220e-04 9.99861152e-01 6.36512508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.399254154 meters 0.015622753988623075 Centerline is valid? [True, True] Translation: X:947.10, Y:53.19, Z:6.37 [[ 8.67155508e-01 -4.97808614e-01 -1.50966488e-02 9.47101914e+02] [ 4.97728227e-01 8.67286875e-01 -8.94925630e-03 5.31869328e+01] [ 1.75481422e-02 2.46368668e-04 9.99845989e-01 6.36747044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.459254154 meters 0.01445460198203916 Centerline is valid? [True, True] Translation: X:947.16, Y:53.21, Z:6.37 [[ 8.64630244e-01 -5.02189931e-01 -1.48261562e-02 9.47155131e+02] [ 5.02112953e-01 8.64757334e-01 -8.79400365e-03 5.32131309e+01] [ 1.72372874e-02 1.59156431e-04 9.99851414e-01 6.36856724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.519254154 meters 0.01612439981280297 Centerline is valid? [True, True] Translation: X:947.21, Y:53.24, Z:6.37 [[ 8.62168873e-01 -5.06421903e-01 -1.42017983e-02 9.47207710e+02] [ 5.06351766e-01 8.62285829e-01 -8.42847189e-03 5.32393498e+01] [ 1.65143722e-02 7.56604612e-05 9.99863626e-01 6.36992951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.579254154 meters 0.014131884189255756 Centerline is valid? [True, True] Translation: X:947.26, Y:53.27, Z:6.37 [[ 8.61069848e-01 -5.08283142e-01 -1.43862580e-02 9.47258183e+02] [ 5.08211341e-01 8.61190017e-01 -8.54328840e-03 5.32676237e+01] [ 1.67317112e-02 4.51085814e-05 9.99860014e-01 6.37188345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.639254154 meters 0.014368681494861492 Centerline is valid? [True, True] Translation: X:947.31, Y:53.30, Z:6.37 [[ 8.61676853e-01 -5.07218294e-01 -1.55757311e-02 9.47308253e+02] [ 5.07133850e-01 8.61817612e-01 -9.25538120e-03 5.32986398e+01] [ 1.81179380e-02 7.61672950e-05 9.99835854e-01 6.37162041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.699254154 meters 0.016083504368275263 Centerline is valid? [True, True] Translation: X:947.36, Y:53.33, Z:6.37 [[ 8.63928530e-01 -5.03293418e-01 -1.79786055e-02 9.47355360e+02] [ 5.03179977e-01 8.64115560e-01 -1.06869046e-02 5.33323284e+01] [ 2.09142416e-02 1.86247503e-04 9.99781256e-01 6.36993992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.759254154 meters 0.015320730031744334 Centerline is valid? [True, True] Translation: X:947.40, Y:53.37, Z:6.37 [[ 8.65826463e-01 -4.99992513e-01 -1.87622530e-02 9.47403621e+02] [ 4.99868078e-01 8.66029680e-01 -1.11578559e-02 5.33660369e+01] [ 2.18275124e-02 2.82115529e-04 9.99761712e-01 6.37197789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.819254154 meters 0.015236304142040125 Centerline is valid? [True, True] Translation: X:947.45, Y:53.40, Z:6.37 [[ 8.65730718e-01 -5.00206392e-01 -1.74324025e-02 9.47453961e+02] [ 5.00098898e-01 8.65906171e-01 -1.03728159e-02 5.33972371e+01] [ 2.02833737e-02 2.62140120e-04 9.99794237e-01 6.37401466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.879254154 meters 0.01765561883849 Centerline is valid? [True, True] Translation: X:947.51, Y:53.43, Z:6.38 [[ 8.63180159e-01 -5.04635002e-01 -1.62335571e-02 9.47506070e+02] [ 5.04542470e-01 8.63332782e-01 -9.66460063e-03 5.34258854e+01] [ 1.88920577e-02 1.51772532e-04 9.99821518e-01 6.37597748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.939254154 meters 0.013922717579962622 Centerline is valid? [True, True] Translation: X:947.56, Y:53.45, Z:6.38 [[ 8.59043202e-01 -5.11687606e-01 -1.48516598e-02 9.47559235e+02] [ 5.11611128e-01 8.59171574e-01 -8.84643082e-03 5.34526665e+01] [ 1.72867329e-02 1.19182418e-06 9.99850573e-01 6.37924693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.999254154 meters 0.014701435986708642 Centerline is valid? [True, True] Translation: X:947.61, Y:53.48, Z:6.38 [[ 8.53205225e-01 -5.21384085e-01 -1.41237182e-02 9.47611616e+02] [ 5.21316196e-01 8.53322098e-01 -8.41558077e-03 5.34788810e+01] [ 1.64398308e-02 -1.82705577e-04 9.99864840e-01 6.38000586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.059254154 meters 0.016614064766268994 Centerline is valid? [True, True] Translation: X:947.66, Y:53.51, Z:6.38 [[ 8.48368200e-01 -5.29186128e-01 -1.52787461e-02 9.47664247e+02] [ 5.29107911e-01 8.48505694e-01 -9.10523954e-03 5.35060440e+01] [ 1.77824695e-02 -3.59509766e-04 9.99841815e-01 6.37981834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters 0.019633794954946146 Centerline is valid? [True, True] Translation: X:947.71, Y:53.54, Z:6.38 [[ 8.45750741e-01 -5.33281793e-01 -1.77824200e-02 9.47714096e+02] [ 5.33176699e-01 8.45937505e-01 -1.05993187e-02 5.35357321e+01] [ 2.06952397e-02 -5.16790386e-04 9.99785697e-01 6.37732856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.179254154 meters 0.020884551277763286 Centerline is valid? [True, True] Translation: X:947.76, Y:53.57, Z:6.38 [[ 8.45206607e-01 -5.34129593e-01 -1.82035469e-02 9.47761684e+02] [ 5.34019612e-01 8.45402435e-01 -1.08525358e-02 5.35681268e+01] [ 2.11859833e-02 -5.48416086e-04 9.99775401e-01 6.37646752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539999 meters 0.020504167058570562 Centerline is valid? [True, True] Translation: X:947.81, Y:53.60, Z:6.38 [[ 8.46088641e-01 -5.32744389e-01 -1.78164984e-02 9.47809217e+02] [ 5.32638686e-01 8.46276057e-01 -1.06238072e-02 5.36021200e+01] [ 2.07374497e-02 -5.01073700e-04 9.99784830e-01 6.37676315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.299254154 meters 0.01771467535701809 Centerline is valid? [True, True] Translation: X:947.86, Y:53.64, Z:6.38 [[ 8.46817724e-01 -5.31614134e-01 -1.69161190e-02 9.47857931e+02] [ 5.31518536e-01 8.46986549e-01 -1.00911899e-02 5.36356501e+01] [ 1.96923444e-02 -4.45832374e-04 9.99805988e-01 6.37887164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539999 meters 0.017597730479976793 Centerline is valid? [True, True] Translation: X:947.90, Y:53.67, Z:6.38 [[ 8.49582959e-01 -5.27140604e-01 -1.82093158e-02 9.47903408e+02] [ 5.27028728e-01 8.49778000e-01 -1.08659956e-02 5.36743685e+01] [ 2.12017834e-02 -3.65267863e-04 9.99775150e-01 6.37998476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.419254154 meters 0.014992241592064255 Centerline is valid? [True, True] Translation: X:947.95, Y:53.71, Z:6.38 [[ 8.54074875e-01 -5.19866696e-01 -1.71675998e-02 9.47948804e+02] [ 5.19765746e-01 8.54247381e-01 -1.02460004e-02 5.37123296e+01] [ 1.99919315e-02 -1.72278814e-04 9.99800127e-01 6.37847434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539999 meters 0.017010798000821472 Centerline is valid? [True, True] Translation: X:947.99, Y:53.75, Z:6.38 [[ 8.58063486e-01 -5.13216850e-01 -1.83171767e-02 9.47992301e+02] [ 5.13100363e-01 8.58258973e-01 -1.09340353e-02 5.37515188e+01] [ 2.13324124e-02 -1.64536366e-05 9.99772438e-01 6.37784874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.539254154 meters 0.017926893900041926 Centerline is valid? [True, True] Translation: X:948.04, Y:53.79, Z:6.38 [[ 8.61317088e-01 -5.07761443e-01 -1.76405901e-02 9.48036464e+02] [ 5.07652150e-01 8.61497709e-01 -1.05352367e-02 5.37900582e+01] [ 2.05467149e-02 1.18895881e-04 9.99788887e-01 6.38052327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539999 meters 0.016521576007730604 Centerline is valid? [True, True] Translation: X:948.08, Y:53.83, Z:6.38 [[ 8.63339828e-01 -5.04347171e-01 -1.66815171e-02 9.48083165e+02] [ 5.04248689e-01 8.63500952e-01 -9.96827353e-03 5.38272492e+01] [ 1.94319765e-02 1.94374417e-04 9.99811162e-01 6.38228185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.659254154 meters 0.014774361392093614 Centerline is valid? [True, True] Translation: X:948.13, Y:53.86, Z:6.38 [[ 8.63791712e-01 -5.03581997e-01 -1.64027501e-02 9.48131354e+02] [ 5.03486535e-01 8.63947410e-01 -9.80726266e-03 5.38620763e+01] [ 1.91098743e-02 2.12868417e-04 9.99817367e-01 6.38188564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539999 meters 0.015046425927238748 Centerline is valid? [True, True] Translation: X:948.18, Y:53.89, Z:6.38 [[ 8.63233869e-01 -5.04483776e-01 -1.79835094e-02 9.48180447e+02] [ 5.04369086e-01 8.63421145e-01 -1.07588236e-02 5.38942663e+01] [ 2.09549942e-02 2.17054725e-04 9.99780396e-01 6.38167767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.779254154 meters 0.01434258367553937 Centerline is valid? [True, True] Translation: X:948.23, Y:53.93, Z:6.38 [[ 8.63289942e-01 -5.04369915e-01 -1.84787863e-02 9.48227650e+02] [ 5.04248699e-01 8.63487659e-01 -1.10595367e-02 5.39281594e+01] [ 2.15343016e-02 2.29682870e-04 9.99768084e-01 6.38050569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.839254154 meters 0.017375322918514378 Centerline is valid? [True, True] Translation: X:948.28, Y:53.96, Z:6.38 [[ 8.62808412e-01 -5.05109083e-01 -2.06508779e-02 9.48276589e+02] [ 5.04957832e-01 8.63055477e-01 -1.23624786e-02 5.39591148e+01] [ 2.40672536e-02 2.38627964e-04 9.99710313e-01 6.37805405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.899254154 meters 0.01655831583967366 Centerline is valid? [True, True] Translation: X:948.33, Y:53.99, Z:6.38 [[ 8.61601909e-01 -5.07193941e-01 -1.99112164e-02 9.48327832e+02] [ 5.07053762e-01 8.61831929e-01 -1.19251192e-02 5.39883193e+01] [ 2.32084702e-02 1.78648254e-04 9.99730631e-01 6.38047367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.959254154 meters 0.01694169552434542 Centerline is valid? [True, True] Translation: X:948.38, Y:54.02, Z:6.38 [[ 8.59899215e-01 -5.10150999e-01 -1.78689336e-02 9.48379364e+02] [ 5.10038621e-01 8.60084850e-01 -1.07077545e-02 5.40174561e+01] [ 2.08313707e-02 9.37434595e-05 9.99782999e-01 6.38270538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.019254154 meters 0.01709565132411391 Centerline is valid? [True, True] Translation: X:948.43, Y:54.05, Z:6.38 [[ 8.59124667e-01 -5.11487632e-01 -1.68881461e-02 9.48430334e+02] [ 5.11387402e-01 8.59290637e-01 -1.01255334e-02 5.40475925e+01] [ 1.96909110e-02 6.27103546e-05 9.99806113e-01 6.38386640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.079254154 meters 0.017346184298150283 Centerline is valid? [True, True] Translation: X:948.48, Y:54.08, Z:6.38 [[ 8.59738650e-01 -5.10459618e-01 -1.67461319e-02 9.48478873e+02] [ 5.10360752e-01 8.59901721e-01 -1.00464906e-02 5.40790542e+01] [ 1.95283554e-02 9.07877511e-05 9.99809299e-01 6.38374123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.139254154 meters 0.013825509292810052 Centerline is valid? [True, True] Translation: X:948.53, Y:54.11, Z:6.38 [[ 8.61118218e-01 -5.08146109e-01 -1.62156406e-02 9.48528126e+02] [ 5.08052892e-01 8.61270870e-01 -9.73383949e-03 5.41118303e+01] [ 1.89122715e-02 1.43583417e-04 9.99821137e-01 6.38405699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.199254154 meters 0.018285148423398387 Centerline is valid? [True, True] Translation: X:948.58, Y:54.14, Z:6.38 [[ 8.63426945e-01 -5.04127615e-01 -1.86884272e-02 9.48577376e+02] [ 5.04002785e-01 8.63629130e-01 -1.12213052e-02 5.41446396e+01] [ 2.17968400e-02 2.69757912e-04 9.99762384e-01 6.38132613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.259254154 meters 0.0154097948018382 Centerline is valid? [True, True] Translation: X:948.63, Y:54.18, Z:6.38 [[ 8.65885201e-01 -4.99940251e-01 -1.73943439e-02 9.48626357e+02] [ 4.99831229e-01 8.66059826e-01 -1.04460737e-02 5.41762582e+01] [ 2.02869552e-02 3.50864365e-04 9.99794137e-01 6.38403053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.319254154 meters 0.016188765029321192 Centerline is valid? [True, True] Translation: X:948.68, Y:54.21, Z:6.38 [[ 8.66746630e-01 -4.98479651e-01 -1.63804043e-02 9.48677465e+02] [ 4.98382627e-01 8.66901323e-01 -9.84142219e-03 5.42059831e+01] [ 1.91059428e-02 3.66310608e-04 9.99817398e-01 6.38488168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.379254154 meters 0.015799628861307563 Centerline is valid? [True, True] Translation: X:948.73, Y:54.23, Z:6.39 [[ 8.67145539e-01 -4.97833015e-01 -1.48628047e-02 9.48729058e+02] [ 4.97752949e-01 8.67272833e-01 -8.93500847e-03 5.42328136e+01] [ 1.73382489e-02 3.49947859e-04 9.99849620e-01 6.38734590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.439254154 meters 0.01809373651499168 Centerline is valid? [True, True] Translation: X:948.78, Y:54.26, Z:6.39 [[ 8.68254508e-01 -4.95893624e-01 -1.49540345e-02 9.48779347e+02] [ 4.95812225e-01 8.68383186e-01 -8.99325122e-03 5.42612205e+01] [ 1.74455281e-02 3.94037779e-04 9.99847738e-01 6.38650768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.499254154 meters 0.017977135293214878 Centerline is valid? [True, True] Translation: X:948.83, Y:54.29, Z:6.39 [[ 8.69690365e-01 -4.93395213e-01 -1.41362106e-02 9.48829310e+02] [ 4.93322087e-01 8.69805142e-01 -8.50488901e-03 5.42928066e+01] [ 1.64920202e-02 4.22915101e-04 9.99863908e-01 6.38739353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.559254154 meters 0.020688236668783767 Centerline is valid? [True, True] Translation: X:948.88, Y:54.32, Z:6.39 [[ 8.71052138e-01 -4.90966238e-01 -1.48433986e-02 9.48881237e+02] [ 4.90885179e-01 8.71178459e-01 -8.93499322e-03 5.43221641e+01] [ 1.73180291e-02 4.96440586e-04 9.99849908e-01 6.38703515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters 0.018283653185772526 Centerline is valid? [True, True] Translation: X:948.93, Y:54.35, Z:6.39 [[ 8.71062183e-01 -4.90969790e-01 -1.41187397e-02 9.48933807e+02] [ 4.90896372e-01 8.71176468e-01 -8.50374478e-03 5.43470547e+01] [ 1.64749956e-02 4.76452396e-04 9.99864165e-01 6.38883785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.679254154 meters 0.01837280453693475 Centerline is valid? [True, True] Translation: X:948.99, Y:54.37, Z:6.39 [[ 8.68006933e-01 -4.96362606e-01 -1.37159751e-02 9.48986549e+02] [ 4.96293933e-01 8.68115216e-01 -8.26457682e-03 5.43719343e+01] [ 1.60092736e-02 3.66554745e-04 9.99871776e-01 6.38826131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539999 meters 0.017012939999007635 Centerline is valid? [True, True] Translation: X:949.05, Y:54.38, Z:6.39 [[ 8.59371511e-01 -5.11171760e-01 -1.35660264e-02 9.49048692e+02] [ 5.11106355e-01 8.59478576e-01 -8.17745882e-03 5.43839725e+01] [ 1.58397951e-02 9.37928339e-05 9.99874538e-01 6.38985913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.799254154 meters 0.0135044685931164 Centerline is valid? [True, True] Translation: X:949.10, Y:54.41, Z:6.39 [[ 8.55008054e-01 -5.18449815e-01 -1.30773865e-02 9.49103975e+02] [ 5.18389819e-01 8.55108057e-01 -7.88712114e-03 5.44068200e+01] [ 1.52716550e-02 -3.56319083e-05 9.99883381e-01 6.39206958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539999 meters 0.015526751903947329 Centerline is valid? [True, True] Translation: X:949.16, Y:54.43, Z:6.39 [[ 8.50008057e-01 -5.26596056e-01 -1.35239724e-02 9.49159008e+02] [ 5.26532871e-01 8.50115616e-01 -8.15942083e-03 5.44271221e+01] [ 1.57936590e-02 -1.85242582e-04 9.99875255e-01 6.39153824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.919254154 meters 0.015002955232372642 Centerline is valid? [True, True] Translation: X:949.21, Y:54.45, Z:6.39 [[ 8.48192867e-01 -5.29507552e-01 -1.38062466e-02 9.49211999e+02] [ 5.29442031e-01 8.48305189e-01 -8.33316262e-03 5.44533716e+01] [ 1.61243832e-02 -2.41478149e-04 9.99869965e-01 6.39277121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539999 meters 0.01527033583589163 Centerline is valid? [True, True] Translation: X:949.26, Y:54.48, Z:6.39 [[ 8.48046458e-01 -5.29740481e-01 -1.38646644e-02 9.49262600e+02] [ 5.29674382e-01 8.48159751e-01 -8.37172999e-03 5.44793031e+01] [ 1.61942946e-02 -2.44141593e-04 9.99868834e-01 6.39342877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.039254154 meters 0.014646826745658807 Centerline is valid? [True, True] Translation: X:949.31, Y:54.51, Z:6.39 [[ 8.49214631e-01 -5.27861669e-01 -1.40203239e-02 9.49312942e+02] [ 5.27793763e-01 8.49330333e-01 -8.46928655e-03 5.45107728e+01] [ 1.63784981e-02 -2.07597475e-04 9.99865842e-01 6.39413435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539999 meters 0.014564195376095766 Centerline is valid? [True, True] Translation: X:949.36, Y:54.54, Z:6.39 [[ 8.52228902e-01 -5.22977996e-01 -1.41391107e-02 9.49361491e+02] [ 5.22908182e-01 8.52346176e-01 -8.54577679e-03 5.45449504e+01] [ 1.65206701e-02 -1.10498676e-04 9.99863518e-01 6.39444500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.159254154 meters 0.01723207145007346 Centerline is valid? [True, True] Translation: X:949.41, Y:54.58, Z:6.39 [[ 8.55894206e-01 -5.16951635e-01 -1.43567097e-02 9.49408896e+02] [ 5.16878752e-01 8.56014607e-01 -8.68036892e-03 5.45786922e+01] [ 1.67768841e-02 8.79929409e-06 9.99859258e-01 6.39269911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539999 meters 0.013557254561062878 Centerline is valid? [True, True] Translation: X:949.46, Y:54.61, Z:6.40 [[ 8.58922830e-01 -5.11917001e-01 -1.38764852e-02 9.49457329e+02] [ 5.11848226e-01 8.59034908e-01 -8.39169427e-03 5.46113713e+01] [ 1.62162361e-02 1.05163483e-04 9.99868503e-01 6.39608543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.279254154 meters 0.014201811088199023 Centerline is valid? [True, True] Translation: X:949.51, Y:54.64, Z:6.40 [[ 8.62143240e-01 -5.06481005e-01 -1.36391036e-02 9.49505986e+02] [ 5.06413825e-01 8.62251094e-01 -8.25160007e-03 5.46445615e+01] [ 1.59396107e-02 2.07030572e-04 9.99872935e-01 6.39670423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.339254154 meters 0.015879949893174487 Centerline is valid? [True, True] Translation: X:949.56, Y:54.68, Z:6.40 [[ 8.64296659e-01 -5.02817619e-01 -1.28735283e-02 9.49555295e+02] [ 5.02757297e-01 8.64392488e-01 -7.79279757e-03 5.46767854e+01] [ 1.50461371e-02 2.63028596e-04 9.99886766e-01 6.39655396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.399254154 meters 0.016161110824504558 Centerline is valid? [True, True] Translation: X:949.61, Y:54.71, Z:6.40 [[ 8.65682244e-01 -5.00440854e-01 -1.23775863e-02 9.49605260e+02] [ 5.00384787e-01 8.65770676e-01 -7.49676754e-03 5.47081033e+01] [ 1.44678400e-02 2.96262678e-04 9.99895291e-01 6.39853760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.459254154 meters 0.01675317351709756 Centerline is valid? [True, True] Translation: X:949.66, Y:54.74, Z:6.40 [[ 8.66703851e-01 -4.98656452e-01 -1.28909813e-02 9.49655842e+02] [ 4.98595371e-01 8.66799645e-01 -7.81221666e-03 5.47385147e+01] [ 1.50695103e-02 3.43494644e-04 9.99886389e-01 6.39811871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.519254154 meters 0.017475981291342774 Centerline is valid? [True, True] Translation: X:949.71, Y:54.77, Z:6.40 [[ 8.67811106e-01 -4.96684418e-01 -1.44386092e-02 9.49706688e+02] [ 4.96607461e-01 8.67931108e-01 -8.75341131e-03 5.47675100e+01] [ 1.68794011e-02 4.25986494e-04 9.99857442e-01 6.39551529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.579254154 meters 0.017834332540741404 Centerline is valid? [True, True] Translation: X:949.76, Y:54.80, Z:6.39 [[ 8.68728795e-01 -4.94973666e-01 -1.76451419e-02 9.49758726e+02] [ 4.94858338e-01 8.68907793e-01 -1.06991553e-02 5.47960251e+01] [ 2.06278014e-02 5.62818690e-04 9.99787066e-01 6.39361399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.639254154 meters 0.017568082445031507 Centerline is valid? [True, True] Translation: X:949.81, Y:54.82, Z:6.39 [[ 8.69163087e-01 -4.94164194e-01 -1.89017987e-02 9.49810341e+02] [ 4.94031548e-01 8.69368366e-01 -1.14662510e-02 5.48238061e+01] [ 2.20988365e-02 6.27957246e-04 9.99755594e-01 6.39428542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.699254154 meters 0.019372407095894398 Centerline is valid? [True, True] Translation: X:949.86, Y:54.85, Z:6.39 [[ 8.67980769e-01 -4.96292068e-01 -1.74232323e-02 9.49864075e+02] [ 4.96179714e-01 8.68155459e-01 -1.05731334e-02 5.48498620e+01] [ 2.03734364e-02 5.32222044e-04 9.99792298e-01 6.39407761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.759254154 meters 0.015835296447516915 Centerline is valid? [True, True] Translation: X:949.92, Y:54.87, Z:6.40 [[ 8.65487271e-01 -5.00717896e-01 -1.46072597e-02 9.49920150e+02] [ 5.00639522e-01 8.65610455e-01 -8.86624484e-03 5.48720313e+01] [ 1.70836842e-02 3.60650534e-04 9.99853998e-01 6.40045513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.819254154 meters 0.015334793977156709 Centerline is valid? [True, True] Translation: X:949.97, Y:54.90, Z:6.40 [[ 8.62831073e-01 -5.05293323e-01 -1.41843758e-02 9.49973681e+02] [ 5.05220012e-01 8.62947616e-01 -8.61113465e-03 5.48974322e+01] [ 1.65915221e-02 2.63724040e-04 9.99862316e-01 6.40069932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.879254154 meters 0.014619749932438744 Centerline is valid? [True, True] Translation: X:950.03, Y:54.93, Z:6.40 [[ 8.61615008e-01 -5.07357546e-01 -1.44186743e-02 9.50025790e+02] [ 5.07282044e-01 8.61735614e-01 -8.75558206e-03 5.49259528e+01] [ 1.68672958e-02 2.29606357e-04 9.99857711e-01 6.40165106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.939254154 meters 0.015039639385506606 Centerline is valid? [True, True] Translation: X:950.07, Y:54.96, Z:6.40 [[ 8.62376309e-01 -5.06025651e-01 -1.56570508e-02 9.50073995e+02] [ 5.05936347e-01 8.62518384e-01 -9.51057485e-03 5.49590183e+01] [ 1.83170890e-02 2.80223332e-04 9.99832189e-01 6.40100713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.999254154 meters 0.01568021817277809 Centerline is valid? [True, True] Translation: X:950.12, Y:54.99, Z:6.40 [[ 8.64174228e-01 -5.02900040e-01 -1.71596344e-02 9.50121861e+02] [ 5.02792103e-01 8.64344494e-01 -1.04258192e-02 5.49929631e+01] [ 2.00749804e-02 3.81995552e-04 9.99798404e-01 6.40076379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.059254154 meters 0.016833713515077776 Centerline is valid? [True, True] Translation: X:950.17, Y:55.02, Z:6.40 [[ 8.63608460e-01 -5.03856693e-01 -1.75744252e-02 9.50171002e+02] [ 5.03743561e-01 8.63787181e-01 -1.06831989e-02 5.50233022e+01] [ 2.05633645e-02 3.73097402e-04 9.99788482e-01 6.39966766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters 0.017897232906617697 Centerline is valid? [True, True] Translation: X:950.22, Y:55.05, Z:6.40 [[ 8.61555226e-01 -5.07373757e-01 -1.71599507e-02 9.50222085e+02] [ 5.07266471e-01 8.61726052e-01 -1.04373750e-02 5.50523310e+01] [ 2.00828267e-02 2.87707332e-04 9.99798278e-01 6.39962300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.179254154 meters 0.014081958042453087 Centerline is valid? [True, True] Translation: X:950.27, Y:55.08, Z:6.40 [[ 8.58592031e-01 -5.12416680e-01 -1.57756128e-02 9.50273326e+02] [ 5.12326800e-01 8.58736933e-01 -9.59838834e-03 5.50787941e+01] [ 1.84654757e-02 1.58830506e-04 9.99829486e-01 6.40389731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539999 meters 0.01687642356046672 Centerline is valid? [True, True] Translation: X:950.33, Y:55.10, Z:6.40 [[ 8.54339787e-01 -5.19500104e-01 -1.49388602e-02 9.50327279e+02] [ 5.19420522e-01 8.54470387e-01 -9.09280465e-03 5.51044226e+01] [ 1.74885266e-02 8.79420857e-06 9.99847064e-01 6.40273048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.299254154 meters 0.015495505638985262 Centerline is valid? [True, True] Translation: X:950.38, Y:55.13, Z:6.40 [[ 8.50813583e-01 -5.25276616e-01 -1.41676702e-02 9.50378967e+02] [ 5.25205761e-01 8.50931529e-01 -8.62800690e-03 5.51325091e+01] [ 1.65878075e-02 -1.00116527e-04 9.99862408e-01 6.40446853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539999 meters 0.014665044658230124 Centerline is valid? [True, True] Translation: X:950.43, Y:55.16, Z:6.41 [[ 8.46717361e-01 -5.31828265e-01 -1.51131336e-02 9.50430406e+02] [ 5.31748619e-01 8.46852194e-01 -9.20697081e-03 5.51604144e+01] [ 1.76951176e-02 -2.40685875e-04 9.99843400e-01 6.40659491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.419254154 meters 0.018661891691513426 Centerline is valid? [True, True] Translation: X:950.48, Y:55.19, Z:6.40 [[ 8.44670098e-01 -5.35054579e-01 -1.57804893e-02 9.50480775e+02] [ 5.34968252e-01 8.44817433e-01 -9.61635247e-03 5.51880454e+01] [ 1.84769059e-02 -3.19415386e-04 9.99829236e-01 6.40267949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539999 meters 0.016371262426117545 Centerline is valid? [True, True] Translation: X:950.53, Y:55.22, Z:6.41 [[ 8.43308177e-01 -5.37236100e-01 -1.44461784e-02 9.50530368e+02] [ 5.37164006e-01 8.43431836e-01 -8.80728224e-03 5.52204632e+01] [ 1.69159567e-02 -3.32713921e-04 9.99856860e-01 6.40709952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.539254154 meters 0.016366514874059258 Centerline is valid? [True, True] Translation: X:950.58, Y:55.25, Z:6.41 [[ 8.42886584e-01 -5.37920008e-01 -1.35746895e-02 9.50579130e+02] [ 5.37856363e-01 8.42995826e-01 -8.28077158e-03 5.52527065e+01] [ 1.58977993e-02 -3.21481860e-04 9.99873570e-01 6.40804016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539999 meters 0.016045909152471644 Centerline is valid? [True, True] Translation: X:950.63, Y:55.29, Z:6.41 [[ 8.43954712e-01 -5.36249619e-01 -1.32962522e-02 9.50626392e+02] [ 5.36188277e-01 8.44059398e-01 -8.11567429e-03 5.52875654e+01] [ 1.55748539e-02 -2.80033025e-04 9.99878665e-01 6.40754082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.659254154 meters 0.015261396314569782 Centerline is valid? [True, True] Translation: X:950.67, Y:55.32, Z:6.41 [[ 8.46982186e-01 -5.31440331e-01 -1.38690842e-02 9.50673558e+02] [ 5.31372885e-01 8.47095707e-01 -8.46881301e-03 5.53243603e+01] [ 1.62491105e-02 -1.96721517e-04 9.99867955e-01 6.40797007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539999 meters 0.014323471502749636 Centerline is valid? [True, True] Translation: X:950.72, Y:55.36, Z:6.41 [[ 8.51042515e-01 -5.24914944e-01 -1.38180780e-02 9.50719069e+02] [ 5.24847089e-01 8.51154685e-01 -8.44014875e-03 5.53609319e+01] [ 1.61916820e-02 -6.94525797e-05 9.99868904e-01 6.40822386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.779254154 meters 0.01587346126912962 Centerline is valid? [True, True] Translation: X:950.77, Y:55.40, Z:6.41 [[ 8.54147539e-01 -5.19853704e-01 -1.35686460e-02 9.50765112e+02] [ 5.19787569e-01 8.54255305e-01 -8.29197786e-03 5.53973457e+01] [ 1.59017032e-02 2.97589757e-05 9.99873559e-01 6.40787381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.839254154 meters 0.013392174709679974 Centerline is valid? [True, True] Translation: X:950.81, Y:55.43, Z:6.41 [[ 8.56522019e-01 -5.15963853e-01 -1.23017539e-02 9.50812941e+02] [ 5.15909027e-01 8.56610351e-01 -7.52218696e-03 5.54325537e+01] [ 1.44189863e-02 9.63328857e-05 9.99896036e-01 6.41170350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.899254154 meters 0.013774030466102932 Centerline is valid? [True, True] Translation: X:950.86, Y:55.47, Z:6.41 [[ 8.58091934e-01 -5.13363144e-01 -1.16839421e-02 9.50860608e+02] [ 5.13313390e-01 8.58171465e-01 -7.14842303e-03 5.54678939e+01] [ 1.36965627e-02 1.36480194e-04 9.99906188e-01 6.41199325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.959254154 meters 0.014128609330413912 Centerline is valid? [True, True] Translation: X:950.91, Y:55.50, Z:6.41 [[ 8.59222335e-01 -5.11475187e-01 -1.14066838e-02 9.50908624e+02] [ 5.11427564e-01 8.59298031e-01 -6.98145673e-03 5.55012646e+01] [ 1.33725828e-02 1.64931062e-04 9.99910569e-01 6.41306775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.019254154 meters 0.01435966353918423 Centerline is valid? [True, True] Translation: X:950.96, Y:55.53, Z:6.41 [[ 8.59758543e-01 -5.10540471e-01 -1.27935763e-02 9.50957965e+02] [ 5.10480410e-01 8.59853700e-01 -7.83359167e-03 5.55341950e+01] [ 1.49999695e-02 2.04127300e-04 9.99887473e-01 6.41304689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.079254154 meters 0.015125539271235711 Centerline is valid? [True, True] Translation: X:951.01, Y:55.57, Z:6.41 [[ 8.60263313e-01 -5.09628943e-01 -1.50124134e-02 9.51005094e+02] [ 5.09546040e-01 8.60394254e-01 -9.19570661e-03 5.55682234e+01] [ 1.76029925e-02 2.61213243e-04 9.99845021e-01 6.41057214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.139254154 meters 0.014814460050157522 Centerline is valid? [True, True] Translation: X:951.06, Y:55.60, Z:6.41 [[ 8.60198177e-01 -5.09714552e-01 -1.58168293e-02 9.51055945e+02] [ 5.09622462e-01 8.60343535e-01 -9.69266666e-03 5.55987213e+01] [ 1.85484001e-02 2.77002683e-04 9.99827925e-01 6.41095947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.199254154 meters 0.014206126016994915 Centerline is valid? [True, True] Translation: X:951.11, Y:55.63, Z:6.41 [[ 8.58714103e-01 -5.12173132e-01 -1.69933115e-02 9.51107472e+02] [ 5.12067190e-01 8.58882194e-01 -1.04197021e-02 5.56281471e+01] [ 1.99319441e-02 2.45827860e-04 9.99801309e-01 6.41137137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.259254154 meters 0.01336609321010245 Centerline is valid? [True, True] Translation: X:951.16, Y:55.65, Z:6.41 [[ 8.54095046e-01 -5.19885346e-01 -1.55203133e-02 9.51161510e+02] [ 5.19798151e-01 8.54236046e-01 -9.52149680e-03 5.56537974e+01] [ 1.82080977e-02 6.48330895e-05 9.99834217e-01 6.41371662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.319254154 meters 0.013716399719751108 Centerline is valid? [True, True] Translation: X:951.22, Y:55.68, Z:6.42 [[ 8.47533180e-01 -5.30562733e-01 -1.38092516e-02 9.51215848e+02] [ 5.30495040e-01 8.47645661e-01 -8.47622915e-03 5.56775500e+01] [ 1.62025235e-02 -1.41854024e-04 9.99868720e-01 6.41711569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.379254154 meters 0.01566223251027698 Centerline is valid? [True, True] Translation: X:951.27, Y:55.70, Z:6.42 [[ 8.41650111e-01 -5.39858536e-01 -1.33360978e-02 9.51269857e+02] [ 5.39796496e-01 8.41755705e-01 -8.18996106e-03 5.57035901e+01] [ 1.56471568e-02 -3.05697223e-04 9.99877529e-01 6.41797184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.439254154 meters 0.01798771807957739 Centerline is valid? [True, True] Translation: X:951.32, Y:55.73, Z:6.42 [[ 8.37000193e-01 -5.47016628e-01 -1.42648632e-02 9.51321739e+02] [ 5.46946602e-01 8.37121611e-01 -8.76483790e-03 5.57320767e+01] [ 1.67359373e-02 -4.65947459e-04 9.99859836e-01 6.41749204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.499254154 meters 0.02031906920780008 Centerline is valid? [True, True] Translation: X:951.37, Y:55.76, Z:6.42 [[ 8.32954822e-01 -5.53111119e-01 -1.59484699e-02 9.51373429e+02] [ 5.53024603e-01 8.33107234e-01 -9.80433773e-03 5.57621549e+01] [ 1.87096739e-02 -6.53325872e-04 9.99824745e-01 6.41667690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.559254154 meters 0.020904912246056125 Centerline is valid? [True, True] Translation: X:951.42, Y:55.79, Z:6.42 [[ 8.29257735e-01 -5.58623941e-01 -1.64590919e-02 9.51423497e+02] [ 5.58532774e-01 8.29420675e-01 -1.01234743e-02 5.57938844e+01] [ 1.93067262e-02 -7.97972929e-04 9.99813289e-01 6.41775325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters 0.027543255374271394 Centerline is valid? [True, True] Translation: X:951.48, Y:55.82, Z:6.42 [[ 8.26278653e-01 -5.63000120e-01 -1.71596264e-02 9.51477027e+02] [ 5.62901902e-01 8.26456284e-01 -1.05574402e-02 5.58184139e+01] [ 2.01255212e-02 -9.35798886e-04 9.99797023e-01 6.41588693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.679254154 meters 0.03002229808478531 Centerline is valid? [True, True] Translation: X:951.53, Y:55.85, Z:6.41 [[ 8.24801551e-01 -5.65149670e-01 -1.75571010e-02 9.51526625e+02] [ 5.65047293e-01 8.24987777e-01 -1.08039663e-02 5.58504488e+01] [ 2.05902517e-02 -1.00946421e-03 9.99787489e-01 6.41413375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539999 meters 0.022933185895510202 Centerline is valid? [True, True] Translation: X:951.57, Y:55.89, Z:6.42 [[ 8.26195476e-01 -5.63200538e-01 -1.43592819e-02 9.51569582e+02] [ 5.63131711e-01 8.26319878e-01 -8.83945076e-03 5.58944029e+01] [ 1.68437435e-02 -7.83052736e-04 9.99857827e-01 6.42042472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.799254154 meters 0.022428407988645604 Centerline is valid? [True, True] Translation: X:951.62, Y:55.93, Z:6.42 [[ 8.29215489e-01 -5.58732064e-01 -1.48375919e-02 9.51616374e+02] [ 5.58657810e-01 8.29347920e-01 -9.13665278e-03 5.59302603e+01] [ 1.74104669e-02 -7.12882617e-04 9.99848172e-01 6.42011321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539999 meters 0.017040262439227342 Centerline is valid? [True, True] Translation: X:951.66, Y:55.98, Z:6.42 [[ 8.36614801e-01 -5.47570648e-01 -1.55582747e-02 9.51656885e+02] [ 5.47487034e-01 8.36759305e-01 -9.58192988e-03 5.59770795e+01] [ 1.82653146e-02 -5.01569290e-04 9.99833049e-01 6.41993872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.919254154 meters 0.015045793058641045 Centerline is valid? [True, True] Translation: X:951.70, Y:56.02, Z:6.42 [[ 8.44478228e-01 -5.35340547e-01 -1.63408030e-02 9.51698171e+02] [ 5.35245970e-01 8.44636276e-01 -1.00654627e-02 5.60205458e+01] [ 1.91904853e-02 -2.46284849e-04 9.99815815e-01 6.41732967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539999 meters 0.015520654940470145 Centerline is valid? [True, True] Translation: X:951.74, Y:56.06, Z:6.42 [[ 8.49875145e-01 -5.26715075e-01 -1.68365071e-02 9.51741694e+02] [ 5.26612919e-01 8.50041898e-01 -1.03733115e-02 5.60631931e+01] [ 1.97755160e-02 -5.03024918e-05 9.99804444e-01 6.41595104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.039254154 meters 0.013161393025626513 Centerline is valid? [True, True] Translation: X:951.79, Y:56.10, Z:6.42 [[ 8.52787386e-01 -5.22021117e-01 -1.57361800e-02 9.51787717e+02] [ 5.21930994e-01 8.52932559e-01 -9.69985802e-03 5.60999584e+01] [ 1.84854310e-02 5.87164703e-05 9.99829128e-01 6.41914631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539999 meters 0.016154416896550564 Centerline is valid? [True, True] Translation: X:951.83, Y:56.13, Z:6.42 [[ 8.53938864e-01 -5.20135013e-01 -1.57475579e-02 9.51834677e+02] [ 5.20044378e-01 8.54084046e-01 -9.71014566e-03 5.61334555e+01] [ 1.85003247e-02 1.02441788e-04 9.99828849e-01 6.41733386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.159254154 meters 0.013460624610170313 Centerline is valid? [True, True] Translation: X:951.88, Y:56.17, Z:6.42 [[ 8.55149451e-01 -5.18200765e-01 -1.36888202e-02 9.51883057e+02] [ 5.18131970e-01 8.55258996e-01 -8.44459342e-03 5.61660004e+01] [ 1.60834814e-02 1.28774039e-04 9.99870644e-01 6.42220446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539999 meters 0.013725336091564925 Centerline is valid? [True, True] Translation: X:951.93, Y:56.20, Z:6.42 [[ 8.56039030e-01 -5.16714144e-01 -1.42713805e-02 9.51931668e+02] [ 5.16639103e-01 8.56157968e-01 -8.80750109e-03 5.61984182e+01] [ 1.67695165e-02 1.66411459e-04 9.99859368e-01 6.42158058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.279254154 meters 0.015520890870908619 Centerline is valid? [True, True] Translation: X:951.98, Y:56.23, Z:6.42 [[ 8.57613953e-01 -5.13989848e-01 -1.76845342e-02 9.51980214e+02] [ 5.13873992e-01 8.57796223e-01 -1.09160420e-02 5.62310734e+01] [ 2.07804614e-02 2.74127756e-04 9.99784025e-01 6.41789059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.339254154 meters 0.014637581736041377 Centerline is valid? [True, True] Translation: X:952.03, Y:56.26, Z:6.42 [[ 8.57465560e-01 -5.14223989e-01 -1.80693770e-02 9.52030409e+02] [ 5.14102969e-01 8.57655882e-01 -1.11591061e-02 5.62603981e+01] [ 2.12355876e-02 2.79028804e-04 9.99774461e-01 6.41902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.399254154 meters 0.014587741547102401 Centerline is valid? [True, True] Translation: X:952.08, Y:56.29, Z:6.42 [[ 8.55763323e-01 -5.17062279e-01 -1.77689375e-02 9.52083109e+02] [ 5.16945725e-01 8.55947753e-01 -1.09800808e-02 5.62874689e+01] [ 2.08866677e-02 2.10774112e-04 9.99781828e-01 6.42051091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.459254154 meters 0.015499756486483413 Centerline is valid? [True, True] Translation: X:952.14, Y:56.31, Z:6.42 [[ 8.52919268e-01 -5.21738266e-01 -1.78298792e-02 9.52136256e+02] [ 5.21621797e-01 8.53105604e-01 -1.10240171e-02 5.63126814e+01] [ 2.09624215e-02 1.02142977e-04 9.99780259e-01 6.42067365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.519254154 meters 0.01366476660875426 Centerline is valid? [True, True] Translation: X:952.19, Y:56.34, Z:6.42 [[ 8.49855850e-01 -5.26740361e-01 -1.70184425e-02 9.52189844e+02] [ 5.26635173e-01 8.50026230e-01 -1.05262869e-02 5.63355225e+01] [ 2.00107426e-02 -1.66839339e-05 9.99799765e-01 6.42274018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.579254154 meters 0.01574639710420969 Centerline is valid? [True, True] Translation: X:952.24, Y:56.36, Z:6.42 [[ 8.47339799e-01 -5.30737370e-01 -1.82512953e-02 9.52243593e+02] [ 5.30617194e-01 8.47536330e-01 -1.12943329e-02 5.63601726e+01] [ 2.14629603e-02 -1.14313322e-04 9.99769638e-01 6.42344490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.639254154 meters 0.01666010364866506 Centerline is valid? [True, True] Translation: X:952.29, Y:56.39, Z:6.42 [[ 8.47101234e-01 -5.31115175e-01 -1.83349520e-02 9.52294805e+02] [ 5.30993832e-01 8.47299626e-01 -1.13531040e-02 5.63874189e+01] [ 2.15650037e-02 -1.18518047e-04 9.99767441e-01 6.42410290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.699254154 meters 0.015488033308771392 Centerline is valid? [True, True] Translation: X:952.35, Y:56.42, Z:6.43 [[ 8.47792363e-01 -5.30027189e-01 -1.78686149e-02 9.52345897e+02] [ 5.29911566e-01 8.47980644e-01 -1.10706879e-02 5.64158642e+01] [ 2.10200052e-02 -8.31410293e-05 9.99779052e-01 6.42527553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.759254154 meters 0.014153548804278774 Centerline is valid? [True, True] Translation: X:952.40, Y:56.44, Z:6.43 [[ 8.47858250e-01 -5.29937610e-01 -1.73930291e-02 9.52396713e+02] [ 5.29827911e-01 8.48036629e-01 -1.07824367e-02 5.64441946e+01] [ 2.04639445e-02 -7.33343785e-05 9.99790589e-01 6.42624478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.819254154 meters 0.014207394310232045 Centerline is valid? [True, True] Translation: X:952.45, Y:56.47, Z:6.43 [[ 8.46719728e-01 -5.31754365e-01 -1.74068249e-02 9.52448566e+02] [ 5.31644746e-01 8.46898626e-01 -1.07972842e-02 5.64715927e+01] [ 2.04833190e-02 -1.11973475e-04 9.99790189e-01 6.42871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.879254154 meters 0.01441461545927667 Centerline is valid? [True, True] Translation: X:952.50, Y:56.50, Z:6.43 [[ 8.45038838e-01 -5.34416200e-01 -1.75694870e-02 9.52500582e+02] [ 5.34304969e-01 8.45221447e-01 -1.09043912e-02 5.64992416e+01] [ 2.06775905e-02 -1.72830133e-04 9.99786181e-01 6.43003780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.939254154 meters 0.014804496764029175 Centerline is valid? [True, True] Translation: X:952.55, Y:56.53, Z:6.43 [[ 8.44198637e-01 -5.35751982e-01 -1.72764300e-02 9.52551357e+02] [ 5.35644640e-01 8.44375375e-01 -1.07259265e-02 5.65273952e+01] [ 2.03342285e-02 -1.99214553e-04 9.99793218e-01 6.43105912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.999254154 meters 0.014764920885651284 Centerline is valid? [True, True] Translation: X:952.60, Y:56.56, Z:6.43 [[ 8.43981751e-01 -5.36096816e-01 -1.71757875e-02 9.52600404e+02] [ 5.35990687e-01 8.44156480e-01 -1.06686669e-02 5.65577672e+01] [ 2.02184907e-02 -2.01901963e-04 9.99795565e-01 6.43175752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.059254154 meters 0.018123086582366308 Centerline is valid? [True, True] Translation: X:952.65, Y:56.59, Z:6.43 [[ 8.44044155e-01 -5.35921110e-01 -1.94429684e-02 9.52651037e+02] [ 5.35784894e-01 8.44268036e-01 -1.20842893e-02 5.65887382e+01] [ 2.28913024e-02 -2.17575037e-04 9.99737936e-01 6.43097219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters 0.016062133900890174 Centerline is valid? [True, True] Translation: X:952.70, Y:56.62, Z:6.43 [[ 8.46121088e-01 -5.32637459e-01 -1.94021223e-02 9.52700039e+02] [ 5.32500866e-01 8.46343501e-01 -1.20625941e-02 5.66201973e+01] [ 2.28458496e-02 -1.25231715e-04 9.99738992e-01 6.43061765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.179254154 meters 0.016255502854655882 Centerline is valid? [True, True] Translation: X:952.75, Y:56.65, Z:6.43 [[ 8.48924180e-01 -5.28144938e-01 -1.97651434e-02 9.52747894e+02] [ 5.28001820e-01 8.49154241e-01 -1.22944461e-02 5.66534699e+01] [ 2.32769048e-02 1.02085576e-06 9.99729056e-01 6.43007884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539999 meters 0.015356665085632139 Centerline is valid? [True, True] Translation: X:952.80, Y:56.69, Z:6.43 [[ 8.52377739e-01 -5.22536118e-01 -2.02038519e-02 9.52796317e+02] [ 5.22384817e-01 8.52617134e-01 -1.25747588e-02 5.66865232e+01] [ 2.37969160e-02 1.64258985e-04 9.99716800e-01 6.43178338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.299254154 meters 0.015495753227627838 Centerline is valid? [True, True] Translation: X:952.84, Y:56.72, Z:6.43 [[ 8.55854058e-01 -5.16885096e-01 -1.85372603e-02 9.52843230e+02] [ 5.16756305e-01 8.56054735e-01 -1.15417551e-02 5.67210569e+01] [ 2.18346707e-02 2.98811830e-04 9.99761551e-01 6.43111535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539999 meters 0.019485761601352656 Centerline is valid? [True, True] Translation: X:952.89, Y:56.75, Z:6.43 [[ 8.58444838e-01 -5.12548769e-01 -1.91368399e-02 9.52893557e+02] [ 5.12410313e-01 8.58658009e-01 -1.19203635e-02 5.67529540e+01] [ 2.25417685e-02 4.27060471e-04 9.99745811e-01 6.43162509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.419254154 meters 0.017401254021625824 Centerline is valid? [True, True] Translation: X:952.94, Y:56.79, Z:6.43 [[ 8.60953360e-01 -5.08378755e-01 -1.76168752e-02 9.52942927e+02] [ 5.08260427e-01 8.61133435e-01 -1.09793241e-02 5.67851208e+01] [ 2.07521354e-02 4.98725471e-04 9.99784527e-01 6.43388571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539999 meters 0.020905648601449667 Centerline is valid? [True, True] Translation: X:952.99, Y:56.82, Z:6.43 [[ 8.63452402e-01 -5.04113227e-01 -1.78830627e-02 9.52991864e+02] [ 5.03990307e-01 8.63637354e-01 -1.11486267e-02 5.68183675e+01] [ 2.10646511e-02 6.13418240e-04 9.99777927e-01 6.43243716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.539254154 meters 0.02016546206952156 Centerline is valid? [True, True] Translation: X:953.04, Y:56.85, Z:6.43 [[ 8.65104519e-01 -5.01283286e-01 -1.75851840e-02 9.53042650e+02] [ 5.01163755e-01 8.65282966e-01 -1.09671949e-02 5.68498350e+01] [ 2.07138317e-02 6.74713043e-04 9.99785218e-01 6.43320493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539999 meters 0.02333742828480586 Centerline is valid? [True, True] Translation: X:953.09, Y:56.88, Z:6.43 [[ 8.66639487e-01 -4.98563439e-01 -1.92482837e-02 9.53093921e+02] [ 4.98419422e-01 8.66852833e-01 -1.20102705e-02 5.68807795e+01] [ 2.26733110e-02 8.14856209e-04 9.99742595e-01 6.43097760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.659254154 meters 0.019829852211719273 Centerline is valid? [True, True] Translation: X:953.15, Y:56.90, Z:6.43 [[ 8.66678567e-01 -4.98522119e-01 -1.85460923e-02 9.53147578e+02] [ 4.98388259e-01 8.66876617e-01 -1.15790437e-02 5.69044081e+01] [ 2.18495831e-02 7.92154340e-04 9.99760956e-01 6.43376764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539999 meters 0.02031270303571555 Centerline is valid? [True, True] Translation: X:953.20, Y:56.93, Z:6.43 [[ 8.64800262e-01 -5.01816899e-01 -1.73293444e-02 9.53199917e+02] [ 5.01700608e-01 8.64973616e-01 -1.08232976e-02 5.69301190e+01] [ 2.04207394e-02 6.65847986e-04 9.99791253e-01 6.43369937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.779254154 meters 0.018390403294889095 Centerline is valid? [True, True] Translation: X:953.26, Y:56.95, Z:6.44 [[ 8.61147255e-01 -5.08085332e-01 -1.65740691e-02 9.53258131e+02] [ 5.07980078e-01 8.61306594e-01 -1.03533626e-02 5.69483614e+01] [ 1.95357467e-02 4.96472923e-04 9.99809036e-01 6.43527689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.839254154 meters 0.018121960300738427 Centerline is valid? [True, True] Translation: X:953.31, Y:56.97, Z:6.43 [[ 8.59228173e-01 -5.11302593e-01 -1.72222246e-02 9.53312573e+02] [ 5.11189537e-01 8.59400642e-01 -1.07607906e-02 5.69732072e+01] [ 2.03028110e-02 4.42153392e-04 9.99793779e-01 6.43456065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.899254154 meters 0.01544422178015215 Centerline is valid? [True, True] Translation: X:953.37, Y:57.00, Z:6.44 [[ 8.58379930e-01 -5.12737045e-01 -1.68706460e-02 9.53366197e+02] [ 5.12628735e-01 8.58545607e-01 -1.05461267e-02 5.69987309e+01] [ 1.98916089e-02 4.04205601e-04 9.99802061e-01 6.43649044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.959254154 meters 0.015283302100734291 Centerline is valid? [True, True] Translation: X:953.42, Y:57.02, Z:6.44 [[ 8.57044447e-01 -5.14956738e-01 -1.71573312e-02 9.53418489e+02] [ 5.14845087e-01 8.57216092e-01 -1.07288790e-02 5.70238098e+01] [ 2.02324490e-02 3.61758525e-04 9.99795238e-01 6.43669380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.019254154 meters 0.01479841377181584 Centerline is valid? [True, True] Translation: X:953.47, Y:57.05, Z:6.44 [[ 8.55812666e-01 -5.16994432e-01 -1.73619673e-02 9.53471674e+02] [ 5.16880422e-01 8.55988700e-01 -1.08616429e-02 5.70491827e+01] [ 2.04770568e-02 3.21470593e-04 9.99790271e-01 6.43689467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.079254154 meters 0.01738656506508885 Centerline is valid? [True, True] Translation: X:953.52, Y:57.08, Z:6.44 [[ 8.54446181e-01 -5.19214545e-01 -1.83842406e-02 9.53524652e+02] [ 5.19087082e-01 8.54643886e-01 -1.15077525e-02 5.70756363e+01] [ 2.16869713e-02 2.89733356e-04 9.99764768e-01 6.43590383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.139254154 meters 0.014529848562273738 Centerline is valid? [True, True] Translation: X:953.57, Y:57.11, Z:6.44 [[ 8.55213830e-01 -5.18001130e-01 -1.68562748e-02 9.53572509e+02] [ 5.17893616e-01 8.55379880e-01 -1.05576102e-02 5.71079196e+01] [ 1.98873723e-02 2.99257117e-04 9.99802182e-01 6.43728014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.199254154 meters 0.014430241166710198 Centerline is valid? [True, True] Translation: X:953.62, Y:57.14, Z:6.44 [[ 8.54730033e-01 -5.18794307e-01 -1.70010833e-02 9.53620813e+02] [ 5.18684959e-01 8.54899049e-01 -1.06550684e-02 5.71402429e+01] [ 2.00619988e-02 2.89000783e-04 9.99798696e-01 6.43725108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.259254154 meters 0.014076518781511055 Centerline is valid? [True, True] Translation: X:953.67, Y:57.17, Z:6.44 [[ 8.54833990e-01 -5.18680906e-01 -1.51316668e-02 9.53669554e+02] [ 5.18594171e-01 8.54967864e-01 -9.48879638e-03 5.71727503e+01] [ 1.78587464e-02 2.64151462e-04 9.99840485e-01 6.43958067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.319254154 meters 0.015007688760026661 Centerline is valid? [True, True] Translation: X:953.72, Y:57.21, Z:6.44 [[ 8.56757887e-01 -5.15531004e-01 -1.39178500e-02 9.53715881e+02] [ 5.15457134e-01 8.56870871e-01 -8.73237814e-03 5.72093047e+01] [ 1.64276119e-02 3.07478778e-04 9.99865010e-01 6.44022126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.379254154 meters 0.015736959991505716 Centerline is valid? [True, True] Translation: X:953.76, Y:57.24, Z:6.44 [[ 8.58027021e-01 -5.13396453e-01 -1.46189197e-02 9.53763354e+02] [ 5.13314552e-01 8.58151469e-01 -9.17747014e-03 5.72439558e+01] [ 1.72569280e-02 3.70413161e-04 9.99851020e-01 6.44007640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.439254154 meters 0.01787231694506045 Centerline is valid? [True, True] Translation: X:953.81, Y:57.28, Z:6.44 [[ 8.58646395e-01 -5.12308482e-01 -1.63213998e-02 9.53809244e+02] [ 5.12206128e-01 8.58801388e-01 -1.02497825e-02 5.72799523e+01] [ 1.92678913e-02 4.41017808e-04 9.99814260e-01 6.43759168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.499254154 meters 0.01723063346863265 Centerline is valid? [True, True] Translation: X:953.86, Y:57.31, Z:6.44 [[ 8.56981475e-01 -5.15094167e-01 -1.61478003e-02 9.53859365e+02] [ 5.14994391e-01 8.57133511e-01 -1.01449977e-02 5.73110297e+01] [ 1.90664499e-02 3.78048465e-04 9.99818147e-01 6.43822455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.559254154 meters 0.016815161854190606 Centerline is valid? [True, True] Translation: X:953.91, Y:57.34, Z:6.44 [[ 8.53910710e-01 -5.20149136e-01 -1.67742754e-02 9.53911486e+02] [ 5.20042329e-01 8.54075405e-01 -1.05441159e-02 5.73393952e+01] [ 1.98110088e-02 2.80400240e-04 9.99803703e-01 6.43865582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters 0.013482037614793453 Centerline is valid? [True, True] Translation: X:953.96, Y:57.37, Z:6.44 [[ 8.50416759e-01 -5.25823754e-01 -1.73411506e-02 9.53964280e+02] [ 5.25710659e-01 8.50593531e-01 -1.09063118e-02 5.73654716e+01] [ 2.04850683e-02 1.58482561e-04 9.99790146e-01 6.43836061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.679254154 meters 0.013314685346109155 Centerline is valid? [True, True] Translation: X:954.02, Y:57.39, Z:6.44 [[ 8.47257756e-01 -5.30870705e-01 -1.81821114e-02 9.54016966e+02] [ 5.30747456e-01 8.47452826e-01 -1.14387585e-02 5.73912005e+01] [ 2.14809835e-02 4.14674567e-05 9.99769256e-01 6.43711015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539999 meters 0.014065914131107832 Centerline is valid? [True, True] Translation: X:954.07, Y:57.42, Z:6.44 [[ 8.45483942e-01 -5.33689746e-01 -1.82252161e-02 9.54067980e+02] [ 5.33566444e-01 8.45680350e-01 -1.14714786e-02 5.74188736e+01] [ 2.15349176e-02 -2.54128034e-05 9.99768096e-01 6.43872983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.799254154 meters 0.016177613401910367 Centerline is valid? [True, True] Translation: X:954.12, Y:57.45, Z:6.44 [[ 8.44286842e-01 -5.35611907e-01 -1.73093449e-02 9.54119529e+02] [ 5.35500967e-01 8.44464257e-01 -1.09010715e-02 5.74474131e+01] [ 2.04558668e-02 -6.55397118e-05 9.99790755e-01 6.43990413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539999 meters 0.013127187091062437 Centerline is valid? [True, True] Translation: X:954.17, Y:57.48, Z:6.44 [[ 8.44998474e-01 -5.34560499e-01 -1.49215518e-02 9.54170220e+02] [ 5.34477808e-01 8.45130210e-01 -9.40214157e-03 5.74774910e+01] [ 1.76366677e-02 -3.04430200e-05 9.99844461e-01 6.44334075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.919254154 meters 0.014288446060970478 Centerline is valid? [True, True] Translation: X:954.22, Y:57.51, Z:6.44 [[ 8.45153721e-01 -5.34310889e-01 -1.50685879e-02 9.54219205e+02] [ 5.34226417e-01 8.45288042e-01 -9.50060800e-03 5.75088926e+01] [ 1.78135754e-02 -2.05635013e-05 9.99841325e-01 6.44447674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539999 meters 0.013120686963562058 Centerline is valid? [True, True] Translation: X:954.27, Y:57.54, Z:6.45 [[ 8.48037117e-01 -5.29772806e-01 -1.31841866e-02 9.54266878e+02] [ 5.29707545e-01 8.48139593e-01 -8.31548241e-03 5.75424870e+01] [ 1.55873471e-02 6.80746039e-05 9.99878508e-01 6.44509291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.039254154 meters 0.015247290514649915 Centerline is valid? [True, True] Translation: X:954.32, Y:57.58, Z:6.44 [[ 8.49205443e-01 -5.27893780e-01 -1.33519130e-02 9.54315686e+02] [ 5.27826561e-01 8.49310394e-01 -8.42468472e-03 5.75751580e+01] [ 1.57872571e-02 1.06793802e-04 9.99875368e-01 6.44498241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539999 meters 0.01673744346500513 Centerline is valid? [True, True] Translation: X:954.36, Y:57.61, Z:6.44 [[ 8.50954461e-01 -5.25050316e-01 -1.40950780e-02 9.54364006e+02] [ 5.24974931e-01 8.51071170e-01 -8.89866188e-03 5.76094547e+01] [ 1.66681598e-02 1.72793397e-04 9.99861062e-01 6.44466376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.159254154 meters 0.014512268948828 Centerline is valid? [True, True] Translation: X:954.41, Y:57.65, Z:6.44 [[ 8.53053574e-01 -5.21654199e-01 -1.32852155e-02 9.54411237e+02] [ 5.21586745e-01 8.53156987e-01 -8.39189501e-03 5.76454613e+01] [ 1.57120417e-02 2.29343738e-04 9.99876532e-01 6.44453913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539999 meters 0.015250561259909406 Centerline is valid? [True, True] Translation: X:954.46, Y:57.68, Z:6.44 [[ 8.53376552e-01 -5.21136721e-01 -1.28443920e-02 9.54458779e+02] [ 5.21073561e-01 8.53473177e-01 -8.11667245e-03 5.76784679e+01] [ 1.51922401e-02 2.33704885e-04 9.99884564e-01 6.44433091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.279254154 meters 0.015515281206736226 Centerline is valid? [True, True] Translation: X:954.51, Y:57.71, Z:6.45 [[ 8.52485040e-01 -5.22621537e-01 -1.16612526e-02 9.54510391e+02] [ 5.22569577e-01 8.52564773e-01 -7.37193584e-03 5.77079588e+01] [ 1.37947057e-02 1.90649165e-04 9.99904830e-01 6.44582324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.339254154 meters 0.014682394406978107 Centerline is valid? [True, True] Translation: X:954.56, Y:57.74, Z:6.44 [[ 8.51881927e-01 -5.23610657e-01 -1.13605153e-02 9.54559481e+02] [ 5.23561396e-01 8.51957657e-01 -7.18433589e-03 5.77393418e+01] [ 1.34404728e-02 1.72278653e-04 9.99909658e-01 6.44498505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.399254154 meters 0.01710648220598328 Centerline is valid? [True, True] Translation: X:954.61, Y:57.77, Z:6.44 [[ 8.52102886e-01 -5.23226321e-01 -1.24454099e-02 9.54609509e+02] [ 5.23167114e-01 8.52193744e-01 -7.87359043e-03 5.77696863e+01] [ 1.47255702e-02 1.98079967e-04 9.99891553e-01 6.44426801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.459254154 meters 0.016280591708390125 Centerline is valid? [True, True] Translation: X:954.66, Y:57.80, Z:6.44 [[ 8.53387277e-01 -5.21127898e-01 -1.24847577e-02 9.54655786e+02] [ 5.21068048e-01 8.53478563e-01 -7.90134848e-03 5.78044144e+01] [ 1.47730862e-02 2.37501922e-04 9.99890844e-01 6.44401410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.519254154 meters 0.01710143900727877 Centerline is valid? [True, True] Translation: X:954.71, Y:57.84, Z:6.45 [[ 8.54478762e-01 -5.19340520e-01 -1.23073040e-02 9.54705932e+02] [ 5.19282131e-01 8.54567348e-01 -7.79201338e-03 5.78350488e+01] [ 1.45641284e-02 2.67146878e-04 9.99893902e-01 6.44572677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.579254154 meters 0.018283600801629076 Centerline is valid? [True, True] Translation: X:954.76, Y:57.87, Z:6.45 [[ 8.55334720e-01 -5.17934384e-01 -1.21032975e-02 9.54755260e+02] [ 5.17877714e-01 8.55420300e-01 -7.66702886e-03 5.78667727e+01] [ 1.43244242e-02 2.89847939e-04 9.99897358e-01 6.44634795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.639254154 meters 0.01784032037050099 Centerline is valid? [True, True] Translation: X:954.81, Y:57.90, Z:6.45 [[ 8.54663619e-01 -5.19030313e-01 -1.25551843e-02 9.54806062e+02] [ 5.18969383e-01 8.54755785e-01 -7.95784544e-03 5.78967549e+01] [ 1.48619794e-02 2.85524733e-04 9.99889514e-01 6.44635574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.699254154 meters 0.014771109727254182 Centerline is valid? [True, True] Translation: X:954.86, Y:57.92, Z:6.45 [[ 8.52256726e-01 -5.22979496e-01 -1.22849356e-02 9.54858076e+02] [ 5.22921505e-01 8.52345236e-01 -7.79092423e-03 5.79249062e+01] [ 1.45454999e-02 2.15810576e-04 9.99894185e-01 6.44811922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.759254154 meters 0.013591083490318723 Centerline is valid? [True, True] Translation: X:954.91, Y:57.95, Z:6.45 [[ 8.47924863e-01 -5.29989512e-01 -1.15992810e-02 9.54911758e+02] [ 5.29938414e-01 8.48004191e-01 -7.35994550e-03 5.79514281e+01] [ 1.37369328e-02 9.37762121e-05 9.99905639e-01 6.44930240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.819254154 meters 0.013754219109064348 Centerline is valid? [True, True] Translation: X:954.96, Y:57.98, Z:6.45 [[ 8.43206390e-01 -5.37490979e-01 -1.03165845e-02 9.54963458e+02] [ 5.37451089e-01 8.43269499e-01 -6.54827588e-03 5.79784056e+01] [ 1.22193003e-02 -2.31115216e-05 9.99925341e-01 6.45039093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.879254154 meters 0.014454164866341197 Centerline is valid? [True, True] Translation: X:955.02, Y:58.01, Z:6.45 [[ 8.37919638e-01 -5.45697106e-01 -1.02639861e-02 9.55015617e+02] [ 5.45658218e-01 8.37982487e-01 -6.51614003e-03 5.80053746e+01] [ 1.21568794e-02 -1.40626691e-04 9.99926093e-01 6.45101367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.939254154 meters 0.019873064464383288 Centerline is valid? [True, True] Translation: X:955.07, Y:58.03, Z:6.45 [[ 8.30631378e-01 -5.56706141e-01 -1.13924030e-02 9.55068545e+02] [ 5.56659223e-01 8.30709433e-01 -7.23514928e-03 5.80315306e+01] [ 1.34916287e-02 -3.31944178e-04 9.99908929e-01 6.44897123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.999254154 meters 0.024673148216454263 Centerline is valid? [True, True] Translation: X:955.12, Y:58.06, Z:6.45 [[ 8.23255762e-01 -5.67546921e-01 -1.18508355e-02 9.55120697e+02] [ 5.67497225e-01 8.23340886e-01 -7.52896031e-03 5.80569736e+01] [ 1.40303156e-02 -5.27056298e-04 9.99901431e-01 6.44889897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.059254154 meters 0.025757879390658253 Centerline is valid? [True, True] Translation: X:955.17, Y:58.09, Z:6.45 [[ 8.17905338e-01 -5.75243057e-01 -1.12375684e-02 9.55169112e+02] [ 5.75199059e-01 8.17982297e-01 -7.14179538e-03 5.80918487e+01] [ 1.33004002e-02 -6.22526203e-04 9.99911352e-01 6.45018735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters 0.024264967725228893 Centerline is valid? [True, True] Translation: X:955.22, Y:58.13, Z:6.45 [[ 8.17350244e-01 -5.76048916e-01 -1.03065719e-02 9.55215257e+02] [ 5.76011929e-01 8.17415017e-01 -6.55340410e-03 5.81286412e+01] [ 1.21998279e-02 -5.80281906e-04 9.99925411e-01 6.45297545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.179254154 meters 0.021768780696266726 Centerline is valid? [True, True] Translation: X:955.26, Y:58.17, Z:6.45 [[ 8.20861823e-01 -5.71036612e-01 -1.01515795e-02 9.55258541e+02] [ 5.71000305e-01 8.20924444e-01 -6.45827537e-03 5.81713227e+01] [ 1.20215915e-02 -4.95203308e-04 9.99927615e-01 6.45294280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539999 meters 0.01958251023424811 Centerline is valid? [True, True] Translation: X:955.30, Y:58.22, Z:6.45 [[ 8.27624555e-01 -5.61170730e-01 -1.11807339e-02 9.55300438e+02] [ 5.61125731e-01 8.27699985e-01 -7.11683092e-03 5.82158990e+01] [ 1.32480504e-02 -3.83733437e-04 9.99912167e-01 6.45019593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.299254154 meters 0.01536814133472763 Centerline is valid? [True, True] Translation: X:955.34, Y:58.26, Z:6.45 [[ 8.33493492e-01 -5.52412119e-01 -1.13775999e-02 9.55343632e+02] [ 5.52364665e-01 8.33571107e-01 -7.24471768e-03 5.82582807e+01] [ 1.34861084e-02 -2.46159113e-04 9.99909028e-01 6.45160690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539999 meters 0.013042965243159966 Centerline is valid? [True, True] Translation: X:955.38, Y:58.31, Z:6.45 [[ 8.43321133e-01 -5.37332124e-01 -9.14632871e-03 9.55381710e+02] [ 5.37300543e-01 8.43370730e-01 -5.82569298e-03 5.83093636e+01] [ 1.08440779e-02 -1.39737776e-06 9.99941201e-01 6.45314512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.419254154 meters 0.016157583323041902 Centerline is valid? [True, True] Translation: X:955.43, Y:58.35, Z:6.45 [[ 8.46879267e-01 -5.31724583e-01 -8.02958075e-03 9.55425350e+02] [ 5.31699966e-01 8.46917330e-01 -5.11684176e-03 5.83512463e+01] [ 9.52114165e-03 6.40193884e-05 9.99954671e-01 6.45137692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539999 meters 0.014431744485598634 Centerline is valid? [True, True] Translation: X:955.47, Y:58.39, Z:6.45 [[ 8.48038683e-01 -5.29871440e-01 -8.16387812e-03 9.55472431e+02] [ 5.29845878e-01 8.48077974e-01 -5.20533927e-03 5.83869090e+01] [ 9.68176582e-03 8.87318857e-05 9.99953127e-01 6.45274311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.539254154 meters 0.01562962729951603 Centerline is valid? [True, True] Translation: X:955.52, Y:58.42, Z:6.45 [[ 8.47854909e-01 -5.30159277e-01 -8.55532549e-03 9.55518314e+02] [ 5.30131186e-01 8.47898067e-01 -5.45827303e-03 5.84230930e+01] [ 1.01477980e-02 9.23787322e-05 9.99948506e-01 6.45079865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539999 meters 0.015087304243836242 Centerline is valid? [True, True] Translation: X:955.56, Y:58.46, Z:6.45 [[ 8.48284871e-01 -5.29440898e-01 -1.02525218e-02 9.55564533e+02] [ 5.29400462e-01 8.48346816e-01 -6.54448516e-03 5.84585786e+01] [ 1.21626123e-02 1.23897955e-04 9.99926025e-01 6.44959407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.659254154 meters 0.017209425074489935 Centerline is valid? [True, True] Translation: X:955.61, Y:58.49, Z:6.45 [[ 8.48829551e-01 -5.28517300e-01 -1.25640997e-02 9.55611292e+02] [ 5.28456446e-01 8.48922514e-01 -8.02177888e-03 5.84933620e+01] [ 1.49055960e-02 1.69543513e-04 9.99888891e-01 6.44584632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539999 meters 0.01447633413071089 Centerline is valid? [True, True] Translation: X:955.66, Y:58.53, Z:6.45 [[ 8.48709475e-01 -5.28678819e-01 -1.38178843e-02 9.55660593e+02] [ 5.28605175e-01 8.48821932e-01 -8.82593660e-03 5.85264386e+01] [ 1.63950090e-02 1.86450884e-04 9.99865575e-01 6.44776118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.779254154 meters 0.013525846048721321 Centerline is valid? [True, True] Translation: X:955.71, Y:58.56, Z:6.45 [[ 8.47152513e-01 -5.31180463e-01 -1.34139778e-02 9.55711054e+02] [ 5.31111300e-01 8.47258695e-01 -8.57267360e-03 5.85564617e+01] [ 1.59187460e-02 1.38046814e-04 9.99873279e-01 6.44978674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.839254154 meters 0.016622584808322547 Centerline is valid? [True, True] Translation: X:955.76, Y:58.59, Z:6.45 [[ 8.46163119e-01 -5.32762405e-01 -1.31223495e-02 9.55760811e+02] [ 5.32696333e-01 8.46264857e-01 -8.39097351e-03 5.85873712e+01] [ 1.55753784e-02 1.09904872e-04 9.99878690e-01 6.44775301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.899254154 meters 0.013120208709625039 Centerline is valid? [True, True] Translation: X:955.81, Y:58.62, Z:6.45 [[ 8.44231358e-01 -5.35844185e-01 -1.20175968e-02 9.55812364e+02] [ 5.35789023e-01 8.44316888e-01 -7.68870315e-03 5.86166537e+01] [ 1.42666068e-02 5.21478274e-05 9.99898225e-01 6.45341474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.959254154 meters 0.013945885773870813 Centerline is valid? [True, True] Translation: X:955.86, Y:58.65, Z:6.45 [[ 8.43339572e-01 -5.37255705e-01 -1.16048978e-02 9.55861516e+02] [ 5.37204340e-01 8.43419413e-01 -7.42905225e-03 5.86472781e+01] [ 1.37790968e-02 3.10122624e-05 9.99905063e-01 6.45350254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.019254154 meters 0.013981237131351097 Centerline is valid? [True, True] Translation: X:955.91, Y:58.68, Z:6.45 [[ 8.41918034e-01 -5.39496070e-01 -1.08634301e-02 9.55911174e+02] [ 5.39451191e-01 8.41988118e-01 -6.95864293e-03 5.86774294e+01] [ 1.29010396e-02 -1.68335040e-06 9.99916778e-01 6.45450536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.079254154 meters 0.013290781987576791 Centerline is valid? [True, True] Translation: X:955.96, Y:58.71, Z:6.46 [[ 8.38735785e-01 -5.44437273e-01 -1.05042107e-02 9.55963402e+02] [ 5.44395650e-01 8.38801556e-01 -6.73244358e-03 5.87056578e+01] [ 1.24763415e-02 -7.17052496e-05 9.99922165e-01 6.45662527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.139254154 meters 0.01596345724706607 Centerline is valid? [True, True] Translation: X:956.02, Y:58.73, Z:6.46 [[ 8.33003233e-01 -5.53153846e-01 -1.12443683e-02 9.56017591e+02] [ 5.53106905e-01 8.33079094e-01 -7.20936400e-03 5.87300594e+01] [ 1.33553356e-02 -2.13914246e-04 9.99910791e-01 6.45523567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.199254154 meters 0.017636490887965033 Centerline is valid? [True, True] Translation: X:956.07, Y:58.75, Z:6.46 [[ 8.26135171e-01 -5.63360142e-01 -1.12263084e-02 9.56072005e+02] [ 5.63314255e-01 8.26211359e-01 -7.20002843e-03 5.87549642e+01] [ 1.33315125e-02 -3.75742824e-04 9.99911061e-01 6.45655263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.259254154 meters 0.022557585353819017 Centerline is valid? [True, True] Translation: X:956.13, Y:58.78, Z:6.45 [[ 8.19777163e-01 -5.72567760e-01 -1.14700749e-02 9.56125060e+02] [ 5.72520719e-01 8.19857228e-01 -7.35878460e-03 5.87817579e+01] [ 1.36172266e-02 -5.34291964e-04 9.99907139e-01 6.45413767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.319254154 meters 0.02332925182065912 Centerline is valid? [True, True] Translation: X:956.18, Y:58.81, Z:6.46 [[ 8.17199451e-01 -5.76240677e-01 -1.14777694e-02 9.56176638e+02] [ 5.76193906e-01 8.17279835e-01 -7.36570558e-03 5.88106562e+01] [ 1.36249686e-02 -5.94170215e-04 9.99906999e-01 6.45605096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.379254154 meters 0.022891419903953797 Centerline is valid? [True, True] Translation: X:956.22, Y:58.85, Z:6.45 [[ 8.19637616e-01 -5.72746771e-01 -1.24625737e-02 9.56224148e+02] [ 5.72691169e-01 8.19732152e-01 -8.00142863e-03 5.88462022e+01] [ 1.47987647e-02 -5.78933998e-04 9.99890325e-01 6.45488724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.439254154 meters 0.02064743951610414 Centerline is valid? [True, True] Translation: X:956.27, Y:58.89, Z:6.45 [[ 8.26261612e-01 -5.63124081e-01 -1.35284197e-02 9.56267251e+02] [ 5.63057218e-01 8.26372239e-01 -8.68861298e-03 5.88866840e+01] [ 1.60722776e-02 -4.38206966e-04 9.99870737e-01 6.45318130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.499254154 meters 0.014254174175892526 Centerline is valid? [True, True] Translation: X:956.31, Y:58.93, Z:6.46 [[ 8.33698287e-01 -5.52072529e-01 -1.27706329e-02 9.56309177e+02] [ 5.52011595e-01 8.33796065e-01 -8.20491721e-03 5.89314864e+01] [ 1.51778129e-02 -2.09112033e-04 9.99884788e-01 6.45707313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.559254154 meters 0.013248625376018935 Centerline is valid? [True, True] Translation: X:956.35, Y:58.97, Z:6.46 [[ 8.39538891e-01 -5.43155238e-01 -1.25234955e-02 9.56352094e+02] [ 5.43095599e-01 8.39632292e-01 -8.04885596e-03 5.89714898e+01] [ 1.48869095e-02 -4.41277094e-05 9.99889183e-01 6.45693828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters 0.017279584531234654 Centerline is valid? [True, True] Translation: X:956.40, Y:59.01, Z:6.45 [[ 8.42638820e-01 -5.38325982e-01 -1.28435063e-02 9.56397609e+02] [ 5.38262638e-01 8.42736694e-01 -8.25815432e-03 5.90082948e+01] [ 1.52692730e-02 4.54618503e-05 9.99883417e-01 6.45404177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.679254154 meters 0.013262676332974795 Centerline is valid? [True, True] Translation: X:956.44, Y:59.04, Z:6.46 [[ 8.43688951e-01 -5.36704098e-01 -1.17331173e-02 9.56444848e+02] [ 5.36651013e-01 8.43770529e-01 -7.54878558e-03 5.90421235e+01] [ 1.39515228e-02 7.22376840e-05 9.99902670e-01 6.45854017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539999 meters 0.017527694986093415 Centerline is valid? [True, True] Translation: X:956.49, Y:59.07, Z:6.46 [[ 8.42917408e-01 -5.37888533e-01 -1.28906440e-02 9.56493734e+02] [ 5.37824510e-01 8.43015968e-01 -8.29909136e-03 5.90727089e+01] [ 1.53310048e-02 6.25443106e-05 9.99882471e-01 6.45523936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.799254154 meters 0.013104434418439477 Centerline is valid? [True, True] Translation: X:956.54, Y:59.10, Z:6.46 [[ 8.41540132e-01 -5.40065160e-01 -1.18249546e-02 9.56544856e+02] [ 5.40011438e-01 8.41623207e-01 -7.61738691e-03 5.91022735e+01] [ 1.40660415e-02 2.47260618e-05 9.99901068e-01 6.45978978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539999 meters 0.013240507612823818 Centerline is valid? [True, True] Translation: X:956.60, Y:59.13, Z:6.46 [[ 8.40166874e-01 -5.42167343e-01 -1.31983171e-02 9.56595396e+02] [ 5.42100625e-01 8.40270535e-01 -8.50532006e-03 5.91298732e+01] [ 1.57014638e-02 -8.92779403e-06 9.99876724e-01 6.45901472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.919254154 meters 0.01701765108441448 Centerline is valid? [True, True] Translation: X:956.65, Y:59.16, Z:6.46 [[ 8.39278893e-01 -5.43474200e-01 -1.57077434e-02 9.56646538e+02] [ 5.43379841e-01 8.39425871e-01 -1.01269917e-02 5.91584948e+01] [ 1.86892449e-02 -3.59007366e-05 9.99825340e-01 6.45589324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539999 meters 0.013840178767888787 Centerline is valid? [True, True] Translation: X:956.70, Y:59.19, Z:6.46 [[ 8.39714232e-01 -5.42790076e-01 -1.60916980e-02 9.56697045e+02] [ 5.42690798e-01 8.39868402e-01 -1.03809934e-02 5.91868973e+01] [ 1.91496089e-02 -1.57485817e-05 9.99816629e-01 6.45854465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.039254154 meters 0.01623023778822176 Centerline is valid? [True, True] Translation: X:956.75, Y:59.22, Z:6.46 [[ 8.41594933e-01 -5.39838413e-01 -1.71013523e-02 9.56746726e+02] [ 5.39725593e-01 8.41768665e-01 -1.10362912e-02 5.92170108e+01] [ 2.03531964e-02 5.80491955e-05 9.99792851e-01 6.45596939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539999 meters 0.016322838536888915 Centerline is valid? [True, True] Translation: X:956.80, Y:59.25, Z:6.46 [[ 8.43916252e-01 -5.36216143e-01 -1.66615920e-02 9.56797862e+02] [ 5.36108252e-01 8.44080699e-01 -1.07570823e-02 5.92461971e+01] [ 1.98318494e-02 1.45659630e-04 9.99803319e-01 6.45781351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.159254154 meters 0.017048062050475706 Centerline is valid? [True, True] Translation: X:956.85, Y:59.27, Z:6.46 [[ 8.45501325e-01 -5.33734775e-01 -1.59593157e-02 9.56850258e+02] [ 5.33635237e-01 8.45651908e-01 -1.03094247e-02 5.92739983e+01] [ 1.89985242e-02 2.00179046e-04 9.99819492e-01 6.46057228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539999 meters 0.017089164669729175 Centerline is valid? [True, True] Translation: X:956.90, Y:59.30, Z:6.46 [[ 8.45879564e-01 -5.33182703e-01 -1.42817377e-02 9.56903161e+02] [ 5.33102828e-01 8.46000099e-01 -9.23079013e-03 5.93010559e+01] [ 1.70040492e-02 1.94501962e-04 9.99855402e-01 6.46241108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.279254154 meters 0.014009686866794503 Centerline is valid? [True, True] Translation: X:956.96, Y:59.33, Z:6.47 [[ 8.46170648e-01 -5.32767806e-01 -1.23975469e-02 9.56956562e+02] [ 5.32707510e-01 8.46261445e-01 -8.01725781e-03 5.93273886e+01] [ 1.47629028e-02 1.79701907e-04 9.99891006e-01 6.46725411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.339254154 meters 0.014306541456721653 Centerline is valid? [True, True] Translation: X:957.01, Y:59.35, Z:6.47 [[ 8.46081461e-01 -5.32906003e-01 -1.25440752e-02 9.57007993e+02] [ 5.32844238e-01 8.46174426e-01 -8.11536642e-03 5.93530263e+01] [ 1.49392031e-02 1.82222890e-04 9.99888387e-01 6.46724400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.399254154 meters 0.015053532320822509 Centerline is valid? [True, True] Translation: X:957.06, Y:59.38, Z:6.47 [[ 8.45036427e-01 -5.34514683e-01 -1.44045320e-02 9.57060804e+02] [ 5.34433388e-01 8.45159169e-01 -9.32373797e-03 5.93776942e+01] [ 1.71577972e-02 1.80635361e-04 9.99852778e-01 6.46570247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.459254154 meters 0.015229141788451205 Centerline is valid? [True, True] Translation: X:957.11, Y:59.40, Z:6.46 [[ 8.43472241e-01 -5.36946957e-01 -1.55738025e-02 9.57114549e+02] [ 5.36852220e-01 8.43615993e-01 -1.00871224e-02 5.94016196e+01] [ 1.85545585e-02 1.47377319e-04 9.99827839e-01 6.46488076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.519254154 meters 0.01385714099851232 Centerline is valid? [True, True] Translation: X:957.17, Y:59.43, Z:6.46 [[ 8.42315817e-01 -5.38738891e-01 -1.62626006e-02 9.57167205e+02] [ 5.38635839e-01 8.42472785e-01 -1.05375166e-02 5.94259664e+01] [ 1.93777684e-02 1.16297405e-04 9.99812227e-01 6.46484178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.579254154 meters 0.013630402983374878 Centerline is valid? [True, True] Translation: X:957.22, Y:59.45, Z:6.47 [[ 8.40538998e-01 -5.41483258e-01 -1.70315709e-02 9.57221320e+02] [ 5.41370674e-01 8.40711531e-01 -1.10415181e-02 5.94487697e+01] [ 2.02974352e-02 6.04335639e-05 9.99793984e-01 6.46567951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.639254154 meters 0.013563994020403935 Centerline is valid? [True, True] Translation: X:957.27, Y:59.47, Z:6.47 [[ 8.39264534e-01 -5.43476253e-01 -1.63891483e-02 9.57274768e+02] [ 5.43372312e-01 8.39424542e-01 -1.06286371e-02 5.94722736e+01] [ 1.95338652e-02 1.48287028e-05 9.99809196e-01 6.46699642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.699254154 meters 0.01349719142655805 Centerline is valid? [True, True] Translation: X:957.33, Y:59.50, Z:6.47 [[ 8.39196516e-01 -5.43615764e-01 -1.52022559e-02 9.57326463e+02] [ 5.43526284e-01 8.39334201e-01 -9.86298353e-03 5.95008988e+01] [ 1.81214466e-02 1.41557915e-05 9.99835793e-01 6.46860992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.759254154 meters 0.015268352091865956 Centerline is valid? [True, True] Translation: X:957.38, Y:59.53, Z:6.47 [[ 8.39467909e-01 -5.43214645e-01 -1.45423069e-02 9.57377090e+02] [ 5.43132609e-01 8.39593859e-01 -9.44037172e-03 5.95300702e+01] [ 1.73377797e-02 2.64880381e-05 9.99849689e-01 6.46839033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.819254154 meters 0.01352628691738115 Centerline is valid? [True, True] Translation: X:957.43, Y:59.56, Z:6.47 [[ 8.40877016e-01 -5.41072454e-01 -1.29012598e-02 9.57427908e+02] [ 5.41007560e-01 8.40975977e-01 -8.38003568e-03 5.95588917e+01] [ 1.53838560e-02 6.69003089e-05 9.99881659e-01 6.47103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.879254154 meters 0.015155002420356488 Centerline is valid? [True, True] Translation: X:957.47, Y:59.59, Z:6.47 [[ 8.44084451e-01 -5.36058034e-01 -1.27758886e-02 9.57473823e+02] [ 5.35993768e-01 8.44181117e-01 -8.30191779e-03 5.95935417e+01] [ 1.52354736e-02 1.59723044e-04 9.99883921e-01 6.47028221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.939254154 meters 0.014839728941202762 Centerline is valid? [True, True] Translation: X:957.52, Y:59.63, Z:6.47 [[ 8.45734765e-01 -5.33443993e-01 -1.30465863e-02 9.57522138e+02] [ 5.33376609e-01 8.45835362e-01 -8.48131669e-03 5.96275790e+01] [ 1.55595715e-02 2.14200395e-04 9.99878920e-01 6.47083028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.999254154 meters 0.01482769720134743 Centerline is valid? [True, True] Translation: X:957.57, Y:59.66, Z:6.47 [[ 8.45547005e-01 -5.33714768e-01 -1.40999502e-02 9.57570900e+02] [ 5.33636013e-01 8.45664528e-01 -9.17125408e-03 5.96602308e+01] [ 1.68186615e-02 2.30485200e-04 9.99858530e-01 6.46953413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.059254154 meters 0.016833099491040927 Centerline is valid? [True, True] Translation: X:957.62, Y:59.69, Z:6.47 [[ 8.44620929e-01 -5.35144623e-01 -1.53531280e-02 9.57619813e+02] [ 5.35051370e-01 8.44760428e-01 -9.99250475e-03 5.96924544e+01] [ 1.83171502e-02 2.25166479e-04 9.99832202e-01 6.46671510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters 0.016832950927323193 Centerline is valid? [True, True] Translation: X:957.67, Y:59.72, Z:6.47 [[ 8.43988316e-01 -5.36141380e-01 -1.53669465e-02 9.57668680e+02] [ 5.36048010e-01 8.44128176e-01 -1.00076922e-02 5.97244346e+01] [ 1.83372104e-02 2.08954140e-04 9.99831837e-01 6.46726796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.179254154 meters 0.014496893071760867 Centerline is valid? [True, True] Translation: X:957.72, Y:59.76, Z:6.47 [[ 8.43633231e-01 -5.36738766e-01 -1.39452135e-02 9.57717736e+02] [ 5.36661874e-01 8.43748460e-01 -9.08671293e-03 5.97575229e+01] [ 1.66434435e-02 1.81988570e-04 9.99861472e-01 6.47053805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539999 meters 0.015101090562737828 Centerline is valid? [True, True] Translation: X:957.77, Y:59.79, Z:6.47 [[ 8.43388714e-01 -5.37136386e-01 -1.34156837e-02 9.57765749e+02] [ 5.37065194e-01 8.43495391e-01 -8.74666682e-03 5.97898385e+01] [ 1.60142204e-02 1.71743316e-04 9.99871749e-01 6.47080054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.299254154 meters 0.01465252594161059 Centerline is valid? [True, True] Translation: X:957.81, Y:59.82, Z:6.47 [[ 8.43905881e-01 -5.36323974e-01 -1.33961992e-02 9.57812931e+02] [ 5.36252835e-01 8.44012179e-01 -8.73717360e-03 5.98238845e+01] [ 1.59925110e-02 1.89602359e-04 9.99872094e-01 6.47144910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539999 meters 0.014964499225575495 Centerline is valid? [True, True] Translation: X:957.86, Y:59.86, Z:6.47 [[ 8.44549615e-01 -5.35290723e-01 -1.41346849e-02 9.57861186e+02] [ 5.35211349e-01 8.44667859e-01 -9.22063438e-03 5.98567584e+01] [ 1.68748340e-02 2.22239462e-04 9.99857585e-01 6.47146090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.419254154 meters 0.015137113525055033 Centerline is valid? [True, True] Translation: X:957.91, Y:59.89, Z:6.47 [[ 8.44871339e-01 -5.34796852e-01 -1.35921752e-02 9.57907210e+02] [ 5.34723357e-01 8.44980637e-01 -8.86880156e-03 5.98907063e+01] [ 1.62281320e-02 2.24942729e-04 9.99868290e-01 6.47154774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539999 meters 0.014963820542484671 Centerline is valid? [True, True] Translation: X:957.96, Y:59.92, Z:6.47 [[ 8.44958910e-01 -5.34683233e-01 -1.25809727e-02 9.57956064e+02] [ 5.34620197e-01 8.45052540e-01 -8.21278760e-03 5.99228224e+01] [ 1.50228228e-02 2.13425941e-04 9.99887128e-01 6.47301455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.539254154 meters 0.014661063446639588 Centerline is valid? [True, True] Translation: X:958.00, Y:59.96, Z:6.47 [[ 8.44703538e-01 -5.35084689e-01 -1.26612912e-02 9.58003486e+02] [ 5.35020825e-01 8.44798397e-01 -8.26953060e-03 5.99552772e+01] [ 1.51211377e-02 2.11247312e-04 9.99885647e-01 6.47346241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539999 meters 0.014644692941008558 Centerline is valid? [True, True] Translation: X:958.05, Y:59.99, Z:6.47 [[ 8.44435514e-01 -5.35496715e-01 -1.31122707e-02 9.58052257e+02] [ 5.35428197e-01 8.44537283e-01 -8.56875934e-03 5.99873494e+01] [ 1.56623439e-02 2.15085251e-04 9.99877315e-01 6.47370400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.659254154 meters 0.01630437988676827 Centerline is valid? [True, True] Translation: X:958.10, Y:60.02, Z:6.47 [[ 8.43765725e-01 -5.36525004e-01 -1.41534595e-02 9.58099881e+02] [ 5.36445250e-01 8.43884396e-01 -9.25313103e-03 6.00186670e+01] [ 1.69084198e-02 2.14918699e-04 9.99857019e-01 6.47025515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539999 meters 0.017093589659772205 Centerline is valid? [True, True] Translation: X:958.15, Y:60.05, Z:6.47 [[ 8.42089835e-01 -5.39138226e-01 -1.46520535e-02 9.58151354e+02] [ 5.39053073e-01 8.42217278e-01 -9.58337046e-03 6.00483323e+01] [ 1.75069739e-02 1.71824400e-04 9.99846726e-01 6.47002671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.779254154 meters 0.013800577073704322 Centerline is valid? [True, True] Translation: X:958.20, Y:60.08, Z:6.47 [[ 8.40688217e-01 -5.41344819e-01 -1.37516794e-02 9.58202210e+02] [ 5.41270026e-01 8.40800673e-01 -8.99925362e-03 6.00785726e+01] [ 1.64341206e-02 1.22194605e-04 9.99864943e-01 6.47342390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.839254154 meters 0.014711452630238733 Centerline is valid? [True, True] Translation: X:958.25, Y:60.11, Z:6.47 [[ 8.36560481e-01 -5.47707586e-01 -1.35263652e-02 9.58254984e+02] [ 5.47635974e-01 8.36669827e-01 -8.85659507e-03 6.01059979e+01] [ 1.61679260e-02 1.55322018e-06 9.99869291e-01 6.47370512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.899254154 meters 0.016958032675591813 Centerline is valid? [True, True] Translation: X:958.30, Y:60.14, Z:6.47 [[ 8.34640149e-01 -5.50625963e-01 -1.36700197e-02 9.58304863e+02] [ 5.50553163e-01 8.34752086e-01 -8.95369795e-03 6.01352841e+01] [ 1.63412161e-02 -5.29568135e-05 9.99866472e-01 6.47258088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.959254154 meters 0.014459821535381608 Centerline is valid? [True, True] Translation: X:958.35, Y:60.17, Z:6.48 [[ 8.33315198e-01 -5.52650698e-01 -1.27666256e-02 9.58354888e+02] [ 5.52587385e-01 8.33412983e-01 -8.36552365e-03 6.01650464e+01] [ 1.52630840e-02 -8.35582778e-05 9.99883509e-01 6.47648646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.019254154 meters 0.013606813676078624 Centerline is valid? [True, True] Translation: X:958.40, Y:60.20, Z:6.48 [[ 8.33604776e-01 -5.52223706e-01 -1.23311052e-02 9.58402910e+02] [ 5.52164521e-01 8.33695972e-01 -8.08505908e-03 6.01981406e+01] [ 1.47451540e-02 -6.90549309e-05 9.99891282e-01 6.47823233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.079254154 meters 0.015949479055744037 Centerline is valid? [True, True] Translation: X:958.45, Y:60.23, Z:6.48 [[ 8.34915445e-01 -5.50223677e-01 -1.30424470e-02 9.58449958e+02] [ 5.50157136e-01 8.35017308e-01 -8.55690442e-03 6.02325615e+01] [ 1.55988804e-02 -3.11036119e-05 9.99878330e-01 6.47544615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.139254154 meters 0.01608265290758134 Centerline is valid? [True, True] Translation: X:958.50, Y:60.27, Z:6.47 [[ 8.37541188e-01 -5.46179630e-01 -1.45797741e-02 9.58497030e+02] [ 5.46095763e-01 8.37668078e-01 -9.57125958e-03 6.02685842e+01] [ 1.74406384e-02 5.43712572e-05 9.99847899e-01 6.47484728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.199254154 meters 0.01556871171401507 Centerline is valid? [True, True] Translation: X:958.54, Y:60.30, Z:6.48 [[ 8.39887361e-01 -5.42583046e-01 -1.38874141e-02 9.58543772e+02] [ 5.42506382e-01 8.40002156e-01 -9.12156434e-03 6.03046162e+01] [ 1.66146640e-02 1.27075815e-04 9.99861959e-01 6.47574218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.259254154 meters 0.014536194651126209 Centerline is valid? [True, True] Translation: X:958.59, Y:60.34, Z:6.48 [[ 8.40879660e-01 -5.41075652e-01 -1.25911521e-02 9.58591027e+02] [ 5.41012393e-01 8.40973910e-01 -8.27482918e-03 6.03376186e+01] [ 1.50661390e-02 1.46166198e-04 9.99886489e-01 6.47874279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.319254154 meters 0.01624466065409187 Centerline is valid? [True, True] Translation: X:958.64, Y:60.37, Z:6.48 [[ 8.41125749e-01 -5.40720494e-01 -1.13499817e-02 9.58638799e+02] [ 5.40669000e-01 8.41202311e-01 -7.46357923e-03 6.03714294e+01] [ 1.35833411e-02 1.41225422e-04 9.99907732e-01 6.47871720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.379254154 meters 0.016684818501741062 Centerline is valid? [True, True] Translation: X:958.69, Y:60.41, Z:6.48 [[ 8.41207724e-01 -5.40571934e-01 -1.23105541e-02 9.58687478e+02] [ 5.40511267e-01 8.41297782e-01 -8.10011253e-03 6.04054058e+01] [ 1.47355354e-02 1.59884027e-04 9.99891413e-01 6.47803767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.439254154 meters 0.017507497839414878 Centerline is valid? [True, True] Translation: X:958.74, Y:60.44, Z:6.48 [[ 8.40930183e-01 -5.40977419e-01 -1.34111441e-02 9.58735456e+02] [ 5.40905412e-01 8.41037100e-01 -8.82792246e-03 6.04384393e+01] [ 1.60549765e-02 1.69506021e-04 9.99871096e-01 6.47636705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.499254154 meters 0.014351352772510118 Centerline is valid? [True, True] Translation: X:958.78, Y:60.47, Z:6.48 [[ 8.41306850e-01 -5.40411943e-01 -1.25585256e-02 9.58783729e+02] [ 5.40348680e-01 8.41400560e-01 -8.27051322e-03 6.04710963e+01] [ 1.50362346e-02 1.72056669e-04 9.99886935e-01 6.47941606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.559254154 meters 0.014465315559974282 Centerline is valid? [True, True] Translation: X:958.83, Y:60.50, Z:6.48 [[ 8.41499136e-01 -5.40079222e-01 -1.39153861e-02 9.58831618e+02] [ 5.40001413e-01 8.41614159e-01 -9.16956646e-03 6.05049236e+01] [ 1.66636783e-02 2.01854085e-04 9.99861131e-01 6.47777637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters 0.014232482577733806 Centerline is valid? [True, True] Translation: X:958.88, Y:60.54, Z:6.48 [[ 8.41221103e-01 -5.40488619e-01 -1.48023349e-02 9.58881228e+02] [ 5.40400540e-01 8.41351299e-01 -9.75948350e-03 6.05370752e+01] [ 1.77288534e-02 2.10693723e-04 9.99842809e-01 6.47724910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.679254154 meters 0.015810434315060923 Centerline is valid? [True, True] Translation: X:958.93, Y:60.57, Z:6.48 [[ 8.40257253e-01 -5.41935958e-01 -1.65277333e-02 9.58931644e+02] [ 5.41826303e-01 8.40419761e-01 -1.09033040e-02 6.05670335e+01] [ 1.97991262e-02 2.06419655e-04 9.99803957e-01 6.47506589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539999 meters 0.013738040530551504 Centerline is valid? [True, True] Translation: X:958.98, Y:60.60, Z:6.48 [[ 8.38478502e-01 -5.44721027e-01 -1.52579374e-02 9.58983006e+02] [ 5.44627942e-01 8.38617306e-01 -1.00707315e-02 6.05969339e+01] [ 1.82813096e-02 1.34192804e-04 9.99832874e-01 6.47684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.799254154 meters 0.015580989464187659 Centerline is valid? [True, True] Translation: X:959.03, Y:60.63, Z:6.48 [[ 8.36169426e-01 -5.48289490e-01 -1.41182783e-02 9.59034964e+02] [ 5.48210218e-01 8.36288606e-01 -9.32334245e-03 6.06254355e+01] [ 1.69188459e-02 5.61094901e-05 9.99856865e-01 6.47785309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539999 meters 0.013337664304953289 Centerline is valid? [True, True] Translation: X:959.08, Y:60.66, Z:6.48 [[ 8.36102465e-01 -5.48465874e-01 -1.08560268e-02 9.59084516e+02] [ 5.48418975e-01 8.36172939e-01 -7.17247516e-03 6.06574236e+01] [ 1.30113737e-02 4.32730800e-05 9.99915348e-01 6.48200819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.919254154 meters 0.013482334082817423 Centerline is valid? [True, True] Translation: X:959.13, Y:60.69, Z:6.48 [[ 8.36872420e-01 -5.47280212e-01 -1.13543880e-02 9.59131842e+02] [ 5.47228761e-01 8.36949440e-01 -7.50455347e-03 6.06903471e+01] [ 1.36101423e-02 6.69061669e-05 9.99907375e-01 6.48058970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539999 meters 0.013744267743754146 Centerline is valid? [True, True] Translation: X:959.18, Y:60.72, Z:6.48 [[ 8.37832751e-01 -5.45796025e-01 -1.19574330e-02 9.59179663e+02] [ 5.45738770e-01 8.37918068e-01 -7.90606899e-03 6.07241158e+01] [ 1.43344502e-02 9.83287815e-05 9.99897252e-01 6.47952635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.039254154 meters 0.01394741381859638 Centerline is valid? [True, True] Translation: X:959.23, Y:60.76, Z:6.48 [[ 8.38796299e-01 -5.44305053e-01 -1.23603409e-02 9.59227086e+02] [ 5.44243647e-01 8.38887353e-01 -8.17687901e-03 6.07583886e+01] [ 1.48196502e-02 1.31698863e-04 9.99890174e-01 6.47997623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539999 meters 0.015382370330964705 Centerline is valid? [True, True] Translation: X:959.28, Y:60.79, Z:6.48 [[ 8.39563020e-01 -5.43117095e-01 -1.25601283e-02 9.59275029e+02] [ 5.43053487e-01 8.39656951e-01 -8.31353994e-03 6.07930984e+01] [ 1.50614247e-02 1.58919247e-04 9.99886558e-01 6.47876547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.159254154 meters 0.015723923488423316 Centerline is valid? [True, True] Translation: X:959.32, Y:60.83, Z:6.48 [[ 8.40193043e-01 -5.42126627e-01 -1.32049719e-02 9.59321873e+02] [ 5.42056141e-01 8.40296784e-01 -8.74385800e-03 6.08268523e+01] [ 1.58363737e-02 1.88692516e-04 9.99874579e-01 6.47809508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539999 meters 0.01483484083291972 Centerline is valid? [True, True] Translation: X:959.37, Y:60.86, Z:6.48 [[ 8.39611644e-01 -5.43050065e-01 -1.22030209e-02 9.59370302e+02] [ 5.42989943e-01 8.39700304e-01 -8.08213699e-03 6.08589235e+01] [ 1.46358854e-02 1.59738691e-04 9.99892877e-01 6.47894467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.279254154 meters 0.015716093722462934 Centerline is valid? [True, True] Translation: X:959.42, Y:60.89, Z:6.48 [[ 8.37381156e-01 -5.46480781e-01 -1.23107898e-02 9.59421701e+02] [ 5.46419917e-01 8.37471639e-01 -8.15651046e-03 6.08882088e+01] [ 1.47673135e-02 1.03247443e-04 9.99890952e-01 6.47962170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.339254154 meters 0.013594237492997423 Centerline is valid? [True, True] Translation: X:959.47, Y:60.92, Z:6.48 [[ 8.36111638e-01 -5.48446051e-01 -1.11471111e-02 9.59472128e+02] [ 5.48396276e-01 8.36185939e-01 -7.38920113e-03 6.09187246e+01] [ 1.33736357e-02 6.51628636e-05 9.99910567e-01 6.48235053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.399254154 meters 0.014949517707643772 Centerline is valid? [True, True] Translation: X:959.52, Y:60.95, Z:6.48 [[ 8.32301515e-01 -5.54214904e-01 -1.09557103e-02 9.59524617e+02] [ 5.54167271e-01 8.32373618e-01 -7.26610613e-03 6.09469058e+01] [ 1.31462285e-02 -2.37049200e-05 9.99913584e-01 6.48235408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.459254154 meters 0.013927573754374355 Centerline is valid? [True, True] Translation: X:959.57, Y:60.98, Z:6.48 [[ 8.30233815e-01 -5.57300176e-01 -1.13281080e-02 9.59574927e+02] [ 5.57249499e-01 8.30311091e-01 -7.51581651e-03 6.09764688e+01] [ 1.35944196e-02 -7.26974856e-05 9.99907589e-01 6.48258560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.519254154 meters 0.016307175793004353 Centerline is valid? [True, True] Translation: X:959.62, Y:61.01, Z:6.48 [[ 8.28629193e-01 -5.59666590e-01 -1.21230981e-02 9.59624861e+02] [ 5.59608758e-01 8.28717862e-01 -8.04632101e-03 6.10083279e+01] [ 1.45498850e-02 -1.16775408e-04 9.99894138e-01 6.48210526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.579254154 meters 0.014210757333383997 Centerline is valid? [True, True] Translation: X:959.67, Y:61.04, Z:6.48 [[ 8.28969804e-01 -5.59161333e-01 -1.21518545e-02 9.59671784e+02] [ 5.59103127e-01 8.29058860e-01 -8.06854603e-03 6.10406201e+01] [ 1.45862216e-02 -1.05558844e-04 9.99893610e-01 6.48326991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.639254154 meters 0.014722123634108332 Centerline is valid? [True, True] Translation: X:959.72, Y:61.07, Z:6.48 [[ 8.28688638e-01 -5.59555363e-01 -1.31505299e-02 9.59720643e+02] [ 5.59487187e-01 8.28792967e-01 -8.73531395e-03 6.10735077e+01] [ 1.57869584e-02 -1.18697559e-04 9.99875371e-01 6.48273293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.699254154 meters 0.015139584968627417 Centerline is valid? [True, True] Translation: X:959.77, Y:61.11, Z:6.48 [[ 8.27775749e-01 -5.60918072e-01 -1.25787721e-02 9.59768749e+02] [ 5.60855783e-01 8.27871305e-01 -8.36016912e-03 6.11065507e+01] [ 1.51029745e-02 -1.34531842e-04 9.99885935e-01 6.48359615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.759254154 meters 0.017734781563750204 Centerline is valid? [True, True] Translation: X:959.82, Y:61.14, Z:6.48 [[ 8.26792389e-01 -5.62356757e-01 -1.30086129e-02 9.59816746e+02] [ 5.62290239e-01 8.26894704e-01 -8.65074607e-03 6.11402949e+01] [ 1.56215586e-02 -1.62245034e-04 9.99877963e-01 6.48334066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.819254154 meters 0.016359338697717985 Centerline is valid? [True, True] Translation: X:959.86, Y:61.18, Z:6.49 [[ 8.27590455e-01 -5.61205457e-01 -1.19362491e-02 9.59863403e+02] [ 5.61149277e-01 8.27676518e-01 -7.94168846e-03 6.11759286e+01] [ 1.43362720e-02 -1.25552002e-04 9.99897222e-01 6.48525088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.879254154 meters 0.014132959509577379 Centerline is valid? [True, True] Translation: X:959.91, Y:61.21, Z:6.49 [[ 8.29131381e-01 -5.58945123e-01 -1.10228252e-02 9.59911155e+02] [ 5.58896962e-01 8.29204645e-01 -7.33773801e-03 6.12111111e+01] [ 1.32415707e-02 -7.66746405e-05 9.99912324e-01 6.48713090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.939254154 meters 0.015892674894192785 Centerline is valid? [True, True] Translation: X:959.96, Y:61.25, Z:6.49 [[ 8.31677457e-01 -5.55132897e-01 -1.18352813e-02 9.59955953e+02] [ 5.55076920e-01 8.31761665e-01 -7.88328010e-03 6.12492455e+01] [ 1.42204014e-02 -1.31451472e-05 9.99898885e-01 6.48598951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.999254154 meters 0.014142152291146542 Centerline is valid? [True, True] Translation: X:960.00, Y:61.28, Z:6.49 [[ 8.32763769e-01 -5.53503960e-01 -1.17418857e-02 9.60002630e+02] [ 5.53448633e-01 8.32846544e-01 -7.82591782e-03 6.12838693e+01] [ 1.41108654e-02 1.86102377e-05 9.99900437e-01 6.48688306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.059254154 meters 0.015821756044704274 Centerline is valid? [True, True] Translation: X:960.05, Y:61.32, Z:6.49 [[ 8.33307412e-01 -5.52661450e-01 -1.28093308e-02 9.60049850e+02] [ 5.52595452e-01 8.33405856e-01 -8.54083258e-03 6.13182240e+01] [ 1.53955602e-02 3.87611265e-05 9.99881481e-01 6.48513305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters 0.014669707032016591 Centerline is valid? [True, True] Translation: X:960.10, Y:61.35, Z:6.48 [[ 8.33406964e-01 -5.52487570e-01 -1.37955550e-02 9.60097458e+02] [ 5.52410932e-01 8.33521135e-01 -9.20212211e-03 6.13523569e+01] [ 1.65829448e-02 4.82972296e-05 9.99862492e-01 6.48450630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.179254154 meters 0.015000380033545646 Centerline is valid? [True, True] Translation: X:960.15, Y:61.39, Z:6.48 [[ 8.33369175e-01 -5.52515826e-01 -1.49023870e-02 9.60145895e+02] [ 5.52426303e-01 8.33502405e-01 -9.94586289e-03 6.13863576e+01] [ 1.79164221e-02 5.61049781e-05 9.99839486e-01 6.48334035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539999 meters 0.013509804840689702 Centerline is valid? [True, True] Translation: X:960.19, Y:61.42, Z:6.48 [[ 8.34144939e-01 -5.51337865e-01 -1.51254587e-02 9.60193795e+02] [ 5.51245349e-01 8.34282057e-01 -1.01002190e-02 6.14204754e+01] [ 1.81875320e-02 8.72077478e-05 9.99834589e-01 6.48442005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.299254154 meters 0.013615496385248466 Centerline is valid? [True, True] Translation: X:960.24, Y:61.46, Z:6.48 [[ 8.34855005e-01 -5.50249892e-01 -1.55620349e-02 9.60241671e+02] [ 5.50151661e-01 8.35000026e-01 -1.03974542e-02 6.14555120e+01] [ 1.87154976e-02 1.18887367e-04 9.99824843e-01 6.48385418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539999 meters 0.017385051526550975 Centerline is valid? [True, True] Translation: X:960.29, Y:61.49, Z:6.48 [[ 8.34628159e-01 -5.50565759e-01 -1.65281969e-02 9.60289877e+02] [ 5.50454891e-01 8.34791788e-01 -1.10491223e-02 6.14890519e+01] [ 1.98808715e-02 1.23881791e-04 9.99802348e-01 6.48323277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.419254154 meters 0.014195716777846456 Centerline is valid? [True, True] Translation: X:960.34, Y:61.52, Z:6.49 [[ 8.35464110e-01 -5.49339347e-01 -1.50333611e-02 9.60337503e+02] [ 5.49247374e-01 8.35599343e-01 -1.00528906e-02 6.15227323e+01] [ 1.80843150e-02 1.41795218e-04 9.99836455e-01 6.48567702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539999 meters 0.013819747637826358 Centerline is valid? [True, True] Translation: X:960.38, Y:61.56, Z:6.49 [[ 8.35166397e-01 -5.49794256e-01 -1.49453919e-02 9.60383997e+02] [ 5.49703387e-01 8.35300101e-01 -9.99642861e-03 6.15556143e+01] [ 1.79798664e-02 1.33148712e-04 9.99838340e-01 6.48579004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.539254154 meters 0.016435444606447205 Centerline is valid? [True, True] Translation: X:960.43, Y:61.59, Z:6.48 [[ 8.34124883e-01 -5.51340523e-01 -1.61030452e-02 9.60432586e+02] [ 5.51235214e-01 8.34280298e-01 -1.07760586e-02 6.15877617e+01] [ 1.93757311e-02 1.12013019e-04 9.99812267e-01 6.48488915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539999 meters 0.01348887259312303 Centerline is valid? [True, True] Translation: X:960.48, Y:61.62, Z:6.49 [[ 8.32737770e-01 -5.53459572e-01 -1.51759506e-02 9.60481634e+02] [ 5.53366292e-01 8.32876040e-01 -1.01611200e-02 6.16193901e+01] [ 1.82634548e-02 6.36888435e-05 9.99833207e-01 6.48624243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.659254154 meters 0.01379571794071464 Centerline is valid? [True, True] Translation: X:960.53, Y:61.65, Z:6.49 [[ 8.31419481e-01 -5.55401318e-01 -1.64627280e-02 9.60530949e+02] [ 5.55291808e-01 8.31582452e-01 -1.10287425e-02 6.16515612e+01] [ 1.98154939e-02 2.78934061e-05 9.99803653e-01 6.48667583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539999 meters 0.016938666002727754 Centerline is valid? [True, True] Translation: X:960.58, Y:61.69, Z:6.48 [[ 8.31556403e-01 -5.55136141e-01 -1.83797197e-02 9.60577978e+02] [ 5.54999487e-01 8.31759499e-01 -1.23168659e-02 6.16856877e+01] [ 2.21250439e-02 4.14336647e-05 9.99755210e-01 6.48247692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.779254154 meters 0.01679097060705696 Centerline is valid? [True, True] Translation: X:960.63, Y:61.72, Z:6.49 [[ 8.32005421e-01 -5.54459022e-01 -1.84979222e-02 9.60626061e+02] [ 5.54320385e-01 8.32211024e-01 -1.23984690e-02 6.17187511e+01] [ 2.22686178e-02 6.18181082e-05 9.99752022e-01 6.48552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.839254154 meters 0.016486771775396234 Centerline is valid? [True, True] Translation: X:960.67, Y:61.75, Z:6.49 [[ 8.33945034e-01 -5.51609453e-01 -1.62077708e-02 9.60673336e+02] [ 5.51502395e-01 8.34102509e-01 -1.08679304e-02 6.17546037e+01] [ 1.95137954e-02 1.24632200e-04 9.99809580e-01 6.48818505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.899254154 meters 0.013840490182600794 Centerline is valid? [True, True] Translation: X:960.72, Y:61.79, Z:6.49 [[ 8.35505053e-01 -5.49301972e-01 -1.40942990e-02 9.60720047e+02] [ 5.49220599e-01 8.35623909e-01 -9.45603604e-03 6.17897028e+01] [ 1.69717525e-02 1.59686564e-04 9.99855957e-01 6.49008826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.959254154 meters 0.014050594071831998 Centerline is valid? [True, True] Translation: X:960.77, Y:61.82, Z:6.49 [[ 8.35590992e-01 -5.49153390e-01 -1.47732562e-02 9.60769052e+02] [ 5.49063862e-01 8.35721559e-01 -9.91724900e-03 6.18231687e+01] [ 1.77924196e-02 1.75302805e-04 9.99841687e-01 6.48980532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.019254154 meters 0.014300099626771978 Centerline is valid? [True, True] Translation: X:960.82, Y:61.86, Z:6.49 [[ 8.34633897e-01 -5.50571049e-01 -1.60554651e-02 9.60817715e+02] [ 5.50465441e-01 8.34788293e-01 -1.07844696e-02 6.18550806e+01] [ 1.93405311e-02 1.63105245e-04 9.99812941e-01 6.48913309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.079254154 meters 0.01366287697221174 Centerline is valid? [True, True] Translation: X:960.87, Y:61.89, Z:6.49 [[ 8.33329131e-01 -5.52540406e-01 -1.61758958e-02 9.60867460e+02] [ 5.52433456e-01 8.33486104e-01 -1.08715924e-02 6.18866734e+01] [ 1.94893785e-02 1.23508609e-04 9.99810056e-01 6.49013430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.139254154 meters 0.013971797551008467 Centerline is valid? [True, True] Translation: X:960.92, Y:61.92, Z:6.49 [[ 8.31230519e-01 -5.55651810e-01 -1.75182852e-02 9.60917507e+02] [ 5.55526907e-01 8.31415096e-01 -1.17810912e-02 6.19169934e+01] [ 2.11111514e-02 6.09237137e-05 9.99777133e-01 6.48956032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.199254154 meters 0.013854152504121043 Centerline is valid? [True, True] Translation: X:960.97, Y:61.94, Z:6.49 [[ 8.28071601e-01 -5.60354517e-01 -1.73274007e-02 9.60967866e+02] [ 5.60233252e-01 8.28252868e-01 -1.16572018e-02 6.19441721e+01] [ 2.08836350e-02 -5.43882402e-05 9.99781912e-01 6.48809385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.259254154 meters 0.013967856878081126 Centerline is valid? [True, True] Translation: X:961.02, Y:61.97, Z:6.49 [[ 8.24713974e-01 -5.65316425e-01 -1.62542412e-02 9.61019973e+02] [ 5.65210582e-01 8.24874119e-01 -1.09401093e-02 6.19720410e+01] [ 1.95923264e-02 -1.64608082e-04 9.99808038e-01 6.49157859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.319254154 meters 0.014454959365722633 Centerline is valid? [True, True] Translation: X:961.07, Y:62.00, Z:6.49 [[ 8.22002411e-01 -5.69272461e-01 -1.55209995e-02 9.61071175e+02] [ 5.69176550e-01 8.22148895e-01 -1.04522347e-02 6.20016218e+01] [ 1.87107420e-02 -2.42426809e-04 9.99824909e-01 6.49241444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.379254154 meters 0.015765397517347384 Centerline is valid? [True, True] Translation: X:961.12, Y:62.03, Z:6.49 [[ 8.19617972e-01 -5.72695066e-01 -1.57080052e-02 9.61122174e+02] [ 5.72597391e-01 8.19768418e-01 -1.05815715e-02 6.20290705e+01] [ 1.89369403e-02 -3.21516634e-04 9.99820628e-01 6.49168650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.439254154 meters 0.01908246666133123 Centerline is valid? [True, True] Translation: X:961.17, Y:62.06, Z:6.49 [[ 8.17486637e-01 -5.75676220e-01 -1.76773310e-02 9.61172810e+02] [ 5.75553103e-01 8.17677626e-01 -1.19132568e-02 6.20600629e+01] [ 2.13125366e-02 -4.35314483e-04 9.99772767e-01 6.49195836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.499254154 meters 0.016238348008194483 Centerline is valid? [True, True] Translation: X:961.22, Y:62.09, Z:6.49 [[ 8.16829718e-01 -5.76672736e-01 -1.54196867e-02 9.61221812e+02] [ 5.76579140e-01 8.16975151e-01 -1.03970641e-02 6.20927803e+01] [ 1.85932043e-02 -3.98038701e-04 9.99827052e-01 6.49332110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.559254154 meters 0.016216706509063344 Centerline is valid? [True, True] Translation: X:961.27, Y:62.13, Z:6.49 [[ 8.16899946e-01 -5.76605784e-01 -1.41509466e-02 9.61271259e+02] [ 5.76526862e-01 8.17022424e-01 -9.54656145e-03 6.21250142e+01] [ 1.70662432e-02 -3.59815298e-04 9.99854296e-01 6.49462543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539999 meters 0.016167954548716924 Centerline is valid? [True, True] Translation: X:961.32, Y:62.16, Z:6.50 [[ 8.18149341e-01 -5.74841693e-01 -1.37362121e-02 9.61319117e+02] [ 5.74766999e-01 8.18264586e-01 -9.27170845e-03 6.21598297e+01] [ 1.65696205e-02 -3.09479247e-04 9.99862667e-01 6.49527856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.679254154 meters 0.014148140597107785 Centerline is valid? [True, True] Translation: X:961.37, Y:62.20, Z:6.49 [[ 8.22003485e-01 -5.69325388e-01 -1.33743784e-02 9.61365318e+02] [ 5.69253770e-01 8.22112260e-01 -9.03205355e-03 6.21975980e+01] [ 1.61374178e-02 -1.89035827e-04 9.99869766e-01 6.49453211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539999 meters 0.01642062964978492 Centerline is valid? [True, True] Translation: X:961.41, Y:62.24, Z:6.49 [[ 8.26791696e-01 -5.62284054e-01 -1.58787319e-02 9.61409691e+02] [ 5.62181682e-01 8.26944158e-01 -1.07292335e-02 6.22364862e+01] [ 1.91637015e-02 -5.58910717e-05 9.99816358e-01 6.49342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.799254154 meters 0.013191110232051457 Centerline is valid? [True, True] Translation: X:961.45, Y:62.28, Z:6.49 [[ 8.31499803e-01 -5.55329258e-01 -1.47476366e-02 9.61453838e+02] [ 5.55239751e-01 8.31630570e-01 -9.97063305e-03 6.22750668e+01] [ 1.78015697e-02 1.02105344e-04 9.99841534e-01 6.49293701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539999 meters 0.013376908292858614 Centerline is valid? [True, True] Translation: X:961.50, Y:62.31, Z:6.49 [[ 8.33695431e-01 -5.52052381e-01 -1.37875281e-02 9.61500481e+02] [ 5.51973614e-01 8.33809415e-01 -9.32675758e-03 6.23105810e+01] [ 1.66450295e-02 1.65323479e-04 9.99861448e-01 6.49468437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.919254154 meters 0.013829259853847057 Centerline is valid? [True, True] Translation: X:961.55, Y:62.34, Z:6.50 [[ 8.33604646e-01 -5.52215097e-01 -1.27193451e-02 9.61547879e+02] [ 5.52148005e-01 8.33701663e-01 -8.60913435e-03 6.23436515e+01] [ 1.53582331e-02 1.53653351e-04 9.99882044e-01 6.49661737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539999 meters 0.013162647418916304 Centerline is valid? [True, True] Translation: X:961.60, Y:62.38, Z:6.50 [[ 8.32069411e-01 -5.54534712e-01 -1.23186157e-02 9.61597675e+02] [ 5.54471963e-01 8.32160586e-01 -8.34273579e-03 6.23758681e+01] [ 1.48774030e-02 1.11408233e-04 9.99889319e-01 6.49729757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.039254154 meters 0.01309714634339935 Centerline is valid? [True, True] Translation: X:961.65, Y:62.41, Z:6.50 [[ 8.30015375e-01 -5.57593213e-01 -1.28173746e-02 9.61646482e+02] [ 5.57525595e-01 8.30114332e-01 -8.68365613e-03 6.24062155e+01] [ 1.54818341e-02 6.15537131e-05 9.99880147e-01 6.49674351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539999 meters 0.01391025049309592 Centerline is valid? [True, True] Translation: X:961.70, Y:62.44, Z:6.50 [[ 8.27273260e-01 -5.61630962e-01 -1.37701252e-02 9.61696551e+02] [ 5.61553405e-01 8.27387855e-01 -9.33329477e-03 6.24367269e+01] [ 1.66351017e-02 -1.14755025e-05 9.99861627e-01 6.49630541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.159254154 meters 0.015722076649185325 Centerline is valid? [True, True] Translation: X:961.75, Y:62.47, Z:6.50 [[ 8.23954964e-01 -5.66430204e-01 -1.59700089e-02 9.61747607e+02] [ 5.66326659e-01 8.24109707e-01 -1.08307768e-02 6.24668332e+01] [ 1.92959185e-02 -1.20169538e-04 9.99813809e-01 6.49518337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539999 meters 0.014513365089283971 Centerline is valid? [True, True] Translation: X:961.80, Y:62.50, Z:6.50 [[ 8.20238977e-01 -5.71791990e-01 -1.61845981e-02 9.61798351e+02] [ 5.71686615e-01 8.20398598e-01 -1.09797654e-02 6.24958950e+01] [ 1.95559635e-02 -2.46486594e-04 9.99808733e-01 6.49572365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.279254154 meters 0.01708048499451888 Centerline is valid? [True, True] Translation: X:961.85, Y:62.53, Z:6.50 [[ 8.16914921e-01 -5.76513881e-01 -1.67856283e-02 9.61849728e+02] [ 5.76401489e-01 8.17087270e-01 -1.13893214e-02 6.25252371e+01] [ 2.02814251e-02 -3.71154551e-04 9.99794242e-01 6.49588188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.339254154 meters 0.015951672091274113 Centerline is valid? [True, True] Translation: X:961.90, Y:62.56, Z:6.50 [[ 8.15334587e-01 -5.78775566e-01 -1.57593226e-02 9.61899264e+02] [ 5.78676872e-01 8.15486778e-01 -1.06954386e-02 6.25562952e+01] [ 1.90417778e-02 -3.99194465e-04 9.99818609e-01 6.49728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.399254154 meters 0.018683236465016996 Centerline is valid? [True, True] Translation: X:961.95, Y:62.59, Z:6.50 [[ 8.12701033e-01 -5.82483248e-01 -1.51755495e-02 9.61950162e+02] [ 5.82392293e-01 8.12842574e-01 -1.03037089e-02 6.25860363e+01] [ 1.83370706e-02 -4.64288257e-04 9.99831754e-01 6.49896025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.459254154 meters 0.01990880948977701 Centerline is valid? [True, True] Translation: X:962.00, Y:62.62, Z:6.50 [[ 8.11815944e-01 -5.83737791e-01 -1.43200457e-02 9.61998619e+02] [ 5.83656932e-01 8.11942102e-01 -9.72666651e-03 6.26168042e+01] [ 1.73048708e-02 -4.61730974e-04 9.99850153e-01 6.50035359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.519254154 meters 0.018968170100424165 Centerline is valid? [True, True] Translation: X:962.05, Y:62.65, Z:6.50 [[ 8.12213470e-01 -5.83194807e-01 -1.38959243e-02 9.62046321e+02] [ 5.83118517e-01 8.12332216e-01 -9.44277307e-03 6.26514459e+01] [ 1.67950832e-02 -4.33423270e-04 9.99858859e-01 6.50129488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.579254154 meters 0.019480480821805753 Centerline is valid? [True, True] Translation: X:962.09, Y:62.69, Z:6.50 [[ 8.14115003e-01 -5.80509721e-01 -1.50075161e-02 9.62092933e+02] [ 5.80420179e-01 8.14253217e-01 -1.02036337e-02 6.26877615e+01] [ 1.81432268e-02 -4.03733908e-04 9.99835317e-01 6.50028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.639254154 meters 0.015449461477849495 Centerline is valid? [True, True] Translation: X:962.14, Y:62.73, Z:6.50 [[ 8.17106505e-01 -5.76331317e-01 -1.33855032e-02 9.62138786e+02] [ 5.76259454e-01 8.17216090e-01 -9.10516490e-03 6.27257954e+01] [ 1.61864403e-02 -2.73633284e-04 9.99868954e-01 6.50158771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.699254154 meters 0.017521570534341883 Centerline is valid? [True, True] Translation: X:962.18, Y:62.76, Z:6.50 [[ 8.19768282e-01 -5.72522346e-01 -1.40757436e-02 9.62184433e+02] [ 5.72442230e-01 8.19889091e-01 -9.57978132e-03 6.27638630e+01] [ 1.70251875e-02 -2.04349177e-04 9.99855040e-01 6.50135490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.759254154 meters 0.01355730352695303 Centerline is valid? [True, True] Translation: X:962.23, Y:62.80, Z:6.50 [[ 8.23209417e-01 -5.67576676e-01 -1.35267355e-02 9.62230497e+02] [ 5.67501935e-01 8.23320538e-01 -9.21112686e-03 6.28010939e+01] [ 1.63648599e-02 -9.37622052e-05 9.99866082e-01 6.50171228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.819254154 meters 0.015646385945706255 Centerline is valid? [True, True] Translation: X:962.28, Y:62.84, Z:6.50 [[ 8.25761760e-01 -5.63843727e-01 -1.40629956e-02 9.62276037e+02] [ 5.63762344e-01 8.25881500e-01 -9.57960214e-03 6.28362578e+01] [ 1.70157665e-02 -1.77182508e-05 9.99855221e-01 6.50042792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.879254154 meters 0.016625600204344025 Centerline is valid? [True, True] Translation: X:962.32, Y:62.87, Z:6.50 [[ 8.28427199e-01 -5.59930219e-01 -1.36574650e-02 9.62322077e+02] [ 5.59852860e-01 8.28539767e-01 -9.30746692e-03 6.28721474e+01] [ 1.65272848e-02 6.43879224e-05 9.99863413e-01 6.50002150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.939254154 meters 0.01405963549422681 Centerline is valid? [True, True] Translation: X:962.37, Y:62.91, Z:6.50 [[ 8.30608911e-01 -5.56703024e-01 -1.30606339e-02 9.62370207e+02] [ 5.56631801e-01 8.30711579e-01 -8.90567126e-03 6.29065173e+01] [ 1.58074340e-02 1.27165720e-04 9.99875047e-01 6.50092184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.999254154 meters 0.017017969382993207 Centerline is valid? [True, True] Translation: X:962.42, Y:62.94, Z:6.50 [[ 8.32510494e-01 -5.53865895e-01 -1.26034560e-02 9.62419029e+02] [ 5.53799178e-01 8.32605872e-01 -8.59840102e-03 6.29400268e+01] [ 1.52560726e-02 1.78475492e-04 9.99883603e-01 6.50152191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.059254154 meters 0.018909566742376992 Centerline is valid? [True, True] Translation: X:962.47, Y:62.97, Z:6.50 [[ 8.34924417e-01 -5.50210570e-01 -1.30210190e-02 9.62467249e+02] [ 5.50138865e-01 8.35025905e-01 -8.88630030e-03 6.29730436e+01] [ 1.57622246e-02 2.56020465e-04 9.99875736e-01 6.50107212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539999 meters 0.016563054302395647 Centerline is valid? [True, True] Translation: X:962.52, Y:63.01, Z:6.50 [[ 8.37664154e-01 -5.45999850e-01 -1.42453292e-02 9.62516957e+02] [ 5.45913389e-01 8.37785193e-01 -9.72333463e-03 6.30054376e+01] [ 1.72434651e-02 3.68172928e-04 9.99851253e-01 6.50045004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.179254154 meters 0.019944309421946572 Centerline is valid? [True, True] Translation: X:962.57, Y:63.04, Z:6.50 [[ 8.38886283e-01 -5.44039077e-01 -1.70671324e-02 9.62567721e+02] [ 5.43914469e-01 8.39059736e-01 -1.16538021e-02 6.30369914e+01] [ 2.06604673e-02 4.93154448e-04 9.99786428e-01 6.49815917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539999 meters 0.0197870647330107 Centerline is valid? [True, True] Translation: X:962.62, Y:63.07, Z:6.50 [[ 8.39280197e-01 -5.43428831e-01 -1.71422420e-02 9.62618230e+02] [ 5.43302868e-01 8.39455085e-01 -1.17112494e-02 6.30670143e+01] [ 2.07543728e-02 5.15590448e-04 9.99784472e-01 6.49866140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.299254154 meters 0.017597718538774617 Centerline is valid? [True, True] Translation: X:962.67, Y:63.09, Z:6.50 [[ 8.38191996e-01 -5.45147669e-01 -1.57542591e-02 9.62670506e+02] [ 5.45041476e-01 8.38339923e-01 -1.07686307e-02 6.30944409e+01] [ 1.90779182e-02 4.39455420e-04 9.99817903e-01 6.50130700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539999 meters 0.01887210314562383 Centerline is valid? [True, True] Translation: X:962.73, Y:63.12, Z:6.50 [[ 8.34145331e-01 -5.51342750e-01 -1.49244141e-02 9.62725122e+02] [ 5.51248375e-01 8.34278785e-01 -1.02047966e-02 6.31199897e+01] [ 1.80774627e-02 2.85224394e-04 9.99836549e-01 6.50411854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.419254154 meters 0.015170008231690993 Centerline is valid? [True, True] Translation: X:962.77, Y:63.15, Z:6.50 [[ 8.31460952e-01 -5.55418474e-01 -1.35279222e-02 9.62773742e+02] [ 5.55341443e-01 8.31570975e-01 -9.25177078e-03 6.31511630e+01] [ 1.63880319e-02 1.79870273e-04 9.99865691e-01 6.50482892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539999 meters 0.016570262650543142 Centerline is valid? [True, True] Translation: X:962.82, Y:63.18, Z:6.51 [[ 8.28430875e-01 -5.59903008e-01 -1.45226492e-02 9.62823924e+02] [ 5.59814845e-01 8.28558152e-01 -9.93617607e-03 6.31828182e+01] [ 1.75961542e-02 1.01440438e-04 9.99845171e-01 6.50519602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.539254154 meters 0.015397692698171475 Centerline is valid? [True, True] Translation: X:962.87, Y:63.21, Z:6.51 [[ 8.26010242e-01 -5.63470758e-01 -1.44147267e-02 9.62874104e+02] [ 5.63384350e-01 8.26136008e-01 -9.86766787e-03 6.32144292e+01] [ 1.74686671e-02 2.97632998e-05 9.99847411e-01 6.50644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539999 meters 0.017241530893931576 Centerline is valid? [True, True] Translation: X:962.92, Y:63.25, Z:6.51 [[ 8.24587010e-01 -5.65516759e-01 -1.57181287e-02 9.62922781e+02] [ 5.65414272e-01 8.24736804e-01 -1.07659079e-02 6.32478776e+01] [ 1.90516206e-02 -9.82650424e-06 9.99818501e-01 6.50519541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.659254154 meters 0.016861421510497403 Centerline is valid? [True, True] Translation: X:962.97, Y:63.28, Z:6.50 [[ 8.22674288e-01 -5.68273746e-01 -1.64913722e-02 9.62969390e+02] [ 5.68161409e-01 8.22839562e-01 -1.12990838e-02 6.32820135e+01] [ 1.99907261e-02 -7.42955923e-05 9.99800163e-01 6.50177354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539999 meters 0.015666066003209998 Centerline is valid? [True, True] Translation: X:963.02, Y:63.31, Z:6.50 [[ 8.21487559e-01 -5.70007757e-01 -1.57907066e-02 9.63017303e+02] [ 5.69904989e-01 8.21639304e-01 -1.08239814e-02 6.33148196e+01] [ 1.91440185e-02 -1.07436366e-04 9.99816731e-01 6.50389519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.779254154 meters 0.016129313959231725 Centerline is valid? [True, True] Translation: X:963.07, Y:63.35, Z:6.51 [[ 8.20080817e-01 -5.72080074e-01 -1.38507271e-02 9.63065759e+02] [ 5.72001217e-01 8.20197764e-01 -9.49928728e-03 6.33487503e+01] [ 1.67946883e-02 -1.32449460e-04 9.99858951e-01 6.50617888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.839254154 meters 0.016023026169335552 Centerline is valid? [True, True] Translation: X:963.11, Y:63.39, Z:6.51 [[ 8.20801520e-01 -5.71084798e-01 -1.21250800e-02 9.63111445e+02] [ 5.71024197e-01 8.20891067e-01 -8.31997587e-03 6.33858623e+01] [ 1.47047816e-02 -9.46652398e-05 9.99891874e-01 6.50630050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.899254154 meters 0.013320653211410264 Centerline is valid? [True, True] Translation: X:963.16, Y:63.42, Z:6.51 [[ 8.23384614e-01 -5.67368739e-01 -1.14232487e-02 9.63155850e+02] [ 5.67314556e-01 8.23463850e-01 -7.84105039e-03 6.34230586e+01] [ 1.38553993e-02 -2.43750263e-05 9.99904009e-01 6.50690524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.959254154 meters 0.013303439542477752 Centerline is valid? [True, True] Translation: X:963.20, Y:63.46, Z:6.51 [[ 8.25889869e-01 -5.63728522e-01 -1.07739449e-02 9.63200782e+02] [ 5.63679974e-01 8.25960140e-01 -7.39825923e-03 6.34610514e+01] [ 1.30694588e-02 3.70903460e-05 9.99914590e-01 6.50721782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.019254154 meters 0.013760094206197067 Centerline is valid? [True, True] Translation: X:963.24, Y:63.50, Z:6.51 [[ 8.29205073e-01 -5.58865482e-01 -9.39784253e-03 9.63243860e+02] [ 5.58828202e-01 8.29258321e-01 -6.45587584e-03 6.35003421e+01] [ 1.14012053e-02 1.01465560e-04 9.99934999e-01 6.50716657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.079254154 meters 0.01621200959650508 Centerline is valid? [True, True] Translation: X:963.29, Y:63.54, Z:6.50 [[ 8.29874416e-01 -5.57867339e-01 -9.61698215e-03 9.63290882e+02] [ 5.57828206e-01 8.29930129e-01 -6.60865160e-03 6.35357547e+01] [ 1.16681741e-02 1.19726988e-04 9.99931917e-01 6.50438907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.139254154 meters 0.014253204528708182 Centerline is valid? [True, True] Translation: X:963.34, Y:63.57, Z:6.50 [[ 8.31315041e-01 -5.55683717e-01 -1.14415899e-02 9.63338101e+02] [ 5.55628055e-01 8.31393754e-01 -7.86709866e-03 6.35708701e+01] [ 1.38840850e-02 1.82769101e-04 9.99903595e-01 6.50444667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.199254154 meters 0.014509787851937664 Centerline is valid? [True, True] Translation: X:963.39, Y:63.60, Z:6.50 [[ 8.31799918e-01 -5.54947944e-01 -1.19027847e-02 9.63385443e+02] [ 5.54887586e-01 8.31885050e-01 -8.18717529e-03 6.36044093e+01] [ 1.44452047e-02 2.05384267e-04 9.99895641e-01 6.50377228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.259254154 meters 0.014555911532459673 Centerline is valid? [True, True] Translation: X:963.43, Y:63.64, Z:6.50 [[ 8.31170677e-01 -5.55885949e-01 -1.20879543e-02 9.63434774e+02] [ 5.55823745e-01 8.31258548e-01 -8.31809295e-03 6.36358587e+01] [ 1.46721263e-02 1.94982929e-04 9.99892340e-01 6.50360780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.319254154 meters 0.014165331074646025 Centerline is valid? [True, True] Translation: X:963.48, Y:63.67, Z:6.50 [[ 8.30583286e-01 -5.56754071e-01 -1.25023318e-02 9.63483679e+02] [ 5.56687576e-01 8.30677355e-01 -8.60661563e-03 6.36674958e+01] [ 1.51771722e-02 1.88618326e-04 9.99884802e-01 6.50372399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.379254154 meters 0.013775229489428107 Centerline is valid? [True, True] Translation: X:963.53, Y:63.70, Z:6.51 [[ 8.29874946e-01 -5.57816152e-01 -1.21948774e-02 9.63534722e+02] [ 5.57752957e-01 8.29964525e-01 -8.39800153e-03 6.36980969e+01] [ 1.48058566e-02 1.67562125e-04 9.99890373e-01 6.50531911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.439254154 meters 0.013589071875961454 Centerline is valid? [True, True] Translation: X:963.59, Y:63.73, Z:6.51 [[ 8.28940534e-01 -5.59235225e-01 -1.06561428e-02 9.63585388e+02] [ 5.59187043e-01 8.29009015e-01 -7.34193566e-03 6.37282147e+01] [ 1.29399075e-02 1.27251059e-04 9.99916268e-01 6.50734807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.499254154 meters 0.013639773745250694 Centerline is valid? [True, True] Translation: X:963.63, Y:63.76, Z:6.51 [[ 8.28702731e-01 -5.59612086e-01 -9.27884535e-03 9.63634266e+02] [ 5.59575540e-01 8.28754669e-01 -6.39634503e-03 6.37595008e+01] [ 1.12693584e-02 1.08453697e-04 9.99936493e-01 6.50853843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.559254154 meters 0.013742559521569497 Centerline is valid? [True, True] Translation: X:963.68, Y:63.79, Z:6.51 [[ 8.28817387e-01 -5.59446487e-01 -9.02040299e-03 9.63682376e+02] [ 5.59411899e-01 8.28866464e-01 -6.22188062e-03 6.37918586e+01] [ 1.09575188e-02 1.10682069e-04 9.99939958e-01 6.50843650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539999 meters 0.014263817383023247 Centerline is valid? [True, True] Translation: X:963.73, Y:63.82, Z:6.51 [[ 8.29712543e-01 -5.58107889e-01 -9.62704459e-03 9.63731606e+02] [ 5.58068367e-01 8.29768380e-01 -6.64328008e-03 6.38222177e+01] [ 1.16958842e-02 1.39463764e-04 9.99931591e-01 6.50784046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.679254154 meters 0.014028787308393978 Centerline is valid? [True, True] Translation: X:963.78, Y:63.85, Z:6.51 [[ 8.30060178e-01 -5.57589697e-01 -9.68664071e-03 9.63781840e+02] [ 5.57549622e-01 8.30116683e-01 -6.68668856e-03 6.38536399e+01] [ 1.17694707e-02 1.49571037e-04 9.99930726e-01 6.50922146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539999 meters 0.014421773791899333 Centerline is valid? [True, True] Translation: X:963.83, Y:63.89, Z:6.51 [[ 8.31179534e-01 -5.55940178e-01 -8.43213260e-03 9.63829337e+02] [ 5.55909696e-01 8.31222290e-01 -5.82362277e-03 6.38885085e+01] [ 1.02465624e-02 1.52971797e-04 9.99947491e-01 6.51021263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.799254154 meters 0.014757496197476936 Centerline is valid? [True, True] Translation: X:963.88, Y:63.92, Z:6.51 [[ 8.31701367e-01 -5.55165848e-01 -7.98227267e-03 9.63877062e+02] [ 5.55138468e-01 8.31739657e-01 -5.51582585e-03 6.39235619e+01] [ 9.70137087e-03 1.56253278e-04 9.99952928e-01 6.51057345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539999 meters 0.014638789247641231 Centerline is valid? [True, True] Translation: X:963.93, Y:63.95, Z:6.51 [[ 8.30516162e-01 -5.56924287e-01 -8.84553634e-03 9.63925363e+02] [ 5.56890735e-01 8.30563252e-01 -6.11507087e-03 6.39549164e+01] [ 1.07524089e-02 1.52667952e-04 9.99942180e-01 6.50947497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.919254154 meters 0.014648308418883099 Centerline is valid? [True, True] Translation: X:963.98, Y:63.99, Z:6.51 [[ 8.28159083e-01 -5.60445356e-01 -7.31687078e-03 9.63975738e+02] [ 5.60422525e-01 8.28191400e-01 -5.05954546e-03 6.39853495e+01] [ 8.89536821e-03 8.95693350e-05 9.99960431e-01 6.51005744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539999 meters 0.014661736263177088 Centerline is valid? [True, True] Translation: X:964.02, Y:64.02, Z:6.51 [[ 8.26348154e-01 -5.63127001e-01 -6.05878691e-03 9.64024065e+02] [ 5.63111405e-01 8.26370364e-01 -4.19136307e-03 6.40170018e+01] [ 7.36707166e-03 5.17531220e-05 9.99972861e-01 6.51083620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.039254154 meters 0.013249184081640093 Centerline is valid? [True, True] Translation: X:964.07, Y:64.05, Z:6.51 [[ 8.25915096e-01 -5.63750404e-01 -7.05242427e-03 9.64071670e+02] [ 5.63729283e-01 8.25945203e-01 -4.88023942e-03 6.40498025e+01] [ 8.57615294e-03 5.50053274e-05 9.99963223e-01 6.51243041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539999 meters 0.014823730297736792 Centerline is valid? [True, True] Translation: X:964.12, Y:64.09, Z:6.51 [[ 8.27382583e-01 -5.61583100e-01 -7.90456541e-03 9.64117165e+02] [ 5.61556434e-01 8.27420337e-01 -5.47345699e-03 6.40873282e+01] [ 9.61419912e-03 8.97834186e-05 9.99953778e-01 6.51016750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.159254154 meters 0.014213001559268662 Centerline is valid? [True, True] Translation: X:964.16, Y:64.13, Z:6.51 [[ 8.29295953e-01 -5.58748742e-01 -8.25011893e-03 9.64161225e+02] [ 5.58719521e-01 8.29336980e-01 -5.71589542e-03 6.41271949e+01] [ 1.00358781e-02 1.30666446e-04 9.99949631e-01 6.51159563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539999 meters 0.016567599920742002 Centerline is valid? [True, True] Translation: X:964.21, Y:64.16, Z:6.51 [[ 8.29523961e-01 -5.58405943e-01 -8.53238114e-03 9.64207562e+02] [ 5.58374636e-01 8.29567829e-01 -5.91467251e-03 6.41643680e+01] [ 1.03809772e-02 1.42097361e-04 9.99946106e-01 6.50892274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.279254154 meters 0.0144940586418095 Centerline is valid? [True, True] Translation: X:964.25, Y:64.20, Z:6.51 [[ 8.29355348e-01 -5.58636444e-01 -9.74834858e-03 9.64254183e+02] [ 5.58595545e-01 8.29412622e-01 -6.76165807e-03 6.41984933e+01] [ 1.18627120e-02 1.62433197e-04 9.99929622e-01 6.51159446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.339254154 meters 0.014883433650724458 Centerline is valid? [True, True] Translation: X:964.30, Y:64.23, Z:6.51 [[ 8.28671323e-01 -5.59645451e-01 -1.00403322e-02 9.64300099e+02] [ 5.59602103e-01 8.28732131e-01 -6.96712277e-03 6.42342231e+01] [ 1.22198645e-02 1.54863820e-04 9.99925323e-01 6.51006907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.399254154 meters 0.013795953549043598 Centerline is valid? [True, True] Translation: X:964.35, Y:64.27, Z:6.51 [[ 8.27506101e-01 -5.61384117e-01 -9.02921254e-03 9.64349680e+02] [ 5.61349143e-01 8.27555351e-01 -6.26735475e-03 6.42669000e+01] [ 1.09905666e-02 1.17733567e-04 9.99939595e-01 6.51390306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.459254154 meters 0.01401562258726256 Centerline is valid? [True, True] Translation: X:964.40, Y:64.30, Z:6.51 [[ 8.25592711e-01 -5.64206229e-01 -8.24665132e-03 9.64397748e+02] [ 5.64177174e-01 8.25633893e-01 -5.72628434e-03 6.42993628e+01] [ 1.00395201e-02 7.50061707e-05 9.99949600e-01 6.51474566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.519254154 meters 0.016208423695127455 Centerline is valid? [True, True] Translation: X:964.45, Y:64.33, Z:6.51 [[ 8.23648812e-01 -5.67038354e-01 -8.37493836e-03 9.64446743e+02] [ 5.67008516e-01 8.23691389e-01 -5.81715777e-03 6.43321594e+01] [ 1.01969162e-02 4.26337141e-05 9.99948009e-01 6.51209444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.579254154 meters 0.013320275101410163 Centerline is valid? [True, True] Translation: X:964.49, Y:64.37, Z:6.52 [[ 8.23268393e-01 -5.67576958e-01 -9.24935686e-03 9.64494866e+02] [ 5.67540555e-01 8.23320348e-01 -6.42835099e-03 6.43654249e+01] [ 1.12637676e-02 4.28730600e-05 9.99936561e-01 6.51569827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.639254154 meters 0.013369669635999334 Centerline is valid? [True, True] Translation: X:964.54, Y:64.40, Z:6.52 [[ 8.23561610e-01 -5.67132410e-01 -1.03491242e-02 9.64542678e+02] [ 5.67086744e-01 8.23626631e-01 -7.19709876e-03 6.44000749e+01] [ 1.26055223e-02 5.84030949e-05 9.99920546e-01 6.51511262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.699254154 meters 0.013884284413582585 Centerline is valid? [True, True] Translation: X:964.59, Y:64.43, Z:6.51 [[ 8.24104461e-01 -5.66345367e-01 -1.02353469e-02 9.64589489e+02] [ 5.66300589e-01 8.24168017e-01 -7.12194872e-03 6.44349249e+01] [ 1.24691282e-02 7.29467457e-05 9.99922255e-01 6.51471090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.759254154 meters 0.013755992669031275 Centerline is valid? [True, True] Translation: X:964.64, Y:64.47, Z:6.52 [[ 8.25011612e-01 -5.65038323e-01 -9.35598095e-03 9.64636407e+02] [ 5.65000783e-01 8.25064656e-01 -6.51375119e-03 6.44687442e+01] [ 1.13998082e-02 8.77838075e-05 9.99935016e-01 6.51678764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.819254154 meters 0.013787577956918868 Centerline is valid? [True, True] Translation: X:964.68, Y:64.50, Z:6.52 [[ 8.26284503e-01 -5.63175669e-01 -9.33197894e-03 9.64684505e+02] [ 5.63138160e-01 8.26337191e-01 -6.50079330e-03 6.45024715e+01] [ 1.13724499e-02 1.16311312e-04 9.99935325e-01 6.51825677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.879254154 meters 0.014465003302925446 Centerline is valid? [True, True] Translation: X:964.73, Y:64.54, Z:6.52 [[ 8.27533173e-01 -5.61345462e-01 -8.95100483e-03 9.64731066e+02] [ 5.61310819e-01 8.27581569e-01 -6.23792037e-03 6.45375965e+01] [ 1.09093149e-02 1.37790187e-04 9.99940482e-01 6.51824219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.939254154 meters 0.014437615206110744 Centerline is valid? [True, True] Translation: X:964.78, Y:64.57, Z:6.52 [[ 8.27959564e-01 -5.60716242e-01 -8.95862830e-03 9.64780328e+02] [ 5.60681480e-01 8.28008016e-01 -6.24528601e-03 6.45705173e+01] [ 1.09196493e-02 1.47907302e-04 9.99940368e-01 6.51907900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.999254154 meters 0.01414144139937477 Centerline is valid? [True, True] Translation: X:964.83, Y:64.60, Z:6.52 [[ 8.26797704e-01 -5.62435537e-01 -8.47484556e-03 9.64829989e+02] [ 5.62404486e-01 8.26841129e-01 -5.91112759e-03 6.46020693e+01] [ 1.03319791e-02 1.21015559e-04 9.99946616e-01 6.51983763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.059254154 meters 0.016357749989970558 Centerline is valid? [True, True] Translation: X:964.88, Y:64.63, Z:6.52 [[ 8.25281592e-01 -5.64659558e-01 -8.35922903e-03 9.64878647e+02] [ 5.64629438e-01 8.25323921e-01 -5.83293030e-03 6.46331071e+01] [ 1.01926915e-02 9.39432128e-05 9.99948049e-01 6.51767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539999 meters 0.014524185373142607 Centerline is valid? [True, True] Translation: X:964.93, Y:64.66, Z:6.52 [[ 8.21437206e-01 -5.70246270e-01 -7.75293256e-03 9.64929222e+02] [ 5.70220599e-01 8.21473792e-01 -5.41084167e-03 6.46613792e+01] [ 9.45434319e-03 2.37848207e-05 9.99955306e-01 6.51946949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.179254154 meters 0.013229641939807005 Centerline is valid? [True, True] Translation: X:964.98, Y:64.69, Z:6.52 [[ 8.19673049e-01 -5.72778345e-01 -7.81417494e-03 9.64978270e+02] [ 5.72752365e-01 8.19710295e-01 -5.45528696e-03 6.46926337e+01] [ 9.53002988e-03 -4.03548486e-06 9.99954588e-01 6.52124460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539999 meters 0.016325648145082017 Centerline is valid? [True, True] Translation: X:965.03, Y:64.72, Z:6.52 [[ 8.17916948e-01 -5.75266314e-01 -8.97409475e-03 9.65028028e+02] [ 5.75232155e-01 8.17966177e-01 -6.26902358e-03 6.47249378e+01] [ 1.09468641e-02 -3.46472261e-05 9.99940081e-01 6.51764453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.299254154 meters 0.013540909042385293 Centerline is valid? [True, True] Translation: X:965.08, Y:64.76, Z:6.52 [[ 8.17674912e-01 -5.75605662e-01 -9.26604784e-03 9.65075741e+02] [ 5.75569225e-01 8.17727412e-01 -6.47671014e-03 6.47575889e+01] [ 1.13051323e-02 -3.74085739e-05 9.99936094e-01 6.52058821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539999 meters 0.013705380056831713 Centerline is valid? [True, True] Translation: X:965.12, Y:64.79, Z:6.52 [[ 8.18209756e-01 -5.74819871e-01 -1.07196986e-02 9.65122623e+02] [ 5.74770970e-01 8.18279974e-01 -7.49774871e-03 6.47921355e+01] [ 1.30815696e-02 -2.66404315e-05 9.99914432e-01 6.51973107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.419254154 meters 0.015102172120407781 Centerline is valid? [True, True] Translation: X:965.17, Y:64.83, Z:6.52 [[ 8.18640317e-01 -5.74166868e-01 -1.26664798e-02 9.65169126e+02] [ 5.74098456e-01 8.18738302e-01 -8.86313098e-03 6.48260042e+01] [ 1.54594483e-02 -1.60901297e-05 9.99880495e-01 6.51651929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539999 meters 0.013682396880965923 Centerline is valid? [True, True] Translation: X:965.22, Y:64.86, Z:6.52 [[ 8.21198353e-01 -5.70470965e-01 -1.40051420e-02 9.65215364e+02] [ 5.70386721e-01 8.21317767e-01 -9.80376379e-03 6.48632281e+01] [ 1.70954346e-02 6.24876224e-05 9.99853860e-01 6.51785019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.539254154 meters 0.01366280654051877 Centerline is valid? [True, True] Translation: X:965.26, Y:64.90, Z:6.52 [[ 8.22278143e-01 -5.68933958e-01 -1.31455934e-02 9.65261946e+02] [ 5.68859458e-01 8.22383209e-01 -9.20726272e-03 6.48983346e+01] [ 1.60490397e-02 9.29357432e-05 9.99871202e-01 6.52010048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539999 meters 0.01377112445843202 Centerline is valid? [True, True] Translation: X:965.31, Y:64.93, Z:6.52 [[ 8.23238211e-01 -5.67595657e-01 -1.06778889e-02 9.65308056e+02] [ 5.67546337e-01 8.23307451e-01 -7.48299502e-03 6.49329687e+01] [ 1.30385010e-02 1.00090680e-04 9.99914990e-01 6.52320372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.659254154 meters 0.013799852352080734 Centerline is valid? [True, True] Translation: X:965.36, Y:64.97, Z:6.52 [[ 8.22955476e-01 -5.68020926e-01 -9.82406372e-03 9.65355168e+02] [ 5.67979161e-01 8.23014107e-01 -6.88861142e-03 6.49671121e+01] [ 1.19982185e-02 8.91570311e-05 9.99928015e-01 6.52478989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539999 meters 0.01368611211293588 Centerline is valid? [True, True] Translation: X:965.40, Y:65.00, Z:6.53 [[ 8.22859099e-01 -5.68151870e-01 -1.03128613e-02 9.65402040e+02] [ 5.68105799e-01 8.22923717e-01 -7.23588462e-03 6.50007319e+01] [ 1.25977795e-02 9.53171843e-05 9.99920640e-01 6.52512719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.779254154 meters 0.01393936506231879 Centerline is valid? [True, True] Translation: X:965.45, Y:65.04, Z:6.52 [[ 8.23361856e-01 -5.67368234e-01 -1.29823411e-02 9.65447654e+02] [ 5.67295054e-01 8.23464187e-01 -9.11341350e-03 6.50357806e+01] [ 1.58611543e-02 1.38819168e-04 9.99874194e-01 6.52204559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.839254154 meters 0.014043139375407089 Centerline is valid? [True, True] Translation: X:965.50, Y:65.07, Z:6.52 [[ 8.23578350e-01 -5.66962876e-01 -1.64863458e-02 9.65495183e+02] [ 5.66844663e-01 8.23743322e-01 -1.15787161e-02 6.50707643e+01] [ 2.01452195e-02 1.90782742e-04 9.99797046e-01 6.51917660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.899254154 meters 0.014132103604907395 Centerline is valid? [True, True] Translation: X:965.54, Y:65.10, Z:6.52 [[ 8.23210858e-01 -5.67468433e-01 -1.74201359e-02 9.65543523e+02] [ 5.67336421e-01 8.23395130e-01 -1.22411603e-02 6.51045008e+01] [ 2.12901271e-02 1.93978512e-04 9.99773321e-01 6.51907719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.959254154 meters 0.013896676274314087 Centerline is valid? [True, True] Translation: X:965.59, Y:65.14, Z:6.52 [[ 8.21940942e-01 -5.69321173e-01 -1.69260149e-02 9.65592339e+02] [ 5.69196807e-01 8.22115187e-01 -1.19001848e-02 6.51376955e+01] [ 2.06901611e-02 1.47015489e-04 9.99785925e-01 6.52052213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.019254154 meters 0.01666436088742276 Centerline is valid? [True, True] Translation: X:965.64, Y:65.17, Z:6.52 [[ 8.20678282e-01 -5.71123350e-01 -1.74721814e-02 9.65640588e+02] [ 5.70991083e-01 8.20864244e-01 -1.22913254e-02 6.51708106e+01] [ 2.13621519e-02 1.10764003e-04 9.99771797e-01 6.51949980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.079254154 meters 0.014031577581777203 Centerline is valid? [True, True] Translation: X:965.69, Y:65.20, Z:6.52 [[ 8.19131615e-01 -5.73383821e-01 -1.59496557e-02 9.65690730e+02] [ 5.73273915e-01 8.19286880e-01 -1.12261618e-02 6.52019891e+01] [ 1.95042432e-02 5.21824833e-05 9.99809773e-01 6.52277440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.139254154 meters 0.015674934978864342 Centerline is valid? [True, True] Translation: X:965.74, Y:65.23, Z:6.52 [[ 8.17829481e-01 -5.75186812e-01 -1.77502633e-02 9.65740011e+02] [ 5.75051028e-01 8.18022085e-01 -1.24973636e-02 6.52334568e+01] [ 2.17084261e-02 1.34052428e-05 9.99764344e-01 6.52277242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.199254154 meters 0.013736235797593628 Centerline is valid? [True, True] Translation: X:965.79, Y:65.27, Z:6.52 [[ 8.17188337e-01 -5.76112266e-01 -1.72591540e-02 9.65787810e+02] [ 5.75983979e-01 8.17370575e-01 -1.21572607e-02 6.52657012e+01] [ 2.11110716e-02 -6.22455302e-06 9.99777136e-01 6.52309927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.259254154 meters 0.014988926328275452 Centerline is valid? [True, True] Translation: X:965.84, Y:65.30, Z:6.52 [[ 8.16725026e-01 -5.76735606e-01 -1.83377546e-02 9.65836542e+02] [ 5.76590776e-01 8.16930866e-01 -1.29242558e-02 6.52980858e+01] [ 2.24345563e-02 -1.78170149e-05 9.99748314e-01 6.52314656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.319254154 meters 0.013797476442836128 Centerline is valid? [True, True] Translation: X:965.89, Y:65.33, Z:6.52 [[ 8.16114975e-01 -5.77633445e-01 -1.72032426e-02 9.65885379e+02] [ 5.77506049e-01 8.16296271e-01 -1.21309996e-02 6.53303176e+01] [ 2.10502139e-02 -3.46862204e-05 9.99778419e-01 6.52488188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.379254154 meters 0.016450928703184244 Centerline is valid? [True, True] Translation: X:965.93, Y:65.36, Z:6.52 [[ 8.15314411e-01 -5.78754861e-01 -1.74705809e-02 9.65934830e+02] [ 5.78623653e-01 8.15501568e-01 -1.23232037e-02 6.53604712e+01] [ 2.13794001e-02 -6.16058016e-05 9.99771433e-01 6.52331344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.439254154 meters 0.013936150607827364 Centerline is valid? [True, True] Translation: X:965.98, Y:65.39, Z:6.53 [[ 8.16991534e-01 -5.76452698e-01 -1.50705229e-02 9.65983408e+02] [ 5.76354596e-01 8.17130520e-01 -1.06344982e-02 6.53931346e+01] [ 1.84448694e-02 2.32986401e-06 9.99829879e-01 6.52559954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.499254154 meters 0.014160624295411437 Centerline is valid? [True, True] Translation: X:966.03, Y:65.43, Z:6.53 [[ 8.20503245e-01 -5.71460871e-01 -1.43839428e-02 9.66029869e+02] [ 5.71370641e-01 8.20629307e-01 -1.01553172e-02 6.54300343e+01] [ 1.76072514e-02 1.13908136e-04 9.99844974e-01 6.52527942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.559254154 meters 0.015860156075542885 Centerline is valid? [True, True] Translation: X:966.08, Y:65.47, Z:6.53 [[ 8.24600419e-01 -5.65525390e-01 -1.46690723e-02 9.66075519e+02] [ 5.65430544e-01 8.24730848e-01 -1.03599495e-02 6.54667601e+01] [ 1.79568509e-02 2.48477162e-04 9.99838732e-01 6.52507484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539999 meters 0.015800304978669456 Centerline is valid? [True, True] Translation: X:966.12, Y:65.50, Z:6.53 [[ 8.27218311e-01 -5.61708505e-01 -1.39075995e-02 9.66122957e+02] [ 5.61622643e-01 8.27335153e-01 -9.82610272e-03 6.55022003e+01] [ 1.70256514e-02 3.17509305e-04 9.99855003e-01 6.52679060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.679254154 meters 0.017452435630264 Centerline is valid? [True, True] Translation: X:966.17, Y:65.54, Z:6.52 [[ 8.27514801e-01 -5.61227579e-01 -1.55839296e-02 9.66169759e+02] [ 5.61119564e-01 8.27661444e-01 -1.10167447e-02 6.55381165e+01] [ 1.90811187e-02 3.72071471e-04 9.99817870e-01 6.52482844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539999 meters 0.015800113071665504 Centerline is valid? [True, True] Translation: X:966.22, Y:65.57, Z:6.52 [[ 8.26344088e-01 -5.62970537e-01 -1.48196571e-02 9.66218352e+02] [ 5.62873036e-01 8.26476904e-01 -1.04820207e-02 6.55718478e+01] [ 1.81491732e-02 3.20170423e-04 9.99835239e-01 6.52480176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.799254154 meters 0.015488527877745592 Centerline is valid? [True, True] Translation: X:966.27, Y:65.60, Z:6.53 [[ 8.25163364e-01 -5.64722055e-01 -1.39436000e-02 9.66267573e+02] [ 5.64635903e-01 8.25281121e-01 -9.86754892e-03 6.56045745e+01] [ 1.70798123e-02 2.69282672e-04 9.99854093e-01 6.52634137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539999 meters 0.01511557004683953 Centerline is valid? [True, True] Translation: X:966.32, Y:65.64, Z:6.53 [[ 8.24287476e-01 -5.66003447e-01 -1.37933199e-02 9.66316564e+02] [ 5.65919233e-01 8.24402838e-01 -9.76640747e-03 6.56380182e+01] [ 1.68990724e-02 2.44422338e-04 9.99857171e-01 6.52645248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.919254154 meters 0.014638652659359033 Centerline is valid? [True, True] Translation: X:966.37, Y:65.67, Z:6.53 [[ 8.22463941e-01 -5.68646447e-01 -1.39385787e-02 9.66366321e+02] [ 5.68560739e-01 8.22582020e-01 -9.87457053e-03 6.56699511e+01] [ 1.70807636e-02 1.96549610e-04 9.99854094e-01 6.52622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539999 meters 0.014286482631049669 Centerline is valid? [True, True] Translation: X:966.42, Y:65.70, Z:6.53 [[ 8.20861980e-01 -5.70961866e-01 -1.37170560e-02 9.66415614e+02] [ 5.70879096e-01 8.20976568e-01 -9.72277136e-03 6.57025525e+01] [ 1.68127132e-02 1.50272837e-04 9.99858645e-01 6.52675760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.039254154 meters 0.01639494787347856 Centerline is valid? [True, True] Translation: X:966.46, Y:65.73, Z:6.53 [[ 8.19083866e-01 -5.73482144e-01 -1.48273739e-02 9.66463780e+02] [ 5.73385731e-01 8.19218053e-01 -1.05159749e-02 6.57346314e+01] [ 1.81775763e-02 1.11660769e-04 9.99834768e-01 6.52699643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539999 meters 0.014751852389208855 Centerline is valid? [True, True] Translation: X:966.51, Y:65.77, Z:6.53 [[ 8.18104450e-01 -5.74904743e-01 -1.37711724e-02 9.66511457e+02] [ 5.74821689e-01 8.18220343e-01 -9.77221552e-03 6.57699617e+01] [ 1.68859464e-02 7.87244498e-05 9.99857419e-01 6.52701791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.159254154 meters 0.013921013051386088 Centerline is valid? [True, True] Translation: X:966.56, Y:65.80, Z:6.53 [[ 8.18077045e-01 -5.74951863e-01 -1.34277024e-02 9.66558467e+02] [ 5.74872817e-01 8.18187233e-01 -9.53393960e-03 6.58040281e+01] [ 1.64679310e-02 8.02760607e-05 9.99864391e-01 6.52698436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539999 meters 0.014018049977641915 Centerline is valid? [True, True] Translation: X:966.61, Y:65.84, Z:6.53 [[ 8.18092818e-01 -5.74916651e-01 -1.39637109e-02 9.66605626e+02] [ 5.74831065e-01 8.18211975e-01 -9.92016687e-03 6.58390610e+01] [ 1.71285446e-02 8.88424584e-05 9.99853292e-01 6.52665358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.279254154 meters 0.016603815340516342 Centerline is valid? [True, True] Translation: X:966.65, Y:65.87, Z:6.53 [[ 8.17209296e-01 -5.76132278e-01 -1.55101452e-02 9.66652705e+02] [ 5.76026788e-01 8.17356466e-01 -1.10248298e-02 6.58746125e+01] [ 1.90290778e-02 7.53342638e-05 9.99818928e-01 6.52523723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.339254154 meters 0.013988567400553896 Centerline is valid? [True, True] Translation: X:966.70, Y:65.91, Z:6.53 [[ 8.15775010e-01 -5.78213853e-01 -1.34116443e-02 9.66700857e+02] [ 5.78135183e-01 8.15885249e-01 -9.53787274e-03 6.59088284e+01] [ 1.64572929e-02 2.70148203e-05 9.99864569e-01 6.52590938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.399254154 meters 0.017764792526909358 Centerline is valid? [True, True] Translation: X:966.75, Y:65.94, Z:6.53 [[ 8.13215352e-01 -5.81722924e-01 -1.67102139e-02 9.66750097e+02] [ 5.81601433e-01 8.13387016e-01 -1.18884633e-02 6.59404366e+01] [ 2.05076626e-02 -5.08035070e-05 9.99789694e-01 6.52550318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.459254154 meters 0.016925728973919026 Centerline is valid? [True, True] Translation: X:966.80, Y:65.97, Z:6.53 [[ 8.11097743e-01 -5.84700029e-01 -1.56948109e-02 9.66798024e+02] [ 5.84593307e-01 8.11249569e-01 -1.11715193e-02 6.59741104e+01] [ 1.92643963e-02 -1.13887318e-04 9.99814418e-01 6.52567788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.519254154 meters 0.01626484744648956 Centerline is valid? [True, True] Translation: X:966.85, Y:66.01, Z:6.53 [[ 8.09528891e-01 -5.86896289e-01 -1.46874349e-02 9.66845748e+02] [ 5.86803077e-01 8.09662105e-01 -1.04606716e-02 6.60079710e+01] [ 1.80311888e-02 -1.50416072e-04 9.99837414e-01 6.52609943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.579254154 meters 0.015041144070864142 Centerline is valid? [True, True] Translation: X:966.89, Y:66.04, Z:6.53 [[ 8.09412290e-01 -5.87082969e-01 -1.36136918e-02 9.66894112e+02] [ 5.87002828e-01 8.09526755e-01 -9.70116758e-03 6.60420990e+01] [ 1.67160380e-02 -1.39031318e-04 9.99860268e-01 6.52745225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.639254154 meters 0.014375197224053681 Centerline is valid? [True, True] Translation: X:966.94, Y:66.08, Z:6.53 [[ 8.10081509e-01 -5.86178710e-01 -1.27463126e-02 9.66940570e+02] [ 5.86108270e-01 8.10181775e-01 -9.08779471e-03 6.60779352e+01] [ 1.56539019e-02 -1.08864746e-04 9.99877464e-01 6.52826691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.699254154 meters 0.014077495501419488 Centerline is valid? [True, True] Translation: X:966.98, Y:66.12, Z:6.53 [[ 8.12769668e-01 -5.82449124e-01 -1.25890729e-02 9.66984436e+02] [ 5.82379908e-01 8.12867158e-01 -8.97920933e-03 6.61153736e+01] [ 1.54631765e-02 -3.35941311e-05 9.99880437e-01 6.52724184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.759254154 meters 0.013990662225699646 Centerline is valid? [True, True] Translation: X:967.03, Y:66.15, Z:6.53 [[ 8.14440713e-01 -5.80099335e-01 -1.30800552e-02 9.67029390e+02] [ 5.80024239e-01 8.14545740e-01 -9.33384922e-03 6.61518097e+01] [ 1.60688630e-02 1.51177412e-05 9.99870887e-01 6.52681653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.819254154 meters 0.016399121554720758 Centerline is valid? [True, True] Translation: X:967.08, Y:66.19, Z:6.53 [[ 8.14730068e-01 -5.79666231e-01 -1.42118496e-02 9.67077450e+02] [ 5.79577408e-01 8.14854011e-01 -1.01473575e-02 6.61864134e+01] [ 1.74626631e-02 3.04903177e-05 9.99847516e-01 6.52585438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.879254154 meters 0.013994006943639298 Centerline is valid? [True, True] Translation: X:967.13, Y:66.22, Z:6.53 [[ 8.14209927e-01 -5.80426569e-01 -1.29303167e-02 9.67125275e+02] [ 5.80353065e-01 8.14312592e-01 -9.23699661e-03 6.62204157e+01] [ 1.58907179e-02 1.67054252e-05 9.99873734e-01 6.52668395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.939254154 meters 0.016392351519027598 Centerline is valid? [True, True] Translation: X:967.18, Y:66.25, Z:6.53 [[ 8.12003628e-01 -5.83486153e-01 -1.39290341e-02 9.67175268e+02] [ 5.83401211e-01 8.12123086e-01 -9.95586304e-03 6.62524924e+01] [ 1.71211984e-02 -4.20184672e-05 9.99853421e-01 6.52728952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.999254154 meters 0.01646354159045491 Centerline is valid? [True, True] Translation: X:967.22, Y:66.29, Z:6.53 [[ 8.10795456e-01 -5.85159295e-01 -1.41183999e-02 9.67223993e+02] [ 5.85072188e-01 8.10918365e-01 -1.00965855e-02 6.62857122e+01] [ 1.73569806e-02 -7.40174632e-05 9.99849354e-01 6.52762867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.059254154 meters 0.015783201874587222 Centerline is valid? [True, True] Translation: X:967.27, Y:66.32, Z:6.53 [[ 8.09937121e-01 -5.86344219e-01 -1.42237846e-02 9.67271841e+02] [ 5.86255932e-01 8.10062002e-01 -1.01752309e-02 6.63191243e+01] [ 1.74883353e-02 -9.74808863e-05 9.99847063e-01 6.52893054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539999 meters 0.016227134549553088 Centerline is valid? [True, True] Translation: X:967.32, Y:66.35, Z:6.53 [[ 8.10126261e-01 -5.86062879e-01 -1.50247666e-02 9.67318685e+02] [ 5.85964265e-01 8.10265570e-01 -1.07511221e-02 6.63522648e+01] [ 1.84748847e-02 -9.42100035e-05 9.99829320e-01 6.52876692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.179254154 meters 0.014246271510476709 Centerline is valid? [True, True] Translation: X:967.37, Y:66.39, Z:6.53 [[ 8.10751396e-01 -5.85212038e-01 -1.44583553e-02 9.67366262e+02] [ 5.85120505e-01 8.10880303e-01 -1.03503026e-02 6.63864048e+01] [ 1.77811172e-02 -6.83578558e-05 9.99841901e-01 6.52968405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539999 meters 0.015363367240422596 Centerline is valid? [True, True] Translation: X:967.41, Y:66.42, Z:6.53 [[ 8.11540562e-01 -5.84104292e-01 -1.49696747e-02 9.67413112e+02] [ 5.84005866e-01 8.11678615e-01 -1.07226178e-02 6.64210867e+01] [ 1.84136919e-02 -4.05385667e-05 9.99830453e-01 6.53057251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.299254154 meters 0.016012239066829848 Centerline is valid? [True, True] Translation: X:967.46, Y:66.45, Z:6.53 [[ 8.12665572e-01 -5.82528576e-01 -1.53338500e-02 9.67459064e+02] [ 5.82424939e-01 8.12810223e-01 -1.09877916e-02 6.64549246e+01] [ 1.88642126e-02 -1.41671754e-06 9.99822055e-01 6.53070460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539999 meters 0.014002992205734754 Centerline is valid? [True, True] Translation: X:967.51, Y:66.49, Z:6.53 [[ 8.13170249e-01 -5.81851432e-01 -1.42497843e-02 9.67506758e+02] [ 5.81761754e-01 8.13295094e-01 -1.02152427e-02 6.64892962e+01] [ 1.75330333e-02 1.67519808e-05 9.99846284e-01 6.53162342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.419254154 meters 0.015961000256053952 Centerline is valid? [True, True] Translation: X:967.55, Y:66.52, Z:6.53 [[ 8.12831119e-01 -5.82320275e-01 -1.44453718e-02 9.67553774e+02] [ 5.82228125e-01 8.12959468e-01 -1.03591955e-02 6.65210563e+01] [ 1.77758713e-02 9.77470828e-06 9.99841997e-01 6.53091115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539999 meters 0.014799805078560086 Centerline is valid? [True, True] Translation: X:967.60, Y:66.56, Z:6.53 [[ 8.13580537e-01 -5.81286212e-01 -1.38942351e-02 9.67600831e+02] [ 5.81200730e-01 8.13699170e-01 -9.96855119e-03 6.65555656e+01] [ 1.71003090e-02 3.48796248e-05 9.99853778e-01 6.53402594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.539254154 meters 0.015718865743564396 Centerline is valid? [True, True] Translation: X:967.65, Y:66.59, Z:6.53 [[ 8.15090513e-01 -5.79166500e-01 -1.39147401e-02 9.67647134e+02] [ 5.79080363e-01 8.15209272e-01 -9.98873680e-03 6.65927588e+01] [ 1.71285669e-02 8.39718705e-05 9.99853292e-01 6.53397834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539999 meters 0.014726642698704856 Centerline is valid? [True, True] Translation: X:967.69, Y:66.63, Z:6.53 [[ 8.17304487e-01 -5.76046348e-01 -1.35639480e-02 9.67691945e+02] [ 5.75964018e-01 8.17417019e-01 -9.73994098e-03 6.66288304e+01] [ 1.66980594e-02 1.48151478e-04 9.99860567e-01 6.53448018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.659254154 meters 0.014819421944535319 Centerline is valid? [True, True] Translation: X:967.74, Y:66.66, Z:6.54 [[ 8.18990087e-01 -5.73633910e-01 -1.41200390e-02 9.67739111e+02] [ 5.73544260e-01 8.19111771e-01 -1.01433792e-02 6.66639727e+01] [ 1.73844765e-02 2.08859689e-04 9.99848857e-01 6.53525422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539999 meters 0.015167425364355067 Centerline is valid? [True, True] Translation: X:967.79, Y:66.70, Z:6.53 [[ 8.19432262e-01 -5.72983354e-01 -1.48608206e-02 9.67785183e+02] [ 5.72883878e-01 8.19566971e-01 -1.06790618e-02 6.66987775e+01] [ 1.82983624e-02 2.37243235e-04 9.99832543e-01 6.53414098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.779254154 meters 0.01463550284796933 Centerline is valid? [True, True] Translation: X:967.83, Y:66.73, Z:6.54 [[ 8.17275591e-01 -5.76063858e-01 -1.45272285e-02 9.67834984e+02] [ 5.75969209e-01 8.17404675e-01 -1.04435371e-02 6.67307422e+01] [ 1.78907688e-02 1.68011702e-04 9.99839933e-01 6.53513528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.839254154 meters 0.01396598812978915 Centerline is valid? [True, True] Translation: X:967.89, Y:66.76, Z:6.54 [[ 8.12798259e-01 -5.82374331e-01 -1.41113027e-02 9.67886347e+02] [ 5.82285877e-01 8.12920745e-01 -1.01498833e-02 6.67597129e+01] [ 1.73824022e-02 3.29951753e-05 9.99848914e-01 6.53654667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.899254154 meters 0.015056896712988864 Centerline is valid? [True, True] Translation: X:967.94, Y:66.79, Z:6.54 [[ 8.07273121e-01 -5.90008730e-01 -1.41353021e-02 9.67938546e+02] [ 5.89921043e-01 8.07396855e-01 -1.01725702e-02 6.67883805e+01] [ 1.74147037e-02 -1.26669676e-04 9.99848345e-01 6.53718063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.959254154 meters 0.01653287859824429 Centerline is valid? [True, True] Translation: X:967.99, Y:66.82, Z:6.54 [[ 8.02573495e-01 -5.96392076e-01 -1.38663997e-02 9.67988439e+02] [ 5.96308571e-01 8.02693233e-01 -9.98308704e-03 6.68170923e+01] [ 1.70842992e-02 -2.56491902e-04 9.99854020e-01 6.53752459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.019254154 meters 0.016004780634578487 Centerline is valid? [True, True] Translation: X:968.04, Y:66.85, Z:6.54 [[ 8.00880634e-01 -5.98681694e-01 -1.30552108e-02 9.68037862e+02] [ 5.98607912e-01 8.00986984e-01 -9.40313508e-03 6.68498270e+01] [ 1.60865388e-02 -2.84163685e-04 9.99870563e-01 6.53938893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.079254154 meters 0.016285551422474044 Centerline is valid? [True, True] Translation: X:968.09, Y:66.88, Z:6.54 [[ 8.00267003e-01 -5.99513029e-01 -1.25240077e-02 9.68085912e+02] [ 5.99445161e-01 8.00364946e-01 -9.02511141e-03 6.68832585e+01] [ 1.54344486e-02 -2.84956934e-04 9.99880841e-01 6.54043214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.139254154 meters 0.015726453502137774 Centerline is valid? [True, True] Translation: X:968.13, Y:66.92, Z:6.54 [[ 8.02063425e-01 -5.97091662e-01 -1.32593133e-02 9.68131417e+02] [ 5.97015174e-01 8.02172978e-01 -9.56011046e-03 6.69204339e+01] [ 1.63445251e-02 -2.48196300e-04 9.99866389e-01 6.54084749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.199254154 meters 0.014385784519378627 Centerline is valid? [True, True] Translation: X:968.17, Y:66.96, Z:6.54 [[ 8.06777104e-01 -5.90661675e-01 -1.51489079e-02 9.68174676e+02] [ 5.90560623e-01 8.06919307e-01 -1.09262058e-02 6.69599453e+01] [ 1.86776373e-02 -1.31335792e-04 9.99825549e-01 6.53897650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.259254154 meters 0.015234912996679013 Centerline is valid? [True, True] Translation: X:968.22, Y:67.00, Z:6.54 [[ 8.12107217e-01 -5.83242420e-01 -1.76110131e-02 9.68217033e+02] [ 5.83104038e-01 8.12298146e-01 -1.27044597e-02 6.70005089e+01] [ 2.17151731e-02 4.83305612e-05 9.99764197e-01 6.53628059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.319254154 meters 0.016905203092960275 Centerline is valid? [True, True] Translation: X:968.26, Y:67.04, Z:6.54 [[ 8.16890597e-01 -5.76522998e-01 -1.76347648e-02 9.68261687e+02] [ 5.76382551e-01 8.17080889e-01 -1.27269809e-02 6.70397366e+01] [ 2.17464265e-02 2.32180306e-04 9.99763492e-01 6.53820522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.379254154 meters 0.015692125935479345 Centerline is valid? [True, True] Translation: X:968.31, Y:67.08, Z:6.54 [[ 8.20124674e-01 -5.72003391e-01 -1.44097137e-02 9.68305727e+02] [ 5.71908869e-01 8.20251203e-01 -1.04023756e-02 6.70782285e+01] [ 1.77697791e-02 2.90201802e-04 9.99842063e-01 6.54151758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.439254154 meters 0.01553702332906953 Centerline is valid? [True, True] Translation: X:968.35, Y:67.11, Z:6.54 [[ 8.20902811e-01 -5.70938379e-01 -1.21631168e-02 9.68351622e+02] [ 5.70870864e-01 8.20992872e-01 -8.78413732e-03 6.71132914e+01] [ 1.50010333e-02 2.67354006e-04 9.99887442e-01 6.54393123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.499254154 meters 0.015500567865405166 Centerline is valid? [True, True] Translation: X:968.40, Y:67.15, Z:6.55 [[ 8.21161060e-01 -5.70590427e-01 -1.10035375e-02 9.68398666e+02] [ 5.70535078e-01 8.21234742e-01 -7.95135500e-03 6.71478970e+01] [ 1.35734544e-02 2.51438953e-04 9.99907845e-01 6.54522681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.559254154 meters 0.018867042701522178 Centerline is valid? [True, True] Translation: X:968.44, Y:67.19, Z:6.54 [[ 8.21975122e-01 -5.69370932e-01 -1.31772576e-02 9.68442590e+02] [ 5.69291328e-01 8.22080674e-01 -9.52631443e-03 6.71852448e+01] [ 1.62567753e-02 3.28695005e-04 9.99867796e-01 6.54124539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539999 meters 0.017064439644750677 Centerline is valid? [True, True] Translation: X:968.49, Y:67.22, Z:6.54 [[ 8.23500088e-01 -5.67107947e-01 -1.53682201e-02 9.68490059e+02] [ 5.66999186e-01 8.23643360e-01 -1.11148073e-02 6.72209603e+01] [ 1.89612279e-02 4.39276465e-04 9.99820123e-01 6.54049507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.679254154 meters 0.018460458025668893 Centerline is valid? [True, True] Translation: X:968.54, Y:67.26, Z:6.54 [[ 8.22871577e-01 -5.67947098e-01 -1.78455009e-02 9.68538000e+02] [ 5.67800488e-01 8.23064913e-01 -1.29134014e-02 6.72552908e+01] [ 2.20221345e-02 4.93386811e-04 9.99757362e-01 6.53683841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539999 meters 0.0167464442583473 Centerline is valid? [True, True] Translation: X:968.59, Y:67.28, Z:6.54 [[ 8.18633398e-01 -5.74045797e-01 -1.76290367e-02 9.68590462e+02] [ 5.73904041e-01 8.18823128e-01 -1.27607391e-02 6.72838616e+01] [ 2.17603116e-02 3.28991843e-04 9.99763162e-01 6.53764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.799254154 meters 0.013893682427132622 Centerline is valid? [True, True] Translation: X:968.65, Y:67.31, Z:6.54 [[ 8.11303895e-01 -5.84431250e-01 -1.50368001e-02 9.68645751e+02] [ 5.84329813e-01 8.11443228e-01 -1.08884096e-02 6.73089450e+01] [ 1.85650364e-02 4.73584895e-05 9.99827654e-01 6.54279299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539999 meters 0.014816801194638617 Centerline is valid? [True, True] Translation: X:968.70, Y:67.33, Z:6.55 [[ 8.02589056e-01 -5.96410554e-01 -1.20523103e-02 9.68700183e+02] [ 5.96346666e-01 8.02679524e-01 -8.73125338e-03 6.73335391e+01] [ 1.48815544e-02 -1.79746650e-04 9.99889247e-01 6.54673468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.919254154 meters 0.021104929174930922 Centerline is valid? [True, True] Translation: X:968.75, Y:67.36, Z:6.55 [[ 7.94275463e-01 -6.07431480e-01 -1.23889535e-02 9.68754142e+02] [ 6.07365247e-01 7.94371980e-01 -8.97854929e-03 6.73571371e+01] [ 1.52952910e-02 -3.93178394e-04 9.99882943e-01 6.54580045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539999 meters 0.019407461755589956 Centerline is valid? [True, True] Translation: X:968.80, Y:67.39, Z:6.55 [[ 7.88302081e-01 -6.15139008e-01 -1.35583715e-02 9.68802199e+02] [ 6.15060740e-01 7.88418450e-01 -9.83020582e-03 6.73918303e+01] [ 1.67366133e-02 -5.90050294e-04 9.99859759e-01 6.54763415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.039254154 meters 0.022199396957406168 Centerline is valid? [True, True] Translation: X:968.85, Y:67.42, Z:6.55 [[ 7.84052886e-01 -6.20509171e-01 -1.51473207e-02 9.68850663e+02] [ 6.20412411e-01 7.84198798e-01 -1.09857075e-02 6.74244703e+01] [ 1.86952429e-02 -7.84210118e-04 9.99824921e-01 6.54647727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539999 meters 0.02357065156885056 Centerline is valid? [True, True] Translation: X:968.90, Y:67.46, Z:6.55 [[ 7.81878896e-01 -6.23223405e-01 -1.60617715e-02 9.68896844e+02] [ 6.23115101e-01 7.82043338e-01 -1.16528210e-02 6.74610846e+01] [ 1.98233122e-02 -8.97237580e-04 9.99803096e-01 6.54610546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.159254154 meters 0.02524496871930882 Centerline is valid? [True, True] Translation: X:968.94, Y:67.50, Z:6.55 [[ 7.82241487e-01 -6.22748522e-01 -1.68087861e-02 9.68942529e+02] [ 6.22629732e-01 7.82421514e-01 -1.21980247e-02 6.74966564e+01] [ 2.07478578e-02 -9.23849017e-04 9.99784313e-01 6.54647286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539999 meters 0.02217237709023675 Centerline is valid? [True, True] Translation: X:968.98, Y:67.54, Z:6.55 [[ 7.86187384e-01 -6.17813310e-01 -1.47007435e-02 9.68982793e+02] [ 6.17721545e-01 7.86324510e-01 -1.06703914e-02 6.75414326e+01] [ 1.81518648e-02 -6.92038871e-04 9.99835002e-01 6.54885750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.279254154 meters 0.019205974315901667 Centerline is valid? [True, True] Translation: X:969.02, Y:67.59, Z:6.55 [[ 7.93071981e-01 -6.08996128e-01 -1.26708102e-02 9.69022237e+02] [ 6.08926772e-01 7.93173084e-01 -9.20031521e-03 6.75878276e+01] [ 1.56531020e-02 -4.19083355e-04 9.99877395e-01 6.55072469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.339254154 meters 0.01317802526058485 Centerline is valid? [True, True] Translation: X:969.06, Y:67.64, Z:6.55 [[ 8.05967376e-01 -5.91849735e-01 -1.14227801e-02 9.69056087e+02] [ 5.91791565e-01 8.06048315e-01 -8.29809259e-03 6.76416679e+01] [ 1.41185366e-02 -7.19129988e-05 9.99900326e-01 6.55234382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.399254154 meters 0.013434912006187986 Centerline is valid? [True, True] Translation: X:969.09, Y:67.69, Z:6.55 [[ 8.14856225e-01 -5.79562172e-01 -1.08176981e-02 9.69092465e+02] [ 5.79508852e-01 8.14928015e-01 -7.86255435e-03 6.76914384e+01] [ 1.33724843e-02 1.37899534e-04 9.99910575e-01 6.55204024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.459254154 meters 0.014462489263181128 Centerline is valid? [True, True] Translation: X:969.13, Y:67.73, Z:6.55 [[ 8.18561330e-01 -5.74320478e-01 -1.06460249e-02 9.69134790e+02] [ 5.74268353e-01 8.18630526e-01 -7.74080470e-03 6.77331149e+01] [ 1.31608636e-02 2.22648215e-04 9.99913367e-01 6.55187068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.519254154 meters 0.01879341972794772 Centerline is valid? [True, True] Translation: X:969.18, Y:67.77, Z:6.55 [[ 8.17815756e-01 -5.75369845e-01 -1.12663593e-02 9.69180457e+02] [ 5.75311536e-01 8.17893326e-01 -8.19414005e-03 6.77713100e+01] [ 1.39293411e-02 2.19630397e-04 9.99902958e-01 6.54882855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.579254154 meters 0.016655301180133322 Centerline is valid? [True, True] Translation: X:969.23, Y:67.80, Z:6.55 [[ 8.15850635e-01 -5.78150106e-01 -1.14103635e-02 9.69227432e+02] [ 5.78090540e-01 8.15930404e-01 -8.30086650e-03 6.78043740e+01] [ 1.41092093e-02 1.76044004e-04 9.99900445e-01 6.54900310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.639254154 meters 0.016392898057797096 Centerline is valid? [True, True] Translation: X:969.28, Y:67.84, Z:6.55 [[ 8.13173841e-01 -5.81882097e-01 -1.27094404e-02 9.69276012e+02] [ 5.81808591e-01 8.13273145e-01 -9.24953948e-03 6.78371204e+01] [ 1.57183880e-02 1.27021905e-04 9.99876450e-01 6.54753254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.699254154 meters 0.017955057023983617 Centerline is valid? [True, True] Translation: X:969.33, Y:67.87, Z:6.54 [[ 8.11531319e-01 -5.84095019e-01 -1.58090938e-02 9.69325759e+02] [ 5.83981575e-01 8.11685282e-01 -1.15118849e-02 6.78695834e+01] [ 1.95560434e-02 1.10035650e-04 9.99808756e-01 6.54475342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.759254154 meters 0.015118986392522479 Centerline is valid? [True, True] Translation: X:969.38, Y:67.90, Z:6.55 [[ 8.09252710e-01 -5.87218445e-01 -1.68685605e-02 9.69375708e+02] [ 5.87089814e-01 8.09428499e-01 -1.22904349e-02 6.79000221e+01] [ 2.08710637e-02 4.27077520e-05 9.99782175e-01 6.54573537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.819254154 meters 0.016675678847435094 Centerline is valid? [True, True] Translation: X:969.43, Y:67.93, Z:6.55 [[ 8.04607122e-01 -5.93612800e-01 -1.52060563e-02 9.69427498e+02] [ 5.93509301e-01 8.04750789e-01 -1.10849955e-02 6.79286531e+01] [ 1.88172810e-02 -1.05869514e-04 9.99822934e-01 6.54869084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.879254154 meters 0.018419855815298897 Centerline is valid? [True, True] Translation: X:969.48, Y:67.96, Z:6.55 [[ 7.98865272e-01 -6.01357258e-01 -1.35545372e-02 9.69480060e+02] [ 6.01276069e-01 7.98980215e-01 -9.88461926e-03 6.79557777e+01] [ 1.67739946e-02 -2.53539774e-04 9.99859275e-01 6.55119779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.939254154 meters 0.018503472064355035 Centerline is valid? [True, True] Translation: X:969.53, Y:67.98, Z:6.55 [[ 7.93307164e-01 -6.08689979e-01 -1.26591268e-02 9.69532456e+02] [ 6.08620063e-01 7.93408070e-01 -9.23329769e-03 6.79845125e+01] [ 1.56640692e-02 -3.79757370e-04 9.99877239e-01 6.55320456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.999254154 meters 0.020271296528077683 Centerline is valid? [True, True] Translation: X:969.58, Y:68.02, Z:6.55 [[ 7.90623359e-01 -6.12181907e-01 -1.21662662e-02 9.69582104e+02] [ 6.12117722e-01 7.90716844e-01 -8.87502939e-03 6.80163025e+01] [ 1.50532041e-02 -4.30381645e-04 9.99886601e-01 6.55415459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.059254154 meters 0.018008019509736045 Centerline is valid? [True, True] Translation: X:969.63, Y:68.05, Z:6.56 [[ 7.90094358e-01 -6.12875327e-01 -1.16076849e-02 9.69631089e+02] [ 6.12816934e-01 7.90179509e-01 -8.47052321e-03 6.80492335e+01] [ 1.43635294e-02 -4.20873239e-04 9.99896751e-01 6.55760614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539999 meters 0.017127119667326246 Centerline is valid? [True, True] Translation: X:969.68, Y:68.09, Z:6.56 [[ 7.91195634e-01 -6.11452485e-01 -1.16330128e-02 9.69677384e+02] [ 6.11393618e-01 7.91281053e-01 -8.49349872e-03 6.80851121e+01] [ 1.43983535e-02 -3.92330677e-04 9.99896261e-01 6.55877514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.179254154 meters 0.015775965303075738 Centerline is valid? [True, True] Translation: X:969.72, Y:68.12, Z:6.56 [[ 7.94646449e-01 -6.06957191e-01 -1.18317221e-02 9.69722968e+02] [ 6.06895748e-01 7.94734465e-01 -8.64180341e-03 6.81235959e+01] [ 1.46482820e-02 -3.13443416e-04 9.99892659e-01 6.55947113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539999 meters 0.016994067929155896 Centerline is valid? [True, True] Translation: X:969.77, Y:68.16, Z:6.56 [[ 7.98615830e-01 -6.01723181e-01 -1.19151299e-02 9.69767617e+02] [ 6.01660243e-01 7.98704680e-01 -8.70548640e-03 6.81611254e+01] [ 1.47549630e-02 -2.16520711e-04 9.99891116e-01 6.55817186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.299254154 meters 0.014023601887034961 Centerline is valid? [True, True] Translation: X:969.81, Y:68.20, Z:6.56 [[ 8.02741663e-01 -5.96206796e-01 -1.19699417e-02 9.69811389e+02] [ 5.96142603e-01 8.02830894e-01 -8.74945898e-03 6.82016193e+01] [ 1.48263259e-02 -1.12236949e-04 9.99890078e-01 6.55973728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539999 meters 0.015890043446652978 Centerline is valid? [True, True] Translation: X:969.86, Y:68.24, Z:6.56 [[ 8.05925714e-01 -5.91896550e-01 -1.19255111e-02 9.69855078e+02] [ 5.91832317e-01 8.06013941e-01 -8.71984182e-03 6.82392971e+01] [ 1.47733725e-02 -3.03581101e-05 9.99890867e-01 6.55725065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.419254154 meters 0.015539163051950527 Centerline is valid? [True, True] Translation: X:969.90, Y:68.28, Z:6.56 [[ 8.09396393e-01 -5.87158659e-01 -1.10538785e-02 9.69899466e+02] [ 5.87102985e-01 8.09471869e-01 -8.08570575e-03 6.82773414e+01] [ 1.36953958e-02 5.47760358e-05 9.99906212e-01 6.55870115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539999 meters 0.01327074146438475 Centerline is valid? [True, True] Translation: X:969.94, Y:68.31, Z:6.56 [[ 8.10848866e-01 -5.85170332e-01 -9.98989525e-03 9.69944898e+02] [ 5.85124658e-01 8.10910399e-01 -7.31163081e-03 6.83134269e+01] [ 1.23794594e-02 8.32935214e-05 9.99923368e-01 6.56107113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.539254154 meters 0.013583045301253082 Centerline is valid? [True, True] Translation: X:969.99, Y:68.35, Z:6.56 [[ 8.12338535e-01 -5.83111619e-01 -9.32438716e-03 9.69992251e+02] [ 5.83071648e-01 8.12392041e-01 -6.82830099e-03 6.83480800e+01] [ 1.15567196e-02 1.10106239e-04 9.99933213e-01 6.56151227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539999 meters 0.014149322421246613 Centerline is valid? [True, True] Translation: X:970.04, Y:68.38, Z:6.56 [[ 8.13753996e-01 -5.81143931e-01 -8.72725046e-03 9.70039977e+02] [ 5.81108768e-01 8.13800783e-01 -6.39423103e-03 6.83832554e+01] [ 1.08182118e-02 1.31849289e-04 9.99941473e-01 6.56168014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.659254154 meters 0.014271253993517195 Centerline is valid? [True, True] Translation: X:970.09, Y:68.42, Z:6.56 [[ 8.14610988e-01 -5.79935600e-01 -9.14536629e-03 9.70089158e+02] [ 5.79896869e-01 8.14662307e-01 -6.70418999e-03 6.84164732e+01] [ 1.13383836e-02 1.57937549e-04 9.99935706e-01 6.56206397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539999 meters 0.014998729205863677 Centerline is valid? [True, True] Translation: X:970.14, Y:68.45, Z:6.56 [[ 8.15557935e-01 -5.78580064e-01 -1.05054325e-02 9.70138672e+02] [ 5.78528786e-01 8.15625568e-01 -7.70565471e-03 6.84487767e+01] [ 1.30268376e-02 2.06712721e-04 9.99915126e-01 6.56087457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.779254154 meters 0.015200445217108987 Centerline is valid? [True, True] Translation: X:970.19, Y:68.48, Z:6.56 [[ 8.16504179e-01 -5.77204674e-01 -1.24775826e-02 9.70187267e+02] [ 5.77132092e-01 8.16599466e-01 -9.15752915e-03 6.84826751e+01] [ 1.54749559e-02 2.75947483e-04 9.99880218e-01 6.55866148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.839254154 meters 0.01621684991710615 Centerline is valid? [True, True] Translation: X:970.24, Y:68.51, Z:6.56 [[ 8.17222795e-01 -5.76184196e-01 -1.25966314e-02 9.70235597e+02] [ 5.76110052e-01 8.17319816e-01 -9.24803761e-03 6.85142267e+01] [ 1.56240495e-02 3.00661202e-04 9.99877892e-01 6.55807305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.899254154 meters 0.016295092260199758 Centerline is valid? [True, True] Translation: X:970.28, Y:68.55, Z:6.56 [[ 8.17450742e-01 -5.75878266e-01 -1.17688894e-02 9.70284237e+02] [ 5.75813464e-01 8.17535406e-01 -8.64380765e-03 6.85462420e+01] [ 1.45992647e-02 2.89202004e-04 9.99893383e-01 6.55976923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.959254154 meters 0.01858105673907502 Centerline is valid? [True, True] Translation: X:970.33, Y:68.58, Z:6.56 [[ 8.19427963e-01 -5.73102095e-01 -9.58135515e-03 9.70334471e+02] [ 5.73058925e-01 8.19483930e-01 -7.03964275e-03 6.85765487e+01] [ 1.18862006e-02 2.77799028e-04 9.99929318e-01 6.56095470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.019254154 meters 0.01951577780430001 Centerline is valid? [True, True] Translation: X:970.38, Y:68.61, Z:6.56 [[ 8.21191028e-01 -5.70582524e-01 -8.99330229e-03 9.70382165e+02] [ 5.70544326e-01 8.21240218e-01 -6.60878176e-03 6.86104547e+01] [ 1.11565169e-02 2.95994695e-04 9.99937720e-01 6.56130003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.079254154 meters 0.020153162684297173 Centerline is valid? [True, True] Translation: X:970.43, Y:68.64, Z:6.56 [[ 8.24213602e-01 -5.66177764e-01 -1.07087466e-02 9.70433580e+02] [ 5.66123196e-01 8.24283057e-01 -7.87207717e-03 6.86416901e+01] [ 1.32840334e-02 4.25803260e-04 9.99911673e-01 6.56008111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.139254154 meters 0.022541023006533146 Centerline is valid? [True, True] Translation: X:970.48, Y:68.67, Z:6.56 [[ 8.24586628e-01 -5.65605290e-01 -1.21469823e-02 9.70482734e+02] [ 5.65534971e-01 8.24675942e-01 -8.93236317e-03 6.86729840e+01] [ 1.50695159e-02 4.95963955e-04 9.99886325e-01 6.55728277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.199254154 meters 0.019180851042953136 Centerline is valid? [True, True] Translation: X:970.53, Y:68.70, Z:6.56 [[ 8.22962912e-01 -5.67959509e-01 -1.24113253e-02 9.70532659e+02] [ 5.67886336e-01 8.23056365e-01 -9.12845709e-03 6.87049538e+01] [ 1.53998143e-02 4.64159570e-04 9.99881308e-01 6.55928983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.259254154 meters 0.01871538276735973 Centerline is valid? [True, True] Translation: X:970.58, Y:68.74, Z:6.56 [[ 8.21412922e-01 -5.70208777e-01 -1.19482959e-02 9.70579929e+02] [ 5.70141166e-01 8.21499716e-01 -8.79017745e-03 6.87395158e+01] [ 1.48277581e-02 4.08149965e-04 9.99889979e-01 6.55884444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.319254154 meters 0.020513489393644998 Centerline is valid? [True, True] Translation: X:970.63, Y:68.77, Z:6.56 [[ 8.18558518e-01 -5.74298711e-01 -1.19558902e-02 9.70627201e+02] [ 5.74231415e-01 8.18645758e-01 -8.79794349e-03 6.87730842e+01] [ 1.48402864e-02 3.36183837e-04 9.99889820e-01 6.55738069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.379254154 meters 0.016809140835578586 Centerline is valid? [True, True] Translation: X:970.68, Y:68.81, Z:6.56 [[ 8.17700608e-01 -5.75573875e-01 -8.96830080e-03 9.70675520e+02] [ 5.75536066e-01 8.17749753e-01 -6.60136869e-03 6.88067457e+01] [ 1.11334011e-02 2.36362625e-04 9.99937994e-01 6.56313708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.439254154 meters 0.01949114819126654 Centerline is valid? [True, True] Translation: X:970.72, Y:68.84, Z:6.56 [[ 8.18999865e-01 -5.73698807e-01 -1.04354943e-02 9.70721081e+02] [ 5.73647422e-01 8.19066288e-01 -7.68442941e-03 6.88434289e+01] [ 1.29559096e-02 3.07252235e-04 9.99916021e-01 6.55958556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.499254154 meters 0.019410900896283254 Centerline is valid? [True, True] Translation: X:970.77, Y:68.88, Z:6.56 [[ 8.20821924e-01 -5.71011406e-01 -1.40478832e-02 9.70765071e+02] [ 5.70917861e-01 8.20941990e-01 -1.03462293e-02 6.88823063e+01] [ 1.74403121e-02 4.72224379e-04 9.99847795e-01 6.55690672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.559254154 meters 0.019171301059407293 Centerline is valid? [True, True] Translation: X:970.81, Y:68.92, Z:6.56 [[ 8.21271852e-01 -5.70329845e-01 -1.53757046e-02 9.70811917e+02] [ 5.70217575e-01 8.21415595e-01 -1.13285945e-02 6.89179999e+01] [ 1.90908791e-02 5.36358770e-04 9.99817609e-01 6.55587833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539999 meters 0.018655066476762815 Centerline is valid? [True, True] Translation: X:970.86, Y:68.96, Z:6.56 [[ 8.21738279e-01 -5.69675467e-01 -1.46990955e-02 9.70858086e+02] [ 5.69572654e-01 8.21869563e-01 -1.08357386e-02 6.89552024e+01] [ 1.82535936e-02 5.31938382e-04 9.99833248e-01 6.55813618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.679254154 meters 0.018204306656864296 Centerline is valid? [True, True] Translation: X:970.91, Y:68.99, Z:6.56 [[ 8.20741613e-01 -5.71142559e-01 -1.33933649e-02 9.70906339e+02] [ 5.71057316e-01 8.20850758e-01 -9.87799026e-03 6.89896604e+01] [ 1.66356943e-02 4.58898677e-04 9.99861512e-01 6.55996045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539999 meters 0.017604396436659342 Centerline is valid? [True, True] Translation: X:970.95, Y:69.02, Z:6.56 [[ 8.18581607e-01 -5.74237474e-01 -1.32467816e-02 9.70954094e+02] [ 5.74154441e-01 8.18688688e-01 -9.77287522e-03 6.90220300e+01] [ 1.64569414e-02 3.94197394e-04 9.99864498e-01 6.56097243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.799254154 meters 0.016729039167869844 Centerline is valid? [True, True] Translation: X:971.00, Y:69.06, Z:6.56 [[ 8.16537309e-01 -5.77144510e-01 -1.30781048e-02 9.71002144e+02] [ 5.77063894e-01 8.16641967e-01 -9.65194070e-03 6.90554830e+01] [ 1.62506938e-02 3.34267607e-04 9.99867893e-01 6.56157731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539999 meters 0.01569136210573458 Centerline is valid? [True, True] Translation: X:971.05, Y:69.09, Z:6.56 [[ 8.16113568e-01 -5.77740468e-01 -1.32134887e-02 9.71049976e+02] [ 5.77658161e-01 8.16220462e-01 -9.75737589e-03 6.90882853e+01] [ 1.64223507e-02 3.30247294e-04 9.99865090e-01 6.56276676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.919254154 meters 0.01665169748595497 Centerline is valid? [True, True] Translation: X:971.10, Y:69.12, Z:6.56 [[ 8.15687546e-01 -5.78334206e-01 -1.35415202e-02 9.71097291e+02] [ 5.78247738e-01 8.15799875e-01 -1.00058621e-02 6.91212955e+01] [ 1.68339028e-02 3.31303738e-04 9.99858245e-01 6.56111570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539999 meters 0.017880544011836072 Centerline is valid? [True, True] Translation: X:971.14, Y:69.15, Z:6.56 [[ 8.14995963e-01 -5.79245330e-01 -1.60133709e-02 9.71144724e+02] [ 5.79124497e-01 8.15153181e-01 -1.18367529e-02 6.91542359e+01] [ 1.99097340e-02 3.73170462e-04 9.99801712e-01 6.55775944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.039254154 meters 0.015960351456929214 Centerline is valid? [True, True] Translation: X:971.19, Y:69.19, Z:6.56 [[ 8.14276565e-01 -5.80236912e-01 -1.66973590e-02 9.71192288e+02] [ 5.80105656e-01 8.14447660e-01 -1.23465411e-02 6.91866038e+01] [ 2.07630438e-02 3.67266715e-04 9.99784357e-01 6.55948620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539999 meters 0.016683634653492627 Centerline is valid? [True, True] Translation: X:971.24, Y:69.22, Z:6.56 [[ 8.12629167e-01 -5.82548376e-01 -1.64689726e-02 9.71241575e+02] [ 5.82421040e-01 8.12795973e-01 -1.21834940e-02 6.92196460e+01] [ 2.04833892e-02 3.08786394e-04 9.99790146e-01 6.55882741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.159254154 meters 0.014392382087805805 Centerline is valid? [True, True] Translation: X:971.29, Y:69.25, Z:6.56 [[ 8.10362193e-01 -5.85758307e-01 -1.41535155e-02 9.71291958e+02] [ 5.85664664e-01 8.10485759e-01 -1.04754984e-02 6.92500300e+01] [ 1.76073329e-02 1.99733959e-04 9.99844959e-01 6.56436645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539999 meters 0.015469336679042992 Centerline is valid? [True, True] Translation: X:971.34, Y:69.28, Z:6.56 [[ 8.07373503e-01 -5.89912166e-01 -1.23151657e-02 9.71341634e+02] [ 5.89841684e-01 8.07467415e-01 -9.11926456e-03 6.92814521e+01] [ 1.53236601e-02 9.86545041e-05 9.99882581e-01 6.56496385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.279254154 meters 0.014335295300301138 Centerline is valid? [True, True] Translation: X:971.39, Y:69.31, Z:6.57 [[ 8.05483178e-01 -5.92486784e-01 -1.25004423e-02 9.71389966e+02] [ 5.92414399e-01 8.05580169e-01 -9.26130728e-03 6.93145975e+01] [ 1.55573106e-02 5.43851993e-05 9.99878976e-01 6.56624898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.339254154 meters 0.014011090463283122 Centerline is valid? [True, True] Translation: X:971.44, Y:69.35, Z:6.57 [[ 8.04549262e-01 -5.93707456e-01 -1.45582362e-02 9.71436689e+02] [ 5.93609367e-01 8.04680965e-01 -1.07918316e-02 6.93497696e+01] [ 1.81219265e-02 4.06547998e-05 9.99835784e-01 6.56507800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.399254154 meters 0.01494939249842206 Centerline is valid? [True, True] Translation: X:971.48, Y:69.38, Z:6.56 [[ 8.04041217e-01 -5.94347696e-01 -1.63871391e-02 9.71482738e+02] [ 5.94223466e-01 8.04208192e-01 -1.21514161e-02 6.93846947e+01] [ 2.04008377e-02 3.26167601e-05 9.99791881e-01 6.56287210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.459254154 meters 0.014113499329338313 Centerline is valid? [True, True] Translation: X:971.53, Y:69.42, Z:6.56 [[ 8.03193483e-01 -5.95487046e-01 -1.65953683e-02 9.71528159e+02] [ 5.95359763e-01 8.03364909e-01 -1.23115828e-02 6.94205702e+01] [ 2.06635246e-02 8.36849394e-06 9.99786487e-01 6.56493551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.519254154 meters 0.01417203472043542 Centerline is valid? [True, True] Translation: X:971.57, Y:69.45, Z:6.57 [[ 8.01090424e-01 -5.98331491e-01 -1.59235321e-02 9.71574365e+02] [ 5.98214781e-01 8.01248665e-01 -1.18174484e-02 6.94540374e+01] [ 1.98294604e-02 -5.88475235e-05 9.99803375e-01 6.56595869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.579254154 meters 0.014344029158523461 Centerline is valid? [True, True] Translation: X:971.62, Y:69.49, Z:6.57 [[ 7.98761313e-01 -6.01474853e-01 -1.44349084e-02 9.71622029e+02] [ 6.01379370e-01 7.98891724e-01 -1.07175915e-02 6.94876731e+01] [ 1.79782906e-02 -1.20058676e-04 9.99838370e-01 6.56904443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.639254154 meters 0.014489673716387635 Centerline is valid? [True, True] Translation: X:971.67, Y:69.52, Z:6.57 [[ 7.98149817e-01 -6.02313217e-01 -1.32536536e-02 9.71667717e+02] [ 6.02232779e-01 7.98259841e-01 -9.84413310e-03 6.95224409e+01] [ 1.65091109e-02 -1.24691603e-04 9.99863708e-01 6.57034249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.699254154 meters 0.014266958810864289 Centerline is valid? [True, True] Translation: X:971.71, Y:69.56, Z:6.57 [[ 7.98683282e-01 -6.01614619e-01 -1.28399437e-02 9.71712747e+02] [ 6.01538973e-01 7.98786479e-01 -9.54067344e-03 6.95612148e+01] [ 1.59961820e-02 -1.03750163e-04 9.99872048e-01 6.57144554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.759254154 meters 0.0141256148060559 Centerline is valid? [True, True] Translation: X:971.76, Y:69.60, Z:6.57 [[ 8.00595313e-01 -5.99036297e-01 -1.42358372e-02 9.71756076e+02] [ 5.98942788e-01 8.00721869e-01 -1.05841930e-02 6.96001820e+01] [ 1.77392619e-02 -5.27967237e-05 9.99842646e-01 6.57053658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.819254154 meters 0.014191487374309666 Centerline is valid? [True, True] Translation: X:971.80, Y:69.64, Z:6.57 [[ 8.03591538e-01 -5.94977727e-01 -1.55609921e-02 9.71799069e+02] [ 5.94865154e-01 8.03742187e-01 -1.15734980e-02 6.96398489e+01] [ 1.93929994e-02 4.36731395e-05 9.99811937e-01 6.56921483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.879254154 meters 0.018804480205459596 Centerline is valid? [True, True] Translation: X:971.84, Y:69.68, Z:6.56 [[ 8.06001111e-01 -5.91654957e-01 -1.75105986e-02 9.71842722e+02] [ 5.91511498e-01 8.06191287e-01 -1.30290568e-02 6.96801523e+01] [ 2.18255980e-02 1.43713802e-04 9.99761783e-01 6.56483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.939254154 meters 0.015685000545968643 Centerline is valid? [True, True] Translation: X:971.89, Y:69.72, Z:6.57 [[ 8.07360251e-01 -5.89838061e-01 -1.61396492e-02 9.71887721e+02] [ 5.89715686e-01 8.07521535e-01 -1.20158497e-02 6.97168260e+01] [ 2.01205198e-02 1.83315139e-04 9.99797545e-01 6.56929466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.999254154 meters 0.014279364189269733 Centerline is valid? [True, True] Translation: X:971.93, Y:69.75, Z:6.57 [[ 8.06714610e-01 -5.90757198e-01 -1.47468975e-02 9.71934339e+02] [ 5.90655122e-01 8.06849373e-01 -1.09825413e-02 6.97515706e+01] [ 1.83865404e-02 1.49445971e-04 9.99830942e-01 6.57244145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.059254154 meters 0.016212186347356702 Centerline is valid? [True, True] Translation: X:971.98, Y:69.79, Z:6.57 [[ 8.04660134e-01 -5.93533372e-01 -1.54985797e-02 9.71981739e+02] [ 5.93421034e-01 8.04809374e-01 -1.15476717e-02 6.97855444e+01] [ 1.93273308e-02 9.47678986e-05 9.99813205e-01 6.57083303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539999 meters 0.014836492789343573 Centerline is valid? [True, True] Translation: X:972.03, Y:69.82, Z:6.57 [[ 8.02626638e-01 -5.96279992e-01 -1.55129361e-02 9.72029239e+02] [ 5.96167824e-01 8.02776538e-01 -1.15652758e-02 6.98193818e+01] [ 1.93495637e-02 3.42850733e-05 9.99812779e-01 6.57214869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.179254154 meters 0.013915467541056884 Centerline is valid? [True, True] Translation: X:972.08, Y:69.85, Z:6.57 [[ 8.01195426e-01 -5.98210492e-01 -1.51689574e-02 9.72075465e+02] [ 5.98103510e-01 8.01339009e-01 -1.13129720e-02 6.98528657e+01] [ 1.89230158e-02 -8.70522409e-06 9.99820944e-01 6.57367280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539999 meters 0.01821259924052194 Centerline is valid? [True, True] Translation: X:972.12, Y:69.89, Z:6.57 [[ 7.98667345e-01 -6.01536862e-01 -1.68486223e-02 9.72123820e+02] [ 6.01405499e-01 7.98845038e-01 -1.25710614e-02 6.98863125e+01] [ 2.10213951e-02 -9.27578353e-05 9.99779022e-01 6.57016540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.299254154 meters 0.014230618798194943 Centerline is valid? [True, True] Translation: X:972.17, Y:69.92, Z:6.57 [[ 7.97211040e-01 -6.03472208e-01 -1.66087970e-02 9.72170753e+02] [ 6.03344832e-01 7.97384020e-01 -1.23990788e-02 6.99202770e+01] [ 2.07260887e-02 -1.36149334e-04 9.99785182e-01 6.57487341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539999 meters 0.014511350021905867 Centerline is valid? [True, True] Translation: X:972.22, Y:69.95, Z:6.58 [[ 7.95439530e-01 -6.05802033e-01 -1.67287405e-02 9.72219162e+02] [ 6.05673183e-01 7.95615397e-01 -1.24954065e-02 6.99543379e+01] [ 2.08793862e-02 -1.92809238e-04 9.99781983e-01 6.57556425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.419254154 meters 0.017602774257904567 Centerline is valid? [True, True] Translation: X:972.27, Y:69.99, Z:6.57 [[ 7.93515262e-01 -6.08311607e-01 -1.70445951e-02 9.72267761e+02] [ 6.08178280e-01 7.93698256e-01 -1.27380092e-02 6.99883138e+01] [ 2.12769442e-02 -2.58347848e-04 9.99773587e-01 6.57476432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539999 meters 0.017325888380419187 Centerline is valid? [True, True] Translation: X:972.32, Y:70.02, Z:6.58 [[ 7.91932534e-01 -6.10377207e-01 -1.68085560e-02 9.72315788e+02] [ 6.10247873e-01 7.92110834e-01 -1.25682434e-02 7.00221692e+01] [ 2.09856086e-02 -3.04184675e-04 9.99779732e-01 6.57668178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.539254154 meters 0.01940006385508442 Centerline is valid? [True, True] Translation: X:972.36, Y:70.05, Z:6.58 [[ 7.90512376e-01 -6.12210224e-01 -1.69948746e-02 9.72364024e+02] [ 6.12078349e-01 7.90694958e-01 -1.27113555e-02 7.00547392e+01] [ 2.12197835e-02 -3.53710909e-04 9.99774772e-01 6.57577131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539999 meters 0.015422297350954503 Centerline is valid? [True, True] Translation: X:972.41, Y:70.09, Z:6.58 [[ 7.90570955e-01 -6.12182649e-01 -1.51647654e-02 9.72409225e+02] [ 6.12077558e-01 7.90716326e-01 -1.13470237e-02 7.00919641e+01] [ 1.89374786e-02 -3.11385212e-04 9.99820621e-01 6.58137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.659254154 meters 0.01575020346422467 Centerline is valid? [True, True] Translation: X:972.46, Y:70.13, Z:6.58 [[ 7.90490782e-01 -6.12298027e-01 -1.46782138e-02 9.72455282e+02] [ 6.12199523e-01 7.90626989e-01 -1.09867354e-02 7.01263997e+01] [ 1.83321484e-02 -3.01082401e-04 9.99831907e-01 6.58212108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539999 meters 0.017371760879654738 Centerline is valid? [True, True] Translation: X:972.50, Y:70.16, Z:6.58 [[ 7.90280171e-01 -6.12546684e-01 -1.56144452e-02 9.72500430e+02] [ 6.12435161e-01 7.90434347e-01 -1.16926325e-02 7.01648276e+01] [ 1.95044770e-02 -3.22379673e-04 9.99809718e-01 6.58157482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.779254154 meters 0.018606190147048327 Centerline is valid? [True, True] Translation: X:972.55, Y:70.20, Z:6.58 [[ 7.90303321e-01 -6.12508572e-01 -1.59345555e-02 9.72545842e+02] [ 6.12392337e-01 7.90463879e-01 -1.19365675e-02 7.01986334e+01] [ 1.99069405e-02 -3.24690696e-04 9.99801785e-01 6.57983706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.839254154 meters 0.015633802221238783 Centerline is valid? [True, True] Translation: X:972.59, Y:70.24, Z:6.58 [[ 7.90385804e-01 -6.12408545e-01 -1.56861710e-02 9.72590491e+02] [ 6.12295777e-01 7.90541382e-01 -1.17560694e-02 7.02366630e+01] [ 1.96000846e-02 -3.12745941e-04 9.99807851e-01 6.58272179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.899254154 meters 0.01601117197154886 Centerline is valid? [True, True] Translation: X:972.64, Y:70.27, Z:6.58 [[ 7.88891971e-01 -6.14318185e-01 -1.62057306e-02 9.72636597e+02] [ 6.14198090e-01 7.89058320e-01 -1.21521194e-02 7.02731723e+01] [ 2.02525345e-02 -3.66819324e-04 9.99794829e-01 6.58303780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.959254154 meters 0.017866147564286648 Centerline is valid? [True, True] Translation: X:972.68, Y:70.31, Z:6.58 [[ 7.87730854e-01 -6.15803477e-01 -1.63150095e-02 9.72681834e+02] [ 6.15682000e-01 7.87899685e-01 -1.22376679e-02 7.03098586e+01] [ 2.03905893e-02 -4.04869132e-04 9.99792008e-01 6.58155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.019254154 meters 0.016634058525024704 Centerline is valid? [True, True] Translation: X:972.73, Y:70.35, Z:6.58 [[ 7.87772228e-01 -6.15780851e-01 -1.51281590e-02 9.72726741e+02] [ 6.15676319e-01 7.87917385e-01 -1.13518139e-02 7.03474265e+01] [ 1.89099691e-02 -3.71405516e-04 9.99821122e-01 6.58420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.079254154 meters 0.01566910169717961 Centerline is valid? [True, True] Translation: X:972.77, Y:70.39, Z:6.59 [[ 7.88342623e-01 -6.15054840e-01 -1.49483170e-02 9.72770522e+02] [ 6.14952541e-01 7.88484258e-01 -1.12226339e-02 7.03876008e+01] [ 1.86890479e-02 -3.45224875e-04 9.99825285e-01 6.58534468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.139254154 meters 0.01578948003059821 Centerline is valid? [True, True] Translation: X:972.81, Y:70.43, Z:6.58 [[ 7.90317504e-01 -6.12506795e-01 -1.52862035e-02 9.72813798e+02] [ 6.12399262e-01 7.90465270e-01 -1.14804645e-02 7.04264588e+01] [ 1.91150755e-02 -2.88047696e-04 9.99817249e-01 6.58435192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.199254154 meters 0.017824001268685823 Centerline is valid? [True, True] Translation: X:972.86, Y:70.47, Z:6.58 [[ 7.92085382e-01 -6.10199583e-01 -1.60379803e-02 9.72855948e+02] [ 6.10080633e-01 7.92247696e-01 -1.20502661e-02 7.04686118e+01] [ 2.00591203e-02 -2.39621545e-04 9.99798767e-01 6.58172465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.259254154 meters 0.016698216748547386 Centerline is valid? [True, True] Translation: X:972.90, Y:70.51, Z:6.58 [[ 7.94501317e-01 -6.07059492e-01 -1.56981207e-02 9.72898798e+02] [ 6.06944797e-01 7.94656373e-01 -1.18009635e-02 7.05096184e+01] [ 1.96384986e-02 -1.52011679e-04 9.99807135e-01 6.58368295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.319254154 meters 0.016168990206425538 Centerline is valid? [True, True] Translation: X:972.94, Y:70.55, Z:6.58 [[ 7.96802084e-01 -6.04061996e-01 -1.46813857e-02 9.72942311e+02] [ 6.03961065e-01 7.96937325e-01 -1.10422729e-02 7.05494409e+01] [ 1.83703617e-02 -6.84792523e-05 9.99831248e-01 6.58493570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.379254154 meters 0.01346668320701291 Centerline is valid? [True, True] Translation: X:972.98, Y:70.59, Z:6.59 [[ 8.01103597e-01 -5.98378759e-01 -1.32623006e-02 9.72984791e+02] [ 5.98295532e-01 8.01213366e-01 -9.97993618e-03 7.05908993e+01] [ 1.65977143e-02 6.01875921e-05 9.99862247e-01 6.58829475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.439254154 meters 0.017123638382153222 Centerline is valid? [True, True] Translation: X:973.03, Y:70.63, Z:6.58 [[ 8.05661751e-01 -5.92196319e-01 -1.45829441e-02 9.73025515e+02] [ 5.92094589e-01 8.05793693e-01 -1.09782655e-02 7.06321398e+01] [ 1.82521328e-02 2.10286314e-04 9.99833394e-01 6.58390316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.499254154 meters 0.018893292763380143 Centerline is valid? [True, True] Translation: X:973.07, Y:70.67, Z:6.58 [[ 8.09706254e-01 -5.86641084e-01 -1.51003954e-02 9.73068906e+02] [ 5.86530994e-01 8.09846971e-01 -1.13699521e-02 7.06726475e+01] [ 1.88990905e-02 3.49471390e-04 9.99821335e-01 6.58317644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.559254154 meters 0.017297082836693234 Centerline is valid? [True, True] Translation: X:973.11, Y:70.71, Z:6.59 [[ 8.12201375e-01 -5.83186503e-01 -1.49140870e-02 9.73114200e+02] [ 5.83078457e-01 8.12338181e-01 -1.12335500e-02 7.07113445e+01] [ 1.86665371e-02 4.27821902e-04 9.99825673e-01 6.58612473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539999 meters 0.018883827942810343 Centerline is valid? [True, True] Translation: X:973.16, Y:70.75, Z:6.58 [[ 8.12444125e-01 -5.82818133e-01 -1.60489310e-02 9.73161864e+02] [ 5.82692817e-01 8.12602485e-01 -1.20947386e-02 7.07457409e+01] [ 2.00904342e-02 4.74702488e-04 9.99798054e-01 6.58405959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.679254154 meters 0.02082587820581424 Centerline is valid? [True, True] Translation: X:973.21, Y:70.78, Z:6.58 [[ 8.12543524e-01 -5.82635005e-01 -1.75918020e-02 9.73207887e+02] [ 5.82484300e-01 8.12733764e-01 -1.32615858e-02 7.07805580e+01] [ 2.20241156e-02 5.28667156e-04 9.99757300e-01 6.58183604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539999 meters 0.018604705143988712 Centerline is valid? [True, True] Translation: X:973.26, Y:70.81, Z:6.58 [[ 8.11963884e-01 -5.83474039e-01 -1.65135417e-02 9.73257283e+02] [ 5.83341311e-01 8.12131649e-01 -1.24538713e-02 7.08132269e+01] [ 2.06776805e-02 4.79062612e-04 9.99786079e-01 6.58496816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.799254154 meters 0.018349103411240485 Centerline is valid? [True, True] Translation: X:973.31, Y:70.84, Z:6.59 [[ 8.10394663e-01 -5.85674212e-01 -1.56910352e-02 9.73308558e+02] [ 5.85554675e-01 8.10546453e-01 -1.18393645e-02 7.08437159e+01] [ 1.96523234e-02 4.06598763e-04 9.99806792e-01 6.58669759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539999 meters 0.015845083168826483 Centerline is valid? [True, True] Translation: X:973.36, Y:70.87, Z:6.59 [[ 8.09298906e-01 -5.87216768e-01 -1.45515683e-02 9.73359752e+02] [ 5.87114113e-01 8.09429643e-01 -1.09850531e-02 7.08737740e+01] [ 1.82290781e-02 3.46760333e-04 9.99833776e-01 6.59067962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.919254154 meters 0.017985722032537173 Centerline is valid? [True, True] Translation: X:973.41, Y:70.90, Z:6.59 [[ 8.07281275e-01 -5.89960740e-01 -1.55970685e-02 9.73412530e+02] [ 5.89843190e-01 8.07431872e-01 -1.17806018e-02 7.09016185e+01] [ 1.95436628e-02 3.10434578e-04 9.99808956e-01 6.58739486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539999 meters 0.015095877524870887 Centerline is valid? [True, True] Translation: X:973.46, Y:70.93, Z:6.59 [[ 8.06596154e-01 -5.90907504e-01 -1.51975703e-02 9.73462123e+02] [ 5.90795954e-01 8.06739265e-01 -1.14847534e-02 7.09333016e+01] [ 1.90469036e-02 2.84894883e-04 9.99818551e-01 6.59093904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.039254154 meters 0.014464018178191328 Centerline is valid? [True, True] Translation: X:973.51, Y:70.96, Z:6.59 [[ 8.04859511e-01 -5.93290967e-01 -1.43873540e-02 9.73514553e+02] [ 5.93191274e-01 8.04988062e-01 -1.08780589e-02 7.09622492e+01] [ 1.80355023e-02 2.20856292e-04 9.99837323e-01 6.59273283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539999 meters 0.01686516610503104 Centerline is valid? [True, True] Translation: X:973.57, Y:70.99, Z:6.59 [[ 8.02830734e-01 -5.96018512e-01 -1.49915162e-02 9.73566444e+02] [ 5.95910629e-01 8.02970674e-01 -1.13410002e-02 7.09909372e+01] [ 1.87971939e-02 1.71299670e-04 9.99823302e-01 6.59046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.159254154 meters 0.015429977055105345 Centerline is valid? [True, True] Translation: X:973.62, Y:71.02, Z:6.59 [[ 8.02843433e-01 -5.95969106e-01 -1.62248689e-02 9.73616289e+02] [ 5.95842635e-01 8.03007340e-01 -1.22786985e-02 7.10205389e+01] [ 2.03464137e-02 1.90403808e-04 9.99792972e-01 6.59112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539999 meters 0.014374332761436844 Centerline is valid? [True, True] Translation: X:973.67, Y:71.05, Z:6.59 [[ 8.03738918e-01 -5.94753359e-01 -1.64983155e-02 9.73666431e+02] [ 5.94622216e-01 8.03908197e-01 -1.24912166e-02 7.10519492e+01] [ 2.06923241e-02 2.29412016e-04 9.99785865e-01 6.59315406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.279254154 meters 0.015352441091278032 Centerline is valid? [True, True] Translation: X:973.72, Y:71.08, Z:6.59 [[ 8.03534369e-01 -5.95003514e-01 -1.74165581e-02 9.73716605e+02] [ 5.94857271e-01 8.03723062e-01 -1.31934437e-02 7.10829471e+01] [ 2.18482348e-02 2.41019207e-04 9.99761270e-01 6.59173666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.339254154 meters 0.017420828145506356 Centerline is valid? [True, True] Translation: X:973.77, Y:71.11, Z:6.59 [[ 8.01635816e-01 -5.97551393e-01 -1.76734374e-02 9.73768602e+02] [ 5.97401266e-01 8.01830593e-01 -1.33950589e-02 7.11120237e+01] [ 2.21753389e-02 1.79825109e-04 9.99754081e-01 6.59020176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.399254154 meters 0.013875726548052272 Centerline is valid? [True, True] Translation: X:973.82, Y:71.14, Z:6.60 [[ 7.99574381e-01 -6.00360555e-01 -1.57484542e-02 9.73820586e+02] [ 6.00241779e-01 7.99729451e-01 -1.19420303e-02 7.11402312e+01] [ 1.97640266e-02 9.56613180e-05 9.99804668e-01 6.59582362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.459254154 meters 0.01468316803674823 Centerline is valid? [True, True] Translation: X:973.87, Y:71.17, Z:6.60 [[ 7.97218475e-01 -6.03503658e-01 -1.50345379e-02 9.73870915e+02] [ 6.03395856e-01 7.97360228e-01 -1.14064301e-02 7.11707567e+01] [ 1.88717649e-02 2.16389872e-05 9.99821912e-01 6.59613775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.519254154 meters 0.01370698347079653 Centerline is valid? [True, True] Translation: X:973.92, Y:71.20, Z:6.60 [[ 7.96218300e-01 -6.04856490e-01 -1.36031640e-02 9.73921704e+02] [ 6.04768349e-01 7.96334494e-01 -1.03255579e-02 7.12015846e+01] [ 1.70781494e-02 -5.36485111e-06 9.99854158e-01 6.59895474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.579254154 meters 0.01794288606112175 Centerline is valid? [True, True] Translation: X:973.97, Y:71.24, Z:6.60 [[ 7.98915595e-01 -6.01257577e-01 -1.49398130e-02 9.73966855e+02] [ 6.01150517e-01 7.99055267e-01 -1.13462272e-02 7.12403053e+01] [ 1.87597414e-02 8.36015042e-05 9.99824017e-01 6.59551436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.639254154 meters 0.015479882810753753 Centerline is valid? [True, True] Translation: X:974.01, Y:71.28, Z:6.60 [[ 8.01097462e-01 -5.98339611e-01 -1.52501277e-02 9.74012499e+02] [ 5.98227409e-01 8.01242588e-01 -1.15880109e-02 7.12775103e+01] [ 1.91526177e-02 1.60081689e-04 9.99816559e-01 6.59716515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.699254154 meters 0.01529849271327941 Centerline is valid? [True, True] Translation: X:974.06, Y:71.31, Z:6.60 [[ 8.02090292e-01 -5.96990163e-01 -1.59345227e-02 9.74058614e+02] [ 5.96867268e-01 8.02248529e-01 -1.21145143e-02 7.13134959e+01] [ 2.00156933e-02 2.06139311e-04 9.99799645e-01 6.59750294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.759254154 meters 0.014452010382149163 Centerline is valid? [True, True] Translation: X:974.10, Y:71.35, Z:6.60 [[ 8.01557421e-01 -5.97699382e-01 -1.61601077e-02 9.74104436e+02] [ 5.97572984e-01 8.01720282e-01 -1.22930661e-02 7.13497736e+01] [ 2.03034442e-02 1.96754595e-04 9.99793844e-01 6.59799183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.819254154 meters 0.016953266404882813 Centerline is valid? [True, True] Translation: X:974.15, Y:71.38, Z:6.60 [[ 7.98097989e-01 -6.02316628e-01 -1.59461617e-02 9.74152931e+02] [ 6.02194339e-01 7.98257272e-01 -1.21369421e-02 7.13830484e+01] [ 2.00394216e-02 8.37808014e-05 9.99799187e-01 6.59700504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.879254154 meters 0.01369162715645399 Centerline is valid? [True, True] Translation: X:974.20, Y:71.42, Z:6.60 [[ 7.95740865e-01 -6.05461358e-01 -1.45951748e-02 9.74201849e+02] [ 6.05359337e-01 7.95874703e-01 -1.11144021e-02 7.14166767e+01] [ 1.83452714e-02 8.85864384e-06 9.99831711e-01 6.60244295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.939254154 meters 0.014961250949532167 Centerline is valid? [True, True] Translation: X:974.25, Y:71.45, Z:6.60 [[ 7.93729472e-01 -6.08097072e-01 -1.45422301e-02 9.74247768e+02] [ 6.07996157e-01 7.93862676e-01 -1.10780884e-02 7.14512861e+01] [ 1.82810868e-02 -4.86147215e-05 9.99832886e-01 6.60097598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.999254154 meters 0.014231780840851617 Centerline is valid? [True, True] Translation: X:974.29, Y:71.49, Z:6.60 [[ 7.93713312e-01 -6.08123356e-01 -1.43234849e-02 9.74293560e+02] [ 6.08025366e-01 7.93842542e-01 -1.09166368e-02 7.14878118e+01] [ 1.80092535e-02 -4.43622147e-05 9.99837819e-01 6.60216164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.059254154 meters 0.01687871428867921 Centerline is valid? [True, True] Translation: X:974.34, Y:71.53, Z:6.60 [[ 7.94332605e-01 -6.07291862e-01 -1.52416123e-02 9.74339239e+02] [ 6.07180626e-01 7.94478819e-01 -1.16229634e-02 7.15250261e+01] [ 1.91676693e-02 -2.19129344e-05 9.99816283e-01 6.59991895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539999 meters 0.0141191991764056 Centerline is valid? [True, True] Translation: X:974.38, Y:71.56, Z:6.60 [[ 7.95739410e-01 -6.05477444e-01 -1.39948483e-02 9.74384244e+02] [ 6.05383287e-01 7.95862465e-01 -1.06776158e-02 7.15626285e+01] [ 1.76030299e-02 2.43524073e-05 9.99845054e-01 6.60273814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.179254154 meters 0.01381565732439417 Centerline is valid? [True, True] Translation: X:974.43, Y:71.60, Z:6.60 [[ 7.97775194e-01 -6.02802296e-01 -1.35695330e-02 9.74428407e+02] [ 6.02713289e-01 7.97890584e-01 -1.03588978e-02 7.16012326e+01] [ 1.70713700e-02 8.55338273e-05 9.99854270e-01 6.60372393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539999 meters 0.013973597509492858 Centerline is valid? [True, True] Translation: X:974.47, Y:71.64, Z:6.60 [[ 7.98885303e-01 -6.01322808e-01 -1.38979934e-02 9.74473984e+02] [ 6.01229112e-01 7.99006174e-01 -1.06155442e-02 7.16386967e+01] [ 1.74879514e-02 1.24724072e-04 9.99847066e-01 6.60361791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.299254154 meters 0.016609491974978866 Centerline is valid? [True, True] Translation: X:974.52, Y:71.67, Z:6.60 [[ 7.98117821e-01 -6.02287839e-01 -1.60406816e-02 9.74520491e+02] [ 6.02163136e-01 7.98278989e-01 -1.22561433e-02 7.16729689e+01] [ 2.01866652e-02 1.22739202e-04 9.99796221e-01 6.59962398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539999 meters 0.016225974819997758 Centerline is valid? [True, True] Translation: X:974.57, Y:71.71, Z:6.60 [[ 7.97125364e-01 -6.03614566e-01 -1.55116298e-02 9.74568882e+02] [ 6.03498112e-01 7.97276268e-01 -1.18566985e-02 7.17073074e+01] [ 1.95239302e-02 9.00358013e-05 9.99809386e-01 6.60080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.419254154 meters 0.014769042579933488 Centerline is valid? [True, True] Translation: X:974.62, Y:71.74, Z:6.60 [[ 7.96680539e-01 -6.04235740e-01 -1.41169821e-02 9.74616815e+02] [ 6.04139287e-01 7.96805600e-01 -1.07961464e-02 7.17411857e+01] [ 1.77719079e-02 7.24562615e-05 9.99842065e-01 6.60429500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539999 meters 0.015637889843856494 Centerline is valid? [True, True] Translation: X:974.66, Y:71.77, Z:6.61 [[ 7.96576857e-01 -6.04388824e-01 -1.33962531e-02 9.74663798e+02] [ 6.04301894e-01 7.96689491e-01 -1.02506940e-02 7.17748890e+01] [ 1.68680590e-02 7.00844781e-05 9.99857722e-01 6.60507094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.539254154 meters 0.015816445855210068 Centerline is valid? [True, True] Translation: X:974.71, Y:71.81, Z:6.60 [[ 7.98080640e-01 -6.02397313e-01 -1.35929572e-02 9.74710243e+02] [ 6.02307422e-01 7.98196381e-01 -1.04070128e-02 7.18117126e+01] [ 1.71190058e-02 1.18496417e-04 9.99853452e-01 6.60477326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539999 meters 0.014487595688150348 Centerline is valid? [True, True] Translation: X:974.75, Y:71.85, Z:6.61 [[ 8.01020336e-01 -5.98488505e-01 -1.33390652e-02 9.74754224e+02] [ 5.98401339e-01 8.01131368e-01 -1.02160953e-02 7.18486532e+01] [ 1.68005591e-02 2.01185602e-04 9.99858840e-01 6.60671802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.659254154 meters 0.016842992978547317 Centerline is valid? [True, True] Translation: X:974.80, Y:71.89, Z:6.61 [[ 8.02525060e-01 -5.96430163e-01 -1.49862939e-02 9.74800008e+02] [ 5.96319687e-01 8.02664926e-01 -1.14825182e-02 7.18852182e+01] [ 1.88774926e-02 2.78386492e-04 9.99821766e-01 6.60556314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539999 meters 0.015078355463661852 Centerline is valid? [True, True] Translation: X:974.85, Y:71.92, Z:6.61 [[ 8.03686536e-01 -5.94875518e-01 -1.45282666e-02 9.74846393e+02] [ 5.94771333e-01 8.03817779e-01 -1.11373220e-02 7.19211358e+01] [ 1.83033991e-02 3.09919238e-04 9.99832431e-01 6.60782053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.779254154 meters 0.016191938883055396 Centerline is valid? [True, True] Translation: X:974.89, Y:71.96, Z:6.61 [[ 8.02144098e-01 -5.96932266e-01 -1.53856190e-02 9.74894610e+02] [ 5.96815675e-01 8.02291587e-01 -1.18008391e-02 7.19555538e+01] [ 1.93880543e-02 2.83594827e-04 9.99811994e-01 6.60664598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.839254154 meters 0.014402769595914054 Centerline is valid? [True, True] Translation: X:974.94, Y:71.99, Z:6.61 [[ 8.00720387e-01 -5.98851186e-01 -1.49705950e-02 9.74942952e+02] [ 5.98741025e-01 8.00860288e-01 -1.14884055e-02 7.19894252e+01] [ 1.88692003e-02 2.35491115e-04 9.99821933e-01 6.60896105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.899254154 meters 0.013917132545505834 Centerline is valid? [True, True] Translation: X:974.99, Y:72.02, Z:6.61 [[ 7.98156323e-01 -6.02276342e-01 -1.44807358e-02 9.74991825e+02] [ 6.02173774e-01 7.98287658e-01 -1.11158089e-02 7.20205364e+01] [ 1.82545814e-02 1.52233853e-04 9.99833360e-01 6.61055466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.959254154 meters 0.01502165225931407 Centerline is valid? [True, True] Translation: X:975.04, Y:72.05, Z:6.61 [[ 7.96836153e-01 -6.04025822e-01 -1.43161506e-02 9.75039356e+02] [ 6.03925777e-01 7.96964738e-01 -1.09937650e-02 7.20548307e+01] [ 1.80499851e-02 1.14337082e-04 9.99837079e-01 6.61061675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.019254154 meters 0.01372678325476502 Centerline is valid? [True, True] Translation: X:975.08, Y:72.09, Z:6.61 [[ 7.97008177e-01 -6.03819332e-01 -1.34231045e-02 9.75084488e+02] [ 6.03731256e-01 7.97121195e-01 -1.03135800e-02 7.20907641e+01] [ 1.69273801e-02 1.16059870e-04 9.99856715e-01 6.61167522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.079254154 meters 0.017148735955739212 Centerline is valid? [True, True] Translation: X:975.13, Y:72.13, Z:6.61 [[ 7.98922157e-01 -6.01246619e-01 -1.50296550e-02 9.75128873e+02] [ 6.01135663e-01 7.99063493e-01 -1.15520272e-02 7.21289396e+01] [ 1.89552659e-02 1.94308867e-04 9.99820314e-01 6.60897417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.139254154 meters 0.015277452082880949 Centerline is valid? [True, True] Translation: X:975.17, Y:72.17, Z:6.61 [[ 8.00322529e-01 -5.99384999e-01 -1.48819615e-02 9.75173864e+02] [ 5.99275804e-01 8.00460846e-01 -1.14430939e-02 7.21668470e+01] [ 1.87712463e-02 2.39766354e-04 9.99823776e-01 6.61073341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.199254154 meters 0.015246800134451701 Centerline is valid? [True, True] Translation: X:975.22, Y:72.21, Z:6.61 [[ 8.02231670e-01 -5.96830553e-01 -1.47525973e-02 9.75217629e+02] [ 5.96722752e-01 8.02367248e-01 -1.13470642e-02 7.22055142e+01] [ 1.86092755e-02 2.99763773e-04 9.99826788e-01 6.61104595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.259254154 meters 0.015554724158697679 Centerline is valid? [True, True] Translation: X:975.26, Y:72.24, Z:6.61 [[ 8.02488323e-01 -5.96485894e-01 -1.47333121e-02 9.75263640e+02] [ 5.96378234e-01 8.02623500e-01 -1.13366666e-02 7.22425868e+01] [ 1.85874643e-02 3.10915940e-04 9.99827190e-01 6.61142898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.319254154 meters 0.014889828446732797 Centerline is valid? [True, True] Translation: X:975.31, Y:72.28, Z:6.61 [[ 8.01787129e-01 -5.97446762e-01 -1.39558546e-02 9.75310524e+02] [ 5.97350214e-01 8.01908529e-01 -1.07439556e-02 7.22779312e+01] [ 1.76102603e-02 2.77832615e-04 9.99844889e-01 6.61353384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.379254154 meters 0.014477498585141064 Centerline is valid? [True, True] Translation: X:975.36, Y:72.31, Z:6.61 [[ 7.99658932e-01 -6.00330538e-01 -1.21998992e-02 9.75357648e+02] [ 6.00257020e-01 7.99751967e-01 -9.39682807e-03 7.23136949e+01] [ 1.53980962e-02 1.91182388e-04 9.99881424e-01 6.61450698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.439254154 meters 0.01384416860468549 Centerline is valid? [True, True] Translation: X:975.41, Y:72.35, Z:6.62 [[ 7.96417765e-01 -6.04654832e-01 -1.05488489e-02 9.75405067e+02] [ 6.04600211e-01 7.96487618e-01 -8.12774072e-03 7.23468244e+01] [ 1.33165052e-02 9.52408233e-05 9.99911327e-01 6.61687100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.499254154 meters 0.01647341809533255 Centerline is valid? [True, True] Translation: X:975.45, Y:72.38, Z:6.61 [[ 7.92397333e-01 -6.09899410e-01 -1.13656348e-02 9.75453577e+02] [ 6.09836492e-01 7.92478839e-01 -8.76028547e-03 7.23809057e+01] [ 1.43499180e-02 1.04479530e-05 9.99897035e-01 6.61430904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.559254154 meters 0.01617389884875873 Centerline is valid? [True, True] Translation: X:975.50, Y:72.42, Z:6.61 [[ 7.89246869e-01 -6.13951678e-01 -1.23579015e-02 9.75500821e+02] [ 6.13877709e-01 7.89343609e-01 -9.53019069e-03 7.24160105e+01] [ 1.56057071e-02 -6.45671215e-05 9.99878221e-01 6.61247304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539999 meters 0.01379772970449323 Centerline is valid? [True, True] Translation: X:975.55, Y:72.45, Z:6.62 [[ 7.88504642e-01 -6.14911701e-01 -1.20012788e-02 9.75547322e+02] [ 6.14841973e-01 7.88595964e-01 -9.26033332e-03 7.24516201e+01] [ 1.51584474e-02 -7.70741457e-05 9.99885101e-01 6.61501876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.679254154 meters 0.017203874378094747 Centerline is valid? [True, True] Translation: X:975.59, Y:72.49, Z:6.61 [[ 7.85646725e-01 -6.18522734e-01 -1.37423035e-02 9.75594708e+02] [ 6.18431749e-01 7.85766887e-01 -1.06099504e-02 7.24868628e+01] [ 1.73607426e-02 -1.63004037e-04 9.99849278e-01 6.61154147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539999 meters 0.016811901535708107 Centerline is valid? [True, True] Translation: X:975.64, Y:72.52, Z:6.61 [[ 7.84573270e-01 -6.19891059e-01 -1.34111545e-02 9.75639978e+02] [ 6.19804551e-01 7.84687862e-01 -1.03575069e-02 7.25224282e+01] [ 1.69440960e-02 -1.86071526e-04 9.99856421e-01 6.61238633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.799254154 meters 0.014763448327920429 Centerline is valid? [True, True] Translation: X:975.68, Y:72.56, Z:6.61 [[ 7.85339012e-01 -6.18938184e-01 -1.25761701e-02 9.75684653e+02] [ 6.18861935e-01 7.85439686e-01 -9.71620545e-03 7.25610674e+01] [ 1.58915536e-02 -1.52397746e-04 9.99873710e-01 6.61431548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539999 meters 0.015788813755579646 Centerline is valid? [True, True] Translation: X:975.73, Y:72.60, Z:6.61 [[ 7.86052338e-01 -6.18023564e-01 -1.29844438e-02 9.75728433e+02] [ 6.17942085e-01 7.86159561e-01 -1.00361192e-02 7.25977995e+01] [ 1.64104027e-02 -1.34719319e-04 9.99865331e-01 6.61325079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.919254154 meters 0.01447998197594434 Centerline is valid? [True, True] Translation: X:975.77, Y:72.64, Z:6.62 [[ 7.88084173e-01 -6.15440702e-01 -1.24931343e-02 9.75771463e+02] [ 6.15364876e-01 7.88183187e-01 -9.66090540e-03 7.26377145e+01] [ 1.57925928e-02 -7.42293938e-05 9.99875286e-01 6.61661094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539999 meters 0.017149917435340178 Centerline is valid? [True, True] Translation: X:975.81, Y:72.68, Z:6.61 [[ 7.89630291e-01 -6.13446110e-01 -1.29566250e-02 9.75812929e+02] [ 6.13364220e-01 7.89736582e-01 -1.00231749e-02 7.26766287e+01] [ 1.63809984e-02 -3.25277132e-05 9.99865822e-01 6.61441164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.039254154 meters 0.013556199307278752 Centerline is valid? [True, True] Translation: X:975.86, Y:72.72, Z:6.62 [[ 7.90471617e-01 -6.12384558e-01 -1.18226544e-02 9.75857570e+02] [ 6.12316204e-01 7.90560025e-01 -9.14953609e-03 7.27150022e+01] [ 1.49495525e-02 -6.75425325e-06 9.99888249e-01 6.61864922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539999 meters 0.01392867807499635 Centerline is valid? [True, True] Translation: X:975.90, Y:72.75, Z:6.62 [[ 7.89178662e-01 -6.14067420e-01 -1.08739778e-02 9.75902835e+02] [ 6.14009693e-01 7.89253573e-01 -8.41987056e-03 7.27513447e+01] [ 1.37526940e-02 -3.19456165e-05 9.99905427e-01 6.62033484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.159254154 meters 0.01612462283747938 Centerline is valid? [True, True] Translation: X:975.95, Y:72.79, Z:6.62 [[ 7.86614680e-01 -6.17354726e-01 -1.05113479e-02 9.75948853e+02] [ 6.17301018e-01 7.86684902e-01 -8.14352691e-03 7.27887374e+01] [ 1.32965636e-02 -8.28479779e-05 9.99911593e-01 6.61884956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539999 meters 0.015545269065326276 Centerline is valid? [True, True] Translation: X:975.99, Y:72.83, Z:6.62 [[ 7.84869804e-01 -6.19556772e-01 -1.13488687e-02 9.75994591e+02] [ 6.19494327e-01 7.84951839e-01 -8.79713607e-03 7.28258711e+01] [ 1.43586406e-02 -1.25953342e-04 9.99896901e-01 6.61890553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.279254154 meters 0.013896467783078794 Centerline is valid? [True, True] Translation: X:976.04, Y:72.86, Z:6.62 [[ 7.85264474e-01 -6.19036074e-01 -1.24115190e-02 9.76038109e+02] [ 6.18961261e-01 7.85362543e-01 -9.62460387e-03 7.28629871e+01] [ 1.57055191e-02 -1.24389969e-04 9.99876653e-01 6.61907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.339254154 meters 0.014591602853460332 Centerline is valid? [True, True] Translation: X:976.08, Y:72.90, Z:6.62 [[ 7.87251018e-01 -6.16488327e-01 -1.33408257e-02 9.76080588e+02] [ 6.16401445e-01 7.87364044e-01 -1.03499627e-02 7.29035699e+01] [ 1.68847177e-02 -7.52856125e-05 9.99857440e-01 6.61757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.399254154 meters 0.013912669853994537 Centerline is valid? [True, True] Translation: X:976.12, Y:72.95, Z:6.62 [[ 7.90294001e-01 -6.12591256e-01 -1.29362022e-02 9.76122910e+02] [ 6.12508954e-01 7.90399869e-01 -1.00413530e-02 7.29457297e+01] [ 1.63760176e-02 1.20814013e-05 9.99865904e-01 6.61855394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.459254154 meters 0.01364122847130724 Centerline is valid? [True, True] Translation: X:976.17, Y:72.99, Z:6.62 [[ 7.93510822e-01 -6.08418254e-01 -1.29538884e-02 9.76165311e+02] [ 6.08335085e-01 7.93616543e-01 -1.00601805e-02 7.29876370e+01] [ 1.64012176e-02 1.02557236e-04 9.99865486e-01 6.61970300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.519254154 meters 0.014708321016837262 Centerline is valid? [True, True] Translation: X:976.21, Y:73.03, Z:6.62 [[ 7.95378597e-01 -6.05966289e-01 -1.33320992e-02 9.76208093e+02] [ 6.05877791e-01 7.95490309e-01 -1.03571680e-02 7.30270568e+01] [ 1.68816503e-02 1.60246909e-04 9.99857482e-01 6.61911265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.579254154 meters 0.015582778829826237 Centerline is valid? [True, True] Translation: X:976.25, Y:73.07, Z:6.62 [[ 7.97947598e-01 -6.02615010e-01 -1.16095447e-02 9.76250745e+02] [ 6.02547504e-01 7.98032022e-01 -9.02201989e-03 7.30687442e+01] [ 1.47015930e-02 2.03796926e-04 9.99891905e-01 6.62162633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.639254154 meters 0.01452739922005828 Centerline is valid? [True, True] Translation: X:976.30, Y:73.10, Z:6.62 [[ 7.97958833e-01 -6.02605297e-01 -1.13382957e-02 9.76297405e+02] [ 6.02540840e-01 7.98039357e-01 -8.81601804e-03 7.31039393e+01] [ 1.43609853e-02 2.03033279e-04 9.99896855e-01 6.62452443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.699254154 meters 0.015691463317245302 Centerline is valid? [True, True] Translation: X:976.34, Y:73.14, Z:6.62 [[ 7.96580301e-01 -6.04419783e-01 -1.16854852e-02 9.76343124e+02] [ 6.04351436e-01 7.96665986e-01 -9.09110363e-03 7.31406466e+01] [ 1.48042715e-02 1.79654270e-04 9.99890395e-01 6.62243328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.759254154 meters 0.013826569537225945 Centerline is valid? [True, True] Translation: X:976.39, Y:73.18, Z:6.62 [[ 7.94343289e-01 -6.07346082e-01 -1.22260427e-02 9.76391395e+02] [ 6.07271531e-01 7.94437360e-01 -9.51677130e-03 7.31751812e+01] [ 1.54927988e-02 1.35055765e-04 9.99879970e-01 6.62442168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.819254154 meters 0.014024190947433514 Centerline is valid? [True, True] Translation: X:976.44, Y:73.21, Z:6.62 [[ 7.91296679e-01 -6.11292050e-01 -1.30994400e-02 9.76440215e+02] [ 6.11206916e-01 7.91405096e-01 -1.02019713e-02 7.32091829e+01] [ 1.66033475e-02 6.63176718e-05 9.99862153e-01 6.62386070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.879254154 meters 0.013466357882108244 Centerline is valid? [True, True] Translation: X:976.49, Y:73.24, Z:6.62 [[ 7.88586142e-01 -6.14769748e-01 -1.37860141e-02 9.76487995e+02] [ 6.14675877e-01 7.88706636e-01 -1.07428413e-02 7.32423998e+01] [ 1.74774946e-02 -2.27449681e-06 9.99847257e-01 6.62449176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.939254154 meters 0.01897663415576387 Centerline is valid? [True, True] Translation: X:976.54, Y:73.28, Z:6.62 [[ 7.86673811e-01 -6.17163735e-01 -1.59134777e-02 9.76535330e+02] [ 6.17039053e-01 7.86834748e-01 -1.24051281e-02 7.32761023e+01] [ 2.01772724e-02 -6.04478102e-05 9.99796416e-01 6.61970644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.999254154 meters 0.013648985824218082 Centerline is valid? [True, True] Translation: X:976.58, Y:73.31, Z:6.62 [[ 7.86851125e-01 -6.16963031e-01 -1.48971533e-02 9.76583184e+02] [ 6.16853677e-01 7.86992132e-01 -1.16156985e-02 7.33112126e+01] [ 1.88903990e-02 -4.95383731e-05 9.99821559e-01 6.62462714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.059254154 meters 0.013714525976236222 Centerline is valid? [True, True] Translation: X:976.63, Y:73.35, Z:6.63 [[ 7.86490042e-01 -6.17443639e-01 -1.40273508e-02 9.76629900e+02] [ 6.17346718e-01 7.86615122e-01 -1.09398195e-02 7.33450773e+01] [ 1.77888482e-02 -5.56799228e-05 9.99841764e-01 6.62525892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539999 meters 0.013500072674947586 Centerline is valid? [True, True] Translation: X:976.68, Y:73.38, Z:6.63 [[ 7.86306737e-01 -6.17690739e-01 -1.34114258e-02 9.76676420e+02] [ 6.17602102e-01 7.86421101e-01 -1.04640258e-02 7.33796378e+01] [ 1.70105600e-02 -5.49907408e-05 9.99855308e-01 6.62802503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.179254154 meters 0.013476632737181849 Centerline is valid? [True, True] Translation: X:976.72, Y:73.41, Z:6.63 [[ 7.87729813e-01 -6.15883047e-01 -1.30312428e-02 9.76722042e+02] [ 6.15799052e-01 7.87837592e-01 -1.01713183e-02 7.34147663e+01] [ 1.65308455e-02 -1.23763300e-05 9.99863356e-01 6.62788029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539999 meters 0.01839523465299015 Centerline is valid? [True, True] Translation: X:976.77, Y:73.45, Z:6.62 [[ 7.89192558e-01 -6.13964079e-01 -1.49404215e-02 9.76768188e+02] [ 6.13853226e-01 7.89333965e-01 -1.16665342e-02 7.34520555e+01] [ 1.89558150e-02 3.59160364e-05 9.99820322e-01 6.62393623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.299254154 meters 0.01361458533541314 Centerline is valid? [True, True] Translation: X:976.81, Y:73.49, Z:6.63 [[ 7.90838282e-01 -6.11868148e-01 -1.38629407e-02 9.76814517e+02] [ 6.11772282e-01 7.90959773e-01 -1.08310870e-02 7.34877204e+01] [ 1.75922256e-02 8.46754077e-05 9.99845241e-01 6.62665351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539999 meters 0.01619661531462758 Centerline is valid? [True, True] Translation: X:976.86, Y:73.52, Z:6.63 [[ 7.92023997e-01 -6.10296217e-01 -1.53790699e-02 9.76861120e+02] [ 6.10177804e-01 7.92173282e-01 -1.20224556e-02 7.35237091e+01] [ 1.95201474e-02 1.38106253e-04 9.99809454e-01 6.62522164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.419254154 meters 0.014260988687785702 Centerline is valid? [True, True] Translation: X:976.91, Y:73.56, Z:6.63 [[ 7.93555731e-01 -6.08328998e-01 -1.43224326e-02 9.76906473e+02] [ 6.08225865e-01 7.93684949e-01 -1.12026149e-02 7.35601445e+01] [ 1.81823746e-02 1.78625296e-04 9.99834671e-01 6.62654191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539999 meters 0.01467945412497683 Centerline is valid? [True, True] Translation: X:976.95, Y:73.60, Z:6.63 [[ 7.93569998e-01 -6.08311432e-01 -1.42779600e-02 9.76952317e+02] [ 6.08208815e-01 7.93698412e-01 -1.11744588e-02 7.35955363e+01] [ 1.81299452e-02 1.83734096e-04 9.99835622e-01 6.62699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.539254154 meters 0.014381590471603258 Centerline is valid? [True, True] Translation: X:977.00, Y:73.63, Z:6.63 [[ 7.93848867e-01 -6.07967390e-01 -1.34025662e-02 9.76999371e+02] [ 6.07876820e-01 7.93961975e-01 -1.04954267e-02 7.36303077e+01] [ 1.70220051e-02 1.84673310e-04 9.99855098e-01 6.62871699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539999 meters 0.015738049006074645 Centerline is valid? [True, True] Translation: X:977.05, Y:73.67, Z:6.63 [[ 7.93727988e-01 -6.08098969e-01 -1.45438581e-02 9.77046636e+02] [ 6.07992219e-01 7.93861199e-01 -1.13955714e-02 7.36661199e+01] [ 1.84754398e-02 2.02431385e-04 9.99829294e-01 6.62717012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.659254154 meters 0.01530452252277984 Centerline is valid? [True, True] Translation: X:977.09, Y:73.70, Z:6.63 [[ 7.94229474e-01 -6.07424565e-01 -1.53277923e-02 9.77093896e+02] [ 6.07305796e-01 7.94377331e-01 -1.20135525e-02 7.37003798e+01] [ 1.94733776e-02 2.32860394e-04 9.99810349e-01 6.62729435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539999 meters 0.016034496747682033 Centerline is valid? [True, True] Translation: X:977.14, Y:73.74, Z:6.63 [[ 7.94716249e-01 -6.06785539e-01 -1.54075505e-02 9.77141065e+02] [ 6.06665315e-01 7.94865552e-01 -1.20810008e-02 7.37354350e+01] [ 1.95775077e-02 2.53741137e-04 9.99808310e-01 6.62695021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.779254154 meters 0.0178947128702056 Centerline is valid? [True, True] Translation: X:977.19, Y:73.77, Z:6.63 [[ 7.95480195e-01 -6.05797021e-01 -1.48737666e-02 9.77187794e+02] [ 6.05684698e-01 7.95619190e-01 -1.16684253e-02 7.37708501e+01] [ 1.89025514e-02 2.73188361e-04 9.99821293e-01 6.62661379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.839254154 meters 0.01820852132118359 Centerline is valid? [True, True] Translation: X:977.24, Y:73.80, Z:6.63 [[ 7.95718309e-01 -6.05494868e-01 -1.44339271e-02 9.77235943e+02] [ 6.05388923e-01 7.95849162e-01 -1.13297431e-02 7.38041228e+01] [ 1.83473301e-02 2.77144443e-04 9.99831635e-01 6.62701713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.899254154 meters 0.015057571232563514 Centerline is valid? [True, True] Translation: X:977.28, Y:73.84, Z:6.63 [[ 7.95516991e-01 -6.05782450e-01 -1.34290702e-02 9.77284245e+02] [ 6.05690688e-01 7.95630290e-01 -1.05466838e-02 7.38378407e+01] [ 1.70735710e-02 2.56203356e-04 9.99854203e-01 6.62950990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.959254154 meters 0.017202234701075597 Centerline is valid? [True, True] Translation: X:977.33, Y:73.87, Z:6.63 [[ 7.93938119e-01 -6.07839313e-01 -1.39151819e-02 9.77333971e+02] [ 6.07741000e-01 7.94060022e-01 -1.09342598e-02 7.38694161e+01] [ 1.76957627e-02 2.24299069e-04 9.99843393e-01 6.62778962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.019254154 meters 0.01705022129377267 Centerline is valid? [True, True] Translation: X:977.38, Y:73.90, Z:6.63 [[ 7.93884244e-01 -6.07927287e-01 -1.31232977e-02 9.77381967e+02] [ 6.07839762e-01 7.93992675e-01 -1.03177567e-02 7.39027696e+01] [ 1.66922481e-02 2.14242329e-04 9.99860652e-01 6.62885530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.079254154 meters 0.014926312530246877 Centerline is valid? [True, True] Translation: X:977.43, Y:73.94, Z:6.63 [[ 7.94436486e-01 -6.07203565e-01 -1.32098135e-02 9.77429504e+02] [ 6.07114685e-01 7.94546270e-01 -1.03915714e-02 7.39369138e+01] [ 1.68056072e-02 2.35571755e-04 9.99858748e-01 6.62982623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.139254154 meters 0.015061329212085223 Centerline is valid? [True, True] Translation: X:977.48, Y:73.97, Z:6.63 [[ 7.94300043e-01 -6.07383950e-01 -1.31216808e-02 9.77475795e+02] [ 6.07296214e-01 7.94408385e-01 -1.03260063e-02 7.39698615e+01] [ 1.66958238e-02 2.33200156e-04 9.99860588e-01 6.62883417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.199254154 meters 0.01497780795022932 Centerline is valid? [True, True] Translation: X:977.52, Y:74.00, Z:6.63 [[ 7.93448627e-01 -6.08503715e-01 -1.27477915e-02 9.77523956e+02] [ 6.08420985e-01 7.93550998e-01 -1.00358439e-02 7.40032861e+01] [ 1.62228710e-02 2.06902667e-04 9.99868379e-01 6.62925273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.259254154 meters 0.016903312532917405 Centerline is valid? [True, True] Translation: X:977.57, Y:74.04, Z:6.63 [[ 7.92015643e-01 -6.10399373e-01 -1.11278017e-02 9.77572724e+02] [ 6.10336461e-01 7.92093797e-01 -8.76473042e-03 7.40372376e+01] [ 1.41642487e-02 1.50100474e-04 9.99899671e-01 6.62915396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.319254154 meters 0.01447820128933921 Centerline is valid? [True, True] Translation: X:977.62, Y:74.07, Z:6.63 [[ 7.90925029e-01 -6.11822648e-01 -1.05188972e-02 9.77621022e+02] [ 6.11766503e-01 7.90994964e-01 -8.28928404e-03 7.40706425e+01] [ 1.33919664e-02 1.21093248e-04 9.99910316e-01 6.63192045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.379254154 meters 0.014506452788753812 Centerline is valid? [True, True] Translation: X:977.67, Y:74.11, Z:6.63 [[ 7.90516434e-01 -6.12346489e-01 -1.07491857e-02 9.77666457e+02] [ 6.12287843e-01 7.90589504e-01 -8.47546403e-03 7.41066085e+01] [ 1.36881140e-02 1.18397899e-04 9.99906306e-01 6.63117406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.439254154 meters 0.014380461558086153 Centerline is valid? [True, True] Translation: X:977.71, Y:74.14, Z:6.63 [[ 7.91045289e-01 -6.11639845e-01 -1.20020927e-02 9.77711181e+02] [ 6.11566565e-01 7.91136320e-01 -9.46889606e-03 7.41449142e+01] [ 1.52868456e-02 1.50247030e-04 9.99883138e-01 6.63056634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.499254154 meters 0.014657941361820696 Centerline is valid? [True, True] Translation: X:977.75, Y:74.18, Z:6.63 [[ 7.91461368e-01 -6.11107713e-01 -1.16733322e-02 9.77753828e+02] [ 6.11038283e-01 7.91547432e-01 -9.21299183e-03 7.41823678e+01] [ 1.48701265e-02 1.58874258e-04 9.99889421e-01 6.63106978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.559254154 meters 0.014424729362329424 Centerline is valid? [True, True] Translation: X:977.80, Y:74.22, Z:6.63 [[ 7.90973211e-01 -6.11764123e-01 -1.02974375e-02 9.77799831e+02] [ 6.11710111e-01 7.91040227e-01 -8.13011226e-03 7.42195385e+01] [ 1.31193983e-02 1.31654338e-04 9.99913928e-01 6.63335414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539999 meters 0.014411767766456229 Centerline is valid? [True, True] Translation: X:977.84, Y:74.26, Z:6.63 [[ 7.90314133e-01 -6.12622693e-01 -9.84918269e-03 9.77844012e+02] [ 6.12573310e-01 7.90375495e-01 -7.77927937e-03 7.42576260e+01] [ 1.25503157e-02 1.14727998e-04 9.99921235e-01 6.63288815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.679254154 meters 0.01506724899402646 Centerline is valid? [True, True] Translation: X:977.89, Y:74.29, Z:6.63 [[ 7.90125266e-01 -6.12873694e-01 -9.37550376e-03 9.77888784e+02] [ 6.12828929e-01 7.90180881e-01 -7.40811588e-03 7.42949393e+01] [ 1.19485832e-02 1.07759601e-04 9.99928607e-01 6.63236014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539999 meters 0.016841220950060912 Centerline is valid? [True, True] Translation: X:977.93, Y:74.33, Z:6.63 [[ 7.89657298e-01 -6.13475532e-01 -9.44049413e-03 9.77933834e+02] [ 6.13430135e-01 7.89713721e-01 -7.46384390e-03 7.43317946e+01] [ 1.20341734e-02 1.02795222e-04 9.99927581e-01 6.63175268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.799254154 meters 0.013968009309757274 Centerline is valid? [True, True] Translation: X:977.98, Y:74.37, Z:6.63 [[ 7.89445517e-01 -6.13753679e-01 -9.06626849e-03 9.77978947e+02] [ 6.13711779e-01 7.89497570e-01 -7.17213377e-03 7.43679695e+01] [ 1.15597204e-02 9.79330877e-05 9.99933179e-01 6.63411787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539999 meters 0.013944364006722365 Centerline is valid? [True, True] Translation: X:978.02, Y:74.40, Z:6.63 [[ 7.89277968e-01 -6.13970802e-01 -8.95228873e-03 9.78024050e+02] [ 6.13929916e-01 7.89328731e-01 -7.08613465e-03 7.44042810e+01] [ 1.14169785e-02 9.68520930e-05 9.99934819e-01 6.63403945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.919254154 meters 0.014572892351696549 Centerline is valid? [True, True] Translation: X:978.07, Y:74.44, Z:6.63 [[ 7.88459584e-01 -6.15030167e-01 -8.32941025e-03 9.78070632e+02] [ 6.14994794e-01 7.88503575e-01 -6.59662845e-03 7.44410082e+01] [ 1.06248953e-02 7.86309779e-05 9.99943551e-01 6.63400693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539999 meters 0.013733199672579069 Centerline is valid? [True, True] Translation: X:978.12, Y:74.48, Z:6.64 [[ 7.87972983e-01 -6.15663601e-01 -7.54382144e-03 9.78115917e+02] [ 6.15634586e-01 7.88009090e-01 -5.97747780e-03 7.44769055e+01] [ 9.62471537e-03 6.58536278e-05 9.99953679e-01 6.63512137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.039254154 meters 0.013598471596926485 Centerline is valid? [True, True] Translation: X:978.16, Y:74.51, Z:6.63 [[ 7.87610731e-01 -6.16120719e-01 -8.03722711e-03 9.78161818e+02] [ 6.16087768e-01 7.87651735e-01 -6.37235426e-03 7.45123933e+01] [ 1.02566754e-02 6.72972806e-05 9.99947397e-01 6.63498617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539999 meters 0.013674346960001511 Centerline is valid? [True, True] Translation: X:978.21, Y:74.55, Z:6.63 [[ 7.87768607e-01 -6.15896445e-01 -9.60164759e-03 9.78208268e+02] [ 6.15849343e-01 7.87827114e-01 -7.61745013e-03 7.45488923e+01] [ 1.22559988e-02 8.76197140e-05 9.99924889e-01 6.63320525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.159254154 meters 0.013929917265071107 Centerline is valid? [True, True] Translation: X:978.25, Y:74.59, Z:6.63 [[ 7.89359955e-01 -6.13843054e-01 -1.03714524e-02 9.78254216e+02] [ 6.13787859e-01 7.89428076e-01 -8.23268027e-03 7.45853483e+01] [ 1.32410893e-02 1.32676585e-04 9.99912324e-01 6.63332283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539999 meters 0.01495343382941113 Centerline is valid? [True, True] Translation: X:978.30, Y:74.62, Z:6.63 [[ 7.90141302e-01 -6.12837228e-01 -1.03564110e-02 9.78299153e+02] [ 6.12782062e-01 7.90209155e-01 -8.22409040e-03 7.46224963e+01] [ 1.32237596e-02 1.51970571e-04 9.99912551e-01 6.63273325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.279254154 meters 0.01678338996213202 Centerline is valid? [True, True] Translation: X:978.34, Y:74.66, Z:6.63 [[ 7.90423294e-01 -6.12477700e-01 -1.01036693e-02 9.78344505e+02] [ 6.12425120e-01 7.90487851e-01 -8.02679119e-03 7.46581430e+01] [ 1.29030585e-02 1.56821814e-04 9.99916740e-01 6.63119995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.339254154 meters 0.014102864058109474 Centerline is valid? [True, True] Translation: X:978.39, Y:74.69, Z:6.64 [[ 7.89184021e-01 -6.14090541e-01 -9.02158445e-03 9.78393221e+02] [ 6.14048683e-01 7.89235575e-01 -7.17087518e-03 7.46920877e+01] [ 1.15237220e-02 1.19448054e-04 9.99933593e-01 6.63585109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.399254154 meters 0.013812485487034471 Centerline is valid? [True, True] Translation: X:978.44, Y:74.73, Z:6.64 [[ 7.88457916e-01 -6.15026927e-01 -8.71741691e-03 9.78440154e+02] [ 6.14987863e-01 7.88506099e-01 -6.93259456e-03 7.47281266e+01] [ 1.11374687e-02 1.04953468e-04 9.99937971e-01 6.63682406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.459254154 meters 0.013484178651661547 Centerline is valid? [True, True] Translation: X:978.49, Y:74.76, Z:6.64 [[ 7.86149523e-01 -6.17985889e-01 -7.89732828e-03 9.78487640e+02] [ 6.17953953e-01 7.86189187e-01 -6.28290395e-03 7.47618834e+01] [ 1.00915401e-02 5.91167131e-05 9.99949077e-01 6.63766893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.519254154 meters 0.01577480500620441 Centerline is valid? [True, True] Translation: X:978.53, Y:74.80, Z:6.63 [[ 7.85233828e-01 -6.19136623e-01 -8.81351160e-03 9.78532637e+02] [ 6.19096897e-01 7.85283286e-01 -7.01372748e-03 7.47969373e+01] [ 1.12635589e-02 5.09983952e-05 9.99936563e-01 6.63441212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.579254154 meters 0.013590697595517207 Centerline is valid? [True, True] Translation: X:978.58, Y:74.83, Z:6.64 [[ 7.85915226e-01 -6.18253866e-01 -9.97073731e-03 9.78578454e+02] [ 6.18202914e-01 7.85978468e-01 -7.93760486e-03 7.48347034e+01] [ 1.27442397e-02 7.43456605e-05 9.99918786e-01 6.63527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.639254154 meters 0.014978950754777119 Centerline is valid? [True, True] Translation: X:978.62, Y:74.87, Z:6.63 [[ 7.86972262e-01 -6.16891120e-01 -1.09547016e-02 9.78623722e+02] [ 6.16829418e-01 7.87048496e-01 -8.72547630e-03 7.48717888e+01] [ 1.40045502e-02 1.09525633e-04 9.99901925e-01 6.63401450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.699254154 meters 0.014967253251564347 Centerline is valid? [True, True] Translation: X:978.67, Y:74.91, Z:6.63 [[ 7.89394987e-01 -6.13772800e-01 -1.17687966e-02 9.78666140e+02] [ 6.13701183e-01 7.89482690e-01 -9.37763075e-03 7.49117072e+01] [ 1.50469959e-02 1.80130323e-04 9.99886771e-01 6.63425640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.759254154 meters 0.01733500376699657 Centerline is valid? [True, True] Translation: X:978.71, Y:74.95, Z:6.63 [[ 7.91455230e-01 -6.11123433e-01 -1.12591950e-02 9.78709886e+02] [ 6.11057568e-01 7.91535280e-01 -8.97488449e-03 7.49512652e+01] [ 1.43968123e-02 2.23202952e-04 9.99896336e-01 6.63359145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.819254154 meters 0.017060100223914066 Centerline is valid? [True, True] Translation: X:978.76, Y:74.99, Z:6.64 [[ 7.93074272e-01 -6.09035493e-01 -1.04387464e-02 9.78757031e+02] [ 6.08978644e-01 7.93142931e-01 -8.32481773e-03 7.49865976e+01] [ 1.33495274e-02 2.45225156e-04 9.99910861e-01 6.63688887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.879254154 meters 0.017871156344187067 Centerline is valid? [True, True] Translation: X:978.80, Y:75.02, Z:6.64 [[ 7.94070398e-01 -6.07756151e-01 -9.20128865e-03 9.78801528e+02] [ 6.07711855e-01 7.94123671e-01 -7.34143872e-03 7.50248183e+01] [ 1.17687657e-02 2.37886969e-04 9.99930717e-01 6.63853838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.939254154 meters 0.016464129047301736 Centerline is valid? [True, True] Translation: X:978.85, Y:75.06, Z:6.64 [[ 7.95263189e-01 -6.06194552e-01 -9.19922012e-03 9.78846741e+02] [ 6.06150127e-01 7.95316350e-01 -7.34352847e-03 7.50630192e+01] [ 1.17678971e-02 2.63929422e-04 9.99930721e-01 6.64101401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.999254154 meters 0.016734762516486888 Centerline is valid? [True, True] Translation: X:978.89, Y:75.10, Z:6.64 [[ 7.96029005e-01 -6.05162792e-01 -1.07618548e-02 9.78891157e+02] [ 6.05101832e-01 7.96101681e-01 -8.59575825e-03 7.51013161e+01] [ 1.37693638e-02 3.30454837e-04 9.99905143e-01 6.63998272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.059254154 meters 0.017620746906437175 Centerline is valid? [True, True] Translation: X:978.94, Y:75.14, Z:6.64 [[ 7.96329001e-01 -6.04751349e-01 -1.16588255e-02 9.78936375e+02] [ 6.04679684e-01 7.96414257e-01 -9.31722301e-03 7.51388872e+01] [ 1.49198581e-02 3.69719944e-04 9.99888624e-01 6.63819685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539999 meters 0.017709191482709323 Centerline is valid? [True, True] Translation: X:978.98, Y:75.18, Z:6.64 [[ 7.95981330e-01 -6.05187348e-01 -1.27277829e-02 9.78979133e+02] [ 6.05101929e-01 7.96082983e-01 -1.01754085e-02 7.51769111e+01] [ 1.62903998e-02 3.97829177e-04 9.99867223e-01 6.63777686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.179254154 meters 0.01738661761370928 Centerline is valid? [True, True] Translation: X:979.03, Y:75.21, Z:6.64 [[ 7.94414874e-01 -6.07223977e-01 -1.35664698e-02 9.79027121e+02] [ 6.07127146e-01 7.94530613e-01 -1.08505265e-02 7.52113376e+01] [ 1.73676754e-02 3.83247543e-04 9.99849097e-01 6.63691105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539999 meters 0.01618020690744371 Centerline is valid? [True, True] Translation: X:979.07, Y:75.25, Z:6.64 [[ 7.93933199e-01 -6.07870405e-01 -1.27924038e-02 9.79073832e+02] [ 6.07784308e-01 7.94036174e-01 -1.02366052e-02 7.52477562e+01] [ 1.63801608e-02 3.52158414e-04 9.99865774e-01 6.64001763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.299254154 meters 0.016543942343201026 Centerline is valid? [True, True] Translation: X:979.12, Y:75.28, Z:6.64 [[ 7.93822661e-01 -6.08031680e-01 -1.19607475e-02 9.79118539e+02] [ 6.07956379e-01 7.93912696e-01 -9.57459568e-03 7.52848376e+01] [ 1.53174468e-02 3.28918283e-04 9.99882627e-01 6.64132952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539999 meters 0.017046513415991834 Centerline is valid? [True, True] Translation: X:979.16, Y:75.32, Z:6.64 [[ 7.93432177e-01 -6.08547798e-01 -1.16171421e-02 9.79163939e+02] [ 6.08476787e-01 7.93517159e-01 -9.30155664e-03 7.53213665e+01] [ 1.48788434e-02 3.11393045e-04 9.99889255e-01 6.64151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.419254154 meters 0.01647921051055788 Centerline is valid? [True, True] Translation: X:979.21, Y:75.36, Z:6.64 [[ 7.92427091e-01 -6.09865373e-01 -1.11144858e-02 9.79210055e+02] [ 6.09800461e-01 7.92504984e-01 -8.90211131e-03 7.53578649e+01] [ 1.42373748e-02 2.76655615e-04 9.99898605e-01 6.64289894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539999 meters 0.015209292241198314 Centerline is valid? [True, True] Translation: X:979.26, Y:75.39, Z:6.64 [[ 7.91714785e-01 -6.10760852e-01 -1.26047848e-02 9.79256667e+02] [ 6.10677382e-01 7.91815062e-01 -1.01016248e-02 7.53928126e+01] [ 1.61503355e-02 3.00148744e-04 9.99869530e-01 6.64246888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.539254154 meters 0.015185053484410153 Centerline is valid? [True, True] Translation: X:979.30, Y:75.43, Z:6.64 [[ 7.91085850e-01 -6.11561681e-01 -1.32472065e-02 9.79301900e+02] [ 6.11469488e-01 7.91196700e-01 -1.06229249e-02 7.54295337e+01] [ 1.69777199e-02 3.03382990e-04 9.99855822e-01 6.64179585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539999 meters 0.019177730002783222 Centerline is valid? [True, True] Translation: X:979.35, Y:75.47, Z:6.64 [[ 7.89099065e-01 -6.14080589e-01 -1.50896216e-02 9.79346735e+02] [ 6.13961342e-01 7.89243275e-01 -1.21046400e-02 7.54668072e+01] [ 1.93426068e-02 2.87315795e-04 9.99812873e-01 6.63588115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.659254154 meters 0.01379169864025367 Centerline is valid? [True, True] Translation: X:979.40, Y:75.50, Z:6.64 [[ 7.86203352e-01 -6.17809937e-01 -1.39703833e-02 9.79396695e+02] [ 6.17708234e-01 7.86327443e-01 -1.12111482e-02 7.54985327e+01] [ 1.79116545e-02 1.84621500e-04 9.99839556e-01 6.64231842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539999 meters 0.013637126469611264 Centerline is valid? [True, True] Translation: X:979.45, Y:75.53, Z:6.64 [[ 7.81702104e-01 -6.23505145e-01 -1.35334640e-02 9.79445154e+02] [ 6.23410456e-01 7.81819245e-01 -1.08660915e-02 7.55319964e+01] [ 1.73557865e-02 5.71436050e-05 9.99849375e-01 6.64246174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.779254154 meters 0.013809621077727784 Centerline is valid? [True, True] Translation: X:979.49, Y:75.56, Z:6.64 [[ 7.76228489e-01 -6.30321408e-01 -1.28162411e-02 9.79493791e+02] [ 6.30237319e-01 7.76334281e-01 -1.02959258e-02 7.55645608e+01] [ 1.64394298e-02 -8.52825451e-05 9.99864860e-01 6.64380333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.839254154 meters 0.014278437698533342 Centerline is valid? [True, True] Translation: X:979.54, Y:75.60, Z:6.64 [[ 7.71354162e-01 -6.36280547e-01 -1.26420976e-02 9.79542896e+02] [ 6.36199433e-01 7.71457726e-01 -1.01615696e-02 7.55979526e+01] [ 1.62184529e-02 -2.04726311e-04 9.99868451e-01 6.64483787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.899254154 meters 0.014920905999533707 Centerline is valid? [True, True] Translation: X:979.59, Y:75.63, Z:6.65 [[ 7.68752052e-01 -6.39424951e-01 -1.24905527e-02 9.79589816e+02] [ 6.39346102e-01 7.68853472e-01 -1.00448943e-02 7.56339849e+01] [ 1.60263609e-02 -2.63753063e-04 9.99871535e-01 6.64534695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.959254154 meters 0.014855689672175397 Centerline is valid? [True, True] Translation: X:979.63, Y:75.67, Z:6.64 [[ 7.69141867e-01 -6.38944212e-01 -1.30798252e-02 9.79632722e+02] [ 6.38857577e-01 7.69253031e-01 -1.05247544e-02 7.56732217e+01] [ 1.67864261e-02 -2.61116228e-04 9.99859064e-01 6.64459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.019254154 meters 0.01465792204383893 Centerline is valid? [True, True] Translation: X:979.68, Y:75.71, Z:6.64 [[ 7.71448516e-01 -6.36127058e-01 -1.44759920e-02 9.79675456e+02] [ 6.36020325e-01 7.71584292e-01 -1.16544418e-02 7.57149270e+01] [ 1.85831538e-02 -2.16223356e-04 9.99827295e-01 6.64309202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.079254154 meters 0.013810525842216544 Centerline is valid? [True, True] Translation: X:979.72, Y:75.76, Z:6.64 [[ 7.73652125e-01 -6.33452804e-01 -1.41398282e-02 9.79718997e+02] [ 6.33350428e-01 7.73781315e-01 -1.13891085e-02 7.57554931e+01] [ 1.81555976e-02 -1.44258218e-04 9.99835163e-01 6.64359576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.139254154 meters 0.015014838856459153 Centerline is valid? [True, True] Translation: X:979.76, Y:75.80, Z:6.64 [[ 7.77236795e-01 -6.29047679e-01 -1.42120520e-02 9.79759884e+02] [ 6.28943409e-01 7.77366719e-01 -1.14530393e-02 7.57979679e+01] [ 1.82524840e-02 -3.68528962e-05 9.99833409e-01 6.64357454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.199254154 meters 0.013326775528859962 Centerline is valid? [True, True] Translation: X:979.80, Y:75.84, Z:6.65 [[ 7.81118244e-01 -6.24256842e-01 -1.25572624e-02 9.79801617e+02] [ 6.24174738e-01 7.81219170e-01 -1.01244870e-02 7.58407266e+01] [ 1.61302544e-02 7.04955735e-05 9.99869897e-01 6.64682684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.259254154 meters 0.015211185675531164 Centerline is valid? [True, True] Translation: X:979.84, Y:75.88, Z:6.65 [[ 7.84521170e-01 -6.19977459e-01 -1.24291386e-02 9.79843329e+02] [ 6.19896402e-01 7.84619605e-01 -1.00263076e-02 7.58832118e+01] [ 1.59682305e-02 1.61072274e-04 9.99872487e-01 6.64639202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.319254154 meters 0.016451677395133806 Centerline is valid? [True, True] Translation: X:979.89, Y:75.92, Z:6.65 [[ 7.85879150e-01 -6.18258356e-01 -1.22705603e-02 9.79886209e+02] [ 6.18179065e-01 7.85974914e-01 -9.90342427e-03 7.59233263e+01] [ 1.57672274e-02 1.97491160e-04 9.99875670e-01 6.64632468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.379254154 meters 0.014954409071168509 Centerline is valid? [True, True] Translation: X:979.93, Y:75.96, Z:6.65 [[ 7.87172994e-01 -6.16625654e-01 -1.14664946e-02 9.79927116e+02] [ 6.16556191e-01 7.87256474e-01 -9.25784400e-03 7.59641343e+01] [ 1.47356962e-02 2.17786526e-04 9.99891400e-01 6.64842819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.439254154 meters 0.015348206436546882 Centerline is valid? [True, True] Translation: X:979.97, Y:76.00, Z:6.65 [[ 7.86796351e-01 -6.17095326e-01 -1.20358418e-02 9.79971530e+02] [ 6.17018779e-01 7.86888372e-01 -9.72200279e-03 7.60013781e+01] [ 1.54702664e-02 2.22895907e-04 9.99880303e-01 6.64849212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.499254154 meters 0.01453020425846773 Centerline is valid? [True, True] Translation: X:980.01, Y:76.04, Z:6.65 [[ 7.85992545e-01 -6.18113026e-01 -1.23290359e-02 9.80014671e+02] [ 6.18032742e-01 7.86089207e-01 -9.96438151e-03 7.60409958e+01] [ 1.58508360e-02 2.12181748e-04 9.99874345e-01 6.64857907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.559254154 meters 0.014664842627055306 Centerline is valid? [True, True] Translation: X:980.06, Y:76.08, Z:6.65 [[ 7.86005047e-01 -6.18086033e-01 -1.28733112e-02 9.80058717e+02] [ 6.17998409e-01 7.86110428e-01 -1.04097081e-02 7.60797184e+01] [ 1.65539394e-02 2.26397280e-04 9.99862949e-01 6.64784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539999 meters 0.016551456911604867 Centerline is valid? [True, True] Translation: X:980.10, Y:76.12, Z:6.65 [[ 7.85817252e-01 -6.18279551e-01 -1.48877166e-02 9.80103904e+02] [ 6.18162263e-01 7.85958223e-01 -1.20452597e-02 7.61173941e+01] [ 1.91484610e-02 2.62348277e-04 9.99816617e-01 6.64553090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.679254154 meters 0.014232342617821055 Centerline is valid? [True, True] Translation: X:980.15, Y:76.15, Z:6.65 [[ 7.84862512e-01 -6.19502063e-01 -1.44232938e-02 9.80149285e+02] [ 6.19392120e-01 7.84994995e-01 -1.16730666e-02 7.61536125e+01] [ 1.85537023e-02 2.28077896e-04 9.99827839e-01 6.64823378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539999 meters 0.014037442033747339 Centerline is valid? [True, True] Translation: X:980.20, Y:76.19, Z:6.65 [[ 7.83643584e-01 -6.21069380e-01 -1.32498273e-02 9.80195504e+02] [ 6.20976754e-01 7.83755570e-01 -1.07274470e-02 7.61902441e+01] [ 1.70471148e-02 1.78660302e-04 9.99854671e-01 6.64955694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.799254154 meters 0.013655196105065232 Centerline is valid? [True, True] Translation: X:980.24, Y:76.23, Z:6.65 [[ 7.81973083e-01 -6.23207161e-01 -1.14425531e-02 9.80242076e+02] [ 6.23138243e-01 7.82056789e-01 -9.26868902e-03 7.62259343e+01] [ 1.47250397e-02 1.17572873e-04 9.99891574e-01 6.65178972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539999 meters 0.016867816065477558 Centerline is valid? [True, True] Translation: X:980.29, Y:76.26, Z:6.65 [[ 7.80342131e-01 -6.25250066e-01 -1.13363873e-02 9.80287183e+02] [ 6.25182569e-01 7.80424467e-01 -9.18732413e-03 7.62630883e+01] [ 1.45915690e-02 8.19443638e-05 9.99893534e-01 6.64972461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.919254154 meters 0.013552568680540977 Centerline is valid? [True, True] Translation: X:980.33, Y:76.30, Z:6.65 [[ 7.81117481e-01 -6.24293116e-01 -1.06577377e-02 9.80331254e+02] [ 6.24233306e-01 7.81190179e-01 -8.64194374e-03 7.63005839e+01] [ 1.37208260e-02 9.74584802e-05 9.99905860e-01 6.65288447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539999 meters 0.015982134746122804 Centerline is valid? [True, True] Translation: X:980.37, Y:76.34, Z:6.65 [[ 7.82454330e-01 -6.22600840e-01 -1.15505598e-02 9.80374918e+02] [ 6.22530325e-01 7.82539567e-01 -9.37125946e-03 7.63401803e+01] [ 1.48733241e-02 1.42008789e-04 9.99889376e-01 6.65029961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.039254154 meters 0.016841114225411652 Centerline is valid? [True, True] Translation: X:980.42, Y:76.38, Z:6.65 [[ 7.85198963e-01 -6.19117580e-01 -1.24904629e-02 9.80417641e+02] [ 6.19034593e-01 7.85298268e-01 -1.01391688e-02 7.63809821e+01] [ 1.60860765e-02 2.29236269e-04 9.99870584e-01 6.64914433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539999 meters 0.015442213884656802 Centerline is valid? [True, True] Translation: X:980.46, Y:76.42, Z:6.65 [[ 7.87765106e-01 -6.15838067e-01 -1.30235370e-02 9.80461289e+02] [ 6.15747303e-01 7.87872691e-01 -1.05773775e-02 7.64211827e+01] [ 1.67748409e-02 3.13281110e-04 9.99859243e-01 6.65038754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.159254154 meters 0.01796332799683354 Centerline is valid? [True, True] Translation: X:980.50, Y:76.46, Z:6.65 [[ 7.88561724e-01 -6.14820863e-01 -1.28729984e-02 9.80503927e+02] [ 6.14731983e-01 7.88666719e-01 -1.04592216e-02 7.64596901e+01] [ 1.65830531e-02 3.34297978e-04 9.99862436e-01 6.64883259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539999 meters 0.017354110591109657 Centerline is valid? [True, True] Translation: X:980.55, Y:76.50, Z:6.65 [[ 7.88160570e-01 -6.15363153e-01 -1.14501392e-02 9.80549670e+02] [ 6.15292863e-01 7.88243684e-01 -9.30519831e-03 7.64954763e+01] [ 1.47515761e-02 2.88801485e-04 9.99891148e-01 6.65193486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.279254154 meters 0.014989280568754074 Centerline is valid? [True, True] Translation: X:980.60, Y:76.53, Z:6.65 [[ 7.86747974e-01 -6.17183256e-01 -1.06043962e-02 9.80598727e+02] [ 6.17123091e-01 7.86819402e-01 -8.62082125e-03 7.65278428e+01] [ 1.36643712e-02 2.38195868e-04 9.99906610e-01 6.65494079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.339254154 meters 0.014605881815538875 Centerline is valid? [True, True] Translation: X:980.65, Y:76.56, Z:6.66 [[ 7.84774588e-01 -6.19680648e-01 -1.11686824e-02 9.80646061e+02] [ 6.19614096e-01 7.84854031e-01 -9.08416664e-03 7.65638585e+01] [ 1.43950677e-02 2.08750105e-04 9.99896364e-01 6.65529006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.399254154 meters 0.01417496046767563 Centerline is valid? [True, True] Translation: X:980.69, Y:76.60, Z:6.66 [[ 7.82992555e-01 -6.21913930e-01 -1.20715427e-02 9.80692805e+02] [ 6.21836369e-01 7.83085582e-01 -9.82350477e-03 7.65997340e+01] [ 1.55624255e-02 1.85206841e-04 9.99878881e-01 6.65525883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.459254154 meters 0.013961595305994723 Centerline is valid? [True, True] Translation: X:980.74, Y:76.64, Z:6.65 [[ 7.81488099e-01 -6.23783412e-01 -1.30616364e-02 9.80739846e+02] [ 6.23692797e-01 7.81597229e-01 -1.06332888e-02 7.66360236e+01] [ 1.68418080e-02 1.63340096e-04 9.99858153e-01 6.65430045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.519254154 meters 0.01504692440956336 Centerline is valid? [True, True] Translation: X:980.79, Y:76.67, Z:6.65 [[ 7.79837698e-01 -6.25810826e-01 -1.46278834e-02 9.80786761e+02] [ 6.25697420e-01 7.79974866e-01 -1.19141628e-02 7.66703719e+01] [ 1.88653935e-02 1.38484355e-04 9.99822023e-01 6.65332500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.579254154 meters 0.01449409741156961 Centerline is valid? [True, True] Translation: X:980.83, Y:76.71, Z:6.65 [[ 7.78442911e-01 -6.27531781e-01 -1.51821575e-02 9.80833142e+02] [ 6.27409800e-01 7.78590940e-01 -1.23730012e-02 7.67053300e+01] [ 1.95851418e-02 1.06240709e-04 9.99808187e-01 6.65392216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.639254154 meters 0.014905971609810165 Centerline is valid? [True, True] Translation: X:980.88, Y:76.74, Z:6.65 [[ 7.77537148e-01 -6.28629340e-01 -1.61597107e-02 9.80879946e+02] [ 6.28491227e-01 7.77705050e-01 -1.31769903e-02 7.67413987e+01] [ 2.08509313e-02 8.93630057e-05 9.99782592e-01 6.65364368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.699254154 meters 0.015729225533068925 Centerline is valid? [True, True] Translation: X:980.93, Y:76.78, Z:6.65 [[ 7.77280018e-01 -6.28930463e-01 -1.68001927e-02 9.80925840e+02] [ 6.28781099e-01 7.77461552e-01 -1.37063986e-02 7.67778512e+01] [ 2.16818755e-02 9.00661097e-05 9.99764916e-01 6.65343749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.759254154 meters 0.01350057468304092 Centerline is valid? [True, True] Translation: X:980.97, Y:76.82, Z:6.66 [[ 7.78307260e-01 -6.27691653e-01 -1.55240878e-02 9.80971611e+02] [ 6.27563748e-01 7.78462057e-01 -1.26715528e-02 7.68153085e+01] [ 2.00387412e-02 1.20006800e-04 9.99799197e-01 6.65574571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.819254154 meters 0.0143048292213336 Centerline is valid? [True, True] Translation: X:981.02, Y:76.85, Z:6.66 [[ 7.78608730e-01 -6.27298498e-01 -1.62800343e-02 9.81017571e+02] [ 6.27157599e-01 7.78778900e-01 -1.32955607e-02 7.68527790e+01] [ 2.10188324e-02 1.41892381e-04 9.99779070e-01 6.65667166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.879254154 meters 0.013424317243761478 Centerline is valid? [True, True] Translation: X:981.06, Y:76.89, Z:6.66 [[ 7.79567391e-01 -6.26159858e-01 -1.40895390e-02 9.81063564e+02] [ 6.26054038e-01 7.79694689e-01 -1.15122730e-02 7.68898621e+01] [ 1.81940620e-02 1.53779813e-04 9.99834463e-01 6.65955064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.939254154 meters 0.014038083871489474 Centerline is valid? [True, True] Translation: X:981.11, Y:76.93, Z:6.66 [[ 7.80508436e-01 -6.24972776e-01 -1.46836944e-02 9.81107113e+02] [ 6.24857563e-01 7.80646522e-01 -1.20014118e-02 7.69277987e+01] [ 1.89633306e-02 1.91985633e-04 9.99820161e-01 6.65801188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.999254154 meters 0.013843701035987357 Centerline is valid? [True, True] Translation: X:981.15, Y:76.96, Z:6.66 [[ 7.81117740e-01 -6.24200555e-01 -1.51242444e-02 9.81153061e+02] [ 6.24078085e-01 7.81264116e-01 -1.23663330e-02 7.69644266e+01] [ 1.95351014e-02 2.20852548e-04 9.99809147e-01 6.65911778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.059254154 meters 0.016180974677057362 Centerline is valid? [True, True] Translation: X:981.20, Y:77.00, Z:6.66 [[ 7.82743338e-01 -6.22107262e-01 -1.71878401e-02 9.81199042e+02] [ 6.21948489e-01 7.82931961e-01 -1.40577954e-02 7.70003100e+01] [ 2.22023659e-02 3.13694544e-04 9.99753448e-01 6.65841563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539999 meters 0.014209301274112747 Centerline is valid? [True, True] Translation: X:981.25, Y:77.04, Z:6.66 [[ 7.84292564e-01 -6.20170386e-01 -1.65488916e-02 9.81245662e+02] [ 6.20022646e-01 7.84467057e-01 -1.35408649e-02 7.70363376e+01] [ 2.13797037e-02 3.59312089e-04 9.99771363e-01 6.66079634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.179254154 meters 0.01600288050285531 Centerline is valid? [True, True] Translation: X:981.29, Y:77.07, Z:6.66 [[ 7.87567640e-01 -6.15980992e-01 -1.74536477e-02 9.81289319e+02] [ 6.15815508e-01 7.87760855e-01 -1.42862192e-02 7.70744038e+01] [ 2.25493399e-02 5.03136975e-04 9.99745605e-01 6.65977561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539999 meters 0.016405305671348968 Centerline is valid? [True, True] Translation: X:981.34, Y:77.11, Z:6.66 [[ 7.87915722e-01 -6.15532371e-01 -1.75702998e-02 9.81335260e+02] [ 6.15364412e-01 7.88111430e-01 -1.43880081e-02 7.71118683e+01] [ 2.27036388e-02 5.24400576e-04 9.99742102e-01 6.66029875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.299254154 meters 0.019658427100066028 Centerline is valid? [True, True] Translation: X:981.38, Y:77.15, Z:6.66 [[ 7.88214168e-01 -6.15142404e-01 -1.78395182e-02 9.81380199e+02] [ 6.14969065e-01 7.88415832e-01 -1.46125191e-02 7.71483911e+01] [ 2.30537387e-02 5.47042730e-04 9.99734078e-01 6.65970750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539999 meters 0.021055434365818606 Centerline is valid? [True, True] Translation: X:981.43, Y:77.18, Z:6.66 [[ 7.87941853e-01 -6.15472591e-01 -1.84696180e-02 9.81426387e+02] [ 6.15286795e-01 7.88158092e-01 -1.51321751e-02 7.71835580e+01] [ 2.38704179e-02 5.59162080e-04 9.99714905e-01 6.65978425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.419254154 meters 0.019205595674531072 Centerline is valid? [True, True] Translation: X:981.47, Y:77.22, Z:6.66 [[ 7.87927590e-01 -6.15530934e-01 -1.70816287e-02 9.81473049e+02] [ 6.15371910e-01 7.88112555e-01 -1.40004959e-02 7.72195549e+01] [ 2.20799844e-02 5.19822531e-04 9.99756072e-01 6.66229284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539999 meters 0.01890549330274642 Centerline is valid? [True, True] Translation: X:981.52, Y:77.25, Z:6.67 [[ 7.87655009e-01 -6.15769595e-01 -2.06734798e-02 9.81524820e+02] [ 6.15536490e-01 7.87926019e-01 -1.69534376e-02 7.72493544e+01] [ 2.67285841e-02 6.28178857e-04 9.99642530e-01 6.66510893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.539254154 meters 0.01645028409826322 Centerline is valid? [True, True] Translation: X:981.57, Y:77.29, Z:6.67 [[ 7.87646678e-01 -6.15803894e-01 -1.99568271e-02 9.81571781e+02] [ 6.15586478e-01 7.87899226e-01 -1.63737150e-02 7.72857669e+01] [ 2.58069661e-02 6.11549344e-04 9.99666758e-01 6.66606993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539999 meters 0.01610850303093531 Centerline is valid? [True, True] Translation: X:981.62, Y:77.32, Z:6.67 [[ 7.86700457e-01 -6.16974117e-01 -2.11028422e-02 9.81619424e+02] [ 6.16731157e-01 7.86983203e-01 -1.73239267e-02 7.73197293e+01] [ 2.72959967e-02 6.13960775e-04 9.99627206e-01 6.66632986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.659254154 meters 0.01579175930570986 Centerline is valid? [True, True] Translation: X:981.67, Y:77.35, Z:6.67 [[ 7.83063734e-01 -6.21572717e-01 -2.14137000e-02 9.81670217e+02] [ 6.21324026e-01 7.83356330e-01 -1.75873343e-02 7.73507741e+01] [ 2.77063646e-02 4.67157339e-04 9.99615996e-01 6.66803133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539999 meters 0.017003551575692128 Centerline is valid? [True, True] Translation: X:981.72, Y:77.38, Z:6.67 [[ 7.80528529e-01 -6.24743359e-01 -2.17014135e-02 9.81718621e+02] [ 6.24488916e-01 7.80830072e-01 -1.78323640e-02 7.73847315e+01] [ 2.80857672e-02 3.66376691e-04 9.99605450e-01 6.66935562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.779254154 meters 0.013488872839518445 Centerline is valid? [True, True] Translation: X:981.77, Y:77.42, Z:6.67 [[ 7.77419819e-01 -6.28724061e-01 -1.80133332e-02 9.81768424e+02] [ 6.28549669e-01 7.77628458e-01 -1.48085985e-02 7.74173299e+01] [ 2.33182027e-02 1.90223362e-04 9.99728076e-01 6.67264224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.839254154 meters 0.013373264156814809 Centerline is valid? [True, True] Translation: X:981.81, Y:77.45, Z:6.67 [[ 7.77201840e-01 -6.29001818e-01 -1.77204098e-02 9.81813482e+02] [ 6.28832941e-01 7.77403806e-01 -1.45758023e-02 7.74544446e+01] [ 2.29441201e-02 1.85162956e-04 9.99736732e-01 6.67342914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.899254154 meters 0.013566444334784683 Centerline is valid? [True, True] Translation: X:981.86, Y:77.49, Z:6.67 [[ 7.78758489e-01 -6.27045379e-01 -1.86897935e-02 9.81856056e+02] [ 6.26856839e-01 7.78982686e-01 -1.53778360e-02 7.74946662e+01] [ 2.42016266e-02 2.59795445e-04 9.99707064e-01 6.67292368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.959254154 meters 0.01463385417603266 Centerline is valid? [True, True] Translation: X:981.90, Y:77.54, Z:6.67 [[ 7.80831936e-01 -6.24403152e-01 -2.05472821e-02 9.81898500e+02] [ 6.24174156e-01 7.81102143e-01 -1.69134669e-02 7.75358232e+01] [ 2.66103481e-02 3.81492694e-04 9.99645809e-01 6.67189445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.019254154 meters 0.01794089244209827 Centerline is valid? [True, True] Translation: X:981.94, Y:77.58, Z:6.67 [[ 7.81646339e-01 -6.23331158e-01 -2.20741733e-02 9.81941373e+02] [ 6.23066288e-01 7.81957839e-01 -1.81752005e-02 7.75755607e+01] [ 2.85902417e-02 4.52905712e-04 9.99591113e-01 6.67190818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.079254154 meters 0.014049684586810392 Centerline is valid? [True, True] Translation: X:981.99, Y:77.61, Z:6.67 [[ 7.80376533e-01 -6.25031811e-01 -1.86467450e-02 9.81986909e+02] [ 6.24843184e-01 7.80599208e-01 -1.53581300e-02 7.76131146e+01] [ 2.41549542e-02 3.33832704e-04 9.99708171e-01 6.67362778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.139254154 meters 0.013534209544366668 Centerline is valid? [True, True] Translation: X:982.03, Y:77.65, Z:6.67 [[ 7.78462348e-01 -6.27442394e-01 -1.76752342e-02 9.82032910e+02] [ 6.27273385e-01 7.78662943e-01 -1.45644009e-02 7.76506657e+01] [ 2.29013724e-02 2.50633736e-04 9.99737698e-01 6.67427024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.199254154 meters 0.013050958828223226 Centerline is valid? [True, True] Translation: X:982.08, Y:77.69, Z:6.68 [[ 7.77104797e-01 -6.29135040e-01 -1.72405468e-02 9.82079393e+02] [ 6.28974496e-01 7.77295993e-01 -1.42134467e-02 7.76870372e+01] [ 2.23431853e-02 2.01473363e-04 9.99750340e-01 6.67546483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.259254154 meters 0.012799165274413011 Centerline is valid? [True, True] Translation: X:982.12, Y:77.72, Z:6.67 [[ 7.75393421e-01 -6.31251332e-01 -1.69351498e-02 9.82124476e+02] [ 6.31096842e-01 7.75578324e-01 -1.39656888e-02 7.77228143e+01] [ 2.19503948e-02 1.41183651e-04 9.99759051e-01 6.67430900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.319254154 meters 0.012700528797482237 Centerline is valid? [True, True] Translation: X:982.17, Y:77.76, Z:6.67 [[ 7.73639679e-01 -6.33402851e-01 -1.68069981e-02 9.82170954e+02] [ 6.33251074e-01 7.73822216e-01 -1.38656238e-02 7.77593536e+01] [ 2.17881542e-02 8.39471862e-05 9.99762606e-01 6.67411069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.379254154 meters 0.012558254828459856 Centerline is valid? [True, True] Translation: X:982.22, Y:77.80, Z:6.68 [[ 7.72139417e-01 -6.35247056e-01 -1.61832871e-02 9.82217436e+02] [ 6.35106601e-01 7.72308990e-01 -1.33577473e-02 7.77958449e+01] [ 2.09839678e-02 3.59307154e-05 9.99779812e-01 6.67500571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.439254154 meters 0.012447744064237345 Centerline is valid? [True, True] Translation: X:982.26, Y:77.83, Z:6.68 [[ 7.71413293e-01 -6.36145084e-01 -1.55229668e-02 9.82263472e+02] [ 6.36015908e-01 7.71569460e-01 -1.28192660e-02 7.78321613e+01] [ 2.01319602e-02 1.60984331e-05 9.99797331e-01 6.67614581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.499254154 meters 0.012578673530109488 Centerline is valid? [True, True] Translation: X:982.31, Y:77.87, Z:6.68 [[ 7.71016772e-01 -6.36635498e-01 -1.51122613e-02 9.82307885e+02] [ 6.36513053e-01 7.71164861e-01 -1.24855812e-02 7.78679816e+01] [ 1.96028091e-02 7.44095921e-06 9.99807846e-01 6.67576725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.559254154 meters 0.012518033092788471 Centerline is valid? [True, True] Translation: X:982.35, Y:77.91, Z:6.68 [[ 7.71581862e-01 -6.35969123e-01 -1.43074839e-02 9.82353192e+02] [ 6.35859158e-01 7.71714503e-01 -1.18261335e-02 7.79056753e+01] [ 1.85623486e-02 2.72854760e-05 9.99827704e-01 6.67662735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539999 meters 0.013423871842410534 Centerline is valid? [True, True] Translation: X:982.40, Y:77.94, Z:6.68 [[ 7.73466993e-01 -6.33680804e-01 -1.40516800e-02 9.82395791e+02] [ 6.33574242e-01 7.73594617e-01 -1.16210567e-02 7.79447595e+01] [ 1.82343445e-02 8.57213022e-05 9.99833737e-01 6.67710143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.679254154 meters 0.013541871579052322 Centerline is valid? [True, True] Translation: X:982.44, Y:77.98, Z:6.68 [[ 7.76421805e-01 -6.30066740e-01 -1.36045596e-02 9.82438387e+02] [ 6.29966231e-01 7.76540968e-01 -1.12549230e-02 7.79848350e+01] [ 1.76558506e-02 1.68154492e-04 9.99844109e-01 6.67628757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539999 meters 0.013632243524948807 Centerline is valid? [True, True] Translation: X:982.48, Y:78.02, Z:6.68 [[ 7.78814915e-01 -6.27129330e-01 -1.24952467e-02 9.82482402e+02] [ 6.27044104e-01 7.78915115e-01 -1.03410048e-02 7.80236894e+01] [ 1.62178839e-02 2.18657993e-04 9.99868458e-01 6.67680132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.799254154 meters 0.015124995012310044 Centerline is valid? [True, True] Translation: X:982.53, Y:78.06, Z:6.68 [[ 7.79857985e-01 -6.25850693e-01 -1.15079222e-02 9.82527289e+02] [ 6.25778194e-01 7.79942855e-01 -9.52865471e-03 7.80621085e+01] [ 1.49390368e-02 2.29590699e-04 9.99888380e-01 6.67807759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539999 meters 0.015464098011550622 Centerline is valid? [True, True] Translation: X:982.57, Y:78.10, Z:6.68 [[ 7.80631568e-01 -6.24903421e-01 -1.04914047e-02 9.82572525e+02] [ 6.24843019e-01 7.80702032e-01 -8.69129520e-03 7.81004809e+01] [ 1.36218811e-02 2.29218417e-04 9.99907192e-01 6.67817745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.919254154 meters 0.014623141043229714 Centerline is valid? [True, True] Translation: X:982.62, Y:78.14, Z:6.68 [[ 7.81342874e-01 -6.24041591e-01 -8.68366509e-03 9.82617991e+02] [ 6.24000121e-01 7.81391100e-01 -7.19705785e-03 7.81382368e+01] [ 1.12766020e-02 2.04761793e-04 9.99936396e-01 6.67857937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539999 meters 0.014719389870490778 Centerline is valid? [True, True] Translation: X:982.66, Y:78.18, Z:6.68 [[ 7.80933370e-01 -6.24566154e-01 -7.75828288e-03 9.82662836e+02] [ 6.24533048e-01 7.80971886e-01 -6.43314281e-03 7.81758243e+01] [ 1.00769241e-02 1.78551844e-04 9.99949211e-01 6.67885691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.039254154 meters 0.014108082684310108 Centerline is valid? [True, True] Translation: X:982.71, Y:78.21, Z:6.68 [[ 7.80052919e-01 -6.25662462e-01 -7.99544346e-03 9.82709425e+02] [ 6.25627322e-01 7.80093875e-01 -6.63325389e-03 7.82121300e+01] [ 1.03873744e-02 1.72121178e-04 9.99946035e-01 6.67825595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539999 meters 0.01591808757682923 Centerline is valid? [True, True] Translation: X:982.75, Y:78.25, Z:6.68 [[ 7.79590039e-01 -6.26230543e-01 -8.64165641e-03 9.82752242e+02] [ 6.26189493e-01 7.79637912e-01 -7.17251980e-03 7.82497848e+01] [ 1.12290139e-02 1.80310543e-04 9.99936936e-01 6.67772844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.159254154 meters 0.014020085246730783 Centerline is valid? [True, True] Translation: X:982.80, Y:78.28, Z:6.68 [[ 7.78820810e-01 -6.27177980e-01 -9.26969588e-03 9.82798505e+02] [ 6.27130775e-01 7.78875952e-01 -7.69693646e-03 7.82844340e+01] [ 1.20472923e-02 1.81222736e-04 9.99927412e-01 6.67707736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539999 meters 0.01674352776198205 Centerline is valid? [True, True] Translation: X:982.84, Y:78.32, Z:6.68 [[ 7.77377095e-01 -6.28952482e-01 -1.01797667e-02 9.82844183e+02] [ 6.28895640e-01 7.77443725e-01 -8.45747490e-03 7.83211518e+01] [ 1.32335456e-02 1.72636367e-04 9.99912418e-01 6.67671605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.279254154 meters 0.013176365678763785 Centerline is valid? [True, True] Translation: X:982.89, Y:78.36, Z:6.68 [[ 7.75379356e-01 -6.31433463e-01 -8.86765885e-03 9.82891665e+02] [ 6.31390452e-01 7.75430054e-01 -7.37082792e-03 7.83565764e+01] [ 1.15304366e-02 1.16232676e-04 9.99933516e-01 6.67737654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.339254154 meters 0.012634424823352537 Centerline is valid? [True, True] Translation: X:982.94, Y:78.39, Z:6.68 [[ 7.71671100e-01 -6.35976709e-01 -7.57226475e-03 9.82940508e+02] [ 6.35945541e-01 7.71708250e-01 -6.29646881e-03 7.83905803e+01] [ 9.84798669e-03 4.32550080e-05 9.99951506e-01 6.67887673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.399254154 meters 0.012568942807607935 Centerline is valid? [True, True] Translation: X:982.99, Y:78.42, Z:6.68 [[ 7.67743889e-01 -6.40714995e-01 -7.32232169e-03 9.82988227e+02] [ 6.40686045e-01 7.67778806e-01 -6.09077528e-03 7.84241357e+01] [ 9.52437445e-03 -1.51538217e-05 9.99954642e-01 6.67973585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.459254154 meters 0.013942637301903758 Centerline is valid? [True, True] Translation: X:983.03, Y:78.46, Z:6.68 [[ 7.65144973e-01 -6.43806087e-01 -8.17881048e-03 9.83034721e+02] [ 6.43770099e-01 7.65188682e-01 -6.80731582e-03 7.84608335e+01] [ 1.06409246e-02 -5.66901533e-05 9.99943382e-01 6.67977359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.519254154 meters 0.013001843464797129 Centerline is valid? [True, True] Translation: X:983.08, Y:78.50, Z:6.68 [[ 7.64357114e-01 -6.44737394e-01 -8.47908558e-03 9.83079195e+02] [ 6.44698730e-01 7.64404139e-01 -7.06113249e-03 7.84980643e+01] [ 1.10340243e-02 -6.92288497e-05 9.99939121e-01 6.67962766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.579254154 meters 0.01297052706372443 Centerline is valid? [True, True] Translation: X:983.12, Y:78.54, Z:6.68 [[ 7.64808788e-01 -6.44184134e-01 -9.71177298e-03 9.83121886e+02] [ 6.44133302e-01 7.64870444e-01 -8.09273329e-03 7.85375634e+01] [ 1.26414585e-02 -6.62828588e-05 9.99920091e-01 6.67888188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.639254154 meters 0.014392790401354922 Centerline is valid? [True, True] Translation: X:983.16, Y:78.58, Z:6.68 [[ 7.66102044e-01 -6.42619043e-01 -1.13324194e-02 9.83163338e+02] [ 6.42549570e-01 7.66185855e-01 -9.44910817e-03 7.85781764e+01] [ 1.47549163e-02 -4.26601128e-05 9.99891139e-01 6.67825455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.699254154 meters 0.012808335971524708 Centerline is valid? [True, True] Translation: X:983.21, Y:78.62, Z:6.68 [[ 7.66662284e-01 -6.41951021e-01 -1.13061173e-02 9.83206922e+02] [ 6.41881718e-01 7.66745646e-01 -9.43261926e-03 7.86167204e+01] [ 1.47241958e-02 -2.55566001e-05 9.99891593e-01 6.67860272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.759254154 meters 0.01273709821284906 Centerline is valid? [True, True] Translation: X:983.25, Y:78.66, Z:6.68 [[ 7.67328678e-01 -6.41176167e-01 -9.99110562e-03 9.83249254e+02] [ 6.41121940e-01 7.67393721e-01 -8.33875937e-03 7.86568615e+01] [ 1.30137255e-02 -6.94781080e-06 9.99915318e-01 6.68068780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.819254154 meters 0.013072827009342886 Centerline is valid? [True, True] Translation: X:983.29, Y:78.70, Z:6.68 [[ 7.67251866e-01 -6.41281130e-01 -9.11518590e-03 9.83292510e+02] [ 6.41235967e-01 7.67306010e-01 -7.61065488e-03 7.86964336e+01] [ 1.18747063e-02 -5.69587748e-06 9.99929493e-01 6.68267694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.879254154 meters 0.012718597028813707 Centerline is valid? [True, True] Translation: X:983.33, Y:78.74, Z:6.68 [[ 7.67043124e-01 -6.41529830e-01 -9.18279251e-03 9.83334994e+02] [ 6.41483959e-01 7.67098089e-01 -7.67155519e-03 7.87359605e+01] [ 1.19656341e-02 -6.20043088e-06 9.99928409e-01 6.68296032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.939254154 meters 0.012628610990792493 Centerline is valid? [True, True] Translation: X:983.38, Y:78.78, Z:6.68 [[ 7.67310228e-01 -6.41195694e-01 -1.01536656e-02 9.83377115e+02] [ 6.41139513e-01 7.67377405e-01 -8.48780312e-03 7.87765566e+01] [ 1.32340364e-02 2.86189751e-06 9.99912426e-01 6.68246875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.999254154 meters 0.012574063430809152 Centerline is valid? [True, True] Translation: X:983.42, Y:78.82, Z:6.68 [[ 7.67604806e-01 -6.40834034e-01 -1.07052683e-02 9.83419102e+02] [ 6.40771474e-01 7.67679452e-01 -8.95417398e-03 7.88164461e+01] [ 1.39563539e-02 1.36364389e-05 9.99902605e-01 6.68148302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.059254154 meters 0.015509441946561958 Centerline is valid? [True, True] Translation: X:983.46, Y:78.86, Z:6.68 [[ 7.68637757e-01 -6.39574416e-01 -1.18560325e-02 9.83460232e+02] [ 6.39497447e-01 7.68729188e-01 -9.92220708e-03 7.88589847e+01] [ 1.54600681e-02 4.46804633e-05 9.99880485e-01 6.68036189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539999 meters 0.012682082510962624 Centerline is valid? [True, True] Translation: X:983.50, Y:78.90, Z:6.68 [[ 7.69278963e-01 -6.38778224e-01 -1.31247078e-02 9.83502542e+02] [ 6.38683687e-01 7.69390912e-01 -1.09896102e-02 7.89008552e+01] [ 1.71179546e-02 7.15391932e-05 9.99853475e-01 6.67918348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.179254154 meters 0.013562550767473647 Centerline is valid? [True, True] Translation: X:983.54, Y:78.94, Z:6.68 [[ 7.69887294e-01 -6.38022042e-01 -1.41925717e-02 9.83543899e+02] [ 6.37911252e-01 7.70018093e-01 -1.18899378e-02 7.89431046e+01] [ 1.85145794e-02 1.00310850e-04 9.99828585e-01 6.67899803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539999 meters 0.01443992909628813 Centerline is valid? [True, True] Translation: X:983.59, Y:78.98, Z:6.68 [[ 7.68654394e-01 -6.39527313e-01 -1.32377870e-02 9.83587361e+02] [ 6.39431096e-01 7.68768373e-01 -1.10933386e-02 7.89818847e+01] [ 1.72712850e-02 6.22908256e-05 9.99850838e-01 6.67959234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.299254154 meters 0.013177094078500862 Centerline is valid? [True, True] Translation: X:983.63, Y:79.02, Z:6.68 [[ 7.66641195e-01 -6.41978024e-01 -1.12024151e-02 9.83633014e+02] [ 6.41909334e-01 7.66723038e-01 -9.39099674e-03 7.90185977e+01] [ 1.46179632e-02 8.59018454e-06 9.99893152e-01 6.68443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539999 meters 0.01221991375380079 Centerline is valid? [True, True] Translation: X:983.68, Y:79.06, Z:6.68 [[ 7.65377764e-01 -6.43491372e-01 -1.07578784e-02 9.83676337e+02] [ 6.43428105e-01 7.65453365e-01 -9.02329623e-03 7.90572320e+01] [ 1.40410675e-02 -1.56910539e-05 9.99901419e-01 6.68476748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.419254154 meters 0.013605460230465731 Centerline is valid? [True, True] Translation: X:983.72, Y:79.10, Z:6.68 [[ 7.65312475e-01 -6.43551857e-01 -1.17397724e-02 9.83719958e+02] [ 6.43476434e-01 7.65402513e-01 -9.85248409e-03 7.90973976e+01] [ 1.53262358e-02 -1.40379164e-05 9.99882546e-01 6.68298272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539999 meters 0.013527283393985609 Centerline is valid? [True, True] Translation: X:983.76, Y:79.14, Z:6.68 [[ 7.64954582e-01 -6.43960701e-01 -1.26135945e-02 9.83763851e+02] [ 6.43873596e-01 7.65058570e-01 -1.05913570e-02 7.91364491e+01] [ 1.64705563e-02 -1.96534367e-05 9.99864351e-01 6.68196138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.539254154 meters 0.015557700711084387 Centerline is valid? [True, True] Translation: X:983.81, Y:79.18, Z:6.68 [[ 7.64929385e-01 -6.43989038e-01 -1.26946463e-02 9.83806481e+02] [ 6.43900717e-01 7.65034717e-01 -1.06652920e-02 7.91755417e+01] [ 1.65801763e-02 -1.58966473e-05 9.99862539e-01 6.68236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539999 meters 0.011984923947530236 Centerline is valid? [True, True] Translation: X:983.85, Y:79.21, Z:6.68 [[ 7.65731060e-01 -6.43051864e-01 -1.18424909e-02 9.83848734e+02] [ 6.42974804e-01 7.65822630e-01 -9.95491818e-03 7.92147461e+01] [ 1.54707762e-02 8.36676195e-06 9.99880320e-01 6.68287691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.659254154 meters 0.012204821662149848 Centerline is valid? [True, True] Translation: X:983.89, Y:79.26, Z:6.68 [[ 7.68590534e-01 -6.39617561e-01 -1.25684945e-02 9.83890432e+02] [ 6.39530209e-01 7.68693286e-01 -1.05708915e-02 7.92569793e+01] [ 1.64226452e-02 8.67552050e-05 9.99865136e-01 6.68221545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539999 meters 0.012554372392911621 Centerline is valid? [True, True] Translation: X:983.93, Y:79.30, Z:6.68 [[ 7.71289528e-01 -6.36351974e-01 -1.29857062e-02 9.83932634e+02] [ 6.36258168e-01 7.71398819e-01 -1.09273092e-02 7.92986116e+01] [ 1.69707732e-02 1.65857502e-04 9.99855972e-01 6.68240294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.779254154 meters 0.017391249563446495 Centerline is valid? [True, True] Translation: X:983.97, Y:79.34, Z:6.68 [[ 7.76104192e-01 -6.30462660e-01 -1.33834792e-02 9.83972381e+02] [ 6.30362042e-01 7.76219517e-01 -1.12675151e-02 7.93435550e+01] [ 1.74922653e-02 3.08328465e-04 9.99846951e-01 6.68188074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.839254154 meters 0.01630370508424891 Centerline is valid? [True, True] Translation: X:984.01, Y:79.38, Z:6.68 [[ 7.79679716e-01 -6.26049400e-01 -1.27157082e-02 9.84014464e+02] [ 6.25957936e-01 7.79783301e-01 -1.07082225e-02 7.93848402e+01] [ 1.66193732e-02 3.89485414e-04 9.99861813e-01 6.68329329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.899254154 meters 0.01712894119204887 Centerline is valid? [True, True] Translation: X:984.06, Y:79.42, Z:6.68 [[ 7.81383130e-01 -6.23952494e-01 -1.11215326e-02 9.84057839e+02] [ 6.23882268e-01 7.81462180e-01 -9.36889537e-03 7.94249601e+01] [ 1.45368028e-02 3.82169790e-04 9.99894262e-01 6.68484092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.959254154 meters 0.01609750248667735 Centerline is valid? [True, True] Translation: X:984.10, Y:79.46, Z:6.69 [[ 7.81837341e-01 -6.23396857e-01 -1.03310228e-02 9.84101826e+02] [ 6.23336153e-01 7.81905508e-01 -8.70730150e-03 7.94635348e+01] [ 1.35059880e-02 3.67993462e-04 9.99908722e-01 6.68537956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.019254154 meters 0.017201112902812916 Centerline is valid? [True, True] Translation: X:984.14, Y:79.50, Z:6.69 [[ 7.81816449e-01 -6.23421089e-01 -1.04491970e-02 9.84144137e+02] [ 6.23358944e-01 7.81886185e-01 -8.81029870e-03 7.95017709e+01] [ 1.36626088e-02 3.74436032e-04 9.99906592e-01 6.68500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.079254154 meters 0.0168049996154266 Centerline is valid? [True, True] Translation: X:984.19, Y:79.54, Z:6.68 [[ 7.81598240e-01 -6.23682298e-01 -1.11616412e-02 9.84189455e+02] [ 6.23611356e-01 7.81677832e-01 -9.41511728e-03 7.95388251e+01] [ 1.45968495e-02 3.98312913e-04 9.99893381e-01 6.68417600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.139254154 meters 0.019152336460002042 Centerline is valid? [True, True] Translation: X:984.23, Y:79.58, Z:6.68 [[ 7.82101160e-01 -6.23010758e-01 -1.32427749e-02 9.84234295e+02] [ 6.22910684e-01 7.82213112e-01 -1.11770946e-02 7.95769880e+01] [ 1.73221223e-02 4.92552693e-04 9.99849839e-01 6.68208884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.199254154 meters 0.019211303538025474 Centerline is valid? [True, True] Translation: X:984.28, Y:79.62, Z:6.68 [[ 7.82586968e-01 -6.22381637e-01 -1.40973446e-02 9.84279214e+02] [ 6.22268013e-01 7.82713742e-01 -1.19045440e-02 7.96150965e+01] [ 1.84433549e-02 5.44014417e-04 9.99829759e-01 6.68135229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.259254154 meters 0.016715421166984944 Centerline is valid? [True, True] Translation: X:984.33, Y:79.65, Z:6.68 [[ 7.82248160e-01 -6.22821132e-01 -1.34778905e-02 9.84327466e+02] [ 6.22717239e-01 7.82364092e-01 -1.13872105e-02 7.96498891e+01] [ 1.76368129e-02 5.14709742e-04 9.99844327e-01 6.68341266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.319254154 meters 0.019059093643354952 Centerline is valid? [True, True] Translation: X:984.37, Y:79.68, Z:6.68 [[ 7.80641683e-01 -6.24850377e-01 -1.26715865e-02 9.84373158e+02] [ 6.24758755e-01 7.80744395e-01 -1.07092683e-02 7.96849840e+01] [ 1.65849605e-02 4.43416579e-04 9.99862362e-01 6.68448326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.379254154 meters 0.014812360918063844 Centerline is valid? [True, True] Translation: X:984.42, Y:79.72, Z:6.69 [[ 7.78856383e-01 -6.27096218e-01 -1.15354912e-02 9.84423508e+02] [ 6.27020503e-01 7.78941719e-01 -9.75125187e-03 7.97172373e+01] [ 1.51004485e-02 3.61835274e-04 9.99885916e-01 6.68765835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.439254154 meters 0.016949170818774766 Centerline is valid? [True, True] Translation: X:984.47, Y:79.75, Z:6.69 [[ 7.78612376e-01 -6.27385235e-01 -1.22692559e-02 9.84467808e+02] [ 6.27299557e-01 7.78708945e-01 -1.03751814e-02 7.97527699e+01] [ 1.60634149e-02 3.81745837e-04 9.99870902e-01 6.68691527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.499254154 meters 0.016723843504917863 Centerline is valid? [True, True] Translation: X:984.51, Y:79.79, Z:6.69 [[ 7.80648245e-01 -6.24826239e-01 -1.34346365e-02 9.84513190e+02] [ 6.24723036e-01 7.80763691e-01 -1.13660301e-02 7.97912309e+01] [ 1.75910703e-02 4.79944568e-04 9.99845150e-01 6.68575969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.559254154 meters 0.02052231092230617 Centerline is valid? [True, True] Translation: X:984.56, Y:79.83, Z:6.68 [[ 7.83906281e-01 -6.20730889e-01 -1.35685505e-02 9.84556825e+02] [ 6.20624909e-01 7.84023485e-01 -1.14846935e-02 7.98312393e+01] [ 1.77669663e-02 5.81942943e-04 9.99841986e-01 6.68498660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539999 meters 0.021109526787293147 Centerline is valid? [True, True] Translation: X:984.60, Y:79.87, Z:6.69 [[ 7.87087718e-01 -6.16707025e-01 -1.28595727e-02 9.84599925e+02] [ 6.16611207e-01 7.87192501e-01 -1.08897168e-02 7.98710517e+01] [ 1.68387241e-02 6.41805693e-04 9.99858013e-01 6.68584041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.679254154 meters 0.02321147686384144 Centerline is valid? [True, True] Translation: X:984.64, Y:79.91, Z:6.69 [[ 7.88645297e-01 -6.14720501e-01 -1.25419823e-02 9.84644468e+02] [ 6.14629056e-01 7.88744735e-01 -1.06238736e-02 7.99090347e+01] [ 1.64231354e-02 6.69801233e-04 9.99864907e-01 6.68593747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539999 meters 0.022934919661481704 Centerline is valid? [True, True] Translation: X:984.69, Y:79.94, Z:6.69 [[ 7.88766521e-01 -6.14568532e-01 -1.23650622e-02 9.84692035e+02] [ 6.14479569e-01 7.88863153e-01 -1.04777917e-02 7.99441173e+01] [ 1.61936630e-02 6.66453186e-04 9.99868652e-01 6.68596215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.799254154 meters 0.01993625921667094 Centerline is valid? [True, True] Translation: X:984.74, Y:79.98, Z:6.69 [[ 7.88757242e-01 -6.14579323e-01 -1.24204959e-02 9.84741694e+02] [ 6.14489472e-01 7.88854741e-01 -1.05302562e-02 7.99766421e+01] [ 1.62696448e-02 6.73551859e-04 9.99867414e-01 6.68735026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539999 meters 0.0239538674800528 Centerline is valid? [True, True] Translation: X:984.78, Y:80.02, Z:6.69 [[ 7.89008455e-01 -6.14261698e-01 -1.21747859e-02 9.84783710e+02] [ 6.14175276e-01 7.89102097e-01 -1.03253129e-02 8.00163588e+01] [ 1.59495933e-02 6.69306638e-04 9.99872573e-01 6.68659059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.919254154 meters 0.0254170124296764 Centerline is valid? [True, True] Translation: X:984.83, Y:80.05, Z:6.69 [[ 7.90351846e-01 -6.12543774e-01 -1.15795161e-02 9.84828831e+02] [ 6.12465360e-01 7.90436382e-01 -9.82388638e-03 8.00541830e+01] [ 1.51704312e-02 6.72274263e-04 9.99884696e-01 6.68735163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539999 meters 0.026865550693219234 Centerline is valid? [True, True] Translation: X:984.87, Y:80.09, Z:6.69 [[ 7.90708855e-01 -6.12077047e-01 -1.18825616e-02 9.84874435e+02] [ 6.11994345e-01 7.90797822e-01 -1.00860019e-02 8.00918154e+01] [ 1.55701141e-02 7.03030514e-04 9.99878531e-01 6.68615608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.039254154 meters 0.022754700469078563 Centerline is valid? [True, True] Translation: X:984.92, Y:80.12, Z:6.69 [[ 7.90637710e-01 -6.12178076e-01 -1.14024148e-02 9.84923164e+02] [ 6.12101855e-01 7.90719638e-01 -9.68369876e-03 8.01244781e+01] [ 1.49442614e-02 6.76858177e-04 9.99888099e-01 6.68806591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539999 meters 0.025653741318338814 Centerline is valid? [True, True] Translation: X:984.97, Y:80.16, Z:6.69 [[ 7.89970484e-01 -6.13037556e-01 -1.14712644e-02 9.84968064e+02] [ 6.12960441e-01 7.90053485e-01 -9.74621854e-03 8.01612954e+01] [ 1.50377104e-02 6.67793679e-04 9.99886704e-01 6.68671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.159254154 meters 0.027792622829561218 Centerline is valid? [True, True] Translation: X:985.01, Y:80.20, Z:6.68 [[ 7.90305996e-01 -6.12568362e-01 -1.32828720e-02 9.85013225e+02] [ 6.12464814e-01 7.90417220e-01 -1.12902287e-02 8.01987368e+01] [ 1.74150476e-02 7.87443731e-04 9.99848036e-01 6.68486235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539999 meters 0.025821187329469003 Centerline is valid? [True, True] Translation: X:985.06, Y:80.24, Z:6.69 [[ 7.90668259e-01 -6.12082945e-01 -1.40773473e-02 9.85058722e+02] [ 6.11966482e-01 7.90793112e-01 -1.19698691e-02 8.02354166e+01] [ 1.84588220e-02 8.49330873e-04 9.99829261e-01 6.68611509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.279254154 meters 0.02770698104361757 Centerline is valid? [True, True] Translation: X:985.10, Y:80.27, Z:6.69 [[ 7.89668466e-01 -6.13369984e-01 -1.41766576e-02 9.85103793e+02] [ 6.13251985e-01 7.89795275e-01 -1.20593076e-02 8.02735866e+01] [ 1.85934745e-02 8.28991526e-04 9.99826783e-01 6.68566119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.339254154 meters 0.02354623036523427 Centerline is valid? [True, True] Translation: X:985.15, Y:80.31, Z:6.69 [[ 7.88088183e-01 -6.15430906e-01 -1.27206885e-02 9.85150449e+02] [ 6.15336086e-01 7.88190526e-01 -1.08257175e-02 8.03102733e+01] [ 1.66888073e-02 7.04121422e-04 9.99860484e-01 6.68999549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.399254154 meters 0.02505155148632016 Centerline is valid? [True, True] Translation: X:985.20, Y:80.35, Z:6.69 [[ 7.86413581e-01 -6.17575293e-01 -1.24272862e-02 9.85196306e+02] [ 6.17484993e-01 7.86511499e-01 -1.05804159e-02 8.03475574e+01] [ 1.63084069e-02 6.46920029e-04 9.99866800e-01 6.68939477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.459254154 meters 0.022990996059421356 Centerline is valid? [True, True] Translation: X:985.24, Y:80.39, Z:6.69 [[ 7.85805361e-01 -6.18338618e-01 -1.29340163e-02 9.85240471e+02] [ 6.18240820e-01 7.85911520e-01 -1.10168775e-02 8.03861094e+01] [ 1.69771532e-02 6.60784582e-04 9.99855659e-01 6.69149560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.519254154 meters 0.023237340355764885 Centerline is valid? [True, True] Translation: X:985.28, Y:80.42, Z:6.69 [[ 7.85405747e-01 -6.18846143e-01 -1.29330469e-02 9.85284807e+02] [ 6.18748336e-01 7.85511950e-01 -1.10214927e-02 8.04243730e+01] [ 1.69796711e-02 6.54042449e-04 9.99855621e-01 6.69175914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.579254154 meters 0.024284162937937417 Centerline is valid? [True, True] Translation: X:985.33, Y:80.46, Z:6.69 [[ 7.85575768e-01 -6.18610011e-01 -1.38696796e-02 9.85329268e+02] [ 6.18497376e-01 7.85697873e-01 -1.18257043e-02 8.04636404e+01] [ 1.82128768e-02 7.11626263e-04 9.99833879e-01 6.69146947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.639254154 meters 0.023930357251510413 Centerline is valid? [True, True] Translation: X:985.37, Y:80.50, Z:6.69 [[ 7.86171730e-01 -6.17834172e-01 -1.46610886e-02 9.85371690e+02] [ 6.17708110e-01 7.86308042e-01 -1.25041832e-02 8.05030810e+01] [ 1.92536436e-02 7.74162048e-04 9.99814332e-01 6.69280520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.699254154 meters 0.02725047660889662 Centerline is valid? [True, True] Translation: X:985.41, Y:80.54, Z:6.69 [[ 7.86494288e-01 -6.17384125e-01 -1.62350361e-02 9.85412445e+02] [ 6.17229365e-01 7.86661351e-01 -1.38502647e-02 8.05437129e+01] [ 2.13224090e-02 8.72413057e-04 9.99772271e-01 6.69080810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.759254154 meters 0.02286968487984883 Centerline is valid? [True, True] Translation: X:985.46, Y:80.58, Z:6.69 [[ 7.86653871e-01 -6.17156340e-01 -1.71388380e-02 9.85460572e+02] [ 6.16983664e-01 7.86839998e-01 -1.46279413e-02 8.05781775e+01] [ 2.25132500e-02 9.32743546e-04 9.99746110e-01 6.69460187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.819254154 meters 0.024925797630648033 Centerline is valid? [True, True] Translation: X:985.50, Y:80.62, Z:6.69 [[ 7.86271714e-01 -6.17617598e-01 -1.80358866e-02 9.85501769e+02] [ 6.17426370e-01 7.86477945e-01 -1.53986918e-02 8.06170789e+01] [ 2.36953301e-02 9.71723830e-04 9.99718754e-01 6.69471204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.879254154 meters 0.023526421964958626 Centerline is valid? [True, True] Translation: X:985.55, Y:80.65, Z:6.70 [[ 7.85394850e-01 -6.18708569e-01 -1.88318091e-02 9.85546933e+02] [ 6.18500226e-01 7.85619969e-01 -1.60852468e-02 8.06545399e+01] [ 2.47467253e-02 9.85791855e-04 9.99693267e-01 6.69560396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.939254154 meters 0.02339688565195037 Centerline is valid? [True, True] Translation: X:985.59, Y:80.69, Z:6.70 [[ 7.85408900e-01 -6.18708679e-01 -1.82326578e-02 9.85590254e+02] [ 6.18513287e-01 7.85619917e-01 -1.55775586e-02 8.06932630e+01] [ 2.39619098e-02 9.57612056e-04 9.99712414e-01 6.69611156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.999254154 meters 0.022400421408905597 Centerline is valid? [True, True] Translation: X:985.63, Y:80.73, Z:6.70 [[ 7.85128922e-01 -6.19054583e-01 -1.85472209e-02 9.85634792e+02] [ 6.18852307e-01 7.85347365e-01 -1.58536609e-02 8.07306869e+01] [ 2.43802925e-02 9.69177269e-04 9.99702287e-01 6.69795058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.059254154 meters 0.024359404092017842 Centerline is valid? [True, True] Translation: X:985.68, Y:80.77, Z:6.70 [[ 7.85305297e-01 -6.18816601e-01 -1.90159012e-02 9.85675939e+02] [ 6.18603785e-01 7.85534853e-01 -1.62589213e-02 8.07719411e+01] [ 2.49989436e-02 1.00490855e-03 9.99686972e-01 6.69791599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539999 meters 0.02205325540652946 Centerline is valid? [True, True] Translation: X:985.72, Y:80.81, Z:6.70 [[ 7.85758194e-01 -6.18216575e-01 -1.98072539e-02 9.85722192e+02] [ 6.17985294e-01 7.86007072e-01 -1.69428249e-02 8.08087475e+01] [ 2.60429768e-02 1.07237186e-03 9.99660249e-01 6.70155886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.179254154 meters 0.026133082324366973 Centerline is valid? [True, True] Translation: X:985.76, Y:80.85, Z:6.70 [[ 7.85184131e-01 -6.18944086e-01 -1.98519207e-02 9.85760810e+02] [ 6.18711845e-01 7.85434342e-01 -1.69866789e-02 8.08529398e+01] [ 2.61061847e-02 1.05505225e-03 9.99658619e-01 6.69862859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539999 meters 0.019994895781009304 Centerline is valid? [True, True] Translation: X:985.81, Y:80.89, Z:6.70 [[ 7.82649015e-01 -6.22143165e-01 -1.99599731e-02 9.85810957e+02] [ 6.21909234e-01 7.82902907e-01 -1.70863438e-02 8.08854503e+01] [ 2.62568730e-02 9.59318541e-04 9.99654769e-01 6.70286191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.299254154 meters 0.018426665636436187 Centerline is valid? [True, True] Translation: X:985.86, Y:80.92, Z:6.70 [[ 7.79287619e-01 -6.26365838e-01 -1.94073256e-02 9.85856831e+02] [ 6.26145783e-01 7.79528829e-01 -1.66211421e-02 8.09227325e+01] [ 2.55394854e-02 8.00835120e-04 9.99673493e-01 6.70373533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539999 meters 0.016551001434230342 Centerline is valid? [True, True] Translation: X:985.90, Y:80.96, Z:6.71 [[ 7.76464776e-01 -6.29872895e-01 -1.90417545e-02 9.85903088e+02] [ 6.29661910e-01 7.76697931e-01 -1.63157450e-02 8.09603205e+01] [ 2.50665369e-02 6.78733773e-04 9.99685555e-01 6.70521665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.419254154 meters 0.015290347188971591 Centerline is valid? [True, True] Translation: X:985.95, Y:81.00, Z:6.71 [[ 7.73421995e-01 -6.33586965e-01 -1.96462257e-02 9.85948899e+02] [ 6.33363368e-01 7.73671260e-01 -1.68411864e-02 8.09972262e+01] [ 2.58700763e-02 5.82144303e-04 9.99665144e-01 6.70527422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539999 meters 0.013972283213039456 Centerline is valid? [True, True] Translation: X:986.00, Y:81.03, Z:6.71 [[ 7.69414616e-01 -6.38418537e-01 -2.05650213e-02 9.85995471e+02] [ 6.38175023e-01 7.69689270e-01 -1.76371010e-02 8.10339071e+01] [ 2.70885284e-02 4.46160359e-04 9.99632939e-01 6.70522190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.539254154 meters 0.013142006453589686 Centerline is valid? [True, True] Translation: X:986.04, Y:81.07, Z:6.70 [[ 7.65305958e-01 -6.43316291e-01 -2.12353532e-02 9.86042241e+02] [ 6.43058271e-01 7.65600461e-01 -1.82207060e-02 8.10705020e+01] [ 2.79794732e-02 2.88845304e-04 9.99608456e-01 6.70493457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539999 meters 0.012838573610670187 Centerline is valid? [True, True] Translation: X:986.09, Y:81.11, Z:6.71 [[ 7.61509297e-01 -6.47825090e-01 -2.06456634e-02 9.86089730e+02] [ 6.47582627e-01 7.61789103e-01 -1.77229711e-02 8.11063063e+01] [ 2.72090267e-02 1.26434292e-04 9.99629758e-01 6.70592728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.659254154 meters 0.014442568715998636 Centerline is valid? [True, True] Translation: X:986.14, Y:81.14, Z:6.71 [[ 7.58699173e-01 -6.51157170e-01 -1.92328881e-02 9.86136060e+02] [ 6.50947621e-01 7.58942909e-01 -1.65183302e-02 8.11431286e+01] [ 2.53526932e-02 1.28406997e-05 9.99678569e-01 6.70846285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539999 meters 0.012609728527502759 Centerline is valid? [True, True] Translation: X:986.18, Y:81.18, Z:6.71 [[ 7.59505370e-01 -6.50270625e-01 -1.73120432e-02 9.86179619e+02] [ 6.50100449e-01 7.59702647e-01 -1.48759508e-02 8.11823753e+01] [ 2.28253989e-02 4.37974121e-05 9.99739466e-01 6.71061644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.779254154 meters 0.013991390686499551 Centerline is valid? [True, True] Translation: X:986.22, Y:81.23, Z:6.71 [[ 7.63482822e-01 -6.45623524e-01 -1.62556650e-02 9.86219026e+02] [ 6.45472278e-01 7.63655835e-01 -1.39751408e-02 8.12262939e+01] [ 2.14364131e-02 1.77198760e-04 9.99770198e-01 6.70949284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.839254154 meters 0.015161417936697315 Centerline is valid? [True, True] Translation: X:986.26, Y:81.27, Z:6.71 [[ 7.67148205e-01 -6.41230871e-01 -1.75100382e-02 9.86258549e+02] [ 6.41054116e-01 7.67347942e-01 -1.50584361e-02 8.12697181e+01] [ 2.30922259e-02 3.27170190e-04 9.99733285e-01 6.70578743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.899254154 meters 0.01786176508811456 Centerline is valid? [True, True] Translation: X:986.30, Y:81.31, Z:6.71 [[ 7.67748582e-01 -6.40495108e-01 -1.81144378e-02 9.86302057e+02] [ 6.40305575e-01 7.67962162e-01 -1.55848569e-02 8.13091552e+01] [ 2.38932274e-02 3.66476210e-04 9.99714449e-01 6.70567730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.959254154 meters 0.014812778980155743 Centerline is valid? [True, True] Translation: X:986.35, Y:81.35, Z:6.71 [[ 7.67621935e-01 -6.40712231e-01 -1.56333570e-02 9.86347280e+02] [ 6.40570981e-01 7.67781048e-01 -1.34566393e-02 8.13473154e+01] [ 2.06248286e-02 3.15336659e-04 9.99787236e-01 6.70931949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.019254154 meters 0.014614757390252987 Centerline is valid? [True, True] Translation: X:986.39, Y:81.38, Z:6.71 [[ 7.65007422e-01 -6.43872648e-01 -1.38440603e-02 9.86394115e+02] [ 6.43762302e-01 7.65132648e-01 -1.19217645e-02 8.13825480e+01] [ 1.82686406e-02 2.07954229e-04 9.99833093e-01 6.71142003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.079254154 meters 0.015795268754260447 Centerline is valid? [True, True] Translation: X:986.44, Y:81.42, Z:6.71 [[ 7.62402114e-01 -6.46978630e-01 -1.27149418e-02 9.86441200e+02] [ 6.46885893e-01 7.62508123e-01 -1.09546523e-02 8.14176272e+01] [ 1.67826723e-02 1.26733579e-04 9.99859153e-01 6.71283403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.139254154 meters 0.01557488501403401 Centerline is valid? [True, True] Translation: X:986.49, Y:81.45, Z:6.71 [[ 7.60339436e-01 -6.49410664e-01 -1.22365147e-02 9.86488386e+02] [ 6.49325002e-01 7.60437890e-01 -1.05478430e-02 8.14534959e+01] [ 1.61549911e-02 7.44660343e-05 9.99869497e-01 6.71373414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.199254154 meters 0.012951799436874299 Centerline is valid? [True, True] Translation: X:986.53, Y:81.49, Z:6.72 [[ 7.61058285e-01 -6.48557487e-01 -1.27856421e-02 9.86533894e+02] [ 6.48463747e-01 7.61165669e-01 -1.10269339e-02 8.14911531e+01] [ 1.68835924e-02 1.01114005e-04 9.99857457e-01 6.71501017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.259254154 meters 0.01357225889056643 Centerline is valid? [True, True] Translation: X:986.58, Y:81.53, Z:6.71 [[ 7.62009783e-01 -6.47434389e-01 -1.30307848e-02 9.86576718e+02] [ 6.47336795e-01 7.62121181e-01 -1.12418560e-02 8.15298117e+01] [ 1.72094013e-02 1.31097795e-04 9.99851899e-01 6.71455953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.319254154 meters 0.013061763775010603 Centerline is valid? [True, True] Translation: X:986.62, Y:81.57, Z:6.72 [[ 7.61837055e-01 -6.47651287e-01 -1.23333392e-02 9.86620725e+02] [ 6.47563820e-01 7.61936871e-01 -1.06444306e-02 8.15677195e+01] [ 1.62911050e-02 1.22697416e-04 9.99867284e-01 6.71573011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.379254154 meters 0.012690201938352226 Centerline is valid? [True, True] Translation: X:986.67, Y:81.60, Z:6.72 [[ 7.60732665e-01 -6.48974838e-01 -1.08384581e-02 9.86666307e+02] [ 6.48907380e-01 7.60809866e-01 -9.35729154e-03 8.16034909e+01] [ 1.43186526e-02 8.52418551e-05 9.99897479e-01 6.71920454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.439254154 meters 0.012525724925155602 Centerline is valid? [True, True] Translation: X:986.71, Y:81.64, Z:6.72 [[ 7.60381694e-01 -6.49386676e-01 -1.07992645e-02 9.86711384e+02] [ 6.49319696e-01 7.60458374e-01 -9.32706204e-03 8.16408138e+01] [ 1.42692609e-02 7.99521118e-05 9.99898186e-01 6.72088139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.499254154 meters 0.012680667670217638 Centerline is valid? [True, True] Translation: X:986.75, Y:81.68, Z:6.72 [[ 7.61301448e-01 -6.48296164e-01 -1.14973311e-02 9.86754898e+02] [ 6.48220037e-01 7.61388253e-01 -9.93542335e-03 8.16811334e+01] [ 1.51950297e-02 1.11051823e-04 9.99884543e-01 6.72022463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.559254154 meters 0.013118770994533912 Centerline is valid? [True, True] Translation: X:986.80, Y:81.72, Z:6.72 [[ 7.63375927e-01 -6.45813560e-01 -1.34921775e-02 9.86798192e+02] [ 6.45708222e-01 7.63495126e-01 -1.16655223e-02 8.17215451e+01] [ 1.78349642e-02 1.93168978e-04 9.99840926e-01 6.71901601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539999 meters 0.014224706157069765 Centerline is valid? [True, True] Translation: X:986.84, Y:81.76, Z:6.72 [[ 7.64698694e-01 -6.44204172e-01 -1.53913220e-02 9.86840035e+02] [ 6.44066671e-01 7.64853525e-01 -1.33119916e-02 8.17608903e+01] [ 2.03477474e-02 2.66625045e-04 9.99792928e-01 6.71640410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.679254154 meters 0.013427379545645012 Centerline is valid? [True, True] Translation: X:986.89, Y:81.80, Z:6.72 [[ 7.63291553e-01 -6.45872381e-01 -1.53255640e-02 9.86887226e+02] [ 6.45736279e-01 7.63445360e-01 -1.32604963e-02 8.17968520e+01] [ 2.02648190e-02 2.25352148e-04 9.99794622e-01 6.71858979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539999 meters 0.012773357041705452 Centerline is valid? [True, True] Translation: X:986.93, Y:81.83, Z:6.72 [[ 7.60157760e-01 -6.49583192e-01 -1.42075984e-02 9.86934992e+02] [ 6.49466758e-01 7.60290511e-01 -1.22991227e-02 8.18313809e+01] [ 1.87912057e-02 1.21910716e-04 9.99823422e-01 6.71928608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.799254154 meters 0.014429921073756503 Centerline is valid? [True, True] Translation: X:986.98, Y:81.86, Z:6.72 [[ 7.57242059e-01 -6.52964660e-01 -1.48868032e-02 9.86981657e+02] [ 6.52837393e-01 7.57388376e-01 -1.28913382e-02 8.18643148e+01] [ 1.96926800e-02 4.32016713e-05 9.99806079e-01 6.71847337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539999 meters 0.014013954974109046 Centerline is valid? [True, True] Translation: X:987.03, Y:81.90, Z:6.72 [[ 7.56074973e-01 -6.54304790e-01 -1.53582872e-02 9.87027766e+02] [ 6.54169489e-01 7.56230945e-01 -1.33055475e-02 8.19004130e+01] [ 2.03202955e-02 1.30686098e-05 9.99793521e-01 6.71826138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.919254154 meters 0.012763960086267746 Centerline is valid? [True, True] Translation: X:987.07, Y:81.94, Z:6.72 [[ 7.56263287e-01 -6.54094467e-01 -1.50422217e-02 9.87072618e+02] [ 6.53964493e-01 7.56412868e-01 -1.30389826e-02 8.19366932e+01] [ 1.99068564e-02 2.38249489e-05 9.99801839e-01 6.71914919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539999 meters 0.012864028175578109 Centerline is valid? [True, True] Translation: X:987.12, Y:81.98, Z:6.72 [[ 7.58073605e-01 -6.52013392e-01 -1.42459128e-02 9.87115137e+02] [ 6.51896345e-01 7.58207446e-01 -1.23541208e-02 8.19752960e+01] [ 1.88564094e-02 7.84743977e-05 9.99822199e-01 6.71984601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.039254154 meters 0.015704042108255233 Centerline is valid? [True, True] Translation: X:987.16, Y:82.02, Z:6.72 [[ 7.60016760e-01 -6.49740397e-01 -1.45581999e-02 9.87157971e+02] [ 6.49617633e-01 7.60156166e-01 -1.26307017e-02 8.20160860e+01] [ 1.92731825e-02 1.42281610e-04 9.99814245e-01 6.72156502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539999 meters 0.013616425634280874 Centerline is valid? [True, True] Translation: X:987.20, Y:82.06, Z:6.72 [[ 7.61933523e-01 -6.47552757e-01 -1.15209881e-02 9.87200741e+02] [ 6.47475557e-01 7.62020605e-01 -1.00000422e-02 8.20564391e+01] [ 1.52547852e-02 1.59809195e-04 9.99883626e-01 6.72281362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.159254154 meters 0.013823890882794038 Centerline is valid? [True, True] Translation: X:987.24, Y:82.10, Z:6.72 [[ 7.63889140e-01 -6.45251069e-01 -1.11552868e-02 9.87244537e+02] [ 6.45178376e-01 7.63970561e-01 -9.68739570e-03 8.20957429e+01] [ 1.47731132e-02 2.02946528e-04 9.99890851e-01 6.72362567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539999 meters 0.018022087832242586 Centerline is valid? [True, True] Translation: X:987.28, Y:82.14, Z:6.72 [[ 7.65671904e-01 -6.43087041e-01 -1.36232711e-02 9.87284417e+02] [ 6.42978205e-01 7.65793031e-01 -1.18347196e-02 8.21380537e+01] [ 1.80433609e-02 3.02045878e-04 9.99837160e-01 6.72213464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.279254154 meters 0.015522995079816986 Centerline is valid? [True, True] Translation: X:987.33, Y:82.18, Z:6.72 [[ 7.67540527e-01 -6.40875085e-01 -1.26753673e-02 9.87329137e+02] [ 6.40780499e-01 7.67645110e-01 -1.10153145e-02 8.21769111e+01] [ 1.67896244e-02 3.32572133e-04 9.99858989e-01 6.72218228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.339254154 meters 0.01675480869542902 Centerline is valid? [True, True] Translation: X:987.37, Y:82.22, Z:6.72 [[ 7.68185404e-01 -6.40076892e-01 -1.38837395e-02 9.87371096e+02] [ 6.39963199e-01 7.68310759e-01 -1.20698703e-02 8.22162931e+01] [ 1.83926715e-02 3.86815811e-04 9.99830766e-01 6.72015372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.399254154 meters 0.015242590486212383 Centerline is valid? [True, True] Translation: X:987.42, Y:82.25, Z:6.72 [[ 7.67291017e-01 -6.41133504e-01 -1.45713952e-02 9.87417861e+02] [ 6.41008353e-01 7.67429269e-01 -1.26731266e-02 8.22523873e+01] [ 1.93076812e-02 3.83590124e-04 9.99813516e-01 6.72052886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.459254154 meters 0.014035723450424175 Centerline is valid? [True, True] Translation: X:987.47, Y:82.29, Z:6.72 [[ 7.64500464e-01 -6.44454773e-01 -1.47338555e-02 9.87466330e+02] [ 6.44327300e-01 7.64642368e-01 -1.28210510e-02 8.22865653e+01] [ 1.95287177e-02 3.08274093e-04 9.99809249e-01 6.72196818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.519254154 meters 0.014023063513430026 Centerline is valid? [True, True] Translation: X:987.51, Y:82.32, Z:6.72 [[ 7.60211076e-01 -6.49514298e-01 -1.45015750e-02 9.87514177e+02] [ 6.49391646e-01 7.60349357e-01 -1.26232356e-02 8.23196196e+01] [ 1.92252353e-02 1.79121883e-04 9.99815162e-01 6.72287347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.579254154 meters 0.012388740758690581 Centerline is valid? [True, True] Translation: X:987.56, Y:82.35, Z:6.72 [[ 7.56484033e-01 -6.53892369e-01 -1.25171077e-02 9.87562850e+02] [ 6.53801515e-01 7.56587580e-01 -1.09000904e-02 8.23536625e+01] [ 1.65977741e-02 6.20403681e-05 9.99862246e-01 6.72407960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.639254154 meters 0.012177954896328627 Centerline is valid? [True, True] Translation: X:987.61, Y:82.39, Z:6.72 [[ 7.55098992e-01 -6.55507430e-01 -1.16413281e-02 9.87608801e+02] [ 6.55428961e-01 7.55188723e-01 -1.01424676e-02 8.23904502e+01] [ 1.54398626e-02 2.85034594e-05 9.99880798e-01 6.72482854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.699254154 meters 0.012058730857902995 Centerline is valid? [True, True] Translation: X:987.65, Y:82.43, Z:6.73 [[ 7.55898707e-01 -6.54606444e-01 -1.03705341e-02 9.87651632e+02] [ 6.54544023e-01 7.55969841e-01 -9.03998901e-03 8.24290818e+01] [ 1.37574461e-02 4.53448659e-05 9.99905361e-01 6.72507951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.759254154 meters 0.012483888019023656 Centerline is valid? [True, True] Translation: X:987.69, Y:82.47, Z:6.72 [[ 7.58890393e-01 -6.51136699e-01 -1.03136063e-02 9.87692383e+02] [ 6.51074593e-01 7.58960465e-01 -8.99373750e-03 8.24704884e+01] [ 1.36837720e-02 1.10333958e-04 9.99906367e-01 6.72339744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.819254154 meters 0.013602921111198957 Centerline is valid? [True, True] Translation: X:987.73, Y:82.51, Z:6.72 [[ 7.62628013e-01 -6.46742397e-01 -1.10808854e-02 9.87733857e+02] [ 6.46670189e-01 7.62708483e-01 -9.66626710e-03 8.25124449e+01] [ 1.47030700e-02 2.06087833e-04 9.99891883e-01 6.72226277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.879254154 meters 0.014458231374768824 Centerline is valid? [True, True] Translation: X:987.78, Y:82.55, Z:6.72 [[ 7.65700964e-01 -6.43083856e-01 -1.20493959e-02 9.87776240e+02] [ 6.42997933e-01 7.65795705e-01 -1.05165215e-02 8.25535489e+01] [ 1.59903808e-02 3.04773942e-04 9.99872099e-01 6.72106040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.939254154 meters 0.01709015427536393 Centerline is valid? [True, True] Translation: X:987.82, Y:82.59, Z:6.72 [[ 7.67421239e-01 -6.41000309e-01 -1.35368523e-02 9.87818764e+02] [ 6.40891468e-01 7.67540519e-01 -1.18185509e-02 8.25935319e+01] [ 1.79657774e-02 3.94153772e-04 9.99838525e-01 6.72074430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.999254154 meters 0.015242433273998565 Centerline is valid? [True, True] Translation: X:987.86, Y:82.63, Z:6.72 [[ 7.67430752e-01 -6.41027915e-01 -1.15435553e-02 9.87863859e+02] [ 6.40948717e-01 7.67517491e-01 -1.00818437e-02 8.26318053e+01] [ 1.53226239e-02 3.38289937e-04 9.99882544e-01 6.72222072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.059254154 meters 0.01525275024241111 Centerline is valid? [True, True] Translation: X:987.91, Y:82.67, Z:6.72 [[ 7.66962363e-01 -6.41606246e-01 -1.04956432e-02 9.87908617e+02] [ 6.41540768e-01 7.67034116e-01 -9.17107504e-03 8.26704880e+01] [ 1.39347354e-02 3.00486383e-04 9.99902862e-01 6.72336046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539999 meters 0.014787379243628152 Centerline is valid? [True, True] Translation: X:987.95, Y:82.71, Z:6.72 [[ 7.66559793e-01 -6.42091472e-01 -1.02286227e-02 9.87953473e+02] [ 6.42029261e-01 7.66627979e-01 -8.94259243e-03 8.27077812e+01] [ 1.35835107e-02 2.87956731e-04 9.99907698e-01 6.72410253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.179254154 meters 0.01615950545601507 Centerline is valid? [True, True] Translation: X:988.00, Y:82.75, Z:6.72 [[ 7.66657806e-01 -6.41963120e-01 -1.09161250e-02 9.87997544e+02] [ 6.41892173e-01 7.66735453e-01 -9.54905483e-03 8.27471636e+01] [ 1.44999210e-02 3.13882252e-04 9.99894821e-01 6.72401890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539999 meters 0.017083393313333178 Centerline is valid? [True, True] Translation: X:988.04, Y:82.79, Z:6.72 [[ 7.68587627e-01 -6.39625241e-01 -1.23535532e-02 9.88039027e+02] [ 6.39534015e-01 7.68686792e-01 -1.08101110e-02 8.27883028e+01] [ 1.64104331e-02 4.08000042e-04 9.99865257e-01 6.72183885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.299254154 meters 0.018390448097500334 Centerline is valid? [True, True] Translation: X:988.08, Y:82.83, Z:6.72 [[ 7.69595858e-01 -6.38401411e-01 -1.28784461e-02 9.88082611e+02] [ 6.38302061e-01 7.69703471e-01 -1.12714555e-02 8.28270547e+01] [ 1.71082978e-02 4.54126743e-04 9.99853539e-01 6.72305183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539999 meters 0.018072737575454457 Centerline is valid? [True, True] Translation: X:988.12, Y:82.87, Z:6.72 [[ 7.70851186e-01 -6.36905584e-01 -1.18205935e-02 9.88123268e+02] [ 6.36821674e-01 7.70941681e-01 -1.03479424e-02 8.28685229e+01] [ 1.57036505e-02 4.49113507e-04 9.99876589e-01 6.72348937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.419254154 meters 0.02093729738621524 Centerline is valid? [True, True] Translation: X:988.16, Y:82.91, Z:6.73 [[ 7.72150108e-01 -6.35358010e-01 -1.02181163e-02 9.88164191e+02] [ 6.35295129e-01 7.72217602e-01 -8.94840963e-03 8.29115334e+01] [ 1.35760530e-02 4.17995917e-04 9.99907754e-01 6.72555611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539999 meters 0.02204048580807144 Centerline is valid? [True, True] Translation: X:988.20, Y:82.95, Z:6.73 [[ 7.73666773e-01 -6.33536201e-01 -8.46198725e-03 9.88204354e+02] [ 6.33492932e-01 7.73712958e-01 -7.41381451e-03 8.29546419e+01] [ 1.12440691e-02 3.75212841e-04 9.99936713e-01 6.72726334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.539254154 meters 0.02187185170979363 Centerline is valid? [True, True] Translation: X:988.24, Y:83.00, Z:6.73 [[ 7.75827713e-01 -6.30897784e-01 -7.70364827e-03 9.88244261e+02] [ 6.30861761e-01 7.75865866e-01 -6.75246142e-03 8.29994140e+01] [ 1.02371107e-02 3.78809582e-04 9.99947528e-01 6.72699464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539999 meters 0.022306541542724313 Centerline is valid? [True, True] Translation: X:988.29, Y:83.04, Z:6.73 [[ 7.78053982e-01 -6.28138545e-01 -8.60049308e-03 9.88285147e+02] [ 6.28093436e-01 7.78101375e-01 -7.54225193e-03 8.30433551e+01] [ 1.14296346e-02 4.66365897e-04 9.99934571e-01 6.72512779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.659254154 meters 0.02519489717873071 Centerline is valid? [True, True] Translation: X:988.32, Y:83.09, Z:6.72 [[ 7.79614203e-01 -6.26199460e-01 -8.71387840e-03 9.88324977e+02] [ 6.26152990e-01 7.79662736e-01 -7.64525791e-03 8.30875244e+01] [ 1.15813426e-02 5.04130631e-04 9.99932807e-01 6.72439619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539999 meters 0.024041583344129727 Centerline is valid? [True, True] Translation: X:988.37, Y:83.13, Z:6.72 [[ 7.79731402e-01 -6.26044659e-01 -9.32874798e-03 9.88368681e+02] [ 6.25991338e-01 7.79787015e-01 -8.18884993e-03 8.31273908e+01] [ 1.24010223e-02 5.45388012e-04 9.99922956e-01 6.72418078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.779254154 meters 0.022780389231779764 Centerline is valid? [True, True] Translation: X:988.41, Y:83.17, Z:6.73 [[ 7.79669506e-01 -6.26136240e-01 -8.29881900e-03 9.88411337e+02] [ 6.26094007e-01 7.79713519e-01 -7.28844835e-03 8.31671736e+01] [ 1.10342630e-02 4.86740086e-04 9.99939002e-01 6.72520427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.839254154 meters 0.026313941217200463 Centerline is valid? [True, True] Translation: X:988.45, Y:83.21, Z:6.73 [[ 7.78875665e-01 -6.27140938e-01 -6.85148122e-03 9.88449773e+02] [ 6.27112169e-01 7.78905701e-01 -6.01977092e-03 8.32115316e+01] [ 9.11190256e-03 3.92005828e-04 9.99958409e-01 6.72602280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.899254154 meters 0.023717316562015766 Centerline is valid? [True, True] Translation: X:988.49, Y:83.25, Z:6.73 [[ 7.77363708e-01 -6.29021787e-01 -6.10382884e-03 9.88494665e+02] [ 6.28999003e-01 7.77387601e-01 -5.36398366e-03 8.32494568e+01] [ 8.11910345e-03 3.30463968e-04 9.99966985e-01 6.72768191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.959254154 meters 0.023539120658130963 Centerline is valid? [True, True] Translation: X:988.54, Y:83.29, Z:6.73 [[ 7.76052911e-01 -6.30643047e-01 -5.58803899e-03 9.88536931e+02] [ 6.30623978e-01 7.76072976e-01 -4.91263912e-03 8.32906973e+01] [ 7.43484775e-03 2.88516511e-04 9.99972320e-01 6.72820575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.019254154 meters 0.023063729585127805 Centerline is valid? [True, True] Translation: X:988.58, Y:83.33, Z:6.73 [[ 7.75562038e-01 -6.31243783e-01 -5.90014357e-03 9.88578830e+02] [ 6.31222522e-01 7.75584422e-01 -5.18961941e-03 8.33324636e+01] [ 7.85197443e-03 3.00568301e-04 9.99969128e-01 6.72766261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.079254154 meters 0.02229081658357418 Centerline is valid? [True, True] Translation: X:988.62, Y:83.37, Z:6.73 [[ 7.75521970e-01 -6.31288718e-01 -6.34256614e-03 9.88621290e+02] [ 6.31264126e-01 7.75547838e-01 -5.58167382e-03 8.33729088e+01] [ 8.44261117e-03 3.24876209e-04 9.99964308e-01 6.72632713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.139254154 meters 0.026480773139107787 Centerline is valid? [True, True] Translation: X:988.66, Y:83.42, Z:6.72 [[ 7.76160401e-01 -6.30501529e-01 -6.54626021e-03 9.88659845e+02] [ 6.30475281e-01 7.76187929e-01 -5.76356117e-03 8.34166962e+01] [ 8.71506229e-03 3.46192705e-04 9.99961963e-01 6.72329004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.199254154 meters 0.023560272496716564 Centerline is valid? [True, True] Translation: X:988.70, Y:83.46, Z:6.72 [[ 7.75164433e-01 -6.31715297e-01 -7.47566803e-03 9.88702845e+02] [ 6.31681099e-01 7.75200386e-01 -6.58414423e-03 8.34575610e+01] [ 9.95444537e-03 3.81556228e-04 9.99950380e-01 6.72371714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.259254154 meters 0.02495695359457538 Centerline is valid? [True, True] Translation: X:988.74, Y:83.50, Z:6.72 [[ 7.74907137e-01 -6.32043826e-01 -6.28745216e-03 9.88743878e+02] [ 6.32019630e-01 7.74932578e-01 -5.53950105e-03 8.34978716e+01] [ 8.37355895e-03 3.18805704e-04 9.99964890e-01 6.72410684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.319254154 meters 0.026766922487858412 Centerline is valid? [True, True] Translation: X:988.78, Y:83.54, Z:6.72 [[ 7.74264334e-01 -6.32840535e-01 -5.25336497e-03 9.88784678e+02] [ 6.32823658e-01 7.74282112e-01 -4.62909283e-03 8.35386376e+01] [ 6.99706411e-03 2.59687845e-04 9.99975487e-01 6.72471753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.379254154 meters 0.02176414394575773 Centerline is valid? [True, True] Translation: X:988.83, Y:83.58, Z:6.72 [[ 7.73203152e-01 -6.34131540e-01 -5.83746043e-03 9.88830882e+02] [ 6.34110728e-01 7.73225138e-01 -5.14495303e-03 8.35753959e+01] [ 7.77624813e-03 2.76497616e-04 9.99969726e-01 6.72435438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.439254154 meters 0.022349758851577108 Centerline is valid? [True, True] Translation: X:988.88, Y:83.61, Z:6.72 [[ 7.71893174e-01 -6.35728925e-01 -5.44626473e-03 9.88875332e+02] [ 6.35710833e-01 7.71912349e-01 -4.80238765e-03 8.36138553e+01] [ 7.25705573e-03 2.44680757e-04 9.99973637e-01 6.72277256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.499254154 meters 0.019676437678196948 Centerline is valid? [True, True] Translation: X:988.92, Y:83.65, Z:6.72 [[ 7.69975583e-01 -6.38047982e-01 -5.68975189e-03 9.88920146e+02] [ 6.38028280e-01 7.69996570e-01 -5.01966760e-03 8.36519467e+01] [ 7.58387822e-03 2.34798880e-04 9.99971214e-01 6.72409180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.559254154 meters 0.016502688261075732 Centerline is valid? [True, True] Translation: X:988.97, Y:83.69, Z:6.73 [[ 7.66279022e-01 -6.42485921e-01 -5.31983878e-03 9.88969455e+02] [ 6.42468791e-01 7.66297467e-01 -4.69515410e-03 8.36851538e+01] [ 7.09314939e-03 1.79967708e-04 9.99974827e-01 6.72614122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539999 meters 0.016950603798698893 Centerline is valid? [True, True] Translation: X:989.01, Y:83.72, Z:6.73 [[ 7.64227024e-01 -6.44924938e-01 -5.37406482e-03 9.89013303e+02] [ 6.44907510e-01 7.64245902e-01 -4.74382625e-03 8.37238728e+01] [ 7.16651887e-03 1.59585453e-04 9.99974307e-01 6.72676628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.679254154 meters 0.01579381158969989 Centerline is valid? [True, True] Translation: X:989.06, Y:83.76, Z:6.73 [[ 7.62530027e-01 -6.46919816e-01 -6.53525453e-03 9.89060469e+02] [ 6.46894088e-01 7.62558011e-01 -5.77223719e-03 8.37601003e+01] [ 8.71768532e-03 1.73886668e-04 9.99961985e-01 6.72642452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539999 meters 0.018385854616834747 Centerline is valid? [True, True] Translation: X:989.10, Y:83.80, Z:6.72 [[ 7.62333038e-01 -6.47134306e-01 -8.09502611e-03 9.89103762e+02] [ 6.47094807e-01 7.62375986e-01 -7.15315136e-03 8.37971727e+01] [ 1.08005032e-02 2.14834249e-04 9.99941650e-01 6.72460379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.799254154 meters 0.016555412605845615 Centerline is valid? [True, True] Translation: X:989.15, Y:83.83, Z:6.72 [[ 7.62215889e-01 -6.47262129e-01 -8.86986349e-03 9.89147690e+02] [ 6.47214685e-01 7.62267460e-01 -7.84033928e-03 8.38343280e+01] [ 1.18359630e-02 2.35325274e-04 9.99929925e-01 6.72461958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539999 meters 0.019903226783237037 Centerline is valid? [True, True] Translation: X:989.19, Y:83.87, Z:6.72 [[ 7.62039131e-01 -6.47451078e-01 -1.01717747e-02 9.89194065e+02] [ 6.47388643e-01 7.62106967e-01 -8.99532374e-03 8.38714525e+01] [ 1.35760124e-02 2.69697301e-04 9.99907805e-01 6.72363034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.919254154 meters 0.01757818330374111 Centerline is valid? [True, True] Translation: X:989.24, Y:83.91, Z:6.73 [[ 7.61543152e-01 -6.48029458e-01 -1.04808564e-02 9.89240279e+02] [ 6.47963155e-01 7.61615223e-01 -9.27375685e-03 8.39061706e+01] [ 1.39920474e-02 2.71157238e-04 9.99902070e-01 6.72548691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539999 meters 0.01949034515653388 Centerline is valid? [True, True] Translation: X:989.28, Y:83.94, Z:6.72 [[ 7.60624592e-01 -6.49098271e-01 -1.10302031e-02 9.89282882e+02] [ 6.49024892e-01 7.60704518e-01 -9.76355139e-03 8.39446376e+01] [ 1.47282296e-02 2.67520932e-04 9.99891498e-01 6.72419975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.039254154 meters 0.017339383470341377 Centerline is valid? [True, True] Translation: X:989.33, Y:83.98, Z:6.73 [[ 7.57944608e-01 -6.52218167e-01 -1.14644514e-02 9.89332686e+02] [ 6.52139195e-01 7.58031276e-01 -1.01516189e-02 8.39767809e+01] [ 1.53114830e-02 2.17946694e-04 9.99882749e-01 6.72604338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539999 meters 0.014727025060269038 Centerline is valid? [True, True] Translation: X:989.38, Y:84.01, Z:6.73 [[ 7.55169891e-01 -6.55412829e-01 -1.23474085e-02 9.89381816e+02] [ 6.55321560e-01 7.55270809e-01 -1.09388793e-02 8.40109175e+01] [ 1.64951190e-02 1.69189322e-04 9.99863932e-01 6.72753437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.159254154 meters 0.014805616724631716 Centerline is valid? [True, True] Translation: X:989.43, Y:84.05, Z:6.73 [[ 7.53089864e-01 -6.57801304e-01 -1.23734073e-02 9.89429867e+02] [ 6.57709883e-01 7.53191497e-01 -1.09672041e-02 8.40458094e+01] [ 1.65337863e-02 1.21177930e-04 9.99863300e-01 6.72852877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539999 meters 0.016346770038736594 Centerline is valid? [True, True] Translation: X:989.48, Y:84.08, Z:6.73 [[ 7.51581631e-01 -6.59524550e-01 -1.23458581e-02 9.89476877e+02] [ 6.59433676e-01 7.51683019e-01 -1.09483395e-02 8.40814492e+01] [ 1.65008706e-02 8.72962172e-05 9.99863848e-01 6.72968368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.279254154 meters 0.013553549961230742 Centerline is valid? [True, True] Translation: X:989.52, Y:84.12, Z:6.73 [[ 7.49962150e-01 -6.61389441e-01 -1.09900240e-02 9.89524803e+02] [ 6.61317562e-01 7.50042669e-01 -9.75077538e-03 8.41166287e+01] [ 1.46920468e-02 4.48165908e-05 9.99892065e-01 6.73167879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.339254154 meters 0.01357002694185543 Centerline is valid? [True, True] Translation: X:989.57, Y:84.15, Z:6.73 [[ 7.49736887e-01 -6.61648302e-01 -1.07761178e-02 9.89569407e+02] [ 6.61579169e-01 7.49814325e-01 -9.56454984e-03 8.41519198e+01] [ 1.44084557e-02 4.16407348e-05 9.99896192e-01 6.73223300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.399254154 meters 0.013639338958623362 Centerline is valid? [True, True] Translation: X:989.61, Y:84.19, Z:6.73 [[ 7.51072874e-01 -6.60126906e-01 -1.10456067e-02 9.89614535e+02] [ 6.60054050e-01 7.51154087e-01 -9.80756956e-03 8.41899706e+01] [ 1.47711932e-02 7.55020174e-05 9.99890897e-01 6.73269051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.459254154 meters 0.013911328727777346 Centerline is valid? [True, True] Translation: X:989.66, Y:84.23, Z:6.73 [[ 7.53356697e-01 -6.57513227e-01 -1.14036600e-02 9.89658903e+02] [ 6.57435192e-01 7.53442990e-01 -1.01306619e-02 8.42293999e+01] [ 1.52530519e-02 1.34834560e-04 9.99883656e-01 6.73282510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.519254154 meters 0.014623154744310765 Centerline is valid? [True, True] Translation: X:989.70, Y:84.27, Z:6.73 [[ 7.55677050e-01 -6.54833338e-01 -1.20621625e-02 9.89701121e+02] [ 6.54745622e-01 7.55773285e-01 -1.07197189e-02 8.42691339e+01] [ 1.61358895e-02 2.02997430e-04 9.99869787e-01 6.73224544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.579254154 meters 0.015717577437411798 Centerline is valid? [True, True] Translation: X:989.74, Y:84.31, Z:6.73 [[ 7.58232053e-01 -6.51856531e-01 -1.29312391e-02 9.89742516e+02] [ 6.51755225e-01 7.58342258e-01 -1.14955029e-02 8.43087876e+01] [ 1.72997237e-02 2.88256157e-04 9.99850307e-01 6.73120384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.639254154 meters 0.017328217293308523 Centerline is valid? [True, True] Translation: X:989.79, Y:84.35, Z:6.73 [[ 7.58662135e-01 -6.51351977e-01 -1.31288613e-02 9.89786458e+02] [ 6.51247389e-01 7.58775663e-01 -1.16760908e-02 8.43476334e+01] [ 1.75671053e-02 3.08071339e-04 9.99845639e-01 6.73087129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.699254154 meters 0.017965927036263596 Centerline is valid? [True, True] Translation: X:989.83, Y:84.39, Z:6.73 [[ 7.59850861e-01 -6.49986692e-01 -1.19987319e-02 9.89831829e+02] [ 6.49899084e-01 7.59945526e-01 -1.06760982e-02 8.43850589e+01] [ 1.60577044e-02 3.14277563e-04 9.99871017e-01 6.73338686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.759254154 meters 0.019136442161676093 Centerline is valid? [True, True] Translation: X:989.87, Y:84.42, Z:6.73 [[ 7.61187611e-01 -6.48434550e-01 -1.12274496e-02 9.89874284e+02] [ 6.48357629e-01 7.61270338e-01 -9.99288007e-03 8.44243900e+01] [ 1.50268531e-02 3.27053885e-04 9.99887037e-01 6.73446135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.819254154 meters 0.018182066969941537 Centerline is valid? [True, True] Translation: X:989.92, Y:84.46, Z:6.73 [[ 7.63129805e-01 -6.46135233e-01 -1.19231404e-02 9.89918078e+02] [ 6.46048168e-01 7.63222840e-01 -1.06141780e-02 8.44628212e+01] [ 1.59582075e-02 3.97072570e-04 9.99872581e-01 6.73484411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.879254154 meters 0.018048062750435464 Centerline is valid? [True, True] Translation: X:989.96, Y:84.50, Z:6.73 [[ 7.64283943e-01 -6.44754494e-01 -1.27159773e-02 9.89962970e+02] [ 6.44655199e-01 7.64389582e-01 -1.13244139e-02 8.45008423e+01] [ 1.70214273e-02 4.57646839e-04 9.99855020e-01 6.73427578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.939254154 meters 0.01932003711900652 Centerline is valid? [True, True] Translation: X:990.01, Y:84.54, Z:6.73 [[ 7.65286547e-01 -6.43552725e-01 -1.32812427e-02 9.90005724e+02] [ 6.43444159e-01 7.65401614e-01 -1.18314631e-02 8.45399854e+01] [ 1.77796549e-02 5.08721499e-04 9.99841800e-01 6.73370660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.999254154 meters 0.020202851521133727 Centerline is valid? [True, True] Translation: X:990.05, Y:84.58, Z:6.73 [[ 7.65228540e-01 -6.43627207e-01 -1.30115392e-02 9.90052015e+02] [ 6.43522931e-01 7.65338989e-01 -1.15960905e-02 8.45757169e+01] [ 1.74217976e-02 5.00435589e-04 9.99848104e-01 6.73410096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.059254154 meters 0.01896625472364986 Centerline is valid? [True, True] Translation: X:990.10, Y:84.61, Z:6.74 [[ 7.65181012e-01 -6.43698308e-01 -1.22681754e-02 9.90095696e+02] [ 6.43605547e-01 7.65279207e-01 -1.09377584e-02 8.46133263e+01] [ 1.64291961e-02 4.73499325e-04 9.99864920e-01 6.73591206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539999 meters 0.01796513371754678 Centerline is valid? [True, True] Translation: X:990.14, Y:84.65, Z:6.74 [[ 7.65120170e-01 -6.43769116e-01 -1.23470682e-02 9.90141640e+02] [ 6.43675085e-01 7.65219639e-01 -1.10131508e-02 8.46492815e+01] [ 1.65381455e-02 4.78883654e-04 9.99863121e-01 6.73717997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.179254154 meters 0.017945259734467107 Centerline is valid? [True, True] Translation: X:990.19, Y:84.69, Z:6.74 [[ 7.64839762e-01 -6.44093323e-01 -1.28034912e-02 9.90185372e+02] [ 6.43992139e-01 7.64946761e-01 -1.14270723e-02 8.46880428e+01] [ 1.71540901e-02 4.94531578e-04 9.99852735e-01 6.73723301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539999 meters 0.019322978559918616 Centerline is valid? [True, True] Translation: X:990.23, Y:84.73, Z:6.74 [[ 7.65677679e-01 -6.43081363e-01 -1.35665792e-02 9.90226791e+02] [ 6.42967524e-01 7.65797660e-01 -1.21122793e-02 8.47289819e+01] [ 1.81784357e-02 5.51232088e-04 9.99834607e-01 6.73657207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.299254154 meters 0.02020083774879255 Centerline is valid? [True, True] Translation: X:990.27, Y:84.77, Z:6.74 [[ 7.66372821e-01 -6.42249650e-01 -1.37144812e-02 9.90269284e+02] [ 6.42133096e-01 7.66495303e-01 -1.22489817e-02 8.47698945e+01] [ 1.83789896e-02 5.80764336e-04 9.99830923e-01 6.73677552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539999 meters 0.020851808555296815 Centerline is valid? [True, True] Translation: X:990.31, Y:84.81, Z:6.74 [[ 7.66824184e-01 -6.41700292e-01 -1.41917253e-02 9.90312942e+02] [ 6.41575269e-01 7.66955247e-01 -1.26816003e-02 8.48100728e+01] [ 1.90222048e-02 6.19497787e-04 9.99818870e-01 6.73668844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.419254154 meters 0.022247085479645875 Centerline is valid? [True, True] Translation: X:990.35, Y:84.85, Z:6.74 [[ 7.65990612e-01 -6.42684281e-01 -1.46730108e-02 9.90354058e+02] [ 6.42550724e-01 7.66130884e-01 -1.31162114e-02 8.48510558e+01] [ 1.96710296e-02 6.18741047e-04 9.99806315e-01 6.73535637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539999 meters 0.021774355366748207 Centerline is valid? [True, True] Translation: X:990.40, Y:84.89, Z:6.74 [[ 7.64484311e-01 -6.44500488e-01 -1.35224973e-02 9.90398282e+02] [ 6.44387259e-01 7.64603714e-01 -1.20922389e-02 8.48906914e+01] [ 1.81328056e-02 5.30601971e-04 9.99835446e-01 6.73673313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.539254154 meters 0.021783358840788535 Centerline is valid? [True, True] Translation: X:990.44, Y:84.93, Z:6.74 [[ 7.64231152e-01 -6.44817106e-01 -1.27140105e-02 9.90440961e+02] [ 6.44717003e-01 7.64336743e-01 -1.13723136e-02 8.49296738e+01] [ 1.70508477e-02 4.94137555e-04 9.99854502e-01 6.73885634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539999 meters 0.019151809099441208 Centerline is valid? [True, True] Translation: X:990.48, Y:84.97, Z:6.74 [[ 7.64567498e-01 -6.44412852e-01 -1.29852887e-02 9.90484891e+02] [ 6.44308299e-01 7.64677585e-01 -1.16192797e-02 8.49688646e+01] [ 1.74171724e-02 5.17194286e-04 9.99848176e-01 6.74106379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.659254154 meters 0.018457804624235605 Centerline is valid? [True, True] Translation: X:990.53, Y:85.01, Z:6.74 [[ 7.64340654e-01 -6.44658500e-01 -1.40990635e-02 9.90528037e+02] [ 6.44535159e-01 7.64470473e-01 -1.26224092e-02 8.50089229e+01] [ 1.89154611e-02 5.60478400e-04 9.99820930e-01 6.74019680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539999 meters 0.01949278439878407 Centerline is valid? [True, True] Translation: X:990.57, Y:85.05, Z:6.74 [[ 7.64972878e-01 -6.43886736e-01 -1.50454954e-02 9.90569167e+02] [ 6.43746048e-01 7.65120569e-01 -1.34737230e-02 8.50494609e+01] [ 2.01871695e-02 6.21554475e-04 9.99796025e-01 6.74072244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.779254154 meters 0.022043896925597762 Centerline is valid? [True, True] Translation: X:990.61, Y:85.09, Z:6.74 [[ 7.65105793e-01 -6.43723022e-01 -1.52904323e-02 9.90612240e+02] [ 6.43577572e-01 7.65258297e-01 -1.36984666e-02 8.50894866e+01] [ 2.05191485e-02 6.40196914e-04 9.99789255e-01 6.74077557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.839254154 meters 0.022235834923401872 Centerline is valid? [True, True] Translation: X:990.65, Y:85.13, Z:6.74 [[ 7.65663304e-01 -6.43093756e-01 -1.37886212e-02 9.90652085e+02] [ 6.42975302e-01 7.65787220e-01 -1.23569495e-02 8.51299311e+01] [ 1.85058270e-02 5.95519850e-04 9.99828575e-01 6.74313023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.899254154 meters 0.02155251329912885 Centerline is valid? [True, True] Translation: X:990.69, Y:85.17, Z:6.75 [[ 7.66909658e-01 -6.41630062e-01 -1.26664899e-02 9.90693644e+02] [ 6.41529831e-01 7.67014031e-01 -1.13556662e-02 8.51720611e+01] [ 1.70015123e-02 5.82838941e-04 9.99855294e-01 6.74578643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.959254154 meters 0.021679196701438103 Centerline is valid? [True, True] Translation: X:990.74, Y:85.21, Z:6.75 [[ 7.68210156e-01 -6.40040680e-01 -1.41804222e-02 9.90737687e+02] [ 6.39914661e-01 7.68340707e-01 -1.27194183e-02 8.52120874e+01] [ 1.90363407e-02 6.96926239e-04 9.99818550e-01 6.74564273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.019254154 meters 0.027612059925291445 Centerline is valid? [True, True] Translation: X:990.77, Y:85.26, Z:6.74 [[ 7.69701846e-01 -6.38247503e-01 -1.41136235e-02 9.90772314e+02] [ 6.38122299e-01 7.69830876e-01 -1.26631032e-02 8.52606844e+01] [ 1.89472971e-02 7.40595999e-04 9.99820210e-01 6.74292256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.079254154 meters 0.023634091827853507 Centerline is valid? [True, True] Translation: X:990.82, Y:85.30, Z:6.75 [[ 7.71866162e-01 -6.35633471e-01 -1.38823184e-02 9.90816090e+02] [ 6.35511870e-01 7.71990583e-01 -1.24580089e-02 8.53000386e+01] [ 1.86357465e-02 7.93537362e-04 9.99826024e-01 6.74545983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.139254154 meters 0.02632472741909317 Centerline is valid? [True, True] Translation: X:990.86, Y:85.34, Z:6.74 [[ 7.72452218e-01 -6.34894891e-01 -1.50348883e-02 9.90856422e+02] [ 6.34752008e-01 7.72598018e-01 -1.34978226e-02 8.53431146e+01] [ 2.01856235e-02 8.82997491e-04 9.99795860e-01 6.74364833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.199254154 meters 0.024236062727621428 Centerline is valid? [True, True] Translation: X:990.90, Y:85.38, Z:6.75 [[ 7.71815586e-01 -6.35702259e-01 -1.35402728e-02 9.90899501e+02] [ 6.35586426e-01 7.71933955e-01 -1.21599433e-02 8.53838564e+01] [ 1.81822998e-02 7.79220148e-04 9.99834385e-01 6.74549098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.259254154 meters 0.020791484269161428 Centerline is valid? [True, True] Translation: X:990.94, Y:85.42, Z:6.75 [[ 7.68487833e-01 -6.39743389e-01 -1.24437951e-02 9.90944748e+02] [ 6.39646012e-01 7.68588315e-01 -1.11795417e-02 8.54224636e+01] [ 1.67161934e-02 6.31717905e-04 9.99860075e-01 6.74658823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.319254154 meters 0.018929965820948354 Centerline is valid? [True, True] Translation: X:990.99, Y:85.46, Z:6.75 [[ 7.65542708e-01 -6.43275682e-01 -1.18641964e-02 9.90989703e+02] [ 6.43187531e-01 7.65634452e-01 -1.06623805e-02 8.54609180e+01] [ 1.59424876e-02 5.31604483e-04 9.99872769e-01 6.74695417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.379254154 meters 0.0187223698990374 Centerline is valid? [True, True] Translation: X:991.03, Y:85.50, Z:6.74 [[ 7.60657025e-01 -6.49025467e-01 -1.29164323e-02 9.91033612e+02] [ 6.48921767e-01 7.60766548e-01 -1.16102993e-02 8.54992890e+01] [ 1.73617695e-02 4.49701638e-04 9.99849172e-01 6.74439402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.439254154 meters 0.015225936367306764 Centerline is valid? [True, True] Translation: X:991.08, Y:85.54, Z:6.74 [[ 7.56154100e-01 -6.54273162e-01 -1.25541765e-02 9.91079268e+02] [ 6.54175856e-01 7.56258240e-01 -1.12882369e-02 8.55364920e+01] [ 1.68797899e-02 3.23007484e-04 9.99857474e-01 6.74489772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.499254154 meters 0.016646875580757583 Centerline is valid? [True, True] Translation: X:991.12, Y:85.58, Z:6.74 [[ 7.53865528e-01 -6.56882089e-01 -1.38811839e-02 9.91123059e+02] [ 6.56763450e-01 7.53993258e-01 -1.24875245e-02 8.55755244e+01] [ 1.86691502e-02 2.97260022e-04 9.99825672e-01 6.74397944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.559254154 meters 0.015426789341397516 Centerline is valid? [True, True] Translation: X:991.17, Y:85.61, Z:6.75 [[ 7.52354550e-01 -6.58619310e-01 -1.35364332e-02 9.91167193e+02] [ 6.58506659e-01 7.52476272e-01 -1.21835821e-02 8.56140496e+01] [ 1.82101872e-02 2.52542011e-04 9.99834149e-01 6.74518151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539999 meters 0.0156692281054216 Centerline is valid? [True, True] Translation: X:991.21, Y:85.65, Z:6.74 [[ 7.52147454e-01 -6.58855531e-01 -1.35497580e-02 9.91207496e+02] [ 6.58742618e-01 7.52269451e-01 -1.21998917e-02 8.56541970e+01] [ 1.82310351e-02 2.50314447e-04 9.99833770e-01 6.74469753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.679254154 meters 0.013801566275329923 Centerline is valid? [True, True] Translation: X:991.25, Y:85.69, Z:6.75 [[ 7.52850617e-01 -6.58064733e-01 -1.29133971e-02 9.91250634e+02] [ 6.57961978e-01 7.52961313e-01 -1.16317189e-02 8.56949338e+01] [ 1.73777124e-02 2.60422449e-04 9.99848962e-01 6.74658027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539999 meters 0.015519818773615964 Centerline is valid? [True, True] Translation: X:991.29, Y:85.74, Z:6.75 [[ 7.54376798e-01 -6.56310300e-01 -1.31315195e-02 9.91290492e+02] [ 6.56203712e-01 7.54491017e-01 -1.18318925e-02 8.57372394e+01] [ 1.76730064e-02 3.08753277e-04 9.99843773e-01 6.74604544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.799254154 meters 0.018101822923648533 Centerline is valid? [True, True] Translation: X:991.33, Y:85.78, Z:6.75 [[ 7.57881868e-01 -6.52242043e-01 -1.39782549e-02 9.91330793e+02] [ 6.52120531e-01 7.58010641e-01 -1.25968534e-02 8.57804479e+01] [ 1.88118633e-02 4.31419785e-04 9.99822948e-01 6.74601347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539999 meters 0.018787892585778447 Centerline is valid? [True, True] Translation: X:991.37, Y:85.83, Z:6.75 [[ 7.62219657e-01 -6.47184617e-01 -1.31630853e-02 9.91368285e+02] [ 6.47076077e-01 7.62333126e-01 -1.18640474e-02 8.58251366e+01] [ 1.77128850e-02 5.25492523e-04 9.99842976e-01 6.74664756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.919254154 meters 0.02558918118581704 Centerline is valid? [True, True] Translation: X:991.41, Y:85.87, Z:6.75 [[ 7.64842199e-01 -6.44076540e-01 -1.34841007e-02 9.91405955e+02] [ 6.43962110e-01 7.64960805e-01 -1.21559997e-02 8.58700747e+01] [ 1.81442027e-02 6.14171571e-04 9.99835192e-01 6.74520602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539999 meters 0.02233323705931028 Centerline is valid? [True, True] Translation: X:991.45, Y:85.91, Z:6.75 [[ 7.65881806e-01 -6.42852597e-01 -1.28684822e-02 9.91451664e+02] [ 6.42748123e-01 7.65989659e-01 -1.16056997e-02 8.59073262e+01] [ 1.73178784e-02 6.17401443e-04 9.99849844e-01 6.74823742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.039254154 meters 0.02209234554246155 Centerline is valid? [True, True] Translation: X:991.49, Y:85.95, Z:6.75 [[ 7.66114186e-01 -6.42580172e-01 -1.26402887e-02 9.91493445e+02] [ 6.42479236e-01 7.66218208e-01 -1.14056474e-02 8.59485542e+01] [ 1.70142622e-02 6.16905196e-04 9.99855057e-01 6.74888732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539999 meters 0.020464053227647976 Centerline is valid? [True, True] Translation: X:991.54, Y:85.99, Z:6.75 [[ 7.65620408e-01 -6.43170904e-01 -1.25131530e-02 9.91537365e+02] [ 6.43071975e-01 7.65722421e-01 -1.12963681e-02 8.59885229e+01] [ 1.68470971e-02 6.01871952e-04 9.99857896e-01 6.74893721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.159254154 meters 0.022651682617612228 Centerline is valid? [True, True] Translation: X:991.58, Y:86.03, Z:6.75 [[ 7.63929984e-01 -6.45149982e-01 -1.38737163e-02 9.91581379e+02] [ 6.45028576e-01 7.64055699e-01 -1.25309555e-02 8.60268813e+01] [ 1.86846377e-02 6.23829125e-04 9.99825232e-01 6.74702437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539999 meters 0.021164261413629388 Centerline is valid? [True, True] Translation: X:991.63, Y:86.06, Z:6.75 [[ 7.61953374e-01 -6.47488729e-01 -1.36162460e-02 9.91626584e+02] [ 6.47372061e-01 7.62074821e-01 -1.23037739e-02 8.60648988e+01] [ 1.83431531e-02 5.60124813e-04 9.99831593e-01 6.74733843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.279254154 meters 0.021491038864666513 Centerline is valid? [True, True] Translation: X:991.67, Y:86.10, Z:6.75 [[ 7.59449952e-01 -6.50409740e-01 -1.42457080e-02 9.91673185e+02] [ 6.50282432e-01 7.59583375e-01 -1.28785113e-02 8.61014876e+01] [ 1.91971121e-02 5.16851182e-04 9.99815585e-01 6.74729724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.339254154 meters 0.019668754606880223 Centerline is valid? [True, True] Translation: X:991.72, Y:86.14, Z:6.75 [[ 7.58152192e-01 -6.51941643e-01 -1.33172415e-02 9.91718468e+02] [ 6.51830557e-01 7.58269010e-01 -1.20429880e-02 8.61397238e+01] [ 1.79493769e-02 4.49832798e-04 9.99838796e-01 6.74838434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.399254154 meters 0.018948271299071506 Centerline is valid? [True, True] Translation: X:991.76, Y:86.18, Z:6.75 [[ 7.57824034e-01 -6.52349822e-01 -1.19349347e-02 9.91761498e+02] [ 6.52260620e-01 7.57917906e-01 -1.07949640e-02 8.61781842e+01] [ 1.60877936e-02 3.95995265e-04 9.99870505e-01 6.75033994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.459254154 meters 0.02261575880907993 Centerline is valid? [True, True] Translation: X:991.80, Y:86.22, Z:6.75 [[ 7.59682273e-01 -6.50160506e-01 -1.31969842e-02 9.91802573e+02] [ 6.50051068e-01 7.59796733e-01 -1.19386937e-02 8.62184845e+01] [ 1.77890926e-02 4.90900297e-04 9.99841641e-01 6.74889701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.519254154 meters 0.01834915517418609 Centerline is valid? [True, True] Translation: X:991.85, Y:86.25, Z:6.75 [[ 7.60976197e-01 -6.48618342e-01 -1.44732039e-02 9.91849360e+02] [ 6.48486386e-01 7.61113599e-01 -1.30957095e-02 8.62537254e+01] [ 1.95098697e-02 5.79847582e-04 9.99809496e-01 6.75042463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.579254154 meters 0.017899628463501568 Centerline is valid? [True, True] Translation: X:991.89, Y:86.29, Z:6.75 [[ 7.60232999e-01 -6.49471940e-01 -1.52310838e-02 9.91894507e+02] [ 6.49325843e-01 7.60385329e-01 -1.37877300e-02 8.62897004e+01] [ 2.05362365e-02 5.91950986e-04 9.99788934e-01 6.75062608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.639254154 meters 0.023147987225462796 Centerline is valid? [True, True] Translation: X:991.94, Y:86.33, Z:6.75 [[ 7.58142793e-01 -6.51905329e-01 -1.54579222e-02 9.91936077e+02] [ 6.51755199e-01 7.58300173e-01 -1.40003453e-02 8.63309900e+01] [ 2.08486447e-02 5.39479759e-04 9.99782498e-01 6.74755992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.699254154 meters 0.015165144008690597 Centerline is valid? [True, True] Translation: X:991.99, Y:86.36, Z:6.76 [[ 7.54325126e-01 -6.56365955e-01 -1.33167940e-02 9.91989908e+02] [ 6.56255144e-01 7.54442577e-01 -1.20657995e-02 8.63588554e+01] [ 1.79663364e-02 3.62321133e-04 9.99838527e-01 6.75558674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.759254154 meters 0.018137322963186632 Centerline is valid? [True, True] Translation: X:992.04, Y:86.39, Z:6.76 [[ 7.51643509e-01 -6.59437712e-01 -1.31886252e-02 9.92037189e+02] [ 6.59329398e-01 7.51759150e-01 -1.19551416e-02 8.63938999e+01] [ 1.77983409e-02 2.90356242e-04 9.99841555e-01 6.75595357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.819254154 meters 0.015050001535115768 Centerline is valid? [True, True] Translation: X:992.08, Y:86.43, Z:6.76 [[ 7.52445889e-01 -6.58553362e-01 -1.15175190e-02 9.92080278e+02] [ 6.58470601e-01 7.52533982e-01 -1.04438361e-02 8.64319723e+01] [ 1.55451478e-02 2.74473875e-04 9.99879129e-01 6.75748624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.879254154 meters 0.01704697072297736 Centerline is valid? [True, True] Translation: X:992.12, Y:86.47, Z:6.76 [[ 7.53921373e-01 -6.56849666e-01 -1.22914656e-02 9.92124606e+02] [ 6.56755104e-01 7.54021488e-01 -1.11502691e-02 8.64707207e+01] [ 1.65920797e-02 3.33943436e-04 9.99862286e-01 6.75748668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.939254154 meters 0.020063429828785933 Centerline is valid? [True, True] Translation: X:992.17, Y:86.51, Z:6.75 [[ 7.57501218e-01 -6.52687759e-01 -1.38055745e-02 9.92165170e+02] [ 6.52567688e-01 7.57626860e-01 -1.25281299e-02 8.65132789e+01] [ 1.86364311e-02 4.81001860e-04 9.99826211e-01 6.75429147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.999254154 meters 0.019436624818808347 Centerline is valid? [True, True] Translation: X:992.21, Y:86.55, Z:6.75 [[ 7.60609199e-01 -6.49056975e-01 -1.40957023e-02 9.92209076e+02] [ 6.48931090e-01 7.60739574e-01 -1.27961418e-02 8.65533916e+01] [ 1.90285837e-02 5.85723757e-04 9.99818769e-01 6.75371221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.059254154 meters 0.02077924059252098 Centerline is valid? [True, True] Translation: X:992.25, Y:86.59, Z:6.75 [[ 7.61986433e-01 -6.47437327e-01 -1.41980361e-02 9.92252795e+02] [ 6.47309207e-01 7.62118432e-01 -1.28952158e-02 8.65930244e+01] [ 1.91694291e-02 6.35460041e-04 9.99816048e-01 6.75322046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539999 meters 0.020221432773639636 Centerline is valid? [True, True] Translation: X:992.30, Y:86.63, Z:6.75 [[ 7.61944994e-01 -6.47514995e-01 -1.28123856e-02 9.92299848e+02] [ 6.47410579e-01 7.62052491e-01 -1.16422779e-02 8.66292472e+01] [ 1.73022599e-02 5.75901417e-04 9.99850139e-01 6.75495260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.179254154 meters 0.021165160463609077 Centerline is valid? [True, True] Translation: X:992.35, Y:86.66, Z:6.76 [[ 7.60802283e-01 -6.48840094e-01 -1.36535085e-02 9.92349044e+02] [ 6.48721615e-01 7.60924562e-01 -1.24127873e-02 8.66634420e+01] [ 1.84432041e-02 5.86350768e-04 9.99829738e-01 6.75560082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539999 meters 0.020426727943230173 Centerline is valid? [True, True] Translation: X:992.39, Y:86.70, Z:6.75 [[ 7.60522151e-01 -6.49172668e-01 -1.34500675e-02 9.92393792e+02] [ 6.49057682e-01 7.60640861e-01 -1.22313740e-02 8.67003680e+01] [ 1.81709447e-02 5.72361223e-04 9.99834731e-01 6.75463883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.299254154 meters 0.020567415728945507 Centerline is valid? [True, True] Translation: X:992.44, Y:86.74, Z:6.75 [[ 7.60314315e-01 -6.49388927e-01 -1.47025338e-02 9.92438425e+02] [ 6.49251460e-01 7.60456200e-01 -1.33757205e-02 8.67388933e+01] [ 1.98666778e-02 6.24110236e-04 9.99802443e-01 6.75295985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539999 meters 0.01913925499362548 Centerline is valid? [True, True] Translation: X:992.48, Y:86.78, Z:6.75 [[ 7.59298808e-01 -6.50549477e-01 -1.58334519e-02 9.92484519e+02] [ 6.50390138e-01 7.59463601e-01 -1.44120382e-02 8.67752227e+01] [ 2.14006743e-02 6.45122420e-04 9.99770771e-01 6.75183471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.419254154 meters 0.01846117222484729 Centerline is valid? [True, True] Translation: X:992.53, Y:86.81, Z:6.75 [[ 7.57729414e-01 -6.52403788e-01 -1.46776222e-02 9.92530428e+02] [ 6.52267090e-01 7.57871355e-01 -1.33661191e-02 8.68124941e+01] [ 1.98438562e-02 5.54171657e-04 9.99802938e-01 6.75415166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539999 meters 0.017172290026086688 Centerline is valid? [True, True] Translation: X:992.58, Y:86.85, Z:6.76 [[ 7.57013170e-01 -6.53259970e-01 -1.35082288e-02 9.92575323e+02] [ 6.53144221e-01 7.57133521e-01 -1.23068430e-02 8.68513734e+01] [ 1.82671007e-02 4.93620597e-04 9.99833021e-01 6.75656620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.539254154 meters 0.016164700634381995 Centerline is valid? [True, True] Translation: X:992.62, Y:86.89, Z:6.76 [[ 7.54383556e-01 -6.56346541e-01 -1.07083607e-02 9.92619900e+02] [ 6.56274053e-01 7.54459479e-01 -9.76018485e-03 8.68907271e+01] [ 1.44850878e-02 3.35303656e-04 9.99895029e-01 6.75930612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539999 meters 0.017513008860782997 Centerline is valid? [True, True] Translation: X:992.67, Y:86.93, Z:6.76 [[ 7.50178680e-01 -6.61131495e-01 -1.17087281e-02 9.92667568e+02] [ 6.61045350e-01 7.50270001e-01 -1.06757667e-02 8.69262235e+01] [ 1.58427931e-02 2.68732294e-04 9.99874459e-01 6.75827417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.659254154 meters 0.015864704987845674 Centerline is valid? [True, True] Translation: X:992.71, Y:86.97, Z:6.76 [[ 7.48817675e-01 -6.62667877e-01 -1.19739106e-02 9.92712597e+02] [ 6.62577934e-01 7.48913363e-01 -1.09204234e-02 8.69650101e+01] [ 1.62040354e-02 2.43757122e-04 9.99868676e-01 6.75770214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539999 meters 0.014940955939874281 Centerline is valid? [True, True] Translation: X:992.75, Y:87.01, Z:6.76 [[ 7.50173880e-01 -6.61098880e-01 -1.36901735e-02 9.92754011e+02] [ 6.60980940e-01 7.50298719e-01 -1.24911865e-02 8.70071203e+01] [ 1.85296290e-02 3.21618092e-04 9.99828260e-01 6.75592275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.779254154 meters 0.016706034729764223 Centerline is valid? [True, True] Translation: X:992.80, Y:87.05, Z:6.75 [[ 7.50569108e-01 -6.60603242e-01 -1.57914874e-02 9.92796373e+02] [ 6.60446039e-01 7.50735109e-01 -1.44161813e-02 8.70480441e+01] [ 2.13786002e-02 3.90915056e-04 9.99771375e-01 6.75469287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.839254154 meters 0.015438856092218746 Centerline is valid? [True, True] Translation: X:992.84, Y:87.09, Z:6.75 [[ 7.50037971e-01 -6.61208571e-01 -1.56929081e-02 9.92838481e+02] [ 6.61053371e-01 7.50202030e-01 -1.43302424e-02 8.70878130e+01] [ 2.12481306e-02 3.74376118e-04 9.99774163e-01 6.75395823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.899254154 meters 0.014081507536757685 Centerline is valid? [True, True] Translation: X:992.88, Y:87.12, Z:6.76 [[ 7.45767925e-01 -6.66052371e-01 -1.42982924e-02 9.92884973e+02] [ 6.65924321e-01 7.45904948e-01 -1.30616946e-02 8.71242201e+01] [ 1.93649397e-02 2.19412204e-04 9.99812458e-01 6.75570746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.959254154 meters 0.014306674650204272 Centerline is valid? [True, True] Translation: X:992.93, Y:87.16, Z:6.76 [[ 7.39656958e-01 -6.72853991e-01 -1.32321719e-02 9.92933845e+02] [ 6.72745335e-01 7.39775307e-01 -1.20917351e-02 8.71586116e+01] [ 1.79248063e-02 4.18541203e-05 9.99839337e-01 6.75793627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.019254154 meters 0.013427508344646443 Centerline is valid? [True, True] Translation: X:992.98, Y:87.19, Z:6.76 [[ 7.34776095e-01 -6.78189837e-01 -1.27528161e-02 9.92980986e+02] [ 6.78089621e-01 7.34886752e-01 -1.16588122e-02 8.71936100e+01] [ 1.72787635e-02 -8.09357202e-05 9.99850708e-01 6.75977531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.079254154 meters 0.014523809323632437 Centerline is valid? [True, True] Translation: X:993.03, Y:87.23, Z:6.76 [[ 7.32578182e-01 -6.80552649e-01 -1.33153482e-02 9.93025347e+02] [ 6.80443669e-01 7.32699169e-01 -1.21795427e-02 8.72318391e+01] [ 1.80449646e-02 -1.37877107e-04 9.99837167e-01 6.75964339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.139254154 meters 0.016837633875743083 Centerline is valid? [True, True] Translation: X:993.07, Y:87.27, Z:6.76 [[ 7.30571681e-01 -6.82680546e-01 -1.45702026e-02 9.93069788e+02] [ 6.82550340e-01 7.30716929e-01 -1.33342782e-02 8.72711502e+01] [ 1.97497460e-02 -2.03250689e-04 9.99804934e-01 6.75979890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.199254154 meters 0.014033446333866393 Centerline is valid? [True, True] Translation: X:993.11, Y:87.31, Z:6.76 [[ 7.31060122e-01 -6.82158003e-01 -1.45450155e-02 9.93112097e+02] [ 6.82028045e-01 7.31204776e-01 -1.33161850e-02 8.73100669e+01] [ 1.97191270e-02 -1.85176602e-04 9.99805542e-01 6.76024930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.259254154 meters 0.01455678498321939 Centerline is valid? [True, True] Translation: X:993.15, Y:87.35, Z:6.76 [[ 7.33255086e-01 -6.79820272e-01 -1.34676125e-02 9.93153724e+02] [ 6.79708371e-01 7.33378747e-01 -1.23346891e-02 8.73525417e+01] [ 1.82622325e-02 -1.09575378e-04 9.99833226e-01 6.76255012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.319254154 meters 0.012885784255020079 Centerline is valid? [True, True] Translation: X:993.19, Y:87.39, Z:6.76 [[ 7.35795089e-01 -6.77080486e-01 -1.29461451e-02 9.93194897e+02] [ 6.76976557e-01 7.35908971e-01 -1.18628403e-02 8.73942497e+01] [ 1.75592820e-02 -3.56171264e-05 9.99845823e-01 6.76499079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.379254154 meters 0.012917417079846076 Centerline is valid? [True, True] Translation: X:993.23, Y:87.44, Z:6.77 [[ 7.40530214e-01 -6.71917402e-01 -1.19166863e-02 9.93233319e+02] [ 6.71828578e-01 7.40626085e-01 -1.09253625e-02 8.74382218e+01] [ 1.61667499e-02 8.45906404e-05 9.99869306e-01 6.76610824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.439254154 meters 0.01599909927487894 Centerline is valid? [True, True] Translation: X:993.27, Y:87.48, Z:6.76 [[ 7.46164041e-01 -6.65655152e-01 -1.19349431e-02 9.93269667e+02] [ 6.65565184e-01 7.46259451e-01 -1.09460762e-02 8.74845853e+01] [ 1.61928761e-02 2.24085863e-04 9.99868862e-01 6.76469211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.499254154 meters 0.017875037066137783 Centerline is valid? [True, True] Translation: X:993.31, Y:87.53, Z:6.76 [[ 7.50027976e-01 -6.61282943e-01 -1.27634334e-02 9.93308077e+02] [ 6.61179343e-01 7.50136488e-01 -1.17100370e-02 8.75295849e+01] [ 1.73179648e-02 3.43936869e-04 9.99849974e-01 6.76332105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.559254154 meters 0.0168201922678873 Centerline is valid? [True, True] Translation: X:993.35, Y:87.57, Z:6.76 [[ 7.52494134e-01 -6.58460766e-01 -1.34906572e-02 9.93348758e+02] [ 6.58344462e-01 7.52614927e-01 -1.23830570e-02 8.75731127e+01] [ 1.83070272e-02 4.36678302e-04 9.99832317e-01 6.76402458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539999 meters 0.017879482006051668 Centerline is valid? [True, True] Translation: X:993.39, Y:87.61, Z:6.76 [[ 7.52701777e-01 -6.58202627e-01 -1.44684658e-02 9.93390968e+02] [ 6.58068672e-01 7.52840668e-01 -1.32873156e-02 8.76136820e+01] [ 1.96381955e-02 4.80142027e-04 9.99807037e-01 6.76317738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.679254154 meters 0.0199820374763813 Centerline is valid? [True, True] Translation: X:993.43, Y:87.66, Z:6.76 [[ 7.51354311e-01 -6.59733332e-01 -1.47861233e-02 9.93431654e+02] [ 6.59593646e-01 7.51499651e-01 -1.35829816e-02 8.76550274e+01] [ 2.00729123e-02 4.52798822e-04 9.99798416e-01 6.76085790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539999 meters 0.014915348197002062 Centerline is valid? [True, True] Translation: X:993.48, Y:87.69, Z:6.77 [[ 7.48133390e-01 -6.63395807e-01 -1.42279402e-02 9.93480184e+02] [ 6.63267046e-01 7.48268591e-01 -1.30744620e-02 8.76890112e+01] [ 1.93198641e-02 3.44517717e-04 9.99813295e-01 6.76616383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.799254154 meters 0.013816783107479679 Centerline is valid? [True, True] Translation: X:993.53, Y:87.72, Z:6.77 [[ 7.42973625e-01 -6.69197518e-01 -1.28403412e-02 9.93527997e+02] [ 6.69093449e-01 7.43084551e-01 -1.18027977e-02 8.77244367e+01] [ 1.74398621e-02 1.77779169e-04 9.99847898e-01 6.76837275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539999 meters 0.012974713592102522 Centerline is valid? [True, True] Translation: X:993.57, Y:87.76, Z:6.77 [[ 7.40157460e-01 -6.72317540e-01 -1.24923847e-02 9.93572212e+02] [ 6.72219439e-01 7.40262869e-01 -1.14852525e-02 8.77612464e+01] [ 1.69693852e-02 1.03271543e-04 9.99856004e-01 6.76935120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.919254154 meters 0.012911237339520982 Centerline is valid? [True, True] Translation: X:993.62, Y:87.80, Z:6.77 [[ 7.38046348e-01 -6.74638641e-01 -1.22593976e-02 9.93617105e+02] [ 6.74544452e-01 7.38148157e-01 -1.12729761e-02 8.77975457e+01] [ 1.66544370e-02 5.04702201e-05 9.99861304e-01 6.77053892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539999 meters 0.014153117338440343 Centerline is valid? [True, True] Translation: X:993.66, Y:87.84, Z:6.77 [[ 7.37405671e-01 -6.75321567e-01 -1.31779320e-02 9.93661040e+02] [ 6.75212760e-01 7.37523410e-01 -1.21222482e-02 8.78363526e+01] [ 1.79054490e-02 4.11067330e-05 9.99839684e-01 6.77165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.039254154 meters 0.0128300465483501 Centerline is valid? [True, True] Translation: X:993.70, Y:87.88, Z:6.77 [[ 7.37650054e-01 -6.75038464e-01 -1.39810623e-02 9.93703031e+02] [ 6.74915814e-01 7.37782535e-01 -1.28676048e-02 8.78770663e+01] [ 1.90011118e-02 5.57493475e-05 9.99819461e-01 6.77211198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539999 meters 0.01536052275783526 Centerline is valid? [True, True] Translation: X:993.75, Y:87.92, Z:6.77 [[ 7.36754128e-01 -6.76008868e-01 -1.43305777e-02 9.93746144e+02] [ 6.75880052e-01 7.36893486e-01 -1.31964661e-02 8.79166588e+01] [ 1.94810375e-02 3.67992773e-05 9.99810226e-01 6.77120332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.159254154 meters 0.013164810954233665 Centerline is valid? [True, True] Translation: X:993.79, Y:87.95, Z:6.78 [[ 7.33455610e-01 -6.79603857e-01 -1.34709233e-02 9.93791444e+02] [ 6.79490521e-01 7.33579304e-01 -1.24111902e-02 8.79540296e+01] [ 1.83166832e-02 -5.03076099e-05 9.99832234e-01 6.77522703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539999 meters 0.017407746653450032 Centerline is valid? [True, True] Translation: X:993.84, Y:87.99, Z:6.78 [[ 7.27560991e-01 -6.85918754e-01 -1.30562821e-02 9.93837716e+02] [ 6.85813190e-01 7.27678104e-01 -1.20351607e-02 8.79902699e+01] [ 1.77559130e-02 -1.97857003e-04 9.99842332e-01 6.77667555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.279254154 meters 0.014981848282934244 Centerline is valid? [True, True] Translation: X:993.88, Y:88.03, Z:6.78 [[ 7.21591998e-01 -6.92210042e-01 -1.22575013e-02 9.93883330e+02] [ 6.92117808e-01 7.21696024e-01 -1.13043738e-02 8.80276716e+01] [ 1.66711910e-02 -3.26489288e-04 9.99860973e-01 6.78019227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.339254154 meters 0.018614470035383333 Centerline is valid? [True, True] Translation: X:993.93, Y:88.07, Z:6.78 [[ 7.19548575e-01 -6.94321737e-01 -1.29296127e-02 9.93927252e+02] [ 6.94219384e-01 7.19664624e-01 -1.19279275e-02 8.80656821e+01] [ 1.75868042e-02 -3.93264532e-04 9.99845263e-01 6.77853098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.399254154 meters 0.019584067684476424 Centerline is valid? [True, True] Translation: X:993.97, Y:88.11, Z:6.78 [[ 7.16028124e-01 -6.97917085e-01 -1.46788170e-02 9.93970082e+02] [ 6.97785807e-01 7.16178363e-01 -1.35469632e-02 8.81053966e+01] [ 1.99673082e-02 -5.42663562e-04 9.99800486e-01 6.77829540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.459254154 meters 0.017850773880941515 Centerline is valid? [True, True] Translation: X:994.01, Y:88.15, Z:6.78 [[ 7.15847292e-01 -6.98084327e-01 -1.55218378e-02 9.94010609e+02] [ 6.97937422e-01 7.16015323e-01 -1.43321911e-02 8.81476593e+01] [ 2.11189517e-02 -5.73611236e-04 9.99776806e-01 6.77893715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.519254154 meters 0.019353702054013874 Centerline is valid? [True, True] Translation: X:994.05, Y:88.19, Z:6.78 [[ 7.16858521e-01 -6.97024625e-01 -1.64479084e-02 9.94051409e+02] [ 6.96859214e-01 7.17046964e-01 -1.51949752e-02 8.81906327e+01] [ 2.23851947e-02 -5.69229073e-04 9.99749258e-01 6.77877014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.579254154 meters 0.018482189519780347 Centerline is valid? [True, True] Translation: X:994.09, Y:88.24, Z:6.78 [[ 7.20074151e-01 -6.93694255e-01 -1.67778604e-02 9.94089390e+02] [ 6.93521055e-01 7.20269436e-01 -1.55076108e-02 8.82360757e+01] [ 2.28421206e-02 -4.69169716e-04 9.99738975e-01 6.77989550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.639254154 meters 0.01492006328051599 Centerline is valid? [True, True] Translation: X:994.13, Y:88.28, Z:6.78 [[ 7.23461706e-01 -6.90190335e-01 -1.55068016e-02 9.94127648e+02] [ 6.90041428e-01 7.23627802e-01 -1.43398629e-02 8.82813159e+01] [ 2.11183875e-02 -3.25993838e-04 9.99776929e-01 6.78211784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.699254154 meters 0.016474446923685087 Centerline is valid? [True, True] Translation: X:994.16, Y:88.33, Z:6.78 [[ 7.30403682e-01 -6.82839935e-01 -1.54946556e-02 9.94163869e+02] [ 6.82689491e-01 7.30568006e-01 -1.43334543e-02 8.83292883e+01] [ 2.11073547e-02 -1.08830742e-04 9.99777209e-01 6.78276188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.759254154 meters 0.013334176727330305 Centerline is valid? [True, True] Translation: X:994.20, Y:88.38, Z:6.79 [[ 7.37714410e-01 -6.74973291e-01 -1.37297111e-02 9.94198784e+02] [ 6.74853697e-01 7.37842154e-01 -1.27060483e-02 8.83781122e+01] [ 1.87066029e-02 1.07888632e-04 9.99825010e-01 6.78523778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.819254154 meters 0.015187109299723571 Centerline is valid? [True, True] Translation: X:994.23, Y:88.43, Z:6.78 [[ 7.44682743e-01 -6.67233128e-01 -1.57342226e-02 9.94233266e+02] [ 6.67074220e-01 7.44848864e-01 -1.45655157e-02 8.84266187e+01] [ 2.14382125e-02 3.50793918e-04 9.99770114e-01 6.78159508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.879254154 meters 0.01608974583440555 Centerline is valid? [True, True] Translation: X:994.27, Y:88.47, Z:6.78 [[ 7.48010620e-01 -6.63462218e-01 -1.72625892e-02 9.94273082e+02] [ 6.63269869e-01 7.48209616e-01 -1.59828338e-02 8.84701369e+01] [ 2.35200416e-02 5.05574107e-04 9.99723238e-01 6.78094904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.939254154 meters 0.01762601595521034 Centerline is valid? [True, True] Translation: X:994.31, Y:88.51, Z:6.78 [[ 7.49084323e-01 -6.62203146e-01 -1.89649840e-02 9.94314773e+02] [ 6.61970385e-01 7.49324114e-01 -1.75665002e-02 8.85117840e+01] [ 2.58435115e-02 6.04532078e-04 9.99665818e-01 6.78119700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.999254154 meters 0.018869051193524857 Centerline is valid? [True, True] Translation: X:994.36, Y:88.55, Z:6.78 [[ 7.46575567e-01 -6.65042029e-01 -1.85478685e-02 9.94358386e+02] [ 6.64820151e-01 7.46805765e-01 -1.71847659e-02 8.85497919e+01] [ 2.52802467e-02 4.98729639e-04 9.99680279e-01 6.78198874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.059254154 meters 0.017704451801254933 Centerline is valid? [True, True] Translation: X:994.41, Y:88.59, Z:6.78 [[ 7.42142011e-01 -6.70005079e-01 -1.78445971e-02 9.94405861e+02] [ 6.69800978e-01 7.42356444e-01 -1.65396577e-02 8.85855881e+01] [ 2.43287063e-02 3.22446247e-04 9.99703961e-01 6.78365906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539999 meters 0.016103446382273557 Centerline is valid? [True, True] Translation: X:994.45, Y:88.62, Z:6.78 [[ 7.39491396e-01 -6.72939697e-01 -1.74539211e-02 9.94451391e+02] [ 6.72745060e-01 7.39697311e-01 -1.61855657e-02 8.86228476e+01] [ 2.38025282e-02 2.27047385e-04 9.99716654e-01 6.78482871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.179254154 meters 0.015870129613931656 Centerline is valid? [True, True] Translation: X:994.50, Y:88.66, Z:6.79 [[ 7.37460741e-01 -6.75171558e-01 -1.71762505e-02 9.94497251e+02] [ 6.74983480e-01 7.37660723e-01 -1.59360847e-02 8.86601008e+01] [ 2.34298364e-02 1.58551484e-04 9.99725471e-01 6.78534709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539999 meters 0.017556932222869286 Centerline is valid? [True, True] Translation: X:994.54, Y:88.70, Z:6.78 [[ 7.36953005e-01 -6.75707241e-01 -1.78883523e-02 9.94541592e+02] [ 6.75503290e-01 7.37170063e-01 -1.66012954e-02 8.86973545e+01] [ 2.44043732e-02 1.50733693e-04 9.99702158e-01 6.78459072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.299254154 meters 0.015109011729923528 Centerline is valid? [True, True] Translation: X:994.58, Y:88.73, Z:6.78 [[ 7.37954010e-01 -6.74622903e-01 -1.75447542e-02 9.94584187e+02] [ 6.74426299e-01 7.38162519e-01 -1.62869034e-02 8.87347628e+01] [ 2.39383980e-02 1.86342018e-04 9.99713418e-01 6.78418294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539999 meters 0.014308580881847445 Centerline is valid? [True, True] Translation: X:994.63, Y:88.77, Z:6.78 [[ 7.38499934e-01 -6.74037008e-01 -1.70868105e-02 9.94627633e+02] [ 6.73850198e-01 7.38697549e-01 -1.58695199e-02 8.87740069e+01] [ 2.33186288e-02 2.05688796e-04 9.99728063e-01 6.78476409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.419254154 meters 0.015459236595973948 Centerline is valid? [True, True] Translation: X:994.67, Y:88.81, Z:6.79 [[ 7.38221590e-01 -6.74346320e-01 -1.69092925e-02 9.94671963e+02] [ 6.74163250e-01 7.38415195e-01 -1.57134380e-02 8.88111287e+01] [ 2.30823776e-02 2.00375548e-04 9.99733546e-01 6.78574850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539999 meters 0.014336325097541115 Centerline is valid? [True, True] Translation: X:994.72, Y:88.85, Z:6.79 [[ 7.38420029e-01 -6.74195819e-01 -1.39949562e-02 9.94717426e+02] [ 6.74070272e-01 7.38552617e-01 -1.30115733e-02 8.88486590e+01] [ 1.91083599e-02 1.74422383e-04 9.99817403e-01 6.78991780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.539254154 meters 0.017476885867406967 Centerline is valid? [True, True] Translation: X:994.76, Y:88.89, Z:6.79 [[ 7.38749705e-01 -6.73826076e-01 -1.43976879e-02 9.94760872e+02] [ 6.73692994e-01 7.38889966e-01 -1.33928369e-02 8.88879642e+01] [ 1.96627499e-02 1.94332805e-04 9.99806651e-01 6.79050455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539999 meters 0.015956014077658554 Centerline is valid? [True, True] Translation: X:994.80, Y:88.93, Z:6.79 [[ 7.41490564e-01 -6.70820600e-01 -1.38371008e-02 9.94802753e+02] [ 6.70697035e-01 7.41619613e-01 -1.28777600e-02 8.89290492e+01] [ 1.89005321e-02 2.68235021e-04 9.99821333e-01 6.78961561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.659254154 meters 0.01845461555874212 Centerline is valid? [True, True] Translation: X:994.84, Y:88.97, Z:6.79 [[ 7.44098581e-01 -6.67875895e-01 -1.60962929e-02 9.94844351e+02] [ 6.67707862e-01 7.44272548e-01 -1.49861374e-02 8.89688214e+01] [ 2.19889089e-02 4.03542237e-04 9.99758133e-01 6.78750321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539999 meters 0.0163130690104745 Centerline is valid? [True, True] Translation: X:994.89, Y:89.01, Z:6.79 [[ 7.45575666e-01 -6.66258909e-01 -1.46967126e-02 9.94887551e+02] [ 6.66118398e-01 7.45720385e-01 -1.36889141e-02 8.90084105e+01] [ 2.00799992e-02 4.16370594e-04 9.99798290e-01 6.78898746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.779254154 meters 0.01645323265722217 Centerline is valid? [True, True] Translation: X:994.93, Y:89.05, Z:6.79 [[ 7.45930183e-01 -6.65870138e-01 -1.43220430e-02 9.94931819e+02] [ 6.65736500e-01 7.46067545e-01 -1.33465788e-02 8.90468132e+01] [ 1.95722998e-02 4.20909228e-04 9.99808356e-01 6.78869660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.839254154 meters 0.01578455695849983 Centerline is valid? [True, True] Translation: X:994.98, Y:89.08, Z:6.79 [[ 7.44358935e-01 -6.67626282e-01 -1.43151292e-02 9.94979295e+02] [ 6.67492964e-01 7.44496476e-01 -1.33468822e-02 8.90828166e+01] [ 1.95682926e-02 3.79622976e-04 9.99808451e-01 6.78871879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.899254154 meters 0.014978987233349533 Centerline is valid? [True, True] Translation: X:995.03, Y:89.12, Z:6.79 [[ 7.42276903e-01 -6.69962064e-01 -1.32601693e-02 9.95026712e+02] [ 6.69847934e-01 7.42395275e-01 -1.23693832e-02 8.91185772e+01] [ 1.81313045e-02 2.99210457e-04 9.99835570e-01 6.78994233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.959254154 meters 0.014974792041560851 Centerline is valid? [True, True] Translation: X:995.07, Y:89.16, Z:6.79 [[ 7.41433574e-01 -6.70902775e-01 -1.28733113e-02 9.95071934e+02] [ 6.70795244e-01 7.41545273e-01 -1.20144995e-02 8.91562828e+01] [ 1.76067043e-02 2.72597298e-04 9.99844953e-01 6.79070028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.019254154 meters 0.014835283813167894 Centerline is valid? [True, True] Translation: X:995.12, Y:89.19, Z:6.79 [[ 7.42367452e-01 -6.69868885e-01 -1.28935181e-02 9.95117832e+02] [ 6.69760751e-01 7.42479350e-01 -1.20395654e-02 8.91932499e+01] [ 1.76381012e-02 3.02209127e-04 9.99844391e-01 6.79160048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.079254154 meters 0.016501918059075252 Centerline is valid? [True, True] Translation: X:995.16, Y:89.23, Z:6.79 [[ 7.44532940e-01 -6.67448849e-01 -1.35179794e-02 9.95161750e+02] [ 6.67329462e-01 7.44655550e-01 -1.26293858e-02 8.92330480e+01] [ 1.84957074e-02 3.82047845e-04 9.99828867e-01 6.79025450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.139254154 meters 0.017546541476833544 Centerline is valid? [True, True] Translation: X:995.20, Y:89.27, Z:6.79 [[ 7.47158466e-01 -6.64518946e-01 -1.29921819e-02 9.95202497e+02] [ 6.64408152e-01 7.47271288e-01 -1.21421097e-02 8.92735354e+01] [ 1.77773464e-02 4.39968493e-04 9.99841874e-01 6.79064701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.199254154 meters 0.021945750625092367 Centerline is valid? [True, True] Translation: X:995.25, Y:89.31, Z:6.79 [[ 7.49505452e-01 -6.61878145e-01 -1.26054949e-02 9.95247041e+02] [ 6.61773396e-01 7.49611286e-01 -1.17852704e-02 8.93124333e+01] [ 1.72496341e-02 4.91143274e-04 9.99851093e-01 6.79197885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.259254154 meters 0.018489077243823933 Centerline is valid? [True, True] Translation: X:995.29, Y:89.35, Z:6.79 [[ 7.49675867e-01 -6.61711365e-01 -1.11428603e-02 9.95290663e+02] [ 6.61629414e-01 7.49758544e-01 -1.04232117e-02 8.93511953e+01] [ 1.52516124e-02 4.41586160e-04 9.99883590e-01 6.79372782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.319254154 meters 0.020623506568357146 Centerline is valid? [True, True] Translation: X:995.34, Y:89.39, Z:6.79 [[ 7.47297629e-01 -6.64384846e-01 -1.17910795e-02 9.95335542e+02] [ 6.64293320e-01 7.47390530e-01 -1.10354110e-02 8.93895657e+01] [ 1.61443010e-02 4.14001108e-04 9.99869587e-01 6.79271103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.379254154 meters 0.018691195627320734 Centerline is valid? [True, True] Translation: X:995.38, Y:89.43, Z:6.79 [[ 7.45299755e-01 -6.66629501e-01 -1.15491323e-02 9.95381050e+02] [ 6.66541878e-01 7.45389145e-01 -1.08142307e-02 8.94276546e+01] [ 1.58176831e-02 3.61863145e-04 9.99874827e-01 6.79333704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.439254154 meters 0.017259829590329925 Centerline is valid? [True, True] Translation: X:995.43, Y:89.47, Z:6.79 [[ 7.44830088e-01 -6.67158675e-01 -1.12890656e-02 9.95425435e+02] [ 6.67074931e-01 7.44915554e-01 -1.05761023e-02 8.94660312e+01] [ 1.54653390e-02 3.46746507e-04 9.99880344e-01 6.79460473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.499254154 meters 0.016866071940623728 Centerline is valid? [True, True] Translation: X:995.47, Y:89.51, Z:6.80 [[ 7.45486978e-01 -6.66444346e-01 -1.00547994e-02 9.95466814e+02] [ 6.66377808e-01 7.45554712e-01 -9.42279481e-03 8.95071119e+01] [ 1.37761714e-02 3.24275667e-04 9.99905051e-01 6.79598194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.559254154 meters 0.01933799592851829 Centerline is valid? [True, True] Translation: X:995.51, Y:89.55, Z:6.80 [[ 7.45279914e-01 -6.66692967e-01 -8.85083229e-03 9.95509056e+02] [ 6.66641392e-01 7.45332414e-01 -8.29743906e-03 8.95474307e+01] [ 1.21286565e-02 2.83583515e-04 9.99926405e-01 6.79567425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539999 meters 0.01698308071171674 Centerline is valid? [True, True] Translation: X:995.55, Y:89.59, Z:6.80 [[ 7.46914055e-01 -6.64863150e-01 -8.73990767e-03 9.95551223e+02] [ 6.64812679e-01 7.46965122e-01 -8.19803239e-03 8.95881406e+01] [ 1.19789758e-02 3.12824180e-04 9.99928201e-01 6.79862045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.679254154 meters 0.017931926118943387 Centerline is valid? [True, True] Translation: X:995.59, Y:89.63, Z:6.80 [[ 7.47835750e-01 -6.63830529e-01 -8.40952885e-03 9.95591721e+02] [ 6.63783702e-01 7.47882964e-01 -7.89106474e-03 8.96301895e+01] [ 1.15276730e-02 3.19112125e-04 9.99933503e-01 6.79872114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539999 meters 0.02053072279588267 Centerline is valid? [True, True] Translation: X:995.63, Y:89.68, Z:6.80 [[ 7.49952492e-01 -6.61431236e-01 -8.94316386e-03 9.95630831e+02] [ 6.61378074e-01 7.50005717e-01 -8.39452397e-03 8.96754234e+01] [ 1.22598244e-02 3.80681682e-04 9.99924773e-01 6.79682862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.799254154 meters 0.022461178659101067 Centerline is valid? [True, True] Translation: X:995.67, Y:89.72, Z:6.79 [[ 7.51563771e-01 -6.59577543e-01 -1.04576378e-02 9.95671988e+02] [ 6.59504597e-01 7.51636368e-01 -9.82120784e-03 8.97184559e+01] [ 1.43381890e-02 4.84403812e-04 9.99897086e-01 6.79467325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539999 meters 0.022885668309749144 Centerline is valid? [True, True] Translation: X:995.71, Y:89.76, Z:6.80 [[ 7.52305103e-01 -6.58737765e-01 -1.00791924e-02 9.95713684e+02] [ 6.58669864e-01 7.52372462e-01 -9.47042841e-03 8.97604757e+01] [ 1.38218357e-02 4.85791317e-04 9.99904356e-01 6.79503440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.919254154 meters 0.021846368583061753 Centerline is valid? [True, True] Translation: X:995.76, Y:89.80, Z:6.80 [[ 7.52243199e-01 -6.58822100e-01 -9.14379468e-03 9.95755242e+02] [ 6.58766169e-01 7.52298640e-01 -8.59598884e-03 8.98005917e+01] [ 1.25420917e-02 4.42651561e-04 9.99921247e-01 6.79670837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539999 meters 0.020636552328919495 Centerline is valid? [True, True] Translation: X:995.80, Y:89.84, Z:6.80 [[ 7.49756516e-01 -6.61666639e-01 -7.90095372e-03 9.95799534e+02] [ 6.61625001e-01 7.49798067e-01 -7.43083792e-03 8.98393637e+01] [ 1.08408574e-02 3.43850639e-04 9.99941177e-01 6.79817567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.039254154 meters 0.01787356194908607 Centerline is valid? [True, True] Translation: X:995.85, Y:89.88, Z:6.80 [[ 7.46666552e-01 -6.65145305e-01 -8.41327361e-03 9.95845683e+02] [ 6.65098280e-01 7.46713884e-01 -7.91536786e-03 8.98765876e+01] [ 1.15471780e-02 3.14486624e-04 9.99933280e-01 6.79863047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539999 meters 0.016434397989819546 Centerline is valid? [True, True] Translation: X:995.89, Y:89.91, Z:6.80 [[ 7.42631733e-01 -6.69603957e-01 -1.13423748e-02 9.95891539e+02] [ 6.69518926e-01 7.42718270e-01 -1.06760949e-02 8.99144821e+01] [ 1.55729444e-02 3.34472293e-04 9.99878678e-01 6.79617864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.159254154 meters 0.016449457683147158 Centerline is valid? [True, True] Translation: X:995.94, Y:89.95, Z:6.79 [[ 7.39755922e-01 -6.72747318e-01 -1.31233306e-02 9.95936657e+02] [ 6.72633859e-01 7.39872250e-01 -1.23590056e-02 8.99520156e+01] [ 1.80240760e-02 3.15451083e-04 9.99837503e-01 6.79490731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539999 meters 0.014841828275621034 Centerline is valid? [True, True] Translation: X:995.98, Y:89.99, Z:6.80 [[ 7.37092857e-01 -6.75637277e-01 -1.44357436e-02 9.95982298e+02] [ 6.75500394e-01 7.37234152e-01 -1.36022813e-02 8.99897963e+01] [ 1.98327315e-02 2.74793926e-04 9.99803274e-01 6.79632747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.279254154 meters 0.016091874477572512 Centerline is valid? [True, True] Translation: X:996.03, Y:90.03, Z:6.80 [[ 7.34572677e-01 -6.78397164e-01 -1.34264705e-02 9.96027215e+02] [ 6.78279097e-01 7.34695346e-01 -1.26576125e-02 9.00282689e+01] [ 1.84512538e-02 1.91042026e-04 9.99829743e-01 6.79774086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.339254154 meters 0.014765762243608808 Centerline is valid? [True, True] Translation: X:996.07, Y:90.07, Z:6.80 [[ 7.33941150e-01 -6.79109665e-01 -1.18512164e-02 9.96070074e+02] [ 6.79017718e-01 7.34036810e-01 -1.11758226e-02 9.00667647e+01] [ 1.62888382e-02 1.55210187e-04 9.99867316e-01 6.80080909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.399254154 meters 0.014303477670487709 Centerline is valid? [True, True] Translation: X:996.11, Y:90.11, Z:6.80 [[ 7.33848194e-01 -6.79210226e-01 -1.18447079e-02 9.96111177e+02] [ 6.79118347e-01 7.33943761e-01 -1.11725803e-02 9.01062301e+01] [ 1.62818803e-02 1.55019494e-04 9.99867429e-01 6.80155890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.459254154 meters 0.014495555776580613 Centerline is valid? [True, True] Translation: X:996.15, Y:90.15, Z:6.80 [[ 7.34070902e-01 -6.78949662e-01 -1.29331963e-02 9.96151862e+02] [ 6.78840026e-01 7.34184803e-01 -1.22022027e-02 9.01471089e+01] [ 1.77800376e-02 1.77710617e-04 9.99841907e-01 6.80019472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.519254154 meters 0.01901496524798903 Centerline is valid? [True, True] Translation: X:996.19, Y:90.19, Z:6.80 [[ 7.33552613e-01 -6.79472365e-01 -1.47603721e-02 9.96194562e+02] [ 6.79329550e-01 7.33701076e-01 -1.39317928e-02 9.01882332e+01] [ 2.02959691e-02 1.92546032e-04 9.99793997e-01 6.79930312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.579254154 meters 0.014474501314449282 Centerline is valid? [True, True] Translation: X:996.24, Y:90.23, Z:6.80 [[ 7.33559122e-01 -6.79481654e-01 -1.39891493e-02 9.96235597e+02] [ 6.79353303e-01 7.33692475e-01 -1.32076461e-02 9.02293822e+01] [ 1.92380868e-02 1.85014513e-04 9.99814914e-01 6.79989251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.639254154 meters 0.017054844090933097 Centerline is valid? [True, True] Translation: X:996.28, Y:90.27, Z:6.80 [[ 7.30548037e-01 -6.82726083e-01 -1.35890028e-02 9.96280336e+02] [ 6.82605436e-01 7.30674405e-01 -1.28348149e-02 9.02683065e+01] [ 1.86917994e-02 1.00521630e-04 9.99825288e-01 6.80066199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.699254154 meters 0.013407321702010519 Centerline is valid? [True, True] Translation: X:996.33, Y:90.31, Z:6.80 [[ 7.26440563e-01 -6.87126165e-01 -1.19055751e-02 9.96327028e+02] [ 6.87034064e-01 7.26538116e-01 -1.12499339e-02 9.03053522e+01] [ 1.63799780e-02 -7.12733351e-06 9.99865839e-01 6.80418308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.759254154 meters 0.016037735791296418 Centerline is valid? [True, True] Translation: X:996.37, Y:90.34, Z:6.80 [[ 7.22100067e-01 -6.91693357e-01 -1.14801469e-02 9.96371649e+02] [ 6.91608234e-01 7.22191311e-01 -1.08518019e-02 9.03428243e+01] [ 1.57969817e-02 -1.03677207e-04 9.99875215e-01 6.80337188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.819254154 meters 0.016256171450441663 Centerline is valid? [True, True] Translation: X:996.41, Y:90.38, Z:6.80 [[ 7.19947594e-01 -6.93933990e-01 -1.14489799e-02 9.96414736e+02] [ 6.93849573e-01 7.20038607e-01 -1.08247195e-02 9.03813792e+01] [ 1.57553484e-02 -1.50639044e-04 9.99875865e-01 6.80364321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.879254154 meters 0.015470189255680404 Centerline is valid? [True, True] Translation: X:996.46, Y:90.42, Z:6.80 [[ 7.18532036e-01 -6.95389461e-01 -1.20503144e-02 9.96456659e+02] [ 6.95296077e-01 7.18633051e-01 -1.13975170e-02 9.04225766e+01] [ 1.65854674e-02 -1.89055219e-04 9.99862434e-01 6.80490829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.939254154 meters 0.014594335953629523 Centerline is valid? [True, True] Translation: X:996.50, Y:90.46, Z:6.81 [[ 7.17111785e-01 -6.96848244e-01 -1.23778932e-02 9.96498922e+02] [ 6.96749829e-01 7.17218568e-01 -1.17133007e-02 9.04637153e+01] [ 1.70400479e-02 -2.24549007e-04 9.99854783e-01 6.80520767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.999254154 meters 0.017628970769685115 Centerline is valid? [True, True] Translation: X:996.54, Y:90.50, Z:6.81 [[ 7.15613174e-01 -6.98391737e-01 -1.21147188e-02 9.96540390e+02] [ 6.98297616e-01 7.15715668e-01 -1.14683199e-02 9.05042814e+01] [ 1.66800739e-02 -2.52798471e-04 9.99860846e-01 6.80550735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.059254154 meters 0.015223901176338313 Centerline is valid? [True, True] Translation: X:996.58, Y:90.55, Z:6.81 [[ 7.16036278e-01 -6.97988655e-01 -1.01924607e-02 9.96581267e+02] [ 6.97921944e-01 7.16108788e-01 -9.65215099e-03 9.05463416e+01] [ 1.40360026e-02 -2.02251729e-04 9.99901470e-01 6.80941952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539999 meters 0.014673757204543192 Centerline is valid? [True, True] Translation: X:996.62, Y:90.59, Z:6.81 [[ 7.17205337e-01 -6.96786856e-01 -1.02265053e-02 9.96621502e+02] [ 6.96719508e-01 7.17278221e-01 -9.68919518e-03 9.05894532e+01] [ 1.40865534e-02 -1.75863257e-04 9.99900764e-01 6.80978469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.179254154 meters 0.016664298393605295 Centerline is valid? [True, True] Translation: X:996.66, Y:90.63, Z:6.81 [[ 7.19353863e-01 -6.94547478e-01 -1.15680829e-02 9.96659978e+02] [ 6.94460917e-01 7.19446857e-01 -1.09660713e-02 9.06345904e+01] [ 1.59390781e-02 -1.45095726e-04 9.99872954e-01 6.80841164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539999 meters 0.018232380018735988 Centerline is valid? [True, True] Translation: X:996.70, Y:90.68, Z:6.81 [[ 7.24779438e-01 -6.88866784e-01 -1.25427607e-02 9.96695788e+02] [ 6.88764057e-01 7.24887960e-01 -1.18961954e-02 9.06826036e+01] [ 1.72869901e-02 -1.68849170e-05 9.99850569e-01 6.80655126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.299254154 meters 0.016441237622612445 Centerline is valid? [True, True] Translation: X:996.73, Y:90.73, Z:6.81 [[ 7.28038011e-01 -6.85424056e-01 -1.24305241e-02 9.96732538e+02] [ 6.85322577e-01 7.28144120e-01 -1.17943691e-02 9.07264700e+01] [ 1.71353573e-02 6.78301812e-05 9.99853177e-01 6.80659396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539999 meters 0.016709262077199357 Centerline is valid? [True, True] Translation: X:996.77, Y:90.77, Z:6.81 [[ 7.31133187e-01 -6.82116667e-01 -1.26930955e-02 9.96770757e+02] [ 6.82010263e-01 7.31243345e-01 -1.20487658e-02 9.07720149e+01] [ 1.75004056e-02 1.52431185e-04 9.99846845e-01 6.80810104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.419254154 meters 0.016099700709159875 Centerline is valid? [True, True] Translation: X:996.81, Y:90.81, Z:6.81 [[ 7.31952652e-01 -6.81243698e-01 -1.23425665e-02 9.96812342e+02] [ 6.81142864e-01 7.32056688e-01 -1.17219407e-02 9.08143137e+01] [ 1.70209566e-02 1.72854514e-04 9.99855118e-01 6.80995142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539999 meters 0.0159524367805272 Centerline is valid? [True, True] Translation: X:996.85, Y:90.86, Z:6.81 [[ 7.33293984e-01 -6.79794233e-01 -1.26385987e-02 9.96852269e+02] [ 6.79688180e-01 7.33402860e-01 -1.20092886e-02 9.08583214e+01] [ 1.74330296e-02 2.16032935e-04 9.99848010e-01 6.81027011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.539254154 meters 0.014920397396343885 Centerline is valid? [True, True] Translation: X:996.89, Y:90.90, Z:6.81 [[ 7.34817779e-01 -6.78120051e-01 -1.40010082e-02 9.96892605e+02] [ 6.77989459e-01 7.34951096e-01 -1.33108755e-02 9.09017951e+01] [ 1.93164279e-02 2.88532013e-04 9.99813379e-01 6.80970190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539999 meters 0.015130208608255497 Centerline is valid? [True, True] Translation: X:996.93, Y:90.94, Z:6.81 [[ 7.35021620e-01 -6.77880819e-01 -1.48597938e-02 9.96934371e+02] [ 6.77733516e-01 7.35171744e-01 -1.41346427e-02 9.09431511e+01] [ 2.05061037e-02 3.18287693e-04 9.99789677e-01 6.80946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.659254154 meters 0.016480582560574733 Centerline is valid? [True, True] Translation: X:996.98, Y:90.98, Z:6.81 [[ 7.33946334e-01 -6.79024327e-01 -1.57715375e-02 9.96976809e+02] [ 6.78858466e-01 7.34115704e-01 -1.50105383e-02 9.09827030e+01] [ 2.17706540e-02 3.10287787e-04 9.99762943e-01 6.81022023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539999 meters 0.01803623502439988 Centerline is valid? [True, True] Translation: X:997.02, Y:91.02, Z:6.81 [[ 7.33314654e-01 -6.79717743e-01 -1.52776860e-02 9.97020129e+02] [ 6.79562096e-01 7.33473726e-01 -1.45482272e-02 9.10231456e+01] [ 2.10944694e-02 2.86291938e-04 9.99777446e-01 6.81069357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.779254154 meters 0.014774913375524638 Centerline is valid? [True, True] Translation: X:997.06, Y:91.06, Z:6.81 [[ 7.32960706e-01 -6.80109153e-01 -1.48372224e-02 9.97064588e+02] [ 6.79962286e-01 7.33110814e-01 -1.41358966e-02 9.10620762e+01] [ 2.04912808e-02 2.72305042e-04 9.99789995e-01 6.81287998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.839254154 meters 0.017982998564964735 Centerline is valid? [True, True] Translation: X:997.11, Y:91.10, Z:6.81 [[ 7.33089473e-01 -6.79946972e-01 -1.58726061e-02 9.97108728e+02] [ 6.79778681e-01 7.33261225e-01 -1.51301546e-02 9.11017614e+01] [ 2.19264694e-02 3.01897842e-04 9.99759540e-01 6.81242492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.899254154 meters 0.016518961002774557 Centerline is valid? [True, True] Translation: X:997.15, Y:91.14, Z:6.81 [[ 7.34151917e-01 -6.78817491e-01 -1.50922688e-02 9.97151234e+02] [ 6.78664955e-01 7.34306958e-01 -1.43934164e-02 9.11420570e+01] [ 2.08528608e-02 3.24360329e-04 9.99782503e-01 6.81419281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.959254154 meters 0.016956321108877462 Centerline is valid? [True, True] Translation: X:997.19, Y:91.18, Z:6.82 [[ 7.36723218e-01 -6.76010576e-01 -1.57670980e-02 9.97193500e+02] [ 6.75843282e-01 7.36891796e-01 -1.50445858e-02 9.11832850e+01] [ 2.17889442e-02 4.27608409e-04 9.99762501e-01 6.81509388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.019254154 meters 0.017325502101059157 Centerline is valid? [True, True] Translation: X:997.24, Y:91.22, Z:6.82 [[ 7.38901371e-01 -6.73610871e-01 -1.65275126e-02 9.97236136e+02] [ 6.73426268e-01 7.39086000e-01 -1.57780349e-02 9.12244427e+01] [ 2.28435090e-02 5.28350434e-04 9.99738913e-01 6.81541286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.079254154 meters 0.019605437935173914 Centerline is valid? [True, True] Translation: X:997.28, Y:91.26, Z:6.82 [[ 7.39399620e-01 -6.73050777e-01 -1.70544420e-02 9.97279988e+02] [ 6.72853871e-01 7.39596058e-01 -1.62892581e-02 9.12641716e+01] [ 2.35768959e-02 5.69123912e-04 9.99721864e-01 6.81553986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.139254154 meters 0.016823773449918047 Centerline is valid? [True, True] Translation: X:997.33, Y:91.30, Z:6.82 [[ 7.39077453e-01 -6.73453112e-01 -1.50141288e-02 9.97325802e+02] [ 6.73300444e-01 7.39229775e-01 -1.43475464e-02 9.13010676e+01] [ 2.07612908e-02 4.94928409e-04 9.99784339e-01 6.81968663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.199254154 meters 0.01816128508681815 Centerline is valid? [True, True] Translation: X:997.37, Y:91.34, Z:6.82 [[ 7.39017184e-01 -6.73521741e-01 -1.49018815e-02 9.97366315e+02] [ 6.73371233e-01 7.39167248e-01 -1.42464701e-02 9.13408242e+01] [ 2.06102901e-02 4.93887948e-04 9.99787463e-01 6.81896440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.259254154 meters 0.019733126660187884 Centerline is valid? [True, True] Translation: X:997.41, Y:91.38, Z:6.82 [[ 7.38922610e-01 -6.73589888e-01 -1.64328731e-02 9.97411413e+02] [ 6.73406708e-01 7.39105109e-01 -1.57176245e-02 9.13794129e+01] [ 2.27328534e-02 5.48101156e-04 9.99741425e-01 6.81738842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.319254154 meters 0.020026438387767354 Centerline is valid? [True, True] Translation: X:997.46, Y:91.42, Z:6.82 [[ 7.39625784e-01 -6.72800425e-01 -1.71256280e-02 9.97455016e+02] [ 6.72601065e-01 7.39823780e-01 -1.63884873e-02 9.14190495e+01] [ 2.36961281e-02 6.02632151e-04 9.99719026e-01 6.81694760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.379254154 meters 0.019863129530458698 Centerline is valid? [True, True] Translation: X:997.50, Y:91.46, Z:6.82 [[ 7.39181483e-01 -6.73290065e-01 -1.70652601e-02 9.97498888e+02] [ 6.73092046e-01 7.39378211e-01 -1.63388802e-02 9.14584302e+01] [ 2.36184872e-02 5.90906898e-04 9.99720870e-01 6.81775721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.439254154 meters 0.019912937677625968 Centerline is valid? [True, True] Translation: X:997.54, Y:91.50, Z:6.82 [[ 7.37763030e-01 -6.74868675e-01 -1.60618333e-02 9.97542728e+02] [ 6.74693543e-01 7.37937673e-01 -1.53822335e-02 9.14959427e+01] [ 2.22336195e-02 5.11627990e-04 9.99752672e-01 6.81819498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.499254154 meters 0.016648402192350895 Centerline is valid? [True, True] Translation: X:997.59, Y:91.53, Z:6.82 [[ 7.36252970e-01 -6.76552752e-01 -1.44200600e-02 9.97587971e+02] [ 6.76411815e-01 7.36394052e-01 -1.38150878e-02 9.15341612e+01] [ 1.99654821e-02 4.17500451e-04 9.99800583e-01 6.81983828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.559254154 meters 0.01651174860885479 Centerline is valid? [True, True] Translation: X:997.63, Y:91.57, Z:6.82 [[ 7.35723687e-01 -6.77146342e-01 -1.35457663e-02 9.97632571e+02] [ 6.77021970e-01 7.35848277e-01 -1.29833001e-02 9.15734520e+01] [ 1.87592230e-02 3.81340064e-04 9.99823958e-01 6.82073895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539999 meters 0.015704514410142083 Centerline is valid? [True, True] Translation: X:997.68, Y:91.61, Z:6.82 [[ 7.36311781e-01 -6.76516183e-01 -1.30696336e-02 9.97676226e+02] [ 6.76400194e-01 7.36427663e-01 -1.25329510e-02 9.16125159e+01] [ 1.81035839e-02 3.87856812e-04 9.99836041e-01 6.82237872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.679254154 meters 0.020251061458527078 Centerline is valid? [True, True] Translation: X:997.72, Y:91.65, Z:6.82 [[ 7.37712431e-01 -6.74956940e-01 -1.46116218e-02 9.97716068e+02] [ 6.74811567e-01 7.37856964e-01 -1.40160289e-02 9.16543238e+01] [ 2.02415029e-02 4.79707331e-04 9.99795005e-01 6.81960866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539999 meters 0.02015880481233124 Centerline is valid? [True, True] Translation: X:997.76, Y:91.70, Z:6.82 [[ 7.38834135e-01 -6.73712392e-01 -1.53536281e-02 9.97757783e+02] [ 6.73551553e-01 7.38993450e-01 -1.47304756e-02 9.16951280e+01] [ 2.12703346e-02 5.41918180e-04 9.99773614e-01 6.81835439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.799254154 meters 0.017025501666725444 Centerline is valid? [True, True] Translation: X:997.80, Y:91.73, Z:6.82 [[ 7.39020221e-01 -6.73541267e-01 -1.38302169e-02 9.97802084e+02] [ 6.73410637e-01 7.39149454e-01 -1.32740016e-02 9.17343122e+01] [ 1.91631851e-02 4.96340435e-04 9.99816246e-01 6.82110693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539999 meters 0.01995153743745665 Centerline is valid? [True, True] Translation: X:997.84, Y:91.77, Z:6.82 [[ 7.38400422e-01 -6.74217755e-01 -1.39726516e-02 9.97844890e+02] [ 6.74084410e-01 7.38532450e-01 -1.34175003e-02 9.17748996e+01] [ 1.93655736e-02 4.88741262e-04 9.99812350e-01 6.82154429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.919254154 meters 0.01667730633326969 Centerline is valid? [True, True] Translation: X:997.89, Y:91.81, Z:6.82 [[ 7.36736362e-01 -6.76067626e-01 -1.23327783e-02 9.97888278e+02] [ 6.75963907e-01 7.36839474e-01 -1.18484140e-02 9.18143002e+01] [ 1.70976070e-02 3.92644448e-04 9.99853748e-01 6.82282532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539999 meters 0.01716125252123823 Centerline is valid? [True, True] Translation: X:997.93, Y:91.85, Z:6.82 [[ 7.33623453e-01 -6.79432275e-01 -1.29774159e-02 9.97932836e+02] [ 6.79317840e-01 7.33738149e-01 -1.24739916e-02 9.18525752e+01] [ 1.79972576e-02 3.35422627e-04 9.99837980e-01 6.82205562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.039254154 meters 0.01478892051255766 Centerline is valid? [True, True] Translation: X:997.98, Y:91.89, Z:6.82 [[ 7.29621652e-01 -6.83726480e-01 -1.30516606e-02 9.97978568e+02] [ 6.83611303e-01 7.29738340e-01 -1.25515396e-02 9.18896908e+01] [ 1.81061171e-02 2.35612354e-04 9.99836043e-01 6.82212463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539999 meters 0.014543071790961684 Centerline is valid? [True, True] Translation: X:998.02, Y:91.93, Z:6.82 [[ 7.28106084e-01 -6.85336912e-01 -1.32229808e-02 9.98021812e+02] [ 6.85218841e-01 7.28226116e-01 -1.27225577e-02 9.19293869e+01] [ 1.83485583e-02 2.02736111e-04 9.99831630e-01 6.82231057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.159254154 meters 0.013452260964285657 Centerline is valid? [True, True] Translation: X:998.07, Y:91.97, Z:6.82 [[ 7.23722396e-01 -6.89968452e-01 -1.30164421e-02 9.98066890e+02] [ 6.89854721e-01 7.23839435e-01 -1.25274228e-02 9.19661654e+01] [ 1.80653406e-02 8.69224148e-05 9.99836805e-01 6.82225565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539999 meters 0.017388339377900828 Centerline is valid? [True, True] Translation: X:998.11, Y:92.00, Z:6.82 [[ 7.19335665e-01 -6.94526084e-01 -1.37738789e-02 9.98111845e+02] [ 6.94399455e-01 7.19467524e-01 -1.32618996e-02 9.20025369e+01] [ 1.91205938e-02 -2.48166592e-05 9.99817184e-01 6.82240077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.279254154 meters 0.014355822015933987 Centerline is valid? [True, True] Translation: X:998.16, Y:92.04, Z:6.82 [[ 7.16327758e-01 -6.97645514e-01 -1.28561487e-02 9.98156027e+02] [ 6.97535579e-01 7.16443108e-01 -1.23849841e-02 9.20404383e+01] [ 1.78510278e-02 -9.59132490e-05 9.99840653e-01 6.82458662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.339254154 meters 0.014114517201083804 Centerline is valid? [True, True] Translation: X:998.20, Y:92.08, Z:6.83 [[ 7.12073348e-01 -7.01995608e-01 -1.23980826e-02 9.98201739e+02] [ 7.01893918e-01 7.12181247e-01 -1.19498558e-02 9.20783416e+01] [ 1.72184282e-02 -1.92964966e-04 9.99851733e-01 6.82569980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.399254154 meters 0.015570525319659124 Centerline is valid? [True, True] Translation: X:998.25, Y:92.12, Z:6.83 [[ 7.08361175e-01 -7.05737900e-01 -1.25882022e-02 9.98245804e+02] [ 7.05633590e-01 7.08472960e-01 -1.21367922e-02 9.21168767e+01] [ 1.74837951e-02 -2.85425970e-04 9.99847106e-01 6.82709058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.459254154 meters 0.017724058116696605 Centerline is valid? [True, True] Translation: X:998.29, Y:92.16, Z:6.83 [[ 7.06862136e-01 -7.07202428e-01 -1.45136676e-02 9.98287907e+02] [ 7.07064018e-01 7.07011025e-01 -1.39958733e-02 9.21572078e+01] [ 2.01592386e-02 -3.68939189e-04 9.99796714e-01 6.82744182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.519254154 meters 0.01756438755276352 Centerline is valid? [True, True] Translation: X:998.33, Y:92.20, Z:6.83 [[ 7.06493864e-01 -7.07556132e-01 -1.51901108e-02 9.98329806e+02] [ 7.07404476e-01 7.06657035e-01 -1.46540816e-02 9.21980020e+01] [ 2.11027840e-02 -3.92533609e-04 9.99777234e-01 6.82714116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.579254154 meters 0.01798109451619128 Centerline is valid? [True, True] Translation: X:998.37, Y:92.24, Z:6.83 [[ 7.07303666e-01 -7.06729676e-01 -1.59589978e-02 9.98370272e+02] [ 7.06561873e-01 7.07483584e-01 -1.54045052e-02 9.22397148e+01] [ 2.21775499e-02 -3.80356413e-04 9.99753976e-01 6.82750147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.639254154 meters 0.016474675175144178 Centerline is valid? [True, True] Translation: X:998.41, Y:92.28, Z:6.83 [[ 7.10817933e-01 -7.03206141e-01 -1.54593162e-02 9.98408929e+02] [ 7.03047679e-01 7.10985976e-01 -1.49299096e-02 9.22844733e+01] [ 2.14901611e-02 -2.56188898e-04 9.99769027e-01 6.82812171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.699254154 meters 0.015500071881458168 Centerline is valid? [True, True] Translation: X:998.45, Y:92.33, Z:6.83 [[ 7.15664219e-01 -6.98281866e-01 -1.50718853e-02 9.98446723e+02] [ 6.98130006e-01 7.15822901e-01 -1.45625764e-02 9.23309827e+01] [ 2.09575837e-02 -1.00220495e-04 9.99780361e-01 6.82893084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.759254154 meters 0.01409524812395579 Centerline is valid? [True, True] Translation: X:998.48, Y:92.38, Z:6.83 [[ 7.27078409e-01 -6.86408782e-01 -1.41411459e-02 9.98476964e+02] [ 6.86272749e-01 7.27215876e-01 -1.36669031e-02 9.23836518e+01] [ 1.96647481e-02 2.32227143e-04 9.99806603e-01 6.83042269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.819254154 meters 0.015122447656160928 Centerline is valid? [True, True] Translation: X:998.51, Y:92.43, Z:6.83 [[ 7.31692567e-01 -6.81486483e-01 -1.42183255e-02 9.98514816e+02] [ 6.81347920e-01 7.31830606e-01 -1.37468715e-02 9.24293622e+01] [ 1.97737129e-02 3.70857181e-04 9.99804412e-01 6.83087139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.879254154 meters 0.016663248520707934 Centerline is valid? [True, True] Translation: X:998.55, Y:92.48, Z:6.83 [[ 7.36290903e-01 -6.76524168e-01 -1.38114766e-02 9.98551655e+02] [ 6.76392422e-01 7.36420265e-01 -1.33598423e-02 9.24768295e+01] [ 1.92093075e-02 4.94752266e-04 9.99815362e-01 6.83057980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.939254154 meters 0.017984511047992213 Centerline is valid? [True, True] Translation: X:998.59, Y:92.52, Z:6.83 [[ 7.38397120e-01 -6.74243171e-01 -1.28778685e-02 9.98589395e+02] [ 6.74128227e-01 7.38509226e-01 -1.24602007e-02 9.25218734e+01] [ 1.79116299e-02 5.19241664e-04 9.99839439e-01 6.83115334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.999254154 meters 0.020512900595718964 Centerline is valid? [True, True] Translation: X:998.63, Y:92.56, Z:6.83 [[ 7.38090872e-01 -6.74587585e-01 -1.23877140e-02 9.98629020e+02] [ 6.74481237e-01 7.38194654e-01 -1.19880518e-02 9.25640557e+01] [ 1.72315352e-02 4.92990896e-04 9.99851405e-01 6.83057121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.059254154 meters 0.017209946712264494 Centerline is valid? [True, True] Translation: X:998.67, Y:92.60, Z:6.83 [[ 7.35532482e-01 -6.77385285e-01 -1.18804202e-02 9.98671619e+02] [ 6.77287763e-01 7.35628307e-01 -1.15013260e-02 9.26044584e+01] [ 1.65304024e-02 4.13135659e-04 9.99863278e-01 6.83163564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539999 meters 0.015494461018332645 Centerline is valid? [True, True] Translation: X:998.72, Y:92.64, Z:6.83 [[ 7.30538889e-01 -6.82773647e-01 -1.15360088e-02 9.98715974e+02] [ 6.82682273e-01 7.30629910e-01 -1.11735700e-02 9.26428248e+01] [ 1.60575723e-02 2.87298697e-04 9.99871028e-01 6.83125729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.179254154 meters 0.016219884620197682 Centerline is valid? [True, True] Translation: X:998.76, Y:92.68, Z:6.83 [[ 7.25433140e-01 -6.88209007e-01 -1.07294524e-02 9.98761907e+02] [ 6.88130479e-01 7.25512465e-01 -1.03974256e-02 9.26801699e+01] [ 1.49399534e-02 1.59373915e-04 9.99888380e-01 6.83190728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539999 meters 0.013466637560855916 Centerline is valid? [True, True] Translation: X:998.81, Y:92.72, Z:6.83 [[ 7.22888434e-01 -6.90885690e-01 -1.04534777e-02 9.98806396e+02] [ 6.90811356e-01 7.22964005e-01 -1.01349905e-02 9.27191872e+01] [ 1.45596080e-02 1.05086274e-04 9.99893998e-01 6.83463845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.299254154 meters 0.013348388000146597 Centerline is valid? [True, True] Translation: X:998.85, Y:92.76, Z:6.83 [[ 7.22059233e-01 -6.91747130e-01 -1.07876040e-02 9.98848163e+02] [ 6.91667976e-01 7.22139806e-01 -1.04647401e-02 9.27591402e+01] [ 1.50291122e-02 9.47219571e-05 9.99887052e-01 6.83479856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539999 meters 0.01363680180617936 Centerline is valid? [True, True] Translation: X:998.89, Y:92.80, Z:6.83 [[ 7.22800285e-01 -6.90961088e-01 -1.15118479e-02 9.98888618e+02] [ 6.90870785e-01 7.22891942e-01 -1.11713497e-02 9.28004375e+01] [ 1.60407900e-02 1.21455339e-04 9.99871331e-01 6.83328768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.419254154 meters 0.014248853560525854 Centerline is valid? [True, True] Translation: X:998.93, Y:92.84, Z:6.83 [[ 7.24295525e-01 -6.89402700e-01 -1.09502979e-02 9.98929292e+02] [ 6.89320756e-01 7.24378281e-01 -1.06301806e-02 9.28428925e+01] [ 1.52606332e-02 1.51124562e-04 9.99883538e-01 6.83402356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539999 meters 0.014185674498109454 Centerline is valid? [True, True] Translation: X:998.97, Y:92.89, Z:6.83 [[ 7.25709215e-01 -6.87914537e-01 -1.09418916e-02 9.98970539e+02] [ 6.87832469e-01 7.25791674e-01 -1.06273077e-02 9.28855765e+01] [ 1.52522133e-02 1.86146851e-04 9.99883661e-01 6.83490579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.539254154 meters 0.014880089195947622 Centerline is valid? [True, True] Translation: X:999.01, Y:92.93, Z:6.83 [[ 7.27477958e-01 -6.86039330e-01 -1.12186462e-02 9.99009879e+02] [ 6.85952780e-01 7.27564419e-01 -1.08995634e-02 9.29277801e+01] [ 1.56398170e-02 2.33730633e-04 9.99877663e-01 6.83458547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539999 meters 0.015298102227565483 Centerline is valid? [True, True] Translation: X:999.05, Y:92.97, Z:6.84 [[ 7.28322315e-01 -6.85153624e-01 -1.05412262e-02 9.99051685e+02] [ 6.85077067e-01 7.28398555e-01 -1.02448866e-02 9.29694010e+01] [ 1.46975351e-02 2.40027246e-04 9.99891957e-01 6.83581767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.659254154 meters 0.015835020886506672 Centerline is valid? [True, True] Translation: X:999.09, Y:93.01, Z:6.84 [[ 7.27650178e-01 -6.85887594e-01 -9.13387590e-03 9.99093414e+02] [ 6.85830139e-01 7.27707475e-01 -8.87979418e-03 9.30097433e+01] [ 1.27373304e-02 1.97096435e-04 9.99918857e-01 6.83781030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539999 meters 0.017588524040881966 Centerline is valid? [True, True] Translation: X:999.14, Y:93.05, Z:6.84 [[ 7.26180219e-01 -6.87448946e-01 -8.73133171e-03 9.99136448e+02] [ 6.87396526e-01 7.26232689e-01 -8.49098154e-03 9.30492773e+01] [ 1.21780948e-02 1.64095752e-04 9.99925831e-01 6.83808150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.779254154 meters 0.01437769659602547 Centerline is valid? [True, True] Translation: X:999.18, Y:93.09, Z:6.84 [[ 7.25687833e-01 -6.87970038e-01 -8.62535009e-03 9.99180550e+02] [ 6.87918868e-01 7.25739073e-01 -8.39216313e-03 9.30872729e+01] [ 1.20333104e-02 1.56549604e-04 9.99927585e-01 6.84057468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.839254154 meters 0.016258367059949704 Centerline is valid? [True, True] Translation: X:999.22, Y:93.13, Z:6.84 [[ 7.24185485e-01 -6.89533475e-01 -9.94834573e-03 9.99224472e+02] [ 6.89465473e-01 7.24253797e-01 -9.68498202e-03 9.31263863e+01] [ 1.38832465e-02 1.54682507e-04 9.99903611e-01 6.83939162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.899254154 meters 0.014841245561921502 Centerline is valid? [True, True] Translation: X:999.27, Y:93.17, Z:6.84 [[ 7.23998627e-01 -6.89722162e-01 -1.04559307e-02 9.99266404e+02] [ 6.89646981e-01 7.24074107e-01 -1.01847734e-02 9.31665918e+01] [ 1.45955326e-02 1.62860916e-04 9.99893466e-01 6.83925014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.959254154 meters 0.015277810623325979 Centerline is valid? [True, True] Translation: X:999.31, Y:93.21, Z:6.84 [[ 7.24181418e-01 -6.89517697e-01 -1.12525563e-02 9.99307440e+02] [ 6.89430528e-01 7.24268812e-01 -1.09651965e-02 9.32070600e+01] [ 1.57105726e-02 1.82935744e-04 9.99876565e-01 6.83780114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.019254154 meters 0.014407381334107825 Centerline is valid? [True, True] Translation: X:999.35, Y:93.25, Z:6.84 [[ 7.25013674e-01 -6.88648255e-01 -1.08973669e-02 9.99350777e+02] [ 6.88566343e-01 7.25095539e-01 -1.06231024e-02 9.32470220e+01] [ 1.52172130e-02 1.98334454e-04 9.99884192e-01 6.83848123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.079254154 meters 0.014539687837248818 Centerline is valid? [True, True] Translation: X:999.39, Y:93.29, Z:6.84 [[ 7.26128047e-01 -6.87483683e-01 -1.02100947e-02 9.99393770e+02] [ 6.87411594e-01 7.26199794e-01 -9.95789130e-03 9.32871313e+01] [ 1.42604564e-02 2.12166715e-04 9.99898292e-01 6.83887285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.139254154 meters 0.014810240634359295 Centerline is valid? [True, True] Translation: X:999.44, Y:93.33, Z:6.84 [[ 7.27171058e-01 -6.86383036e-01 -1.00289364e-02 9.99436364e+02] [ 6.86313310e-01 7.27240176e-01 -9.78607274e-03 9.33278448e+01] [ 1.40104398e-02 2.33156331e-04 9.99901822e-01 6.83942406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.199254154 meters 0.016990753956154 Centerline is valid? [True, True] Translation: X:999.48, Y:93.37, Z:6.84 [[ 7.29413218e-01 -6.83997677e-01 -1.01752200e-02 9.99478123e+02] [ 6.83925598e-01 7.29484130e-01 -9.93384292e-03 9.33690853e+01] [ 1.42173870e-02 2.86782910e-04 9.99898887e-01 6.83838544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.259254154 meters 0.016244436743358202 Centerline is valid? [True, True] Translation: X:999.52, Y:93.41, Z:6.84 [[ 7.31835252e-01 -6.81424118e-01 -8.85072391e-03 9.99520678e+02] [ 6.81369360e-01 7.31888710e-01 -8.64353683e-03 9.34092425e+01] [ 1.23676594e-02 2.95032864e-04 9.99923474e-01 6.83806408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.319254154 meters 0.016521030392785425 Centerline is valid? [True, True] Translation: X:999.56, Y:93.45, Z:6.84 [[ 7.32445775e-01 -6.80773176e-01 -8.43029564e-03 9.99563872e+02] [ 6.80723423e-01 7.32494230e-01 -8.23559574e-03 9.34491750e+01] [ 1.17817156e-02 2.93427602e-04 9.99930550e-01 6.83768727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.379254154 meters 0.018595123258177793 Centerline is valid? [True, True] Translation: X:999.61, Y:93.49, Z:6.84 [[ 7.32502379e-01 -6.80706338e-01 -8.89644166e-03 9.99607049e+02] [ 6.80650880e-01 7.32556335e-01 -8.69461459e-03 9.34874684e+01] [ 1.24356239e-02 3.13455033e-04 9.99922626e-01 6.83708955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.439254154 meters 0.01719534027454434 Centerline is valid? [True, True] Translation: X:999.65, Y:93.53, Z:6.84 [[ 7.32803585e-01 -6.80398573e-01 -7.52912562e-03 9.99651902e+02] [ 6.80358810e-01 7.32842213e-01 -7.36075925e-03 9.35264781e+01] [ 1.05259112e-02 2.71483821e-04 9.99944564e-01 6.83731297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.499254154 meters 0.016836612540624445 Centerline is valid? [True, True] Translation: X:999.70, Y:93.57, Z:6.84 [[ 7.31990548e-01 -6.81279916e-01 -6.89294891e-03 9.99696874e+02] [ 6.81246597e-01 7.32022963e-01 -6.74205054e-03 9.35650986e+01] [ 9.63902051e-03 2.39319280e-04 9.99953515e-01 6.83681751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.559254154 meters 0.019074058783748616 Centerline is valid? [True, True] Translation: X:999.74, Y:93.60, Z:6.83 [[ 7.28982365e-01 -6.84481939e-01 -8.31785430e-03 9.99741084e+02] [ 6.84433574e-01 7.29029777e-01 -8.14039961e-03 9.36036413e+01] [ 1.16359200e-02 2.41189008e-04 9.99932271e-01 6.83449970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539999 meters 0.015784205987366615 Centerline is valid? [True, True] Translation: X:999.78, Y:93.64, Z:6.84 [[ 7.27341009e-01 -6.86242735e-01 -6.77978701e-03 9.99784997e+02] [ 6.86210652e-01 7.27372585e-01 -6.63803360e-03 9.36431262e+01] [ 9.48673353e-03 1.75751991e-04 9.99954984e-01 6.83520765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.679254154 meters 0.016058315931260846 Centerline is valid? [True, True] Translation: X:999.82, Y:93.68, Z:6.83 [[ 7.27180073e-01 -6.86412503e-01 -6.85684732e-03 9.99824134e+02] [ 6.86379666e-01 7.27212379e-01 -6.71646005e-03 9.36847653e+01] [ 9.59664641e-03 1.77675340e-04 9.99953935e-01 6.83408384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539999 meters 0.015919383663470347 Centerline is valid? [True, True] Translation: X:999.86, Y:93.73, Z:6.83 [[ 7.27061640e-01 -6.86533745e-01 -7.26564644e-03 9.99864112e+02] [ 6.86496851e-01 7.27097918e-01 -7.11979288e-03 9.37267660e+01] [ 1.01708145e-02 1.88684876e-04 9.99948258e-01 6.83260515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.799254154 meters 0.018251056949146197 Centerline is valid? [True, True] Translation: X:999.91, Y:93.77, Z:6.83 [[ 7.26337238e-01 -6.87281927e-01 -8.81868848e-03 9.99905588e+02] [ 6.87227563e-01 7.26390738e-01 -8.64710106e-03 9.37671115e+01] [ 1.23488099e-02 2.20265711e-04 9.99923726e-01 6.83201115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539999 meters 0.015489071796140416 Centerline is valid? [True, True] Translation: X:999.95, Y:93.81, Z:6.83 [[ 7.23095567e-01 -6.90710984e-01 -7.15110292e-03 9.99949204e+02] [ 6.90675370e-01 7.23130914e-01 -7.01526221e-03 9.38069738e+01] [ 1.00167023e-02 1.33614344e-04 9.99949823e-01 6.83278059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.919254154 meters 0.016428697917569235 Centerline is valid? [True, True] Translation: X:999.99, Y:93.85, Z:6.83 [[ 7.18267227e-01 -6.95730938e-01 -7.11706282e-03 9.99993923e+02] [ 6.95695873e-01 7.18302483e-01 -6.98532311e-03 9.38452850e+01] [ 9.97210930e-03 6.60174197e-05 9.99950275e-01 6.83281622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539999 meters 0.013819947499993747 Centerline is valid? [True, True] Translation: X:1000.04, Y:93.88, Z:6.83 [[ 7.13338628e-01 -7.00796662e-01 -5.66042991e-03 1.00003893e+03] [ 7.00774622e-01 7.13361086e-01 -5.55792652e-03 9.38829170e+01] [ 7.93290678e-03 -2.00195320e-06 9.99968534e-01 6.83355966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.039254154 meters 0.016964455763735488 Centerline is valid? [True, True] Translation: X:1000.08, Y:93.92, Z:6.83 [[ 7.10570552e-01 -7.03600563e-01 -5.97807781e-03 1.00008234e+03] [ 7.03576055e-01 7.10595698e-01 -5.87266251e-03 9.39218728e+01] [ 8.38000503e-03 -3.30913665e-05 9.99964887e-01 6.83404686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539999 meters 0.01388233590287576 Centerline is valid? [True, True] Translation: X:1000.13, Y:93.96, Z:6.83 [[ 7.08093989e-01 -7.06104715e-01 -4.36282529e-03 1.00012557e+03] [ 7.06091704e-01 7.08107428e-01 -4.28670643e-03 9.39623764e+01] [ 6.11621262e-03 -4.51636954e-05 9.99981295e-01 6.83431723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.159254154 meters 0.013820082583843488 Centerline is valid? [True, True] Translation: X:1000.17, Y:94.00, Z:6.83 [[ 7.07832303e-01 -7.06365318e-01 -4.63340703e-03 1.00016665e+03] [ 7.06350634e-01 7.07847466e-01 -4.55490059e-03 9.40028738e+01] [ 6.49716923e-03 -4.87042189e-05 9.99978892e-01 6.83437108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539999 meters 0.016606632333828128 Centerline is valid? [True, True] Translation: X:1000.21, Y:94.05, Z:6.83 [[ 7.08649646e-01 -7.05538796e-01 -5.53954375e-03 1.00020696e+03] [ 7.05517754e-01 7.08671296e-01 -5.44923454e-03 9.40453276e+01] [ 7.77036202e-03 -4.66483311e-05 9.99969809e-01 6.83420224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.279254154 meters 0.01528560534322447 Centerline is valid? [True, True] Translation: X:1000.24, Y:94.09, Z:6.83 [[ 7.14621783e-01 -6.99493070e-01 -5.01516874e-03 1.00024232e+03] [ 6.99475656e-01 7.14639381e-01 -4.93585725e-03 9.40922223e+01] [ 7.03663503e-03 1.92826664e-05 9.99975242e-01 6.83405028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.339254154 meters 0.013821272160634957 Centerline is valid? [True, True] Translation: X:1000.28, Y:94.14, Z:6.83 [[ 7.18368885e-01 -6.95644029e-01 -5.05275438e-03 1.00028069e+03] [ 6.95626250e-01 7.18386652e-01 -4.97379947e-03 9.41377889e+01] [ 7.08982520e-03 5.81941936e-05 9.99974865e-01 6.83461694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.399254154 meters 0.014769095931404616 Centerline is valid? [True, True] Translation: X:1000.32, Y:94.18, Z:6.84 [[ 7.22742084e-01 -6.91097686e-01 -5.27908848e-03 1.00031829e+03] [ 6.91078138e-01 7.22761355e-01 -5.19908474e-03 9.41828536e+01] [ 7.40859658e-03 1.09334706e-04 9.99972550e-01 6.83515688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.459254154 meters 0.017336655270452164 Centerline is valid? [True, True] Translation: X:1000.36, Y:94.23, Z:6.84 [[ 7.25250131e-01 -6.88463599e-01 -5.48820672e-03 1.00035559e+03] [ 6.88442388e-01 7.25270882e-01 -5.40610543e-03 9.42279966e+01] [ 7.70234333e-03 1.42464529e-04 9.99970326e-01 6.83529754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.519254154 meters 0.01671207581392383 Centerline is valid? [True, True] Translation: X:1000.40, Y:94.27, Z:6.83 [[ 7.26618714e-01 -6.87005430e-01 -6.98457810e-03 1.00039608e+03] [ 6.86970988e-01 7.26652254e-01 -6.88205760e-03 9.42700201e+01] [ 9.80337036e-03 2.02429319e-04 9.99951925e-01 6.83412590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.579254154 meters 0.016621703935932132 Centerline is valid? [True, True] Translation: X:1000.44, Y:94.31, Z:6.83 [[ 7.26294897e-01 -6.87334088e-01 -8.22027603e-03 1.00043665e+03] [ 6.87286369e-01 7.26341377e-01 -8.10256740e-03 9.43111542e+01] [ 1.15398974e-02 2.35169700e-04 9.99933386e-01 6.83303096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.639254154 meters 0.01538941812455743 Centerline is valid? [True, True] Translation: X:1000.48, Y:94.35, Z:6.83 [[ 7.24039493e-01 -6.89697023e-01 -9.21024024e-03 1.00047973e+03] [ 6.89637242e-01 7.24098036e-01 -9.08341124e-03 9.43519541e+01] [ 1.29339186e-02 2.25023794e-04 9.99916328e-01 6.83177211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.699254154 meters 0.01384935128684316 Centerline is valid? [True, True] Translation: X:1000.53, Y:94.39, Z:6.83 [[ 7.19289976e-01 -6.94639012e-01 -9.92846675e-03 1.00052648e+03] [ 6.94569944e-01 7.19358479e-01 -9.79652977e-03 9.43893136e+01] [ 1.39471785e-02 1.50531063e-04 9.99902722e-01 6.83184126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.759254154 meters 0.013346752937672438 Centerline is valid? [True, True] Translation: X:1000.57, Y:94.43, Z:6.83 [[ 7.13498103e-01 -7.00587970e-01 -9.84651897e-03 1.00057343e+03] [ 7.00520533e-01 7.13566041e-01 -9.72046860e-03 9.44259867e+01] [ 1.38361849e-02 3.78471787e-05 9.99904275e-01 6.83317981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.819254154 meters 0.015676269138669457 Centerline is valid? [True, True] Translation: X:1000.62, Y:94.46, Z:6.83 [[ 7.09232185e-01 -7.04905221e-01 -9.91648502e-03 1.00061862e+03] [ 7.04837168e-01 7.09301507e-01 -9.79487345e-03 9.44634720e+01] [ 1.39382352e-02 -4.26677246e-05 9.99902857e-01 6.83418058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.879254154 meters 0.015635209119549628 Centerline is valid? [True, True] Translation: X:1000.66, Y:94.50, Z:6.84 [[ 7.05680896e-01 -7.08460483e-01 -9.91048694e-03 1.00066316e+03] [ 7.08392787e-01 7.05750475e-01 -9.79420546e-03 9.45025884e+01] [ 1.39331384e-02 -1.08933790e-04 9.99902923e-01 6.83511331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.939254154 meters 0.01704040575396272 Centerline is valid? [True, True] Translation: X:1000.71, Y:94.54, Z:6.84 [[ 7.02393565e-01 -7.11719321e-01 -9.94423797e-03 1.00070739e+03] [ 7.11651419e-01 7.02463935e-01 -9.83252502e-03 9.45421591e+01] [ 1.39834666e-02 -1.70528759e-04 9.99902212e-01 6.83533005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.999254154 meters 0.016458328413550268 Centerline is valid? [True, True] Translation: X:1000.75, Y:94.58, Z:6.84 [[ 7.01401203e-01 -7.12698962e-01 -9.82559079e-03 1.00075072e+03] [ 7.12632700e-01 7.01469996e-01 -9.72009580e-03 9.45826424e+01] [ 1.38198593e-02 -1.84350407e-04 9.99904484e-01 6.83650046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.059254154 meters 0.015166399462365733 Centerline is valid? [True, True] Translation: X:1000.79, Y:94.62, Z:6.84 [[ 7.01829154e-01 -7.12265270e-01 -1.06781893e-02 1.00079181e+03] [ 7.12186884e-01 7.01910358e-01 -1.05684072e-02 9.46227529e+01] [ 1.50226411e-02 -1.87650099e-04 9.99887136e-01 6.83660534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539999 meters 0.013914822042724442 Centerline is valid? [True, True] Translation: X:1000.83, Y:94.67, Z:6.84 [[ 7.04000953e-01 -7.10105052e-01 -1.15530934e-02 1.00083178e+03] [ 7.10012917e-01 7.04095727e-01 -1.14396193e-02 9.46659206e+01] [ 1.62578152e-02 -1.49342632e-04 9.99867822e-01 6.83653100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.179254154 meters 0.014696689502458728 Centerline is valid? [True, True] Translation: X:1000.87, Y:94.71, Z:6.84 [[ 7.06756535e-01 -7.07347899e-01 -1.24157139e-02 1.00087096e+03] [ 7.07240955e-01 7.06865576e-01 -1.22999726e-02 9.47099631e+01] [ 1.74766005e-02 -8.78153445e-05 9.99847269e-01 6.83544555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539999 meters 0.015720961783877312 Centerline is valid? [True, True] Translation: X:1000.91, Y:94.75, Z:6.84 [[ 7.09651636e-01 -7.04449036e-01 -1.20876764e-02 1.00090974e+03] [ 7.04347148e-01 7.09754574e-01 -1.19807991e-02 9.47544324e+01] [ 1.70191460e-02 -1.17267368e-05 9.99855164e-01 6.83599000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.299254154 meters 0.01606424035419803 Centerline is valid? [True, True] Translation: X:1000.95, Y:94.80, Z:6.84 [[ 7.11924474e-01 -7.02156917e-01 -1.17985906e-02 1.00094886e+03] [ 7.02059425e-01 7.12022234e-01 -1.17004959e-02 9.47973887e+01] [ 1.66164430e-02 4.65576251e-05 9.99861936e-01 6.83693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539999 meters 0.013993941897559092 Centerline is valid? [True, True] Translation: X:1000.99, Y:94.84, Z:6.84 [[ 7.16618635e-01 -6.97372987e-01 -1.13423334e-02 1.00098555e+03] [ 6.97282219e-01 7.16708373e-01 -1.12523197e-02 9.48431576e+01] [ 1.59762092e-02 1.54814548e-04 9.99872360e-01 6.83778591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.419254154 meters 0.016726328553818365 Centerline is valid? [True, True] Translation: X:1001.02, Y:94.89, Z:6.84 [[ 7.20970664e-01 -6.92871771e-01 -1.14022738e-02 1.00102132e+03] [ 6.92779431e-01 7.21060776e-01 -1.13144705e-02 9.48891068e+01] [ 1.60612096e-02 2.58140595e-04 9.99870977e-01 6.83733646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539999 meters 0.018670668171435045 Centerline is valid? [True, True] Translation: X:1001.06, Y:94.93, Z:6.84 [[ 7.24763234e-01 -6.88903321e-01 -1.14223208e-02 1.00105761e+03] [ 6.88810110e-01 7.24853153e-01 -1.13374991e-02 9.49342247e+01] [ 1.60899460e-02 3.49192415e-04 9.99870487e-01 6.83767378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.539254154 meters 0.01817160633168722 Centerline is valid? [True, True] Translation: X:1001.10, Y:94.98, Z:6.84 [[ 7.25839559e-01 -6.87757770e-01 -1.20907050e-02 1.00109987e+03] [ 6.87653086e-01 7.25940142e-01 -1.20059402e-02 9.49757804e+01] [ 1.70343068e-02 4.00175687e-04 9.99854826e-01 6.83858330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539999 meters 0.016656801448812167 Centerline is valid? [True, True] Translation: X:1001.14, Y:95.02, Z:6.84 [[ 7.26029590e-01 -6.87535315e-01 -1.32750131e-02 1.00114293e+03] [ 6.87408954e-01 7.26150803e-01 -1.31886698e-02 9.50155798e+01] [ 1.87073376e-02 4.50001629e-04 9.99824901e-01 6.83873630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.659254154 meters 0.01682074008693299 Centerline is valid? [True, True] Translation: X:1001.18, Y:95.06, Z:6.84 [[ 7.24639823e-01 -6.88980571e-01 -1.42443202e-02 1.00118442e+03] [ 6.88835275e-01 7.24779673e-01 -1.41559087e-02 9.50557989e+01] [ 2.00771398e-02 4.45944938e-04 9.99798334e-01 6.83735591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539999 meters 0.016086848841896383 Centerline is valid? [True, True] Translation: X:1001.23, Y:95.09, Z:6.84 [[ 7.21608253e-01 -6.92148197e-01 -1.45740198e-02 1.00122814e+03] [ 6.91996687e-01 7.21755317e-01 -1.44860948e-02 9.50937385e+01] [ 2.05454007e-02 3.68112099e-04 9.99788853e-01 6.83761110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.779254154 meters 0.01602849788012788 Centerline is valid? [True, True] Translation: X:1001.27, Y:95.13, Z:6.84 [[ 7.17235761e-01 -6.96689148e-01 -1.40390539e-02 1.00127460e+03] [ 6.96549318e-01 7.17373109e-01 -1.39595881e-02 9.51307935e+01] [ 1.97967332e-02 2.33422338e-04 9.99803998e-01 6.83896939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.839254154 meters 0.013639389298028928 Centerline is valid? [True, True] Translation: X:1001.32, Y:95.17, Z:6.84 [[ 7.15276012e-01 -6.98718332e-01 -1.31498733e-02 1.00131948e+03] [ 6.98595880e-01 7.15396858e-01 -1.30817821e-02 9.51688635e+01] [ 1.85478590e-02 1.70637664e-04 9.99827959e-01 6.84191577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.899254154 meters 0.013369516892525378 Centerline is valid? [True, True] Translation: X:1001.36, Y:95.21, Z:6.84 [[ 7.13018817e-01 -7.01019325e-01 -1.32692455e-02 1.00136314e+03] [ 7.00894964e-01 7.13142267e-01 -1.32044359e-02 9.52072138e+01] [ 1.87194246e-02 1.14663936e-04 9.99824770e-01 6.84193808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.959254154 meters 0.015262098879169865 Centerline is valid? [True, True] Translation: X:1001.41, Y:95.25, Z:6.84 [[ 7.11650190e-01 -7.02387926e-01 -1.43251376e-02 1.00140675e+03] [ 7.02243146e-01 7.11794348e-01 -1.42607954e-02 9.52474076e+01] [ 2.02131624e-02 8.89680754e-05 9.99795689e-01 6.84104154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.019254154 meters 0.013273255218690943 Centerline is valid? [True, True] Translation: X:1001.45, Y:95.29, Z:6.84 [[ 7.11670462e-01 -7.02376124e-01 -1.38901099e-02 1.00144828e+03] [ 7.02239906e-01 7.11805994e-01 -1.38326190e-02 9.52866471e+01] [ 1.96027648e-02 9.00768146e-05 9.99807843e-01 6.84228290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.079254154 meters 0.015386330055338147 Centerline is valid? [True, True] Translation: X:1001.49, Y:95.33, Z:6.84 [[ 7.11594623e-01 -7.02451275e-01 -1.39749195e-02 1.00148988e+03] [ 7.02313277e-01 7.11731829e-01 -1.39235210e-02 9.53273993e+01] [ 1.97269901e-02 9.31311649e-05 9.99805400e-01 6.84225110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.139254154 meters 0.013408842041595002 Centerline is valid? [True, True] Translation: X:1001.53, Y:95.37, Z:6.84 [[ 7.13104244e-01 -7.00945073e-01 -1.25834102e-02 1.00153044e+03] [ 7.00832838e-01 7.13215247e-01 -1.25437244e-02 9.53693566e+01] [ 1.77671418e-02 1.26116061e-04 9.99842144e-01 6.84385925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.199254154 meters 0.014315545080723283 Centerline is valid? [True, True] Translation: X:1001.57, Y:95.41, Z:6.84 [[ 7.14503575e-01 -6.99507610e-01 -1.31812340e-02 1.00157073e+03] [ 6.99384087e-01 7.14625128e-01 -1.31463015e-02 9.54122474e+01] [ 1.86155790e-02 1.74334109e-04 9.99826700e-01 6.84289964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.259254154 meters 0.014236967617963189 Centerline is valid? [True, True] Translation: X:1001.61, Y:95.45, Z:6.84 [[ 7.15423273e-01 -6.98573926e-01 -1.28066257e-02 1.00161193e+03] [ 6.98457069e-01 7.15537861e-01 -1.27785972e-02 9.54542473e+01] [ 1.80904204e-02 1.97227586e-04 9.99836336e-01 6.84321835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.319254154 meters 0.014452340407402647 Centerline is valid? [True, True] Translation: X:1001.65, Y:95.50, Z:6.85 [[ 7.16998072e-01 -6.96979199e-01 -1.15655268e-02 1.00165320e+03] [ 6.96883601e-01 7.17091311e-01 -1.15454893e-02 9.54965624e+01] [ 1.63405047e-02 2.18267634e-04 9.99866461e-01 6.84506687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.379254154 meters 0.014168348412625502 Centerline is valid? [True, True] Translation: X:1001.69, Y:95.54, Z:6.85 [[ 7.18026797e-01 -6.95930340e-01 -1.08849017e-02 1.00169419e+03] [ 6.95845462e-01 7.18109259e-01 -1.08713299e-02 9.55384744e+01] [ 1.53822370e-02 2.31696764e-04 9.99881660e-01 6.84693806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.439254154 meters 0.014632521515719199 Centerline is valid? [True, True] Translation: X:1001.73, Y:95.58, Z:6.85 [[ 7.17859298e-01 -6.96107003e-01 -1.06333874e-02 1.00173283e+03] [ 6.96025958e-01 7.17938012e-01 -1.06243465e-02 9.55804227e+01] [ 1.50297950e-02 2.25672300e-04 9.99887021e-01 6.84561351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.499254154 meters 0.015311291924608205 Centerline is valid? [True, True] Translation: X:1001.78, Y:95.62, Z:6.85 [[ 7.16745969e-01 -6.97240233e-01 -1.14574179e-02 1.00177530e+03] [ 6.97146195e-01 7.16837505e-01 -1.14531784e-02 9.56207671e+01] [ 1.61987236e-02 2.21524190e-04 9.99868768e-01 6.84572622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.559254154 meters 0.016255142754884815 Centerline is valid? [True, True] Translation: X:1001.82, Y:95.66, Z:6.85 [[ 7.14866197e-01 -6.99161774e-01 -1.17955138e-02 1.00181776e+03] [ 6.99062258e-01 7.14963480e-01 -1.17975245e-02 9.56620529e+01] [ 1.66817398e-02 1.87853003e-04 9.99860832e-01 6.84555802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539999 meters 0.014103892841741404 Centerline is valid? [True, True] Translation: X:1001.86, Y:95.70, Z:6.85 [[ 7.13586239e-01 -7.00475669e-01 -1.13364851e-02 1.00185887e+03] [ 7.00383824e-01 7.13676266e-01 -1.13440019e-02 9.57036360e+01] [ 1.60367777e-02 1.55032886e-04 9.99871391e-01 6.84565944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.679254154 meters 0.013756064197254982 Centerline is valid? [True, True] Translation: X:1001.90, Y:95.75, Z:6.84 [[ 7.12464269e-01 -7.01600062e-01 -1.23296049e-02 1.00189999e+03] [ 7.01491466e-01 7.12570931e-01 -1.23446834e-02 9.57450154e+01] [ 1.74467486e-02 1.46033200e-04 9.99847783e-01 6.84458526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539999 meters 0.015836193630567253 Centerline is valid? [True, True] Translation: X:1001.94, Y:95.79, Z:6.84 [[ 7.11806612e-01 -7.02232717e-01 -1.41618467e-02 1.00194127e+03] [ 7.02089474e-01 7.11947461e-01 -1.41839224e-02 9.57863501e+01] [ 2.00429052e-02 1.53326266e-04 9.99799109e-01 6.84299948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.799254154 meters 0.015118228263133122 Centerline is valid? [True, True] Translation: X:1001.98, Y:95.83, Z:6.84 [[ 7.11373320e-01 -7.02672924e-01 -1.40982773e-02 1.00198201e+03] [ 7.02530928e-01 7.11512994e-01 -1.41263706e-02 9.58274981e+01] [ 1.99573256e-02 1.44647336e-04 9.99800822e-01 6.84379237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539999 meters 0.016887823389681093 Centerline is valid? [True, True] Translation: X:1002.02, Y:95.87, Z:6.84 [[ 7.10354935e-01 -7.03689465e-01 -1.47309951e-02 1.00202294e+03] [ 7.03534475e-01 7.10507650e-01 -1.47689493e-02 9.58686037e+01] [ 2.08592387e-02 1.27433131e-04 9.99782414e-01 6.84498544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.919254154 meters 0.013690521179653208 Centerline is valid? [True, True] Translation: X:1002.06, Y:95.91, Z:6.85 [[ 7.09548299e-01 -7.04534662e-01 -1.31195004e-02 1.00206472e+03] [ 7.04411750e-01 7.09669572e-01 -1.31600152e-02 9.59098230e+01] [ 1.85821971e-02 9.61361918e-05 9.99827331e-01 6.84711481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539999 meters 0.01597852042748191 Centerline is valid? [True, True] Translation: X:1002.11, Y:95.95, Z:6.85 [[ 7.07295551e-01 -7.06785165e-01 -1.37015931e-02 1.00210686e+03] [ 7.06651420e-01 7.07428250e-01 -1.37492583e-02 9.59478762e+01] [ 1.94106658e-02 4.25390578e-05 9.99811594e-01 6.84765268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.039254154 meters 0.013620529417464382 Centerline is valid? [True, True] Translation: X:1002.15, Y:95.99, Z:6.85 [[ 7.06176151e-01 -7.07914949e-01 -1.31022428e-02 1.00214947e+03] [ 7.07792739e-01 7.06297688e-01 -1.31534776e-02 9.59890981e+01] [ 1.85656272e-02 1.49998477e-05 9.99827644e-01 6.84938754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters 0.013617653405625133 Centerline is valid? [True, True] Translation: X:1002.19, Y:96.03, Z:6.85 [[ 7.06667890e-01 -7.07430106e-01 -1.27725642e-02 1.00218879e+03] [ 7.07313764e-01 7.06783308e-01 -1.28294886e-02 9.60321807e+01] [ 1.81034016e-02 3.19772329e-05 9.99836119e-01 6.84943804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters 0.01410644269374755 Centerline is valid? [True, True] Translation: X:1002.23, Y:96.07, Z:6.85 [[ 7.07922342e-01 -7.06164176e-01 -1.33459405e-02 1.00222747e+03] [ 7.06036816e-01 7.08048128e-01 -1.34112985e-02 9.60746636e+01] [ 1.89201467e-02 7.14324950e-05 9.99820995e-01 6.84929548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.219254154 meters 0.016188056773775432 Centerline is valid? [True, True] Translation: X:1002.27, Y:96.12, Z:6.85 [[ 7.09823563e-01 -7.04214416e-01 -1.52500961e-02 1.00226693e+03] [ 7.04047508e-01 7.09987349e-01 -1.53320305e-02 9.61181550e+01] [ 2.16244122e-02 1.46244311e-04 9.99766154e-01 6.85062861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.279254154 meters 0.013937425944959652 Centerline is valid? [True, True] Translation: X:1002.31, Y:96.16, Z:6.85 [[ 7.10076779e-01 -7.03973231e-01 -1.45828209e-02 1.00230635e+03] [ 7.03820395e-01 7.10226490e-01 -1.46691455e-02 9.61602199e+01] [ 2.06837914e-02 1.52532863e-04 9.99786056e-01 6.85054952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters 0.013873391883561932 Centerline is valid? [True, True] Translation: X:1002.35, Y:96.20, Z:6.85 [[ 7.09457734e-01 -7.04601826e-01 -1.43523282e-02 1.00234578e+03] [ 7.04453804e-01 7.09602880e-01 -1.44426337e-02 9.62012069e+01] [ 2.03607595e-02 1.35886017e-04 9.99792689e-01 6.85055225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters 0.015221493617703896 Centerline is valid? [True, True] Translation: X:1002.39, Y:96.24, Z:6.85 [[ 7.07026975e-01 -7.07051654e-01 -1.38136100e-02 1.00238897e+03] [ 7.06914889e-01 7.07161901e-01 -1.39063257e-02 9.62408622e+01] [ 1.96009493e-02 6.71008348e-05 9.99807881e-01 6.85233979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.459254154 meters 0.016073895805613875 Centerline is valid? [True, True] Translation: X:1002.43, Y:96.28, Z:6.85 [[ 7.05067746e-01 -7.09025762e-01 -1.27256743e-02 1.00243162e+03] [ 7.08909902e-01 7.05182579e-01 -1.28172729e-02 9.62810825e+01] [ 1.80617005e-02 1.56891843e-05 9.99836874e-01 6.85391106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.519254154 meters 0.01635575814419383 Centerline is valid? [True, True] Translation: X:1002.47, Y:96.32, Z:6.85 [[ 7.02021823e-01 -7.12054228e-01 -1.20056850e-02 1.00247391e+03] [ 7.11951441e-01 7.02124471e-01 -1.20984911e-02 9.63210834e+01] [ 1.70442670e-02 -5.40599586e-05 9.99854734e-01 6.85384334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters 0.013640965008697988 Centerline is valid? [True, True] Translation: X:1002.51, Y:96.36, Z:6.85 [[ 7.00357898e-01 -7.13701882e-01 -1.13330528e-02 1.00251438e+03] [ 7.13610431e-01 7.00449581e-01 -1.14252672e-02 9.63607640e+01] [ 1.60924668e-02 -8.56085574e-05 9.99870504e-01 6.85405710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters 0.013685141220202196 Centerline is valid? [True, True] Translation: X:1002.56, Y:96.40, Z:6.85 [[ 6.99520240e-01 -7.14519706e-01 -1.15336193e-02 1.00255541e+03] [ 7.14425015e-01 6.99615308e-01 -1.16326307e-02 9.64030685e+01] [ 1.63808405e-02 -1.02645496e-04 9.99865820e-01 6.85445437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.699254154 meters 0.013526638629275852 Centerline is valid? [True, True] Translation: X:1002.60, Y:96.44, Z:6.85 [[ 6.99723313e-01 -7.14321281e-01 -1.15062253e-02 1.00259586e+03] [ 7.14226907e-01 6.99817904e-01 -1.16114611e-02 9.64448566e+01] [ 1.63465763e-02 -9.32456553e-05 9.99866381e-01 6.85488558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.759254154 meters 0.01340122349470242 Centerline is valid? [True, True] Translation: X:1002.63, Y:96.49, Z:6.85 [[ 7.01068183e-01 -7.12993019e-01 -1.20149140e-02 1.00263468e+03] [ 7.12889800e-01 7.01171129e-01 -1.21318086e-02 9.64887094e+01] [ 1.70744056e-02 -6.00846270e-05 9.99854220e-01 6.85441572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters 0.013199743891438777 Centerline is valid? [True, True] Translation: X:1002.67, Y:96.53, Z:6.85 [[ 7.03313445e-01 -7.10782424e-01 -1.17704449e-02 1.00267274e+03] [ 7.10682943e-01 7.03411932e-01 -1.18915720e-02 9.65330122e+01] [ 1.67317918e-02 -1.55193403e-06 9.99860014e-01 6.85460725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters 0.013338210343043548 Centerline is valid? [True, True] Translation: X:1002.71, Y:96.58, Z:6.85 [[ 7.05564305e-01 -7.08555818e-01 -1.12988482e-02 1.00271083e+03] [ 7.08463761e-01 7.05654767e-01 -1.14214199e-02 9.65776324e+01] [ 1.60657996e-02 5.37216663e-05 9.99870935e-01 6.85485095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.939254154 meters 0.014809389945848071 Centerline is valid? [True, True] Translation: X:1002.75, Y:96.62, Z:6.85 [[ 7.07730437e-01 -7.06400484e-01 -1.07696166e-02 1.00274819e+03] [ 7.06316536e-01 7.07812367e-01 -1.08905419e-02 9.66217184e+01] [ 1.53159518e-02 1.00809713e-04 9.99882699e-01 6.85447069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.999254154 meters 0.016011233134164526 Centerline is valid? [True, True] Translation: X:1002.79, Y:96.67, Z:6.86 [[ 7.09506823e-01 -7.04625430e-01 -1.01524205e-02 1.00278825e+03] [ 7.04550591e-01 7.09579443e-01 -1.02703324e-02 9.66654588e+01] [ 1.44406862e-02 1.33977052e-04 9.99895719e-01 6.85592172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.059254154 meters 0.014682840182609496 Centerline is valid? [True, True] Translation: X:1002.83, Y:96.71, Z:6.86 [[ 7.12899701e-01 -7.01208542e-01 -8.97758536e-03 1.00282653e+03] [ 7.01149695e-01 7.12956203e-01 -9.08616348e-03 9.67107087e+01] [ 1.27719206e-02 1.82891987e-04 9.99918419e-01 6.85675135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters 0.015422836678625054 Centerline is valid? [True, True] Translation: X:1002.87, Y:96.76, Z:6.86 [[ 7.15757755e-01 -6.98294249e-01 -8.71652849e-03 1.00286520e+03] [ 6.98238503e-01 7.15810791e-01 -8.82636249e-03 9.67554412e+01] [ 1.24027833e-02 2.31321602e-04 9.99923056e-01 6.85726571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters 0.018873114213703523 Centerline is valid? [True, True] Translation: X:1002.90, Y:96.80, Z:6.86 [[ 7.17830427e-01 -6.96155623e-01 -9.31810078e-03 1.00290335e+03] [ 6.96091669e-01 7.17890845e-01 -9.44049544e-03 9.68010125e+01] [ 1.32614332e-02 2.90422549e-04 9.99912021e-01 6.85600446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.239254154 meters 0.018787466611432813 Centerline is valid? [True, True] Translation: X:1002.94, Y:96.84, Z:6.86 [[ 7.19242525e-01 -6.94683824e-01 -1.02262107e-02 1.00294388e+03] [ 6.94606594e-01 7.19315134e-01 -1.03642210e-02 9.68431361e+01] [ 1.45557248e-02 3.51195070e-04 9.99893998e-01 6.85536230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.299254154 meters 0.016647100817102103 Centerline is valid? [True, True] Translation: X:1002.99, Y:96.89, Z:6.86 [[ 7.19189486e-01 -6.94730306e-01 -1.07835437e-02 1.00298509e+03] [ 6.94644371e-01 7.19270230e-01 -1.09331799e-02 9.68856702e+01] [ 1.53518934e-02 3.72300092e-04 9.99882083e-01 6.85515151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters 0.017149958560991874 Centerline is valid? [True, True] Translation: X:1003.02, Y:96.93, Z:6.85 [[ 7.18468254e-01 -6.95474614e-01 -1.08825581e-02 1.00302494e+03] [ 6.95387122e-01 7.18550576e-01 -1.10371870e-02 9.69280139e+01] [ 1.54957518e-02 3.62277662e-04 9.99879868e-01 6.85439324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters 0.018370037944682775 Centerline is valid? [True, True] Translation: X:1003.07, Y:96.97, Z:6.85 [[ 7.16794958e-01 -6.97192643e-01 -1.12874743e-02 1.00306707e+03] [ 6.97098664e-01 7.16883744e-01 -1.14520667e-02 9.69686194e+01] [ 1.60761035e-02 3.40300428e-04 9.99870713e-01 6.85386524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.479254154 meters 0.017413373247609578 Centerline is valid? [True, True] Translation: X:1003.11, Y:97.01, Z:6.86 [[ 7.14244174e-01 -6.99819074e-01 -1.04174570e-02 1.00311140e+03] [ 6.99739227e-01 7.14320092e-01 -1.05744883e-02 9.70071094e+01] [ 1.48416274e-02 2.63263369e-04 9.99889822e-01 6.85590535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.539254154 meters 0.016940369330478454 Centerline is valid? [True, True] Translation: X:1003.15, Y:97.05, Z:6.86 [[ 7.10938316e-01 -7.03176953e-01 -1.04347092e-02 1.00315344e+03] [ 7.03097150e-01 7.11014862e-01 -1.05954765e-02 9.70467556e+01] [ 1.48697282e-02 1.96115880e-04 9.99889420e-01 6.85619414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters 0.014561551039884926 Centerline is valid? [True, True] Translation: X:1003.20, Y:97.09, Z:6.86 [[ 7.07981164e-01 -7.06149146e-01 -1.07728684e-02 1.00319641e+03] [ 7.06064398e-01 7.08063107e-01 -1.09408235e-02 9.70862251e+01] [ 1.53537238e-02 1.39558155e-04 9.99882115e-01 6.85582949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters 0.013633799592477423 Centerline is valid? [True, True] Translation: X:1003.24, Y:97.13, Z:6.86 [[ 7.06297805e-01 -7.07830345e-01 -1.09367525e-02 1.00323822e+03] [ 7.07743158e-01 7.06382468e-01 -1.11099560e-02 9.71264109e+01] [ 1.55894942e-02 1.06525780e-04 9.99878471e-01 6.85543424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.719254154 meters 0.013622508287648577 Centerline is valid? [True, True] Translation: X:1003.28, Y:97.17, Z:6.86 [[ 7.05134576e-01 -7.08988741e-01 -1.09633215e-02 1.00328080e+03] [ 7.08901191e-01 7.05219794e-01 -1.11419819e-02 9.71666519e+01] [ 1.56310910e-02 8.46849674e-05 9.99877823e-01 6.85728690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.779254154 meters 0.014337779986837143 Centerline is valid? [True, True] Translation: X:1003.32, Y:97.21, Z:6.86 [[ 7.03248947e-01 -7.10861231e-01 -1.08272754e-02 1.00332245e+03] [ 7.10775971e-01 7.03332289e-01 -1.10095248e-02 9.72076966e+01] [ 1.54414167e-02 4.66695000e-05 9.99880773e-01 6.85759933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters 0.01306924576536667 Centerline is valid? [True, True] Translation: X:1003.36, Y:97.25, Z:6.86 [[ 7.03642479e-01 -7.10466870e-01 -1.11394856e-02 1.00336335e+03] [ 7.10376474e-01 7.03730646e-01 -1.13332496e-02 9.72494456e+01] [ 1.58910957e-02 6.13273135e-05 9.99873727e-01 6.85904286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters 0.016186135938462493 Centerline is valid? [True, True] Translation: X:1003.40, Y:97.29, Z:6.86 [[ 7.04089696e-01 -7.09990484e-01 -1.30848255e-02 1.00340435e+03] [ 7.09865531e-01 7.04211264e-01 -1.33200797e-02 9.72921433e+01] [ 1.86716113e-02 9.00642690e-05 9.99825666e-01 6.85781638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.959254154 meters 0.01566444372478662 Centerline is valid? [True, True] Translation: X:1003.44, Y:97.34, Z:6.85 [[ 7.06542041e-01 -7.07533396e-01 -1.39584344e-02 1.00344190e+03] [ 7.07390624e-01 7.06679889e-01 -1.42140583e-02 9.73357527e+01] [ 1.99210658e-02 1.68764158e-04 9.99801542e-01 6.85496443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.019254154 meters 0.015211786440966248 Centerline is valid? [True, True] Translation: X:1003.48, Y:97.38, Z:6.86 [[ 7.08700966e-01 -7.05379341e-01 -1.35250047e-02 1.00348235e+03] [ 7.05244799e-01 7.08829976e-01 -1.37782303e-02 9.73785765e+01] [ 1.93058078e-02 2.26205895e-04 9.99813600e-01 6.85815359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters 0.01573602360057593 Centerline is valid? [True, True] Translation: X:1003.52, Y:97.42, Z:6.86 [[ 7.10002343e-01 -7.04083224e-01 -1.27861896e-02 1.00352178e+03] [ 7.03962691e-01 7.10117420e-01 -1.30299568e-02 9.74210856e+01] [ 1.82538700e-02 2.50299448e-04 9.99833353e-01 6.86035838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters 0.019216577605708073 Centerline is valid? [True, True] Translation: X:1003.56, Y:97.46, Z:6.86 [[ 7.10036937e-01 -7.04049869e-01 -1.27015813e-02 1.00356194e+03] [ 7.03930815e-01 7.10150490e-01 -1.29494742e-02 9.74635417e+01] [ 1.81371098e-02 2.53570464e-04 9.99835477e-01 6.86045755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.199254154 meters 0.016057926929643238 Centerline is valid? [True, True] Translation: X:1003.60, Y:97.50, Z:6.86 [[ 7.10090474e-01 -7.04012570e-01 -1.17396836e-02 1.00360287e+03] [ 7.03910751e-01 7.10187471e-01 -1.19754015e-02 9.75048988e+01] [ 1.67682094e-02 2.39929022e-04 9.99859375e-01 6.86235092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.259254154 meters 0.015191032073981483 Centerline is valid? [True, True] Translation: X:1003.64, Y:97.55, Z:6.86 [[ 7.09373474e-01 -7.04734559e-01 -1.17675665e-02 1.00364413e+03] [ 7.04632237e-01 7.09471035e-01 -1.20108793e-02 9.75455988e+01] [ 1.68132293e-02 2.28392412e-04 9.99858622e-01 6.86294088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters 0.014503671589991536 Centerline is valid? [True, True] Translation: X:1003.68, Y:97.59, Z:6.86 [[ 7.08576601e-01 -7.05530429e-01 -1.20836335e-02 1.00368373e+03] [ 7.05422571e-01 7.08679593e-01 -1.23382181e-02 9.75871217e+01] [ 1.72684128e-02 2.18504881e-04 9.99850866e-01 6.86154314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters 0.014176063936639017 Centerline is valid? [True, True] Translation: X:1003.73, Y:97.63, Z:6.86 [[ 7.07263999e-01 -7.06839206e-01 -1.24888986e-02 1.00372587e+03] [ 7.06724101e-01 7.07374228e-01 -1.27571854e-02 9.76280899e+01] [ 1.78516038e-02 1.96492353e-04 9.99840628e-01 6.86094332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.439254154 meters 0.015451548322403884 Centerline is valid? [True, True] Translation: X:1003.77, Y:97.67, Z:6.86 [[ 7.04579665e-01 -7.09477788e-01 -1.44487062e-02 1.00376862e+03] [ 7.09324097e-01 7.04727780e-01 -1.47675693e-02 9.76672205e+01] [ 2.06596671e-02 1.56113559e-04 9.99786554e-01 6.85949816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.499254154 meters 0.014838483358606 Centerline is valid? [True, True] Translation: X:1003.81, Y:97.71, Z:6.86 [[ 7.01447849e-01 -7.12574205e-01 -1.44540215e-02 1.00381316e+03] [ 7.12420895e-01 7.01596749e-01 -1.47807537e-02 9.77066334e+01] [ 2.06732783e-02 7.05808913e-05 9.99786282e-01 6.85977697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.559254154 meters 0.01458183197729504 Centerline is valid? [True, True] Translation: X:1003.86, Y:97.75, Z:6.86 [[ 6.98411139e-01 -7.15560238e-01 -1.39795103e-02 1.00385719e+03] [ 7.15417281e-01 6.98551033e-01 -1.43027145e-02 9.77462784e+01] [ 1.99998551e-02 -1.20081330e-05 9.99799983e-01 6.86118344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters 0.015259520785490178 Centerline is valid? [True, True] Translation: X:1003.90, Y:97.79, Z:6.86 [[ 6.97406562e-01 -7.16542561e-01 -1.38147200e-02 1.00389843e+03] [ 7.16403041e-01 6.97543373e-01 -1.41395122e-02 9.77852574e+01] [ 1.97679286e-02 -3.59187892e-05 9.99804595e-01 6.86157107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters 0.015184310292225677 Centerline is valid? [True, True] Translation: X:1003.94, Y:97.83, Z:6.86 [[ 6.97989896e-01 -7.15975583e-01 -1.37502244e-02 1.00393906e+03] [ 7.15837118e-01 6.98125321e-01 -1.40803770e-02 9.78263431e+01] [ 1.96805860e-02 -1.49601429e-05 9.99806318e-01 6.86277117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.739254154 meters 0.013557973211537911 Centerline is valid? [True, True] Translation: X:1003.98, Y:97.87, Z:6.86 [[ 7.01567316e-01 -7.12491524e-01 -1.26146189e-02 1.00397829e+03] [ 7.12374333e-01 7.01680712e-01 -1.29223766e-02 9.78710064e+01] [ 1.80585185e-02 7.95863440e-05 9.99836928e-01 6.86355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.799254154 meters 0.015204223614122915 Centerline is valid? [True, True] Translation: X:1004.02, Y:97.91, Z:6.86 [[ 7.05099683e-01 -7.08986711e-01 -1.31255813e-02 1.00401840e+03] [ 7.08859113e-01 7.05221817e-01 -1.34516440e-02 9.79146576e+01] [ 1.87934831e-02 1.80562039e-04 9.99823371e-01 6.86439366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters 0.0162803175463595 Centerline is valid? [True, True] Translation: X:1004.06, Y:97.96, Z:6.86 [[ 7.07070493e-01 -7.07011684e-01 -1.36307328e-02 1.00405795e+03] [ 7.06873610e-01 7.07201823e-01 -1.39743424e-02 9.79568902e+01] [ 1.95197024e-02 2.45639901e-04 9.99809442e-01 6.86335932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters 0.015543749217116543 Centerline is valid? [True, True] Translation: X:1004.10, Y:98.00, Z:6.86 [[ 7.09821749e-01 -7.04250083e-01 -1.35979892e-02 1.00409884e+03] [ 7.04112050e-01 7.09951910e-01 -1.39465821e-02 9.79993321e+01] [ 1.94758000e-02 3.25079293e-04 9.99810276e-01 6.86329310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.979254154 meters 0.01633082043612792 Centerline is valid? [True, True] Translation: X:1004.14, Y:98.04, Z:6.86 [[ 7.10978069e-01 -7.03073104e-01 -1.40853170e-02 1.00413985e+03] [ 7.02924622e-01 7.11117480e-01 -1.44535800e-02 9.80421107e+01] [ 2.01782385e-02 3.75262292e-04 9.99796328e-01 6.86254528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.039254154 meters 0.01709323473002109 Centerline is valid? [True, True] Translation: X:1004.18, Y:98.08, Z:6.86 [[ 7.11193463e-01 -7.02837587e-01 -1.49393846e-02 1.00418282e+03] [ 7.02670385e-01 7.11350237e-01 -1.53352649e-02 9.80817302e+01] [ 2.14053353e-02 4.08876947e-04 9.99770796e-01 6.86273132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters 0.017864133724144797 Centerline is valid? [True, True] Translation: X:1004.23, Y:98.12, Z:6.86 [[ 7.09963752e-01 -7.04087717e-01 -1.45587948e-02 1.00422723e+03] [ 7.03929057e-01 7.10112916e-01 -1.49509275e-02 9.81208031e+01] [ 2.08651526e-02 3.66257839e-04 9.99782232e-01 6.86435678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters 0.017455958041553542 Centerline is valid? [True, True] Translation: X:1004.27, Y:98.16, Z:6.87 [[ 7.08497817e-01 -7.05587786e-01 -1.32935904e-02 1.00427087e+03] [ 7.05455642e-01 7.08622458e-01 -1.36583452e-02 9.81605139e+01] [ 1.90572983e-02 2.98869406e-04 9.99818349e-01 6.86689745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.219254154 meters 0.014618177110786801 Centerline is valid? [True, True] Translation: X:1004.31, Y:98.20, Z:6.87 [[ 7.05679748e-01 -7.08429052e-01 -1.20154725e-02 1.00431468e+03] [ 7.08321406e-01 7.05782003e-01 -1.23511406e-02 9.82002425e+01] [ 1.72302111e-02 2.05133473e-04 9.99851528e-01 6.86868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.279254154 meters 0.014123559538649204 Centerline is valid? [True, True] Translation: X:1004.36, Y:98.24, Z:6.87 [[ 7.02537869e-01 -7.11534517e-01 -1.26163995e-02 1.00435885e+03] [ 7.11416210e-01 7.02651131e-01 -1.29755092e-02 9.82399469e+01] [ 1.80974501e-02 1.40275439e-04 9.99836218e-01 6.86864982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters 0.014104722977524528 Centerline is valid? [True, True] Translation: X:1004.40, Y:98.28, Z:6.87 [[ 7.00625356e-01 -7.13397508e-01 -1.37151732e-02 1.00440001e+03] [ 7.13257940e-01 7.00759577e-01 -1.41112107e-02 9.82798756e+01] [ 1.96779415e-02 1.04215830e-04 9.99806365e-01 6.86709824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters 0.01658513559168235 Centerline is valid? [True, True] Translation: X:1004.44, Y:98.32, Z:6.87 [[ 6.98455550e-01 -7.15481693e-01 -1.56777263e-02 1.00444232e+03] [ 7.15299676e-01 6.98631479e-01 -1.61378449e-02 9.83211115e+01] [ 2.24992857e-02 5.72947984e-05 9.99746857e-01 6.86704897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.459254154 meters 0.015518195037150514 Centerline is valid? [True, True] Translation: X:1004.48, Y:98.36, Z:6.87 [[ 6.98473364e-01 -7.15474735e-01 -1.51941902e-02 1.00448074e+03] [ 7.15303658e-01 6.98638605e-01 -1.56453105e-02 9.83630150e+01] [ 2.18090722e-02 5.93728630e-05 9.99762152e-01 6.86824819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.519254154 meters 0.016289040075833365 Centerline is valid? [True, True] Translation: X:1004.52, Y:98.41, Z:6.87 [[ 7.00127983e-01 -7.13857224e-01 -1.51218450e-02 1.00451979e+03] [ 7.13687254e-01 7.00291261e-01 -1.55773285e-02 9.84075086e+01] [ 2.17096844e-02 1.13855565e-04 9.99764311e-01 6.87022109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters 0.01427911210633176 Centerline is valid? [True, True] Translation: X:1004.56, Y:98.45, Z:6.87 [[ 7.01403285e-01 -7.12628589e-01 -1.39257117e-02 1.00455858e+03] [ 7.12484129e-01 7.01541498e-01 -1.43489597e-02 9.84506784e+01] [ 1.99949435e-02 1.42558858e-04 9.99800071e-01 6.87071397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters 0.01647174701940328 Centerline is valid? [True, True] Translation: X:1004.60, Y:98.50, Z:6.87 [[ 7.04646644e-01 -7.09394165e-01 -1.52652005e-02 1.00459584e+03] [ 7.09219748e-01 7.04811926e-01 -1.57320379e-02 9.84957166e+01] [ 2.19193113e-02 2.59146038e-04 9.99759709e-01 6.87256865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.699254154 meters 0.015207084462882861 Centerline is valid? [True, True] Translation: X:1004.63, Y:98.54, Z:6.87 [[ 7.07004029e-01 -7.07058604e-01 -1.46093710e-02 1.00463352e+03] [ 7.06898228e-01 7.07154882e-01 -1.50621456e-02 9.85415059e+01] [ 2.09809076e-02 3.21659107e-04 9.99779825e-01 6.87250017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.759254154 meters 0.016092162209523336 Centerline is valid? [True, True] Translation: X:1004.67, Y:98.59, Z:6.87 [[ 7.08968943e-01 -7.05076165e-01 -1.51868101e-02 1.00467227e+03] [ 7.04902226e-01 7.09131469e-01 -1.56656239e-02 9.85862718e+01] [ 2.18149030e-02 4.01224640e-04 9.99761946e-01 6.87414336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters 0.018724181996393318 Centerline is valid? [True, True] Translation: X:1004.71, Y:98.63, Z:6.87 [[ 7.08972108e-01 -7.05048067e-01 -1.63025427e-02 1.00471082e+03] [ 7.04847506e-01 7.09159385e-01 -1.68213941e-02 9.86294130e+01] [ 2.34209926e-02 4.35092697e-04 9.99725596e-01 6.87448581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters 0.015486828276693884 Centerline is valid? [True, True] Translation: X:1004.75, Y:98.67, Z:6.88 [[ 7.08184454e-01 -7.05886593e-01 -1.41030771e-02 1.00475123e+03] [ 7.05736563e-01 7.08324778e-01 -1.45572512e-02 9.86728481e+01] [ 2.02653274e-02 3.56161832e-04 9.99794574e-01 6.87502254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.939254154 meters 0.014709552452319677 Centerline is valid? [True, True] Translation: X:1004.79, Y:98.72, Z:6.87 [[ 7.05216952e-01 -7.08860002e-01 -1.36582309e-02 1.00479178e+03] [ 7.08719709e-01 7.05349152e-01 -1.41049185e-02 9.87150924e+01] [ 1.96322342e-02 2.67170190e-04 9.99807233e-01 6.87479332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.999254154 meters 0.014024181508395161 Centerline is valid? [True, True] Translation: X:1004.83, Y:98.76, Z:6.87 [[ 7.01499493e-01 -7.12546670e-01 -1.32553359e-02 1.00483330e+03] [ 7.12415112e-01 7.01624698e-01 -1.36927520e-02 9.87557718e+01] [ 1.90569959e-02 1.62156938e-04 9.99818386e-01 6.87496340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.059254154 meters 0.013603256689394702 Centerline is valid? [True, True] Translation: X:1004.88, Y:98.80, Z:6.87 [[ 6.97129881e-01 -7.16811507e-01 -1.38272388e-02 1.00487623e+03] [ 7.16669075e-01 6.97266994e-01 -1.42890442e-02 9.87962747e+01] [ 1.98838286e-02 5.17652707e-05 9.99802296e-01 6.87483030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters 0.01376796659246027 Centerline is valid? [True, True] Translation: X:1004.92, Y:98.84, Z:6.87 [[ 6.94058069e-01 -7.19756135e-01 -1.53134891e-02 1.00491764e+03] [ 7.19581972e-01 6.94226984e-01 -1.58329162e-02 9.88382484e+01] [ 2.20268759e-02 -3.03474618e-05 9.99757378e-01 6.87353089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters 0.014197394014470805 Centerline is valid? [True, True] Translation: X:1004.96, Y:98.88, Z:6.87 [[ 6.92732206e-01 -7.21013644e-01 -1.61683607e-02 1.00495787e+03] [ 7.20819726e-01 6.92920861e-01 -1.67213083e-02 9.88799789e+01] [ 2.32596859e-02 -7.10845760e-05 9.99729454e-01 6.87185820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.239254154 meters 0.0156489374441802 Centerline is valid? [True, True] Translation: X:1005.00, Y:98.92, Z:6.87 [[ 6.90399709e-01 -7.23211444e-01 -1.77044921e-02 1.00499900e+03] [ 7.22979447e-01 6.90626661e-01 -1.83176027e-02 9.89225830e+01] [ 2.54746941e-02 -1.53516346e-04 9.99675456e-01 6.87448959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.299254154 meters 0.014226026503969019 Centerline is valid? [True, True] Translation: X:1005.04, Y:98.96, Z:6.88 [[ 6.88817896e-01 -7.24756970e-01 -1.60387282e-02 1.00504073e+03] [ 7.24566815e-01 6.89004572e-01 -1.66021357e-02 9.89643918e+01] [ 2.30832706e-02 -1.85282014e-04 9.99733529e-01 6.87506079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters 0.014824778295730213 Centerline is valid? [True, True] Translation: X:1005.08, Y:99.01, Z:6.88 [[ 6.85581582e-01 -7.27842087e-01 -1.49595998e-02 1.00508322e+03] [ 7.27677233e-01 6.85744724e-01 -1.54925573e-02 9.90054697e+01] [ 2.15346019e-02 -2.64348240e-04 9.99768069e-01 6.87730147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters 0.017942727238878846 Centerline is valid? [True, True] Translation: X:1005.12, Y:99.05, Z:6.88 [[ 6.82412135e-01 -7.30805638e-01 -1.53882334e-02 1.00512418e+03] [ 7.30631773e-01 6.82585517e-01 -1.59444249e-02 9.90474259e+01] [ 2.21560608e-02 -3.62463218e-04 9.99754459e-01 6.88031233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.479254154 meters 0.015110726464212163 Centerline is valid? [True, True] Translation: X:1005.16, Y:99.09, Z:6.88 [[ 6.82370553e-01 -7.30877321e-01 -1.37393792e-02 1.00516335e+03] [ 7.30738601e-01 6.82508783e-01 -1.42428616e-02 9.90911162e+01] [ 1.97870315e-02 -3.20985380e-04 9.99804166e-01 6.88062161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.539254154 meters 0.014900319604600264 Centerline is valid? [True, True] Translation: X:1005.20, Y:99.14, Z:6.88 [[ 6.83002763e-01 -7.30278770e-01 -1.41472497e-02 1.00520049e+03] [ 7.30131395e-01 6.83149196e-01 -1.46738322e-02 9.91357073e+01] [ 2.03806704e-02 -3.07083247e-04 9.99792245e-01 6.88043519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters 0.014879159904852285 Centerline is valid? [True, True] Translation: X:1005.24, Y:99.18, Z:6.88 [[ 6.83953677e-01 -7.29374685e-01 -1.48302518e-02 1.00523699e+03] [ 7.29212333e-01 6.84114381e-01 -1.53911280e-02 9.91811275e+01] [ 2.13714877e-02 -2.87583913e-04 9.99771562e-01 6.87987670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters 0.014147640739180971 Centerline is valid? [True, True] Translation: X:1005.27, Y:99.23, Z:6.88 [[ 6.85110942e-01 -7.28295766e-01 -1.44317262e-02 1.00527286e+03] [ 7.28141621e-01 6.85262883e-01 -1.49853364e-02 9.92279223e+01] [ 2.08032834e-02 -2.41722625e-04 9.99783559e-01 6.88161659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.719254154 meters 0.013842999429494218 Centerline is valid? [True, True] Translation: X:1005.31, Y:99.27, Z:6.88 [[ 6.86976843e-01 -7.26569828e-01 -1.26135959e-02 1.00530867e+03] [ 7.26451673e-01 6.87092614e-01 -1.31037261e-02 9.92745233e+01] [ 1.81874806e-02 -1.61211421e-04 9.99834581e-01 6.88242945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.779254154 meters 0.015540710461347355 Centerline is valid? [True, True] Translation: X:1005.34, Y:99.32, Z:6.88 [[ 6.88095242e-01 -7.25525878e-01 -1.17105838e-02 1.00534418e+03] [ 7.25423784e-01 6.88194875e-01 -1.21715951e-02 9.93215283e+01] [ 1.68899710e-02 -1.19919333e-04 9.99857347e-01 6.88348937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters 0.013423765171370172 Centerline is valid? [True, True] Translation: X:1005.38, Y:99.37, Z:6.88 [[ 6.91503159e-01 -7.22299775e-01 -1.03158800e-02 1.00537856e+03] [ 7.22220114e-01 6.91580100e-01 -1.07271639e-02 9.93701100e+01] [ 1.48824854e-02 -3.24682810e-05 9.99889249e-01 6.88377050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters 0.012946917334141609 Centerline is valid? [True, True] Translation: X:1005.41, Y:99.42, Z:6.88 [[ 6.95154312e-01 -7.18791398e-01 -9.97033513e-03 1.00541210e+03] [ 7.18716569e-01 6.95225808e-01 -1.03716232e-02 9.94174951e+01] [ 1.43866679e-02 4.40335687e-05 9.99896506e-01 6.88345695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.959254154 meters 0.013171969316932923 Centerline is valid? [True, True] Translation: X:1005.45, Y:99.46, Z:6.88 [[ 6.97191687e-01 -7.16808733e-01 -1.04399049e-02 1.00544847e+03] [ 7.16726400e-01 6.97269842e-01 -1.08644440e-02 9.94641516e+01] [ 1.50671592e-02 9.20446085e-05 9.99886480e-01 6.88231261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.019254154 meters 0.014973652037986309 Centerline is valid? [True, True] Translation: X:1005.48, Y:99.51, Z:6.88 [[ 6.99174288e-01 -7.14871802e-01 -1.06593887e-02 1.00548388e+03] [ 7.14785688e-01 6.99255524e-01 -1.10965004e-02 9.95106227e+01] [ 1.53862117e-02 1.39209323e-04 9.99881616e-01 6.87984030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters 0.013819888374363648 Centerline is valid? [True, True] Translation: X:1005.52, Y:99.56, Z:6.88 [[ 7.00857041e-01 -7.13241147e-01 -9.29920551e-03 1.00552230e+03] [ 7.13175421e-01 7.00918713e-01 -9.68379242e-03 9.95554823e+01] [ 1.34248664e-02 1.54989294e-04 9.99909870e-01 6.88095654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters 0.015123031040061439 Centerline is valid? [True, True] Translation: X:1005.56, Y:99.60, Z:6.88 [[ 7.01233641e-01 -7.12884878e-01 -8.15664437e-03 1.00555913e+03] [ 7.12834251e-01 7.01281063e-01 -8.49709180e-03 9.95985756e+01] [ 1.17775485e-02 1.44111142e-04 9.99930632e-01 6.88037150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.199254154 meters 0.01620054068149007 Centerline is valid? [True, True] Translation: X:1005.60, Y:99.64, Z:6.88 [[ 7.01607698e-01 -7.12518638e-01 -7.98930495e-03 1.00559926e+03] [ 7.12470009e-01 7.01653168e-01 -8.32574447e-03 9.96415662e+01] [ 1.15379692e-02 1.49266232e-04 9.99933424e-01 6.88027978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.259254154 meters 0.016511646198587162 Centerline is valid? [True, True] Translation: X:1005.64, Y:99.69, Z:6.88 [[ 7.03229549e-01 -7.10919151e-01 -7.88434408e-03 1.00563872e+03] [ 7.10871643e-01 7.03273724e-01 -8.22051260e-03 9.96858089e+01] [ 1.13889719e-02 1.76150738e-04 9.99935128e-01 6.88044260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters 0.01761020188952755 Centerline is valid? [True, True] Translation: X:1005.68, Y:99.73, Z:6.88 [[ 7.04638620e-01 -7.09523513e-01 -7.79740100e-03 1.00567709e+03] [ 7.09476928e-01 7.04681733e-01 -8.13287851e-03 9.97291645e+01] [ 1.12651546e-02 1.98664186e-04 9.99936526e-01 6.88035426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters 0.01731393520314877 Centerline is valid? [True, True] Translation: X:1005.72, Y:99.77, Z:6.88 [[ 7.05599375e-01 -7.08564631e-01 -8.10466711e-03 1.00571749e+03] [ 7.08514207e-01 7.05645884e-01 -8.45604706e-03 9.97726021e+01] [ 1.17106809e-02 2.24309733e-04 9.99931402e-01 6.88039888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.439254154 meters 0.01882294886395505 Centerline is valid? [True, True] Translation: X:1005.76, Y:99.81, Z:6.88 [[ 7.05789711e-01 -7.08371957e-01 -8.36983137e-03 1.00576002e+03] [ 7.08318112e-01 7.05839298e-01 -8.73716747e-03 9.98130169e+01] [ 1.20969203e-02 2.38099750e-04 9.99926801e-01 6.87891399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.499254154 meters 0.016406417977017897 Centerline is valid? [True, True] Translation: X:1005.80, Y:99.85, Z:6.88 [[ 7.05417640e-01 -7.08739749e-01 -8.59778770e-03 1.00580061e+03] [ 7.08682897e-01 7.05469993e-01 -8.98004777e-03 9.98544486e+01] [ 1.24299980e-02 2.41579011e-04 9.99922715e-01 6.88011044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.559254154 meters 0.016714062249511493 Centerline is valid? [True, True] Translation: X:1005.85, Y:99.89, Z:6.88 [[ 7.03012721e-01 -7.11129457e-01 -8.24678288e-03 1.00584649e+03] [ 7.11077264e-01 7.03061062e-01 -8.61785023e-03 9.98926198e+01] [ 1.19263991e-02 1.94358521e-04 9.99928859e-01 6.88074214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters 0.015430321589321262 Centerline is valid? [True, True] Translation: X:1005.89, Y:99.93, Z:6.88 [[ 6.99710721e-01 -7.14389126e-01 -7.28585330e-03 1.00589358e+03] [ 7.14348528e-01 6.99748641e-01 -7.61704909e-03 9.99290207e+01] [ 1.05398030e-02 1.25092328e-04 9.99944447e-01 6.88271328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters 0.018376096756220612 Centerline is valid? [True, True] Translation: X:1005.94, Y:99.97, Z:6.88 [[ 6.97064474e-01 -7.16978749e-01 -6.52632406e-03 1.00593733e+03] [ 7.16946264e-01 6.97095020e-01 -6.82552970e-03 9.99675710e+01] [ 9.44322775e-03 7.88106186e-05 9.99955409e-01 6.88238110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.739254154 meters 0.015461881517994262 Centerline is valid? [True, True] Translation: X:1005.98, Y:100.00, Z:6.88 [[ 6.94061147e-01 -7.19883648e-01 -6.83072796e-03 1.00598462e+03] [ 7.19848181e-01 6.94094757e-01 -7.14595884e-03 1.00003357e+02] [ 9.88543139e-03 4.26452920e-05 9.99951137e-01 6.88352131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.799254154 meters 0.01495163626684931 Centerline is valid? [True, True] Translation: X:1006.03, Y:100.04, Z:6.88 [[ 6.91258530e-01 -7.22565058e-01 -7.83461502e-03 1.00602911e+03] [ 7.22518517e-01 6.91302927e-01 -8.20095449e-03 1.00040908e+02] [ 1.13418155e-02 8.32532287e-06 9.99935680e-01 6.88278410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters 0.013684918045370012 Centerline is valid? [True, True] Translation: X:1006.07, Y:100.08, Z:6.88 [[ 6.89049886e-01 -7.24665629e-01 -8.36543844e-03 1.00607386e+03] [ 7.24612658e-01 6.89100665e-01 -8.76181836e-03 1.00078740e+02] [ 1.21140178e-02 -2.43726459e-05 9.99926622e-01 6.88378669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters 0.013843234820946381 Centerline is valid? [True, True] Translation: X:1006.12, Y:100.12, Z:6.88 [[ 6.87745762e-01 -7.25899967e-01 -8.66049861e-03 1.00611752e+03] [ 7.25843225e-01 6.87800288e-01 -9.07616487e-03 1.00117329e+02] [ 1.25450812e-02 -4.40703147e-05 9.99921306e-01 6.88427230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.979254154 meters 0.014935343120602624 Centerline is valid? [True, True] Translation: X:1006.16, Y:100.16, Z:6.88 [[ 6.87696521e-01 -7.25946433e-01 -8.67590525e-03 1.00615945e+03] [ 7.25889427e-01 6.87751244e-01 -9.09755269e-03 1.00157167e+02] [ 1.25712006e-02 -4.13925602e-05 9.99920978e-01 6.88392112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.039254154 meters 0.013725068998123022 Centerline is valid? [True, True] Translation: X:1006.20, Y:100.20, Z:6.89 [[ 6.87895829e-01 -7.25761683e-01 -8.32508880e-03 1.00620234e+03] [ 7.25709122e-01 6.87946203e-01 -8.73456250e-03 1.00196451e+02] [ 1.20664240e-02 -3.31237671e-05 9.99927198e-01 6.88528955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters 0.015696345835664174 Centerline is valid? [True, True] Translation: X:1006.25, Y:100.23, Z:6.88 [[ 6.88297600e-01 -7.25375228e-01 -8.78593386e-03 1.00624566e+03] [ 7.25316585e-01 6.88353673e-01 -9.22346940e-03 1.00234834e+02] [ 1.27383061e-02 -2.40916920e-05 9.99918864e-01 6.88478942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters 0.016712317712077665 Centerline is valid? [True, True] Translation: X:1006.29, Y:100.28, Z:6.88 [[ 6.89528247e-01 -7.24190439e-01 -9.95011952e-03 1.00628813e+03] [ 7.24115017e-01 6.89600035e-01 -1.04515129e-02 1.00276129e+02] [ 1.44304885e-02 1.58242514e-06 9.99895875e-01 6.88418905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.219254154 meters 0.016123610845705207 Centerline is valid? [True, True] Translation: X:1006.33, Y:100.32, Z:6.88 [[ 6.92687905e-01 -7.21161337e-01 -1.04781837e-02 1.00633014e+03] [ 7.21077264e-01 6.92767147e-01 -1.10117667e-02 1.00317429e+02] [ 1.52002018e-02 7.21376059e-05 9.99884468e-01 6.88411676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.279254154 meters 0.01486696972869085 Centerline is valid? [True, True] Translation: X:1006.37, Y:100.36, Z:6.89 [[ 6.96398258e-01 -7.17587295e-01 -9.89651351e-03 1.00637221e+03] [ 7.17511861e-01 6.96468559e-01 -1.04055765e-02 1.00358611e+02] [ 1.43595200e-02 1.45559519e-04 9.99896886e-01 6.88646865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters 0.01656163677179008 Centerline is valid? [True, True] Translation: X:1006.41, Y:100.40, Z:6.89 [[ 6.99699447e-01 -7.14372095e-01 -9.65365952e-03 1.00641392e+03] [ 7.14299940e-01 6.99766008e-01 -1.01553136e-02 1.00400170e+02] [ 1.40099754e-02 2.10058900e-04 9.99901833e-01 6.88660103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters 0.015645003502506666 Centerline is valid? [True, True] Translation: X:1006.46, Y:100.44, Z:6.89 [[ 7.01976678e-01 -7.12126043e-01 -1.02588207e-02 1.00645547e+03] [ 7.12044233e-01 7.02051582e-01 -1.07975298e-02 1.00442086e+02] [ 1.48914235e-02 2.74880030e-04 9.99889079e-01 6.88828069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.459254154 meters 0.017120830473768084 Centerline is valid? [True, True] Translation: X:1006.50, Y:100.48, Z:6.89 [[ 7.04175713e-01 -7.09933333e-01 -1.14554978e-02 1.00649826e+03] [ 7.09830925e-01 7.04268792e-01 -1.20634576e-02 1.00482602e+02] [ 1.66320003e-02 3.63327270e-04 9.99861613e-01 6.88786621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.519254154 meters 0.019640594695441025 Centerline is valid? [True, True] Translation: X:1006.54, Y:100.52, Z:6.89 [[ 7.05620202e-01 -7.08486134e-01 -1.21460915e-02 1.00654028e+03] [ 7.08370720e-01 7.05724605e-01 -1.27947731e-02 1.00523187e+02] [ 1.76367150e-02 4.24314858e-04 9.99844371e-01 6.88681611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters 0.019548937761769202 Centerline is valid? [True, True] Translation: X:1006.58, Y:100.57, Z:6.89 [[ 7.06208306e-01 -7.07886544e-01 -1.29023006e-02 1.00657917e+03] [ 7.07756140e-01 7.06326001e-01 -1.35950634e-02 1.00565328e+02] [ 1.87369928e-02 4.69264248e-04 9.99824337e-01 6.88534907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters 0.018287015102003888 Centerline is valid? [True, True] Translation: X:1006.62, Y:100.61, Z:6.89 [[ 7.05593914e-01 -7.08479614e-01 -1.39235541e-02 1.00661982e+03] [ 7.08327713e-01 7.05731105e-01 -1.46785224e-02 1.00607047e+02] [ 2.02257191e-02 4.94636844e-04 9.99795317e-01 6.88562222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.699254154 meters 0.01670009041179041 Centerline is valid? [True, True] Translation: X:1006.66, Y:100.65, Z:6.89 [[ 7.04664361e-01 -7.09391178e-01 -1.45703118e-02 1.00666016e+03] [ 7.09224837e-01 7.04814805e-01 -1.53694871e-02 1.00649464e+02] [ 2.11723500e-02 4.96702843e-04 9.99775717e-01 6.88651730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.759254154 meters 0.01640740125643866 Centerline is valid? [True, True] Translation: X:1006.70, Y:100.69, Z:6.89 [[ 7.01764223e-01 -7.12263157e-01 -1.44281400e-02 1.00670010e+03] [ 7.12100551e-01 7.01912408e-01 -1.52242164e-02 1.00690988e+02] [ 2.09709389e-02 4.09523917e-04 9.99780002e-01 6.88744685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters 0.01701379705916842 Centerline is valid? [True, True] Translation: X:1006.74, Y:100.73, Z:6.89 [[ 6.97899144e-01 -7.16067878e-01 -1.35491302e-02 1.00674226e+03] [ 7.15925148e-01 6.98030598e-01 -1.42991697e-02 1.00730882e+02] [ 1.96968836e-02 2.79215261e-04 9.99805959e-01 6.88704943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters 0.015232855522110051 Centerline is valid? [True, True] Translation: X:1006.79, Y:100.77, Z:6.89 [[ 6.92830086e-01 -7.20988380e-01 -1.27368544e-02 1.00678715e+03] [ 7.20862982e-01 6.92947139e-01 -1.34470502e-02 1.00769019e+02] [ 1.85211338e-02 1.34994107e-04 9.99828460e-01 6.88949728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.939254154 meters 0.01682666645078183 Centerline is valid? [True, True] Translation: X:1006.83, Y:100.81, Z:6.89 [[ 6.88777848e-01 -7.24861325e-01 -1.26939347e-02 1.00683025e+03] [ 7.24737301e-01 6.88894809e-01 -1.34084516e-02 1.00809428e+02] [ 1.84640537e-02 3.56764626e-05 9.99829524e-01 6.88898611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.999254154 meters 0.017018548906510108 Centerline is valid? [True, True] Translation: X:1006.87, Y:100.85, Z:6.89 [[ 6.85379045e-01 -7.28083010e-01 -1.22757596e-02 1.00687199e+03] [ 7.27967413e-01 6.85488970e-01 -1.29737548e-02 1.00849800e+02] [ 1.78608682e-02 -4.44132874e-05 9.99840481e-01 6.89149370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.059254154 meters 0.014420591934001505 Centerline is valid? [True, True] Translation: X:1006.91, Y:100.89, Z:6.89 [[ 6.85355091e-01 -7.28110525e-01 -1.19775684e-02 1.00690998e+03] [ 7.28000353e-01 6.85459745e-01 -1.26658465e-02 1.00893176e+02] [ 1.74322771e-02 -3.90716975e-05 9.99848046e-01 6.89364147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters 0.01583071231347782 Centerline is valid? [True, True] Translation: X:1006.95, Y:100.94, Z:6.89 [[ 6.86172051e-01 -7.27311371e-01 -1.36413639e-02 1.00694818e+03] [ 7.27168207e-01 6.86307635e-01 -1.44301534e-02 1.00937128e+02] [ 1.98573868e-02 -1.79981809e-05 9.99802822e-01 6.89108440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters 0.016276814048567227 Centerline is valid? [True, True] Translation: X:1006.99, Y:100.98, Z:6.89 [[ 6.86775726e-01 -7.26736036e-01 -1.39225207e-02 1.00698692e+03] [ 7.26586658e-01 6.86916832e-01 -1.47341054e-02 1.00980817e+02] [ 2.02714192e-02 3.10818662e-06 9.99794514e-01 6.89174216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.239254154 meters 0.01389572257878656 Centerline is valid? [True, True] Translation: X:1007.02, Y:101.03, Z:6.90 [[ 6.88017870e-01 -7.25583490e-01 -1.26494692e-02 1.00702392e+03] [ 7.25459914e-01 6.88134142e-01 -1.33908863e-02 1.01025282e+02] [ 1.84207377e-02 3.64862058e-05 9.99830323e-01 6.89548066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.299254154 meters 0.01678940806021631 Centerline is valid? [True, True] Translation: X:1007.06, Y:101.07, Z:6.90 [[ 6.87108899e-01 -7.26430397e-01 -1.34253089e-02 1.00706297e+03] [ 7.26291248e-01 6.87240044e-01 -1.42177646e-02 1.01068927e+02] [ 1.95546263e-02 1.84682214e-05 9.99808790e-01 6.89521769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters 0.016465578573301533 Centerline is valid? [True, True] Translation: X:1007.10, Y:101.11, Z:6.90 [[ 6.86295159e-01 -7.27200746e-01 -1.33428131e-02 1.00710193e+03] [ 7.27063299e-01 6.86424851e-01 -1.41380429e-02 1.01111641e+02] [ 1.94400338e-02 1.80073909e-06 9.99811025e-01 6.89567035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters 0.016025836441134582 Centerline is valid? [True, True] Translation: X:1007.14, Y:101.15, Z:6.90 [[ 6.86066869e-01 -7.27421162e-01 -1.30653582e-02 1.00714136e+03] [ 7.27289262e-01 6.86191265e-01 -1.38519474e-02 1.01154217e+02] [ 1.90415344e-02 1.06746940e-06 9.99818694e-01 6.89724745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.479254154 meters 0.01602051232096546 Centerline is valid? [True, True] Translation: X:1007.18, Y:101.20, Z:6.90 [[ 6.85914761e-01 -7.27563423e-01 -1.31303575e-02 1.00717983e+03] [ 7.27430080e-01 6.86040426e-01 -1.39288733e-02 1.01197275e+02] [ 1.91420948e-02 2.60282969e-06 9.99816773e-01 6.89758886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.539254154 meters 0.01601349779911441 Centerline is valid? [True, True] Translation: X:1007.22, Y:101.24, Z:6.90 [[ 6.86542974e-01 -7.26968552e-01 -1.32464956e-02 1.00721789e+03] [ 7.26832572e-01 6.86670754e-01 -1.40601659e-02 1.01241692e+02] [ 1.93172796e-02 2.49236327e-05 9.99813404e-01 6.89847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters 0.016845846634490274 Centerline is valid? [True, True] Translation: X:1007.26, Y:101.29, Z:6.90 [[ 6.88273577e-01 -7.25295634e-01 -1.50242127e-02 1.00725590e+03] [ 7.25120112e-01 6.88437533e-01 -1.59557693e-02 1.01286824e+02] [ 2.19158817e-02 8.75756227e-05 9.99759814e-01 6.89682878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters 0.015383659305330399 Centerline is valid? [True, True] Translation: X:1007.29, Y:101.33, Z:6.90 [[ 6.91272477e-01 -7.22418714e-01 -1.59237206e-02 1.00729345e+03] [ 7.22220577e-01 6.91455829e-01 -1.69196513e-02 1.01332873e+02] [ 2.32336222e-02 1.95650557e-04 9.99730044e-01 6.89698962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.719254154 meters 0.014828636777753965 Centerline is valid? [True, True] Translation: X:1007.33, Y:101.38, Z:6.90 [[ 6.93016621e-01 -7.20754105e-01 -1.55397190e-02 1.00733141e+03] [ 7.20564805e-01 6.93190780e-01 -1.65198207e-02 1.01377657e+02] [ 2.26787185e-02 2.51135746e-04 9.99742773e-01 6.89751267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.779254154 meters 0.01699282955593261 Centerline is valid? [True, True] Translation: X:1007.37, Y:101.42, Z:6.90 [[ 6.94484941e-01 -7.19337617e-01 -1.56223812e-02 1.00737134e+03] [ 7.19145744e-01 6.94660564e-01 -1.66162233e-02 1.01421588e+02] [ 2.28049266e-02 3.04947941e-04 9.99739887e-01 6.89963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters 0.015243990426521596 Centerline is valid? [True, True] Translation: X:1007.41, Y:101.47, Z:6.90 [[ 6.96105146e-01 -7.17802310e-01 -1.40523982e-02 1.00740859e+03] [ 7.17646625e-01 6.96246895e-01 -1.49526634e-02 1.01465210e+02] [ 2.05169950e-02 3.23969818e-04 9.99789452e-01 6.90160434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters 0.015534487489251732 Centerline is valid? [True, True] Translation: X:1007.45, Y:101.51, Z:6.90 [[ 6.96945367e-01 -7.16980807e-01 -1.43414634e-02 1.00744763e+03] [ 7.16818325e-01 6.97092815e-01 -1.52675148e-02 1.01508769e+02] [ 2.09438462e-02 3.60399964e-04 9.99780589e-01 6.90159884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.959254154 meters 0.016531040454167235 Centerline is valid? [True, True] Translation: X:1007.49, Y:101.55, Z:6.90 [[ 6.98178100e-01 -7.15747093e-01 -1.59197969e-02 1.00748688e+03] [ 7.15546437e-01 6.98359436e-01 -1.69527304e-02 1.01552125e+02] [ 2.32516079e-02 4.44671132e-04 9.99729546e-01 6.90096520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.019254154 meters 0.01724897303072054 Centerline is valid? [True, True] Translation: X:1007.53, Y:101.59, Z:6.90 [[ 6.98044832e-01 -7.15866086e-01 -1.64060881e-02 1.00752605e+03] [ 7.15652928e-01 6.98237451e-01 -1.74742176e-02 1.01594061e+02] [ 2.39645449e-02 4.56722292e-04 9.99712705e-01 6.90041448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters 0.01674812383084955 Centerline is valid? [True, True] Translation: X:1007.57, Y:101.63, Z:6.90 [[ 6.95329860e-01 -7.18500333e-01 -1.65426277e-02 1.00756980e+03] [ 7.18284172e-01 6.95526514e-01 -1.76271640e-02 1.01633537e+02] [ 2.41709594e-02 3.74385846e-04 9.99707770e-01 6.90197510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters 0.01479139039809325 Centerline is valid? [True, True] Translation: X:1007.61, Y:101.67, Z:6.90 [[ 6.91148646e-01 -7.22552599e-01 -1.52082461e-02 1.00761332e+03] [ 7.22370787e-01 6.91315915e-01 -1.62095919e-02 1.01671860e+02] [ 2.22259853e-02 2.17244782e-04 9.99752949e-01 6.90257018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.199254154 meters 0.013720836431979801 Centerline is valid? [True, True] Translation: X:1007.66, Y:101.71, Z:6.91 [[ 6.86014346e-01 -7.27433079e-01 -1.50144603e-02 1.00765972e+03] [ 7.27256890e-01 6.86178630e-01 -1.60095019e-02 1.01709051e+02] [ 2.19484431e-02 6.33782298e-05 9.99759102e-01 6.90590033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.259254154 meters 0.01654215836532942 Centerline is valid? [True, True] Translation: X:1007.70, Y:101.75, Z:6.90 [[ 6.83182322e-01 -7.30060383e-01 -1.65454471e-02 1.00770211e+03] [ 7.29847046e-01 6.83382643e-01 -1.76480327e-02 1.01748329e+02] [ 2.41910009e-02 -1.88217168e-05 9.99707355e-01 6.90484882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters 0.014094159375786687 Centerline is valid? [True, True] Translation: X:1007.74, Y:101.79, Z:6.91 [[ 6.81257334e-01 -7.31855496e-01 -1.66125708e-02 1.00774438e+03] [ 7.31640745e-01 6.81459850e-01 -1.77283247e-02 1.01788663e+02] [ 2.42953719e-02 -7.68824323e-05 9.99704821e-01 6.90585802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters 0.014144976259813782 Centerline is valid? [True, True] Translation: X:1007.78, Y:101.83, Z:6.91 [[ 6.81298018e-01 -7.31815766e-01 -1.66941694e-02 1.00778405e+03] [ 7.31598636e-01 6.81502516e-01 -1.78257027e-02 1.01830756e+02] [ 2.44222488e-02 -6.88156345e-05 9.99701730e-01 6.90602892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.439254154 meters 0.017259117056756593 Centerline is valid? [True, True] Translation: X:1007.82, Y:101.87, Z:6.91 [[ 6.83096728e-01 -7.30102117e-01 -1.81592729e-02 1.00782301e+03] [ 7.29844314e-01 6.83338056e-01 -1.94004834e-02 1.01874493e+02] [ 2.65732563e-02 -1.03535654e-06 9.99646869e-01 6.90586432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.499254154 meters 0.014127301700859804 Centerline is valid? [True, True] Translation: X:1007.86, Y:101.92, Z:6.91 [[ 6.85330252e-01 -7.28042205e-01 -1.66431246e-02 1.00786185e+03] [ 7.27824838e-01 6.85532306e-01 -1.77894067e-02 1.01918754e+02] [ 2.43608385e-02 7.83390953e-05 9.99703228e-01 6.90680265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.559254154 meters 0.014422392163344124 Centerline is valid? [True, True] Translation: X:1007.90, Y:101.96, Z:6.91 [[ 6.88683613e-01 -7.24873123e-01 -1.65480098e-02 1.00790047e+03] [ 7.24657097e-01 6.88882369e-01 -1.76967214e-02 1.01963826e+02] [ 2.42275099e-02 1.95809294e-04 9.99706452e-01 6.90770528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters 0.016195567515097778 Centerline is valid? [True, True] Translation: X:1007.94, Y:102.01, Z:6.91 [[ 6.90057229e-01 -7.23564855e-01 -1.65807573e-02 1.00794002e+03] [ 7.23347375e-01 6.90256357e-01 -1.77408182e-02 1.02007746e+02] [ 2.42816057e-02 2.48532610e-04 9.99705127e-01 6.90809557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters 0.017230672691346444 Centerline is valid? [True, True] Translation: X:1007.98, Y:102.05, Z:6.91 [[ 6.91838137e-01 -7.21887854e-01 -1.54246401e-02 1.00797896e+03] [ 7.21699024e-01 6.92010001e-01 -1.65129586e-02 1.02050730e+02] [ 2.25945095e-02 2.92346815e-04 9.99744669e-01 6.90989812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.739254154 meters 0.01797652782558967 Centerline is valid? [True, True] Translation: X:1008.02, Y:102.09, Z:6.91 [[ 6.93517778e-01 -7.20300304e-01 -1.41620728e-02 1.00801747e+03] [ 7.20140674e-01 6.93662288e-01 -1.51670594e-02 1.02094374e+02] [ 2.07485333e-02 3.19940650e-04 9.99784675e-01 6.91056941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.799254154 meters 0.01647247196004701 Centerline is valid? [True, True] Translation: X:1008.06, Y:102.14, Z:6.91 [[ 6.95100658e-01 -7.18800376e-01 -1.26923227e-02 1.00805659e+03] [ 7.18671807e-01 6.95216448e-01 -1.35986496e-02 1.02138869e+02] [ 1.85986260e-02 3.30815814e-04 9.99826976e-01 6.91005974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters 0.015972340051492707 Centerline is valid? [True, True] Translation: X:1008.10, Y:102.18, Z:6.91 [[ 6.95559842e-01 -7.18352227e-01 -1.29067347e-02 1.00809691e+03] [ 7.18219068e-01 6.95679490e-01 -1.38353815e-02 1.02181508e+02] [ 1.89176277e-02 3.53472793e-04 9.99820983e-01 6.90917505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters 0.016072899436032753 Centerline is valid? [True, True] Translation: X:1008.14, Y:102.22, Z:6.91 [[ 6.95171516e-01 -7.18727941e-01 -1.29116105e-02 1.00813572e+03] [ 7.18594648e-01 6.95291325e-01 -1.38457946e-02 1.02223084e+02] [ 1.89286902e-02 3.46987875e-04 9.99820776e-01 6.90844502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.979254154 meters 0.01654603247982262 Centerline is valid? [True, True] Translation: X:1008.17, Y:102.27, Z:6.91 [[ 6.94705386e-01 -7.19179329e-01 -1.28654004e-02 1.00817434e+03] [ 7.19046993e-01 6.94824423e-01 -1.38000881e-02 1.02265652e+02] [ 1.88639325e-02 3.36168013e-04 9.99822004e-01 6.90716370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.039254154 meters 0.016179035214645483 Centerline is valid? [True, True] Translation: X:1008.22, Y:102.31, Z:6.91 [[ 6.93720389e-01 -7.20103483e-01 -1.42476260e-02 1.00821695e+03] [ 7.19941228e-01 6.93866595e-01 -1.52897440e-02 1.02306149e+02] [ 2.08961496e-02 3.49353810e-04 9.99781591e-01 6.90757641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters 0.01742170817889708 Centerline is valid? [True, True] Translation: X:1008.26, Y:102.35, Z:6.91 [[ 6.92366423e-01 -7.21388445e-01 -1.50813388e-02 1.00825841e+03] [ 7.21206741e-01 6.92530576e-01 -1.61937732e-02 1.02347311e+02] [ 2.21262892e-02 3.35261604e-04 9.99755127e-01 6.90761166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters 0.01813739764610837 Centerline is valid? [True, True] Translation: X:1008.30, Y:102.39, Z:6.91 [[ 6.91567920e-01 -7.22153116e-01 -1.51224746e-02 1.00829883e+03] [ 7.21970493e-01 6.91733169e-01 -1.62428235e-02 1.02389269e+02] [ 2.21905229e-02 3.15035239e-04 9.99753710e-01 6.90785422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.219254154 meters 0.014847374413252451 Centerline is valid? [True, True] Translation: X:1008.34, Y:102.43, Z:6.91 [[ 6.90251329e-01 -7.23460472e-01 -1.25717297e-02 1.00834114e+03] [ 7.23334394e-01 6.90365767e-01 -1.35078254e-02 1.02431045e+02] [ 1.84514696e-02 2.30229907e-04 9.99829731e-01 6.91057800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.279254154 meters 0.016186836044517587 Centerline is valid? [True, True] Translation: X:1008.38, Y:102.47, Z:6.91 [[ 6.87939432e-01 -7.25655108e-01 -1.28062930e-02 1.00838328e+03] [ 7.25524532e-01 6.88058596e-01 -1.37666954e-02 1.02471808e+02] [ 1.88013528e-02 1.79372920e-04 9.99823223e-01 6.91191166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters 0.017210127472462068 Centerline is valid? [True, True] Translation: X:1008.42, Y:102.52, Z:6.91 [[ 6.87254644e-01 -7.26301852e-01 -1.29102645e-02 1.00842088e+03] [ 7.26169145e-01 6.87375874e-01 -1.38845170e-02 1.02515027e+02] [ 1.89585548e-02 1.67163060e-04 9.99820256e-01 6.90900003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters 0.014161781949891336 Centerline is valid? [True, True] Translation: X:1008.46, Y:102.56, Z:6.91 [[ 6.85786176e-01 -7.27686280e-01 -1.30383675e-02 1.00846359e+03] [ 7.27551089e-01 6.85910096e-01 -1.40268341e-02 1.02556389e+02] [ 1.91502826e-02 1.33330410e-04 9.99816608e-01 6.91257888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.459254154 meters 0.014780764306385379 Centerline is valid? [True, True] Translation: X:1008.50, Y:102.60, Z:6.91 [[ 6.85142997e-01 -7.28280926e-01 -1.36369154e-02 1.00850344e+03] [ 7.28133014e-01 6.85278685e-01 -1.46777803e-02 1.02599329e+02] [ 2.00346349e-02 1.26890072e-04 9.99799279e-01 6.91283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.519254154 meters 0.014199153733109808 Centerline is valid? [True, True] Translation: X:1008.54, Y:102.64, Z:6.91 [[ 6.84110513e-01 -7.29250769e-01 -1.36426536e-02 1.00854307e+03] [ 7.29102759e-01 6.84246524e-01 -1.46922506e-02 1.02641348e+02] [ 2.00492733e-02 1.04226739e-04 9.99798988e-01 6.91331240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters 0.014158470291616706 Centerline is valid? [True, True] Translation: X:1008.58, Y:102.68, Z:6.91 [[ 6.82504236e-01 -7.30742126e-01 -1.42798480e-02 1.00858175e+03] [ 7.30580160e-01 6.82653603e-01 -1.53846933e-02 1.02682723e+02] [ 2.09904331e-02 6.75446872e-05 9.99779674e-01 6.91330522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters 0.014634152035309765 Centerline is valid? [True, True] Translation: X:1008.62, Y:102.73, Z:6.91 [[ 6.81789975e-01 -7.31401210e-01 -1.46526426e-02 1.00862092e+03] [ 7.31230666e-01 6.81947408e-01 -1.57938731e-02 1.02725637e+02] [ 2.15439896e-02 5.36427519e-05 9.99767900e-01 6.91267419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.699254154 meters 0.015939894455046098 Centerline is valid? [True, True] Translation: X:1008.66, Y:102.77, Z:6.91 [[ 6.80341904e-01 -7.32715616e-01 -1.62086172e-02 1.00866144e+03] [ 7.32507074e-01 6.80534956e-01 -1.74803201e-02 1.02768667e+02] [ 2.38386340e-02 1.96675256e-05 9.99715819e-01 6.91454048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.759254154 meters 0.01737703675573356 Centerline is valid? [True, True] Translation: X:1008.70, Y:102.81, Z:6.92 [[ 6.77934713e-01 -7.34938699e-01 -1.64205130e-02 1.00870147e+03] [ 7.34725079e-01 6.78133546e-01 -1.77187204e-02 1.02810529e+02] [ 2.41574740e-02 -5.24270952e-05 9.99708164e-01 6.91662169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters 0.016386419165102674 Centerline is valid? [True, True] Translation: X:1008.74, Y:102.85, Z:6.92 [[ 6.74316366e-01 -7.38284137e-01 -1.52961477e-02 1.00874228e+03] [ 7.38099417e-01 6.74489814e-01 -1.65148939e-02 1.02852542e+02] [ 2.25097800e-02 -1.53814472e-04 9.99746611e-01 6.91960910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters 0.01778084904657849 Centerline is valid? [True, True] Translation: X:1008.78, Y:102.90, Z:6.92 [[ 6.71544851e-01 -7.40798201e-01 -1.56696867e-02 1.00878293e+03] [ 7.40604819e-01 6.71727601e-01 -1.69272850e-02 1.02895032e+02] [ 2.30654633e-02 -2.37614413e-04 9.99733929e-01 6.92083697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.939254154 meters 0.017239375017773294 Centerline is valid? [True, True] Translation: X:1008.82, Y:102.94, Z:6.92 [[ 6.67968948e-01 -7.44025190e-01 -1.56205387e-02 1.00882338e+03] [ 7.43833790e-01 6.68151478e-01 -1.68788460e-02 1.02935988e+02] [ 2.29951726e-02 -3.44539512e-04 9.99735517e-01 6.92033003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.999254154 meters 0.018321093626205525 Centerline is valid? [True, True] Translation: X:1008.86, Y:102.98, Z:6.92 [[ 6.65787700e-01 -7.45958213e-01 -1.65252100e-02 1.00886313e+03] [ 7.45744412e-01 6.65992612e-01 -1.78637243e-02 1.02979645e+02] [ 2.43312596e-02 -4.30135148e-04 9.99703859e-01 6.92020543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.059254154 meters 0.016153328522019797 Centerline is valid? [True, True] Translation: X:1008.90, Y:103.03, Z:6.92 [[ 6.66500780e-01 -7.45328776e-01 -1.61779169e-02 1.00890066e+03] [ 7.45123478e-01 6.66696978e-01 -1.74968955e-02 1.03025080e+02] [ 2.38267081e-02 -3.92851210e-04 9.99716027e-01 6.92033121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters 0.016388756293556683 Centerline is valid? [True, True] Translation: X:1008.94, Y:103.07, Z:6.92 [[ 6.69152399e-01 -7.42922132e-01 -1.73716225e-02 1.00893659e+03] [ 7.42684357e-01 6.69377772e-01 -1.87974764e-02 1.03072175e+02] [ 2.55932392e-02 -3.23255821e-04 9.99672387e-01 6.92148757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters 0.016361706423664576 Centerline is valid? [True, True] Translation: X:1008.97, Y:103.12, Z:6.92 [[ 6.71874176e-01 -7.40439841e-01 -1.82738431e-02 1.00897287e+03] [ 7.40175531e-01 6.72122598e-01 -1.97837301e-02 1.03118364e+02] [ 2.69309249e-02 -2.33674137e-04 9.99637270e-01 6.92131631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.239254154 meters 0.014508399472257868 Centerline is valid? [True, True] Translation: X:1009.01, Y:103.17, Z:6.92 [[ 6.77103695e-01 -7.35679392e-01 -1.75047869e-02 1.00900666e+03] [ 7.35435016e-01 6.77329928e-01 -1.89606444e-02 1.03167603e+02] [ 2.58054713e-02 -3.53108538e-05 9.99666983e-01 6.92174677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.299254154 meters 0.014378127398179386 Centerline is valid? [True, True] Translation: X:1009.04, Y:103.22, Z:6.92 [[ 6.81532431e-01 -7.31599669e-01 -1.65973131e-02 1.00904233e+03] [ 7.31378537e-01 6.81734487e-01 -1.79867883e-02 1.03215238e+02] [ 2.44740891e-02 1.19660985e-04 9.99700457e-01 6.92369573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters 0.01439118519976384 Centerline is valid? [True, True] Translation: X:1009.08, Y:103.26, Z:6.92 [[ 6.85412662e-01 -7.28003988e-01 -1.48214521e-02 1.00907702e+03] [ 7.27826615e-01 6.85572856e-01 -1.60710286e-02 1.03261972e+02] [ 2.18609581e-02 2.27839178e-04 9.99760995e-01 6.92492440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters 0.017487166455689002 Centerline is valid? [True, True] Translation: X:1009.11, Y:103.31, Z:6.93 [[ 6.89776206e-01 -7.23863845e-01 -1.51630996e-02 1.00911242e+03] [ 7.23676995e-01 6.89942747e-01 -1.64502857e-02 1.03309338e+02] [ 2.23694376e-02 3.73829358e-04 9.99749703e-01 6.92627487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.479254154 meters 0.016551484633301142 Centerline is valid? [True, True] Translation: X:1009.15, Y:103.36, Z:6.92 [[ 6.92960005e-01 -7.20843727e-01 -1.38113156e-02 1.00914805e+03] [ 7.20688025e-01 6.93097493e-01 -1.49878429e-02 1.03355623e+02] [ 2.03764808e-02 4.32325955e-04 9.99792284e-01 6.92419619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.539254154 meters 0.017967776712592604 Centerline is valid? [True, True] Translation: X:1009.19, Y:103.40, Z:6.92 [[ 6.95800579e-01 -7.18095599e-01 -1.41515033e-02 1.00918512e+03] [ 7.17931437e-01 6.95944272e-01 -1.53630270e-02 1.03401972e+02] [ 2.08807797e-02 5.29793972e-04 9.99781832e-01 6.92330025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters 0.02028871724069884 Centerline is valid? [True, True] Translation: X:1009.23, Y:103.45, Z:6.92 [[ 6.96140954e-01 -7.17729520e-01 -1.58779476e-02 1.00922517e+03] [ 7.17522552e-01 6.96321737e-01 -1.72460743e-02 1.03445308e+02] [ 2.34341767e-02 6.12913147e-04 9.99725194e-01 6.92306322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters 0.019950129229490552 Centerline is valid? [True, True] Translation: X:1009.27, Y:103.49, Z:6.92 [[ 6.94191977e-01 -7.19601836e-01 -1.64528621e-02 1.00926800e+03] [ 7.19379907e-01 6.94386683e-01 -1.78796903e-02 1.03486133e+02] [ 2.42909063e-02 5.76079096e-04 9.99704766e-01 6.92430369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.719254154 meters 0.018429751926276428 Centerline is valid? [True, True] Translation: X:1009.31, Y:103.53, Z:6.92 [[ 6.90935332e-01 -7.22749714e-01 -1.55312334e-02 1.00931021e+03] [ 7.22552553e-01 6.91109726e-01 -1.68865449e-02 1.03526684e+02] [ 2.29385319e-02 4.45378170e-04 9.99736778e-01 6.92442759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.779254154 meters 0.017167200675854904 Centerline is valid? [True, True] Translation: X:1009.35, Y:103.57, Z:6.92 [[ 6.87711956e-01 -7.25828949e-01 -1.49867366e-02 1.00935314e+03] [ 7.25645920e-01 6.87875151e-01 -1.63026351e-02 1.03567477e+02] [ 2.21419282e-02 3.36452803e-04 9.99754781e-01 6.92468986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters 0.01656895311409515 Centerline is valid? [True, True] Translation: X:1009.40, Y:103.61, Z:6.92 [[ 6.82167188e-01 -7.31044876e-01 -1.48767235e-02 1.00939827e+03] [ 7.30865636e-01 6.82329363e-01 -1.61883330e-02 1.03606774e+02] [ 2.19852232e-02 1.70263587e-04 9.99758281e-01 6.92445142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters 0.01713066843291938 Centerline is valid? [True, True] Translation: X:1009.44, Y:103.64, Z:6.92 [[ 6.75538614e-01 -7.37167852e-01 -1.52032438e-02 1.00944314e+03] [ 7.36982116e-01 6.75709669e-01 -1.65470233e-02 1.03643513e+02] [ 2.24709125e-02 -2.63655490e-05 9.99747497e-01 6.92424379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.959254154 meters 0.017577583003118694 Centerline is valid? [True, True] Translation: X:1009.49, Y:103.68, Z:6.93 [[ 6.68766967e-01 -7.43331911e-01 -1.44365639e-02 1.00948840e+03] [ 7.43165726e-01 6.68922733e-01 -1.57188219e-02 1.03681831e+02] [ 2.13412477e-02 -2.16530651e-04 9.99772226e-01 6.92527730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.019254154 meters 0.01659191812347142 Centerline is valid? [True, True] Translation: X:1009.53, Y:103.72, Z:6.93 [[ 6.61494813e-01 -7.49840593e-01 -1.27944203e-02 1.00953314e+03] [ 7.49711157e-01 6.61618429e-01 -1.39368417e-02 1.03719710e+02] [ 1.89154340e-02 -3.72971167e-04 9.99821018e-01 6.92501971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters 0.018888285980364815 Centerline is valid? [True, True] Translation: X:1009.58, Y:103.76, Z:6.93 [[ 6.55052526e-01 -7.55478093e-01 -1.26110761e-02 1.00957683e+03] [ 7.55353249e-01 6.55173700e-01 -1.37437958e-02 1.03758804e+02] [ 1.86455820e-02 -5.22909173e-04 9.99826019e-01 6.92575406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters 0.025829049169755904 Centerline is valid? [True, True] Translation: X:1009.62, Y:103.79, Z:6.93 [[ 6.44345187e-01 -7.64638849e-01 -1.21124283e-02 1.00962478e+03] [ 7.64525155e-01 6.44458585e-01 -1.32068312e-02 1.03794689e+02] [ 1.79044146e-02 -7.50497965e-04 9.99839421e-01 6.92708850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.199254154 meters 0.03002172775655121 Centerline is valid? [True, True] Translation: X:1009.67, Y:103.83, Z:6.93 [[ 6.38193270e-01 -7.69793724e-01 -1.12682369e-02 1.00966843e+03] [ 7.69696043e-01 6.38292202e-01 -1.22908586e-02 1.03832722e+02] [ 1.66538535e-02 -8.29174071e-04 9.99860971e-01 6.92803187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.259254154 meters 0.031037475536969908 Centerline is valid? [True, True] Translation: X:1009.71, Y:103.87, Z:6.93 [[ 6.34801094e-01 -7.72606334e-01 -1.03452078e-02 1.00971003e+03] [ 7.72524304e-01 6.34884848e-01 -1.12884651e-02 1.03874383e+02] [ 1.52895553e-02 -8.25994474e-04 9.99882767e-01 6.92837996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters 0.03087062512027555 Centerline is valid? [True, True] Translation: X:1009.75, Y:103.92, Z:6.93 [[ 6.33957799e-01 -7.73293975e-01 -1.06741378e-02 1.00974587e+03] [ 7.73206654e-01 6.34047063e-01 -1.16529952e-02 1.03921834e+02] [ 1.57790967e-02 -8.65807187e-04 9.99875127e-01 6.92920695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters 0.02723030781796203 Centerline is valid? [True, True] Translation: X:1009.78, Y:103.97, Z:6.93 [[ 6.39851901e-01 -7.68415256e-01 -1.12933655e-02 1.00977696e+03] [ 7.68316666e-01 6.39951075e-01 -1.23337993e-02 1.03972663e+02] [ 1.67046809e-02 -7.85075991e-04 9.99860159e-01 6.92841016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.439254154 meters 0.02216973763152516 Centerline is valid? [True, True] Translation: X:1009.80, Y:104.03, Z:6.93 [[ 6.49189080e-01 -7.60537551e-01 -1.16692806e-02 1.00980456e+03] [ 7.60430905e-01 6.49293676e-01 -1.27499362e-02 1.04026736e+02] [ 1.72735953e-02 -5.96562302e-04 9.99850622e-01 6.92837197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.499254154 meters 0.01697115238484627 Centerline is valid? [True, True] Translation: X:1009.83, Y:104.08, Z:6.93 [[ 6.60857782e-01 -7.50432768e-01 -1.08467335e-02 1.00983194e+03] [ 7.50339151e-01 6.60946721e-01 -1.18571028e-02 1.04081637e+02] [ 1.60670714e-02 -3.02870126e-04 9.99870870e-01 6.92911520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.559254154 meters 0.016338220393365105 Centerline is valid? [True, True] Translation: X:1009.86, Y:104.13, Z:6.93 [[ 6.68395022e-01 -7.43739263e-01 -1.00001482e-02 1.00986316e+03] [ 7.43658878e-01 6.68469814e-01 -1.09353160e-02 1.04130516e+02] [ 1.48178211e-02 -1.27588206e-04 9.99890202e-01 6.92990098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters 0.013555521479769801 Centerline is valid? [True, True] Translation: X:1009.89, Y:104.19, Z:6.93 [[ 6.79347950e-01 -7.33769280e-01 -8.30701257e-03 1.00989103e+03] [ 7.33713017e-01 6.79398733e-01 -9.08686800e-03 1.04185193e+02] [ 1.23114384e-02 7.81819005e-05 9.99924208e-01 6.93147945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters 0.018745083826668348 Centerline is valid? [True, True] Translation: X:1009.92, Y:104.24, Z:6.93 [[ 6.86037351e-01 -7.27525220e-01 -7.73353812e-03 1.00992127e+03] [ 7.27476019e-01 6.86080915e-01 -8.46284004e-03 1.04236503e+02] [ 1.14627625e-02 1.79860829e-04 9.99934284e-01 6.93171007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.739254154 meters 0.019954670113231838 Centerline is valid? [True, True] Translation: X:1009.95, Y:104.29, Z:6.93 [[ 6.90322713e-01 -7.23462324e-01 -7.53772973e-03 1.00995499e+03] [ 7.23415307e-01 6.90363822e-01 -8.25147219e-03 1.04285648e+02] [ 1.11734051e-02 2.43269599e-04 9.99937546e-01 6.93127548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.799254154 meters 0.019529982988858923 Centerline is valid? [True, True] Translation: X:1009.99, Y:104.33, Z:6.93 [[ 6.91058475e-01 -7.22748229e-01 -8.55463127e-03 1.00999204e+03] [ 7.22687551e-01 6.91111360e-01 -9.36966549e-03 1.04331164e+02] [ 1.26841120e-02 2.92661219e-04 9.99919511e-01 6.93019632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters 0.01912291176294758 Centerline is valid? [True, True] Translation: X:1010.03, Y:104.37, Z:6.93 [[ 6.90487101e-01 -7.23278139e-01 -9.81310191e-03 1.01002824e+03] [ 7.23198280e-01 6.90556751e-01 -1.07527199e-02 1.04374808e+02] [ 1.45537110e-02 3.27795959e-04 9.99894035e-01 6.92830050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters 0.018512960656837274 Centerline is valid? [True, True] Translation: X:1010.07, Y:104.42, Z:6.93 [[ 6.88000229e-01 -7.25629051e-01 -1.08703856e-02 1.01006945e+03] [ 7.25531268e-01 6.88086029e-01 -1.19162106e-02 1.04417600e+02] [ 1.61265091e-02 3.11550941e-04 9.99869911e-01 6.92726228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.979254154 meters 0.014388461166818666 Centerline is valid? [True, True] Translation: X:1010.11, Y:104.46, Z:6.93 [[ 6.84168951e-01 -7.29232288e-01 -1.15376117e-02 1.01011304e+03] [ 7.29122531e-01 6.84266184e-01 -1.26540367e-02 1.04457970e+02] [ 1.71225297e-02 2.45166359e-04 9.99853369e-01 6.92836592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.039254154 meters 0.016474876777814382 Centerline is valid? [True, True] Translation: X:1010.16, Y:104.50, Z:6.93 [[ 6.78052511e-01 -7.34931579e-01 -1.09711506e-02 1.01015855e+03] [ 7.34832982e-01 6.78141256e-01 -1.20384671e-02 1.04495964e+02] [ 1.62874394e-02 1.00749515e-04 9.99867346e-01 6.92928628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters 0.015725973092379837 Centerline is valid? [True, True] Translation: X:1010.20, Y:104.54, Z:6.93 [[ 6.74331423e-01 -7.38356505e-01 -1.03345840e-02 1.01020112e+03] [ 7.38269355e-01 6.74410610e-01 -1.13440785e-02 1.04535745e+02] [ 1.53457273e-02 1.99619147e-05 9.99882247e-01 6.93074317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters 0.016613126133385135 Centerline is valid? [True, True] Translation: X:1010.25, Y:104.58, Z:6.93 [[ 6.70125496e-01 -7.42203660e-01 -8.09604912e-03 1.01024505e+03] [ 7.42150418e-01 6.70174398e-01 -8.89005136e-03 1.04575918e+02] [ 1.20239935e-02 -5.10361571e-05 9.99927708e-01 6.93358066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.219254154 meters 0.01621699079841098 Centerline is valid? [True, True] Translation: X:1010.29, Y:104.62, Z:6.93 [[ 6.67831344e-01 -7.44274492e-01 -7.53505394e-03 1.01028689e+03] [ 7.44228460e-01 6.67873846e-01 -8.27803705e-03 1.04617025e+02] [ 1.11935973e-02 -7.94689762e-05 9.99937347e-01 6.93452235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.279254154 meters 0.017254429951296512 Centerline is valid? [True, True] Translation: X:1010.33, Y:104.66, Z:6.93 [[ 6.66204771e-01 -7.45734948e-01 -7.11265127e-03 1.01032827e+03] [ 7.45693983e-01 6.66242732e-01 -7.81704201e-03 1.04657557e+02] [ 1.05681936e-02 -9.61105613e-05 9.99944150e-01 6.93421682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters 0.015504065183910185 Centerline is valid? [True, True] Translation: X:1010.37, Y:104.70, Z:6.94 [[ 6.65059724e-01 -7.46756912e-01 -7.04828342e-03 1.01036956e+03] [ 7.46716715e-01 6.65097062e-01 -7.74887574e-03 1.04699336e+02] [ 1.04743191e-02 -1.09605886e-04 9.99945137e-01 6.93550625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters 0.01660040290241268 Centerline is valid? [True, True] Translation: X:1010.41, Y:104.74, Z:6.93 [[ 6.64278087e-01 -7.47449707e-01 -7.31842433e-03 1.01040942e+03] [ 7.47406367e-01 6.64318388e-01 -8.04993873e-03 1.04742766e+02] [ 1.08786882e-02 -1.22439046e-04 9.99940818e-01 6.93461782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.459254154 meters 0.015726275227463945 Centerline is valid? [True, True] Translation: X:1010.45, Y:104.79, Z:6.93 [[ 6.65123815e-01 -7.46693318e-01 -7.70716707e-03 1.01044914e+03] [ 7.46645149e-01 6.65168457e-01 -8.48204933e-03 1.04786087e+02] [ 1.14600540e-02 -1.12905895e-04 9.99934325e-01 6.93431053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.519254154 meters 0.0161570600518357 Centerline is valid? [True, True] Translation: X:1010.49, Y:104.83, Z:6.93 [[ 6.66731953e-01 -7.45265554e-01 -6.91066024e-03 1.01048776e+03] [ 7.45226713e-01 6.66767762e-01 -7.60912231e-03 1.04830480e+02] [ 1.02786222e-02 -7.67636381e-05 9.99947171e-01 6.93433942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters 0.015432898215003156 Centerline is valid? [True, True] Translation: X:1010.53, Y:104.87, Z:6.94 [[ 6.68282216e-01 -7.43879347e-01 -6.51133585e-03 1.01052651e+03] [ 7.43844765e-01 6.68313934e-01 -7.17293342e-03 1.04874687e+02] [ 9.68741350e-03 -4.98792418e-05 9.99953075e-01 6.93556828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters 0.01397544758613404 Centerline is valid? [True, True] Translation: X:1010.56, Y:104.92, Z:6.94 [[ 6.70959628e-01 -7.41465440e-01 -6.49455510e-03 1.01056310e+03] [ 7.41430893e-01 6.70991059e-01 -7.15751478e-03 1.04918805e+02] [ 9.66483825e-03 -1.28603287e-05 9.99953294e-01 6.93596320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.699254154 meters 0.017079481897659524 Centerline is valid? [True, True] Translation: X:1010.60, Y:104.96, Z:6.93 [[ 6.72681819e-01 -7.39902966e-01 -6.54002716e-03 1.01060062e+03] [ 7.39867834e-01 6.72713610e-01 -7.21013698e-03 1.04963783e+02] [ 9.73436702e-03 1.13723227e-05 9.99952620e-01 6.93393142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.759254154 meters 0.013307676952787185 Centerline is valid? [True, True] Translation: X:1010.64, Y:105.01, Z:6.94 [[ 6.77010341e-01 -7.35942159e-01 -6.79234176e-03 1.01063840e+03] [ 7.35904021e-01 6.77044410e-01 -7.49257601e-03 1.05009305e+02] [ 1.01128196e-02 7.40398266e-05 9.99948861e-01 6.93642226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters 0.018738539724695323 Centerline is valid? [True, True] Translation: X:1010.68, Y:105.06, Z:6.93 [[ 6.80742693e-01 -7.32494285e-01 -6.44266848e-03 1.01067550e+03] [ 7.32459783e-01 6.80773169e-01 -7.11043301e-03 1.05055512e+02] [ 9.59434739e-03 1.21379756e-04 9.99953966e-01 6.93315853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters 0.01711510459625622 Centerline is valid? [True, True] Translation: X:1010.71, Y:105.10, Z:6.93 [[ 6.84965946e-01 -7.28542919e-01 -6.84596875e-03 1.01071236e+03] [ 7.28503729e-01 6.85000130e-01 -7.55898580e-03 1.05100047e+02] [ 1.01965351e-02 1.90334094e-04 9.99947996e-01 6.93400652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.939254154 meters 0.015579593031988253 Centerline is valid? [True, True] Translation: X:1010.75, Y:105.14, Z:6.94 [[ 6.87842024e-01 -7.25821039e-01 -7.56101302e-03 1.01075206e+03] [ 7.25773046e-01 6.87883532e-01 -8.35058022e-03 1.05143074e+02] [ 1.12621232e-02 2.56300554e-04 9.99936547e-01 6.93535814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.999254154 meters 0.0188019102542257 Centerline is valid? [True, True] Translation: X:1010.79, Y:105.19, Z:6.93 [[ 6.88501488e-01 -7.25196041e-01 -7.51024739e-03 1.01078986e+03] [ 7.25148636e-01 6.88542396e-01 -8.29604331e-03 1.05187080e+02] [ 1.11873815e-02 2.65792511e-04 9.99937384e-01 6.93296824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.059254154 meters 0.01701985673012483 Centerline is valid? [True, True] Translation: X:1010.83, Y:105.23, Z:6.94 [[ 6.89549490e-01 -7.24194347e-01 -8.00307754e-03 1.01083120e+03] [ 7.24140413e-01 6.89595864e-01 -8.84342145e-03 1.05229153e+02] [ 1.19232450e-02 3.02624872e-04 9.99928870e-01 6.93518170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters 0.020295510277681967 Centerline is valid? [True, True] Translation: X:1010.87, Y:105.27, Z:6.93 [[ 6.88475766e-01 -7.25210748e-01 -8.39587715e-03 1.01087275e+03] [ 7.25151406e-01 6.88526891e-01 -9.28222377e-03 1.05271714e+02] [ 1.25123556e-02 3.02304003e-04 9.99921672e-01 6.93215908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters 0.019087852924000802 Centerline is valid? [True, True] Translation: X:1010.92, Y:105.31, Z:6.93 [[ 6.86567591e-01 -7.27004286e-01 -9.47158630e-03 1.01091622e+03] [ 7.26928855e-01 6.86632851e-01 -1.04769859e-02 1.05311272e+02] [ 1.41203160e-02 3.07989614e-04 9.99900256e-01 6.93187522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.239254154 meters 0.018843889311578984 Centerline is valid? [True, True] Translation: X:1010.96, Y:105.35, Z:6.93 [[ 6.84664211e-01 -7.28797145e-01 -9.46777647e-03 1.01095978e+03] [ 7.28721869e-01 6.84729615e-01 -1.04781478e-02 1.05351543e+02] [ 1.41193111e-02 2.74637012e-04 9.99900280e-01 6.93224443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.299254154 meters 0.01602440031094952 Centerline is valid? [True, True] Translation: X:1011.01, Y:105.39, Z:6.94 [[ 6.81414384e-01 -7.31843623e-01 -8.90779351e-03 1.01100594e+03] [ 7.31777184e-01 6.81472575e-01 -9.86320742e-03 1.05389950e+02] [ 1.32887424e-02 2.02411355e-04 9.99911680e-01 6.93592312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters 0.01795030857476401 Centerline is valid? [True, True] Translation: X:1011.05, Y:105.43, Z:6.93 [[ 6.76731593e-01 -7.36192142e-01 -7.44857932e-03 1.01105021e+03] [ 7.36145919e-01 6.76772577e-01 -8.25012560e-03 1.05427636e+02] [ 1.11146719e-02 9.98793677e-05 9.99938225e-01 6.93498409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters 0.016906398302174972 Centerline is valid? [True, True] Translation: X:1011.10, Y:105.46, Z:6.94 [[ 6.71827881e-01 -7.40669041e-01 -7.52799017e-03 1.01109759e+03] [ 7.40622077e-01 6.71870056e-01 -8.34070314e-03 1.05464116e+02] [ 1.12355318e-02 2.81211987e-05 9.99936879e-01 6.93639932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.479254154 meters 0.01575274477072159 Centerline is valid? [True, True] Translation: X:1011.14, Y:105.50, Z:6.94 [[ 6.69504271e-01 -7.42770884e-01 -7.44614758e-03 1.01114062e+03] [ 7.42725017e-01 6.69545677e-01 -8.25441251e-03 1.05503945e+02] [ 1.11166732e-02 -4.07565529e-06 9.99938208e-01 6.93771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.539254154 meters 0.01452754076768537 Centerline is valid? [True, True] Translation: X:1011.18, Y:105.54, Z:6.94 [[ 6.67861904e-01 -7.44248870e-01 -7.35499127e-03 1.01118302e+03] [ 7.44204166e-01 6.67902402e-01 -8.15724916e-03 1.05541899e+02] [ 1.09834398e-02 -2.56991877e-05 9.99939680e-01 6.93926232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters 0.017086735718777078 Centerline is valid? [True, True] Translation: X:1011.22, Y:105.58, Z:6.94 [[ 6.67540832e-01 -7.44537907e-01 -7.24860268e-03 1.01122463e+03] [ 7.44494467e-01 6.67580186e-01 -8.04264336e-03 1.05582749e+02] [ 1.08270764e-02 -2.77517429e-05 9.99941385e-01 6.93709510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters 0.014392935902698686 Centerline is valid? [True, True] Translation: X:1011.26, Y:105.63, Z:6.94 [[ 6.69496217e-01 -7.42770607e-01 -8.16338825e-03 1.01126457e+03] [ 7.42715309e-01 6.69545985e-01 -9.06331619e-03 1.05625442e+02] [ 1.21977287e-02 4.78247837e-06 9.99925605e-01 6.93919695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.719254154 meters 0.01604242499149961 Centerline is valid? [True, True] Translation: X:1011.30, Y:105.67, Z:6.94 [[ 6.71192201e-01 -7.41231743e-01 -8.74825954e-03 1.01130429e+03] [ 7.41168035e-01 6.71249209e-01 -9.71817463e-03 1.05669065e+02] [ 1.30756818e-02 3.88326871e-05 9.99914509e-01 6.93647879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.779254154 meters 0.015324885421332486 Centerline is valid? [True, True] Translation: X:1011.34, Y:105.71, Z:6.94 [[ 6.71995348e-01 -7.40504000e-01 -8.72228946e-03 1.01134349e+03] [ 7.40440539e-01 6.72051950e-01 -9.69458037e-03 1.05711535e+02] [ 1.30407072e-02 5.63761968e-05 9.99914965e-01 6.93744288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters 0.01614545892450203 Centerline is valid? [True, True] Translation: X:1011.38, Y:105.75, Z:6.94 [[ 6.72384368e-01 -7.40155099e-01 -8.34813118e-03 1.01138266e+03] [ 7.40096888e-01 6.72436187e-01 -9.28284627e-03 1.05752544e+02] [ 1.24843315e-02 6.32148098e-05 9.99922066e-01 6.93792611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters 0.014972301259422451 Centerline is valid? [True, True] Translation: X:1011.42, Y:105.80, Z:6.94 [[ 6.72648529e-01 -7.39933052e-01 -6.56015180e-03 1.01142004e+03] [ 7.39897077e-01 6.72680516e-01 -7.29655078e-03 1.05795387e+02] [ 9.81184538e-03 5.41770051e-05 9.99951861e-01 6.94020256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.959254154 meters 0.01716644389530629 Centerline is valid? [True, True] Translation: X:1011.46, Y:105.84, Z:6.94 [[ 6.72581205e-01 -7.39990773e-01 -6.94107536e-03 1.01145915e+03] [ 7.39950470e-01 6.72617018e-01 -7.72327573e-03 1.05838236e+02] [ 1.03838382e-02 5.84781207e-05 9.99946085e-01 6.93829306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.019254154 meters 0.01481957647238438 Centerline is valid? [True, True] Translation: X:1011.50, Y:105.88, Z:6.94 [[ 6.72758181e-01 -7.39825868e-01 -7.35636670e-03 1.01149743e+03] [ 7.39780534e-01 6.72798396e-01 -8.19030900e-03 1.05881740e+02] [ 1.10087542e-02 6.80004957e-05 9.99939400e-01 6.94038057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters 0.015310258632473817 Centerline is valid? [True, True] Translation: X:1011.54, Y:105.93, Z:6.94 [[ 6.73157658e-01 -7.39456882e-01 -7.89218736e-03 1.01153525e+03] [ 7.39404618e-01 6.73203916e-01 -8.79189470e-03 1.05926512e+02] [ 1.18142785e-02 8.28114648e-05 9.99930206e-01 6.93980880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters 0.015510563857957651 Centerline is valid? [True, True] Translation: X:1011.57, Y:105.97, Z:6.94 [[ 6.74758684e-01 -7.37988158e-01 -8.61377541e-03 1.01157128e+03] [ 7.37925714e-01 6.74813652e-01 -9.60086067e-03 1.05972856e+02] [ 1.28980147e-02 1.21937744e-04 9.99916810e-01 6.93918909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.199254154 meters 0.01528601904525729 Centerline is valid? [True, True] Translation: X:1011.61, Y:106.02, Z:6.94 [[ 6.76810884e-01 -7.36094713e-01 -9.57083677e-03 1.01160658e+03] [ 7.36017376e-01 6.76878528e-01 -1.06714720e-02 1.06019327e+02] [ 1.43335080e-02 1.78266216e-04 9.99897254e-01 6.93964316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.259254154 meters 0.018907112838291284 Centerline is valid? [True, True] Translation: X:1011.64, Y:106.07, Z:6.94 [[ 6.77524295e-01 -7.35423931e-01 -1.06052026e-02 1.01164226e+03] [ 7.35328857e-01 6.77607257e-01 -1.18269820e-02 1.06065529e+02] [ 1.58840079e-02 2.14756155e-04 9.99873818e-01 6.93506365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters 0.017324536406362213 Centerline is valid? [True, True] Translation: X:1011.68, Y:106.11, Z:6.94 [[ 6.77722912e-01 -7.35243696e-01 -1.04097627e-02 1.01167997e+03] [ 7.35152000e-01 6.77802818e-01 -1.16136032e-02 1.06109263e+02] [ 1.55945950e-02 2.18047103e-04 9.99878373e-01 6.93749210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters 0.015482240240446633 Centerline is valid? [True, True] Translation: X:1011.72, Y:106.15, Z:6.94 [[ 6.76921481e-01 -7.35989475e-01 -9.83877935e-03 1.01171930e+03] [ 7.35907559e-01 6.76992951e-01 -1.09821891e-02 1.06152764e+02] [ 1.47435599e-02 1.93647642e-04 9.99891289e-01 6.94161512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.439254154 meters 0.014695384595513587 Centerline is valid? [True, True] Translation: X:1011.76, Y:106.19, Z:6.94 [[ 6.74333866e-01 -7.38363484e-01 -9.65416772e-03 1.01176042e+03] [ 7.38284779e-01 6.74402955e-01 -1.07814364e-02 1.06194431e+02] [ 1.44714182e-02 1.42762597e-04 9.99895273e-01 6.94312408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.499254154 meters 0.017530145686336828 Centerline is valid? [True, True] Translation: X:1011.80, Y:106.24, Z:6.94 [[ 6.70311964e-01 -7.42010706e-01 -1.00986987e-02 1.01180226e+03] [ 7.41924909e-01 6.70388027e-01 -1.12837041e-02 1.06235964e+02] [ 1.51426759e-02 7.11257291e-05 9.99885341e-01 6.94128237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.559254154 meters 0.01584274431520043 Centerline is valid? [True, True] Translation: X:1011.84, Y:106.28, Z:6.94 [[ 6.67920955e-01 -7.44168320e-01 -9.75240806e-03 1.01184320e+03] [ 7.44088460e-01 6.67992149e-01 -1.09019986e-02 1.06279026e+02] [ 1.46274540e-02 2.50190282e-05 9.99893013e-01 6.94367961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters 0.016200545077849977 Centerline is valid? [True, True] Translation: X:1011.88, Y:106.32, Z:6.94 [[ 6.67347966e-01 -7.44675705e-01 -1.02365565e-02 1.01188228e+03] [ 7.44587682e-01 6.67426471e-01 -1.14494316e-02 1.06322039e+02] [ 1.53582623e-02 1.87409982e-05 9.99882055e-01 6.94402834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters 0.016734516949709375 Centerline is valid? [True, True] Translation: X:1011.92, Y:106.37, Z:6.94 [[ 6.68328068e-01 -7.43784108e-01 -1.10812930e-02 1.01191991e+03] [ 7.43680750e-01 6.68419927e-01 -1.23993017e-02 1.06365697e+02] [ 1.66293606e-02 4.58570576e-05 9.99861722e-01 6.94385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.739254154 meters 0.016831562285424404 Centerline is valid? [True, True] Translation: X:1011.96, Y:106.41, Z:6.95 [[ 6.70266489e-01 -7.42039517e-01 -1.09630737e-02 1.01195750e+03] [ 7.41938040e-01 6.70356134e-01 -1.22718535e-02 1.06411356e+02] [ 1.64553640e-02 9.14907432e-05 9.99864597e-01 6.94515580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.799254154 meters 0.016256830992528712 Centerline is valid? [True, True] Translation: X:1011.99, Y:106.46, Z:6.95 [[ 6.72919258e-01 -7.39640558e-01 -1.05601813e-02 1.01199410e+03] [ 7.39546013e-01 6.73002098e-01 -1.18267047e-02 1.06457482e+02] [ 1.58545346e-02 1.48677364e-04 9.99874298e-01 6.94628490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters 0.016734028387845608 Centerline is valid? [True, True] Translation: X:1012.03, Y:106.50, Z:6.95 [[ 6.74694923e-01 -7.38013246e-01 -1.10999827e-02 1.01203120e+03] [ 7.37908501e-01 6.74786195e-01 -1.24352652e-02 1.06502532e+02] [ 1.66675055e-02 1.99238708e-04 9.99861068e-01 6.94606943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters 0.016340220859279723 Centerline is valid? [True, True] Translation: X:1012.07, Y:106.55, Z:6.95 [[ 6.77232685e-01 -7.35686098e-01 -1.10388843e-02 1.01206877e+03] [ 7.35582115e-01 6.77322596e-01 -1.23714789e-02 1.06548498e+02] [ 1.65784108e-02 2.58364018e-04 9.99862535e-01 6.94724807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.979254154 meters 0.015967432094847467 Centerline is valid? [True, True] Translation: X:1012.11, Y:106.59, Z:6.95 [[ 6.78453859e-01 -7.34554773e-01 -1.13862639e-02 1.01210703e+03] [ 7.34443870e-01 6.78549332e-01 -1.27673494e-02 1.06592946e+02] [ 1.71044592e-02 2.99485759e-04 9.99853663e-01 6.94835171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.039254154 meters 0.01922799274554946 Centerline is valid? [True, True] Translation: X:1012.14, Y:106.64, Z:6.94 [[ 6.78497835e-01 -7.34500092e-01 -1.22598088e-02 1.01214448e+03] [ 7.34371413e-01 6.78608508e-01 -1.37521314e-02 1.06636905e+02] [ 1.84205523e-02 3.27538245e-04 9.99830274e-01 6.94474431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters 0.016626926121972543 Centerline is valid? [True, True] Translation: X:1012.18, Y:106.68, Z:6.95 [[ 6.79083331e-01 -7.33983840e-01 -1.06560770e-02 1.01218377e+03] [ 7.33886480e-01 6.79166866e-01 -1.19583766e-02 1.06679821e+02] [ 1.60145096e-02 3.00383414e-04 9.99871714e-01 6.94871814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters 0.016116342699304818 Centerline is valid? [True, True] Translation: X:1012.22, Y:106.72, Z:6.95 [[ 6.79343072e-01 -7.33749834e-01 -1.02064795e-02 1.01222401e+03] [ 7.33660390e-01 6.79419674e-01 -1.14603289e-02 1.06722249e+02] [ 1.53434974e-02 2.97405343e-04 9.99882237e-01 6.94993236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.219254154 meters 0.0162755913231578 Centerline is valid? [True, True] Translation: X:1012.26, Y:106.77, Z:6.95 [[ 6.79479563e-01 -7.33630575e-01 -9.68001770e-03 1.01226276e+03] [ 7.33550018e-01 6.79548450e-01 -1.08754375e-02 1.06765449e+02] [ 1.45565945e-02 2.88860346e-04 9.99894005e-01 6.95049360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.279254154 meters 0.017015815409651493 Centerline is valid? [True, True] Translation: X:1012.30, Y:106.81, Z:6.95 [[ 6.80274714e-01 -7.32896691e-01 -9.42093660e-03 1.01230020e+03] [ 7.32820263e-01 6.80339879e-01 -1.05882403e-02 1.06809197e+02] [ 1.41695252e-02 2.99058923e-04 9.99899563e-01 6.95063985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters 0.017418378202652383 Centerline is valid? [True, True] Translation: X:1012.34, Y:106.85, Z:6.95 [[ 6.81651442e-01 -7.31605803e-01 -1.02108134e-02 1.01233800e+03] [ 7.31515811e-01 6.81727821e-01 -1.14802427e-02 1.06854901e+02] [ 1.53600078e-02 3.56152572e-04 9.99881965e-01 6.94968361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters 0.02144771126564285 Centerline is valid? [True, True] Translation: X:1012.37, Y:106.90, Z:6.94 [[ 6.83337632e-01 -7.30002993e-01 -1.20545061e-02 1.01237356e+03] [ 7.29877185e-01 6.83443788e-01 -1.35603841e-02 1.06902088e+02] [ 1.81376983e-02 4.68011764e-04 9.99835389e-01 6.94482744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.459254154 meters 0.020326136414936746 Centerline is valid? [True, True] Translation: X:1012.41, Y:106.95, Z:6.95 [[ 6.84758889e-01 -7.28678047e-01 -1.15571589e-02 1.01241080e+03] [ 7.28562106e-01 6.84856239e-01 -1.30072996e-02 1.06948268e+02] [ 1.73931261e-02 4.86756006e-04 9.99848610e-01 6.94668211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.519254154 meters 0.02017124115951244 Centerline is valid? [True, True] Translation: X:1012.45, Y:106.99, Z:6.95 [[ 6.84865504e-01 -7.28588665e-01 -1.08534801e-02 1.01244744e+03] [ 7.28486298e-01 6.84951343e-01 -1.22217614e-02 1.06993600e+02] [ 1.63387426e-02 4.63651222e-04 9.99866406e-01 6.94806961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters 0.02234942969999059 Centerline is valid? [True, True] Translation: X:1012.49, Y:107.04, Z:6.95 [[ 6.83791934e-01 -7.29592656e-01 -1.10972116e-02 1.01248696e+03] [ 7.29485661e-01 6.83881825e-01 -1.25028227e-02 1.07037653e+02] [ 1.67111489e-02 4.54072556e-04 9.99860256e-01 6.94764893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters 0.01729067362770912 Centerline is valid? [True, True] Translation: X:1012.53, Y:107.08, Z:6.95 [[ 6.81648635e-01 -7.31622681e-01 -9.13183857e-03 1.01252893e+03] [ 7.31550347e-01 6.81709718e-01 -1.02932497e-02 1.07079320e+02] [ 1.37560380e-02 3.35979919e-04 9.99905325e-01 6.95322513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.699254154 meters 0.018156885848004144 Centerline is valid? [True, True] Translation: X:1012.57, Y:107.12, Z:6.95 [[ 6.79505021e-01 -7.33597344e-01 -1.03857203e-02 1.01256870e+03] [ 7.33503911e-01 6.79584300e-01 -1.17129406e-02 1.07122544e+02] [ 1.56505546e-02 3.41035489e-04 9.99877464e-01 6.95073279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.759254154 meters 0.015570243954999992 Centerline is valid? [True, True] Translation: X:1012.61, Y:107.16, Z:6.95 [[ 6.76494448e-01 -7.36367351e-01 -1.08805420e-02 1.01261050e+03] [ 7.36265057e-01 6.76581878e-01 -1.22771555e-02 1.07164952e+02] [ 1.64020741e-02 2.94464651e-04 9.99865434e-01 6.95128813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters 0.014857497878643815 Centerline is valid? [True, True] Translation: X:1012.65, Y:107.21, Z:6.95 [[ 6.73138421e-01 -7.39418429e-01 -1.20437879e-02 1.01265206e+03] [ 7.39293449e-01 6.73246110e-01 -1.35967477e-02 1.07206347e+02] [ 1.81621192e-02 2.48599828e-04 9.99835024e-01 6.95090160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters 0.014362922002053618 Centerline is valid? [True, True] Translation: X:1012.69, Y:107.25, Z:6.95 [[ 6.69952356e-01 -7.42307715e-01 -1.19622938e-02 1.01269413e+03] [ 7.42184756e-01 6.70059121e-01 -1.35115647e-02 1.07247689e+02] [ 1.80451828e-02 1.73872512e-04 9.99837157e-01 6.95091775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.939254154 meters 0.014321176558742111 Centerline is valid? [True, True] Translation: X:1012.73, Y:107.29, Z:6.95 [[ 6.69204566e-01 -7.42987711e-01 -1.15978707e-02 1.01273396e+03] [ 7.42872118e-01 6.69305041e-01 -1.31064443e-02 1.07290653e+02] [ 1.75004404e-02 1.55157618e-04 9.99846844e-01 6.95157872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.999254154 meters 0.014377906062688905 Centerline is valid? [True, True] Translation: X:1012.77, Y:107.33, Z:6.95 [[ 6.69786667e-01 -7.42471964e-01 -1.10092509e-02 1.01277272e+03] [ 7.42367627e-01 6.69877119e-01 -1.24479283e-02 1.07334159e+02] [ 1.66170830e-02 1.64544894e-04 9.99861913e-01 6.95318384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.059254154 meters 0.016381901541267594 Centerline is valid? [True, True] Translation: X:1012.81, Y:107.38, Z:6.95 [[ 6.71160970e-01 -7.41228253e-01 -1.11188457e-02 1.01280983e+03] [ 7.41121586e-01 6.71253035e-01 -1.25761103e-02 1.07378419e+02] [ 1.67853272e-02 2.00177822e-04 9.99859096e-01 6.95170311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters 0.016366835277367334 Centerline is valid? [True, True] Translation: X:1012.85, Y:107.42, Z:6.95 [[ 6.72527532e-01 -7.39999044e-01 -1.03987238e-02 1.01284769e+03] [ 7.39905534e-01 6.72607885e-01 -1.17657778e-02 1.07423208e+02] [ 1.57009280e-02 2.18736217e-04 9.99876709e-01 6.95262126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters 0.015215515498651012 Centerline is valid? [True, True] Translation: X:1012.89, Y:107.47, Z:6.96 [[ 6.73745132e-01 -7.38896134e-01 -1.00000111e-02 1.01288646e+03] [ 7.38809452e-01 6.73819298e-01 -1.13202293e-02 1.07468162e+02] [ 1.51026741e-02 2.38846677e-04 9.99885920e-01 6.95536387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.239254154 meters 0.01564237153282609 Centerline is valid? [True, True] Translation: X:1012.92, Y:107.51, Z:6.96 [[ 6.75072172e-01 -7.37688349e-01 -9.66762558e-03 1.01292383e+03] [ 7.37607130e-01 6.75141342e-01 -1.09494374e-02 1.07513520e+02] [ 1.46042861e-02 2.60750914e-04 9.99893318e-01 6.95626009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.299254154 meters 0.016658283193937425 Centerline is valid? [True, True] Translation: X:1012.96, Y:107.56, Z:6.96 [[ 6.75759395e-01 -7.37054745e-01 -9.97710987e-03 1.01296024e+03] [ 7.36968117e-01 6.75832983e-01 -1.13037204e-02 1.07558877e+02] [ 1.50743207e-02 2.85783404e-04 9.99886335e-01 6.95513441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters 0.016121030772718797 Centerline is valid? [True, True] Translation: X:1013.00, Y:107.60, Z:6.96 [[ 6.75108633e-01 -7.37651212e-01 -9.95104595e-03 1.01300053e+03] [ 7.37565033e-01 6.75181912e-01 -1.12786606e-02 1.07601231e+02] [ 1.50384839e-02 2.74777627e-04 9.99886878e-01 6.95537024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters 0.016877135867019454 Centerline is valid? [True, True] Translation: X:1013.04, Y:107.64, Z:6.95 [[ 6.73278581e-01 -7.39306979e-01 -1.10064894e-02 1.01303951e+03] [ 7.39201693e-01 6.73368487e-01 -1.24794788e-02 1.07643678e+02] [ 1.66375889e-02 2.66150226e-04 9.99861550e-01 6.95363046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.479254154 meters 0.016831008338660396 Centerline is valid? [True, True] Translation: X:1013.08, Y:107.69, Z:6.95 [[ 6.71109305e-01 -7.41266824e-01 -1.16532139e-02 1.01308041e+03] [ 7.41149004e-01 6.71210430e-01 -1.32178891e-02 1.07686374e+02] [ 1.76197414e-02 2.33880510e-04 9.99844733e-01 6.95322479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.539254154 meters 0.014440787026002997 Centerline is valid? [True, True] Translation: X:1013.12, Y:107.73, Z:6.96 [[ 6.69901381e-01 -7.42361488e-01 -1.14699899e-02 1.01312076e+03] [ 7.42247390e-01 6.69999536e-01 -1.30166551e-02 1.07728903e+02] [ 1.73479514e-02 2.06305180e-04 9.99849492e-01 6.95641406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters 0.014774842773338216 Centerline is valid? [True, True] Translation: X:1013.16, Y:107.77, Z:6.96 [[ 6.68945325e-01 -7.43224499e-01 -1.13796203e-02 1.01316023e+03] [ 7.43112204e-01 6.69042083e-01 -1.29206599e-02 1.07773036e+02] [ 1.72163958e-02 1.86880335e-04 9.99851769e-01 6.95639251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters 0.015100273648273049 Centerline is valid? [True, True] Translation: X:1013.20, Y:107.82, Z:6.96 [[ 6.68365026e-01 -7.43746680e-01 -1.13607645e-02 1.01319869e+03] [ 7.43634710e-01 6.68461550e-01 -1.29063615e-02 1.07816450e+02] [ 1.71932978e-02 1.77901814e-04 9.99852169e-01 6.95638003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.719254154 meters 0.014766054339257411 Centerline is valid? [True, True] Translation: X:1013.24, Y:107.86, Z:6.96 [[ 6.69116380e-01 -7.43070612e-01 -1.13725468e-02 1.01323640e+03] [ 7.42958227e-01 6.69212990e-01 -1.29246562e-02 1.07860587e+02] [ 1.72145883e-02 1.98771966e-04 9.99851798e-01 6.95812396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.779254154 meters 0.015126387394166177 Centerline is valid? [True, True] Translation: X:1013.27, Y:107.91, Z:6.96 [[ 6.70884248e-01 -7.41476114e-01 -1.12915459e-02 1.01327377e+03] [ 7.41365010e-01 6.70979221e-01 -1.28377282e-02 1.07906355e+02] [ 1.70952615e-02 2.41472630e-04 9.99853836e-01 6.95911889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters 0.016090026379244896 Centerline is valid? [True, True] Translation: X:1013.31, Y:107.95, Z:6.96 [[ 6.72178610e-01 -7.40299076e-01 -1.15409712e-02 1.01331116e+03] [ 7.40182720e-01 6.72277620e-01 -1.31279253e-02 1.07951546e+02] [ 1.74773276e-02 2.81883138e-04 9.99847220e-01 6.95879347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters 0.016354545207367722 Centerline is valid? [True, True] Translation: X:1013.35, Y:108.00, Z:6.96 [[ 6.74561300e-01 -7.38128040e-01 -1.15779517e-02 1.01334772e+03] [ 7.38010500e-01 6.74660565e-01 -1.31766051e-02 1.07998247e+02] [ 1.75372092e-02 3.43777969e-04 9.99846152e-01 6.96036859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.959254154 meters 0.0180016854052088 Centerline is valid? [True, True] Translation: X:1013.39, Y:108.04, Z:6.96 [[ 6.74647856e-01 -7.38046715e-01 -1.17182194e-02 1.01338566e+03] [ 7.37926179e-01 6.74749525e-01 -1.33429290e-02 1.08042867e+02] [ 1.77545679e-02 3.54597597e-04 9.99842312e-01 6.95863178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.019254154 meters 0.016390225531851373 Centerline is valid? [True, True] Translation: X:1013.42, Y:108.09, Z:6.96 [[ 6.75647781e-01 -7.37144235e-01 -1.08835774e-02 1.01342463e+03] [ 7.37040041e-01 6.75735340e-01 -1.23986748e-02 1.08086533e+02] [ 1.64940295e-02 3.55504765e-04 9.99863901e-01 6.96314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters 0.017728085949776894 Centerline is valid? [True, True] Translation: X:1013.46, Y:108.13, Z:6.96 [[ 6.75169057e-01 -7.37584013e-01 -1.07966582e-02 1.01346292e+03] [ 7.37481455e-01 6.75255288e-01 -1.23044285e-02 1.08130524e+02] [ 1.63660503e-02 3.45234137e-04 9.99866008e-01 6.96226611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters 0.018029413143955723 Centerline is valid? [True, True] Translation: X:1013.50, Y:108.17, Z:6.96 [[ 6.74893485e-01 -7.37832340e-01 -1.10554547e-02 1.01349973e+03] [ 7.37724763e-01 6.74983938e-01 -1.26038674e-02 1.08174176e+02] [ 1.67617953e-02 3.50385247e-04 9.99859450e-01 6.96222252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.199254154 meters 0.016580184903594558 Centerline is valid? [True, True] Translation: X:1013.54, Y:108.22, Z:6.96 [[ 6.74948981e-01 -7.37767701e-01 -1.19453970e-02 1.01353928e+03] [ 7.37641979e-01 6.75054569e-01 -1.36249441e-02 1.08218104e+02] [ 1.81158385e-02 3.84715871e-04 9.99835821e-01 6.96353568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.259254154 meters 0.01764454413493319 Centerline is valid? [True, True] Translation: X:1013.57, Y:108.26, Z:6.96 [[ 6.74736079e-01 -7.37954770e-01 -1.24089011e-02 1.01357495e+03] [ 7.37819026e-01 6.74850057e-01 -1.41593164e-02 1.08262083e+02] [ 1.88230827e-02 3.98278289e-04 9.99822751e-01 6.96206071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters 0.016240487824926677 Centerline is valid? [True, True] Translation: X:1013.62, Y:108.30, Z:6.96 [[ 6.73282264e-01 -7.39297489e-01 -1.14112130e-02 1.01361633e+03] [ 7.39182793e-01 6.73378876e-01 -1.30264439e-02 1.08304018e+02] [ 1.73144870e-02 3.35501348e-04 9.99850037e-01 6.96469322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters 0.016913827559771184 Centerline is valid? [True, True] Translation: X:1013.66, Y:108.35, Z:6.96 [[ 6.70755056e-01 -7.41600839e-01 -1.07633441e-02 1.01365702e+03] [ 7.41498995e-01 6.70841356e-01 -1.22929025e-02 1.08346366e+02] [ 1.63369232e-02 2.64517662e-04 9.99866509e-01 6.96475044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.439254154 meters 0.014969292073786439 Centerline is valid? [True, True] Translation: X:1013.70, Y:108.39, Z:6.97 [[ 6.67901355e-01 -7.44171851e-01 -1.07720249e-02 1.01369640e+03] [ 7.44070103e-01 6.67988184e-01 -1.23072346e-02 1.08388525e+02] [ 1.63542829e-02 2.04877025e-04 9.99866239e-01 6.96662532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.499254154 meters 0.014446081333798228 Centerline is valid? [True, True] Translation: X:1013.74, Y:108.43, Z:6.97 [[ 6.65936684e-01 -7.45927988e-01 -1.09439464e-02 1.01373674e+03] [ 7.45823117e-01 6.66026583e-01 -1.25087441e-02 1.08431125e+02] [ 1.66195815e-02 1.67783360e-04 9.99861871e-01 6.96717654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.559254154 meters 0.016364996654591096 Centerline is valid? [True, True] Translation: X:1013.78, Y:108.47, Z:6.96 [[ 6.62266935e-01 -7.49167266e-01 -1.22846988e-02 1.01377749e+03] [ 7.49035577e-01 6.62380855e-01 -1.40466064e-02 1.08474414e+02] [ 1.86604070e-02 1.00926481e-04 9.99825874e-01 6.96442924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters 0.016153869707543615 Centerline is valid? [True, True] Translation: X:1013.82, Y:108.52, Z:6.96 [[ 6.58221140e-01 -7.52720980e-01 -1.24923003e-02 1.01381748e+03] [ 7.52585365e-01 6.58339674e-01 -1.42878196e-02 1.08515865e+02] [ 1.89789185e-02 3.02254305e-06 9.99819884e-01 6.96345217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters 0.01758589305902384 Centerline is valid? [True, True] Translation: X:1013.86, Y:108.56, Z:6.97 [[ 6.55572245e-01 -7.55024402e-01 -1.27743469e-02 1.01385781e+03] [ 7.54882912e-01 6.55696690e-01 -1.46164336e-02 1.08558428e+02] [ 1.94118610e-02 -6.10079376e-05 9.99811570e-01 6.96504985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.739254154 meters 0.01392989235169384 Centerline is valid? [True, True] Translation: X:1013.90, Y:108.60, Z:6.97 [[ 6.53638660e-01 -7.56732762e-01 -1.05843917e-02 1.01389716e+03] [ 7.56635762e-01 6.53724345e-01 -1.21163050e-02 1.08602494e+02] [ 1.60880795e-02 -8.88439326e-05 9.99870575e-01 6.97069582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.799254154 meters 0.01692470674568124 Centerline is valid? [True, True] Translation: X:1013.93, Y:108.65, Z:6.97 [[ 6.53269290e-01 -7.57046207e-01 -1.09670162e-02 1.01393404e+03] [ 7.56942029e-01 6.53361333e-01 -1.25591931e-02 1.08646629e+02] [ 1.66733138e-02 -9.68603629e-05 9.99860986e-01 6.96868380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters 0.013682865797652252 Centerline is valid? [True, True] Translation: X:1013.97, Y:108.69, Z:6.97 [[ 6.55841892e-01 -7.54822617e-01 -1.06878332e-02 1.01397031e+03] [ 7.54723298e-01 6.55928972e-01 -1.22444817e-02 1.08693527e+02] [ 1.62528712e-02 -3.59126908e-05 9.99867913e-01 6.97169935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters 0.0158358850462463 Centerline is valid? [True, True] Translation: X:1014.01, Y:108.74, Z:6.97 [[ 6.57991171e-01 -7.52929154e-01 -1.20543672e-02 1.01400683e+03] [ 7.52802360e-01 6.58101579e-01 -1.38173328e-02 1.08740097e+02] [ 1.83364708e-02 1.71268696e-05 9.99831873e-01 6.97001624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.979254154 meters 0.014203381966627338 Centerline is valid? [True, True] Translation: X:1014.04, Y:108.79, Z:6.97 [[ 6.63591564e-01 -7.47995354e-01 -1.22141983e-02 1.01403953e+03] [ 7.47864199e-01 6.63703944e-01 -1.40076761e-02 1.08789699e+02] [ 1.85842882e-02 1.60814085e-04 9.99827284e-01 6.97123580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.039254154 meters 0.016639086074718333 Centerline is valid? [True, True] Translation: X:1014.07, Y:108.84, Z:6.97 [[ 6.69079154e-01 -7.43083611e-01 -1.26425247e-02 1.01407230e+03] [ 7.42942069e-01 6.69198513e-01 -1.45063030e-02 1.08839447e+02] [ 1.92397547e-02 3.13201446e-04 9.99814850e-01 6.96999526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters 0.017066342156032217 Centerline is valid? [True, True] Translation: X:1014.10, Y:108.89, Z:6.97 [[ 6.72997535e-01 -7.39563235e-01 -1.09789872e-02 1.01410453e+03] [ 7.39455959e-01 6.73086985e-01 -1.26013696e-02 1.08887283e+02] [ 1.67093231e-02 3.62213151e-04 9.99860324e-01 6.97286549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters 0.017961486913641838 Centerline is valid? [True, True] Translation: X:1014.14, Y:108.93, Z:6.97 [[ 6.73607699e-01 -7.39016521e-01 -1.03561468e-02 1.01414144e+03] [ 7.38920936e-01 6.73687208e-01 -1.18909886e-02 1.08933886e+02] [ 1.57644407e-02 3.57487783e-04 9.99875670e-01 6.97326828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.219254154 meters 0.017009390853384664 Centerline is valid? [True, True] Translation: X:1014.18, Y:108.98, Z:6.98 [[ 6.73600810e-01 -7.39028580e-01 -9.93514635e-03 1.01417572e+03] [ 7.38940517e-01 6.73673985e-01 -1.14137478e-02 1.08980710e+02] [ 1.51281354e-02 3.46827559e-04 9.99885503e-01 6.97570536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.279254154 meters 0.018493065102569445 Centerline is valid? [True, True] Translation: X:1014.21, Y:109.03, Z:6.97 [[ 6.73073488e-01 -7.39485967e-01 -1.15145431e-02 1.01421241e+03] [ 7.39367612e-01 6.73171857e-01 -1.32357533e-02 1.09026814e+02] [ 1.75389202e-02 3.95154379e-04 9.99846103e-01 6.97241166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters 0.016780399015852532 Centerline is valid? [True, True] Translation: X:1014.25, Y:109.07, Z:6.97 [[ 6.72977127e-01 -7.39557601e-01 -1.25036227e-02 1.01424908e+03] [ 7.39417907e-01 6.73093134e-01 -1.43802195e-02 1.09073503e+02] [ 1.90511032e-02 4.32156335e-04 9.99818418e-01 6.97321297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters 0.01580588787348857 Centerline is valid? [True, True] Translation: X:1014.29, Y:109.12, Z:6.97 [[ 6.70591057e-01 -7.41710189e-01 -1.31768916e-02 1.01428838e+03] [ 7.41555298e-01 6.70720388e-01 -1.51624720e-02 1.09117039e+02] [ 2.00841698e-02 3.96424335e-04 9.99798214e-01 6.97409069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.459254154 meters 0.014873971157468751 Centerline is valid? [True, True] Translation: X:1014.33, Y:109.16, Z:6.98 [[ 6.67579323e-01 -7.44429145e-01 -1.27708887e-02 1.01432888e+03] [ 7.44284007e-01 6.67701394e-01 -1.47025496e-02 1.09160358e+02] [ 1.94721467e-02 3.09949899e-04 9.99810352e-01 6.97563403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.519254154 meters 0.014876965909617417 Centerline is valid? [True, True] Translation: X:1014.37, Y:109.20, Z:6.98 [[ 6.61801262e-01 -7.49584617e-01 -1.19160217e-02 1.01436913e+03] [ 7.49459001e-01 6.61908512e-01 -1.37232334e-02 1.09202268e+02] [ 1.81740408e-02 1.51483441e-04 9.99834827e-01 6.97554406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters 0.01341748041465934 Centerline is valid? [True, True] Translation: X:1014.41, Y:109.24, Z:6.98 [[ 6.57087939e-01 -7.53729895e-01 -1.12555096e-02 1.01441072e+03] [ 7.53618330e-01 6.57184330e-01 -1.29679846e-02 1.09244457e+02] [ 1.71713022e-02 3.87479244e-05 9.99852562e-01 6.97866574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters 0.016903967879485515 Centerline is valid? [True, True] Translation: X:1014.45, Y:109.29, Z:6.98 [[ 6.53638676e-01 -7.56710170e-01 -1.20913180e-02 1.01444988e+03] [ 7.56581792e-01 6.53750501e-01 -1.39382322e-02 1.09288580e+02] [ 1.84519072e-02 -3.75034337e-05 9.99829748e-01 6.97628448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.699254154 meters 0.013406750733042429 Centerline is valid? [True, True] Translation: X:1014.49, Y:109.33, Z:6.98 [[ 6.54067750e-01 -7.56349612e-01 -1.14299183e-02 1.01448702e+03] [ 7.56234727e-01 6.54167611e-01 -1.31823257e-02 1.09334721e+02] [ 1.74475293e-02 -2.15669936e-05 9.99847780e-01 6.97994908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.759254154 meters 0.013310373949737388 Centerline is valid? [True, True] Translation: X:1014.52, Y:109.38, Z:6.98 [[ 6.55558911e-01 -7.55058447e-01 -1.13690789e-02 1.01452176e+03] [ 7.54944462e-01 6.55657487e-01 -1.31193950e-02 1.09381964e+02] [ 1.73601318e-02 1.75131190e-05 9.99849301e-01 6.98072655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.819254154 meters 0.015533569428663447 Centerline is valid? [True, True] Translation: X:1014.56, Y:109.43, Z:6.98 [[ 6.56198384e-01 -7.54492375e-01 -1.20389713e-02 1.01455750e+03] [ 7.54364326e-01 6.56308810e-01 -1.38999948e-02 1.09429305e+02] [ 1.83887230e-02 3.93836487e-05 9.99830912e-01 6.97824421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters 0.013527305310450545 Centerline is valid? [True, True] Translation: X:1014.59, Y:109.48, Z:6.98 [[ 6.57934914e-01 -7.52974696e-01 -1.22782811e-02 1.01459319e+03] [ 7.52841104e-01 6.58049466e-01 -1.41835451e-02 1.09476217e+02] [ 1.87595669e-02 8.82548421e-05 9.99824020e-01 6.98063872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.939254154 meters 0.016100753435890767 Centerline is valid? [True, True] Translation: X:1014.63, Y:109.52, Z:6.98 [[ 6.59050034e-01 -7.51983749e-01 -1.31716961e-02 1.01462778e+03] [ 7.51829648e-01 6.59181632e-01 -1.52235735e-02 1.09524426e+02] [ 2.01304200e-02 1.30225017e-04 9.99797354e-01 6.97827370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.999254154 meters 0.015961744466902492 Centerline is valid? [True, True] Translation: X:1014.66, Y:109.57, Z:6.98 [[ 6.61014165e-01 -7.50253019e-01 -1.34417755e-02 1.01466301e+03] [ 7.50092007e-01 6.61150793e-01 -1.55438352e-02 1.09572345e+02] [ 2.05488498e-02 1.92126906e-04 9.99788832e-01 6.97870638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.059254154 meters 0.01771713713027541 Centerline is valid? [True, True] Translation: X:1014.70, Y:109.62, Z:6.98 [[ 6.63158672e-01 -7.48351138e-01 -1.38257264e-02 1.01469684e+03] [ 7.48180281e-01 6.63302726e-01 -1.59925468e-02 1.09619199e+02] [ 2.11386826e-02 2.61460209e-04 9.99776519e-01 6.97733620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters 0.01466363213491981 Centerline is valid? [True, True] Translation: X:1014.73, Y:109.66, Z:6.98 [[ 6.64925690e-01 -7.46798300e-01 -1.28889606e-02 1.01473345e+03] [ 7.46649405e-01 6.65050534e-01 -1.49148746e-02 1.09664844e+02] [ 1.97102131e-02 2.93748536e-04 9.99805692e-01 6.98162788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters 0.015114315994382663 Centerline is valid? [True, True] Translation: X:1014.77, Y:109.71, Z:6.98 [[ 6.66180104e-01 -7.45689324e-01 -1.23085961e-02 1.01476937e+03] [ 7.45553213e-01 6.66293728e-01 -1.42504418e-02 1.09711933e+02] [ 1.88275426e-02 3.16647434e-04 9.99822696e-01 6.98312260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.239254154 meters 0.016993434015078312 Centerline is valid? [True, True] Translation: X:1014.81, Y:109.76, Z:6.98 [[ 6.67474541e-01 -7.44526411e-01 -1.25761689e-02 1.01480548e+03] [ 7.44383965e-01 6.67592909e-01 -1.45678151e-02 1.09758358e+02] [ 1.92418843e-02 3.62147214e-04 9.99814792e-01 6.98214792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.299254154 meters 0.019356031213547387 Centerline is valid? [True, True] Translation: X:1014.84, Y:109.81, Z:6.98 [[ 6.69532118e-01 -7.42665487e-01 -1.32180653e-02 1.01484092e+03] [ 7.42507601e-01 6.69662436e-01 -1.53194061e-02 1.09805490e+02] [ 2.02288360e-02 4.42320469e-04 9.99795278e-01 6.98099477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters 0.01848071803937152 Centerline is valid? [True, True] Translation: X:1014.88, Y:109.85, Z:6.98 [[ 6.72267877e-01 -7.40187073e-01 -1.33790528e-02 1.01487731e+03] [ 7.40024663e-01 6.72400786e-01 -1.55138868e-02 1.09852215e+02] [ 2.04792640e-02 5.28658698e-04 9.99790138e-01 6.98217611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters 0.021147347844916727 Centerline is valid? [True, True] Translation: X:1014.91, Y:109.90, Z:6.98 [[ 6.72815285e-01 -7.39673430e-01 -1.42411137e-02 1.01491257e+03] [ 7.39489194e-01 6.72965733e-01 -1.65182781e-02 1.09898648e+02] [ 2.18019129e-02 5.82600272e-04 9.99762140e-01 6.97976609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.479254154 meters 0.020014918621113983 Centerline is valid? [True, True] Translation: X:1014.96, Y:109.94, Z:6.98 [[ 6.71778835e-01 -7.40611109e-01 -1.44354438e-02 1.01495588e+03] [ 7.40421873e-01 6.71933677e-01 -1.67506244e-02 1.09938905e+02] [ 2.21053594e-02 5.64396570e-04 9.99755487e-01 6.98194783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.539254154 meters 0.017100606392057214 Centerline is valid? [True, True] Translation: X:1015.00, Y:109.98, Z:6.98 [[ 6.69196774e-01 -7.42960553e-01 -1.36122984e-02 1.01499615e+03] [ 7.42792677e-01 6.69335046e-01 -1.57998735e-02 1.09980894e+02] [ 2.08498711e-02 4.62108849e-04 9.99782511e-01 6.98425929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters 0.016345561012460628 Centerline is valid? [True, True] Translation: X:1015.04, Y:110.02, Z:6.98 [[ 6.63976915e-01 -7.47620433e-01 -1.40835122e-02 1.01504188e+03] [ 7.47441627e-01 6.64126177e-01 -1.63534578e-02 1.10019291e+02] [ 2.15794084e-02 3.31715189e-04 9.99767082e-01 6.98440523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters 0.016425747768426542 Centerline is valid? [True, True] Translation: X:1015.09, Y:110.06, Z:6.99 [[ 6.57488337e-01 -7.53336087e-01 -1.39222010e-02 1.01508835e+03] [ 7.53162452e-01 6.57635703e-01 -1.61741364e-02 1.10057605e+02] [ 2.13402971e-02 1.48626933e-04 9.99772259e-01 6.98665490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.719254154 meters 0.01817786574124425 Centerline is valid? [True, True] Translation: X:1015.13, Y:110.10, Z:6.99 [[ 6.53297987e-01 -7.56972240e-01 -1.39559341e-02 1.01512999e+03] [ 7.56798460e-01 6.53447034e-01 -1.62192711e-02 1.10098222e+02] [ 2.13970017e-02 3.41877433e-05 9.99771057e-01 6.98576835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.779254154 meters 0.01365110357104464 Centerline is valid? [True, True] Translation: X:1015.17, Y:110.14, Z:6.99 [[ 6.47172268e-01 -7.62233948e-01 -1.29407976e-02 1.01517438e+03] [ 7.62085427e-01 6.47301625e-01 -1.50468846e-02 1.10136260e+02] [ 1.98458455e-02 -1.24066870e-04 9.99803044e-01 6.99015115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters 0.01613649930444033 Centerline is valid? [True, True] Translation: X:1015.22, Y:110.17, Z:6.99 [[ 6.39941398e-01 -7.68303623e-01 -1.35849143e-02 1.01521911e+03] [ 7.68141135e-01 6.40085494e-01 -1.58037360e-02 1.10174698e+02] [ 2.08375742e-02 -3.21666601e-04 9.99782822e-01 6.98839560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters 0.01825244302891621 Centerline is valid? [True, True] Translation: X:1015.26, Y:110.21, Z:6.99 [[ 6.32389759e-01 -7.74536825e-01 -1.32626801e-02 1.01526439e+03] [ 7.74383154e-01 6.32528614e-01 -1.54364163e-02 1.10213057e+02] [ 2.03450976e-02 -5.08564456e-04 9.99792888e-01 6.98901697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.959254154 meters 0.01880006622877331 Centerline is valid? [True, True] Translation: X:1015.31, Y:110.25, Z:6.99 [[ 6.27755705e-01 -7.78300182e-01 -1.30997100e-02 1.01530731e+03] [ 7.78150925e-01 6.27892066e-01 -1.52542564e-02 1.10254448e+02] [ 2.00975945e-02 -6.17604963e-04 9.99797832e-01 6.99086560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.019254154 meters 0.022309367022715878 Centerline is valid? [True, True] Translation: X:1015.35, Y:110.30, Z:6.99 [[ 6.21951564e-01 -7.82942859e-01 -1.32940289e-02 1.01534861e+03] [ 7.82790025e-01 6.22093145e-01 -1.54885893e-02 1.10295865e+02] [ 2.03968046e-02 -7.73280924e-04 9.99791665e-01 6.99024325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters 0.020897741652709738 Centerline is valid? [True, True] Translation: X:1015.39, Y:110.34, Z:6.99 [[ 6.21565991e-01 -7.83280854e-01 -1.12615713e-02 1.01538820e+03] [ 7.83171172e-01 6.21667649e-01 -1.31243656e-02 1.10337582e+02] [ 1.72810188e-02 -6.62078708e-04 9.99850453e-01 6.99371170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters 0.022170030992545067 Centerline is valid? [True, True] Translation: X:1015.42, Y:110.38, Z:6.99 [[ 6.24179248e-01 -7.81208511e-01 -1.06549836e-02 1.01542429e+03] [ 7.81109969e-01 6.24269924e-01 -1.24209301e-02 1.10382155e+02] [ 1.63549222e-02 -5.69827074e-04 9.99866087e-01 6.99243860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.199254154 meters 0.020812176749777155 Centerline is valid? [True, True] Translation: X:1015.46, Y:110.43, Z:6.99 [[ 6.28138848e-01 -7.78034909e-01 -1.01620431e-02 1.01545866e+03] [ 7.77944775e-01 6.28220875e-01 -1.18515959e-02 1.10429675e+02] [ 1.56049630e-02 -4.61060533e-04 9.99878129e-01 6.99245368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.259254154 meters 0.017572974480169645 Centerline is valid? [True, True] Translation: X:1015.49, Y:110.48, Z:6.99 [[ 6.36758061e-01 -7.71004339e-01 -9.56455329e-03 1.01548799e+03] [ 7.70923605e-01 6.36829835e-01 -1.11605060e-02 1.10481302e+02] [ 1.46957915e-02 -2.66997708e-04 9.99891975e-01 6.99235887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.319254154 meters 0.014467779787541272 Centerline is valid? [True, True] Translation: X:1015.52, Y:110.53, Z:6.99 [[ 6.48061799e-01 -7.61532215e-01 -9.19724464e-03 1.01551673e+03] [ 7.61456533e-01 6.48127058e-01 -1.07361376e-02 1.10534511e+02] [ 1.41368978e-02 -4.56213401e-05 9.99900068e-01 6.99214114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters 0.014950900609221615 Centerline is valid? [True, True] Translation: X:1015.54, Y:110.59, Z:6.99 [[ 6.58459060e-01 -7.52565365e-01 -8.77711620e-03 1.01554480e+03] [ 7.52495576e-01 6.58517540e-01 -1.02497612e-02 1.10587588e+02] [ 1.34935003e-02 1.44307035e-04 9.99908948e-01 6.99102970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.439254154 meters 0.01853482513682898 Centerline is valid? [True, True] Translation: X:1015.58, Y:110.64, Z:6.99 [[ 6.65947636e-01 -7.45946740e-01 -8.78676098e-03 1.01557635e+03] [ 7.45876145e-01 6.66005541e-01 -1.02662298e-02 1.10638473e+02] [ 1.35100921e-02 2.82936043e-04 9.99908695e-01 6.98986738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.499254154 meters 0.01800512444965557 Centerline is valid? [True, True] Translation: X:1015.61, Y:110.69, Z:6.99 [[ 6.70199434e-01 -7.42140254e-01 -7.78215904e-03 1.01560979e+03] [ 7.42084579e-01 6.70244537e-01 -9.09600453e-03 1.10685881e+02] [ 1.19664607e-02 3.21116865e-04 9.99928348e-01 6.99311769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.559254154 meters 0.02250924253517707 Centerline is valid? [True, True] Translation: X:1015.64, Y:110.73, Z:6.99 [[ 6.73394280e-01 -7.39235705e-01 -8.40929215e-03 1.01564381e+03] [ 7.39170416e-01 6.73446663e-01 -9.83302542e-03 1.10734197e+02] [ 1.29321332e-02 4.05603099e-04 9.99916294e-01 6.98986845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters 0.02177695262980072 Centerline is valid? [True, True] Translation: X:1015.68, Y:110.78, Z:6.99 [[ 6.74132020e-01 -7.38557575e-01 -8.87292927e-03 1.01568160e+03] [ 7.38484757e-01 6.74190263e-01 -1.03804263e-02 1.10779414e+02] [ 1.36485850e-02 4.45254723e-04 9.99906755e-01 6.99050615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters 0.01932809994818296 Centerline is valid? [True, True] Translation: X:1015.72, Y:110.82, Z:6.99 [[ 6.73475234e-01 -7.39143626e-01 -9.88983469e-03 1.01572187e+03] [ 7.39053119e-01 6.73547669e-01 -1.15768926e-02 1.10821052e+02] [ 1.52182615e-02 4.87637262e-04 9.99884077e-01 6.99088660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.739254154 meters 0.01847329356508095 Centerline is valid? [True, True] Translation: X:1015.76, Y:110.87, Z:6.99 [[ 6.72773625e-01 -7.39776494e-01 -1.03144529e-02 1.01576070e+03] [ 7.39678013e-01 6.72852503e-01 -1.20808036e-02 1.10865260e+02] [ 1.58772000e-02 4.98272007e-04 9.99873825e-01 6.99196766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.799254154 meters 0.017677213777237667 Centerline is valid? [True, True] Translation: X:1015.80, Y:110.91, Z:6.99 [[ 6.67641305e-01 -7.44404636e-01 -1.08085953e-02 1.01580402e+03] [ 7.44296980e-01 6.67728664e-01 -1.26663771e-02 1.10906027e+02] [ 1.66461188e-02 4.11791683e-04 9.99861359e-01 6.99080510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters 0.01666910123471246 Centerline is valid? [True, True] Translation: X:1015.85, Y:110.94, Z:6.99 [[ 6.59015096e-01 -7.52066678e-01 -9.73734232e-03 1.01585080e+03] [ 7.51980064e-01 6.59086999e-01 -1.14153914e-02 1.10942756e+02] [ 1.50028912e-02 2.00627969e-04 9.99887430e-01 6.99188182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters 0.014440253949695942 Centerline is valid? [True, True] Translation: X:1015.90, Y:110.98, Z:7.00 [[ 6.50901614e-01 -7.59116004e-01 -8.36551459e-03 1.01589757e+03] [ 7.59052623e-01 6.50955368e-01 -9.80936923e-03 1.10978550e+02] [ 1.28920258e-02 3.50684621e-05 9.99916894e-01 6.99538567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.979254154 meters 0.016906952724575302 Centerline is valid? [True, True] Translation: X:1015.94, Y:111.02, Z:6.99 [[ 6.45889359e-01 -7.63392321e-01 -7.68766649e-03 1.01594023e+03] [ 7.63339059e-01 6.45935107e-01 -9.01764873e-03 1.11019040e+02] [ 1.18497375e-02 -4.38927486e-05 9.99929788e-01 6.99466363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.039254154 meters 0.013789667574095044 Centerline is valid? [True, True] Translation: X:1015.98, Y:111.06, Z:7.00 [[ 6.43686904e-01 -7.65254429e-01 -7.26828610e-03 1.01598314e+03] [ 7.65206888e-01 6.43727934e-01 -8.53023052e-03 1.11059599e+02] [ 1.12065955e-02 -7.09449171e-05 9.99937202e-01 6.99780690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters 0.015839149004278085 Centerline is valid? [True, True] Translation: X:1016.02, Y:111.10, Z:6.99 [[ 6.44535721e-01 -7.64523098e-01 -8.83949316e-03 1.01602136e+03] [ 7.64452645e-01 6.44596330e-01 -1.03790767e-02 1.11101763e+02] [ 1.36329487e-02 -6.76882642e-05 9.99907065e-01 6.99416033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters 0.01574980594847183 Centerline is valid? [True, True] Translation: X:1016.06, Y:111.15, Z:6.99 [[ 6.48892973e-01 -7.60821886e-01 -9.37910510e-03 1.01605729e+03] [ 7.60742121e-01 6.48960752e-01 -1.10166771e-02 1.11146098e+02] [ 1.44684001e-02 1.35640401e-05 9.99895327e-01 6.99339825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.219254154 meters 0.015219484452137366 Centerline is valid? [True, True] Translation: X:1016.09, Y:111.19, Z:7.00 [[ 6.54875199e-01 -7.55679335e-01 -9.33898880e-03 1.01609413e+03] [ 7.55599652e-01 6.54941773e-01 -1.09745071e-02 1.11191938e+02] [ 1.44097021e-02 1.30395832e-04 9.99896166e-01 6.99505285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.279254154 meters 0.015261706333772782 Centerline is valid? [True, True] Translation: X:1016.13, Y:111.24, Z:7.00 [[ 6.61255532e-01 -7.50113855e-01 -8.38598522e-03 1.01613165e+03] [ 7.50049093e-01 6.61308666e-01 -9.85938215e-03 1.11237806e+02] [ 1.29413838e-02 2.29670385e-04 9.99916230e-01 6.99775035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters 0.017458012472499628 Centerline is valid? [True, True] Translation: X:1016.17, Y:111.28, Z:7.00 [[ 6.65266383e-01 -7.46561343e-01 -8.17314282e-03 1.01616839e+03] [ 7.46499500e-01 6.65316522e-01 -9.61366354e-03 1.11283636e+02] [ 1.26149165e-02 2.94400146e-04 9.99920385e-01 6.99772808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters 0.020581301516739633 Centerline is valid? [True, True] Translation: X:1016.20, Y:111.33, Z:7.00 [[ 6.72091416e-01 -7.40429215e-01 -7.59650160e-03 1.01620268e+03] [ 7.40375356e-01 6.72134236e-01 -8.93872162e-03 1.11330252e+02] [ 1.17243594e-02 3.83375493e-04 9.99931194e-01 6.99885160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.459254154 meters 0.02119946539519198 Centerline is valid? [True, True] Translation: X:1016.24, Y:111.37, Z:7.00 [[ 6.76835244e-01 -7.36097059e-01 -7.42778769e-03 1.01624217e+03] [ 7.36045266e-01 6.76875850e-01 -8.74362168e-03 1.11374458e+02] [ 1.14638443e-02 4.50803344e-04 9.99934186e-01 7.00037925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.519254154 meters 0.02067295526075816 Centerline is valid? [True, True] Translation: X:1016.28, Y:111.42, Z:7.00 [[ 6.77511891e-01 -7.35476744e-01 -7.18311636e-03 1.01628360e+03] [ 7.35428224e-01 6.77549819e-01 -8.45988304e-03 1.11416437e+02] [ 1.10889664e-02 4.49004843e-04 9.99938415e-01 7.00072009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters 0.02543940467389603 Centerline is valid? [True, True] Translation: X:1016.32, Y:111.46, Z:7.00 [[ 6.74345350e-01 -7.38378863e-01 -7.41647378e-03 1.01631955e+03] [ 7.38327272e-01 6.74386003e-01 -8.73837207e-03 1.11461131e+02] [ 1.14537953e-02 4.16895721e-04 9.99934316e-01 6.99727681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters 0.018351368205106647 Centerline is valid? [True, True] Translation: X:1016.37, Y:111.49, Z:7.00 [[ 6.68793991e-01 -7.43402363e-01 -8.21733914e-03 1.01636991e+03] [ 7.43339364e-01 6.68844370e-01 -9.68497510e-03 1.11494820e+02] [ 1.26959544e-02 3.68981499e-04 9.99919335e-01 6.99980290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.699254154 meters 0.0190879279982585 Centerline is valid? [True, True] Translation: X:1016.41, Y:111.54, Z:7.00 [[ 6.65134717e-01 -7.46670408e-01 -8.89443668e-03 1.01641082e+03] [ 7.46596823e-01 6.65194099e-01 -1.04877830e-02 1.11536864e+02] [ 1.37474440e-02 3.35230398e-04 9.99905443e-01 6.99777253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.759254154 meters 0.018399071930030545 Centerline is valid? [True, True] Translation: X:1016.45, Y:111.58, Z:7.00 [[ 6.62667736e-01 -7.48852267e-01 -9.57878763e-03 1.01645107e+03] [ 7.48767062e-01 6.62736887e-01 -1.13006591e-02 1.11579909e+02] [ 1.48107401e-02 3.16301522e-04 9.99890265e-01 6.99732667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.819254154 meters 0.019421170504071935 Centerline is valid? [True, True] Translation: X:1016.49, Y:111.62, Z:7.00 [[ 6.61012432e-01 -7.50300117e-01 -1.05971262e-02 1.01648968e+03] [ 7.50195907e-01 6.61097295e-01 -1.25087235e-02 1.11623860e+02] [ 1.63910282e-02 3.18501076e-04 9.99865607e-01 6.99531171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters 0.017257660652703226 Centerline is valid? [True, True] Translation: X:1016.53, Y:111.67, Z:7.00 [[ 6.59616321e-01 -7.51530307e-01 -1.04166808e-02 1.01652707e+03] [ 7.51429706e-01 6.59698504e-01 -1.22996123e-02 1.11668279e+02] [ 1.61154001e-02 2.85621623e-04 9.99870098e-01 6.99731149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.939254154 meters 0.017169772121649426 Centerline is valid? [True, True] Translation: X:1016.57, Y:111.71, Z:7.00 [[ 6.56454290e-01 -7.54295673e-01 -1.02860577e-02 1.01656782e+03] [ 7.54197844e-01 6.56534835e-01 -1.21499930e-02 1.11711394e+02] [ 1.59178423e-02 2.18192474e-04 9.99873279e-01 6.99823465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.999254154 meters 0.017159056805524334 Centerline is valid? [True, True] Translation: X:1016.61, Y:111.75, Z:7.00 [[ 6.52010205e-01 -7.58149278e-01 -9.61065555e-03 1.01660857e+03] [ 7.58064205e-01 6.52081021e-01 -1.13579514e-02 1.11753934e+02] [ 1.48779487e-02 1.20006228e-04 9.99889310e-01 6.99914225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.059254154 meters 0.01757891874069335 Centerline is valid? [True, True] Translation: X:1016.65, Y:111.80, Z:7.00 [[ 6.48987582e-01 -7.60741575e-01 -9.34746462e-03 1.01664699e+03] [ 7.60661302e-01 6.49054892e-01 -1.10512781e-02 1.11797346e+02] [ 1.44741843e-02 6.18876348e-05 9.99895242e-01 6.99920114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters 0.013766141946543934 Centerline is valid? [True, True] Translation: X:1016.69, Y:111.84, Z:7.00 [[ 6.45220701e-01 -7.63954256e-01 -8.00885810e-03 1.01668653e+03] [ 7.63895530e-01 6.45270405e-01 -9.47225406e-03 1.11841517e+02] [ 1.24042479e-02 -6.23650145e-06 9.99923064e-01 7.00445012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters 0.014647940184606727 Centerline is valid? [True, True] Translation: X:1016.72, Y:111.89, Z:7.01 [[ 6.41327399e-01 -7.67231833e-01 -7.38117046e-03 1.01672480e+03] [ 7.67182117e-01 6.41369871e-01 -8.73436586e-03 1.11886235e+02] [ 1.14353439e-02 -6.11138353e-05 9.99934612e-01 7.00519847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.239254154 meters 0.014519456624701388 Centerline is valid? [True, True] Translation: X:1016.76, Y:111.93, Z:7.01 [[ 6.36519539e-01 -7.71228078e-01 -7.08017369e-03 1.01676362e+03] [ 7.71182542e-01 6.36558902e-01 -8.38156559e-03 1.11929326e+02] [ 1.09710463e-02 -1.25076085e-04 9.99939808e-01 7.00710405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.299254154 meters 0.01737260574486653 Centerline is valid? [True, True] Translation: X:1016.80, Y:111.97, Z:7.00 [[ 6.31793390e-01 -7.75095620e-01 -7.99330741e-03 1.01680218e+03] [ 7.75037847e-01 6.31843916e-01 -9.46577277e-03 1.11974185e+02] [ 1.23874017e-02 -2.14703108e-04 9.99923250e-01 7.00450526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters 0.01654967776274129 Centerline is valid? [True, True] Translation: X:1016.84, Y:112.02, Z:7.01 [[ 6.29407463e-01 -7.77037807e-01 -7.64799747e-03 1.01683958e+03] [ 7.76985009e-01 6.29453881e-01 -9.06126773e-03 1.12019449e+02] [ 1.18550093e-02 -2.39149850e-04 9.99929698e-01 7.00695995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters 0.017017430959084354 Centerline is valid? [True, True] Translation: X:1016.87, Y:112.07, Z:7.01 [[ 6.27535689e-01 -7.78545512e-01 -8.11455899e-03 1.01687403e+03] [ 7.78486138e-01 6.27588088e-01 -9.61898558e-03 1.12067088e+02] [ 1.25814186e-02 -2.80814953e-04 9.99920811e-01 7.00702215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.479254154 meters 0.017606742696826445 Centerline is valid? [True, True] Translation: X:1016.91, Y:112.12, Z:7.01 [[ 6.27986545e-01 -7.78173297e-01 -8.90049386e-03 1.01690555e+03] [ 7.78101745e-01 6.28049546e-01 -1.05566341e-02 1.12116261e+02] [ 1.38048419e-02 -2.96065590e-04 9.99904665e-01 7.00615583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.539254154 meters 0.01575068241633667 Centerline is valid? [True, True] Translation: X:1016.94, Y:112.17, Z:7.01 [[ 6.30535470e-01 -7.76107520e-01 -9.06304238e-03 1.01693748e+03] [ 7.76033058e-01 6.30600550e-01 -1.07535310e-02 1.12165468e+02] [ 1.40610558e-02 -2.52737744e-04 9.99901107e-01 7.00806271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters 0.017444324592669834 Centerline is valid? [True, True] Translation: X:1016.97, Y:112.22, Z:7.01 [[ 6.35054555e-01 -7.72404838e-01 -9.82231944e-03 1.01696670e+03] [ 7.72316864e-01 6.35130485e-01 -1.16588723e-02 1.12216753e+02] [ 1.52438239e-02 -1.81922964e-04 9.99883790e-01 7.00502036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters 0.014127308687932305 Centerline is valid? [True, True] Translation: X:1017.00, Y:112.26, Z:7.01 [[ 6.37120146e-01 -7.70711699e-01 -9.02199693e-03 1.01700198e+03] [ 7.70637232e-01 6.37184009e-01 -1.07142565e-02 1.12264383e+02] [ 1.40062750e-02 -1.26418080e-04 9.99901899e-01 7.00891185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.719254154 meters 0.013441076103168647 Centerline is valid? [True, True] Translation: X:1017.03, Y:112.32, Z:7.01 [[ 6.43969257e-01 -7.65008240e-01 -8.12336024e-03 1.01703109e+03] [ 7.64947352e-01 6.44020491e-01 -9.65173667e-03 1.12316622e+02] [ 1.26152685e-02 1.47878385e-06 9.99920424e-01 7.00997087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.779254154 meters 0.016045616602886656 Centerline is valid? [True, True] Translation: X:1017.06, Y:112.37, Z:7.01 [[ 6.51793379e-01 -7.58354149e-01 -8.02347178e-03 1.01705918e+03] [ 7.58294179e-01 6.51842747e-01 -9.53786431e-03 1.12370364e+02] [ 1.24631209e-02 1.32564856e-04 9.99922324e-01 7.00880330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters 0.016579281730266376 Centerline is valid? [True, True] Translation: X:1017.09, Y:112.42, Z:7.01 [[ 6.59793088e-01 -7.51410861e-01 -7.40261928e-03 1.01708791e+03] [ 7.51359323e-01 6.59834568e-01 -8.80400321e-03 1.12423501e+02] [ 1.14999277e-02 2.46793455e-04 9.99933843e-01 7.01136884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters 0.02052491548318027 Centerline is valid? [True, True] Translation: X:1017.12, Y:112.47, Z:7.01 [[ 6.64222256e-01 -7.47487700e-01 -8.42223639e-03 1.01711969e+03] [ 7.47420601e-01 6.64275551e-01 -1.00218665e-02 1.12474346e+02] [ 1.30859076e-02 3.61793775e-04 9.99914310e-01 7.00805569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.959254154 meters 0.022318648483105198 Centerline is valid? [True, True] Translation: X:1017.16, Y:112.52, Z:7.01 [[ 6.64600192e-01 -7.47145926e-01 -8.91909460e-03 1.01715524e+03] [ 7.47070569e-01 6.64659921e-01 -1.06185554e-02 1.12521159e+02] [ 1.38617751e-02 3.93900859e-04 9.99903843e-01 7.00666583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.019254154 meters 0.02025249934134012 Centerline is valid? [True, True] Translation: X:1017.19, Y:112.56, Z:7.01 [[ 6.62625199e-01 -7.48889972e-01 -9.57364610e-03 1.01719477e+03] [ 7.48803239e-01 6.62694242e-01 -1.14039448e-02 1.12564884e+02] [ 1.48847001e-02 3.87763986e-04 9.99889142e-01 7.00694493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters 0.016778058960323767 Centerline is valid? [True, True] Translation: X:1017.23, Y:112.61, Z:7.01 [[ 6.59017928e-01 -7.52060865e-01 -9.99128796e-03 1.01723430e+03] [ 7.51966686e-01 6.59093578e-01 -1.19062465e-02 1.12607475e+02] [ 1.55394158e-02 3.33314229e-04 9.99879200e-01 7.00886744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters 0.01741862621463172 Centerline is valid? [True, True] Translation: X:1017.28, Y:112.65, Z:7.01 [[ 6.54194470e-01 -7.56257074e-01 -1.02388710e-02 1.01727698e+03] [ 7.56158597e-01 6.54274544e-01 -1.22064485e-02 1.12648490e+02] [ 1.59302456e-02 2.43180771e-04 9.99873076e-01 7.00849198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.199254154 meters 0.01706005444439418 Centerline is valid? [True, True] Translation: X:1017.32, Y:112.69, Z:7.01 [[ 6.48432811e-01 -7.61210016e-01 -9.70573834e-03 1.01732171e+03] [ 7.61121993e-01 6.48505434e-01 -1.15764928e-02 1.12688477e+02] [ 1.51063663e-02 1.19326873e-04 9.99885885e-01 7.01035847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.259254154 meters 0.014749562157723991 Centerline is valid? [True, True] Translation: X:1017.37, Y:112.73, Z:7.01 [[ 6.42213680e-01 -7.66468179e-01 -9.38721691e-03 1.01736594e+03] [ 7.66386314e-01 6.42282283e-01 -1.12021156e-02 1.12728193e+02] [ 1.46153082e-02 -8.27027378e-08 9.99893191e-01 7.01151435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.319254154 meters 0.01572087564045019 Centerline is valid? [True, True] Translation: X:1017.41, Y:112.77, Z:7.01 [[ 6.35036402e-01 -7.72419983e-01 -9.80496990e-03 1.01741041e+03] [ 7.72331278e-01 6.35112077e-01 -1.17067263e-02 1.12768297e+02] [ 1.52697641e-02 -1.38487590e-04 9.99883401e-01 7.01141874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters 0.01474954445881869 Centerline is valid? [True, True] Translation: X:1017.45, Y:112.81, Z:7.01 [[ 6.30153295e-01 -7.76414310e-01 -9.36182009e-03 1.01745149e+03] [ 7.76333818e-01 6.30222794e-01 -1.11817886e-02 1.12810112e+02] [ 1.45817331e-02 -2.21656591e-04 9.99893656e-01 7.01406457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.439254154 meters 0.017652094799404605 Centerline is valid? [True, True] Translation: X:1017.49, Y:112.85, Z:7.01 [[ 6.23648343e-01 -7.81642132e-01 -9.91574414e-03 1.01749492e+03] [ 7.81552442e-01 6.23727061e-01 -1.18462256e-02 1.12849078e+02] [ 1.54442270e-02 -3.61795072e-04 9.99880665e-01 7.01349058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.499254154 meters 0.02557196702188839 Centerline is valid? [True, True] Translation: X:1017.54, Y:112.89, Z:7.01 [[ 6.19425616e-01 -7.84979293e-01 -1.09277405e-02 1.01753979e+03] [ 7.84870817e-01 6.19521809e-01 -1.30586528e-02 1.12887380e+02] [ 1.70207456e-02 -4.88000568e-04 9.99855018e-01 7.00837804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.559254154 meters 0.02076752577639142 Centerline is valid? [True, True] Translation: X:1017.57, Y:112.94, Z:7.01 [[ 6.19588713e-01 -7.84850895e-01 -1.09040930e-02 1.01757001e+03] [ 7.84742777e-01 6.19684470e-01 -1.30358186e-02 1.12938649e+02] [ 1.69882710e-02 -4.80062179e-04 9.99855574e-01 7.01185141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters 0.017689318178120996 Centerline is valid? [True, True] Translation: X:1017.60, Y:112.99, Z:7.01 [[ 6.24479115e-01 -7.80964723e-01 -1.09515545e-02 1.01760116e+03] [ 7.80854974e-01 6.24575026e-01 -1.30976061e-02 1.12989275e+02] [ 1.70688358e-02 -3.72394306e-04 9.99854247e-01 7.01335216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters 0.01712145715713527 Centerline is valid? [True, True] Translation: X:1017.63, Y:113.04, Z:7.01 [[ 6.29513138e-01 -7.76910175e-01 -1.11260365e-02 1.01763440e+03] [ 7.76796161e-01 6.29611397e-01 -1.33121553e-02 1.13037441e+02] [ 1.73474283e-02 -2.62485847e-04 9.99849488e-01 7.01249559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.739254154 meters 0.01522294985139042 Centerline is valid? [True, True] Translation: X:1017.66, Y:113.09, Z:7.01 [[ 6.38226203e-01 -7.69775789e-01 -1.06088674e-02 1.01766469e+03] [ 7.69671028e-01 6.38314367e-01 -1.26995148e-02 1.13089535e+02] [ 1.65475715e-02 -6.01747434e-05 9.99863078e-01 7.01269740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.799254154 meters 0.013446330040672447 Centerline is valid? [True, True] Translation: X:1017.70, Y:113.14, Z:7.02 [[ 6.46043677e-01 -7.63243549e-01 -9.31942417e-03 1.01769509e+03] [ 7.63161937e-01 6.46110884e-01 -1.11616583e-02 1.13139514e+02] [ 1.45404451e-02 9.86889587e-05 9.99894277e-01 7.01555365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters 0.0175647319338362 Centerline is valid? [True, True] Translation: X:1017.73, Y:113.19, Z:7.01 [[ 6.51868849e-01 -7.58278790e-01 -8.95989682e-03 1.01772619e+03] [ 7.58202800e-01 6.51930391e-01 -1.07368428e-02 1.13190395e+02] [ 1.39827492e-02 2.05594496e-04 9.99902215e-01 7.01385645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters 0.018253999020921768 Centerline is valid? [True, True] Translation: X:1017.76, Y:113.24, Z:7.01 [[ 6.55736848e-01 -7.54948510e-01 -7.86977782e-03 1.01775784e+03] [ 7.54889607e-01 6.55784024e-01 -9.43371030e-03 1.13239486e+02] [ 1.22828401e-02 2.45217973e-04 9.99924533e-01 7.01442025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.979254154 meters 0.020705188737615978 Centerline is valid? [True, True] Translation: X:1017.79, Y:113.29, Z:7.01 [[ 6.56854081e-01 -7.53973486e-01 -8.16692932e-03 1.01779350e+03] [ 7.53909950e-01 6.56904793e-01 -9.79180516e-03 1.13285808e+02] [ 1.27476565e-02 2.74657902e-04 9.99918708e-01 7.01302172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.039254154 meters 0.018765493779165813 Centerline is valid? [True, True] Translation: X:1017.83, Y:113.33, Z:7.01 [[ 6.58168545e-01 -7.52820025e-01 -8.72789408e-03 1.01783247e+03] [ 7.52747309e-01 6.58226335e-01 -1.04680861e-02 1.13329920e+02] [ 1.36255145e-02 3.19866189e-04 9.99907117e-01 7.01274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters 0.019750445711074746 Centerline is valid? [True, True] Translation: X:1017.87, Y:113.37, Z:7.01 [[ 6.58301392e-01 -7.52688281e-01 -9.98143526e-03 1.01787099e+03] [ 7.52593059e-01 6.58376953e-01 -1.19781362e-02 1.13374320e+02] [ 1.55873497e-02 3.73264827e-04 9.99878440e-01 7.01116879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters 0.017487945037968737 Centerline is valid? [True, True] Translation: X:1017.91, Y:113.42, Z:7.01 [[ 6.58311225e-01 -7.52674710e-01 -1.03494535e-02 1.01791227e+03] [ 7.52572228e-01 6.58392457e-01 -1.24263628e-02 1.13416624e+02] [ 1.61670111e-02 3.91702797e-04 9.99869229e-01 7.01192253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.219254154 meters 0.01635144432251545 Centerline is valid? [True, True] Translation: X:1017.95, Y:113.46, Z:7.01 [[ 6.57079339e-01 -7.53753152e-01 -1.01453211e-02 1.01795391e+03] [ 7.53654739e-01 6.57157558e-01 -1.21852165e-02 1.13456725e+02] [ 1.58517198e-02 3.60584712e-04 9.99874289e-01 7.01395941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.279254154 meters 0.017136717683124022 Centerline is valid? [True, True] Translation: X:1018.00, Y:113.50, Z:7.01 [[ 6.52142559e-01 -7.58035357e-01 -9.61670154e-03 1.01799885e+03] [ 7.57947330e-01 6.52213414e-01 -1.15545816e-02 1.13495755e+02] [ 1.50309232e-02 2.46281177e-04 9.99886999e-01 7.01367020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters 0.013465923108181491 Centerline is valid? [True, True] Translation: X:1018.05, Y:113.53, Z:7.02 [[ 6.45838677e-01 -7.63437061e-01 -7.50048677e-03 1.01804505e+03] [ 7.63383828e-01 6.45882222e-01 -9.01595197e-03 1.13534367e+02] [ 1.17275429e-02 9.71001838e-05 9.99931225e-01 7.01900516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters 0.017420526203910425 Centerline is valid? [True, True] Translation: X:1018.09, Y:113.58, Z:7.02 [[ 6.41334936e-01 -7.67222863e-01 -7.65366918e-03 1.01808688e+03] [ 7.67167644e-01 6.41380603e-01 -9.20482684e-03 1.13575750e+02] [ 1.19710685e-02 3.17296765e-05 9.99928344e-01 7.01678494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.459254154 meters 0.014058772965156495 Centerline is valid? [True, True] Translation: X:1018.13, Y:113.62, Z:7.02 [[ 6.37854695e-01 -7.70120469e-01 -7.47332464e-03 1.01812816e+03] [ 7.70067961e-01 6.37898474e-01 -8.99290400e-03 1.13616731e+02] [ 1.16928418e-02 -1.88018279e-05 9.99931636e-01 7.01887344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.519254154 meters 0.016157692961237813 Centerline is valid? [True, True] Translation: X:1018.17, Y:113.66, Z:7.02 [[ 6.36613407e-01 -7.71143378e-01 -7.82688358e-03 1.01816656e+03] [ 7.71085791e-01 6.36661519e-01 -9.42414558e-03 1.13660090e+02] [ 1.22504430e-02 -3.56612825e-05 9.99924960e-01 7.01666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters 0.013050931296841218 Centerline is valid? [True, True] Translation: X:1018.20, Y:113.70, Z:7.02 [[ 6.36946322e-01 -7.70870121e-01 -7.65761303e-03 1.01820374e+03] [ 7.70814912e-01 6.36992351e-01 -9.22578342e-03 1.13704231e+02] [ 1.19897217e-02 -2.62734943e-05 9.99928120e-01 7.01953118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters 0.017049283370633987 Centerline is valid? [True, True] Translation: X:1018.24, Y:113.75, Z:7.02 [[ 6.37133071e-01 -7.70711596e-01 -8.06761062e-03 1.01824029e+03] [ 7.70650239e-01 6.37184146e-01 -9.72486221e-03 1.13747904e+02] [ 1.26356177e-02 -2.12747404e-05 9.99920167e-01 7.01568621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.699254154 meters 0.013044351523778653 Centerline is valid? [True, True] Translation: X:1018.28, Y:113.79, Z:7.02 [[ 6.38654195e-01 -7.69454438e-01 -7.79021468e-03 1.01827791e+03] [ 7.69397080e-01 6.38701705e-01 -9.39496323e-03 1.13792744e+02] [ 1.22046196e-02 6.36424804e-06 9.99925521e-01 7.01866934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.759254154 meters 0.013163398897839098 Centerline is valid? [True, True] Translation: X:1018.31, Y:113.84, Z:7.02 [[ 6.41197994e-01 -7.67338790e-01 -7.50425491e-03 1.01831348e+03] [ 7.67285360e-01 6.41241904e-01 -9.05523283e-03 1.13838098e+02] [ 1.17604741e-02 4.82922001e-05 9.99930842e-01 7.01881255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.819254154 meters 0.014529820054163119 Centerline is valid? [True, True] Translation: X:1018.35, Y:113.89, Z:7.02 [[ 6.44998692e-01 -7.64156048e-01 -6.49784774e-03 1.01834875e+03] [ 7.64115786e-01 6.45031414e-01 -7.84474350e-03 1.13885940e+02] [ 1.01859241e-02 9.47412636e-05 9.99948118e-01 7.01895610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters 0.01634042269619951 Centerline is valid? [True, True] Translation: X:1018.38, Y:113.93, Z:7.02 [[ 6.49729628e-01 -7.60140924e-01 -6.09803012e-03 1.01838345e+03] [ 7.60105253e-01 6.49758226e-01 -7.36558376e-03 1.13934049e+02] [ 9.56112688e-03 1.50493264e-04 9.99954280e-01 7.01929763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.939254154 meters 0.016374680895554522 Centerline is valid? [True, True] Translation: X:1018.42, Y:113.98, Z:7.02 [[ 6.52922429e-01 -7.57402320e-01 -5.83321726e-03 1.01841916e+03] [ 7.57369539e-01 6.52948460e-01 -7.04913133e-03 1.13980889e+02] [ 9.14781865e-03 1.84634889e-04 9.99958141e-01 7.02142609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.999254154 meters 0.02177438295726757 Centerline is valid? [True, True] Translation: X:1018.45, Y:114.03, Z:7.02 [[ 6.57514304e-01 -7.53416057e-01 -6.25973689e-03 1.01845233e+03] [ 7.53378091e-01 6.57544049e-01 -7.56802350e-03 1.14028921e+02] [ 9.81792317e-03 2.60135071e-04 9.99951769e-01 7.01834763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.059254154 meters 0.02331082416123973 Centerline is valid? [True, True] Translation: X:1018.49, Y:114.07, Z:7.02 [[ 6.58368658e-01 -7.52666172e-01 -6.65914379e-03 1.01848924e+03] [ 7.52623136e-01 6.58402270e-01 -8.05390860e-03 1.14074891e+02] [ 1.04462999e-02 2.90615305e-04 9.99945394e-01 7.01784293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters 0.02080689300038789 Centerline is valid? [True, True] Translation: X:1018.53, Y:114.12, Z:7.02 [[ 6.58056076e-01 -7.52941887e-01 -6.38082920e-03 1.01852805e+03] [ 7.52902351e-01 6.58086953e-01 -7.72089471e-03 1.14116795e+02] [ 1.00125255e-02 2.76640373e-04 9.99949835e-01 7.02058323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters 0.019604884500126967 Centerline is valid? [True, True] Translation: X:1018.57, Y:114.16, Z:7.02 [[ 6.55551038e-01 -7.55118276e-01 -7.01615292e-03 1.01856947e+03] [ 7.55070550e-01 6.55588527e-01 -8.49401534e-03 1.14158270e+02] [ 1.10136956e-02 2.70570127e-04 9.99939311e-01 7.01943682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.239254154 meters 0.01985511360551068 Centerline is valid? [True, True] Translation: X:1018.61, Y:114.20, Z:7.02 [[ 6.52600192e-01 -7.57665854e-01 -7.44605036e-03 1.01861092e+03] [ 7.57612212e-01 6.52642624e-01 -9.01894926e-03 1.14200713e+02] [ 1.16929597e-02 2.44549339e-04 9.99931605e-01 7.01721260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.299254154 meters 0.015855988648248383 Centerline is valid? [True, True] Translation: X:1018.66, Y:114.24, Z:7.02 [[ 6.47480044e-01 -7.62050604e-01 -6.96192930e-03 1.01865782e+03] [ 7.62003920e-01 6.47517453e-01 -8.43646791e-03 1.14238335e+02] [ 1.09369862e-02 1.57427200e-04 9.99940177e-01 7.01873307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters 0.014960453554957438 Centerline is valid? [True, True] Translation: X:1018.70, Y:114.28, Z:7.02 [[ 6.40194689e-01 -7.68183906e-01 -6.65179203e-03 1.01870405e+03] [ 7.68141582e-01 6.40229243e-01 -8.06393690e-03 1.14277304e+02] [ 1.04532583e-02 5.29715287e-05 9.99945362e-01 7.01873708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters 0.01627427364460856 Centerline is valid? [True, True] Translation: X:1018.75, Y:114.32, Z:7.02 [[ 6.31170735e-01 -7.75615886e-01 -6.59551962e-03 1.01874824e+03] [ 7.75574651e-01 6.31205191e-01 -7.99797640e-03 1.14315798e+02] [ 1.03664838e-02 -6.72291805e-05 9.99946264e-01 7.01812074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.479254154 meters 0.016288598891449457 Centerline is valid? [True, True] Translation: X:1018.79, Y:114.36, Z:7.02 [[ 6.25571294e-01 -7.80143538e-01 -6.05119827e-03 1.01878686e+03] [ 7.80109018e-01 6.25600547e-01 -7.34003311e-03 1.14358754e+02] [ 9.51191235e-03 -1.28880332e-04 9.99954752e-01 7.01844047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.539254154 meters 0.016927765050600285 Centerline is valid? [True, True] Translation: X:1018.82, Y:114.40, Z:7.02 [[ 6.22403304e-01 -7.82665360e-01 -7.00439922e-03 1.01882448e+03] [ 7.82619228e-01 6.22442687e-01 -8.49973834e-03 1.14403754e+02] [ 1.10122878e-02 -1.91512278e-04 9.99939345e-01 7.01702416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters 0.017161848731745446 Centerline is valid? [True, True] Translation: X:1018.86, Y:114.45, Z:7.02 [[ 6.19358135e-01 -7.85071326e-01 -7.64940511e-03 1.01886150e+03] [ 7.85016429e-01 6.19405319e-01 -9.28746532e-03 1.14449451e+02] [ 1.20294049e-02 -2.52641491e-04 9.99927612e-01 7.01607228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters 0.017003608951870537 Centerline is valid? [True, True] Translation: X:1018.90, Y:114.50, Z:7.02 [[ 6.18892383e-01 -7.85435949e-01 -7.91131662e-03 1.01889531e+03] [ 7.85377196e-01 6.18942889e-01 -9.61046131e-03 1.14498224e+02] [ 1.24450550e-02 -2.65526365e-04 9.99922522e-01 7.01596828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.719254154 meters 0.017154622311235303 Centerline is valid? [True, True] Translation: X:1018.93, Y:114.55, Z:7.02 [[ 6.20088043e-01 -7.84501074e-01 -6.99162423e-03 1.01892774e+03] [ 7.84455084e-01 6.20127421e-01 -8.49724505e-03 1.14547891e+02] [ 1.10017958e-02 -2.15575114e-04 9.99939455e-01 7.01693574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.779254154 meters 0.01539930496142426 Centerline is valid? [True, True] Translation: X:1018.96, Y:114.60, Z:7.02 [[ 6.23522544e-01 -7.81781189e-01 -6.14899464e-03 1.01895862e+03] [ 7.81745449e-01 6.23552846e-01 -7.47670628e-03 1.14598730e+02] [ 9.67937143e-03 -1.45053650e-04 9.99953143e-01 7.01824118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters 0.013565636674570327 Centerline is valid? [True, True] Translation: X:1018.99, Y:114.65, Z:7.02 [[ 6.27259138e-01 -7.78790991e-01 -5.52873784e-03 1.01899100e+03] [ 7.78761952e-01 6.27283497e-01 -6.72582159e-03 1.14648650e+02] [ 8.70609527e-03 -8.67376223e-05 9.99962097e-01 7.01972150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters 0.015423124341328472 Centerline is valid? [True, True] Translation: X:1019.02, Y:114.70, Z:7.02 [[ 6.34749625e-01 -7.72691607e-01 -6.37134886e-03 1.01901976e+03] [ 7.72652688e-01 6.34781600e-01 -7.75526241e-03 1.14701595e+02] [ 1.00368412e-02 -1.89915188e-07 9.99949630e-01 7.01735671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.959254154 meters 0.014346909824135615 Centerline is valid? [True, True] Translation: X:1019.05, Y:114.76, Z:7.02 [[ 6.44450306e-01 -7.64617695e-01 -6.60188752e-03 1.01904748e+03] [ 7.64575433e-01 6.44484106e-01 -8.04015640e-03 1.14755139e+02] [ 1.04024574e-02 1.33840243e-04 9.99945884e-01 7.01831212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.019254154 meters 0.019358538938981925 Centerline is valid? [True, True] Translation: X:1019.08, Y:114.81, Z:7.02 [[ 6.51862695e-01 -7.58301688e-01 -7.31964293e-03 1.01907627e+03] [ 7.58249278e-01 6.51903736e-01 -8.91913792e-03 1.14807895e+02] [ 1.15350999e-02 2.63939310e-04 9.99933434e-01 7.01507642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters 0.02081210325187674 Centerline is valid? [True, True] Translation: X:1019.11, Y:114.86, Z:7.02 [[ 6.56669691e-01 -7.54142626e-01 -7.33592854e-03 1.01910676e+03] [ 7.54089684e-01 6.56710578e-01 -8.94232923e-03 1.14857560e+02] [ 1.15613735e-02 3.40208541e-04 9.99933107e-01 7.01517937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters 0.021378613544508953 Centerline is valid? [True, True] Translation: X:1019.14, Y:114.90, Z:7.01 [[ 6.57707861e-01 -7.53236433e-01 -7.43278872e-03 1.01914314e+03] [ 7.53181989e-01 6.57749759e-01 -9.06344011e-03 1.14903594e+02] [ 1.17158283e-02 3.62853208e-04 9.99931301e-01 7.01447578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.199254154 meters 0.022624470046248547 Centerline is valid? [True, True] Translation: X:1019.18, Y:114.95, Z:7.01 [[ 6.57495150e-01 -7.53420578e-01 -7.58680387e-03 1.01917737e+03] [ 7.53363816e-01 6.57538817e-01 -9.25559418e-03 1.14949178e+02] [ 1.19619732e-02 3.69884774e-04 9.99928385e-01 7.01374857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.259254154 meters 0.020779805985141484 Centerline is valid? [True, True] Translation: X:1019.22, Y:114.99, Z:7.01 [[ 6.56400242e-01 -7.54364958e-01 -8.49892488e-03 1.01921791e+03] [ 7.54293738e-01 6.56455140e-01 -1.03733238e-02 1.14991936e+02] [ 1.34044349e-02 3.98366407e-04 9.99910077e-01 7.01308603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.319254154 meters 0.0184563876051491 Centerline is valid? [True, True] Translation: X:1019.26, Y:115.04, Z:7.01 [[ 6.55280171e-01 -7.55328537e-01 -9.31126248e-03 1.01925700e+03] [ 7.55243088e-01 6.55346189e-01 -1.13688600e-02 1.15035099e+02] [ 1.46893247e-02 4.17521877e-04 9.99892019e-01 7.01482643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters 0.019305943903894125 Centerline is valid? [True, True] Translation: X:1019.30, Y:115.08, Z:7.01 [[ 6.50790167e-01 -7.59193025e-01 -9.90500713e-03 1.01929902e+03] [ 7.59096732e-01 6.50865443e-01 -1.20965239e-02 1.15077274e+02] [ 1.56304234e-02 3.53440273e-04 9.99877775e-01 7.01147458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.439254154 meters 0.017523916668919483 Centerline is valid? [True, True] Translation: X:1019.34, Y:115.12, Z:7.01 [[ 6.48749150e-01 -7.60942898e-01 -9.51034837e-03 1.01933801e+03] [ 7.60854246e-01 6.48818784e-01 -1.16190279e-02 1.15121556e+02] [ 1.50119094e-02 3.01845542e-04 9.99887269e-01 7.01311846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.499254154 meters 0.01642122665949544 Centerline is valid? [True, True] Translation: X:1019.38, Y:115.16, Z:7.01 [[ 6.40469015e-01 -7.67933879e-01 -8.77489488e-03 1.01938376e+03] [ 7.67858980e-01 6.40529110e-01 -1.07259629e-02 1.15159321e+02] [ 1.38574059e-02 1.31765029e-04 9.99903973e-01 7.01492605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.559254154 meters 0.015421631065049108 Centerline is valid? [True, True] Translation: X:1019.43, Y:115.20, Z:7.02 [[ 6.31152017e-01 -7.75619143e-01 -7.87880319e-03 1.01942975e+03] [ 7.75559305e-01 6.31201191e-01 -9.63438920e-03 1.15198387e+02] [ 1.24457267e-02 -2.97149506e-05 9.99922549e-01 7.01790354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters 0.014612632209987635 Centerline is valid? [True, True] Translation: X:1019.47, Y:115.24, Z:7.02 [[ 6.25885688e-01 -7.79881394e-01 -7.21920503e-03 1.01947205e+03] [ 7.79831414e-01 6.25927312e-01 -8.82976223e-03 1.15238808e+02] [ 1.14048649e-02 -1.03341064e-04 9.99934957e-01 7.01916295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters 0.01531746902345749 Centerline is valid? [True, True] Translation: X:1019.51, Y:115.28, Z:7.02 [[ 6.19894815e-01 -7.84657379e-01 -6.57393103e-03 1.01951306e+03] [ 7.84616184e-01 6.19929648e-01 -8.04211207e-03 1.15280797e+02] [ 1.03856773e-02 -1.72749108e-04 9.99946052e-01 7.02088682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.739254154 meters 0.015113016395263858 Centerline is valid? [True, True] Translation: X:1019.55, Y:115.32, Z:7.02 [[ 6.17277578e-01 -7.86712995e-01 -7.14530424e-03 1.01955264e+03] [ 7.86664428e-01 6.17318891e-01 -8.74433569e-03 1.15324636e+02] [ 1.12902138e-02 -2.23274321e-04 9.99936239e-01 7.02101151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.799254154 meters 0.01851917858427562 Centerline is valid? [True, True] Translation: X:1019.59, Y:115.37, Z:7.02 [[ 6.17644702e-01 -7.86403898e-01 -9.16136519e-03 1.01958943e+03] [ 7.86323928e-01 6.17712581e-01 -1.12181315e-02 1.15368050e+02] [ 1.44810729e-02 -2.74981161e-04 9.99895106e-01 7.01590412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters 0.01474755954011038 Centerline is valid? [True, True] Translation: X:1019.62, Y:115.42, Z:7.02 [[ 6.20184601e-01 -7.84404726e-01 -8.96028219e-03 1.01962478e+03] [ 7.84327944e-01 6.20249287e-01 -1.09772113e-02 1.15415872e+02] [ 1.41681851e-02 -2.19902265e-04 9.99899602e-01 7.01909287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters 0.013838479294774053 Centerline is valid? [True, True] Translation: X:1019.66, Y:115.46, Z:7.02 [[ 6.21058730e-01 -7.83717725e-01 -8.51941184e-03 1.01965974e+03] [ 7.83648182e-01 6.21117131e-01 -1.04420818e-02 1.15463834e+02] [ 1.34751973e-02 -1.91075515e-04 9.99909187e-01 7.02139446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.979254154 meters 0.015005237748463096 Centerline is valid? [True, True] Translation: X:1019.70, Y:115.51, Z:7.02 [[ 6.20676126e-01 -7.84024590e-01 -8.16022962e-03 1.01969577e+03] [ 7.83960743e-01 6.20729738e-01 -1.00072770e-02 1.15509717e+02] [ 1.29112484e-02 -1.86021763e-04 9.99916629e-01 7.02153092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.039254154 meters 0.01676389122194739 Centerline is valid? [True, True] Translation: X:1019.73, Y:115.56, Z:7.02 [[ 6.20653462e-01 -7.84050377e-01 -7.36798616e-03 1.01973024e+03] [ 7.83998268e-01 6.20697172e-01 -9.04079947e-03 1.15556333e+02] [ 1.16617304e-02 -1.65284906e-04 9.99931986e-01 7.02104494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters 0.017102816430036846 Centerline is valid? [True, True] Translation: X:1019.76, Y:115.60, Z:7.02 [[ 6.21543017e-01 -7.83348182e-01 -7.06435620e-03 1.01976448e+03] [ 7.83300189e-01 6.21583145e-01 -8.67229161e-03 1.15603052e+02] [ 1.11845086e-02 -1.43309257e-04 9.99937441e-01 7.02086220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters 0.013351099364984713 Centerline is valid? [True, True] Translation: X:1019.80, Y:115.65, Z:7.02 [[ 6.23506944e-01 -7.81786532e-01 -6.99351919e-03 1.01979840e+03] [ 7.81739363e-01 6.23546154e-01 -8.58851206e-03 1.15651948e+02] [ 1.10751651e-02 -1.12112322e-04 9.99938662e-01 7.02292813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.219254154 meters 0.016629942813294663 Centerline is valid? [True, True] Translation: X:1019.83, Y:115.70, Z:7.02 [[ 6.26260628e-01 -7.79567335e-01 -8.50862786e-03 1.01983149e+03] [ 7.79497231e-01 6.26318420e-01 -1.04548319e-02 1.15701199e+02] [ 1.34793558e-02 -8.50022804e-05 9.99909146e-01 7.01859017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.279254154 meters 0.016325146571602743 Centerline is valid? [True, True] Translation: X:1019.87, Y:115.75, Z:7.02 [[ 6.28388529e-01 -7.77842784e-01 -9.40530924e-03 1.01986505e+03] [ 7.77756831e-01 6.28458910e-01 -1.15632972e-02 1.15748195e+02] [ 1.49052777e-02 -4.88002087e-05 9.99888909e-01 7.01764213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters 0.01608759963278589 Centerline is valid? [True, True] Translation: X:1019.90, Y:115.80, Z:7.02 [[ 6.31491279e-01 -7.75303300e-01 -1.11156445e-02 1.01989831e+03] [ 7.75182756e-01 6.31589101e-01 -1.36712228e-02 1.15795898e+02] [ 1.76198641e-02 1.66020821e-05 9.99844758e-01 7.01555788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters 0.01671031492916906 Centerline is valid? [True, True] Translation: X:1019.93, Y:115.84, Z:7.02 [[ 6.33748917e-01 -7.73453162e-01 -1.15115397e-02 1.01993330e+03] [ 7.73323471e-01 6.33853453e-01 -1.41636645e-02 1.15843061e+02] [ 1.82515603e-02 7.40631988e-05 9.99833424e-01 7.01550846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.459254154 meters 0.014354506158979876 Centerline is valid? [True, True] Translation: X:1019.97, Y:115.89, Z:7.02 [[ 6.36771632e-01 -7.70972218e-01 -1.11232675e-02 1.01996978e+03] [ 7.70850625e-01 6.36868760e-01 -1.36929072e-02 1.15889363e+02] [ 1.76409126e-02 1.44877156e-04 9.99844377e-01 7.01919079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.519254154 meters 0.017543327513524335 Centerline is valid? [True, True] Translation: X:1020.01, Y:115.94, Z:7.02 [[ 6.41229864e-01 -7.67268242e-01 -1.11223527e-02 1.02000543e+03] [ 7.67145982e-01 6.41326268e-01 -1.36989381e-02 1.15936263e+02] [ 1.76438171e-02 2.51700056e-04 9.99844304e-01 7.01904534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters 0.01626159562619439 Centerline is valid? [True, True] Translation: X:1020.04, Y:115.98, Z:7.02 [[ 6.45011467e-01 -7.64104689e-01 -1.02093647e-02 1.02004022e+03] [ 7.64001217e-01 6.45092184e-01 -1.25783133e-02 1.15982764e+02] [ 1.61971296e-02 3.13189225e-04 9.99868769e-01 7.02226253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters 0.020303678671012494 Centerline is valid? [True, True] Translation: X:1020.08, Y:116.03, Z:7.02 [[ 6.49749970e-01 -7.60073040e-01 -1.06747286e-02 1.02007520e+03] [ 7.59959289e-01 6.49837505e-01 -1.31565660e-02 1.16030472e+02] [ 1.69367901e-02 4.36119172e-04 9.99856467e-01 7.02073901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.699254154 meters 0.019849787218510967 Centerline is valid? [True, True] Translation: X:1020.11, Y:116.08, Z:7.02 [[ 6.52688474e-01 -7.57556148e-01 -1.03169115e-02 1.02011253e+03] [ 7.57449477e-01 6.52769825e-01 -1.27218360e-02 1.16076037e+02] [ 1.63720736e-02 4.88856492e-04 9.99865849e-01 7.02285247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.759254154 meters 0.019566867306558596 Centerline is valid? [True, True] Translation: X:1020.15, Y:116.12, Z:7.02 [[ 6.53630983e-01 -7.56726393e-01 -1.14762549e-02 1.02015201e+03] [ 7.56594187e-01 6.53731475e-01 -1.41560521e-02 1.16119289e+02] [ 1.82146473e-02 5.69966536e-04 9.99833937e-01 7.02222013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.819254154 meters 0.020156449252061205 Centerline is valid? [True, True] Translation: X:1020.19, Y:116.16, Z:7.02 [[ 6.50873526e-01 -7.59084293e-01 -1.24374236e-02 1.02019363e+03] [ 7.58929322e-01 6.50992115e-01 -1.53476386e-02 1.16161926e+02] [ 1.97468161e-02 5.50246150e-04 9.99804861e-01 7.01967478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters 0.018432137522637445 Centerline is valid? [True, True] Translation: X:1020.24, Y:116.20, Z:7.02 [[ 6.46228398e-01 -7.63043704e-01 -1.23759019e-02 1.02023652e+03] [ 7.62890821e-01 6.46346748e-01 -1.52799309e-02 1.16202330e+02] [ 1.96583790e-02 4.32863316e-04 9.99806662e-01 7.02092006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.939254154 meters 0.013780109290483462 Centerline is valid? [True, True] Translation: X:1020.28, Y:116.24, Z:7.03 [[ 6.35597828e-01 -7.71949323e-01 -1.04710920e-02 1.02028496e+03] [ 7.71840985e-01 6.35684060e-01 -1.29333103e-02 1.16237383e+02] [ 1.66401665e-02 1.38365976e-04 9.99861533e-01 7.02617204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.999254154 meters 0.016369089411349742 Centerline is valid? [True, True] Translation: X:1020.34, Y:116.27, Z:7.03 [[ 6.22175934e-01 -7.82816081e-01 -9.80256018e-03 1.02033565e+03] [ 7.82722367e-01 6.22253135e-01 -1.21133002e-02 1.16270795e+02] [ 1.55821600e-02 -1.36079257e-04 9.99878582e-01 7.02673586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.059254154 meters 0.01542262236826965 Centerline is valid? [True, True] Translation: X:1020.38, Y:116.31, Z:7.03 [[ 6.14932826e-01 -7.88540369e-01 -7.85530308e-03 1.02037741e+03] [ 7.88480593e-01 6.14982957e-01 -9.71171726e-03 1.16312318e+02] [ 1.24889586e-02 -2.21700284e-04 9.99921985e-01 7.03111090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters 0.016828744714709916 Centerline is valid? [True, True] Translation: X:1020.41, Y:116.36, Z:7.03 [[ 6.11717011e-01 -7.91027878e-01 -8.78610585e-03 1.02041366e+03] [ 7.90953268e-01 6.11780031e-01 -1.08683783e-02 1.16358928e+02] [ 1.39723544e-02 -3.01027226e-04 9.99902337e-01 7.02963432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters 0.019948894060465232 Centerline is valid? [True, True] Translation: X:1020.45, Y:116.40, Z:7.03 [[ 6.09337121e-01 -7.92846240e-01 -1.01544581e-02 1.02045131e+03] [ 7.92746754e-01 6.09421599e-01 -1.25658003e-02 1.16403439e+02] [ 1.61510936e-02 -3.93105086e-04 9.99869485e-01 7.02743926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.239254154 meters 0.017087444113673866 Centerline is valid? [True, True] Translation: X:1020.48, Y:116.45, Z:7.03 [[ 6.07322227e-01 -7.94395896e-01 -9.74031385e-03 1.02048400e+03] [ 7.94304486e-01 6.07400189e-01 -1.20579490e-02 1.16453245e+02] [ 1.54950536e-02 -4.13714578e-04 9.99879859e-01 7.02906016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.299254154 meters 0.017316773253362474 Centerline is valid? [True, True] Translation: X:1020.52, Y:116.50, Z:7.03 [[ 6.07780847e-01 -7.94054996e-01 -8.89411978e-03 1.02051630e+03] [ 7.93978673e-01 6.07845810e-01 -1.10153722e-02 1.16500549e+02] [ 1.41530648e-02 -3.66809152e-04 9.99899773e-01 7.02960965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters 0.017217937598661155 Centerline is valid? [True, True] Translation: X:1020.55, Y:116.55, Z:7.03 [[ 6.08516995e-01 -7.93494964e-01 -8.53280499e-03 1.02055157e+03] [ 7.93424596e-01 6.08576724e-01 -1.05727267e-02 1.16548284e+02] [ 1.35822719e-02 -3.36453437e-04 9.99907700e-01 7.03019217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters 0.017412045841883172 Centerline is valid? [True, True] Translation: X:1020.58, Y:116.60, Z:7.03 [[ 6.12057395e-01 -7.90780039e-01 -7.25771864e-03 1.02058065e+03] [ 7.90728889e-01 6.12100380e-01 -8.99715018e-03 1.16599590e+02] [ 1.15572191e-02 -2.32115492e-04 9.99933186e-01 7.03080253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.479254154 meters 0.014519049295002683 Centerline is valid? [True, True] Translation: X:1020.61, Y:116.65, Z:7.03 [[ 6.17811698e-01 -7.86304009e-01 -5.89161409e-03 1.02060709e+03] [ 7.86270064e-01 6.17839778e-01 -7.30716943e-03 1.16653051e+02] [ 9.38573016e-03 -1.17945037e-04 9.99955946e-01 7.03203708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.539254154 meters 0.013271390551002318 Centerline is valid? [True, True] Translation: X:1020.63, Y:116.71, Z:7.03 [[ 6.23681804e-01 -7.81654030e-01 -6.16325059e-03 1.02063391e+03] [ 7.81616617e-01 6.23712254e-01 -7.64776164e-03 1.16707819e+02] [ 9.82199862e-03 -4.75292995e-05 9.99951762e-01 7.03108757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters 0.016442228214766964 Centerline is valid? [True, True] Translation: X:1020.66, Y:116.76, Z:7.03 [[ 6.27755938e-01 -7.78377003e-01 -7.19190247e-03 1.02066256e+03] [ 7.78325799e-01 6.27797134e-01 -8.92801893e-03 1.16759804e+02] [ 1.14644204e-02 6.97365975e-06 9.99934281e-01 7.02827289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters 0.013278647736513072 Centerline is valid? [True, True] Translation: X:1020.69, Y:116.81, Z:7.03 [[ 6.30898899e-01 -7.75839654e-01 -6.27783695e-03 1.02069044e+03] [ 7.75800476e-01 6.30930131e-01 -7.79691129e-03 1.16810255e+02] [ 1.00100294e-02 4.87138502e-05 9.99949897e-01 7.03091098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.719254154 meters 0.01652979850865939 Centerline is valid? [True, True] Translation: X:1020.72, Y:116.86, Z:7.03 [[ 6.30987077e-01 -7.75761542e-01 -7.02417817e-03 1.02072357e+03] [ 7.75712444e-01 6.31026170e-01 -8.72793950e-03 1.16857879e+02] [ 1.12032400e-02 5.84746202e-05 9.99937240e-01 7.02755092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.779254154 meters 0.014937654072629819 Centerline is valid? [True, True] Translation: X:1020.76, Y:116.91, Z:7.03 [[ 6.31986804e-01 -7.74943113e-01 -7.47337440e-03 1.02075726e+03] [ 7.74887412e-01 6.32030985e-01 -9.29155342e-03 1.16906984e+02] [ 1.19238295e-02 8.11154038e-05 9.99928905e-01 7.02808166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters 0.016436854075397148 Centerline is valid? [True, True] Translation: X:1020.79, Y:116.96, Z:7.03 [[ 6.32941161e-01 -7.74145821e-01 -9.15062325e-03 1.02079072e+03] [ 7.74062132e-01 6.33007293e-01 -1.13834385e-02 1.16955426e+02] [ 1.46048526e-02 1.21895828e-04 9.99893336e-01 7.02516053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters 0.016835711507971366 Centerline is valid? [True, True] Translation: X:1020.82, Y:117.00, Z:7.02 [[ 6.34120067e-01 -7.73164109e-01 -1.04403583e-02 1.02082347e+03] [ 7.73054944e-01 6.34205985e-01 -1.29931192e-02 1.17002867e+02] [ 1.66671512e-02 1.68227009e-04 9.99861079e-01 7.02294411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.959254154 meters 0.01522867783115852 Centerline is valid? [True, True] Translation: X:1020.86, Y:117.05, Z:7.03 [[ 6.33312725e-01 -7.73832241e-01 -9.93254680e-03 1.02086121e+03] [ 7.73733438e-01 6.33390592e-01 -1.23663035e-02 1.17047637e+02] [ 1.58606260e-02 1.46593752e-04 9.99874202e-01 7.02619588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.019254154 meters 0.013612926531374187 Centerline is valid? [True, True] Translation: X:1020.90, Y:117.09, Z:7.03 [[ 6.28996953e-01 -7.77355472e-01 -9.01680767e-03 1.02090071e+03] [ 7.77274348e-01 6.29061576e-01 -1.12303584e-02 1.17090492e+02] [ 1.44021078e-02 5.53279124e-05 9.99896283e-01 7.02874012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters 0.013599270623834295 Centerline is valid? [True, True] Translation: X:1020.94, Y:117.13, Z:7.03 [[ 6.23267192e-01 -7.81961812e-01 -8.58674493e-03 1.02094105e+03] [ 7.81888613e-01 6.23326337e-01 -1.06993097e-02 1.17132310e+02] [ 1.37187958e-02 -4.53493861e-05 9.99905892e-01 7.02964324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters 0.01658673351334548 Centerline is valid? [True, True] Translation: X:1020.99, Y:117.17, Z:7.03 [[ 6.13728230e-01 -7.89473062e-01 -8.36322891e-03 1.02098584e+03] [ 7.89404244e-01 6.13785176e-01 -1.04258074e-02 1.17171561e+02] [ 1.33641200e-02 -2.03356099e-04 9.99910675e-01 7.03032177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.199254154 meters 0.019332566376027628 Centerline is valid? [True, True] Translation: X:1021.03, Y:117.21, Z:7.03 [[ 6.07172054e-01 -7.94525831e-01 -8.41432333e-03 1.02102712e+03] [ 7.94456607e-01 6.07230274e-01 -1.04925648e-02 1.17212608e+02] [ 1.34460456e-02 -3.14022653e-04 9.99909549e-01 7.03028097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.259254154 meters 0.018752221243806683 Centerline is valid? [True, True] Translation: X:1021.07, Y:117.26, Z:7.03 [[ 6.05595207e-01 -7.95722229e-01 -8.97663024e-03 1.02106511e+03] [ 7.95643529e-01 6.05661625e-01 -1.11969159e-02 1.17257040e+02] [ 1.43464353e-02 -3.61399157e-04 9.99897019e-01 7.03113574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.319254154 meters 0.01714932070273377 Centerline is valid? [True, True] Translation: X:1021.10, Y:117.30, Z:7.03 [[ 6.08041827e-01 -7.93851997e-01 -9.17294620e-03 1.02110052e+03] [ 7.93769531e-01 6.08110930e-01 -1.14467879e-02 1.17303780e+02] [ 1.46652242e-02 -3.21079395e-04 9.99892408e-01 7.03207318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters 0.018424340392905258 Centerline is valid? [True, True] Translation: X:1021.13, Y:117.35, Z:7.03 [[ 6.11953129e-01 -7.90833105e-01 -9.81672625e-03 1.02113370e+03] [ 7.90738168e-01 6.12031806e-01 -1.22563454e-02 1.17353439e+02] [ 1.57008724e-02 -2.62151190e-04 9.99876699e-01 7.03010926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.439254154 meters 0.015255494017964234 Centerline is valid? [True, True] Translation: X:1021.17, Y:117.40, Z:7.03 [[ 6.15939107e-01 -7.87740478e-01 -9.16276323e-03 1.02116785e+03] [ 7.87657344e-01 6.16007234e-01 -1.14453961e-02 1.17401096e+02] [ 1.46603302e-02 -1.67450667e-04 9.99892518e-01 7.03270424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.499254154 meters 0.015711886616488736 Centerline is valid? [True, True] Translation: X:1021.20, Y:117.45, Z:7.03 [[ 6.22489025e-01 -7.82571960e-01 -9.40960709e-03 1.02120001e+03] [ 7.82483598e-01 6.22560138e-01 -1.17598397e-02 1.17450426e+02] [ 1.50609671e-02 -4.24920300e-05 9.99886576e-01 7.03131202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.559254154 meters 0.01627127427478597 Centerline is valid? [True, True] Translation: X:1021.23, Y:117.50, Z:7.03 [[ 6.30932254e-01 -7.75778649e-01 -9.59052456e-03 1.02123111e+03] [ 7.75685964e-01 6.31005128e-01 -1.19922433e-02 1.17501443e+02] [ 1.53549965e-02 1.27057784e-04 9.99882097e-01 7.03133198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters 0.016360213632865248 Centerline is valid? [True, True] Translation: X:1021.26, Y:117.55, Z:7.03 [[ 6.40418696e-01 -7.67979564e-01 -8.44295397e-03 1.02126005e+03] [ 7.67906998e-01 6.40474286e-01 -1.05607985e-02 1.17551908e+02] [ 1.35179723e-02 2.79929350e-04 9.99908589e-01 7.03343540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters 0.01969749363541039 Centerline is valid? [True, True] Translation: X:1021.29, Y:117.60, Z:7.03 [[ 6.46027881e-01 -7.63270459e-01 -8.13527733e-03 1.02129217e+03] [ 7.63202664e-01 6.46078997e-01 -1.01795130e-02 1.17600847e+02] [ 1.30257534e-02 3.67383897e-04 9.99915094e-01 7.03370996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.739254154 meters 0.02014490671965541 Centerline is valid? [True, True] Translation: X:1021.33, Y:117.64, Z:7.03 [[ 6.46319314e-01 -7.63018798e-01 -8.58241880e-03 1.02133369e+03] [ 7.62943244e-01 6.46376172e-01 -1.07447538e-02 1.17643134e+02] [ 1.37459201e-02 3.96643444e-04 9.99905442e-01 7.03272407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.799254154 meters 0.017873244267689693 Centerline is valid? [True, True] Translation: X:1021.37, Y:117.69, Z:7.04 [[ 6.45116438e-01 -7.64048795e-01 -7.36347262e-03 1.02137287e+03] [ 7.63993194e-01 6.45158379e-01 -9.22311331e-03 1.17687448e+02] [ 1.17975147e-02 3.24339039e-04 9.99930354e-01 7.03557442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters 0.019069864518123533 Centerline is valid? [True, True] Translation: X:1021.41, Y:117.73, Z:7.03 [[ 6.43323507e-01 -7.65547151e-01 -8.51032804e-03 1.02141390e+03] [ 7.65472930e-01 6.43379701e-01 -1.06655228e-02 1.17730201e+02] [ 1.36403329e-02 3.46955777e-04 9.99906906e-01 7.03230804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters 0.019290220892697035 Centerline is valid? [True, True] Translation: X:1021.45, Y:117.77, Z:7.03 [[ 6.43254869e-01 -7.65580163e-01 -1.04970394e-02 1.02145435e+03] [ 7.65467122e-01 6.43340367e-01 -1.31626956e-02 1.17773337e+02] [ 1.68302679e-02 4.31829478e-04 9.99858268e-01 7.02938856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.979254154 meters 0.020666760845600787 Centerline is valid? [True, True] Translation: X:1021.50, Y:117.82, Z:7.03 [[ 6.43172671e-01 -7.65629735e-01 -1.18332177e-02 1.02149634e+03] [ 7.65485942e-01 6.43281330e-01 -1.48460250e-02 1.17815524e+02] [ 1.89786462e-02 4.90395730e-04 9.99819769e-01 7.02714527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.039254154 meters 0.017450151419421914 Centerline is valid? [True, True] Translation: X:1021.54, Y:117.86, Z:7.03 [[ 6.43225218e-01 -7.65596808e-01 -1.10836201e-02 1.02153781e+03] [ 7.65470516e-01 6.43320536e-01 -1.39132274e-02 1.17856759e+02] [ 1.77822429e-02 4.65154362e-04 9.99841775e-01 7.03118389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters 0.020351705338603615 Centerline is valid? [True, True] Translation: X:1021.58, Y:117.90, Z:7.03 [[ 6.42640603e-01 -7.66088050e-01 -1.10523740e-02 1.02158073e+03] [ 7.65962439e-01 6.42735477e-01 -1.38797781e-02 1.17896427e+02] [ 1.77368851e-02 4.54005588e-04 9.99842586e-01 7.02936281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters 0.019050445240358916 Centerline is valid? [True, True] Translation: X:1021.62, Y:117.94, Z:7.03 [[ 6.42156786e-01 -7.66506330e-01 -1.01345122e-02 1.02162174e+03] [ 7.66400683e-01 6.42236622e-01 -1.27324161e-02 1.17938980e+02] [ 1.62682324e-02 4.09110312e-04 9.99867580e-01 7.03152090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.219254154 meters 0.017436220126374555 Centerline is valid? [True, True] Translation: X:1021.66, Y:117.98, Z:7.03 [[ 6.41076884e-01 -7.67414810e-01 -9.74363533e-03 1.02166447e+03] [ 7.67317164e-01 6.41150816e-01 -1.22475041e-02 1.17979866e+02] [ 1.56460558e-02 3.75133149e-04 9.99877523e-01 7.03338721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.279254154 meters 0.0174701222453094 Centerline is valid? [True, True] Translation: X:1021.70, Y:118.02, Z:7.03 [[ 6.41361889e-01 -7.67181975e-01 -9.31372375e-03 1.02170306e+03] [ 7.67092643e-01 6.41429406e-01 -1.17130141e-02 1.18024997e+02] [ 1.49601096e-02 3.67791904e-04 9.99888024e-01 7.03469805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters 0.020153501409782254 Centerline is valid? [True, True] Translation: X:1021.74, Y:118.07, Z:7.03 [[ 6.41970521e-01 -7.66660834e-01 -1.02476936e-02 1.02173596e+03] [ 7.66552533e-01 6.42052169e-01 -1.28928729e-02 1.18072354e+02] [ 1.64640146e-02 4.21448803e-04 9.99864370e-01 7.03196170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters 0.0179994234175347 Centerline is valid? [True, True] Translation: X:1021.77, Y:118.12, Z:7.03 [[ 6.41778461e-01 -7.66819977e-01 -1.03696978e-02 1.02177052e+03] [ 7.66708999e-01 6.41862089e-01 -1.30525419e-02 1.18119235e+02] [ 1.66648657e-02 4.26299665e-04 9.99861041e-01 7.03331163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.459254154 meters 0.017064290960848154 Centerline is valid? [True, True] Translation: X:1021.81, Y:118.16, Z:7.03 [[ 6.40473008e-01 -7.67912932e-01 -1.02007197e-02 1.02180826e+03] [ 7.67805566e-01 6.40554113e-01 -1.28468470e-02 1.18164178e+02] [ 1.63993729e-02 3.95889422e-04 9.99865443e-01 7.03462051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.519254154 meters 0.01729571046195052 Centerline is valid? [True, True] Translation: X:1021.84, Y:118.21, Z:7.03 [[ 6.39661130e-01 -7.68593753e-01 -9.86317065e-03 1.02184429e+03] [ 7.68493393e-01 6.39737061e-01 -1.24257135e-02 1.18209789e+02] [ 1.58601616e-02 3.68464462e-04 9.99874152e-01 7.03470391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters 0.016248354604870553 Centerline is valid? [True, True] Translation: X:1021.88, Y:118.25, Z:7.03 [[ 6.37300235e-01 -7.70550547e-01 -1.00132047e-02 1.02188310e+03] [ 7.70447273e-01 6.37378809e-01 -1.26195243e-02 1.18254500e+02] [ 1.61061858e-02 3.27779591e-04 9.99870233e-01 7.03445199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters 0.01742140705910323 Centerline is valid? [True, True] Translation: X:1021.92, Y:118.30, Z:7.03 [[ 6.34441594e-01 -7.72900228e-01 -1.04451471e-02 1.02192115e+03] [ 7.72788052e-01 6.34527507e-01 -1.31707985e-02 1.18299168e+02] [ 1.68074464e-02 2.84217508e-04 9.99858705e-01 7.03231777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.699254154 meters 0.015524375686961158 Centerline is valid? [True, True] Translation: X:1021.96, Y:118.35, Z:7.04 [[ 6.33905956e-01 -7.73356197e-01 -9.13406231e-03 1.02195891e+03] [ 7.73270385e-01 6.33971714e-01 -1.15229137e-02 1.18345036e+02] [ 1.47020538e-02 2.41343722e-04 9.99891890e-01 7.03610701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.759254154 meters 0.01565735241778388 Centerline is valid? [True, True] Translation: X:1021.99, Y:118.39, Z:7.04 [[ 6.34905565e-01 -7.72530071e-01 -9.60272411e-03 1.02199497e+03] [ 7.72435037e-01 6.34978119e-01 -1.21203083e-02 1.18392161e+02] [ 1.54608223e-02 2.77770639e-04 9.99880436e-01 7.03614366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.819254154 meters 0.01625124177504653 Centerline is valid? [True, True] Translation: X:1022.03, Y:118.44, Z:7.04 [[ 6.35853624e-01 -7.71747180e-01 -9.82131803e-03 1.02202956e+03] [ 7.71647601e-01 6.35929395e-01 -1.24009823e-02 1.18439264e+02] [ 1.58160879e-02 3.06613019e-04 9.99874871e-01 7.03542008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters 0.01661032260201917 Centerline is valid? [True, True] Translation: X:1022.07, Y:118.49, Z:7.04 [[ 6.35960355e-01 -7.71656273e-01 -1.00510234e-02 1.02206534e+03] [ 7.71551877e-01 6.36039696e-01 -1.26966921e-02 1.18485359e+02] [ 1.61903319e-02 3.19706840e-04 9.99868877e-01 7.03524174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.939254154 meters 0.01684433337880545 Centerline is valid? [True, True] Translation: X:1022.10, Y:118.53, Z:7.03 [[ 6.35861798e-01 -7.71727885e-01 -1.07631366e-02 1.02210059e+03] [ 7.71608048e-01 6.35952791e-01 -1.36039697e-02 1.18531458e+02] [ 1.73434095e-02 3.45321794e-04 9.99849532e-01 7.03487281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.999254154 meters 0.017026134525489366 Centerline is valid? [True, True] Translation: X:1022.14, Y:118.58, Z:7.03 [[ 6.35160416e-01 -7.72305989e-01 -1.07100975e-02 1.02213583e+03] [ 7.72187296e-01 6.35250620e-01 -1.35436368e-02 1.18576777e+02] [ 1.72634279e-02 3.32180718e-04 9.99850921e-01 7.03481221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.059254154 meters 0.01668462738588828 Centerline is valid? [True, True] Translation: X:1022.17, Y:118.62, Z:7.03 [[ 6.33821066e-01 -7.73394538e-01 -1.14780081e-02 1.02217314e+03] [ 7.73258250e-01 6.33924901e-01 -1.45223908e-02 1.18621794e+02] [ 1.85077328e-02 3.29132746e-04 9.99828663e-01 7.03445636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters 0.01607870884761984 Centerline is valid? [True, True] Translation: X:1022.21, Y:118.67, Z:7.03 [[ 6.31170964e-01 -7.75549258e-01 -1.21062705e-02 1.02221237e+03] [ 7.75397881e-01 6.31286992e-01 -1.53251097e-02 1.18666208e+02] [ 1.95279085e-02 2.85587791e-04 9.99809271e-01 7.03386167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters 0.01578620587085481 Centerline is valid? [True, True] Translation: X:1022.25, Y:118.71, Z:7.04 [[ 6.27015059e-01 -7.78905547e-01 -1.25803067e-02 1.02225373e+03] [ 7.78742589e-01 6.27141221e-01 -1.59332545e-02 1.18708606e+02] [ 2.03001292e-02 1.93569893e-04 9.99793912e-01 7.03554915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.239254154 meters 0.014775332887112334 Centerline is valid? [True, True] Translation: X:1022.29, Y:118.75, Z:7.04 [[ 6.22888388e-01 -7.82218994e-01 -1.19792074e-02 1.02229239e+03] [ 7.82071698e-01 6.23003561e-01 -1.51796813e-02 1.18753616e+02] [ 1.93369239e-02 8.66481629e-05 9.99813020e-01 7.03816450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.299254154 meters 0.018397826385191704 Centerline is valid? [True, True] Translation: X:1022.33, Y:118.80, Z:7.03 [[ 6.20022841e-01 -7.84476337e-01 -1.29828457e-02 1.02232948e+03] [ 7.84303691e-01 6.20158751e-01 -1.64573504e-02 1.18798133e+02] [ 2.09618273e-02 2.14393982e-05 9.99780277e-01 7.03266345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters 0.014285542084655146 Centerline is valid? [True, True] Translation: X:1022.36, Y:118.84, Z:7.04 [[ 6.20426773e-01 -7.84160796e-01 -1.27462282e-02 1.02236456e+03] [ 7.83994171e-01 6.20557689e-01 -1.61646039e-02 1.18844875e+02] [ 2.05854185e-02 3.59844023e-05 9.99788097e-01 7.03720613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters 0.013987877655193985 Centerline is valid? [True, True] Translation: X:1022.40, Y:118.89, Z:7.04 [[ 6.21353928e-01 -7.83430324e-01 -1.24989805e-02 1.02239739e+03] [ 7.83269773e-01 6.21479624e-01 -1.58600100e-02 1.18892619e+02] [ 2.01930745e-02 6.46059471e-05 9.99796097e-01 7.03998822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.479254154 meters 0.014126178144402651 Centerline is valid? [True, True] Translation: X:1022.43, Y:118.94, Z:7.04 [[ 6.22876230e-01 -7.82223808e-01 -1.22929253e-02 1.02243002e+03] [ 7.82068093e-01 6.22997514e-01 -1.56075529e-02 1.18940935e+02] [ 1.98670614e-02 1.07669036e-04 9.99802625e-01 7.04097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.539254154 meters 0.016473697919985965 Centerline is valid? [True, True] Translation: X:1022.46, Y:118.99, Z:7.04 [[ 6.24547734e-01 -7.80876818e-01 -1.30966773e-02 1.02246399e+03] [ 7.80699579e-01 6.24685015e-01 -1.66372885e-02 1.18989004e+02] [ 2.11729709e-02 1.66210404e-04 9.99775814e-01 7.04047542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters 0.017650561311962708 Centerline is valid? [True, True] Translation: X:1022.50, Y:119.04, Z:7.04 [[ 6.27839596e-01 -7.78228775e-01 -1.33197694e-02 1.02249570e+03] [ 7.78044716e-01 6.27980816e-01 -1.69267789e-02 1.19037354e+02] [ 2.15374661e-02 2.63925874e-04 9.99768007e-01 7.03920593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters 0.016040294011981118 Centerline is valid? [True, True] Translation: X:1022.53, Y:119.09, Z:7.04 [[ 6.31729362e-01 -7.75096145e-01 -1.19991351e-02 1.02252906e+03] [ 7.74946085e-01 6.31843218e-01 -1.52549605e-02 1.19086445e+02] [ 1.94056332e-02 3.38323667e-04 9.99811636e-01 7.04257626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.719254154 meters 0.016114620016739193 Centerline is valid? [True, True] Translation: X:1022.57, Y:119.13, Z:7.04 [[ 6.33011399e-01 -7.74055065e-01 -1.16329147e-02 1.02256527e+03] [ 7.73913707e-01 6.33118175e-01 -1.47969719e-02 1.19133219e+02] [ 1.88186807e-02 3.63779752e-04 9.99822847e-01 7.04426810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.779254154 meters 0.01769380833146424 Centerline is valid? [True, True] Translation: X:1022.60, Y:119.18, Z:7.04 [[ 6.33545656e-01 -7.73624544e-01 -1.11788740e-02 1.02260097e+03] [ 7.73493806e-01 6.33644167e-01 -1.42267967e-02 1.19180007e+02] [ 1.80896274e-02 3.66535495e-04 9.99836302e-01 7.04335601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters 0.016644127438878827 Centerline is valid? [True, True] Translation: X:1022.64, Y:119.23, Z:7.05 [[ 6.35069514e-01 -7.72384986e-01 -1.03993442e-02 1.02263666e+03] [ 7.72271566e-01 6.35154541e-01 -1.32415286e-02 1.19226812e+02] [ 1.68327486e-02 3.78173284e-04 9.99858248e-01 7.04580610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters 0.01709110058194994 Centerline is valid? [True, True] Translation: X:1022.67, Y:119.27, Z:7.04 [[ 6.36086684e-01 -7.71540467e-01 -1.09104596e-02 1.02267158e+03] [ 7.71415366e-01 6.36180106e-01 -1.38998242e-02 1.19273981e+02] [ 1.76652942e-02 4.24996932e-04 9.99843866e-01 7.04465908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.959254154 meters 0.01993365955703796 Centerline is valid? [True, True] Translation: X:1022.70, Y:119.32, Z:7.04 [[ 6.36906417e-01 -7.70843060e-01 -1.22960534e-02 1.02270481e+03] [ 7.70683933e-01 6.37024899e-01 -1.56701341e-02 1.19321469e+02] [ 1.99121062e-02 5.04038175e-04 9.99801607e-01 7.04022216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.019254154 meters 0.021771754468179094 Centerline is valid? [True, True] Translation: X:1022.74, Y:119.37, Z:7.04 [[ 6.39161405e-01 -7.68945460e-01 -1.39849119e-02 1.02273988e+03] [ 7.68738976e-01 6.39314056e-01 -1.78304120e-02 1.19368375e+02] [ 2.26513651e-02 6.45764296e-04 9.99743216e-01 7.03743663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters 0.0199142998458686 Centerline is valid? [True, True] Translation: X:1022.78, Y:119.41, Z:7.04 [[ 6.41991042e-01 -7.66580395e-01 -1.42126832e-02 1.02277633e+03] [ 7.66366401e-01 6.42147914e-01 -1.81272476e-02 1.19414023e+02] [ 2.30226375e-02 7.45407729e-04 9.99734666e-01 7.04124931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters 0.02001375311835002 Centerline is valid? [True, True] Translation: X:1022.81, Y:119.46, Z:7.04 [[ 6.41033207e-01 -7.67394589e-01 -1.34897091e-02 1.02281408e+03] [ 7.67201830e-01 6.41174763e-01 -1.72126768e-02 1.19459054e+02] [ 2.18581761e-02 6.84567863e-04 9.99760847e-01 7.04224305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.199254154 meters 0.019911274406368862 Centerline is valid? [True, True] Translation: X:1022.85, Y:119.50, Z:7.04 [[ 6.39563753e-01 -7.68618898e-01 -1.35349616e-02 1.02285320e+03] [ 7.68424917e-01 6.39706625e-01 -1.72795037e-02 1.19503320e+02] [ 2.19397577e-02 6.50742505e-04 9.99759083e-01 7.04263045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.259254154 meters 0.01793332840606042 Centerline is valid? [True, True] Translation: X:1022.89, Y:119.55, Z:7.05 [[ 6.36946342e-01 -7.70823087e-01 -1.14510230e-02 1.02289428e+03] [ 7.70684470e-01 6.37049078e-01 -1.46259798e-02 1.19546665e+02] [ 1.85689065e-02 4.90838756e-04 9.99827463e-01 7.04691973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.319254154 meters 0.017627295874224895 Centerline is valid? [True, True] Translation: X:1022.93, Y:119.59, Z:7.05 [[ 6.33601456e-01 -7.73585240e-01 -1.07270980e-02 1.02293468e+03] [ 7.73463872e-01 6.33692138e-01 -1.37081773e-02 1.19589683e+02] [ 1.74021213e-02 3.88498313e-04 9.99848496e-01 7.04806840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters 0.01704676779728704 Centerline is valid? [True, True] Translation: X:1022.97, Y:119.63, Z:7.05 [[ 6.32991556e-01 -7.74087125e-01 -1.05267733e-02 1.02297200e+03] [ 7.73970198e-01 6.33078971e-01 -1.34591425e-02 1.19634787e+02] [ 1.70828277e-02 3.72114684e-04 9.99854009e-01 7.04941392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.439254154 meters 0.01734281145903146 Centerline is valid? [True, True] Translation: X:1023.01, Y:119.68, Z:7.05 [[ 6.33724545e-01 -7.73478072e-01 -1.11746408e-02 1.02300833e+03] [ 7.73346076e-01 6.33822923e-01 -1.42950697e-02 1.19680879e+02] [ 1.81396664e-02 4.17271981e-04 9.99835376e-01 7.04854340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.499254154 meters 0.017920606439923322 Centerline is valid? [True, True] Translation: X:1023.04, Y:119.73, Z:7.05 [[ 6.35716452e-01 -7.71827017e-01 -1.21510318e-02 1.02304385e+03] [ 7.71670478e-01 6.35832364e-01 -1.55524413e-02 1.19727632e+02] [ 1.97298137e-02 5.10350310e-04 9.99805218e-01 7.04805572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.559254154 meters 0.018658630245844757 Centerline is valid? [True, True] Translation: X:1023.08, Y:119.78, Z:7.05 [[ 6.36755518e-01 -7.70964294e-01 -1.25086819e-02 1.02307938e+03] [ 7.70798067e-01 6.36878124e-01 -1.60185881e-02 1.19775126e+02] [ 2.03162654e-02 5.58256523e-04 9.99793448e-01 7.04716708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters 0.017949226439165154 Centerline is valid? [True, True] Translation: X:1023.12, Y:119.82, Z:7.05 [[ 6.36077776e-01 -7.71530981e-01 -1.20419621e-02 1.02311824e+03] [ 7.71376873e-01 6.36191536e-01 -1.54288841e-02 1.19819202e+02] [ 1.95648564e-02 5.25079207e-04 9.99808452e-01 7.04943511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters 0.019851335211638 Centerline is valid? [True, True] Translation: X:1023.16, Y:119.86, Z:7.05 [[ 6.34488949e-01 -7.72840015e-01 -1.19199428e-02 1.02315503e+03] [ 7.72689090e-01 6.34600722e-01 -1.52805048e-02 1.19864860e+02] [ 1.93737899e-02 4.84901728e-04 9.99812193e-01 7.04836796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.739254154 meters 0.018382840105799218 Centerline is valid? [True, True] Translation: X:1023.19, Y:119.91, Z:7.05 [[ 6.35459083e-01 -7.72069330e-01 -1.00350612e-02 1.02319079e+03] [ 7.71962159e-01 6.35538167e-01 -1.28710248e-02 1.19910133e+02] [ 1.63149879e-02 4.32322125e-04 9.99866808e-01 7.05380654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.799254154 meters 0.018542790516445848 Centerline is valid? [True, True] Translation: X:1023.23, Y:119.96, Z:7.05 [[ 6.35914083e-01 -7.71691392e-01 -1.02797634e-02 1.02322623e+03] [ 7.71578758e-01 6.35997001e-01 -1.31921950e-02 1.19956972e+02] [ 1.67182020e-02 4.57455504e-04 9.99860136e-01 7.05430924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters 0.020251566024530654 Centerline is valid? [True, True] Translation: X:1023.26, Y:120.01, Z:7.05 [[ 6.37256871e-01 -7.70576810e-01 -1.07266316e-02 1.02325782e+03] [ 7.70453929e-01 6.37346938e-01 -1.37703967e-02 1.20005190e+02] [ 1.74477342e-02 5.10904410e-04 9.99847646e-01 7.05324564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters 0.021241513802974604 Centerline is valid? [True, True] Translation: X:1023.29, Y:120.05, Z:7.05 [[ 6.39630192e-01 -7.68604530e-01 -1.09678640e-02 1.02329146e+03] [ 7.68475664e-01 6.39723955e-01 -1.40860143e-02 1.20053207e+02] [ 1.78429798e-02 5.81303487e-04 9.99840632e-01 7.05361501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.979254154 meters 0.02075361801240737 Centerline is valid? [True, True] Translation: X:1023.33, Y:120.10, Z:7.05 [[ 6.40895025e-01 -7.67547391e-01 -1.11610908e-02 1.02332741e+03] [ 7.67413700e-01 6.40991898e-01 -1.43387648e-02 1.20099143e+02] [ 1.81598503e-02 6.24469038e-04 9.99834901e-01 7.05478446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.039254154 meters 0.021508483572348785 Centerline is valid? [True, True] Translation: X:1023.36, Y:120.15, Z:7.06 [[ 6.42368933e-01 -7.66311209e-01 -1.13703361e-02 1.02336195e+03] [ 7.66172156e-01 6.42469201e-01 -1.46134336e-02 1.20146498e+02] [ 1.85035287e-02 6.75580872e-04 9.99828567e-01 7.05572472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters 0.023000730121252668 Centerline is valid? [True, True] Translation: X:1023.40, Y:120.19, Z:7.05 [[ 6.40855601e-01 -7.67569668e-01 -1.18702826e-02 1.02339660e+03] [ 7.67418178e-01 6.40965172e-01 -1.52639605e-02 1.20193430e+02] [ 1.93245908e-02 6.72523937e-04 9.99813036e-01 7.05356209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters 0.020990190046438453 Centerline is valid? [True, True] Translation: X:1023.43, Y:120.24, Z:7.06 [[ 6.38593040e-01 -7.69455914e-01 -1.16844209e-02 1.02343487e+03] [ 7.69309297e-01 6.38699634e-01 -1.50327342e-02 1.20238392e+02] [ 1.90298616e-02 6.10865805e-04 9.99818729e-01 7.05515135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.219254154 meters 0.022516062659317496 Centerline is valid? [True, True] Translation: X:1023.47, Y:120.28, Z:7.05 [[ 6.34928210e-01 -7.72479702e-01 -1.18860160e-02 1.02347025e+03] [ 7.72328409e-01 6.35039232e-01 -1.52971646e-02 1.20283597e+02] [ 1.93648356e-02 5.32693546e-04 9.99812342e-01 7.05280526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.279254154 meters 0.01920819456082856 Centerline is valid? [True, True] Translation: X:1023.51, Y:120.33, Z:7.06 [[ 6.33721610e-01 -7.73479687e-01 -1.12292025e-02 1.02350763e+03] [ 7.73344706e-01 6.33820910e-01 -1.44575384e-02 1.20328908e+02] [ 1.82999157e-02 4.78010209e-04 9.99832428e-01 7.05644083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters 0.016816214321577677 Centerline is valid? [True, True] Translation: X:1023.55, Y:120.37, Z:7.06 [[ 6.30320784e-01 -7.76246262e-01 -1.17239632e-02 1.02354694e+03] [ 7.76099448e-01 6.30429667e-01 -1.51023949e-02 1.20373089e+02] [ 1.91143118e-02 4.20391995e-04 9.99817216e-01 7.05777098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters 0.015397915638554185 Centerline is valid? [True, True] Translation: X:1023.58, Y:120.42, Z:7.06 [[ 6.26849397e-01 -7.79058401e-01 -1.13066976e-02 1.02358410e+03] [ 7.78922168e-01 6.26951274e-01 -1.45724678e-02 1.20418503e+02] [ 1.84415519e-02 3.27705258e-04 9.99829886e-01 7.05901823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.459254154 meters 0.01528093254591383 Centerline is valid? [True, True] Translation: X:1023.62, Y:120.47, Z:7.06 [[ 6.23542334e-01 -7.81716410e-01 -1.06964005e-02 1.02361910e+03] [ 7.81594752e-01 6.23634025e-01 -1.37929768e-02 1.20465264e+02] [ 1.74528356e-02 2.40254451e-04 9.99847659e-01 7.05810433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.519254154 meters 0.014421659884356904 Centerline is valid? [True, True] Translation: X:1023.66, Y:120.51, Z:7.06 [[ 6.21501451e-01 -7.83339083e-01 -1.07622748e-02 1.02365704e+03] [ 7.83216037e-01 6.21594595e-01 -1.38851972e-02 1.20510072e+02] [ 1.75665895e-02 2.00483937e-04 9.99845675e-01 7.05955498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters 0.01408238008652579 Centerline is valid? [True, True] Translation: X:1023.69, Y:120.56, Z:7.06 [[ 6.19168835e-01 -7.85182700e-01 -1.08665103e-02 1.02369258e+03] [ 7.85057463e-01 6.19264163e-01 -1.40240902e-02 1.20555682e+02] [ 1.77407134e-02 1.52444588e-04 9.99842610e-01 7.05946193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters 0.015703124301964435 Centerline is valid? [True, True] Translation: X:1023.73, Y:120.60, Z:7.06 [[ 6.18129434e-01 -7.85999880e-01 -1.09631639e-02 1.02372689e+03] [ 7.85872424e-01 6.18226634e-01 -1.41549367e-02 1.20602850e+02] [ 1.79034985e-02 1.33934785e-04 9.99839711e-01 7.05882834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.699254154 meters 0.01374947433702863 Centerline is valid? [True, True] Translation: X:1023.76, Y:120.65, Z:7.06 [[ 6.18129125e-01 -7.86019762e-01 -9.45080764e-03 1.02376117e+03] [ 7.85924954e-01 6.18201358e-01 -1.22084832e-02 1.20650774e+02] [ 1.54386112e-02 1.18793508e-04 9.99880810e-01 7.06287607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.759254154 meters 0.01568112501844443 Centerline is valid? [True, True] Translation: X:1023.79, Y:120.70, Z:7.06 [[ 6.16358376e-01 -7.87417096e-01 -8.75607868e-03 1.02379495e+03] [ 7.87335775e-01 6.16420562e-01 -1.13167131e-02 1.20699189e+02] [ 1.43084003e-02 8.11769278e-05 9.99897626e-01 7.06264293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.819254154 meters 0.01481374275091622 Centerline is valid? [True, True] Translation: X:1023.83, Y:120.75, Z:7.06 [[ 6.15506677e-01 -7.88087115e-01 -8.38025483e-03 1.02382847e+03] [ 7.88012606e-01 6.15563721e-01 -1.08369268e-02 1.20746245e+02] [ 1.36990232e-02 6.64543408e-05 9.99906162e-01 7.06382615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters 0.01483084223916888 Centerline is valid? [True, True] Translation: X:1023.86, Y:120.80, Z:7.06 [[ 6.14398215e-01 -7.88942801e-01 -9.17008133e-03 1.02386088e+03] [ 7.88853568e-01 6.14466642e-01 -1.18656922e-02 1.20795204e+02] [ 1.49960615e-02 5.64087243e-05 9.99887551e-01 7.06321355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.939254154 meters 0.013601488119183157 Centerline is valid? [True, True] Translation: X:1023.89, Y:120.84, Z:7.06 [[ 6.14544172e-01 -7.88817223e-01 -1.01414418e-02 1.02389270e+03] [ 7.88707940e-01 6.14627841e-01 -1.31301918e-02 1.20844962e+02] [ 1.65905339e-02 7.04471488e-05 9.99862365e-01 7.06289880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.999254154 meters 0.013555262584024553 Centerline is valid? [True, True] Translation: X:1023.92, Y:120.89, Z:7.06 [[ 6.14275461e-01 -7.89024713e-01 -1.02790801e-02 1.02392438e+03] [ 7.88912344e-01 6.14361455e-01 -1.33160126e-02 1.20893499e+02] [ 1.68217337e-02 7.04065966e-05 9.99858502e-01 7.06375512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.059254154 meters 0.013432377238109531 Centerline is valid? [True, True] Translation: X:1023.96, Y:120.94, Z:7.06 [[ 6.13638280e-01 -7.89518851e-01 -1.03944863e-02 1.02395882e+03] [ 7.89403876e-01 6.13726307e-01 -1.34736739e-02 1.20939759e+02] [ 1.70170892e-02 6.25142760e-05 9.99855197e-01 7.06448923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters 0.013354473049176063 Centerline is valid? [True, True] Translation: X:1023.99, Y:120.99, Z:7.07 [[ 6.11643857e-01 -7.91065085e-01 -1.03837781e-02 1.02399245e+03] [ 7.90950432e-01 6.11731992e-01 -1.34679014e-02 1.20987149e+02] [ 1.70060759e-02 2.45053938e-05 9.99855386e-01 7.06591509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters 0.016035914161081688 Centerline is valid? [True, True] Translation: X:1024.03, Y:121.04, Z:7.06 [[ 6.09246553e-01 -7.92914507e-01 -1.02577723e-02 1.02402543e+03] [ 7.92802748e-01 6.09332900e-01 -1.33123949e-02 1.21035228e+02] [ 1.68059892e-02 -2.18593220e-05 9.99858769e-01 7.06464798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.239254154 meters 0.013440507384117666 Centerline is valid? [True, True] Translation: X:1024.06, Y:121.08, Z:7.07 [[ 6.08930677e-01 -7.93159770e-01 -1.00503234e-02 1.02405673e+03] [ 7.93052427e-01 6.09013611e-01 -1.30487626e-02 1.21083534e+02] [ 1.64705373e-02 -2.46415379e-05 9.99864351e-01 7.06613425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.299254154 meters 0.017438924685202684 Centerline is valid? [True, True] Translation: X:1024.09, Y:121.13, Z:7.06 [[ 6.09567031e-01 -7.92650376e-01 -1.15505871e-02 1.02408825e+03] [ 7.92508426e-01 6.09676457e-01 -1.50004267e-02 1.21132995e+02] [ 1.89322148e-02 -1.01720740e-05 9.99820770e-01 7.06404959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters 0.014445665884097871 Centerline is valid? [True, True] Translation: X:1024.12, Y:121.18, Z:7.07 [[ 6.13189400e-01 -7.89853484e-01 -1.14120133e-02 1.02411722e+03] [ 7.89714306e-01 6.13295579e-01 -1.48272437e-02 1.21184504e+02] [ 1.87102874e-02 7.96784984e-05 9.99824944e-01 7.06561842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters 0.015800005695121442 Centerline is valid? [True, True] Translation: X:1024.15, Y:121.24, Z:7.06 [[ 6.16532500e-01 -7.87230102e-01 -1.25077260e-02 1.02414535e+03] [ 7.87062255e-01 6.16659335e-01 -1.62564524e-02 1.21236394e+02] [ 2.05105746e-02 1.78272207e-04 9.99789620e-01 7.06304845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.479254154 meters 0.01433794591227192 Centerline is valid? [True, True] Translation: X:1024.18, Y:121.29, Z:7.07 [[ 6.18433394e-01 -7.85751025e-01 -1.16388917e-02 1.02417738e+03] [ 7.85605309e-01 6.18542869e-01 -1.51333233e-02 1.21285865e+02] [ 1.90901778e-02 2.15377348e-04 9.99817743e-01 7.06528290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.539254154 meters 0.01646802098702175 Centerline is valid? [True, True] Translation: X:1024.21, Y:121.33, Z:7.06 [[ 6.18315916e-01 -7.85846517e-01 -1.14315003e-02 1.02421112e+03] [ 7.85705808e-01 6.18421543e-01 -1.48720612e-02 1.21333521e+02] [ 1.87566436e-02 2.13835989e-04 9.99824056e-01 7.06490208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters 0.017845799864656044 Centerline is valid? [True, True] Translation: X:1024.25, Y:121.38, Z:7.07 [[ 6.18563005e-01 -7.85660907e-01 -1.08050115e-02 1.02424512e+03] [ 7.85535026e-01 6.18657331e-01 -1.40651973e-02 1.21381027e+02] [ 1.77350753e-02 2.12495726e-04 9.99842699e-01 7.06567624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters 0.014802800241711529 Centerline is valid? [True, True] Translation: X:1024.28, Y:121.43, Z:7.07 [[ 6.20159811e-01 -7.84411563e-01 -1.00153938e-02 1.02427865e+03] [ 7.84303164e-01 6.20240635e-01 -1.30422884e-02 1.21428551e+02] [ 1.64424760e-02 2.33198096e-04 9.99864786e-01 7.06796129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.719254154 meters 0.01498446315104942 Centerline is valid? [True, True] Translation: X:1024.31, Y:121.48, Z:7.07 [[ 6.23074536e-01 -7.82088477e-01 -1.07580715e-02 1.02431316e+03] [ 7.81962948e-01 6.23167322e-01 -1.40155556e-02 1.21476378e+02] [ 1.76654831e-02 3.20322514e-04 9.99843902e-01 7.06830454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.779254154 meters 0.01957162822461604 Centerline is valid? [True, True] Translation: X:1024.34, Y:121.52, Z:7.06 [[ 6.26187574e-01 -7.79579090e-01 -1.20650330e-02 1.02434463e+03] [ 7.79420631e-01 6.26303638e-01 -1.57236715e-02 1.21524547e+02] [ 1.98142196e-02 4.42232093e-04 9.99803581e-01 7.06471578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters 0.01739953334324678 Centerline is valid? [True, True] Translation: X:1024.38, Y:121.57, Z:7.07 [[ 6.29093882e-01 -7.77253352e-01 -1.08680083e-02 1.02437937e+03] [ 7.77124330e-01 6.29187577e-01 -1.41692954e-02 1.21572488e+02] [ 1.78511481e-02 4.68023389e-04 9.99840546e-01 7.06787902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters 0.01863154096441272 Centerline is valid? [True, True] Translation: X:1024.41, Y:121.62, Z:7.07 [[ 6.31836557e-01 -7.75029354e-01 -1.05861068e-02 1.02441380e+03] [ 7.74906535e-01 6.31925019e-01 -1.38069727e-02 1.21619529e+02] [ 1.73904349e-02 5.20506750e-04 9.99848639e-01 7.06908696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.959254154 meters 0.02100464129694851 Centerline is valid? [True, True] Translation: X:1024.45, Y:121.67, Z:7.07 [[ 6.33293881e-01 -7.73833154e-01 -1.10050564e-02 1.02444925e+03] [ 7.73700125e-01 6.33389229e-01 -1.43597151e-02 1.21666350e+02] [ 1.80825078e-02 5.79306148e-04 9.99836330e-01 7.06758748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.019254154 meters 0.018855432180356638 Centerline is valid? [True, True] Translation: X:1024.49, Y:121.71, Z:7.07 [[ 6.34456368e-01 -7.72882241e-01 -1.08701129e-02 1.02448913e+03] [ 7.72752182e-01 6.34549192e-01 -1.41911160e-02 1.21709608e+02] [ 1.78656828e-02 6.03740445e-04 9.99840214e-01 7.07009120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters 0.01890723787088395 Centerline is valid? [True, True] Translation: X:1024.53, Y:121.75, Z:7.07 [[ 6.34283581e-01 -7.73035529e-01 -1.00205150e-02 1.02452786e+03] [ 7.72924914e-01 6.34362484e-01 -1.30887422e-02 1.21754050e+02] [ 1.64747015e-02 5.56868531e-04 9.99864128e-01 7.07186231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters 0.021703819019902683 Centerline is valid? [True, True] Translation: X:1024.57, Y:121.80, Z:7.07 [[ 6.32668598e-01 -7.74354147e-01 -1.03004412e-02 1.02456774e+03] [ 7.74237322e-01 6.32752212e-01 -1.34613397e-02 1.21798382e+02] [ 1.69414712e-02 5.41580924e-04 9.99856336e-01 7.07000599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.199254154 meters 0.021962708252991972 Centerline is valid? [True, True] Translation: X:1024.61, Y:121.84, Z:7.07 [[ 6.27737441e-01 -7.78350759e-01 -1.07610492e-02 1.02460832e+03] [ 7.78223700e-01 6.27829503e-01 -1.40708293e-02 1.21840136e+02] [ 1.77081448e-02 4.58282815e-04 9.99843093e-01 7.06861425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.259254154 meters 0.016773323212377927 Centerline is valid? [True, True] Translation: X:1024.65, Y:121.88, Z:7.07 [[ 6.19215732e-01 -7.85147563e-01 -1.07322302e-02 1.02465439e+03] [ 7.85022094e-01 6.19308673e-01 -1.40385108e-02 1.21878752e+02] [ 1.76688658e-02 2.67828867e-04 9.99843858e-01 7.06993235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.319254154 meters 0.014094609800700911 Centerline is valid? [True, True] Translation: X:1024.70, Y:121.92, Z:7.07 [[ 6.12504860e-01 -7.90394636e-01 -1.06825397e-02 1.02469804e+03] [ 7.90271007e-01 6.12597997e-01 -1.39796182e-02 1.21919644e+02] [ 1.75935176e-02 1.20482710e-04 9.99845215e-01 7.07194133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters 0.013266510382486538 Centerline is valid? [True, True] Translation: X:1024.74, Y:121.96, Z:7.07 [[ 6.03461764e-01 -7.97315592e-01 -1.10338950e-02 1.02474245e+03] [ 7.97184732e-01 6.03562624e-01 -1.44451410e-02 1.21957236e+02] [ 1.81769827e-02 -7.89623960e-05 9.99834782e-01 7.07263947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.439254154 meters 0.01674863841638495 Centerline is valid? [True, True] Translation: X:1024.78, Y:122.00, Z:7.07 [[ 5.96373054e-01 -8.02620426e-01 -1.18166033e-02 1.02478493e+03] [ 8.02471231e-01 5.96490057e-01 -1.54769242e-02 1.21998701e+02] [ 1.94705819e-02 -2.52463661e-04 9.99810398e-01 7.07104467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.499254154 meters 0.017711153845858973 Centerline is valid? [True, True] Translation: X:1024.82, Y:122.04, Z:7.07 [[ 5.93667461e-01 -8.04619020e-01 -1.21317259e-02 1.02482409e+03] [ 8.04462054e-01 5.93791317e-01 -1.58957563e-02 1.22042142e+02] [ 1.99937413e-02 -3.22719835e-04 9.99800053e-01 7.07069070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.559254154 meters 0.01515629513629466 Centerline is valid? [True, True] Translation: X:1024.86, Y:122.09, Z:7.07 [[ 5.93083644e-01 -8.05053312e-01 -1.18724938e-02 1.02486229e+03] [ 8.04902918e-01 5.93202376e-01 -1.55638472e-02 1.22085788e+02] [ 1.95725183e-02 -3.25541739e-04 9.99808387e-01 7.07395272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters 0.015939383093207315 Centerline is valid? [True, True] Translation: X:1024.90, Y:122.13, Z:7.07 [[ 5.94670088e-01 -8.03877491e-01 -1.21847047e-02 1.02489821e+03] [ 8.03718729e-01 5.94794835e-01 -1.59784008e-02 1.22131554e+02] [ 2.00920761e-02 -2.91198352e-04 9.99798091e-01 7.07281919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters 0.01813356429410057 Centerline is valid? [True, True] Translation: X:1024.93, Y:122.18, Z:7.07 [[ 5.98187445e-01 -8.01257228e-01 -1.25950351e-02 1.02493231e+03] [ 8.01086868e-01 5.98319991e-01 -1.65232421e-02 1.22179882e+02] [ 2.07752285e-02 -2.05721287e-04 9.99784150e-01 7.07128963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.739254154 meters 0.016834335833290127 Centerline is valid? [True, True] Translation: X:1024.96, Y:122.23, Z:7.07 [[ 6.03995533e-01 -7.96900711e-01 -1.17751133e-02 1.02496491e+03] [ 7.96750822e-01 6.04110301e-01 -1.54555159e-02 1.22229486e+02] [ 1.94299789e-02 -4.67686428e-05 9.99811219e-01 7.07344973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.799254154 meters 0.014886311141358457 Centerline is valid? [True, True] Translation: X:1025.00, Y:122.28, Z:7.07 [[ 6.11166764e-01 -7.91431507e-01 -1.05525767e-02 1.02499609e+03] [ 7.91310170e-01 6.11257847e-01 -1.38585032e-02 1.22279022e+02] [ 1.74184014e-02 1.19495304e-04 9.99848281e-01 7.07483420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters 0.014246733782232091 Centerline is valid? [True, True] Translation: X:1025.03, Y:122.33, Z:7.08 [[ 6.18388148e-01 -7.85810522e-01 -9.89557070e-03 1.02502796e+03] [ 7.85702983e-01 6.18467261e-01 -1.30026547e-02 1.22328710e+02] [ 1.63377094e-02 2.65708135e-04 9.99866495e-01 7.07688354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters 0.017435514632332953 Centerline is valid? [True, True] Translation: X:1025.06, Y:122.38, Z:7.07 [[ 6.21662502e-01 -7.83224551e-01 -9.74868210e-03 1.02506207e+03] [ 7.83119755e-01 6.21738845e-01 -1.28163059e-02 1.22377078e+02] [ 1.60991798e-02 3.33031271e-04 9.99870344e-01 7.07487306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.979254154 meters 0.016475253890739755 Centerline is valid? [True, True] Translation: X:1025.10, Y:122.42, Z:7.08 [[ 6.24130370e-01 -7.81260224e-01 -9.68214238e-03 1.02509789e+03] [ 7.81156509e-01 6.24205346e-01 -1.27355328e-02 1.22423685e+02] [ 1.59934102e-02 3.85364241e-04 9.99872023e-01 7.07700398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.039254154 meters 0.017564033125226322 Centerline is valid? [True, True] Translation: X:1025.13, Y:122.47, Z:7.08 [[ 6.25675016e-01 -7.80027985e-01 -9.33361354e-03 1.02513474e+03] [ 7.79931404e-01 6.25744500e-01 -1.22811540e-02 1.22469007e+02] [ 1.54201012e-02 4.04432926e-04 9.99881021e-01 7.07640958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters 0.019284906820844015 Centerline is valid? [True, True] Translation: X:1025.17, Y:122.52, Z:7.07 [[ 6.26250339e-01 -7.79561739e-01 -9.69578791e-03 1.02516989e+03] [ 7.79457410e-01 6.26325241e-01 -1.27608659e-02 1.22515551e+02] [ 1.60205995e-02 4.34042884e-04 9.99871568e-01 7.07498061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters 0.018291956686138346 Centerline is valid? [True, True] Translation: X:1025.21, Y:122.56, Z:7.08 [[ 6.26887721e-01 -7.79039965e-01 -1.04172415e-02 1.02520635e+03] [ 7.78919385e-01 6.26974082e-01 -1.37146329e-02 1.22560230e+02] [ 1.72155875e-02 4.83343605e-04 9.99851684e-01 7.07508797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.219254154 meters 0.01905075171810245 Centerline is valid? [True, True] Translation: X:1025.25, Y:122.60, Z:7.07 [[ 6.25965363e-01 -7.79765929e-01 -1.15091363e-02 1.02524640e+03] [ 7.79618721e-01 6.26070946e-01 -1.51598661e-02 1.22602887e+02] [ 1.90266829e-02 5.16812965e-04 9.99818843e-01 7.07277179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.279254154 meters 0.018364702732075532 Centerline is valid? [True, True] Translation: X:1025.29, Y:122.65, Z:7.07 [[ 6.23675195e-01 -7.81600515e-01 -1.13967417e-02 1.02528819e+03] [ 7.81456317e-01 6.23779145e-01 -1.50200920e-02 1.22645023e+02] [ 1.88487614e-02 4.61603061e-04 9.99822240e-01 7.07374193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters 0.016011070174691954 Centerline is valid? [True, True] Translation: X:1025.33, Y:122.69, Z:7.08 [[ 6.21353839e-01 -7.83462720e-01 -1.02749149e-02 1.02532882e+03] [ 7.83345648e-01 6.21438678e-01 -1.35486533e-02 1.22686890e+02] [ 1.70000942e-02 3.69697879e-04 9.99855420e-01 7.07736761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters 0.016017833571095375 Centerline is valid? [True, True] Translation: X:1025.37, Y:122.73, Z:7.08 [[ 6.18118175e-01 -7.86023292e-01 -9.86437926e-03 1.02537112e+03] [ 7.85915599e-01 6.18196812e-01 -1.30143082e-02 1.22728357e+02] [ 1.63276772e-02 2.91810861e-04 9.99866652e-01 7.07748120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.459254154 meters 0.01466023860663662 Centerline is valid? [True, True] Translation: X:1025.41, Y:122.77, Z:7.08 [[ 6.16288419e-01 -7.87451554e-01 -1.04228067e-02 1.02541054e+03] [ 7.87331389e-01 6.16376488e-01 -1.37589473e-02 1.22771358e+02] [ 1.72588774e-02 2.73277011e-04 9.99851017e-01 7.07931914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.519254154 meters 0.01509500409971296 Centerline is valid? [True, True] Translation: X:1025.45, Y:122.82, Z:7.08 [[ 6.15625409e-01 -7.87972191e-01 -1.02558504e-02 1.02544830e+03] [ 7.87855790e-01 6.15710776e-01 -1.35460015e-02 1.22816743e+02] [ 1.69885101e-02 2.59131571e-04 9.99855651e-01 7.07971598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters 0.014561084876596998 Centerline is valid? [True, True] Translation: X:1025.48, Y:122.86, Z:7.08 [[ 6.15904445e-01 -7.87758922e-01 -9.87906059e-03 1.02548189e+03] [ 7.87650769e-01 6.15983614e-01 -1.30557531e-02 1.22864291e+02] [ 1.63701254e-02 2.59846690e-04 9.99865967e-01 7.08220854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters 0.014616903957155753 Centerline is valid? [True, True] Translation: X:1025.52, Y:122.91, Z:7.08 [[ 6.15125152e-01 -7.88374921e-01 -9.27535568e-03 1.02551522e+03] [ 7.88279557e-01 6.15195035e-01 -1.22641696e-02 1.22911394e+02] [ 1.53749165e-02 2.32425904e-04 9.99881772e-01 7.08359657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.699254154 meters 0.014256937259585042 Centerline is valid? [True, True] Translation: X:1025.55, Y:122.96, Z:7.08 [[ 6.13460684e-01 -7.89667458e-01 -9.55483351e-03 1.02555049e+03] [ 7.89566309e-01 6.13535053e-01 -1.26404861e-02 1.22957583e+02] [ 1.58440059e-02 2.10266649e-04 9.99874454e-01 7.08382729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.759254154 meters 0.013676421316648181 Centerline is valid? [True, True] Translation: X:1025.59, Y:123.00, Z:7.08 [[ 6.10308539e-01 -7.92097059e-01 -1.02828090e-02 1.02558680e+03] [ 7.91980122e-01 6.10395136e-01 -1.36112150e-02 1.23003587e+02] [ 1.70579799e-02 1.63260403e-04 9.99854489e-01 7.08336228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.819254154 meters 0.013757809876832845 Centerline is valid? [True, True] Translation: X:1025.62, Y:123.05, Z:7.08 [[ 6.07583617e-01 -7.94180923e-01 -1.08999960e-02 1.02562330e+03] [ 7.94049717e-01 6.07681371e-01 -1.44360078e-02 1.23049345e+02] [ 1.80885265e-02 1.15943115e-04 9.99836383e-01 7.08358579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters 0.014931529942689115 Centerline is valid? [True, True] Translation: X:1025.66, Y:123.09, Z:7.08 [[ 6.02697377e-01 -7.97895513e-01 -1.08913740e-02 1.02566100e+03] [ 7.97764979e-01 6.02795778e-01 -1.44322337e-02 1.23094163e+02] [ 1.80806888e-02 9.51262358e-06 9.99836531e-01 7.08288915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.939254154 meters 0.014251602656514251 Centerline is valid? [True, True] Translation: X:1025.70, Y:123.14, Z:7.09 [[ 5.97539612e-01 -8.01770541e-01 -1.05076930e-02 1.02569935e+03] [ 8.01649507e-01 5.97631985e-01 -1.39311781e-02 1.23138848e+02] [ 1.74493416e-02 -9.90561164e-05 9.99847744e-01 7.08511946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.999254154 meters 0.01452363778731132 Centerline is valid? [True, True] Translation: X:1025.74, Y:123.18, Z:7.09 [[ 5.92505874e-01 -8.05500908e-01 -1.02506762e-02 1.02573642e+03] [ 8.05386180e-01 5.92594505e-01 -1.35961078e-02 1.23183112e+02] [ 1.70261716e-02 -1.99979220e-04 9.99855024e-01 7.08613009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.059254154 meters 0.019173703946803993 Centerline is valid? [True, True] Translation: X:1025.78, Y:123.22, Z:7.09 [[ 5.87596282e-01 -8.09099131e-01 -9.44487636e-03 1.02577692e+03] [ 8.09002127e-01 5.87672119e-01 -1.25315608e-02 1.23224432e+02] [ 1.56897655e-02 -2.77426535e-04 9.99876870e-01 7.08525793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters 0.017555335801477855 Centerline is valid? [True, True] Translation: X:1025.81, Y:123.27, Z:7.09 [[ 5.85655918e-01 -8.10508962e-01 -9.07571505e-03 1.02580916e+03] [ 8.10419503e-01 5.85726158e-01 -1.20455844e-02 1.23273301e+02] [ 1.50789378e-02 -3.00568674e-04 9.99886261e-01 7.08887083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters 0.016350211994805904 Centerline is valid? [True, True] Translation: X:1025.84, Y:123.32, Z:7.09 [[ 5.85876593e-01 -8.10342623e-01 -9.66695951e-03 1.02584234e+03] [ 8.10241010e-01 5.85956257e-01 -1.28362749e-02 1.23320654e+02] [ 1.60661961e-02 -3.12094051e-04 9.99870882e-01 7.09020214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.239254154 meters 0.016285316809661523 Centerline is valid? [True, True] Translation: X:1025.87, Y:123.37, Z:7.09 [[ 5.88910712e-01 -8.08122494e-01 -1.10547685e-02 1.02587119e+03] [ 8.07989061e-01 5.89014393e-01 -1.46874560e-02 1.23372848e+02] [ 1.83806813e-02 -2.82531896e-04 9.99831021e-01 7.08690095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.299254154 meters 0.01695971517699231 Centerline is valid? [True, True] Translation: X:1025.90, Y:123.42, Z:7.09 [[ 5.92901406e-01 -8.05185379e-01 -1.20178267e-02 1.02590158e+03] [ 8.05026903e-01 5.93023157e-01 -1.59756280e-02 1.23423982e+02] [ 1.99901916e-02 -2.02701468e-04 9.99800156e-01 7.08551052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters 0.016874771050530254 Centerline is valid? [True, True] Translation: X:1025.93, Y:123.47, Z:7.09 [[ 5.98118464e-01 -8.01326902e-01 -1.13797275e-02 1.02593220e+03] [ 8.01184021e-01 5.98226705e-01 -1.51318630e-02 1.23473503e+02] [ 1.89332258e-02 -6.66092187e-05 9.99820748e-01 7.08635038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters 0.013183802539218269 Centerline is valid? [True, True] Translation: X:1025.96, Y:123.52, Z:7.09 [[ 6.02100591e-01 -7.98360134e-01 -9.79662515e-03 1.02596371e+03] [ 7.98253793e-01 6.02180285e-01 -1.30302540e-02 1.23523356e+02] [ 1.63021698e-02 2.53304334e-05 9.99867110e-01 7.09277910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.479254154 meters 0.014780583419095793 Centerline is valid? [True, True] Translation: X:1025.99, Y:123.57, Z:7.09 [[ 6.06505423e-01 -7.95023923e-01 -9.38795691e-03 1.02599356e+03] [ 7.94925781e-01 6.06578064e-01 -1.24921740e-02 1.23574116e+02] [ 1.56261059e-02 1.13842267e-04 9.99877898e-01 7.09207452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.539254154 meters 0.01598771610310087 Centerline is valid? [True, True] Translation: X:1026.03, Y:123.62, Z:7.09 [[ 6.10434306e-01 -7.92005265e-01 -9.88018690e-03 1.02602503e+03] [ 7.91896046e-01 6.10514224e-01 -1.31542459e-02 1.23624402e+02] [ 1.64502266e-02 2.05722024e-04 9.99864665e-01 7.09131620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters 0.016192260365021555 Centerline is valid? [True, True] Translation: X:1026.06, Y:123.67, Z:7.09 [[ 6.13467320e-01 -7.89649281e-01 -1.05764057e-02 1.02605588e+03] [ 7.89523640e-01 6.13558414e-01 -1.40888049e-02 1.23674502e+02] [ 1.76144574e-02 2.92699086e-04 9.99844811e-01 7.09112404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters 0.0174586795163231 Centerline is valid? [True, True] Translation: X:1026.09, Y:123.72, Z:7.09 [[ 6.14551820e-01 -7.88801712e-01 -1.08590577e-02 1.02608938e+03] [ 7.88668994e-01 6.14647663e-01 -1.44730151e-02 1.23722751e+02] [ 1.80908335e-02 3.30215657e-04 9.99836293e-01 7.09035765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.719254154 meters 0.017419706403158527 Centerline is valid? [True, True] Translation: X:1026.12, Y:123.77, Z:7.09 [[ 6.14055310e-01 -7.89190275e-01 -1.07138006e-02 1.02612372e+03] [ 7.89060998e-01 6.14148685e-01 -1.42875696e-02 1.23769418e+02] [ 1.78554775e-02 3.19515804e-04 9.99840527e-01 7.09151263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.779254154 meters 0.017661810254725945 Centerline is valid? [True, True] Translation: X:1026.16, Y:123.82, Z:7.09 [[ 6.11488528e-01 -7.91184046e-01 -1.04683274e-02 1.02616072e+03] [ 7.91060781e-01 6.11578072e-01 -1.39679023e-02 1.23815209e+02] [ 1.74533809e-02 2.60128810e-04 9.99847644e-01 7.09206751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters 0.018262164820638367 Centerline is valid? [True, True] Translation: X:1026.20, Y:123.86, Z:7.09 [[ 6.09064334e-01 -7.93047977e-01 -1.07491075e-02 1.02619645e+03] [ 7.92918163e-01 6.09159141e-01 -1.43501446e-02 1.23861693e+02] [ 1.79282703e-02 2.16998673e-04 9.99839252e-01 7.09117899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters 0.01843943524513772 Centerline is valid? [True, True] Translation: X:1026.23, Y:123.91, Z:7.09 [[ 6.08336480e-01 -7.93602938e-01 -1.10047189e-02 1.02623038e+03] [ 7.93466846e-01 6.08435973e-01 -1.46980140e-02 1.23907692e+02] [ 1.83600540e-02 2.09458505e-04 9.99831418e-01 7.09034574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.959254154 meters 0.016675330856312308 Centerline is valid? [True, True] Translation: X:1026.27, Y:123.95, Z:7.09 [[ 6.04942926e-01 -7.96189899e-01 -1.12116246e-02 1.02626976e+03] [ 7.96048987e-01 6.05046796e-01 -1.49794529e-02 1.23952407e+02] [ 1.87100466e-02 1.36711674e-04 9.99824942e-01 7.09222595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.019254154 meters 0.01564460117167889 Centerline is valid? [True, True] Translation: X:1026.31, Y:124.00, Z:7.09 [[ 6.00045050e-01 -7.99891944e-01 -1.09002976e-02 1.02630918e+03] [ 7.99759239e-01 6.00144047e-01 -1.45699013e-02 1.23995962e+02] [ 1.81960954e-02 2.49834230e-05 9.99834437e-01 7.09405742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters 0.01885506309473617 Centerline is valid? [True, True] Translation: X:1026.35, Y:124.04, Z:7.09 [[ 5.95836819e-01 -8.03028316e-01 -1.11359629e-02 1.02634693e+03] [ 8.02890197e-01 5.95940869e-01 -1.48933423e-02 1.24040531e+02] [ 1.85961510e-02 -6.69537802e-05 9.99827074e-01 7.09295139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters 0.01581493895404947 Centerline is valid? [True, True] Translation: X:1026.39, Y:124.08, Z:7.10 [[ 5.89560333e-01 -8.07658221e-01 -1.03349229e-02 1.02638606e+03] [ 8.07539866e-01 5.89650880e-01 -1.38277023e-02 1.24084170e+02] [ 1.72620538e-02 -1.93597420e-04 9.99850981e-01 7.09703099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.199254154 meters 0.01988776406220155 Centerline is valid? [True, True] Translation: X:1026.43, Y:124.13, Z:7.10 [[ 5.80904335e-01 -8.13910173e-01 -1.00192265e-02 1.02642617e+03] [ 8.13799749e-01 5.80990619e-01 -1.34115362e-02 1.24126556e+02] [ 1.67368624e-02 -3.62824451e-04 9.99859863e-01 7.09606292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.259254154 meters 0.021065802817746577 Centerline is valid? [True, True] Translation: X:1026.46, Y:124.17, Z:7.10 [[ 5.72661011e-01 -8.19731742e-01 -9.96178218e-03 1.02646462e+03] [ 8.19623323e-01 5.72747410e-01 -1.33421386e-02 1.24170925e+02] [ 1.66425595e-02 -5.24386435e-04 9.99861366e-01 7.09826330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.319254154 meters 0.023046671629234617 Centerline is valid? [True, True] Translation: X:1026.50, Y:124.22, Z:7.10 [[ 5.68243248e-01 -8.22799131e-01 -1.00598993e-02 1.02650172e+03] [ 8.22688913e-01 5.68331956e-01 -1.34811376e-02 1.24215866e+02] [ 1.68096306e-02 -6.15602200e-04 9.99858519e-01 7.09859258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters 0.023150574062540417 Centerline is valid? [True, True] Translation: X:1026.53, Y:124.26, Z:7.10 [[ 5.64387665e-01 -8.25445106e-01 -1.03412666e-02 1.02653485e+03] [ 8.25328939e-01 5.64481953e-01 -1.38660906e-02 1.24264175e+02] [ 1.72831550e-02 -7.09096103e-04 9.99850384e-01 7.09977088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.439254154 meters 0.023608728507483693 Centerline is valid? [True, True] Translation: X:1026.56, Y:124.31, Z:7.10 [[ 5.64344447e-01 -8.25465237e-01 -1.10674285e-02 1.02656486e+03] [ 8.25332019e-01 5.64452454e-01 -1.48487522e-02 1.24314877e+02] [ 1.85041659e-02 -7.54492307e-04 9.99828499e-01 7.09950871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.499254154 meters 0.025924272176086963 Centerline is valid? [True, True] Translation: X:1026.60, Y:124.36, Z:7.10 [[ 5.66248063e-01 -8.24150339e-01 -1.18046154e-02 1.02659609e+03] [ 8.23998313e-01 5.66370595e-01 -1.58470962e-02 1.24363875e+02] [ 1.97461768e-02 -7.53595585e-04 9.99804741e-01 7.09852034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.559254154 meters 0.02314173097031666 Centerline is valid? [True, True] Translation: X:1026.62, Y:124.42, Z:7.10 [[ 5.67721477e-01 -8.23138914e-01 -1.16040470e-02 1.02662366e+03] [ 8.22991643e-01 5.67839622e-01 -1.55858527e-02 1.24417072e+02] [ 1.94185595e-02 -7.01610406e-04 9.99811196e-01 7.10102425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters 0.02152006783548493 Centerline is valid? [True, True] Translation: X:1026.65, Y:124.47, Z:7.10 [[ 5.71089947e-01 -8.20822797e-01 -1.03057514e-02 1.02664984e+03] [ 8.20706139e-01 5.71182663e-01 -1.38491235e-02 1.24470833e+02] [ 1.72541428e-02 -5.48898256e-04 9.99850986e-01 7.10299669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters 0.020948973778035878 Centerline is valid? [True, True] Translation: X:1026.67, Y:124.53, Z:7.10 [[ 5.75263209e-01 -8.17906046e-01 -1.00965560e-02 1.02667370e+03] [ 8.17793493e-01 5.75351631e-01 -1.35758152e-02 1.24525593e+02] [ 1.69128113e-02 -4.47230773e-04 9.99856868e-01 7.10269923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.739254154 meters 0.019996243275848494 Centerline is valid? [True, True] Translation: X:1026.70, Y:124.58, Z:7.10 [[ 5.78899424e-01 -8.15335552e-01 -1.01683055e-02 1.02669811e+03] [ 8.15220859e-01 5.78988602e-01 -1.36802865e-02 1.24580346e+02] [ 1.70413570e-02 -3.69904760e-04 9.99854717e-01 7.10213191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.799254154 meters 0.020310196371332963 Centerline is valid? [True, True] Translation: X:1026.72, Y:124.63, Z:7.10 [[ 5.81567868e-01 -8.13424455e-01 -1.09302908e-02 1.02672373e+03] [ 8.13291496e-01 5.81670478e-01 -1.47104962e-02 1.24632942e+02] [ 1.83237048e-02 -3.34360678e-04 9.99832051e-01 7.10083395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters 0.020263403656707958 Centerline is valid? [True, True] Translation: X:1026.75, Y:124.68, Z:7.10 [[ 5.83288729e-01 -8.12183693e-01 -1.14850734e-02 1.02675236e+03] [ 8.12036522e-01 5.83401710e-01 -1.54638991e-02 1.24683803e+02] [ 1.92599381e-02 -3.06381025e-04 9.99814463e-01 7.10059485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters 0.01634746047868389 Centerline is valid? [True, True] Translation: X:1026.78, Y:124.74, Z:7.10 [[ 5.86215074e-01 -8.10084323e-01 -1.07366727e-02 1.02677835e+03] [ 8.09955220e-01 5.86313348e-01 -1.44637569e-02 1.24738158e+02] [ 1.80119172e-02 -2.17351772e-04 9.99837749e-01 7.10340057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.979254154 meters 0.020207075600955447 Centerline is valid? [True, True] Translation: X:1026.80, Y:124.79, Z:7.10 [[ 5.89010475e-01 -8.08029093e-01 -1.24758096e-02 1.02680464e+03] [ 8.07854099e-01 5.89142560e-01 -1.68166303e-02 1.24790601e+02] [ 2.09383569e-02 -1.73462486e-04 9.99780754e-01 7.09985105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.039254154 meters 0.019675774928275512 Centerline is valid? [True, True] Translation: X:1026.83, Y:124.84, Z:7.10 [[ 5.90697383e-01 -8.06790563e-01 -1.28681404e-02 1.02683434e+03] [ 8.06603865e-01 5.90837516e-01 -1.73561225e-02 1.24840550e+02] [ 2.16057360e-02 -1.27275620e-04 9.99766561e-01 7.10052405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters 0.015249893645376711 Centerline is valid? [True, True] Translation: X:1026.86, Y:124.89, Z:7.10 [[ 5.93045262e-01 -8.05084062e-01 -1.17034658e-02 1.02686427e+03] [ 8.04929182e-01 5.93160729e-01 -1.57912118e-02 1.24892297e+02] [ 1.96552893e-02 -5.55578081e-05 9.99806815e-01 7.10427550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters 0.01736188547784954 Centerline is valid? [True, True] Translation: X:1026.89, Y:124.94, Z:7.10 [[ 5.96048035e-01 -8.02871540e-01 -1.11368859e-02 1.02689316e+03] [ 8.02730845e-01 5.96152070e-01 -1.50300014e-02 1.24942906e+02] [ 1.87064379e-02 1.86809639e-05 9.99825019e-01 7.10361022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.219254154 meters 0.017019872048237676 Centerline is valid? [True, True] Translation: X:1026.92, Y:124.99, Z:7.11 [[ 6.00411105e-01 -7.99621377e-01 -1.05904923e-02 1.02692156e+03] [ 7.99493541e-01 6.00504487e-01 -1.42981897e-02 1.24994572e+02] [ 1.77927763e-02 1.17761655e-04 9.99841689e-01 7.10539928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.279254154 meters 0.015539427422971791 Centerline is valid? [True, True] Translation: X:1026.95, Y:125.04, Z:7.11 [[ 6.03012777e-01 -7.97675169e-01 -9.48235981e-03 1.02695267e+03] [ 7.97572344e-01 6.03087306e-01 -1.28084522e-02 1.25044603e+02] [ 1.59356751e-02 1.60792418e-04 9.99873006e-01 7.10772331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters 0.018653104442073305 Centerline is valid? [True, True] Translation: X:1026.99, Y:125.09, Z:7.11 [[ 6.04750317e-01 -7.96352192e-01 -1.00120048e-02 1.02698540e+03] [ 7.96237258e-01 6.04833152e-01 -1.35309979e-02 1.25093449e+02] [ 1.68310323e-02 2.10944013e-04 9.99858326e-01 7.10530872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters 0.01863995020730151 Centerline is valid? [True, True] Translation: X:1027.02, Y:125.14, Z:7.11 [[ 6.03624794e-01 -7.97199186e-01 -1.05150243e-02 1.02702199e+03] [ 7.97072395e-01 6.03716338e-01 -1.42189930e-02 1.25139198e+02] [ 1.76834616e-02 2.01701084e-04 9.99843615e-01 7.10610001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.459254154 meters 0.017577498063512713 Centerline is valid? [True, True] Translation: X:1027.06, Y:125.18, Z:7.11 [[ 6.01086802e-01 -7.99117538e-01 -1.02867135e-02 1.02705949e+03] [ 7.98996392e-01 6.01174799e-01 -1.39149770e-02 1.25183634e+02] [ 1.73038151e-02 1.45062013e-04 9.99850267e-01 7.10632183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.519254154 meters 0.01614333327068118 Centerline is valid? [True, True] Translation: X:1027.10, Y:125.23, Z:7.11 [[ 5.97163225e-01 -8.02056809e-01 -1.00477487e-02 1.02709999e+03] [ 8.01941549e-01 5.97247747e-01 -1.35970842e-02 1.25227392e+02] [ 1.69066293e-02 6.19715247e-05 9.99857071e-01 7.10921258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters 0.01624734667364604 Centerline is valid? [True, True] Translation: X:1027.14, Y:125.27, Z:7.11 [[ 5.91905898e-01 -8.05941723e-01 -1.02638744e-02 1.02713953e+03] [ 8.05821919e-01 5.91994879e-01 -1.38960060e-02 1.25269134e+02] [ 1.72755322e-02 -4.57270476e-05 9.99850766e-01 7.10907191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters 0.01819939887856913 Centerline is valid? [True, True] Translation: X:1027.18, Y:125.31, Z:7.11 [[ 5.88059589e-01 -8.08744865e-01 -1.08472963e-02 1.02717849e+03] [ 8.08611396e-01 5.88159610e-01 -1.46929651e-02 1.25313324e+02] [ 1.82628017e-02 -1.30908368e-04 9.99833213e-01 7.10852565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.699254154 meters 0.018783534917945925 Centerline is valid? [True, True] Translation: X:1027.22, Y:125.36, Z:7.11 [[ 5.84362978e-01 -8.11423094e-01 -1.06052614e-02 1.02721811e+03] [ 8.11295825e-01 5.84459169e-01 -1.43723406e-02 1.25357759e+02] [ 1.78603913e-02 -2.05340569e-04 9.99840469e-01 7.10981889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.759254154 meters 0.01867063604786141 Centerline is valid? [True, True] Translation: X:1027.25, Y:125.40, Z:7.11 [[ 5.83744032e-01 -8.11875868e-01 -1.00239200e-02 1.02725360e+03] [ 8.11762123e-01 5.83830055e-01 -1.35912598e-02 1.25401933e+02] [ 1.68866816e-02 -2.03221742e-04 9.99857389e-01 7.11119832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.819254154 meters 0.017173432140445 Centerline is valid? [True, True] Translation: X:1027.29, Y:125.45, Z:7.11 [[ 5.84030775e-01 -8.11675126e-01 -9.56782227e-03 1.02728740e+03] [ 8.11571363e-01 5.84109113e-01 -1.29794741e-02 1.25449890e+02] [ 1.61237685e-02 -1.84558229e-04 9.99869987e-01 7.11379063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters 0.014853350482348494 Centerline is valid? [True, True] Translation: X:1027.32, Y:125.50, Z:7.12 [[ 5.86673884e-01 -8.09775739e-01 -8.77532809e-03 1.02732167e+03] [ 8.09688151e-01 5.86739498e-01 -1.19104454e-02 1.25497526e+02] [ 1.47936213e-02 -1.17731933e-04 9.99890561e-01 7.11671773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.939254154 meters 0.0182049827814594 Centerline is valid? [True, True] Translation: X:1027.36, Y:125.55, Z:7.11 [[ 5.91014434e-01 -8.06603016e-01 -9.67023123e-03 1.02735509e+03] [ 8.06496107e-01 5.91093540e-01 -1.31322775e-02 1.25546445e+02] [ 1.63085458e-02 -3.76383014e-05 9.99867006e-01 7.11343547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.999254154 meters 0.01567068806464532 Centerline is valid? [True, True] Translation: X:1027.39, Y:125.60, Z:7.11 [[ 5.96150345e-01 -8.02819128e-01 -9.28515462e-03 1.02738541e+03] [ 8.02720021e-01 5.96222646e-01 -1.26144647e-02 1.25595032e+02] [ 1.56631530e-02 6.67379999e-05 9.99877323e-01 7.11371434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.059254154 meters 0.01981593148703814 Centerline is valid? [True, True] Translation: X:1027.42, Y:125.64, Z:7.11 [[ 6.02869187e-01 -7.97765648e-01 -1.08956386e-02 1.02741749e+03] [ 7.97628211e-01 6.02967591e-01 -1.48095101e-02 1.25643830e+02] [ 1.83842354e-02 2.37528588e-04 9.99830967e-01 7.11215636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters 0.02083479826904172 Centerline is valid? [True, True] Translation: X:1027.45, Y:125.69, Z:7.11 [[ 6.07829448e-01 -7.93994580e-01 -1.07689304e-02 1.02744982e+03] [ 7.93859585e-01 6.07924735e-01 -1.46449989e-02 1.25692434e+02] [ 1.81747489e-02 3.52642956e-04 9.99834763e-01 7.11248898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters 0.021296128235472635 Centerline is valid? [True, True] Translation: X:1027.49, Y:125.74, Z:7.11 [[ 6.09770533e-01 -7.92504507e-01 -1.07936659e-02 1.02748675e+03] [ 7.92368518e-01 6.09865923e-01 -1.46862848e-02 1.25738255e+02] [ 1.82216359e-02 4.02702689e-04 9.99833891e-01 7.11321648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.239254154 meters 0.02129486269384534 Centerline is valid? [True, True] Translation: X:1027.52, Y:125.78, Z:7.11 [[ 6.10064006e-01 -7.92279046e-01 -1.07620000e-02 1.02752327e+03] [ 7.92143718e-01 6.10158785e-01 -1.46487725e-02 1.25782666e+02] [ 1.81724443e-02 4.11638197e-04 9.99834783e-01 7.11341443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.299254154 meters 0.020232187010086992 Centerline is valid? [True, True] Translation: X:1027.56, Y:125.83, Z:7.11 [[ 6.10288614e-01 -7.92087881e-01 -1.20248057e-02 1.02756472e+03] [ 7.91918733e-01 6.10406886e-01 -1.63754117e-02 1.25825508e+02] [ 2.03107893e-02 4.71058397e-04 9.99793604e-01 7.11426734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters 0.018008567454098127 Centerline is valid? [True, True] Translation: X:1027.60, Y:125.87, Z:7.12 [[ 6.11121457e-01 -7.91445572e-01 -1.20196678e-02 1.02760155e+03] [ 7.91276342e-01 6.11239447e-01 -1.63734199e-02 1.25870637e+02] [ 2.03055658e-02 4.95269451e-04 9.99793698e-01 7.11599260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters 0.021303288621038734 Centerline is valid? [True, True] Translation: X:1027.64, Y:125.91, Z:7.11 [[ 6.09686337e-01 -7.92516760e-01 -1.41334764e-02 1.02764278e+03] [ 7.92282850e-01 6.09849889e-01 -1.92613045e-02 1.25912983e+02] [ 2.38842057e-02 5.45643195e-04 9.99714583e-01 7.11255608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.479254154 meters 0.021147939137613255 Centerline is valid? [True, True] Translation: X:1027.69, Y:125.95, Z:7.11 [[ 6.06984666e-01 -7.94587555e-01 -1.41503527e-02 1.02768639e+03] [ 7.94353401e-01 6.07149402e-01 -1.92945379e-02 1.25953669e+02] [ 2.39225779e-02 4.71107843e-04 9.99713703e-01 7.11373401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.539254154 meters 0.018653710876775677 Centerline is valid? [True, True] Translation: X:1027.73, Y:125.99, Z:7.12 [[ 6.03828000e-01 -7.97024787e-01 -1.19680968e-02 1.02772830e+03] [ 7.96857668e-01 6.03946510e-01 -1.63239288e-02 1.25994095e+02] [ 2.02386662e-02 3.19975600e-04 9.99795126e-01 7.11646081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters 0.017888396561639233 Centerline is valid? [True, True] Translation: X:1027.77, Y:126.04, Z:7.12 [[ 6.02155568e-01 -7.98302896e-01 -1.10072054e-02 1.02777138e+03] [ 7.98161632e-01 6.02256108e-01 -1.50196607e-02 1.26035441e+02] [ 1.86193954e-02 2.58643293e-04 9.99826611e-01 7.11941412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters 0.017408565635972362 Centerline is valid? [True, True] Translation: X:1027.81, Y:126.08, Z:7.12 [[ 6.03148744e-01 -7.97554651e-01 -1.08706506e-02 1.02780880e+03] [ 7.97416603e-01 6.03246631e-01 -1.48412561e-02 1.26081270e+02] [ 1.83943962e-02 2.83047684e-04 9.99830769e-01 7.11959170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.719254154 meters 0.018851165413212936 Centerline is valid? [True, True] Translation: X:1027.85, Y:126.13, Z:7.12 [[ 6.05666636e-01 -7.95630360e-01 -1.18429615e-02 1.02784502e+03] [ 7.95466029e-01 6.05782295e-01 -1.61742912e-02 1.26125733e+02] [ 2.00430136e-02 3.75555008e-04 9.99799048e-01 7.11769066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.779254154 meters 0.018498640280340612 Centerline is valid? [True, True] Translation: X:1027.88, Y:126.17, Z:7.12 [[ 6.08070560e-01 -7.93790926e-01 -1.20896711e-02 1.02788304e+03] [ 7.93619243e-01 6.08190568e-01 -1.65145782e-02 1.26170156e+02] [ 2.04619462e-02 4.47433229e-04 9.99790532e-01 7.11725870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters 0.017490772278553095 Centerline is valid? [True, True] Translation: X:1027.92, Y:126.21, Z:7.12 [[ 6.08642410e-01 -7.93360369e-01 -1.15646792e-02 1.02792211e+03] [ 7.93203114e-01 6.08752106e-01 -1.58016972e-02 1.26213919e+02] [ 1.95764631e-02 4.44443494e-04 9.99808264e-01 7.11808945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters 0.01801784539656888 Centerline is valid? [True, True] Translation: X:1027.96, Y:126.26, Z:7.12 [[ 6.06880425e-01 -7.94715455e-01 -1.11128904e-02 1.02796226e+03] [ 7.94570408e-01 6.06982040e-01 -1.51878279e-02 1.26256330e+02] [ 1.88153264e-02 3.87221584e-04 9.99822901e-01 7.11812121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.959254154 meters 0.018137923501732788 Centerline is valid? [True, True] Translation: X:1028.00, Y:126.30, Z:7.12 [[ 6.04927163e-01 -7.96212265e-01 -1.04478251e-02 1.02800225e+03] [ 7.96084184e-01 6.05017293e-01 -1.42844983e-02 1.26299668e+02] [ 1.76946076e-02 3.23732725e-04 9.99843386e-01 7.11942735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.019254154 meters 0.01667636549803346 Centerline is valid? [True, True] Translation: X:1028.04, Y:126.34, Z:7.12 [[ 6.01854230e-01 -7.98556485e-01 -8.88966111e-03 1.02804363e+03] [ 7.98463923e-01 6.01919838e-01 -1.21603220e-02 1.26342145e+02] [ 1.50615673e-02 2.20667517e-04 9.99886544e-01 7.12203324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters 0.014794980185179822 Centerline is valid? [True, True] Translation: X:1028.08, Y:126.38, Z:7.12 [[ 5.97872381e-01 -8.01549109e-01 -8.22447507e-03 1.02808443e+03] [ 8.01470109e-01 5.97928931e-01 -1.12542653e-02 1.26383790e+02] [ 1.39384979e-02 1.36943438e-04 9.99902845e-01 7.12372422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters 0.014164415026418782 Centerline is valid? [True, True] Translation: X:1028.13, Y:126.43, Z:7.12 [[ 5.93305808e-01 -8.04930412e-01 -8.67467647e-03 1.02812608e+03] [ 8.04842818e-01 5.93369217e-01 -1.18747914e-02 1.26426860e+02] [ 1.47056667e-02 6.36316415e-05 9.99891864e-01 7.12343698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.199254154 meters 0.016503104683679347 Centerline is valid? [True, True] Translation: X:1028.16, Y:126.47, Z:7.12 [[ 5.89830608e-01 -8.07467620e-01 -9.79267949e-03 1.02816308e+03] [ 8.07356212e-01 5.89911894e-01 -1.34128495e-02 1.26470409e+02] [ 1.66072598e-02 5.12856450e-06 9.99862090e-01 7.11921234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.259254154 meters 0.01429522510117269 Centerline is valid? [True, True] Translation: X:1028.20, Y:126.52, Z:7.12 [[ 5.88873976e-01 -8.08161720e-01 -1.01031681e-02 1.02819784e+03] [ 8.08043111e-01 5.88960638e-01 -1.38454562e-02 1.26515296e+02] [ 1.71397361e-02 -1.05665446e-05 9.99853104e-01 7.12046369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.319254154 meters 0.01581561071909722 Centerline is valid? [True, True] Translation: X:1028.23, Y:126.56, Z:7.12 [[ 5.87991190e-01 -8.08807354e-01 -9.85009405e-03 1.02823142e+03] [ 8.08694580e-01 5.88073688e-01 -1.35060627e-02 1.26562197e+02] [ 1.67163840e-02 -2.42717706e-05 9.99860271e-01 7.12110548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters 0.01647557197014083 Centerline is valid? [True, True] Translation: X:1028.27, Y:126.61, Z:7.12 [[ 5.87793738e-01 -8.08959375e-01 -9.12422839e-03 1.02826573e+03] [ 8.08862540e-01 5.87864550e-01 -1.25164553e-02 1.26608241e+02] [ 1.54891142e-02 -2.31525266e-05 9.99880036e-01 7.12248054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.439254154 meters 0.01528823369950169 Centerline is valid? [True, True] Translation: X:1028.30, Y:126.66, Z:7.12 [[ 5.89609008e-01 -8.07634255e-01 -9.38764459e-03 1.02829645e+03] [ 8.07531500e-01 5.89683737e-01 -1.28828355e-02 1.26655981e+02] [ 1.59403606e-02 1.50171254e-05 9.99872944e-01 7.12239682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.499254154 meters 0.017494050781854956 Centerline is valid? [True, True] Translation: X:1028.33, Y:126.71, Z:7.12 [[ 5.90791097e-01 -8.06758063e-01 -1.03589017e-02 1.02832824e+03] [ 8.06632692e-01 5.90881904e-01 -1.42223745e-02 1.26705187e+02] [ 1.75949028e-02 4.66234710e-05 9.99845197e-01 7.11975064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.559254154 meters 0.01688613587045921 Centerline is valid? [True, True] Translation: X:1028.36, Y:126.75, Z:7.12 [[ 5.93426785e-01 -8.04812736e-01 -1.10050171e-02 1.02835869e+03] [ 8.04670783e-01 5.93528809e-01 -1.51156927e-02 1.26754404e+02] [ 1.86970967e-02 1.14641200e-04 9.99825187e-01 7.11906049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters 0.017164987096297248 Centerline is valid? [True, True] Translation: X:1028.39, Y:126.80, Z:7.12 [[ 5.93877898e-01 -8.04484890e-01 -1.06350519e-02 1.02839182e+03] [ 8.04352144e-01 5.93973103e-01 -1.46144547e-02 1.26802070e+02] [ 1.80740428e-02 1.24874900e-04 9.99836643e-01 7.12035337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters 0.01730671667497329 Centerline is valid? [True, True] Translation: X:1028.43, Y:126.85, Z:7.12 [[ 5.93397757e-01 -8.04843544e-01 -1.02942477e-02 1.02842505e+03] [ 8.04719085e-01 5.93487031e-01 -1.41540725e-02 1.26848371e+02] [ 1.75013164e-02 1.15017262e-04 9.99846834e-01 7.12075614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.739254154 meters 0.01404658369629596 Centerline is valid? [True, True] Translation: X:1028.46, Y:126.89, Z:7.13 [[ 5.91649332e-01 -8.06156313e-01 -7.94151174e-03 1.02846083e+03] [ 8.06082292e-01 5.91702624e-01 -1.09244402e-02 1.26894589e+02] [ 1.35058197e-02 6.19257328e-05 9.99908790e-01 7.12580938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.799254154 meters 0.013708541446803479 Centerline is valid? [True, True] Translation: X:1028.50, Y:126.94, Z:7.13 [[ 5.88708957e-01 -8.08310469e-01 -7.47996076e-03 1.02849816e+03] [ 8.08244905e-01 5.88756474e-01 -1.02950235e-02 1.26939858e+02] [ 1.27254506e-02 1.51323956e-05 9.99919028e-01 7.12764021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters 0.01764733579628504 Centerline is valid? [True, True] Translation: X:1028.53, Y:126.99, Z:7.12 [[ 5.87030789e-01 -8.09519256e-01 -8.56891928e-03 1.02853330e+03] [ 8.09433238e-01 5.87093326e-01 -1.18008104e-02 1.26985103e+02] [ 1.45837386e-02 -8.52905833e-06 9.99893652e-01 7.12458113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters 0.013726922517848947 Centerline is valid? [True, True] Translation: X:1028.57, Y:127.03, Z:7.13 [[ 5.87902461e-01 -8.08882665e-01 -8.91799673e-03 1.02856653e+03] [ 8.08789315e-01 5.87970096e-01 -1.22886117e-02 1.27032483e+02] [ 1.51835604e-02 1.17245801e-05 9.99884723e-01 7.12625151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.979254154 meters 0.01677027845009294 Centerline is valid? [True, True] Translation: X:1028.60, Y:127.08, Z:7.12 [[ 5.87656509e-01 -8.09026660e-01 -1.16486706e-02 1.02860092e+03] [ 8.08867219e-01 5.87771949e-01 -1.60610661e-02 1.27080769e+02] [ 1.98405925e-02 1.61622877e-05 9.99803156e-01 7.12045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.039254154 meters 0.015878182896314326 Centerline is valid? [True, True] Translation: X:1028.64, Y:127.13, Z:7.12 [[ 5.86237782e-01 -8.10052991e-01 -1.18073812e-02 1.02863583e+03] [ 8.09889194e-01 5.86356676e-01 -1.62893134e-02 1.27126694e+02] [ 2.01185438e-02 -1.32595264e-05 9.99797602e-01 7.12179745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters 0.017268736778012363 Centerline is valid? [True, True] Translation: X:1028.67, Y:127.17, Z:7.12 [[ 5.85120601e-01 -8.10869624e-01 -1.11505678e-02 1.02867098e+03] [ 8.10723521e-01 5.85226838e-01 -1.53922316e-02 1.27172810e+02] [ 1.90067046e-02 -3.37157742e-05 9.99819356e-01 7.12282966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters 0.01360131768378699 Centerline is valid? [True, True] Translation: X:1028.71, Y:127.22, Z:7.13 [[ 5.85790253e-01 -8.10418850e-01 -8.43013192e-03 1.02870506e+03] [ 8.10335236e-01 5.85850909e-01 -1.16412031e-02 1.27221470e+02] [ 1.43730509e-02 -1.19296135e-05 9.99896702e-01 7.12872059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.219254154 meters 0.01357114931899421 Centerline is valid? [True, True] Translation: X:1028.74, Y:127.27, Z:7.13 [[ 5.87194484e-01 -8.09410566e-01 -7.56126116e-03 1.02873723e+03] [ 8.09343166e-01 5.87243165e-01 -1.04453548e-02 1.27269045e+02] [ 1.28948795e-02 1.37996707e-05 9.99916857e-01 7.12993677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.279254154 meters 0.013783971481989609 Centerline is valid? [True, True] Translation: X:1028.77, Y:127.32, Z:7.13 [[ 5.90669393e-01 -8.06874417e-01 -7.95889629e-03 1.02876919e+03] [ 8.06799429e-01 5.90723006e-01 -1.10005333e-02 1.27318497e+02] [ 1.35775520e-02 7.64453189e-05 9.99907818e-01 7.13060079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters 0.014099020533371724 Centerline is valid? [True, True] Translation: X:1028.80, Y:127.37, Z:7.13 [[ 5.94016467e-01 -8.04405476e-01 -8.73308601e-03 1.02879995e+03] [ 8.04314820e-01 5.94080641e-01 -1.20773580e-02 1.27368839e+02] [ 1.49032503e-02 1.49999050e-04 9.99888929e-01 7.13013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters 0.01760566548581761 Centerline is valid? [True, True] Translation: X:1028.83, Y:127.42, Z:7.13 [[ 5.98742200e-01 -8.00879384e-01 -9.99954911e-03 1.02882764e+03] [ 8.00759895e-01 5.98825631e-01 -1.38367136e-02 1.27420553e+02] [ 1.70695249e-02 2.77386418e-04 9.99854267e-01 7.12612888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.459254154 meters 0.017445071126336104 Centerline is valid? [True, True] Translation: X:1028.86, Y:127.47, Z:7.13 [[ 6.00333995e-01 -7.99679319e-01 -1.05868278e-02 1.02885991e+03] [ 7.99545052e-01 6.00427243e-01 -1.46573008e-02 1.27470100e+02] [ 1.80777601e-02 3.34630163e-04 9.99836528e-01 7.12630983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.519254154 meters 0.015123741156696034 Centerline is valid? [True, True] Translation: X:1028.90, Y:127.52, Z:7.13 [[ 5.97372847e-01 -8.01908348e-01 -9.41718777e-03 1.02889659e+03] [ 8.01802279e-01 5.97447021e-01 -1.30446209e-02 1.27515683e+02] [ 1.60868612e-02 2.41779698e-04 9.99870569e-01 7.12936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters 0.014834235070126578 Centerline is valid? [True, True] Translation: X:1028.94, Y:127.56, Z:7.13 [[ 5.92182002e-01 -8.05765713e-01 -7.87981026e-03 1.02893504e+03] [ 8.05691714e-01 5.92234414e-01 -1.09206666e-02 1.27559574e+02] [ 1.34661935e-02 1.18324384e-04 9.99909320e-01 7.13131019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters 0.013661600526444953 Centerline is valid? [True, True] Translation: X:1028.97, Y:127.61, Z:7.13 [[ 5.88860447e-01 -8.08208003e-01 -6.57245031e-03 1.02897223e+03] [ 8.08156623e-01 5.88897122e-01 -9.11332429e-03 1.27605216e+02] [ 1.12359587e-02 5.49069660e-05 9.99936873e-01 7.13349918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.699254154 meters 0.015581656429296036 Centerline is valid? [True, True] Translation: X:1029.01, Y:127.65, Z:7.13 [[ 5.83548521e-01 -8.12049941e-01 -6.78362341e-03 1.02900935e+03] [ 8.11995405e-01 5.83587948e-01 -9.41114142e-03 1.27648425e+02] [ 1.16011577e-02 -1.64133873e-05 9.99932704e-01 7.13112191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.759254154 meters 0.013682907629462532 Centerline is valid? [True, True] Translation: X:1029.04, Y:127.69, Z:7.13 [[ 5.81455817e-01 -8.13539808e-01 -7.88118327e-03 1.02904486e+03] [ 8.13466245e-01 5.81509224e-01 -1.09402935e-02 1.27694244e+02] [ 1.34833450e-02 -4.97792703e-05 9.99909094e-01 7.13059294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.819254154 meters 0.013631609489409384 Centerline is valid? [True, True] Translation: X:1029.08, Y:127.74, Z:7.13 [[ 5.82660953e-01 -8.12662023e-01 -9.30863514e-03 1.02907717e+03] [ 8.12559161e-01 5.82735305e-01 -1.29295916e-02 1.27743848e+02] [ 1.59318584e-02 -3.02485781e-05 9.99873079e-01 7.12879988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters 0.016202041799936062 Centerline is valid? [True, True] Translation: X:1029.11, Y:127.79, Z:7.13 [[ 5.84314577e-01 -8.11458540e-01 -1.05600025e-02 1.02910828e+03] [ 8.11325858e-01 5.84409992e-01 -1.46735770e-02 1.27792356e+02] [ 1.80783704e-02 6.38185199e-06 9.99836573e-01 7.12537127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.939254154 meters 0.015864769428664414 Centerline is valid? [True, True] Translation: X:1029.14, Y:127.84, Z:7.13 [[ 5.86367277e-01 -8.09988442e-01 -9.59897246e-03 1.02914038e+03] [ 8.09878520e-01 5.86445838e-01 -1.33439942e-02 1.27841492e+02] [ 1.64377585e-02 5.04799341e-05 9.99864890e-01 7.12798881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.999254154 meters 0.013978732118095154 Centerline is valid? [True, True] Translation: X:1029.17, Y:127.89, Z:7.13 [[ 5.89073080e-01 -8.08042831e-01 -7.72598783e-03 1.02917025e+03] [ 8.07971379e-01 5.89123736e-01 -1.07459226e-02 1.27890960e+02] [ 1.32347286e-02 8.77566961e-05 9.99912413e-01 7.13098611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.059254154 meters 0.01740138575721081 Centerline is valid? [True, True] Translation: X:1029.20, Y:127.94, Z:7.13 [[ 5.91454619e-01 -8.06293697e-01 -8.47989322e-03 1.02920146e+03] [ 8.06207358e-01 5.91515388e-01 -1.18000455e-02 1.27940460e+02] [ 1.45302897e-02 1.42639125e-04 9.99894420e-01 7.12852794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters 0.01460297108354132 Centerline is valid? [True, True] Translation: X:1029.23, Y:127.99, Z:7.13 [[ 5.93455864e-01 -8.04828772e-01 -7.79647554e-03 1.02923478e+03] [ 8.04755604e-01 5.93507051e-01 -1.08535006e-02 1.27989047e+02] [ 1.33624728e-02 1.66816193e-04 9.99910704e-01 7.13125079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters 0.015463294544581483 Centerline is valid? [True, True] Translation: X:1029.27, Y:128.04, Z:7.13 [[ 5.95582114e-01 -8.03255387e-01 -7.92014080e-03 1.02926833e+03] [ 8.03179658e-01 5.95634736e-01 -1.10316639e-02 1.28037815e+02] [ 1.35787544e-02 2.08965719e-04 9.99907783e-01 7.13129700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.239254154 meters 0.015920016948727345 Centerline is valid? [True, True] Translation: X:1029.30, Y:128.08, Z:7.13 [[ 5.95289544e-01 -8.03472712e-01 -7.87143305e-03 1.02930256e+03] [ 8.03397845e-01 5.95341548e-01 -1.09701221e-02 1.28084298e+02] [ 1.35003849e-02 2.06506653e-04 9.99908844e-01 7.13141212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.299254154 meters 0.015252808168729539 Centerline is valid? [True, True] Translation: X:1029.34, Y:128.13, Z:7.13 [[ 5.94101626e-01 -8.04355620e-01 -7.43603075e-03 1.02933735e+03] [ 8.04288806e-01 5.94148134e-01 -1.03687728e-02 1.28130275e+02] [ 1.27582845e-02 1.79388478e-04 9.99918594e-01 7.13255395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters 0.016321156556783626 Centerline is valid? [True, True] Translation: X:1029.37, Y:128.18, Z:7.13 [[ 5.93559040e-01 -8.04744831e-01 -8.56867746e-03 1.02937424e+03] [ 8.04656056e-01 5.93620852e-01 -1.19547021e-02 1.28175816e+02] [ 1.47070303e-02 2.00983282e-04 9.99891826e-01 7.13124665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters 0.01690224090276121 Centerline is valid? [True, True] Translation: X:1029.41, Y:128.22, Z:7.13 [[ 5.94082109e-01 -8.04353840e-01 -9.01936374e-03 1.02940816e+03] [ 8.04255326e-01 5.94150528e-01 -1.25905345e-02 1.28223530e+02] [ 1.54861045e-02 2.25939952e-04 9.99880058e-01 7.13054715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.479254154 meters 0.01644067588569917 Centerline is valid? [True, True] Translation: X:1029.44, Y:128.27, Z:7.13 [[ 5.95543194e-01 -8.03260971e-01 -1.00058405e-02 1.02943879e+03] [ 8.03139465e-01 5.95627174e-01 -1.39738722e-02 1.28272455e+02] [ 1.71844166e-02 2.85959050e-04 9.99852296e-01 7.12939206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.539254154 meters 0.016145438414179866 Centerline is valid? [True, True] Translation: X:1029.47, Y:128.32, Z:7.13 [[ 5.96155274e-01 -8.02803600e-01 -1.02600389e-02 1.02947083e+03] [ 8.02675658e-01 5.96243476e-01 -1.43354809e-02 1.28321610e+02] [ 1.76260570e-02 3.10689096e-04 9.99844601e-01 7.12927837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters 0.016773823786308772 Centerline is valid? [True, True] Translation: X:1029.51, Y:128.37, Z:7.13 [[ 5.96633394e-01 -8.02444805e-01 -1.05322269e-02 1.02950517e+03] [ 8.02309785e-01 5.96726255e-01 -1.47236270e-02 1.28369062e+02] [ 1.80997543e-02 3.34498858e-04 9.99836130e-01 7.12937059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters 0.02008920490295741 Centerline is valid? [True, True] Translation: X:1029.54, Y:128.42, Z:7.13 [[ 5.97134186e-01 -8.02069721e-01 -1.07203539e-02 1.02953917e+03] [ 8.01929626e-01 5.97230303e-01 -1.49946491e-02 1.28417260e+02] [ 1.84292743e-02 3.56848157e-04 9.99830103e-01 7.12862742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.719254154 meters 0.018980450193039882 Centerline is valid? [True, True] Translation: X:1029.57, Y:128.46, Z:7.13 [[ 5.97526379e-01 -8.01786277e-01 -1.00495276e-02 1.02957068e+03] [ 8.01662999e-01 5.97610781e-01 -1.40637652e-02 1.28464466e+02] [ 1.72818400e-02 3.47136302e-04 9.99850598e-01 7.12998321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.779254154 meters 0.0163551582244146 Centerline is valid? [True, True] Translation: X:1029.61, Y:128.51, Z:7.13 [[ 5.97280973e-01 -8.01974618e-01 -9.59950008e-03 1.02960505e+03] [ 8.01862032e-01 5.97358018e-01 -1.34416985e-02 1.28510722e+02] [ 1.65142394e-02 3.30996141e-04 9.99863576e-01 7.13271244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters 0.017454985307106742 Centerline is valid? [True, True] Translation: X:1029.64, Y:128.56, Z:7.13 [[ 5.95176780e-01 -8.03516395e-01 -1.12251494e-02 1.02963976e+03] [ 8.03362522e-01 5.95282526e-01 -1.57280813e-02 1.28556841e+02] [ 1.93199064e-02 3.43124449e-04 9.99813294e-01 7.13055577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters 0.0169224438087326 Centerline is valid? [True, True] Translation: X:1029.67, Y:128.60, Z:7.13 [[ 5.95368621e-01 -8.03375151e-01 -1.11611998e-02 1.02967249e+03] [ 8.03222869e-01 5.95473127e-01 -1.56453842e-02 1.28604189e+02] [ 1.92153074e-02 3.49839893e-04 9.99815308e-01 7.13196138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.959254154 meters 0.01847318863698946 Centerline is valid? [True, True] Translation: X:1029.70, Y:128.65, Z:7.13 [[ 5.95135749e-01 -8.03544155e-01 -1.14119094e-02 1.02970420e+03] [ 8.03384860e-01 5.95245046e-01 -1.60032006e-02 1.28651210e+02] [ 1.96521608e-02 3.55921521e-04 9.99806814e-01 7.13092193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.019254154 meters 0.016583707585937274 Centerline is valid? [True, True] Translation: X:1029.74, Y:128.70, Z:7.13 [[ 5.93969746e-01 -8.04422879e-01 -1.01868390e-02 1.02973816e+03] [ 8.04296016e-01 5.94057022e-01 -1.42889154e-02 1.28697857e+02] [ 1.75458938e-02 2.93949427e-04 9.99846016e-01 7.13359338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters 0.015367909693984685 Centerline is valid? [True, True] Translation: X:1029.78, Y:128.74, Z:7.14 [[ 5.92287167e-01 -8.05668785e-01 -9.68089656e-03 1.02977579e+03] [ 8.05554290e-01 5.92366227e-01 -1.35845084e-02 1.28743797e+02] [ 1.66792506e-02 2.47442250e-04 9.99860861e-01 7.13594862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters 0.01748390739588581 Centerline is valid? [True, True] Translation: X:1029.81, Y:128.79, Z:7.13 [[ 5.90994141e-01 -8.06600016e-01 -1.10607186e-02 1.02981140e+03] [ 8.06450539e-01 5.91097579e-01 -1.55299578e-02 1.28790066e+02] [ 1.90644282e-02 2.58191600e-04 9.99818224e-01 7.13451437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.199254154 meters 0.01636859803678176 Centerline is valid? [True, True] Translation: X:1029.84, Y:128.84, Z:7.13 [[ 5.90565269e-01 -8.06916276e-01 -1.08988945e-02 1.02984462e+03] [ 8.06771023e-01 5.90665778e-01 -1.53119463e-02 1.28837940e+02] [ 1.87930626e-02 2.49791441e-04 9.99823364e-01 7.13488127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.259254154 meters 0.014614137503216875 Centerline is valid? [True, True] Translation: X:1029.88, Y:128.89, Z:7.14 [[ 5.88926890e-01 -8.08132040e-01 -9.36613266e-03 1.02987886e+03] [ 8.08024812e-01 5.89001335e-01 -1.31654895e-02 1.28885518e+02] [ 1.61561185e-02 1.85443233e-04 9.99869464e-01 7.13771072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.319254154 meters 0.016407348784228885 Centerline is valid? [True, True] Translation: X:1029.92, Y:128.93, Z:7.14 [[ 5.85788021e-01 -8.10417171e-01 -8.74086906e-03 1.02991546e+03] [ 8.10323942e-01 5.85853220e-01 -1.22928674e-02 1.28931955e+02] [ 1.50832171e-02 1.18078990e-04 9.99886235e-01 7.13796949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters 0.013880384165328044 Centerline is valid? [True, True] Translation: X:1029.95, Y:128.98, Z:7.14 [[ 5.83537912e-01 -8.12052881e-01 -7.32283434e-03 1.02995050e+03] [ 8.11987513e-01 5.83583854e-01 -1.03035853e-02 1.28979002e+02] [ 1.26405440e-02 6.64825858e-05 9.99920103e-01 7.14026632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.439254154 meters 0.015671959819498815 Centerline is valid? [True, True] Translation: X:1029.98, Y:129.03, Z:7.14 [[ 5.81356704e-01 -8.13616643e-01 -7.23469612e-03 1.02998325e+03] [ 8.13552893e-01 5.81401717e-01 -1.01849257e-02 1.29025365e+02] [ 1.24928898e-02 3.52668502e-05 9.99921960e-01 7.13880518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.499254154 meters 0.01398026136747635 Centerline is valid? [True, True] Translation: X:1030.02, Y:129.07, Z:7.14 [[ 5.81335892e-01 -8.13629865e-01 -7.41772170e-03 1.03001571e+03] [ 8.13562774e-01 5.81383213e-01 -1.04485753e-02 1.29074040e+02] [ 1.28138118e-02 3.93496286e-05 9.99917899e-01 7.13853813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.559254154 meters 0.016807960058022122 Centerline is valid? [True, True] Translation: X:1030.05, Y:129.12, Z:7.13 [[ 5.82000503e-01 -8.13136005e-01 -9.23320413e-03 1.03004714e+03] [ 8.13031887e-01 5.82073736e-01 -1.30122128e-02 1.29123276e+02] [ 1.59551043e-02 6.62250164e-05 9.99872707e-01 7.13462820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters 0.016240414559002034 Centerline is valid? [True, True] Translation: X:1030.08, Y:129.17, Z:7.13 [[ 5.83086610e-01 -8.12356387e-01 -9.33300637e-03 1.03007910e+03] [ 8.12249813e-01 5.83161291e-01 -1.31586078e-02 1.29172443e+02] [ 1.61321272e-02 9.18753476e-05 9.99869865e-01 7.13455893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters 0.014460927638231898 Centerline is valid? [True, True] Translation: X:1030.11, Y:129.22, Z:7.14 [[ 5.85226328e-01 -8.10826738e-01 -8.37532597e-03 1.03010932e+03] [ 8.10740668e-01 5.85286242e-01 -1.18145505e-02 1.29221401e+02] [ 1.44815165e-02 1.23968644e-04 9.99895130e-01 7.13595375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.739254154 meters 0.014633068627993828 Centerline is valid? [True, True] Translation: X:1030.14, Y:129.27, Z:7.14 [[ 5.86500037e-01 -8.09916174e-01 -7.31414025e-03 1.03014125e+03] [ 8.09850392e-01 5.86545628e-01 -1.03232338e-02 1.29270401e+02] [ 1.26510310e-02 1.31217668e-04 9.99919964e-01 7.13731935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.799254154 meters 0.015007866511528927 Centerline is valid? [True, True] Translation: X:1030.17, Y:129.32, Z:7.14 [[ 5.87446482e-01 -8.09236736e-01 -6.52197368e-03 1.03017163e+03] [ 8.09184339e-01 5.87482670e-01 -9.20965777e-03 1.29318613e+02] [ 1.12843399e-02 1.32702102e-04 9.99936321e-01 7.13773841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters 0.01639593339105387 Centerline is valid? [True, True] Translation: X:1030.20, Y:129.37, Z:7.14 [[ 5.88853502e-01 -8.08215005e-01 -6.32929786e-03 1.03020394e+03] [ 8.08165556e-01 5.88887497e-01 -8.94152230e-03 1.29368444e+02] [ 1.09539169e-02 1.50126194e-04 9.99939993e-01 7.13667281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters 0.015619887107111092 Centerline is valid? [True, True] Translation: X:1030.24, Y:129.42, Z:7.14 [[ 5.90229791e-01 -8.07210529e-01 -6.32105945e-03 1.03023716e+03] [ 8.07161100e-01 5.90263613e-01 -8.93457303e-03 1.29417632e+02] [ 1.09431728e-02 1.71337873e-04 9.99940107e-01 7.13757088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.979254154 meters 0.015833468957726915 Centerline is valid? [True, True] Translation: X:1030.27, Y:129.47, Z:7.14 [[ 5.90419193e-01 -8.07063946e-01 -7.27767767e-03 1.03026987e+03] [ 8.06998334e-01 5.90464009e-01 -1.02928446e-02 1.29465420e+02] [ 1.26041905e-02 2.04019211e-04 9.99920543e-01 7.13588120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.039254154 meters 0.015478633549472825 Centerline is valid? [True, True] Translation: X:1030.31, Y:129.51, Z:7.13 [[ 5.88074872e-01 -8.08764785e-01 -8.21391619e-03 1.03030556e+03] [ 8.08681281e-01 5.88132201e-01 -1.16232629e-02 1.29510529e+02] [ 1.42313543e-02 1.92908586e-04 9.99898711e-01 7.13420152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters 0.014545956262797524 Centerline is valid? [True, True] Translation: X:1030.34, Y:129.56, Z:7.14 [[ 5.84744360e-01 -8.11178620e-01 -7.95486444e-03 1.03034428e+03] [ 8.11100447e-01 5.84798451e-01 -1.12621466e-02 1.29555786e+02] [ 1.37876049e-02 1.33282584e-04 9.99904938e-01 7.13548967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters 0.014358149727325001 Centerline is valid? [True, True] Translation: X:1030.38, Y:129.60, Z:7.14 [[ 5.82856235e-01 -8.12537626e-01 -7.82411452e-03 1.03037855e+03] [ 8.12462038e-01 5.82908738e-01 -1.10833065e-02 1.29602618e+02] [ 1.35663483e-02 1.03178288e-04 9.99907968e-01 7.13563135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.219254154 meters 0.014256380507606354 Centerline is valid? [True, True] Translation: X:1030.41, Y:129.65, Z:7.13 [[ 5.82564368e-01 -8.12734986e-01 -8.97771864e-03 1.03041267e+03] [ 8.12635368e-01 5.82633528e-01 -1.27251736e-02 1.29650261e+02] [ 1.55729137e-02 1.17621019e-04 9.99878728e-01 7.13471505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.279254154 meters 0.015824011644942612 Centerline is valid? [True, True] Translation: X:1030.45, Y:129.70, Z:7.13 [[ 5.82537816e-01 -8.12741155e-01 -1.00751194e-02 1.03044649e+03] [ 8.12615552e-01 5.82624919e-01 -1.42887572e-02 1.29698045e+02] [ 1.74830766e-02 1.36542656e-04 9.99847150e-01 7.13356656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters 0.01430687054922999 Centerline is valid? [True, True] Translation: X:1030.48, Y:129.75, Z:7.14 [[ 5.83031654e-01 -8.12389635e-01 -9.85754688e-03 1.03047842e+03] [ 8.12269208e-01 5.83114962e-01 -1.39883555e-02 1.29746528e+02] [ 1.71120781e-02 1.48672219e-04 9.99853567e-01 7.13584614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters 0.014315660847901451 Centerline is valid? [True, True] Translation: X:1030.51, Y:129.79, Z:7.14 [[ 5.82783686e-01 -8.12573809e-01 -9.32636094e-03 1.03050952e+03] [ 8.12465917e-01 5.82858290e-01 -1.32419162e-02 1.29793914e+02] [ 1.61959811e-02 1.39822340e-04 9.99868827e-01 7.13673753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.459254154 meters 0.014862846111483603 Centerline is valid? [True, True] Translation: X:1030.54, Y:129.84, Z:7.14 [[ 5.81189136e-01 -8.13716856e-01 -9.16878084e-03 1.03054377e+03] [ 8.13612604e-01 5.81261444e-01 -1.30255211e-02 1.29841500e+02] [ 1.59285449e-02 1.10455711e-04 9.99873127e-01 7.13758355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.519254154 meters 0.013920555815222085 Centerline is valid? [True, True] Translation: X:1030.58, Y:129.89, Z:7.14 [[ 5.80251832e-01 -8.14388676e-01 -8.88234314e-03 1.03057712e+03] [ 8.14290799e-01 5.80319805e-01 -1.26261015e-02 1.29888812e+02] [ 1.54371537e-02 9.35082498e-05 9.99880836e-01 7.13907973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters 0.013752947795399791 Centerline is valid? [True, True] Translation: X:1030.61, Y:129.94, Z:7.14 [[ 5.78719431e-01 -8.15479925e-01 -8.73568389e-03 1.03061092e+03] [ 8.15385265e-01 5.78785355e-01 -1.24250790e-02 1.29935684e+02] [ 1.51884884e-02 6.76867088e-05 9.99884646e-01 7.13986183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters 0.015981747624838272 Centerline is valid? [True, True] Translation: X:1030.65, Y:129.98, Z:7.14 [[ 5.76373438e-01 -8.17142959e-01 -8.42884232e-03 1.03064544e+03] [ 8.17054904e-01 5.76435065e-01 -1.19957860e-02 1.29982801e+02] [ 1.46609524e-02 2.72254784e-05 9.99892522e-01 7.14006700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.699254154 meters 0.016309865596751735 Centerline is valid? [True, True] Translation: X:1030.68, Y:130.03, Z:7.14 [[ 5.74917473e-01 -8.18171127e-01 -8.11829005e-03 1.03067899e+03] [ 8.18089446e-01 5.74974788e-01 -1.15607688e-02 1.30029648e+02] [ 1.41264993e-02 5.00055385e-06 9.99900216e-01 7.14116946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.759254154 meters 0.013445953382547908 Centerline is valid? [True, True] Translation: X:1030.71, Y:130.08, Z:7.14 [[ 5.74110765e-01 -8.18738782e-01 -7.97724058e-03 1.03071278e+03] [ 8.18659874e-01 5.74166184e-01 -1.13667955e-02 1.30077373e+02] [ 1.38866981e-02 -4.84709876e-06 9.99903575e-01 7.14336491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.819254154 meters 0.013476667383425038 Centerline is valid? [True, True] Translation: X:1030.75, Y:130.12, Z:7.14 [[ 5.73808883e-01 -8.18949445e-01 -8.07301406e-03 1.03074572e+03] [ 8.18868558e-01 5.73865670e-01 -1.15098945e-02 1.30124442e+02] [ 1.40588474e-02 -6.25766034e-06 9.99901170e-01 7.14279737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters 0.015561752038294165 Centerline is valid? [True, True] Translation: X:1030.78, Y:130.17, Z:7.14 [[ 5.74045187e-01 -8.18778607e-01 -8.58582284e-03 1.03077864e+03] [ 8.18686989e-01 5.74109392e-01 -1.22482961e-02 1.30172299e+02] [ 1.49578443e-02 1.97394813e-06 9.99888125e-01 7.14136827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.939254154 meters 0.016063107842056633 Centerline is valid? [True, True] Translation: X:1030.81, Y:130.22, Z:7.14 [[ 5.76630557e-01 -8.16946177e-01 -9.80530432e-03 1.03081057e+03] [ 8.16826276e-01 5.76713915e-01 -1.39962808e-02 1.30221547e+02] [ 1.70890636e-02 6.14529985e-05 9.99853969e-01 7.13989702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.999254154 meters 0.017105598940997245 Centerline is valid? [True, True] Translation: X:1030.84, Y:130.27, Z:7.14 [[ 5.78749727e-01 -8.15430625e-01 -1.10295245e-02 1.03084337e+03] [ 8.15278466e-01 5.78854801e-01 -1.57525292e-02 1.30270525e+02] [ 1.92295879e-02 1.24638162e-04 9.99815087e-01 7.13889780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.059254154 meters 0.014285089821347836 Centerline is valid? [True, True] Translation: X:1030.88, Y:130.32, Z:7.14 [[ 5.81438365e-01 -8.13519644e-01 -1.07338626e-02 1.03087538e+03] [ 8.13375056e-01 5.81537405e-01 -1.53383687e-02 1.30320549e+02] [ 1.87202069e-02 1.87659912e-04 9.99824744e-01 7.14167085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters 0.017529892905933125 Centerline is valid? [True, True] Translation: X:1030.91, Y:130.37, Z:7.14 [[ 5.81297033e-01 -8.13615336e-01 -1.11285723e-02 1.03090872e+03] [ 8.13459766e-01 5.81403515e-01 -1.59111017e-02 1.30367515e+02] [ 1.94157074e-02 1.96430444e-04 9.99811478e-01 7.13843038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters 0.014150344313175748 Centerline is valid? [True, True] Translation: X:1030.95, Y:130.41, Z:7.14 [[ 5.79654112e-01 -8.14802622e-01 -9.88932743e-03 1.03094574e+03] [ 8.14679819e-01 5.79738447e-01 -1.41465437e-02 1.30413135e+02] [ 1.72598642e-02 1.43466715e-04 9.99851027e-01 7.14403619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.239254154 meters 0.013689257986253554 Centerline is valid? [True, True] Translation: X:1030.98, Y:130.46, Z:7.15 [[ 5.76905848e-01 -8.16759501e-01 -9.14114668e-03 1.03098265e+03] [ 8.16654714e-01 5.76978259e-01 -1.30830896e-02 1.30458727e+02] [ 1.59599806e-02 8.25503664e-05 9.99872628e-01 7.14688418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.299254154 meters 0.013622327511863546 Centerline is valid? [True, True] Translation: X:1031.02, Y:130.50, Z:7.15 [[ 5.72859152e-01 -8.19616134e-01 -7.86036388e-03 1.03101897e+03] [ 8.19538851e-01 5.72913077e-01 -1.12551280e-02 1.30503578e+02] [ 1.37281898e-02 5.72950352e-06 9.99905764e-01 7.14909397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters 0.014202210631276043 Centerline is valid? [True, True] Translation: X:1031.06, Y:130.55, Z:7.15 [[ 5.67965820e-01 -8.23015295e-01 -7.78796738e-03 1.03105550e+03] [ 8.22939667e-01 5.68019207e-01 -1.11572635e-02 1.30549105e+02] [ 1.36063135e-02 -7.20829789e-05 9.99907427e-01 7.14850006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters 0.014298467841677489 Centerline is valid? [True, True] Translation: X:1031.09, Y:130.60, Z:7.15 [[ 5.64239190e-01 -8.25571012e-01 -8.16340350e-03 1.03109090e+03] [ 8.25488106e-01 5.64298224e-01 -1.17004799e-02 1.30595638e+02] [ 1.42661711e-02 -1.36923184e-04 9.99898224e-01 7.14872783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.479254154 meters 0.01772256770179149 Centerline is valid? [True, True] Translation: X:1031.13, Y:130.64, Z:7.15 [[ 5.58359798e-01 -8.29552693e-01 -8.75588935e-03 1.03112824e+03] [ 8.29457714e-01 5.58428390e-01 -1.25552486e-02 1.30641123e+02] [ 1.53047775e-02 -2.52293879e-04 9.99882843e-01 7.14695099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.539254154 meters 0.018787511668806496 Centerline is valid? [True, True] Translation: X:1031.16, Y:130.69, Z:7.15 [[ 5.54336138e-01 -8.32240308e-01 -9.35496246e-03 1.03116276e+03] [ 8.32132175e-01 5.54414962e-01 -1.34198718e-02 1.30688125e+02] [ 1.63550894e-02 -3.45445375e-04 9.99866187e-01 7.14722721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters 0.01646178512589916 Centerline is valid? [True, True] Translation: X:1031.19, Y:130.74, Z:7.15 [[ 5.53982041e-01 -8.32476641e-01 -9.30266111e-03 1.03119412e+03] [ 8.32369642e-01 5.54060034e-01 -1.33513559e-02 1.30737281e+02] [ 1.62689246e-02 -3.46841312e-04 9.99867592e-01 7.14926007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters 0.018521512413123276 Centerline is valid? [True, True] Translation: X:1031.22, Y:130.79, Z:7.15 [[ 5.54697268e-01 -8.31987261e-01 -1.03989474e-02 1.03122426e+03] [ 8.31853295e-01 5.54794614e-01 -1.49342473e-02 1.30786882e+02] [ 1.81943835e-02 -3.66412432e-04 9.99834401e-01 7.14563689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.719254154 meters 0.01728419238749911 Centerline is valid? [True, True] Translation: X:1031.26, Y:130.84, Z:7.15 [[ 5.55782902e-01 -8.31262659e-01 -1.03806290e-02 1.03125530e+03] [ 8.31128912e-01 5.55879733e-01 -1.49149130e-02 1.30835275e+02] [ 1.81685915e-02 -3.38187280e-04 9.99834880e-01 7.14657698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.779254154 meters 0.01843739584528649 Centerline is valid? [True, True] Translation: X:1031.28, Y:130.89, Z:7.15 [[ 5.59096665e-01 -8.29030784e-01 -1.09031214e-02 1.03128441e+03] [ 8.28882664e-01 5.59202900e-01 -1.56730835e-02 1.30887203e+02] [ 1.90905258e-02 -2.74639558e-04 9.99817722e-01 7.14649307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters 0.014029612379336092 Centerline is valid? [True, True] Translation: X:1031.31, Y:130.94, Z:7.15 [[ 5.66515946e-01 -8.23991694e-01 -9.86768297e-03 1.03130842e+03] [ 8.23869469e-01 5.66601871e-01 -1.41921842e-02 1.30941365e+02] [ 1.72852895e-02 -8.95840590e-05 9.99850594e-01 7.15063676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters 0.013807576737324164 Centerline is valid? [True, True] Translation: X:1031.33, Y:131.00, Z:7.15 [[ 5.74684251e-01 -8.18318390e-01 -9.64491466e-03 1.03133284e+03] [ 8.18200672e-01 5.74765174e-01 -1.38800132e-02 1.30995717e+02] [ 1.69018311e-02 8.51493515e-05 9.99857150e-01 7.15130468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.959254154 meters 0.016452920310832533 Centerline is valid? [True, True] Translation: X:1031.36, Y:131.05, Z:7.15 [[ 5.79825614e-01 -8.14674495e-01 -1.03790209e-02 1.03135999e+03] [ 8.14537427e-01 5.79918461e-01 -1.49451598e-02 1.31048742e+02] [ 1.81944264e-02 2.11485448e-04 9.99834445e-01 7.15005660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.019254154 meters 0.014740053687571654 Centerline is valid? [True, True] Translation: X:1031.39, Y:131.10, Z:7.15 [[ 5.82065481e-01 -8.13086848e-01 -9.46328942e-03 1.03138989e+03] [ 8.12972572e-01 5.82142353e-01 -1.36336893e-02 1.31099513e+02] [ 1.65943550e-02 2.42305192e-04 9.99862275e-01 7.15284605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters 0.015009590149788827 Centerline is valid? [True, True] Translation: X:1031.42, Y:131.15, Z:7.15 [[ 5.82886392e-01 -8.12491379e-01 -1.00604672e-02 1.03142080e+03] [ 8.12361993e-01 5.82973138e-01 -1.45021390e-02 1.31149541e+02] [ 1.76478451e-02 2.80358265e-04 9.99844225e-01 7.15274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters 0.017501999033795325 Centerline is valid? [True, True] Translation: X:1031.45, Y:131.20, Z:7.15 [[ 5.82280287e-01 -8.12891944e-01 -1.25041920e-02 1.03145366e+03] [ 8.12691915e-01 5.82414433e-01 -1.80354771e-02 1.31198635e+02] [ 2.19435159e-02 3.39647033e-04 9.99759154e-01 7.15003553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.199254154 meters 0.016404588307712967 Centerline is valid? [True, True] Translation: X:1031.48, Y:131.25, Z:7.15 [[ 5.82454808e-01 -8.12755037e-01 -1.32531589e-02 1.03148497e+03] [ 8.12530122e-01 5.82605452e-01 -1.91229933e-02 1.31247678e+02] [ 2.32636718e-02 3.69688547e-04 9.99729296e-01 7.14948026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.259254154 meters 0.01526772832704084 Centerline is valid? [True, True] Translation: X:1031.52, Y:131.30, Z:7.15 [[ 5.81998302e-01 -8.13073724e-01 -1.37512437e-02 1.03151865e+03] [ 8.12831444e-01 5.82160613e-01 -1.98510795e-02 1.31295888e+02] [ 2.41458236e-02 3.75851283e-04 9.99708376e-01 7.15011414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.319254154 meters 0.015242533509009663 Centerline is valid? [True, True] Translation: X:1031.55, Y:131.34, Z:7.15 [[ 5.80637216e-01 -8.14054801e-01 -1.32364975e-02 1.03155411e+03] [ 8.13830341e-01 5.80787977e-01 -1.91181022e-02 1.31343454e+02] [ 2.32507815e-02 3.28418364e-04 9.99729610e-01 7.15161811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters 0.014355109549989507 Centerline is valid? [True, True] Translation: X:1031.59, Y:131.39, Z:7.16 [[ 5.78669211e-01 -8.15471418e-01 -1.21783243e-02 1.03159017e+03] [ 8.15281526e-01 5.78797289e-01 -1.75991938e-02 1.31390086e+02] [ 2.14004206e-02 2.55348788e-04 9.99770952e-01 7.15533545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.439254154 meters 0.015770668409485683 Centerline is valid? [True, True] Translation: X:1031.62, Y:131.44, Z:7.15 [[ 5.77465375e-01 -8.16315619e-01 -1.27495382e-02 1.03162433e+03] [ 8.16107442e-01 5.77606053e-01 -1.84361546e-02 1.31437112e+02] [ 2.24139314e-02 2.41247911e-04 9.99748747e-01 7.15493082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.499254154 meters 0.01801896649907211 Centerline is valid? [True, True] Translation: X:1031.66, Y:131.48, Z:7.15 [[ 5.74463117e-01 -8.18420748e-01 -1.34017042e-02 1.03166014e+03] [ 8.18191021e-01 5.74619394e-01 -1.93908407e-02 1.31483629e+02] [ 2.35707455e-02 1.74168715e-04 9.99722156e-01 7.15412110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.559254154 meters 0.013788020359947917 Centerline is valid? [True, True] Translation: X:1031.70, Y:131.53, Z:7.16 [[ 5.70452916e-01 -8.21241037e-01 -1.21090996e-02 1.03169768e+03] [ 8.21053932e-01 5.70581420e-01 -1.75295093e-02 1.31529876e+02] [ 2.13051796e-02 5.75358004e-05 9.99773017e-01 7.15712195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters 0.01689635619973128 Centerline is valid? [True, True] Translation: X:1031.74, Y:131.57, Z:7.16 [[ 5.63142522e-01 -8.26265277e-01 -1.24976533e-02 1.03173759e+03] [ 8.26066981e-01 5.63281168e-01 -1.81016071e-02 1.31574211e+02] [ 2.19964222e-02 -1.30114103e-04 9.99758041e-01 7.15574016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters 0.01585073631902515 Centerline is valid? [True, True] Translation: X:1031.78, Y:131.62, Z:7.16 [[ 5.56742455e-01 -8.30604609e-01 -1.15681855e-02 1.03177735e+03] [ 8.30435462e-01 5.56862559e-01 -1.67641001e-02 1.31618045e+02] [ 2.03662282e-02 -2.73345163e-04 9.99792550e-01 7.15811377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.739254154 meters 0.016099038766925027 Centerline is valid? [True, True] Translation: X:1031.81, Y:131.66, Z:7.16 [[ 5.54147541e-01 -8.32341854e-01 -1.12934473e-02 1.03181410e+03] [ 8.32180834e-01 5.54262513e-01 -1.63745506e-02 1.31663787e+02] [ 1.98887583e-02 -3.24273487e-04 9.99802147e-01 7.15845091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.799254154 meters 0.01812416121161142 Centerline is valid? [True, True] Translation: X:1031.85, Y:131.71, Z:7.16 [[ 5.54130302e-01 -8.32341600e-01 -1.21272427e-02 1.03184813e+03] [ 8.32155759e-01 5.54262882e-01 -1.75911915e-02 1.31710692e+02] [ 2.13635610e-02 -3.43942636e-04 9.99771714e-01 7.15640510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters 0.015140230937917394 Centerline is valid? [True, True] Translation: X:1031.88, Y:131.76, Z:7.16 [[ 5.59642686e-01 -8.28647753e-01 -1.19568234e-02 1.03187853e+03] [ 8.28466059e-01 5.59770368e-01 -1.73529632e-02 1.31760606e+02] [ 2.10725694e-02 -1.94363372e-04 9.99777930e-01 7.15708132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters 0.01716860268909093 Centerline is valid? [True, True] Translation: X:1031.91, Y:131.81, Z:7.15 [[ 5.66874871e-01 -8.23703367e-01 -1.28702527e-02 1.03190733e+03] [ 8.23491331e-01 5.67020955e-01 -1.86886377e-02 1.31810330e+02] [ 2.26915967e-02 -4.42242272e-06 9.99742513e-01 7.15471180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.979254154 meters 0.015098209145463061 Centerline is valid? [True, True] Translation: X:1031.94, Y:131.86, Z:7.16 [[ 5.75143043e-01 -8.17970506e-01 -1.16074096e-02 1.03193535e+03] [ 8.17796745e-01 5.75260124e-01 -1.68604440e-02 1.31861863e+02] [ 2.04686258e-02 2.04665252e-04 9.99790475e-01 7.15735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.039254154 meters 0.01533469993705768 Centerline is valid? [True, True] Translation: X:1031.97, Y:131.91, Z:7.16 [[ 5.79770468e-01 -8.14706878e-01 -1.09044851e-02 1.03196599e+03] [ 8.14552813e-01 5.79872926e-01 -1.58463015e-02 1.31912209e+02] [ 1.92333065e-02 3.04938667e-04 9.99814976e-01 7.15892874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters 0.01991521576300034 Centerline is valid? [True, True] Translation: X:1032.00, Y:131.96, Z:7.16 [[ 5.83281089e-01 -8.12202150e-01 -1.05279896e-02 1.03199744e+03] [ 8.12057981e-01 5.83375971e-01 -1.53072640e-02 1.31961674e+02] [ 1.85743689e-02 3.79099629e-04 9.99827410e-01 7.15823780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters 0.017676881536863663 Centerline is valid? [True, True] Translation: X:1032.03, Y:132.01, Z:7.16 [[ 5.86314649e-01 -8.10037014e-01 -8.67000617e-03 1.03202871e+03] [ 8.09938927e-01 5.86378630e-01 -1.26109612e-02 1.32010860e+02] [ 1.52992517e-02 3.71815817e-04 9.99882890e-01 7.16135118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.219254154 meters 0.01735334188030364 Centerline is valid? [True, True] Translation: X:1032.06, Y:132.06, Z:7.16 [[ 5.86483508e-01 -8.09906342e-01 -9.42404773e-03 1.03206478e+03] [ 8.09790323e-01 5.86559074e-01 -1.37144316e-02 1.32057783e+02] [ 1.66351659e-02 4.11785307e-04 9.99861541e-01 7.16103333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.279254154 meters 0.017750768559062723 Centerline is valid? [True, True] Translation: X:1032.10, Y:132.10, Z:7.16 [[ 5.84528452e-01 -8.11300899e-01 -1.08323159e-02 1.03210116e+03] [ 8.11147667e-01 5.84628654e-01 -1.57733979e-02 1.32103757e+02] [ 1.91298542e-02 4.33392092e-04 9.99816914e-01 7.15889155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters 0.017829342380380614 Centerline is valid? [True, True] Translation: X:1032.14, Y:132.15, Z:7.16 [[ 5.82791556e-01 -8.12542603e-01 -1.13367023e-02 1.03213536e+03] [ 8.12374831e-01 5.82901660e-01 -1.65162897e-02 1.32149779e+02] [ 2.00283716e-02 4.15902576e-04 9.99799326e-01 7.15757927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters 0.015622659176661799 Centerline is valid? [True, True] Translation: X:1032.18, Y:132.19, Z:7.16 [[ 5.79171970e-01 -8.15124614e-01 -1.14757600e-02 1.03217544e+03] [ 8.14953030e-01 5.79285552e-01 -1.67274474e-02 1.32193698e+02] [ 2.02826961e-02 3.35863338e-04 9.99794229e-01 7.15833306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.459254154 meters 0.01685562702776001 Centerline is valid? [True, True] Translation: X:1032.21, Y:132.24, Z:7.16 [[ 5.74227688e-01 -8.18606936e-01 -1.20518318e-02 1.03221381e+03] [ 8.18418248e-01 5.74354099e-01 -1.75766876e-02 1.32238546e+02] [ 2.13104174e-02 2.29581634e-04 9.99772881e-01 7.15695734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.519254154 meters 0.014361634136805917 Centerline is valid? [True, True] Translation: X:1032.25, Y:132.29, Z:7.16 [[ 5.73342496e-01 -8.19246209e-01 -1.06785778e-02 1.03224718e+03] [ 8.19098036e-01 5.73441901e-01 -1.55817990e-02 1.32286592e+02] [ 1.88888737e-02 1.86905416e-04 9.99821572e-01 7.15989879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters 0.01641589131800947 Centerline is valid? [True, True] Translation: X:1032.28, Y:132.34, Z:7.16 [[ 5.73186074e-01 -8.19348597e-01 -1.12072087e-02 1.03227782e+03] [ 8.19185223e-01 5.73295594e-01 -1.63625412e-02 1.32335769e+02] [ 1.98316685e-02 1.98000974e-04 9.99803314e-01 7.15905302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters 0.0149349223013099 Centerline is valid? [True, True] Translation: X:1032.31, Y:132.39, Z:7.16 [[ 5.75925719e-01 -8.17421411e-01 -1.14805406e-02 1.03230830e+03] [ 8.17249397e-01 5.76040068e-01 -1.67709020e-02 1.32385822e+02] [ 2.03221458e-02 2.76328869e-04 9.99793446e-01 7.16084832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.699254154 meters 0.015490569999044681 Centerline is valid? [True, True] Translation: X:1032.34, Y:132.44, Z:7.16 [[ 5.79290542e-01 -8.15044920e-01 -1.11465724e-02 1.03233788e+03] [ 8.14882154e-01 5.79397664e-01 -1.62918014e-02 1.32437299e+02] [ 1.97368480e-02 3.54543538e-04 9.99805147e-01 7.16156842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.759254154 meters 0.01702350316139783 Centerline is valid? [True, True] Translation: X:1032.37, Y:132.49, Z:7.16 [[ 5.81052923e-01 -8.13787755e-01 -1.12690204e-02 1.03236746e+03] [ 8.13620976e-01 5.81162046e-01 -1.64797609e-02 1.32488013e+02] [ 1.99601546e-02 4.06901893e-04 9.99800693e-01 7.16113017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.819254154 meters 0.01708113893336991 Centerline is valid? [True, True] Translation: X:1032.40, Y:132.54, Z:7.16 [[ 5.80118770e-01 -8.14454984e-01 -1.11933902e-02 1.03240029e+03] [ 8.14290370e-01 5.80226619e-01 -1.63787517e-02 1.32536080e+02] [ 1.98344589e-02 3.86951434e-04 9.99803203e-01 7.16110779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters 0.01680740533855251 Centerline is valid? [True, True] Translation: X:1032.44, Y:132.58, Z:7.16 [[ 5.77359981e-01 -8.16419229e-01 -1.07282465e-02 1.03243551e+03] [ 8.16268184e-01 5.77459562e-01 -1.57068943e-02 1.32583165e+02] [ 1.90185390e-02 3.11405934e-04 9.99819083e-01 7.16193546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.939254154 meters 0.01439492448024284 Centerline is valid? [True, True] Translation: X:1032.47, Y:132.63, Z:7.17 [[ 5.72787873e-01 -8.19653486e-01 -9.06733361e-03 1.03247343e+03] [ 8.19545884e-01 5.72859610e-01 -1.32819905e-02 1.32628603e+02] [ 1.60809390e-02 1.76667121e-04 9.99870678e-01 7.16587837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.999254154 meters 0.013699976168702516 Centerline is valid? [True, True] Translation: X:1032.51, Y:132.67, Z:7.17 [[ 5.66394202e-01 -8.24089829e-01 -8.57681827e-03 1.03251134e+03] [ 8.23993956e-01 5.66459135e-01 -1.25701898e-02 1.32673864e+02] [ 1.52173826e-02 5.24361848e-05 9.99884208e-01 7.16690356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.059254154 meters 0.016007539340309393 Centerline is valid? [True, True] Translation: X:1032.55, Y:132.72, Z:7.17 [[ 5.58486890e-01 -8.29464311e-01 -9.01946248e-03 1.03254976e+03] [ 8.29358853e-01 5.58559709e-01 -1.32266544e-02 1.32718310e+02] [ 1.60089461e-02 -9.34579535e-05 9.99871844e-01 7.16556778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters 0.018113472920152012 Centerline is valid? [True, True] Translation: X:1032.59, Y:132.76, Z:7.17 [[ 5.51433177e-01 -8.34169125e-01 -9.12813947e-03 1.03258750e+03] [ 8.34061624e-01 5.51508676e-01 -1.33936019e-02 1.32763930e+02] [ 1.62067773e-02 -2.27754401e-04 9.99868636e-01 7.16527970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters 0.017181761806068136 Centerline is valid? [True, True] Translation: X:1032.62, Y:132.81, Z:7.17 [[ 5.48375532e-01 -8.36184033e-01 -8.97433014e-03 1.03262171e+03] [ 8.36080300e-01 5.48448890e-01 -1.31737284e-02 1.32810215e+02] [ 1.59376228e-02 -2.79110302e-04 9.99872949e-01 7.16646218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.239254154 meters 0.018634315364651127 Centerline is valid? [True, True] Translation: X:1032.66, Y:132.86, Z:7.17 [[ 5.44972002e-01 -8.38403306e-01 -9.24193997e-03 1.03265513e+03] [ 8.38293510e-01 5.45050249e-01 -1.35727064e-02 1.32858125e+02] [ 1.64167236e-02 -3.50713331e-04 9.99865175e-01 7.16540456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.299254154 meters 0.020211316111140153 Centerline is valid? [True, True] Translation: X:1032.69, Y:132.91, Z:7.17 [[ 5.44195261e-01 -8.38906126e-01 -9.38240614e-03 1.03268927e+03] [ 8.38792957e-01 5.44276011e-01 -1.37840419e-02 1.32905094e+02] [ 1.66701357e-02 -3.68685919e-04 9.99860976e-01 7.16500390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters 0.019187035430384795 Centerline is valid? [True, True] Translation: X:1032.72, Y:132.95, Z:7.17 [[ 5.43985495e-01 -8.39040758e-01 -9.50729043e-03 1.03271967e+03] [ 8.38924464e-01 5.44068440e-01 -1.39741295e-02 1.32954449e+02] [ 1.68974809e-02 -3.74174754e-04 9.99857157e-01 7.16632394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters 0.01818596391171719 Centerline is valid? [True, True] Translation: X:1032.75, Y:133.01, Z:7.17 [[ 5.45656465e-01 -8.37955647e-01 -9.45280434e-03 1.03274959e+03] [ 8.37840395e-01 5.45738235e-01 -1.39014658e-02 1.33006022e+02] [ 1.68075685e-02 -3.34516637e-04 9.99858687e-01 7.16652554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.479254154 meters 0.018488754209706797 Centerline is valid? [True, True] Translation: X:1032.78, Y:133.06, Z:7.17 [[ 5.48937752e-01 -8.35810074e-01 -9.42686703e-03 1.03277724e+03] [ 8.35695016e-01 5.49018626e-01 -1.38704325e-02 1.33058182e+02] [ 1.67685728e-02 -2.63981756e-04 9.99859363e-01 7.16575978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.539254154 meters 0.01474642814011962 Centerline is valid? [True, True] Translation: X:1032.81, Y:133.11, Z:7.17 [[ 5.53907396e-01 -8.32529518e-01 -9.01099521e-03 1.03280538e+03] [ 8.32423842e-01 5.53980666e-01 -1.32653697e-02 1.33110595e+02] [ 1.60357290e-02 -1.53180862e-04 9.99871408e-01 7.16816528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters 0.016701499030625688 Centerline is valid? [True, True] Translation: X:1032.83, Y:133.16, Z:7.17 [[ 5.58824028e-01 -8.29238928e-01 -8.86033432e-03 1.03283266e+03] [ 8.29136232e-01 5.58894263e-01 -1.30503896e-02 1.33163696e+02] [ 1.57738811e-02 -5.35529032e-05 9.99875583e-01 7.16696982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters 0.015622286080053643 Centerline is valid? [True, True] Translation: X:1032.86, Y:133.22, Z:7.17 [[ 5.64045381e-01 -8.25707139e-01 -7.78009198e-03 1.03285984e+03] [ 8.25627532e-01 5.64099033e-01 -1.14655389e-02 1.33215943e+02] [ 1.38559197e-02 4.36261059e-05 9.99904001e-01 7.17010148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.719254154 meters 0.013831492181235043 Centerline is valid? [True, True] Translation: X:1032.89, Y:133.27, Z:7.17 [[ 5.66601939e-01 -8.23958084e-01 -7.43769918e-03 1.03288946e+03] [ 8.23885092e-01 5.66650747e-01 -1.09675255e-02 1.33266546e+02] [ 1.32513591e-02 8.64117503e-05 9.99912193e-01 7.17222303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.779254154 meters 0.017317427245319247 Centerline is valid? [True, True] Translation: X:1032.92, Y:133.32, Z:7.17 [[ 5.67912972e-01 -8.23053106e-01 -7.64464795e-03 1.03291809e+03] [ 8.22975821e-01 5.67964410e-01 -1.12795373e-02 1.33318186e+02] [ 1.36255462e-02 1.14435121e-04 9.99907161e-01 7.17020186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters 0.01509313269097439 Centerline is valid? [True, True] Translation: X:1032.95, Y:133.37, Z:7.17 [[ 5.68827340e-01 -8.22419283e-01 -7.87279585e-03 1.03295010e+03] [ 8.22337159e-01 5.68881802e-01 -1.16229349e-02 1.33367731e+02] [ 1.40376161e-02 1.37350594e-04 9.99901458e-01 7.17255434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters 0.015679942706564195 Centerline is valid? [True, True] Translation: X:1032.98, Y:133.42, Z:7.17 [[ 5.69602089e-01 -8.21871605e-01 -8.97359553e-03 1.03298033e+03] [ 8.21764747e-01 5.69672743e-01 -1.32539095e-02 1.33417476e+02] [ 1.60050246e-02 1.75270057e-04 9.99871896e-01 7.17066076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.959254154 meters 0.014882021732242448 Centerline is valid? [True, True] Translation: X:1033.01, Y:133.47, Z:7.17 [[ 5.69325839e-01 -8.22054805e-01 -9.69469033e-03 1.03301243e+03] [ 8.21929985e-01 5.69408345e-01 -1.43260647e-02 1.33465743e+02] [ 1.72970479e-02 1.87842106e-04 9.99850377e-01 7.17064663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.019254154 meters 0.017500898096393075 Centerline is valid? [True, True] Translation: X:1033.05, Y:133.51, Z:7.17 [[ 5.67709970e-01 -8.23170380e-01 -9.79365832e-03 1.03304716e+03] [ 8.23043019e-01 5.67794417e-01 -1.44806156e-02 1.33513664e+02] [ 1.74807983e-02 1.60187718e-04 9.99847186e-01 7.16982251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters 0.013992672242499166 Centerline is valid? [True, True] Translation: X:1033.08, Y:133.56, Z:7.17 [[ 5.65298169e-01 -8.24838449e-01 -8.91700910e-03 1.03308267e+03] [ 8.24732965e-01 5.65368484e-01 -1.31914554e-02 1.33560393e+02] [ 1.59222156e-02 1.02954248e-04 9.99873228e-01 7.17407371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters 0.017067262325336376 Centerline is valid? [True, True] Translation: X:1033.12, Y:133.61, Z:7.17 [[ 5.60018192e-01 -8.28425623e-01 -9.51904862e-03 1.03312011e+03] [ 8.28305779e-01 5.60099087e-01 -1.40907621e-02 1.33605554e+02] [ 1.70047588e-02 6.40015590e-06 9.99855409e-01 7.17152207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.199254154 meters 0.017794045292557403 Centerline is valid? [True, True] Translation: X:1033.16, Y:133.65, Z:7.17 [[ 5.55963294e-01 -8.31150946e-01 -9.63951590e-03 1.03315704e+03] [ 8.31028312e-01 5.56046850e-01 -1.42774392e-02 1.33651713e+02] [ 1.72267295e-02 -7.29785163e-05 9.99851606e-01 7.17200915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.259254154 meters 0.016468838949285396 Centerline is valid? [True, True] Translation: X:1033.19, Y:133.70, Z:7.17 [[ 5.54792342e-01 -8.31933015e-01 -9.63933334e-03 1.03319030e+03] [ 8.31810354e-01 5.54876068e-01 -1.42857943e-02 1.33699307e+02] [ 1.72334593e-02 -9.24480075e-05 9.99851489e-01 7.17383480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.319254154 meters 0.015020540243596253 Centerline is valid? [True, True] Translation: X:1033.22, Y:133.75, Z:7.18 [[ 5.55649854e-01 -8.31363654e-01 -9.36558607e-03 1.03322166e+03] [ 8.31247635e-01 5.55728774e-01 -1.38887994e-02 1.33748406e+02] [ 1.67513686e-02 -6.78119339e-05 9.99859684e-01 7.17517223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters 0.014809358963336842 Centerline is valid? [True, True] Translation: X:1033.25, Y:133.80, Z:7.18 [[ 5.58473158e-01 -8.29472658e-01 -9.10173636e-03 1.03325170e+03] [ 8.29362700e-01 5.58547321e-01 -1.35055859e-02 1.33798839e+02] [ 1.62862647e-02 -6.13341997e-06 9.99867370e-01 7.17675500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.439254154 meters 0.014584807250676552 Centerline is valid? [True, True] Translation: X:1033.28, Y:133.85, Z:7.18 [[ 5.60600812e-01 -8.28032911e-01 -9.39298047e-03 1.03328163e+03] [ 8.27915487e-01 5.60679496e-01 -1.39445393e-02 1.33848021e+02] [ 1.68129890e-02 4.07260714e-05 9.99858651e-01 7.17667931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.499254154 meters 0.016425557182344612 Centerline is valid? [True, True] Translation: X:1033.31, Y:133.90, Z:7.18 [[ 5.63351313e-01 -8.26159838e-01 -9.75804135e-03 1.03331131e+03] [ 8.26032702e-01 5.63435809e-01 -1.44936407e-02 1.33899283e+02] [ 1.74720938e-02 1.04550253e-04 9.99847346e-01 7.17536800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.559254154 meters 0.015277404722462303 Centerline is valid? [True, True] Translation: X:1033.34, Y:133.95, Z:7.18 [[ 5.64899213e-01 -8.25105848e-01 -9.44557087e-03 1.03334411e+03] [ 8.24986447e-01 5.64978160e-01 -1.40371172e-02 1.33948730e+02] [ 1.69186488e-02 1.37088533e-04 9.99856860e-01 7.17823703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters 0.016893698050089525 Centerline is valid? [True, True] Translation: X:1033.38, Y:134.00, Z:7.18 [[ 5.65495616e-01 -8.24699328e-01 -9.25888637e-03 1.03337506e+03] [ 8.24584411e-01 5.65571388e-01 -1.37678650e-02 1.33997491e+02] [ 1.65909103e-02 1.50933950e-04 9.99862350e-01 7.17712916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters 0.015038719885679043 Centerline is valid? [True, True] Translation: X:1033.41, Y:134.05, Z:7.18 [[ 5.65767473e-01 -8.24514098e-01 -9.14708588e-03 1.03340658e+03] [ 8.24401777e-01 5.65841388e-01 -1.36100596e-02 1.34045715e+02] [ 1.63974858e-02 1.59255167e-04 9.99865540e-01 7.17906252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.739254154 meters 0.016152816755032717 Centerline is valid? [True, True] Translation: X:1033.44, Y:134.09, Z:7.18 [[ 5.65194444e-01 -8.24903625e-01 -9.44719227e-03 1.03343990e+03] [ 8.24783713e-01 5.65273371e-01 -1.40656581e-02 1.34092768e+02] [ 1.69430586e-02 1.57941484e-04 9.99856444e-01 7.17902816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.799254154 meters 0.013974088739725346 Centerline is valid? [True, True] Translation: X:1033.47, Y:134.14, Z:7.18 [[ 5.64830515e-01 -8.25151540e-01 -9.56171912e-03 1.03347188e+03] [ 8.25028610e-01 5.64911420e-01 -1.42436040e-02 1.34140367e+02] [ 1.71546561e-02 1.56530329e-04 9.99852836e-01 7.18142047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters 0.01688330137982423 Centerline is valid? [True, True] Translation: X:1033.50, Y:134.19, Z:7.18 [[ 5.63427510e-01 -8.26101339e-01 -1.02965822e-02 1.03350454e+03] [ 8.25958794e-01 5.63521568e-01 -1.53464175e-02 1.34186833e+02] [ 1.84800422e-02 1.42041229e-04 9.99829219e-01 7.17790371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters 0.016608862601656053 Centerline is valid? [True, True] Translation: X:1033.54, Y:134.24, Z:7.18 [[ 5.63040026e-01 -8.26358011e-01 -1.08796510e-02 1.03353771e+03] [ 8.26198722e-01 5.63145111e-01 -1.62251480e-02 1.34235236e+02] [ 1.95346033e-02 1.46654023e-04 9.99809171e-01 7.17766526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.979254154 meters 0.016588664482003943 Centerline is valid? [True, True] Translation: X:1033.57, Y:134.28, Z:7.18 [[ 5.62757452e-01 -8.26546130e-01 -1.12046537e-02 1.03357162e+03] [ 8.26377007e-01 5.62868965e-01 -1.67203508e-02 1.34282389e+02] [ 2.01268931e-02 1.50233858e-04 9.99797422e-01 7.17840509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.039254154 meters 0.014332799522177522 Centerline is valid? [True, True] Translation: X:1033.61, Y:134.33, Z:7.18 [[ 5.61821181e-01 -8.27191154e-01 -1.05714838e-02 1.03360579e+03] [ 8.27040561e-01 5.61920617e-01 -1.57838901e-02 1.34328593e+02] [ 1.89966290e-02 1.24677889e-04 9.99819540e-01 7.18171173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters 0.013719452498977889 Centerline is valid? [True, True] Translation: X:1033.64, Y:134.38, Z:7.19 [[ 5.59912581e-01 -8.28499068e-01 -9.33788294e-03 1.03364155e+03] [ 8.28381636e-01 5.59990437e-01 -1.39490225e-02 1.34375545e+02] [ 1.67858773e-02 7.49024697e-05 9.99859104e-01 7.18525836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters 0.015960538166836034 Centerline is valid? [True, True] Translation: X:1033.68, Y:134.42, Z:7.18 [[ 5.56808410e-01 -8.30595420e-01 -8.69724432e-03 1.03367686e+03] [ 8.30493690e-01 5.56876331e-01 -1.29993360e-02 1.34421522e+02] [ 1.56404785e-02 1.51331053e-05 9.99877680e-01 7.18398116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.219254154 meters 0.016934760030741815 Centerline is valid? [True, True] Translation: X:1033.71, Y:134.47, Z:7.18 [[ 5.55453453e-01 -8.31501914e-01 -8.71943867e-03 1.03371050e+03] [ 8.31399649e-01 5.55521887e-01 -1.30405468e-02 1.34469341e+02] [ 1.56870787e-02 -5.92149417e-06 9.99876950e-01 7.18353955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.279254154 meters 0.01864194913286108 Centerline is valid? [True, True] Translation: X:1033.75, Y:134.51, Z:7.18 [[ 5.50976562e-01 -8.34463249e-01 -9.79361780e-03 1.03374683e+03] [ 8.34334578e-01 5.51063587e-01 -1.46538212e-02 1.34514981e+02] [ 1.76249814e-02 -9.72419657e-05 9.99844663e-01 7.18155589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters 0.01822256824524155 Centerline is valid? [True, True] Translation: X:1033.78, Y:134.56, Z:7.18 [[ 5.46216061e-01 -8.37580621e-01 -1.03304540e-02 1.03378415e+03] [ 8.37437878e-01 5.46313702e-01 -1.54641369e-02 1.34561362e+02] [ 1.85961299e-02 -2.04353547e-04 9.99827056e-01 7.18180956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters 0.0166938179496202 Centerline is valid? [True, True] Translation: X:1033.82, Y:134.61, Z:7.18 [[ 5.42801247e-01 -8.39800715e-01 -1.00779554e-02 1.03381942e+03] [ 8.39665099e-01 5.42894729e-01 -1.50942156e-02 1.34608874e+02] [ 1.81474019e-02 -2.68948375e-04 9.99835286e-01 7.18491761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.459254154 meters 0.016270907143309078 Centerline is valid? [True, True] Translation: X:1033.85, Y:134.66, Z:7.19 [[ 5.41542440e-01 -8.40619714e-01 -9.50167141e-03 1.03385339e+03] [ 8.40499151e-01 5.41625720e-01 -1.42392804e-02 1.34656042e+02] [ 1.71161694e-02 -2.74972094e-04 9.99853470e-01 7.18728560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.519254154 meters 0.017703802979222246 Centerline is valid? [True, True] Translation: X:1033.89, Y:134.70, Z:7.19 [[ 5.41954066e-01 -8.40363060e-01 -8.70158280e-03 1.03388595e+03] [ 8.40261796e-01 5.42023864e-01 -1.30477832e-02 1.34704826e+02] [ 1.56813406e-02 -2.40308426e-04 9.99877011e-01 7.18735783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters 0.017025969291099053 Centerline is valid? [True, True] Translation: X:1033.92, Y:134.76, Z:7.19 [[ 5.44244780e-01 -8.38880797e-01 -8.75369611e-03 1.03391636e+03] [ 8.38778008e-01 5.44315139e-01 -1.31332788e-02 1.34755783e+02] [ 1.57820247e-02 -1.94689356e-04 9.99875437e-01 7.18783843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters 0.01415247116735763 Centerline is valid? [True, True] Translation: X:1033.95, Y:134.81, Z:7.19 [[ 5.46809807e-01 -8.37207694e-01 -9.07254530e-03 1.03394601e+03] [ 8.37096924e-01 5.46885047e-01 -1.36192717e-02 1.34806458e+02] [ 1.63637984e-02 -1.47448424e-04 9.99866093e-01 7.19042698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.699254154 meters 0.013967934702636855 Centerline is valid? [True, True] Translation: X:1033.97, Y:134.86, Z:7.19 [[ 5.50393720e-01 -8.34849381e-01 -9.65736641e-03 1.03397411e+03] [ 8.34723381e-01 5.50478433e-01 -1.45041936e-02 1.34856559e+02] [ 1.74249890e-02 -7.82124629e-05 9.99848170e-01 7.18886287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.759254154 meters 0.016826331676818965 Centerline is valid? [True, True] Translation: X:1034.00, Y:134.90, Z:7.19 [[ 5.50445298e-01 -8.34817126e-01 -9.50471263e-03 1.03400421e+03] [ 8.34694955e-01 5.50527348e-01 -1.42818712e-02 1.34904980e+02] [ 1.71553549e-02 -7.21468080e-05 9.99852833e-01 7.18641760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.819254154 meters 0.015424053856136447 Centerline is valid? [True, True] Translation: X:1034.04, Y:134.95, Z:7.19 [[ 5.50167785e-01 -8.35006675e-01 -8.90289434e-03 1.03403594e+03] [ 8.34899387e-01 5.50239810e-01 -1.33852388e-02 1.34953711e+02] [ 1.60754906e-02 -6.88938588e-05 9.99870779e-01 7.19006755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters 0.013714693396830017 Centerline is valid? [True, True] Translation: X:1034.07, Y:135.00, Z:7.19 [[ 5.50481520e-01 -8.34804766e-01 -8.43198955e-03 1.03406709e+03] [ 8.34708388e-01 5.50546092e-01 -1.26849586e-02 1.35002559e+02] [ 1.52316628e-02 -5.54170933e-05 9.99883990e-01 7.19330242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.939254154 meters 0.017227601008027518 Centerline is valid? [True, True] Translation: X:1034.10, Y:135.05, Z:7.19 [[ 5.52343798e-01 -8.33561085e-01 -9.60455373e-03 1.03409642e+03] [ 8.33435684e-01 5.52427296e-01 -1.44583088e-02 1.35052990e+02] [ 1.73577012e-02 -1.88206247e-05 9.99849344e-01 7.18998192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.999254154 meters 0.01698232322627319 Centerline is valid? [True, True] Translation: X:1034.13, Y:135.11, Z:7.19 [[ 5.57633705e-01 -8.30016285e-01 -1.08451815e-02 1.03412531e+03] [ 8.29855524e-01 5.57739146e-01 -1.63356895e-02 1.35105044e+02] [ 1.96076706e-02 1.09397314e-04 9.99807745e-01 7.18908751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.059254154 meters 0.014866578503087289 Centerline is valid? [True, True] Translation: X:1034.15, Y:135.16, Z:7.19 [[ 5.64430957e-01 -8.25401600e-01 -1.13970845e-02 1.03415291e+03] [ 8.25222907e-01 5.64545937e-01 -1.71767067e-02 1.35157725e+02] [ 2.06118590e-02 2.89929822e-04 9.99787511e-01 7.19188277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters 0.016495075797752612 Centerline is valid? [True, True] Translation: X:1034.18, Y:135.21, Z:7.19 [[ 5.69008517e-01 -8.22260738e-01 -1.07975136e-02 1.03418061e+03] [ 8.22099618e-01 5.69110823e-01 -1.62815962e-02 1.35209241e+02] [ 1.95326991e-02 3.87735149e-04 9.99809143e-01 7.19247806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters 0.019211774660113395 Centerline is valid? [True, True] Translation: X:1034.21, Y:135.26, Z:7.19 [[ 5.69649644e-01 -8.21821040e-01 -1.04623928e-02 1.03421458e+03] [ 8.21669532e-01 5.69745577e-01 -1.57847419e-02 1.35256906e+02] [ 1.89331351e-02 3.95143228e-04 9.99820674e-01 7.19220950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.239254154 meters 0.01827455904324007 Centerline is valid? [True, True] Translation: X:1034.25, Y:135.30, Z:7.19 [[ 5.69012581e-01 -8.22276382e-01 -9.28622052e-03 1.03424753e+03] [ 8.22157013e-01 5.69088250e-01 -1.40146331e-02 1.35304761e+02] [ 1.68085808e-02 3.39771244e-04 9.99858668e-01 7.19466733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.299254154 meters 0.017629571510625375 Centerline is valid? [True, True] Translation: X:1034.28, Y:135.35, Z:7.20 [[ 5.68141716e-01 -8.22877317e-01 -9.37614710e-03 1.03428111e+03] [ 8.22755597e-01 5.68218983e-01 -1.41567785e-02 1.35352809e+02] [ 1.69769967e-02 3.28778930e-04 9.99855826e-01 7.19515282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters 0.016061739372444105 Centerline is valid? [True, True] Translation: X:1034.32, Y:135.40, Z:7.20 [[ 5.67496109e-01 -8.23316895e-01 -9.87201811e-03 1.03431513e+03] [ 8.23181856e-01 5.67581868e-01 -1.49149650e-02 1.35399856e+02] [ 1.78829212e-02 3.37718418e-04 9.99840031e-01 7.19719432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters 0.016598966308031364 Centerline is valid? [True, True] Translation: X:1034.35, Y:135.45, Z:7.20 [[ 5.66076047e-01 -8.24292392e-01 -9.99807651e-03 1.03434713e+03] [ 8.24153887e-01 5.66164246e-01 -1.51134461e-02 1.35447433e+02] [ 1.81184521e-02 3.15406221e-04 9.99835798e-01 7.19637984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.479254154 meters 0.015390252320879321 Centerline is valid? [True, True] Translation: X:1034.38, Y:135.49, Z:7.20 [[ 5.63588414e-01 -8.25990727e-01 -1.03642599e-02 1.03438444e+03] [ 8.25842022e-01 5.63683637e-01 -1.56751741e-02 1.35493413e+02] [ 1.87897121e-02 2.75105183e-04 9.99823420e-01 7.19767187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.539254154 meters 0.01605971675212079 Centerline is valid? [True, True] Translation: X:1034.42, Y:135.54, Z:7.19 [[ 5.59744136e-01 -8.28585622e-01 -1.15051920e-02 1.03442129e+03] [ 8.28402733e-01 5.59862323e-01 -1.74095095e-02 1.35537236e+02] [ 2.08665928e-02 2.13938384e-04 9.99782246e-01 7.19402781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters 0.014576054307670814 Centerline is valid? [True, True] Translation: X:1034.46, Y:135.58, Z:7.20 [[ 5.58277741e-01 -8.29576084e-01 -1.13791383e-02 1.03445628e+03] [ 8.29397190e-01 5.58393668e-01 -1.72282290e-02 1.35583506e+02] [ 2.06461655e-02 1.80311457e-04 9.99786829e-01 7.19621858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters 0.014356949363375482 Centerline is valid? [True, True] Translation: X:1034.49, Y:135.63, Z:7.20 [[ 5.56388785e-01 -8.30854656e-01 -1.05858945e-02 1.03449211e+03] [ 8.30699902e-01 5.56489465e-01 -1.60358361e-02 1.35630025e+02] [ 1.92143879e-02 1.28457841e-04 9.99815378e-01 7.19788181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.719254154 meters 0.014376273182416069 Centerline is valid? [True, True] Translation: X:1034.53, Y:135.68, Z:7.20 [[ 5.56403534e-01 -8.30859080e-01 -9.39664398e-03 1.03452545e+03] [ 8.30737036e-01 5.56482862e-01 -1.42408662e-02 1.35676125e+02] [ 1.70612243e-02 1.17528106e-04 9.99854440e-01 7.19967733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.779254154 meters 0.01649635465989006 Centerline is valid? [True, True] Translation: X:1034.56, Y:135.72, Z:7.20 [[ 5.57387489e-01 -8.30202953e-01 -9.06886055e-03 1.03455700e+03] [ 8.30089065e-01 5.57461244e-01 -1.37515940e-02 1.35723812e+02] [ 1.64721523e-02 1.37004508e-04 9.99864316e-01 7.19802920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters 0.01523731982564747 Centerline is valid? [True, True] Translation: X:1034.59, Y:135.77, Z:7.20 [[ 5.59503445e-01 -8.28777362e-01 -9.16401462e-03 1.03458883e+03] [ 8.28660746e-01 5.59578457e-01 -1.39038976e-02 1.35773209e+02] [ 1.66512208e-02 1.85419428e-04 9.99861342e-01 7.19947733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters 0.01841008243873731 Centerline is valid? [True, True] Translation: X:1034.62, Y:135.82, Z:7.20 [[ 5.60110099e-01 -8.28356249e-01 -1.01292651e-02 1.03462239e+03] [ 8.28213544e-01 5.60201638e-01 -1.53769314e-02 1.35821228e+02] [ 1.84120081e-02 2.23579986e-04 9.99830460e-01 7.19624147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.959254154 meters 0.017882486376969806 Centerline is valid? [True, True] Translation: X:1034.66, Y:135.87, Z:7.20 [[ 5.59728796e-01 -8.28616053e-01 -9.95547377e-03 1.03465555e+03] [ 8.28478089e-01 5.59817282e-01 -1.51217124e-02 1.35868582e+02] [ 1.81033399e-02 2.16165991e-04 9.99836098e-01 7.19674385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.019254154 meters 0.015070734442146029 Centerline is valid? [True, True] Translation: X:1034.69, Y:135.91, Z:7.20 [[ 5.58790984e-01 -8.29254423e-01 -9.47299420e-03 1.03468992e+03] [ 8.29129474e-01 5.58871243e-01 -1.43961475e-02 1.35914848e+02] [ 1.72322530e-02 1.90098706e-04 9.99851496e-01 7.19980414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters 0.01700413616993029 Centerline is valid? [True, True] Translation: X:1034.73, Y:135.96, Z:7.20 [[ 5.56760919e-01 -8.30614794e-01 -9.81545628e-03 1.03472519e+03] [ 8.30480710e-01 5.56847411e-01 -1.49248344e-02 1.35960893e+02] [ 1.78624997e-02 1.58017452e-04 9.99840440e-01 7.19779956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters 0.014875510830330008 Centerline is valid? [True, True] Translation: X:1034.76, Y:136.01, Z:7.20 [[ 5.57081517e-01 -8.30402566e-01 -9.57918968e-03 1.03475658e+03] [ 8.30274709e-01 5.57163845e-01 -1.45724904e-02 1.36008441e+02] [ 1.74382116e-02 1.64706118e-04 9.99847929e-01 7.20060738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.199254154 meters 0.015425872372789409 Centerline is valid? [True, True] Translation: X:1034.79, Y:136.06, Z:7.20 [[ 5.58525991e-01 -8.29433468e-01 -9.42544348e-03 1.03478649e+03] [ 8.29309427e-01 5.58605481e-01 -1.43454126e-02 1.36057643e+02] [ 1.71636697e-02 1.95676655e-04 9.99852674e-01 7.20065373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.259254154 meters 0.017732110055959767 Centerline is valid? [True, True] Translation: X:1034.82, Y:136.11, Z:7.20 [[ 5.60976323e-01 -8.27776323e-01 -9.58766005e-03 1.03481659e+03] [ 8.27647599e-01 5.61058191e-01 -1.45999769e-02 1.36108008e+02] [ 1.74647504e-02 2.55037568e-04 9.99847447e-01 7.19942694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.319254154 meters 0.01805792621517882 Centerline is valid? [True, True] Translation: X:1034.85, Y:136.16, Z:7.20 [[ 5.63358098e-01 -8.26153108e-01 -9.93452982e-03 1.03484658e+03] [ 8.26014499e-01 5.63445595e-01 -1.51363327e-02 1.36158599e+02] [ 1.81024954e-02 3.21109919e-04 9.99836085e-01 7.19966861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters 0.016852322188123353 Centerline is valid? [True, True] Translation: X:1034.88, Y:136.21, Z:7.20 [[ 5.64649357e-01 -8.25268225e-01 -1.01715429e-02 1.03487674e+03] [ 8.25122624e-01 5.64740848e-01 -1.55057763e-02 1.36209638e+02] [ 1.85407103e-02 3.62556407e-04 9.99828041e-01 7.20075456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.439254154 meters 0.018992597614722866 Centerline is valid? [True, True] Translation: X:1034.91, Y:136.26, Z:7.20 [[ 5.62936563e-01 -8.26432965e-01 -1.05347460e-02 1.03490780e+03] [ 8.26276833e-01 5.63035024e-01 -1.60672490e-02 1.36257842e+02] [ 1.92099353e-02 3.40225339e-04 9.99815414e-01 7.19758908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.499254154 meters 0.015989112852473706 Centerline is valid? [True, True] Translation: X:1034.94, Y:136.31, Z:7.20 [[ 5.60561172e-01 -8.28062193e-01 -9.17483119e-03 1.03494122e+03] [ 8.27943871e-01 5.60636194e-01 -1.40001409e-02 1.36305683e+02] [ 1.67367298e-02 2.51690141e-04 9.99859899e-01 7.20317864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.559254154 meters 0.015334493514160384 Centerline is valid? [True, True] Translation: X:1034.98, Y:136.35, Z:7.21 [[ 5.57678395e-01 -8.30013874e-01 -8.47212496e-03 1.03497532e+03] [ 8.29913104e-01 5.57742715e-01 -1.29346096e-02 1.36353730e+02] [ 1.54611714e-02 1.82224819e-04 9.99880452e-01 7.20515116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters 0.0176199857057137 Centerline is valid? [True, True] Translation: X:1035.01, Y:136.40, Z:7.20 [[ 5.54884734e-01 -8.31872487e-01 -9.54444635e-03 1.03500800e+03] [ 8.31744719e-01 5.54966794e-01 -1.45801479e-02 1.36402217e+02] [ 1.74256747e-02 1.51758670e-04 9.99848150e-01 7.20003875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters 0.014560094755451457 Centerline is valid? [True, True] Translation: X:1035.04, Y:136.45, Z:7.20 [[ 5.53796368e-01 -8.32591525e-01 -1.00466268e-02 1.03504045e+03] [ 8.32449908e-01 5.53887473e-01 -1.53563558e-02 1.36450806e+02] [ 1.83502724e-02 1.40980506e-04 9.99831610e-01 7.20220904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.739254154 meters 0.016148014645108177 Centerline is valid? [True, True] Translation: X:1035.07, Y:136.50, Z:7.20 [[ 5.52198630e-01 -8.33639032e-01 -1.10741914e-02 1.03507196e+03] [ 8.33467001e-01 5.52309650e-01 -1.69354175e-02 1.36497923e+02] [ 2.02344079e-02 1.21741256e-04 9.99795256e-01 7.19825405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.799254154 meters 0.01700136826496821 Centerline is valid? [True, True] Translation: X:1035.11, Y:136.55, Z:7.20 [[ 5.50790572e-01 -8.34573057e-01 -1.08424664e-02 1.03510525e+03] [ 8.34408166e-01 5.50897273e-01 -1.65893750e-02 1.36545714e+02] [ 1.98181306e-02 9.02288096e-05 9.99803597e-01 7.19813415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters 0.014177879363945956 Centerline is valid? [True, True] Translation: X:1035.14, Y:136.59, Z:7.20 [[ 5.50487226e-01 -8.34789838e-01 -9.47312625e-03 1.03513819e+03] [ 8.34663872e-01 5.50568725e-01 -1.45017138e-02 1.36593716e+02] [ 1.73214904e-02 7.61319738e-05 9.99849969e-01 7.20474098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters 0.0176704116013093 Centerline is valid? [True, True] Translation: X:1035.17, Y:136.64, Z:7.20 [[ 5.49537384e-01 -8.35419956e-01 -9.06432260e-03 1.03517003e+03] [ 8.35304586e-01 5.49612131e-01 -1.38835924e-02 1.36640896e+02] [ 1.65804918e-02 5.80827789e-05 9.99862533e-01 7.20202263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.979254154 meters 0.015487106626630736 Centerline is valid? [True, True] Translation: X:1035.20, Y:136.69, Z:7.21 [[ 5.49610129e-01 -8.35383550e-01 -7.93916867e-03 1.03520283e+03] [ 8.35294942e-01 5.49667465e-01 -1.21670859e-02 1.36689305e+02] [ 1.45280861e-02 5.56062286e-05 9.99894460e-01 7.20773638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.039254154 meters 0.013904501407441705 Centerline is valid? [True, True] Translation: X:1035.23, Y:136.74, Z:7.21 [[ 5.50742098e-01 -8.34640987e-01 -7.58705852e-03 1.03523411e+03] [ 8.34559896e-01 5.50794351e-01 -1.16345678e-02 1.36738678e+02] [ 1.38895962e-02 7.57915405e-05 9.99903532e-01 7.20955543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters 0.015492541940835802 Centerline is valid? [True, True] Translation: X:1035.27, Y:136.79, Z:7.21 [[ 5.52355407e-01 -8.33558786e-01 -9.12441839e-03 1.03526545e+03] [ 8.33441203e-01 5.52430751e-01 -1.40009668e-02 1.36788983e+02] [ 1.67112382e-02 1.28843489e-04 9.99860349e-01 7.20646246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters 0.01642347771898244 Centerline is valid? [True, True] Translation: X:1035.30, Y:136.84, Z:7.20 [[ 5.52979725e-01 -8.33133228e-01 -1.01216839e-02 1.03529673e+03] [ 8.32988300e-01 5.53072327e-01 -1.55400753e-02 1.36838913e+02] [ 1.85449764e-02 1.62102289e-04 9.99828014e-01 7.20446179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.219254154 meters 0.0151609798301984 Centerline is valid? [True, True] Translation: X:1035.33, Y:136.89, Z:7.21 [[ 5.51942457e-01 -8.33825780e-01 -9.70018352e-03 1.03532930e+03] [ 8.33692626e-01 5.52027672e-01 -1.49015278e-02 1.36887545e+02] [ 1.77800478e-02 1.37814421e-04 9.99841913e-01 7.20636989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.279254154 meters 0.016982661089422695 Centerline is valid? [True, True] Translation: X:1035.36, Y:136.94, Z:7.21 [[ 5.47983569e-01 -8.36443163e-01 -8.76603676e-03 1.03536486e+03] [ 8.36334641e-01 5.48053677e-01 -1.34735195e-02 1.36935257e+02] [ 1.60740919e-02 5.19270952e-05 9.99870802e-01 7.20652985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters 0.017535230847391992 Centerline is valid? [True, True] Translation: X:1035.40, Y:136.98, Z:7.21 [[ 5.44159026e-01 -8.38945847e-01 -7.79873493e-03 1.03539944e+03] [ 8.38860118e-01 5.44214908e-01 -1.19931624e-02 1.36982532e+02] [ 1.43058016e-02 -1.58601555e-05 9.99897667e-01 7.20853034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters 0.016000654823719925 Centerline is valid? [True, True] Translation: X:1035.43, Y:137.03, Z:7.21 [[ 5.41403288e-01 -8.40734239e-01 -6.95843398e-03 1.03543181e+03] [ 8.40666057e-01 5.41448000e-01 -1.07071763e-02 1.37031239e+02] [ 1.27695199e-02 -5.28188006e-05 9.99918465e-01 7.21026825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.459254154 meters 0.017388100087722753 Centerline is valid? [True, True] Translation: X:1035.46, Y:137.08, Z:7.21 [[ 5.39867054e-01 -8.41716480e-01 -7.54531490e-03 1.03546298e+03] [ 8.41636316e-01 5.39919774e-01 -1.16168169e-02 1.37078800e+02] [ 1.38519309e-02 -7.88743155e-05 9.99904054e-01 7.20832291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.519254154 meters 0.017322326040346395 Centerline is valid? [True, True] Translation: X:1035.49, Y:137.13, Z:7.21 [[ 5.39355801e-01 -8.42041389e-01 -7.84976391e-03 1.03549271e+03] [ 8.41954562e-01 5.39412913e-01 -1.20923300e-02 1.37129013e+02] [ 1.44165064e-02 -8.70761820e-05 9.99896073e-01 7.20888873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters 0.013642400299270495 Centerline is valid? [True, True] Translation: X:1035.52, Y:137.18, Z:7.21 [[ 5.39672527e-01 -8.41845817e-01 -7.01318521e-03 1.03552234e+03] [ 8.41776412e-01 5.39718090e-01 -1.08099857e-02 1.37178996e+02] [ 1.28854842e-02 -6.96815750e-05 9.99916976e-01 7.21318324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters 0.016405249431745615 Centerline is valid? [True, True] Translation: X:1035.55, Y:137.23, Z:7.21 [[ 5.39988438e-01 -8.41641824e-01 -7.17823033e-03 1.03555120e+03] [ 8.41569005e-01 5.40036143e-01 -1.10712977e-02 1.37229049e+02] [ 1.31945710e-02 -6.26033985e-05 9.99912946e-01 7.21035436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.699254154 meters 0.013442828558506424 Centerline is valid? [True, True] Translation: X:1035.58, Y:137.28, Z:7.21 [[ 5.41478424e-01 -8.40689895e-01 -6.45109138e-03 1.03557952e+03] [ 8.40630952e-01 5.41516850e-01 -9.95510875e-03 1.37278584e+02] [ 1.18625340e-02 -3.25104892e-05 9.99929637e-01 7.21340883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.759254154 meters 0.013330191524143225 Centerline is valid? [True, True] Translation: X:1035.61, Y:137.33, Z:7.21 [[ 5.42710046e-01 -8.39893801e-01 -6.64890832e-03 1.03560837e+03] [ 8.39831056e-01 5.42750774e-01 -1.02662138e-02 1.37328947e+02] [ 1.22312295e-02 -1.23823053e-05 9.99925196e-01 7.21341689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.819254154 meters 0.015822309893557276 Centerline is valid? [True, True] Translation: X:1035.64, Y:137.38, Z:7.21 [[ 5.44252964e-01 -8.38891110e-01 -7.10046195e-03 1.03563807e+03] [ 8.38819373e-01 5.44299279e-01 -1.09706339e-02 1.37379157e+02] [ 1.30679436e-02 1.47949712e-05 9.99914611e-01 7.21108685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters 0.013468017582598489 Centerline is valid? [True, True] Translation: X:1035.66, Y:137.43, Z:7.21 [[ 5.47213198e-01 -8.36966759e-01 -6.66036005e-03 1.03566498e+03] [ 8.36903430e-01 5.47253726e-01 -1.02960147e-02 1.37429554e+02] [ 1.22623289e-02 6.00369636e-05 9.99924813e-01 7.21223764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.939254154 meters 0.015917062994831324 Centerline is valid? [True, True] Translation: X:1035.69, Y:137.48, Z:7.21 [[ 5.50952715e-01 -8.34506659e-01 -7.05287421e-03 1.03569321e+03] [ 8.34435387e-01 5.50997841e-01 -1.09070678e-02 1.37480893e+02] [ 1.29881392e-02 1.24110797e-04 9.99915643e-01 7.21004959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.999254154 meters 0.015155148537349726 Centerline is valid? [True, True] Translation: X:1035.72, Y:137.53, Z:7.21 [[ 5.54088350e-01 -8.32434142e-01 -6.28478500e-03 1.03572285e+03] [ 8.32377370e-01 5.54123970e-01 -9.72319431e-03 1.37532314e+02] [ 1.15764689e-02 1.56195886e-04 9.99932978e-01 7.21248868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.059254154 meters 0.01605427411295862 Centerline is valid? [True, True] Translation: X:1035.75, Y:137.58, Z:7.21 [[ 5.54307967e-01 -8.32286803e-01 -6.43083478e-03 1.03575361e+03] [ 8.32227280e-01 5.54345245e-01 -9.95509746e-03 1.37581578e+02] [ 1.18503989e-02 1.66273696e-04 9.99929768e-01 7.21207066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters 0.015605733457969156 Centerline is valid? [True, True] Translation: X:1035.78, Y:137.63, Z:7.21 [[ 5.55549582e-01 -8.31460296e-01 -6.19985879e-03 1.03578378e+03] [ 8.31404857e-01 5.55584146e-01 -9.60314906e-03 1.37632330e+02] [ 1.14291804e-02 1.80432731e-04 9.99934669e-01 7.21242713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters 0.017869849664481456 Centerline is valid? [True, True] Translation: X:1035.81, Y:137.68, Z:7.21 [[ 5.55215724e-01 -8.31672269e-01 -7.53232028e-03 1.03581387e+03] [ 8.31590359e-01 5.55266773e-01 -1.16741612e-02 1.37680736e+02] [ 1.38915234e-02 2.17872965e-04 9.99903484e-01 7.20886176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.239254154 meters 0.016544475390961037 Centerline is valid? [True, True] Translation: X:1035.85, Y:137.73, Z:7.21 [[ 5.52715102e-01 -8.33327892e-01 -8.40477581e-03 1.03584875e+03] [ 8.33225970e-01 5.52778965e-01 -1.30345114e-02 1.37727498e+02] [ 1.55080052e-02 2.01293814e-04 9.99879723e-01 7.20848699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.299254154 meters 0.013351553493470157 Centerline is valid? [True, True] Translation: X:1035.88, Y:137.77, Z:7.21 [[ 5.47487346e-01 -8.36772906e-01 -8.28914051e-03 1.03588487e+03] [ 8.36674085e-01 5.47550082e-01 -1.28601121e-02 1.37772905e+02] [ 1.52997129e-02 1.05439580e-04 9.99882947e-01 7.21096202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters 0.01353779535650342 Centerline is valid? [True, True] Translation: X:1035.92, Y:137.82, Z:7.21 [[ 5.39374935e-01 -8.42031947e-01 -7.54187749e-03 1.03592379e+03] [ 8.41950588e-01 5.39427659e-01 -1.17050736e-02 1.37817721e+02] [ 1.39243433e-02 -3.64648555e-05 9.99903051e-01 7.21225259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters 0.015432361132734785 Centerline is valid? [True, True] Translation: X:1035.96, Y:137.86, Z:7.21 [[ 5.30483012e-01 -8.47663449e-01 -7.37912927e-03 1.03596213e+03] [ 8.47586015e-01 5.30534303e-01 -1.14586323e-02 1.37862876e+02] [ 1.36279450e-02 -1.75837002e-04 9.99907120e-01 7.21218930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.479254154 meters 0.015966835961603275 Centerline is valid? [True, True] Translation: X:1036.00, Y:137.91, Z:7.21 [[ 5.23385537e-01 -8.52060460e-01 -7.78149237e-03 1.03599876e+03] [ 8.51974730e-01 5.23443293e-01 -1.20904351e-02 1.37908868e+02] [ 1.43749517e-02 -3.01675993e-04 9.99896630e-01 7.21268312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.539254154 meters 0.017948674757559333 Centerline is valid? [True, True] Translation: X:1036.03, Y:137.95, Z:7.21 [[ 5.18424468e-01 -8.55080376e-01 -8.58026528e-03 1.03603327e+03] [ 8.54976446e-01 5.18495297e-01 -1.33380736e-02 1.37954898e+02] [ 1.58539522e-02 -4.21141011e-04 9.99874230e-01 7.21205701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters 0.018072379345869808 Centerline is valid? [True, True] Translation: X:1036.06, Y:138.01, Z:7.21 [[ 5.16370681e-01 -8.56313340e-01 -9.42248102e-03 1.03606315e+03] [ 8.56188080e-01 5.16456400e-01 -1.46546543e-02 1.38005893e+02] [ 1.74152766e-02 -5.00182103e-04 9.99848217e-01 7.21227788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters 0.01708092651705623 Centerline is valid? [True, True] Translation: X:1036.09, Y:138.06, Z:7.21 [[ 5.17895430e-01 -8.55396883e-01 -8.97198410e-03 1.03609272e+03] [ 8.55283051e-01 5.17972950e-01 -1.39615698e-02 1.38056962e+02] [ 1.65899283e-02 -4.42952752e-04 9.99862280e-01 7.21416257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.719254154 meters 0.017090911615722452 Centerline is valid? [True, True] Translation: X:1036.12, Y:138.11, Z:7.21 [[ 5.21822030e-01 -8.53010463e-01 -8.65550628e-03 1.03611917e+03] [ 8.52904067e-01 5.21893693e-01 -1.34768333e-02 1.38109375e+02] [ 1.60131339e-02 -3.49808015e-04 9.99871720e-01 7.21429377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.779254154 meters 0.01573538678770759 Centerline is valid? [True, True] Translation: X:1036.14, Y:138.16, Z:7.22 [[ 5.28430855e-01 -8.48936703e-01 -8.20396655e-03 1.03614342e+03] [ 8.48840505e-01 5.28494494e-01 -1.27815206e-02 1.38163010e+02] [ 1.51864531e-02 -2.09709241e-04 9.99884657e-01 7.21550965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters 0.016059440733512825 Centerline is valid? [True, True] Translation: X:1036.17, Y:138.22, Z:7.21 [[ 5.35631476e-01 -8.44407925e-01 -8.61264683e-03 1.03616728e+03] [ 8.44301227e-01 5.35700708e-01 -1.34234851e-02 1.38215998e+02] [ 1.59486982e-02 -8.16271362e-05 9.99872808e-01 7.21490937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters 0.012931271398953741 Centerline is valid? [True, True] Translation: X:1036.19, Y:138.27, Z:7.22 [[ 5.42594039e-01 -8.39954073e-01 -8.29839816e-03 1.03619132e+03] [ 8.39854405e-01 5.42657490e-01 -1.29393415e-02 1.38269587e+02] [ 1.53716405e-02 5.13633266e-05 9.99881848e-01 7.21808137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.959254154 meters 0.013699331395764054 Centerline is valid? [True, True] Translation: X:1036.22, Y:138.32, Z:7.22 [[ 5.48594593e-01 -8.36042532e-01 -8.76685576e-03 1.03621667e+03] [ 8.35930654e-01 5.48664610e-01 -1.36780058e-02 1.38323715e+02] [ 1.62454581e-02 1.75196525e-04 9.99868018e-01 7.21755549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.019254154 meters 0.014804151272291271 Centerline is valid? [True, True] Translation: X:1036.24, Y:138.38, Z:7.22 [[ 5.53758193e-01 -8.32630306e-01 -8.86780398e-03 1.03624320e+03] [ 8.32515268e-01 5.53829120e-01 -1.38432388e-02 1.38376391e+02] [ 1.64375483e-02 2.83224717e-04 9.99864854e-01 7.21844154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters 0.01552647209784665 Centerline is valid? [True, True] Translation: X:1036.27, Y:138.43, Z:7.22 [[ 5.56344521e-01 -8.30900010e-01 -9.27079112e-03 1.03627261e+03] [ 8.30773896e-01 5.56421646e-01 -1.44805482e-02 1.38427591e+02] [ 1.71903565e-02 3.54242380e-04 9.99852172e-01 7.21924593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters 0.017309574491897642 Centerline is valid? [True, True] Translation: X:1036.30, Y:138.48, Z:7.22 [[ 5.56652285e-01 -8.30672956e-01 -1.09852127e-02 1.03630371e+03] [ 8.30495628e-01 5.56760499e-01 -1.71685629e-02 1.38477459e+02] [ 2.03775934e-02 4.33748623e-04 9.99792261e-01 7.21704035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.199254154 meters 0.016402262375955528 Centerline is valid? [True, True] Translation: X:1036.33, Y:138.53, Z:7.22 [[ 5.56935078e-01 -8.30474686e-01 -1.16238645e-02 1.03633459e+03] [ 8.30275942e-01 5.57056168e-01 -1.81737686e-02 1.38526555e+02] [ 2.15680002e-02 4.70594217e-04 9.99767273e-01 7.21671439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.259254154 meters 0.015958972262542837 Centerline is valid? [True, True] Translation: X:1036.37, Y:138.57, Z:7.22 [[ 5.55365557e-01 -8.31510689e-01 -1.26123916e-02 1.03636908e+03] [ 8.31276716e-01 5.55508551e-01 -1.97299458e-02 1.38573932e+02] [ 2.34119522e-02 4.72944913e-04 9.99725791e-01 7.21702621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.319254154 meters 0.018022030486526362 Centerline is valid? [True, True] Translation: X:1036.41, Y:138.62, Z:7.22 [[ 5.51341042e-01 -8.34164410e-01 -1.38849795e-02 1.03640637e+03] [ 8.33881338e-01 5.51515706e-01 -2.17333946e-02 1.38620013e+02] [ 2.57870085e-02 4.04087122e-04 9.99667378e-01 7.21722467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters 0.013485660777977557 Centerline is valid? [True, True] Translation: X:1036.45, Y:138.66, Z:7.22 [[ 5.45046354e-01 -8.38318882e-01 -1.20799028e-02 1.03644604e+03] [ 8.38105472e-01 5.45180170e-01 -1.89156357e-02 1.38664048e+02] [ 2.24430580e-02 1.85665655e-04 9.99748106e-01 7.22195081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.439254154 meters 0.013073888344116097 Centerline is valid? [True, True] Translation: X:1036.49, Y:138.71, Z:7.22 [[ 5.35980235e-01 -8.44146959e-01 -1.18785275e-02 1.03648703e+03] [ 8.43941808e-01 5.36111844e-01 -1.86095631e-02 1.38707551e+02] [ 2.20774254e-02 -5.04279182e-05 9.99756263e-01 7.22414085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.499254154 meters 0.015148677461953636 Centerline is valid? [True, True] Translation: X:1036.53, Y:138.75, Z:7.22 [[ 5.29078897e-01 -8.48477015e-01 -1.27387126e-02 1.03652530e+03] [ 8.48242044e-01 5.29232176e-01 -1.99684484e-02 1.38753093e+02] [ 2.36845061e-02 -2.40626895e-04 9.99719454e-01 7.22421251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.559254154 meters 0.018143309604139124 Centerline is valid? [True, True] Translation: X:1036.57, Y:138.80, Z:7.22 [[ 5.17480136e-01 -8.55571178e-01 -1.45694534e-02 1.03656735e+03] [ 8.55266171e-01 5.17684804e-01 -2.28521297e-02 1.38795875e+02] [ 2.70940082e-02 -6.35237411e-04 9.99632688e-01 7.22483952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters 0.018828094326308397 Centerline is valid? [True, True] Translation: X:1036.60, Y:138.84, Z:7.22 [[ 5.13652255e-01 -8.57878720e-01 -1.43339828e-02 1.03660285e+03] [ 8.57584048e-01 5.13851688e-01 -2.24953842e-02 1.38841806e+02] [ 2.66638527e-02 -7.37790136e-04 9.99644184e-01 7.22496424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters 0.020181589468938547 Centerline is valid? [True, True] Translation: X:1036.64, Y:138.89, Z:7.23 [[ 5.09946173e-01 -8.60075029e-01 -1.50281473e-02 1.03663706e+03] [ 8.59751775e-01 5.10166792e-01 -2.35951430e-02 1.38888588e+02] [ 2.79604550e-02 -8.88223382e-04 9.99608635e-01 7.22605289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.739254154 meters 0.018954902091768044 Centerline is valid? [True, True] Translation: X:1036.67, Y:138.94, Z:7.23 [[ 5.10322601e-01 -8.59847719e-01 -1.52559089e-02 1.03666678e+03] [ 8.59514102e-01 5.10549823e-01 -2.39663728e-02 1.38938706e+02] [ 2.83963325e-02 -8.82087133e-04 9.99596354e-01 7.22841628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.799254154 meters 0.01724858923405088 Centerline is valid? [True, True] Translation: X:1036.69, Y:138.99, Z:7.23 [[ 5.15613766e-01 -8.56685701e-01 -1.52333554e-02 1.03669384e+03] [ 8.56351276e-01 5.15838271e-01 -2.39451555e-02 1.38991126e+02] [ 2.83714200e-02 -6.98651594e-04 9.99597206e-01 7.23063503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters 0.015059405143448695 Centerline is valid? [True, True] Translation: X:1036.72, Y:139.04, Z:7.23 [[ 5.21397916e-01 -8.53181185e-01 -1.50359086e-02 1.03671902e+03] [ 8.52853491e-01 5.21614439e-01 -2.36495084e-02 1.39043655e+02] [ 2.80202627e-02 -4.92622764e-04 9.99607234e-01 7.23336373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters 0.014659349597125618 Centerline is valid? [True, True] Translation: X:1036.75, Y:139.09, Z:7.23 [[ 5.23409881e-01 -8.51948787e-01 -1.50120019e-02 1.03674926e+03] [ 8.51621269e-01 5.23624950e-01 -2.36246911e-02 1.39094847e+02] [ 2.79876857e-02 -4.19143355e-04 9.99608180e-01 7.23358554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.979254154 meters 0.01559223067159079 Centerline is valid? [True, True] Translation: X:1036.77, Y:139.15, Z:7.23 [[ 5.29242951e-01 -8.48319963e-01 -1.59730824e-02 1.03677425e+03] [ 8.47947282e-01 5.29483885e-01 -2.51440157e-02 1.39147576e+02] [ 2.97876602e-02 -2.37038686e-04 9.99556221e-01 7.23342351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.039254154 meters 0.012705848197926823 Centerline is valid? [True, True] Translation: X:1036.80, Y:139.20, Z:7.24 [[ 5.34158721e-01 -8.45253414e-01 -1.48703442e-02 1.03680089e+03] [ 8.44929050e-01 5.34365665e-01 -2.34144469e-02 1.39200959e+02] [ 2.77373426e-02 -5.73548083e-05 9.99615244e-01 7.23577900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters 0.01386580422172901 Centerline is valid? [True, True] Translation: X:1036.83, Y:139.25, Z:7.24 [[ 5.37360695e-01 -8.43206126e-01 -1.57134150e-02 1.03682778e+03] [ 8.42842692e-01 5.37590388e-01 -2.47542143e-02 1.39253452e+02] [ 2.93202860e-02 5.80047694e-05 9.99570066e-01 7.23575266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters 0.01309383877039072 Centerline is valid? [True, True] Translation: X:1036.86, Y:139.30, Z:7.24 [[ 5.39853842e-01 -8.41608385e-01 -1.59108520e-02 1.03685660e+03] [ 8.41234798e-01 5.40088236e-01 -2.50741105e-02 1.39304335e+02] [ 2.96958457e-02 1.51592506e-04 9.99558970e-01 7.23732454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.219254154 meters 0.012942011201561979 Centerline is valid? [True, True] Translation: X:1036.88, Y:139.36, Z:7.23 [[ 5.42952084e-01 -8.39605894e-01 -1.62781398e-02 1.03688402e+03] [ 8.39213683e-01 5.43195977e-01 -2.56617394e-02 1.39356029e+02] [ 3.03879677e-02 2.72257239e-04 9.99538142e-01 7.23388886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.279254154 meters 0.014773468683932449 Centerline is valid? [True, True] Translation: X:1036.91, Y:139.41, Z:7.23 [[ 5.44911183e-01 -8.38303218e-01 -1.78750482e-02 1.03691468e+03] [ 8.37829051e-01 5.45204150e-01 -2.81942447e-02 1.39405768e+02] [ 3.33808765e-02 3.87124622e-04 9.99442628e-01 7.23440661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters 0.01308280558081572 Centerline is valid? [True, True] Translation: X:1036.95, Y:139.45, Z:7.23 [[ 5.44369835e-01 -8.38665257e-01 -1.73801584e-02 1.03694661e+03] [ 8.38216736e-01 5.44647093e-01 -2.74271160e-02 1.39453015e+02] [ 3.24682220e-02 3.62154970e-04 9.99472703e-01 7.23445844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters 0.012427620509687688 Centerline is valid? [True, True] Translation: X:1036.98, Y:139.50, Z:7.24 [[ 5.40362118e-01 -8.41277863e-01 -1.61350317e-02 1.03698295e+03] [ 8.40892255e-01 5.40602922e-01 -2.54695122e-02 1.39498207e+02] [ 3.01495821e-02 1.94936302e-04 9.99545379e-01 7.23614414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.459254154 meters 0.014102382887900802 Centerline is valid? [True, True] Translation: X:1037.02, Y:139.54, Z:7.24 [[ 5.37406961e-01 -8.43171899e-01 -1.59658368e-02 1.03701914e+03] [ 8.42794764e-01 5.37644065e-01 -2.52159776e-02 1.39544641e+02] [ 2.98453411e-02 9.53182229e-05 9.99554524e-01 7.23993383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.519254154 meters 0.011613692199946153 Centerline is valid? [True, True] Translation: X:1037.05, Y:139.59, Z:7.24 [[ 5.35596992e-01 -8.44335362e-01 -1.52858900e-02 1.03705378e+03] [ 8.43989722e-01 5.35815076e-01 -2.41568753e-02 1.39591537e+02] [ 2.85869144e-02 3.72156874e-05 9.99591310e-01 7.24085469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters 0.012629661886302978 Centerline is valid? [True, True] Translation: X:1037.09, Y:139.64, Z:7.24 [[ 5.34989363e-01 -8.44716670e-01 -1.54960817e-02 1.03708660e+03] [ 8.44361200e-01 5.35213739e-01 -2.45034013e-02 1.39638328e+02] [ 2.89921474e-02 2.47689234e-05 9.99579639e-01 7.24016146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters 0.012091321053720008 Centerline is valid? [True, True] Translation: X:1037.12, Y:139.69, Z:7.24 [[ 5.36195195e-01 -8.43947763e-01 -1.57126000e-02 1.03711881e+03] [ 8.43581516e-01 5.36425360e-01 -2.48607745e-02 1.39686859e+02] [ 2.94098321e-02 7.53688661e-05 9.99567434e-01 7.24061426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.699254154 meters 0.01157434496780984 Centerline is valid? [True, True] Translation: X:1037.15, Y:139.74, Z:7.24 [[ 5.38280910e-01 -8.42613242e-01 -1.60183257e-02 1.03715082e+03] [ 8.42231570e-01 5.38519173e-01 -2.53590836e-02 1.39735969e+02] [ 2.99940752e-02 1.59171047e-04 9.99550064e-01 7.24212931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.759254154 meters 0.011956955458894787 Centerline is valid? [True, True] Translation: X:1037.18, Y:139.79, Z:7.24 [[ 5.40306756e-01 -8.41317697e-01 -1.59104679e-02 1.03717985e+03] [ 8.40940160e-01 5.40540911e-01 -2.52025890e-02 1.39785040e+02] [ 2.98036430e-02 2.37377642e-04 9.99555745e-01 7.24160573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.819254154 meters 0.01193941382514689 Centerline is valid? [True, True] Translation: X:1037.21, Y:139.83, Z:7.24 [[ 5.40011817e-01 -8.41525014e-01 -1.49294529e-02 1.03720962e+03] [ 8.41192442e-01 5.40218108e-01 -2.36573684e-02 1.39834741e+02] [ 2.79734281e-02 2.16715578e-04 9.99608644e-01 7.24222098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters 0.010769050743290444 Centerline is valid? [True, True] Translation: X:1037.24, Y:139.88, Z:7.25 [[ 5.36491880e-01 -8.43797041e-01 -1.35283285e-02 1.03724264e+03] [ 8.43524426e-01 5.36662412e-01 -2.14475759e-02 1.39883231e+02] [ 2.53575465e-02 9.49748111e-05 9.99678441e-01 7.24713994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.939254154 meters 0.014209381999358284 Centerline is valid? [True, True] Translation: X:1037.27, Y:139.93, Z:7.25 [[ 5.33391814e-01 -8.45778024e-01 -1.23574707e-02 1.03727493e+03] [ 8.45550959e-01 5.33534942e-01 -1.95969428e-02 1.39931470e+02] [ 2.31678060e-02 3.97766527e-06 9.99731590e-01 7.24946790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.999254154 meters 0.010397430847842186 Centerline is valid? [True, True] Translation: X:1037.31, Y:139.98, Z:7.25 [[ 5.32273403e-01 -8.46493444e-01 -1.15703614e-02 1.03730564e+03] [ 8.46294364e-01 5.32399144e-01 -1.83576196e-02 1.39981464e+02] [ 2.16996552e-02 -2.06589862e-05 9.99764535e-01 7.25013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.059254154 meters 0.011956782028403615 Centerline is valid? [True, True] Translation: X:1037.34, Y:140.03, Z:7.25 [[ 5.32196221e-01 -8.46532531e-01 -1.22415926e-02 1.03733552e+03] [ 8.46309427e-01 5.32336993e-01 -1.94339665e-02 1.40031786e+02] [ 2.29681374e-02 -1.74916629e-05 9.99736197e-01 7.24880068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters 0.010643385844663887 Centerline is valid? [True, True] Translation: X:1037.37, Y:140.08, Z:7.25 [[ 5.29086959e-01 -8.48487026e-01 -1.16943199e-02 1.03736677e+03] [ 8.48283655e-01 5.29216174e-01 -1.85763614e-02 1.40081106e+02] [ 2.19506249e-02 -9.15898619e-05 9.99759052e-01 7.24921881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters 0.010917904896177558 Centerline is valid? [True, True] Translation: X:1037.40, Y:140.13, Z:7.25 [[ 5.25743122e-01 -8.50571072e-01 -1.10915017e-02 1.03739927e+03] [ 8.50388361e-01 5.25860081e-01 -1.76298396e-02 1.40129719e+02] [ 2.08280096e-02 -1.63317059e-04 9.99783060e-01 7.25026506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.239254154 meters 0.01143557583820085 Centerline is valid? [True, True] Translation: X:1037.43, Y:140.18, Z:7.25 [[ 5.23601022e-01 -8.51897361e-01 -1.06233539e-02 1.03743176e+03] [ 8.51729812e-01 5.23708741e-01 -1.68962175e-02 1.40178083e+02] [ 1.99573864e-02 -2.01350495e-04 9.99800811e-01 7.25045927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.299254154 meters 0.012307943230012426 Centerline is valid? [True, True] Translation: X:1037.46, Y:140.23, Z:7.25 [[ 5.19677135e-01 -8.54285898e-01 -1.14577320e-02 1.03746464e+03] [ 8.54091336e-01 5.19803336e-01 -1.82340599e-02 1.40226974e+02] [ 2.15328675e-02 -3.10125629e-04 9.99768093e-01 7.24884357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters 0.014774272518119197 Centerline is valid? [True, True] Translation: X:1037.49, Y:140.28, Z:7.25 [[ 5.20157365e-01 -8.53987759e-01 -1.18837179e-02 1.03749377e+03] [ 8.53778125e-01 5.20293009e-01 -1.89235066e-02 1.40276855e+02] [ 2.23434584e-02 -3.02857047e-04 9.99750308e-01 7.24861805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters 0.012511483872189257 Centerline is valid? [True, True] Translation: X:1037.52, Y:140.33, Z:7.25 [[ 5.19461492e-01 -8.54420785e-01 -1.11750153e-02 1.03752421e+03] [ 8.54235284e-01 5.19581596e-01 -1.78057311e-02 1.40326354e+02] [ 2.10199190e-02 -2.96700714e-04 9.99779013e-01 7.24893436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.479254154 meters 0.014416403606460489 Centerline is valid? [True, True] Translation: X:1037.56, Y:140.38, Z:7.25 [[ 5.17898702e-01 -8.55377213e-01 -1.05241286e-02 1.03755535e+03] [ 8.55212692e-01 5.18005528e-01 -1.67786965e-02 1.40375357e+02] [ 1.98036714e-02 -3.10703234e-04 9.99803840e-01 7.25070154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.539254154 meters 0.012111211285421983 Centerline is valid? [True, True] Translation: X:1037.58, Y:140.43, Z:7.25 [[ 5.16804599e-01 -8.56052089e-01 -9.37162814e-03 1.03758308e+03] [ 8.55921583e-01 5.16889479e-01 -1.49502761e-02 1.40426094e+02] [ 1.76423111e-02 -2.95007355e-04 9.99844319e-01 7.25209404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters 0.011665895804939116 Centerline is valid? [True, True] Translation: X:1037.61, Y:140.48, Z:7.25 [[ 5.17849400e-01 -8.55421570e-01 -9.27019093e-03 1.03761131e+03] [ 8.55293610e-01 5.17932300e-01 -1.47977590e-02 1.40477329e+02] [ 1.74596535e-02 -2.65724452e-04 9.99847533e-01 7.25201356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters 0.011528537270301085 Centerline is valid? [True, True] Translation: X:1037.64, Y:140.53, Z:7.25 [[ 5.21620474e-01 -8.53119887e-01 -9.92673985e-03 1.03763900e+03] [ 8.52972605e-01 5.21714883e-01 -1.58529311e-02 1.40528216e+02] [ 1.87033787e-02 -1.98023709e-04 9.99825057e-01 7.24885350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.719254154 meters 0.01063678663787874 Centerline is valid? [True, True] Translation: X:1037.66, Y:140.58, Z:7.24 [[ 5.28449305e-01 -8.48887360e-01 -1.14709606e-02 1.03766187e+03] [ 8.48689462e-01 5.28573787e-01 -1.83289288e-02 1.40582106e+02] [ 2.16224451e-02 -4.93737548e-05 9.99766206e-01 7.24490374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.779254154 meters 0.010577059512442338 Centerline is valid? [True, True] Translation: X:1037.69, Y:140.63, Z:7.24 [[ 5.33384256e-01 -8.45804511e-01 -1.07686736e-02 1.03768849e+03] [ 8.45629259e-01 5.33492945e-01 -1.72172265e-02 1.40634530e+02] [ 2.03074192e-02 7.70920452e-05 9.99793780e-01 7.24496205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters 0.01093191033385145 Centerline is valid? [True, True] Translation: X:1037.72, Y:140.69, Z:7.25 [[ 5.35070918e-01 -8.44750141e-01 -9.81383280e-03 1.03771774e+03] [ 8.44604238e-01 5.35160897e-01 -1.57001639e-02 1.40685059e+02] [ 1.85146952e-02 1.11896322e-04 9.99828582e-01 7.24567716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters 0.01144576390820984 Centerline is valid? [True, True] Translation: X:1037.75, Y:140.74, Z:7.25 [[ 5.36177416e-01 -8.44060843e-01 -8.66437759e-03 1.03774809e+03] [ 8.43946895e-01 5.36247403e-01 -1.38693920e-02 1.40735227e+02] [ 1.63528607e-02 1.24180207e-04 9.99866275e-01 7.24737190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.959254154 meters 0.01154672380981342 Centerline is valid? [True, True] Translation: X:1037.78, Y:140.78, Z:7.25 [[ 5.37991893e-01 -8.42920581e-01 -7.04393381e-03 1.03777692e+03] [ 8.42845103e-01 5.38037988e-01 -1.12807434e-02 1.40784322e+02] [ 1.32986747e-02 1.32003362e-04 9.99911560e-01 7.24661394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.019254154 meters 0.012697094018942388 Centerline is valid? [True, True] Translation: X:1037.81, Y:140.84, Z:7.24 [[ 5.42831461e-01 -8.39811528e-01 -7.11351616e-03 1.03780566e+03] [ 8.39734205e-01 5.42878026e-01 -1.13979711e-02 1.40835901e+02] [ 1.34339191e-02 2.13714456e-04 9.99909738e-01 7.24426044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters 0.014696948831979653 Centerline is valid? [True, True] Translation: X:1037.83, Y:140.89, Z:7.24 [[ 5.46009840e-01 -8.37745620e-01 -7.45191055e-03 1.03783163e+03] [ 8.37660477e-01 5.46060617e-01 -1.19468770e-02 1.40887738e+02] [ 1.40776387e-02 2.80941446e-04 9.99900866e-01 7.24166912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters 0.016925092107888944 Centerline is valid? [True, True] Translation: X:1037.86, Y:140.94, Z:7.24 [[ 5.50522164e-01 -8.34781979e-01 -8.02458456e-03 1.03785865e+03] [ 8.34682817e-01 5.50580509e-01 -1.28723977e-02 1.40940006e+02] [ 1.51638254e-02 3.88557381e-04 9.99884947e-01 7.23854487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.199254154 meters 0.017395411943448156 Centerline is valid? [True, True] Translation: X:1037.89, Y:140.99, Z:7.24 [[ 5.52057206e-01 -8.33769264e-01 -7.85215170e-03 1.03789011e+03] [ 8.33674128e-01 5.52112893e-01 -1.26016911e-02 1.40989108e+02] [ 1.48421769e-02 4.10718672e-04 9.99889764e-01 7.23825654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.259254154 meters 0.016544005543246917 Centerline is valid? [True, True] Translation: X:1037.92, Y:141.04, Z:7.24 [[ 5.50524879e-01 -8.34794997e-01 -6.29842424e-03 1.03792488e+03] [ 8.34733804e-01 5.50560820e-01 -1.01123986e-02 1.41037003e+02] [ 1.19094453e-02 3.09619373e-04 9.99929032e-01 7.24042016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.319254154 meters 0.01690674541636169 Centerline is valid? [True, True] Translation: X:1037.96, Y:141.08, Z:7.24 [[ 5.47187132e-01 -8.36996530e-01 -4.80105908e-03 1.03795971e+03] [ 8.36961026e-01 5.47208157e-01 -7.71190611e-03 1.41084787e+02] [ 9.08201735e-03 2.01556463e-04 9.99958737e-01 7.24199575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters 0.015888233361589336 Centerline is valid? [True, True] Translation: X:1038.00, Y:141.13, Z:7.24 [[ 5.44895397e-01 -8.38495552e-01 -3.77034663e-03 1.03799506e+03] [ 8.38473672e-01 5.44908423e-01 -6.05900080e-03 1.41132759e+02] [ 7.13493885e-03 1.40185265e-04 9.99974536e-01 7.24216907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.439254154 meters 0.014982619194071818 Centerline is valid? [True, True] Translation: X:1038.03, Y:141.18, Z:7.24 [[ 5.44597798e-01 -8.38691487e-01 -3.13489768e-03 1.03802861e+03] [ 8.38676353e-01 5.44606809e-01 -5.03981342e-03 1.41180644e+02] [ 5.93413523e-03 1.15506740e-04 9.99982386e-01 7.24082932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.499254154 meters 0.014977480685834628 Centerline is valid? [True, True] Translation: X:1038.06, Y:141.23, Z:7.24 [[ 5.44509001e-01 -8.38749965e-01 -2.90584120e-03 1.03806007e+03] [ 8.38736947e-01 5.44516744e-01 -4.67433421e-03 1.41229228e+02] [ 5.50287684e-03 1.07980681e-04 9.99984853e-01 7.24107881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.559254154 meters 0.015562840024679262 Centerline is valid? [True, True] Translation: X:1038.09, Y:141.28, Z:7.24 [[ 5.44367081e-01 -8.38844079e-01 -2.25670393e-03 1.03809270e+03] [ 8.38836221e-01 5.44371752e-01 -3.63169082e-03 1.41277730e+02] [ 4.27490821e-03 8.39679366e-05 9.99990859e-01 7.24239403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters 0.01621678876809854 Centerline is valid? [True, True] Translation: X:1038.12, Y:141.33, Z:7.24 [[ 5.44102471e-01 -8.39017177e-01 -1.63637552e-03 1.03812372e+03] [ 8.39013044e-01 5.44104929e-01 -2.63412813e-03 1.41326564e+02] [ 3.10043874e-03 6.02952177e-05 9.99995192e-01 7.24268511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters 0.01524538630134282 Centerline is valid? [True, True] Translation: X:1038.15, Y:141.38, Z:7.24 [[ 5.42654971e-01 -8.39955196e-01 -9.22176556e-04 1.03815488e+03] [ 8.39953886e-01 5.42655754e-01 -1.48387805e-03 1.41375366e+02] [ 1.74681549e-03 3.06480177e-05 9.99998474e-01 7.24222247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.739254154 meters 0.0163641023767136 Centerline is valid? [True, True] Translation: X:1038.19, Y:141.42, Z:7.24 [[ 5.40407639e-01 -8.41403326e-01 -1.63800715e-04 1.03818810e+03] [ 8.41403286e-01 5.40407664e-01 -2.61090669e-04 1.41424212e+02] [ 3.08201718e-04 3.27293171e-06 9.99999953e-01 7.24307126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.799254154 meters 0.01480750890927449 Centerline is valid? [True, True] Translation: X:1038.22, Y:141.47, Z:7.24 [[ 5.39106598e-01 -8.42237540e-01 -4.21245465e-05 1.03821666e+03] [ 8.42237538e-01 5.39106599e-01 -6.50467116e-05 1.41473360e+02] [ 7.74944028e-05 -4.11762908e-07 9.99999997e-01 7.24323814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters 0.015261149168121525 Centerline is valid? [True, True] Translation: X:1038.25, Y:141.52, Z:7.24 [[ 5.38316114e-01 -8.42742992e-01 1.06112019e-04 1.03824629e+03] [ 8.42742974e-01 5.38316125e-01 1.75156679e-04 1.41522942e+02] [-2.04733875e-04 -4.86450470e-06 9.99999979e-01 7.24187921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters 0.015109001586907473 Centerline is valid? [True, True] Translation: X:1038.28, Y:141.57, Z:7.24 [[ 5.35693768e-01 -8.44412189e-01 -4.91601321e-04 1.03827798e+03] [ 8.44411819e-01 5.35693993e-01 -7.91531641e-04 1.41572798e+02] [ 9.31726840e-04 8.90460121e-06 9.99999566e-01 7.24038856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.979254154 meters 0.013306144678248458 Centerline is valid? [True, True] Translation: X:1038.31, Y:141.62, Z:7.24 [[ 5.30837957e-01 -8.47473036e-01 -7.18487282e-04 1.03831159e+03] [ 8.47472243e-01 5.30838443e-01 -1.15922739e-03 1.41621802e+02] [ 1.36381463e-03 6.46387302e-06 9.99999070e-01 7.24035094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.039254154 meters 0.014795633845725723 Centerline is valid? [True, True] Translation: X:1038.35, Y:141.67, Z:7.24 [[ 5.25490145e-01 -8.50799655e-01 -2.34568193e-04 1.03834653e+03] [ 8.50799572e-01 5.25490197e-01 -3.75995147e-04 1.41668328e+02] [ 4.43159826e-04 -1.98877382e-06 9.99999902e-01 7.24170811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters 0.015412940093786315 Centerline is valid? [True, True] Translation: X:1038.38, Y:141.71, Z:7.24 [[ 5.21028989e-01 -8.53538950e-01 -2.31513276e-04 1.03837966e+03] [ 8.53538868e-01 5.21029041e-01 -3.73196650e-04 1.41714710e+02] [ 4.39163016e-04 -3.15930613e-06 9.99999904e-01 7.24193121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters 0.013836494353247382 Centerline is valid? [True, True] Translation: X:1038.41, Y:141.76, Z:7.24 [[ 5.20226267e-01 -8.54028169e-01 -7.19202175e-04 1.03841025e+03] [ 8.54027379e-01 5.20226764e-01 -1.16157000e-03 1.41763749e+02] [ 1.36616172e-03 -9.93912223e-06 9.99999067e-01 7.24194267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.219254154 meters 0.01332747247327205 Centerline is valid? [True, True] Translation: X:1038.44, Y:141.81, Z:7.24 [[ 5.22246270e-01 -8.52793432e-01 -1.48211069e-03 1.03843940e+03] [ 8.52790057e-01 5.22248372e-01 -2.39916185e-03 1.41814073e+02] [ 2.82001937e-03 -1.09759372e-05 9.99996024e-01 7.24171546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.279254154 meters 0.013341593749842066 Centerline is valid? [True, True] Translation: X:1038.47, Y:141.87, Z:7.24 [[ 5.25028572e-01 -8.51080382e-01 -2.67992746e-03 1.03846668e+03] [ 8.51069298e-01 5.25035412e-01 -4.34363773e-03 1.41865197e+02] [ 5.10384167e-03 -2.70062201e-07 9.99986975e-01 7.24026248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters 0.01428168611317794 Centerline is valid? [True, True] Translation: X:1038.49, Y:141.92, Z:7.24 [[ 5.27064208e-01 -8.49818610e-01 -3.41336659e-03 1.03849395e+03] [ 8.49800572e-01 5.27075261e-01 -5.53691551e-03 1.41917225e+02] [ 6.50447493e-03 1.76291098e-05 9.99978846e-01 7.23833169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters 0.013951450525951158 Centerline is valid? [True, True] Translation: X:1038.52, Y:141.97, Z:7.24 [[ 5.29054263e-01 -8.48581173e-01 -3.40289828e-03 1.03852138e+03] [ 8.48563197e-01 5.29065206e-01 -5.52350410e-03 1.41967426e+02] [ 6.48749667e-03 3.46591439e-05 9.99978955e-01 7.24072794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.459254154 meters 0.016045773384837463 Centerline is valid? [True, True] Translation: X:1038.55, Y:142.02, Z:7.24 [[ 5.29386808e-01 -8.48376636e-01 -2.58673794e-03 1.03854965e+03] [ 8.48366239e-01 5.29393127e-01 -4.20025269e-03 1.42018143e+02] [ 4.93279754e-03 2.90572240e-05 9.99987833e-01 7.24161248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.519254154 meters 0.016799186939537896 Centerline is valid? [True, True] Translation: X:1038.58, Y:142.07, Z:7.24 [[ 5.30135658e-01 -8.47909096e-01 -2.51968993e-03 1.03857767e+03] [ 8.47899213e-01 5.30141645e-01 -4.09391921e-03 1.42068688e+02] [ 4.80706390e-03 3.38894450e-05 9.99988445e-01 7.24187351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters 0.01429165602575226 Centerline is valid? [True, True] Translation: X:1038.60, Y:142.12, Z:7.24 [[ 5.32169829e-01 -8.46627432e-01 -4.15494152e-03 1.03860459e+03] [ 8.46600469e-01 5.32186043e-01 -6.75730333e-03 1.42120015e+02] [ 7.93212026e-03 7.84575213e-05 9.99968537e-01 7.24191265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters 0.016905216883961825 Centerline is valid? [True, True] Translation: X:1038.63, Y:142.17, Z:7.24 [[ 5.32884285e-01 -8.46167186e-01 -5.95251492e-03 1.03863285e+03] [ 8.46111763e-01 5.32917515e-01 -9.68537859e-03 1.42171333e+02] [ 1.13676490e-02 1.24693153e-04 9.99935378e-01 7.23815510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.699254154 meters 0.01480001117425344 Centerline is valid? [True, True] Translation: X:1038.66, Y:142.22, Z:7.24 [[ 5.34251148e-01 -8.45296316e-01 -7.06030897e-03 1.03866061e+03] [ 8.45218191e-01 5.34297771e-01 -1.14935356e-02 1.42222614e+02] [ 1.34877507e-02 1.72933028e-04 9.99909021e-01 7.23925187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.759254154 meters 0.014675507473016249 Centerline is valid? [True, True] Translation: X:1038.69, Y:142.27, Z:7.24 [[ 5.33477225e-01 -8.45784999e-01 -7.05597571e-03 1.03869108e+03] [ 8.45706938e-01 5.33523860e-01 -1.14919409e-02 1.42272227e+02] [ 1.34842426e-02 1.63401121e-04 9.99909070e-01 7.23983193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.819254154 meters 0.0157440997460736 Centerline is valid? [True, True] Translation: X:1038.72, Y:142.32, Z:7.24 [[ 5.28892333e-01 -8.48665511e-01 -6.30480640e-03 1.03872497e+03] [ 8.48603321e-01 5.28929904e-01 -1.02742732e-02 1.42320626e+02] [ 1.20542220e-02 8.37046961e-05 9.99927342e-01 7.24112239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters 0.015329256625098991 Centerline is valid? [True, True] Translation: X:1038.76, Y:142.37, Z:7.24 [[ 5.22629101e-01 -8.52546863e-01 -4.76116804e-03 1.03875872e+03] [ 8.52511525e-01 5.22650788e-01 -7.76230684e-03 1.42368585e+02] [ 9.10615858e-03 -2.14318511e-06 9.99958538e-01 7.24463227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.939254154 meters 0.016760152009168836 Centerline is valid? [True, True] Translation: X:1038.79, Y:142.42, Z:7.24 [[ 5.19167100e-01 -8.54660399e-01 -4.59612453e-03 1.03879067e+03] [ 8.54627514e-01 5.19187443e-01 -7.49746181e-03 1.42417319e+02] [ 8.79403384e-03 -3.55389733e-05 9.99961331e-01 7.24497176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.999254154 meters 0.01569755174964436 Centerline is valid? [True, True] Translation: X:1038.82, Y:142.47, Z:7.24 [[ 5.19201195e-01 -8.54635521e-01 -5.31463360e-03 1.03881982e+03] [ 8.54591488e-01 5.19228394e-01 -8.67549370e-03 1.42466949e+02] [ 1.01738937e-02 -3.75139392e-05 9.99948244e-01 7.24420293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.059254154 meters 0.01665195056662655 Centerline is valid? [True, True] Translation: X:1038.85, Y:142.52, Z:7.24 [[ 5.22819195e-01 -8.52409805e-01 -7.59041539e-03 1.03884580e+03] [ 8.52319620e-01 5.22874291e-01 -1.23992266e-02 1.42520023e+02] [ 1.45380554e-02 1.30937045e-05 9.99894317e-01 7.24030458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters 0.01350598810713649 Centerline is valid? [True, True] Translation: X:1038.87, Y:142.57, Z:7.24 [[ 5.25280947e-01 -8.50887485e-01 -8.39136862e-03 1.03887373e+03] [ 8.50776967e-01 5.25347965e-01 -1.37137798e-02 1.42570553e+02] [ 1.60772720e-02 6.44040689e-05 9.99870750e-01 7.24165330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters 0.014787247246072681 Centerline is valid? [True, True] Translation: X:1038.90, Y:142.62, Z:7.24 [[ 5.24828894e-01 -8.51162766e-01 -8.75088090e-03 1.03890480e+03] [ 8.51042491e-01 5.24901840e-01 -1.43086062e-02 1.42619679e+02] [ 1.67723063e-02 6.21984834e-05 9.99859333e-01 7.24142600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.239254154 meters 0.013807834699938699 Centerline is valid? [True, True] Translation: X:1038.94, Y:142.67, Z:7.24 [[ 5.22672409e-01 -8.52495010e-01 -8.11232792e-03 1.03893713e+03] [ 8.52391681e-01 5.22735360e-01 -1.32727271e-02 1.42667824e+02] [ 1.55555343e-02 2.24074373e-05 9.99879005e-01 7.24400233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.299254154 meters 0.01626492389966103 Centerline is valid? [True, True] Translation: X:1038.97, Y:142.72, Z:7.25 [[ 5.18509041e-01 -8.55048023e-01 -6.42280311e-03 1.03897134e+03] [ 8.54983375e-01 5.18548818e-01 -1.05143593e-02 1.42715091e+02] [ 1.23208191e-02 -3.95995452e-05 9.99924095e-01 7.24523144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters 0.01631946945250083 Centerline is valid? [True, True] Translation: X:1039.00, Y:142.76, Z:7.25 [[ 5.17895950e-01 -8.55419203e-01 -6.46318729e-03 1.03900228e+03] [ 8.55353688e-01 5.17936276e-01 -1.05869235e-02 1.42763505e+02] [ 1.24037768e-02 -4.53862893e-05 9.99923069e-01 7.24603443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters 0.017025224874696147 Centerline is valid? [True, True] Translation: X:1039.03, Y:142.81, Z:7.24 [[ 5.20332963e-01 -8.53927755e-01 -7.81003652e-03 1.03903084e+03] [ 8.53831795e-01 5.20391572e-01 -1.28014587e-02 1.42814677e+02] [ 1.49957981e-02 -7.43654617e-06 9.99887557e-01 7.24362025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.479254154 meters 0.013716107668158724 Centerline is valid? [True, True] Translation: X:1039.06, Y:142.87, Z:7.25 [[ 5.24218821e-01 -8.51540846e-01 -8.53315805e-03 1.03905793e+03] [ 8.51425837e-01 5.24288263e-01 -1.39950788e-02 1.42866765e+02] [ 1.63912158e-02 7.11324774e-05 9.99865652e-01 7.24547823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.539254154 meters 0.017307870939990012 Centerline is valid? [True, True] Translation: X:1039.09, Y:142.92, Z:7.24 [[ 5.25175891e-01 -8.50943517e-01 -9.24201580e-03 1.03908717e+03] [ 8.50808361e-01 5.25257195e-01 -1.51661741e-02 1.42918460e+02] [ 1.77599928e-02 1.01724681e-04 9.99842274e-01 7.24129668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters 0.014381281567746136 Centerline is valid? [True, True] Translation: X:1039.12, Y:142.97, Z:7.24 [[ 5.27597994e-01 -8.49440966e-01 -9.50796610e-03 1.03911538e+03] [ 8.49297546e-01 5.27683636e-01 -1.56095893e-02 1.42968551e+02] [ 1.82766227e-02 1.60495739e-04 9.99832956e-01 7.24369662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters 0.017529205380398517 Centerline is valid? [True, True] Translation: X:1039.15, Y:143.02, Z:7.24 [[ 5.26154435e-01 -8.50336051e-01 -9.49271227e-03 1.03914904e+03] [ 8.50193082e-01 5.26240044e-01 -1.55929419e-02 1.43015756e+02] [ 1.82546859e-02 1.33657220e-04 9.99833360e-01 7.24269058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.719254154 meters 0.01717328631326787 Centerline is valid? [True, True] Translation: X:1039.18, Y:143.06, Z:7.24 [[ 5.24819039e-01 -8.51171490e-01 -8.48943104e-03 1.03918156e+03] [ 8.51057122e-01 5.24887688e-01 -1.39531238e-02 1.43063760e+02] [ 1.63324990e-02 9.78742872e-05 9.99866611e-01 7.24473933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.779254154 meters 0.014217201054083648 Centerline is valid? [True, True] Translation: X:1039.21, Y:143.11, Z:7.25 [[ 5.24741226e-01 -8.51227431e-01 -7.64888912e-03 1.03921252e+03] [ 8.51134489e-01 5.24796963e-01 -1.25789197e-02 1.43112780e+02] [ 1.47216353e-02 9.04444220e-05 9.99891627e-01 7.24861285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters 0.014583287910849535 Centerline is valid? [True, True] Translation: X:1039.24, Y:143.16, Z:7.25 [[ 5.24155232e-01 -8.51588011e-01 -7.69111315e-03 1.03924461e+03] [ 8.51493964e-01 5.24211649e-01 -1.26561147e-02 1.43160806e+02] [ 1.48095667e-02 8.48323337e-05 9.99890329e-01 7.24789394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters 0.01611247136186444 Centerline is valid? [True, True] Translation: X:1039.28, Y:143.21, Z:7.25 [[ 5.23575831e-01 -8.51938791e-01 -8.28529937e-03 1.03927684e+03] [ 8.51829552e-01 5.23641375e-01 -1.36427419e-02 1.43208748e+02] [ 1.59613066e-02 8.53470726e-05 9.99872607e-01 7.24650685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.959254154 meters 0.013757065674908548 Centerline is valid? [True, True] Translation: X:1039.31, Y:143.26, Z:7.25 [[ 5.25015800e-01 -8.51054363e-01 -8.05482652e-03 1.03930823e+03] [ 8.50950881e-01 5.25077573e-01 -1.32717590e-02 1.43258153e+02] [ 1.55243971e-02 1.13621428e-04 9.99879483e-01 7.24942236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.019254154 meters 0.014884251484249506 Centerline is valid? [True, True] Translation: X:1039.34, Y:143.31, Z:7.25 [[ 5.27156000e-01 -8.49722981e-01 -8.79808084e-03 1.03933775e+03] [ 8.49599214e-01 5.27229386e-01 -1.45034196e-02 1.43308232e+02] [ 1.69624957e-02 1.70722108e-04 9.99856112e-01 7.24674309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters 0.016575859944219996 Centerline is valid? [True, True] Translation: X:1039.37, Y:143.36, Z:7.25 [[ 5.28160200e-01 -8.49095779e-01 -9.11933399e-03 1.03937024e+03] [ 8.48962585e-01 5.28238884e-01 -1.50403299e-02 1.43357613e+02] [ 1.75878675e-02 2.01730301e-04 9.99845301e-01 7.24589670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters 0.014374066019740157 Centerline is valid? [True, True] Translation: X:1039.40, Y:143.41, Z:7.25 [[ 5.29328045e-01 -8.48377656e-01 -8.19587510e-03 1.03940099e+03] [ 8.48269859e-01 5.29391452e-01 -1.35254048e-02 1.43406735e+02] [ 1.58134774e-02 2.07062253e-04 9.99874938e-01 7.24962452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.199254154 meters 0.014428067949547988 Centerline is valid? [True, True] Translation: X:1039.43, Y:143.46, Z:7.25 [[ 5.29473681e-01 -8.48295023e-01 -7.29211119e-03 1.03943066e+03] [ 8.48209576e-01 5.29523859e-01 -1.20414839e-02 1.43456643e+02] [ 1.40760777e-02 1.90410237e-04 9.99900909e-01 7.25073446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.259254154 meters 0.017030861138710544 Centerline is valid? [True, True] Translation: X:1039.46, Y:143.51, Z:7.25 [[ 5.26333198e-01 -8.50243859e-01 -7.66445139e-03 1.03946304e+03] [ 8.50149550e-01 5.26388979e-01 -1.26643122e-02 1.43505586e+02] [ 1.48022364e-02 1.49718041e-04 9.99890430e-01 7.24759604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.319254154 meters 0.013488696918561336 Centerline is valid? [True, True] Translation: X:1039.50, Y:143.55, Z:7.25 [[ 5.22934680e-01 -8.52344581e-01 -6.93082440e-03 1.03949574e+03] [ 8.52267562e-01 5.22980600e-01 -1.14583533e-02 1.43554503e+02] [ 1.33911520e-02 8.50534919e-05 9.99910331e-01 7.25158229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters 0.013183004088431418 Centerline is valid? [True, True] Translation: X:1039.53, Y:143.60, Z:7.25 [[ 5.19317152e-01 -8.54556439e-01 -6.55656227e-03 1.03952681e+03] [ 8.54487609e-01 5.19358539e-01 -1.08459206e-02 1.43604330e+02] [ 1.26736579e-02 2.99713833e-05 9.99919686e-01 7.25158662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.439254154 meters 0.014537489393297954 Centerline is valid? [True, True] Translation: X:1039.56, Y:143.65, Z:7.25 [[ 5.16829667e-01 -8.56062295e-01 -6.66647784e-03 1.03955665e+03] [ 8.55991171e-01 5.16872660e-01 -1.10348697e-02 1.43653893e+02] [ 1.28922560e-02 -3.29814022e-06 9.99916891e-01 7.24992864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.499254154 meters 0.016947963991159724 Centerline is valid? [True, True] Translation: X:1039.59, Y:143.70, Z:7.25 [[ 5.15283100e-01 -8.56991838e-01 -6.95110229e-03 1.03958542e+03] [ 8.56914491e-01 5.15329982e-01 -1.15136735e-02 1.43704235e+02] [ 1.34492356e-02 -2.36989132e-05 9.99909555e-01 7.24886057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.559254154 meters 0.013187154498652903 Centerline is valid? [True, True] Translation: X:1039.61, Y:143.76, Z:7.25 [[ 5.15167149e-01 -8.57058961e-01 -7.26267405e-03 1.03961340e+03] [ 8.56974419e-01 5.15218340e-01 -1.20377887e-02 1.43755123e+02] [ 1.40589575e-02 -2.24525731e-05 9.99901168e-01 7.25103427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters 0.0148098957211615 Centerline is valid? [True, True] Translation: X:1039.64, Y:143.80, Z:7.25 [[ 5.13224902e-01 -8.58215584e-01 -8.13704058e-03 1.03964252e+03] [ 8.58109503e-01 5.13289400e-01 -1.34934533e-02 1.43804979e+02] [ 1.57569486e-02 -5.72956135e-05 9.99875850e-01 7.24888133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters 0.013478336441545247 Centerline is valid? [True, True] Translation: X:1039.67, Y:143.85, Z:7.25 [[ 5.10971552e-01 -8.59563496e-01 -7.65962947e-03 1.03967224e+03] [ 8.59469558e-01 5.11028951e-01 -1.27078843e-02 1.43854724e+02] [ 1.48375259e-02 -8.98509954e-05 9.99889914e-01 7.25139839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.739254154 meters 0.016545667870032695 Centerline is valid? [True, True] Translation: X:1039.71, Y:143.90, Z:7.25 [[ 5.04127957e-01 -8.63594495e-01 -7.71686841e-03 1.03970542e+03] [ 8.63499522e-01 5.04186974e-01 -1.28089730e-02 1.43902061e+02] [ 1.49525031e-02 -2.06150808e-04 9.99888184e-01 7.25022482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.799254154 meters 0.015080090985763142 Centerline is valid? [True, True] Translation: X:1039.74, Y:143.95, Z:7.25 [[ 4.99674005e-01 -8.66184228e-01 -7.12550164e-03 1.03973583e+03] [ 8.66103448e-01 4.99724741e-01 -1.18321737e-02 1.43952042e+02] [ 1.38096317e-02 -2.59191940e-04 9.99904609e-01 7.25459171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters 0.01857023076813193 Centerline is valid? [True, True] Translation: X:1039.77, Y:144.00, Z:7.25 [[ 4.92513663e-01 -8.70280112e-01 -6.54359725e-03 1.03976761e+03] [ 8.70212270e-01 4.92557013e-01 -1.08716834e-02 1.44000560e+02] [ 1.26845046e-02 -3.39865990e-04 9.99919491e-01 7.25474194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters 0.01691774594397003 Centerline is valid? [True, True] Translation: X:1039.79, Y:144.05, Z:7.26 [[ 4.93034480e-01 -8.69981380e-01 -7.02847019e-03 1.03979378e+03] [ 8.69902978e-01 4.93084448e-01 -1.16848404e-02 1.44052895e+02] [ 1.36312230e-02 -3.53057922e-04 9.99907028e-01 7.25652883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.979254154 meters 0.016223413268994975 Centerline is valid? [True, True] Translation: X:1039.82, Y:144.11, Z:7.26 [[ 4.96151808e-01 -8.68202756e-01 -7.57348219e-03 1.03981984e+03] [ 8.68111397e-01 4.96209502e-01 -1.25989634e-02 1.44105195e+02] [ 1.46964886e-02 -3.23627716e-04 9.99891948e-01 7.25611294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.039254154 meters 0.014629245160419973 Centerline is valid? [True, True] Translation: X:1039.84, Y:144.16, Z:7.25 [[ 5.08302028e-01 -8.61134388e-01 -8.75294168e-03 1.03983691e+03] [ 8.61011124e-01 5.08377369e-01 -1.45703909e-02 1.44162932e+02] [ 1.69968621e-02 -1.30220927e-04 9.99855534e-01 7.25428958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters 0.01517678470363438 Centerline is valid? [True, True] Translation: X:1039.86, Y:144.22, Z:7.25 [[ 5.17560547e-01 -8.55589610e-01 -9.87420981e-03 1.03985705e+03] [ 8.55431503e-01 5.17654726e-01 -1.64477399e-02 1.44218537e+02] [ 1.91839467e-02 6.59911068e-05 9.99815969e-01 7.25240065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters 0.014194230719077638 Centerline is valid? [True, True] Translation: X:1039.88, Y:144.27, Z:7.25 [[ 5.23196285e-01 -8.52155207e-01 -9.85655218e-03 1.03988129e+03] [ 8.51996861e-01 5.23289084e-01 -1.64281289e-02 1.44272861e+02] [ 1.91571418e-02 1.97384500e-04 9.99816466e-01 7.25460550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.219254154 meters 0.014270427611704953 Centerline is valid? [True, True] Translation: X:1039.91, Y:144.32, Z:7.26 [[ 5.24215585e-01 -8.51532510e-01 -9.50812917e-03 1.03990955e+03] [ 8.51384879e-01 5.24301761e-01 -1.58572157e-02 1.44324134e+02] [ 1.84880635e-02 2.17522189e-04 9.99829057e-01 7.25654026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.279254154 meters 0.015883076092297436 Centerline is valid? [True, True] Translation: X:1039.94, Y:144.37, Z:7.26 [[ 5.21386611e-01 -8.53280233e-01 -8.29733003e-03 1.03993927e+03] [ 8.53167902e-01 5.21452610e-01 -1.38458191e-02 1.44374630e+02] [ 1.61410281e-02 1.40009016e-04 9.99869715e-01 7.25754364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters 0.013340122047985944 Centerline is valid? [True, True] Translation: X:1039.97, Y:144.42, Z:7.26 [[ 5.16403105e-01 -8.56311557e-01 -7.63882933e-03 1.03997196e+03] [ 8.56216599e-01 5.16459598e-01 -1.27522259e-02 1.44424293e+02] [ 1.48650252e-02 4.47965849e-05 9.99889508e-01 7.26016169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters 0.014972399514474646 Centerline is valid? [True, True] Translation: X:1040.01, Y:144.47, Z:7.26 [[ 5.08690560e-01 -8.60905075e-01 -8.73881439e-03 1.04000633e+03] [ 8.60781346e-01 5.08765607e-01 -1.45955972e-02 1.44472203e+02] [ 1.70114319e-02 -9.75658918e-05 9.99855290e-01 7.25742912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.459254154 meters 0.01549078596592108 Centerline is valid? [True, True] Translation: X:1040.04, Y:144.52, Z:7.26 [[ 5.01035673e-01 -8.65374079e-01 -9.53722795e-03 1.04003993e+03] [ 8.65227373e-01 5.01126364e-01 -1.59361180e-02 1.44519951e+02] [ 1.85700598e-02 -2.67307074e-04 9.99827526e-01 7.25794205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.519254154 meters 0.016870091937250056 Centerline is valid? [True, True] Translation: X:1040.07, Y:144.57, Z:7.26 [[ 4.93047761e-01 -8.69942410e-01 -1.02033970e-02 1.04007490e+03] [ 8.69775319e-01 4.93153107e-01 -1.70559777e-02 1.44565923e+02] [ 1.98695553e-02 -4.65251307e-04 9.99802473e-01 7.25735153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters 0.020113878344015398 Centerline is valid? [True, True] Translation: X:1040.11, Y:144.61, Z:7.26 [[ 4.85372157e-01 -8.74237501e-01 -1.10752667e-02 1.04011045e+03] [ 8.74041523e-01 4.85498009e-01 -1.85229300e-02 1.44611485e+02] [ 2.15704599e-02 -6.89728442e-04 9.99767093e-01 7.25644559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters 0.022807133854893462 Centerline is valid? [True, True] Translation: X:1040.14, Y:144.66, Z:7.26 [[ 4.79788917e-01 -8.77306809e-01 -1.16343367e-02 1.04014142e+03] [ 8.77091164e-01 4.79929180e-01 -1.94697830e-02 1.44660934e+02] [ 2.26646308e-02 -8.62987832e-04 9.99742752e-01 7.25671668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.699254154 meters 0.02316955816810934 Centerline is valid? [True, True] Translation: X:1040.17, Y:144.71, Z:7.26 [[ 4.81963308e-01 -8.76121773e-01 -1.10457699e-02 1.04016964e+03] [ 8.75926844e-01 4.82089266e-01 -1.84960538e-02 1.44712196e+02] [ 2.15298425e-02 -7.60867087e-04 9.99767917e-01 7.25868455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.759254154 meters 0.0181045600303368 Centerline is valid? [True, True] Translation: X:1040.19, Y:144.77, Z:7.26 [[ 4.88266943e-01 -8.72645713e-01 -9.21149854e-03 1.04019384e+03] [ 8.72509368e-01 4.88353569e-01 -1.54335662e-02 1.44765248e+02] [ 1.79665035e-02 -5.01418592e-04 9.99838464e-01 7.26282752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.819254154 meters 0.016680283305635563 Centerline is valid? [True, True] Translation: X:1040.21, Y:144.82, Z:7.26 [[ 5.04112162e-01 -8.63586677e-01 -9.43288180e-03 1.04021029e+03] [ 8.63441880e-01 5.04200378e-01 -1.58145083e-02 1.44823435e+02] [ 1.84132612e-02 -1.72459249e-04 9.99830447e-01 7.26072866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters 0.01400554449125136 Centerline is valid? [True, True] Translation: X:1040.23, Y:144.88, Z:7.26 [[ 5.17455766e-01 -8.55669603e-01 -8.31024293e-03 1.04022930e+03] [ 8.55556048e-01 5.17522482e-01 -1.39401928e-02 1.44880913e+02] [ 1.62289368e-02 1.03554567e-04 9.99868297e-01 7.26249991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.939254154 meters 0.015948026528328045 Centerline is valid? [True, True] Translation: X:1040.25, Y:144.93, Z:7.26 [[ 5.26388912e-01 -8.50206769e-01 -7.94750284e-03 1.04025100e+03] [ 8.50102202e-01 5.26448839e-01 -1.33366313e-02 1.44934809e+02] [ 1.55228478e-02 2.64065141e-04 9.99879478e-01 7.26261580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.999254154 meters 0.02013816729537174 Centerline is valid? [True, True] Translation: X:1040.28, Y:144.99, Z:7.26 [[ 5.29475745e-01 -8.48283908e-01 -8.35742888e-03 1.04027713e+03] [ 8.48167941e-01 5.29541590e-01 -1.40302738e-02 1.44987041e+02] [ 1.63272617e-02 3.40186450e-04 9.99866644e-01 7.25901393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.059254154 meters 0.019381109547850658 Centerline is valid? [True, True] Translation: X:1040.31, Y:145.04, Z:7.26 [[ 5.30111447e-01 -8.47887575e-01 -8.27728474e-03 1.04031047e+03] [ 8.47773649e-01 5.30175947e-01 -1.39034518e-02 1.45036257e+02] [ 1.61769813e-02 3.53115073e-04 9.99869082e-01 7.25944424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters 0.02023545517288542 Centerline is valid? [True, True] Translation: X:1040.34, Y:145.08, Z:7.26 [[ 5.29082468e-01 -8.48528029e-01 -8.48093308e-03 1.04034224e+03] [ 8.48408376e-01 5.29150323e-01 -1.42535518e-02 1.45084309e+02] [ 1.65822267e-02 3.46009690e-04 9.99862446e-01 7.25797668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters 0.020010260619854444 Centerline is valid? [True, True] Translation: X:1040.38, Y:145.13, Z:7.26 [[ 5.28377080e-01 -8.48966357e-01 -8.58994110e-03 1.04037544e+03] [ 8.48843517e-01 5.28446789e-01 -1.44455965e-02 1.45132571e+02] [ 1.68031523e-02 3.41206303e-04 9.99858759e-01 7.25765501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.239254154 meters 0.0164741907542808 Centerline is valid? [True, True] Translation: X:1040.41, Y:145.18, Z:7.26 [[ 5.29711563e-01 -8.48137213e-01 -8.30231487e-03 1.04040970e+03] [ 8.48022223e-01 5.29776499e-01 -1.39703286e-02 1.45180442e+02] [ 1.62471269e-02 3.59697099e-04 9.99867942e-01 7.26082864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.299254154 meters 0.018219775983058014 Centerline is valid? [True, True] Translation: X:1040.44, Y:145.23, Z:7.26 [[ 5.30128842e-01 -8.47871624e-01 -8.78182469e-03 1.04044339e+03] [ 8.47742778e-01 5.30201428e-01 -1.47861015e-02 1.45229250e+02] [ 1.71928519e-02 3.93810412e-04 9.99852114e-01 7.25943455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters 0.017260337334305275 Centerline is valid? [True, True] Translation: X:1040.48, Y:145.28, Z:7.26 [[ 5.32242808e-01 -8.46547867e-01 -8.61987001e-03 1.04047565e+03] [ 8.46423412e-01 5.32312428e-01 -1.45218981e-02 1.45278640e+02] [ 1.68819458e-02 4.33116016e-04 9.99857396e-01 7.26072790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters 0.021171502103089927 Centerline is valid? [True, True] Translation: X:1040.50, Y:145.33, Z:7.26 [[ 5.34802612e-01 -8.44932301e-01 -8.69323459e-03 1.04050340e+03] [ 8.44805363e-01 5.34873035e-01 -1.46538530e-02 1.45329614e+02] [ 1.70312905e-02 4.92827650e-04 9.99854836e-01 7.25929509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.479254154 meters 0.022435372611282246 Centerline is valid? [True, True] Translation: X:1040.54, Y:145.38, Z:7.26 [[ 5.36350104e-01 -8.43943079e-01 -9.41521168e-03 1.04053638e+03] [ 8.43793859e-01 5.36432430e-01 -1.58798810e-02 1.45378542e+02] [ 1.84523406e-02 5.72678033e-04 9.99829577e-01 7.25751319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.539254154 meters 0.022365940896594196 Centerline is valid? [True, True] Translation: X:1040.57, Y:145.43, Z:7.26 [[ 5.37003172e-01 -8.43522174e-01 -9.89619359e-03 1.04057109e+03] [ 8.43357059e-01 5.37093990e-01 -1.67008130e-02 1.45426916e+02] [ 1.94026922e-02 6.22364839e-04 9.99811556e-01 7.25699770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters 0.020503481420372855 Centerline is valid? [True, True] Translation: X:1040.61, Y:145.47, Z:7.26 [[ 5.37282433e-01 -8.43353863e-01 -9.04704502e-03 1.04060570e+03] [ 8.43215676e-01 5.37358285e-01 -1.52773556e-02 1.45473568e+02] [ 1.77457215e-02 5.79644630e-04 9.99842364e-01 7.25970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters 0.01946356010732697 Centerline is valid? [True, True] Translation: X:1040.64, Y:145.52, Z:7.26 [[ 5.34697166e-01 -8.45006068e-01 -7.98037738e-03 1.04064027e+03] [ 8.44898598e-01 5.34756512e-01 -1.34845241e-02 1.45520425e+02] [ 1.56620634e-02 4.67527149e-04 9.99877233e-01 7.26196693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.719254154 meters 0.018746009356220044 Centerline is valid? [True, True] Translation: X:1040.68, Y:145.57, Z:7.26 [[ 5.28222782e-01 -8.49070233e-01 -7.77382331e-03 1.04067658e+03] [ 8.48968560e-01 5.28279870e-01 -1.31439438e-02 1.45565735e+02] [ 1.52668858e-02 3.43198961e-04 9.99883395e-01 7.26107528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.779254154 meters 0.016184612624868797 Centerline is valid? [True, True] Translation: X:1040.71, Y:145.61, Z:7.26 [[ 5.25678228e-01 -8.50645814e-01 -8.00629985e-03 1.04071166e+03] [ 8.50538017e-01 5.25739102e-01 -1.35454294e-02 1.45613673e+02] [ 1.57315877e-02 3.10874910e-04 9.99876203e-01 7.26284037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters 0.01646240928122035 Centerline is valid? [True, True] Translation: X:1040.74, Y:145.67, Z:7.26 [[ 5.26756373e-01 -8.49976479e-01 -8.22854084e-03 1.04074039e+03] [ 8.49862400e-01 5.26820526e-01 -1.39296287e-02 1.45665232e+02] [ 1.61748210e-02 3.44393217e-04 9.99869120e-01 7.26267349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters 0.018063052772225197 Centerline is valid? [True, True] Translation: X:1040.76, Y:145.72, Z:7.26 [[ 5.30552465e-01 -8.47609732e-01 -8.47491727e-03 1.04076189e+03] [ 8.47488300e-01 5.30619973e-01 -1.43536320e-02 1.45719240e+02] [ 1.66632385e-02 4.32961630e-04 9.99861065e-01 7.26117182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.959254154 meters 0.019155526843988052 Centerline is valid? [True, True] Translation: X:1040.79, Y:145.77, Z:7.26 [[ 5.32565967e-01 -8.46350427e-01 -8.02777480e-03 1.04078764e+03] [ 8.46241223e-01 5.32626277e-01 -1.36029826e-02 1.45772242e+02] [ 1.57886939e-02 4.51051610e-04 9.99875249e-01 7.26174112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.019254154 meters 0.020623086067439806 Centerline is valid? [True, True] Translation: X:1040.81, Y:145.83, Z:7.26 [[ 5.34890697e-01 -8.44885530e-01 -7.77067654e-03 1.04081328e+03] [ 8.44782942e-01 5.34946921e-01 -1.31746712e-02 1.45825731e+02] [ 1.52879885e-02 4.82474049e-04 9.99883015e-01 7.26251144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters 0.021747505781518066 Centerline is valid? [True, True] Translation: X:1040.84, Y:145.88, Z:7.26 [[ 5.36643759e-01 -8.43771150e-01 -7.98267407e-03 1.04083878e+03] [ 8.43662644e-01 5.36702863e-01 -1.35417613e-02 1.45879053e+02] [ 1.57104715e-02 5.32417769e-04 9.99876441e-01 7.26147903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters 0.023548670321034023 Centerline is valid? [True, True] Translation: X:1040.87, Y:145.93, Z:7.26 [[ 5.37390878e-01 -8.43287009e-01 -8.83544467e-03 1.04086658e+03] [ 8.43153888e-01 5.37463161e-01 -1.49957169e-02 1.45930383e+02] [ 1.73944192e-02 6.08921919e-04 9.99848520e-01 7.25869244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.199254154 meters 0.020777244548177778 Centerline is valid? [True, True] Translation: X:1040.90, Y:145.98, Z:7.26 [[ 5.38164157e-01 -8.42784925e-01 -9.63897887e-03 1.04089575e+03] [ 8.42626272e-01 5.38250034e-01 -1.63666283e-02 1.45981007e+02] [ 1.89817283e-02 6.85875901e-04 9.99819596e-01 7.26073212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.259254154 meters 0.02183144988956117 Centerline is valid? [True, True] Translation: X:1040.93, Y:146.03, Z:7.26 [[ 5.36021181e-01 -8.44147683e-01 -9.79705890e-03 1.04092583e+03] [ 8.43983848e-01 5.36110309e-01 -1.66433786e-02 1.46032185e+02] [ 1.93017737e-02 6.52643978e-04 9.99813490e-01 7.25912731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.319254154 meters 0.02168614243590189 Centerline is valid? [True, True] Translation: X:1040.96, Y:146.08, Z:7.26 [[ 5.33697113e-01 -8.45625258e-01 -9.23661272e-03 1.04095648e+03] [ 8.45479693e-01 5.33776732e-01 -1.56999843e-02 1.46082287e+02] [ 1.82065922e-02 5.69667799e-04 9.99834084e-01 7.26053216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters 0.01865522274475632 Centerline is valid? [True, True] Translation: X:1040.99, Y:146.13, Z:7.27 [[ 5.32082329e-01 -8.46655647e-01 -7.91266344e-03 1.04098828e+03] [ 8.46548854e-01 5.32140961e-01 -1.34549070e-02 1.46132333e+02] [ 1.56023253e-02 4.60662068e-04 9.99878170e-01 7.26607384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.439254154 meters 0.018571274397654988 Centerline is valid? [True, True] Translation: X:1041.02, Y:146.18, Z:7.27 [[ 5.30859768e-01 -8.47429891e-01 -7.10540220e-03 1.04101843e+03] [ 8.47343777e-01 5.30907170e-01 -1.20872120e-02 1.46183385e+02] [ 1.40153737e-02 3.95896227e-04 9.99901701e-01 7.26765884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.499254154 meters 0.018599747872356295 Centerline is valid? [True, True] Translation: X:1041.05, Y:146.23, Z:7.27 [[ 5.30635765e-01 -8.47565630e-01 -7.62808902e-03 1.04104672e+03] [ 8.47466273e-01 5.30690420e-01 -1.29843660e-02 1.46234557e+02] [ 1.50532561e-02 4.25420822e-04 9.99886603e-01 7.26712378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.559254154 meters 0.020648403330943935 Centerline is valid? [True, True] Translation: X:1041.07, Y:146.29, Z:7.26 [[ 5.30736179e-01 -8.47497058e-01 -8.23689089e-03 1.04107419e+03] [ 8.47381056e-01 5.30799887e-01 -1.40294515e-02 1.46286715e+02] [ 1.62620596e-02 4.66152177e-04 9.99867655e-01 7.26437595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters 0.01918679567500708 Centerline is valid? [True, True] Translation: X:1041.10, Y:146.34, Z:7.27 [[ 5.32782042e-01 -8.46207072e-01 -8.76856116e-03 1.04110144e+03] [ 8.46075283e-01 5.32853917e-01 -1.49438474e-02 1.46339033e+02] [ 1.73179515e-02 5.42950675e-04 9.99849886e-01 7.26716339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters 0.01795554574329441 Centerline is valid? [True, True] Translation: X:1041.13, Y:146.39, Z:7.27 [[ 5.30902060e-01 -8.47386011e-01 -8.94159130e-03 1.04113130e+03] [ 8.47248974e-01 5.30977099e-01 -1.52478200e-02 1.46389716e+02] [ 1.76685696e-02 5.19345005e-04 9.99843764e-01 7.26743356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.739254154 meters 0.019604920276666767 Centerline is valid? [True, True] Translation: X:1041.16, Y:146.44, Z:7.27 [[ 5.23552861e-01 -8.51950693e-01 -8.50986715e-03 1.04116289e+03] [ 8.51827056e-01 5.23621898e-01 -1.45180847e-02 1.46438663e+02] [ 1.68246451e-02 3.52049695e-04 9.99858394e-01 7.26615321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.799254154 meters 0.01485313593660337 Centerline is valid? [True, True] Translation: X:1041.20, Y:146.49, Z:7.27 [[ 5.13883234e-01 -8.57822041e-01 -8.08497534e-03 1.04119773e+03] [ 8.57711043e-01 5.13946807e-01 -1.38002133e-02 1.46485939e+02] [ 1.59933744e-02 1.57125624e-04 9.99872085e-01 7.27048486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters 0.015259901106751976 Centerline is valid? [True, True] Translation: X:1041.23, Y:146.53, Z:7.27 [[ 5.03566701e-01 -8.63916694e-01 -8.27783611e-03 1.04123138e+03] [ 8.63801004e-01 5.03634733e-01 -1.41379668e-02 1.46534047e+02] [ 1.63830313e-02 -3.09938350e-05 9.99865789e-01 7.26993101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters 0.016399394067844606 Centerline is valid? [True, True] Translation: X:1041.26, Y:146.58, Z:7.27 [[ 4.94021630e-01 -8.69407305e-01 -8.57716091e-03 1.04126492e+03] [ 8.69283766e-01 4.94096035e-01 -1.46574864e-02 1.46581408e+02] [ 1.69812669e-02 -2.14871431e-04 9.99855785e-01 7.27014577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.979254154 meters 0.015322859266562482 Centerline is valid? [True, True] Translation: X:1041.30, Y:146.63, Z:7.27 [[ 4.89142398e-01 -8.72164008e-01 -8.34608854e-03 1.04129589e+03] [ 8.72047307e-01 4.89213506e-01 -1.42702738e-02 1.46630964e+02] [ 1.65290384e-02 -2.97988103e-04 9.99863342e-01 7.27424212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.039254154 meters 0.019330774314058597 Centerline is valid? [True, True] Translation: X:1041.33, Y:146.68, Z:7.27 [[ 4.82549716e-01 -8.75830538e-01 -8.16342418e-03 1.04132700e+03] [ 8.75719274e-01 4.82618588e-01 -1.39661049e-02 1.46680524e+02] [ 1.61717614e-02 -4.09527946e-04 9.99869145e-01 7.27393412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters 0.02100327335384863 Centerline is valid? [True, True] Translation: X:1041.36, Y:146.73, Z:7.28 [[ 4.78124541e-01 -8.78259284e-01 -7.58636433e-03 1.04135552e+03] [ 8.78163381e-01 4.78184509e-01 -1.29865934e-02 1.46731224e+02] [ 1.50332781e-02 -4.52858347e-04 9.99886891e-01 7.27565090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters 0.021683802483515653 Centerline is valid? [True, True] Translation: X:1041.38, Y:146.78, Z:7.27 [[ 4.78333142e-01 -8.78140344e-01 -8.18184096e-03 1.04138131e+03] [ 8.78028628e-01 4.78402870e-01 -1.40150725e-02 1.46783839e+02] [ 1.62214168e-02 -4.80016914e-04 9.99868309e-01 7.27476270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.219254154 meters 0.01885627583115772 Centerline is valid? [True, True] Translation: X:1041.40, Y:146.84, Z:7.28 [[ 4.81060392e-01 -8.76647394e-01 -8.38125663e-03 1.04140429e+03] [ 8.76529786e-01 4.81133200e-01 -1.43658815e-02 1.46838417e+02] [ 1.66263134e-02 -4.35564517e-04 9.99861678e-01 7.27629143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.279254154 meters 0.015961401918472586 Centerline is valid? [True, True] Translation: X:1041.43, Y:146.89, Z:7.28 [[ 4.87593058e-01 -8.73031249e-01 -8.33353358e-03 1.04142535e+03] [ 8.72914341e-01 4.87664172e-01 -1.42901489e-02 1.46892169e+02] [ 1.65397123e-02 -3.06683585e-04 9.99863163e-01 7.27906497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters 0.015493615888885605 Centerline is valid? [True, True] Translation: X:1041.44, Y:146.95, Z:7.28 [[ 4.93967166e-01 -8.69438180e-01 -8.58430281e-03 1.04144442e+03] [ 8.69313461e-01 4.94041715e-01 -1.47272214e-02 1.46949232e+02] [ 1.70454123e-02 -1.87686164e-04 9.99854699e-01 7.27909266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters 0.013503771008542984 Centerline is valid? [True, True] Translation: X:1041.46, Y:147.00, Z:7.28 [[ 5.00380566e-01 -8.65765085e-01 -8.37302831e-03 1.04146442e+03] [ 8.65645823e-01 5.00450612e-01 -1.43699122e-02 1.47004382e+02] [ 1.66312554e-02 -5.76521561e-05 9.99861689e-01 7.28070566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.459254154 meters 0.013787878589820468 Centerline is valid? [True, True] Translation: X:1041.49, Y:147.06, Z:7.28 [[ 5.03321966e-01 -8.64063253e-01 -7.85456341e-03 1.04148831e+03] [ 8.63958000e-01 5.03383249e-01 -1.34862484e-02 1.47057910e+02] [ 1.56068273e-02 1.91217489e-06 9.99878206e-01 7.28119632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.519254154 meters 0.013405098022770442 Centerline is valid? [True, True] Translation: X:1041.51, Y:147.11, Z:7.28 [[ 5.06735508e-01 -8.62070533e-01 -7.31578786e-03 1.04151238e+03] [ 8.61978900e-01 5.06788311e-01 -1.25691561e-02 1.47111641e+02] [ 1.45430549e-02 6.31829319e-05 9.99894242e-01 7.28405658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters 0.015983827778500197 Centerline is valid? [True, True] Translation: X:1041.54, Y:147.17, Z:7.28 [[ 5.09265970e-01 -8.60576961e-01 -7.44757089e-03 1.04153637e+03] [ 8.60481719e-01 5.09320412e-01 -1.28034989e-02 1.47165771e+02] [ 1.48115960e-02 1.11887666e-04 9.99890296e-01 7.28214627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters 0.013705037359578768 Centerline is valid? [True, True] Translation: X:1041.56, Y:147.22, Z:7.29 [[ 5.11736279e-01 -8.59112013e-01 -7.24782755e-03 1.04156214e+03] [ 8.59021559e-01 5.11787579e-01 -1.24673469e-02 1.47218599e+02] [ 1.44201956e-02 1.53953585e-04 9.99896012e-01 7.28546767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.699254154 meters 0.01785187237282267 Centerline is valid? [True, True] Translation: X:1041.59, Y:147.27, Z:7.28 [[ 5.11925603e-01 -8.58992418e-01 -8.01267421e-03 1.04158891e+03] [ 8.58881751e-01 5.11988276e-01 -1.37892311e-02 1.47270373e+02] [ 1.59472402e-02 1.77120807e-04 9.99872819e-01 7.28105087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.759254154 meters 0.015690735351876418 Centerline is valid? [True, True] Translation: X:1041.62, Y:147.32, Z:7.28 [[ 5.12196154e-01 -8.58829744e-01 -8.15911497e-03 1.04161727e+03] [ 8.58714866e-01 5.12261101e-01 -1.40479174e-02 1.47321563e+02] [ 1.62443665e-02 1.88935958e-04 9.99868034e-01 7.28283045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.819254154 meters 0.013856771276315506 Centerline is valid? [True, True] Translation: X:1041.65, Y:147.37, Z:7.29 [[ 5.11597120e-01 -8.59186055e-01 -8.22855784e-03 1.04164733e+03] [ 8.59069109e-01 5.11663257e-01 -1.41766513e-02 1.47371283e+02] [ 1.63906318e-02 1.83834145e-04 9.99865648e-01 7.28596605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters 0.017519586979341417 Centerline is valid? [True, True] Translation: X:1041.68, Y:147.42, Z:7.28 [[ 5.09318717e-01 -8.60534918e-01 -8.60806774e-03 1.04167873e+03] [ 8.60406965e-01 5.09391433e-01 -1.48399323e-02 1.47421511e+02] [ 1.71551559e-02 1.51813831e-04 9.99852828e-01 7.28267833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.939254154 meters 0.013923036491655858 Centerline is valid? [True, True] Translation: X:1041.71, Y:147.47, Z:7.29 [[ 5.07697273e-01 -8.61498895e-01 -7.94562742e-03 1.04170991e+03] [ 8.61389893e-01 5.07759432e-01 -1.37044525e-02 1.47469700e+02] [ 1.58408380e-02 1.13430034e-04 9.99874520e-01 7.28699824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.999254154 meters 0.017918535584805644 Centerline is valid? [True, True] Translation: X:1041.74, Y:147.52, Z:7.28 [[ 5.05208930e-01 -8.62959029e-01 -8.10251415e-03 1.04174255e+03] [ 8.62845739e-01 5.05273895e-01 -1.39829320e-02 1.47517553e+02] [ 1.61606863e-02 7.30823299e-05 9.99869405e-01 7.28457292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.059254154 meters 0.016868276616693156 Centerline is valid? [True, True] Translation: X:1041.77, Y:147.57, Z:7.29 [[ 5.04449582e-01 -8.63405365e-01 -7.86103867e-03 1.04177360e+03] [ 8.63298653e-01 5.04510825e-01 -1.35743634e-02 1.47565593e+02] [ 1.56861572e-02 6.11578241e-05 9.99876963e-01 7.28596915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters 0.014451049604037328 Centerline is valid? [True, True] Translation: X:1041.80, Y:147.61, Z:7.29 [[ 5.05664293e-01 -8.62699946e-01 -7.24050647e-03 1.04180487e+03] [ 8.62609235e-01 5.05716122e-01 -1.25104846e-02 1.47614075e+02] [ 1.44544353e-02 8.03776201e-05 9.99895526e-01 7.29044419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters 0.016412820116993136 Centerline is valid? [True, True] Translation: X:1041.84, Y:147.66, Z:7.29 [[ 5.05532369e-01 -8.62777506e-01 -7.21110962e-03 1.04183596e+03] [ 8.62687414e-01 5.05583791e-01 -1.24682299e-02 1.47663688e+02] [ 1.44031284e-02 8.21602615e-05 9.99896266e-01 7.29021638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.239254154 meters 0.01553518053429687 Centerline is valid? [True, True] Translation: X:1041.87, Y:147.71, Z:7.29 [[ 5.06112027e-01 -8.62440620e-01 -6.84052221e-03 1.04186571e+03] [ 8.62359437e-01 5.06158245e-01 -1.18335629e-02 1.47712396e+02] [ 1.36681320e-02 9.01196054e-05 9.99906583e-01 7.29152219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.299254154 meters 0.01327621187814429 Centerline is valid? [True, True] Translation: X:1041.90, Y:147.76, Z:7.29 [[ 5.08163857e-01 -8.61236084e-01 -6.47317855e-03 1.04189596e+03] [ 8.61163216e-01 5.08205070e-01 -1.12036615e-02 1.47762600e+02] [ 1.29386997e-02 1.18832582e-04 9.99916284e-01 7.29456307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters 0.01739241573589179 Centerline is valid? [True, True] Translation: X:1041.93, Y:147.81, Z:7.29 [[ 5.09340158e-01 -8.60534341e-01 -7.29739253e-03 1.04192671e+03] [ 8.60441542e-01 5.09392406e-01 -1.26383922e-02 1.47812819e+02] [ 1.45930068e-02 1.58260993e-04 9.99893504e-01 7.29069907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters 0.015457334389261619 Centerline is valid? [True, True] Translation: X:1041.96, Y:147.86, Z:7.29 [[ 5.11435614e-01 -8.59295430e-01 -6.70652758e-03 1.04195876e+03] [ 8.59216856e-01 5.11479552e-01 -1.16216536e-02 1.47862712e+02] [ 1.34166855e-02 1.81365987e-04 9.99909976e-01 7.29312176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.479254154 meters 0.017750049195773315 Centerline is valid? [True, True] Translation: X:1041.99, Y:147.91, Z:7.29 [[ 5.12752670e-01 -8.58507013e-01 -7.09986856e-03 1.04199045e+03] [ 8.58418793e-01 5.12801776e-01 -1.23090907e-02 1.47911507e+02] [ 1.42082659e-02 2.16858522e-04 9.99899034e-01 7.29196783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.539254154 meters 0.017997761297436247 Centerline is valid? [True, True] Translation: X:1042.02, Y:147.96, Z:7.29 [[ 5.13599484e-01 -8.58004750e-01 -6.58927449e-03 1.04202301e+03] [ 8.57928650e-01 5.13641706e-01 -1.14293186e-02 1.47959973e+02] [ 1.31909358e-02 2.16964760e-04 9.99912972e-01 7.29272348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters 0.01808031952486211 Centerline is valid? [True, True] Translation: X:1042.06, Y:148.01, Z:7.29 [[ 5.14702523e-01 -8.57344122e-01 -6.50920114e-03 1.04205552e+03] [ 8.57269717e-01 5.14743628e-01 -1.12973905e-02 1.48009256e+02] [ 1.30363211e-02 2.34654363e-04 9.99914996e-01 7.29233657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters 0.018387626220498887 Centerline is valid? [True, True] Translation: X:1042.09, Y:148.06, Z:7.29 [[ 5.18026642e-01 -8.55330262e-01 -7.65120487e-03 1.04208981e+03] [ 8.55227108e-01 5.18083031e-01 -1.32878756e-02 1.48057413e+02] [ 1.53294815e-02 3.39955758e-04 9.99882439e-01 7.29154520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.719254154 meters 0.016364459544930817 Centerline is valid? [True, True] Translation: X:1042.12, Y:148.11, Z:7.29 [[ 5.19821395e-01 -8.54241604e-01 -7.54982931e-03 1.04212081e+03] [ 8.54140933e-01 5.19876086e-01 -1.31195270e-02 1.48107937e+02] [ 1.51322215e-02 3.71192574e-04 9.99885432e-01 7.29450676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.779254154 meters 0.01995506098302329 Centerline is valid? [True, True] Translation: X:1042.15, Y:148.16, Z:7.29 [[ 5.21576608e-01 -8.53163868e-01 -8.32210116e-03 1.04215211e+03] [ 8.53041310e-01 5.21642805e-01 -1.44674515e-02 1.48156225e+02] [ 1.66842711e-02 4.46788191e-04 9.99860708e-01 7.29101384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters 0.022080847916467767 Centerline is valid? [True, True] Translation: X:1042.18, Y:148.21, Z:7.29 [[ 5.22791410e-01 -8.52413827e-01 -8.93364745e-03 1.04218411e+03] [ 8.52272382e-01 5.22867488e-01 -1.55363043e-02 1.48205000e+02] [ 1.79144744e-02 5.08345440e-04 9.99839394e-01 7.28955318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters 0.022225102280041202 Centerline is valid? [True, True] Translation: X:1042.22, Y:148.25, Z:7.29 [[ 5.22558166e-01 -8.52554424e-01 -9.16069856e-03 1.04221834e+03] [ 8.52405552e-01 5.22638195e-01 -1.59402531e-02 1.48251914e+02] [ 1.83776642e-02 5.21079082e-04 9.99830981e-01 7.28971180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.959254154 meters 0.017812030225064012 Centerline is valid? [True, True] Translation: X:1042.26, Y:148.30, Z:7.30 [[ 5.21919412e-01 -8.52956288e-01 -8.10544155e-03 1.04225543e+03] [ 8.52839691e-01 5.21982152e-01 -1.41100661e-02 1.48299057e+02] [ 1.62661654e-02 4.51675136e-04 9.99867595e-01 7.29612981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.019254154 meters 0.021031723190748468 Centerline is valid? [True, True] Translation: X:1042.29, Y:148.35, Z:7.30 [[ 5.21640456e-01 -8.53134536e-01 -7.25930091e-03 1.04228606e+03] [ 8.53040954e-01 5.21690810e-01 -1.26423972e-02 1.48347613e+02] [ 1.45727762e-02 4.02304863e-04 9.99893731e-01 7.29632983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters 0.015961365592079786 Centerline is valid? [True, True] Translation: X:1042.33, Y:148.39, Z:7.30 [[ 5.17630997e-01 -8.55570696e-01 -7.54552173e-03 1.04232600e+03] [ 8.55469724e-01 5.17685871e-01 -1.31487928e-02 1.48391756e+02] [ 1.51559318e-02 3.51257307e-04 9.99885081e-01 7.29830136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters 0.01462823635246982 Centerline is valid? [True, True] Translation: X:1042.36, Y:148.44, Z:7.30 [[ 5.11980521e-01 -8.58962018e-01 -7.75868092e-03 1.04236026e+03] [ 8.58855508e-01 5.12039239e-01 -1.35290277e-02 1.48439100e+02] [ 1.55936701e-02 2.63012839e-04 9.99878377e-01 7.29850864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.199254154 meters 0.01492552079893835 Centerline is valid? [True, True] Translation: X:1042.40, Y:148.48, Z:7.30 [[ 5.02381156e-01 -8.64614201e-01 -7.44697716e-03 1.04239894e+03] [ 8.64516566e-01 5.02436339e-01 -1.29935664e-02 1.48483946e+02] [ 1.49760539e-02 8.96877720e-05 9.99887849e-01 7.29762694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.259254154 meters 0.012876641927428404 Centerline is valid? [True, True] Translation: X:1042.43, Y:148.53, Z:7.30 [[ 4.97851142e-01 -8.67240053e-01 -6.23943203e-03 1.04243266e+03] [ 8.67171644e-01 4.97890239e-01 -1.08926026e-02 1.48532172e+02] [ 1.25530535e-02 1.22361023e-05 9.99921207e-01 7.30253019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.319254154 meters 0.015046984842656217 Centerline is valid? [True, True] Translation: X:1042.46, Y:148.58, Z:7.30 [[ 4.98113178e-01 -8.67087322e-01 -6.54510087e-03 1.04245908e+03] [ 8.67011938e-01 4.98156176e-01 -1.14334588e-02 1.48583705e+02] [ 1.31742896e-02 2.04759086e-05 9.99913215e-01 7.29962997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters 0.012895171294358654 Centerline is valid? [True, True] Translation: X:1042.49, Y:148.63, Z:7.30 [[ 4.98363194e-01 -8.66943140e-01 -6.61202433e-03 1.04248719e+03] [ 8.66866092e-01 4.98407054e-01 -1.15580380e-02 1.48634028e+02] [ 1.33156413e-02 2.83610569e-05 9.99911343e-01 7.30185989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.439254154 meters 0.013017325535783488 Centerline is valid? [True, True] Translation: X:1042.51, Y:148.68, Z:7.30 [[ 4.99269156e-01 -8.66416045e-01 -7.31756913e-03 1.04251462e+03] [ 8.66321513e-01 4.99322776e-01 -1.27984793e-02 1.48684691e+02] [ 1.47426367e-02 5.05183915e-05 9.99891320e-01 7.30055947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.499254154 meters 0.01347854729713327 Centerline is valid? [True, True] Translation: X:1042.54, Y:148.74, Z:7.30 [[ 5.00322110e-01 -8.65805086e-01 -7.70320574e-03 1.04254082e+03] [ 8.65700136e-01 5.00381402e-01 -1.34806428e-02 1.48737305e+02] [ 1.55261500e-02 7.59973895e-05 9.99879459e-01 7.30021100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.559254154 meters 0.013088449586917253 Centerline is valid? [True, True] Translation: X:1042.57, Y:148.79, Z:7.30 [[ 5.00341381e-01 -8.65796823e-01 -7.37323726e-03 1.04256697e+03] [ 8.65700550e-01 5.00395699e-01 -1.29112777e-02 1.48788071e+02] [ 1.48680795e-02 7.70309723e-05 9.99889461e-01 7.30116373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters 0.01301978148065172 Centerline is valid? [True, True] Translation: X:1042.59, Y:148.84, Z:7.30 [[ 4.99526813e-01 -8.66271834e-01 -6.78770348e-03 1.04259431e+03] [ 8.66190190e-01 4.99572923e-01 -1.18932581e-02 1.48839805e+02] [ 1.36937474e-02 6.15591678e-05 9.99906234e-01 7.30271738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters 0.012904728709096126 Centerline is valid? [True, True] Translation: X:1042.62, Y:148.89, Z:7.30 [[ 4.97925645e-01 -8.67201759e-01 -5.58220400e-03 1.04262191e+03] [ 8.67146533e-01 4.97956934e-01 -9.78680437e-03 1.48891206e+02] [ 1.12668312e-02 3.25120314e-05 9.99936527e-01 7.30389573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.739254154 meters 0.012868548945046979 Centerline is valid? [True, True] Translation: X:1042.65, Y:148.94, Z:7.30 [[ 4.96653736e-01 -8.67931739e-01 -5.43720716e-03 1.04264884e+03] [ 8.67879323e-01 4.96683497e-01 -9.53855388e-03 1.48941265e+02] [ 1.09793847e-02 1.85187518e-05 9.99939725e-01 7.30363080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.799254154 meters 0.015973396258091126 Centerline is valid? [True, True] Translation: X:1042.68, Y:148.99, Z:7.30 [[ 4.96182948e-01 -8.68189563e-01 -7.02600187e-03 1.04267714e+03] [ 8.68101943e-01 4.96232690e-01 -1.23342973e-02 1.48992424e+02] [ 1.41950400e-02 2.07821383e-05 9.99899245e-01 7.29956598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters 0.016250828701735533 Centerline is valid? [True, True] Translation: X:1042.70, Y:149.04, Z:7.30 [[ 4.97804675e-01 -8.67254685e-01 -7.73411293e-03 1.04270308e+03] [ 8.67148260e-01 4.97864748e-01 -1.35862766e-02 1.49044624e+02] [ 1.56333042e-02 5.66894346e-05 9.99877791e-01 7.29859835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters 0.01733153832997582 Centerline is valid? [True, True] Translation: X:1042.73, Y:149.10, Z:7.30 [[ 4.99337545e-01 -8.66377045e-01 -7.26863419e-03 1.04272960e+03] [ 8.66282832e-01 4.99390438e-01 -1.27767363e-02 1.49096882e+02] [ 1.46993574e-02 8.32111206e-05 9.99891955e-01 7.29859793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.979254154 meters 0.017056914830884694 Centerline is valid? [True, True] Translation: X:1042.76, Y:149.15, Z:7.30 [[ 4.99983495e-01 -8.66008682e-01 -6.74302052e-03 1.04275821e+03] [ 8.65927465e-01 5.00028954e-01 -1.18604720e-02 1.49147282e+02] [ 1.36429772e-02 9.10735812e-05 9.99906926e-01 7.29901145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.039254154 meters 0.013781842245163494 Centerline is valid? [True, True] Translation: X:1042.79, Y:149.20, Z:7.30 [[ 5.01919100e-01 -8.64890795e-01 -6.41332891e-03 1.04278681e+03] [ 8.64817141e-01 5.01960057e-01 -1.12877494e-02 1.49197767e+02] [ 1.29819055e-02 1.19180246e-04 9.99915724e-01 7.30328216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters 0.01436175241456577 Centerline is valid? [True, True] Translation: X:1042.81, Y:149.25, Z:7.30 [[ 5.05274049e-01 -8.62932298e-01 -6.78120218e-03 1.04281361e+03] [ 8.62849671e-01 5.05319519e-01 -1.19427238e-02 1.49250189e+02] [ 1.37324359e-02 1.83190353e-04 9.99905689e-01 7.30185398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters 0.015368227077894748 Centerline is valid? [True, True] Translation: X:1042.84, Y:149.30, Z:7.30 [[ 5.09099378e-01 -8.60677758e-01 -7.18470154e-03 1.04284037e+03] [ 8.60584669e-01 5.09150005e-01 -1.26609394e-02 1.49302440e+02] [ 1.45550798e-02 2.62632400e-04 9.99894035e-01 7.30111516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.219254154 meters 0.019250778310743972 Centerline is valid? [True, True] Translation: X:1042.87, Y:149.35, Z:7.30 [[ 5.11321581e-01 -8.59356542e-01 -7.52154993e-03 1.04286832e+03] [ 8.59254255e-01 5.11376800e-01 -1.32624844e-02 1.49354745e+02] [ 1.52435489e-02 3.18470723e-04 9.99883760e-01 7.29758506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.279254154 meters 0.015637202135879248 Centerline is valid? [True, True] Translation: X:1042.90, Y:149.40, Z:7.30 [[ 5.11554846e-01 -8.59220957e-01 -7.14053480e-03 1.04289941e+03] [ 8.59128642e-01 5.11604585e-01 -1.25986187e-02 1.49403933e+02] [ 1.44781276e-02 3.10246475e-04 9.99895138e-01 7.30186328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters 0.015614395458011346 Centerline is valid? [True, True] Translation: X:1042.93, Y:149.45, Z:7.30 [[ 5.10124114e-01 -8.60072021e-01 -7.03616704e-03 1.04292963e+03] [ 8.59982346e-01 5.10172556e-01 -1.24228412e-02 1.49453449e+02] [ 1.42741974e-02 2.86211407e-04 9.99898077e-01 7.30289053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters 0.015445199852812029 Centerline is valid? [True, True] Translation: X:1042.96, Y:149.50, Z:7.30 [[ 5.08472115e-01 -8.61051770e-01 -6.77924933e-03 1.04296044e+03] [ 8.60968510e-01 5.08517242e-01 -1.19766007e-02 1.49503513e+02] [ 1.37598384e-02 2.53047288e-04 9.99905297e-01 7.30386404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.459254154 meters 0.018237721126753075 Centerline is valid? [True, True] Translation: X:1042.99, Y:149.55, Z:7.30 [[ 5.06564095e-01 -8.62168358e-01 -7.65116237e-03 1.04299031e+03] [ 8.62062291e-01 5.06621808e-01 -1.35258899e-02 1.49553776e+02] [ 1.55378400e-02 2.55951605e-04 9.99879248e-01 7.29878553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.519254154 meters 0.015032497621224482 Centerline is valid? [True, True] Translation: X:1043.02, Y:149.60, Z:7.30 [[ 5.05646109e-01 -8.62706558e-01 -7.70761617e-03 1.04302159e+03] [ 8.62598840e-01 5.05704789e-01 -1.36347677e-02 1.49602749e+02] [ 1.56605819e-02 2.45786461e-04 9.99877335e-01 7.30308969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters 0.018550315785947173 Centerline is valid? [True, True] Translation: X:1043.05, Y:149.65, Z:7.30 [[ 5.05252129e-01 -8.62936092e-01 -7.84776539e-03 1.04304829e+03] [ 8.62824307e-01 5.05313012e-01 -1.38915230e-02 1.49652731e+02] [ 1.59530745e-02 2.47478818e-04 9.99872711e-01 7.30056124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters 0.015502689171299664 Centerline is valid? [True, True] Translation: X:1043.08, Y:149.70, Z:7.30 [[ 5.04260541e-01 -8.63526364e-01 -6.59733504e-03 1.04307693e+03] [ 8.63447331e-01 5.04303659e-01 -1.16844829e-02 1.49704557e+02] [ 1.34169192e-02 1.95572343e-04 9.99909970e-01 7.30470968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.699254154 meters 0.016595257693438142 Centerline is valid? [True, True] Translation: X:1043.11, Y:149.75, Z:7.30 [[ 4.99955632e-01 -8.66021821e-01 -7.11141086e-03 1.04310775e+03] [ 8.65930129e-01 5.00006186e-01 -1.26025813e-02 1.49754717e+02] [ 1.44698598e-02 1.42746552e-04 9.99895296e-01 7.30234779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.759254154 meters 0.016300637619943124 Centerline is valid? [True, True] Translation: X:1043.14, Y:149.80, Z:7.30 [[ 4.91738173e-01 -8.70711593e-01 -7.40882556e-03 1.04314120e+03] [ 8.70612477e-01 4.91793983e-01 -1.31374555e-02 1.49803878e+02] [ 1.50825507e-02 9.97241496e-06 9.99886252e-01 7.30232213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.819254154 meters 0.016138308695579424 Centerline is valid? [True, True] Translation: X:1043.17, Y:149.85, Z:7.30 [[ 4.86022775e-01 -8.73913234e-01 -7.58430098e-03 1.04317217e+03] [ 8.73809623e-01 4.86081939e-01 -1.34570065e-02 1.49853581e+02] [ 1.54468478e-02 -8.68235364e-05 9.99880687e-01 7.30322574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters 0.017594903950971626 Centerline is valid? [True, True] Translation: X:1043.20, Y:149.90, Z:7.30 [[ 4.81447552e-01 -8.76442898e-01 -7.49005167e-03 1.04320280e+03] [ 8.76342024e-01 4.81505784e-01 -1.32979900e-02 1.49902102e+02] [ 1.52614321e-02 -1.61562278e-04 9.99883525e-01 7.30263435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.939254154 meters 0.015012038541998037 Centerline is valid? [True, True] Translation: X:1043.23, Y:149.95, Z:7.31 [[ 4.79629103e-01 -8.77441500e-01 -7.23441432e-03 1.04323207e+03] [ 8.77347392e-01 4.79683625e-01 -1.28519607e-02 1.49952402e+02] [ 1.47470738e-02 -1.82920135e-04 9.99891239e-01 7.30663988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.999254154 meters 0.016579872940549856 Centerline is valid? [True, True] Translation: X:1043.26, Y:150.01, Z:7.30 [[ 4.78815167e-01 -8.77880575e-01 -7.85699081e-03 1.04325807e+03] [ 8.77769491e-01 4.78879581e-01 -1.39666908e-02 1.50005230e+02] [ 1.60236390e-02 -2.09163412e-04 9.99871591e-01 7.30469712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.059254154 meters 0.014413940185248194 Centerline is valid? [True, True] Translation: X:1043.28, Y:150.06, Z:7.31 [[ 4.81047318e-01 -8.76658017e-01 -8.01238154e-03 1.04328433e+03] [ 8.76542182e-01 4.81114012e-01 -1.42517126e-02 1.50057198e+02] [ 1.63487471e-02 -1.67442286e-04 9.99866336e-01 7.30683793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters 0.014284825991448789 Centerline is valid? [True, True] Translation: X:1043.31, Y:150.11, Z:7.31 [[ 4.85901922e-01 -8.73968977e-01 -8.80622051e-03 1.04330747e+03] [ 8.73828415e-01 4.85981709e-01 -1.56741756e-02 1.50111014e+02] [ 1.79784053e-02 -7.90136463e-05 9.99838372e-01 7.30548998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters 0.016843091691738588 Centerline is valid? [True, True] Translation: X:1043.33, Y:150.17, Z:7.30 [[ 4.95319071e-01 -8.68664586e-01 -8.99192832e-03 1.04332623e+03] [ 8.68516951e-01 4.95400668e-01 -1.60151312e-02 1.50167456e+02] [ 1.83663846e-02 1.22957754e-04 9.99831316e-01 7.30493943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.239254154 meters 0.016628153864270523 Centerline is valid? [True, True] Translation: X:1043.35, Y:150.22, Z:7.31 [[ 5.02551707e-01 -8.64510549e-01 -7.95569103e-03 1.04334772e+03] [ 8.64394321e-01 5.02614614e-01 -1.41777494e-02 1.50222609e+02] [ 1.62554605e-02 2.48198026e-04 9.99867840e-01 7.30851327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.299254154 meters 0.01567307619719333 Centerline is valid? [True, True] Translation: X:1043.37, Y:150.28, Z:7.31 [[ 5.04725677e-01 -8.63249077e-01 -7.28158897e-03 1.04337433e+03] [ 8.63151472e-01 5.04778129e-01 -1.29837160e-02 1.50275400e+02] [ 1.48837677e-02 2.68100628e-04 9.99889195e-01 7.31163758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters 0.01967606622943016 Centerline is valid? [True, True] Translation: X:1043.40, Y:150.33, Z:7.31 [[ 5.09815978e-01 -8.60251635e-01 -7.40221715e-03 1.04339672e+03] [ 8.60150330e-01 5.09869582e-01 -1.32068137e-02 1.50329632e+02] [ 1.51353485e-02 3.66025145e-04 9.99885387e-01 7.31018543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters 0.021268433345984085 Centerline is valid? [True, True] Translation: X:1043.42, Y:150.39, Z:7.31 [[ 5.16532612e-01 -8.56235347e-01 -7.42236947e-03 1.04341615e+03] [ 8.56132944e-01 5.16585705e-01 -1.32511083e-02 1.50386089e+02] [ 1.51803573e-02 4.90094563e-04 9.99884652e-01 7.31093072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.479254154 meters 0.02344289120177117 Centerline is valid? [True, True] Translation: X:1043.44, Y:150.44, Z:7.31 [[ 5.18918012e-01 -8.54779612e-01 -8.71278402e-03 1.04344078e+03] [ 8.54638119e-01 5.18990769e-01 -1.55649519e-02 1.50439661e+02] [ 1.78264580e-02 6.30656534e-04 9.99840897e-01 7.30819685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.539254154 meters 0.022605016170828156 Centerline is valid? [True, True] Translation: X:1043.47, Y:150.49, Z:7.31 [[ 5.17256744e-01 -8.55782374e-01 -9.05477406e-03 1.04347128e+03] [ 8.55629524e-01 5.17335615e-01 -1.61857718e-02 1.50489975e+02] [ 1.85358554e-02 6.24667631e-04 9.99828001e-01 7.30852080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters 0.01970556338372864 Centerline is valid? [True, True] Translation: X:1043.50, Y:150.54, Z:7.31 [[ 5.12143128e-01 -8.58855223e-01 -8.78194247e-03 1.04350281e+03] [ 8.58711705e-01 5.12218168e-01 -1.57084400e-02 1.50538629e+02] [ 1.79895463e-02 5.03812819e-04 9.99838048e-01 7.31074949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters 0.019063421053685563 Centerline is valid? [True, True] Translation: X:1043.53, Y:150.59, Z:7.31 [[ 5.07579810e-01 -8.61553388e-01 -9.40725675e-03 1.04353236e+03] [ 8.61389019e-01 5.07666785e-01 -1.68342767e-02 1.50587552e+02] [ 1.92793799e-02 4.41431278e-04 9.99814038e-01 7.31051332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.719254154 meters 0.019143478686045285 Centerline is valid? [True, True] Translation: X:1043.56, Y:150.64, Z:7.31 [[ 5.04188545e-01 -8.63524486e-01 -1.09258185e-02 1.04356151e+03] [ 8.63302973e-01 5.04306729e-01 -1.95627218e-02 1.50637999e+02] [ 2.24028531e-02 4.31008632e-04 9.99748932e-01 7.30886081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.779254154 meters 0.014777345585798742 Centerline is valid? [True, True] Translation: X:1043.59, Y:150.69, Z:7.31 [[ 5.00948910e-01 -8.65398407e-01 -1.16527367e-02 1.04359072e+03] [ 8.65146612e-01 5.01084279e-01 -2.08778736e-02 1.50689027e+02] [ 2.39066818e-02 3.77422328e-04 9.99714123e-01 7.31212345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters 0.016377737212523818 Centerline is valid? [True, True] Translation: X:1043.62, Y:150.74, Z:7.31 [[ 4.96598913e-01 -8.67900150e-01 -1.17833796e-02 1.04361937e+03] [ 8.67643206e-01 4.96738623e-01 -2.11189156e-02 1.50739139e+02] [ 2.41823697e-02 2.63861304e-04 9.99707529e-01 7.31138176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters 0.015228750277446712 Centerline is valid? [True, True] Translation: X:1043.65, Y:150.79, Z:7.32 [[ 4.93085376e-01 -8.69908991e-01 -1.11875072e-02 1.04364930e+03] [ 8.69677670e-01 4.93212248e-01 -2.00606258e-02 1.50789850e+02] [ 2.29687343e-02 1.62076050e-04 9.99736171e-01 7.31596558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.959254154 meters 0.01842386223139577 Centerline is valid? [True, True] Translation: X:1043.68, Y:150.84, Z:7.32 [[ 4.91466822e-01 -8.70822210e-01 -1.13596241e-02 1.04367575e+03] [ 8.70583644e-01 4.91598069e-01 -2.03827628e-02 1.50841284e+02] [ 2.33341318e-02 1.27948679e-04 9.99727714e-01 7.31610314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.019254154 meters 0.01820986853738126 Centerline is valid? [True, True] Translation: X:1043.70, Y:150.89, Z:7.32 [[ 4.93589690e-01 -8.69633295e-01 -1.03513531e-02 1.04369932e+03] [ 8.69434680e-01 4.93698190e-01 -1.85858587e-02 1.50894643e+02] [ 2.12733258e-02 1.73962835e-04 9.99773682e-01 7.31892270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters 0.018188692060824702 Centerline is valid? [True, True] Translation: X:1043.72, Y:150.95, Z:7.32 [[ 4.97213532e-01 -8.67568899e-01 -1.01444195e-02 1.04372212e+03] [ 8.67377481e-01 4.97316938e-01 -1.82255020e-02 1.50948980e+02] [ 2.08568704e-02 2.62925217e-04 9.99782437e-01 7.32051936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters 0.018727706227290777 Centerline is valid? [True, True] Translation: X:1043.75, Y:151.00, Z:7.32 [[ 5.00399885e-01 -8.65744135e-01 -9.32995042e-03 1.04374532e+03] [ 8.65581717e-01 5.00486756e-01 -1.67719338e-02 1.51003610e+02] [ 1.91897200e-02 3.16839245e-04 9.99815810e-01 7.32252472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.199254154 meters 0.015583663244887521 Centerline is valid? [True, True] Translation: X:1043.77, Y:151.06, Z:7.33 [[ 5.02010665e-01 -8.64832301e-01 -7.09808570e-03 1.04376998e+03] [ 8.64738098e-01 5.02060771e-01 -1.27673266e-02 1.51056584e+02] [ 1.46052668e-02 2.71348987e-04 9.99893301e-01 7.32767724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.259254154 meters 0.017704549295368147 Centerline is valid? [True, True] Translation: X:1043.80, Y:151.11, Z:7.33 [[ 5.00995832e-01 -8.65422985e-01 -6.79947964e-03 1.04379607e+03] [ 8.65336481e-01 5.01041910e-01 -1.22384587e-02 1.51109230e+02] [ 1.39982678e-02 2.47579033e-04 9.99901989e-01 7.32628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.319254154 meters 0.019109780083228806 Centerline is valid? [True, True] Translation: X:1043.82, Y:151.16, Z:7.32 [[ 4.98150381e-01 -8.67060835e-01 -7.19067529e-03 1.04382338e+03] [ 8.66964135e-01 4.98202229e-01 -1.29509964e-02 1.51161199e+02] [ 1.48117122e-02 2.17486231e-04 9.99890277e-01 7.32368663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters 0.01714669219663426 Centerline is valid? [True, True] Translation: X:1043.85, Y:151.21, Z:7.32 [[ 4.94540800e-01 -8.69110937e-01 -8.69350698e-03 1.04385213e+03] [ 8.68969709e-01 4.94617167e-01 -1.56685550e-02 1.51211915e+02] [ 1.79176703e-02 1.94345483e-04 9.99839447e-01 7.32194382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.439254154 meters 0.01868161148870406 Centerline is valid? [True, True] Translation: X:1043.88, Y:151.26, Z:7.32 [[ 4.90665673e-01 -8.71283911e-01 -1.05614532e-02 1.04388088e+03] [ 8.71075668e-01 4.90779304e-01 -1.90487698e-02 1.51262963e+02] [ 2.17802293e-02 1.46752598e-04 9.99762772e-01 7.31880097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.499254154 meters 0.01686275143904643 Centerline is valid? [True, True] Translation: X:1043.91, Y:151.31, Z:7.32 [[ 4.87101400e-01 -8.73284015e-01 -1.03564177e-02 1.04390938e+03] [ 8.73083976e-01 4.87211479e-01 -1.86907880e-02 1.51314341e+02] [ 2.13681320e-02 6.22866356e-05 9.99771673e-01 7.31967017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.559254154 meters 0.017123405951527233 Centerline is valid? [True, True] Translation: X:1043.94, Y:151.37, Z:7.32 [[ 4.84747731e-01 -8.74593065e-01 -1.03251064e-02 1.04393776e+03] [ 8.74394262e-01 4.84857681e-01 -1.86468412e-02 1.51365056e+02] [ 2.13146052e-02 1.08001828e-05 9.99772818e-01 7.32070610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters 0.018244423992857545 Centerline is valid? [True, True] Translation: X:1043.97, Y:151.42, Z:7.32 [[ 4.82288675e-01 -8.75947942e-01 -1.06224623e-02 1.04396563e+03] [ 8.75737556e-01 4.82405639e-01 -1.91971756e-02 1.51415849e+02] [ 2.19400622e-02 -4.39088233e-05 9.99759287e-01 7.32092632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters 0.016783714978289278 Centerline is valid? [True, True] Translation: X:1043.99, Y:151.47, Z:7.32 [[ 4.81838905e-01 -8.76196880e-01 -1.05022578e-02 1.04399210e+03] [ 8.75991005e-01 4.81953344e-01 -1.89929853e-02 1.51468056e+02] [ 2.17031927e-02 -4.83241357e-05 9.99764457e-01 7.32231649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.739254154 meters 0.014881307459362631 Centerline is valid? [True, True] Translation: X:1044.02, Y:151.52, Z:7.33 [[ 4.83807719e-01 -8.75124635e-01 -9.32541531e-03 1.04401553e+03] [ 8.74961922e-01 4.83897585e-01 -1.68749187e-02 1.51522670e+02] [ 1.92802030e-02 4.83261875e-06 9.99814120e-01 7.32539737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.799254154 meters 0.01834542749478986 Centerline is valid? [True, True] Translation: X:1044.04, Y:151.58, Z:7.33 [[ 4.85893891e-01 -8.73967404e-01 -9.38637743e-03 1.04403996e+03] [ 8.73802119e-01 4.85984541e-01 -1.69965433e-02 1.51575947e+02] [ 1.94160591e-02 5.66800636e-05 9.99811489e-01 7.32516612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters 0.01715518246625219 Centerline is valid? [True, True] Translation: X:1044.06, Y:151.63, Z:7.33 [[ 4.87238802e-01 -8.73223012e-01 -8.93984258e-03 1.04406462e+03] [ 8.73072793e-01 4.87320802e-01 -1.61967240e-02 1.51627551e+02] [ 1.84999234e-02 8.65390848e-05 9.99828858e-01 7.32614661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters 0.01808764160743846 Centerline is valid? [True, True] Translation: X:1044.09, Y:151.68, Z:7.33 [[ 4.91471203e-01 -8.70853803e-01 -8.34926883e-03 1.04408633e+03] [ 8.70722339e-01 4.91542090e-01 -1.51321673e-02 1.51682015e+02] [ 1.72819225e-02 1.67129589e-04 9.99850642e-01 7.32627065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.979254154 meters 0.014326556147559118 Centerline is valid? [True, True] Translation: X:1044.11, Y:151.74, Z:7.33 [[ 4.94756465e-01 -8.68999446e-01 -7.48348407e-03 1.04411221e+03] [ 8.68893524e-01 4.94813013e-01 -1.35693152e-02 1.51735464e+02] [ 1.54946527e-02 2.11155575e-04 9.99879928e-01 7.33044083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.039254154 meters 0.01702710477343668 Centerline is valid? [True, True] Translation: X:1044.13, Y:151.79, Z:7.33 [[ 4.99482137e-01 -8.66282505e-01 -8.49807280e-03 1.04413376e+03] [ 8.66145336e-01 4.99554307e-01 -1.54191833e-02 1.51789467e+02] [ 1.76026176e-02 3.41040474e-04 9.99845004e-01 7.32684561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters 0.017206649658937263 Centerline is valid? [True, True] Translation: X:1044.16, Y:151.84, Z:7.33 [[ 5.02843065e-01 -8.64332783e-01 -8.81433752e-03 1.04415748e+03] [ 8.64184795e-01 5.02920130e-01 -1.59994655e-02 1.51842078e+02] [ 1.82617703e-02 4.28003790e-04 9.99833148e-01 7.32687565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters 0.021638001983453302 Centerline is valid? [True, True] Translation: X:1044.19, Y:151.89, Z:7.32 [[ 5.02870794e-01 -8.64306152e-01 -9.78973904e-03 1.04418592e+03] [ 8.64123479e-01 5.02965849e-01 -1.77754721e-02 1.51893067e+02] [ 2.02873543e-02 4.79222394e-04 9.99794076e-01 7.32351788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.219254154 meters 0.02000821744343741 Centerline is valid? [True, True] Translation: X:1044.21, Y:151.95, Z:7.33 [[ 5.02398094e-01 -8.64592916e-01 -8.67430553e-03 1.04421410e+03] [ 8.64449412e-01 5.02472799e-01 -1.57575329e-02 1.51945012e+02] [ 1.79824539e-02 4.18056199e-04 9.99838215e-01 7.32624119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.279254154 meters 0.01713029817449751 Centerline is valid? [True, True] Translation: X:1044.24, Y:152.00, Z:7.33 [[ 5.02739759e-01 -8.64403535e-01 -7.69824301e-03 1.04424351e+03] [ 8.64290354e-01 5.02798551e-01 -1.39929118e-02 1.51995404e+02] [ 1.59661879e-02 3.81275930e-04 9.99872460e-01 7.33047552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters 0.019351566870065073 Centerline is valid? [True, True] Translation: X:1044.27, Y:152.05, Z:7.33 [[ 5.02154561e-01 -8.64740024e-01 -8.09243759e-03 1.04427225e+03] [ 8.64614829e-01 5.02219608e-01 -1.47194600e-02 1.52045967e+02] [ 1.67926871e-02 3.94602443e-04 9.99858915e-01 7.32753016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters 0.020539672271657247 Centerline is valid? [True, True] Translation: X:1044.30, Y:152.10, Z:7.33 [[ 5.02091627e-01 -8.64771850e-01 -8.58176016e-03 1.04430141e+03] [ 8.64630875e-01 5.02164783e-01 -1.56198504e-02 1.52096540e+02] [ 1.78170646e-02 4.22541280e-04 9.99841174e-01 7.32697427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.459254154 meters 0.02010334408354782 Centerline is valid? [True, True] Translation: X:1044.33, Y:152.14, Z:7.33 [[ 5.01659847e-01 -8.65022079e-01 -8.61401748e-03 1.04433491e+03] [ 8.64879889e-01 5.01733621e-01 -1.56892075e-02 1.52144601e+02] [ 1.78934531e-02 4.20554976e-04 9.99839811e-01 7.32787362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.519254154 meters 0.018767635396672748 Centerline is valid? [True, True] Translation: X:1044.37, Y:152.19, Z:7.33 [[ 4.99598394e-01 -8.66216419e-01 -8.40001624e-03 1.04436545e+03] [ 8.66081246e-01 4.99668868e-01 -1.53067961e-02 1.52194153e+02] [ 1.74562247e-02 3.72154228e-04 9.99847559e-01 7.32770808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters 0.019780623650555208 Centerline is valid? [True, True] Translation: X:1044.40, Y:152.24, Z:7.33 [[ 4.96345550e-01 -8.68075470e-01 -9.27755314e-03 1.04439823e+03] [ 8.67910726e-01 4.96432130e-01 -1.69148645e-02 1.52242893e+02] [ 1.92890544e-02 3.43529828e-04 9.99813890e-01 7.32661273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters 0.016998411523290076 Centerline is valid? [True, True] Translation: X:1044.43, Y:152.29, Z:7.33 [[ 4.90400836e-01 -8.71448660e-01 -9.17893461e-03 1.04443303e+03] [ 8.71287778e-01 4.90486684e-01 -1.67457735e-02 1.52290549e+02] [ 1.90952271e-02 2.14647783e-04 9.99817646e-01 7.32804512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.699254154 meters 0.014728179001353262 Centerline is valid? [True, True] Translation: X:1044.47, Y:152.34, Z:7.33 [[ 4.84245397e-01 -8.74887025e-01 -8.89317335e-03 1.04446875e+03] [ 8.74736391e-01 4.84327045e-01 -1.62345290e-02 1.52337997e+02] [ 1.85105831e-02 8.23135819e-05 9.99828661e-01 7.33096333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.759254154 meters 0.0159493928961894 Centerline is valid? [True, True] Translation: X:1044.50, Y:152.39, Z:7.33 [[ 4.81894361e-01 -8.76177547e-01 -9.52525626e-03 1.04449951e+03] [ 8.76004808e-01 4.81988490e-01 -1.73974734e-02 1.52386165e+02] [ 1.98343395e-02 3.95740645e-05 9.99803279e-01 7.32894475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.819254154 meters 0.017796770981826932 Centerline is valid? [True, True] Translation: X:1044.53, Y:152.44, Z:7.33 [[ 4.80866168e-01 -8.76737571e-01 -9.94788865e-03 1.04452960e+03] [ 8.76549057e-01 4.80969055e-01 -1.81801714e-02 1.52435856e+02] [ 2.07238659e-02 2.24169556e-05 9.99785237e-01 7.32857772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters 0.01617245264150323 Centerline is valid? [True, True] Translation: X:1044.56, Y:152.49, Z:7.33 [[ 4.81296549e-01 -8.76502140e-01 -9.88082555e-03 1.04455844e+03] [ 8.76315859e-01 4.81397962e-01 -1.80697904e-02 1.52486588e+02] [ 2.05948192e-02 3.82036348e-05 9.99787903e-01 7.33066394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.939254154 meters 0.018197703722095403 Centerline is valid? [True, True] Translation: X:1044.59, Y:152.54, Z:7.33 [[ 4.82680529e-01 -8.75736402e-01 -1.02597413e-02 1.04458650e+03] [ 8.75535128e-01 4.82789549e-01 -1.87747483e-02 1.52536389e+02] [ 2.13950264e-02 7.94415201e-05 9.99771097e-01 7.32972964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.999254154 meters 0.013760640979759741 Centerline is valid? [True, True] Translation: X:1044.61, Y:152.59, Z:7.34 [[ 4.87009022e-01 -8.73351705e-01 -8.88883192e-03 1.04461293e+03] [ 8.73200039e-01 4.87090106e-01 -1.62763834e-02 1.52588166e+02] [ 1.85446693e-02 1.65017170e-04 9.99828019e-01 7.33622987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.059254154 meters 0.014805407367193036 Centerline is valid? [True, True] Translation: X:1044.64, Y:152.64, Z:7.34 [[ 4.92196812e-01 -8.70444424e-01 -8.29480447e-03 1.04463884e+03] [ 8.70311773e-01 4.92266632e-01 -1.51980796e-02 1.52641408e+02] [ 1.73123391e-02 2.61380361e-04 9.99850096e-01 7.33758221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters 0.0160180270538396 Centerline is valid? [True, True] Translation: X:1044.66, Y:152.69, Z:7.34 [[ 4.97876928e-01 -8.67209312e-01 -8.15929460e-03 1.04466383e+03] [ 8.67080361e-01 4.97943642e-01 -1.49591962e-02 1.52694165e+02] [ 1.70356231e-02 3.73074565e-04 9.99854814e-01 7.33809700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters 0.021379915124915674 Centerline is valid? [True, True] Translation: X:1044.69, Y:152.75, Z:7.33 [[ 5.03188950e-01 -8.64124127e-01 -9.50647406e-03 1.04468914e+03] [ 8.63948279e-01 5.03278427e-01 -1.74412203e-02 1.52747315e+02] [ 1.98557826e-02 5.63127410e-04 9.99802696e-01 7.33403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.239254154 meters 0.02047600756479047 Centerline is valid? [True, True] Translation: X:1044.71, Y:152.80, Z:7.34 [[ 5.09048945e-01 -8.60687539e-01 -9.28070687e-03 1.04471370e+03] [ 8.60519163e-01 5.09133075e-01 -1.70376401e-02 1.52800901e+02] [ 1.93891994e-02 6.86766623e-04 9.99811776e-01 7.33674911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.299254154 meters 0.023890551144968485 Centerline is valid? [True, True] Translation: X:1044.74, Y:152.85, Z:7.33 [[ 5.10342142e-01 -8.59912233e-01 -1.00921042e-02 1.04474037e+03] [ 8.59712739e-01 5.10441315e-01 -1.85383500e-02 1.52852094e+02] [ 2.10927809e-02 7.84590739e-04 9.99777215e-01 7.33289420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters 0.02535483703502402 Centerline is valid? [True, True] Translation: X:1044.77, Y:152.90, Z:7.33 [[ 5.09431824e-01 -8.60452489e-01 -1.00365101e-02 1.04476911e+03] [ 8.60255166e-01 5.09530112e-01 -1.84421747e-02 1.52902429e+02] [ 2.09825193e-02 7.61071013e-04 9.99779553e-01 7.33249657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters 0.021290303562879562 Centerline is valid? [True, True] Translation: X:1044.80, Y:152.95, Z:7.34 [[ 5.08851317e-01 -8.60803925e-01 -9.32414336e-03 1.04480341e+03] [ 8.60633528e-01 5.08936259e-01 -1.71410052e-02 1.52950684e+02] [ 1.95004392e-02 6.97552673e-04 9.99809605e-01 7.33720425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.479254154 meters 0.02310250450024236 Centerline is valid? [True, True] Translation: X:1044.84, Y:153.00, Z:7.34 [[ 5.09766645e-01 -8.60249236e-01 -1.04508596e-02 1.04483525e+03] [ 8.60034785e-01 5.09873115e-01 -1.92243324e-02 1.53000390e+02] [ 2.18663296e-02 8.11820680e-04 9.99760574e-01 7.33550726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.539254154 meters 0.0249977967494271 Centerline is valid? [True, True] Translation: X:1044.86, Y:153.05, Z:7.34 [[ 5.14241878e-01 -8.57591193e-01 -9.62474802e-03 1.04486010e+03] [ 8.57408622e-01 5.14331225e-01 -1.77156760e-02 1.53052689e+02] [ 2.01431161e-02 8.57800541e-04 9.99796739e-01 7.33747947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters 0.02498500819306217 Centerline is valid? [True, True] Translation: X:1044.89, Y:153.10, Z:7.34 [[ 5.16514329e-01 -8.56233808e-01 -8.75290688e-03 1.04489066e+03] [ 8.56082446e-01 5.16587815e-01 -1.61206303e-02 1.53103440e+02] [ 1.83246737e-02 8.33326621e-04 9.99831742e-01 7.33921215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters 0.0251778908658517 Centerline is valid? [True, True] Translation: X:1044.92, Y:153.16, Z:7.34 [[ 5.18319266e-01 -8.55153780e-01 -7.55976220e-03 1.04491842e+03] [ 8.55040633e-01 5.18373841e-01 -1.39311366e-02 1.53155766e+02] [ 1.58320471e-02 7.56872644e-04 9.99874379e-01 7.34276398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.719254154 meters 0.028246800344296028 Centerline is valid? [True, True] Translation: X:1044.95, Y:153.21, Z:7.34 [[ 5.19979890e-01 -8.54139626e-01 -8.14945650e-03 1.04494629e+03] [ 8.54007853e-01 5.20043047e-01 -1.50271876e-02 1.53207558e+02] [ 1.70733846e-02 8.54135514e-04 9.99853874e-01 7.33987376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.779254154 meters 0.028596399245399383 Centerline is valid? [True, True] Translation: X:1044.97, Y:153.26, Z:7.34 [[ 5.22949227e-01 -8.52328946e-01 -7.71195911e-03 1.04497193e+03] [ 8.52210643e-01 5.23005369e-01 -1.42268702e-02 1.53260029e+02] [ 1.61593693e-02 8.67717141e-04 9.99869052e-01 7.34185506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters 0.02998059584491542 Centerline is valid? [True, True] Translation: X:1045.00, Y:153.31, Z:7.34 [[ 5.23432568e-01 -8.52027047e-01 -8.26182432e-03 1.04499988e+03] [ 8.51891098e-01 5.23496915e-01 -1.52491709e-02 1.53311724e+02] [ 1.73177456e-02 9.43738075e-04 9.99849591e-01 7.33950448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters 0.02953858332356335 Centerline is valid? [True, True] Translation: X:1045.03, Y:153.36, Z:7.34 [[ 5.23653462e-01 -8.51895711e-01 -7.79413529e-03 1.04502770e+03] [ 8.51774559e-01 5.23710692e-01 -1.43948327e-02 1.53362973e+02] [ 1.63447683e-02 8.99057842e-04 9.99866011e-01 7.34191169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.959254154 meters 0.030095247290953368 Centerline is valid? [True, True] Translation: X:1045.06, Y:153.41, Z:7.34 [[ 5.22488004e-01 -8.52611490e-01 -7.74161192e-03 1.04505639e+03] [ 8.52491901e-01 5.22544620e-01 -1.43066141e-02 1.53414120e+02] [ 1.62433212e-02 8.75372760e-04 9.99867685e-01 7.34194974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.019254154 meters 0.029257377159825036 Centerline is valid? [True, True] Translation: X:1045.09, Y:153.46, Z:7.34 [[ 5.20831629e-01 -8.53622851e-01 -7.90202536e-03 1.04508767e+03] [ 8.53498217e-01 5.20890850e-01 -1.46121847e-02 1.53463360e+02] [ 1.65893875e-02 8.66123405e-04 9.99862012e-01 7.34093746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters 0.028951195278406956 Centerline is valid? [True, True] Translation: X:1045.11, Y:153.52, Z:7.34 [[ 5.21595104e-01 -8.53161644e-01 -7.33189850e-03 1.04511500e+03] [ 8.53054177e-01 5.21645986e-01 -1.35660108e-02 1.53515778e+02] [ 1.53986555e-02 8.21458147e-04 9.99881096e-01 7.34341466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters 0.030265116980783522 Centerline is valid? [True, True] Translation: X:1045.14, Y:153.57, Z:7.34 [[ 5.22556950e-01 -8.52567475e-01 -7.93310598e-03 1.04514193e+03] [ 8.52441441e-01 5.22616368e-01 -1.46875019e-02 1.53568349e+02] [ 1.66680574e-02 9.12547883e-04 9.99860662e-01 7.34136957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.199254154 meters 0.031101494671116534 Centerline is valid? [True, True] Translation: X:1045.17, Y:153.62, Z:7.34 [[ 5.23981897e-01 -8.51688059e-01 -8.39178739e-03 1.04516827e+03] [ 8.51546747e-01 5.24048138e-01 -1.55462721e-02 1.53621173e+02] [ 1.76382749e-02 9.99965888e-04 9.99843933e-01 7.34151987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.259254154 meters 0.029465457732972856 Centerline is valid? [True, True] Translation: X:1045.20, Y:153.67, Z:7.34 [[ 5.22424479e-01 -8.52642796e-01 -8.53968088e-03 1.04519855e+03] [ 8.52496405e-01 5.22493332e-01 -1.58302410e-02 1.53671619e+02] [ 1.79594673e-02 9.90058162e-04 9.99838226e-01 7.34160675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.319254154 meters 0.027838087629887483 Centerline is valid? [True, True] Translation: X:1045.23, Y:153.72, Z:7.34 [[ 5.20324317e-01 -8.53928061e-01 -8.33501949e-03 1.04522701e+03] [ 8.53788589e-01 5.20390243e-01 -1.54609499e-02 1.53722604e+02] [ 1.75400018e-02 9.28363660e-04 9.99845731e-01 7.34316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters 0.025958108921023713 Centerline is valid? [True, True] Translation: X:1045.26, Y:153.77, Z:7.34 [[ 5.15039350e-01 -8.57120356e-01 -8.89738286e-03 1.04525750e+03] [ 8.56961683e-01 5.15115442e-01 -1.65153000e-02 1.53772627e+02] [ 1.87387791e-02 8.81313209e-04 9.99824025e-01 7.34319044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.439254154 meters 0.021332316260789262 Centerline is valid? [True, True] Translation: X:1045.29, Y:153.82, Z:7.34 [[ 5.06508511e-01 -8.62186669e-01 -9.12560770e-03 1.04529161e+03] [ 8.62020331e-01 5.06590200e-01 -1.69504742e-02 1.53820469e+02] [ 1.92374164e-02 7.19100094e-04 9.99814685e-01 7.34414066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.499254154 meters 0.01815222494643241 Centerline is valid? [True, True] Translation: X:1045.33, Y:153.87, Z:7.34 [[ 4.94490440e-01 -8.69129010e-01 -9.69374090e-03 1.04532718e+03] [ 8.68942352e-01 4.94585207e-01 -1.80183655e-02 1.53867546e+02] [ 2.04546650e-02 4.86607451e-04 9.99790663e-01 7.34421706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.559254154 meters 0.0158849683268679 Centerline is valid? [True, True] Translation: X:1045.36, Y:153.91, Z:7.35 [[ 4.82014192e-01 -8.76106478e-01 -9.98791078e-03 1.04536303e+03] [ 8.75909584e-01 4.82117619e-01 -1.85742348e-02 1.53914841e+02] [ 2.10883552e-02 2.04538023e-04 9.99777595e-01 7.34575964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters 0.013883038261739304 Centerline is valid? [True, True] Translation: X:1045.40, Y:153.96, Z:7.35 [[ 4.71142791e-01 -8.82002636e-01 -9.78886065e-03 1.04539668e+03] [ 8.81814655e-01 4.71244468e-01 -1.82089450e-02 1.53962020e+02] [ 2.06732839e-02 -5.29476107e-05 9.99786283e-01 7.34872548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters 0.015041249934375136 Centerline is valid? [True, True] Translation: X:1045.43, Y:154.01, Z:7.35 [[ 4.62326207e-01 -8.86657945e-01 -9.60041034e-03 1.04542884e+03] [ 8.86477934e-01 4.62425807e-01 -1.78674757e-02 1.54010444e+02] [ 2.02818167e-02 -2.49949680e-04 9.99794272e-01 7.35046324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.739254154 meters 0.01722093515657874 Centerline is valid? [True, True] Translation: X:1045.46, Y:154.06, Z:7.35 [[ 4.57495445e-01 -8.89161378e-01 -9.48478728e-03 1.04545675e+03] [ 8.88986003e-01 4.57593619e-01 -1.76625980e-02 1.54061630e+02] [ 2.00450781e-02 -3.51285010e-04 9.99799016e-01 7.35221907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.799254154 meters 0.019471743691813214 Centerline is valid? [True, True] Translation: X:1045.48, Y:154.11, Z:7.35 [[ 4.57107013e-01 -8.89361888e-01 -9.41333434e-03 1.04548122e+03] [ 8.89189016e-01 4.57203792e-01 -1.75381552e-02 1.54113020e+02] [ 1.99015790e-02 -3.53419759e-04 9.99801882e-01 7.35169167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters 0.015513176018690898 Centerline is valid? [True, True] Translation: X:1045.50, Y:154.17, Z:7.35 [[ 4.62485088e-01 -8.86579146e-01 -9.21750679e-03 1.04549995e+03] [ 8.86412633e-01 4.62576879e-01 -1.71835735e-02 1.54168738e+02] [ 1.94984034e-02 -2.23367966e-04 9.99809863e-01 7.35470753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters 0.01346310580123874 Centerline is valid? [True, True] Translation: X:1045.52, Y:154.23, Z:7.36 [[ 4.70421502e-01 -8.82391104e-01 -9.46307460e-03 1.04551707e+03] [ 8.82214515e-01 4.70516670e-01 -1.76525468e-02 1.54225953e+02] [ 2.00289846e-02 -4.43241895e-05 9.99799399e-01 7.35576711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.979254154 meters 0.015544188307864379 Centerline is valid? [True, True] Translation: X:1045.54, Y:154.28, Z:7.36 [[ 4.76462422e-01 -8.79147876e-01 -9.08697652e-03 1.04553552e+03] [ 8.78984234e-01 4.76549057e-01 -1.69621061e-02 1.54282033e+02] [ 1.92425897e-02 9.44970754e-05 9.99814840e-01 7.35510714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.039254154 meters 0.014400639695878414 Centerline is valid? [True, True] Translation: X:1045.56, Y:154.34, Z:7.36 [[ 4.80989127e-01 -8.76689179e-01 -8.09582102e-03 1.04555642e+03] [ 8.76558772e-01 4.81057223e-01 -1.51217901e-02 1.54337130e+02] [ 1.71516629e-02 1.76953708e-04 9.99852884e-01 7.35812143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters 0.014366405338661032 Centerline is valid? [True, True] Translation: X:1045.58, Y:154.39, Z:7.36 [[ 4.82732627e-01 -8.75733408e-01 -7.75944521e-03 1.04557900e+03] [ 8.75613334e-01 4.82794942e-01 -1.45029188e-02 1.54391756e+02] [ 1.64469114e-02 2.06758427e-04 9.99864719e-01 7.35912039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters 0.016146402196855078 Centerline is valid? [True, True] Translation: X:1045.60, Y:154.44, Z:7.36 [[ 4.82510620e-01 -8.75854975e-01 -7.84627180e-03 1.04560303e+03] [ 8.75732049e-01 4.82574366e-01 -1.46751232e-02 1.54444983e+02] [ 1.66396893e-02 2.09671101e-04 9.99861529e-01 7.35730904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.219254154 meters 0.015958805627123797 Centerline is valid? [True, True] Translation: X:1045.63, Y:154.50, Z:7.36 [[ 4.80432269e-01 -8.76989799e-01 -8.58649561e-03 1.04563012e+03] [ 8.76842555e-01 4.80508955e-01 -1.60710201e-02 1.54496657e+02] [ 1.82200087e-02 1.92031900e-04 9.99833983e-01 7.35647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.279254154 meters 0.013795200967373909 Centerline is valid? [True, True] Translation: X:1045.66, Y:154.55, Z:7.36 [[ 4.77647933e-01 -8.78500249e-01 -9.47439341e-03 1.04565754e+03] [ 8.78321014e-01 4.77741863e-01 -1.77456660e-02 1.54547555e+02] [ 2.01158864e-02 1.54621849e-04 9.99797643e-01 7.35705674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters 0.01380943738795207 Centerline is valid? [True, True] Translation: X:1045.68, Y:154.60, Z:7.36 [[ 4.75518492e-01 -8.79645662e-01 -1.02797312e-02 1.04568458e+03] [ 8.79434626e-01 4.75629577e-01 -1.92676849e-02 1.54598669e+02] [ 2.18380796e-02 1.21788917e-04 9.99761513e-01 7.35586356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters 0.017375634139496603 Centerline is valid? [True, True] Translation: X:1045.71, Y:154.65, Z:7.35 [[ 4.73812581e-01 -8.80552998e-01 -1.13161575e-02 1.04571300e+03] [ 8.80297186e-01 4.73947685e-01 -2.12239406e-02 1.54649872e+02] [ 2.40520712e-02 9.45884483e-05 9.99710703e-01 7.35393029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.459254154 meters 0.014677361719279093 Centerline is valid? [True, True] Translation: X:1045.74, Y:154.70, Z:7.36 [[ 4.73086981e-01 -8.80950811e-01 -1.06947439e-02 1.04574046e+03] [ 8.80722133e-01 4.73207844e-01 -2.00714094e-02 1.54700926e+02] [ 2.27427611e-02 7.64248144e-05 9.99741347e-01 7.35861142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.519254154 meters 0.015334334324021951 Centerline is valid? [True, True] Translation: X:1045.77, Y:154.75, Z:7.36 [[ 4.73199472e-01 -8.80887195e-01 -1.09548709e-02 1.04576732e+03] [ 8.80646913e-01 4.73326253e-01 -2.05735984e-02 1.54752680e+02] [ 2.33082474e-02 8.80426548e-05 9.99728322e-01 7.35879977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters 0.016312613390926805 Centerline is valid? [True, True] Translation: X:1045.79, Y:154.81, Z:7.36 [[ 4.74529730e-01 -8.80162066e-01 -1.16736113e-02 1.04579344e+03] [ 8.79888647e-01 4.74673275e-01 -2.19374127e-02 1.54805112e+02] [ 2.48496298e-02 1.38476473e-04 9.99691191e-01 7.35943236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters 0.014014058563777854 Centerline is valid? [True, True] Translation: X:1045.82, Y:154.86, Z:7.36 [[ 4.76824213e-01 -8.78933034e-01 -1.07420325e-02 1.04581878e+03] [ 8.78700901e-01 4.76945158e-01 -2.02000749e-02 1.54857383e+02] [ 2.28778735e-02 1.92851170e-04 9.99738249e-01 7.36347666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.699254154 meters 0.018042821414766888 Centerline is valid? [True, True] Translation: X:1045.85, Y:154.91, Z:7.36 [[ 4.77658301e-01 -8.78477180e-01 -1.09723153e-02 1.04584577e+03] [ 8.78234532e-01 4.77784253e-01 -2.06473616e-02 1.54909151e+02] [ 2.33806355e-02 2.26117470e-04 9.99726610e-01 7.36241483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.759254154 meters 0.015276674470158083 Centerline is valid? [True, True] Translation: X:1045.87, Y:154.96, Z:7.37 [[ 4.79447701e-01 -8.77515013e-01 -9.86430154e-03 1.04587271e+03] [ 8.77318434e-01 4.79549100e-01 -1.85748805e-02 1.54961013e+02] [ 2.10301535e-02 2.51550190e-04 9.99778810e-01 7.36529966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.819254154 meters 0.01800573927647417 Centerline is valid? [True, True] Translation: X:1045.90, Y:155.01, Z:7.36 [[ 4.81898935e-01 -8.76168419e-01 -1.01152285e-02 1.04589966e+03] [ 8.75961144e-01 4.82004976e-01 -1.90598654e-02 1.55013486e+02] [ 2.15752426e-02 3.24381731e-04 9.99767175e-01 7.36456935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters 0.019005329111808668 Centerline is valid? [True, True] Translation: X:1045.93, Y:155.07, Z:7.36 [[ 4.86665895e-01 -8.73526004e-01 -1.04223762e-02 1.04592594e+03] [ 8.73305062e-01 4.86777266e-01 -1.96509999e-02 1.55066294e+02] [ 2.22390353e-02 4.61557580e-04 9.99752576e-01 7.36415169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.939254154 meters 0.019672303364065998 Centerline is valid? [True, True] Translation: X:1045.95, Y:155.12, Z:7.36 [[ 4.88651623e-01 -8.72416537e-01 -1.04392524e-02 1.04595033e+03] [ 8.72194407e-01 4.88762845e-01 -1.96925600e-02 1.55118979e+02] [ 2.22824336e-02 5.17743866e-04 9.99751582e-01 7.36292944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.999254154 meters 0.018101896775281533 Centerline is valid? [True, True] Translation: X:1045.98, Y:155.17, Z:7.37 [[ 4.89141898e-01 -8.72141887e-01 -1.04275053e-02 1.04598004e+03] [ 8.71919931e-01 4.89252739e-01 -1.96822500e-02 1.55169532e+02] [ 2.22674002e-02 5.35463401e-04 9.99751907e-01 7.36543491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.059254154 meters 0.017701401652567315 Centerline is valid? [True, True] Translation: X:1046.01, Y:155.22, Z:7.37 [[ 4.90289492e-01 -8.71503362e-01 -9.90472877e-03 1.04600924e+03] [ 8.71302732e-01 4.90389229e-01 -1.87070197e-02 1.55220988e+02] [ 2.11604029e-02 5.41837925e-04 9.99775947e-01 7.36746045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters 0.0185718483344019 Centerline is valid? [True, True] Translation: X:1046.04, Y:155.27, Z:7.37 [[ 4.89325180e-01 -8.72044167e-01 -9.99197616e-03 1.04603898e+03] [ 8.71839846e-01 4.89426901e-01 -1.88836268e-02 1.55271681e+02] [ 2.13576985e-02 5.28831103e-04 9.99771758e-01 7.36720028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters 0.01926113070761746 Centerline is valid? [True, True] Translation: X:1046.07, Y:155.32, Z:7.37 [[ 4.87925471e-01 -8.72821876e-01 -1.05217514e-02 1.04606937e+03] [ 8.72595186e-01 4.88038619e-01 -1.98984184e-02 1.55321051e+02] [ 2.25027959e-02 5.27715550e-04 9.99746641e-01 7.36678685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.239254154 meters 0.01682525345391952 Centerline is valid? [True, True] Translation: X:1046.10, Y:155.37, Z:7.37 [[ 4.86729884e-01 -8.73492313e-01 -1.02566744e-02 1.04610057e+03] [ 8.73276784e-01 4.86837692e-01 -1.94092824e-02 1.55371634e+02] [ 2.19471946e-02 4.90162151e-04 9.99759011e-01 7.36904501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.299254154 meters 0.016538458815592922 Centerline is valid? [True, True] Translation: X:1046.13, Y:155.42, Z:7.37 [[ 4.84569023e-01 -8.74694057e-01 -1.01572417e-02 1.04613198e+03] [ 8.74482694e-01 4.84675269e-01 -1.92328265e-02 1.55421224e+02] [ 2.17458029e-02 4.37299908e-04 9.99763436e-01 7.37001009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters 0.01801174101953831 Centerline is valid? [True, True] Translation: X:1046.16, Y:155.47, Z:7.37 [[ 4.83419074e-01 -8.75325646e-01 -1.05362252e-02 1.04616160e+03] [ 8.75098060e-01 4.83533688e-01 -1.99639265e-02 1.55471621e+02] [ 2.25695567e-02 4.30712625e-04 9.99745182e-01 7.36933380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters 0.015373562046873183 Centerline is valid? [True, True] Translation: X:1046.19, Y:155.52, Z:7.37 [[ 4.82837877e-01 -8.75647832e-01 -1.04143333e-02 1.04619270e+03] [ 8.75425244e-01 4.82949997e-01 -1.97469533e-02 1.55521116e+02] [ 2.23209791e-02 4.17606733e-04 9.99750769e-01 7.37192975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.479254154 meters 0.014917032368284922 Centerline is valid? [True, True] Translation: X:1046.22, Y:155.57, Z:7.37 [[ 4.80095982e-01 -8.77152048e-01 -1.05892186e-02 1.04622328e+03] [ 8.76921985e-01 4.80212614e-01 -2.00917454e-02 1.55571298e+02] [ 2.27085920e-02 3.60047627e-04 9.99742062e-01 7.37235940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.539254154 meters 0.01795862393530909 Centerline is valid? [True, True] Translation: X:1046.25, Y:155.62, Z:7.37 [[ 4.76800712e-01 -8.78937364e-01 -1.14101699e-02 1.04625444e+03] [ 8.78670379e-01 4.76937122e-01 -2.16643870e-02 1.55620571e+02] [ 2.44835728e-02 3.03816811e-04 9.99700186e-01 7.37190697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters 0.014525947774337538 Centerline is valid? [True, True] Translation: X:1046.28, Y:155.67, Z:7.37 [[ 4.75931159e-01 -8.79422562e-01 -1.02708417e-02 1.04628356e+03] [ 8.79206099e-01 4.76041902e-01 -1.95126409e-02 1.55672246e+02] [ 2.20492077e-02 2.56487118e-04 9.99756854e-01 7.37493408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters 0.01591526567528013 Centerline is valid? [True, True] Translation: X:1046.31, Y:155.72, Z:7.37 [[ 4.75056083e-01 -8.79884536e-01 -1.11768314e-02 1.04631300e+03] [ 8.79628003e-01 4.75187473e-01 -2.12471525e-02 1.55722901e+02] [ 2.40061312e-02 2.62135208e-04 9.99711777e-01 7.37476225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.719254154 meters 0.016954454850609226 Centerline is valid? [True, True] Translation: X:1046.34, Y:155.77, Z:7.37 [[ 4.75754731e-01 -8.79502531e-01 -1.15210449e-02 1.04634023e+03] [ 8.79229600e-01 4.75894118e-01 -2.19111455e-02 1.55773757e+02] [ 2.47537055e-02 2.94687397e-04 9.99693537e-01 7.37444957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.779254154 meters 0.014968642731059002 Centerline is valid? [True, True] Translation: X:1046.37, Y:155.83, Z:7.38 [[ 4.77245130e-01 -8.78706278e-01 -1.06001435e-02 1.04636713e+03] [ 8.78474772e-01 4.77362732e-01 -2.01716848e-02 1.55825002e+02] [ 2.27850996e-02 3.14879691e-04 9.99740336e-01 7.37719651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters 0.015040501624284414 Centerline is valid? [True, True] Translation: X:1046.39, Y:155.88, Z:7.38 [[ 4.78479207e-01 -8.78042427e-01 -9.95717169e-03 1.04639423e+03] [ 8.77837731e-01 4.78582685e-01 -1.89613365e-02 1.55876514e+02] [ 2.14141879e-02 3.31824255e-04 9.99770635e-01 7.37904542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters 0.016468025323715437 Centerline is valid? [True, True] Translation: X:1046.42, Y:155.93, Z:7.38 [[ 4.78266847e-01 -8.78157197e-01 -1.00379279e-02 1.04642125e+03] [ 8.77948899e-01 4.78372056e-01 -1.91286723e-02 1.55928487e+02] [ 2.15998455e-02 3.35822000e-04 9.99766640e-01 7.37834316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.959254154 meters 0.014827869769338762 Centerline is valid? [True, True] Translation: X:1046.45, Y:155.98, Z:7.38 [[ 4.77631030e-01 -8.78510028e-01 -9.41960153e-03 1.04645044e+03] [ 8.78326421e-01 4.77723808e-01 -1.79627991e-02 1.55979189e+02] [ 2.02804670e-02 3.06105329e-04 9.99794283e-01 7.38125180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.019254154 meters 0.015121374958875658 Centerline is valid? [True, True] Translation: X:1046.48, Y:156.03, Z:7.38 [[ 4.76438550e-01 -8.79155634e-01 -9.57492922e-03 1.04647642e+03] [ 8.78965804e-01 4.76534666e-01 -1.82709646e-02 1.56029895e+02] [ 2.06258071e-02 2.88956515e-04 9.99787224e-01 7.38031941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters 0.018253788508947415 Centerline is valid? [True, True] Translation: X:1046.51, Y:156.08, Z:7.38 [[ 4.74282687e-01 -8.80300251e-01 -1.12872095e-02 1.04650645e+03] [ 8.80036423e-01 4.74416889e-01 -2.15524738e-02 1.56080919e+02] [ 2.43274909e-02 2.88809684e-04 9.99704001e-01 7.37780418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters 0.015094343598659533 Centerline is valid? [True, True] Translation: X:1046.53, Y:156.13, Z:7.38 [[ 4.76890426e-01 -8.78896643e-01 -1.07801859e-02 1.04653237e+03] [ 8.78655336e-01 4.77012126e-01 -2.05968857e-02 1.56134149e+02] [ 2.32448131e-02 3.50389756e-04 9.99729741e-01 7.37946294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.199254154 meters 0.01617014967728112 Centerline is valid? [True, True] Translation: X:1046.56, Y:156.19, Z:7.38 [[ 4.79720861e-01 -8.77351723e-01 -1.10385905e-02 1.04655765e+03] [ 8.77097986e-01 4.79847642e-01 -2.11036335e-02 1.56187774e+02] [ 2.38121509e-02 4.41927779e-04 9.99716353e-01 7.37893673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.259254154 meters 0.019485324938145202 Centerline is valid? [True, True] Translation: X:1046.58, Y:156.24, Z:7.38 [[ 4.82485667e-01 -8.75827827e-01 -1.15411395e-02 1.04658289e+03] [ 8.75549691e-01 4.82623370e-01 -2.20776229e-02 1.56239722e+02] [ 2.49062202e-02 5.47295502e-04 9.99689642e-01 7.37797795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.319254154 meters 0.01849001406567304 Centerline is valid? [True, True] Translation: X:1046.61, Y:156.29, Z:7.38 [[ 4.86041553e-01 -8.73868319e-01 -1.08521878e-02 1.04661061e+03] [ 8.73621617e-01 4.86162300e-01 -2.07723073e-02 1.56291629e+02] [ 2.34281859e-02 6.15498685e-04 9.99725333e-01 7.38242714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters 0.01967070422930138 Centerline is valid? [True, True] Translation: X:1046.63, Y:156.34, Z:7.38 [[ 4.89723948e-01 -8.71817809e-01 -1.02059799e-02 1.04663280e+03] [ 8.71599012e-01 4.89829819e-01 -1.95425418e-02 1.56344749e+02] [ 2.20367293e-02 6.74928729e-04 9.99756934e-01 7.38429012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.439254154 meters 0.02242613390924328 Centerline is valid? [True, True] Translation: X:1046.66, Y:156.40, Z:7.39 [[ 4.92381524e-01 -8.70328040e-01 -9.46245907e-03 1.04665545e+03] [ 8.70139490e-01 4.92471952e-01 -1.81285437e-02 1.56397556e+02] [ 2.04377756e-02 6.92500643e-04 9.99790887e-01 7.38502078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.499254154 meters 0.020204855270646693 Centerline is valid? [True, True] Translation: X:1046.69, Y:156.45, Z:7.39 [[ 4.92837580e-01 -8.70067379e-01 -9.68897602e-03 1.04668766e+03] [ 8.69869390e-01 4.92932277e-01 -1.85745748e-02 1.56446800e+02] [ 2.09371406e-02 7.26104811e-04 9.99780530e-01 7.38714969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.559254154 meters 0.022747180583271145 Centerline is valid? [True, True] Translation: X:1046.71, Y:156.50, Z:7.39 [[ 4.93956521e-01 -8.69431949e-01 -9.74890689e-03 1.04671117e+03] [ 8.69231183e-01 4.94052127e-01 -1.86988380e-02 1.56499993e+02] [ 2.10738354e-02 7.62359095e-04 9.99777631e-01 7.38721333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters 0.02068650804830645 Centerline is valid? [True, True] Translation: X:1046.74, Y:156.55, Z:7.39 [[ 4.95010738e-01 -8.68831349e-01 -9.82121141e-03 1.04674240e+03] [ 8.68627248e-01 4.95107512e-01 -1.88482430e-02 1.56549974e+02] [ 2.12385000e-02 7.99110860e-04 9.99774118e-01 7.38984557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters 0.026431250987036328 Centerline is valid? [True, True] Translation: X:1046.76, Y:156.60, Z:7.39 [[ 4.94366345e-01 -8.69198052e-01 -9.83169289e-03 1.04676477e+03] [ 8.68993350e-01 4.94463469e-01 -1.88794958e-02 1.56603344e+02] [ 2.12714339e-02 7.89711598e-04 9.99773426e-01 7.38654343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.739254154 meters 0.023060931309210688 Centerline is valid? [True, True] Translation: X:1046.80, Y:156.65, Z:7.39 [[ 4.93697240e-01 -8.69590463e-01 -8.68691479e-03 1.04679772e+03] [ 8.69430539e-01 4.93773181e-01 -1.66908251e-02 1.56652829e+02] [ 1.88035479e-02 6.87545270e-04 9.99822961e-01 7.39113075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.799254154 meters 0.02182816560102762 Centerline is valid? [True, True] Translation: X:1046.82, Y:156.70, Z:7.39 [[ 4.94198557e-01 -8.69316810e-01 -7.48796751e-03 1.04682474e+03] [ 8.69197810e-01 4.94254910e-01 -1.43962256e-02 1.56703905e+02] [ 1.62158456e-02 6.06068962e-04 9.99868331e-01 7.39460775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters 0.02087200716229413 Centerline is valid? [True, True] Translation: X:1046.85, Y:156.76, Z:7.40 [[ 4.95508529e-01 -8.68567416e-01 -7.87030888e-03 1.04685372e+03] [ 8.68435684e-01 4.95570579e-01 -1.51414613e-02 1.56755455e+02] [ 1.70516734e-02 6.67866128e-04 9.99854387e-01 7.39505129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters 0.023518532779476728 Centerline is valid? [True, True] Translation: X:1046.88, Y:156.81, Z:7.39 [[ 4.95682593e-01 -8.68465820e-01 -8.11705560e-03 1.04687769e+03] [ 8.68325562e-01 4.95748561e-01 -1.56231323e-02 1.56808343e+02] [ 1.75921751e-02 6.95867879e-04 9.99845004e-01 7.39276566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.979254154 meters 0.02279353786248532 Centerline is valid? [True, True] Translation: X:1046.91, Y:156.86, Z:7.39 [[ 4.98189863e-01 -8.67019734e-01 -9.14552301e-03 1.04690503e+03] [ 8.66841249e-01 4.98273081e-01 -1.76120636e-02 1.56860339e+02] [ 1.98269747e-02 8.46434982e-04 9.99803068e-01 7.39216625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.039254154 meters 0.025071982306882686 Centerline is valid? [True, True] Translation: X:1046.93, Y:156.91, Z:7.39 [[ 4.99004597e-01 -8.66533492e-01 -1.06827133e-02 1.04693298e+03] [ 8.66289534e-01 4.99117893e-01 -2.05857323e-02 1.56912591e+02] [ 2.31701598e-02 1.01805231e-03 9.99731017e-01 7.38846263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters 0.023342963102708572 Centerline is valid? [True, True] Translation: X:1046.96, Y:156.96, Z:7.39 [[ 4.98669182e-01 -8.66725151e-01 -1.07962979e-02 1.04696186e+03] [ 8.66475685e-01 4.98784982e-01 -2.08189448e-02 1.56962936e+02] [ 2.34293343e-02 1.02703650e-03 9.99724968e-01 7.39059110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters 0.0224331670030771 Centerline is valid? [True, True] Translation: X:1046.99, Y:157.01, Z:7.39 [[ 4.93889935e-01 -8.69469650e-01 -9.76016849e-03 1.04699480e+03] [ 8.69266037e-01 4.93985688e-01 -1.88334111e-02 1.57011451e+02] [ 2.11964629e-02 8.17449186e-04 9.99774996e-01 7.39301259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.219254154 meters 0.02085174434433034 Centerline is valid? [True, True] Translation: X:1047.03, Y:157.06, Z:7.40 [[ 4.89136831e-01 -8.72165494e-01 -8.51533992e-03 1.04702778e+03] [ 8.72010718e-01 4.89210558e-01 -1.64419482e-02 1.57060310e+02] [ 1.85058940e-02 6.16894754e-04 9.99828561e-01 7.39567662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.279254154 meters 0.01991602961195268 Centerline is valid? [True, True] Translation: X:1047.06, Y:157.11, Z:7.40 [[ 4.85722247e-01 -8.74076305e-01 -8.03192772e-03 1.04705879e+03] [ 8.73938680e-01 4.85788374e-01 -1.55189735e-02 1.57110121e+02] [ 1.74665841e-02 5.18498351e-04 9.99847313e-01 7.39722289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters 0.0187759502182332 Centerline is valid? [True, True] Translation: X:1047.08, Y:157.16, Z:7.40 [[ 4.85549757e-01 -8.74171974e-01 -8.04938270e-03 1.04708433e+03] [ 8.74033582e-01 4.85616194e-01 -1.55630769e-02 1.57160778e+02] [ 1.75137163e-02 5.21217427e-04 9.99846487e-01 7.39821921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters 0.0175946354231945 Centerline is valid? [True, True] Translation: X:1047.11, Y:157.21, Z:7.40 [[ 4.83460788e-01 -8.75318650e-01 -9.10645686e-03 1.04711437e+03] [ 8.75141483e-01 4.83546234e-01 -1.76188497e-02 1.57211404e+02] [ 1.98255007e-02 5.48584826e-04 9.99803305e-01 7.39698839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.459254154 meters 0.017103408912975907 Centerline is valid? [True, True] Translation: X:1047.14, Y:157.26, Z:7.40 [[ 4.79933005e-01 -8.77259569e-01 -8.94195501e-03 1.04714415e+03] [ 8.77088856e-01 4.80016074e-01 -1.73120525e-02 1.57261281e+02] [ 1.94794458e-02 4.65736281e-04 9.99810149e-01 7.39778573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.519254154 meters 0.0155073589385942 Centerline is valid? [True, True] Translation: X:1047.18, Y:157.31, Z:7.40 [[ 4.74769035e-01 -8.80070031e-01 -8.43228491e-03 1.04717674e+03] [ 8.79918472e-01 4.74843793e-01 -1.63356974e-02 1.57310459e+02] [ 1.83805758e-02 3.35960023e-04 9.99831007e-01 7.39964612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.579254154 meters 0.014937956737030111 Centerline is valid? [True, True] Translation: X:1047.21, Y:157.36, Z:7.40 [[ 4.71317896e-01 -8.81927832e-01 -7.92085158e-03 1.04720722e+03] [ 8.81794199e-01 4.71384382e-01 -1.53543108e-02 1.57360951e+02] [ 1.72751598e-02 2.52200473e-04 9.99850741e-01 7.40087007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters 0.015373053608445047 Centerline is valid? [True, True] Translation: X:1047.23, Y:157.41, Z:7.40 [[ 4.72392050e-01 -8.81349717e-01 -8.27210241e-03 1.04723280e+03] [ 8.81203695e-01 4.72464382e-01 -1.60454573e-02 1.57412288e+02] [ 1.80499330e-02 2.90339236e-04 9.99837045e-01 7.40108672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.699254154 meters 0.017623232845416923 Centerline is valid? [True, True] Translation: X:1047.26, Y:157.47, Z:7.40 [[ 4.74112630e-01 -8.80414611e-01 -9.34483417e-03 1.04725873e+03] [ 8.80227833e-01 4.74204568e-01 -1.81380583e-02 1.57465454e+02] [ 2.04003746e-02 3.73899393e-04 9.99791821e-01 7.39822954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.759254154 meters 0.01671447721794781 Centerline is valid? [True, True] Translation: X:1047.29, Y:157.52, Z:7.40 [[ 4.75717122e-01 -8.79546449e-01 -9.55318858e-03 1.04728593e+03] [ 8.79350832e-01 4.75812844e-01 -1.85540088e-02 1.57517537e+02] [ 2.08646424e-02 4.25855349e-04 9.99782219e-01 7.39917790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.819254154 meters 0.01598718702675586 Centerline is valid? [True, True] Translation: X:1047.32, Y:157.57, Z:7.40 [[ 4.75031419e-01 -8.79922999e-01 -8.98150592e-03 1.04731564e+03] [ 8.79749949e-01 4.75116158e-01 -1.74546048e-02 1.57568309e+02] [ 1.96259668e-02 3.90006312e-04 9.99807316e-01 7.40124833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters 0.017551785897229555 Centerline is valid? [True, True] Translation: X:1047.34, Y:157.62, Z:7.40 [[ 4.73766578e-01 -8.80611107e-01 -8.32517962e-03 1.04734463e+03] [ 8.80462352e-01 4.73839596e-01 -1.61889900e-02 1.57619145e+02] [ 1.82010042e-02 3.39795173e-04 9.99834290e-01 7.40177409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.939254154 meters 0.016922504910634312 Centerline is valid? [True, True] Translation: X:1047.37, Y:157.67, Z:7.40 [[ 4.75244859e-01 -8.79821735e-01 -7.48593234e-03 1.04737225e+03] [ 8.79701214e-01 4.75303694e-01 -1.45661658e-02 1.57670811e+02] [ 1.63737206e-02 3.37111651e-04 9.99865885e-01 7.40379750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.999254154 meters 0.018944181590649135 Centerline is valid? [True, True] Translation: X:1047.40, Y:157.72, Z:7.40 [[ 4.77924275e-01 -8.78368538e-01 -7.55642763e-03 1.04739749e+03] [ 8.78245391e-01 4.77983845e-01 -1.47131664e-02 1.57723298e+02] [ 1.65354328e-02 3.95381663e-04 9.99863202e-01 7.40260157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.059254154 meters 0.01795488638651582 Centerline is valid? [True, True] Translation: X:1047.43, Y:157.78, Z:7.40 [[ 4.80673697e-01 -8.76869186e-01 -7.29576549e-03 1.04742548e+03] [ 8.76754073e-01 4.80728865e-01 -1.42145869e-02 1.57775084e+02] [ 1.59716183e-02 4.35985943e-04 9.99872351e-01 7.40398777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters 0.01853038417624768 Centerline is valid? [True, True] Translation: X:1047.45, Y:157.83, Z:7.40 [[ 4.81183147e-01 -8.76590576e-01 -7.19309056e-03 1.04745376e+03] [ 8.76478513e-01 4.81236704e-01 -1.40232501e-02 1.57826913e+02] [ 1.57542281e-02 4.43162291e-04 9.99875796e-01 7.40432490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters 0.0184630816109199 Centerline is valid? [True, True] Translation: X:1047.48, Y:157.88, Z:7.41 [[ 4.80113440e-01 -8.77180883e-01 -6.69208915e-03 1.04748377e+03] [ 8.77083829e-01 4.80159911e-01 -1.30543704e-02 1.57877809e+02] [ 1.46643170e-02 3.98055481e-04 9.99892394e-01 7.40556442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.239254154 meters 0.01844138383652869 Centerline is valid? [True, True] Translation: X:1047.51, Y:157.93, Z:7.41 [[ 4.81046919e-01 -8.76673504e-01 -6.11794634e-03 1.04751288e+03] [ 8.76592253e-01 4.81085670e-01 -1.19415289e-02 1.57929585e+02] [ 1.34120783e-02 3.81491317e-04 9.99909981e-01 7.40687573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.299254154 meters 0.020456465205631904 Centerline is valid? [True, True] Translation: X:1047.54, Y:157.98, Z:7.41 [[ 4.82390555e-01 -8.75935061e-01 -6.09273139e-03 1.04754032e+03] [ 8.75854319e-01 4.82428861e-01 -1.18998092e-02 1.57981950e+02] [ 1.33627695e-02 4.04010444e-04 9.99910633e-01 7.40585939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters 0.018818499711164477 Centerline is valid? [True, True] Translation: X:1047.57, Y:158.03, Z:7.41 [[ 4.81682992e-01 -8.76324915e-01 -6.01153032e-03 1.04756851e+03] [ 8.76246239e-01 4.81720344e-01 -1.17490099e-02 1.58033439e+02] [ 1.31918266e-02 3.91717438e-04 9.99912907e-01 7.40610432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters 0.018444329121452753 Centerline is valid? [True, True] Translation: X:1047.60, Y:158.09, Z:7.41 [[ 4.79504563e-01 -8.77521577e-01 -5.59079959e-03 1.04759643e+03] [ 8.77453523e-01 4.79537036e-01 -1.09337241e-02 1.58085609e+02] [ 1.22755743e-02 3.37103817e-04 9.99924595e-01 7.40649407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.479254154 meters 0.018054726097160297 Centerline is valid? [True, True] Translation: X:1047.62, Y:158.14, Z:7.41 [[ 4.78763210e-01 -8.77930406e-01 -4.89805991e-03 1.04762397e+03] [ 8.77878132e-01 4.78788177e-01 -9.58472057e-03 1.58137039e+02] [ 1.07598508e-02 2.88911898e-04 9.99942069e-01 7.40760957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.539254154 meters 0.020084168453450478 Centerline is valid? [True, True] Translation: X:1047.65, Y:158.19, Z:7.41 [[ 4.77619892e-01 -8.78549144e-01 -5.53531483e-03 1.04764976e+03] [ 8.78482326e-01 4.77651863e-01 -1.08398098e-02 1.58189102e+02] [ 1.21672591e-02 3.14632555e-04 9.99925927e-01 7.40506769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters 0.019831242288888946 Centerline is valid? [True, True] Translation: X:1047.68, Y:158.24, Z:7.40 [[ 4.75257782e-01 -8.79830406e-01 -5.33830724e-03 1.04767732e+03] [ 8.79768259e-01 4.75287683e-01 -1.04608570e-02 1.58241113e+02] [ 1.17410118e-02 2.75130450e-04 9.99931034e-01 7.40466942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters 0.01825552504453547 Centerline is valid? [True, True] Translation: X:1047.71, Y:158.29, Z:7.41 [[ 4.73698509e-01 -8.80673136e-01 -4.95476082e-03 1.04770557e+03] [ 8.80619581e-01 4.73724361e-01 -9.71512682e-03 1.58292989e+02] [ 1.09030421e-02 2.38781695e-04 9.99940532e-01 7.40578257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.719254154 meters 0.016951341447972494 Centerline is valid? [True, True] Translation: X:1047.73, Y:158.34, Z:7.41 [[ 4.72281132e-01 -8.81435962e-01 -4.60185443e-03 1.04773402e+03] [ 8.81389744e-01 4.72303505e-01 -9.02876338e-03 1.58344175e+02] [ 1.01317487e-02 2.08087289e-04 9.99948651e-01 7.40733787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.779254154 meters 0.01598198112566907 Centerline is valid? [True, True] Translation: X:1047.76, Y:158.40, Z:7.41 [[ 4.71422530e-01 -8.81896075e-01 -4.48447447e-03 1.04776166e+03] [ 8.81852146e-01 4.71443819e-01 -8.80450721e-03 1.58395688e+02] [ 9.87883813e-03 1.95999631e-04 9.99951184e-01 7.40828628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters 0.018057587102743078 Centerline is valid? [True, True] Translation: X:1047.79, Y:158.45, Z:7.41 [[ 4.70910954e-01 -8.82168604e-01 -4.62906766e-03 1.04778787e+03] [ 8.82121741e-01 4.70933663e-01 -9.09498022e-03 1.58447587e+02] [ 1.02032898e-02 1.99524588e-04 9.99947925e-01 7.40658912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters 0.01824370271098339 Centerline is valid? [True, True] Translation: X:1047.81, Y:158.50, Z:7.41 [[ 4.71042695e-01 -8.82094936e-01 -5.22528665e-03 1.04781399e+03] [ 8.82035129e-01 4.71071619e-01 -1.02742347e-02 1.58499357e+02] [ 1.15243346e-02 2.30716810e-04 9.99933566e-01 7.40511563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.959254154 meters 0.018748276109915304 Centerline is valid? [True, True] Translation: X:1047.84, Y:158.55, Z:7.40 [[ 4.70849870e-01 -8.82195866e-01 -5.55472942e-03 1.04783904e+03] [ 8.82128193e-01 4.70882569e-01 -1.09296468e-02 1.58550711e+02] [ 1.22577144e-02 2.46239323e-04 9.99924841e-01 7.40391195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.019254154 meters 0.01596007922130586 Centerline is valid? [True, True] Translation: X:1047.87, Y:158.60, Z:7.41 [[ 4.70430397e-01 -8.82423077e-01 -4.97536883e-03 1.04786768e+03] [ 8.82368730e-01 4.70456656e-01 -9.79587488e-03 1.58601558e+02] [ 1.09848014e-02 2.18167433e-04 9.99939641e-01 7.40778085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.079254154 meters 0.015862952627796936 Centerline is valid? [True, True] Translation: X:1047.89, Y:158.65, Z:7.41 [[ 4.69496945e-01 -8.82923519e-01 -4.32186220e-03 1.04789425e+03] [ 8.82882480e-01 4.69516802e-01 -8.51466907e-03 1.58653248e+02] [ 9.54698850e-03 1.81914698e-04 9.99954410e-01 7.40966436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters 0.015623516817790298 Centerline is valid? [True, True] Translation: X:1047.92, Y:158.71, Z:7.41 [[ 4.68352653e-01 -8.83534494e-01 -3.54845625e-03 1.04792078e+03] [ 8.83506814e-01 4.68366074e-01 -6.99505416e-03 1.58705080e+02] [ 7.84234816e-03 1.41066891e-04 9.99969238e-01 7.41116104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.199254154 meters 0.017443748455858478 Centerline is valid? [True, True] Translation: X:1047.95, Y:158.76, Z:7.41 [[ 4.67715823e-01 -8.83867501e-01 -4.48883888e-03 1.04794637e+03] [ 8.83823149e-01 4.67737330e-01 -8.85614552e-03 1.58757549e+02] [ 9.92725672e-03 1.74819668e-04 9.99950708e-01 7.40840209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.259254154 meters 0.016100760988756912 Centerline is valid? [True, True] Translation: X:1047.97, Y:158.81, Z:7.41 [[ 4.69227428e-01 -8.83060676e-01 -5.42803045e-03 1.04796938e+03] [ 8.82995668e-01 4.69258764e-01 -1.07174518e-02 1.58810287e+02] [ 1.20113111e-02 2.35994967e-04 9.99927834e-01 7.40780857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.319254154 meters 0.018320289201567485 Centerline is valid? [True, True] Translation: X:1047.99, Y:158.86, Z:7.41 [[ 4.70146146e-01 -8.82567870e-01 -6.04625325e-03 1.04799291e+03] [ 8.82487057e-01 4.70184939e-01 -1.19464664e-02 1.58864109e+02] [ 1.33864246e-02 2.80844875e-04 9.99910358e-01 7.40574500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters 0.016232394175209334 Centerline is valid? [True, True] Translation: X:1048.02, Y:158.92, Z:7.41 [[ 4.70580397e-01 -8.82341933e-01 -5.17716716e-03 1.04801777e+03] [ 8.82282595e-01 4.70608809e-01 -1.02357635e-02 1.58916510e+02] [ 1.14678638e-02 2.49025175e-04 9.99934211e-01 7.40867090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.439254154 meters 0.016173680136107704 Centerline is valid? [True, True] Translation: X:1048.04, Y:158.97, Z:7.41 [[ 4.70224726e-01 -8.82533291e-01 -4.86795415e-03 1.04804244e+03] [ 8.82480768e-01 4.70249865e-01 -9.63115602e-03 1.58968599e+02] [ 1.07889706e-02 2.32931788e-04 9.99941770e-01 7.40992079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.499254154 meters 0.016604418056829454 Centerline is valid? [True, True] Translation: X:1048.07, Y:159.02, Z:7.41 [[ 4.71032440e-01 -8.82099547e-01 -5.36943765e-03 1.04806525e+03] [ 8.82035523e-01 4.71062964e-01 -1.06310883e-02 1.59022675e+02] [ 1.19070214e-02 2.71552724e-04 9.99929072e-01 7.40932971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.559254154 meters 0.0174542461716656 Centerline is valid? [True, True] Translation: X:1048.09, Y:159.08, Z:7.41 [[ 4.72368614e-01 -8.81377408e-01 -6.46207645e-03 1.04808730e+03] [ 8.81284477e-01 4.72412681e-01 -1.28035238e-02 1.59077467e+02] [ 1.43375035e-02 3.53055128e-04 9.99897150e-01 7.40765466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters 0.017671577701021752 Centerline is valid? [True, True] Translation: X:1048.11, Y:159.13, Z:7.41 [[ 4.72161290e-01 -8.81482134e-01 -7.27768967e-03 1.04811135e+03] [ 8.81364110e-01 4.72217205e-01 -1.44297373e-02 1.59131078e+02] [ 1.61562059e-02 3.98868868e-04 9.99869400e-01 7.40653116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters 0.017773943111762874 Centerline is valid? [True, True] Translation: X:1048.14, Y:159.18, Z:7.41 [[ 4.68692629e-01 -8.83335146e-01 -6.79995946e-03 1.04813796e+03] [ 8.83232164e-01 4.68741847e-01 -1.34916909e-02 1.59182709e+02] [ 1.51051103e-02 3.17513155e-04 9.99885861e-01 7.40645057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.739254154 meters 0.01777308121702292 Centerline is valid? [True, True] Translation: X:1048.17, Y:159.23, Z:7.41 [[ 4.62591694e-01 -8.86552341e-01 -5.81990462e-03 1.04816744e+03] [ 8.86477061e-01 4.62628266e-01 -1.15545971e-02 1.59233625e+02] [ 1.29362075e-02 1.85848694e-04 9.99916307e-01 7.40899946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.799254154 meters 0.017097044038277786 Centerline is valid? [True, True] Translation: X:1048.19, Y:159.29, Z:7.41 [[ 4.60369811e-01 -8.87707686e-01 -5.89077409e-03 1.04819377e+03] [ 8.87630553e-01 4.60407470e-01 -1.17030799e-02 1.59286181e+02] [ 1.31010704e-02 1.58913598e-04 9.99914165e-01 7.40955056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters 0.014226595677373124 Centerline is valid? [True, True] Translation: X:1048.22, Y:159.34, Z:7.41 [[ 4.58881247e-01 -8.88475270e-01 -6.30050151e-03 1.04821754e+03] [ 8.88386982e-01 4.58924474e-01 -1.25258559e-02 1.59339743e+02] [ 1.40203676e-02 1.50596868e-04 9.99901698e-01 7.41079717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters 0.014369550348890002 Centerline is valid? [True, True] Translation: X:1048.24, Y:159.39, Z:7.41 [[ 4.59552509e-01 -8.88126617e-01 -6.52717133e-03 1.04823977e+03] [ 8.88031694e-01 4.59598828e-01 -1.29856802e-02 1.59394081e+02] [ 1.45328086e-02 1.71266919e-04 9.99894378e-01 7.41098783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.979254154 meters 0.018953267425159577 Centerline is valid? [True, True] Translation: X:1048.26, Y:159.45, Z:7.41 [[ 4.59348930e-01 -8.88229169e-01 -6.89226791e-03 1.04826081e+03] [ 8.88123186e-01 4.59400599e-01 -1.37221160e-02 1.59447943e+02] [ 1.53546957e-02 1.82056386e-04 9.99882093e-01 7.40861655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.039254154 meters 0.017942391745064113 Centerline is valid? [True, True] Translation: X:1048.28, Y:159.50, Z:7.41 [[ 4.59451687e-01 -8.88177643e-01 -6.67988202e-03 1.04828406e+03] [ 8.88077947e-01 4.59500207e-01 -1.33086600e-02 1.59501057e+02] [ 1.48898614e-02 1.82430377e-04 9.99889123e-01 7.40970658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters 0.017343615108730875 Centerline is valid? [True, True] Translation: X:1048.31, Y:159.55, Z:7.41 [[ 4.59571452e-01 -8.88115542e-01 -6.69814250e-03 1.04830757e+03] [ 8.88015151e-01 4.59620222e-01 -1.33545352e-02 1.59553929e+02] [ 1.49389720e-02 1.89311124e-04 9.99888389e-01 7.41209496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters 0.01595829832076992 Centerline is valid? [True, True] Translation: X:1048.33, Y:159.61, Z:7.41 [[ 4.60957520e-01 -8.87398254e-01 -6.51953875e-03 1.04832937e+03] [ 8.87302947e-01 4.61003573e-01 -1.30071298e-02 1.59608868e+02] [ 1.45480349e-02 2.10928326e-04 9.99894149e-01 7.41431890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.219254154 meters 0.017758473566982413 Centerline is valid? [True, True] Translation: X:1048.35, Y:159.66, Z:7.41 [[ 4.61169599e-01 -8.87285479e-01 -6.86143814e-03 1.04835116e+03] [ 8.87179757e-01 4.61220582e-01 -1.36986512e-02 1.59663667e+02] [ 1.53192507e-02 2.30072433e-04 9.99882627e-01 7.41307406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.279254154 meters 0.01788945007795362 Centerline is valid? [True, True] Translation: X:1048.38, Y:159.72, Z:7.41 [[ 4.59276045e-01 -8.88265148e-01 -7.10921675e-03 1.04837616e+03] [ 8.88151607e-01 4.59331016e-01 -1.42035120e-02 1.59715969e+02] [ 1.58819685e-02 2.09270546e-04 9.99873852e-01 7.41360089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters 0.013792423430667711 Centerline is valid? [True, True] Translation: X:1048.40, Y:159.77, Z:7.42 [[ 4.55470415e-01 -8.90229708e-01 -6.14548993e-03 1.04840303e+03] [ 8.90144937e-01 4.55511856e-01 -1.22858089e-02 1.59768172e+02] [ 1.37365356e-02 1.25445755e-04 9.99905641e-01 7.41750254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters 0.01698580564022746 Centerline is valid? [True, True] Translation: X:1048.43, Y:159.82, Z:7.41 [[ 4.50903751e-01 -8.92548672e-01 -6.53271264e-03 1.04842840e+03] [ 8.92453004e-01 4.50951067e-01 -1.30679033e-02 1.59819118e+02] [ 1.46096734e-02 6.22275693e-05 9.99893271e-01 7.41465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.459254154 meters 0.017089666389859384 Centerline is valid? [True, True] Translation: X:1048.45, Y:159.87, Z:7.41 [[ 4.48607688e-01 -8.93699227e-01 -7.26873301e-03 1.04845355e+03] [ 8.93580776e-01 4.48666570e-01 -1.45500909e-02 1.59871329e+02] [ 1.62646425e-02 3.20825638e-05 9.99867721e-01 7.41345327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.519254154 meters 0.013531265916424198 Centerline is valid? [True, True] Translation: X:1048.48, Y:159.92, Z:7.41 [[ 4.48603321e-01 -8.93699903e-01 -7.45272095e-03 1.04847735e+03] [ 8.93575198e-01 4.48665222e-01 -1.49293333e-02 1.59924631e+02] [ 1.66861204e-02 3.77819156e-05 9.99860776e-01 7.41479028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.579254154 meters 0.01564107906008061 Centerline is valid? [True, True] Translation: X:1048.50, Y:159.98, Z:7.41 [[ 4.48864380e-01 -8.93568006e-01 -7.54905217e-03 1.04850159e+03] [ 8.93439849e-01 4.48927853e-01 -1.51333476e-02 1.59977912e+02] [ 1.69116550e-02 4.81966653e-05 9.99856987e-01 7.41436932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters 0.013722855151432966 Centerline is valid? [True, True] Translation: X:1048.52, Y:160.03, Z:7.42 [[ 4.51070451e-01 -8.92465086e-01 -6.44343063e-03 1.04852416e+03] [ 8.92371507e-01 4.51116463e-01 -1.29239855e-02 1.60030084e+02] [ 1.44409435e-02 7.96940948e-05 9.99895721e-01 7.41779747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.699254154 meters 0.017432757940685554 Centerline is valid? [True, True] Translation: X:1048.55, Y:160.08, Z:7.42 [[ 4.51199396e-01 -8.92394925e-01 -7.09951475e-03 1.04854922e+03] [ 8.92281168e-01 4.51255237e-01 -1.42487982e-02 1.60082658e+02] [ 1.59192484e-02 9.42858312e-05 9.99873276e-01 7.41555659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.759254154 meters 0.01458557222703836 Centerline is valid? [True, True] Translation: X:1048.57, Y:160.14, Z:7.42 [[ 4.53693833e-01 -8.91131820e-01 -6.78127425e-03 1.04857212e+03] [ 8.91027753e-01 4.53744489e-01 -1.36191930e-02 1.60136434e+02] [ 1.52134620e-02 1.36640309e-04 9.99884259e-01 7.41784476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.819254154 meters 0.01480566762672148 Centerline is valid? [True, True] Translation: X:1048.60, Y:160.19, Z:7.42 [[ 4.55993415e-01 -8.89957800e-01 -6.71717157e-03 1.04859569e+03] [ 8.89855432e-01 4.56042852e-01 -1.34991674e-02 1.60190389e+02] [ 1.50770074e-02 1.78219821e-04 9.99886320e-01 7.41877724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters 0.014950698697727362 Centerline is valid? [True, True] Translation: X:1048.62, Y:160.24, Z:7.42 [[ 4.59075702e-01 -8.88371837e-01 -6.70667640e-03 1.04861939e+03] [ 8.88269490e-01 4.59124629e-01 -1.34865807e-02 1.60244491e+02] [ 1.50602987e-02 2.34025460e-04 9.99886560e-01 7.42042041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.939254154 meters 0.018743102198883095 Centerline is valid? [True, True] Translation: X:1048.64, Y:160.30, Z:7.42 [[ 4.62213025e-01 -8.86741461e-01 -6.97862814e-03 1.04864070e+03] [ 8.86630327e-01 4.62265605e-01 -1.40418713e-02 1.60298859e+02] [ 1.56774892e-02 3.02872442e-04 9.99877055e-01 7.41819437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.999254154 meters 0.016898378015870925 Centerline is valid? [True, True] Translation: X:1048.67, Y:160.35, Z:7.42 [[ 4.64956894e-01 -8.85310734e-01 -6.32392120e-03 1.04866769e+03] [ 8.85219239e-01 4.64999787e-01 -1.27317346e-02 1.60351610e+02] [ 1.42121633e-02 3.21651052e-04 9.99898950e-01 7.42136862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.059254154 meters 0.019343378152746223 Centerline is valid? [True, True] Translation: X:1048.70, Y:160.40, Z:7.42 [[ 4.65506784e-01 -8.85018195e-01 -6.79915409e-03 1.04869525e+03] [ 8.84912265e-01 4.65556296e-01 -1.36973650e-02 1.60403274e+02] [ 1.52878062e-02 3.59561487e-04 9.99883070e-01 7.41976844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters 0.01796299185939375 Centerline is valid? [True, True] Translation: X:1048.72, Y:160.45, Z:7.42 [[ 4.65512690e-01 -8.85015073e-01 -6.80117484e-03 1.04872199e+03] [ 8.84908946e-01 4.65562228e-01 -1.37101859e-02 1.60453901e+02] [ 1.53000913e-02 3.63845053e-04 9.99882881e-01 7.42078242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters 0.018927225481313967 Centerline is valid? [True, True] Translation: X:1048.75, Y:160.50, Z:7.42 [[ 4.62700913e-01 -8.86474650e-01 -8.40000511e-03 1.04875204e+03] [ 8.86312762e-01 4.62776985e-01 -1.69454990e-02 1.60503756e+02] [ 1.89090843e-02 3.95666106e-04 9.99821129e-01 7.41758554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.239254154 meters 0.016281289005098645 Centerline is valid? [True, True] Translation: X:1048.78, Y:160.55, Z:7.42 [[ 4.57996674e-01 -8.88915100e-01 -8.30608890e-03 1.04878469e+03] [ 8.88756996e-01 4.58071890e-01 -1.67673948e-02 1.60552440e+02] [ 1.87095763e-02 2.97316437e-04 9.99824916e-01 7.41828949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.299254154 meters 0.018192477172455715 Centerline is valid? [True, True] Translation: X:1048.82, Y:160.60, Z:7.42 [[ 4.52932741e-01 -8.91498187e-01 -9.10570923e-03 1.04881791e+03] [ 8.91308437e-01 4.53024211e-01 -1.83938794e-02 1.60601408e+02] [ 2.05232169e-02 2.15194754e-04 9.99789353e-01 7.41858401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters 0.015884326842114948 Centerline is valid? [True, True] Translation: X:1048.85, Y:160.65, Z:7.42 [[ 4.47376455e-01 -8.94303895e-01 -8.65165932e-03 1.04885317e+03] [ 8.94132900e-01 4.47460094e-01 -1.74877667e-02 1.60649263e+02] [ 1.95106502e-02 8.78818428e-05 9.99809645e-01 7.42298621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters 0.01693131196087694 Centerline is valid? [True, True] Translation: X:1048.88, Y:160.70, Z:7.42 [[ 4.48615778e-01 -8.93680577e-01 -8.88313633e-03 1.04887822e+03] [ 8.93500026e-01 4.48703702e-01 -1.79636097e-02 1.60700340e+02] [ 2.00396252e-02 1.21676191e-04 9.99799179e-01 7.42010247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.479254154 meters 0.01478255111791191 Centerline is valid? [True, True] Translation: X:1048.90, Y:160.75, Z:7.42 [[ 4.52918547e-01 -8.91510667e-01 -8.57439821e-03 1.04890357e+03] [ 8.91341873e-01 4.52999651e-01 -1.73488290e-02 1.60752726e+02] [ 1.93508655e-02 2.14886252e-04 9.99812731e-01 7.42483985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.539254154 meters 0.015376520114370722 Centerline is valid? [True, True] Translation: X:1048.93, Y:160.81, Z:7.43 [[ 4.56659213e-01 -8.89603917e-01 -8.19964217e-03 1.04892873e+03] [ 8.89449050e-01 4.56732732e-01 -1.66011909e-02 1.60805805e+02] [ 1.85135294e-02 2.87922856e-04 9.99828568e-01 7.42718326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters 0.016089947803404808 Centerline is valid? [True, True] Translation: X:1048.95, Y:160.86, Z:7.43 [[ 4.58592071e-01 -8.88620535e-01 -6.84528698e-03 1.04895300e+03] [ 8.88512404e-01 4.58643073e-01 -1.38650086e-02 1.60857048e+02] [ 1.54602749e-02 2.76260625e-04 9.99880445e-01 7.42984851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters 0.01884128744663098 Centerline is valid? [True, True] Translation: X:1048.98, Y:160.91, Z:7.43 [[ 4.60156230e-01 -8.87813019e-01 -6.65486661e-03 1.04897902e+03] [ 8.87710635e-01 4.60204253e-01 -1.34860569e-02 1.60909561e+02] [ 1.50356948e-02 2.98097254e-04 9.99886913e-01 7.43242117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.719254154 meters 0.017604917373828723 Centerline is valid? [True, True] Translation: X:1049.00, Y:160.96, Z:7.43 [[ 4.64010966e-01 -8.85812398e-01 -5.49709122e-03 1.04900220e+03] [ 8.85742320e-01 4.64043428e-01 -1.11462441e-02 1.60963484e+02] [ 1.24243703e-02 3.02973184e-04 9.99922769e-01 7.43352339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.779254154 meters 0.022345045300791976 Centerline is valid? [True, True] Translation: X:1049.02, Y:161.02, Z:7.43 [[ 4.68078141e-01 -8.83657780e-01 -7.19597586e-03 1.04902194e+03] [ 8.83537250e-01 4.68133208e-01 -1.46022908e-02 1.61017769e+02] [ 1.62721031e-02 4.77100386e-04 9.99867487e-01 7.42932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters 0.022935111681407595 Centerline is valid? [True, True] Translation: X:1049.05, Y:161.07, Z:7.43 [[ 4.70742889e-01 -8.82231374e-01 -8.30268296e-03 1.04905029e+03] [ 8.82070450e-01 4.70815702e-01 -1.68610454e-02 1.61068625e+02] [ 1.87843768e-02 6.13665934e-04 9.99823370e-01 7.42841773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters 0.022483408564337382 Centerline is valid? [True, True] Translation: X:1049.08, Y:161.12, Z:7.43 [[ 4.70306681e-01 -8.82462605e-01 -8.44850139e-03 1.04907973e+03] [ 8.82295776e-01 4.70382148e-01 -1.71697134e-02 1.61118514e+02] [ 1.91256543e-02 6.20953832e-04 9.99816895e-01 7.42826149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.959254154 meters 0.020374862710166294 Centerline is valid? [True, True] Translation: X:1049.11, Y:161.17, Z:7.43 [[ 4.67049849e-01 -8.84200727e-01 -7.31532743e-03 1.04911328e+03] [ 8.84075695e-01 4.67106887e-01 -1.48768655e-02 1.61167113e+02] [ 1.65711751e-02 4.80934624e-04 9.99862573e-01 7.43010653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.019254154 meters 0.017543206320284218 Centerline is valid? [True, True] Translation: X:1049.15, Y:161.22, Z:7.43 [[ 4.62686925e-01 -8.86507602e-01 -5.00817976e-03 1.04914624e+03] [ 8.86449069e-01 4.62713946e-01 -1.01907735e-02 1.61216208e+02] [ 1.13515528e-02 2.75641371e-04 9.99935531e-01 7.43258647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.079254154 meters 0.018710666389314644 Centerline is valid? [True, True] Translation: X:1049.18, Y:161.27, Z:7.43 [[ 4.57016604e-01 -8.89441688e-01 -5.41357857e-03 1.04917874e+03] [ 8.89373399e-01 4.57048612e-01 -1.10237582e-02 1.61265029e+02] [ 1.22792587e-02 2.23347784e-04 9.99924582e-01 7.43224272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters 0.01636611660141623 Centerline is valid? [True, True] Translation: X:1049.21, Y:161.31, Z:7.43 [[ 4.52205477e-01 -8.91900736e-01 -4.82537252e-03 1.04920900e+03] [ 8.91846557e-01 4.52231199e-01 -9.83162922e-03 1.61314101e+02] [ 1.09510213e-02 1.42424712e-04 9.99940026e-01 7.43091060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.199254154 meters 0.01519096529631738 Centerline is valid? [True, True] Translation: X:1049.24, Y:161.36, Z:7.43 [[ 4.48748611e-01 -8.93644224e-01 -4.96841421e-03 1.04923996e+03] [ 8.93586827e-01 4.48776102e-01 -1.01287786e-02 1.61364186e+02] [ 1.12812300e-02 1.05565829e-04 9.99936359e-01 7.42949248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.259254154 meters 0.01499926400296904 Centerline is valid? [True, True] Translation: X:1049.27, Y:161.41, Z:7.43 [[ 4.45812183e-01 -8.95109809e-01 -5.47054879e-03 1.04926708e+03] [ 8.95040243e-01 4.45845739e-01 -1.11597351e-02 1.61414953e+02] [ 1.24282092e-02 7.87845277e-05 9.99922764e-01 7.42709104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.319254154 meters 0.015521595262139058 Centerline is valid? [True, True] Translation: X:1049.29, Y:161.47, Z:7.43 [[ 4.43837043e-01 -8.96090961e-01 -5.44701041e-03 1.04929243e+03] [ 8.96021976e-01 4.43870462e-01 -1.11189451e-02 1.61467021e+02] [ 1.23813533e-02 5.43586883e-05 9.99923347e-01 7.42661890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters 0.01500797482761111 Centerline is valid? [True, True] Translation: X:1049.31, Y:161.52, Z:7.43 [[ 4.44115816e-01 -8.95956199e-01 -4.86119308e-03 1.04931451e+03] [ 8.95901173e-01 4.44142417e-01 -9.92987615e-03 1.61521227e+02] [ 1.10557961e-02 5.48664721e-05 9.99938881e-01 7.42686659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters 0.016035947185503868 Centerline is valid? [True, True] Translation: X:1049.34, Y:161.58, Z:7.42 [[ 4.46445701e-01 -8.94791813e-01 -5.81783629e-03 1.04933550e+03] [ 8.94712775e-01 4.46483594e-01 -1.18932555e-02 1.61576153e+02] [ 1.32395561e-02 1.04400312e-04 9.99912348e-01 7.42412072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.499254154 meters 0.01627637662369654 Centerline is valid? [True, True] Translation: X:1049.36, Y:161.63, Z:7.42 [[ 4.50378701e-01 -8.92812534e-01 -6.69361221e-03 1.04935532e+03] [ 8.92707534e-01 4.50428398e-01 -1.36936615e-02 1.61631122e+02] [ 1.52408656e-02 1.91895404e-04 9.99883833e-01 7.42084727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.559254154 meters 0.01749517166682108 Centerline is valid? [True, True] Translation: X:1049.38, Y:161.69, Z:7.42 [[ 4.53157857e-01 -8.91394974e-01 -7.93452988e-03 1.04937575e+03] [ 8.91246997e-01 4.53227224e-01 -1.62442244e-02 1.61686114e+02] [ 1.80761649e-02 2.89571991e-04 9.99836571e-01 7.41721042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters 0.01710871306640892 Centerline is valid? [True, True] Translation: X:1049.40, Y:161.74, Z:7.42 [[ 4.53532905e-01 -8.91204867e-01 -7.86064386e-03 1.04939983e+03] [ 8.91059403e-01 4.53600921e-01 -1.61041728e-02 1.61738695e+02] [ 1.79177125e-02 2.99471657e-04 9.99839420e-01 7.41734563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters 0.018935331419558506 Centerline is valid? [True, True] Translation: X:1049.43, Y:161.79, Z:7.42 [[ 4.51162998e-01 -8.92401328e-01 -8.47457451e-03 1.04942678e+03] [ 8.92232220e-01 4.51242499e-01 -1.73745196e-02 1.61790819e+02] [ 1.93291325e-02 2.77451909e-04 9.99813136e-01 7.41624157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.739254154 meters 0.01844519826004119 Centerline is valid? [True, True] Translation: X:1049.46, Y:161.84, Z:7.42 [[ 4.47806977e-01 -8.94098487e-01 -7.53702586e-03 1.04945503e+03] [ 8.93964790e-01 4.47870362e-01 -1.54626295e-02 1.61841733e+02] [ 1.72007242e-02 1.86437648e-04 9.99852039e-01 7.41761037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.799254154 meters 0.015720618981327365 Centerline is valid? [True, True] Translation: X:1049.48, Y:161.89, Z:7.42 [[ 4.45567270e-01 -8.95234144e-01 -5.06308790e-03 1.04948239e+03] [ 8.95173820e-01 4.45596024e-01 -1.03930530e-02 1.61893098e+02] [ 1.15603078e-02 9.84605311e-05 9.99933173e-01 7.42211513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters 0.017400754862691853 Centerline is valid? [True, True] Translation: X:1049.51, Y:161.95, Z:7.42 [[ 4.43184006e-01 -8.96426544e-01 -2.71812039e-03 1.04950874e+03] [ 8.96409169e-01 4.43192340e-01 -5.58146520e-03 1.61945297e+02] [ 6.20802369e-03 3.70680687e-05 9.99980729e-01 7.42419934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters 0.017917690377153333 Centerline is valid? [True, True] Translation: X:1049.53, Y:162.00, Z:7.42 [[ 4.42530042e-01 -8.96751332e-01 -2.05197985e-03 1.04953307e+03] [ 8.96741424e-01 4.42534799e-01 -4.21545547e-03 1.61997917e+02] [ 4.68828780e-03 2.53703553e-05 9.99989010e-01 7.42147439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.979254154 meters 0.015448811433705807 Centerline is valid? [True, True] Translation: X:1049.56, Y:162.05, Z:7.42 [[ 4.40401450e-01 -8.97798067e-01 -2.27902908e-03 1.04955813e+03] [ 8.97785839e-01 4.40407346e-01 -4.68583422e-03 1.62050312e+02] [ 5.21063406e-03 1.75681477e-05 9.99986424e-01 7.41858153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.039254154 meters 0.01727902656939394 Centerline is valid? [True, True] Translation: X:1049.59, Y:162.10, Z:7.42 [[ 4.32181006e-01 -9.01786597e-01 -7.15133363e-04 1.04958729e+03] [ 9.01785401e-01 4.32181598e-01 -1.46880828e-03 1.62099989e+02] [ 1.63361910e-03 -1.01057882e-05 9.99998666e-01 7.41612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters 0.018293171579173362 Centerline is valid? [True, True] Translation: X:1049.62, Y:162.15, Z:7.42 [[ 4.23189491e-01 -9.06039243e-01 1.88300300e-03 1.04961762e+03] [ 9.06030925e-01 4.23193676e-01 3.88266110e-03 1.62148449e+02] [-4.31471828e-03 6.29575725e-05 9.99990690e-01 7.41875290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters 0.02105674335659905 Centerline is valid? [True, True] Translation: X:1049.65, Y:162.20, Z:7.42 [[ 4.16231407e-01 -9.09248356e-01 4.34092461e-03 1.04964685e+03] [ 9.09204288e-01 4.16253985e-01 8.95447535e-03 1.62198648e+02] [-9.94876915e-03 2.19653397e-04 9.99950486e-01 7.41940101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.219254154 meters 0.019623838751855267 Centerline is valid? [True, True] Translation: X:1049.67, Y:162.25, Z:7.42 [[ 4.13794538e-01 -9.10355217e-01 5.24007246e-03 1.04967099e+03] [ 9.10291019e-01 4.13827611e-01 1.08152317e-02 1.62251965e+02] [-1.20141893e-02 2.94707101e-04 9.99927784e-01 7.41884404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.279254154 meters 0.01957661678019227 Centerline is valid? [True, True] Translation: X:1049.69, Y:162.31, Z:7.42 [[ 4.12607798e-01 -9.10889564e-01 5.91668114e-03 1.04969242e+03] [ 9.10807662e-01 4.12650072e-01 1.22196919e-02 1.62307064e+02] [-1.35723087e-02 3.47018364e-04 9.99907832e-01 7.41539020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters 0.020475771836931538 Centerline is valid? [True, True] Translation: X:1049.72, Y:162.36, Z:7.41 [[ 4.10118539e-01 -9.12015988e-01 5.44256049e-03 1.04971538e+03] [ 9.11946685e-01 4.10154501e-01 1.12484927e-02 1.62360553e+02] [-1.24910959e-02 3.50109595e-04 9.99921922e-01 7.41205406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters 0.021049708256378055 Centerline is valid? [True, True] Translation: X:1049.74, Y:162.41, Z:7.41 [[ 4.02709041e-01 -9.15315777e-01 4.73885339e-03 1.04974117e+03] [ 9.15263375e-01 4.02736733e-01 9.80193208e-03 1.62412990e+02] [-1.08803734e-02 3.89972282e-04 9.99940731e-01 7.41166184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.459254154 meters 0.025202801421258653 Centerline is valid? [True, True] Translation: X:1049.77, Y:162.46, Z:7.41 [[ 3.91272913e-01 -9.20249971e-01 6.74517927e-03 1.04976838e+03] [ 9.20144454e-01 3.91330338e-01 1.39553235e-02 1.62463920e+02] [-1.54819793e-02 7.46199209e-04 9.99879869e-01 7.41190161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.519254154 meters 0.02548184308809283 Centerline is valid? [True, True] Translation: X:1049.79, Y:162.52, Z:7.41 [[ 3.86542399e-01 -9.22243475e-01 7.20736741e-03 1.04979066e+03] [ 9.22123143e-01 3.86608590e-01 1.49233946e-02 1.62518217e+02] [-1.65494335e-02 8.77555544e-04 9.99862664e-01 7.41311889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.579254154 meters 0.026750022543756444 Centerline is valid? [True, True] Translation: X:1049.81, Y:162.57, Z:7.41 [[ 3.90661293e-01 -9.20499460e-01 8.03105717e-03 1.04980646e+03] [ 9.20349455e-01 3.90742820e-01 1.66412114e-02 1.62574605e+02] [-1.84563040e-02 8.90301932e-04 9.99829272e-01 7.41169640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters 0.022469839798903657 Centerline is valid? [True, True] Translation: X:1049.82, Y:162.64, Z:7.41 [[ 4.03852679e-01 -9.14794961e-01 7.29336118e-03 1.04981504e+03] [ 9.14670206e-01 4.03918135e-01 1.51180145e-02 1.62635610e+02] [-1.67758043e-02 5.65569505e-04 9.99859116e-01 7.41100030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.699254154 meters 0.016982320790702776 Centerline is valid? [True, True] Translation: X:1049.82, Y:162.70, Z:7.41 [[ 4.16655182e-01 -9.09038196e-01 6.92944658e-03 1.04982326e+03] [ 9.08924566e-01 4.16712686e-01 1.43760640e-02 1.62696071e+02] [-1.59559796e-02 3.08482674e-04 9.99872648e-01 7.41123570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.759254154 meters 0.015763267331405862 Centerline is valid? [True, True] Translation: X:1049.84, Y:162.75, Z:7.41 [[ 4.25934042e-01 -9.04717797e-01 8.11785644e-03 1.04983806e+03] [ 9.04560848e-01 4.26011361e-01 1.68520841e-02 1.62754393e+02] [-1.87046795e-02 1.65218814e-04 9.99825039e-01 7.41161651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.819254154 meters 0.01620180950331091 Centerline is valid? [True, True] Translation: X:1049.85, Y:162.81, Z:7.41 [[ 4.36417104e-01 -8.99708790e-01 8.01277409e-03 1.04985429e+03] [ 8.99554991e-01 4.36490653e-01 1.66351187e-02 1.62810359e+02] [-1.84642635e-02 -5.19194020e-05 9.99829520e-01 7.41104728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters 0.018703538859513882 Centerline is valid? [True, True] Translation: X:1049.87, Y:162.86, Z:7.41 [[ 4.43743227e-01 -8.96128173e-01 6.80047183e-03 1.04987460e+03] [ 8.96016744e-01 4.43795298e-01 1.41325043e-02 1.62864929e+02] [-1.56825526e-02 -1.77866417e-04 9.99877005e-01 7.40564668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters 0.03544245779559109 Centerline is valid? [True, True] Translation: X:1049.90, Y:162.92, Z:7.40 [[ 4.43753359e-01 -8.96106291e-01 8.74479522e-03 1.04990140e+03] [ 8.95921799e-01 4.43839453e-01 1.81843333e-02 1.62916463e+02] [-2.01763806e-02 -2.34706313e-04 9.99796409e-01 7.39941027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.999254154 meters 0.04096404856269536 Centerline is valid? [True, True] Translation: X:1049.94, Y:162.97, Z:7.40 [[ 4.39669207e-01 -8.98122117e-01 8.22502324e-03 1.04993672e+03] [ 8.97959066e-01 4.39746112e-01 1.71135392e-02 1.62965407e+02] [-1.89869700e-02 -1.38562015e-04 9.99819722e-01 7.39777311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.059254154 meters 0.0443090817599526 Centerline is valid? [True, True] Translation: X:1049.98, Y:163.01, Z:7.40 [[ 4.31103380e-01 -9.02258886e-01 8.87570048e-03 1.04997623e+03] [ 9.02069591e-01 4.31194736e-01 1.84811282e-02 1.63011476e+02] [-2.05019175e-02 3.92226916e-05 9.99789813e-01 7.39918303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters 0.048418482266348074 Centerline is valid? [True, True] Translation: X:1050.02, Y:163.06, Z:7.40 [[ 4.22254519e-01 -9.06434101e-01 8.85109431e-03 1.05001676e+03] [ 9.06246511e-01 4.22347210e-01 1.84416471e-02 1.63057076e+02] [-2.04543728e-02 2.34204498e-04 9.99790760e-01 7.39807926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters 0.05508586230895016 Centerline is valid? [True, True] Translation: X:1050.06, Y:163.10, Z:7.40 [[ 4.14769793e-01 -9.09889312e-01 8.21325715e-03 1.05005749e+03] [ 9.09728380e-01 4.14850938e-01 1.71164786e-02 1.63100859e+02] [-1.89813784e-02 3.72434835e-04 9.99819768e-01 7.39660390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.239254154 meters 0.060221800732152254 Centerline is valid? [True, True] Translation: X:1050.10, Y:163.15, Z:7.40 [[ 4.07101736e-01 -9.13342009e-01 8.63430963e-03 1.05009841e+03] [ 9.13164594e-01 4.07192914e-01 1.80098583e-02 1.63145576e+02] [-1.99649899e-02 5.52701253e-04 9.99800527e-01 7.39715099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.299254154 meters 0.06393161304671036 Centerline is valid? [True, True] Translation: X:1050.14, Y:163.19, Z:7.40 [[ 4.03756210e-01 -9.14816916e-01 9.53588738e-03 1.05013661e+03] [ 9.14600628e-01 4.03868222e-01 1.99035381e-02 1.63192202e+02] [-2.20593352e-02 6.85351492e-04 9.99756428e-01 7.40026508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters 0.06729499922680646 Centerline is valid? [True, True] Translation: X:1050.16, Y:163.25, Z:7.40 [[ 4.11259791e-01 -9.11449361e-01 1.12002657e-02 1.05016047e+03] [ 9.11149261e-01 4.11411863e-01 2.33945118e-02 1.63245218e+02] [-2.59308350e-02 5.83891799e-04 9.99663569e-01 7.40276880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters 0.06756447672146103 Centerline is valid? [True, True] Translation: X:1050.18, Y:163.30, Z:7.40 [[ 4.22479712e-01 -9.06299371e-01 1.15040154e-02 1.05017965e+03] [ 9.05980317e-01 4.22636227e-01 2.40475551e-02 1.63300229e+02] [-2.66562978e-02 2.62807329e-04 9.99644623e-01 7.40189137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.479254154 meters 0.06795980974098047 Centerline is valid? [True, True] Translation: X:1050.21, Y:163.35, Z:7.40 [[ 4.25260247e-01 -9.05007383e-01 1.07405127e-02 1.05020673e+03] [ 9.04728448e-01 4.25395828e-01 2.24683347e-02 1.63351628e+02] [-2.49029781e-02 1.62357857e-04 9.99689860e-01 7.40083117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.539254154 meters 0.06782167653427133 Centerline is valid? [True, True] Translation: X:1050.23, Y:163.40, Z:7.40 [[ 4.24156755e-01 -9.05530481e-01 1.02759689e-02 1.05023334e+03] [ 9.05274915e-01 4.24281177e-01 2.15130594e-02 1.63403650e+02] [-2.38406312e-02 1.77667367e-04 9.99715756e-01 7.40128253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters 0.06700169027318383 Centerline is valid? [True, True] Translation: X:1050.26, Y:163.46, Z:7.40 [[ 4.20597883e-01 -9.07176302e-01 1.13392411e-02 1.05025921e+03] [ 9.06865269e-01 4.20750606e-01 2.37552497e-02 1.63456235e+02] [-2.63211922e-02 2.91756132e-04 9.99653495e-01 7.40345208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters 0.06682933273204711 Centerline is valid? [True, True] Translation: X:1050.29, Y:163.51, Z:7.41 [[ 4.17803845e-01 -9.08459168e-01 1.19116602e-02 1.05028624e+03] [ 9.08115923e-01 4.17973436e-01 2.49735181e-02 1.63507595e+02] [-2.76661790e-02 3.83136363e-04 9.99617145e-01 7.40748280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.719254154 meters 0.06663764833178909 Centerline is valid? [True, True] Translation: X:1050.31, Y:163.56, Z:7.41 [[ 4.18579061e-01 -9.08095424e-01 1.24206040e-02 1.05030926e+03] [ 9.07721483e-01 4.18763140e-01 2.60603415e-02 1.63560535e+02] [-2.88665679e-02 3.66135795e-04 9.99583207e-01 7.41157712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.779254154 meters 0.0652275248615238 Centerline is valid? [True, True] Translation: X:1050.33, Y:163.62, Z:7.41 [[ 4.21251220e-01 -9.06850747e-01 1.30050745e-02 1.05032655e+03] [ 9.06439551e-01 4.21451826e-01 2.73074906e-02 1.63617077e+02] [-3.02448307e-02 2.85000111e-04 9.99542480e-01 7.41422880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters 0.06351082224148873 Centerline is valid? [True, True] Translation: X:1050.34, Y:163.68, Z:7.41 [[ 4.26724797e-01 -9.04287554e-01 1.30371584e-02 1.05033865e+03] [ 9.03872462e-01 4.26923894e-01 2.73963874e-02 1.63676100e+02] [-3.03400866e-02 9.32106326e-05 9.99539629e-01 7.41309795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters 0.06117470078061683 Centerline is valid? [True, True] Translation: X:1050.35, Y:163.74, Z:7.41 [[ 4.33050193e-01 -9.01286365e-01 1.22645210e-02 1.05034743e+03] [ 9.00917217e-01 4.33223814e-01 2.57933143e-02 1.63736857e+02] [-2.85604451e-02 -1.20481587e-04 9.99592060e-01 7.40589855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.959254154 meters 0.059453978902474114 Centerline is valid? [True, True] Translation: X:1050.36, Y:163.80, Z:7.40 [[ 4.38569578e-01 -8.98631884e-01 1.08380101e-02 1.05036006e+03] [ 8.98342428e-01 4.38703392e-01 2.28082407e-02 1.63796161e+02] [-2.52508841e-02 -2.66756173e-04 9.99681110e-01 7.40488983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.019254154 meters 0.06076697511520474 Centerline is valid? [True, True] Translation: X:1050.37, Y:163.86, Z:7.40 [[ 4.42970246e-01 -8.96475945e-01 1.04039298e-02 1.05037301e+03] [ 8.96208259e-01 4.43092242e-01 2.19093901e-02 1.63855132e+02] [-2.42511418e-02 -3.81120095e-04 9.99705825e-01 7.40481656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7992.02 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%| | 0/37002 [00:00